/**
* @brief BMA180 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 bma180_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 bma180_set_state(hal, *((sensor_state_t *)arg));
case SENSOR_SET_RANGE:
return bma180_set_range(hal, (uint16_t)*((int *)arg));
case SENSOR_SET_BANDWIDTH:
return bma180_set_bandwidth(hal, (uint16_t)*((int *)arg));
case SENSOR_READ_VECTOR:
if (bma180_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
bma180_attach(struct spi_dev_s *spi, int spi_id)
{
int result = ERROR;
bma180_dev.spi = spi;
bma180_dev.spi_id = spi_id;
SPI_LOCK(bma180_dev.spi, true);
/* verify that the device is attached and functioning */
if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) {
bma180_write_reg(ADDR_RESET, SOFT_RESET); // page 48
up_udelay(13000); // wait 12 ms, see page 49
/* Configuring the BMA180 */
/* enable writing to chip config */
uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 |= REG0_WRITE_ENABLE;
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
/* disable I2C interface, datasheet page 31 */
uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C);
disi2c |= 0x01;
bma180_write_reg(ADDR_DIS_I2C, disi2c);
/* block writing to chip config */
ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
ctrl0 &= (~REG0_WRITE_ENABLE);
bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
// up_udelay(500);
/* set rate */
result = bma180_set_rate(BMA180_RATE_LP_600HZ);
// up_udelay(500);
/* set range */
result += bma180_set_range(BMA180_RANGE_4G);
// up_udelay(500);
if (result == 0) {
/* make ourselves available */
register_driver("/dev/bma180", &bma180_fops, 0666, NULL);
}
} else {
errno = EIO;
}
SPI_LOCK(bma180_dev.spi, false);
return result;
}
static int
bma180_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case BMA180_SETRATE:
result = bma180_set_rate(arg);
break;
case BMA180_SETRANGE:
result = bma180_set_range(arg);
break;
case BMA180_SETBUFFER:
bma180_dev.buffer = (struct bma180_buffer *)arg;
result = 0;
break;
}
if (result)
errno = EINVAL;
return result;
}
/**
* @brief Bosch BMA180 accelerometer driver initialization.
*
* This is the main initialization function for the BMA180 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 bma180_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA180_ID_VAL == sensor_bus_get(hal, BMA180_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma180_device = {
.func.read = bma180_read,
.func.ioctl = bma180_ioctl,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT |
SENSOR_CAPS_AUX_TEMP,
.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 = "BMA180 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma180_device;
if (STATUS_OK == hal->bus.status) {
/* Set the driver (device) default range, bandwidth, &
* resolution.
*/
hal->range = 1000; /* milli-g */
hal->bandwidth = 10; /* Hertz */
hal->resolution = BMA180_DATA_RESOLUTION;
bma180_set_range(hal, 0);
bma180_set_bandwidth(hal, 0);
/* Set the device burst read base address. */
hal->burst_addr = BMA180_ACC_X_LSB;
status = (STATUS_OK == hal->bus.status);
}
}
return status;
}
/**
* @brief Read BMA180 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 bma180_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
data->device.id = sensor_bus_get(hal, BMA180_CHIP_ID);
data->device.version = sensor_bus_get(hal, BMA180_CHIP_VERSION);
return true;
}