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delete unused IOCTL ACCELIOCSRANGE

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This commit is contained in:
Daniel Agar
2018-11-03 14:28:11 -04:00
committed by Lorenz Meier
parent b0c3e12139
commit 5d3d120705
14 changed files with 10 additions and 83 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+1 -1
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@@ -134,7 +134,7 @@ then
mpl3115a2 -X start mpl3115a2 -X start
# Internal SPI (accel + mag) # Internal SPI (accel + mag)
fxos8701cq start -a 8 -R 0 fxos8701cq start -R 0
# Internal SPI (gyro) # Internal SPI (gyro)
fxas21002c start -R 0 fxas21002c start -R 0
src/drivers/drv_accel.h
-3
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@@ -82,9 +82,6 @@ struct accel_calibration_s {
/** set the accel scaling constants to the structure pointed to by (arg) */ /** set the accel scaling constants to the structure pointed to by (arg) */
#define ACCELIOCSSCALE _ACCELIOC(5) #define ACCELIOCSSCALE _ACCELIOC(5)
/** set the accel measurement range to handle at least (arg) g */
#define ACCELIOCSRANGE _ACCELIOC(7)
/** get the current accel measurement range in g */ /** get the current accel measurement range in g */
#define ACCELIOCGRANGE _ACCELIOC(8) #define ACCELIOCGRANGE _ACCELIOC(8)
src/drivers/imu/adis16448/adis16448.cpp
-3
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@@ -1086,9 +1086,6 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return -EINVAL;
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/drivers/imu/adis16477/ADIS16477.cpp
-3
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@@ -425,9 +425,6 @@ ADIS16477::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return -EINVAL;
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/drivers/imu/bma180/bma180.cpp
-3
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@@ -481,9 +481,6 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale)); memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));
return OK; return OK;
case ACCELIOCSRANGE:
return set_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return _current_range; return _current_range;
src/drivers/imu/bmi055/BMI055_accel.cpp
-3
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@@ -432,9 +432,6 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/drivers/imu/bmi160/bmi160.cpp
-3
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@@ -668,9 +668,6 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+3 -17
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@@ -899,10 +899,6 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */ /* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
@@ -1677,7 +1673,7 @@ namespace fxos8701cq
FXOS8701CQ *g_dev; FXOS8701CQ *g_dev;
void start(bool external_bus, enum Rotation rotation, unsigned range); void start(bool external_bus, enum Rotation rotation);
void test(); void test();
void reset(); void reset();
void info(); void info();
@@ -1693,7 +1689,7 @@ void test_error();
* up and running or failed to detect the sensor. * up and running or failed to detect the sensor.
*/ */
void void
start(bool external_bus, enum Rotation rotation, unsigned range) start(bool external_bus, enum Rotation rotation)
{ {
int fd; int fd;
@@ -1735,10 +1731,6 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
goto fail; goto fail;
} }
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG) #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
int fd_mag; int fd_mag;
fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY); fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
@@ -1987,7 +1979,6 @@ usage()
PX4_INFO("options:"); PX4_INFO("options:");
PX4_INFO(" -X (external bus)"); PX4_INFO(" -X (external bus)");
PX4_INFO(" -R rotation"); PX4_INFO(" -R rotation");
PX4_INFO(" -a range in ga 2,4,8");
} }
} // namespace } // namespace
@@ -1998,7 +1989,6 @@ fxos8701cq_main(int argc, char *argv[])
bool external_bus = false; bool external_bus = false;
int ch; int ch;
enum Rotation rotation = ROTATION_NONE; enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;
int myoptind = 1; int myoptind = 1;
const char *myoptarg = NULL; const char *myoptarg = NULL;
@@ -2013,10 +2003,6 @@ fxos8701cq_main(int argc, char *argv[])
rotation = (enum Rotation)atoi(myoptarg); rotation = (enum Rotation)atoi(myoptarg);
break; break;
case 'a':
accel_range = atoi(myoptarg);
break;
default: default:
fxos8701cq::usage(); fxos8701cq::usage();
exit(0); exit(0);
@@ -2030,7 +2016,7 @@ fxos8701cq_main(int argc, char *argv[])
*/ */
if (!strcmp(verb, "start")) { if (!strcmp(verb, "start")) {
fxos8701cq::start(external_bus, rotation, accel_range); fxos8701cq::start(external_bus, rotation);
} }
/* /*
src/drivers/imu/lsm303d/lsm303d.cpp
-8
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@@ -911,10 +911,6 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */ /* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
@@ -1824,10 +1820,6 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
goto fail; goto fail;
} }
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY); fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
/* don't fail if open cannot be opened */ /* don't fail if open cannot be opened */
src/drivers/imu/mpu6000/mpu6000.cpp
+6 -19
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@@ -1385,9 +1385,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
@@ -2134,8 +2131,8 @@ struct mpu6000_bus_option {
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0])) #define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type); void start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type);
bool start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int device_type); bool start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type);
void stop(enum MPU6000_BUS busid); void stop(enum MPU6000_BUS busid);
void test(enum MPU6000_BUS busid); void test(enum MPU6000_BUS busid);
static struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid); static struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid);
@@ -2165,7 +2162,7 @@ struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid)
* start driver for a specific bus option * start driver for a specific bus option
*/ */
bool bool
start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int device_type) start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type)
{ {
int fd = -1; int fd = -1;
@@ -2210,10 +2207,6 @@ start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int
goto fail; goto fail;
} }
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
close(fd); close(fd);
return true; return true;
@@ -2239,7 +2232,7 @@ fail:
* or failed to detect the sensor. * or failed to detect the sensor.
