From 3c11c0d8d86fd4c61faf079a16710222aeed32af Mon Sep 17 00:00:00 2001
From: Miguel Arroyo <mayanez@users.noreply.github.com>
Date: Thu, 7 Jul 2016 16:38:17 -0400
Subject: [PATCH] Adds Calibration Support for RPi2 and Navio2 (#4999)
---
.../commander/accelerometer_calibration.cpp | 8 ++++----
src/modules/commander/gyro_calibration.cpp | 6 +++---
src/modules/commander/mag_calibration.cpp | 14 +++++++-------
3 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 6384d415aa..bdb18eaab9 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -175,7 +175,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
int fd;
#endif
@@ -195,7 +195,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -329,7 +329,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return ERROR;
}
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = px4_open(str, 0);
@@ -419,7 +419,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
break;
}
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index a9b005c0f7..3b0e6815df 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -186,7 +186,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
if (fd >= 0) {
@@ -239,7 +239,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
for (unsigned s = 0; s < gyro_count; s++) {
worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
@@ -337,7 +337,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 8f589fb2c7..4d02260b40 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -124,7 +124,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
_last_mag_progress = 0;
for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
-#ifndef __PX4_QURT
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
// Reset mag id to mag not available
(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@@ -166,7 +166,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
#endif
/* for calibration, commander will run on apps, so orb messages are used to get info from dsp */
-#ifndef __PX4_QURT
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
// Attempt to open mag
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
int fd = px4_open(str, O_RDONLY);
@@ -508,7 +508,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
// Mag in this slot is available
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag);
-#ifdef __PX4_QURT
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &mag_report);
@@ -664,7 +664,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
if (device_ids[cur_mag] != 0) {
struct mag_calibration_s mscale;
-#ifndef __PX4_QURT
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
int fd_mag = -1;
// Set new scale
@@ -688,7 +688,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
mscale.y_offset = sphere_y[cur_mag];
mscale.z_offset = sphere_z[cur_mag];
-#ifndef __PX4_QURT
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != OK) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
result = calibrate_return_error;
@@ -696,7 +696,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
#endif
}
-#ifndef __PX4_QURT
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
// Mag device no longer needed
if (fd_mag >= 0) {
px4_close(fd_mag);
@@ -716,10 +716,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_offset)));
(void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag);
failed |= (OK != param_set_no_notification(param_find(str), &(mscale.z_offset)));
- (void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag);
// FIXME: scaling is not used right now on QURT
#ifndef __PX4_QURT
+ (void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag);
failed |= (OK != param_set_no_notification(param_find(str), &(mscale.x_scale)));
(void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag);
failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_scale)));
--
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