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author | Julian Oes <julian@oes.ch> | 2013-08-21 09:23:21 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-08-21 09:23:21 +0200 |
commit | 658276e1cc5f4639fb09ff41a20b422e6ce33fe3 (patch) | |
tree | 0b85749b58962af720f74be1f5300f2ccd19d23d /src/drivers | |
parent | 408b29ba618e1c2c7375d6acd488c223d796186f (diff) | |
download | px4-firmware-658276e1cc5f4639fb09ff41a20b422e6ce33fe3.tar.gz px4-firmware-658276e1cc5f4639fb09ff41a20b422e6ce33fe3.tar.bz2 px4-firmware-658276e1cc5f4639fb09ff41a20b422e6ce33fe3.zip |
Add reset and samplerate ioctl to HMC5883 driver
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 107 |
1 files changed, 60 insertions, 47 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 1afc16a9a..cb708db4a 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -192,6 +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 @@ -365,6 +370,9 @@ HMC5883::init() if (I2C::init() != OK) goto out; + /* reset the device configuration */ + reset(); + /* allocate basic report buffers */ _num_reports = 2; _reports = new struct mag_report[_num_reports]; @@ -381,9 +389,6 @@ HMC5883::init() if (_mag_topic < 0) debug("failed to create sensor_mag object"); - /* set range */ - set_range(_range_ga); - ret = OK; /* sensor is ok, but not calibrated */ _sensor_ok = true; @@ -542,62 +547,61 @@ 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) @@ -633,13 +637,15 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) return _num_reports - 1; case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; + return reset(); case MAGIOCSSAMPLERATE: + /* same as pollrate because device is in single measurement mode*/ + return ioctl(filp, SENSORIOCSPOLLRATE, arg); + case MAGIOCGSAMPLERATE: - /* not supported, always 1 sample per poll */ - return -EINVAL; + /* same as pollrate because device is in single measurement mode*/ + return ioctl(filp, SENSORIOCGPOLLRATE, 0); case MAGIOCSRANGE: return set_range(arg); @@ -702,6 +708,13 @@ HMC5883::stop() work_cancel(HPWORK, &_work); } +int +HMC5883::reset() +{ + /* set range */ + return set_range(_range_ga); +} + void HMC5883::cycle_trampoline(void *arg) { |