Updated MPU test to new driver model

apps/px4/tests/test_sensors.c

@@ -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 */