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Improved config tool to also do device IOCTLs

This commit is contained in:
Lorenz Meier 2014-01-14 16:04:26 +01:00
parent bb8956c84e
commit ac326beaaa
1 changed files with 49 additions and 7 deletions
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56
src/systemcmds/config/config.c
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@ -56,6 +56,7 @@
#include <drivers/drv_gyro.h> #include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_mag.h> #include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "systemlib/systemlib.h" #include "systemlib/systemlib.h"
#include "systemlib/err.h" #include "systemlib/err.h"
@ -65,6 +66,7 @@ __EXPORT int config_main(int argc, char *argv[]);
static void do_gyro(int argc, char *argv[]); static void do_gyro(int argc, char *argv[]);
static void do_accel(int argc, char *argv[]); static void do_accel(int argc, char *argv[]);
static void do_mag(int argc, char *argv[]); static void do_mag(int argc, char *argv[]);
static void do_device(int argc, char *argv[]);
int int
config_main(int argc, char *argv[]) config_main(int argc, char *argv[])
@ -72,20 +74,60 @@ config_main(int argc, char *argv[])
if (argc >= 2) { if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) { if (!strcmp(argv[1], "gyro")) {
do_gyro(argc - 2, argv + 2); do_gyro(argc - 2, argv + 2);
} } else if (!strcmp(argv[1], "accel")) {
if (!strcmp(argv[1], "accel")) {
do_accel(argc - 2, argv + 2); do_accel(argc - 2, argv + 2);
} } else if (!strcmp(argv[1], "mag")) {
if (!strcmp(argv[1], "mag")) {
do_mag(argc - 2, argv + 2); do_mag(argc - 2, argv + 2);
} else {
do_device(argc - 1, argv + 1);
} }
} }
errx(1, "expected a command, try 'gyro', 'accel', 'mag'"); errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
} }
static void
do_device(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "no device path provided and command provided.");
}
int fd;
int ret;
fd = open(argv[0], 0);
if (fd < 0) {
warn("%s", argv[0]);
errx(1, "FATAL: no device found");
} else {
if (argc == 2 && !strcmp(argv[1], "block")) {
/* disable the device publications */
ret = ioctl(fd, DEVIOCSPUBBLOCK, 1);
if (ret)
errx(ret,"uORB publications could not be blocked");
} else if (argc == 2 && !strcmp(argv[1], "unblock")) {
/* enable the device publications */
ret = ioctl(fd, DEVIOCSPUBBLOCK, 0);
if (ret)
errx(ret,"uORB publications could not be unblocked");
} else {
errx("no valid command: %s", argv[1]);
}
}
exit(0);
}
static void static void
do_gyro(int argc, char *argv[]) do_gyro(int argc, char *argv[])
{ {
@ -124,7 +166,7 @@ do_gyro(int argc, char *argv[])
if (ret) if (ret)
errx(ret,"range could not be set"); errx(ret,"range could not be set");
} else if(argc == 1 && !strcmp(argv[0], "check")) { } else if (argc == 1 && !strcmp(argv[0], "check")) {
ret = ioctl(fd, GYROIOCSELFTEST, 0); ret = ioctl(fd, GYROIOCSELFTEST, 0);
if (ret) { if (ret) {