1 files changed, 330 insertions, 0 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
new file mode 100644
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+++ b/src/systemcmds/config/config.c
@@ -0,0 +1,330 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Julian Oes <joes@student.ethz.ch>
+ *
+ * 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.
+ */
+
+#include <nuttx/config.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 "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+__EXPORT int config_main(int argc, char *argv[]);
+
+static void	do_gyro(int argc, char *argv[]);
+static void	do_accel(int argc, char *argv[]);
+static void	do_mag(int argc, char *argv[]);
+static void	do_device(int argc, char *argv[]);
+
+int
+config_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "gyro")) {
+			do_gyro(argc - 2, argv + 2);
+		} else if (!strcmp(argv[1], "accel")) {
+			do_accel(argc - 2, argv + 2);
+		} else if (!strcmp(argv[1], "mag")) {
+			do_mag(argc - 2, argv + 2);
+		} else {
+			do_device(argc - 1, argv + 1);
+		}
+	}
+	
+	errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
+}
+
+static void
+do_device(int argc, char *argv[])
+{
+	if (argc < 2) {
+		errx(1, "no device path provided and command provided.");
+	}
+
+	int	fd;
+	int	ret;
+
+	fd = open(argv[0], 0);
+
+	if (fd < 0) {
+		warn("%s", argv[0]);
+		errx(1, "FATAL: no device found");
+
+	} else {
+
+		if (argc == 2 && !strcmp(argv[1], "block")) {
+
+			/* disable the device publications */
+			ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
+
+			if (ret)
+				errx(ret,"uORB publications could not be blocked");
+
+		} else if (argc == 2 && !strcmp(argv[1], "unblock")) {
+
+			/* enable the device publications */
+			ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
+
+			if (ret)
+				errx(ret,"uORB publications could not be unblocked");
+
+		} else {
+			errx("no valid command: %s", argv[1]);
+		}
+	}
+
+	exit(0);
+}
+
+static void
+do_gyro(int argc, char *argv[])
+{
+	int	fd;
+	int	ret;
+
+	fd = open(GYRO_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", GYRO_DEVICE_PATH);
+		errx(1, "FATAL: no gyro found");
+
+	} else {
+
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+
+			/* set the gyro internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"sampling rate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"pollrate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i dps */
+			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"range could not be set");
+
+		} else if (argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, GYROIOCSELFTEST, 0);
+
+			if (ret) {
+				warnx("gyro self test FAILED! Check calibration:");
+				struct gyro_scale scale;
+				ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("gyro calibration and self test OK");
+			}
+
+		} else {
+			errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
+		}
+
+		int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, GYROIOCGRANGE, 0);
+
+		warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}
+
+static void
+do_mag(int argc, char *argv[])
+{
+	int fd;
+	int ret;
+
+	fd = open(MAG_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", MAG_DEVICE_PATH);
+		errx(1, "FATAL: no magnetometer found");
+
+	} else {
+
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+
+			/* set the mag internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"sampling rate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"pollrate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i G */
+			ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"range could not be set");
+
+		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, MAGIOCSELFTEST, 0);
+
+			if (ret) {
+				warnx("mag self test FAILED! Check calibration:");
+				struct mag_scale scale;
+				ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("mag calibration and self test OK");
+			}
+
+		} else {
+			errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
+		}
+
+		int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, MAGIOCGRANGE, 0);
+
+		warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}
+
+static void
+do_accel(int argc, char *argv[])
+{
+	int	fd;
+	int	ret;
+
+	fd = open(ACCEL_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		warn("%s", ACCEL_DEVICE_PATH);
+		errx(1, "FATAL: no accelerometer found");
+
+	} else {
+
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+
+			/* set the accel internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"sampling rate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
+
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"pollrate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i G */
+			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"range could not be set");
+
+		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+			if (ret) {
+				warnx("accel self test FAILED! Check calibration:");
+				struct accel_scale scale;
+				ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("accel calibration and self test OK");
+			}
+
+		} else {
+			errx(1,"no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 4' to set measurement range to 4 G\n\t");
+		}
+
+		int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
+		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
+		int range = ioctl(fd, ACCELIOCGRANGE, 0);
+
+		warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range);
+
+		close(fd);
+	}
+
+	exit(0);
+}