void bma020_chip_init(void)
{
/*assign register memory to bma020 object */
bma020.image = &bma020regs;
bma020.bma020_bus_write = i2c_acc_bma020_write;
bma020.bma020_bus_read = i2c_acc_bma020_read;
#ifdef CONFIG_HAS_EARLYSUSPEND
bma020.early_suspend.suspend = bma020_early_suspend;
bma020.early_suspend.resume = bma020_late_resume;
register_early_suspend(&bma020.early_suspend);
#endif
/*call init function to set read write functions, read registers */
bma020_init( &bma020 );
/* from this point everything is prepared for sensor communication */
/* set range to 2G mode, other constants:
* 4G: BMA020_RANGE_4G,
* 8G: BMA020_RANGE_8G */
bma020_set_range(BMA020_RANGE_2G);
/* set bandwidth to 25 HZ */
bma020_set_bandwidth(BMA020_BW_25HZ);
/* for interrupt setting */
// bma020_set_low_g_threshold( BMA020_HG_THRES_IN_G(0.35, 2) );
// bma020_set_interrupt_mask( BMA020_INT_LG );
}
/**
* @brief BMA020 ioctl control entry point
*
*
* @param hal Address of an initialized sensor device 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 bma020_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_RANGE:
return bma020_set_range(hal, *((uint16_t *)arg));
case SENSOR_SET_BANDWIDTH:
return bma020_set_bandwidth(hal, *((uint16_t *)arg));
case SENSOR_READ_VECTOR:
if (bma020_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;
}
}
static ssize_t bma020_show_accel_value(struct device *dev,struct device_attribute *attr, char *buf)
{
bma020acc_t accel;
bma020_set_mode(BMA020_MODE_NORMAL);
bma020_set_range(BMA020_RANGE_2G);
bma020_set_bandwidth(BMA020_BW_100HZ);
bma020_read_accel_xyz( &accel);
return sprintf(buf, "%d,%d,%d\n", accel.x,accel.y,accel.z);
}
int bma020_ioctl(struct inode *inode, struct file *filp, unsigned int cmd, unsigned long arg)
{
int err = 0;
unsigned char data[6];
/* check cmd */
if(_IOC_TYPE(cmd) != BMA150_IOC_MAGIC)
{
#if DEBUG
printk("cmd magic type error\n");
#endif
return -ENOTTY;
}
if(_IOC_NR(cmd) > BMA150_IOC_MAXNR)
{
#if DEBUG
printk("cmd number error\n");
#endif
return -ENOTTY;
}
if(_IOC_DIR(cmd) & _IOC_READ)
err = !access_ok(VERIFY_WRITE,(void __user*)arg, _IOC_SIZE(cmd));
else if(_IOC_DIR(cmd) & _IOC_WRITE)
err = !access_ok(VERIFY_READ, (void __user*)arg, _IOC_SIZE(cmd));
if(err)
{
#if DEBUG
printk("cmd access_ok error\n");
#endif
return -EFAULT;
}
#if 0
/* check bam150_client */
if( bma150_client == NULL)
{
#if DEBUG
printk("I2C driver not install\n");
#endif
return -EFAULT;
}
#endif
switch(cmd)
{
case BMA150_READ_ACCEL_XYZ:
err = bma020_read_accel_xyz((bma020acc_t*)data);
if(copy_to_user((bma020acc_t*)arg,(bma020acc_t*)data,6)!=0)
{
#if DEBUG
printk("copy_to error\n");
#endif
return -EFAULT;
}
return err;
case BMA150_SET_RANGE:
if(copy_from_user(data,(unsigned char*)arg,1)!=0)
{
#if DEBUG
printk("[BMA150] copy_from_user error\n");
#endif
return -EFAULT;
}
err = bma020_set_range(*data);
return err;
case BMA150_SET_MODE:
if(copy_from_user(data,(unsigned char*)arg,1)!=0)
{
#if DEBUG
printk("[BMA150] copy_from_user error\n");
#endif
return -EFAULT;
}
err = bma020_set_mode(*data);
return err;
case BMA150_SET_BANDWIDTH:
if(copy_from_user(data,(unsigned char*)arg,1)!=0)
{
#if DEBUG
printk("[BMA150] copy_from_user error\n");
#endif
return -EFAULT;
}
err = bma020_set_bandwidth(*data);
return err;
default:
return 0;
}
}
int bma020_calibrate(bma020acc_t orientation, int *tries)
{
unsigned short offset_x, offset_y, offset_z;
unsigned short old_offset_x, old_offset_y, old_offset_z;
unsigned short changed_offset_x, changed_offset_y, changed_offset_z;
