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Flag for checking if Compass(HMC5883) is Saturated #9

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Flag for checking if Compass(HMC5883) is Saturated #9

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b699b8d
drv_mag: add saturated status flag to mag_report
bugobliterator Jun 11, 2015
ca78e82
hmc5883: add support to communicate if mag is saturated
bugobliterator Jun 11, 2015
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1 change: 1 addition & 0 deletions src/drivers/drv_mag.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ struct mag_report {
float range_ga;
float scaling;
float temperature;
bool is_saturated;

int16_t x_raw;
int16_t y_raw;
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26 changes: 14 additions & 12 deletions src/drivers/hmc5883/hmc5883.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -895,17 +895,6 @@ HMC5883::collect()
report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1];
report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1];

/*
* If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors.
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048)) {
perf_count(_comms_errors);
goto out;
}

/* get measurements from the device */
new_report.temperature = 0;
if (_conf_reg & HMC5983_TEMP_SENSOR_ENABLE) {
Expand Down Expand Up @@ -956,6 +945,19 @@ HMC5883::collect()
/* z remains z */
new_report.z_raw = report.z;

/*
* If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors.
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048)) {
new_report.is_saturated = true;
perf_count(_comms_errors);
goto send;
} else{
new_report.is_saturated = false;
}
/* scale values for output */

// XXX revisit for SPI part, might require a bus type IOCTL
Expand Down Expand Up @@ -984,6 +986,7 @@ HMC5883::collect()
/* z remains z */
new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale;

send:
if (!(_pub_blocked)) {

if (_mag_topic != -1) {
Expand Down Expand Up @@ -1024,7 +1027,6 @@ HMC5883::collect()
}

ret = OK;

out:
perf_end(_sample_perf);
return ret;
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