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

Author: sandeepmistry

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

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;
     }
   }
 

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

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

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();
 }

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);