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-rw-r--r--apps/drivers/bma180/bma180.cpp929
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diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp
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--- a/apps/drivers/bma180/bma180.cpp
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-/****************************************************************************
- *
- * 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.
- *
- ****************************************************************************/
-
-/**
- * @file bma180.cpp
- * Driver for the Bosch BMA 180 MEMS accelerometer 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/wqueue.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>
-
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-#define DIR_READ (1<<7)
-#define DIR_WRITE (0<<7)
-
-#define ADDR_CHIP_ID 0x00
-#define CHIP_ID 0x03
-
-#define ADDR_ACC_X_LSB 0x02
-#define ADDR_ACC_Y_LSB 0x04
-#define ADDR_ACC_Z_LSB 0x06
-#define ADDR_TEMPERATURE 0x08
-
-#define ADDR_CTRL_REG0 0x0D
-#define REG0_WRITE_ENABLE 0x10
-
-#define ADDR_RESET 0x10
-#define SOFT_RESET 0xB6
-
-#define ADDR_BW_TCS 0x20
-#define BW_TCS_BW_MASK (0xf<<4)
-#define BW_TCS_BW_10HZ (0<<4)
-#define BW_TCS_BW_20HZ (1<<4)
-#define BW_TCS_BW_40HZ (2<<4)
-#define BW_TCS_BW_75HZ (3<<4)
-#define BW_TCS_BW_150HZ (4<<4)
-#define BW_TCS_BW_300HZ (5<<4)
-#define BW_TCS_BW_600HZ (6<<4)
-#define BW_TCS_BW_1200HZ (7<<4)
-
-#define ADDR_HIGH_DUR 0x27
-#define HIGH_DUR_DIS_I2C (1<<0)
-
-#define ADDR_TCO_Z 0x30
-#define TCO_Z_MODE_MASK 0x3
-
-#define ADDR_GAIN_Y 0x33
-#define GAIN_Y_SHADOW_DIS (1<<0)
-
-#define ADDR_OFFSET_LSB1 0x35
-#define OFFSET_LSB1_RANGE_MASK (7<<1)
-#define OFFSET_LSB1_RANGE_1G (0<<1)
-#define OFFSET_LSB1_RANGE_2G (2<<1)
-#define OFFSET_LSB1_RANGE_3G (3<<1)
-#define OFFSET_LSB1_RANGE_4G (4<<1)
-#define OFFSET_LSB1_RANGE_8G (5<<1)
-#define OFFSET_LSB1_RANGE_16G (6<<1)
-
-#define ADDR_OFFSET_T 0x37
-#define OFFSET_T_READOUT_12BIT (1<<0)
-
-extern "C" { __EXPORT int bma180_main(int argc, char *argv[]); }
-
-class BMA180 : public device::SPI
-{
-public:
- BMA180(int bus, spi_dev_e device);
- virtual ~BMA180();
-
- 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 accel_report *_reports;
-
- struct accel_scale _accel_scale;
- float _accel_range_scale;
- float _accel_range_m_s2;
- orb_advert_t _accel_topic;
-
- unsigned _current_lowpass;
- 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 BMA180
- *
- * @param The register to read.
- * @return The value that was read.
- */
- uint8_t read_reg(unsigned reg);
-
- /**
- * Write a register in the BMA180
- *
- * @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 BMA180
- *
- * 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 BMA180 measurement range.
- *
- * @param max_g The maximum G value the range must support.
- * @return OK if the value can be supported, -ERANGE otherwise.
- */
- int set_range(unsigned max_g);
-
- /**
- * Set the BMA180 internal lowpass filter frequency.
- *
- * @param frequency The internal lowpass filter frequency is set to a value
- * equal or greater to this.
- * Zero selects the highest frequency supported.
- * @return OK if the value can be supported.
