void printRaw(void) {
Vector3f v;
accRead(&v);
printf("Ax: %f Ay: %f Az: %f\n", v.x, v.y, v.z);
gyroRead(&v);
printf("Gx: %f Gy: %f Gz: %f\n", v.x, v.y, v.z);
magRead(&v);
printf("Mx: %f My: %f Mz: %f\n", v.x, v.y, v.z);
}
uint8_t compassRead(int16_t *data)
{ int ii;
int16_t buf[4]; uint8_t *tt=(uint8_t *) &buf[0];
// data are LSB first no need for byte swap
gyroRead(tt); for(ii=0;ii<3;ii++) data[ii]=buf[ii];
#ifdef LSM303D
accRead(tt); for(ii=0;ii<3;ii++) data[3+ii]=buf[ii];
magRead(tt); for(ii=0;ii<3;ii++) data[6+ii]=buf[ii];
tempRead(tt); data[9]=buf[0];
#else
accRead(tt); for(ii=0;ii<3;ii++) data[3+ii]=buf[ii]>>4;
magRead(tt); for(ii=0;ii<3;ii++) data[6+ii]=ByteSwap(buf[ii]);//(int16_t)(tt[jj++]<<8 | tt[jj++]);
tempRead(tt); data[9]=ByteSwap(buf[0])>>4;// ((int16_t)(tt[0]<<8 | tt[1]))>>4;
#endif
//
return 1;
}
// Returns the angular difference in the horizontal plane between
// a default vector an north in degrees.
float getHeading()
{
// Default vector of x axis
float from[3] = { 1, 0, 0 };
// Get latest compass readings for calculations
accRead(&acc);
magRead(&mag);
return calcHeading(from, &acc, &mag);
}
void getMag(int16_t *data)
{ int ii;
int16_t buf[4]; uint8_t *tt=(uint8_t *) &buf[0];
magRead(tt); for(ii=0;ii<3;ii++) data[6+ii]=ByteSwap(buf[ii]);//(int16_t)(tt[jj++]<<8 | tt[jj++]);
}
void getMag(uint16_t *data){ magRead((uint8_t *)data);}
