Added LSM303D driver skeleton

2 files changed, 875 insertions, 0 deletions

diff --git a/apps/drivers/lsm303d/Makefile b/apps/drivers/lsm303d/Makefile
new file mode 100644
index 000000000..542a9bd40
--- /dev/null
+++ b/apps/drivers/lsm303d/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2013 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 LSM303D driver.
+#
+
+APPNAME		 = lsm303d
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/lsm303d/lsm303d.cpp b/apps/drivers/lsm303d/lsm303d.cpp
new file mode 100644
index 000000000..b0f900102
--- /dev/null
+++ b/apps/drivers/lsm303d/lsm303d.cpp
@@ -0,0 +1,833 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file lsm303d.cpp
+ * Driver for the ST LSM303D MEMS accel / mag connected via SPI.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+/* SPI protocol address bits */
+#define DIR_READ				(1<<7)
+#define DIR_WRITE				(0<<7)
+#define ADDR_INCREMENT				(1<<6)
+
+/* register addresses */
+#define ADDR_TEMP_OUT_L         0x05
+#define ADDR_TEMP_OUT_H         0x06
+#define ADDR_STATUS_M           0x07
+#define ADDR_OUT_X_L_M          0x08
+#define ADDR_OUT_X_H_M          0x09
+#define ADDR_OUT_Y_L_M          0x08
+#define ADDR_OUT_Y_H_M          0x09
+#define ADDR_OUT_Z_L_M          0x0A
+#define ADDR_OUT_Z_H_M          0x0B
+
+#define ADDR_WHO_AM_I			0x0F
+#define WHO_I_AM				0x49
+
+#define INT_CTRL_M              0x12
+#define INT_SRC_M               0x13
+
+extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
+
+class LSM303D : public device::SPI
+{
+public:
+	LSM303D(int bus, const char* path, spi_dev_e device);
+	virtual ~LSM303D();
+
+	virtual int		init();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void			print_info();
+
+protected:
+	virtual int		probe();
+
+private:
+
+	struct hrt_call		_call;
+	unsigned		_call_interval;
+
+	unsigned		_num_reports;
+	volatile unsigned	_next_report;
+	volatile unsigned	_oldest_report;
+	struct gyro_report	*_reports;
+
+	struct gyro_scale	_gyro_scale;
+	float			_gyro_range_scale;
+	float			_gyro_range_rad_s;
+	orb_advert_t		_gyro_topic;
+
+	unsigned		_current_rate;
+	unsigned		_current_range;
+
+	perf_counter_t		_sample_perf;
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void			start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void			stop();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report ring.
+	 */
+	void			measure();
+
+	/**
+	 * Read a register from the LSM303D
+	 *
+	 * @param		The register to read.
+	 * @return		The value that was read.
+	 */
+	uint8_t			read_reg(unsigned reg);
+
+	/**
+	 * Write a register in the LSM303D
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Modify a register in the LSM303D
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg		The register to modify.
+	 * @param clearbits	Bits in the register to clear.
+	 * @param setbits	Bits in the register to set.
+	 */
+	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	 * Set the LSM303D measurement range.
+	 *
+	 * @param max_dps	The measurement range is set to permit reading at least
+	 *			this rate in degrees per second.
+	 *			Zero selects the maximum supported range.
+	 * @return		OK if the value can be supported, -ERANGE otherwise.
+	 */
+	int			set_range(unsigned max_dps);
+
+	/**
+	 * Set the LSM303D internal sampling frequency.
+	 *
+	 * @param frequency	The internal sampling frequency is set to not less than
+	 *			this value.
+	 *			Zero selects the maximum rate supported.
+	 * @return		OK if the value can be supported.
