mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 02:13:33 +08:00
Implemented config command, fixed a number range set / get issues for some sensor drivers, fixed gyro calibration
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,413 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file config.c
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* config tool.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/stat.h>
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#include <arch/board/board.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_mag.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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__EXPORT int config_main(int argc, char *argv[]);
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static void do_gyro(int argc, char *argv[]);
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static void do_accel(int argc, char *argv[]);
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static void do_mag(int argc, char *argv[]);
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int
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config_main(int argc, char *argv[])
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{
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if (argc >= 2) {
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if (!strcmp(argv[1], "gyro")) {
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if (argc >= 3) {
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do_gyro(argc - 2, argv + 2);
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} else {
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errx(1, "not enough parameters.");
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}
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}
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if (!strcmp(argv[1], "accel")) {
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if (argc >= 3) {
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do_accel(argc - 2, argv + 2);
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} else {
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errx(1, "not enough parameters.");
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}
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}
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if (!strcmp(argv[1], "mag")) {
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if (argc >= 3) {
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do_mag(argc - 2, argv + 2);
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} else {
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errx(1, "not enough parameters.");
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}
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}
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}
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errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
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}
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static void
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do_gyro(int argc, char *argv[])
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{
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int fd;
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fd = open(GYRO_DEVICE_PATH, 0);
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if (fd < 0) {
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warn("%s", GYRO_DEVICE_PATH);
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errx(1, "FATAL: no gyro found");
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} else {
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if (argc >= 2) {
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char* end;
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int i = strtol(argv[1],&end,10);
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if (!strcmp(argv[0], "sampling")) {
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/* set the accel internal sampling rate up to at leat i Hz */
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ioctl(fd, GYROIOCSSAMPLERATE, i);
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} else if (!strcmp(argv[0], "rate")) {
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/* set the driver to poll at i Hz */
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ioctl(fd, SENSORIOCSPOLLRATE, i);
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} else if (!strcmp(argv[0], "range")) {
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/* set the range to i dps */
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ioctl(fd, GYROIOCSRANGE, i);
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}
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} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
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warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
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}
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int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
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int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
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int range = ioctl(fd, GYROIOCGRANGE, 0);
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warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
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close(fd);
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}
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exit(0);
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}
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static void
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do_mag(int argc, char *argv[])
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{
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exit(0);
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}
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static void
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do_accel(int argc, char *argv[])
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{
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int fd;
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fd = open(ACCEL_DEVICE_PATH, 0);
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if (fd < 0) {
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warn("%s", ACCEL_DEVICE_PATH);
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errx(1, "FATAL: no accelerometer found");
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} else {
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if (argc >= 2) {
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char* end;
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int i = strtol(argv[1],&end,10);
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if (!strcmp(argv[0], "sampling")) {
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/* set the accel internal sampling rate up to at leat i Hz */
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ioctl(fd, ACCELIOCSSAMPLERATE, i);
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} else if (!strcmp(argv[0], "rate")) {
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/* set the driver to poll at i Hz */
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ioctl(fd, SENSORIOCSPOLLRATE, i);
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} else if (!strcmp(argv[0], "range")) {
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/* set the range to i dps */
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ioctl(fd, ACCELIOCSRANGE, i);
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}
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} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
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warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
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}
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int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
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int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
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int range = ioctl(fd, ACCELIOCGRANGE, 0);
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warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
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close(fd);
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}
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exit(0);
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}
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// static void
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// do_load(const char* param_file_name)
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// {
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// int fd = open(param_file_name, O_RDONLY);
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// if (fd < 0)
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// err(1, "open '%s'", param_file_name);
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// int result = param_load(fd);
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// close(fd);
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// if (result < 0) {
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// errx(1, "error importing from '%s'", param_file_name);
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// }
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// exit(0);
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// }
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// static void
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// do_import(const char* param_file_name)
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// {
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// int fd = open(param_file_name, O_RDONLY);
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// if (fd < 0)
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// err(1, "open '%s'", param_file_name);
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// int result = param_import(fd);
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// close(fd);
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// if (result < 0)
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// errx(1, "error importing from '%s'", param_file_name);
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// exit(0);
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// }
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// static void
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// do_show(const char* search_string)
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// {
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// printf(" + = saved, * = unsaved\n");
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// param_foreach(do_show_print, search_string, false);
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// exit(0);
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// }
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// static void
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// do_show_print(void *arg, param_t param)
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// {
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// int32_t i;
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// float f;
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// const char *search_string = (const char*)arg;
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// /* print nothing if search string is invalid and not matching */
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// if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
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// /* param not found */
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// return;
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// }
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// printf("%c %s: ",
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// param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
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// param_name(param));
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// /*
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// * This case can be expanded to handle printing common structure types.
