From 49ca2ac5ad2d2fdfceff94af90c204fe1afe3692 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Atle=20H=2E=20Havs=C3=B8?= <atle@havso.net>
Date: Tue, 26 Aug 2014 17:41:25 +0200
Subject: Convert data from sensors.

---
 drivers/hmc5983.h |  2 +-
 drivers/mpu6000.h | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/drivers/hmc5983.h b/drivers/hmc5983.h
index 9398f23..597aa57 100644
--- a/drivers/hmc5983.h
+++ b/drivers/hmc5983.h
@@ -50,7 +50,7 @@ class HMC5983 {
 		}
 		
 		uint8_t update() {
-			uint16_t raw_x, raw_y, raw_z;
+			int16_t raw_x, raw_y, raw_z;
 			uint8_t status;
 			spi.reg.CR1 = (1 << 9) | (1 <<8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
 			spi.reg.CR2 = (1 << 12) | ( 7 << 8);
diff --git a/drivers/mpu6000.h b/drivers/mpu6000.h
index 1297810..a667b00 100644
--- a/drivers/mpu6000.h
+++ b/drivers/mpu6000.h
@@ -45,9 +45,9 @@ class MPU6000 {
 			Time::sleep(1);
 			write_register(0x1A, (3 << 0)); // CONFIG - DLPF_CFG 42hz
 			Time::sleep(1);
-			write_register(0x1B, 0); // GYRO_CFG
+			write_register(0x1B, (3 << 3)); // GYRO_CFG, 2000 deg/s
 			Time::sleep(1);
-			write_register(0x1C, 0); // ACCEL_CFG
+			write_register(0x1C, (3 << 3)); // ACCEL_CFG, +-16g
 			Time::sleep(1);
 			write_register(0x6A, (1 << 4)); // USER_CTRL - I2C Off
 			Time::sleep(1);
@@ -59,7 +59,7 @@ class MPU6000 {
 		
 		
 		void update() {
-			uint16_t temp;
+			int16_t temp;
 			spi.reg.CR1 = (1 << 9) | (1 << 8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0); // SSM On | SSI 1 | SPE On | BR /8 | CPOL CK 1 Idle | CPHA Second clock data capture
 			spi.reg.CR2 = (1 << 12) | ( 7 << 8); // FRXTH RXNE if FIFO >= 8bit | DS 8-bit
 			
@@ -67,23 +67,23 @@ class MPU6000 {
 			
 			temp = raw_data[0] << 8;
 			temp |= raw_data[1];
-			accel[0] = float(temp);
+			accel[0] = float(temp) * 2 / 32768.0f;
 			temp = raw_data[2] << 8;
 			temp |= raw_data[3];
-			accel[1] = float(temp);
+			accel[1] = float(temp) * 2 / 32768.0f;
 			temp = raw_data[4] << 8;
 			temp |= raw_data[5];
-			accel[2] = float(temp);
+			accel[2] = float(temp) * 2 / 32768.0f;
 			
 			temp = raw_data[8] << 8;
 			temp |= raw_data[9];
-			gyro[0] = float(temp);
+			gyro[0] = float(temp) * 2000 / 32768.0f;
 			temp = raw_data[10] << 8;
 			temp |= raw_data[11];
-			gyro[1] = float(temp);
+			gyro[1] = float(temp) * 2000 / 32768.0f;
 			temp = raw_data[12] << 8;
 			temp |= raw_data[13];
-			gyro[2] = float(temp);
+			gyro[2] = float(temp) * 2000 / 32768.0f;
 		}
 };
 
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