+	 */
+	int			set_samplerate(unsigned frequency);
+};
+
+/* helper macro for handling report buffer indices */
+#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+
+
+LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
+	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
+	_call_interval(0),
+	_num_reports(0),
+	_next_report(0),
+	_oldest_report(0),
+	_reports(nullptr),
+	_gyro_range_scale(0.0f),
+	_gyro_range_rad_s(0.0f),
+	_gyro_topic(-1),
+	_current_rate(0),
+	_current_range(0),
+	_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_read"))
+{
+	// enable debug() calls
+	_debug_enabled = true;
+
+	// default scale factors
+	_gyro_scale.x_offset = 0;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0;
+	_gyro_scale.z_scale  = 1.0f;
+}
+
+LSM303D::~LSM303D()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_reports != nullptr)
+		delete[] _reports;
+
+	/* delete the perf counter */
+	perf_free(_sample_perf);
+}
+
+int
+LSM303D::init()
+{
+	int ret = ERROR;
+
+	/* do SPI init (and probe) first */
+	if (SPI::init() != OK)
+		goto out;
+
+	/* allocate basic report buffers */
+	_num_reports = 2;
+	_oldest_report = _next_report = 0;
+	_reports = new struct accel_report[_num_reports];
+
+	if (_reports == nullptr)
+		goto out;
+
+	/* advertise sensor topic */
+	memset(&_reports[0], 0, sizeof(_reports[0]));
+	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
+
+//	/* set default configuration */
+//	write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
+//	write_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
+//	write_reg(ADDR_CTRL_REG3, 0);		/* no interrupts - we don't use them */
+//	write_reg(ADDR_CTRL_REG4, REG4_BDU);
+//	write_reg(ADDR_CTRL_REG5, 0);
+//
+//	write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);	  /* disable wake-on-interrupt */
+//	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
+
+	set_range(500);				/* default to 500dps */
+	set_samplerate(0);			/* max sample rate */
+
+	ret = OK;
+out:
+	return ret;
+}
+
+int
+LSM303D::probe()
+{
+	/* read dummy value to void to clear SPI statemachine on sensor */
+	(void)read_reg(ADDR_WHO_AM_I);
+
+	/* verify that the device is attached and functioning */
+	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM)
+		return OK;
+
+	return -EIO;
+}
+
+ssize_t
+LSM303D::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(struct gyro_report);
+	int ret = 0;
+
+//	/* buffer must be large enough */
+//	if (count < 1)
+//		return -ENOSPC;
+//
+//	/* if automatic measurement is enabled */
+//	if (_call_interval > 0) {
+//
+//		/*
+//		 * While there is space in the caller's buffer, and reports, copy them.
+//		 * Note that we may be pre-empted by the measurement code while we are doing this;
+//		 * we are careful to avoid racing with it.
+//		 */
+//		while (count--) {
+//			if (_oldest_report != _next_report) {
+//				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
+//				ret += sizeof(_reports[0]);
+//				INCREMENT(_oldest_report, _num_reports);
+//			}
+//		}
+//
+//		/* if there was no data, warn the caller */
+//		return ret ? ret : -EAGAIN;
+//	}
+//
+//	/* manual measurement */
+//	_oldest_report = _next_report = 0;
+//	measure();
+//
+//	/* measurement will have generated a report, copy it out */
+//	memcpy(buffer, _reports, sizeof(*_reports));
+//	ret = sizeof(*_reports);
+
+	return ret;
+}
+
+int
+LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+//	case SENSORIOCSPOLLRATE: {
+//			switch (arg) {
+//
+//				/* switching to manual polling */
+//			case SENSOR_POLLRATE_MANUAL:
+//				stop();
+//				_call_interval = 0;
+//				return OK;
+//
+//				/* external signalling not supported */
+//			case SENSOR_POLLRATE_EXTERNAL:
+//
+//				/* zero would be bad */
+//			case 0:
+//				return -EINVAL;
+//
+//				/* set default/max polling rate */
+//			case SENSOR_POLLRATE_MAX:
+//			case SENSOR_POLLRATE_DEFAULT:
+//				/* With internal low pass filters enabled, 250 Hz is sufficient */
+//				return ioctl(filp, SENSORIOCSPOLLRATE, 250);
+//
+//				/* adjust to a legal polling interval in Hz */
+//			default: {
+//					/* do we need to start internal polling? */
+//					bool want_start = (_call_interval == 0);
+//
+//					/* convert hz to hrt interval via microseconds */
+//					unsigned ticks = 1000000 / arg;
+//
+//					/* check against maximum sane rate */
+//					if (ticks < 1000)
+//						return -EINVAL;
+//
+//					/* update interval for next measurement */
+//					/* XXX this is a bit shady, but no other way to adjust... */
+//					_call.period = _call_interval = ticks;
+//
