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-rw-r--r--apps/drivers/drv_accel.h33
-rw-r--r--apps/drivers/drv_baro.h15
-rw-r--r--apps/drivers/drv_gyro.h34
-rw-r--r--apps/drivers/drv_mag.h25
-rw-r--r--apps/drivers/drv_mixer.h2
-rw-r--r--apps/drivers/drv_orb_dev.h2
-rw-r--r--apps/drivers/drv_pwm_output.h2
-rw-r--r--apps/drivers/drv_sensor.h87
-rw-r--r--apps/drivers/hmc5883/hmc5883.cpp249
-rw-r--r--apps/drivers/mpu6000/mpu6000.cpp288
-rw-r--r--apps/drivers/ms5611/ms5611.cpp236
11 files changed, 579 insertions, 394 deletions
diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h
index 65ef8420f..47d366bc4 100644
--- a/apps/drivers/drv_accel.h
+++ b/apps/drivers/drv_accel.h
@@ -41,6 +41,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
+#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define ACCEL_DEVICE_PATH "/dev/accel"
@@ -78,33 +79,37 @@ ORB_DECLARE(sensor_accel);
/*
* ioctl() definitions
+ *
+ * Accelerometer drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
*/
-#define _ACCELIOCBASE (0x2000)
+#define _ACCELIOCBASE (0x2100)
#define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n))
-/** set the driver polling rate to (arg) Hz, or one of the ACC_POLLRATE constants */
-#define ACCELIOCSPOLLRATE _ACCELIOC(0)
-
-#define ACC_POLLRATE_MANUAL 1000000 /**< poll when read */
-#define ACC_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
-
-/** set the internal queue depth to (arg) entries, must be at least 1 */
-#define ACCELIOCSQUEUEDEPTH _ACCELIOC(1)
/** set the accel internal sample rate to at least (arg) Hz */
-#define ACCELIOCSSAMPLERATE _ACCELIOC(2)
+#define ACCELIOCSSAMPLERATE _ACCELIOC(0)
+
+/** return the accel internal sample rate in Hz */
+#define ACCELIOCGSAMPLERATE _ACCELIOC(1)
/** set the accel internal lowpass filter to no lower than (arg) Hz */
-#define ACCELIOCSLOWPASS _ACCELIOC(3)
+#define ACCELIOCSLOWPASS _ACCELIOC(2)
-/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
-#define ACCELIOCSREPORTFORMAT _ACCELIOC(4)
+/** return the accel internal lowpass filter in Hz */
+#define ACCELIOCGLOWPASS _ACCELIOC(3)
/** set the accel scaling constants to the structure pointed to by (arg) */
#define ACCELIOCSSCALE _ACCELIOC(5)
+/** get the accel scaling constants into the structure pointed to by (arg) */
+#define ACCELIOCGSCALE _ACCELIOC(6)
+
/** set the accel measurement range to handle at least (arg) g */
-#define ACCELIORANGE _ACCELIOC(6)
+#define ACCELIOCSRANGE _ACCELIOC(7)
+
+/** get the current accel measurement range */
+#define ACCELIOCGRANGE _ACCELIOC(8)
#endif /* _DRV_ACCEL_H */
diff --git a/apps/drivers/drv_baro.h b/apps/drivers/drv_baro.h
index 323b25c83..b79d5b5b0 100644
--- a/apps/drivers/drv_baro.h
+++ b/apps/drivers/drv_baro.h
@@ -41,6 +41,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
+#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define BARO_DEVICE_PATH "/dev/baro"
@@ -65,19 +66,9 @@ ORB_DECLARE(sensor_baro);
* ioctl() definitions
*/
-#define _BAROIOCBASE (0x2100)
+#define _BAROIOCBASE (0x2200)
#define _BAROIOC(_n) (_IOC(_BAROIOCBASE, _n))
-/** set the driver polling rate to (arg) Hz, or one of the BARO_POLLRATE constants */
-#define BAROIOCSPOLLRATE _BAROIOC(0)
-
-#define BARO_POLLRATE_MANUAL 1000000 /**< poll when read */
-#define BARO_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
-
-/** set the internal queue depth to (arg) entries, must be at least 1 */
-#define BAROIOCSQUEUEDEPTH _BAROIOC(1)
-
-/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
-#define BAROIOCSREPORTFORMAT _BAROIOC(2)
+/* currently no baro-specific ioctls */
#endif /* _DRV_BARO_H */
diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h
index 2f1dab6ba..48c63d5f4 100644
--- a/apps/drivers/drv_gyro.h
+++ b/apps/drivers/drv_gyro.h
@@ -41,6 +41,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
+#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define GYRO_DEVICE_PATH "/dev/gyro"
@@ -81,28 +82,31 @@ ORB_DECLARE(sensor_gyro);
* ioctl() definitions
*/
-#define _GYROIOCBASE (0x2200)
+#define _GYROIOCBASE (0x2300)
#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n))
