forked from Archive/PX4-Autopilot
Removed outdated sensors bringup app
This commit is contained in:
Lorenz Meier
parent
8a8b6b7165
commit
c6eff9eb8b
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@ -1,42 +0,0 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Makefile to build the sensor bringup tests
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#
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APPNAME = sensors_bringup
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@ -1,209 +0,0 @@
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/*
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* Operations for the Bosch BMA180 3D Accelerometer
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/spi.h>
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#include "sensors.h"
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#define DIR_READ (1<<7)
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#define DIR_WRITE (0<<7)
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#define ADDR_INCREMENT (1<<6)
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#define ADDR_CHIP_ID 0x00
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#define CHIP_ID 0x03
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#define ADDR_VERSION 0x01
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#define ADDR_CTRL_REG0 0x0D
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#define ADDR_CTRL_REG1 0x0E
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#define ADDR_CTRL_REG2 0x0F
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#define ADDR_BWTCS 0x20
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#define ADDR_CTRL_REG3 0x21
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#define ADDR_CTRL_REG4 0x22
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#define ADDR_OLSB1 0x35
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#define ADDR_ACC_X_LSB 0x02
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#define ADDR_ACC_Z_MSB 0x07
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#define ADDR_TEMPERATURE 0x08
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#define ADDR_STATUS_REG1 0x09
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#define ADDR_STATUS_REG2 0x0A
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#define ADDR_STATUS_REG3 0x0B
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#define ADDR_STATUS_REG4 0x0C
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#define ADDR_RESET 0x10
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#define SOFT_RESET 0xB6
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#define ADDR_DIS_I2C 0x27
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#define REG0_WRITE_ENABLE 0x10
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#define BWTCS_LP_10HZ (0<<4)
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#define BWTCS_LP_20HZ (1<<4)
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#define BWTCS_LP_40HZ (2<<4)
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#define BWTCS_LP_75HZ (3<<4)
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#define BWTCS_LP_150HZ (4<<4)
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#define BWTCS_LP_300HZ (5<<4)
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#define BWTCS_LP_600HZ (6<<4)
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#define BWTCS_LP_1200HZ (7<<4)
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#define RANGE_1G (0<<1)
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#define RANGE_1_5G (1<<1)
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#define RANGE_2G (2<<1)
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#define RANGE_3G (3<<1)
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#define RANGE_4G (4<<1)
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#define RANGE_8G (5<<1)
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#define RANGE_16G (6<<1)
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#define RANGEMASK 0x0E
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#define BWMASK 0xF0
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static void
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write_reg(struct spi_dev_s *spi, uint8_t address, uint8_t data)
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{
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uint8_t cmd[2] = { address | DIR_WRITE, data };
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SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
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SPI_SNDBLOCK(spi, &cmd, sizeof(cmd));
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SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
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}
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static uint8_t
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read_reg(struct spi_dev_s *spi, uint8_t address)
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{
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uint8_t cmd[2] = {address | DIR_READ, 0};
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uint8_t data[2];
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SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
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SPI_EXCHANGE(spi, cmd, data, sizeof(cmd));
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SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
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return data[1];
