/**
* @brief BMA150 ioctl control entry point
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param cmd Command to execute
* @param arg Argument for command (varies)
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma150_ioctl(sensor_t *sensor, sensor_command_t cmd, void *arg)
{
sensor_hal_t *const hal = sensor->hal;
sensor_data_t sample = {.scaled = true};
switch (cmd) {
case SENSOR_SET_STATE:
return bma150_set_state(hal, *((sensor_state_t *)arg));
case SENSOR_SET_RANGE:
return bma150_set_range(hal, (uint16_t)*((int *)arg));
case SENSOR_SET_BANDWIDTH:
return bma150_set_bandwidth(hal, (uint16_t)*((int *)arg));
case SENSOR_ENABLE_EVENT:
return bma150_event(sensor, *((sensor_event_t *)arg), 0, true);
case SENSOR_DISABLE_EVENT:
return bma150_event(sensor, *((sensor_event_t *)arg), 0, false);
case SENSOR_SET_THRESHOLD:
return bma150_set_threshold(hal,
(sensor_threshold_desc_t *)arg);
case SENSOR_GET_THRESHOLD:
return bma150_get_threshold(hal,
(sensor_threshold_desc_t *)arg);
case SENSOR_READ_VECTOR:
if (bma150_get_accel(hal, &sample)) {
vector3_t *const pvec = (vector3_t *)arg;
pvec->x = sample.axis.x;
pvec->y = sample.axis.y;
pvec->z = sample.axis.z;
return true;
} else {
return false;
}
default:
sensor->err = SENSOR_ERR_UNSUPPORTED;
return false;
}
}
int tcc_sensor_set_bandwidth(struct i2c_client *client,char bw)
{
return bma150_set_bandwidth(client,bw);
}
int bma150_calibration(struct bmasensor_data *sensor_data)
{
struct i2c_client *client = sensor_data->i2cClient;
unsigned short offset_x, offset_y, offset_z;
unsigned short old_offset_x, old_offset_y, old_offset_z;
int need_calibration = 0, min_max_ok = 0;
int ltries = 50;
tcc_sensor_accel_t min, max, avg;
bma150_set_range(client,BMA150_RANGE_2G);
bma150_set_bandwidth(client,BMA150_BW_25HZ);
bma150_set_ee_w(client,BMA150_EE_W_ON);
bma150_get_offset(client,0, &offset_x);
bma150_get_offset(client,1, &offset_y);
bma150_get_offset(client,2, &offset_z);
old_offset_x = offset_x;
old_offset_y = offset_y;
old_offset_z = offset_z;
do {
/* read acceleration data min, max, avg */
//printk(" bma150_calibrate remain try count %d \n",(ltries));
bma150_read_accel_avg(client,10, &min, &max, &avg);
min_max_ok = bma150_verify_min_max(min, max, avg);
/* check if calibration is needed */
if (min_max_ok)
need_calibration = bma150_calc_new_offset(avg,
&offset_x,
&offset_y,
&offset_z);
if (ltries == 0) /*number of maximum tries reached? */
break;
if (need_calibration) {
//printk(" new offset %d %d %d \n",offset_x,offset_y,offset_z);
/* when needed calibration is updated in image */
(ltries)--;
bma150_set_offset(client,0, offset_x);
bma150_set_offset(client,1, offset_y);
bma150_set_offset(client,2, offset_z);
msleep(10);
}
} while (need_calibration || !min_max_ok);
//printk(" need_calibration %d min_max_ok %d ltries %d \n",need_calibration,min_max_ok,(ltries));
/*
if (ltries > 0) {
if (old_offset_x != offset_x)
bma150_set_offset_eeprom(0, offset_x);
if (old_offset_y != offset_y)
bma150_set_offset_eeprom(1, offset_y);
if (old_offset_z != offset_z)
bma150_set_offset_eeprom(2, offset_z);
}
*/
bma150_set_ee_w(client,BMA150_EE_W_OFF);
msleep(24);
return !need_calibration;
}
