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start of velocity code

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ReFil 2021-01-08 20:21:45 +00:00
parent ad5d53d4bf
commit 293e1a60b7
2 changed files with 4 additions and 2 deletions
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5
app/drivers/sensor/ma730/ma730.c
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@ -103,8 +103,8 @@ static int ma730_sample_fetch(const struct device *dev, enum sensor_channel chan
if (ma730_spi_read_data(dev, &val)) { if (ma730_spi_read_data(dev, &val)) {
return -EIO return -EIO
} }
data->oldangle = data->angle;
data->angle = val; data->angle = val;
} }
static int ma730_channel_get(const struct device *dev, enum sensor_channel chan, static int ma730_channel_get(const struct device *dev, enum sensor_channel chan,
@ -115,7 +115,8 @@ static int ma730_channel_get(const struct device *dev, enum sensor_channel chan,
return -ENOTSUP; return -ENOTSUP;
} }
else if (chan == SENSOR_CHAN_ROTATION) { else if (chan == SENSOR_CHAN_ROTATION) {
val->val1 = int(data->angle / (65536*resolution)); float absang = data->angle / (65536*(cfg->resolution)/2.5)
val->val1 = int(absang);
} }
else { else {
//velocity code //velocity code

1
app/drivers/sensor/ma730/ma730.h
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@ -90,6 +90,7 @@ struct ma730_data {
const struct device *bus; const struct device *bus;
struct spi_cs_control cs_ctrl; struct spi_cs_control cs_ctrl;
uint16_t oldangle;
uint16_t angle; uint16_t angle;
int8_t velocity; int8_t velocity;
bool direction; bool direction;