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drivers: re-use calibration topic

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E.g. instead of defining a gyro_scale struct in drv_gyro.h, use the
gyro_calibration message.
This commit is contained in:
Julian Oes
2016-03-24 13:08:30 +01:00
parent 98e407696e
commit b9cc0b74e2
16 changed files with 343 additions and 129 deletions
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src/drivers/lsm303d/lsm303d.cpp
+6 -6
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@@ -279,13 +279,13 @@ private:
ringbuffer::RingBuffer *_accel_reports;
ringbuffer::RingBuffer *_mag_reports;
struct accel_scale _accel_scale;
struct accel_calibration_s _accel_scale;
unsigned _accel_range_m_s2;
float _accel_range_scale;
unsigned _accel_samplerate;
unsigned _accel_onchip_filter_bandwith;
struct mag_scale _mag_scale;
struct mag_calibration_s _mag_scale;
unsigned _mag_range_ga;
float _mag_range_scale;
unsigned _mag_samplerate;
@@ -962,7 +962,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_scale *s = (struct accel_scale *) arg;
struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
@@ -984,7 +984,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSELFTEST:
@@ -1095,12 +1095,12 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSSCALE:
/* copy scale in */
memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
return OK;
case MAGIOCGSCALE:
/* copy scale out */
memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
memcpy((struct mag_calibration_s *) arg, &_mag_scale, sizeof(_mag_scale));
return OK;
case MAGIOCSRANGE: