drivers: some fixes for the calibration refactor

src/drivers/hmc5883/hmc5883.cpp

@@ -157,7 +157,7 @@ private:
 	unsigned		_measure_ticks;
 
 	ringbuffer::RingBuffer	*_reports;
-	mag_scale		_scale;
+	struct mag_calibration_s	_scale;
 	float 			_range_scale;
 	float 			_range_ga;
 	bool			_collect_phase;
@@ -737,14 +737,14 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case MAGIOCSSCALE:
 		/* set new scale factors */
-		memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
+		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
 		/* check calibration, but not actually return an error */
 		(void)check_calibration();
 		return 0;
 
 	case MAGIOCGSCALE:
 		/* copy out scale factors */
-		memcpy((mag_scale *)arg, &_scale, sizeof(_scale));
+		memcpy((struct mag_calibration_s *)arg, &_scale, sizeof(_scale));
 		return 0;
 
 	case MAGIOCCALIBRATE:

src/drivers/mpu9250/mag.h

@@ -79,7 +79,7 @@ private:
 	int _mag_class_instance;
 	bool _mag_reading_data;
 	ringbuffer::RingBuffer *_mag_reports;
-	struct mag_scale _mag_scale;
+	struct mag_calibration_s _mag_scale;
 	float _mag_range_scale;
 	perf_counter_t _mag_reads;
 	float _mag_asa_x;

