From 5e62ae7a9e2a7d3ea05d293900f7171884fbb448 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 4 Jul 2014 12:07:23 +1000
Subject: [PATCH] hmc5883: added -C option to calibrate on startup

Conflicts:
	src/drivers/hmc5883/hmc5883.cpp
---
 src/drivers/hmc5883/hmc5883.cpp | 42 +++++++++++++++++++++++++++------
 1 file changed, 35 insertions(+), 7 deletions(-)

diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index b9270d2a0b..65c8c64d05 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -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");