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Minor fixes on L3GD20 Drivers 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9755 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-08-31 17:51:29 +00:00
parent f3e61d2cde
commit 16eb9bd9a6
2 changed files with 17 additions and 5 deletions
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18
os/ex/ST/l3gd20.c
View File

@ -145,14 +145,17 @@ static msg_t sample_bias(void *ip) {
uint32_t i, j;
int32_t raw[L3GD20_NUMBER_OF_AXES];
int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
msg_t msg;
osalDbgCheck(ip != NULL);
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"sample_bias(), invalid state");
for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
read_raw(ip, raw);
msg = read_raw(ip, raw);
if(msg != MSG_OK)
return msg;
for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
@ -163,7 +166,7 @@ static msg_t sample_bias(void *ip) {
((L3GD20Driver *)ip)->bias[i] = (buff[i] / L3GD20_BIAS_ACQ_TIMES);
((L3GD20Driver *)ip)->bias[i] *= ((L3GD20Driver *)ip)->sensitivity[i];
}
return MSG_OK;
return msg;
}
static msg_t set_bias(void *ip, int32_t *bp) {
@ -254,6 +257,12 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
scale = newfs / ((L3GD20Driver *)ip)->fullscale;
((L3GD20Driver *)ip)->fullscale = newfs;
#if L3GD20_SHARED_SPI
spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
spiStart(((L3GD20Driver *)ip)->config->spip,
((L3GD20Driver *)ip)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
/* Updating register.*/
l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_CTRL_REG4, 1, &cr);
@ -261,6 +270,9 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
cr |= fs;
l3gd20SPIWriteRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_CTRL_REG4, 1, &cr);
#if L3GD20_SHARED_SPI
spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
#endif /* L3GD20_SHARED_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {

4
os/ex/ST/l3gd20.h
View File

@ -40,7 +40,7 @@
/**
* @brief L3GD20 driver version string.
*/
#define EX_L3GD20_VERSION "1.0.0"
#define EX_L3GD20_VERSION "1.0.1"
/**
* @brief L3GD20 driver version major number.
@ -55,7 +55,7 @@
/**
* @brief L3GD20 driver version patch number.
*/
#define EX_L3GD20_PATCH 0
#define EX_L3GD20_PATCH 1
/** @} */
/**