void main(void)
{
struct device *bmg160;
#if defined(CONFIG_BMG160_GYRO_RANGE_RUNTIME)
struct sensor_value attr;
#endif
bmg160 = device_get_binding("bmg160");
if (!bmg160) {
printf("Device not found.\n");
return;
}
#if defined(CONFIG_BMG160_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(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printf("Cannot set gyro range.\n");
return;
}
#endif
printf("Testing the polling mode.\n");
test_polling_mode(bmg160);
printf("Polling mode test finished.\n");
printf("Testing the trigger mode.\n");
test_trigger_mode(bmg160);
printf("Trigger mode test finished.\n");
}
static void test_trigger_mode(struct device *bmg160)
{
uint32_t timer_data[2] = {0, 0};
int32_t remaining_test_time = MAX_TEST_TIME;
struct nano_timer timer;
struct sensor_trigger trig;
struct sensor_value attr;
nano_timer_init(&timer, timer_data);
trig.type = SENSOR_TRIG_DELTA;
trig.chan = SENSOR_CHAN_GYRO_ANY;
printf("Gyro: Testing anymotion trigger.\n");
/* set up the trigger */
/* set slope threshold to 10 dps */
sensor_degrees_to_rad(10, &attr); /* convert to rad/s */
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
printf("Gyro: cannot set slope threshold.\n");
return;
}
/* set slope duration to 4 samples */
attr.type = SENSOR_VALUE_TYPE_INT;
attr.val1 = 4;
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
printf("Gyro: cannot set slope duration.\n");
return;
}
if (sensor_trigger_set(bmg160, &trig, trigger_handler) < 0) {
printf("Gyro: cannot set trigger.\n");
return;
}
printf("Gyro: rotate the device and wait for events.\n");
do {
nano_task_timer_start(&timer, SLEEPTIME);
nano_task_timer_test(&timer, TICKS_UNLIMITED);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
if (sensor_trigger_set(bmg160, &trig, NULL) < 0) {
printf("Gyro: cannot clear trigger.\n");
return;
}
printf("Gyro: Anymotion trigger test finished.\n");
printf("Gyro: Testing data ready trigger.\n");
attr.type = SENSOR_VALUE_TYPE_INT;
attr.val1 = 100;
attr.val2 = 0;
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
printf("Gyro: cannot set sampling frequency.\n");
return;
}
trig.type = SENSOR_TRIG_DATA_READY;
trig.chan = SENSOR_CHAN_GYRO_ANY;
if (sensor_trigger_set(bmg160, &trig, trigger_handler) < 0) {
printf("Gyro: cannot set trigger.\n");
return;
}
remaining_test_time = MAX_TEST_TIME;
do {
nano_task_timer_start(&timer, SLEEPTIME);
nano_task_timer_test(&timer, TICKS_UNLIMITED);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
if (sensor_trigger_set(bmg160, &trig, NULL) < 0) {
printf("Gyro: cannot clear trigger.\n");
return;
}
printf("Gyro: Data ready trigger test finished.\n");
}
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
}
