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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/mpu6000/mpu6000.cpp
+6 -6
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@@ -267,7 +267,7 @@ private:
ringbuffer::RingBuffer *_accel_reports;
struct accel_scale _accel_scale;
struct accel_calibration_s _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
@@ -276,7 +276,7 @@ private:
ringbuffer::RingBuffer *_gyro_reports;
struct gyro_scale _gyro_scale;
struct gyro_calibration_s _gyro_scale;
float _gyro_range_scale;
float _gyro_range_rad_s;
@@ -1400,7 +1400,7 @@ MPU6000::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) {
@@ -1414,7 +1414,7 @@ MPU6000::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 ACCELIOCSRANGE:
@@ -1484,12 +1484,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE: