mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
8ebde51648
Removes the calibration on startup, as these values were overwritten by the system calibration values anyway. So the only difference is that if all calibration scales were equal to 1, the driver startup would have failed.
147 lines
4.3 KiB
C++
147 lines
4.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file hmc5883.cpp
|
|
*
|
|
* Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
|
|
*/
|
|
|
|
#include <px4_platform_common/getopt.h>
|
|
#include <px4_platform_common/module.h>
|
|
|
|
#include "HMC5883.hpp"
|
|
#include "hmc5883.h"
|
|
|
|
extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
|
|
|
|
I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
|
int runtime_instance)
|
|
{
|
|
device::Device *interface = nullptr;
|
|
|
|
if (iterator.busType() == BOARD_I2C_BUS) {
|
|
interface = HMC5883_I2C_interface(iterator.bus(), cli.bus_frequency);
|
|
|
|
} else if (iterator.busType() == BOARD_SPI_BUS) {
|
|
interface = HMC5883_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
|
|
}
|
|
|
|
if (interface == nullptr) {
|
|
PX4_ERR("alloc failed");
|
|
return nullptr;
|
|
}
|
|
|
|
if (interface->init() != OK) {
|
|
delete interface;
|
|
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
|
|
return nullptr;
|
|
}
|
|
|
|
HMC5883 *dev = new HMC5883(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
|
|
|
|
if (dev == nullptr) {
|
|
delete interface;
|
|
return nullptr;
|
|
}
|
|
|
|
if (OK != dev->init()) {
|
|
delete dev;
|
|
return nullptr;
|
|
}
|
|
|
|
bool enable_temp_compensation = cli.custom1 == 1;
|
|
|
|
if (enable_temp_compensation) {
|
|
dev->set_temperature_compensation(1);
|
|
}
|
|
|
|
return dev;
|
|
}
|
|
|
|
void HMC5883::print_usage()
|
|
{
|
|
PRINT_MODULE_USAGE_NAME("hmc5883", "driver");
|
|
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
|
|
PRINT_MODULE_USAGE_COMMAND("start");
|
|
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
|
|
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('T', "Enable temperature compensation", true);
|
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
|
}
|
|
|
|
extern "C" int hmc5883_main(int argc, char *argv[])
|
|
{
|
|
using ThisDriver = HMC5883;
|
|
int ch;
|
|
BusCLIArguments cli{true, true};
|
|
cli.default_i2c_frequency = 400000;
|
|
cli.default_spi_frequency = 11 * 1000 * 1000;
|
|
|
|
while ((ch = cli.getopt(argc, argv, "R:T")) != EOF) {
|
|
switch (ch) {
|
|
case 'R':
|
|
cli.rotation = (enum Rotation)atoi(cli.optarg());
|
|
break;
|
|
|
|
case 'T':
|
|
cli.custom1 = 1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
const char *verb = cli.optarg();
|
|
|
|
if (!verb) {
|
|
ThisDriver::print_usage();
|
|
return -1;
|
|
}
|
|
|
|
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_HMC5883);
|
|
|
|
if (!strcmp(verb, "start")) {
|
|
return ThisDriver::module_start(cli, iterator);
|
|
}
|
|
|
|
if (!strcmp(verb, "stop")) {
|
|
return ThisDriver::module_stop(iterator);
|
|
}
|
|
|
|
if (!strcmp(verb, "status")) {
|
|
return ThisDriver::module_status(iterator);
|
|
}
|
|
|
|
ThisDriver::print_usage();
|
|
return -1;
|
|
}
|