src/drivers/mpu9250/mpu9250.cpp

@@ -194,250 +194,6 @@
  */
 #define MPU9250_TIMER_REDUCTION				200
 
-class MPU9250_gyro;
-
-class MPU9250 : public device::SPI
-{
-public:
-	MPU9250(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
-	virtual ~MPU9250();
-
-	virtual int		init();
-
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void			print_info();
-
-	void			print_registers();
-
-	// deliberately cause a sensor error
-	void 			test_error();
-
-protected:
-	virtual int		probe();
-
-	friend class MPU9250_gyro;
-
-	virtual ssize_t		gyro_read(struct file *filp, char *buffer, size_t buflen);
-	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-private:
-	MPU9250_gyro		*_gyro;
-	uint8_t			_whoami;	/** whoami result */
-
-	struct hrt_call		_call;
-	unsigned		_call_interval;
-
-	ringbuffer::RingBuffer	*_accel_reports;
-
-	struct accel_calibration_s	_accel_scale;
-	float			_accel_range_scale;
-	float			_accel_range_m_s2;
-	orb_advert_t		_accel_topic;
-	int			_accel_orb_class_instance;
-	int			_accel_class_instance;
-
-	ringbuffer::RingBuffer	*_gyro_reports;
-
-	struct gyro_calibration_s	_gyro_scale;
-	float			_gyro_range_scale;
-	float			_gyro_range_rad_s;
-
-	unsigned		_dlpf_freq;
-
-	unsigned		_sample_rate;
-	perf_counter_t		_accel_reads;
-	perf_counter_t		_gyro_reads;
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_bad_transfers;
-	perf_counter_t		_bad_registers;
-	perf_counter_t		_good_transfers;
-	perf_counter_t		_reset_retries;
-	perf_counter_t		_duplicates;
-	perf_counter_t		_controller_latency_perf;
-
-	uint8_t			_register_wait;
-	uint64_t		_reset_wait;
-
-	math::LowPassFilter2p	_accel_filter_x;
-	math::LowPassFilter2p	_accel_filter_y;
-	math::LowPassFilter2p	_accel_filter_z;
-	math::LowPassFilter2p	_gyro_filter_x;
-	math::LowPassFilter2p	_gyro_filter_y;
-	math::LowPassFilter2p	_gyro_filter_z;
-
-	Integrator		_accel_int;
-	Integrator		_gyro_int;
-
-	enum Rotation		_rotation;
-
-	// this is used to support runtime checking of key
-	// configuration registers to detect SPI bus errors and sensor
-	// reset
-#define MPU9250_NUM_CHECKED_REGISTERS 11
-	static const uint8_t	_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_values[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_next;
-
-	// last temperature reading for print_info()
-	float			_last_temperature;
-
-	// keep last accel reading for duplicate detection
-	uint16_t		_last_accel[3];
-	bool			_got_duplicate;
-
-	/**
-	 * Start automatic measurement.
-	 */
-	void			start();
-
-	/**
-	 * Stop automatic measurement.
-	 */
-	void			stop();
-
-	/**
-	 * Reset chip.
-	 *
-	 * Resets the chip and measurements ranges, but not scale and offset.
-	 */
-	int			reset();
-
-	/**
-	 * Static trampoline from the hrt_call context; because we don't have a
-	 * generic hrt wrapper yet.
-	 *
-	 * Called by the HRT in interrupt context at the specified rate if
-	 * automatic polling is enabled.
-	 *
-	 * @param arg		Instance pointer for the driver that is polling.
-	 */
-	static void		measure_trampoline(void *arg);
-
-	/**
-	 * Fetch measurements from the sensor and update the report buffers.
-	 */
-	void			measure();
-
-	/**
-	 * Read a register from the MPU9250
-	 *
-	 * @param		The register to read.
-	 * @return		The value that was read.
-	 */
-	uint8_t			read_reg(unsigned reg, uint32_t speed = MPU9250_LOW_BUS_SPEED);
-	uint16_t		read_reg16(unsigned reg);
-
-	/**
-	 * Write a register in the MPU9250
-	 *
-	 * @param reg		The register to write.
-	 * @param value		The new value to write.
-	 */
-	void			write_reg(unsigned reg, uint8_t value);
-
-	/**
-	 * Modify a register in the MPU9250
-	 *
-	 * Bits are cleared before bits are set.
-	 *
-	 * @param reg		The register to modify.
-	 * @param clearbits	Bits in the register to clear.
-	 * @param setbits	Bits in the register to set.
-	 */
-	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
-
-	/**
-	 * Write a register in the MPU9250, updating _checked_values
-	 *
-	 * @param reg		The register to write.
-	 * @param value		The new value to write.
-	 */
-	void			write_checked_reg(unsigned reg, uint8_t value);
-
-	/**
-	 * Set the MPU9250 measurement range.
-	 *
-	 * @param max_g		The maximum G value the range must support.
-	 * @return		OK if the value can be supported, -ERANGE otherwise.
-	 */
-	int			set_accel_range(unsigned max_g);
-
-	/**
-	 * Swap a 16-bit value read from the MPU9250 to native byte order.
-	 */
-	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
-
-	/**
-	 * Get the internal / external state
-	 *
-	 * @return true if the sensor is not on the main MCU board
-	 */
-	bool			is_external() { return (_bus == EXTERNAL_BUS); }
-
-	/**
-	 * Measurement self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int 			self_test();
-
-	/**
-	 * Accel self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int 			accel_self_test();
-
-	/**
-	 * Gyro self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int 			gyro_self_test();
-
-	/*
-	  set low pass filter frequency
-	 */
-	void _set_dlpf_filter(uint16_t frequency_hz);
-
-	/*
-	  set sample rate (approximate) - 1kHz to 5Hz
-	*/
-	void _set_sample_rate(unsigned desired_sample_rate_hz);
-
-	/*
-	  check that key registers still have the right value
-	 */
-	void check_registers(void);
-
-	/* do not allow to copy this class due to pointer data members */
-	MPU9250(const MPU9250 &);
-	MPU9250 operator=(const MPU9250 &);
-
-#pragma pack(push, 1)
-	/**
-	 * Report conversation within the MPU9250, including command byte and
-	 * interrupt status.
-	 */
-	struct MPUReport {
-		uint8_t		cmd;
-		uint8_t		status;
-		uint8_t		accel_x[2];
-		uint8_t		accel_y[2];
-		uint8_t		accel_z[2];
-		uint8_t		temp[2];
-		uint8_t		gyro_x[2];
-		uint8_t		gyro_y[2];
-		uint8_t		gyro_z[2];
-	};
-#pragma pack(pop)
-};
 
 /*
   list of registers that will be checked in check_registers(). Note

src/drivers/mpu9250/mpu9250.h

@@ -58,7 +58,7 @@ private:
 
 	ringbuffer::RingBuffer	*_accel_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
@@ -67,7 +67,7 @@ private:
 
 	ringbuffer::RingBuffer	*_gyro_reports;
 
-	struct gyro_scale	_gyro_scale;
+	struct gyro_calibration_s	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;