forked from Archive/PX4-Autopilot
Merge branch 'config' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
commit
d14891554e
|
|
@ -53,6 +53,7 @@ MODULES += systemcmds/pwm
|
|||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
|
||||
#
|
||||
# General system control
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
|
|
@ -35,6 +35,9 @@
|
|||
* @file mpu6000.cpp
|
||||
*
|
||||
* Driver for the Invensense MPU6000 connected via SPI.
|
||||
*
|
||||
* @author Andrew Tridgell
|
||||
* @author Pat Hickey
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
|
@ -191,6 +194,7 @@ private:
|
|||
orb_advert_t _gyro_topic;
|
||||
|
||||
unsigned _reads;
|
||||
unsigned _sample_rate;
|
||||
perf_counter_t _sample_perf;
|
||||
|
||||
/**
|
||||
|
|
@ -314,6 +318,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
|
|||
_gyro_range_rad_s(0.0f),
|
||||
_gyro_topic(-1),
|
||||
_reads(0),
|
||||
_sample_rate(500),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
|
||||
{
|
||||
// disable debug() calls
|
||||
|
|
@ -366,10 +371,6 @@ MPU6000::init()
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* advertise sensor topics */
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
|
||||
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
|
||||
|
||||
// Chip reset
|
||||
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
|
||||
up_udelay(10000);
|
||||
|
|
@ -384,7 +385,7 @@ MPU6000::init()
|
|||
|
||||
// SAMPLE RATE
|
||||
//write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
|
||||
_set_sample_rate(200); // default sample rate = 200Hz
|
||||
_set_sample_rate(_sample_rate); // default sample rate = 200Hz
|
||||
usleep(1000);
|
||||
|
||||
// FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter)
|
||||
|
|
@ -463,10 +464,18 @@ MPU6000::init()
|
|||
/* do CDev init for the gyro device node, keep it optional */
|
||||
int gyro_ret = _gyro->init();
|
||||
|
||||
/* ensure we got real values to share */
|
||||
measure();
|
||||
|
||||
if (gyro_ret != OK) {
|
||||
_gyro_topic = -1;
|
||||
} else {
|
||||
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
|
||||
}
|
||||
|
||||
/* advertise sensor topics */
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -509,6 +518,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
|
|||
if(div>200) div=200;
|
||||
if(div<1) div=1;
|
||||
write_reg(MPUREG_SMPLRT_DIV, div-1);
|
||||
_sample_rate = 1000 / div;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -660,8 +670,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return -EINVAL;
|
||||
|
||||
|
||||
case ACCELIOCSSAMPLERATE:
|
||||
case ACCELIOCGSAMPLERATE:
|
||||
return _sample_rate;
|
||||
|
||||
case ACCELIOCSSAMPLERATE:
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
|
||||
|
|
@ -689,12 +701,13 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return OK;
|
||||
|
||||
case ACCELIOCSRANGE:
|
||||
case ACCELIOCGRANGE:
|
||||
/* XXX not implemented */
|
||||
// XXX change these two values on set:
|
||||
// _accel_range_scale = (9.81f / 4096.0f);
|
||||
// _accel_range_rad_s = 8.0f * 9.81f;
|
||||
// _accel_range_m_s2 = 8.0f * 9.81f;
|
||||
return -EINVAL;
|
||||
case ACCELIOCGRANGE:
|
||||
return _accel_range_m_s2;
|
||||
|
||||
case ACCELIOCSELFTEST:
|
||||
return self_test();
|
||||
|
|
@ -718,10 +731,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
case SENSORIOCRESET:
|
||||
return ioctl(filp, cmd, arg);
|
||||
|
||||
case GYROIOCSSAMPLERATE:
|
||||
case GYROIOCGSAMPLERATE:
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
return _sample_rate;
|
||||
|
||||
case GYROIOCSSAMPLERATE:
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
|
||||
case GYROIOCSLOWPASS:
|
||||
case GYROIOCGLOWPASS:
|
||||
|
|
@ -739,12 +754,13 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return OK;
|
||||
|
||||
case GYROIOCSRANGE:
|
||||
case GYROIOCGRANGE:
|
||||
/* XXX not implemented */
|
||||
// XXX change these two values on set:
|
||||
// _gyro_range_scale = xx
|
||||
// _gyro_range_m_s2 = xx
|
||||
// _gyro_range_rad_s = xx
|
||||
return -EINVAL;
|
||||
case GYROIOCGRANGE:
|
||||
return _gyro_range_rad_s;
|
||||
|
||||
case GYROIOCSELFTEST:
|
||||
return self_test();
