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Addes sensor self test commands

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Lorenz Meier
2012-11-15 15:13:27 +01:00
parent 68346fbfeb
commit 5020a0a063
4 changed files with 38 additions and 4 deletions
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apps/drivers/drv_accel.h
+3
View File
@@ -115,4 +115,7 @@ ORB_DECLARE(sensor_accel);
/** get the current accel measurement range in g */
#define ACCELIOCGRANGE _ACCELIOC(8)
/** get the result of a sensor self-test */
#define ACCELIOCSELFTEST _ACCELIOC(9)
#endif /* _DRV_ACCEL_H */
apps/drivers/drv_gyro.h
+3
View File
@@ -111,4 +111,7 @@ ORB_DECLARE(sensor_gyro);
/** get the current gyro measurement range in degrees per second */
#define GYROIOCGRANGE _GYROIOC(7)
/** check the status of the sensor */
#define GYROIOCSELFTEST _GYROIOC(8)
#endif /* _DRV_GYRO_H */
apps/drivers/hmc5883/hmc5883.cpp
+3 -3
View File
@@ -1032,9 +1032,9 @@ int HMC5883::check_calibration()
{
bool scale_valid, offset_valid;
if ((-2.0f * FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < 2.0f * FLT_EPSILON + 1.0f)) {
if ((-FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < FLT_EPSILON + 1.0f) &&
(-FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < FLT_EPSILON + 1.0f) &&
(-FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < FLT_EPSILON + 1.0f)) {
/* scale is one */
scale_valid = false;
} else {
apps/drivers/mpu6000/mpu6000.cpp
+29 -1
View File
@@ -260,6 +260,13 @@ private:
*/
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
/**
* Self test
*
* @return 0 on success, 1 on failure
*/
int self_test();
};
/**
@@ -494,6 +501,17 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
return ret;
}
int
MPU6000::self_test()
{
if (_reads == 0) {
measure();
}
/* return 0 on success, 1 else */
return (_reads > 0) ? 0 : 1;
}
ssize_t
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
{
@@ -609,6 +627,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
// _accel_range_rad_s = 8.0f * 9.81f;
return -EINVAL;
case ACCELIOCSELFTEST:
return self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -656,6 +677,9 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
// _gyro_range_m_s2 = xx
return -EINVAL;
case GYROIOCSELFTEST:
return self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -813,7 +837,11 @@ MPU6000::measure()
* Fetch the full set of measurements from the MPU6000 in one pass.
*/
mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report));
if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)))
return;
/* count measurement */
_reads++;
/*
* Convert from big to little endian