+//					/* if we need to start the poll state machine, do it */
+//					if (want_start)
+//						start();
+//
+//					return OK;
+//				}
+//			}
+//		}
+//
+//	case SENSORIOCGPOLLRATE:
+//		if (_call_interval == 0)
+//			return SENSOR_POLLRATE_MANUAL;
+//
+//		return 1000000 / _call_interval;
+//
+//	case SENSORIOCSQUEUEDEPTH: {
+//			/* account for sentinel in the ring */
+//			arg++;
+//
+//			/* lower bound is mandatory, upper bound is a sanity check */
+//			if ((arg < 2) || (arg > 100))
+//				return -EINVAL;
+//
+//			/* allocate new buffer */
+//			struct gyro_report *buf = new struct gyro_report[arg];
+//
+//			if (nullptr == buf)
+//				return -ENOMEM;
+//
+//			/* reset the measurement state machine with the new buffer, free the old */
+//			stop();
+//			delete[] _reports;
+//			_num_reports = arg;
+//			_reports = buf;
+//			start();
+//
+//			return OK;
+//		}
+//
+//	case SENSORIOCGQUEUEDEPTH:
+//		return _num_reports - 1;
+//
+//	case SENSORIOCRESET:
+//		/* XXX implement */
+//		return -EINVAL;
+//
+//	case GYROIOCSSAMPLERATE:
+//		return set_samplerate(arg);
+//
+//	case GYROIOCGSAMPLERATE:
+//		return _current_rate;
+//
+//	case GYROIOCSLOWPASS:
+//	case GYROIOCGLOWPASS:
+//		/* XXX not implemented due to wacky interaction with samplerate */
+//		return -EINVAL;
+//
+//	case GYROIOCSSCALE:
+//		/* copy scale in */
+//		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+//		return OK;
+//
+//	case GYROIOCGSCALE:
+//		/* copy scale out */
+//		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+//		return OK;
+//
+//	case GYROIOCSRANGE:
+//		return set_range(arg);
+//
+//	case GYROIOCGRANGE:
+//		return _current_range;
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+uint8_t
+LSM303D::read_reg(unsigned reg)
+{
+	uint8_t cmd[2];
+
+	cmd[0] = reg | DIR_READ;
+
+	transfer(cmd, cmd, sizeof(cmd));
+
+	return cmd[1];
+}
+
+void
+LSM303D::write_reg(unsigned reg, uint8_t value)
+{
+	uint8_t	cmd[2];
+
+	cmd[0] = reg | DIR_WRITE;
+	cmd[1] = value;
+
+	transfer(cmd, nullptr, sizeof(cmd));
+}
+
+void
+LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
+{
+	uint8_t	val;
+
+	val = read_reg(reg);
+	val &= ~clearbits;
+	val |= setbits;
+	write_reg(reg, val);
+}
+
+int
+LSM303D::set_range(unsigned max_dps)
+{
+//	uint8_t bits = REG4_BDU;
+//
+//	if (max_dps == 0)
+//		max_dps = 2000;
+//
+//	if (max_dps <= 250) {
+//		_current_range = 250;
+//		bits |= RANGE_250DPS;
+//
+//	} else if (max_dps <= 500) {
+//		_current_range = 500;
+//		bits |= RANGE_500DPS;
+//
+//	} else if (max_dps <= 2000) {
+//		_current_range = 2000;
+//		bits |= RANGE_2000DPS;
+//
+//	} else {
+//		return -EINVAL;
+//	}
+//
+//	_gyro_range_rad_s = _current_range / 180.0f * M_PI_F;
+//	_gyro_range_scale = _gyro_range_rad_s / 32768.0f;
+//	write_reg(ADDR_CTRL_REG4, bits);
+
+	return OK;
+}
+
+int
+LSM303D::set_samplerate(unsigned frequency)
+{
+//	uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
+//
+//	if (frequency == 0)
+//		frequency = 760;
+//
+//	if (frequency <= 95) {
+//		_current_rate = 95;
+//		bits |= RATE_95HZ_LP_25HZ;
+//
+//	} else if (frequency <= 190) {
+//		_current_rate = 190;
+//		bits |= RATE_190HZ_LP_25HZ;
+//
+//	} else if (frequency <= 380) {
+//		_current_rate = 380;
+//		bits |= RATE_380HZ_LP_30HZ;
+//
+//	} else if (frequency <= 760) {
+//		_current_rate = 760;
+//		bits |= RATE_760HZ_LP_30HZ;
+//
+//	} else {
+//		return -EINVAL;
+//	}
+//
+//	write_reg(ADDR_CTRL_REG1, bits);
+
+	return OK;
+}
+
+void
+LSM303D::start()
+{
+	/* make sure we are stopped first */
+	stop();
+
+	/* reset the report ring */
+	_oldest_report = _next_report = 0;
+
+	/* start polling at the specified rate */
+	hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&LSM303D::measure_trampoline, this);
+}
+
+void
+LSM303D::stop()
+{
+	hrt_cancel(&_call);
+}
+
+void
+LSM303D::measure_trampoline(void *arg)
+{
+	LSM303D *dev = (LSM303D *)arg;
+
+	/* make another measurement */
+	dev->measure();
+}
+
+void
+LSM303D::measure()
+{
+//	/* status register and data as read back from the device */
+//#pragma pack(push, 1)
+//	struct {
+//		uint8_t		cmd;
+//		uint8_t		temp;
+//		uint8_t		status;
+//		int16_t		x;
+//		int16_t		y;
+//		int16_t		z;
+//	} raw_report;
+//#pragma pack(pop)
+//
+//	gyro_report		*report = &_reports[_next_report];
+//
+//	/* start the performance counter */
+//	perf_begin(_sample_perf);
+//
+//	/* fetch data from the sensor */
+//	raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
+//	transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
+//
+//	/*
+//	 * 1) Scale raw value to SI units using scaling from datasheet.