-/** set the driver polling rate to (arg) Hz, or one of the GYRO_POLLRATE constants */
-#define GYROIOCSPOLLRATE _GYROIOC(0)
-
-#define GYRO_POLLRATE_MANUAL 1000000 /**< poll when read */
-#define GYRO_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
-
-/** set the internal queue depth to (arg) entries, must be at least 1 */
-#define GYROIOCSQUEUEDEPTH _GYROIOC(1)
-
/** set the gyro internal sample rate to at least (arg) Hz */
-#define GYROIOCSSAMPLERATE _GYROIOC(2)
+#define GYROIOCSSAMPLERATE _GYROIOC(0)
+
+/** return the gyro internal sample rate in Hz */
+#define GYROIOCGSAMPLERATE _GYROIOC(1)
/** set the gyro internal lowpass filter to no lower than (arg) Hz */
-#define GYROIOCSLOWPASS _GYROIOC(3)
+#define GYROIOCSLOWPASS _GYROIOC(2)
-/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
-#define GYROIOCSREPORTFORMAT _GYROIOC(4)
+/** set the gyro internal lowpass filter to no lower than (arg) Hz */
+#define GYROIOCGLOWPASS _GYROIOC(3)
/** set the gyro scaling constants to (arg) */
-#define GYROIOCSSCALE _GYROIOC(5)
+#define GYROIOCSSCALE _GYROIOC(4)
+
+/** get the gyro scaling constants into (arg) */
+#define GYROIOCGSCALE _GYROIOC(5)
+
+/** set the gyro measurement range to handle at least (arg) g */
+#define GYROIOCSRANGE _GYROIOC(6)
+
+/** get the current gyro measurement range */
+#define GYROIOCGRANGE _GYROIOC(7)
#endif /* _DRV_GYRO_H */
diff --git a/apps/drivers/drv_mag.h b/apps/drivers/drv_mag.h
index f87cb7704..895d2d797 100644
--- a/apps/drivers/drv_mag.h
+++ b/apps/drivers/drv_mag.h
@@ -41,6 +41,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
+#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define MAG_DEVICE_PATH "/dev/mag"
@@ -83,34 +84,22 @@ ORB_DECLARE(sensor_mag);
* ioctl() definitions
*/
-#define _MAGIOCBASE (0x2300)
+#define _MAGIOCBASE (0x2400)
#define _MAGIOC(_n) (_IOC(_MAGIOCBASE, _n))
-/** set the driver polling rate to (arg) Hz, or one of the MAG_POLLRATE constants */
-#define MAGIOCSPOLLRATE _MAGIOC(0)
-
-#define MAG_POLLRATE_MANUAL 1000000 /**< poll when read */
-#define MAG_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
-
-/** set the internal queue depth to (arg) entries, must be at least 1 */
-#define MAGIOCSQUEUEDEPTH _MAGIOC(1)
-
/** set the mag internal sample rate to at least (arg) Hz */
-#define MAGIOCSSAMPLERATE _MAGIOC(2)
+#define MAGIOCSSAMPLERATE _MAGIOC(0)
/** set the mag internal lowpass filter to no lower than (arg) Hz */
-#define MAGIOCSLOWPASS _MAGIOC(3)
-
-/** set the report format to (arg); zero is the standard, 1-10 are reserved, all others are driver-specific. */
-#define MAGIOCSREPORTFORMAT _MAGIOC(4)
+#define MAGIOCSLOWPASS _MAGIOC(1)
/** set the mag scaling constants to the structure pointed to by (arg) */
-#define MAGIOCSSCALE _MAGIOC(5)
+#define MAGIOCSSCALE _MAGIOC(2)
/** copy the mag scaling constants to the structure pointed to by (arg) */
-#define MAGIOCGSCALE _MAGIOC(6)
+#define MAGIOCGSCALE _MAGIOC(3)
/** perform self-calibration, update scale factors to canonical units */
-#define MAGIOCCALIBRATE _MAGIOC(7)
+#define MAGIOCCALIBRATE _MAGIOC(4)
#endif /* _DRV_MAG_H */
diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h
index fd54ed7fa..793e86b32 100644
--- a/apps/drivers/drv_mixer.h
+++ b/apps/drivers/drv_mixer.h
@@ -61,7 +61,7 @@
/*
* ioctl() definitions
*/
-#define _MIXERIOCBASE (0x2400)
+#define _MIXERIOCBASE (0x2500)
#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n))
/** get the number of mixable outputs */
diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h
index 50288f690..8495780d5 100644
--- a/apps/drivers/drv_orb_dev.h
+++ b/apps/drivers/drv_orb_dev.h
@@ -58,7 +58,7 @@
/** maximum ogbject name length */
#define ORB_MAXNAME 32
-#define _ORBIOCBASE (0x2500)
+#define _ORBIOCBASE (0x2600)
#define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n))
/*
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
index 73e3310ae..340175a4b 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/apps/drivers/drv_pwm_output.h
@@ -94,7 +94,7 @@ ORB_DECLARE(output_pwm);
* Note that ioctls and ObjDev updates should not be mixed, as the
* behaviour of the system in this case is not defined.
