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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/bmi055/bmi055_main.cpp
+2 -25
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@@ -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");
}
/**