João Pereira / LSM6DS3

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of LSM6DS3 by Sherry Yang

LSM6DS3.cpp@0:46630122dec9, 2016-06-16 (annotated)

Committer:
5hel2l2y
Date:
Thu Jun 16 20:07:13 2016 +0000
Revision:
0:46630122dec9
Child:
1:924c7dea286e
modified to work LSM6DS3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
5hel2l2y 0:46630122dec9 1 #include "LSM6DS3.h"
5hel2l2y 0:46630122dec9 2
5hel2l2y 0:46630122dec9 3 LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl)
5hel2l2y 0:46630122dec9 4 {
5hel2l2y 0:46630122dec9 5 // xgAddress will store the 7-bit I2C address, if using I2C.
5hel2l2y 0:46630122dec9 6 xgAddress = xgAddr;
5hel2l2y 0:46630122dec9 7 }
5hel2l2y 0:46630122dec9 8
5hel2l2y 0:46630122dec9 9 uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl,
5hel2l2y 0:46630122dec9 10 gyro_odr gODR, accel_odr aODR)
5hel2l2y 0:46630122dec9 11 {
5hel2l2y 0:46630122dec9 12 // Store the given scales in class variables. These scale variables
5hel2l2y 0:46630122dec9 13 // are used throughout to calculate the actual g's, DPS,and Gs's.
5hel2l2y 0:46630122dec9 14 gScale = gScl;
5hel2l2y 0:46630122dec9 15 aScale = aScl;
5hel2l2y 0:46630122dec9 16
5hel2l2y 0:46630122dec9 17 // Once we have the scale values, we can calculate the resolution
5hel2l2y 0:46630122dec9 18 // of each sensor. That's what these functions are for. One for each sensor
5hel2l2y 0:46630122dec9 19 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
5hel2l2y 0:46630122dec9 20 calcaRes(); // Calculate g / ADC tick, stored in aRes variable
5hel2l2y 0:46630122dec9 21
5hel2l2y 0:46630122dec9 22
5hel2l2y 0:46630122dec9 23 // To verify communication, we can read from the WHO_AM_I register of
5hel2l2y 0:46630122dec9 24 // each device. Store those in a variable so we can return them.
5hel2l2y 0:46630122dec9 25 // The start of the addresses we want to read from
5hel2l2y 0:46630122dec9 26 char cmd[2] = {
5hel2l2y 0:46630122dec9 27 WHO_AM_I_REG,
5hel2l2y 0:46630122dec9 28 0
5hel2l2y 0:46630122dec9 29 };
5hel2l2y 0:46630122dec9 30
5hel2l2y 0:46630122dec9 31 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 32 i2c.write(xgAddress, cmd, 1, true);
5hel2l2y 0:46630122dec9 33 // Read in all the 8 bits of data
5hel2l2y 0:46630122dec9 34 i2c.read(xgAddress, cmd+1, 1);
5hel2l2y 0:46630122dec9 35 uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
5hel2l2y 0:46630122dec9 36
5hel2l2y 0:46630122dec9 37 // Gyro initialization stuff:
5hel2l2y 0:46630122dec9 38 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
5hel2l2y 0:46630122dec9 39 setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
5hel2l2y 0:46630122dec9 40 setGyroScale(gScale); // Set the gyro range
5hel2l2y 0:46630122dec9 41
5hel2l2y 0:46630122dec9 42 // Accelerometer initialization stuff:
5hel2l2y 0:46630122dec9 43 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
5hel2l2y 0:46630122dec9 44 setAccelODR(aODR); // Set the accel data rate.
5hel2l2y 0:46630122dec9 45 setAccelScale(aScale); // Set the accel range.