*/
-#define _PWM_SERVO_BASE 0x2600
+#define _PWM_SERVO_BASE 0x2700
/** arm all servo outputs handle by this driver */
#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
diff --git a/apps/drivers/drv_sensor.h b/apps/drivers/drv_sensor.h
new file mode 100644
index 000000000..325bd42bf
--- /dev/null
+++ b/apps/drivers/drv_sensor.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 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 Common sensor API and ioctl definitions.
+ */
+
+#ifndef _DRV_SENSOR_H
+#define _DRV_SENSOR_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/*
+ * ioctl() definitions
+ *
+ * Note that a driver may not implement all of these operations, but
+ * if the operation is implemented it should conform to this API.
+ */
+
+#define _SENSORIOCBASE (0x2000)
+#define _SENSORIOC(_n) (_IOC(_SENSORIOCBASE, _n))
+
+/**
+ * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
+ * constants
+ */
+#define SENSORIOCSPOLLRATE _SENSORIOC(0)
+
+/**
+ * Return the driver's approximate polling rate in Hz, or one of the
+ * SENSOR_POLLRATE values.
+ */
+#define SENSORIOCGPOLLRATE _SENSORIOC(1)
+
+#define SENSOR_POLLRATE_MANUAL 1000000 /**< poll when read */
+#define SENSOR_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */
+#define SENSOR_POLLRATE_MAX 1000002 /**< poll at device maximum rate */
+#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */
+
+/**
+ * Set the internal queue depth to (arg) entries, must be at least 1
+ *
+ * This sets the upper bound on the number of readings that can be
+ * read from the driver.
+ */
+#define SENSORIOCSQUEUEDEPTH _SENSORIOC(2)
+
+/** return the internal queue depth */
+#define SENSORIOCGQUEUEDEPTH _SENSORIOC(3)
+
+/**
+ * Reset the sensor to its default configuration.
+ */
+#define SENSORIOCRESET _SENSORIOC(4)
+
+#endif /* _DRV_SENSOR_H */ \ No newline at end of file
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index 0fa1f365d..a9212e7ab 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -61,6 +61,7 @@
#include <arch/board/up_hrt.h>
#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
#include <drivers/drv_mag.h>
@@ -422,22 +423,38 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
- case MAGIOCSPOLLRATE: {
+ case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
- case MAG_POLLRATE_MANUAL:
+ case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
- case MAG_POLLRATE_EXTERNAL:
+ case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
+
+ /* set interval for next measurement to minimum legal value */
+ _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start();
+
+ return OK;
+ }
+
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
@@ -462,7 +479,15 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
- case MAGIOCSQUEUEDEPTH: {
+ case SENSORIOCGPOLLRATE:
+ if (_measure_ticks == 0)
+ return SENSOR_POLLRATE_MANUAL;
+ return (1000 / _measure_ticks);
+
+ case SENSORIOCSQUEUEDEPTH: {
+ /* add one to account for the sentinel in the ring */
+ arg++;
+
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
@@ -483,6 +508,21 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
}
+ case SENSORIOCGQUEUEDEPTH:
+ return _num_reports - 1;
+
+ case SENSORIOCRESET:
+ /* XXX implement this */
+ return -EINVAL;
+
+ case MAGIOCSSAMPLERATE:
+ /* not supported, always 1 sample per poll */
+ return -EINVAL;
+
+ case MAGIOCSLOWPASS:
+ /* not supported, no internal filtering */
+ return -EINVAL;
+
case MAGIOCSSCALE:
/* set new scale factors */
memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
@@ -497,18 +537,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
/* XXX perform auto-calibration */
return -EINVAL;
- case MAGIOCSSAMPLERATE:
- /* not supported, always 1 sample per poll */
- return -EINVAL;
-
- case MAGIOCSLOWPASS:
- /* not supported, no internal filtering */
- return -EINVAL;
-
- case MAGIOCSREPORTFORMAT:
- /* not supported, no custom report format */
- return -EINVAL;
-
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@@ -747,7 +775,7 @@ HMC5883::print_info()
/**
* Local functions in support of the shell command.
