From 06478d99972548d4c4c2f370f3608bd031833026 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 1 Apr 2020 20:28:26 -0400 Subject: [PATCH] delete obsolete SENSORIOCSPOLLRATE/SENSORIOCRESET and systemcmds/config --- boards/airmind/mindpx-v2/default.cmake | 1 - boards/av/x-v1/default.cmake | 1 - boards/bitcraze/crazyflie/default.cmake | 1 - boards/holybro/durandal-v1/default.cmake | 1 - boards/holybro/durandal-v1/stackcheck.cmake | 1 - boards/holybro/kakutef7/default.cmake | 1 - boards/intel/aerofc-v1/default.cmake | 1 - boards/intel/aerofc-v1/rtps.cmake | 1 - boards/modalai/fc-v1/default.cmake | 1 - boards/mro/ctrl-zero-f7/default.cmake | 1 - boards/mro/x21-777/default.cmake | 1 - boards/mro/x21/default.cmake | 1 - boards/nxp/fmuk66-v3/default.cmake | 1 - boards/nxp/fmurt1062-v1/default.cmake | 1 - boards/omnibus/f4sd/default.cmake | 1 - boards/px4/fmu-v3/default.cmake | 1 - boards/px4/fmu-v3/rtps.cmake | 1 - boards/px4/fmu-v3/stackcheck.cmake | 1 - boards/px4/fmu-v4/default.cmake | 1 - boards/px4/fmu-v4/optimized.cmake | 1 - boards/px4/fmu-v4/rtps.cmake | 1 - boards/px4/fmu-v4/stackcheck.cmake | 1 - boards/px4/fmu-v4pro/default.cmake | 1 - boards/px4/fmu-v4pro/rtps.cmake | 1 - boards/px4/fmu-v5/critmonitor.cmake | 1 - boards/px4/fmu-v5/default.cmake | 1 - boards/px4/fmu-v5/fixedwing.cmake | 1 - boards/px4/fmu-v5/irqmonitor.cmake | 1 - boards/px4/fmu-v5/multicopter.cmake | 1 - boards/px4/fmu-v5/optimized.cmake | 1 - boards/px4/fmu-v5/rover.cmake | 1 - boards/px4/fmu-v5/rtps.cmake | 1 - boards/px4/fmu-v5/stackcheck.cmake | 1 - boards/px4/fmu-v5x/default.cmake | 1 - .../px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake | 1 - boards/uvify/core/default.cmake | 1 - src/drivers/drv_sensor.h | 23 -- .../config => drivers/imu/st}/CMakeLists.txt | 13 +- src/systemcmds/config/config.c | 239 ------------------ 39 files changed, 3 insertions(+), 308 deletions(-) rename src/{systemcmds/config => drivers/imu/st}/CMakeLists.txt (90%) delete mode 100644 src/systemcmds/config/config.c diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake index 4847f53909..c290dfb8fe 100644 --- a/boards/airmind/mindpx-v2/default.cmake +++ b/boards/airmind/mindpx-v2/default.cmake @@ -82,7 +82,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake index 103086868f..e2530e7808 100644 --- a/boards/av/x-v1/default.cmake +++ b/boards/av/x-v1/default.cmake @@ -82,7 +82,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS #bl_update - config dmesg dumpfile esc_calib diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake index 32b96f4782..1ae827e7e0 100644 --- a/boards/bitcraze/crazyflie/default.cmake +++ b/boards/bitcraze/crazyflie/default.cmake @@ -36,7 +36,6 @@ px4_add_board( #temperature_compensation SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake index 3b39146dfa..9292f7d84f 100644 --- a/boards/holybro/durandal-v1/default.cmake +++ b/boards/holybro/durandal-v1/default.cmake @@ -86,7 +86,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/holybro/durandal-v1/stackcheck.cmake b/boards/holybro/durandal-v1/stackcheck.cmake index 5512fd9fb8..001d5a4bdb 100644 --- a/boards/holybro/durandal-v1/stackcheck.cmake +++ b/boards/holybro/durandal-v1/stackcheck.cmake @@ -87,7 +87,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/holybro/kakutef7/default.cmake b/boards/holybro/kakutef7/default.cmake index 713de40a43..ad181cd47b 100644 --- a/boards/holybro/kakutef7/default.cmake +++ b/boards/holybro/kakutef7/default.cmake @@ -51,7 +51,6 @@ px4_add_board( #temperature_compensation SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake index 7cb63c4299..a296296b73 100644 --- a/boards/intel/aerofc-v1/default.cmake +++ b/boards/intel/aerofc-v1/default.cmake @@ -62,7 +62,6 @@ px4_add_board( #vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake index 4c66dfbe7c..8d42d6b4fa 100644 --- a/boards/intel/aerofc-v1/rtps.cmake +++ b/boards/intel/aerofc-v1/rtps.cmake @@ -62,7 +62,6 @@ px4_add_board( #vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake index 58bb16fad5..6136893b08 100644 --- a/boards/modalai/fc-v1/default.cmake +++ b/boards/modalai/fc-v1/default.cmake @@ -80,7 +80,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake index db575e057e..c0df1ef872 100644 --- a/boards/mro/ctrl-zero-f7/default.cmake +++ b/boards/mro/ctrl-zero-f7/default.cmake @@ -86,7 +86,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/mro/x21-777/default.cmake b/boards/mro/x21-777/default.cmake index 895e8d7768..9efade37ad 100644 --- a/boards/mro/x21-777/default.cmake +++ b/boards/mro/x21-777/default.cmake @@ -81,7 +81,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/mro/x21/default.cmake b/boards/mro/x21/default.cmake index 0b83ec652f..144392f96a 100644 --- a/boards/mro/x21/default.cmake +++ b/boards/mro/x21/default.cmake @@ -84,7 +84,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake index 2c8c2d724a..fe2a16bbbd 100644 --- a/boards/nxp/fmuk66-v3/default.cmake +++ b/boards/nxp/fmuk66-v3/default.cmake @@ -81,7 +81,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/nxp/fmurt1062-v1/default.cmake b/boards/nxp/fmurt1062-v1/default.cmake index 0d71e263c6..6f2ffcb852 100644 --- a/boards/nxp/fmurt1062-v1/default.cmake +++ b/boards/nxp/fmurt1062-v1/default.cmake @@ -74,7 +74,6 @@ px4_add_board( vmount SYSTEMCMDS # bl_update - config dmesg dumpfile esc_calib diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake index 03c6a80b60..c31bb0271c 100644 --- a/boards/omnibus/f4sd/default.cmake +++ b/boards/omnibus/f4sd/default.cmake @@ -70,7 +70,6 @@ px4_add_board( #vtol_att_control SYSTEMCMDS #bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake index e0ce3810a9..b10606f098 100644 --- a/boards/px4/fmu-v3/default.cmake +++ b/boards/px4/fmu-v3/default.cmake @@ -94,7 +94,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake index 38d14bbf54..3c15fdbf1a 100644 --- a/boards/px4/fmu-v3/rtps.cmake +++ b/boards/px4/fmu-v3/rtps.cmake @@ -93,7 +93,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake index 60cdd62445..dc3b53160f 100644 --- a/boards/px4/fmu-v3/stackcheck.cmake +++ b/boards/px4/fmu-v3/stackcheck.cmake @@ -89,7 +89,6 @@ px4_add_board( SYSTEMCMDS bl_update - config dumpfile esc_calib hardfault_log diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake index d3ecad9a4e..1866d7445b 100644 --- a/boards/px4/fmu-v4/default.cmake +++ b/boards/px4/fmu-v4/default.cmake @@ -88,7 +88,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v4/optimized.cmake b/boards/px4/fmu-v4/optimized.cmake index 42a0750074..cd085bf0c4 100644 --- a/boards/px4/fmu-v4/optimized.cmake +++ b/boards/px4/fmu-v4/optimized.cmake @@ -87,7 +87,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake index 494d65afb7..d6824957f3 100644 --- a/boards/px4/fmu-v4/rtps.cmake +++ b/boards/px4/fmu-v4/rtps.cmake @@ -87,7 +87,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake index fde2d9324c..4f3126dedc 100644 --- a/boards/px4/fmu-v4/stackcheck.cmake +++ b/boards/px4/fmu-v4/stackcheck.cmake @@ -87,7 +87,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake index 6adfd96413..2900e30441 100644 --- a/boards/px4/fmu-v4pro/default.cmake +++ b/boards/px4/fmu-v4pro/default.cmake @@ -88,7 +88,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake index 00c66057d7..399ab6ab66 100644 --- a/boards/px4/fmu-v4pro/rtps.cmake +++ b/boards/px4/fmu-v4pro/rtps.cmake @@ -87,7 +87,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config #dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/critmonitor.cmake b/boards/px4/fmu-v5/critmonitor.cmake index 7112494d5b..8cb3d99c8a 100644 --- a/boards/px4/fmu-v5/critmonitor.cmake +++ b/boards/px4/fmu-v5/critmonitor.cmake @@ -90,7 +90,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake index 7408e3256b..12f2ee3e6f 100644 --- a/boards/px4/fmu-v5/default.cmake +++ b/boards/px4/fmu-v5/default.cmake @@ -92,7 +92,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/fixedwing.cmake b/boards/px4/fmu-v5/fixedwing.cmake index 8946e20068..eb44081fbd 100644 --- a/boards/px4/fmu-v5/fixedwing.cmake +++ b/boards/px4/fmu-v5/fixedwing.cmake @@ -65,7 +65,6 @@ px4_add_board( vmount SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/irqmonitor.cmake b/boards/px4/fmu-v5/irqmonitor.cmake index 83b1d65be8..fb15d5607a 100644 --- a/boards/px4/fmu-v5/irqmonitor.cmake +++ b/boards/px4/fmu-v5/irqmonitor.cmake @@ -91,7 +91,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/multicopter.cmake b/boards/px4/fmu-v5/multicopter.cmake index e296762a37..2942aadfa1 100644 --- a/boards/px4/fmu-v5/multicopter.cmake +++ b/boards/px4/fmu-v5/multicopter.cmake @@ -76,7 +76,6 @@ px4_add_board( vmount SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/optimized.cmake b/boards/px4/fmu-v5/optimized.cmake index b1c3ed3981..551a5dd7ba 100644 --- a/boards/px4/fmu-v5/optimized.cmake +++ b/boards/px4/fmu-v5/optimized.cmake @@ -86,7 +86,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS #bl_update - config dmesg dumpfile #esc_calib diff --git a/boards/px4/fmu-v5/rover.cmake b/boards/px4/fmu-v5/rover.cmake index 52a6de4bd5..d7930be82a 100644 --- a/boards/px4/fmu-v5/rover.cmake +++ b/boards/px4/fmu-v5/rover.cmake @@ -65,7 +65,6 @@ px4_add_board( vmount SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake index 42a4ab0cb7..5c3e026239 100644 --- a/boards/px4/fmu-v5/rtps.cmake +++ b/boards/px4/fmu-v5/rtps.cmake @@ -91,7 +91,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake index 316bfb0e9b..9246771d43 100644 --- a/boards/px4/fmu-v5/stackcheck.cmake +++ b/boards/px4/fmu-v5/stackcheck.cmake @@ -92,7 +92,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake index 22af18a707..f4d2256675 100644 --- a/boards/px4/fmu-v5x/default.cmake +++ b/boards/px4/fmu-v5x/default.cmake @@ -90,7 +90,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake b/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake index 3c1f204900..1867c0c9ef 100644 --- a/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake +++ b/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake @@ -89,7 +89,6 @@ px4_add_board( vtol_att_control SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/boards/uvify/core/default.cmake b/boards/uvify/core/default.cmake index 602c09a121..09e73194bf 100644 --- a/boards/uvify/core/default.cmake +++ b/boards/uvify/core/default.cmake @@ -64,7 +64,6 @@ px4_add_board( vmount SYSTEMCMDS bl_update - config dmesg dumpfile esc_calib diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 8bad9292ce..88cdfbf00c 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -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 */ diff --git a/src/systemcmds/config/CMakeLists.txt b/src/drivers/imu/st/CMakeLists.txt similarity index 90% rename from src/systemcmds/config/CMakeLists.txt rename to src/drivers/imu/st/CMakeLists.txt index 1865c83ab0..8db918a9c0 100644 --- a/src/systemcmds/config/CMakeLists.txt +++ b/src/drivers/imu/st/CMakeLists.txt @@ -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) diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c deleted file mode 100644 index ff10092e6d..0000000000 --- a/src/systemcmds/config/config.c +++ /dev/null @@ -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 - * @author Julian Oes - * - * config tool. Takes the device name as the first parameter. - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include - -#include - -__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 argument is typically one of /dev/{gyro,accel,mag}i"); - - PRINT_MODULE_USAGE_COMMAND_DESCR("block", "Block sensor topic publication"); - PRINT_MODULE_USAGE_ARG("", "Sensor device file", false); - PRINT_MODULE_USAGE_COMMAND_DESCR("unblock", "Unblock sensor topic publication"); - PRINT_MODULE_USAGE_ARG("", "Sensor device file", false); - - PRINT_MODULE_USAGE_COMMAND_DESCR("sampling", "Set sensor sampling rate"); - PRINT_MODULE_USAGE_ARG(" ", "Sensor device file and sampling rate in Hz", false); - PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Set sensor publication rate"); - PRINT_MODULE_USAGE_ARG(" ", "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("", "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; -}