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}
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int
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bma180_test_configure(struct spi_dev_s *spi)
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{
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uint8_t id;
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id = read_reg(spi, ADDR_CHIP_ID);
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uint8_t version = read_reg(spi, 0x01);
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if (id == CHIP_ID)
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{
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message("BMA180 SUCCESS: 0x%02x, version: %d\n", id, version);
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}
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else
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{
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message("BMA180 FAIL: 0x%02x\n", id);
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}
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//message("got id 0x%02x, expected ID 0x03\n", id);
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write_reg(spi, ADDR_RESET, SOFT_RESET); // page 48
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usleep(12000); // wait 10 ms, see page 49
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// Configuring the BMA180
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/* enable writing to chip config */
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uint8_t ctrl0 = read_reg(spi, ADDR_CTRL_REG0);
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ctrl0 |= REG0_WRITE_ENABLE;
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write_reg(spi, ADDR_CTRL_REG0, ctrl0);
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uint8_t disi2c = read_reg(spi, ADDR_DIS_I2C); // read
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disi2c |= 0x01; // set bit0 to 1, SPI only
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write_reg(spi, ADDR_DIS_I2C, disi2c); // Set spi, disable i2c, page 31
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/* set bandwidth */
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uint8_t bwtcs = read_reg(spi, ADDR_BWTCS);
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printf("bwtcs: %d\n", bwtcs);
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bwtcs &= (~BWMASK);
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bwtcs |= (BWTCS_LP_600HZ);// & BWMASK);
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write_reg(spi, ADDR_BWTCS, bwtcs);
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/* set range */
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uint8_t olsb1 = read_reg(spi, ADDR_OLSB1);
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printf("olsb1: %d\n", olsb1);
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olsb1 &= (~RANGEMASK);
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olsb1 |= (RANGE_4G);// & RANGEMASK);
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write_reg(spi, ADDR_OLSB1, olsb1);
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// uint8_t reg3 = read_reg(spi, ADDR_CTRL_REG3);
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// //reg3 &= 0xFD; // REset bit 1 enable interrupt
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// //reg3 |= 0x02; // enable
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// write_reg(spi, ADDR_CTRL_REG3, reg3); //
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/* block writing to chip config */
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ctrl0 = read_reg(spi, ADDR_CTRL_REG0);
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ctrl0 &= (~REG0_WRITE_ENABLE);
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printf("ctrl0: %d\n", ctrl0);
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write_reg(spi, ADDR_CTRL_REG0, ctrl0);
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return 0;
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}
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int
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bma180_test_read(struct spi_dev_s *spi)
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{
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struct { /* status register and data as read back from the device */
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uint8_t cmd;
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t temp;
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} __attribute__((packed)) report;
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report.x = 0;
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report.y = 0;
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report.z = 0;
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// uint8_t temp;
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// uint8_t status1;
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// uint8_t status2;
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// uint8_t status3;
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// uint8_t status4;
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report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
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//SPI_LOCK(spi, true);
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//SPI_SELECT(spi, PX4_SPIDEV_ACCEL, true);
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//SPI_EXCHANGE(spi, &report, &report, sizeof(report));
