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author | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-07-10 20:01:00 +0000 |
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committer | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-07-10 20:01:00 +0000 |
commit | d5917172bca6d7add8c7f7b17c77900c8b0fdac0 (patch) | |
tree | 02cb83b19d571082799be559abb12acdd82399c7 /os/ex | |
parent | 724eef04f372d36f8c3893bbd4111a912a954d02 (diff) | |
download | ChibiOS-d5917172bca6d7add8c7f7b17c77900c8b0fdac0.tar.gz ChibiOS-d5917172bca6d7add8c7f7b17c77900c8b0fdac0.tar.bz2 ChibiOS-d5917172bca6d7add8c7f7b17c77900c8b0fdac0.zip |
Removed measurement unit management from L3GD20 driver.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9699 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/ex')
-rw-r--r-- | os/ex/ST/l3gd20.c | 63 | ||||
-rw-r--r-- | os/ex/ST/l3gd20.h | 34 |
2 files changed, 11 insertions, 86 deletions
diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c index faec7c13b..d214b9e9d 100644 --- a/os/ex/ST/l3gd20.c +++ b/os/ex/ST/l3gd20.c @@ -264,24 +264,6 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) { return MSG_OK; } -static msg_t set_meas_unit(void *ip, l3gd20_unit_t unit) { - unsigned i; - if(unit != ((L3GD20Driver *)ip)->meas_unit) { - ((L3GD20Driver *)ip)->meas_unit = unit; - /* From RPS to DPS */ - if(unit == L3GD20_UNIT_DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->sensitivity[i] *= (2 * PI); - /* From DPS to RPS */ - else if(unit == L3GD20_UNIT_RPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->sensitivity[i] /= (2 * PI); - else - return MSG_RESET; - } - return MSG_OK; -} - static const struct BaseSensorVMT vmt_basesensor = { get_axes_number, read_raw, read_cooked }; @@ -296,7 +278,7 @@ static const struct L3GD20VMT vmt_l3gd20 = { get_axes_number, read_raw, read_cooked, sample_bias, set_bias, reset_bias, set_sensivity, reset_sensivity, - set_full_scale, set_meas_unit + set_full_scale }; /*===========================================================================*/ @@ -395,50 +377,23 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { #if L3GD20_SHARED_SPI spiReleaseBus((devp)->config->spip); #endif /* L3GD20_SHARED_SPI */ -#endif /* L3GD20_USE_SPI */ +#endif /* L3GD20_USE_SPI */
- /* Storing sensitivity information according to full scale and unit value.*/ + /* Storing sensitivity information according to full scale.*/ if(devp->config->fullscale == L3GD20_FS_250DPS) { devp->fullscale = L3GD20_250DPS; - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) { - if(devp->meas_unit == L3GD20_UNIT_DPS) { - devp->sensitivity[i] = L3GD20_SENS_250DPS; - } - else if (devp->meas_unit == L3GD20_UNIT_RPS) { - devp->sensitivity[i] = L3GD20_SENS_250DPS / (2 * PI); - } - else { - devp->sensitivity[i] = 1.0; - } - } + for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = L3GD20_SENS_250DPS; } else if(devp->config->fullscale == L3GD20_FS_500DPS) { devp->fullscale = L3GD20_500DPS; - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) { - if(devp->meas_unit == L3GD20_UNIT_DPS) { - devp->sensitivity[i] = L3GD20_SENS_500DPS; - } - else if (devp->meas_unit == L3GD20_UNIT_RPS) { - devp->sensitivity[i] = L3GD20_SENS_500DPS / (2 * PI); - } - else { - devp->sensitivity[i] = 1.0; - } - } + for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = L3GD20_SENS_500DPS; } else if(devp->config->fullscale == L3GD20_FS_2000DPS) { devp->fullscale = L3GD20_2000DPS; - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) { - if(devp->meas_unit == L3GD20_UNIT_DPS) { - devp->sensitivity[i] = L3GD20_SENS_500DPS; - } - else if (devp->meas_unit == L3GD20_UNIT_RPS) { - devp->sensitivity[i] = L3GD20_SENS_500DPS / (2 * PI); - } - else { - devp->sensitivity[i] = 1.0; - } - } + for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = L3GD20_SENS_2000DPS; } else osalDbgAssert(FALSE, "l3gd20Start(), full scale issue"); diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h index f2c3907da..f6b1780a7 100644 --- a/os/ex/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -393,14 +393,6 @@ typedef enum { }l3gd20_end_t; /** - * @brief L3GD20 measurement unit. - */ -typedef enum { - L3GD20_UNIT_DPS = 0x00, /**< Cooked data in degrees per seconds.*/ - L3GD20_UNIT_RPS = 0x01, /**< Cooked data in radians per seconds.*/ -} l3gd20_unit_t; - -/** * @brief Driver state machine possible states. */ typedef enum { @@ -442,10 +434,6 @@ typedef struct { * @brief L3GD20 initial bias. */ float bias[L3GD20_NUMBER_OF_AXES];
- /**
- * @brief L3GD20 initial measurement unit.
- */
- l3gd20_unit_t unit; /** * @brief L3GD20 initial full scale value. */ @@ -494,9 +482,7 @@ typedef struct L3GD20Driver L3GD20Driver; #define _l3gd20_methods \ _base_gyroscope_methods \ /* Change full scale value of L3GD20 .*/ \ - msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); \ - /* Change measurement unit of L3GD20 .*/ \ - msg_t (*set_meas_unit)(void *instance, l3gd20_unit_t unit); \ + msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); /** * @extends BaseGyroscopeVMT @@ -521,9 +507,7 @@ struct L3GD20VMT { /* Current Bias data.*/ \ float bias[L3GD20_NUMBER_OF_AXES]; \ /* Current full scale value.*/ \ - float fullscale; \ - /* Measurement unit.*/ \ - l3gd20_unit_t meas_unit; + float fullscale; /** * @extends BaseGyroscope @@ -560,20 +544,6 @@ struct L3GD20Driver { */ #define gyroscopeSetFullScale(ip, fs) \ (ip)->vmt_l3gd20->set_full_scale(ip, fs) - -/** - * @brief Set gyroscope cooked data measurement unit. - * - * @param[in] ip pointer to a @p BaseGyroscope class. - * @param[in] unit the MEMS measurement unit. - * - * @return The operation status. - * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more errors occurred. - * @api - */ -#define gyroscopeSetMeasurementUnit(ip, unit) \ - (ip)->vmt_l3gd20->set_meas_unit(ip, unit) /*===========================================================================*/ /* External declarations. */ |