5hel2l2y 0:46630122dec9 46
5hel2l2y 0:46630122dec9 47 // Once everything is initialized, return the WHO_AM_I registers we read:
5hel2l2y 0:46630122dec9 48 return xgTest;
5hel2l2y 0:46630122dec9 49 }
5hel2l2y 0:46630122dec9 50
5hel2l2y 0:46630122dec9 51 void LSM6DS3::initGyro()
5hel2l2y 0:46630122dec9 52 {
5hel2l2y 0:46630122dec9 53 char cmd[4] = {
5hel2l2y 0:46630122dec9 54 CTRL2_G,
5hel2l2y 0:46630122dec9 55 gScale | G_ODR_119_BW_14,
5hel2l2y 0:46630122dec9 56 0, // Default data out and int out
5hel2l2y 0:46630122dec9 57 0 // Default power mode and high pass settings
5hel2l2y 0:46630122dec9 58 };
5hel2l2y 0:46630122dec9 59
5hel2l2y 0:46630122dec9 60 // Write the data to the gyro control registers
5hel2l2y 0:46630122dec9 61 i2c.write(xgAddress, cmd, 4);
5hel2l2y 0:46630122dec9 62 }
5hel2l2y 0:46630122dec9 63
5hel2l2y 0:46630122dec9 64 void LSM6DS3::initAccel()
5hel2l2y 0:46630122dec9 65 {
5hel2l2y 0:46630122dec9 66 char cmd[4] = {
5hel2l2y 0:46630122dec9 67 CTRL1_XL,
5hel2l2y 0:46630122dec9 68 0x38, // Enable all axis and don't decimate data in out Registers
5hel2l2y 0:46630122dec9 69 (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
5hel2l2y 0:46630122dec9 70 0 // Default resolution mode and filtering settings
5hel2l2y 0:46630122dec9 71 };
5hel2l2y 0:46630122dec9 72
5hel2l2y 0:46630122dec9 73 // Write the data to the accel control registers
5hel2l2y 0:46630122dec9 74 i2c.write(xgAddress, cmd, 4);
5hel2l2y 0:46630122dec9 75 }
5hel2l2y 0:46630122dec9 76
5hel2l2y 0:46630122dec9 77 void LSM6DS3::readAccel()
5hel2l2y 0:46630122dec9 78 {
5hel2l2y 0:46630122dec9 79 // The data we are going to read from the accel
5hel2l2y 0:46630122dec9 80 char data[6];
5hel2l2y 0:46630122dec9 81
5hel2l2y 0:46630122dec9 82 // Set addresses
5hel2l2y 0:46630122dec9 83 char subAddressXL = OUTX_L_XL;
5hel2l2y 0:46630122dec9 84 char subAddressXH = OUTX_H_XL;
5hel2l2y 0:46630122dec9 85 char subAddressYL = OUTY_L_XL;
5hel2l2y 0:46630122dec9 86 char subAddressYH = OUTY_H_XL;
5hel2l2y 0:46630122dec9 87 char subAddressZL = OUTZ_L_XL;
5hel2l2y 0:46630122dec9 88 char subAddressZH = OUTZ_H_XL;
5hel2l2y 0:46630122dec9 89
5hel2l2y 0:46630122dec9 90 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 91 i2c.write(xgAddress, &subAddressXL, 1, true);
5hel2l2y 0:46630122dec9 92 // Read in register containing the axes data and alocated to the correct index
5hel2l2y 0:46630122dec9 93 i2c.read(xgAddress, data, 1);
5hel2l2y 0:46630122dec9 94
5hel2l2y 0:46630122dec9 95 i2c.write(xgAddress, &subAddressXH, 1, true);
5hel2l2y 0:46630122dec9 96 i2c.read(xgAddress, (data + 1), 1);
5hel2l2y 0:46630122dec9 97 i2c.write(xgAddress, &subAddressYL, 1, true);
5hel2l2y 0:46630122dec9 98 i2c.read(xgAddress, (data + 2), 1);
5hel2l2y 0:46630122dec9 99 i2c.write(xgAddress, &subAddressYH, 1, true);
