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Added log print ability to md25 driver.

This commit is contained in:
James Goppert 2013-06-15 16:37:15 -04:00
parent f3bfbd87b1
commit 7643106208
1 changed files with 5 additions and 0 deletions
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5
src/drivers/md25/md25.cpp
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@ -49,6 +49,7 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <arch/board/board.h> #include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
// registers // registers
enum { enum {
@ -73,6 +74,9 @@ enum {
REG_COMMAND_RW, REG_COMMAND_RW,
}; };
// File descriptors
static int mavlink_fd;
MD25::MD25(const char *deviceName, int bus, MD25::MD25(const char *deviceName, int bus,
uint16_t address, uint32_t speed) : uint16_t address, uint32_t speed) :
I2C("MD25", deviceName, bus, address, speed), I2C("MD25", deviceName, bus, address, speed),
@ -579,6 +583,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
usleep(1000000 * dt); usleep(1000000 * dt);
t += dt; t += dt;
float speed_rpm = 60*(md25.getRevolutions1() - prev_revolution)/dt; float speed_rpm = 60*(md25.getRevolutions1() - prev_revolution)/dt;
mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)speed_rpm);
md25.readData(); md25.readData();
if (t > 2.0f) break; if (t > 2.0f) break;
} }