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//SPI_SELECT(spi, PX4_SPIDEV_ACCEL, false);
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//SPI_LOCK(spi, false);
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report.x = read_reg(spi, ADDR_ACC_X_LSB);
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report.x |= (read_reg(spi, ADDR_ACC_X_LSB+1) << 8);
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report.y = read_reg(spi, ADDR_ACC_X_LSB+2);
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report.y |= (read_reg(spi, ADDR_ACC_X_LSB+3) << 8);
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report.z = read_reg(spi, ADDR_ACC_X_LSB+4);
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report.z |= (read_reg(spi, ADDR_ACC_X_LSB+5) << 8);
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report.temp = read_reg(spi, ADDR_ACC_X_LSB+6);
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// Collect status and remove two top bits
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uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01);
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report.x = (report.x >> 2);
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report.y = (report.y >> 2);
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report.z = (report.z >> 2);
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message("ACC: x: %d\ty: %d\tz: %d\ttemp: %d new: %d\n", report.x, report.y, report.z, report.temp, new_data);
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usleep(2000);
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return 0;
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}
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@ -1,184 +0,0 @@
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/*
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* Operations for the l3g4200
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/spi.h>
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#include "sensors.h"
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#define DIR_READ (1<<7)
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#define DIR_WRITE (0<<7)
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#define ADDR_INCREMENT (1<<6)
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#define ADDR_WHO_AM_I 0x0f
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#define WHO_I_AM 0xd4
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#define ADDR_CTRL_REG1 0x20 /* sample rate constants are in the public header */
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#define REG1_POWER_NORMAL (1<<3)
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#define REG1_Z_ENABLE (1<<2)
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#define REG1_Y_ENABLE (1<<1)
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#define REG1_X_ENABLE (1<<0)
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#define ADDR_CTRL_REG2 0x21
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/* high-pass filter - usefulness TBD */
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#define ADDR_CTRL_REG3 0x22
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#define ADDR_CTRL_REG4 0x23
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#define REG4_BDU (1<<7)
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#define REG4_BIG_ENDIAN (1<<6)
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#define REG4_SPI_3WIRE (1<<0)
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#define ADDR_CTRL_REG5 0x24
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#define REG5_BOOT (1<<7)
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#define REG5_FIFO_EN (1<<6)
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#define REG5_HIGHPASS_ENABLE (1<<4)
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#define ADDR_REFERENCE 0x25
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#define ADDR_TEMPERATURE 0x26
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#define ADDR_STATUS_REG 0x27
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#define STATUS_ZYXOR (1<<7)
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#define SATAUS_ZOR (1<<6)
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#define STATUS_YOR (1<<5)
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#define STATUS_XOR (1<<4)
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#define STATUS_ZYXDA (1<<3)
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#define STATUS_ZDA (1<<2)
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#define STATUS_YDA (1<<1)
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#define STATUS_XDA (1<<0)
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#define ADDR_OUT_X 0x28 /* 16 bits */
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#define ADDR_OUT_Y 0x2A /* 16 bits */
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#define ADDR_OUT_Z 0x2C /* 16 bits */
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#define ADDR_FIFO_CTRL 0x2e
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#define FIFO_MODE_BYPASS (0<<5)
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#define FIFO_MODE_FIFO (1<<5)
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#define FIFO_MODE_STREAM (2<<5)
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#define FIFO_MODE_STREAM_TO_FIFO (3<<5)
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#define FIFO_MODE_BYPASS_TO_STREAM (4<<5)
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#define FIFO_THRESHOLD_MASK 0x1f
