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drivers start using uORB message print instead of custom

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This commit is contained in:
Daniel Agar
2018-03-23 11:43:19 -04:00
parent 3db17a04fc
commit 5fba1f38b2
33 changed files with 79 additions and 426 deletions
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src/drivers/barometer/bmp280/bmp280.cpp
+5 -14
View File
@@ -595,11 +595,10 @@ BMP280::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u us \n", _report_ticks * USEC_PER_TICK);
_reports->print_info("report queue");
printf("P Pa: %.3f\n", (double)_P);
printf("T: %.3f\n", (double)_T);
printf("MSL pressure Pa: %u\n", _msl_pressure);
sensor_baro_s brp = {};
_reports->get(&brp);
print_message(brp);
}
/**
@@ -778,11 +777,7 @@ test(enum BMP280_BUS busid)
exit(1);
}
PX4_WARN("single read");
PX4_WARN("pressure: %10.4f", (double)report.pressure);
PX4_WARN("altitude: %11.4f", (double)report.altitude);
PX4_WARN("temperature: %8.4f", (double)report.temperature);
PX4_WARN("time: %lld", report.timestamp);
print_message(report);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -818,11 +813,7 @@ test(enum BMP280_BUS busid)
exit(1);
}
PX4_WARN("periodic read %u", i);
PX4_WARN("pressure: %10.4f", (double)report.pressure);
PX4_WARN("altitude: %11.4f", (double)report.altitude);
PX4_WARN("temperature K: %8.4f", (double)report.temperature);
PX4_WARN("time: %lld", report.timestamp);
print_message(report);
}
close(fd);
src/drivers/barometer/lps25h/lps25h.cpp
+3 -13
View File
@@ -799,9 +799,7 @@ LPS25H::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("pressure %.2f\n", (double)_last_report.pressure);
printf("altitude: %.2f\n", (double)_last_report.altitude);
printf("temperature %.2f\n", (double)_last_report.temperature);
print_message(_last_report);
_reports->print_info("report queue");
}
@@ -959,11 +957,7 @@ test(enum LPS25H_BUS busid)
err(1, "immediate read failed");
}
warnx("single read");
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -995,11 +989,7 @@ test(enum LPS25H_BUS busid)
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature K: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
}
close(fd);
src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
+6 -14
View File
@@ -732,10 +732,10 @@ MPL3115A2::print_info()
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
printf("device: mpl3115a2\n");
printf("P: %.3f\n", (double)_P);
printf("T: %.3f\n", (double)_T);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
sensor_baro_s brp = {};
_reports->get(&brp);
print_message(brp);
}
/**
@@ -899,11 +899,7 @@ test(enum MPL3115A2_BUS busid)
err(1, "immediate read failed");
}
warnx("single read");
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -935,11 +931,7 @@ test(enum MPL3115A2_BUS busid)
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
}
close(fd);
src/drivers/barometer/ms5611/ms5611.cpp
+6 -13
View File
@@ -895,9 +895,6 @@ MS5611::print_info()
printf("TEMP: %d\n", _TEMP);
printf("SENS: %lld\n", _SENS);
printf("OFF: %lld\n", _OFF);
printf("P: %.3f\n", (double)_P);
printf("T: %.3f\n", (double)_T);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
printf("factory_setup %u\n", _prom.factory_setup);
printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens);
@@ -907,6 +904,10 @@ MS5611::print_info()
printf("c5_reference_temp %u\n", _prom.c5_reference_temp);
printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp);
printf("serial_and_crc %u\n", _prom.serial_and_crc);
sensor_baro_s brp = {};
_reports->get(&brp);
print_message(brp);
}
/**
@@ -1118,11 +1119,7 @@ test(enum MS5611_BUS busid)
err(1, "immediate read failed");
}
warnx("single read");
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -1154,11 +1151,7 @@ test(enum MS5611_BUS busid)
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("pressure: %10.4f", (double)report.pressure);
warnx("altitude: %11.4f", (double)report.altitude);
warnx("temperature: %8.4f", (double)report.temperature);
warnx("time: %lld", report.timestamp);
print_message(report);
}
close(fd);
src/drivers/batt_smbus/batt_smbus.cpp
+1 -4
View File
@@ -317,10 +317,7 @@ BATT_SMBUS::test()
if (updated) {
if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
PX4_INFO("V=%4.2f C=%4.2f AveC=%4.2f DismAh=%f Cap:%hu TempC:%4.2f Remaining:%3.2f\n RunTimeToEmpty:%hu AveTimeToEmpty:%hu CycleCount:%hu SerialNum:%04x",
(double)status.voltage_v, (double)status.current_a, (double)status.average_current_a, (double)status.discharged_mah,
(uint16_t)status.capacity, (double)status.temperature, (double)status.remaining, (uint16_t)status.run_time_to_empty,
(uint16_t)status.average_time_to_empty, (uint16_t)status.cycle_count, (uint16_t)status.serial_number);