+//	 * 2) Subtract static offset (in SI units)
+//	 * 3) Scale the statically calibrated values with a linear
+//	 *    dynamically obtained factor
+//	 *
+//	 * Note: the static sensor offset is the number the sensor outputs
+//	 * 	 at a nominally 'zero' input. Therefore the offset has to
+//	 * 	 be subtracted.
+//	 *
+//	 *	 Example: A gyro outputs a value of 74 at zero angular rate
+//	 *	 	  the offset is 74 from the origin and subtracting
+//	 *		  74 from all measurements centers them around zero.
+//	 */
+//	report->timestamp = hrt_absolute_time();
+//	/* XXX adjust for sensor alignment to board here */
+//	report->x_raw = raw_report.x;
+//	report->y_raw = raw_report.y;
+//	report->z_raw = raw_report.z;
+//
+//	report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+//	report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+//	report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+//	report->scaling = _gyro_range_scale;
+//	report->range_rad_s = _gyro_range_rad_s;
+//
+//	/* post a report to the ring - note, not locked */
+//	INCREMENT(_next_report, _num_reports);
+//
+//	/* if we are running up against the oldest report, fix it */
+//	if (_next_report == _oldest_report)
+//		INCREMENT(_oldest_report, _num_reports);
+//
+//	/* notify anyone waiting for data */
+//	poll_notify(POLLIN);
+//
+//	/* publish for subscribers */
+//	orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report);
+
+	/* stop the perf counter */
+	perf_end(_sample_perf);
+}
+
+void
+LSM303D::print_info()
+{
+	perf_print_counter(_sample_perf);
+	printf("report queue:   %u (%u/%u @ %p)\n",
+	       _num_reports, _oldest_report, _next_report, _reports);
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace lsm303d
+{
+
+LSM303D	*g_dev;
+
+void	start();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+	int fd;
+
+	if (g_dev != nullptr)
+		errx(1, "already started");
+
+	/* create the driver */
+	g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL);
+
+	if (g_dev == nullptr)
+		goto fail;
+
+	if (OK != g_dev->init())
+		goto fail;
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		goto fail;
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		goto fail;
+
+	exit(0);
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	int fd_accel = -1;
+	struct accel_report a_report;
+	ssize_t sz;
+
+	/* get the driver */
+	fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd_accel < 0)
+		err(1, "%s open failed", ACCEL_DEVICE_PATH);
+
+	/* reset to manual polling */
+	if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
+		err(1, "reset to manual polling");
+
+	/* do a simple demand read */
+	sz = read(fd_accel, &a_report, sizeof(a_report));
+
+	if (sz != sizeof(a_report))
+		err(1, "immediate gyro read failed");
+
+	warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x);
+	warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y);
+	warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z);
+	warnx("accel x: \t%d\traw", (int)a_report.x_raw);
+	warnx("accel y: \t%d\traw", (int)a_report.y_raw);
+	warnx("accel z: \t%d\traw", (int)a_report.z_raw);
+	warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
+
+	/* XXX add poll-rate tests here too */
+
+	reset();
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "failed ");
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+		err(1, "driver reset failed");
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+		err(1, "driver poll restart failed");
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr)
+		errx(1, "driver not running\n");
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+
+} // namespace
+
+int
+lsm303d_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+
+	 */
+	if (!strcmp(argv[1], "start"))
+		LSM303D::start();
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		lsm303d::test();
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset"))
+		lsm303d::reset();
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info"))
+		lsm303d::info();
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}