Unverified Commit 32c669a3 authored by Birte Kristina Friesel's avatar Birte Kristina Friesel
Browse files

mpu9250: fix casting / sign extension on 32bit systems

parent 182a42b8

src/driver/mpu9250.cc

+11 −10
Original line number Diff line number Diff line
@@ -5,6 +5,7 @@ 
#else

#include "driver/soft_i2c.h"

#endif

#include <stdint.h>



/*

Copyright (c) 2016 SparkFun Electronics, Inc.
@@ -143,7 +144,7 @@ signed int MPU9250::getWordReg(unsigned char const regBase) 
	txbuf[0] = regBase;

	i2c.xmit(address, 1, txbuf, 2, rxbuf);



	return ((signed int)rxbuf[0] << 8) + rxbuf[1];

	return (int16_t)((rxbuf[0] << 8) + rxbuf[1]);

}



float MPU9250::getTemperature()
@@ -156,9 +157,9 @@ void MPU9250::getRawGyro(int *x, int *y, int *z) 
	txbuf[0] = 67;

	i2c.xmit(address, 1, txbuf, 6, rxbuf);



	*x = ((signed int) rxbuf[0] << 8) + rxbuf[1];

	*y = ((signed int) rxbuf[2] << 8) + rxbuf[3];

	*z = ((signed int) rxbuf[4] << 8) + rxbuf[5];

	*x = (int16_t)(( rxbuf[0] << 8) + rxbuf[1]);

	*y = (int16_t)(( rxbuf[2] << 8) + rxbuf[3]);

	*z = (int16_t)(( rxbuf[4] << 8) + rxbuf[5]);

}



void MPU9250::getRawAccel(int *x, int *y, int *z)
@@ -166,9 +167,9 @@ void MPU9250::getRawAccel(int *x, int *y, int *z) 
	txbuf[0] = 59;

	i2c.xmit(address, 1, txbuf, 6, rxbuf);



	*x = ((signed int) rxbuf[0] << 8) + rxbuf[1];

	*y = ((signed int) rxbuf[2] << 8) + rxbuf[3];

	*z = ((signed int) rxbuf[4] << 8) + rxbuf[5];

	*x = (int16_t)(( rxbuf[0] << 8) + rxbuf[1]);

	*y = (int16_t)(( rxbuf[2] << 8) + rxbuf[3]);

	*z = (int16_t)(( rxbuf[4] << 8) + rxbuf[5]);

}



void MPU9250::getAccel(float *g_x, float *g_y, float *g_z)
@@ -211,9 +212,9 @@ bool MPU9250::getRawMagnet(int *x, int *y, int *z) 
	i2c.xmit(0x0c, 1, txbuf, 8, rxbuf);



	if ((rxbuf[0] & 0x01) && !(rxbuf[7] & 0x08)) {

		*x = ((signed int)rxbuf[2] << 8) + rxbuf[1];

		*y = ((signed int)rxbuf[4] << 8) + rxbuf[3];

		*z = ((signed int)rxbuf[6] << 8) + rxbuf[5];

		*x = (int16_t)((rxbuf[2] << 8) + rxbuf[1]);

		*y = (int16_t)((rxbuf[4] << 8) + rxbuf[3]);

		*z = (int16_t)((rxbuf[6] << 8) + rxbuf[5]);

		return true;

	}

	else {