mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 06:43:34 +08:00
organize all IMU drivers in subdirectory
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
f7a17ad5e5
commit
681e351f62
@@ -0,0 +1,617 @@
|
||||
#include <px4_config.h>
|
||||
#include <platforms/px4_getopt.h>
|
||||
#include "bmi055.hpp"
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
|
||||
enum sensor_type {
|
||||
BMI055_NONE = 0,
|
||||
BMI055_ACCEL = 1,
|
||||
BMI055_GYRO
|
||||
};
|
||||
|
||||
|
||||
namespace bmi055
|
||||
{
|
||||
|
||||
BMI055_accel *g_acc_dev_int; // on internal bus (accel)
|
||||
BMI055_accel *g_acc_dev_ext; // on external bus (accel)
|
||||
BMI055_gyro *g_gyr_dev_int; // on internal bus (gyro)
|
||||
BMI055_gyro *g_gyr_dev_ext; // on external bus (gyro)
|
||||
|
||||
|
||||
void start(bool, enum Rotation, enum sensor_type);
|
||||
void stop(bool, enum sensor_type);
|
||||
void test(bool, enum sensor_type);
|
||||
void reset(bool, enum sensor_type);
|
||||
void info(bool, enum sensor_type);
|
||||
void regdump(bool, enum sensor_type);
|
||||
void testerror(bool, enum sensor_type);
|
||||
void usage();
|
||||
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function only returns if the driver is up and running
|
||||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
|
||||
{
|
||||
|
||||
int fd_acc, fd_gyr;
|
||||
BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
|
||||
const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
|
||||
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
|
||||
const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
|
||||
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
if (*g_dev_acc_ptr != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "bmi055 accel sensor already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
|
||||
*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_EXT, path_accel, PX4_SPIDEV_EXT_BMI, rotation);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_SENSORS, path_accel, PX4_SPIDEV_BMI055_ACC, rotation);
|
||||
}
|
||||
|
||||
if (*g_dev_acc_ptr == nullptr) {
|
||||
goto fail_accel;
|
||||
}
|
||||
|
||||
if (OK != (*g_dev_acc_ptr)->init()) {
|
||||
goto fail_accel;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd_acc = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd_acc < 0) {
|
||||
goto fail_accel;
|
||||
}
|
||||
|
||||
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail_accel;
|
||||
}
|
||||
|
||||
close(fd_acc);
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
|
||||
if (*g_dev_gyr_ptr != nullptr) {
|
||||
errx(0, "bmi055 gyro sensor already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
|
||||
*g_dev_ptr = new BMI055_gyro(PX4_SPI_BUS_EXT, path_gyro, PX4_SPIDEV_EXT_BMI, rotation);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
*g_dev_gyr_ptr = new BMI055_gyro(PX4_SPI_BUS_SENSORS, path_gyro, PX4_SPIDEV_BMI055_GYR, rotation);
|
||||
}
|
||||
|
||||
if (*g_dev_gyr_ptr == nullptr) {
|
||||
goto fail_gyro;
|
||||
}
|
||||
|
||||
if (OK != (*g_dev_gyr_ptr)->init()) {
|
||||
goto fail_gyro;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd_gyr = open(path_gyro, O_RDONLY);
|
||||
|
||||
if (fd_gyr < 0) {
|
||||
goto fail_gyro;
|
||||
}
|
||||
|
||||
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail_gyro;
|
||||
}
|
||||
|
||||
close(fd_gyr);
|
||||
}
|
||||
|
||||
exit(PX4_OK);
|
||||
|
||||
fail_accel:
|
||||
|
||||
if (*g_dev_acc_ptr != nullptr) {
|
||||
delete (*g_dev_acc_ptr);
|
||||
*g_dev_acc_ptr = nullptr;
|
||||
}
|
||||
|
||||
PX4_WARN("No BMI055 accel found");
|
||||
exit(PX4_ERROR);
|
||||
|
||||
fail_gyro:
|
||||
|
||||
if (*g_dev_gyr_ptr != nullptr) {
|
||||
delete (*g_dev_gyr_ptr);
|
||||
*g_dev_gyr_ptr = nullptr;
|
||||
}
|
||||
|
||||
PX4_WARN("No BMI055 gyro found");
|
||||
exit(PX4_ERROR);
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
stop(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
|
||||
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
if (*g_dev_acc_ptr != nullptr) {
|
||||
delete *g_dev_acc_ptr;
|
||||
*g_dev_acc_ptr = nullptr;
|
||||
|
||||
} else {
|
||||
/* warn, but not an error */
|
||||
warnx("bmi055 accel sensor already stopped.");
|
||||
}
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
if (*g_dev_gyr_ptr != nullptr) {
|
||||
delete *g_dev_gyr_ptr;
|
||||
*g_dev_gyr_ptr = nullptr;
|
||||
|
||||
} else {
|
||||
/* warn, but not an error */
|
||||
warnx("bmi055 gyro sensor already stopped.");
|
||||
}
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
|
||||
const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
ssize_t sz;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
/* get the accel driver */
|
||||
int fd_acc = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd_acc < 0)
|
||||
err(1, "%s Accel file open failed (try 'bmi055 -A start')",
|
||||
path_accel);
|
||||
|
||||
|
||||
/* reset to manual polling */
|
||||
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
|
||||
err(1, "accel reset to manual polling");
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_acc, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate accel read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("time: %lld", a_report.timestamp);
|
||||
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
|
||||
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
|
||||
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
|
||||
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
|
||||
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
|
||||
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
