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Updated MPU test to new driver model

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This commit is contained in:
Lorenz Meier
2012-08-18 12:29:04 +02:00
parent c6eff9eb8b
commit 5aa91b6f17
1 changed files with 14 additions and 14 deletions
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28
apps/px4/tests/test_sensors.c
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@@ -94,7 +94,7 @@ struct {
{"bma180", "/dev/bma180", bma180},
{"hmc5883l", "/dev/hmc5883l", hmc5883l},
{"ms5611", "/dev/ms5611", ms5611},
{"mpu6000", "/dev/mpu6000", mpu6000},
{"mpu6000", "/dev/accel", mpu6000},
// {"lis331", "/dev/lis331", lis331},
{NULL, NULL, NULL}
};
@@ -334,10 +334,10 @@ mpu6000(int argc, char *argv[])
int16_t buf[6] = { -1, 0, -1, 0, -1, 0};
int ret;
fd = open("/dev/mpu6000", O_RDONLY);
fd = open("/dev/accel", O_RDONLY);
if (fd < 0) {
printf("\tMPU-6000: open fail\n");
printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
return ERROR;
}
@@ -347,26 +347,26 @@ mpu6000(int argc, char *argv[])
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
if (ret < 3) {
printf("\tMPU-6000: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d");//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
}
/* wait at least 10ms, sensor should have data after no more than 2ms */
usleep(100000);
// /* wait at least 10ms, sensor should have data after no more than 2ms */
// usleep(100000);
ret = read(fd, buf, sizeof(buf));
// ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tMPU-6000: read2 fail (%d)\n", ret);
return ERROR;
// if (ret != sizeof(buf)) {
// printf("\tMPU-6000: read2 fail (%d)\n", ret);
// return ERROR;
} else {
printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
}
// } else {
// printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
// }
/* XXX more tests here */