fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 10:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add ioctl to find out if mag is external or onboard

Browse Source
This commit is contained in:
Julian Oes
2013-08-18 09:24:27 +02:00
parent 061be7f7fe
commit 408eaf0ad1
3 changed files with 34 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/lsm303d/lsm303d.cpp
+12 -3
View File
@@ -869,6 +869,10 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
// return self_test();
return -EINVAL;
case MAGIOCGEXTERNAL:
/* no external mag board yet */
return 0;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -1422,7 +1426,7 @@ test()
int fd_accel = -1;
struct accel_report accel_report;
ssize_t sz;
int filter_bandwidth;
int ret;
/* get the driver */
fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
@@ -1445,10 +1449,10 @@ test()
warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
if (ERROR == (filter_bandwidth = ioctl(fd_accel, ACCELIOCGLOWPASS, 0)))
if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0)))
warnx("accel antialias filter bandwidth: fail");
else
warnx("accel antialias filter bandwidth: %d Hz", filter_bandwidth);
warnx("accel antialias filter bandwidth: %d Hz", ret);
int fd_mag = -1;
struct mag_report m_report;
@@ -1459,6 +1463,11 @@ test()
if (fd_mag < 0)
err(1, "%s open failed", MAG_DEVICE_PATH);
/* check if mag is onboard or external */
if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0)
errx(1, "failed to get if mag is onboard or external");
warnx("device active: %s", ret ? "external" : "onboard");
/* do a simple demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));