X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=imu.c;h=efaba62a906d061f7daa12b72f0ce6299149e2a0;hp=8486960c1bf5b056e83eba3276fc7f3ffe884849;hb=7ac29ab17eb2281971ba376a061312b5283e4f45;hpb=96d834bdfb8df4e3369ca1b3c7bc7bc8534fda31

diff --git a/imu.c b/imu.c
index 8486960..efaba62 100644
--- a/imu.c
+++ b/imu.c
@@ -40,11 +40,15 @@ int mag_z;
 
 
 void i2c_recvevent(uint8_t * buf, int8_t size)
+void i2c_recvevent(uint8_t *buf, int8_t size)
 {
+	(void)buf;
+	(void)size;
 }
 
 void i2c_sendevent(int8_t size)
 {
+	(void)size;
 }
 
 
@@ -65,6 +69,8 @@ uint16_t counter;
 
 void do_led_blink(void *dummy)
 {
+	(void)dummy;
+
 #if 1 /* simple blink */
 	LED1_TOGGLE();
 #endif
@@ -81,18 +87,18 @@ void do_led_blink(void *dummy)
 //uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
 
 
-float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
-float Gyro_Vector[3]= {0,0,0};//Store the gyros rutn rate in a vector
-float Magnet_Vector[3]= {0,0,0}; //Store the acceleration in a vector
+double Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
+double Gyro_Vector[3]= {0,0,0};//Store the gyros rutn rate in a vector
+double Magnet_Vector[3]= {0,0,0}; //Store the acceleration in a vector
 
-float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
-float Omega_P[3]= {0,0,0};//Omega Proportional correction
-float Omega_I[3]= {0,0,0};//Omega Integrator
-float Omega[3]= {0,0,0};
+double Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
+double Omega_P[3]= {0,0,0};//Omega Proportional correction
+double Omega_I[3]= {0,0,0};//Omega Integrator
+double Omega[3]= {0,0,0};
 
-float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
+double Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
 
-float DCM_Matrix[3][3]= {
+double DCM_Matrix[3][3]= {
   {
     1,0,0  }
   ,{
@@ -101,7 +107,7 @@ float DCM_Matrix[3][3]= {
     0,0,1  }
 };
 
-float Temporary_Matrix[3][3]={
+double Temporary_Matrix[3][3]={
   {
     0,0,0  }
   ,{
@@ -110,11 +116,11 @@ float Temporary_Matrix[3][3]={
     0,0,0  }
 };
 
-float errorRollPitch[3]= {0,0,0};
-float errorYaw[3]= {0,0,0};
-float errorCourse=180;
-float COGX=0; //Course overground X axis
-float COGY=1; //Course overground Y axis
+double errorRollPitch[3]= {0,0,0};
+double errorYaw[3]= {0,0,0};
+double errorCourse=180;
+double COGX=0; //Course overground X axis
+double COGY=1; //Course overground Y axis
 
 
 
@@ -136,7 +142,7 @@ float COGY=1; //Course overground Y axis
 #define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
 #define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
 
-float G_Dt=0.02;    // Integration time (DCM algorithm)
+double G_Dt=0.02;    // Integration time (DCM algorithm)
 
 #define GRAVITY 1.01 //this equivalent to 1G in the raw data coming from the accelerometer
 #define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square
@@ -155,15 +161,15 @@ float G_Dt=0.02;    // Integration time (DCM algorithm)
 
 
 int mag_offset[3];
-float Heading;
-float Heading_X;
-float Heading_Y;
+double Heading;
+double Heading_X;
+double Heading_Y;
 
 
 // Euler angles
-float roll;
-float pitch;
-float yaw;
+double roll;
+double pitch;
+double yaw;
 
 int SENSOR_SIGN[]= {
 	1,1,1,   // GYROX, GYROY, GYROZ,
@@ -173,29 +179,29 @@ int SENSOR_SIGN[]= {
 
 #if 0
 
-float read_adc(uint8_t index)
+double read_adc(uint8_t index)
 {
 	int16_t value;
 
 	switch(index) {
 		case 0:
 			itg3200_read_axe(0, &value);
-			return (float) (SENSOR_SIGN[index] * value);
+			return (double) (SENSOR_SIGN[index] * value);
 		case 1:
 			itg3200_read_axe(1, &value);
-			return (float) (SENSOR_SIGN[index] * value);
+			return (double) (SENSOR_SIGN[index] * value);
 		case 2:
 			itg3200_read_axe(2, &value);
-			return (float) (SENSOR_SIGN[index] * value);
+			return (double) (SENSOR_SIGN[index] * value);
 		case 3:
 			bma150_read_axe(0, &value);
-			return (float) (SENSOR_SIGN[index] * bma15_axe2g(value));
+			return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
 		case 4:
 			bma150_read_axe(1, &value);
-			return (float) (SENSOR_SIGN[index] * bma15_axe2g(value));
+			return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
 		case 5:
 			bma150_read_axe(2, &value);
-			return (float) (SENSOR_SIGN[index] * bma15_axe2g(value));
+			return (double) (SENSOR_SIGN[index] * bma15_axe2g(value));
 	}
 	return 0.0;
 }
@@ -221,9 +227,9 @@ void read_sensors(void)
 		err = ak8500_read_all_axes(&axes);
 		if (err == 0) {
 			/*
-			Magnet_Vector[0] = (float)SENSOR_SIGN[6] * (float)axes[0];
-			Magnet_Vector[1] = (float)SENSOR_SIGN[7] * (float)axes[1];
-			Magnet_Vector[2] = (float)SENSOR_SIGN[8] * (float)axes[2];
+			Magnet_Vector[0] = (double)SENSOR_SIGN[6] * (double)axes[0];
+			Magnet_Vector[1] = (double)SENSOR_SIGN[7] * (double)axes[1];
+			Magnet_Vector[2] = (double)SENSOR_SIGN[8] * (double)axes[2];
 			*/
 			/*
 			*/