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#define ADDR_FIFO_SRC 0x2f
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#define FIFO_THREHSHOLD_OVER (1<<7)
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#define FIFO_OVERRUN (1<<6)
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#define FIFO_EMPTY (1<<5)
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#define L3G4200_RATE_100Hz ((0<<6) | (0<<4))
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#define L3G4200_RATE_200Hz ((1<<6) | (0<<4))
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#define L3G4200_RATE_400Hz ((2<<6) | (1<<4))
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#define L3G4200_RATE_800Hz ((3<<6) | (2<<4))
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#define L3G4200_RANGE_250dps (0<<4)
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#define L3G4200_RANGE_500dps (1<<4)
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#define L3G4200_RANGE_2000dps (3<<4)
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static void
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write_reg(struct spi_dev_s *spi, uint8_t address, uint8_t data)
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{
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uint8_t cmd[2] = { address | DIR_WRITE, data };
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
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SPI_SNDBLOCK(spi, &cmd, sizeof(cmd));
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
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}
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static uint8_t
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read_reg(struct spi_dev_s *spi, uint8_t address)
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{
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uint8_t cmd[2] = {address | DIR_READ, 0};
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uint8_t data[2];
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
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SPI_EXCHANGE(spi, cmd, data, sizeof(cmd));
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
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return data[1];
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}
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int
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l3gd20_test_configure(struct spi_dev_s *spi)
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{
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uint8_t id;
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id = read_reg(spi, ADDR_WHO_AM_I);
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if (id == WHO_I_AM)
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{
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message("L3GD20 SUCCESS: 0x%02x\n", id);
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}
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else
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{
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message("L3GD20 FAIL: 0x%02x\n", id);
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}
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struct { /* status register and data as read back from the device */
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uint8_t cmd;
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uint8_t temp;
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uint8_t status;
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int16_t x;
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int16_t y;
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int16_t z;
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} __attribute__((packed)) report;
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report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
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write_reg(spi, ADDR_CTRL_REG2, 0); /* disable high-pass filters */
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write_reg(spi, ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
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write_reg(spi, ADDR_CTRL_REG5, 0); /* turn off FIFO mode */
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write_reg(spi, ADDR_CTRL_REG4, ((3<<4) & 0x30) | REG4_BDU);
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write_reg(spi, ADDR_CTRL_REG1,
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(((2<<6) | (1<<4)) & 0xf0) | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
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SPI_EXCHANGE(spi, &report, &report, sizeof(report));
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
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message("Init-read: gyro: x: %d\ty: %d\tz: %d\n", report.x, report.y, report.z);
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usleep(1000);
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//message("got id 0x%02x, expected ID 0xd4\n", id);
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return 0;
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}
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int
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l3gd20_test_read(struct spi_dev_s *spi)
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{
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struct { /* status register and data as read back from the device */
