Revision 2:6036e7916c7a, committed 2017-08-03

Comitter:

cduck

Date:

Thu Aug 03 22:26:53 2017 +0000

Parent:

1:87d535bf8c53

Child:

3:77883952d12e

Commit message:

Fix compile errors and warnings

Changed in this revision

--- a/LSM9DS1.cpp	Mon Oct 26 16:14:04 2015 +0000
+++ b/LSM9DS1.cpp	Thu Aug 03 22:26:53 2017 +0000
@@ -36,7 +36,6 @@
 #define LSM9DS1_COMMUNICATION_TIMEOUT 1000
 
 float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
-extern Serial pc;
 
 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
     :i2c(sda, scl)
@@ -170,7 +169,6 @@
     // each device. Store those in a variable so we can return them.
     uint8_t mTest = mReadByte(WHO_AM_I_M);      // Read the gyro WHO_AM_I
     uint8_t xgTest = xgReadByte(WHO_AM_I_XG);   // Read the accel/mag WHO_AM_I
-    pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
     uint16_t whoAmICombined = (xgTest << 8) | mTest;
     
     if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
@@ -334,7 +332,6 @@
 // is good practice.
 void LSM9DS1::calibrate(bool autoCalc)
 {  
-    uint8_t data[6] = {0, 0, 0, 0, 0, 0};
     uint8_t samples = 0;
     int ii;
     int32_t aBiasRawTemp[3] = {0, 0, 0};
@@ -356,7 +353,7 @@
         readAccel();
         aBiasRawTemp[0] += ax;
         aBiasRawTemp[1] += ay;
-        aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
+        aBiasRawTemp[2] += az - (int16_t)(1.f/aRes); // Assumes sensor facing up!
     }  
     for (ii = 0; ii < 3; ii++)
     {
@@ -751,12 +748,12 @@
 
 void LSM9DS1::calcgRes()
 {
-    gRes = ((float) settings.gyro.scale) / 32768.0;
+    gRes = ((float) settings.gyro.scale) / 32768.0f;
 }
 
 void LSM9DS1::calcaRes()
 {
-    aRes = ((float) settings.accel.scale) / 32768.0;
+    aRes = ((float) settings.accel.scale) / 32768.0f;
 }
 
 void LSM9DS1::calcmRes()
@@ -984,7 +981,6 @@
     // Whether we're using I2C or SPI, write a byte using the
     // gyro-specific I2C address or SPI CS pin.
     if (settings.device.commInterface == IMU_MODE_I2C) {
-        printf("yo");
         I2CwriteByte(_xgAddress, subAddress, data);
     } else if (settings.device.commInterface == IMU_MODE_SPI) {
         SPIwriteByte(_xgAddress, subAddress, data);
@@ -1009,6 +1005,8 @@
         return I2CreadByte(_xgAddress, subAddress);
     else if (settings.device.commInterface == IMU_MODE_SPI)
         return SPIreadByte(_xgAddress, subAddress);
+    else
+        return 0;
 }
 
 void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
@@ -1030,6 +1028,8 @@
         return I2CreadByte(_mAddress, subAddress);
     else if (settings.device.commInterface == IMU_MODE_SPI)
         return SPIreadByte(_mAddress, subAddress);
+    else
+        return 0;
 }
 
 void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
@@ -1151,7 +1151,7 @@
     
     i2c.write(address, temp, 1);
     //i2c.write(address & 0xFE);
-    temp[1] = 0x00;
+    temp[0] = 0x00;
     i2c.write(address, temp, 1);
     //i2c.write( address | 0x01);
     int a = i2c.read(address, &data, 1);

--- a/LSM9DS1.h	Mon Oct 26 16:14:04 2015 +0000
+++ b/LSM9DS1.h	Thu Aug 03 22:26:53 2017 +0000
@@ -312,7 +312,8 @@
     *    Any OR'd combination of ZIEN, YIEN, XIEN
     *  - activeLow = Interrupt active configuration
     *    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
-    */  - latch: latch gyroscope interrupt request.
+    *  - latch: latch gyroscope interrupt request.
+    */
     void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
     
     /** configMagThs() -- Configure the threshold of a gyroscope axis

--- a/mbed.bld	Mon Oct 26 16:14:04 2015 +0000
+++ b/mbed.bld	Thu Aug 03 22:26:53 2017 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68
\ No newline at end of file
+https://mbed.org/users/mbed_official/code/mbed/builds/fd96258d940d
\ No newline at end of file