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/****************************************************************************
*
* 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
* 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 config.c
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* config tool.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <arch/board/board.h>
#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"
__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[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) {
do_gyro(argc - 2, argv + 2);
} else if (!strcmp(argv[1], "accel")) {
do_accel(argc - 2, argv + 2);
} else if (!strcmp(argv[1], "mag")) {
do_mag(argc - 2, argv + 2);
} else {
do_device(argc - 1, argv + 1);
}
}
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
}
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;
int ret;
fd = open(GYRO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", GYRO_DEVICE_PATH);
errx(1, "FATAL: no gyro found");
} else {
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the gyro internal sampling rate up to at least i Hz */
ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i dps */
ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if (argc == 1 && !strcmp(argv[0], "check")) {
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");
}
} else {
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);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, GYROIOCGRANGE, 0);
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
close(fd);
}
exit(0);
}
static void
do_mag(int argc, char *argv[])
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
errx(1, "FATAL: no magnetometer found");
} else {
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the mag internal sampling rate up to at least i Hz */
ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i G */
ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
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");
}
} else {
errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
}
int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, MAGIOCGRANGE, 0);
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range);
close(fd);
}
exit(0);
}
static void
do_accel(int argc, char *argv[])
{
int fd;
int ret;
fd = open(ACCEL_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", ACCEL_DEVICE_PATH);
errx(1, "FATAL: no accelerometer found");
} else {
if (argc == 2 && !strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at least i Hz */
ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the range to i G */
ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
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 {
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 4' to set measurement range to 4 G\n\t");
}
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, ACCELIOCGRANGE, 0);
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range);
close(fd);
}
exit(0);
}
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