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Improved LSM303D driver, plus some fixes to the HMC5883

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This commit is contained in:
Julian Oes
2013-08-20 20:02:06 +02:00
parent 307c9e52c7
commit f5c92314f1
5 changed files with 378 additions and 228 deletions
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25
src/modules/sensors/sensors.cpp
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@@ -936,6 +936,7 @@ void
Sensors::mag_init()
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -944,13 +945,27 @@ Sensors::mag_init()
errx(1, "FATAL: no magnetometer found");
}
/* set the mag internal poll rate to at least 150Hz */
ioctl(fd, MAGIOCSSAMPLERATE, 150);
/* try different mag sampling rates */
/* set the driver to poll at 150Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
#if 0
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
#endif
int ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0)
errx(1, "FATAL: unknown if magnetometer is external or onboard");
else if (ret == 1)