From b7e947cb3d53cbb0f9b194980a6a63588ba56bf2 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 17 Apr 2013 11:22:08 -0700 Subject: Anti-Aliasing frequency of the LSM303D can now be read too, not just written --- src/drivers/lsm303d/lsm303d.cpp | 52 +++++++++++++++++++++++++++++++++++++---- 1 file changed, 48 insertions(+), 4 deletions(-) (limited to 'src/drivers/lsm303d/lsm303d.cpp') diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 8a64ee702..ba7316e55 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -321,7 +321,15 @@ private: * Zero selects the highest bandwidth * @return OK if the value can be supported, -ERANGE otherwise. */ - int set_antialias_filter_bandwidth(unsigned max_g); + int set_antialias_filter_bandwidth(unsigned bandwith); + + /** + * Get the LSM303D accel anti-alias filter. + * + * @param bandwidth The anti-alias filter bandwidth in Hz + * @return OK if the value was read and supported, ERROR otherwise. + */ + int get_antialias_filter_bandwidth(unsigned &bandwidth); /** * Set the LSM303D internal accel sampling frequency. @@ -477,10 +485,10 @@ LSM303D::init() /* XXX should we enable FIFO? */ set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */ - set_antialias_filter_bandwidth(194); /* XXX: choose bandwidth: 50, 194, 362 or 773 Hz */ + set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */ set_samplerate(400); /* max sample rate */ - mag_set_range(12); /* XXX: take highest sensor range of 12GA? */ + mag_set_range(4); /* XXX: take highest sensor range of 12GA? */ mag_set_samplerate(100); /* XXX test this when another mag is used */ @@ -687,6 +695,17 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) /* XXX implement */ return -EINVAL; +// case ACCELIOCSLOWPASS: + case ACCELIOCGLOWPASS: + + unsigned bandwidth; + + if (OK == get_antialias_filter_bandwidth(bandwidth)) + return bandwidth; + else + return -EINVAL; + + default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); @@ -942,6 +961,25 @@ LSM303D::set_antialias_filter_bandwidth(unsigned bandwidth) return OK; } +int +LSM303D::get_antialias_filter_bandwidth(unsigned &bandwidth) +{ + uint8_t readbits = read_reg(ADDR_CTRL_REG2); + + if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_50HZ_A) + bandwidth = 50; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_194HZ_A) + bandwidth = 194; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_362HZ_A) + bandwidth = 362; + else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_773HZ_A) + bandwidth = 773; + else + return ERROR; + + return OK; +} + int LSM303D::set_samplerate(unsigned frequency) { @@ -1305,6 +1343,7 @@ test() int fd_accel = -1; struct accel_report a_report; ssize_t sz; + int filter_bandwidth; /* get the driver */ fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY); @@ -1318,14 +1357,19 @@ test() if (sz != sizeof(a_report)) err(1, "immediate read failed"); + warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x); warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y); warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z); warnx("accel x: \t%d\traw", (int)a_report.x_raw); warnx("accel y: \t%d\traw", (int)a_report.y_raw); warnx("accel z: \t%d\traw", (int)a_report.z_raw); - warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2); + warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2); + if (ERROR == (filter_bandwidth = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) + warnx("accel antialias filter bandwidth: fail"); + else + warnx("accel antialias filter bandwidth: %d Hz", filter_bandwidth); int fd_mag = -1; struct mag_report m_report; -- cgit v1.2.3