|
||||
|
|
|
|||
|
|
@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
|
|||
|
||||
close(fd);
|
||||
|
||||
int errcount = 0;
|
||||
|
||||
while (calibration_counter < calibration_count) {
|
||||
|
||||
/* wait blocking for new data */
|
||||
|
|
@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
|
|||
calibration_counter++;
|
||||
|
||||
} else if (poll_ret == 0) {
|
||||
/* any poll failure for 1s is a reason to abort */
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
|
||||
errcount++;
|
||||
}
|
||||
|
||||
if (errcount > 1000) {
|
||||
/* any persisting poll error is a reason to abort */
|
||||
mavlink_log_info(mavlink_fd, "permanent gyro error, aborted.");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,200 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file config.c
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* config tool.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.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 "systemlib/systemlib.h"
|
||||
#include "systemlib/err.h"
|
||||
|
||||
__EXPORT int config_main(int argc, char *argv[]);
|
||||
|
||||
static void do_gyro(int argc, char *argv[]);
|
||||
static void do_accel(int argc, char *argv[]);
|
||||
static void do_mag(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
config_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc >= 2) {
|
||||
if (!strcmp(argv[1], "gyro")) {
|
||||
if (argc >= 3) {
|
||||
do_gyro(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "accel")) {
|
||||
if (argc >= 3) {
|
||||
do_accel(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "mag")) {
|
||||
if (argc >= 3) {
|
||||
do_mag(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
|
||||
}
|
||||
|
||||
static void
|
||||
do_gyro(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(GYRO_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", GYRO_DEVICE_PATH);
|
||||
errx(1, "FATAL: no gyro found");
|
||||
|
||||
} else {
|
||||
|
||||
if (argc >= 2) {
|
||||
|
||||
char* end;
|
||||
int i = strtol(argv[1],&end,10);
|
||||
|
||||
if (!strcmp(argv[0], "sampling")) {
|
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, i);
|
||||
|
||||
} else if (!strcmp(argv[0], "rate")) {
|
||||
|
||||
/* set the driver to poll at i Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, i);
|
||||
} else if (!strcmp(argv[0], "range")) {
|
||||
|
||||
/* set the range to i dps */
|
||||
ioctl(fd, GYROIOCSRANGE, i);
|
||||
}
|
||||
|
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
|
||||
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");
|
||||
}
|
||||
|
||||
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
|
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
|
||||
int range = ioctl(fd, GYROIOCGRANGE, 0);
|
||||
|
||||
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
do_mag(int argc, char *argv[])
|
||||
{
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
do_accel(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(ACCEL_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", ACCEL_DEVICE_PATH);
|
||||
errx(1, "FATAL: no accelerometer found");
|
||||
|
||||
} else {
|
||||
|
||||
if (argc >= 2) {
|
||||
|
||||
char* end;
|
||||
int i = strtol(argv[1],&end,10);
|
||||
|
||||
if (!strcmp(argv[0], "sampling")) {
|
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, i);
|
||||
|
||||
} else if (!strcmp(argv[0], "rate")) {
|
||||
|
||||
/* set the driver to poll at i Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, i);
|
||||
} else if (!strcmp(argv[0], "range")) {
|
||||
|
||||
/* set the range to i dps */
|
||||
ioctl(fd, ACCELIOCSRANGE, i);
|
||||
}
|
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
|
||||
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");
|
||||
}
|
||||
|
||||
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
|
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
|
||||
int range = ioctl(fd, ACCELIOCGRANGE, 0);
|
||||
|
||||
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = config
|
||||
SRCS = config.c
|
||||
|
||||
MODULE_STACKSIZE = 4096
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
Loading…
Reference in New Issue