- */
- int set_lowpass(unsigned frequency);
-};
-
-/* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
-
-
-BMA180::BMA180(int bus, spi_dev_e device) :
- SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
- _call_interval(0),
- _num_reports(0),
- _next_report(0),
- _oldest_report(0),
- _reports(nullptr),
- _accel_range_scale(0.0f),
- _accel_range_m_s2(0.0f),
- _accel_topic(-1),
- _current_lowpass(0),
- _current_range(0),
- _sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
-{
- // enable debug() calls
- _debug_enabled = true;
-
- // default scale factors
- _accel_scale.x_offset = 0;
- _accel_scale.x_scale = 1.0f;
- _accel_scale.y_offset = 0;
- _accel_scale.y_scale = 1.0f;
- _accel_scale.z_offset = 0;
- _accel_scale.z_scale = 1.0f;
-}
-
-BMA180::~BMA180()
-{
- /* 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
-BMA180::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]);
-
- /* perform soft reset (p48) */
- write_reg(ADDR_RESET, SOFT_RESET);
-
- /* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */
- usleep(10000);
-
- /* enable writing to chip config */
- modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
-
- /* disable I2C interface */
- modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
-
- /* switch to low-noise mode */
- modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
-
- /* disable 12-bit mode */
- modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
-
- /* disable shadow-disable mode */
- modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
-
- /* disable writing to chip config */
- modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
-
- if (set_range(4)) warnx("Failed setting range");
-
- if (set_lowpass(75)) warnx("Failed setting lowpass");
-
- if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
- ret = OK;
-
- } else {
- ret = ERROR;
- }
-
-out:
- return ret;
-}
-
-int
-BMA180::probe()
-{
- /* dummy read to ensure SPI state machine is sane */
- read_reg(ADDR_CHIP_ID);
-
- if (read_reg(ADDR_CHIP_ID) == CHIP_ID)
- return OK;
-
- return -EIO;
-}
-
-ssize_t
-BMA180::read(struct file *filp, char *buffer, size_t buflen)
-{
- unsigned count = buflen / sizeof(struct accel_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
-BMA180::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 accel_report *buf = new struct accel_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 ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
- return -EINVAL;
-
- case ACCELIOCGSAMPLERATE:
- return 1200; /* always operating in low-noise mode */
-
- case ACCELIOCSLOWPASS:
- return set_lowpass(arg);
-
- case ACCELIOCGLOWPASS:
- return _current_lowpass;
-
- case ACCELIOCSSCALE:
- /* copy scale in */
- memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
- return OK;
-
- case ACCELIOCGSCALE:
- /* copy scale out */
- memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
- return OK;
-
- case ACCELIOCSRANGE:
- return set_range(arg);
-
- case ACCELIOCGRANGE:
- return _current_range;
-
- default:
- /* give it to the superclass */
- return SPI::ioctl(filp, cmd, arg);
- }
-}
-
-uint8_t
-BMA180::read_reg(unsigned reg)
-{
- uint8_t cmd[2];
-
- cmd[0] = reg | DIR_READ;
-
- transfer(cmd, cmd, sizeof(cmd));
-
- return cmd[1];
-}
-
-void
-BMA180::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
-BMA180::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
-BMA180::set_range(unsigned max_g)
-{
- uint8_t rangebits;
-
- if (max_g == 0)
- max_g = 16;
-
- if (max_g > 16)
- return -ERANGE;
-
- if (max_g <= 2) {
- _current_range = 2;
- rangebits = OFFSET_LSB1_RANGE_2G;
-
- } else if (max_g <= 3) {
- _current_range = 3;
- rangebits = OFFSET_LSB1_RANGE_3G;
-
- } else if (max_g <= 4) {
- _current_range = 4;
- rangebits = OFFSET_LSB1_RANGE_4G;
-
- } else if (max_g <= 8) {
- _current_range = 8;
- rangebits = OFFSET_LSB1_RANGE_8G;
-
- } else if (max_g <= 16) {
- _current_range = 16;
- rangebits = OFFSET_LSB1_RANGE_16G;
-
- } else {
- return -EINVAL;
- }
-
- /* set new range scaling factor */
- _accel_range_m_s2 = _current_range * 9.80665f;
- _accel_range_scale = _accel_range_m_s2 / 8192.0f;
-
- /* enable writing to chip config */
- modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
-
- /* adjust sensor configuration */
- modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
-
- /* block writing to chip config */
- modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
-
- /* check if wanted value is now in register */
- return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
- (OFFSET_LSB1_RANGE_MASK & rangebits));
-}
-
-int
-BMA180::set_lowpass(unsigned frequency)
-{
- uint8_t bwbits;
-
- if (frequency > 1200) {
- return -ERANGE;
-
- } else if (frequency > 600) {
- bwbits = BW_TCS_BW_1200HZ;
-
- } else if (frequency > 300) {
- bwbits = BW_TCS_BW_600HZ;
-
- } else if (frequency > 150) {
- bwbits = BW_TCS_BW_300HZ;
-
- } else if (frequency > 75) {
- bwbits = BW_TCS_BW_150HZ;
-
- } else if (frequency > 40) {
- bwbits = BW_TCS_BW_75HZ;
-
- } else if (frequency > 20) {
