Added temperature measurement, added led system command

3 files changed, 22 insertions, 7 deletions

diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h
index 55b7a6b2b..6d0c8c545 100644
--- a/apps/drivers/drv_accel.h
+++ b/apps/drivers/drv_accel.h
@@ -52,14 +52,17 @@
  */
 struct accel_report {
 	uint64_t timestamp;
-	float x;
-	float y;
-	float z;
-	float range_m_s2;
+	float x;		/**< acceleration in the NED X board axis in m/s^2 */
+	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
+	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
+	float temperature;	/**< temperature in degrees celsius */
+	float range_m_s2;	/**< range in m/s^2 (+- this value) */
 	float scaling;
+
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
+	int16_t temperature_raw;
 };
 
 /** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h
index 9c34ac314..5c646f243 100644
--- a/apps/drivers/drv_gyro.h
+++ b/apps/drivers/drv_gyro.h
@@ -52,15 +52,17 @@
  */
 struct gyro_report {
 	uint64_t timestamp;
-	float x;
-	float y;
-	float z;
+	float x;		/**< angular velocity in the NED X board axis in rad/s */
+	float y;		/**< angular velocity in the NED Y board axis in rad/s */
+	float z;		/**< angular velocity in the NED Z board axis in rad/s */
+	float temperature;	/**< temperature in degrees celcius */
 	float range_rad_s;
 	float scaling;
 	
 	int16_t x_raw;
 	int16_t y_raw;
 	int16_t z_raw;
+	int16_t temperature_raw;
 };
 
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 83bd13860..04ba4cbbb 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -877,6 +877,9 @@ MPU6000::measure()
 	_accel_report.scaling = _accel_range_scale;
 	_accel_report.range_m_s2 = _accel_range_m_s2;
 
+	_accel_report.temperature_raw = report.temp;
+	_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
+
 	_gyro_report.x_raw = report.gyro_x;
 	_gyro_report.y_raw = report.gyro_y;
 	_gyro_report.z_raw = report.gyro_z;
@@ -887,6 +890,9 @@ MPU6000::measure()
 	_gyro_report.scaling = _gyro_range_scale;
 	_gyro_report.range_rad_s = _gyro_range_rad_s;
 
+	_gyro_report.temperature_raw = report.temp;
+	_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
+
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
@@ -1041,6 +1047,10 @@ test()
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
 		(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
 
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+
 	/* XXX add poll-rate tests here too */
 
 	reset();