*/
-namespace
+namespace hmc5883
{
/* oddly, ERROR is not defined for c++ */
@@ -758,72 +786,80 @@ const int ERROR = -1;
HMC5883 *g_dev;
-/*
- * XXX this should just be part of the generic sensors test...
+void start();
+void test();
+void reset();
+void info();
+
+/**
+ * Start the driver.
*/
+void
+start()
+{
+ int fd;
+ if (g_dev != nullptr)
+ errx(1, "already started");
-int
-test_fail(const char *fmt, ...)
-{
- va_list ap;
-
- fprintf(stderr, "FAIL: ");
- va_start(ap, fmt);
- vfprintf(stderr, fmt, ap);
- va_end(ap);
- fprintf(stderr, "\n");
- fflush(stderr);
- return ERROR;
-}
+ /* create the driver */
+ /* XXX HORRIBLE hack - the bus number should not come from here */
+ g_dev = new HMC5883(2);
-int
-test_note(const char *fmt, ...)
-{
- va_list ap;
-
- fprintf(stderr, "note: ");
- va_start(ap, fmt);
- vfprintf(stderr, fmt, ap);
- va_end(ap);
- fprintf(stderr, "\n");
- fflush(stderr);
- return OK;
+ if (g_dev == nullptr)
+ goto fail;
+
+ if (OK != g_dev->init())
+ goto fail;
+
+ /* set the poll rate to default, starts automatic data collection */
+ fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ goto fail;
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ goto fail;
+ exit(0);
+
+fail:
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+ errx(1, "driver start failed");
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
- *
- * @param fd An open file descriptor on the driver.
*/
-int
-test(int fd)
+void
+test()
{
struct mag_report report;
ssize_t sz;
int ret;
+ int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
-
if (sz != sizeof(report))
- return test_fail("immediate read failed: %d", errno);
+ err(1, "immediate read failed");
- test_note("single read");
- test_note("measurement: %.6f %.6f %.6f", report.x, report.y, report.z);
- test_note("time: %lld", report.timestamp);
- usleep(1000000);
+ warnx("single read");
+ warnx("measurement: %.6f %.6f %.6f", report.x, report.y, report.z);
+ warnx("time: %lld", report.timestamp);
/* set the queue depth to 10 */
- if (OK != ioctl(fd, MAGIOCSQUEUEDEPTH, 10))
- return test_fail("failed to set queue depth");
+ if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
+ errx(1, "failed to set queue depth");
/* start the sensor polling at 2Hz */
- if (OK != ioctl(fd, MAGIOCSPOLLRATE, 2))
- return test_fail("failed to set 2Hz poll rate");
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+ errx(1, "failed to set 2Hz poll rate");
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -835,38 +871,54 @@ test(int fd)
ret = poll(&fds, 1, 2000);
if (ret != 1)
- return test_fail("timed out waiting for sensor data");
+ errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
- return test_fail("periodic read failed: %d", errno);
+ err(1, "periodic read failed");
- test_note("periodic read %u", i);
- test_note("measurement: %.6f %.6f %.6f", report.x, report.y, report.z);
- test_note("time: %lld", report.timestamp);
+ warnx("periodic read %u", i);
+ warnx("measurement: %.6f %.6f %.6f", report.x, report.y, report.z);
+ warnx("time: %lld", report.timestamp);
}
- return test_note("PASS");
- return OK;
+ errx(0, "PASS");
}
-int
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "failed ");
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+ err(1, "driver reset failed");
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ err(1, "driver poll restart failed");
+
+ exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
info()
{
- if (g_dev == nullptr) {
- fprintf(stderr, "HMC5883: driver not running\n");
- return -ENOENT;
- }
+ if (g_dev == nullptr)
+ errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
- return OK;
+ exit(0);
}
-
} // namespace
int
@@ -874,58 +926,27 @@ hmc5883_main(int argc, char *argv[])
{
/*
* Start/load the driver.
