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important bugfixes

This commit is contained in:
Robin Müller 2021-06-10 12:17:47 +02:00
parent 5c40ca9ae8
commit 92a3f13172
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GPG Key ID: BE6480244DFE612C
1 changed files with 9 additions and 9 deletions
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18
devicehandlers/GyroL3GD20Handler.cpp
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@ -187,12 +187,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
statusReg = packet[L3GD20H::STATUS_IDX];
float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
packet[L3GD20H::OUT_X_L]) * scaleFactor;
float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
packet[L3GD20H::OUT_Y_L]) * scaleFactor;
float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
packet[L3GD20H::OUT_Z_L]) * scaleFactor;
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
float angVelocX = angVelocXRaw * scaleFactor;
float angVelocY = angVelocYRaw * scaleFactor;
float angVelocZ = angVelocZRaw * scaleFactor;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
@ -207,9 +207,9 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
#else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
sif::printInfo("X: %f \xC2\xB0\n", angVelocX);
sif::printInfo("Y: %f \xC2\xB0\n", angVelocY);
sif::printInfo("Z: %f \xC2\xB0\n", angVelocZ);
#endif
}
#endif