Removed outdated sensors bringup app

6 files changed, 0 insertions, 932 deletions

diff --git a/apps/px4/sensors_bringup/.context b/apps/px4/sensors_bringup/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/px4/sensors_bringup/.context
+++ /dev/null
diff --git a/apps/px4/sensors_bringup/Makefile b/apps/px4/sensors_bringup/Makefile
deleted file mode 100644
index 8867653a0..000000000
--- a/apps/px4/sensors_bringup/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 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.
-#
-############################################################################
-
-#
-# Makefile to build the sensor bringup tests
-#
-
-APPNAME		 = sensors_bringup
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/sensors_bringup/bma180.c b/apps/px4/sensors_bringup/bma180.c
deleted file mode 100644
index 6c4b9d483..000000000
--- a/apps/px4/sensors_bringup/bma180.c
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
- * Operations for the Bosch BMA180 3D Accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <nuttx/spi.h>
-
-#include "sensors.h"
-
-#define DIR_READ				(1<<7)
-#define DIR_WRITE				(0<<7)
-#define ADDR_INCREMENT			(1<<6)
-
-#define ADDR_CHIP_ID			0x00
-#define CHIP_ID					0x03
-#define ADDR_VERSION			0x01
-
-#define ADDR_CTRL_REG0			0x0D
-#define ADDR_CTRL_REG1			0x0E
-#define ADDR_CTRL_REG2			0x0F
-#define ADDR_BWTCS				0x20
-#define ADDR_CTRL_REG3			0x21
-#define ADDR_CTRL_REG4			0x22
-#define ADDR_OLSB1				0x35
-
-#define ADDR_ACC_X_LSB			0x02
-#define ADDR_ACC_Z_MSB			0x07
-#define ADDR_TEMPERATURE		0x08
-
-#define ADDR_STATUS_REG1		0x09
-#define ADDR_STATUS_REG2		0x0A
-#define ADDR_STATUS_REG3		0x0B
-#define ADDR_STATUS_REG4		0x0C
-
-#define ADDR_RESET				0x10
-#define SOFT_RESET				0xB6
-
-#define ADDR_DIS_I2C         	0x27
-
-#define REG0_WRITE_ENABLE		0x10
-
-#define BWTCS_LP_10HZ			(0<<4)
-#define BWTCS_LP_20HZ			(1<<4)
-#define BWTCS_LP_40HZ			(2<<4)
-#define BWTCS_LP_75HZ			(3<<4)
-#define BWTCS_LP_150HZ			(4<<4)
-#define BWTCS_LP_300HZ			(5<<4)
-#define BWTCS_LP_600HZ			(6<<4)
-#define BWTCS_LP_1200HZ			(7<<4)
-
-#define RANGE_1G				(0<<1)
-#define RANGE_1_5G				(1<<1)
-#define RANGE_2G				(2<<1)
-#define RANGE_3G				(3<<1)
-#define RANGE_4G				(4<<1)
-#define RANGE_8G				(5<<1)
-#define RANGE_16G				(6<<1)
-
-#define RANGEMASK 0x0E
-#define BWMASK 0xF0
-
-
-static void
-write_reg(struct spi_dev_s *spi, uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
-      	SPI_SNDBLOCK(spi, &cmd, sizeof(cmd));
-	SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
-}
-
-static uint8_t
-read_reg(struct spi_dev_s *spi, uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
-	SPI_EXCHANGE(spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
-
-	return data[1];
-}
-
-int
-bma180_test_configure(struct spi_dev_s *spi)
-{
-	uint8_t	id;
-
-	id = read_reg(spi, ADDR_CHIP_ID);
-	uint8_t version = read_reg(spi, 0x01);
-
-	if (id == CHIP_ID)
-	{
-		message("BMA180 SUCCESS: 0x%02x, version: %d\n", id, version);
-	}
-	else
-	{
-		message("BMA180 FAIL: 0x%02x\n", id);
-	}
-	//message("got id 0x%02x, expected ID 0x03\n", id);
-
-	write_reg(spi, ADDR_RESET, SOFT_RESET);             // page 48
-	usleep(12000);                        // wait 10 ms, see page 49
-
-	// Configuring the BMA180
-
-	/* enable writing to chip config */
-	uint8_t ctrl0 = read_reg(spi, ADDR_CTRL_REG0);
-	ctrl0 |= REG0_WRITE_ENABLE;
-	write_reg(spi, ADDR_CTRL_REG0, ctrl0);
-
