From 94bbc4d19ca17984db3262089ba7365fbf62c6de Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Wed, 16 Mar 2016 11:45:23 +0000
Subject: Improved Gyroscope methods. Updated L3GD20 files and demos.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9126 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/hal/lib/peripherals/sensors/hal_gyroscope.h | 23 +++++++++++++----------
 1 file changed, 13 insertions(+), 10 deletions(-)

(limited to 'os/hal')

diff --git a/os/hal/lib/peripherals/sensors/hal_gyroscope.h b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
index ac2901fe4..e61d06b0f 100644
--- a/os/hal/lib/peripherals/sensors/hal_gyroscope.h
+++ b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
@@ -47,10 +47,10 @@
  * @brief   BaseGyroscope specific methods.
  */
 #define _base_gyroscope_methods_alone                                       \
-  /* Remove the calibration data.*/                                         \
-  msg_t (*reset_calibration)(void *instance);                               \
-  /* Invokes the calibration procedure.*/                                   \
-  msg_t (*calibrate)(void *instance);
+  /* Invoke the sample bias procedure.*/                                    \
+  msg_t (*sample_bias)(void *instance);                                     \
+  /* Remove bias stored data.*/                                             \
+  msg_t (*reset_bias)(void *instance);
 
 /**
  * @brief   BaseGyroscope specific methods with inherited ones.
@@ -132,7 +132,10 @@ typedef struct {
         (ip)->vmt_basegyroscope->read_cooked(ip, dp)
 
 /**
- * @brief   Delete calibration data.
+ * @brief   Gyroscope bias sampling procedure.
+ * @note    During this procedure gyroscope must be kept hold in the rest
+ *          position. Sampled bias will be automatically removed after calling
+ *          this procedure.
  *
  * @param[in] ip        pointer to a @p BaseGyroscope class.
  * 
@@ -142,11 +145,11 @@ typedef struct {
  *
  * @api
  */
-#define gyroscopeResetCalibration(ip)                                       \
-        (ip)->vmt_basegyroscope->reset_calibration(ip)
+#define gyroscopeSampleBias(ip)                                              \
+        (ip)->vmt_basegyroscope->sample_bias(ip)
 
 /**
- * @brief   Gyroscope calibration procedure.
+ * @brief   Reset bias data restoring it to zero.
  *
  * @param[in] ip        pointer to a @p BaseGyroscope class.
  * 
@@ -156,8 +159,8 @@ typedef struct {
  *
  * @api
  */
-#define gyroscopeCalibrate(ip)                                              \
-        (ip)->vmt_basegyroscope->calibrate(ip)
+#define gyroscopeResetCalibration(ip)                                       \
+        (ip)->vmt_basegyroscope->reset_bias(ip)
 /** @} */
 
 /*===========================================================================*/
-- 
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