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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge_attctlposctl

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This commit is contained in:
Thomas Gubler
2015-01-28 16:29:14 +01:00
parent f23e603d02 1dcc5c49cc
commit 2728889f78
45 changed files with 938 additions and 347 deletions
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src/systemcmds/config/config.c
+35 -35
View File
@@ -36,7 +36,7 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* config tool.
* config tool. Takes the device name as the first parameter.
*/
#include <nuttx/config.h>
@@ -71,18 +71,18 @@ 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);
if (!strncmp(argv[1], "/dev/gyro",9)) {
do_gyro(argc - 1, argv + 1);
} else if (!strncmp(argv[1], "/dev/accel",10)) {
do_accel(argc - 1, argv + 1);
} else if (!strncmp(argv[1], "/dev/mag",8)) {
do_mag(argc - 1, argv + 1);
} else {
do_device(argc - 1, argv + 1);
}
}
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
errx(1, "expected a device, try '/dev/gyro', '/dev/accel', '/dev/mag'");
}
static void
@@ -133,41 +133,41 @@ do_gyro(int argc, char *argv[])
{
int fd;
fd = open(GYRO_DEVICE_PATH, 0);
fd = open(argv[0], 0);
if (fd < 0) {
warn("%s", GYRO_DEVICE_PATH);
warn("%s", argv[0]);
errx(1, "FATAL: no gyro found");
} else {
int ret;
if (argc == 2 && !strcmp(argv[0], "sampling")) {
if (argc == 3 && !strcmp(argv[1], "sampling")) {
/* set the gyro internal sampling rate up to at least i Hz */
ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
} else if (argc == 3 && !strcmp(argv[1], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
} else if (argc == 3 && !strcmp(argv[1], "range")) {
/* set the range to i dps */
ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if (argc == 1 && !strcmp(argv[0], "check")) {
} else if (argc == 2 && !strcmp(argv[1], "check")) {
ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) {
@@ -206,41 +206,41 @@ do_mag(int argc, char *argv[])
{
int fd;
fd = open(MAG_DEVICE_PATH, 0);
fd = open(argv[0], 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
warn("%s", argv[0]);
errx(1, "FATAL: no magnetometer found");
} else {
int ret;
if (argc == 2 && !strcmp(argv[0], "sampling")) {
if (argc == 3 && !strcmp(argv[1], "sampling")) {
/* set the mag internal sampling rate up to at least i Hz */
ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
} else if (argc == 3 && !strcmp(argv[1], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
} else if (argc == 3 && !strcmp(argv[1], "range")) {
/* set the range to i G */
ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
} else if(argc == 2 && !strcmp(argv[1], "check")) {
ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (ret) {
@@ -282,41 +282,41 @@ do_accel(int argc, char *argv[])
{
int fd;
fd = open(ACCEL_DEVICE_PATH, 0);
fd = open(argv[0], 0);
if (fd < 0) {
warn("%s", ACCEL_DEVICE_PATH);
warn("%s", argv[0]);
errx(1, "FATAL: no accelerometer found");
} else {
int ret;
if (argc == 2 && !strcmp(argv[0], "sampling")) {
if (argc == 3 && !strcmp(argv[1], "sampling")) {
/* set the accel internal sampling rate up to at least i Hz */
ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"sampling rate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "rate")) {
} else if (argc == 3 && !strcmp(argv[1], "rate")) {
/* set the driver to poll at i Hz */
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"pollrate could not be set");
} else if (argc == 2 && !strcmp(argv[0], "range")) {
} else if (argc == 3 && !strcmp(argv[1], "range")) {
/* set the range to i G */
ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[2], NULL, 0));
if (ret)
errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) {
} else if(argc == 2 && !strcmp(argv[1], "check")) {
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret) {
src/systemcmds/nshterm/module.mk
+1 -1
View File
@@ -38,7 +38,7 @@
MODULE_COMMAND = nshterm
SRCS = nshterm.c
MODULE_STACKSIZE = 1600
MODULE_STACKSIZE = 1500
MAXOPTIMIZATION = -Os
src/systemcmds/nshterm/nshterm.c
+6
View File
@@ -50,6 +50,7 @@
#include <apps/nsh.h>
#include <fcntl.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/actuator_armed.h>
@@ -67,6 +68,11 @@ nshterm_main(int argc, char *argv[])
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* back off 800 ms to avoid running into the USB setup timing */
while (hrt_absolute_time() < 800U * 1000U) {
usleep(50000);
}
/* try to bring up the console - stop doing so if the system gets armed */
while (true) {
src/systemcmds/ver/ver.c
+13 -1
View File
@@ -54,6 +54,7 @@ static const char sz_ver_bdate_str[] = "bdate";
static const char sz_ver_gcc_str[] = "gcc";
static const char sz_ver_all_str[] = "all";
static const char mcu_ver_str[] = "mcu";
static const char mcu_uid_str[] = "uid";
static void usage(const char *reason)
{
@@ -61,7 +62,7 @@ static void usage(const char *reason)
printf("%s\n", reason);
}
printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n");
printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid}\n\n");
}
__EXPORT int ver_main(int argc, char *argv[]);
@@ -141,6 +142,17 @@ int ver_main(int argc, char *argv[])
ret = 0;
}
if (show_all || !strncmp(argv[1], mcu_uid_str, sizeof(mcu_uid_str))) {
uint32_t uid[3];
mcu_unique_id(uid);
printf("UID: %X:%X:%X \n",uid[0],uid[1],uid[2]);
ret = 0;
}
if (ret == 1) {
errx(1, "unknown command.\n");
}