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// */
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// switch (param_type(param)) {
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// case PARAM_TYPE_INT32:
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// if (!param_get(param, &i)) {
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// printf("%d\n", i);
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// return;
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// }
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// break;
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// case PARAM_TYPE_FLOAT:
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// if (!param_get(param, &f)) {
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// printf("%4.4f\n", (double)f);
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// return;
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// }
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// break;
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// case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
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// printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
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// return;
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// default:
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// printf("<unknown type %d>\n", 0 + param_type(param));
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// return;
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// }
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// printf("<error fetching parameter %d>\n", param);
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// }
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// static void
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// do_set(const char* name, const char* val)
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// {
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// int32_t i;
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// float f;
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// param_t param = param_find(name);
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// /* set nothing if parameter cannot be found */
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// if (param == PARAM_INVALID) {
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// param not found
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// errx(1, "Error: Parameter %s not found.", name);
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// }
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// printf("%c %s: ",
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// param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
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// param_name(param));
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// /*
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// * Set parameter if type is known and conversion from string to value turns out fine
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// */
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// switch (param_type(param)) {
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// case PARAM_TYPE_INT32:
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// if (!param_get(param, &i)) {
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// printf("curr: %d", i);
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// /* convert string */
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// char* end;
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// i = strtol(val,&end,10);
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// param_set(param, &i);
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// printf(" -> new: %d\n", i);
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// }
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// break;
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// case PARAM_TYPE_FLOAT:
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// if (!param_get(param, &f)) {
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// printf("curr: %4.4f", (double)f);
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// /* convert string */
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// char* end;
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// f = strtod(val,&end);
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// param_set(param, &f);
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// printf(" -> new: %f\n", f);
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// }
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// break;
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// default:
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// errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
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// }
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// exit(0);
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// }
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// static void
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// do_compare(const char* name, const char* val)
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// {
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// int32_t i;
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// float f;
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// param_t param = param_find(name);
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// /* set nothing if parameter cannot be found */
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// if (param == PARAM_INVALID) {
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// /* param not found */
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// errx(1, "Error: Parameter %s not found.", name);
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// }
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// /*
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// * Set parameter if type is known and conversion from string to value turns out fine
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// */
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// int ret = 1;
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// switch (param_type(param)) {
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// case PARAM_TYPE_INT32:
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// if (!param_get(param, &i)) {
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// /* convert string */
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// char* end;
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// int j = strtol(val,&end,10);
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// if (i == j) {
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// printf(" %d: ", i);
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// ret = 0;
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// }
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// }
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// break;
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// case PARAM_TYPE_FLOAT:
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// if (!param_get(param, &f)) {
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// /* convert string */
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// char* end;
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// float g = strtod(val, &end);
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// if (fabsf(f - g) < 1e-7f) {
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// printf(" %4.4f: ", (double)f);
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// ret = 0;
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// }
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// }
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// break;
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// default:
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// errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
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// }
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// if (ret == 0) {
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// printf("%c %s: equal\n",
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// param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
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// param_name(param));
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// }
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// exit(ret);
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// }
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@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build the config tool.
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#
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MODULE_COMMAND = config
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SRCS = config.c
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MODULE_STACKSIZE = 4096
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MAXOPTIMIZATION = -Os
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