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-rw-r--r--src/drivers/hmc5883/hmc5883.cpp442
1 files changed, 242 insertions, 200 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 59e90d86c..4c85c0cda 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -58,13 +58,14 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
-#include <arch/board/board.h>
+#include <board_config.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
+#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
@@ -76,9 +77,10 @@
*/
#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
+#define HMC5883L_DEVICE_PATH "/dev/hmc5883"
-/* Max measurement rate is 160Hz */
-#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */
+/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
+#define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */
#define ADDR_CONF_A 0x00
#define ADDR_CONF_B 0x01
@@ -148,14 +150,12 @@ private:
work_s _work;
unsigned _measure_ticks;
- unsigned _num_reports;
- volatile unsigned _next_report;
- volatile unsigned _oldest_report;
- mag_report *_reports;
+ RingBuffer *_reports;
mag_scale _scale;
float _range_scale;
float _range_ga;
bool _collect_phase;
+ int _class_instance;
orb_advert_t _mag_topic;
@@ -167,6 +167,8 @@ private:
bool _sensor_ok; /**< sensor was found and reports ok */
bool _calibrated; /**< the calibration is valid */
+ int _bus; /**< the bus the device is connected to */
+
/**
* Test whether the device supported by the driver is present at a
* specific address.
@@ -190,6 +192,11 @@ private:
void stop();
/**
+ * Reset the device
+ */
+ int reset();
+
+ /**
* Perform the on-sensor scale calibration routine.
*
* @note The sensor will continue to provide measurements, these
@@ -303,9 +310,6 @@ private:
};
-/* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
-
/*
* Driver 'main' command.
*/
@@ -313,20 +317,19 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
HMC5883::HMC5883(int bus) :
- I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
+ I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
_measure_ticks(0),
- _num_reports(0),
- _next_report(0),
- _oldest_report(0),
_reports(nullptr),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_mag_topic(-1),
+ _class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
_sensor_ok(false),
- _calibrated(false)
+ _calibrated(false),
+ _bus(bus)
{
// enable debug() calls
_debug_enabled = false;
@@ -348,9 +351,16 @@ HMC5883::~HMC5883()
/* make sure we are truly inactive */
stop();
- /* free any existing reports */
if (_reports != nullptr)
- delete[] _reports;
+ delete _reports;
+
+ if (_class_instance != -1)
+ unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
+
+ // free perf counters
+ perf_free(_sample_perf);
+ perf_free(_comms_errors);
+ perf_free(_buffer_overflows);
}
int
@@ -363,23 +373,14 @@ HMC5883::init()
goto out;
/* allocate basic report buffers */
- _num_reports = 2;
- _reports = new struct mag_report[_num_reports];
-
+ _reports = new RingBuffer(2, sizeof(mag_report));
if (_reports == nullptr)
goto out;
- _oldest_report = _next_report = 0;
-
- /* get a publish handle on the mag topic */
- memset(&_reports[0], 0, sizeof(_reports[0]));
- _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
-
- if (_mag_topic < 0)
- debug("failed to create sensor_mag object");
+ /* reset the device configuration */
+ reset();
- /* set range */
- set_range(_range_ga);
+ _class_instance = register_class_devname(MAG_DEVICE_PATH);
ret = OK;
/* sensor is ok, but not calibrated */
@@ -480,6 +481,7 @@ ssize_t
HMC5883::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
+ struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -488,17 +490,15 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
-
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
- if (_oldest_report != _next_report) {
- memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
- ret += sizeof(_reports[0]);
- INCREMENT(_oldest_report, _num_reports);
+ if (_reports->get(mag_buf)) {
+ ret += sizeof(struct mag_report);
+ mag_buf++;
}
}
@@ -509,7 +509,7 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
- _oldest_report = _next_report = 0;
+ _reports->flush();
/* trigger a measurement */
if (OK != measure()) {
@@ -526,10 +526,9 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
break;
}
- /* state machine will have generated a report, copy it out */
- memcpy(buffer, _reports, sizeof(*_reports));
- ret = sizeof(*_reports);
-
+ if (_reports->get(mag_buf)) {
+ ret = sizeof(struct mag_report);
+ }
} while (0);
return ret;
@@ -539,108 +538,105 @@ int
HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
-
case SENSORIOCSPOLLRATE: {
- switch (arg) {
+ switch (arg) {
- /* switching to manual polling */
- case SENSOR_POLLRATE_MANUAL:
- stop();
- _measure_ticks = 0;
- return OK;
+ /* switching to manual polling */
+ case SENSOR_POLLRATE_MANUAL:
+ stop();
+ _measure_ticks = 0;
+ return OK;
- /* external signalling (DRDY) not supported */
- case SENSOR_POLLRATE_EXTERNAL:
