fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 05:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

HMC5883: Fixed code style

Browse Source
This commit is contained in:
Lorenz Meier
2015-10-19 13:16:25 +02:00
parent ff6676ef8c
commit b5f0d3e937
3 changed files with 209 additions and 125 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/hmc5883/hmc5883.cpp
+189 -107
View File
@@ -321,25 +321,25 @@ private:
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
int check_calibration();
/**
* Check the current scale calibration
*
* @return 0 if scale calibration is ok, 1 else
*/
int check_scale();
/**
* Check the current scale calibration
*
* @return 0 if scale calibration is ok, 1 else
*/
int check_scale();
/**
* Check the current offset calibration
*
* @return 0 if offset calibration is ok, 1 else
*/
int check_offset();
/**
* Check the current offset calibration
*
* @return 0 if offset calibration is ok, 1 else
*/
int check_offset();
/* this class has pointer data members, do not allow copying it */
HMC5883(const HMC5883&);
HMC5883 operator=(const HMC5883&);
HMC5883(const HMC5883 &);
HMC5883 operator=(const HMC5883 &);
};
/*
@@ -397,11 +397,13 @@ HMC5883::~HMC5883()
/* make sure we are truly inactive */
stop();
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1)
if (_class_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_instance);
}
// free perf counters
perf_free(_sample_perf);
@@ -417,6 +419,7 @@ HMC5883::init()
int ret = ERROR;
ret = CDev::init();
if (ret != OK) {
DEVICE_DEBUG("CDev init failed");
goto out;
@@ -424,8 +427,10 @@ HMC5883::init()
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* reset the device configuration */
reset();
@@ -489,14 +494,16 @@ int HMC5883::set_range(unsigned range)
*/
ret = write_reg(ADDR_CONF_B, (_range_bits << 5));
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
uint8_t range_bits_in = 0;
ret = read_reg(ADDR_CONF_B, range_bits_in);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
return !(range_bits_in == (_range_bits << 5));
}
@@ -512,15 +519,19 @@ void HMC5883::check_range(void)
uint8_t range_bits_in = 0;
ret = read_reg(ADDR_CONF_B, range_bits_in);
if (OK != ret) {
perf_count(_comms_errors);
return;
}
if (range_bits_in != (_range_bits<<5)) {
if (range_bits_in != (_range_bits << 5)) {
perf_count(_range_errors);
ret = write_reg(ADDR_CONF_B, (_range_bits << 5));
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
}
}
@@ -535,15 +546,19 @@ void HMC5883::check_conf(void)
uint8_t conf_reg_in = 0;
ret = read_reg(ADDR_CONF_A, conf_reg_in);
if (OK != ret) {
perf_count(_comms_errors);
return;
}
if (conf_reg_in != _conf_reg) {
perf_count(_conf_errors);
ret = write_reg(ADDR_CONF_A, _conf_reg);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
}
}
@@ -555,8 +570,9 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -611,77 +627,84 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL))
return -EINVAL;
/* check against maximum rate */
if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
return OK;
}
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000/TICK2USEC(_measure_ticks);
return 1000000 / TICK2USEC(_measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
@@ -699,7 +722,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCGSAMPLERATE:
/* same as pollrate because device is in single measurement mode*/
return 1000000/TICK2USEC(_measure_ticks);
return 1000000 / TICK2USEC(_measure_ticks);
case MAGIOCSRANGE:
return set_range(arg);
@@ -815,8 +838,9 @@ HMC5883::cycle()
}
/* measurement phase */
if (OK != measure())
if (OK != measure()) {
DEVICE_DEBUG("measure error");
}
/* next phase is collection */
_collect_phase = true;
@@ -839,8 +863,9 @@ HMC5883::measure()
*/
ret = write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
return ret;
}
@@ -872,7 +897,7 @@ HMC5883::collect()
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register here, which could tell us that
@@ -908,6 +933,7 @@ HMC5883::collect()
/* get measurements from the device */
new_report.temperature = 0;
if (_conf_reg & HMC5983_TEMP_SENSOR_ENABLE) {
/*
if temperature compensation is enabled read the
@@ -923,13 +949,16 @@ HMC5883::collect()
ret = _interface->read(ADDR_TEMP_OUT_MSB,
raw_temperature, sizeof(raw_temperature));
if (ret == OK) {
int16_t temp16 = (((int16_t)raw_temperature[0]) << 8) +
raw_temperature[1];
new_report.temperature = 25 + (temp16 / (16*8.0f));
raw_temperature[1];
new_report.temperature = 25 + (temp16 / (16 * 8.0f));
_temperature_error_count = 0;
} else {
_temperature_error_count++;
if (_temperature_error_count == 10) {
/*
it probably really is an old HMC5883,
@@ -940,6 +969,7 @@ HMC5883::collect()
set_temperature_compensation(0);
}
}
} else {
new_report.temperature = _last_report.temperature;
}
@@ -961,17 +991,18 @@ HMC5883::collect()
// XXX revisit for SPI part, might require a bus type IOCTL
unsigned dummy;
sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
if (sensor_is_onboard) {
// convert onboard so it matches offboard for the
// scaling below
report.y = -report.y;
report.x = -report.x;
}
}
/* the standard external mag by 3DR has x pointing to the
/* the standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y */
xraw_f = -report.y;
xraw_f = -report.y;
yraw_f = report.x;
zraw_f = report.z;
@@ -989,12 +1020,14 @@ HMC5883::collect()
if (_mag_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_mag_topic == nullptr)
if (_mag_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
}
}
}
@@ -1016,9 +1049,11 @@ HMC5883::collect()
vehicles have it is worth checking for.
