int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
warnx("SPI init failed");
goto out;
}
/* allocate basic report buffers */
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
_mag_reports = new RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr)
goto out;
reset();
/* advertise mag topic */
struct mag_report zero_mag_report;
memset(&zero_mag_report, 0, sizeof(zero_mag_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_mag_report);
/* do CDev init for the mag device node, keep it optional */
mag_ret = _mag->init();
if (mag_ret != OK) {
_mag_topic = -1;
}
ret = OK;
out:
return ret;
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_num_accel_reports = 2;
_oldest_accel_report = _next_accel_report = 0;
_accel_reports = new struct accel_report[_num_accel_reports];
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
memset(&_accel_reports[0], 0, sizeof(_accel_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]);
_num_mag_reports = 2;
_oldest_mag_report = _next_mag_report = 0;
_mag_reports = new struct mag_report[_num_mag_reports];
if (_mag_reports == nullptr)
goto out;
reset();
/* advertise mag topic */
memset(&_mag_reports[0], 0, sizeof(_mag_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]);
/* do CDev init for the mag device node, keep it optional */
mag_ret = _mag->init();
if (mag_ret != OK) {
_mag_topic = -1;
}
ret = OK;
out:
return ret;
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
warnx("SPI init failed");
goto out;
}
/* allocate basic report buffers */
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
_mag_reports = new RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr)
goto out;
reset();
/* do CDev init for the mag device node */
ret = _mag->init();
if (ret != OK) {
warnx("MAG init failed");
goto out;
}
_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
// we are the primary accel device, so advertise to
// the ORB
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
}
out:
return ret;
}
ssize_t
LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_call_mag_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
*/
while (count--) {
if (_mag_reports->get(mrb)) {
ret += sizeof(*mrb);
mrb++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
_mag_reports->flush();
_mag->measure();
/* measurement will have generated a report, copy it out */
if (_mag_reports->get(mrb))
ret = sizeof(*mrb);
return ret;
}
int
LSM303D::init()
{
int ret = ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
warnx("SPI init failed");
goto out;
}
/* allocate basic report buffers */
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
_mag_reports = new RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr)
goto out;
reset();
/* do CDev init for the mag device node */
ret = _mag->init();
if (ret != OK) {
warnx("MAG init failed");
goto out;
}
/* fill report structures */
measure();
if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
/* measurement will have generated a report, publish */
_mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp);
if (_mag->_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
}
out:
return ret;
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
int fd_mag;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_num_accel_reports = 2;
_oldest_accel_report = _next_accel_report = 0;
_accel_reports = new struct accel_report[_num_accel_reports];
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
memset(&_accel_reports[0], 0, sizeof(_accel_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]);
_num_mag_reports = 2;
_oldest_mag_report = _next_mag_report = 0;
_mag_reports = new struct mag_report[_num_mag_reports];
if (_mag_reports == nullptr)
goto out;
/* advertise mag topic */
memset(&_mag_reports[0], 0, sizeof(_mag_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]);
/* enable accel, XXX do this with an ioctl? */
write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A);
/* enable mag, XXX do this with an ioctl? */
write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
/* XXX should we enable FIFO? */
set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */
set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */
set_samplerate(400); /* max sample rate */
mag_set_range(4); /* XXX: take highest sensor range of 12GA? */
mag_set_samplerate(100);
/* XXX test this when another mag is used */
/* do CDev init for the mag device node, keep it optional */
mag_ret = _mag->init();
if (mag_ret != OK) {
_mag_topic = -1;
}
ret = OK;
out:
return ret;
}
