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Improved self-test logic

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Lorenz Meier
2012-11-15 17:19:21 +01:00
parent 74d543cfc9
commit df5e4d1904
2 changed files with 14 additions and 4 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+11 -3
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@@ -610,9 +610,17 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
return OK;
{
/* copy scale, but only if off by a few percent */
struct accel_scale *s = (struct accel_scale *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCGSCALE:
/* copy scale out */