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author | Julian Oes <julian@oes.ch> | 2013-08-18 09:22:40 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-08-18 09:24:27 +0200 |
commit | 408eaf0ad1c8aa87c74f83281de3a7c25fc4b4e6 (patch) | |
tree | 5fd9e9674f76ec1a32fe22a0a5ee242b5cceb35b /src/drivers/hmc5883/hmc5883.cpp | |
parent | 061be7f7fed430d1c235809f1e1dce61e8b7aa01 (diff) | |
download | px4-firmware-408eaf0ad1c8aa87c74f83281de3a7c25fc4b4e6.tar.gz px4-firmware-408eaf0ad1c8aa87c74f83281de3a7c25fc4b4e6.tar.bz2 px4-firmware-408eaf0ad1c8aa87c74f83281de3a7c25fc4b4e6.zip |
Add ioctl to find out if mag is external or onboard
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
-rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 24 |
1 files changed, 19 insertions, 5 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 039b496f4..9e9c067d5 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -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. @@ -326,7 +328,8 @@ HMC5883::HMC5883(int bus) : _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; @@ -665,6 +668,12 @@ 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); @@ -851,12 +860,12 @@ HMC5883::collect() _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; + /* the standard external mag seems to be rolled 180deg, therefore y and z inverted */ + _reports[_next_report].x = ((report.x * _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; + _reports[_next_report].y = ((((report.y == -32768) ? 32767 : -report.y) * _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; + _reports[_next_report].z = ((((report.z == -32768) ? 32767 : -report.z) * _range_scale) - _scale.z_offset) * _scale.z_scale; #ifdef PX4_I2C_BUS_ONBOARD } #endif @@ -1293,6 +1302,11 @@ test() warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); warnx("time: %lld", report.timestamp); + /* 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 10 */ if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) errx(1, "failed to set queue depth"); |