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| Rev 483 | Rev 487 | ||
|---|---|---|---|
| Line 499... | Line 499... | ||
| 499 | { // byte order from big to little endian |
499 | { // byte order from big to little endian |
| 500 | s16 raw, X = 0, Y = 0, Z = 0; |
500 | s16 raw, X = 0, Y = 0, Z = 0; |
| 501 | raw = pRxBuffer[0]<<8; |
501 | raw = pRxBuffer[0]<<8; |
| 502 | raw+= pRxBuffer[1]; |
502 | raw+= pRxBuffer[1]; |
| 503 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
503 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
| - | 504 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
| - | 505 | ||
| 504 | raw = pRxBuffer[2]<<8; |
506 | raw = pRxBuffer[2]<<8; |
| 505 | raw+= pRxBuffer[3]; |
507 | raw+= pRxBuffer[3]; |
| 506 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
508 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| 507 | { |
509 | { |
| 508 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
510 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
| 509 | else Y = raw; |
511 | else Y = raw; |
| 510 | } |
512 | } |
| - | 513 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
| - | 514 | ||
| 511 | raw = pRxBuffer[4]<<8; |
515 | raw = pRxBuffer[4]<<8; |
| 512 | raw+= pRxBuffer[5]; |
516 | raw+= pRxBuffer[5]; |
| 513 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
517 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| 514 | { |
518 | { |
| 515 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
519 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
| 516 | else Z = raw; |
520 | else Z = raw; |
| 517 | } |
521 | } |
| - | 522 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
| - | 523 | ||
| 518 | switch(ExtCompassOrientation) |
524 | switch(ExtCompassOrientation) |
| 519 | { |
525 | { |
| 520 | case 0: |
526 | case 0: |
| 521 | case 1: |
527 | case 1: |
| 522 | default: |
528 | default: |