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-rw-r--r--src/systemcmds/config/config.c56
-rw-r--r--src/systemcmds/mixer/mixer.cpp3
-rw-r--r--src/systemcmds/mtd/mtd.c4
-rw-r--r--src/systemcmds/param/param.c2
-rw-r--r--src/systemcmds/tests/test_dataman.c8
-rw-r--r--src/systemcmds/tests/test_mixer.cpp22
-rw-r--r--src/systemcmds/tests/test_rc.c2
7 files changed, 68 insertions, 29 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 80689f20c..476015f3e 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -56,6 +56,7 @@
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
@@ -65,6 +66,7 @@ __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[]);
+static void do_device(int argc, char *argv[]);
int
config_main(int argc, char *argv[])
@@ -72,14 +74,12 @@ config_main(int argc, char *argv[])
if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) {
do_gyro(argc - 2, argv + 2);
- }
-
- if (!strcmp(argv[1], "accel")) {
+ } else if (!strcmp(argv[1], "accel")) {
do_accel(argc - 2, argv + 2);
- }
-
- if (!strcmp(argv[1], "mag")) {
+ } else if (!strcmp(argv[1], "mag")) {
do_mag(argc - 2, argv + 2);
+ } else {
+ do_device(argc - 1, argv + 1);
}
}
@@ -87,6 +87,48 @@ config_main(int argc, char *argv[])
}
static void
+do_device(int argc, char *argv[])
+{
+ if (argc < 2) {
+ errx(1, "no device path provided and command provided.");
+ }
+
+ int fd;
+ int ret;
+
+ fd = open(argv[0], 0);
+
+ if (fd < 0) {
+ warn("%s", argv[0]);
+ errx(1, "FATAL: no device found");
+
+ } else {
+
+ if (argc == 2 && !strcmp(argv[1], "block")) {
+
+ /* disable the device publications */
+ ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
+
+ if (ret)
+ errx(ret,"uORB publications could not be blocked");
+
+ } else if (argc == 2 && !strcmp(argv[1], "unblock")) {
+
+ /* enable the device publications */
+ ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
+
+ if (ret)
+ errx(ret,"uORB publications could not be unblocked");
+
+ } else {
+ errx("no valid command: %s", argv[1]);
+ }
+ }
+
+ exit(0);
+}
+
+static void
do_gyro(int argc, char *argv[])
{
int fd;
@@ -124,7 +166,7 @@ do_gyro(int argc, char *argv[])
if (ret)
errx(ret,"range could not be set");
- } else if(argc == 1 && !strcmp(argv[0], "check")) {
+ } else if (argc == 1 && !strcmp(argv[0], "check")) {
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 6da39d371..2f5ed3265 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -102,7 +102,8 @@ load(const char *devname, const char *fname)
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
- load_mixer_file(fname, &buf[0], sizeof(buf));
+ if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0)
+ err(1, "can't load mixer: %s", fname);
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index a2a0c109c..0a88d40f3 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -257,7 +257,6 @@ mtd_start(char *partition_names[], unsigned n_partitions)
/* Now create MTD FLASH partitions */
- warnx("Creating partitions");
FAR struct mtd_dev_s *part[n_partitions];
char blockname[32];
@@ -266,9 +265,6 @@ mtd_start(char *partition_names[], unsigned n_partitions)
for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
- warnx(" Partition %d. Block offset=%lu, size=%lu",
- i, (unsigned long)offset, (unsigned long)nblocks);
-
/* Create the partition */
part[i] = mtd_partition(mtd_dev, offset, nblocks);
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 580fdc62f..0cbba0a37 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -320,7 +320,7 @@ do_set(const char* name, const char* val)
char* end;
f = strtod(val,&end);
param_set(param, &f);
- printf(" -> new: %f\n", f);
+ printf(" -> new: %4.4f\n", (double)f);
}
diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c
index 5b121e34e..1f844a97d 100644
--- a/src/systemcmds/tests/test_dataman.c
+++ b/src/systemcmds/tests/test_dataman.c
@@ -89,7 +89,7 @@ task_main(int argc, char *argv[])
unsigned hash = i ^ my_id;
unsigned len = (hash & 63) + 2;
- int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
+ int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
warnx("ret: %d", ret);
if (ret != len) {
warnx("%d write failed, index %d, length %d", my_id, hash, len);
@@ -103,7 +103,7 @@ task_main(int argc, char *argv[])
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
unsigned hash = i ^ my_id;
unsigned len2, len = (hash & 63) + 2;
- if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD, hash, buffer, sizeof(buffer))) < 2) {
+ if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
warnx("%d read failed length test, index %d", my_id, hash);
goto fail;
}
@@ -163,7 +163,7 @@ int test_dataman(int argc, char *argv[])
free(sems);
dm_restart(DM_INIT_REASON_IN_FLIGHT);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
- if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0)
+ if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0)
break;
}
if (i >= NUM_MISSIONS_SUPPORTED) {
@@ -173,7 +173,7 @@ int test_dataman(int argc, char *argv[])
}
dm_restart(DM_INIT_REASON_POWER_ON);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
- if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0) {
+ if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
warnx("Restart power-on failed");
return -1;
}
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 2a47551ee..df382e2c6 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -65,20 +65,20 @@ static int mixer_callback(uintptr_t handle,
const unsigned output_max = 8;
static float actuator_controls[output_max];
-static bool should_arm = false;
-uint16_t r_page_servo_disarmed[output_max];
-uint16_t r_page_servo_control_min[output_max];
-uint16_t r_page_servo_control_max[output_max];
-uint16_t r_page_servos[output_max];
-uint16_t servo_predicted[output_max];
-
-/*
- * PWM limit structure
- */
-pwm_limit_t pwm_limit;
int test_mixer(int argc, char *argv[])
{
+ /*
+ * PWM limit structure
+ */
+ pwm_limit_t pwm_limit;
+ static bool should_arm = false;
+ uint16_t r_page_servo_disarmed[output_max];
+ uint16_t r_page_servo_control_min[output_max];
+ uint16_t r_page_servo_control_max[output_max];
+ uint16_t r_page_servos[output_max];
+ uint16_t servo_predicted[output_max];
+
warnx("testing mixer");
char *filename = "/etc/mixers/IO_pass.mix";
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 6a602ecfc..57c0e7f4c 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -121,7 +121,7 @@ int test_rc(int argc, char *argv[])
return ERROR;
}
- if (hrt_absolute_time() - rc_input.timestamp > 100000) {
+ if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) {
warnx("TIMEOUT, less than 10 Hz updates");
(void)close(_rc_sub);
return ERROR;
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-01 10:25:22 +0000