*/ */
void void
start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type) start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type)
{ {
bool started = false; bool started = false;
@@ -2260,7 +2253,7 @@ start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type
continue; continue;
} }
started |= start_bus(bus_options[i], rotation, range, device_type); started |= start_bus(bus_options[i], rotation, device_type);
} }
exit(started ? 0 : 1); exit(started ? 0 : 1);
@@ -2464,7 +2457,6 @@ usage()
warnx(" -z internal2 SPI bus"); warnx(" -z internal2 SPI bus");
warnx(" -T 6000|20608|20602 (default 6000)"); warnx(" -T 6000|20608|20602 (default 6000)");
warnx(" -R rotation"); warnx(" -R rotation");
warnx(" -a accel range (in g)");
} }
} // namespace } // namespace
@@ -2479,7 +2471,6 @@ mpu6000_main(int argc, char *argv[])
enum MPU6000_BUS busid = MPU6000_BUS_ALL; enum MPU6000_BUS busid = MPU6000_BUS_ALL;
int device_type = MPU_DEVICE_TYPE_MPU6000; int device_type = MPU_DEVICE_TYPE_MPU6000;
enum Rotation rotation = ROTATION_NONE; enum Rotation rotation = ROTATION_NONE;
int accel_range = MPU6000_ACCEL_DEFAULT_RANGE_G;
while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) { while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
@@ -2515,10 +2506,6 @@ mpu6000_main(int argc, char *argv[])
rotation = (enum Rotation)atoi(myoptarg); rotation = (enum Rotation)atoi(myoptarg);
break; break;
case 'a':
accel_range = atoi(myoptarg);
break;
default: default:
mpu6000::usage(); mpu6000::usage();
return 0; return 0;
@@ -2536,7 +2523,7 @@ mpu6000_main(int argc, char *argv[])
* Start/load the driver. * Start/load the driver.
*/ */
if (!strcmp(verb, "start")) { if (!strcmp(verb, "start")) {
mpu6000::start(busid, rotation, accel_range, device_type); mpu6000::start(busid, rotation, device_type);
} }
if (!strcmp(verb, "stop")) { if (!strcmp(verb, "stop")) {
src/drivers/imu/mpu9250/mpu9250.cpp
-3
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@@ -845,9 +845,6 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/modules/simulator/accelsim/accelsim.cpp
-4
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@@ -583,10 +583,6 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(ul_arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */ /* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/modules/simulator/gyrosim/gyrosim.cpp
-3
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@@ -718,9 +718,6 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
} }
} }
case ACCELIOCSRANGE:
return set_accel_range(arg);
case ACCELIOCGRANGE: case ACCELIOCGRANGE:
return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
src/systemcmds/config/config.c
-10
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@@ -332,16 +332,6 @@ do_accel(int argc, char *argv[])
return 1; return 1;
} }
} else if (argc == 3 && !strcmp(argv[0], "range")) {
/* set the range to i G */
ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[2], NULL, 0));
if (ret) {
PX4_ERR("range could not be set");
return 1;
}
} else { } else {
print_usage(); print_usage();
return 1; return 1;