-	uint8_t disi2c = read_reg(spi, ADDR_DIS_I2C);                // read
-	disi2c |= 0x01;                           // set bit0 to 1, SPI only
-	write_reg(spi, ADDR_DIS_I2C, disi2c);               // Set spi, disable i2c, page 31
-
-	/* set bandwidth */
-	uint8_t bwtcs = read_reg(spi, ADDR_BWTCS);
-	printf("bwtcs: %d\n", bwtcs);
-	bwtcs &= (~BWMASK);
-	bwtcs |= (BWTCS_LP_600HZ);// & BWMASK);
-	write_reg(spi, ADDR_BWTCS, bwtcs);
-
-	/* set range */
-	uint8_t olsb1 = read_reg(spi, ADDR_OLSB1);
-	printf("olsb1: %d\n", olsb1);
-	olsb1 &= (~RANGEMASK);
-	olsb1 |= (RANGE_4G);// & RANGEMASK);
-	write_reg(spi, ADDR_OLSB1, olsb1);
-
-//	uint8_t reg3 = read_reg(spi, ADDR_CTRL_REG3);
-//	//reg3 &= 0xFD;                           // REset bit 1 enable interrupt
-//	//reg3 |= 0x02; // enable
-//	write_reg(spi, ADDR_CTRL_REG3, reg3);              //
-
-	/* block writing to chip config */
-	ctrl0 = read_reg(spi, ADDR_CTRL_REG0);
-	ctrl0 &= (~REG0_WRITE_ENABLE);
-	printf("ctrl0: %d\n", ctrl0);
-	write_reg(spi, ADDR_CTRL_REG0, ctrl0);
-
-	return 0;
-}
-
-int
-bma180_test_read(struct spi_dev_s *spi)
-{
-
-
-
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-		uint8_t		temp;
-	} __attribute__((packed))	report;
-
-	report.x = 0;
-	report.y = 0;
-	report.z = 0;
-
-//	uint8_t		temp;
-//	uint8_t		status1;
-//	uint8_t		status2;
-//	uint8_t		status3;
-//	uint8_t		status4;
-
-	report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
-
-	//SPI_LOCK(spi, true);
-	//SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
-	//SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-	//SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
-	//SPI_LOCK(spi, false);
-
-	report.x = read_reg(spi, ADDR_ACC_X_LSB);
-	report.x |= (read_reg(spi, ADDR_ACC_X_LSB+1) << 8);
-	report.y = read_reg(spi, ADDR_ACC_X_LSB+2);
-	report.y |= (read_reg(spi, ADDR_ACC_X_LSB+3) << 8);
-	report.z = read_reg(spi, ADDR_ACC_X_LSB+4);
-	report.z |= (read_reg(spi, ADDR_ACC_X_LSB+5) << 8);
-	report.temp = read_reg(spi, ADDR_ACC_X_LSB+6);
-
-	// Collect status and remove two top bits
-
-	uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01);
-	report.x = (report.x >> 2);
-	report.y = (report.y >> 2);
-	report.z = (report.z >> 2);
-
-	message("ACC: x: %d\ty: %d\tz: %d\ttemp: %d new: %d\n", report.x, report.y, report.z, report.temp, new_data);
-	usleep(2000);
-
-	return 0;
-}
diff --git a/apps/px4/sensors_bringup/l3gd20.c b/apps/px4/sensors_bringup/l3gd20.c
deleted file mode 100644
index 5bdc10e06..000000000
--- a/apps/px4/sensors_bringup/l3gd20.c
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
- * Operations for the l3g4200
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <nuttx/spi.h>
-
-#include "sensors.h"
-
-#define DIR_READ			(1<<7)
-#define DIR_WRITE			(0<<7)
-#define ADDR_INCREMENT			(1<<6)
-
-#define ADDR_WHO_AM_I			0x0f
-#define WHO_I_AM				0xd4
-
-#define ADDR_CTRL_REG1			0x20		/* sample rate constants are in the public header */
-#define REG1_POWER_NORMAL			(1<<3)
-#define REG1_Z_ENABLE				(1<<2)
-#define REG1_Y_ENABLE				(1<<1)
-#define REG1_X_ENABLE				(1<<0)
-
-#define ADDR_CTRL_REG2			0x21
-/* high-pass filter - usefulness TBD */
-
-#define ADDR_CTRL_REG3			0x22
-
-#define ADDR_CTRL_REG4			0x23
-#define REG4_BDU				(1<<7)
-#define REG4_BIG_ENDIAN				(1<<6)
-#define REG4_SPI_3WIRE				(1<<0)
-
-#define ADDR_CTRL_REG5			0x24
-#define REG5_BOOT				(1<<7)
-#define REG5_FIFO_EN				(1<<6)
-#define REG5_HIGHPASS_ENABLE			(1<<4)
-