- *
- * XXX it would be nice to have a wrapper for this...
*/
- if (!strcmp(argv[1], "start")) {
-
- if (g_dev != nullptr) {
- fprintf(stderr, "HMC5883: already loaded\n");
- return -EBUSY;
- }
-
- /* create the driver */
- /* XXX HORRIBLE hack - the bus number should not come from here */
- g_dev = new HMC5883(2);
-
- if (g_dev == nullptr) {
- fprintf(stderr, "HMC5883: driver alloc failed\n");
- return -ENOMEM;
- }
-
- if (OK != g_dev->init()) {
- fprintf(stderr, "HMC5883: driver init failed\n");
- usleep(100000);
- delete g_dev;
- g_dev = nullptr;
- return -EIO;
- }
-
- return OK;
- }
+ if (!strcmp(argv[1], "start"))
+ hmc5883::start();
/*
* Test the driver/device.
*/
- if (!strcmp(argv[1], "test")) {
- int fd, ret;
+ if (!strcmp(argv[1], "test"))
+ hmc5883::test();
- fd = open(MAG_DEVICE_PATH, O_RDONLY);
-
- if (fd < 0)
- return test_fail("driver open failed: %d", errno);
-
- ret = test(fd);
- close(fd);
- return ret;
- }
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset"))
+ hmc5883::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
- return info();
+ hmc5883::info();
- fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
- return -EINVAL;
+ errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 017a4dd9e..0a1876426 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -43,6 +43,7 @@
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
+#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
@@ -53,6 +54,7 @@
#include <unistd.h>
#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
@@ -536,22 +538,28 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
- case ACCELIOCSPOLLRATE: {
+ case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
- case ACC_POLLRATE_MANUAL:
+ case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
- case ACC_POLLRATE_EXTERNAL:
+ case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT:
+ /* XXX 500Hz is just a wild guess */
+ return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
@@ -566,7 +574,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
- _call.period = _call_interval;
+ _call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
@@ -577,20 +585,38 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
- case ACCELIOCSQUEUEDEPTH:
+ case SENSORIOCGPOLLRATE:
+ if (_call_interval == 0)
+ return SENSOR_POLLRATE_MANUAL;
+ return 1000000 / _call_interval;
+
+ case SENSORIOCSQUEUEDEPTH:
+ /* XXX not implemented */
+ return -EINVAL;
+
+ case SENSORIOCGQUEUEDEPTH:
+ /* XXX not implemented */
+ return -EINVAL;
+
+
+ case ACCELIOCSSAMPLERATE:
+ case ACCELIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
case ACCELIOCSLOWPASS:
+ case ACCELIOCGLOWPASS:
/* XXX not implemented */
return -EINVAL;
- case ACCELIORANGE:
- /* XXX not implemented really */
- return set_range(arg);
+ case ACCELIOCSSCALE:
+ case ACCELIOCGSCALE:
+ /* XXX not implemented */
+ return -EINVAL;
- case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
- case ACCELIOCSREPORTFORMAT: /* no alternate report formats */
+ case ACCELIOCSRANGE:
+ case ACCELIOCGRANGE:
+ /* XXX not implemented */
return -EINVAL;
default:
@@ -604,24 +630,32 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
- case GYROIOCSPOLLRATE:
- /* gyro and accel poll rates are shared */
- return ioctl(filp, ACCELIOCSPOLLRATE, arg);
+ /* these are shared with the accel side */
+ case SENSORIOCSPOLLRATE:
+ case SENSORIOCGPOLLRATE:
+ case SENSORIOCSQUEUEDEPTH:
+ case SENSORIOCGQUEUEDEPTH:
+ case SENSORIOCRESET:
+ return ioctl(filp, cmd, arg);
- case GYROIOCSQUEUEDEPTH:
+ case GYROIOCSSAMPLERATE:
+ case GYROIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
case GYROIOCSLOWPASS:
+ case GYROIOCGLOWPASS:
/* XXX not implemented */
return -EINVAL;
case GYROIOCSSCALE:
- /* XXX not implemented really */
- return set_range(arg);
+ case GYROIOCGSCALE:
+ /* XXX not implemented */
+ return -EINVAL;
- case GYROIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
- case GYROIOCSREPORTFORMAT: /* no alternate report formats */
+ case GYROIOCSRANGE:
+ case GYROIOCGRANGE:
+ /* XXX not implemented */
return -EINVAL;
default:
@@ -847,92 +881,141 @@ MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
/**
* Local functions in support of the shell command.
