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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 2024-07-29 20:44:14 +0000