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-rw-r--r--src/systemcmds/config/config.c146
1 files changed, 59 insertions, 87 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 5a02fd620..766598ddd 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -2,6 +2,7 @@
*
* 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
@@ -35,6 +36,7 @@
/**
* @file config.c
* @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
*
* config tool.
*/
@@ -69,27 +71,15 @@ 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.");
- }
+ do_gyro(argc - 2, argv + 2);
}
if (!strcmp(argv[1], "accel")) {
- if (argc >= 3) {
- do_accel(argc - 2, argv + 2);
- } else {
- errx(1, "not enough parameters.");
- }
+ do_accel(argc - 2, argv + 2);
}
if (!strcmp(argv[1], "mag")) {
- if (argc >= 3) {
- do_mag(argc - 2, argv + 2);
- } else {
- errx(1, "not enough parameters.");
- }
+ do_mag(argc - 2, argv + 2);
}
}
@@ -109,44 +99,36 @@ do_gyro(int argc, char *argv[])
} else {
- if (argc >= 2) {
+ if (argc == 2 && !strcmp(argv[0], "sampling")) {
- char* end;
- int i = strtol(argv[1],&end,10);
+ /* set the gyro internal sampling rate up to at least i Hz */
+ ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
- if (!strcmp(argv[0], "sampling")) {
+ } else if (argc == 2 && !strcmp(argv[0], "rate")) {
- /* set the accel internal sampling rate up to at leat i Hz */
- ioctl(fd, GYROIOCSSAMPLERATE, i);
+ /* set the driver to poll at i Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
- } else if (!strcmp(argv[0], "rate")) {
+ } else if (argc == 2 && !strcmp(argv[0], "range")) {
- /* 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);
- }
+ /* set the range to i dps */
+ ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
- } else if (argc > 0) {
+ } else if(argc == 1 && !strcmp(argv[0], "check")) {
+ int ret = ioctl(fd, GYROIOCSELFTEST, 0);
- if(!strcmp(argv[0], "check")) {
- int 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");
- }
+ 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 {
- 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");
+ 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);
@@ -174,29 +156,26 @@ do_mag(int argc, char *argv[])
} else {
- if (argc > 0) {
+ if(argc == 1 && !strcmp(argv[0], "check")) {
+ int ret = ioctl(fd, MAGIOCSELFTEST, 0);
- if (!strcmp(argv[0], "check")) {
- int 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");
- }
+ 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 {
- warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t");
+ 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 = -1; //ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
- int range = -1;//ioctl(fd, MAGIOCGRANGE, 0);
+ int range = -1; //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);
@@ -219,43 +198,36 @@ do_accel(int argc, char *argv[])
} else {
- if (argc >= 2) {
+ if (argc == 2 && !strcmp(argv[0], "sampling")) {
- char* end;
- int i = strtol(argv[1],&end,10);
+ /* set the accel internal sampling rate up to at least i Hz */
+ ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
- if (!strcmp(argv[0], "sampling")) {
+ } else if (argc == 2 && !strcmp(argv[0], "rate")) {
- /* set the accel internal sampling rate up to at leat i Hz */
- ioctl(fd, ACCELIOCSSAMPLERATE, i);
+ /* set the driver to poll at i Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
- } else if (!strcmp(argv[0], "rate")) {
+ } else if (argc == 2 && !strcmp(argv[0], "range")) {
- /* set the driver to poll at i Hz */
- ioctl(fd, SENSORIOCSPOLLRATE, i);
- } else if (!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 dps */
- ioctl(fd, ACCELIOCSRANGE, i);
- }
- } else if (argc > 0) {
-
- if (!strcmp(argv[0], "check")) {
- int 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 if(argc == 1 && !strcmp(argv[0], "check")) {
+ int 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 {
- 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");
+ 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 2' to set measurement range to 4 G\n\t");
}
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-07 00:39:33 +0000