5hel2l2y 0:46630122dec9 100 i2c.read(xgAddress, (data + 3), 1);
5hel2l2y 0:46630122dec9 101 i2c.write(xgAddress, &subAddressZL, 1, true);
5hel2l2y 0:46630122dec9 102 i2c.read(xgAddress, (data + 4), 1);
5hel2l2y 0:46630122dec9 103 i2c.write(xgAddress, &subAddressZH, 1, true);
5hel2l2y 0:46630122dec9 104 i2c.read(xgAddress, (data + 5), 1);
5hel2l2y 0:46630122dec9 105
5hel2l2y 0:46630122dec9 106 // Reassemble the data and convert to g
5hel2l2y 0:46630122dec9 107 ax_raw = data[0] | (data[1] << 8);
5hel2l2y 0:46630122dec9 108 ay_raw = data[2] | (data[3] << 8);
5hel2l2y 0:46630122dec9 109 az_raw = data[4] | (data[5] << 8);
5hel2l2y 0:46630122dec9 110 ax = ax_raw * aRes;
5hel2l2y 0:46630122dec9 111 ay = ay_raw * aRes;
5hel2l2y 0:46630122dec9 112 az = az_raw * aRes;
5hel2l2y 0:46630122dec9 113 }
5hel2l2y 0:46630122dec9 114
5hel2l2y 0:46630122dec9 115 void LSM6DS3::readTemp()
5hel2l2y 0:46630122dec9 116 {
5hel2l2y 0:46630122dec9 117 // The data we are going to read from the temp
5hel2l2y 0:46630122dec9 118 char data[2];
5hel2l2y 0:46630122dec9 119
5hel2l2y 0:46630122dec9 120 // Set addresses
5hel2l2y 0:46630122dec9 121 char subAddressL = OUT_TEMP_L;
5hel2l2y 0:46630122dec9 122 char subAddressH = OUT_TEMP_H;
5hel2l2y 0:46630122dec9 123
5hel2l2y 0:46630122dec9 124 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 125 i2c.write(xgAddress, &subAddressL, 1, true);
5hel2l2y 0:46630122dec9 126 // Read in register containing the temperature data and alocated to the correct index
5hel2l2y 0:46630122dec9 127 i2c.read(xgAddress, data, 1);
5hel2l2y 0:46630122dec9 128
5hel2l2y 0:46630122dec9 129 i2c.write(xgAddress, &subAddressH, 1, true);
5hel2l2y 0:46630122dec9 130 i2c.read(xgAddress, (data + 1), 1);
5hel2l2y 0:46630122dec9 131
5hel2l2y 0:46630122dec9 132 // Temperature is a 12-bit signed integer
5hel2l2y 0:46630122dec9 133 temperature_raw = data[0] | (data[1] << 8);
5hel2l2y 0:46630122dec9 134
5hel2l2y 0:46630122dec9 135 temperature_c = (float)temperature_raw / 16.0 + 25.0;
5hel2l2y 0:46630122dec9 136 temperature_f = temperature_c * 1.8 + 32.0;
5hel2l2y 0:46630122dec9 137 }
5hel2l2y 0:46630122dec9 138
5hel2l2y 0:46630122dec9 139
5hel2l2y 0:46630122dec9 140 void LSM6DS3::readGyro()
5hel2l2y 0:46630122dec9 141 {
5hel2l2y 0:46630122dec9 142 // The data we are going to read from the gyro
5hel2l2y 0:46630122dec9 143 char data[6];
5hel2l2y 0:46630122dec9 144
5hel2l2y 0:46630122dec9 145 // Set addresses
5hel2l2y 0:46630122dec9 146 char subAddressXL = OUTX_L_G;
5hel2l2y 0:46630122dec9 147 char subAddressXH = OUTX_H_G;
5hel2l2y 0:46630122dec9 148 char subAddressYL = OUTY_L_G;
5hel2l2y 0:46630122dec9 149 char subAddressYH = OUTY_H_G;
5hel2l2y 0:46630122dec9 150 char subAddressZL = OUTZ_L_G;
5hel2l2y 0:46630122dec9 151 char subAddressZH = OUTZ_H_G;
5hel2l2y 0:46630122dec9 152
5hel2l2y 0:46630122dec9 153 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 154 i2c.write(xgAddress, &subAddressXL, 1, true);
5hel2l2y 0:46630122dec9 155 // Read in register containing the axes data and alocated to the correct index
5hel2l2y 0:46630122dec9 156 i2c.read(xgAddress, data, 1);
5hel2l2y 0:46630122dec9 157
5hel2l2y 0:46630122dec9 158 i2c.write(xgAddress, &subAddressXH, 1, true);
5hel2l2y 0:46630122dec9 159 i2c.read(xgAddress, (data + 1), 1);
5hel2l2y 0:46630122dec9 160 i2c.write(xgAddress, &subAddressYL, 1, true);
5hel2l2y 0:46630122dec9 161 i2c.read(xgAddress, (data + 2), 1);
5hel2l2y 0:46630122dec9 162 i2c.write(xgAddress, &subAddressYH, 1, true);
5hel2l2y 0:46630122dec9 163 i2c.read(xgAddress, (data + 3), 1);
5hel2l2y 0:46630122dec9 164 i2c.write(xgAddress, &subAddressZL, 1, true);
5hel2l2y 0:46630122dec9 165 i2c.read(xgAddress, (data + 4), 1);
5hel2l2y 0:46630122dec9 166 i2c.write(xgAddress, &subAddressZH, 1, true);
5hel2l2y 0:46630122dec9 167 i2c.read(xgAddress, (data + 5), 1);
5hel2l2y 0:46630122dec9 168
5hel2l2y 0:46630122dec9 169 // Reassemble the data and convert to degrees/sec
5hel2l2y 0:46630122dec9 170 gx_raw = data[0] | (data[1] << 8);
5hel2l2y 0:46630122dec9 171 gy_raw = data[2] | (data[3] << 8);
5hel2l2y 0:46630122dec9 172 gz_raw = data[4] | (data[5] << 8);
5hel2l2y 0:46630122dec9 173 gx = gx_raw * gRes;
5hel2l2y 0:46630122dec9 174 gy = gy_raw * gRes;
5hel2l2y 0:46630122dec9 175 gz = gz_raw * gRes;
5hel2l2y 0:46630122dec9 176 }
5hel2l2y 0:46630122dec9 177
5hel2l2y 0:46630122dec9 178 void LSM6DS3::setGyroScale(gyro_scale gScl)
5hel2l2y 0:46630122dec9 179 {
5hel2l2y 0:46630122dec9 180 // The start of the addresses we want to read from
5hel2l2y 0:46630122dec9 181 char cmd[2] = {
5hel2l2y 0:46630122dec9 182 CTRL2_G,
5hel2l2y 0:46630122dec9 183 0
5hel2l2y 0:46630122dec9 184 };
5hel2l2y 0:46630122dec9 185
5hel2l2y 0:46630122dec9 186 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 187 i2c.write(xgAddress, cmd, 1, true);
5hel2l2y 0:46630122dec9 188 // Read in all the 8 bits of data
5hel2l2y 0:46630122dec9 189 i2c.read(xgAddress, cmd+1, 1);
5hel2l2y 0:46630122dec9 190
5hel2l2y 0:46630122dec9 191 // Then mask out the gyro scale bits:
5hel2l2y 0:46630122dec9 192 cmd[1] &= 0xFF^(0x3 << 3);
5hel2l2y 0:46630122dec9 193 // Then shift in our new scale bits:
5hel2l2y 0:46630122dec9 194 cmd[1] |= gScl << 3;
5hel2l2y 0:46630122dec9 195
5hel2l2y 0:46630122dec9 196 // Write the gyroscale out to the gyro
5hel2l2y 0:46630122dec9 197 i2c.write(xgAddress, cmd, 2);
5hel2l2y 0:46630122dec9 198
5hel2l2y 0:46630122dec9 199 // We've updated the sensor, but we also need to update our class variables
5hel2l2y 0:46630122dec9 200 // First update gScale:
5hel2l2y 0:46630122dec9 201 gScale = gScl;