-#define ADDR_REFERENCE			0x25
-#define ADDR_TEMPERATURE		0x26
-
-#define ADDR_STATUS_REG			0x27
-#define STATUS_ZYXOR				(1<<7)
-#define SATAUS_ZOR				(1<<6)
-#define STATUS_YOR				(1<<5)
-#define STATUS_XOR				(1<<4)
-#define STATUS_ZYXDA				(1<<3)
-#define STATUS_ZDA				(1<<2)
-#define STATUS_YDA				(1<<1)
-#define STATUS_XDA				(1<<0)
-
-#define ADDR_OUT_X			0x28	/* 16 bits */
-#define ADDR_OUT_Y			0x2A	/* 16 bits */
-#define ADDR_OUT_Z			0x2C	/* 16 bits */
-
-#define ADDR_FIFO_CTRL			0x2e
-#define FIFO_MODE_BYPASS			(0<<5)
-#define FIFO_MODE_FIFO				(1<<5)
-#define FIFO_MODE_STREAM			(2<<5)
-#define FIFO_MODE_STREAM_TO_FIFO		(3<<5)
-#define FIFO_MODE_BYPASS_TO_STREAM		(4<<5)
-#define FIFO_THRESHOLD_MASK			0x1f
-
-#define ADDR_FIFO_SRC			0x2f
-#define FIFO_THREHSHOLD_OVER			(1<<7)
-#define FIFO_OVERRUN				(1<<6)
-#define FIFO_EMPTY				(1<<5)
-
-#define L3G4200_RATE_100Hz		((0<<6) | (0<<4))
-#define L3G4200_RATE_200Hz		((1<<6) | (0<<4))
-#define L3G4200_RATE_400Hz		((2<<6) | (1<<4))
-#define L3G4200_RATE_800Hz		((3<<6) | (2<<4))
-
-#define L3G4200_RANGE_250dps		(0<<4)
-#define L3G4200_RANGE_500dps		(1<<4)
-#define L3G4200_RANGE_2000dps		(3<<4)
-
-static void
-write_reg(struct spi_dev_s *spi, uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-      	SPI_SNDBLOCK(spi, &cmd, sizeof(cmd));
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-}
-
-static uint8_t
-read_reg(struct spi_dev_s *spi, uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-	SPI_EXCHANGE(spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-
-	return data[1];
-}
-
-int
-l3gd20_test_configure(struct spi_dev_s *spi)
-{
-	uint8_t	id;
-
-	id = read_reg(spi, ADDR_WHO_AM_I);
-
-	if (id == WHO_I_AM)
-	{
-		message("L3GD20 SUCCESS: 0x%02x\n", id);
-	}
-	else
-	{
-		message("L3GD20 FAIL: 0x%02x\n", id);
-	}
-
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		temp;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report;
-
-	report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-	write_reg(spi, ADDR_CTRL_REG2, 0);			/* disable high-pass filters */
-	write_reg(spi, ADDR_CTRL_REG3, 0);			/* no interrupts - we don't use them */
-	write_reg(spi, ADDR_CTRL_REG5, 0);			/* turn off FIFO mode */
-
-	write_reg(spi, ADDR_CTRL_REG4, ((3<<4) & 0x30) | REG4_BDU);
-
-
-	write_reg(spi, ADDR_CTRL_REG1,
-			(((2<<6) | (1<<4)) & 0xf0) | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-	SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-
-	message("Init-read: gyro: x: %d\ty: %d\tz: %d\n", report.x, report.y, report.z);
-	usleep(1000);
-
-	//message("got id 0x%02x, expected ID 0xd4\n", id);
-
-	return 0;
-}
-
-int
-l3gd20_test_read(struct spi_dev_s *spi)
-{
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		temp;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report;
-
-	report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-	SPI_LOCK(spi, true);
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-	SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-	SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-	SPI_LOCK(spi, false);
-
-	message("gyro: x: %d\ty: %d\tz: %d\n", report.x, report.y, report.z);
-	usleep(1000);
-	return 0;
-}
diff --git a/apps/px4/sensors_bringup/sensors.h b/apps/px4/sensors_bringup/sensors.h
deleted file mode 100644
index 5fc2fbb08..000000000
--- a/apps/px4/sensors_bringup/sensors.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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.
