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Handle the config command line arguments a bit more intuitive

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Julian Oes
2013-08-20 19:59:52 +02:00
parent 2a58929ffd
commit d2d59aa392
1 changed files with 58 additions and 86 deletions
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src/systemcmds/config/config.c
+58 -86
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@@ -2,6 +2,7 @@
* *
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch> * Author: Lorenz Meier <lm@inf.ethz.ch>
* Author: Julian Oes <joes@student.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -35,6 +36,7 @@
/** /**
* @file config.c * @file config.c
* @author Lorenz Meier <lm@inf.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* *
* config tool. * config tool.
*/ */
@@ -69,27 +71,15 @@ config_main(int argc, char *argv[])
{ {
if (argc >= 2) { if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) { if (!strcmp(argv[1], "gyro")) {
if (argc >= 3) { do_gyro(argc - 2, argv + 2);
do_gyro(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
} }
if (!strcmp(argv[1], "accel")) { if (!strcmp(argv[1], "accel")) {
if (argc >= 3) { do_accel(argc - 2, argv + 2);
do_accel(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
} }
if (!strcmp(argv[1], "mag")) { if (!strcmp(argv[1], "mag")) {
if (argc >= 3) { do_mag(argc - 2, argv + 2);
do_mag(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
} }
} }
@@ -109,44 +99,36 @@ do_gyro(int argc, char *argv[])
} else { } else {
if (argc >= 2) { if (argc == 2 && !strcmp(argv[0], "sampling")) {
char* end; /* set the gyro internal sampling rate up to at least i Hz */
int i = strtol(argv[1],&end,10); ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (!strcmp(argv[0], "sampling")) { } else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the accel internal sampling rate up to at leat i Hz */ /* set the driver to poll at i Hz */
ioctl(fd, GYROIOCSSAMPLERATE, i); ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
} else if (!strcmp(argv[0], "rate")) { } else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the driver to poll at i Hz */ /* set the range to i dps */
ioctl(fd, SENSORIOCSPOLLRATE, i); ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
} else if (!strcmp(argv[0], "range")) {
/* set the range to i dps */ } else if(argc == 1 && !strcmp(argv[0], "check")) {
ioctl(fd, GYROIOCSRANGE, i); int ret = ioctl(fd, GYROIOCSELFTEST, 0);
}
} else if (argc > 0) { if (ret) {
warnx("gyro self test FAILED! Check calibration:");
if(!strcmp(argv[0], "check")) { struct gyro_scale scale;
int ret = ioctl(fd, GYROIOCSELFTEST, 0); ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
if (ret) { warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
warnx("gyro self test FAILED! Check calibration:"); } else {
struct gyro_scale scale; warnx("gyro calibration and self test OK");
ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("gyro calibration and self test OK");
}
} }
} else { } else {
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"); errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\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");
} }
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0); int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
@@ -174,29 +156,26 @@ do_mag(int argc, char *argv[])
} else { } else {
if (argc > 0) { if(argc == 1 && !strcmp(argv[0], "check")) {
int ret = ioctl(fd, MAGIOCSELFTEST, 0);
if (!strcmp(argv[0], "check")) { if (ret) {
int ret = ioctl(fd, MAGIOCSELFTEST, 0); warnx("mag self test FAILED! Check calibration:");
struct mag_scale scale;
if (ret) { ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
warnx("mag self test FAILED! Check calibration."); warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
struct mag_scale scale; warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale); } else {
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); warnx("mag calibration and self test OK");
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("mag calibration and self test OK");
}
} }
} else { } else {
warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t"); errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
} }
int srate = -1;//ioctl(fd, MAGIOCGSAMPLERATE, 0); int srate = -1; //ioctl(fd, MAGIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = -1;//ioctl(fd, MAGIOCGRANGE, 0); int range = -1; //ioctl(fd, MAGIOCGRANGE, 0);
warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range); warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range);
@@ -219,43 +198,36 @@ do_accel(int argc, char *argv[])
} else { } else {
if (argc >= 2) { if (argc == 2 && !strcmp(argv[0], "sampling")) {
char* end; /* set the accel internal sampling rate up to at least i Hz */
int i = strtol(argv[1],&end,10); ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
if (!strcmp(argv[0], "sampling")) { } else if (argc == 2 && !strcmp(argv[0], "rate")) {
/* set the accel internal sampling rate up to at leat i Hz */ /* set the driver to poll at i Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, i); ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
} else if (!strcmp(argv[0], "rate")) { } else if (argc == 2 && !strcmp(argv[0], "range")) {
/* set the driver to poll at i Hz */ /* set the range to i m/s^2 */
ioctl(fd, SENSORIOCSPOLLRATE, i); ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
} else if (!strcmp(argv[0], "range")) {
/* set the range to i dps */ } else if(argc == 1 && !strcmp(argv[0], "check")) {
ioctl(fd, ACCELIOCSRANGE, i); int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
}
} else if (argc > 0) {
if (!strcmp(argv[0], "check")) { if (ret) {
int ret = ioctl(fd, ACCELIOCSELFTEST, 0); warnx("accel self test FAILED! Check calibration:");
struct accel_scale scale;
if (ret) { ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
warnx("accel self test FAILED! Check calibration."); warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
struct accel_scale scale; warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale); } else {
warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); warnx("accel calibration and self test OK");
warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
} else {
warnx("accel calibration and self test OK");
}
} }
} else { } else {
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"); errx(1,"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 4 G\n\t");
} }
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0); int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);