5hel2l2y 0:46630122dec9 202 // Then calculate a new gRes, which relies on gScale being set correctly:
5hel2l2y 0:46630122dec9 203 calcgRes();
5hel2l2y 0:46630122dec9 204 }
5hel2l2y 0:46630122dec9 205
5hel2l2y 0:46630122dec9 206 void LSM6DS3::setAccelScale(accel_scale aScl)
5hel2l2y 0:46630122dec9 207 {
5hel2l2y 0:46630122dec9 208 // The start of the addresses we want to read from
5hel2l2y 0:46630122dec9 209 char cmd[2] = {
5hel2l2y 0:46630122dec9 210 CTRL1_XL,
5hel2l2y 0:46630122dec9 211 0
5hel2l2y 0:46630122dec9 212 };
5hel2l2y 0:46630122dec9 213
5hel2l2y 0:46630122dec9 214 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 215 i2c.write(xgAddress, cmd, 1, true);
5hel2l2y 0:46630122dec9 216 // Read in all the 8 bits of data
5hel2l2y 0:46630122dec9 217 i2c.read(xgAddress, cmd+1, 1);
5hel2l2y 0:46630122dec9 218
5hel2l2y 0:46630122dec9 219 // Then mask out the accel scale bits:
5hel2l2y 0:46630122dec9 220 cmd[1] &= 0xFF^(0x3 << 3);
5hel2l2y 0:46630122dec9 221 // Then shift in our new scale bits:
5hel2l2y 0:46630122dec9 222 cmd[1] |= aScl << 3;
5hel2l2y 0:46630122dec9 223
5hel2l2y 0:46630122dec9 224 // Write the accelscale out to the accel
5hel2l2y 0:46630122dec9 225 i2c.write(xgAddress, cmd, 2);
5hel2l2y 0:46630122dec9 226
5hel2l2y 0:46630122dec9 227 // We've updated the sensor, but we also need to update our class variables
5hel2l2y 0:46630122dec9 228 // First update aScale:
5hel2l2y 0:46630122dec9 229 aScale = aScl;
5hel2l2y 0:46630122dec9 230 // Then calculate a new aRes, which relies on aScale being set correctly:
5hel2l2y 0:46630122dec9 231 calcaRes();
5hel2l2y 0:46630122dec9 232 }
5hel2l2y 0:46630122dec9 233
5hel2l2y 0:46630122dec9 234 void LSM6DS3::setGyroODR(gyro_odr gRate)
5hel2l2y 0:46630122dec9 235 {
5hel2l2y 0:46630122dec9 236 // The start of the addresses we want to read from
5hel2l2y 0:46630122dec9 237 char cmd[2] = {
5hel2l2y 0:46630122dec9 238 CTRL2_G,
5hel2l2y 0:46630122dec9 239 0
5hel2l2y 0:46630122dec9 240 };
5hel2l2y 0:46630122dec9 241
5hel2l2y 0:46630122dec9 242 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 243 i2c.write(xgAddress, cmd, 1, true);
5hel2l2y 0:46630122dec9 244 // Read in all the 8 bits of data
5hel2l2y 0:46630122dec9 245 i2c.read(xgAddress, cmd+1, 1);
5hel2l2y 0:46630122dec9 246
5hel2l2y 0:46630122dec9 247 // Then mask out the gyro odr bits:
5hel2l2y 0:46630122dec9 248 cmd[1] &= (0x3 << 3);
5hel2l2y 0:46630122dec9 249 // Then shift in our new odr bits:
5hel2l2y 0:46630122dec9 250 cmd[1] |= gRate;
5hel2l2y 0:46630122dec9 251
5hel2l2y 0:46630122dec9 252 // Write the gyroodr out to the gyro
5hel2l2y 0:46630122dec9 253 i2c.write(xgAddress, cmd, 2);
5hel2l2y 0:46630122dec9 254 }
5hel2l2y 0:46630122dec9 255
5hel2l2y 0:46630122dec9 256 void LSM6DS3::setAccelODR(accel_odr aRate)
