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-rw-r--r--apps/px4/sensors_bringup/sensors_main.c409
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diff --git a/apps/px4/sensors_bringup/sensors_main.c b/apps/px4/sensors_bringup/sensors_main.c
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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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * 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;
+}
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