int
BMA180::init()
{
int ret = ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(accel_report));
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
/* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */
usleep(10000);
/* enable writing to chip config */
modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
/* disable I2C interface */
modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
/* switch to low-noise mode */
modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
/* disable 12-bit mode */
modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
/* disable shadow-disable mode */
modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
/* disable writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) warnx("Failed setting range");
if (set_lowpass(75)) warnx("Failed setting lowpass");
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
} else {
ret = ERROR;
}
out:
return ret;
}
int
BMA180::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:
/* XXX 500Hz is just a wild guess */
return ioctl(filp, SENSORIOCSPOLLRATE, 500);
/* 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;
/* 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: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct accel_report *buf = new struct accel_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports -1;
case SENSORIOCRESET:
/* XXX implement */
return -EINVAL;
case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
return -EINVAL;
case ACCELIOCGSAMPLERATE:
return 1200; /* always operating in low-noise mode */
case ACCELIOCSLOWPASS:
return set_lowpass(arg);
case ACCELIOCGLOWPASS:
return _current_lowpass;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
return set_range(arg);
case ACCELIOCGRANGE:
return _current_range;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
BMA180::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:
/* With internal low pass filters enabled, 250 Hz is sufficient */
return ioctl(filp, SENSORIOCSPOLLRATE, 250);
/* 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;
/* 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 < 2) || (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 SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement */
return -EINVAL;
case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
return -EINVAL;
case ACCELIOCGSAMPLERATE:
return 1200; /* always operating in low-noise mode */
case ACCELIOCSLOWPASS:
return set_lowpass(arg);
case ACCELIOCGLOWPASS:
return _current_lowpass;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
return set_range(arg);
case ACCELIOCGRANGE:
return _current_range;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
BMA180::init()
{
int ret = PX4_ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
if (_reports == nullptr) {
goto out;
}
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
/* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */
usleep(10000);
/* enable writing to chip config */
modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
/* disable I2C interface */
modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
/* switch to low-noise mode */
modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
/* disable 12-bit mode */
modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
/* disable shadow-disable mode */
modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
/* disable writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) { warnx("Failed setting range"); }
if (set_lowpass(75)) { warnx("Failed setting lowpass"); }
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
} else {
ret = PX4_ERROR;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
struct accel_report arp;
_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
}
out:
return ret;
}