- *
- ****************************************************************************/
-
-#ifndef __APPS_PX4_SENSORS_H
-#define __APPS_PX4_SENSORS_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/spi.h>
-#include <nuttx/i2c.h>
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* Debug ********************************************************************/
-
-#ifdef CONFIG_CPP_HAVE_VARARGS
-#  ifdef CONFIG_DEBUG
-#    define message(...) lib_rawprintf(__VA_ARGS__)
-#    define msgflush()
-#  else
-#    define message(...) printf(__VA_ARGS__)
-#    define msgflush() fflush(stdout)
-#  endif
-#else
-#  ifdef CONFIG_DEBUG
-#    define message lib_rawprintf
-#    define msgflush()
-#  else
-#    define message printf
-#    define msgflush() fflush(stdout)
-#  endif
-#endif
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/****************************************************************************
- * Public Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-int	l3gd20_test_configure(struct spi_dev_s *spi);
-int	l3gd20_test_read(struct spi_dev_s *spi);
-int	bma180_test_configure(struct spi_dev_s *spi);
-int	bma180_test_read(struct spi_dev_s *spi);
-int	bma180_test(struct spi_dev_s *spi);
-int hmc5883l_test(struct i2c_dev_s *i2c);
-
-#endif /* __APPS_PX4_SENSORS_H */
diff --git a/apps/px4/sensors_bringup/sensors_main.c b/apps/px4/sensors_bringup/sensors_main.c
deleted file mode 100644
index 3aa21ae14..000000000
--- a/apps/px4/sensors_bringup/sensors_main.c
+++ /dev/null
@@ -1,409 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/i2c.h>
-
-#include "sensors.h"
-
-__EXPORT int sensors_bringup_main(int argc, char *argv[]);
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: user_start/adc_main
- ****************************************************************************/
-
-int sensors_bringup_main(int argc, char *argv[])
-{
-	struct spi_dev_s *spi;
-	int result = -1;
-
-	spi = up_spiinitialize(1);
-	if (!spi) {
-		message("Failed to initialize SPI port 1\n");
-		goto out;
-	}
-
-	struct i2c_dev_s *i2c;
-	i2c = up_i2cinitialize(2);
-	if (!i2c) {
-		message("Failed to initialize I2C bus 2\n");
-		goto out;
-	}
-
-	int ret;
-
-#define EEPROM_ADDRESS		0x50
-#define HMC5883L_ADDRESS	0x1E
-
-	//uint8_t devaddr = EEPROM_ADDRESS;
-
-	I2C_SETFREQUENCY(i2c, 100000);
-//
-//	uint8_t subaddr = 0x00;
-//	int ret = 0;
-//
-//	// ATTEMPT HMC5883L CONFIG
-//	I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
-//	subaddr = 0x02; // mode register
-//	ret = I2C_WRITE(i2c, &subaddr, 0);
-//	if (ret < 0)
-//	{
-//		message("I2C_WRITE failed: %d\n", ret);
-//	}
-//	else
-//	{
-//		message("I2C_WRITE SUCCEEDED: %d\n", ret);
-//	}
-
-	//fflush(stdout);
-//
-//
-//
-
-
-#define STATUS_REGISTER		0x09 // Of HMC5883L
-
-	// ATTEMPT HMC5883L WRITE
-	I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
-	uint8_t cmd = 0x09;
-	uint8_t status_id[4] = {0, 0, 0, 0};
-
-
-	ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
-
-	if (ret >= 0 && status_id[1] == 'H' && status_id[2] == '4' && status_id[3] == '3')
-	{
-		message("HMC5883L identified, device status: %d\n", status_id[0]);
-	} else {
