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e18e5ca5b5
Record devid to SENS_MAG_ID during mag calibration Verify devid matches SENS_MAG_ID during preflight_check
352 lines
9.5 KiB
C
352 lines
9.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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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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* @author Julian Oes <joes@student.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 <drivers/drv_device.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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#include "systemlib/param/param.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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static void do_device(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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do_gyro(argc - 2, argv + 2);
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} else if (!strcmp(argv[1], "accel")) {
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do_accel(argc - 2, argv + 2);
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} else if (!strcmp(argv[1], "mag")) {
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do_mag(argc - 2, argv + 2);
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} else {
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do_device(argc - 1, argv + 1);
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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_device(int argc, char *argv[])
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{
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if (argc < 2) {
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errx(1, "no device path provided and command provided.");
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}
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int fd;
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fd = open(argv[0], 0);
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if (fd < 0) {
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warn("%s", argv[0]);
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errx(1, "FATAL: no device found");
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} else {
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int ret;
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if (argc == 2 && !strcmp(argv[1], "block")) {
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/* disable the device publications */
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ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
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if (ret)
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errx(ret,"uORB publications could not be blocked");
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} else if (argc == 2 && !strcmp(argv[1], "unblock")) {
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/* enable the device publications */
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ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
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if (ret)
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errx(ret,"uORB publications could not be unblocked");
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} else {
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errx(1, "no valid command: %s", argv[1]);
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}
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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_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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int ret;
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if (argc == 2 && !strcmp(argv[0], "sampling")) {
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/* set the gyro internal sampling rate up to at least i Hz */
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ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"sampling rate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "rate")) {
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/* set the driver to poll at i Hz */
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ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"pollrate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "range")) {
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/* set the range to i dps */
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ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"range could not be set");
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} else if (argc == 1 && !strcmp(argv[0], "check")) {
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ret = ioctl(fd, GYROIOCSELFTEST, 0);
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if (ret) {
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warnx("gyro self test FAILED! Check calibration:");
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struct gyro_scale scale;
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ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
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if (ret) {
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err(1, "failed getting gyro scale");
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}
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warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
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warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
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} else {
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warnx("gyro calibration and self test OK");
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}
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} else {
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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");
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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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int fd;
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fd = open(MAG_DEVICE_PATH, 0);
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if (fd < 0) {
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warn("%s", MAG_DEVICE_PATH);
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errx(1, "FATAL: no magnetometer found");
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} else {
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int ret;
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if (argc == 2 && !strcmp(argv[0], "sampling")) {
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/* set the mag internal sampling rate up to at least i Hz */
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ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"sampling rate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "rate")) {
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/* set the driver to poll at i Hz */
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ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"pollrate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "range")) {
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/* set the range to i G */
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ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"range could not be set");
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} else if(argc == 1 && !strcmp(argv[0], "check")) {
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ret = ioctl(fd, MAGIOCSELFTEST, 0);
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if (ret) {
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warnx("mag self test FAILED! Check calibration:");
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struct mag_scale scale;
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ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
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if (ret) {
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err(ret, "failed getting mag scale");
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}
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warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
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warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
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} else {
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warnx("mag calibration and self test OK");
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}
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} else {
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errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
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}
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int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
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int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
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int range = ioctl(fd, MAGIOCGRANGE, 0);
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int id = ioctl(fd, DEVIOCGDEVICEID,0);
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int32_t calibration_id = 0;
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param_get(param_find("SENS_MAG_ID"), &(calibration_id));
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warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, 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_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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int ret;
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if (argc == 2 && !strcmp(argv[0], "sampling")) {
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/* set the accel internal sampling rate up to at least i Hz */
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ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"sampling rate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "rate")) {
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/* set the driver to poll at i Hz */
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ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"pollrate could not be set");
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} else if (argc == 2 && !strcmp(argv[0], "range")) {
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/* set the range to i G */
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ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
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if (ret)
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errx(ret,"range could not be set");
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} else if(argc == 1 && !strcmp(argv[0], "check")) {
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ret = ioctl(fd, ACCELIOCSELFTEST, 0);
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if (ret) {
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warnx("accel self test FAILED! Check calibration:");
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struct accel_scale scale;
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ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
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if (ret) {
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err(ret, "failed getting accel scale");
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}
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warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
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warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
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} else {
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warnx("accel calibration and self test OK");
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}
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} else {
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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 4' to set measurement range to 4 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 G", 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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