int need_calibration=0, min_max_ok=0;
int ltries;
int retry = 30;
bma020acc_t min,max,avg;
printk("[%s] +\n", __func__);
bma020_set_range(BMA020_RANGE_2G);
bma020_set_bandwidth(BMA020_BW_25HZ);
bma020_set_ee_w(1);
bma020_get_offset(0, &offset_x);
bma020_get_offset(1, &offset_y);
bma020_get_offset(2, &offset_z);
old_offset_x = offset_x;
old_offset_y = offset_y;
old_offset_z = offset_z;
ltries = *tries;
printk("[%s] old offset_x = %d, offset_y = %d, offset_z = %d\n", __func__, old_offset_x, offset_y, offset_z);
orientation.x = 0;
orientation.y = 0;
orientation.z = 1;
do {
bma020_read_accel_avg(10, &min, &max, &avg); /* read acceleration data min, max, avg */
min_max_ok = bma020_verify_min_max(min, max, avg);
if(!min_max_ok)
{
retry--;
if(retry <= 0)
return (-1);
}
/* check if calibration is needed */
if (min_max_ok)
need_calibration = bma020_calc_new_offset(orientation, avg, &offset_x, &offset_y, &offset_z);
if (*tries==0) /*number of maximum tries reached? */
break;
if (need_calibration) {
/* when needed calibration is updated in image */
printk("[%s] need calibration. tries = %d. changed offset x = %d, y = %d, z = %d\n", __func__, *tries, offset_x, offset_y, offset_z);
(*tries)--;
bma020_set_offset(0, offset_x);
bma020_set_offset(1, offset_y);
bma020_set_offset(2, offset_z);
bma020_pause(20);
}
printk("\n");
} while (need_calibration || !min_max_ok);
if (*tries>0 && *tries < ltries) {
printk("[%s] eeprom is updated. new offset x=%d, y=%d, z=%d\n",
__func__, offset_x, offset_y, offset_z);
if (old_offset_x!= offset_x)
bma020_set_offset_eeprom(0, offset_x);
if (old_offset_y!= offset_y)
bma020_set_offset_eeprom(1,offset_y);
if (old_offset_z!= offset_z)
bma020_set_offset_eeprom(2, offset_z);
}
printk("[%s] tries = %d\n", __func__, *tries);
bma020_set_ee_w(0);
bma020_pause(20);
*tries = ltries - *tries;
printk("[%s] -\n", __func__);
return !need_calibration;
}
/**
* @brief Bosch BMA020 accelerometer driver initialization.
*
* This is the main initialization function for the BMA020 device.
* The accelerometer range and bandwidth are set based on user-specified
* values from the system configuration.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool bma020_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA020_ID_VAL == sensor_bus_get(hal, BMA020_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma020_device = {
.func.read = bma020_read,
.func.ioctl = bma020_ioctl,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT,
.caps.vendor = SENSOR_VENDOR_BOSCH,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_g0,
.caps.scale = SENSOR_SCALE_milli,
.caps.name = "BMA020 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma020_device;
/* Set the driver (device) default range, bandwidth, and
* resolution.
*/
hal->range = 2000; /* milli-g */
hal->bandwidth = 25; /* Hertz */
hal->resolution = BMA020_DATA_RESOLUTION;
bma020_set_range(hal, 0);
bma020_set_bandwidth(hal, 0);
/* Set the device burst read base address. */
hal->burst_addr = BMA020_ACC_X_LSB;
status = (STATUS_OK == hal->bus.status);
}
return status;
}
/**
* @brief Read accelerometer device ID and revision numbers.
*
* This function reads the accelerometer hardware identification registers
* and returns these values in the specified data structure.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma020_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
data->device.id = sensor_bus_get(hal, BMA020_CHIP_ID);
data->device.version = sensor_bus_get(hal, BMA020_CHIP_VERSION);
return true;
}
