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UAVCAN mag driver fix

This commit is contained in:
Pavel Kirienko 2014-08-22 15:31:08 +04:00
parent 29dbe8aed5
commit e32ff6004b
1 changed files with 14 additions and 16 deletions
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30
src/modules/uavcan/sensors/mag.cpp
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@ -93,33 +93,31 @@ int UavcanMagnetometerBridge::init()
int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case MAGIOCSSAMPLERATE:
case MAGIOCGSAMPLERATE:
case MAGIOCSRANGE:
case MAGIOCGRANGE:
case MAGIOCSLOWPASS:
case MAGIOCGLOWPASS: {
return -EINVAL;
}
case MAGIOCSSCALE: {
std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
log("new scale/offset: x: %f/%f y: %f/%f z: %f/%f",
double(_scale.x_scale), double(_scale.x_offset),
double(_scale.y_scale), double(_scale.y_offset),
double(_scale.z_scale), double(_scale.z_offset));
return 0;
}
case MAGIOCGSCALE: {
std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
return 0;
}
case MAGIOCCALIBRATE:
case MAGIOCEXSTRAP:
case MAGIOCSELFTEST: {
return -EINVAL;
return 0; // Nothing to do
}
case MAGIOCGEXTERNAL: {
return 1;
return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard
}
case MAGIOCSSAMPLERATE: {
return 0; // Pretend that this stuff is supported to keep the sensor app happy
}
case MAGIOCCALIBRATE:
case MAGIOCGSAMPLERATE:
case MAGIOCSRANGE:
case MAGIOCGRANGE:
case MAGIOCSLOWPASS:
case MAGIOCEXSTRAP:
case MAGIOCGLOWPASS: {
return -EINVAL;
}
default: {
return CDev::ioctl(filp, cmd, arg);