int
MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
/* these are shared with the accel side */
case SENSORIOCSPOLLRATE:
case SENSORIOCGPOLLRATE:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_gyro_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _gyro_reports->size();
case GYROIOCGSAMPLERATE:
return _sample_rate;
case GYROIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSLOWPASS:
// set software filtering
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
return OK;
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
/* XXX not implemented */
// XXX change these two values on set:
// _gyro_range_scale = xx
// _gyro_range_rad_s = xx
return -EINVAL;
case GYROIOCGRANGE:
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return gyro_self_test();
#ifdef GYROIOCSHWLOWPASS
case GYROIOCSHWLOWPASS:
_set_dlpf_filter(arg);
return OK;
#endif
#ifdef GYROIOCGHWLOWPASS
case GYROIOCGHWLOWPASS:
return _dlpf_freq;
#endif
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
int
BMI055_gyro::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:
return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_MAX_RATE);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_DEFAULT_RATE);
/* 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 rate */
if (ticks < 1000) {
return -EINVAL;
}
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
/* update interval for next measurement */
_call_interval = ticks;
/*
set call interval faster than the sample time. We
then detect when we have duplicate samples and reject
them. This prevents aliasing due to a beat between the
stm32 clock and the bmi055 clock
*/
_call.period = _call_interval - BMI055_TIMER_REDUCTION;
/* 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 SENSORIOCRESET:
return reset();
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = px4_enter_critical_section();
if (!_gyro_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case GYROIOCGSAMPLERATE:
return _gyro_sample_rate;
case GYROIOCSSAMPLERATE:
return gyro_set_sample_rate(arg);
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
return set_gyro_range(arg);
case GYROIOCGRANGE:
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return gyro_self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
