fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 03:41:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

LSM303D: Add option for 16g range

Browse Source
This commit is contained in:
Lorenz Meier
2015-08-19 10:28:02 +02:00
parent e5834460e2
commit 0693e186d9
1 changed files with 29 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/lsm303d/lsm303d.cpp
+29 -8
View File
@@ -1416,6 +1416,13 @@ LSM303D::stop()
{ {
hrt_cancel(&_accel_call); hrt_cancel(&_accel_call);
hrt_cancel(&_mag_call); hrt_cancel(&_mag_call);
/* reset internal states */
memset(_last_accel, 0, sizeof(_last_accel));
/* discard unread data in the buffers */
_accel_reports->flush();
_mag_reports->flush();
} }
void void
@@ -1856,7 +1863,7 @@ namespace lsm303d
LSM303D *g_dev; LSM303D *g_dev;
void start(bool external_bus, enum Rotation rotation); void start(bool external_bus, enum Rotation rotation, unsigned range);
void test(); void test();
void reset(); void reset();
void info(); void info();
@@ -1871,11 +1878,12 @@ void test_error();
* up and running or failed to detect the sensor. * up and running or failed to detect the sensor.
*/ */
void void
start(bool external_bus, enum Rotation rotation) start(bool external_bus, enum Rotation rotation, unsigned range)
{ {
int fd, fd_mag; int fd, fd_mag;
if (g_dev != nullptr) if (g_dev != nullptr) {
errx(0, "already started"); errx(0, "already started");
}
/* create the driver */ /* create the driver */
if (external_bus) { if (external_bus) {
@@ -1899,11 +1907,17 @@ start(bool external_bus, enum Rotation rotation)
/* set the poll rate to default, starts automatic data collection */ /* set the poll rate to default, starts automatic data collection */
fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY); fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0) if (fd < 0) {
goto fail; goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail; goto fail;
}
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY); fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
@@ -1995,7 +2009,10 @@ test()
warnx("mag z: \t%d\traw", (int)m_report.z_raw); warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f ga", (double)m_report.range_ga); warnx("mag range: %8.4f ga", (double)m_report.range_ga);
/* XXX add poll-rate tests here too */ /* reset to default polling */
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
}
close(fd_accel); close(fd_accel);
close(fd_mag); close(fd_mag);
@@ -2099,9 +2116,10 @@ lsm303d_main(int argc, char *argv[])
bool external_bus = false; bool external_bus = false;
int ch; int ch;
enum Rotation rotation = ROTATION_NONE; enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;
/* jump over start/off/etc and look at options first */ /* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:")) != EOF) { while ((ch = getopt(argc, argv, "XR:a:")) != EOF) {
switch (ch) { switch (ch) {
case 'X': case 'X':
external_bus = true; external_bus = true;
@@ -2109,6 +2127,9 @@ lsm303d_main(int argc, char *argv[])
case 'R': case 'R':
rotation = (enum Rotation)atoi(optarg); rotation = (enum Rotation)atoi(optarg);
break; break;
case 'a':
accel_range = atoi(optarg);
break;
default: default:
lsm303d::usage(); lsm303d::usage();
exit(0); exit(0);
@@ -2122,7 +2143,7 @@ lsm303d_main(int argc, char *argv[])
*/ */
if (!strcmp(verb, "start")) if (!strcmp(verb, "start"))
lsm303d::start(external_bus, rotation); lsm303d::start(external_bus, rotation, accel_range);
/* /*
* Test the driver/device. * Test the driver/device.