config.c

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 *
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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/**
 * @file config.c
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 *
 * config tool. Takes the device name as the first parameter.
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>

#include <arch/board/board.h>

#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>

#include <parameters/param.h>

__EXPORT int config_main(int argc, char *argv[]);

static int  do_gyro(int argc, char *argv[]);
static int  do_accel(int argc, char *argv[]);
static int  do_mag(int argc, char *argv[]);
static int  do_device(int argc, char *argv[]);
static void print_usage(void);

int
config_main(int argc, char *argv[])
{
    bool is_device_cmd = argc >= 2 && (!strcmp(argv[1], "block") || !strcmp(argv[1], "unblock"));

    if (argc >= 3) {
        if (!is_device_cmd && !strncmp(argv[2], "/dev/gyro", 9)) {
            return do_gyro(argc - 1, argv + 1);

        } else if (!is_device_cmd && !strncmp(argv[2], "/dev/accel", 10)) {
            return do_accel(argc - 1, argv + 1);

        } else if (!is_device_cmd && !strncmp(argv[2], "/dev/mag", 8)) {
            return do_mag(argc - 1, argv + 1);

        } else {
            return do_device(argc - 1, argv + 1);
        }
    }

    print_usage();
    return 1;
}
static void
print_usage(void)
{
    PRINT_MODULE_DESCRIPTION("Configure a sensor driver (sampling & publication rate, range, etc.)");

    PRINT_MODULE_USAGE_NAME("config", "command");
    PRINT_MODULE_USAGE_PARAM_COMMENT("The <file:dev> argument is typically one of /dev/{gyro,accel,mag}i");

    PRINT_MODULE_USAGE_COMMAND_DESCR("block", "Block sensor topic publication");
    PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("unblock", "Unblock sensor topic publication");
    PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);

    PRINT_MODULE_USAGE_COMMAND_DESCR("sampling", "Set sensor sampling rate");
    PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and sampling rate in Hz", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Set sensor publication rate");
    PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and publication rate in Hz", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("range", "Set sensor measurement range");
    PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and range", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Perform sensor self-test (and print info)");
    PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
}

static int
do_device(int argc, char *argv[])
{
    if (argc < 2) {
        print_usage();
        return 1;
    }

    int fd;

    fd = open(argv[1], 0);

    if (fd < 0) {
        PX4_ERR("open %s failed (%i)", argv[1], errno);
        return 1;

    } else {

        int ret;

        if (argc == 2 && !strcmp(argv[0], "block")) {

            /* disable the device publications */
            ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);

            if (ret) {
                PX4_ERR("uORB publications could not be blocked");
                return 1;
            }

        } else if (argc == 2 && !strcmp(argv[0], "unblock")) {

            /* enable the device publications */
            ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);

            if (ret) {
                PX4_ERR("uORB publications could not be unblocked");
                return 1;
            }

        } else {
            print_usage();
            return 1;
        }
    }

    return 0;
}

static int
do_gyro(int argc, char *argv[])
{
    int fd;

    fd = open(argv[1], 0);

    if (fd < 0) {
        PX4_ERR("open %s failed (%i)", argv[1], errno);
        return 1;

    } else {

        int ret;

        if (argc == 3 && !strcmp(argv[0], "rate")) {

            /* set the driver to poll at i Hz */
            ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));

            if (ret) {
                PX4_ERR("pollrate could not be set");
                return 1;
            }

        } else {
            print_usage();
            return 1;
        }

        int id = ioctl(fd, DEVIOCGDEVICEID, 0);
        int32_t calibration_id = 0;

        param_get(param_find("CAL_GYRO0_ID"), &(calibration_id));

        PX4_INFO("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
             id, calibration_id);

        close(fd);
    }

    return 0;
}

static int
do_mag(int argc, char *argv[])
{
    int fd;

    fd = open(argv[1], 0);

    if (fd < 0) {
        PX4_ERR("open %s failed (%i)", argv[1], errno);
        return 1;

    } else {

        int ret;

        if (argc == 3 && !strcmp(argv[0], "rate")) {

            /* set the driver to poll at i Hz */
            ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));

            if (ret) {
                PX4_ERR("pollrate could not be set");
                return 1;
            }

        } else if (argc == 3 && !strcmp(argv[0], "range")) {

            /* set the range to i G */
            ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[2], NULL, 0));

            if (ret) {
                PX4_ERR("range could not be set");
                return 1;
            }

        } else {
            print_usage();
            return 1;
        }

        int id = ioctl(fd, DEVIOCGDEVICEID, 0);
        int32_t calibration_id = 0;

        param_get(param_find("CAL_MAG0_ID"), &(calibration_id));

        PX4_INFO("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
             id, calibration_id);

        close(fd);
    }

    return 0;
}

static int
do_accel(int argc, char *argv[])
{
    int fd;

    fd = open(argv[1], 0);

    if (fd < 0) {
        PX4_ERR("open %s failed (%i)", argv[1], errno);
        return 1;

    } else {

        int ret;

        if (argc == 3 && !strcmp(argv[0], "rate")) {

            /* set the driver to poll at i Hz */
            ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[2], NULL, 0));

            if (ret) {
                PX4_ERR("pollrate could not be set");
                return 1;
            }

        } else {
            print_usage();
            return 1;
        }

        int id = ioctl(fd, DEVIOCGDEVICEID, 0);
        int32_t calibration_id = 0;

        param_get(param_find("CAL_ACC0_ID"), &(calibration_id));

        PX4_INFO("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)",
             id, calibration_id);

        close(fd);
    }

    return 0;
}