Use int for accelerometer and gyro API's instead of short

sandeepmistry · sandeepmistry · commit af28e53e5b32 · 2015-12-21T13:43:50.000-05:00
diff --git a/libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino b/libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino
@@ -50,7 +50,7 @@ void setup() {
 }
 
 void loop() {
-  short int axRaw, ayRaw, azRaw;         // raw accelerometer values
+  int axRaw, ayRaw, azRaw;         // raw accelerometer values
   float ax, ay, az;
 
   // read raw accelerometer measurements from device
@@ -74,7 +74,7 @@ void loop() {
   delay(5000);
 }
 
-float convertRawAcceleration(short aRaw) {
+float convertRawAcceleration(int aRaw) {
   // since we are using 2G range
   // -2g maps to a raw value of -32768
   // +2g maps to a raw value of 32767
diff --git a/libraries/CurieIMU/examples/AccelerometerOrientation/AccelerometerOrientation.ino b/libraries/CurieIMU/examples/AccelerometerOrientation/AccelerometerOrientation.ino
@@ -52,9 +52,9 @@ int orientation = - 1;   // the board's orientation
     5: portrait, USB connector down
   */
   // read accelerometer:
-  short x = CurieIMU.readAccelerometer(X_AXIS);
-  short y = CurieIMU.readAccelerometer(Y_AXIS);
-  short z = CurieIMU.readAccelerometer(Z_AXIS);
+  int x = CurieIMU.readAccelerometer(X_AXIS);
+  int y = CurieIMU.readAccelerometer(Y_AXIS);
+  int z = CurieIMU.readAccelerometer(Z_AXIS);
 
   // calculate the absolute values, to determine the largest
   int absX = abs(x);
@@ -85,8 +85,8 @@ int orientation = - 1;   // the board's orientation
       orientationString = "connector up";
       orientation = 4;
     } else {
-      orientationString = "connector up";
-      orientation = 4;
+      orientationString = "connector down";
+      orientation = 5;
     }
   }
 
diff --git a/libraries/CurieIMU/examples/Gyro/Gyro.ino b/libraries/CurieIMU/examples/Gyro/Gyro.ino
@@ -48,7 +48,7 @@ void setup() {
 }
 
 void loop() {
-  short int gxRaw, gyRaw, gzRaw;         // raw gyro values
+  int gxRaw, gyRaw, gzRaw;         // raw gyro values
   float gx, gy, gz;
 
   // read raw gyro measurements from device
@@ -72,7 +72,7 @@ void loop() {
   delay(5000);
 }
 
-float convertRawGyro(short gRaw) {
+float convertRawGyro(int gRaw) {
   // since we are using 250 degrees/seconds range
   // -250 maps to a raw value of -32768
   // +250 maps to a raw value of 32767
diff --git a/libraries/CurieIMU/examples/RawImuDataSerial/RawImuDataSerial.ino b/libraries/CurieIMU/examples/RawImuDataSerial/RawImuDataSerial.ino
@@ -31,8 +31,8 @@
 */
 
 #include "CurieIMU.h"
-short int ax, ay, az;         // accelerometer values
-short int gx, gy, gz;         // gyrometer values
+int ax, ay, az;         // accelerometer values
+int gx, gy, gz;         // gyrometer values
 
 const int ledPin = 13;      // activity LED pin
 boolean blinkState = false; // state of the LED
diff --git a/libraries/CurieIMU/src/CurieIMU.cpp b/libraries/CurieIMU/src/CurieIMU.cpp
@@ -456,22 +456,43 @@ void CurieIMUClass::setStepDetectionMode(int mode)
     BMI160Class::setStepDetectionMode((BMI160StepMode)mode);
 }
 
-void CurieIMUClass::readMotionSensor(short& ax, short& ay, short& az, short& gx, short& gy, short& gz)
+void CurieIMUClass::readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy, int& gz)
 {
-    getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+    short sax, say, saz, sgx, sgy, sgz;
+
+    getMotion6(&sax, &say, &saz, &sgx, &sgy, &sgz);
+
+    ax = sax;
+    ay = say;
+    az = saz;
+    gx = sgx;
+    gy = sgy;
+    gz = sgz;
 }
 
