Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-25 16:56:25 +08:00
Code Issues Actions 4 Packages Projects Releases Wiki Activity

df_hmc5883_wrapper: set mag device path from input argument (#8079)

Browse Source
This commit is contained in:
Dave Royer
2017-10-11 09:27:25 -05:00
committed by Daniel Agar
parent 81809be7cd
commit d1500dca6f
2 changed files with 27 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
posix-configs/ocpoc/px4.config
+2 -2
View File
@@ -9,11 +9,11 @@ param set MAV_SYS_ID 1
param set SYS_MC_EST_GROUP 2
df_mpu9250_wrapper start_without_mag -R 10
df_hmc5883_wrapper start
df_hmc5883_wrapper start -D /dev/i2c-4
df_ms5611_wrapper start
rgbled start -b 1
ocpoc_adc start
gps start -d /dev/ttyS5 -s
gps start -d /dev/ttyS3 -s
sensors start
commander start
navigator start
src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
+25 -20
View File
@@ -72,11 +72,11 @@ extern "C" { __EXPORT int df_hmc5883_wrapper_main(int argc, char *argv[]); }
using namespace DriverFramework;
class DfHmc9250Wrapper : public HMC5883
class DfHmc5883Wrapper : public HMC5883
{
public:
DfHmc9250Wrapper(enum Rotation rotation);
~DfHmc9250Wrapper();
DfHmc5883Wrapper(enum Rotation rotation, const char *path);
~DfHmc5883Wrapper();
/**
@@ -119,8 +119,8 @@ private:
};
DfHmc9250Wrapper::DfHmc9250Wrapper(enum Rotation rotation) :
HMC5883(MAG_DEVICE_PATH),
DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
HMC5883(path),
_mag_topic(nullptr),
_param_update_sub(-1),
_mag_calibration{},
@@ -139,12 +139,12 @@ DfHmc9250Wrapper::DfHmc9250Wrapper(enum Rotation rotation) :
get_rot_matrix(rotation, &_rotation_matrix);
}
DfHmc9250Wrapper::~DfHmc9250Wrapper()
DfHmc5883Wrapper::~DfHmc5883Wrapper()
{
perf_free(_mag_sample_perf);
}
int DfHmc9250Wrapper::start()
int DfHmc5883Wrapper::start()
{
/* Subscribe to param update topic. */
if (_param_update_sub < 0) {
@@ -172,7 +172,7 @@ int DfHmc9250Wrapper::start()
return 0;
}
int DfHmc9250Wrapper::stop()
int DfHmc5883Wrapper::stop()
{
/* Stop sensor. */
int ret = HMC5883::stop();
@@ -185,7 +185,7 @@ int DfHmc9250Wrapper::stop()
return 0;
}
void DfHmc9250Wrapper::_update_mag_calibration()
void DfHmc5883Wrapper::_update_mag_calibration()
{
// TODO: replace magic number
for (unsigned i = 0; i < 3; ++i) {
@@ -251,7 +251,7 @@ void DfHmc9250Wrapper::_update_mag_calibration()
}
int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data)
int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
{
/* Check if calibration values are still up-to-date. */
bool updated;
@@ -323,36 +323,36 @@ int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data)
namespace df_hmc5883_wrapper
{
DfHmc9250Wrapper *g_dev = nullptr;
DfHmc5883Wrapper *g_dev = nullptr;
int start(enum Rotation rotation);
int start(enum Rotation rotation, const char *path);
int stop();
int info();
void usage();
int start(enum Rotation rotation)
int start(enum Rotation rotation, const char *path)
{
g_dev = new DfHmc9250Wrapper(rotation);
g_dev = new DfHmc5883Wrapper(rotation, path);
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfHmc9250Wrapper object");
PX4_ERR("failed instantiating DfHmc5883Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfHmc9250Wrapper start failed");
PX4_ERR("DfHmc5883Wrapper start failed");
return ret;
}
// Open the MAG sensor
DevHandle h;
DevMgr::getHandle(MAG_DEVICE_PATH, h);
DevMgr::getHandle(path, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
MAG_DEVICE_PATH, h.getError());
path, h.getError());
return -1;
}
@@ -415,14 +415,19 @@ df_hmc5883_wrapper_main(int argc, char *argv[])
int ret = 0;
int myoptind = 1;
const char *myoptarg = NULL;
const char *device_path = MAG_DEVICE_PATH;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "R:D:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
case 'D':
device_path = myoptarg;
break;
default:
df_hmc5883_wrapper::usage();
return 0;
@@ -438,7 +443,7 @@ df_hmc5883_wrapper_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
ret = df_hmc5883_wrapper::start(rotation);
ret = df_hmc5883_wrapper::start(rotation, device_path);
}
else if (!strcmp(verb, "stop")) {