diff options
Diffstat (limited to 'apps/px4/tests/test_sensors.c')
| -rw-r--r-- | apps/px4/tests/test_sensors.c | 39 |
1 files changed, 20 insertions, 19 deletions
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c index af1213711..91397d11c 100644 --- a/apps/px4/tests/test_sensors.c +++ b/apps/px4/tests/test_sensors.c @@ -60,7 +60,7 @@ #include <arch/board/drv_bma180.h> #include <arch/board/drv_l3gd20.h> #include <arch/board/drv_hmc5883l.h> -#include <arch/board/drv_mpu6000.h> +#include <drivers/drv_accel.h> /**************************************************************************** * Pre-processor Definitions @@ -94,7 +94,7 @@ struct { {"bma180", "/dev/bma180", bma180}, {"hmc5883l", "/dev/hmc5883l", hmc5883l}, {"ms5611", "/dev/ms5611", ms5611}, - {"mpu6000", "/dev/mpu6000", mpu6000}, + {"mpu6000", "/dev/accel", mpu6000}, // {"lis331", "/dev/lis331", lis331}, {NULL, NULL, NULL} }; @@ -331,13 +331,13 @@ mpu6000(int argc, char *argv[]) fflush(stdout); int fd; - int16_t buf[6] = { -1, 0, -1, 0, -1, 0}; + struct accel_report buf; int ret; - fd = open("/dev/mpu6000", O_RDONLY); + fd = open("/dev/accel", O_RDONLY); if (fd < 0) { - printf("\tMPU-6000: open fail\n"); + printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n"); return ERROR; } @@ -345,28 +345,28 @@ mpu6000(int argc, char *argv[]) usleep(100000); /* read data - expect samples */ - ret = read(fd, buf, sizeof(buf)); + ret = read(fd, &buf, sizeof(buf)); - if (ret != sizeof(buf)) { + if (ret < 3) { 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]); + printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\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 */ @@ -398,7 +398,8 @@ ms5611(int argc, char *argv[]) ret = read(fd, buf, sizeof(buf)); if (ret != sizeof(buf)) { - if ((uint8_t)ret == -EAGAIN || (uint8_t)ret == -EINPROGRESS || i < 3) { + + if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) { /* waiting for device to become ready, this is not an error */ } else { printf("\tMS5611: read fail (%d)\n", ret); @@ -435,7 +436,7 @@ hmc5883l(int argc, char *argv[]) fflush(stdout); int fd; - int16_t buf[3] = {0, 0, 0}; + int16_t buf[7] = {0, 0, 0}; int ret; fd = open("/dev/hmc5883l", O_RDONLY); |