-void CurieIMUClass::readAccelerometer(short& x, short& y, short& z)
+void CurieIMUClass::readAccelerometer(int& x, int& y, int& z)
 {
-    getAcceleration(&x, &y, &z);
+    short sx, sy, sz;
+
+    getAcceleration(&sx, &sy, &sz);
+
+    x = sx;
+    y = sy;
+    z = sz;
 }
 
-void CurieIMUClass::readGyro(short& x, short& y, short& z)
+void CurieIMUClass::readGyro(int& x, int& y, int& z)
 {
-    getRotation(&x, &y, &z);
+    short sx, sy, sz;
+
+    getRotation(&sx, &sy, &sz);
+
+    x = sx;
+    y = sy;
+    z = sz;
 }
 
-short CurieIMUClass::readAccelerometer(int axis)
+int CurieIMUClass::readAccelerometer(int axis)
 {
     if (axis == X_AXIS) {
         return getAccelerationX();
@@ -484,7 +505,7 @@ short CurieIMUClass::readAccelerometer(int axis)
     return 0; 
 }
 
-short CurieIMUClass::readGyro(int axis)
+int CurieIMUClass::readGyro(int axis)
 {
     if (axis == X_AXIS) {
         return getRotationX();
@@ -497,7 +518,7 @@ short CurieIMUClass::readGyro(int axis)
     return 0;
 }
 
-short CurieIMUClass::readTemperature()
+int CurieIMUClass::readTemperature()
 {
     return getTemperature();
 }
diff --git a/libraries/CurieIMU/src/CurieIMU.h b/libraries/CurieIMU/src/CurieIMU.h
@@ -292,13 +292,13 @@ class CurieIMUClass : public BMI160Class {
         CurieIMUStepMode getStepDetectionMode();
         void setStepDetectionMode(int mode);
 
-        void readMotionSensor(short& ax, short& ay, short& az, short& gx, short& gy, short& gz);
-        void readAccelerometer(short& x, short& y, short& z);
-        void readGyro(short& x, short& y, short& z);
+        void readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy, int& gz);
+        void readAccelerometer(int& x, int& y, int& z);
+        void readGyro(int& x, int& y, int& z);
 
-        short readAccelerometer(int axis);
-        short readGyro(int axis);
-        short readTemperature();
+        int readAccelerometer(int axis);
+        int readGyro(int axis);
+        int readTemperature();
 
         bool shockDetected(int axis, int direction);
         bool motionDetected(int axis, int direction);

