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Fixed a few readout bugs in sensors app

This commit is contained in:
Lorenz Meier 2012-08-25 21:44:01 +02:00
parent b0493e9aec
commit 380d136483
1 changed files with 24 additions and 26 deletions
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50
apps/sensors/sensors.c
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@ -420,13 +420,13 @@ static int sensors_init(void)
} else {
printf("[sensors] MAG open ok\n");
/* set the queue depth to 1 */
if (OK != ioctl(fd_magnetometer, MAGIOCSQUEUEDEPTH, 1))
warn("failed to set queue depth for mag");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_magnetometer, MAGIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for mag");
/* start the sensor polling at 150Hz */
if (OK != ioctl(fd_magnetometer, MAGIOCSPOLLRATE, 150))
warn("failed to set 150Hz poll rate for mag");
if (OK != ioctl(fd_magnetometer, MAGIOCSSAMPLERATE, 150))
warn("failed to set minimum 150Hz sample rate for mag");
}
/* open barometer */
@ -438,13 +438,13 @@ static int sensors_init(void)
} else {
printf("[sensors] BARO open ok\n");
/* set the queue depth to 1 */
if (OK != ioctl(fd_barometer, BAROIOCSQUEUEDEPTH, 1))
warn("failed to set queue depth for baro");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_barometer, BAROIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for baro");
/* start the sensor polling at 100Hz */
if (OK != ioctl(fd_barometer, BAROIOCSPOLLRATE, 100))
warn("failed to set 100Hz poll rate for baro");
// start the sensor polling at 100Hz
// if (OK != ioctl(fd_barometer, BAROIOCSPOLLRATE, 100))
// warn("failed to set 100Hz poll rate for baro");
}
/* open gyro */
@ -457,13 +457,11 @@ static int sensors_init(void)
// if (OK != ioctl(fd_gyro, GYROIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for gyro");
// /* start the sensor polling at 500Hz */
// if (OK != ioctl(fd_gyro, GYROIOCSPOLLRATE, 500))
// warn("failed to set 500Hz poll rate for gyro");
/* start the sensor polling at 500Hz */
if (OK != ioctl(fd_gyro, GYROIOCSSAMPLERATE, 500))
warn("failed to set minimum 500Hz sample rate for gyro");
}
printf("just before accel\n");
/* open accelerometer */
fd_accelerometer = open("/dev/accel", O_RDONLY);
int errno_accelerometer = (int)*get_errno_ptr();
@ -474,9 +472,9 @@ static int sensors_init(void)
// if (OK != ioctl(fd_accelerometer, ACCELIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for accel");
// /* start the sensor polling at 500Hz */
// if (OK != ioctl(fd_accelerometer, ACCELIOCSPOLLRATE, 500))
// warn("failed to set 500Hz poll rate for accel");
/* start the sensor polling at 500Hz */
if (OK != ioctl(fd_accelerometer, ACCELIOCSSAMPLERATE, 500))
warn("failed to set minimum 500Hz poll rate for accel");
}
/* only attempt to use BMA180 if main accel is not available */
@ -852,15 +850,15 @@ int sensors_thread_main(int argc, char *argv[])
/* --- ACCEL --- */
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(sensor_mag), mag_sub, &mag_report);
orb_copy(ORB_ID(sensor_accel), accel_sub, &accel_report);
raw.accelerometer_m_s2[0] = gyro_report.x;
raw.gyro_rad_s[1] = gyro_report.y;
raw.gyro_rad_s[2] = gyro_report.z;
raw.accelerometer_m_s2[0] = accel_report.x;
raw.accelerometer_m_s2[1] = accel_report.y;
raw.accelerometer_m_s2[2] = accel_report.z;
raw.gyro_raw[0] = gyro_report.x_raw;
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
raw.accelerometer_raw[0] = accel_report.x_raw;
raw.accelerometer_raw[1] = accel_report.y_raw;
raw.accelerometer_raw[2] = accel_report.z_raw;
raw.accelerometer_raw_counter++;
}