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hmc5883: added -C option to calibrate on startup 

Conflicts:
	src/drivers/hmc5883/hmc5883.cpp
This commit is contained in:
Andrew Tridgell 2014-07-04 12:07:23 +10:00 committed by Lorenz Meier
parent d952e81ab7
commit 5e62ae7a9e
1 changed files with 35 additions and 7 deletions
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42
src/drivers/hmc5883/hmc5883.cpp
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@ -1516,6 +1516,11 @@ hmc5883_usage()
warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'");
warnx("options:");
warnx(" -R rotation");
warnx(" -C calibrate on start");
warnx(" -X only external bus");
#ifdef PX4_I2C_BUS_ONBOARD
warnx(" -I only internal bus");
#endif
}
int
@ -1523,46 +1528,69 @@ hmc5883_main(int argc, char *argv[])
{
int ch;
enum Rotation rotation = ROTATION_NONE;
bool calibrate = false;
while ((ch = getopt(argc, argv, "R:")) != EOF) {
while ((ch = getopt(argc, argv, "XIR:C")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
#ifdef PX4_I2C_BUS_ONBOARD
case 'I':
bus = PX4_I2C_BUS_ONBOARD;
break;
#endif
case 'X':
bus = PX4_I2C_BUS_EXPANSION;
break;
case 'C':
calibrate = true;
break;
default:
hmc5883_usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
hmc5883::start(rotation);
if (!strcmp(verb, "start")) {
hmc5883::start(bus, rotation);
if (calibrate) {
if (hmc5883::calibrate(bus) == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}
}
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(verb, "test"))
hmc5883::test(bus);
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(verb, "reset"))
hmc5883::reset(bus);
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(verb, "info") || !strcmp(verb, "status"))
hmc5883::info(bus);
/*
* Autocalibrate the scaling
*/
if (!strcmp(argv[1], "calibrate")) {
if (!strcmp(verb, "calibrate")) {
if (hmc5883::calibrate(bus) == 0) {
errx(0, "calibration successful");