int
FXAS21002C::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:
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, FXAS21002C_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 sane rate */
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_interval = ticks;
_gyro_call.period = _call_interval - FXAS21002C_TIMER_REDUCTION;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
set_sw_lowpass_filter(sample_rate, cutoff_freq_hz);
/* 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 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 (!_reports->resize(arg)) {
px4_leave_critical_section(flags);
return -ENOMEM;
}
px4_leave_critical_section(flags);
return OK;
}
case SENSORIOCRESET:
reset();
return OK;
case GYROIOCSSAMPLERATE:
return set_samplerate(arg);
case GYROIOCGSAMPLERATE:
return _current_rate;
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:
/* arg should be in dps */
return set_range(arg);
case GYROIOCGRANGE:
/* convert to dps and round */
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
LSM303D::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_accel_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, 1600);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, LSM303D_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_accel_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 500)
return -EINVAL;
/* adjust filters */
accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_accel_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_accel_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
case SENSORIOCRESET:
reset();
return OK;
case ACCELIOCSSAMPLERATE:
return accel_set_samplerate(arg);
case ACCELIOCGSAMPLERATE:
return _accel_samplerate;
case ACCELIOCSLOWPASS: {
return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
}
case ACCELIOCGLOWPASS:
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_scale *s = (struct accel_scale *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(arg);
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2)/LSM303D_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSELFTEST:
return accel_self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
L3GD20::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:
case SENSOR_POLLRATE_DEFAULT:
if (_is_l3g4200d) {
return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE);
}
return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_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 sane rate */
if (ticks < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f/ticks;
set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
/* 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 SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
reset();
return OK;
case GYROIOCSSAMPLERATE:
return set_samplerate(arg, _current_bandwidth);
case GYROIOCGSAMPLERATE:
return _current_rate;
case GYROIOCSLOWPASS: {
// set the software lowpass cut-off in Hz
float cutoff_freq_hz = arg;
float sample_rate = 1.0e6f / _call_interval;
set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
return OK;
}
case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
/* arg should be in dps */
return set_range(arg);
case GYROIOCGRANGE:
/* convert to dps and round */
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return self_test();
case GYROIOCSHWLOWPASS:
return set_samplerate(_current_rate, arg);
case GYROIOCGHWLOWPASS:
return _current_bandwidth;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
{
unsigned long ul_arg = (unsigned long)arg;
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (ul_arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
m_sample_interval_usecs = 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 devIOCTL(SENSORIOCSPOLLRATE, 1600);
case SENSOR_POLLRATE_DEFAULT:
return devIOCTL(SENSORIOCSPOLLRATE, ACCELSIM_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* convert hz to hrt interval via microseconds */
unsigned interval = 1000000 / ul_arg;
/* check against maximum sane rate */
if (interval < 500) {
return -EINVAL;
}
/* adjust filters */
accel_set_driver_lowpass_filter((float)ul_arg, _accel_filter_x.get_cutoff_freq());
bool want_start = (m_sample_interval_usecs == 0);
/* update interval for next measurement */
setSampleInterval(interval);
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (m_sample_interval_usecs == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / m_sample_interval_usecs;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((ul_arg < 1) || (ul_arg > 100)) {
return -EINVAL;
}
if (!_accel_reports->resize(ul_arg)) {
return -ENOMEM;
}
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
case SENSORIOCRESET:
// Nothing to do for simulator
return OK;
case ACCELIOCSSAMPLERATE:
// No need to set internal sampling rate for simulator
return OK;
case ACCELIOCGSAMPLERATE:
return _accel_samplerate;
case ACCELIOCSLOWPASS: {
return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)ul_arg);
}
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(ul_arg);
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2) / ACCELSIM_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_calibration_s *) arg, &(_accel_scale), sizeof(_accel_scale));
return OK;
case ACCELIOCSELFTEST:
return OK;
default:
/* give it to the superclass */
return VirtDevObj::devIOCTL(cmd, arg);
}
}
int
FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, FXAS21002C_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 sane rate */
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call_interval = ticks;
_gyro_call.period = _call_interval - FXAS21002C_TIMER_REDUCTION;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f / ticks;
set_sw_lowpass_filter(sample_rate, cutoff_freq_hz);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCRESET:
reset();
return OK;
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
return OK;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