print_message(status);
}
}
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+2 -12
View File
@@ -801,10 +801,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f of sonar %d,id=%d", (double)report.distance_vector[report.just_updated], report.just_updated,
report.id[report.just_updated]);
warnx("time: %lld", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -831,14 +828,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
/* Print the sonar rangefinder report sonar distance vector */
for (uint8_t count = 0; count < SRF02_MAX_RANGEFINDERS; count++) {
warnx("measurement: %0.3f of sonar %u, id=%d", (double)report.distance_vector[count], count + 1, report.id[count]);
}
warnx("time: %lld", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+1 -10
View File
@@ -231,16 +231,7 @@ int leddar_one_main(int argc, char *argv[])
return PX4_ERROR;
}
bool valid = false;
if (report.current_distance > report.min_distance
&& report.current_distance < report.max_distance) {
valid = true;
}
warnx("valid: %u\n", valid);
warnx("distance: %0.3fm\n", (double)report.current_distance);
warnx("time: %llu\n", report.timestamp);
print_message(report);
} else {
help();
src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
+2 -1
View File
@@ -123,7 +123,8 @@ void LidarLitePWM::print_info()
perf_print_counter(_read_errors);
perf_print_counter(_sensor_zero_resets);
warnx("poll interval: %u ticks", getMeasureTicks());
warnx("distance: %.3fm", (double)_range.current_distance);
print_message(_range);
}
void LidarLitePWM::print_registers()
src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+2 -8
View File
@@ -217,9 +217,7 @@ test()
return;
}
PX4_INFO("single read");
PX4_INFO("measurement: %0.2f m", (double)report.current_distance);
PX4_INFO("time: %lld", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (PX4_OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -249,11 +247,7 @@ test()
return;
}
PX4_INFO("periodic read %u", i);
PX4_INFO("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
PX4_INFO("measurement: %0.3f m", (double)report.current_distance);
PX4_INFO("time: %lld", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+2 -8
View File
@@ -797,9 +797,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -826,11 +824,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/sf0x/sf0x.cpp
+2 -8
View File
@@ -863,9 +863,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2 Hz rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -894,11 +892,7 @@ test()
break;
}
warnx("read #%u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to the default rate */
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+2 -8
View File
@@ -732,9 +732,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -761,11 +759,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/srf02/srf02.cpp
+2 -8
View File
@@ -801,9 +801,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
+2 -8
View File
@@ -801,9 +801,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/teraranger/teraranger.cpp
+2 -6
View File
@@ -845,9 +845,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -874,9 +872,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to default rate */
src/drivers/distance_sensor/tfmini/tfmini.cpp
+2 -8
View File
@@ -828,9 +828,7 @@ test()
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
/* start the sensor polling at 2 Hz rate */
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -859,11 +857,7 @@ test()
break;
}
warnx("read #%u", i);
warnx("valid %u", (float)report.current_distance > report.min_distance
&& (float)report.current_distance < report.max_distance ? 1 : 0);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %llu", report.timestamp);
print_message(report);
}
/* reset the sensor polling to the default rate */
src/drivers/gps/gps.cpp
+2 -11
View File
@@ -873,19 +873,10 @@ GPS::print_status()
}
PX4_INFO("port: %s, baudrate: %d, status: %s", _port, _baudrate, _healthy ? "OK" : "NOT OK");
PX4_INFO("sat info: %s, noise: %d, jamming detected: %s",
(_p_report_sat_info != nullptr) ? "enabled" : "disabled",
_report_gps_pos.noise_per_ms,
_report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
PX4_INFO("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
if (_report_gps_pos.timestamp != 0) {
PX4_INFO("position lock: %d, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
PX4_INFO("hdop: %.2f, vdop: %.2f", (double)_report_gps_pos.hdop, (double)_report_gps_pos.vdop);
PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
print_message(_report_gps_pos);
if (_helper) {
PX4_INFO("rate position: \t\t%6.2f Hz", (double)_helper->getPositionUpdateRate());
src/drivers/imu/adis16448/adis16448.cpp
+3 -28
View File
@@ -1869,16 +1869,7 @@ test()
