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For fake gyro/acc, set the output to an fake variable.

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For testing, the gyros and accelerometer values might needed
to be artifically set.  This change allows a testing loop to
set the gyro and acc to values through a global variable.
This commit is contained in:
JOhn Aughey 2016-04-28 13:00:16 -05:00
parent ac11732a86
commit 091aa24249
1 changed files with 9 additions and 2 deletions
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11
src/main/sensors/initialisation.c
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@ -214,6 +214,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
}
#ifdef USE_FAKE_GYRO
int16_t fake_gyro_values[XYZ_AXIS_COUNT] = { 0,0,0 };
static void fakeGyroInit(uint16_t lpf)
{
UNUSED(lpf);
@ -221,7 +222,9 @@ static void fakeGyroInit(uint16_t lpf)
static bool fakeGyroRead(int16_t *gyroADC)
{
memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
for (int i = 0; i < XYZ_AXIS_COUNT; ++i) {
gyroADC[i] = fake_gyro_values[i];
}
return true;
}
@ -241,9 +244,13 @@ bool fakeGyroDetect(gyro_t *gyro)
#endif
#ifdef USE_FAKE_ACC
int16_t fake_acc_values[XYZ_AXIS_COUNT] = {0,0,0};
static void fakeAccInit(void) {}
static bool fakeAccRead(int16_t *accData) {
memset(accData, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
for(int i=0;i<XYZ_AXIS_COUNT;++i) {
accData[i] = fake_acc_values[i];
}
return true;
}