*/
check_counter = perf_event_count(_sample_perf) % 256;
if (check_counter == 0) {
check_range();
}
if (check_counter == 128) {
check_conf();
}
@@ -1075,7 +1110,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
}
/* Set to 2.5 Gauss. We ask for 3 to get the right part of
* the chained if statement above. */
* the chained if statement above. */
if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
ret = 1;
@@ -1146,9 +1181,11 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = -EIO;
goto out;
}
float cal[3] = {fabsf(expected_cal[0] / report.x),
fabsf(expected_cal[1] / report.y),
fabsf(expected_cal[2] / report.z)};
fabsf(expected_cal[2] / report.z)
};
if (cal[0] > 0.7f && cal[0] < 1.35f &&
cal[1] > 0.7f && cal[1] < 1.35f &&
@@ -1211,10 +1248,11 @@ int HMC5883::check_scale()
bool scale_valid;
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)) {
(-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 {
scale_valid = true;
}
@@ -1228,10 +1266,11 @@ int HMC5883::check_offset()
bool offset_valid;
if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) {
(-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) {
/* offset is zero */
offset_valid = false;
} else {
offset_valid = true;
}
@@ -1247,7 +1286,7 @@ int HMC5883::check_calibration()
if (_calibrated != (offset_valid && scale_valid)) {
warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);
}
@@ -1261,10 +1300,12 @@ int HMC5883::set_excitement(unsigned enable)
/* arm the excitement strap */
ret = read_reg(ADDR_CONF_A, _conf_reg);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
_conf_reg &= ~0x03; // reset previous excitement mode
if (((int)enable) < 0) {
_conf_reg |= 0x01;
@@ -1273,12 +1314,13 @@ int HMC5883::set_excitement(unsigned enable)
}
// ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg);
// ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg);
ret = write_reg(ADDR_CONF_A, _conf_reg);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
uint8_t conf_reg_ret = 0;
read_reg(ADDR_CONF_A, conf_reg_ret);
@@ -1317,11 +1359,12 @@ int HMC5883::set_temperature_compensation(unsigned enable)
if (OK != ret) {
perf_count(_comms_errors);
return -EIO;
}
return -EIO;
}
if (enable != 0) {
_conf_reg |= HMC5983_TEMP_SENSOR_ENABLE;
} else {
_conf_reg &= ~HMC5983_TEMP_SENSOR_ENABLE;
}
@@ -1334,6 +1377,7 @@ int HMC5883::set_temperature_compensation(unsigned enable)
}
uint8_t conf_reg_ret = 0;
if (read_reg(ADDR_CONF_A, conf_reg_ret) != OK) {
perf_count(_comms_errors);
return -EIO;
@@ -1383,7 +1427,7 @@ HMC5883::print_info()
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)(1.0f/_range_scale), (double)_range_ga);
(double)(1.0f / _range_scale), (double)_range_ga);
printf("temperature %.2f\n", (double)_last_report.temperature);
_reports->print_info("report queue");
}
@@ -1436,16 +1480,20 @@ void usage();
bool
start_bus(struct hmc5883_bus_option &bus, enum Rotation rotation)
{
if (bus.dev != nullptr)
errx(1,"bus option already started");
if (bus.dev != nullptr) {
errx(1, "bus option already started");
}
device::Device *interface = bus.interface_constructor(bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
bus.dev = new HMC5883(interface, bus.devpath, rotation);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
@@ -1453,14 +1501,16 @@ start_bus(struct hmc5883_bus_option &bus, enum Rotation rotation)
}
int fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
return false;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
errx(1,"Failed to setup poll rate");
errx(1, "Failed to setup poll rate");
}
close(fd);
return true;
@@ -1483,10 +1533,12 @@ start(enum HMC5883_BUS busid, enum Rotation rotation)
// this device is already started
continue;
}
if (busid != HMC5883_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i], rotation);
}
@@ -1506,6 +1558,7 @@ struct hmc5883_bus_option &find_bus(enum HMC5883_BUS busid)
return bus_options[i];
}
}
errx(1, "bus %u not started", (unsigned)busid);
}
@@ -1526,31 +1579,37 @@ test(enum HMC5883_BUS busid)
int fd = open(path, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'hmc5883 start')", path);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0)
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
errx(1, "failed to get if mag is onboard or external");
}
