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Code Issues Wiki Activity

Gyro/acc data is signed

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This commit is contained in:
Steve Evans 2022-07-01 22:50:00 +01:00
parent a7b41f2e7a
commit bbf8c6556b
3 changed files with 8 additions and 8 deletions
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4
src/main/drivers/accgyro/accgyro_mpu.c
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@ -245,7 +245,7 @@ bool mpuAccReadSPI(accDev_t *acc)
// up an old value.
// This data was read from the gyro, which is the same SPI device as the acc
uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
@ -262,7 +262,7 @@ bool mpuAccReadSPI(accDev_t *acc)
bool mpuGyroReadSPI(gyroDev_t *gyro)
{
uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
{

8
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View file

@ -329,7 +329,7 @@ static bool bmi160AccRead(accDev_t *acc)
// Wait for completion
spiWait(&acc->gyro->dev);
uint16_t *accData = (uint16_t *)dev->rxBuf;
int16_t *accData = (int16_t *)dev->rxBuf;
acc->ADCRaw[X] = accData[1];
acc->ADCRaw[Y] = accData[2];
acc->ADCRaw[Z] = accData[3];
@ -342,7 +342,7 @@ static bool bmi160AccRead(accDev_t *acc)
// up an old value.
// This data was read from the gyro, which is the same SPI device as the acc
uint16_t *accData = (uint16_t *)dev->rxBuf;
int16_t *accData = (int16_t *)dev->rxBuf;
acc->ADCRaw[X] = accData[4];
acc->ADCRaw[Y] = accData[5];
acc->ADCRaw[Z] = accData[6];
@ -361,7 +361,7 @@ static bool bmi160AccRead(accDev_t *acc)
static bool bmi160GyroRead(gyroDev_t *gyro)
{
extDevice_t *dev = &gyro->dev;
uint16_t *gyroData = (uint16_t *)dev->rxBuf;
int16_t *gyroData = (int16_t *)dev->rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
{
@ -377,7 +377,7 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
if (spiUseDMA(dev)) {
dev->callbackArg = (uint32_t)gyro;
dev->txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
gyro->segments[0].len = 14;
gyro->segments[0].len = 13;
gyro->segments[0].callback = bmi160Intcallback;
gyro->segments[0].u.buffers.txData = &dev->txBuf[1];
gyro->segments[0].u.buffers.rxData = &dev->rxBuf[1];

4
src/main/drivers/accgyro/accgyro_spi_bmi270.c
View file

@ -354,7 +354,7 @@ static bool bmi270AccRead(accDev_t *acc)
// up an old value.
// This data was read from the gyro, which is the same SPI device as the acc
uint16_t *accData = (uint16_t *)dev->rxBuf;
int16_t *accData = (int16_t *)dev->rxBuf;
acc->ADCRaw[X] = accData[1];
acc->ADCRaw[Y] = accData[2];
acc->ADCRaw[Z] = accData[3];
@ -372,7 +372,7 @@ static bool bmi270AccRead(accDev_t *acc)
static bool bmi270GyroReadRegister(gyroDev_t *gyro)
{
extDevice_t *dev = &gyro->dev;
uint16_t *gyroData = (uint16_t *)dev->rxBuf;
int16_t *gyroData = (int16_t *)dev->rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT: