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Save and check device id for acc and gyro calibration parameters.

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Fix config utility to work with all devices of each type.
Accel, gyro and mag devices correctly set their device_id devtype.
Combo devices (mpu6000 lsm303d) now correctly return their devtype.
config util shows device id for all sensor types.
Add, save during calibration and check during preflight ID parameters for accelerometer and gyro
This commit is contained in:
hauptmech
2015-01-31 15:53:34 +01:00
committed by Lorenz Meier
parent e9bcc0a262
commit 0b784c20c8
10 changed files with 156 additions and 57 deletions
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src/systemcmds/config/config.c
+13 -4
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@@ -81,7 +81,7 @@ config_main(int argc, char *argv[])
do_device(argc - 1, argv + 1);
}
}
errx(1, "expected a device, try '/dev/gyro', '/dev/accel', '/dev/mag'");
}
@@ -192,8 +192,12 @@ do_gyro(int argc, char *argv[])
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, GYROIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
param_get(param_find("SENS_GYRO_ID"), &(calibration_id));
warnx("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", id, calibration_id, srate, prate, range);
close(fd);
}
@@ -267,9 +271,10 @@ do_mag(int argc, char *argv[])
int range = ioctl(fd, MAGIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
param_get(param_find("SENS_MAG_ID"), &(calibration_id));
warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
warnx("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range);
close(fd);
}
@@ -341,8 +346,12 @@ do_accel(int argc, char *argv[])
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, ACCELIOCGRANGE, 0);
int id = ioctl(fd, DEVIOCGDEVICEID,0);
int32_t calibration_id = 0;
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range);
param_get(param_find("SENS_ACC_ID"), &(calibration_id));
warnx("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", id, calibration_id, srate, prate, range);
close(fd);
}