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / ADIS16448_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -1888,14 +1879,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
/* do a simple mag demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -1905,16 +1889,7 @@ test()
err(1, "immediate mag read failed");
}
warnx("mag x: \t% 9.5f\tgauss", (double)m_report.x);
warnx("mag y: \t% 9.5f\tgauss", (double)m_report.y);
warnx("mag z: \t% 9.5f\tgauss", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f gauss", (double)m_report.range_ga);
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(m_report);
/* XXX add poll-rate tests here too */
close(fd_mag);
src/drivers/imu/bma180/bma180.cpp
+1 -12
View File
@@ -838,18 +838,7 @@ test()
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));
/* XXX add poll-rate tests here too */
print_message(a_report);
reset();
errx(0, "PASS");
src/drivers/imu/bmi055/bmi055_main.cpp
+2 -25
View File
@@ -225,19 +225,7 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "immediate accel read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / BMI055_ONE_G));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(a_report);
/* reset to default polling */
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -261,7 +249,6 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "gyro reset to manual polling");
}
/* do a simple demand read */
sz = read(fd_gyr, &g_report, sizeof(g_report));
@@ -270,15 +257,7 @@ test(bool external_bus, enum sensor_type sensor)
err(1, "immediate gyro read failed");
}
warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
/* reset to default polling */
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -286,7 +265,6 @@ test(bool external_bus, enum sensor_type sensor)
}
close(fd_gyr);
}
if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
@@ -295,7 +273,6 @@ test(bool external_bus, enum sensor_type sensor)
}
errx(0, "PASS");
}
/**
src/drivers/imu/bmi160/bmi160_main.cpp
+2 -21
View File
@@ -151,16 +151,7 @@ test(bool external_bus)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / BMI160_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -170,17 +161,7 @@ test(bool external_bus)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/fxas21002c/fxas21002c.cpp
+1 -10
View File
@@ -1273,16 +1273,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
src/drivers/imu/l3gd20/l3gd20.cpp
+1 -10
View File
@@ -1251,16 +1251,7 @@ test()
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
print_message(g_report);
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
src/drivers/imu/lsm303d/lsm303d.cpp
+2 -16
View File
@@ -1965,15 +1965,7 @@ test()
err(1, "immediate read failed");
}
warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
print_message(accel_report);
int fd_mag = -1;
struct mag_report m_report;
@@ -1999,13 +1991,7 @@ test()
err(1, "immediate read failed");
}
warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f ga", (double)m_report.range_ga);
print_message(m_report);
/* reset to default polling */
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/mpu6000/mpu6000.cpp
+2 -21
View File
@@ -2456,16 +2456,7 @@ test(enum MPU6000_BUS busid)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / MPU6000_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -2475,17 +2466,7 @@ test(enum MPU6000_BUS busid)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/mpu9250/main.cpp
+3 -29
View File
@@ -331,16 +331,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / MPU9250_ONE_G));
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -350,17 +341,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
print_message(g_report);
/* do a simple demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -370,14 +351,7 @@ test(enum MPU9250_BUS busid)
err(1, "immediate mag read failed");
}
warnx("mag x: \t% 9.5f\tGa", (double)m_report.x);
warnx("mag y: \t% 9.5f\tGa", (double)m_report.y);
warnx("mag z: \t% 9.5f\tGa", (double)m_report.z);
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
warnx("mag range: %8.4f Ga", (double)m_report.range_ga);
warnx("mag temp: %8.4f\tdeg celsius", (double)m_report.temperature);
print_message(m_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/magnetometer/hmc5883/hmc5883.cpp
+3 -12
View File
@@ -1413,12 +1413,7 @@ HMC5883::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)(1.0f / _range_scale), (double)_range_ga);
printf("temperature %.2f\n", (double)_last_report.temperature);
print_message(_last_report);
_reports->print_info("report queue");
}
@@ -1598,9 +1593,7 @@ test(enum HMC5883_BUS busid)
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
print_message(report);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
@@ -1639,9 +1632,7 @@ test(enum HMC5883_BUS busid)