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ void setup() {`
`50`	`50`	`}`
`51`	`51`
`52`	`52`	`void loop() {`
`53`		`- short int axRaw, ayRaw, azRaw; // raw accelerometer values`
	`53`	`+ int axRaw, ayRaw, azRaw; // raw accelerometer values`
`54`	`54`	`float ax, ay, az;`
`55`	`55`
`56`	`56`	`// read raw accelerometer measurements from device`
`@@ -74,7 +74,7 @@ void loop() {`
`74`	`74`	`delay(5000);`
`75`	`75`	`}`
`76`	`76`
`77`		`-float convertRawAcceleration(short aRaw) {`
	`77`	`+float convertRawAcceleration(int aRaw) {`
`78`	`78`	`// since we are using 2G range`
`79`	`79`	`// -2g maps to a raw value of -32768`
`80`	`80`	`// +2g maps to a raw value of 32767`
Original file line number	Diff line number	Diff line change
`@@ -48,7 +48,7 @@ void setup() {`
`48`	`48`	`}`
`49`	`49`
`50`	`50`	`void loop() {`
`51`		`- short int gxRaw, gyRaw, gzRaw; // raw gyro values`
	`51`	`+ int gxRaw, gyRaw, gzRaw; // raw gyro values`
`52`	`52`	`float gx, gy, gz;`
`53`	`53`
`54`	`54`	`// read raw gyro measurements from device`
`@@ -72,7 +72,7 @@ void loop() {`
`72`	`72`	`delay(5000);`
`73`	`73`	`}`
`74`	`74`
`75`		`-float convertRawGyro(short gRaw) {`
	`75`	`+float convertRawGyro(int gRaw) {`
`76`	`76`	`// since we are using 250 degrees/seconds range`
`77`	`77`	`// -250 maps to a raw value of -32768`
`78`	`78`	`// +250 maps to a raw value of 32767`
Original file line number	Diff line number	Diff line change
`@@ -456,22 +456,43 @@ void CurieIMUClass::setStepDetectionMode(int mode)`
`456`	`456`	`BMI160Class::setStepDetectionMode((BMI160StepMode)mode);`
`457`	`457`	`}`
`458`	`458`
`459`		`-void CurieIMUClass::readMotionSensor(short& ax, short& ay, short& az, short& gx, short& gy, short& gz)`
	`459`	`+void CurieIMUClass::readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy, int& gz)`
`460`	`460`	`{`
`461`		`- getMotion6(&ax, &ay, &az, &gx, &gy, &gz);`
	`461`	`+ short sax, say, saz, sgx, sgy, sgz;`
	`462`	`+`
	`463`	`+ getMotion6(&sax, &say, &saz, &sgx, &sgy, &sgz);`
	`464`	`+`
	`465`	`+ ax = sax;`
	`466`	`+ ay = say;`
	`467`	`+ az = saz;`
	`468`	`+ gx = sgx;`
	`469`	`+ gy = sgy;`
	`470`	`+ gz = sgz;`
`462`	`471`	`}`
`463`	`472`
`464`		`-void CurieIMUClass::readAccelerometer(short& x, short& y, short& z)`
	`473`	`+void CurieIMUClass::readAccelerometer(int& x, int& y, int& z)`
`465`	`474`	`{`
`466`		`- getAcceleration(&x, &y, &z);`
	`475`	`+ short sx, sy, sz;`
	`476`	`+`
	`477`	`+ getAcceleration(&sx, &sy, &sz);`
	`478`	`+`
	`479`	`+ x = sx;`
	`480`	`+ y = sy;`
	`481`	`+ z = sz;`
`467`	`482`	`}`
`468`	`483`
`469`		`-void CurieIMUClass::readGyro(short& x, short& y, short& z)`
	`484`	`+void CurieIMUClass::readGyro(int& x, int& y, int& z)`
`470`	`485`	`{`
`471`		`- getRotation(&x, &y, &z);`
	`486`	`+ short sx, sy, sz;`
	`487`	`+`
	`488`	`+ getRotation(&sx, &sy, &sz);`
	`489`	`+`
	`490`	`+ x = sx;`
	`491`	`+ y = sy;`
	`492`	`+ z = sz;`
`472`	`493`	`}`
`473`	`494`
`474`		`-short CurieIMUClass::readAccelerometer(int axis)`
	`495`	`+int CurieIMUClass::readAccelerometer(int axis)`
`475`	`496`	`{`
`476`	`497`	`if (axis == X_AXIS) {`
`477`	`498`	`return getAccelerationX();`
`@@ -484,7 +505,7 @@ short CurieIMUClass::readAccelerometer(int axis)`
`484`	`505`	`return 0;`
`485`	`506`	`}`
`486`	`507`
`487`		`-short CurieIMUClass::readGyro(int axis)`
	`508`	`+int CurieIMUClass::readGyro(int axis)`
`488`	`509`	`{`
`489`	`510`	`if (axis == X_AXIS) {`
`490`	`511`	`return getRotationX();`
`@@ -497,7 +518,7 @@ short CurieIMUClass::readGyro(int axis)`
`497`	`518`	`return 0;`
`498`	`519`	`}`
`499`	`520`
`500`		`-short CurieIMUClass::readTemperature()`
	`521`	`+int CurieIMUClass::readTemperature()`
`501`	`522`	`{`
`502`	`523`	`return getTemperature();`
`503`	`524`	`}`