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author | Julian Oes <julian@oes.ch> | 2013-08-20 20:02:06 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-08-20 20:02:06 +0200 |
commit | f5c92314f16fde650ee6f2f4fa20b7c2680a4b00 (patch) | |
tree | 9bc236d6c9f3baae999ff94bfb88701e5b93cd07 /src/systemcmds/config/config.c | |
parent | 307c9e52c775de2ce09ff4abf0bc1fb5db6dd41e (diff) | |
download | px4-firmware-f5c92314f16fde650ee6f2f4fa20b7c2680a4b00.tar.gz px4-firmware-f5c92314f16fde650ee6f2f4fa20b7c2680a4b00.tar.bz2 px4-firmware-f5c92314f16fde650ee6f2f4fa20b7c2680a4b00.zip |
Improved LSM303D driver, plus some fixes to the HMC5883
Diffstat (limited to 'src/systemcmds/config/config.c')
-rw-r--r-- | src/systemcmds/config/config.c | 71 |
1 files changed, 58 insertions, 13 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 766598ddd..262a52d20 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -90,6 +90,7 @@ static void do_gyro(int argc, char *argv[]) { int fd; + int ret; fd = open(GYRO_DEVICE_PATH, 0); @@ -102,20 +103,29 @@ do_gyro(int argc, char *argv[]) if (argc == 2 && !strcmp(argv[0], "sampling")) { /* set the gyro internal sampling rate up to at least i Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0)); + 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 */ - ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0)); + 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 */ - ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0)); + 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")) { - int ret = ioctl(fd, GYROIOCSELFTEST, 0); + ret = ioctl(fd, GYROIOCSELFTEST, 0); if (ret) { warnx("gyro self test FAILED! Check calibration:"); @@ -147,6 +157,7 @@ static void do_mag(int argc, char *argv[]) { int fd; + int ret; fd = open(MAG_DEVICE_PATH, 0); @@ -156,8 +167,32 @@ do_mag(int argc, char *argv[]) } else { - if(argc == 1 && !strcmp(argv[0], "check")) { - int ret = ioctl(fd, MAGIOCSELFTEST, 0); + 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:"); @@ -173,9 +208,9 @@ do_mag(int argc, char *argv[]) errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t"); } - int srate = -1; //ioctl(fd, MAGIOCGSAMPLERATE, 0); + int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); - int range = -1; //ioctl(fd, MAGIOCGRANGE, 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 gauss", srate, prate, range); @@ -189,6 +224,7 @@ static void do_accel(int argc, char *argv[]) { int fd; + int ret; fd = open(ACCEL_DEVICE_PATH, 0); @@ -201,20 +237,29 @@ do_accel(int argc, char *argv[]) if (argc == 2 && !strcmp(argv[0], "sampling")) { /* set the accel internal sampling rate up to at least i Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0)); + 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 */ - ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0)); + 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 m/s^2 */ - ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0)); + /* 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")) { - int ret = ioctl(fd, ACCELIOCSELFTEST, 0); + ret = ioctl(fd, ACCELIOCSELFTEST, 0); if (ret) { warnx("accel self test FAILED! Check calibration:"); |