diff options
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 32 |
1 files changed, 23 insertions, 9 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index ff7068936..2a0bf522b 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -301,7 +301,7 @@ private: enum Rotation _rotation; - // values used to + // values used to float _last_accel[3]; uint8_t _constant_accel_count; @@ -569,11 +569,18 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _constant_accel_count(0), _checked_next(0) { - _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; + // enable debug() calls _debug_enabled = true; + _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_LSM303D; + + /* Prime _mag with parents devid. */ + _mag->_device_id.devid = _device_id.devid; + _mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; + + // default scale factors _accel_scale.x_offset = 0.0f; _accel_scale.x_scale = 1.0f; @@ -660,6 +667,7 @@ LSM303D::init() warnx("ADVERT ERR"); } + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); /* advertise sensor topic, measure manually to initialize valid report */ @@ -698,7 +706,7 @@ LSM303D::reset() disable_i2c(); /* enable accel*/ - write_checked_reg(ADDR_CTRL_REG1, + write_checked_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); /* enable mag */ @@ -732,7 +740,7 @@ LSM303D::probe() /* verify that the device is attached and functioning */ bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); - + if (success) { _checked_values[0] = WHO_I_AM; return OK; @@ -1005,7 +1013,7 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) return SENSOR_POLLRATE_MANUAL; return 1000000 / _call_mag_interval; - + case SENSORIOCSQUEUEDEPTH: { /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 1) || (arg > 100)) @@ -1410,7 +1418,7 @@ LSM303D::check_registers(void) if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. + before we consider the sensor to be OK again. */ perf_count(_bad_registers); @@ -1534,7 +1542,7 @@ LSM303D::measure() perf_count(_bad_values); _constant_accel_count = 0; } - + _last_accel[0] = x_in_new; _last_accel[1] = y_in_new; _last_accel[2] = z_in_new; @@ -1652,7 +1660,7 @@ LSM303D::print_info() for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i]); if (v != _checked_values[i]) { - ::printf("reg %02x:%02x should be %02x\n", + ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); @@ -1769,7 +1777,13 @@ LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen) int LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg) { - return _parent->mag_ioctl(filp, cmd, arg); + switch (cmd) { + case DEVIOCGDEVICEID: + return (int)CDev::ioctl(filp, cmd, arg); + break; + default: + return _parent->mag_ioctl(filp, cmd, arg); + } } void |