+ /* external signalling (DRDY) not supported */
+ case SENSOR_POLLRATE_EXTERNAL:
- /* zero would be bad */
- case 0:
- return -EINVAL;
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
- /* set default/max polling rate */
- case SENSOR_POLLRATE_MAX:
- case SENSOR_POLLRATE_DEFAULT: {
- /* do we need to start internal polling? */
- bool want_start = (_measure_ticks == 0);
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
- /* set interval for next measurement to minimum legal value */
- _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
+ /* set interval for next measurement to minimum legal value */
+ _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
- /* if we need to start the poll state machine, do it */
- if (want_start)
- start();
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start();
- return OK;
- }
+ return OK;
+ }
- /* adjust to a legal polling interval in Hz */
- default: {
- /* do we need to start internal polling? */
- bool want_start = (_measure_ticks == 0);
+ /* adjust to a legal polling interval in Hz */
+ default: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
- /* convert hz to tick interval via microseconds */
- unsigned ticks = USEC2TICK(1000000 / arg);
+ /* convert hz to tick interval via microseconds */
+ unsigned ticks = USEC2TICK(1000000 / arg);
- /* check against maximum rate */
- if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL))
- return -EINVAL;
+ /* check against maximum rate */
+ if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL))
+ return -EINVAL;
- /* update interval for next measurement */
- _measure_ticks = ticks;
+ /* update interval for next measurement */
+ _measure_ticks = ticks;
- /* if we need to start the poll state machine, do it */
- if (want_start)
- start();
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start();
- return OK;
- }
+ return OK;
}
}
+ }
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
- return (1000 / _measure_ticks);
+ return 1000000/TICK2USEC(_measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
- /* add one to account for the sentinel in the ring */
- arg++;
-
/* lower bound is mandatory, upper bound is a sanity check */
- if ((arg < 2) || (arg > 100))
+ if ((arg < 1) || (arg > 100))
return -EINVAL;
- /* allocate new buffer */
- struct mag_report *buf = new struct mag_report[arg];
-
- if (nullptr == buf)
+ irqstate_t flags = irqsave();
+ if (!_reports->resize(arg)) {
+ irqrestore(flags);
return -ENOMEM;
-
- /* reset the measurement state machine with the new buffer, free the old */
- stop();
- delete[] _reports;
- _num_reports = arg;
- _reports = buf;
- start();
+ }
+ irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
- return _num_reports - 1;
+ return _reports->size();
case SENSORIOCRESET:
- /* XXX implement this */
- return -EINVAL;
+ return reset();
case MAGIOCSSAMPLERATE:
- /* not supported, always 1 sample per poll */
- return -EINVAL;
+ /* same as pollrate because device is in single measurement mode*/
+ return ioctl(filp, SENSORIOCSPOLLRATE, arg);
+
+ case MAGIOCGSAMPLERATE:
+ /* same as pollrate because device is in single measurement mode*/
+ return 1000000/TICK2USEC(_measure_ticks);
case MAGIOCSRANGE:
return set_range(arg);
+ case MAGIOCGRANGE:
+ return _range_ga;
+
case MAGIOCSLOWPASS:
+ case MAGIOCGLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
@@ -665,6 +661,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSELFTEST:
return check_calibration();
+ case MAGIOCGEXTERNAL:
+ if (_bus == PX4_I2C_BUS_EXPANSION)
+ return 1;
+ else
+ return 0;
+
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@@ -676,7 +678,7 @@ HMC5883::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
- _oldest_report = _next_report = 0;
+ _reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&HMC5883::cycle_trampoline, this, 1);
@@ -688,6 +690,13 @@ HMC5883::stop()
work_cancel(HPWORK, &_work);
}
+int
+HMC5883::reset()
+{
+ /* set range */
+ return set_range(_range_ga);
+}
+
void
HMC5883::cycle_trampoline(void *arg)
{
@@ -778,9 +787,11 @@ HMC5883::collect()
perf_begin(_sample_perf);
+ struct mag_report new_report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
- _reports[_next_report].timestamp = hrt_absolute_time();
+ new_report.timestamp = hrt_absolute_time();
+ new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register here, which could tell us that
@@ -810,8 +821,10 @@ HMC5883::collect()
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
- (abs(report.z) > 2048))
+ (abs(report.z) > 2048)) {
+ perf_count(_comms_errors);
goto out;
+ }
/*
* RAW outputs
@@ -819,58 +832,47 @@ HMC5883::collect()
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
- _reports[_next_report].x_raw = report.y;
- _reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x);
+ new_report.x_raw = report.y;
+ new_report.y_raw = -report.x;
/* z remains z */
- _reports[_next_report].z_raw = report.z;
+ new_report.z_raw = report.z;
/* scale values for output */
- /*
- * 1) Scale raw value to SI units using scaling from datasheet.