-		message("HMC5883L identification failed: %d\n", ret);
-	}
-
-#define HMC5883L_ADDR_CONF_A				0x00
-#define HMC5883L_ADDR_CONF_B				0x01
-#define HMC5883L_ADDR_MODE					0x02
-
-#define HMC5883L_AVERAGING_1		(0 << 5) /* conf a register */
-#define HMC5883L_AVERAGING_2		(1 << 5)
-#define HMC5883L_AVERAGING_4		(2 << 5)
-#define HMC5883L_AVERAGING_8		(3 << 5)
-
-#define HMC5883L_RATE_75HZ			(6 << 2) /* 75 Hz */
-
-#define HMC5883L_RANGE_0_88GA			(0 << 5)
-
-	uint8_t rate_cmd[] = {HMC5883L_ADDR_CONF_A, HMC5883L_RATE_75HZ | HMC5883L_AVERAGING_8};
-	ret = I2C_WRITE(i2c, rate_cmd, sizeof(rate_cmd));
-	message("Wrote %d into register 0x00 of HMC, result: %d (0 = success)\n", HMC5883L_RATE_75HZ | HMC5883L_AVERAGING_8, ret);
-
-	uint8_t range_cmd[] = {HMC5883L_ADDR_CONF_B, HMC5883L_RANGE_0_88GA};
-	ret = I2C_WRITE(i2c, range_cmd, sizeof(range_cmd));
-	message("Wrote %d into register 0x01 of HMC, result: %d (0 = success)\n", HMC5883L_RANGE_0_88GA, ret);
-
-	// Set HMC into continous mode
-	// First write address, then value
-	uint8_t cont_address[] = {HMC5883L_ADDR_MODE, 0x00};
-	ret = I2C_WRITE(i2c, cont_address, sizeof(cont_address));
-
-	message("Wrote 0x00 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
-
-
-	// ATTEMPT HMC5883L READ
-	int h = 0;
-
-	I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
-	for (h = 0; h < 5; h++)
-	{
-
-		cont_address[0] = HMC5883L_ADDR_MODE;
-		cont_address[1] = 0x01;
-		ret = I2C_WRITE(i2c, cont_address, sizeof(cont_address));
-
-		message("Wrote 0x01 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
-
-		usleep(100000);
-
-		cont_address[1] = 0x00;
-		uint8_t dummy;
-		ret = I2C_WRITEREAD(i2c, cont_address, sizeof(cont_address), &dummy, 1);
-
-		message("Wrote 0x00 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
-
-		usleep(100000);
-
-
-		int16_t hmc5883l_data[3] = {0, 0, 0};
-		uint8_t data_address = 0x03;
-		uint8_t* data_ptr = (uint8_t*)hmc5883l_data;
-		ret = I2C_WRITEREAD(i2c, &data_address, 1, data_ptr, 6);
-		if (ret < 0)
-		{
-			message("HMC5883L READ failed: %d\n", ret);
-		}
-		else
-		{
-			// mask out top four bits as only 12 bits are valid
-			hmc5883l_data[0] &= 0xFFF;
-			hmc5883l_data[1] &= 0xFFF;
-			hmc5883l_data[2] &= 0xFFF;
-
-			message("HMC5883L READ SUCCEEDED: %d, val: %d %d %d\n", ret, hmc5883l_data[0], hmc5883l_data[1], hmc5883l_data[2]);
-			uint8_t hmc_status;
-			ret = I2C_WRITEREAD(i2c, &cmd, 1, &hmc_status, 1);
-
-			message("\t status: %d\n", hmc_status);
-		}
-	}
-
-
-	// Possible addresses: 0x77 or 0x76
-#define MS5611_ADDRESS_1	0x76
-#define MS5611_ADDRESS_2	0x77
-	I2C_SETADDRESS(i2c, MS5611_ADDRESS_1, 7);
-	// Reset cmd
-	uint8_t ms5611_cmd[2] = {0x00, 0x1E};
-	ret = I2C_WRITE(i2c, ms5611_cmd, 2);
-	if (ret < 0)
-	{
-		message("MS5611 #1 WRITE failed: %d\n", ret);
-	}
-	else
-	{
-		message("MS5611 #1 WRITE SUCCEEDED: %d\n", ret);
-	}
-
-	fflush(stdout);
-
-	I2C_SETADDRESS(i2c, MS5611_ADDRESS_2, 7);
-	ret = I2C_WRITE(i2c, ms5611_cmd, 2);
-	if (ret < 0)
-	{
-		message("MS5611 #2 WRITE failed: %d\n", ret);
-	}
-	else
-	{
-		message("MS5611 #2 WRITE SUCCEEDED: %d\n", ret);
-	}
-
-	fflush(stdout);
-
-
-	// Wait for reset to complete (10 ms nominal, wait: 100 ms)
