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Improved LSM303D driver, plus some fixes to the HMC5883

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This commit is contained in:
Julian Oes
2013-08-20 20:02:06 +02:00
parent 307c9e52c7
commit f5c92314f1
5 changed files with 378 additions and 228 deletions
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src/systemcmds/config/config.c
+58 -13
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@@ -90,6 +90,7 @@ static void
do_gyro(int argc, char *argv[])
{
int fd;
int ret;
fd = open(GYRO_DEVICE_PATH, 0);
@@ -102,20 +103,29 @@ do_gyro(int argc, char *argv[])
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the gyro internal sampling rate up to at least i Hz */
ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i dps */
ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
int ret = ioctl(fd, GYROIOCSELFTEST, 0);
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {
warnx("gyro self test FAILED! Check calibration:");
@@ -147,6 +157,7 @@ static void
do_mag(int argc, char *argv[])
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -156,8 +167,32 @@ do_mag(int argc, char *argv[])
} else {
if(argc == 1 && !strcmp(argv[0], "check")) {
int ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the mag internal sampling rate up to at least i Hz */
ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i G */
ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret) {
warnx("mag self test FAILED! Check calibration:");
@@ -173,9 +208,9 @@ do_mag(int argc, char *argv[])
errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
}
int srate = -1; //ioctl(fd, MAGIOCGSAMPLERATE, 0);
int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = -1; //ioctl(fd, MAGIOCGRANGE, 0);
int range = ioctl(fd, MAGIOCGRANGE, 0);
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range);
@@ -189,6 +224,7 @@ static void
do_accel(int argc, char *argv[])
{
int fd;
int ret;
fd = open(ACCEL_DEVICE_PATH, 0);
@@ -201,20 +237,29 @@ do_accel(int argc, char *argv[])
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at least i Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i m/s^2 */
ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
/* set the range to i G */
ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret) {
warnx("accel self test FAILED! Check calibration:");