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uint8_t cmd;
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uint8_t temp;
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uint8_t status;
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int16_t x;
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int16_t y;
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int16_t z;
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} __attribute__((packed)) report;
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report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
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SPI_LOCK(spi, true);
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
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SPI_EXCHANGE(spi, &report, &report, sizeof(report));
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SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
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SPI_LOCK(spi, false);
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message("gyro: x: %d\ty: %d\tz: %d\n", report.x, report.y, report.z);
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usleep(1000);
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return 0;
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}
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@ -1,88 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __APPS_PX4_SENSORS_H
|
||||
#define __APPS_PX4_SENSORS_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lib_rawprintf(__VA_ARGS__)
|
||||
# define msgflush()
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# define msgflush() fflush(stdout)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lib_rawprintf
|
||||
# define msgflush()
|
||||
# else
|
||||
# define message printf
|
||||
# define msgflush() fflush(stdout)
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
int l3gd20_test_configure(struct spi_dev_s *spi);
|
||||
int l3gd20_test_read(struct spi_dev_s *spi);
|
||||
int bma180_test_configure(struct spi_dev_s *spi);
|
||||
int bma180_test_read(struct spi_dev_s *spi);
|
||||
int bma180_test(struct spi_dev_s *spi);
|
||||
int hmc5883l_test(struct i2c_dev_s *i2c);
|
||||
|
||||
#endif /* __APPS_PX4_SENSORS_H */
|
||||
|
|
@ -1,409 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.h>
|
||||
|
||||
#include "sensors.h"
|
||||
|
||||
__EXPORT int sensors_bringup_main(int argc, char *argv[]);
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: user_start/adc_main
|
||||
****************************************************************************/
|
||||
|
||||
int sensors_bringup_main(int argc, char *argv[])
|
||||
{
|
||||
struct spi_dev_s *spi;
|
||||
int result = -1;
|
||||
|
||||
spi = up_spiinitialize(1);
|
||||
if (!spi) {
|
||||
message("Failed to initialize SPI port 1\n");
|
||||
goto out;
|
||||
}
|
||||
|
||||
struct i2c_dev_s *i2c;
|
||||
i2c = up_i2cinitialize(2);
|
||||
if (!i2c) {
|
||||
message("Failed to initialize I2C bus 2\n");
|
||||
goto out;
|
||||
}
|
||||
|
||||
int ret;
|
||||
|
||||
#define EEPROM_ADDRESS 0x50
|
||||
#define HMC5883L_ADDRESS 0x1E
|
||||
|
||||
//uint8_t devaddr = EEPROM_ADDRESS;
|
||||
|
||||
I2C_SETFREQUENCY(i2c, 100000);
|
||||
//
|
||||
// uint8_t subaddr = 0x00;
|
||||
// int ret = 0;
|
||||
//
|
||||
// // ATTEMPT HMC5883L CONFIG
|
||||
// I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
|
||||
// subaddr = 0x02; // mode register
|
||||
// ret = I2C_WRITE(i2c, &subaddr, 0);
|
||||
// if (ret < 0)
|
||||
// {
|
||||
// message("I2C_WRITE failed: %d\n", ret);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// message("I2C_WRITE SUCCEEDED: %d\n", ret);
|
||||
// }
|
||||
|
||||
//fflush(stdout);
|
||||
//
|
||||
//
|
||||
//
|
||||
|
||||
|
||||
#define STATUS_REGISTER 0x09 // Of HMC5883L
|
||||
|
||||
// ATTEMPT HMC5883L WRITE
|
||||
I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
|
||||
uint8_t cmd = 0x09;
|
||||
uint8_t status_id[4] = {0, 0, 0, 0};
|
||||
|
||||
|
||||
ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
|
||||
|
||||
if (ret >= 0 && status_id[1] == 'H' && status_id[2] == '4' && status_id[3] == '3')
|
||||
{
|
||||
message("HMC5883L identified, device status: %d\n", status_id[0]);
|
||||
} else {
|
||||
message("HMC5883L identification failed: %d\n", ret);
|
||||
}
|
||||
|
||||
#define HMC5883L_ADDR_CONF_A 0x00
|
||||
#define HMC5883L_ADDR_CONF_B 0x01
|
||||
#define HMC5883L_ADDR_MODE 0x02
|
||||
|
||||
#define HMC5883L_AVERAGING_1 (0 << 5) /* conf a register */
|
||||
#define HMC5883L_AVERAGING_2 (1 << 5)
|
||||
#define HMC5883L_AVERAGING_4 (2 << 5)
|
||||
#define HMC5883L_AVERAGING_8 (3 << 5)
|
||||
|
||||
#define HMC5883L_RATE_75HZ (6 << 2) /* 75 Hz */
|
||||
|
||||
#define HMC5883L_RANGE_0_88GA (0 << 5)
|
||||
|
||||
uint8_t rate_cmd[] = {HMC5883L_ADDR_CONF_A, HMC5883L_RATE_75HZ | HMC5883L_AVERAGING_8};
|
||||
ret = I2C_WRITE(i2c, rate_cmd, sizeof(rate_cmd));
|
||||
message("Wrote %d into register 0x00 of HMC, result: %d (0 = success)\n", HMC5883L_RATE_75HZ | HMC5883L_AVERAGING_8, ret);
|
||||
|
||||
uint8_t range_cmd[] = {HMC5883L_ADDR_CONF_B, HMC5883L_RANGE_0_88GA};
|
||||
ret = I2C_WRITE(i2c, range_cmd, sizeof(range_cmd));
|
||||
message("Wrote %d into register 0x01 of HMC, result: %d (0 = success)\n", HMC5883L_RANGE_0_88GA, ret);
|
||||
|
||||
// Set HMC into continous mode
|
||||
// First write address, then value
|
||||
uint8_t cont_address[] = {HMC5883L_ADDR_MODE, 0x00};
|
||||
ret = I2C_WRITE(i2c, cont_address, sizeof(cont_address));
|
||||
|