*/
-namespace
+namespace mpu6000
{
MPU6000 *g_dev;
-/*
- * XXX this should just be part of the generic sensors test...
- */
+void start();
+void test();
+void reset();
+void info();
-int
-test()
+/**
+ * Start the driver.
+ */
+void
+start()
{
- int fd = -1;
- int fd_gyro = -1;
- struct accel_report report;
- struct gyro_report g_report;
- ssize_t sz;
- const char *reason = "test OK";
-
- do {
- /* get the driver */
- fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+ int fd;
- if (fd < 0) {
- reason = "can't open accel driver, use <mpu6000 start> first";
- break;
- }
+ if (g_dev != nullptr)
+ errx(1, "already started");
- /* get the driver */
- fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+ /* create the driver */
+ g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
- if (fd_gyro < 0) {
- reason = "can't open gyro driver, use <mpu6000 start> first";
- break;
- }
+ if (g_dev == nullptr)
+ goto fail;
- /* do a simple demand read */
- sz = read(fd, &report, sizeof(report));
+ if (OK != g_dev->init())
+ goto fail;
- if (sz != sizeof(report)) {
- reason = "immediate acc read failed";
- break;
- }
-
- printf("single read\n");
- fflush(stdout);
- printf("time: %lld\n", report.timestamp);
- printf("acc x: \t% 5.2f\tm/s^2\n", (double)report.x);
- printf("acc y: \t% 5.2f\tm/s^2\n", (double)report.y);
- printf("acc z: \t% 5.2f\tm/s^2\n", (double)report.z);
- printf("acc range: %6.2f m/s^2 (%6.2f g)\n", (double)report.range_m_s2,
- (double)(report.range_m_s2 / 9.81f));
-
- /* do a simple demand read */
- sz = read(fd_gyro, &g_report, sizeof(g_report));
-
- if (sz != sizeof(g_report)) {
- reason = "immediate gyro read failed";
- break;
- }
+ /* set the poll rate to default, starts automatic data collection */
+ fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ goto fail;
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ goto fail;
+ exit(0);
- printf("gyro x: \t% 5.2f\trad/s\n", (double)g_report.x);
- printf("gyro y: \t% 5.2f\trad/s\n", (double)g_report.y);
- printf("gyro z: \t% 5.2f\trad/s\n", (double)g_report.z);
- printf("gyro range: %6.3f rad/s (%8.1f deg/s)\n", (double)g_report.range_rad_s,
- (double)((g_report.range_rad_s / M_PI_F) * 180.0f));
+fail:
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+ errx(1, "driver start failed");
+}
- } while (0);
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+ int fd = -1;
+ int fd_gyro = -1;
+ struct accel_report report;
+ struct gyro_report g_report;
+ ssize_t sz;
- printf("MPU6000: %s\n", reason);
+ /* get the driver */
+ fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
+ ACCEL_DEVICE_PATH);
+
+ /* get the driver */
+ fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+ if (fd_gyro < 0)
+ err(1, "%s open failed", GYRO_DEVICE_PATH);
+
+ /* reset to manual polling */
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
+ err(1, "reset to manual polling");
+
+ /* do a simple demand read */
+ sz = read(fd, &report, sizeof(report));
+ if (sz != sizeof(report))
+ err(1, "immediate acc read failed");
+
+ warnx("single read");
+ warnx("time: %lld", report.timestamp);
+ warnx("acc x: \t% 5.2f\tm/s^2", (double)report.x);
+ warnx("acc y: \t% 5.2f\tm/s^2", (double)report.y);
+ warnx("acc z: \t% 5.2f\tm/s^2", (double)report.z);
+ warnx("acc range: %6.2f m/s^2 (%6.2f g)", (double)report.range_m_s2,
+ (double)(report.range_m_s2 / 9.81f));
+
+ /* do a simple demand read */
+ sz = read(fd_gyro, &g_report, sizeof(g_report));
+ if (sz != sizeof(g_report))
+ err(1, "immediate gyro read failed");
+
+ warnx("gyro x: \t% 5.2f\trad/s", (double)g_report.x);
+ warnx("gyro y: \t% 5.2f\trad/s", (double)g_report.y);
+ warnx("gyro z: \t% 5.2f\trad/s", (double)g_report.z);
+ warnx("gyro range: %6.3f rad/s (%8.1f deg/s)", (double)g_report.range_rad_s,
+ (double)((g_report.range_rad_s / M_PI_F) * 180.0f));
+
+ /* XXX add poll-rate tests here too */
+
+ reset();
+ errx(0, "PASS");
+}
- return OK;
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "failed ");
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+ err(1, "driver reset failed");
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ err(1, "driver poll restart failed");
+
+ exit(0);
}
-int
+/**
+ * Print a little info about the driver.