- bwbits = BW_TCS_BW_40HZ;
-
- } else if (frequency > 10) {
- bwbits = BW_TCS_BW_20HZ;
-
- } else {
- bwbits = BW_TCS_BW_10HZ;
- }
-
- /* enable writing to chip config */
- modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
-
- /* adjust sensor configuration */
- modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits);
-
- /* block writing to chip config */
- modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
-
- /* check if wanted value is now in register */
- return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) ==
- (BW_TCS_BW_MASK & bwbits));
-}
-
-void
-BMA180::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)&BMA180::measure_trampoline, this);
-}
-
-void
-BMA180::stop()
-{
- hrt_cancel(&_call);
-}
-
-void
-BMA180::measure_trampoline(void *arg)
-{
- BMA180 *dev = (BMA180 *)arg;
-
- /* make another measurement */
- dev->measure();
-}
-
-void
-BMA180::measure()
-{
- /* BMA180 measurement registers */
-// #pragma pack(push, 1)
-// struct {
-// uint8_t cmd;
-// int16_t x;
-// int16_t y;
-// int16_t z;
-// } raw_report;
-// #pragma pack(pop)
-
- accel_report *report = &_reports[_next_report];
-
- /* start the performance counter */
- perf_begin(_sample_perf);
-
- /*
- * Fetch the full set of measurements from the BMA180 in one pass;
- * starting from the X LSB.
- */
- //raw_report.cmd = ADDR_ACC_X_LSB;
- // XXX PX4DEV transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
-
- /*
- * Adjust and scale results to SI units.
- *
- * Note that we ignore the "new data" bits. At any time we read, each
- * of the axis measurements are the "most recent", even if we've seen
- * them before. There is no good way to synchronise with the internal
- * measurement flow without using the external interrupt.
- */
- _reports[_next_report].timestamp = hrt_absolute_time();
- /*
- * y of board is x of sensor and x of board is -y of sensor
- * perform only the axis assignment here.
- * Two non-value bits are discarded directly
- */
- report->y_raw = read_reg(ADDR_ACC_X_LSB + 0);
- report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
- report->x_raw = read_reg(ADDR_ACC_X_LSB + 2);
- report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
- report->z_raw = read_reg(ADDR_ACC_X_LSB + 4);
- report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
-
- /* discard two non-value bits in the 16 bit measurement */
- report->x_raw = (report->x_raw / 4);
- report->y_raw = (report->y_raw / 4);
- report->z_raw = (report->z_raw / 4);
-
- /* invert y axis, due to 14 bit data no overflow can occur in the negation */
- report->y_raw = -report->y_raw;
-
- report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
- report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
- report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
- report->scaling = _accel_range_scale;
- report->range_m_s2 = _accel_range_m_s2;
-
- /* 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_accel), _accel_topic, report);
-
- /* stop the perf counter */
- perf_end(_sample_perf);
-}
-
-void
-BMA180::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 bma180
-{
-
-BMA180 *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 BMA180(1 /* XXX magic number */, (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 = -1;
- struct accel_report a_report;
- ssize_t sz;
-
- /* get the driver */
- fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
-
- if (fd < 0)
- err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
- ACCEL_DEVICE_PATH);
-
- /* reset to manual polling */
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
- err(1, "reset to manual polling");
-
- /* do a simple demand read */
- sz = read(fd, &a_report, sizeof(a_report));
-
- if (sz != sizeof(a_report))
- err(1, "immediate acc read failed");
-
- warnx("single read");
- warnx("time: %lld", a_report.timestamp);
- warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
- warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
- warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
- warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
- warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
- warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
- warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
- (double)(a_report.range_m_s2 / 9.81f));
-
- /* 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, "BMA180: driver not running");
-
- printf("state @ %p\n", g_dev);
- g_dev->print_info();
-
- exit(0);
-}
-
-
-} // namespace
-
-int
-bma180_main(int argc, char *argv[])
-{
- /*
- * Start/load the driver.
-
- */
- if (!strcmp(argv[1], "start"))
- bma180::start();
-
- /*
- * Test the driver/device.
- */
- if (!strcmp(argv[1], "test"))
- bma180::test();
-
- /*
- * Reset the driver.
- */
- if (!strcmp(argv[1], "reset"))
- bma180::reset();
-
- /*
- * Print driver information.
- */
- if (!strcmp(argv[1], "info"))
- bma180::info();
-
- errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
-}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-09 11:04:01 +0000