Update hormone config
Dependencies: mbed Servo PM mbed-rtos hormone calculator
Diff: MPU9250.h
- Revision:
- 2:18835f8732ad
- Parent:
- 0:43d21d5145d3
- Child:
- 6:8ae55e1f7e76
--- a/MPU9250.h Thu Apr 19 01:54:55 2018 +0000 +++ b/MPU9250.h Wed Jun 20 04:59:45 2018 +0000 @@ -659,18 +659,19 @@ selfTest[5] = readByte(MPU9250_ADDRESS, SELF_TEST_Z_GYRO); // Z-axis gyro self-test results // Retrieve factory self-test value from self-test code reads - factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[0] - 1.0) )); // FT[Xa] factory trim calculation - factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[1] - 1.0) )); // FT[Ya] factory trim calculation - factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[2] - 1.0) )); // FT[Za] factory trim calculation - factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation - factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation - factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation + // Modify by Happ + factoryTrim[0] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[0] - 1.0f) )); // FT[Xa] factory trim calculation + factoryTrim[1] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[1] - 1.0f) )); // FT[Ya] factory trim calculation + factoryTrim[2] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[2] - 1.0f) )); // FT[Za] factory trim calculation + factoryTrim[3] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation + factoryTrim[4] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation + factoryTrim[5] = (float)(2620/1<<FS)*(pow( 1.01f , ((float)selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response // To get percent, must multiply by 100 for (int i = 0; i < 3; i++) { - destination[i] = 100.0*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences - destination[i+3] = 100.0*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences + destination[i] = 100.0f*((float)(aSTAvg[i] - aAvg[i]))/factoryTrim[i]; // Report percent differences + destination[i+3] = 100.0f*((float)(gSTAvg[i] - gAvg[i]))/factoryTrim[i+3]; // Report percent differences } }