Daniel Agar
5 years ago
39 changed files with 3 additions and 308 deletions
@ -1,239 +0,0 @@
@@ -1,239 +0,0 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2012-2014 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 config.c |
||||
* @author Lorenz Meier <lm@inf.ethz.ch> |
||||
* @author Julian Oes <joes@student.ethz.ch> |
||||
* |
||||
* config tool. Takes the device name as the first parameter. |
||||
*/ |
||||
|
||||
#include <px4_platform_common/px4_config.h> |
||||
#include <px4_platform_common/log.h> |
||||
#include <px4_platform_common/module.h> |
||||
|
||||
#include <stdio.h> |
||||
#include <stdlib.h> |
||||
#include <string.h> |
||||
#include <stdbool.h> |
||||
#include <unistd.h> |
||||
#include <fcntl.h> |
||||
#include <sys/stat.h> |
||||
|
||||
#include <arch/board/board.h> |
||||
|
||||
#include <drivers/drv_gyro.h> |
||||
#include <drivers/drv_accel.h> |
||||
#include <drivers/drv_mag.h> |
||||
#include <drivers/drv_device.h> |
||||
|
||||
#include <parameters/param.h> |
||||
|
||||
__EXPORT int config_main(int argc, char *argv[]); |
||||
|
||||
static int do_gyro(int argc, char *argv[]); |
||||
static int do_accel(int argc, char *argv[]); |
||||
static int do_mag(int argc, char *argv[]); |
||||
static void print_usage(void); |
||||
|
||||
int |
||||
config_main(int argc, char *argv[]) |
||||
{ |
||||
if (argc >= 3) { |
||||
if (!strncmp(argv[2], "/dev/gyro", 9)) { |
||||
return do_gyro(argc - 1, argv + 1); |
||||
|
||||
} else if (!strncmp(argv[2], "/dev/accel", 10)) { |
||||
return do_accel(argc - 1, argv + 1); |
||||
|
||||
} else if (!strncmp(argv[2], "/dev/mag", 8)) { |
||||
return do_mag(argc - 1, argv + 1); |
||||
} |
||||
} |
||||
|
||||
print_usage(); |
||||
return 1; |
||||
} |
||||
static void |
||||
print_usage(void) |
||||
{ |
||||
PRINT_MODULE_DESCRIPTION("Configure a sensor driver (sampling & publication rate, etc.)"); |
||||
|
||||
PRINT_MODULE_USAGE_NAME("config", "command"); |
||||
PRINT_MODULE_USAGE_PARAM_COMMENT("The <file:dev> argument is typically one of /dev/{gyro,accel,mag}i"); |
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("block", "Block sensor topic publication"); |
||||
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false); |
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("unblock", "Unblock sensor topic publication"); |
||||
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false); |
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("sampling", "Set sensor sampling rate"); |
||||
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and sampling rate in Hz", false); |
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Set sensor publication rate"); |
||||
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and publication rate in Hz", false); |
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Perform sensor self-test (and print info)"); |
||||
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false); |
||||
} |
||||
|
||||
static int |
||||
do_gyro(int argc, char *argv[]) |
||||
{ |
||||
int fd; |
||||
|
||||
fd = open(argv[1], 0); |
||||
|
||||
if (fd < 0) { |
||||
PX4_ERR("open %s failed (%i)", argv[1], errno); |
||||
return 1; |
||||
|
||||
} else { |
||||
|
||||
int ret; |
||||
|
||||
if (argc == 3 && !strcmp(argv[0], "rate")) { |
||||
|
||||
/* set the driver to poll at i Hz */ |
||||
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0)); |
||||
|
||||
if (ret) { |
||||
PX4_ERR("pollrate could not be set"); |
||||
return 1; |
||||
} |
||||
|
||||
} else { |
||||
print_usage(); |
||||
return 1; |
||||
} |
||||
|
||||
int id = ioctl(fd, DEVIOCGDEVICEID, 0); |
||||
int32_t calibration_id = 0; |
||||
|
||||
param_get(param_find("CAL_GYRO0_ID"), &(calibration_id)); |
||||
|
||||
PX4_INFO("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)", |
||||
id, calibration_id); |
||||
|
||||
close(fd); |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
static int |
||||
do_mag(int argc, char *argv[]) |
||||
{ |
||||
int fd; |
||||
|
||||
fd = open(argv[1], 0); |
||||
|
||||
if (fd < 0) { |
||||
PX4_ERR("open %s failed (%i)", argv[1], errno); |
||||
return 1; |
||||
|
||||
} else { |
||||
|
||||
int ret; |
||||
|
||||
if (argc == 3 && !strcmp(argv[0], "rate")) { |
||||
|
||||
/* set the driver to poll at i Hz */ |
||||
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0)); |
||||
|
||||
if (ret) { |
||||
PX4_ERR("pollrate could not be set"); |
||||
return 1; |
||||
} |
||||
|
||||
} else { |
||||
print_usage(); |
||||
return 1; |
||||
} |
||||
|
||||
int id = ioctl(fd, DEVIOCGDEVICEID, 0); |
||||
int32_t calibration_id = 0; |
||||
|
||||
param_get(param_find("CAL_MAG0_ID"), &(calibration_id)); |
||||
|
||||
PX4_INFO("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)", |
||||
id, calibration_id); |
||||
|
||||
close(fd); |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
static int |
||||
do_accel(int argc, char *argv[]) |
||||
{ |
||||
int fd; |
||||
|
||||
fd = open(argv[1], 0); |
||||
|
||||
if (fd < 0) { |
||||
PX4_ERR("open %s failed (%i)", argv[1], errno); |
||||
return 1; |
||||
|
||||
} else { |
||||
|
||||
int ret; |
||||
|
||||
if (argc == 3 && !strcmp(argv[0], "rate")) { |
||||
|
||||
/* set the driver to poll at i Hz */ |
||||
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0)); |
||||
|
||||
if (ret) { |
||||
PX4_ERR("pollrate could not be set"); |
||||
return 1; |
||||
} |
||||
|
||||
} else { |
||||
print_usage(); |
||||
return 1; |
||||
} |
||||
|
||||
int id = ioctl(fd, DEVIOCGDEVICEID, 0); |
||||
int32_t calibration_id = 0; |
||||
|
||||
param_get(param_find("CAL_ACC0_ID"), &(calibration_id)); |
||||
|
||||
PX4_INFO("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)", |
||||
id, calibration_id); |
||||
|
||||
close(fd); |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
Loading…
Reference in new issue