- * 2) Subtract static offset (in SI units)
- * 3) Scale the statically calibrated values with a linear
- * dynamically obtained factor
- *
- * Note: the static sensor offset is the number the sensor outputs
- * at a nominally 'zero' input. Therefore the offset has to
- * be subtracted.
- *
- * Example: A gyro outputs a value of 74 at zero angular rate
- * the offset is 74 from the origin and subtracting
- * 74 from all measurements centers them around zero.
- */
-
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) {
- /* to align the sensor axes with the board, x and y need to be flipped */
- _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
- /* flip axes and negate value for y */
- _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
- /* z remains z */
- _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
- } else {
-#endif
- /* XXX axis assignment of external sensor is yet unknown */
- _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
- /* flip axes and negate value for y */
- _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
- /* z remains z */
- _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
-#ifdef PX4_I2C_BUS_ONBOARD
- }
+ // convert onboard so it matches offboard for the
+ // scaling below
+ report.y = -report.y;
+ report.x = -report.x;
+ }
#endif
- /* publish it */
- orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
+ /* the standard external mag by 3DR has x pointing to the
+ * right, y pointing backwards, and z down, therefore switch x
+ * and y and invert y */
+ new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
+ /* flip axes and negate value for y */
+ new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
+ /* z remains z */
+ new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
- /* post a report to the ring - note, not locked */
- INCREMENT(_next_report, _num_reports);
+ if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
- /* if we are running up against the oldest report, toss it */
- if (_next_report == _oldest_report) {
+ if (_mag_topic != -1) {
+ /* publish it */
+ orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+ } else {
+ _mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
+
+ if (_mag_topic < 0)
+ debug("failed to create sensor_mag publication");
+ }
+ }
+
+ /* post a report to the ring */
+ if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
- INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
@@ -888,6 +890,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
struct mag_report report;
ssize_t sz;
int ret = 1;
+ uint8_t good_count = 0;
// XXX do something smarter here
int fd = (int)enable;
@@ -910,30 +913,16 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
1.0f,
};
- float avg_excited[3] = {0.0f, 0.0f, 0.0f};
- unsigned i;
+ float sum_excited[3] = {0.0f, 0.0f, 0.0f};
- warnx("starting mag scale calibration");
+ /* expected axis scaling. The datasheet says that 766 will
+ * be places in the X and Y axes and 713 in the Z
+ * axis. Experiments show that in fact 766 is placed in X,
+ * and 713 in Y and Z. This is relative to a base of 660
+ * LSM/Ga, giving 1.16 and 1.08 */
+ float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
- /* do a simple demand read */
- sz = read(filp, (char *)&report, sizeof(report));
-
- if (sz != sizeof(report)) {
- warn("immediate read failed");
- ret = 1;
- goto out;
- }
-
- warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
- warnx("time: %lld", report.timestamp);
- warnx("sampling 500 samples for scaling offset");
-
- /* set the queue depth to 10 */
- if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) {
- warn("failed to set queue depth");
- ret = 1;
- goto out;
- }
+ warnx("starting mag scale calibration");
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
@@ -942,8 +931,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
goto out;
}
- /* Set to 2.5 Gauss */
- if (OK != ioctl(filp, MAGIOCSRANGE, 2)) {
+ /* Set to 2.5 Gauss. We ask for 3 to get the right part of
+ * the chained if statement above. */
+ if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("failed to set 2.5 Ga range");
ret = 1;
goto out;
@@ -967,8 +957,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
goto out;
}
- /* read the sensor 10x and report each value */
- for (i = 0; i < 500; i++) {
+ // discard 10 samples to let the sensor settle
+ for (uint8_t i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
@@ -986,32 +976,69 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
if (sz != sizeof(report)) {
warn("periodic read failed");
+ ret = -EIO;
goto out;
+ }
+ }
- } else {
- avg_excited[0] += report.x;
- avg_excited[1] += report.y;
