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Merged lsm303d update, keeping default frequency

This commit is contained in:
Andrew Tridgell 2014-07-03 14:06:52 +10:00 committed by Lorenz Meier
parent c681d6621d
commit 1dfc7bad7b
1 changed files with 23 additions and 10 deletions
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33
src/drivers/lsm303d/lsm303d.cpp
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@ -69,6 +69,7 @@
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -222,7 +223,7 @@ class LSM303D_mag;
class LSM303D : public device::SPI
{
public:
LSM303D(int bus, const char* path, spi_dev_e device);
LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation);
virtual ~LSM303D();
virtual int init();
@ -311,7 +312,8 @@ private:
uint64_t _last_log_us;
uint64_t _last_log_sync_us;
uint64_t _last_log_reg_us;
uint64_t _last_log_alarm_us;
uint64_t _last_log_alarm_us;
enum Rotation _rotation;
/**
* Start automatic measurement.
@ -491,7 +493,7 @@ private:
};
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
_mag(new LSM303D_mag(this)),
_call_accel_interval(0),
@ -525,7 +527,8 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_last_log_us(0),
_last_log_sync_us(0),
_last_log_reg_us(0),
_last_log_alarm_us(0)
_last_log_alarm_us(0),
_rotation(rotation)
{
// enable debug() calls
_debug_enabled = true;
@ -1541,6 +1544,9 @@ LSM303D::measure()
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
// apply user specified rotation
rotate_3f(_rotation, accel_report.x, accel_report.y, accel_report.z);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
@ -1617,6 +1623,9 @@ LSM303D::mag_measure()
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
// apply user specified rotation
rotate_3f(_rotation, mag_report.x, mag_report.y, mag_report.z);
_mag_reports->force(&mag_report);
/* XXX please check this poll_notify, is it the right one? */
@ -1782,7 +1791,7 @@ namespace lsm303d
LSM303D *g_dev;
void start();
void start(bool external_bus, enum Rotation rotation);
void test();
void reset();
void info();
@ -1793,7 +1802,7 @@ void logging();
* Start the driver.
*/
void
start(bool external_bus)
start(bool external_bus, enum Rotation rotation)
{
int fd, fd_mag;
if (g_dev != nullptr)
@ -1801,9 +1810,9 @@ start(bool external_bus)
/* create the driver */
if (external_bus) {
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG);
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
} else {
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation);
}
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
@ -2015,13 +2024,17 @@ lsm303d_main(int argc, char *argv[])
{
bool external_bus = false;
int ch;
enum Rotation rotation = ROTATION_NONE;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "X")) != EOF) {
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
default:
lsm303d_usage();
exit(0);
@ -2035,7 +2048,7 @@ lsm303d_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start"))
lsm303d::start(external_bus);
lsm303d::start(external_bus, rotation);
/*
* Test the driver/device.