-	usleep(100000);
-
-	// Read PROM data
-	uint8_t prom_buf[2] = {0,1};
-
-	uint16_t calibration[6];
-
-	int i = 0;
-
-	prom_buf[0] = 0xA2 + (i*2);
-
-	struct i2c_msg_s msgv[2] = {
-	        {
-	            .addr   = MS5611_ADDRESS_2,
-	            .flags  = 0,
-	            .buffer = prom_buf,
-	            .length = 1
-	        },
-	        {
-	            .addr   = MS5611_ADDRESS_2,
-	            .flags  = I2C_M_READ,
-	            .buffer = prom_buf,
-	            .length = 1
-	        }
-	    };
-
-	calibration[i] = prom_buf[0]*256;
-	calibration[i]+= prom_buf[1];
-
-	int retval;
-
-	if ( (retval = I2C_TRANSFER(i2c, msgv, 2)) == OK )
-	{
-		printf("SUCCESS ACCESSING PROM OF MS5611: %d, value C1: %d\n", retval, (int)calibration[0]);
-	}
-	else
-	{
-		printf("FAIL ACCESSING PROM OF MS5611\n");
-	}
-
-
-
-
-	// TESTING CODE, EEPROM READ/WRITE
-	uint8_t val[1] = {10};
-	int retval_eeprom;
-	uint8_t eeprom_subaddr[2] = {0, 0};
-
-	struct i2c_msg_s msgv_eeprom[2] = {
-	        {
-	            .addr   = EEPROM_ADDRESS,
-	            .flags  = 0,
-	            .buffer = eeprom_subaddr,
-	            .length = 2
-	        },
-	        {
-	            .addr   = EEPROM_ADDRESS,
-	            .flags  = I2C_M_READ,
-	            .buffer = val,
-	            .length = 1
-	        }
-	    };
-
-	val[0] = 5;
-
-	if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom, 2)) == OK )
-	{
-		printf("SUCCESS READING EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
-	}
-	else
-	{
-		printf("FAIL READING EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
-	}
-
-	// Increment val
-	val[0] = val[0] + 1;
-
-	struct i2c_msg_s msgv_eeprom_write[2] = {
-		        {
-		            .addr   = EEPROM_ADDRESS,
-		            .flags  = I2C_M_NORESTART,
-		            .buffer = eeprom_subaddr,
-		            .length = 2
-		        },
-		        {
-		            .addr   = EEPROM_ADDRESS,
-		            .flags  = I2C_M_NORESTART,
-		            .buffer = val,
-		            .length = 1
-		        }
-	};
-
-
-	if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom_write, 2)) == OK )
-	{
-		printf("SUCCESS WRITING EEPROM: %d\n", retval_eeprom);
-	}
-
-	usleep(10000);
-
-	struct i2c_msg_s msgv_eeprom2[2] = {
-	        {
-	            .addr   = EEPROM_ADDRESS,
-	            .flags  = 0,
-	            .buffer = eeprom_subaddr,
-	            .length = 2
-	        },
-	        {
-	            .addr   = EEPROM_ADDRESS,
-	            .flags  = I2C_M_READ,
-	            .buffer = val,
-	            .length = 1
-	        }
-	    };
-
-	val[0] = 5;
-
-
-	if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom2, 2)) == OK )
-	{
-		printf("SUCCESS READING WRITE RESULT EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
-	}
-	else
-	{
-		printf("FAIL READING WRITE RESULT EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
-	}
-
-	// Configure sensors
-	l3gd20_test_configure(spi);
-	bma180_test_configure(spi);
-
-	for (int i = 0; i < 3; i++)
-	{
-		l3gd20_test_read(spi);
-		bma180_test_read(spi);
-		printf("# %d of 10\n", i+1);
-		usleep(50000);
-	}
-
-
-	out:
-   	msgflush();
-	return result;
-}