1 files changed, 147 insertions, 0 deletions
diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c
new file mode 100755
index 000000000..7f8b9240f
--- /dev/null
+++ b/apps/systemcmds/calibration/calibration.c
@@ -0,0 +1,147 @@
+/****************************************************************************
+ * calibration.c
+ *
+ *   Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int calibrate_help(int argc, char *argv[]);
+static int calibrate_all(int argc, char *argv[]);
+
+__EXPORT int calibration_main(int argc, char *argv[]);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+struct {
+	const char 	*name;
+	int	(* fn)(int argc, char *argv[]);
+	unsigned	options;
+#define OPT_NOHELP	(1<<0)
+#define OPT_NOALLTEST	(1<<1)
+} calibrates[] = {
+	{"range",	          range_cal,	0},
+	{"servo",	          servo_cal,	0},
+	{"all",	          calibrate_all,	OPT_NOALLTEST},
+	{"help",          calibrate_help,	OPT_NOALLTEST | OPT_NOHELP},
+	{NULL,		NULL}
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static int
+calibrate_help(int argc, char *argv[])
+{
+	unsigned	i;
+
+	printf("Available calibration routines:\n");
+
+	for (i = 0; calibrates[i].name; i++)
+		printf("  %s\n", calibrates[i].name);
+
+	return 0;
+}
+
+static int
+calibrate_all(int argc, char *argv[])
+{
+	unsigned	i;
+	char		*args[2] = {"all", NULL};
+
+	printf("Running all calibration routines...\n\n");
+
+	for (i = 0; calibrates[i].name; i++) {
+		printf("  %s:\n", calibrates[i].name);
+
+		if (calibrates[i].fn(1, args)) {
+			printf("  FAIL\n");
+
+		} else {
+			printf("  DONE\n");
+		}
+	}
+
+	return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void press_enter(void)
+{
+	int c;
+	printf("Press CTRL+ENTER to continue... \n");
+	fflush(stdout);
+
+	do c = getchar(); while ((c != '\n') && (c != EOF));
+}
+
+/****************************************************************************
+ * Name: calibrate_main
+ ****************************************************************************/
+
+int calibration_main(int argc, char *argv[])
+{
+	unsigned	i;
+
+	if (argc < 2) {
+		printf("calibration: missing name - 'calibration help' for a list of routines\n");
+		return 1;
+	}
+
+	for (i = 0; calibrates[i].name; i++) {
+		if (!strcmp(calibrates[i].name, argv[1]))
+			return calibrates[i].fn(argc - 1, argv + 1);
+	}
+
+	printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
+	return 1;
+}