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px4-firmware
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This commit is contained in:
px4dev 2012-08-21 22:30:04 -07:00
parent 5f77561ed4
commit 8c22e2a092
2 changed files with 11 additions and 8 deletions
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15
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -296,6 +296,7 @@ HMC5883::init()
/* do I2C init (and probe) first */ /* do I2C init (and probe) first */
ret = I2C::init(); ret = I2C::init();
if (ret != OK) if (ret != OK)
goto out; goto out;
@ -344,7 +345,7 @@ HMC5883::probe()
read_reg(ADDR_ID_C, data[2])) read_reg(ADDR_ID_C, data[2]))
debug("read_reg fail"); debug("read_reg fail");
if ((data[0] != ID_A_WHO_AM_I) || if ((data[0] != ID_A_WHO_AM_I) ||
(data[1] != ID_B_WHO_AM_I) || (data[1] != ID_B_WHO_AM_I) ||
(data[2] != ID_C_WHO_AM_I)) { (data[2] != ID_C_WHO_AM_I)) {
debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
@ -545,8 +546,8 @@ HMC5883::cycle_trampoline(void *arg)
void void
HMC5883::cycle() HMC5883::cycle()
{ {
/* /*
* We have to publish the mag topic in the context of the workq * We have to publish the mag topic in the context of the workq
* in order to ensure that the descriptor is valid when we go to publish. * in order to ensure that the descriptor is valid when we go to publish.
* *
* @bug We can't really ever be torn down and restarted, since this * @bug We can't really ever be torn down and restarted, since this
@ -617,6 +618,7 @@ HMC5883::measure()
* Send the command to begin a measurement. * Send the command to begin a measurement.
*/ */
ret = write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE); ret = write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
if (OK != ret) if (OK != ret)
_measure_errors++; _measure_errors++;
@ -648,13 +650,14 @@ HMC5883::collect()
/* /*
* @note We could read the status register here, which could tell us that * @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being * we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and * written. In the common case that would just slow us down, and
* we're better off just never being early. * we're better off just never being early.
*/ */
/* get measurements from the device */ /* get measurements from the device */
cmd = ADDR_DATA_OUT_X_MSB; cmd = ADDR_DATA_OUT_X_MSB;
ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report)); ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report));
if (ret != OK) { if (ret != OK) {
debug("data/status read error"); debug("data/status read error");
goto out; goto out;
@ -665,8 +668,8 @@ HMC5883::collect()
report.y = ((int16_t)hmc_report.y[0] << 8) + hmc_report.y[1]; report.y = ((int16_t)hmc_report.y[0] << 8) + hmc_report.y[1];
report.z = ((int16_t)hmc_report.z[0] << 8) + hmc_report.z[1]; report.z = ((int16_t)hmc_report.z[0] << 8) + hmc_report.z[1];
/* /*
* If any of the values are -4096, there was an internal math error in the sensor. * If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors. * Generalise this to a simple range check that will also catch some bit errors.
*/ */
if ((abs(report.x) > 2048) || if ((abs(report.x) > 2048) ||

4
apps/drivers/ms5611/ms5611.cpp
View File

@ -527,8 +527,8 @@ MS5611::cycle_trampoline(void *arg)
void void
MS5611::cycle() MS5611::cycle()
{ {
/* /*
* We have to publish the baro topic in the context of the workq * We have to publish the baro topic in the context of the workq
* in order to ensure that the descriptor is valid when we go to publish. * in order to ensure that the descriptor is valid when we go to publish.
* *
* @bug We can't really ever be torn down and restarted, since this * @bug We can't really ever be torn down and restarted, since this