+ */
+void
info()
{
- if (g_dev == nullptr) {
- fprintf(stderr, "MPU6000: driver not running\n");
- return -ENOENT;
- }
+ if (g_dev == nullptr)
+ errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
- return OK;
+ exit(0);
}
@@ -943,47 +1026,28 @@ mpu6000_main(int argc, char *argv[])
{
/*
* Start/load the driver.
- *
- * XXX it would be nice to have a wrapper for this...
- */
- if (!strcmp(argv[1], "start")) {
-
- if (g_dev != nullptr) {
- fprintf(stderr, "MPU6000: already loaded\n");
- return -EBUSY;
- }
-
- /* create the driver */
- g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
-
- if (g_dev == nullptr) {
- fprintf(stderr, "MPU6000: driver alloc failed\n");
- return -ENOMEM;
- }
- if (OK != g_dev->init()) {
- fprintf(stderr, "MPU6000: driver init failed\n");
- usleep(100000);
- delete g_dev;
- g_dev = nullptr;
- return -EIO;
- }
-
- return OK;
- }
+ */
+ if (!strcmp(argv[1], "start"))
+ mpu6000::start();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
- return test();
+ mpu6000::test();
+
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset"))
+ mpu6000::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
- return info();
+ mpu6000::info();
- fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
- return -EINVAL;
+ errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp
index 8f8f96217..c85e5b3a6 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/apps/drivers/ms5611/ms5611.cpp
@@ -43,6 +43,7 @@
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
+#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
@@ -59,6 +60,7 @@
#include <arch/board/up_hrt.h>
#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
#include <drivers/drv_baro.h>
@@ -425,22 +427,38 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
- case BAROIOCSPOLLRATE: {
+ case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
- case BARO_POLLRATE_MANUAL:
+ case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling not supported */
- case BARO_POLLRATE_EXTERNAL:
+ case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
+
+ /* set interval for next measurement to minimum legal value */
+ _measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL);
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start();
+
+ return OK;
+ }
+
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
@@ -465,7 +483,15 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
- case BAROIOCSQUEUEDEPTH: {
+ case SENSORIOCGPOLLRATE:
+ if (_measure_ticks == 0)
+ return SENSOR_POLLRATE_MANUAL;
+ return (1000 / _measure_ticks);
+
+ case SENSORIOCSQUEUEDEPTH: {
+ /* add one to account for the sentinel in the ring */
+ arg++;
+
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
@@ -486,7 +512,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
}
- case BAROIOCSREPORTFORMAT:
+ case SENSORIOCGQUEUEDEPTH:
+ return _num_reports - 1;
+
+ case SENSORIOCRESET:
+ /* XXX implement this */
return -EINVAL;
default:
@@ -773,7 +803,7 @@ MS5611::print_info()
/**
* Local functions in support of the shell command.
*/
-namespace
+namespace ms5611
{
/* oddly, ERROR is not defined for c++ */
@@ -784,74 +814,82 @@ const int ERROR = -1;
MS5611 *g_dev;
-/*
- * XXX this should just be part of the generic sensors test...
+void start();
+void test();
+void reset();
+void info();
+
+/**
+ * Start the driver.
*/
+void
+start()
+{
+ int fd;
+ if (g_dev != nullptr)
+ errx(1, "already started");
-int
-test_fail(const char *fmt, ...)
-{
- va_list ap;
-
- fprintf(stderr, "FAIL: ");
- va_start(ap, fmt);
- vfprintf(stderr, fmt, ap);
- va_end(ap);
- fprintf(stderr, "\n");
- fflush(stderr);
- return ERROR;
-}
+ /* create the driver */
+ /* XXX HORRIBLE hack - the bus number should not come from here */
+ g_dev = new MS5611(2);
-int
-test_note(const char *fmt, ...)
-{
- va_list ap;
-
- fprintf(stderr, "note: ");
- va_start(ap, fmt);
- vfprintf(stderr, fmt, ap);
- va_end(ap);
- fprintf(stderr, "\n");
- fflush(stderr);
- return OK;
+ if (g_dev == nullptr)
+ goto fail;
+
+ if (OK != g_dev->init())
+ goto fail;
+
+ /* set the poll rate to default, starts automatic data collection */
+ fd = open(BARO_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ goto fail;
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ goto fail;
+ exit(0);
+
+fail:
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+ errx(1, "driver start failed");
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
- *
- * @param fd An open file descriptor on the driver.
