void auto_calibration_main(unsigned long cpu_freq)
{
int x;
unsigned long freq;
unsigned long period_cpu_cycle;
unsigned long monotonic_pulse_cycle;
for(x=49;x<100;x+=10){
freq = x+1;
period_cpu_cycle = cpu_freq / freq;
monotonic_pulse_cycle = period_cpu_cycle/2;
fprintf(stderr, "auto_calibration Freq %dHZ \n",freq);
auto_calibration(monotonic_pulse_cycle, 0);
// auto_calibration(monotonic_pulse_cycle, 1);
}
}
void main(void)
{
struct device *bmi160;
#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME) ||\
defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME)
struct sensor_value attr;
#endif
printk("IMU: Binding...\n");
bmi160 = device_get_binding(CONFIG_BMI160_NAME);
if (!bmi160) {
printk("Gyro: Device not found.\n");
return;
}
#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME)
/*
* Set accelerometer range to +/- 16G. Since the sensor API needs SI
* units, convert the range to m/s^2.
*/
sensor_g_to_ms2(16, &attr);
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printk("Cannot set accelerometer range.\n");
return;
}
#endif
#if defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME)
/*
* Set gyro range to +/- 250 degrees/s. Since the sensor API needs SI
* units, convert the range to rad/s.
*/
sensor_degrees_to_rad(250, &attr);
if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printk("Cannot set gyro range.\n");
return;
}
#endif
#ifdef PERFORM_MANUAL_CALIBRATION
/* manually adjust accelerometer and gyro offsets */
if (manual_calibration(bmi160) < 0) {
printk("Manual calibration failed.\n");
return;
}
#endif
#ifdef PERFORM_AUTO_CALIBRATION
/* auto calibrate accelerometer and gyro */
if (auto_calibration(bmi160) < 0) {
printk("HW calibration failed.\n");
return;
}
#endif
printk("Testing the polling mode.\n");
test_polling_mode(bmi160);
printk("Testing the polling mode finished.\n");
#ifdef CONFIG_BMI160_TRIGGER
printk("Testing the trigger mode.\n");
test_trigger_mode(bmi160);
printk("Testing the trigger mode finished.\n");
#endif
}
