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delete MAGIOCSELFTEST

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This commit is contained in:
Daniel Agar
2018-08-02 08:05:52 +02:00
committed by Lorenz Meier
parent daee7a4e4e
commit bb9c38a480
14 changed files with 0 additions and 206 deletions
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src/drivers/drv_mag.h
-3
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@@ -93,9 +93,6 @@ struct mag_calibration_s {
/** excite strap */
#define MAGIOCEXSTRAP _MAGIOC(9)
/** perform self test and report status */
#define MAGIOCSELFTEST _MAGIOC(10)
/** determine if mag is external or onboard */
#define MAGIOCGEXTERNAL _MAGIOC(11)
src/drivers/imu/adis16448/adis16448.cpp
-3
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@@ -1266,9 +1266,6 @@ ADIS16448::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCGRANGE:
return (unsigned long)(_mag_range_mgauss);
case MAGIOCSELFTEST:
return OK;
case MAGIOCTYPE:
return (ADIS16448_Product);
src/drivers/imu/fxos8701cq/fxos8701cq.cpp
-36
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@@ -313,13 +313,6 @@ private:
*/
int accel_self_test();
/**
* Mag self test
*
* @return 0 on success, 1 on failure
*/
int mag_self_test();
/**
* Read a register from the FXOS8701C
*
@@ -998,9 +991,6 @@ FXOS8701CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCGRANGE:
return _mag_range_ga;
case MAGIOCSELFTEST:
return mag_self_test();
case MAGIOCGEXTERNAL:
/* Even if this sensor is on the "external" SPI bus
* it is still fixed to the autopilot assembly,
@@ -1033,32 +1023,6 @@ FXOS8701CQ::accel_self_test()
return 0;
}
int
FXOS8701CQ::mag_self_test()
{
if (_mag_read == 0) {
return 1;
}
/**
* inspect mag offsets
* don't check mag scale because it seems this is calibrated on chip
*/
if (fabsf(_mag_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_mag_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_mag_scale.z_offset) < 0.000001f) {
return 1;
}
return 0;
}
uint8_t
FXOS8701CQ::read_reg(unsigned reg)
{
src/drivers/imu/lsm303d/lsm303d.cpp
-36
View File
@@ -378,13 +378,6 @@ private:
*/
int accel_self_test();
/**
* Mag self test
*
* @return 0 on success, 1 on failure
*/
int mag_self_test();
/**
* Read a register from the LSM303D
*
@@ -1066,9 +1059,6 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCGRANGE:
return _mag_range_ga;
case MAGIOCSELFTEST:
return mag_self_test();
case MAGIOCGEXTERNAL:
/* Even if this sensor is on the "external" SPI bus
* it is still fixed to the autopilot assembly,
@@ -1092,32 +1082,6 @@ LSM303D::accel_self_test()
return 0;
}
int
LSM303D::mag_self_test()
{
if (_mag_read == 0) {
return 1;
}
/**
* inspect mag offsets
* don't check mag scale because it seems this is calibrated on chip
*/
if (fabsf(_mag_scale.x_offset) < 0.000001f) {
return 1;
}
if (fabsf(_mag_scale.y_offset) < 0.000001f) {
return 1;
}
if (fabsf(_mag_scale.z_offset) < 0.000001f) {
return 1;
}
return 0;
}
uint8_t
LSM303D::read_reg(unsigned reg)
{
src/drivers/imu/mpu9250/mag.cpp
-9
View File
@@ -384,9 +384,6 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCGRANGE:
return 48; // fixed full scale measurement range of +/- 4800 uT == 48 Gauss
case MAGIOCSELFTEST:
return self_test();
#ifdef MAGIOCSHWLOWPASS
case MAGIOCSHWLOWPASS:
@@ -404,12 +401,6 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
int
MPU9250_mag::self_test(void)
{
return 0;
}
void
MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
{
src/drivers/magnetometer/bmm150/bmm150.cpp
-3
View File
@@ -810,9 +810,6 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCEXSTRAP:
return OK;
case MAGIOCSELFTEST:
return OK;
case MAGIOCSSAMPLERATE:
return ioctl(filp, SENSORIOCSPOLLRATE, arg);
src/drivers/magnetometer/hmc5883/hmc5883.cpp
-25
View File
@@ -310,13 +310,6 @@ private:
*/
float meas_to_float(uint8_t in[2]);
/**
* Check the current calibration and update device status
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
/**
* Check the current scale calibration
*
@@ -724,8 +717,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
/* check calibration, but not actually return an error */
(void)check_calibration();
return 0;
case MAGIOCGSCALE:
@@ -739,9 +730,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCEXSTRAP:
return set_excitement(arg);
case MAGIOCSELFTEST:
return check_calibration();
case MAGIOCGEXTERNAL:
DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return _interface->ioctl(cmd, dummy);
@@ -1271,19 +1259,6 @@ int HMC5883::check_offset()
return !offset_valid;
}