5hel2l2y 0:46630122dec9 257 {
5hel2l2y 0:46630122dec9 258 // The start of the addresses we want to read from
5hel2l2y 0:46630122dec9 259 char cmd[2] = {
5hel2l2y 0:46630122dec9 260 CTRL1_XL,
5hel2l2y 0:46630122dec9 261 0
5hel2l2y 0:46630122dec9 262 };
5hel2l2y 0:46630122dec9 263
5hel2l2y 0:46630122dec9 264 // Write the address we are going to read from and don't end the transaction
5hel2l2y 0:46630122dec9 265 i2c.write(xgAddress, cmd, 1, true);
5hel2l2y 0:46630122dec9 266 // Read in all the 8 bits of data
5hel2l2y 0:46630122dec9 267 i2c.read(xgAddress, cmd+1, 1);
5hel2l2y 0:46630122dec9 268
5hel2l2y 0:46630122dec9 269 // Then mask out the accel odr bits:
5hel2l2y 0:46630122dec9 270 cmd[1] &= 0xFF^(0x7 << 5);
5hel2l2y 0:46630122dec9 271 // Then shift in our new odr bits:
5hel2l2y 0:46630122dec9 272 cmd[1] |= aRate << 5;
5hel2l2y 0:46630122dec9 273
5hel2l2y 0:46630122dec9 274 // Write the accelodr out to the accel
5hel2l2y 0:46630122dec9 275 i2c.write(xgAddress, cmd, 2);
5hel2l2y 0:46630122dec9 276 }
5hel2l2y 0:46630122dec9 277
5hel2l2y 0:46630122dec9 278 void LSM6DS3::calcgRes()
5hel2l2y 0:46630122dec9 279 {
5hel2l2y 0:46630122dec9 280 // Possible gyro scales (and their register bit settings) are:
5hel2l2y 0:46630122dec9 281 // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
5hel2l2y 0:46630122dec9 282 switch (gScale)
5hel2l2y 0:46630122dec9 283 {
5hel2l2y 0:46630122dec9 284 case G_SCALE_245DPS:
5hel2l2y 0:46630122dec9 285 gRes = 245.0 / 32768.0;
5hel2l2y 0:46630122dec9 286 break;
5hel2l2y 0:46630122dec9 287 case G_SCALE_500DPS:
5hel2l2y 0:46630122dec9 288 gRes = 500.0 / 32768.0;
5hel2l2y 0:46630122dec9 289 break;
5hel2l2y 0:46630122dec9 290 case G_SCALE_2000DPS:
5hel2l2y 0:46630122dec9 291 gRes = 2000.0 / 32768.0;
5hel2l2y 0:46630122dec9 292 break;
5hel2l2y 0:46630122dec9 293 }
5hel2l2y 0:46630122dec9 294 }
5hel2l2y 0:46630122dec9 295
5hel2l2y 0:46630122dec9 296 void LSM6DS3::calcaRes()
5hel2l2y 0:46630122dec9 297 {
5hel2l2y 0:46630122dec9 298 // Possible accelerometer scales (and their register bit settings) are:
5hel2l2y 0:46630122dec9 299 // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
5hel2l2y 0:46630122dec9 300 switch (aScale)
5hel2l2y 0:46630122dec9 301 {
5hel2l2y 0:46630122dec9 302 case A_SCALE_2G:
5hel2l2y 0:46630122dec9 303 aRes = 2.0 / 32768.0;
5hel2l2y 0:46630122dec9 304 break;
5hel2l2y 0:46630122dec9 305 case A_SCALE_4G:
5hel2l2y 0:46630122dec9 306 aRes = 4.0 / 32768.0;
5hel2l2y 0:46630122dec9 307 break;
5hel2l2y 0:46630122dec9 308 case A_SCALE_8G:
5hel2l2y 0:46630122dec9 309 aRes = 8.0 / 32768.0;
5hel2l2y 0:46630122dec9 310 break;
5hel2l2y 0:46630122dec9 311 case A_SCALE_16G:
5hel2l2y 0:46630122dec9 312 aRes = 16.0 / 32768.0;
5hel2l2y 0:46630122dec9 313 break;
5hel2l2y 0:46630122dec9 314 }
5hel2l2y 0:46630122dec9 315 }