diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-18 09:34:49 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-18 09:34:49 +0200 |
commit | c6eff9eb8bb70a784517b59fe6e5c0b36d33cd56 (patch) | |
tree | 5b09fa52d01ffc38c6d6447116bf615cfb8f644c | |
parent | 8a8b6b716530172d11e0a1b4039418e0caf11593 (diff) | |
download | px4-firmware-c6eff9eb8bb70a784517b59fe6e5c0b36d33cd56.tar.gz px4-firmware-c6eff9eb8bb70a784517b59fe6e5c0b36d33cd56.tar.bz2 px4-firmware-c6eff9eb8bb70a784517b59fe6e5c0b36d33cd56.zip |
Removed outdated sensors bringup app
-rw-r--r-- | apps/px4/sensors_bringup/.context | 0 | ||||
-rw-r--r-- | apps/px4/sensors_bringup/Makefile | 42 | ||||
-rw-r--r-- | apps/px4/sensors_bringup/bma180.c | 209 | ||||
-rw-r--r-- | apps/px4/sensors_bringup/l3gd20.c | 184 | ||||
-rw-r--r-- | apps/px4/sensors_bringup/sensors.h | 88 | ||||
-rw-r--r-- | apps/px4/sensors_bringup/sensors_main.c | 409 |
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; -} |