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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-13 22:10:03 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-13 22:10:03 +0200 |
| commit | 1d029b01fe466b67969d650accf911a75fd620ab (patch) | |
| tree | 314df263c4f706552a41be54c2aa2e978a2f5b66 /apps/px4/tests/test_sensors.c | |
| parent | 6fb3bbb5da23454cc9b56cc502b2689572f94a4c (diff) | |
| download | px4-firmware-1d029b01fe466b67969d650accf911a75fd620ab.tar.gz px4-firmware-1d029b01fe466b67969d650accf911a75fd620ab.tar.bz2 px4-firmware-1d029b01fe466b67969d650accf911a75fd620ab.zip | |
First initial revision of ACC driver and gyro
Diffstat (limited to 'apps/px4/tests/test_sensors.c')
| -rw-r--r-- | apps/px4/tests/test_sensors.c | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c index 1a7ebcc7a..af1213711 100644 --- a/apps/px4/tests/test_sensors.c +++ b/apps/px4/tests/test_sensors.c @@ -331,7 +331,7 @@ mpu6000(int argc, char *argv[]) fflush(stdout); int fd; - int16_t buf[5] = { -1, 0, -1, 0, -1, 0}; + int16_t buf[6] = { -1, 0, -1, 0, -1, 0}; int ret; fd = open("/dev/mpu6000", O_RDONLY); @@ -341,32 +341,32 @@ mpu6000(int argc, char *argv[]) return ERROR; } - // /* wait at least 100ms, sensor should have data after no more than 20ms */ - // usleep(100000); + /* wait at least 100ms, sensor should have data after no more than 20ms */ + usleep(100000); - // /* read data - expect samples */ - // ret = read(fd, buf, sizeof(buf)); + /* read data - expect samples */ + ret = read(fd, buf, sizeof(buf)); - // if (ret != sizeof(buf)) { - // printf("\tMPU-6000: read1 fail (%d)\n", ret); - // return ERROR; + if (ret != sizeof(buf)) { + printf("\tMPU-6000: read1 fail (%d)\n", ret); + return ERROR; - // } else { - // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); - // } + } else { + printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); + } - // /* wait at least 10ms, sensor should have data after no more than 2ms */ - // usleep(100000); + /* wait at least 10ms, sensor should have data after no more than 2ms */ + usleep(100000); - // ret = read(fd, buf, sizeof(buf)); + ret = read(fd, buf, sizeof(buf)); - // if (ret != sizeof(buf)) { - // printf("\tMPU-6000: read2 fail (%d)\n", ret); - // return ERROR; + if (ret != sizeof(buf)) { + printf("\tMPU-6000: read2 fail (%d)\n", ret); + return ERROR; - // } else { - // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); - // } + } else { + printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); + } /* XXX more tests here */ |