*/
-int
-test(int fd)
+void
+test()
{
struct baro_report report;
ssize_t sz;
int ret;
+ int fd = open(BARO_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "%s open failed (try 'ms5611 start' if the driver is not running", BARO_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
-
if (sz != sizeof(report))
- return test_fail("immediate read failed: %d", errno);
+ err(1, "immediate read failed");
- test_note("single read");
- test_note("pressure: %u", (unsigned)report.pressure);
- test_note("altitude: %u", (unsigned)report.altitude);
- test_note("temperature: %u", (unsigned)report.temperature);
- test_note("time: %lld", report.timestamp);
- usleep(1000000);
+ warnx("single read");
+ warnx("pressure: %u", (unsigned)report.pressure);
+ warnx("altitude: %u", (unsigned)report.altitude);
+ warnx("temperature: %u", (unsigned)report.temperature);
+ warnx("time: %lld", report.timestamp);
/* set the queue depth to 10 */
- if (OK != ioctl(fd, BAROIOCSQUEUEDEPTH, 10))
- return test_fail("failed to set queue depth");
+ if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
+ errx(1, "failed to set queue depth");
/* start the sensor polling at 2Hz */
- if (OK != ioctl(fd, BAROIOCSPOLLRATE, 2))
- return test_fail("failed to set 2Hz poll rate");
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+ errx(1, "failed to set 2Hz poll rate");
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -863,37 +901,54 @@ test(int fd)
ret = poll(&fds, 1, 2000);
if (ret != 1)
- return test_fail("timed out waiting for sensor data");
+ errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
- return test_fail("periodic read failed: %d", errno);
+ err(1, "periodic read failed");
- test_note("periodic read %u", i);
- test_note("pressure: %u", (unsigned)report.pressure);
- test_note("altitude: %u", (unsigned)report.altitude);
- test_note("temperature: %u", (unsigned)report.temperature);
- test_note("time: %lld", report.timestamp);
+ warnx("periodic read %u", i);
+ warnx("pressure: %u", (unsigned)report.pressure);
+ warnx("altitude: %u", (unsigned)report.altitude);
+ warnx("temperature: %u", (unsigned)report.temperature);
+ warnx("time: %lld", report.timestamp);
}
- return test_note("PASS");
- return OK;
+ errx(0, "PASS");
}
-int
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(BARO_DEVICE_PATH, O_RDONLY);
+ if (fd < 0)
+ err(1, "failed ");
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+ err(1, "driver reset failed");
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+ err(1, "driver poll restart failed");
+
+ exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
info()
{
- if (g_dev == nullptr) {
- fprintf(stderr, "MS5611: driver not running\n");
- return -ENOENT;
- }
+ if (g_dev == nullptr)
+ errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
- return OK;
+ exit(0);
}
@@ -904,58 +959,27 @@ ms5611_main(int argc, char *argv[])
{
/*
* Start/load the driver.
- *
- * XXX it would be nice to have a wrapper for this...
*/
- if (!strcmp(argv[1], "start")) {
-
- if (g_dev != nullptr) {
- fprintf(stderr, "MS5611: already loaded\n");
- return -EBUSY;
- }
-
- /* create the driver */
- /* XXX HORRIBLE hack - the bus number should not come from here */
- g_dev = new MS5611(2);
-
- if (g_dev == nullptr) {
- fprintf(stderr, "MS5611: driver alloc failed\n");
- return -ENOMEM;
- }
-
- if (OK != g_dev->init()) {
- fprintf(stderr, "MS5611: driver init failed\n");
- usleep(100000);
- delete g_dev;
- g_dev = nullptr;
- return -EIO;
- }
-
- return OK;
- }
+ if (!strcmp(argv[1], "start"))
+ ms5611::start();
/*
* Test the driver/device.
*/
- if (!strcmp(argv[1], "test")) {
- int fd, ret;
-
- fd = open(BARO_DEVICE_PATH, O_RDONLY);
-
- if (fd < 0)
- return test_fail("driver open failed: %d", errno);
+ if (!strcmp(argv[1], "test"))
+ ms5611::test();
- ret = test(fd);
- close(fd);
- return ret;
- }
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset"))
+ ms5611::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
- return info();
+ ms5611::info();
- fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
- return -EINVAL;
+ errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-07 00:58:28 +0000