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drivers start using uORB message print instead of custom

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This commit is contained in:
Daniel Agar
2018-03-28 09:15:41 -04:00
parent 3db17a04fc
commit 5fba1f38b2
33 changed files with 79 additions and 426 deletions
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src/drivers/imu/adis16448/adis16448.cpp
+3 -28
View File
@@ -1869,16 +1869,7 @@ test()
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / ADIS16448_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -1888,14 +1879,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
/* do a simple mag demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -1905,16 +1889,7 @@ test()
err(1, "immediate mag read failed");
}
warnx("mag x: \t% 9.5f\tgauss", (double)m_report.x);
warnx("mag y: \t% 9.5f\tgauss", (double)m_report.y);
warnx("mag z: \t% 9.5f\tgauss", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f gauss", (double)m_report.range_ga);
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(m_report);
/* XXX add poll-rate tests here too */
close(fd_mag);
src/drivers/imu/bma180/bma180.cpp
+1 -12
View File
@@ -838,18 +838,7 @@ test()
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));
/* XXX add poll-rate tests here too */
print_message(a_report);
reset();
errx(0, "PASS");
src/drivers/imu/bmi055/bmi055_main.cpp
+2 -25
View File
@@ -225,19 +225,7 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "immediate accel read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / BMI055_ONE_G));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(a_report);
/* reset to default polling */
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -261,7 +249,6 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "gyro reset to manual polling");
}
/* do a simple demand read */
sz = read(fd_gyr, &g_report, sizeof(g_report));
@@ -270,15 +257,7 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "immediate gyro read failed");
}
warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
/* reset to default polling */
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -286,7 +265,6 @@ test(bool external_bus, enum sensor_type sensor)
}
close(fd_gyr);
}
if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
@@ -295,7 +273,6 @@ test(bool external_bus, enum sensor_type sensor)
}
errx(0, "PASS");
}
/**
src/drivers/imu/bmi160/bmi160_main.cpp
+2 -21
View File
@@ -151,16 +151,7 @@ test(bool external_bus)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / BMI160_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -170,17 +161,7 @@ test(bool external_bus)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/fxas21002c/fxas21002c.cpp
+1 -10
View File
@@ -1273,16 +1273,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
src/drivers/imu/l3gd20/l3gd20.cpp
+1 -10
View File
@@ -1251,16 +1251,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
src/drivers/imu/lsm303d/lsm303d.cpp
+2 -16
View File
@@ -1965,15 +1965,7 @@ test()
err(1, "immediate read failed");
}
warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
print_message(accel_report);
int fd_mag = -1;
struct mag_report m_report;
@@ -1999,13 +1991,7 @@ test()
err(1, "immediate read failed");
}
warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f ga", (double)m_report.range_ga);
print_message(m_report);
/* reset to default polling */
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/mpu6000/mpu6000.cpp
+2 -21
View File
@@ -2456,16 +2456,7 @@ test(enum MPU6000_BUS busid)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / MPU6000_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -2475,17 +2466,7 @@ test(enum MPU6000_BUS busid)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/mpu9250/main.cpp
+3 -29
View File
@@ -331,16 +331,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / MPU9250_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -350,17 +341,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* do a simple demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -370,14 +351,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate mag read failed");
}
warnx("mag x: \t% 9.5f\tGa", (double)m_report.x);
warnx("mag y: \t% 9.5f\tGa", (double)m_report.y);
warnx("mag z: \t% 9.5f\tGa", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f Ga", (double)m_report.range_ga);
warnx("mag temp: %8.4f\tdeg celsius", (double)m_report.temperature);
print_message(m_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {