diff options
Diffstat (limited to 'apps/drivers/mpu6000/mpu6000.cpp')
-rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 30 |
1 files changed, 20 insertions, 10 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index e49a2ed9f..017a4dd9e 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -181,11 +181,13 @@ private: struct accel_report _accel_report; struct accel_scale _accel_scale; float _accel_range_scale; + float _accel_range_m_s2; orb_advert_t _accel_topic; struct gyro_report _gyro_report; struct gyro_scale _gyro_scale; float _gyro_range_scale; + float _gyro_range_rad_s; orb_advert_t _gyro_topic; unsigned _reads; @@ -289,8 +291,10 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _product(0), _call_interval(0), _accel_range_scale(0.02f), + _accel_range_m_s2(0.0f), _accel_topic(-1), _gyro_range_scale(0.02f), + _gyro_range_rad_s(0.0f), _gyro_topic(-1), _reads(0), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) @@ -383,6 +387,7 @@ MPU6000::init() _gyro_scale.z_offset = 0; _gyro_scale.z_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); _gyro_range_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); + _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; // product-specific scaling switch (_product) { @@ -417,6 +422,7 @@ MPU6000::init() _accel_scale.z_offset = 0; _accel_scale.z_scale = 1.0f / (4096.0f / 9.81f); _accel_range_scale = 1.0f / (4096.0f / 9.81f); + _accel_range_m_s2 = 8.0f * 9.81f; usleep(1000); @@ -779,6 +785,8 @@ MPU6000::measure() _accel_report.x = report.accel_x * _accel_range_scale; _accel_report.y = report.accel_y * _accel_range_scale; _accel_report.z = report.accel_z * _accel_range_scale; + _accel_report.scaling = _accel_range_scale; + _accel_report.range_m_s2 = _accel_range_m_s2; _gyro_report.x_raw = report.gyro_x; _gyro_report.y_raw = report.gyro_y; @@ -787,6 +795,8 @@ MPU6000::measure() _gyro_report.x = report.gyro_x * _gyro_range_scale; _gyro_report.y = report.gyro_y * _gyro_range_scale; _gyro_report.z = report.gyro_z * _gyro_range_scale; + _gyro_report.scaling = _gyro_range_scale; + _gyro_report.range_rad_s = _gyro_range_rad_s; /* notify anyone waiting for data */ poll_notify(POLLIN); @@ -884,25 +894,25 @@ test() printf("single read\n"); fflush(stdout); printf("time: %lld\n", report.timestamp); - printf("acc x: %5.2f m/s^2\n", (double)report.x); - printf("acc y: %5.2f m/s^2\n", (double)report.y); - printf("acc z: %5.2f m/s^2\n", (double)report.z); - printf("acc range: %4.0f m/s^2 (%3.0f g)\n", (double)report.range_m_s2, + printf("acc x: \t% 5.2f\tm/s^2\n", (double)report.x); + printf("acc y: \t% 5.2f\tm/s^2\n", (double)report.y); + printf("acc z: \t% 5.2f\tm/s^2\n", (double)report.z); + printf("acc range: %6.2f m/s^2 (%6.2f g)\n", (double)report.range_m_s2, (double)(report.range_m_s2 / 9.81f)); /* do a simple demand read */ - sz = read(fd, &g_report, sizeof(g_report)); + sz = read(fd_gyro, &g_report, sizeof(g_report)); if (sz != sizeof(g_report)) { reason = "immediate gyro read failed"; break; } - printf("gyro x: %5.2f rad/s\n", (double)g_report.x); - printf("gyro y: %5.2f rad/s\n", (double)g_report.y); - printf("gyro z: %5.2f rad/s\n", (double)g_report.z); - printf("gyro range: %3.0f rad/s (%5.0f deg/s)\n", (double)g_report.range_rad_s, - (double)(g_report.range_rad_s / M_PI_F * 180.0f)); + printf("gyro x: \t% 5.2f\trad/s\n", (double)g_report.x); + printf("gyro y: \t% 5.2f\trad/s\n", (double)g_report.y); + printf("gyro z: \t% 5.2f\trad/s\n", (double)g_report.z); + printf("gyro range: %6.3f rad/s (%8.1f deg/s)\n", (double)g_report.range_rad_s, + (double)((g_report.range_rad_s / M_PI_F) * 180.0f)); } while (0); |