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
print_message(report);
}
errx(0, "PASS");
src/drivers/magnetometer/ist8310/ist8310.cpp
+3 -14
View File
@@ -1253,12 +1253,7 @@ IST8310::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)(1.0f / _range_scale));
printf("temperature %.2f\n", (double)_last_report.temperature);
print_message(_last_report);
_reports->print_info("report queue");
}
@@ -1412,17 +1407,13 @@ test(enum IST8310_BUS busid)
err(1, "immediate read failed");
}
PX4_INFO("single read");
PX4_INFO("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
PX4_INFO("time: %lld", report.timestamp);
print_message(report);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
errx(1, "failed to get if mag is onboard or external");
}
PX4_INFO("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 5 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
@@ -1453,9 +1444,7 @@ test(enum IST8310_BUS busid)
err(1, "periodic read failed");
}
PX4_INFO("periodic read %u", i);
PX4_INFO("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
PX4_INFO("time: %lld", report.timestamp);
print_message(report);
}
PX4_INFO("PASS");
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+3 -14
View File
@@ -1297,12 +1297,7 @@ LIS3MDL::print_info()
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
(double)(1.0f / _range_scale), (double)_range_ga);
printf("temperature %.2f\n", (double)_last_report.temperature);
print_message(_last_report);
_reports->print_info("report queue");
}
@@ -1494,17 +1489,13 @@ test(enum LIS3MDL_BUS busid)
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
print_message(report);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
errx(1, "failed to get if mag is onboard or external");
}
warnx("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 5 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
@@ -1535,9 +1526,7 @@ test(enum LIS3MDL_BUS busid)
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
print_message(report);
}
errx(0, "PASS");
src/drivers/px4flow/px4flow.cpp
+2 -24
View File
@@ -872,11 +872,7 @@ test()
warnx("immediate read failed");
}
warnx("single read");
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
print_message(report);
/* start the sensor polling at 10Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
@@ -903,25 +899,7 @@ test()
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("framecount_total: %u", f.frame_count);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
warnx("ground_distance: %0.2f m",
(double) f_integral.ground_distance / 1000);
warnx("time since last sonar update [us]: %i",
f_integral.sonar_timestamp);
warnx("quality integration average : %i", f_integral.qual);
warnx("quality : %i", f.qual);
print_message(report);
}
errx(0, "PASS");
src/modules/uavcan/uavcan_main.cpp
+4 -21
View File
@@ -1214,7 +1214,7 @@ UavcanNode::print_info()
printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
if (_outputs.noutputs != 0) {
printf("ESC output: ");
PX4_INFO("ESC output: ");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d ", (int)(_outputs.output[i] * 1000));
@@ -1224,28 +1224,11 @@ UavcanNode::print_info()
// ESC status
int esc_sub = orb_subscribe(ORB_ID(esc_status));
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
esc_status_s esc = {};
orb_copy(ORB_ID(esc_status), esc_sub, &esc);
printf("ESC Status:\n");
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
(esc.esc[i].esc_temperature - 273.15F) : 0.0F;
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)temp_celsius);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}
orb_unsubscribe(esc_sub);
print_message(esc);
}
// Sensor bridges
src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
+2 -5
View File
@@ -395,8 +395,7 @@ test()
return 1;
}
PX4_WARN("single read");
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
print_message(report);
/* start the sensor polling at 2Hz */
if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -423,9 +422,7 @@ test()
PX4_WARN("periodic read failed");
}
PX4_WARN("periodic read %u", i);
PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
PX4_WARN("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
print_message(report);
}
/* reset the sensor polling to its default rate */
src/platforms/posix/drivers/gpssim/gpssim.cpp
+1 -10
View File
@@ -380,16 +380,7 @@ GPSSIM::print_info()
_report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
if (_report_gps_pos.timestamp != 0) {
PX4_INFO("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
//PX4_INFO("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
//PX4_INFO("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
PX4_INFO("rate publication:\t%6.2f Hz", (double)_rate);
print_message(_report_gps_pos);
}
usleep(100000);