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MPU6K: Add commandline option to set range, fix test command by resetting guard logic properly

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This commit is contained in:
Lorenz Meier
2015-08-19 10:28:02 +02:00
parent 0b6ea40b7b
commit e5834460e2
1 changed files with 25 additions and 4 deletions
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src/drivers/mpu6000/mpu6000.cpp
+25 -4
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@@ -1534,6 +1534,13 @@ void
MPU6000::stop()
{
hrt_cancel(&_call);
/* reset internal states */
memset(_last_accel, 0, sizeof(_last_accel));
/* discard unread data in the buffers */
_accel_reports->flush();
_gyro_reports->flush();
}
void
@@ -1955,7 +1962,7 @@ namespace mpu6000
MPU6000 *g_dev_int; // on internal bus
MPU6000 *g_dev_ext; // on external bus
void start(bool, enum Rotation);
void start(bool, enum Rotation, int range);
void stop(bool);
void test(bool);
void reset(bool);
@@ -1972,7 +1979,7 @@ void usage();
* or failed to detect the sensor.
*/
void
start(bool external_bus, enum Rotation rotation)
start(bool external_bus, enum Rotation rotation, int range)
{
int fd;
MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
@@ -2009,6 +2016,9 @@ start(bool external_bus, enum Rotation rotation)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
if (ioctl(fd, ACCELIOCSRANGE, range) < 0)
goto fail;
close(fd);
exit(0);
@@ -2106,6 +2116,12 @@ test(bool external_bus)
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "reset to default polling");
close(fd);
close(fd_gyro);
/* XXX add poll-rate tests here too */
@@ -2205,6 +2221,7 @@ usage()
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
warnx(" -a accel range (in g)");
}
} // namespace
@@ -2215,9 +2232,10 @@ mpu6000_main(int argc, char *argv[])
bool external_bus = false;
int ch;
enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
while ((ch = getopt(argc, argv, "XR:a:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
@@ -2225,6 +2243,9 @@ mpu6000_main(int argc, char *argv[])
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
case 'a':
accel_range = atoi(optarg);
break;
default:
mpu6000::usage();
exit(0);
@@ -2238,7 +2259,7 @@ mpu6000_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
mpu6000::start(external_bus, rotation);
mpu6000::start(external_bus, rotation, accel_range);
}
if (!strcmp(verb, "stop")) {