Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_mmc5983.c

diff --git a/src/drivers/ao_mmc5983.c b/src/drivers/ao_mmc5983.c
index 4dd4a598c2c0ba04a3df2471e89c9b9af49f4e66..73e30d0390bde6e3cb8fc82b419c5a456d2b3fa8 100644 (file)
--- a/src/drivers/ao_mmc5983.c
+++ b/src/drivers/ao_mmc5983.c
@@ -141,7 +141,7 @@ sat_sub(int16_t a, int16_t b)
                v = -32768;
        if (v > 32767)
                v = 32767;
-       return v;
+       return (int16_t) v;
 }
 
 /* Wait for a synchronous sample to finish */
@@ -179,9 +179,9 @@ ao_mmc5983_sample(struct ao_mmc5983_sample *s)
        ao_mmc5983_raw(&raw);
 
        /* Bias by 32768 to convert from uint16_t to int16_t */
-       s->x = (int32_t) (((uint16_t) raw.x0 << 8) | raw.x1) - 32768;
-       s->y = (int32_t) (((uint16_t) raw.y0 << 8) | raw.y1) - 32768;
-       s->z = (int32_t) (((uint16_t) raw.z0 << 8) | raw.z1) - 32768;;
+       s->x = (int16_t) ((((uint16_t) raw.x0 << 8) | raw.x1) - 32768);
+       s->y = (int16_t) ((((uint16_t) raw.y0 << 8) | raw.y1) - 32768);
+       s->z = (int16_t) ((((uint16_t) raw.z0 << 8) | raw.z1) - 32768);
 }
 
 /* Synchronously sample the sensors */
@@ -217,9 +217,9 @@ ao_mmc5983_cal(void)
        ao_mmc5983_sync_sample(&reset);
 
        /* The zero point is the average of SET and RESET values */
-       ao_mmc5983_offset.x = ((int32_t) set.x + (int32_t) reset.x) / 2;
-       ao_mmc5983_offset.y = ((int32_t) set.y + (int32_t) reset.y) / 2;
-       ao_mmc5983_offset.z = ((int32_t) set.z + (int32_t) reset.z) / 2;
+       ao_mmc5983_offset.x = (int16_t) (((int32_t) set.x + (int32_t) reset.x) / 2);
+       ao_mmc5983_offset.y = (int16_t) (((int32_t) set.y + (int32_t) reset.y) / 2);
+       ao_mmc5983_offset.z = (int16_t) (((int32_t) set.z + (int32_t) reset.z) / 2);
 }
 
 /* Configure the device to automatically sample at 200Hz */