int HMC5883::check_calibration()
{
bool offset_valid = (check_offset() == OK);
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid)) {
_calibrated = (offset_valid && scale_valid);
}
/* return 0 if calibrated, 1 else */
return (!_calibrated);
}
int HMC5883::set_excitement(unsigned enable)
{
int ret;
src/drivers/magnetometer/ist8310/ist8310.cpp
-32
View File
@@ -357,13 +357,6 @@ private:
*/
float meas_to_float(uint8_t in[2]);
/**
* Check the current calibration and update device status
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
/**
* Check the current scale calibration
*
@@ -707,8 +700,6 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
/* check calibration, but not actually return an error */
(void)check_calibration();
return 0;
case MAGIOCGSCALE:
@@ -719,11 +710,7 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCCALIBRATE:
return calibrate(filp, arg);
case MAGIOCSELFTEST:
return check_calibration();
case MAGIOCGEXTERNAL:
DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return external();
default:
@@ -1148,25 +1135,6 @@ int IST8310::check_offset()
return !offset_valid;
}
int IST8310::check_calibration()
{
bool offset_valid = (check_offset() == OK);
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid)) {
if (!scale_valid || !offset_valid) {
PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
}
_calibrated = (offset_valid && scale_valid);
}
/* return 0 if calibrated, 1 else */
return (!_calibrated);
}
int
IST8310::set_selftest(unsigned enable)
{
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
-23
View File
@@ -286,22 +286,6 @@ out:
return ret;
}
int
LIS3MDL::check_calibration()
{
bool offset_valid = (check_offset() == OK);
bool scale_valid = (check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid)) {
PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);
}
/* return 0 if calibrated, 1 else */
return !_calibrated;
}
int
LIS3MDL::check_offset()
{
@@ -613,8 +597,6 @@ LIS3MDL::ioctl(struct file *file_pointer, int cmd, unsigned long arg)
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
/* check calibration, but not actually return an error */
(void)check_calibration();
return 0;
case MAGIOCGSCALE:
@@ -622,17 +604,12 @@ LIS3MDL::ioctl(struct file *file_pointer, int cmd, unsigned long arg)
memcpy((struct mag_calibration_s *)arg, &_scale, sizeof(_scale));
return 0;
case MAGIOCCALIBRATE:
return calibrate(file_pointer, arg);
case MAGIOCEXSTRAP:
return set_excitement(arg);
case MAGIOCSELFTEST:
return check_calibration();
case MAGIOCGEXTERNAL:
DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return _interface->ioctl(cmd, dummy);
src/drivers/magnetometer/lis3mdl/lis3mdl.h
-7
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@@ -199,13 +199,6 @@ private:
*/
int collect();
/**
* Check the current calibration and update device status
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
/**
* Check the current scale calibration
*
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
-1
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@@ -331,7 +331,6 @@ LSM303AGR::ioctl(struct file *filp, int cmd, unsigned long arg)
return 0;
case MAGIOCGEXTERNAL:
DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
return external();
default:
src/modules/simulator/accelsim/accelsim.cpp
-3
View File
@@ -717,9 +717,6 @@ ACCELSIM::mag_ioctl(unsigned long cmd, unsigned long arg)
*/
return 0;
case MAGIOCSELFTEST:
return OK;
default:
/* give it to the superclass */
return VirtDevObj::devIOCTL(cmd, arg);
src/modules/uavcan/sensors/mag.cpp
-4
View File
@@ -114,10 +114,6 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
return 0;
}
case MAGIOCSELFTEST: {
return 0; // Nothing to do
}
case MAGIOCGEXTERNAL: {
return 1; // declare it external rise it's priority and to allow for correct orientation compensation
}
src/systemcmds/config/config.c
-21
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@@ -296,27 +296,6 @@ do_mag(int argc, char *argv[])
return 1;
}
} else if (argc == 2 && !strcmp(argv[0], "check")) {
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret) {
PX4_WARN("mag self test FAILED! Check calibration:");
struct mag_calibration_s scale;
ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
if (ret) {
PX4_ERR("failed getting mag scale");
return 1;
}
PX4_INFO("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset,
(double)scale.z_offset);
PX4_INFO("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
} else {
PX4_INFO("mag calibration and self test OK");
}
} else {
print_usage();
return 1;