static void read(SENSOR* sensor){
ITG3200* device = (ITG3200*)sensor;
const I2C_DEVICE* i2c = &(device->i2cInfo);
uint8_t response[8];
if(i2cMasterReadRegisters(i2c,TMP_H,sizeof(response),response)){
int16_t tmp;
// tempC = 35.0 + ((rawVal + 13200)/280.0);
tmp = (response[0] << 8) | response[1]; // temperature
device->celsius = 35 + ((tmp + 13200)/280);
// Divide readings by 14.375 to get degrees per second
// Same as multiply by 0.069565217391304347826086956521739
// Fib series: 0, 15, 345
tmp = (response[2] << 8) | response[3]; // x
tmp -= device->x_zero;
device->gyro.x_axis_degrees_per_second = fraction32(tmp, frac);
tmp = (response[4] << 8) | response[5]; // y
tmp -= device->y_zero;
device->gyro.y_axis_degrees_per_second = fraction32(tmp, frac);
tmp = (response[6] << 8) | response[7]; // z
tmp -= device->z_zero;
device->gyro.z_axis_degrees_per_second = fraction32(tmp, frac);
}
}
static GYRO_TYPE __read_channel(ADC_CHANNEL pin, boolean slow, uint16_t zero){
int16_t adc = a2dReadMv(pin);
adc -= zero;
GYRO_TYPE rtn;
if(slow){
rtn = fraction32(adc, ly530alh_slow_frac);
}else{
rtn = fraction32(adc, ly530alh_fast_frac);
}
return rtn;
}
static void __Phidget_Humidity_read(SENSOR* sensor){
Phidget_Humidity* device = (Phidget_Humidity*)sensor;
uint16_t adc = __phidgetsRead(device->adcPin);
// scale it: (0.1946 * adc)-41.98
adc = fraction32(adc, phidget_humidity_frac);
adc -= 42;
device->humidity.percent = adc;
}
// Read all the values and store into the device
static void _read(SENSOR* sensor){
Maxbotix_MB7077* sonar = (Maxbotix_MB7077*)sensor;
uint16_t adc = a2dConvert10bit(sonar->adcPin);
if(sonar->inWater){
// Multiply by 4.3
adc = fraction32(adc,_frac);
}
sonar->distance.cm = adc;
}
static GYRO_TYPE __read_channel(ADC_CHANNEL pin, boolean slow, uint16_t zero){
// Read the voltage im mV
int16_t adc = 0;
for(uint8_t s=0; s<SAMPLES;s++){
adc += a2dReadMv(pin);
}
adc /= SAMPLES;
// Make zero relative
adc -= zero;
GYRO_TYPE rtn;
if(slow){
// Divide by 3.33mV = multiply by 0.3
rtn = fraction32(adc, slow_frac);
}else{
// Divide by 0.83mV = multiply by 1.2
rtn = fraction32(adc, fast_frac);
}
return rtn;
}
// Read all the values and store into the device
static void __ping_read(SENSOR* sensor){
TICK_COUNT duration;
PingSonar* device = (PingSonar*)sensor;
// 5 us Trigger Pulse
pin_pulseOut(device->ioPin,5,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->ioPin,TRUE);
device->distance.cm = fraction32(duration, ping_frac);
// device->distance.cm = duration;
}
// Read all the values and store into the device
static void __srf04_read(SENSOR* sensor){
TICK_COUNT duration;
Devantech_SRF04* device = (Devantech_SRF04*)sensor;
// initialise the pins
pin_make_output(device->out,FALSE); // Set low
pin_make_input(device->in,FALSE);
// 10us high trigger pulse
pin_pulseOut(device->out,10,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->in,TRUE);
device->distance.cm = fraction32(duration, srf04_frac);
}
