/**
* Run Self test on sensor
*
* @param the sensor interface
* @param pointer to return test result in (0 on pass, non-zero on failure)
*
* @return 0 on sucess, non-zero on failure
*/
int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
{
int rc;
int16_t base[3], pos[3];
int i;
int16_t change;
/* ensure self test mode is disabled */
rc = lis2dw12_set_self_test(itf, LIS2DW12_ST_MODE_DISABLE);
if (rc) {
return rc;
}
os_time_delay(OS_TICKS_PER_SEC / 10);
/* take base reading */
rc = lis2dw12_get_data(itf, &(base[0]), &(base[1]), &(base[2]));
if (rc) {
return rc;
}
/* set self test mode to positive self test */
rc = lis2dw12_set_self_test(itf, LIS2DW12_ST_MODE_MODE1);
if (rc) {
return rc;
}
os_time_delay(OS_TICKS_PER_SEC / 10);
/* take self test reading */
rc = lis2dw12_get_data(itf, &(pos[0]), &(pos[1]), &(pos[2]));
if (rc) {
return rc;
}
/* disable self test mod */
rc = lis2dw12_set_self_test(itf, LIS2DW12_ST_MODE_DISABLE);
if (rc) {
return rc;
}
/* calculate accel data difference */
change = 0;
for(i = 0; i < 3; i++) {
change += pos[i] - base[i];
}
if ((change > 70) && (change < 1500)) {
*result = 0;
} else {
*result = -1;
}
return 0;
}
static int
lis2dw12_shell_cmd_read(int argc, char **argv)
{
uint16_t samples = 1;
uint16_t val;
int rc;
char tmpstr[13];
int16_t x,y,z;
float fx,fy,fz;
uint8_t fs;
if (argc > 3) {
return lis2dw12_shell_err_too_many_args(argv[1]);
}
/* Check if more than one sample requested */
if (argc == 3) {
val = parse_ll_bounds(argv[2], 1, UINT16_MAX, &rc);
if (rc) {
return lis2dw12_shell_err_invalid_arg(argv[2]);
}
samples = val;
}
while(samples--) {
rc = lis2dw12_get_fs(&g_sensor_itf, &fs);
if (rc) {
return rc;
}
rc = lis2dw12_get_data(&g_sensor_itf, fs,&x, &y, &z);
if (rc) {
console_printf("Read failed: %d\n", rc);
return rc;
}
lis2dw12_calc_acc_ms2(x, &fx);
lis2dw12_calc_acc_ms2(y, &fy);
lis2dw12_calc_acc_ms2(z, &fz);
console_printf("x:%s ", sensor_ftostr(fx, tmpstr, 13));
console_printf("y:%s ", sensor_ftostr(fy, tmpstr, 13));
console_printf("z:%s\n", sensor_ftostr(fz, tmpstr, 13));
}
return 0;
}
static int lis2dw12_do_read(struct sensor *sensor, sensor_data_func_t data_func,
void * data_arg)
{
struct sensor_accel_data sad;
struct sensor_itf *itf;
int16_t x, y ,z;
float fx, fy ,fz;
int rc;
itf = SENSOR_GET_ITF(sensor);
x = y = z = 0;
rc = lis2dw12_get_data(itf, &x, &y, &z);
if (rc) {
goto err;
}
/* converting values from mg to ms^2 */
lis2dw12_calc_acc_ms2(x, &fx);
lis2dw12_calc_acc_ms2(y, &fy);
lis2dw12_calc_acc_ms2(z, &fz);
sad.sad_x = fx;
sad.sad_y = fy;
sad.sad_z = fz;
sad.sad_x_is_valid = 1;
sad.sad_y_is_valid = 1;
sad.sad_z_is_valid = 1;
/* Call data function */
rc = data_func(sensor, data_arg, &sad, SENSOR_TYPE_ACCELEROMETER);
if (rc != 0) {
goto err;
}
return 0;
err:
return rc;
}