warnx("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 5 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
}
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -1561,14 +1620,16 @@ test(enum HMC5883_BUS busid)
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
@@ -1628,8 +1689,9 @@ int calibrate(enum HMC5883_BUS busid)
int fd = open(path, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", path);
}
if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
warnx("failed to enable sensor calibration mode");
@@ -1651,14 +1713,17 @@ reset(enum HMC5883_BUS busid)
int fd = open(path, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@@ -1675,11 +1740,13 @@ temp_enable(enum HMC5883_BUS busid, bool enable)
int fd = open(path, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, MAGIOCSTEMPCOMP, (unsigned)enable) < 0)
if (ioctl(fd, MAGIOCSTEMPCOMP, (unsigned)enable) < 0) {
err(1, "set temperature compensation failed");
}
close(fd);
return 0;
@@ -1719,7 +1786,7 @@ hmc5883_main(int argc, char *argv[])
int ch;
enum HMC5883_BUS busid = HMC5883_BUS_ALL;
enum Rotation rotation = ROTATION_NONE;
bool calibrate = false;
bool calibrate = false;
bool temp_compensation = false;
while ((ch = getopt(argc, argv, "XISR:CT")) != EOF) {
@@ -1728,22 +1795,28 @@ hmc5883_main(int argc, char *argv[])
rotation = (enum Rotation)atoi(optarg);
break;
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
case 'I':
busid = HMC5883_BUS_I2C_INTERNAL;
break;
#endif
case 'X':
busid = HMC5883_BUS_I2C_EXTERNAL;
break;
case 'S':
busid = HMC5883_BUS_SPI;
break;
case 'C':
calibrate = true;
break;
case 'T':
temp_compensation = true;
break;
default:
hmc5883::usage();
exit(0);
@@ -1757,42 +1830,51 @@ hmc5883_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
hmc5883::start(busid, rotation);
if (calibrate && hmc5883::calibrate(busid) != 0) {
errx(1, "calibration failed");
}
if (temp_compensation) {
// we consider failing to setup temperature
// compensation as non-fatal
hmc5883::temp_enable(busid, true);
}
exit(0);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
if (!strcmp(verb, "test")) {
hmc5883::test(busid);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
if (!strcmp(verb, "reset")) {
hmc5883::reset(busid);
}
/*
* enable/disable temperature compensation
*/
if (!strcmp(verb, "tempoff"))
if (!strcmp(verb, "tempoff")) {
hmc5883::temp_enable(busid, false);
if (!strcmp(verb, "tempon"))
}
if (!strcmp(verb, "tempon")) {
hmc5883::temp_enable(busid, true);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status"))
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
hmc5883::info(busid);
}
/*
* Autocalibrate the scaling
src/drivers/hmc5883/hmc5883_i2c.cpp
+9 -7
View File
@@ -31,11 +31,11 @@
*
****************************************************************************/
/**
* @file HMC5883_I2C.cpp
*
* I2C interface for HMC5883 / HMC 5983
*/
/**
* @file HMC5883_I2C.cpp
*
* I2C interface for HMC5883 / HMC 5983
*/
/* XXX trim includes */
#include <px4_config.h>
@@ -72,7 +72,7 @@ public:
virtual ~HMC5883_I2C();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
@@ -118,11 +118,13 @@ HMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (_bus == PX4_I2C_BUS_EXPANSION) {
return 1;
} else {
return 0;
}
#else
return 1;
return 1;
#endif
case DEVIOCGDEVICEID:
src/drivers/hmc5883/hmc5883_spi.cpp
+11 -11
View File
@@ -31,11 +31,11 @@
*
****************************************************************************/
/**
* @file HMC5883_SPI.cpp
*
* SPI interface for HMC5983
*/
/**
* @file HMC5883_SPI.cpp
*
* SPI interface for HMC5983
*/
/* XXX trim includes */
#include <px4_config.h>
@@ -77,7 +77,7 @@ public:
virtual ~HMC5883_SPI();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
@@ -91,7 +91,7 @@ HMC5883_SPI_interface(int bus)
}
HMC5883_SPI::HMC5883_SPI(int bus, spi_dev_e device) :
SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */)
SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
}
@@ -106,6 +106,7 @@ HMC5883_SPI::init()
int ret;
ret = SPI::init();
if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
return -EIO;
@@ -148,10 +149,9 @@ HMC5883_SPI::ioctl(unsigned operation, unsigned &arg)
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
{
ret = -EINVAL;
}
default: {
ret = -EINVAL;
}
}
return ret;