diff options
Diffstat (limited to 'apps/px4/sensors_bringup/bma180.c')
| -rw-r--r-- | apps/px4/sensors_bringup/bma180.c | 209 |
1 files changed, 0 insertions, 209 deletions
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; -} |