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Diffstat (limited to 'nuttx/configs/px4fmu/src/drv_bma180.c')
-rw-r--r--nuttx/configs/px4fmu/src/drv_bma180.c341
1 files changed, 0 insertions, 341 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_bma180.c b/nuttx/configs/px4fmu/src/drv_bma180.c
deleted file mode 100644
index da80cc2e2..000000000
--- a/nuttx/configs/px4fmu/src/drv_bma180.c
+++ /dev/null
@@ -1,341 +0,0 @@
-/*
- * Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
- */
-
-/*
- * Driver for the Bosch BMA 180 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-
-#include <stdio.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_bma180.h>
-
-/*
- * BMA180 registers
- */
-
-/* Important Notes:
- *
- * - MAX SPI clock: 25 MHz
- * - Readout time: 0.417 ms in high accuracy mode
- * - Boot / ready time: 1.27 ms
- *
- */
-
-#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 RANGEMASK 0x0E
-#define BWMASK 0xF0
-
-
-static ssize_t bma180_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int bma180_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations bma180_fops = {
- .read = bma180_read,
- .ioctl = bma180_ioctl,
-};
-
-struct bma180_dev_s
-{
- struct spi_dev_s *spi;
- int spi_id;
- uint8_t rate;
- struct bma180_buffer *buffer;
-};
-
-static struct bma180_dev_s bma180_dev;
-
-static void bma180_write_reg(uint8_t address, uint8_t data);
-static uint8_t bma180_read_reg(uint8_t address);
-static bool read_fifo(uint16_t *data);
-static int bma180_set_range(uint8_t range);
-static int bma180_set_rate(uint8_t rate);
-
-static void
-bma180_write_reg(uint8_t address, uint8_t data)
-{
- uint8_t cmd[2] = { address | DIR_WRITE, data };
-
- SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
- SPI_SNDBLOCK(bma180_dev.spi, &cmd, sizeof(cmd));
- SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-}
-
-static uint8_t
-bma180_read_reg(uint8_t address)
-{
- uint8_t cmd[2] = {address | DIR_READ, 0};
- uint8_t data[2];
-
- SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
- SPI_EXCHANGE(bma180_dev.spi, cmd, data, sizeof(cmd));
- SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-
- return data[1];
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
- 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.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
-
- SPI_LOCK(bma180_dev.spi, true);
- report.x = bma180_read_reg(ADDR_ACC_X_LSB);
- report.x |= (bma180_read_reg(ADDR_ACC_X_LSB+1) << 8);
- report.y = bma180_read_reg(ADDR_ACC_X_LSB+2);
- report.y |= (bma180_read_reg(ADDR_ACC_X_LSB+3) << 8);
- report.z = bma180_read_reg(ADDR_ACC_X_LSB+4);
- report.z |= (bma180_read_reg(ADDR_ACC_X_LSB+5) << 8);
- report.temp = bma180_read_reg(ADDR_ACC_X_LSB+6);
- SPI_LOCK(bma180_dev.spi, false);
-
- /* 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);
-
- data[0] = report.x;
- data[1] = report.y;
- data[2] = report.z;
-
- /* return 1 for all three axes new */
- return (new_data > 0); // bit funky, depends on timing
-}
-
-static int
-bma180_set_range(uint8_t range)
-{
- /* enable writing to chip config */
- uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 |= REG0_WRITE_ENABLE;
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- /* set range */
- uint8_t olsb1 = bma180_read_reg(ADDR_OLSB1);
- olsb1 &= (~RANGEMASK);
- olsb1 |= (range);// & RANGEMASK);
- bma180_write_reg(ADDR_OLSB1, olsb1);
-
- // up_udelay(500);
-
- /* block writing to chip config */
- ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 &= (~REG0_WRITE_ENABLE);
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- uint8_t new_olsb1 = bma180_read_reg(ADDR_OLSB1);
-
- /* return 0 on success, 1 on failure */
- return !(olsb1 == new_olsb1);
-}
-
-static int
-bma180_set_rate(uint8_t rate)
-{
- /* enable writing to chip config */
- uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 |= REG0_WRITE_ENABLE;
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- /* set rate / bandwidth */
- uint8_t bwtcs = bma180_read_reg(ADDR_BWTCS);
- bwtcs &= (~BWMASK);
- bwtcs |= (rate);// & BWMASK);
- bma180_write_reg(ADDR_BWTCS, bwtcs);
-
- // up_udelay(500);
-
- /* block writing to chip config */
- ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 &= (~REG0_WRITE_ENABLE);
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- uint8_t new_bwtcs = bma180_read_reg(ADDR_BWTCS);
-
- /* return 0 on success, 1 on failure */
- return !(bwtcs == new_bwtcs);
-}
-
-static ssize_t
-bma180_read(struct file *filp, char *buffer, size_t buflen)
-{
- /* if the buffer is large enough, and data are available, return success */
- if (buflen >= 6) {
- if (read_fifo((uint16_t *)buffer))
- return 6;
-
- /* no data */
- return 0;
- }
-
- /* buffer too small */
- errno = ENOSPC;
- return ERROR;
-}
-
-static int
-bma180_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
- int result = ERROR;
-
- switch (cmd) {
- case BMA180_SETRATE:
- result = bma180_set_rate(arg);
- break;
-
- case BMA180_SETRANGE:
- result = bma180_set_range(arg);
- break;
-
- case BMA180_SETBUFFER:
- bma180_dev.buffer = (struct bma180_buffer *)arg;
- result = 0;
- break;
- }
-
- if (result)
- errno = EINVAL;
- return result;
-}
-
-int
-bma180_attach(struct spi_dev_s *spi, int spi_id)
-{
- int result = ERROR;
-
- bma180_dev.spi = spi;
- bma180_dev.spi_id = spi_id;
-
- SPI_LOCK(bma180_dev.spi, true);
-
- /* verify that the device is attached and functioning */
- if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) {
-
- bma180_write_reg(ADDR_RESET, SOFT_RESET); // page 48
-
- up_udelay(13000); // wait 12 ms, see page 49
-
- /* Configuring the BMA180 */
-
- /* enable writing to chip config */
- uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 |= REG0_WRITE_ENABLE;
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- /* disable I2C interface, datasheet page 31 */
- uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C);
- disi2c |= 0x01;
- bma180_write_reg(ADDR_DIS_I2C, disi2c);
-
- /* block writing to chip config */
- ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
- ctrl0 &= (~REG0_WRITE_ENABLE);
- bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
- // up_udelay(500);
-
- /* set rate */
- result = bma180_set_rate(BMA180_RATE_LP_600HZ);
-
- // up_udelay(500);
-
- /* set range */
- result += bma180_set_range(BMA180_RANGE_4G);
-
- // up_udelay(500);
-
- if (result == 0) {
- /* make ourselves available */
- register_driver("/dev/bma180", &bma180_fops, 0666, NULL);
- }
- } else {
- errno = EIO;
- }
-
- SPI_LOCK(bma180_dev.spi, false);
-
- return result;
-}
-
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