diff options
Diffstat (limited to 'src/drivers/hmc5883')
-rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 42 |
1 files changed, 35 insertions, 7 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index b9270d2a0..65c8c64d0 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1516,6 +1516,11 @@ hmc5883_usage() warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'"); warnx("options:"); warnx(" -R rotation"); + warnx(" -C calibrate on start"); + warnx(" -X only external bus"); +#ifdef PX4_I2C_BUS_ONBOARD + warnx(" -I only internal bus"); +#endif } int @@ -1523,46 +1528,69 @@ hmc5883_main(int argc, char *argv[]) { int ch; enum Rotation rotation = ROTATION_NONE; + bool calibrate = false; - while ((ch = getopt(argc, argv, "R:")) != EOF) { + while ((ch = getopt(argc, argv, "XIR:C")) != EOF) { switch (ch) { case 'R': rotation = (enum Rotation)atoi(optarg); break; +#ifdef PX4_I2C_BUS_ONBOARD + case 'I': + bus = PX4_I2C_BUS_ONBOARD; + break; +#endif + case 'X': + bus = PX4_I2C_BUS_EXPANSION; + break; + case 'C': + calibrate = true; + break; default: hmc5883_usage(); exit(0); } } + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - hmc5883::start(rotation); + if (!strcmp(verb, "start")) { + hmc5883::start(bus, rotation); + if (calibrate) { + if (hmc5883::calibrate(bus) == 0) { + errx(0, "calibration successful"); + + } else { + errx(1, "calibration failed"); + } + } + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(verb, "test")) hmc5883::test(bus); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(verb, "reset")) hmc5883::reset(bus); /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(verb, "info") || !strcmp(verb, "status")) hmc5883::info(bus); /* * Autocalibrate the scaling */ - if (!strcmp(argv[1], "calibrate")) { + if (!strcmp(verb, "calibrate")) { if (hmc5883::calibrate(bus) == 0) { errx(0, "calibration successful"); |