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path: root/apps/drivers/bma180/bma180.cpp
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Diffstat (limited to 'apps/drivers/bma180/bma180.cpp')
-rw-r--r--apps/drivers/bma180/bma180.cpp44
1 files changed, 32 insertions, 12 deletions
diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp
index 8b22b1326..bc4d4b3bf 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/apps/drivers/bma180/bma180.cpp
@@ -289,6 +289,7 @@ BMA180::init()
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
+
if (_reports == nullptr)
goto out;
@@ -321,13 +322,16 @@ BMA180::init()
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;
}
@@ -441,6 +445,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
+
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
@@ -468,7 +473,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGQUEUEDEPTH:
- return _num_reports -1;
+ return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement */
@@ -488,12 +493,12 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCSSCALE:
/* copy scale in */
- memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
+ 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));
+ memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
@@ -549,24 +554,30 @@ BMA180::set_range(unsigned max_g)
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;
}
@@ -586,7 +597,7 @@ BMA180::set_range(unsigned max_g)
/* check if wanted value is now in register */
return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
- (OFFSET_LSB1_RANGE_MASK & rangebits));
+ (OFFSET_LSB1_RANGE_MASK & rangebits));
}
int
@@ -633,7 +644,7 @@ BMA180::set_lowpass(unsigned frequency)
/* check if wanted value is now in register */
return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) ==
- (BW_TCS_BW_MASK & bwbits));
+ (BW_TCS_BW_MASK & bwbits));
}
void
@@ -703,9 +714,9 @@ BMA180::measure()
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
- report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+1)) << 8) | (read_reg(ADDR_ACC_X_LSB));// XXX PX4DEV raw_report.x;
- report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+3)) << 8) | (read_reg(ADDR_ACC_X_LSB+2));// XXX PX4DEV raw_report.y;
- report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+5)) << 8) | (read_reg(ADDR_ACC_X_LSB+4));// XXX PX4DEV raw_report.z;
+ report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 1)) << 8) | (read_reg(ADDR_ACC_X_LSB)); // XXX PX4DEV raw_report.x;
+ report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 3)) << 8) | (read_reg(ADDR_ACC_X_LSB + 2)); // XXX PX4DEV raw_report.y;
+ report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 5)) << 8) | (read_reg(ADDR_ACC_X_LSB + 4)); // XXX PX4DEV raw_report.z;
/* discard two non-value bits in the 16 bit measurement */
report->x_raw = (report->x_raw >> 2);
@@ -781,17 +792,21 @@ start()
/* 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");
}
@@ -809,16 +824,18 @@ test()
/* 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);
+ 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");
@@ -831,7 +848,7 @@ test()
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));
+ (double)(a_report.range_m_s2 / 9.81f));
/* XXX add poll-rate tests here too */
@@ -846,10 +863,13 @@ 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");
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-30 03:14:11 +0000