||||
message("Wrote 0x00 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
|
||||
|
||||
|
||||
// ATTEMPT HMC5883L READ
|
||||
int h = 0;
|
||||
|
||||
I2C_SETADDRESS(i2c, HMC5883L_ADDRESS, 7);
|
||||
for (h = 0; h < 5; h++)
|
||||
{
|
||||
|
||||
cont_address[0] = HMC5883L_ADDR_MODE;
|
||||
cont_address[1] = 0x01;
|
||||
ret = I2C_WRITE(i2c, cont_address, sizeof(cont_address));
|
||||
|
||||
message("Wrote 0x01 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
|
||||
|
||||
usleep(100000);
|
||||
|
||||
cont_address[1] = 0x00;
|
||||
uint8_t dummy;
|
||||
ret = I2C_WRITEREAD(i2c, cont_address, sizeof(cont_address), &dummy, 1);
|
||||
|
||||
message("Wrote 0x00 into register 0x02 of HMC, result: %d (0 = success)\n", ret);
|
||||
|
||||
usleep(100000);
|
||||
|
||||
|
||||
int16_t hmc5883l_data[3] = {0, 0, 0};
|
||||
uint8_t data_address = 0x03;
|
||||
uint8_t* data_ptr = (uint8_t*)hmc5883l_data;
|
||||
ret = I2C_WRITEREAD(i2c, &data_address, 1, data_ptr, 6);
|
||||
if (ret < 0)
|
||||
{
|
||||
message("HMC5883L READ failed: %d\n", ret);
|
||||
}
|
||||
else
|
||||
{
|
||||
// mask out top four bits as only 12 bits are valid
|
||||
hmc5883l_data[0] &= 0xFFF;
|
||||
hmc5883l_data[1] &= 0xFFF;
|
||||
hmc5883l_data[2] &= 0xFFF;
|
||||
|
||||
message("HMC5883L READ SUCCEEDED: %d, val: %d %d %d\n", ret, hmc5883l_data[0], hmc5883l_data[1], hmc5883l_data[2]);
|
||||
uint8_t hmc_status;
|
||||
ret = I2C_WRITEREAD(i2c, &cmd, 1, &hmc_status, 1);
|
||||
|
||||
message("\t status: %d\n", hmc_status);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Possible addresses: 0x77 or 0x76
|
||||
#define MS5611_ADDRESS_1 0x76
|
||||
#define MS5611_ADDRESS_2 0x77
|
||||
I2C_SETADDRESS(i2c, MS5611_ADDRESS_1, 7);
|
||||
// Reset cmd
|
||||
uint8_t ms5611_cmd[2] = {0x00, 0x1E};
|
||||
ret = I2C_WRITE(i2c, ms5611_cmd, 2);
|
||||
if (ret < 0)
|
||||
{
|
||||
message("MS5611 #1 WRITE failed: %d\n", ret);
|
||||
}
|
||||
else
|
||||
{
|
||||
message("MS5611 #1 WRITE SUCCEEDED: %d\n", ret);
|
||||
}
|
||||
|
||||
fflush(stdout);
|
||||
|
||||
I2C_SETADDRESS(i2c, MS5611_ADDRESS_2, 7);
|
||||
ret = I2C_WRITE(i2c, ms5611_cmd, 2);
|
||||
if (ret < 0)
|
||||
{
|
||||
message("MS5611 #2 WRITE failed: %d\n", ret);
|
||||
}
|
||||
else
|
||||
{
|
||||
message("MS5611 #2 WRITE SUCCEEDED: %d\n", ret);
|
||||
}
|
||||
|
||||
fflush(stdout);
|
||||
|
||||
|
||||
// Wait for reset to complete (10 ms nominal, wait: 100 ms)
|
||||
usleep(100000);
|
||||
|
||||
// Read PROM data
|
||||
uint8_t prom_buf[2] = {0,1};
|
||||
|
||||
uint16_t calibration[6];
|
||||
|
||||
int i = 0;
|
||||
|
||||
prom_buf[0] = 0xA2 + (i*2);
|
||||
|
||||
struct i2c_msg_s msgv[2] = {
|
||||
{
|
||||
.addr = MS5611_ADDRESS_2,
|
||||
.flags = 0,
|
||||
.buffer = prom_buf,
|
||||
.length = 1
|
||||
},
|
||||
{
|
||||
.addr = MS5611_ADDRESS_2,
|
||||
.flags = I2C_M_READ,
|
||||
.buffer = prom_buf,
|
||||
.length = 1
|
||||
}
|
||||
};
|
||||
|
||||
calibration[i] = prom_buf[0]*256;
|
||||
calibration[i]+= prom_buf[1];
|
||||
|
||||
int retval;
|
||||
|
||||
if ( (retval = I2C_TRANSFER(i2c, msgv, 2)) == OK )
|
||||
{
|
||||
printf("SUCCESS ACCESSING PROM OF MS5611: %d, value C1: %d\n", retval, (int)calibration[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("FAIL ACCESSING PROM OF MS5611\n");
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
// TESTING CODE, EEPROM READ/WRITE
|
||||
uint8_t val[1] = {10};
|
||||
int retval_eeprom;
|
||||
uint8_t eeprom_subaddr[2] = {0, 0};
|
||||
|
||||
struct i2c_msg_s msgv_eeprom[2] = {
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = 0,
|
||||
.buffer = eeprom_subaddr,
|
||||
.length = 2
|
||||
},
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = I2C_M_READ,
|
||||
.buffer = val,
|
||||
.length = 1
|
||||
}
|
||||
};
|
||||
|
||||
val[0] = 5;
|
||||
|
||||
if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom, 2)) == OK )
|
||||
{
|
||||
printf("SUCCESS READING EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("FAIL READING EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
|
||||
}
|
||||
|
||||
// Increment val
|
||||
val[0] = val[0] + 1;
|
||||
|
||||
struct i2c_msg_s msgv_eeprom_write[2] = {
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = eeprom_subaddr,
|
||||
.length = 2
|
||||
},
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = val,
|
||||
.length = 1
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom_write, 2)) == OK )
|
||||
{
|
||||
printf("SUCCESS WRITING EEPROM: %d\n", retval_eeprom);
|
||||
}
|
||||
|
||||
usleep(10000);
|
||||
|
||||
struct i2c_msg_s msgv_eeprom2[2] = {
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = 0,
|
||||
.buffer = eeprom_subaddr,
|
||||
.length = 2
|
||||
},
|
||||
{
|
||||
.addr = EEPROM_ADDRESS,
|
||||
.flags = I2C_M_READ,
|
||||
.buffer = val,
|
||||
.length = 1
|
||||
}
|
||||
};
|
||||
|
||||
val[0] = 5;
|
||||
|
||||
|
||||
if ( (retval_eeprom = I2C_TRANSFER(i2c, msgv_eeprom2, 2)) == OK )
|
||||
{
|
||||
printf("SUCCESS READING WRITE RESULT EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("FAIL READING WRITE RESULT EEPROM: %d, value: %d\n", retval_eeprom, (int)val[0]);
|
||||
}
|
||||
|
||||
// Configure sensors
|
||||
l3gd20_test_configure(spi);
|
||||
bma180_test_configure(spi);
|
||||
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
l3gd20_test_read(spi);
|
||||
bma180_test_read(spi);
|
||||
printf("# %d of 10\n", i+1);
|
||||
usleep(50000);
|
||||
}
|
||||
|
||||
|
||||
out:
|
||||
msgflush();
|
||||
return result;
|
||||
}
|
||||
Loading…
Reference in New Issue