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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-30 11:03:45 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-30 11:03:45 +0200 |
commit | d14891554e269714834360eb52242f8d66e1e6f9 (patch) | |
tree | dd9d4d20f541faa3be6220d18d47bb5a147f3661 /src/systemcmds | |
parent | dad76c56c63a358ec2c4ea2248ef617843b48bab (diff) | |
parent | db527ee88139ef470007f82675b57ec313cdc495 (diff) | |
download | px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.tar.gz px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.tar.bz2 px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.zip |
Merge branch 'config' of github.com:PX4/Firmware
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/config/config.c | 200 | ||||
-rw-r--r-- | src/systemcmds/config/module.mk | 44 |
2 files changed, 244 insertions, 0 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c new file mode 100644 index 000000000..2dad2261b --- /dev/null +++ b/src/systemcmds/config/config.c @@ -0,0 +1,200 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.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> + * + * 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 "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[]); + +int +config_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "gyro")) { + if (argc >= 3) { + do_gyro(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + + if (!strcmp(argv[1], "accel")) { + if (argc >= 3) { + do_accel(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + + if (!strcmp(argv[1], "mag")) { + if (argc >= 3) { + do_mag(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + } + + errx(1, "expected a command, try 'gyro', 'accel', 'mag'"); +} + +static void +do_gyro(int argc, char *argv[]) +{ + int fd; + + fd = open(GYRO_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", GYRO_DEVICE_PATH); + errx(1, "FATAL: no gyro found"); + + } else { + + if (argc >= 2) { + + char* end; + int i = strtol(argv[1],&end,10); + + if (!strcmp(argv[0], "sampling")) { + + /* set the accel internal sampling rate up to at leat i Hz */ + ioctl(fd, GYROIOCSSAMPLERATE, i); + + } else if (!strcmp(argv[0], "rate")) { + + /* set the driver to poll at i Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, i); + } else if (!strcmp(argv[0], "range")) { + + /* set the range to i dps */ + ioctl(fd, GYROIOCSRANGE, i); + } + + } else if (!(argc > 0 && !strcmp(argv[0], "info"))) { + warnx("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 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[]) +{ + exit(0); +} + +static void +do_accel(int argc, char *argv[]) +{ + int fd; + + fd = open(ACCEL_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", ACCEL_DEVICE_PATH); + errx(1, "FATAL: no accelerometer found"); + + } else { + + if (argc >= 2) { + + char* end; + int i = strtol(argv[1],&end,10); + + if (!strcmp(argv[0], "sampling")) { + + /* set the accel internal sampling rate up to at leat i Hz */ + ioctl(fd, ACCELIOCSSAMPLERATE, i); + + } else if (!strcmp(argv[0], "rate")) { + + /* set the driver to poll at i Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, i); + } else if (!strcmp(argv[0], "range")) { + + /* set the range to i dps */ + ioctl(fd, ACCELIOCSRANGE, i); + } + } else if (!(argc > 0 && !strcmp(argv[0], "info"))) { + warnx("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 2' to set measurement range to 2 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 m/s", srate, prate, range); + + close(fd); + } + + exit(0); +} diff --git a/src/systemcmds/config/module.mk b/src/systemcmds/config/module.mk new file mode 100644 index 000000000..0a75810b0 --- /dev/null +++ b/src/systemcmds/config/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 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. +# +############################################################################ + +# +# Build the config tool. +# + +MODULE_COMMAND = config +SRCS = config.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os + |