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Preparing MPU9250 driver for PR

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Corrected magnetometer gain and alignment, added support for sensitivity adjustment values, cleaned up debugging messages and removed dead code.
This commit is contained in:
Robert Dickenson
2016-03-08 09:29:17 +01:00
committed by Lorenz Meier
parent 0a33ca6e57
commit 4ef9148517
4 changed files with 105 additions and 197 deletions
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src/drivers/mpu9250/main.cpp
+11 -20
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@@ -47,25 +47,16 @@
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <getopt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/conversions.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
@@ -84,10 +75,10 @@
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu9250_accel"
#define MPU_DEVICE_PATH_GYRO "/dev/mpu9250_gyro"
#define MPU_DEVICE_PATH_MAG "/dev/mpu9250_mag"
#define MPU_DEVICE_PATH_MAG "/dev/mpu9250_mag"
#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu9250_accel_ext"
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu9250_gyro_ext"
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
@@ -338,7 +329,7 @@ reset(bool external_bus)
void
info(bool external_bus)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
errx(1, "driver not running");
@@ -372,21 +363,21 @@ regdump(bool external_bus)
void
testerror(bool external_bus)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr == nullptr) {
errx(1, "driver not running");
}
if (*g_dev_ptr == nullptr) {
errx(1, "driver not running");
}
(*g_dev_ptr)->test_error();
(*g_dev_ptr)->test_error();
exit(0);
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror', 'mag'");
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
@@ -413,7 +404,7 @@ mpu9250_main(int argc, char *argv[])
break;
default:
mpu9250::usage();
mpu9250::usage();
exit(0);
}
}