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Add missing file and tidy up somewhat.

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Gavan Fantom
2014-11-23 20:20:48 +00:00
parent 8b3ff9feba
commit 4f171f3023
12 changed files with 136 additions and 186 deletions
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19
mpu6050.c
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@@ -214,9 +214,8 @@ void mpu6050_event_handler(void)
signed short int tempi;
signed short int rolli, pitchi, yawi;
float x, y, z;
vec3f accel, gyro;
float temp;
float roll, pitch, yaw;
CHECKPOINT(9);
@@ -252,18 +251,18 @@ void mpu6050_event_handler(void)
yawi -= gyro_zero_yaw;
}
x = ((float)xi) * ACCEL_SCALE;
y = ((float)yi) * ACCEL_SCALE;
z = ((float)zi) * ACCEL_SCALE;
accel.x = ((float)xi) * ACCEL_SCALE;
accel.y = ((float)yi) * ACCEL_SCALE;
accel.z = ((float)zi) * ACCEL_SCALE;
temp = ((float)tempi) * TEMP_SCALE + TEMP_OFFSET;
roll = ((float)rolli) * GYRO_SCALE;
pitch = ((float)pitchi) * GYRO_SCALE;
yaw = ((float)yawi) * GYRO_SCALE;
gyro.x = ((float)rolli) * GYRO_SCALE;
gyro.y = ((float)pitchi) * GYRO_SCALE;
gyro.z = ((float)yawi) * GYRO_SCALE;
sensors_write_gyro_data(roll, pitch, yaw);
sensors_write_accel_data(x, y, z);
sensors_write_gyro_data(gyro);
sensors_write_accel_data(accel);
sensors_write_temp_data(temp);
log_put_array((char *)mpu6050_sample_data, 14);