- avg_excited[2] += report.z;
+ /* read the sensor up to 50x, stopping when we have 10 good values */
+ for (uint8_t i = 0; i < 50 && good_count < 10; i++) {
+ struct pollfd fds;
+
+ /* wait for data to be ready */
+ fds.fd = fd;
+ fds.events = POLLIN;
+ ret = ::poll(&fds, 1, 2000);
+
+ if (ret != 1) {
+ warn("timed out waiting for sensor data");
+ goto out;
+ }
+
+ /* now go get it */
+ sz = ::read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report)) {
+ warn("periodic read failed");
+ ret = -EIO;
+ goto out;
+ }
+ float cal[3] = {fabsf(expected_cal[0] / report.x),
+ fabsf(expected_cal[1] / report.y),
+ fabsf(expected_cal[2] / report.z)};
+
+ if (cal[0] > 0.7f && cal[0] < 1.35f &&
+ cal[1] > 0.7f && cal[1] < 1.35f &&
+ cal[2] > 0.7f && cal[2] < 1.35f) {
+ good_count++;
+ sum_excited[0] += cal[0];
+ sum_excited[1] += cal[1];
+ sum_excited[2] += cal[2];
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
+ //warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
}
- avg_excited[0] /= i;
- avg_excited[1] /= i;
- avg_excited[2] /= i;
+ if (good_count < 5) {
+ warn("failed calibration");
+ ret = -EIO;
+ goto out;
+ }
- warnx("done. Performed %u reads", i);
- warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]);
+#if 0
+ warnx("measurement avg: %.6f %.6f %.6f",
+ (double)sum_excited[0]/good_count,
+ (double)sum_excited[1]/good_count,
+ (double)sum_excited[2]/good_count);
+#endif
float scaling[3];
- /* calculate axis scaling */
- scaling[0] = fabsf(1.16f / avg_excited[0]);
- /* second axis inverted */
- scaling[1] = fabsf(1.16f / -avg_excited[1]);
- scaling[2] = fabsf(1.08f / avg_excited[2]);
+ scaling[0] = sum_excited[0] / good_count;
+ scaling[1] = sum_excited[1] / good_count;
+ scaling[2] = sum_excited[2] / good_count;
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
@@ -1111,10 +1138,12 @@ int HMC5883::check_calibration()
SUBSYSTEM_TYPE_MAG};
static orb_advert_t pub = -1;
- if (pub > 0) {
- orb_publish(ORB_ID(subsystem_info), pub, &info);
- } else {
- pub = orb_advertise(ORB_ID(subsystem_info), &info);
+ if (!(_pub_blocked)) {
+ if (pub > 0) {
+ orb_publish(ORB_ID(subsystem_info), pub, &info);
+ } else {
+ pub = orb_advertise(ORB_ID(subsystem_info), &info);
+ }
}
}
@@ -1142,6 +1171,8 @@ int HMC5883::set_excitement(unsigned enable)
conf_reg &= ~0x03;
}
+ // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)conf_reg);
+
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
@@ -1150,6 +1181,8 @@ int HMC5883::set_excitement(unsigned enable)
uint8_t conf_reg_ret;
read_reg(ADDR_CONF_A, conf_reg_ret);
+ //print_info();
+
return !(conf_reg == conf_reg_ret);
}
@@ -1188,8 +1221,11 @@ HMC5883::print_info()
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
- printf("report queue: %u (%u/%u @ %p)\n",
- _num_reports, _oldest_report, _next_report, _reports);
+ printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
+ printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
+ (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
+ (double)1.0/_range_scale, (double)_range_ga);
+ _reports->print_info("report queue");
}
/**
@@ -1221,7 +1257,8 @@ start()
int fd;
if (g_dev != nullptr)
- errx(1, "already started");
+ /* if already started, the still command succeeded */
+ errx(0, "already started");
/* create the driver, attempt expansion bus first */
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
@@ -1245,7 +1282,7 @@ start()
goto fail;
/* set the poll rate to default, starts automatic data collection */
- fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
@@ -1277,10 +1314,10 @@ test()
ssize_t sz;
int ret;
- int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
if (fd < 0)
- err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+ err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
@@ -1292,7 +1329,12 @@ test()
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
- /* set the queue depth to 10 */
+ /* check if mag is onboard or external */
+ if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0)
+ errx(1, "failed to get if mag is onboard or external");
+ warnx("device active: %s", ret ? "external" : "onboard");
+
+ /* set the queue depth to 5 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
errx(1, "failed to set queue depth");
@@ -1372,10 +1414,10 @@ int calibrate()
{
int ret;
- int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
if (fd < 0)
- err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+ err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
warnx("failed to enable sensor calibration mode");
@@ -1397,7 +1439,7 @@ int calibrate()
void
reset()
{
- int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-29 08:58:11 +0000