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delete obsolete SENSORIOCSPOLLRATE/SENSORIOCRESET and systemcmds/config

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This commit is contained in:
Daniel Agar
2020-04-01 20:28:26 -04:00
parent 6867947033
commit 06478d9997
39 changed files with 3 additions and 308 deletions
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boards/airmind/mindpx-v2/default.cmake
-1
View File
@@ -82,7 +82,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/av/x-v1/default.cmake
-1
View File
@@ -82,7 +82,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
#bl_update
config
dmesg
dumpfile
esc_calib
boards/bitcraze/crazyflie/default.cmake
-1
View File
@@ -36,7 +36,6 @@ px4_add_board(
#temperature_compensation
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/holybro/durandal-v1/default.cmake
-1
View File
@@ -86,7 +86,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/holybro/durandal-v1/stackcheck.cmake
-1
View File
@@ -87,7 +87,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/holybro/kakutef7/default.cmake
-1
View File
@@ -51,7 +51,6 @@ px4_add_board(
#temperature_compensation
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/intel/aerofc-v1/default.cmake
-1
View File
@@ -62,7 +62,6 @@ px4_add_board(
#vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/intel/aerofc-v1/rtps.cmake
-1
View File
@@ -62,7 +62,6 @@ px4_add_board(
#vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/modalai/fc-v1/default.cmake
-1
View File
@@ -80,7 +80,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/mro/ctrl-zero-f7/default.cmake
-1
View File
@@ -86,7 +86,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/mro/x21-777/default.cmake
-1
View File
@@ -81,7 +81,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/mro/x21/default.cmake
-1
View File
@@ -84,7 +84,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/nxp/fmuk66-v3/default.cmake
-1
View File
@@ -81,7 +81,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/nxp/fmurt1062-v1/default.cmake
-1
View File
@@ -74,7 +74,6 @@ px4_add_board(
vmount
SYSTEMCMDS
# bl_update
config
dmesg
dumpfile
esc_calib
boards/omnibus/f4sd/default.cmake
-1
View File
@@ -70,7 +70,6 @@ px4_add_board(
#vtol_att_control
SYSTEMCMDS
#bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v3/default.cmake
-1
View File
@@ -94,7 +94,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v3/rtps.cmake
-1
View File
@@ -93,7 +93,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v3/stackcheck.cmake
-1
View File
@@ -89,7 +89,6 @@ px4_add_board(
SYSTEMCMDS
bl_update
config
dumpfile
esc_calib
hardfault_log
boards/px4/fmu-v4/default.cmake
-1
View File
@@ -88,7 +88,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v4/optimized.cmake
-1
View File
@@ -87,7 +87,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v4/rtps.cmake
-1
View File
@@ -87,7 +87,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v4/stackcheck.cmake
-1
View File
@@ -87,7 +87,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v4pro/default.cmake
-1
View File
@@ -88,7 +88,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v4pro/rtps.cmake
-1
View File
@@ -87,7 +87,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
#dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/critmonitor.cmake
-1
View File
@@ -90,7 +90,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/default.cmake
-1
View File
@@ -92,7 +92,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/fixedwing.cmake
-1
View File
@@ -65,7 +65,6 @@ px4_add_board(
vmount
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/irqmonitor.cmake
-1
View File
@@ -91,7 +91,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/multicopter.cmake
-1
View File
@@ -76,7 +76,6 @@ px4_add_board(
vmount
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/optimized.cmake
-1
View File
@@ -86,7 +86,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
#bl_update
config
dmesg
dumpfile
#esc_calib
boards/px4/fmu-v5/rover.cmake
-1
View File
@@ -65,7 +65,6 @@ px4_add_board(
vmount
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/rtps.cmake
-1
View File
@@ -91,7 +91,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5/stackcheck.cmake
-1
View File
@@ -92,7 +92,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5x/default.cmake
-1
View File
@@ -90,7 +90,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake
-1
View File
@@ -89,7 +89,6 @@ px4_add_board(
vtol_att_control
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
boards/uvify/core/default.cmake
-1
View File
@@ -64,7 +64,6 @@ px4_add_board(
vmount
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
src/drivers/drv_sensor.h
-23
View File
@@ -162,27 +162,4 @@
#define DRV_DEVTYPE_UNUSED 0xff
/*
* ioctl() definitions
*
* Note that a driver may not implement all of these operations, but
* if the operation is implemented it should conform to this API.
*/
#define _SENSORIOCBASE (0x2000)
#define _SENSORIOC(_n) (_PX4_IOC(_SENSORIOCBASE, _n))
/**
* Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
* constants
*/
#define SENSORIOCSPOLLRATE _SENSORIOC(0)
#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */
/**
* Reset the sensor to its default configuration
*/
#define SENSORIOCRESET _SENSORIOC(4)
#endif /* _DRV_SENSOR_H */
src/systemcmds/config/CMakeLists.txt → src/drivers/imu/st/CMakeLists.txt
+3 -10
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -30,13 +30,6 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE systemcmds__config
MAIN config
STACK_MAIN 4096
COMPILE_FLAGS
SRCS
config.c
DEPENDS
)
add_subdirectory(ism330dlc)
add_subdirectory(lsm9ds1)
src/systemcmds/config/config.c
-239
View File
@@ -1,239 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* 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. Takes the device name as the first parameter.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.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 <parameters/param.h>
__EXPORT int config_main(int argc, char *argv[]);
static int do_gyro(int argc, char *argv[]);
static int do_accel(int argc, char *argv[]);
static int do_mag(int argc, char *argv[]);
static void print_usage(void);
int
config_main(int argc, char *argv[])
{
if (argc >= 3) {
if (!strncmp(argv[2], "/dev/gyro", 9)) {
return do_gyro(argc - 1, argv + 1);
} else if (!strncmp(argv[2], "/dev/accel", 10)) {
return do_accel(argc - 1, argv + 1);
} else if (!strncmp(argv[2], "/dev/mag", 8)) {
return do_mag(argc - 1, argv + 1);
}
}
print_usage();
return 1;
}
static void
print_usage(void)
{
PRINT_MODULE_DESCRIPTION("Configure a sensor driver (sampling & publication rate, etc.)");
PRINT_MODULE_USAGE_NAME("config", "command");
PRINT_MODULE_USAGE_PARAM_COMMENT("The <file:dev> argument is typically one of /dev/{gyro,accel,mag}i");
PRINT_MODULE_USAGE_COMMAND_DESCR("block", "Block sensor topic publication");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("unblock", "Unblock sensor topic publication");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("sampling", "Set sensor sampling rate");
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and sampling rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Set sensor publication rate");
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and publication rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Perform sensor self-test (and print info)");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
}
static int
do_gyro(int argc, char *argv[])
{
int fd;
fd = open(argv[1], 0);
if (fd < 0) {
PX4_ERR("open %s failed (%i)", argv[1], errno);
return 1;
} else {
int ret;
if (argc == 3 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret) {
PX4_ERR("pollrate could not be set");
return 1;
}
} else {
print_usage();
return 1;
}
int id = ioctl(fd, DEVIOCGDEVICEID, 0);
int32_t calibration_id = 0;
param_get(param_find("CAL_GYRO0_ID"), &(calibration_id));
PX4_INFO("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
id, calibration_id);
close(fd);
}
return 0;
}
static int
do_mag(int argc, char *argv[])
{
int fd;
fd = open(argv[1], 0);
if (fd < 0) {
PX4_ERR("open %s failed (%i)", argv[1], errno);
return 1;
} else {
int ret;
if (argc == 3 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret) {
PX4_ERR("pollrate could not be set");
return 1;
}
} else {
print_usage();
return 1;
}
int id = ioctl(fd, DEVIOCGDEVICEID, 0);
int32_t calibration_id = 0;
param_get(param_find("CAL_MAG0_ID"), &(calibration_id));
PX4_INFO("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
id, calibration_id);
close(fd);
}
return 0;
}
static int
do_accel(int argc, char *argv[])
{
int fd;
fd = open(argv[1], 0);
if (fd < 0) {
PX4_ERR("open %s failed (%i)", argv[1], errno);
return 1;
} else {
int ret;
if (argc == 3 && !strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret) {
PX4_ERR("pollrate could not be set");
return 1;
}
} else {
print_usage();
return 1;
}
int id = ioctl(fd, DEVIOCGDEVICEID, 0);
int32_t calibration_id = 0;
param_get(param_find("CAL_ACC0_ID"), &(calibration_id));
PX4_INFO("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
id, calibration_id);
close(fd);
}
return 0;
}