|
||||
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
|
||||
(double)(a_report.range_m_s2 / BMI055_ONE_G));
|
||||
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
|
||||
warnx("temp: \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
|
||||
|
||||
|
||||
/* reset to default polling */
|
||||
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "accel reset to default polling");
|
||||
}
|
||||
|
||||
close(fd_acc);
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
|
||||
/* get the gyro driver */
|
||||
int fd_gyr = open(path_gyro, O_RDONLY);
|
||||
|
||||
if (fd_gyr < 0) {
|
||||
err(1, "%s Gyro file open failed (try 'bmi055 -G start')", path_gyro);
|
||||
}
|
||||
|
||||
/* reset to manual polling */
|
||||
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
|
||||
err(1, "gyro reset to manual polling");
|
||||
}
|
||||
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_gyr, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
|
||||
warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
|
||||
warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
|
||||
warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
|
||||
warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
|
||||
warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
|
||||
warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
|
||||
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
|
||||
|
||||
|
||||
/* reset to default polling */
|
||||
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "gyro reset to default polling");
|
||||
}
|
||||
|
||||
close(fd_gyr);
|
||||
|
||||
}
|
||||
|
||||
if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
|
||||
/* XXX add poll-rate tests here too */
|
||||
reset(external_bus, sensor);
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
|
||||
const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
int fd_acc = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd_acc < 0) {
|
||||
err(1, "Opening accel file failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd_acc, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "accel driver reset failed");
|
||||
}
|
||||
|
||||
|
||||
if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "accel driver poll restart failed");
|
||||
}
|
||||
|
||||
close(fd_acc);
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
int fd_gyr = open(path_gyro, O_RDONLY);
|
||||
|
||||
if (fd_gyr < 0) {
|
||||
err(1, "Opening gyro file failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd_gyr, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "gyro driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "gyro driver poll restart failed");
|
||||
}
|
||||
|
||||
close(fd_gyr);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
|
||||
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
if (*g_dev_acc_ptr == nullptr) {
|
||||
errx(1, "bmi055 accel driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", *g_dev_acc_ptr);
|
||||
(*g_dev_acc_ptr)->print_info();
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
if (*g_dev_gyr_ptr == nullptr) {
|
||||
errx(1, "bmi055 gyro driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", *g_dev_gyr_ptr);
|
||||
(*g_dev_gyr_ptr)->print_info();
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
void
|
||||
regdump(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
|
||||
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
if (*g_dev_acc_ptr == nullptr) {
|
||||
errx(1, "bmi055 accel driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", *g_dev_acc_ptr);
|
||||
(*g_dev_acc_ptr)->print_registers();
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
if (*g_dev_gyr_ptr == nullptr) {
|
||||
errx(1, "bmi055 gyro driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", *g_dev_gyr_ptr);
|
||||
(*g_dev_gyr_ptr)->print_registers();
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* deliberately produce an error to test recovery
|
||||
*/
|
||||
void
|
||||
testerror(bool external_bus, enum sensor_type sensor)
|
||||
{
|
||||
BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
|
||||
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
|
||||
|
||||
if (sensor == BMI055_ACCEL) {
|
||||
if (*g_dev_acc_ptr == nullptr) {
|
||||
errx(1, "bmi055 accel driver not running");
|
||||
}
|
||||
|
||||
(*g_dev_acc_ptr)->test_error();
|
||||
}
|
||||
|
||||
if (sensor == BMI055_GYRO) {
|
||||
if (*g_dev_gyr_ptr == nullptr) {
|
||||
errx(1, "bmi055 gyro driver not running");
|
||||
}
|
||||
|
||||
(*g_dev_gyr_ptr)->test_error();
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
warnx(" -A (Enable Accelerometer)");
|
||||
warnx(" -G (Enable Gyroscope)");
|
||||
|
||||
}
|
||||
|
||||
}//namespace ends
|
||||
|
||||
|
||||
BMI055::BMI055(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode,
|
||||
uint32_t frequency, enum Rotation rotation):
|
||||
SPI(name, devname, bus, device, mode, frequency),
|
||||
_whoami(0),
|
||||
_call{},
|
||||
_call_interval(0),
|
||||
_dlpf_freq(0),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_read")),
|
||||
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_bad_transfers")),
|
||||
_bad_registers(perf_alloc(PC_COUNT, "bmi055_bad_registers")),
|
||||
_good_transfers(perf_alloc(PC_COUNT, "bmi055_good_transfers")),
|
||||
_reset_retries(perf_alloc(PC_COUNT, "bmi055_reset_retries")),
|
||||
_duplicates(perf_alloc(PC_COUNT, "bmi055_duplicates")),
|
||||
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
|
||||
_register_wait(0),
|
||||
_reset_wait(0),
|
||||
_rotation(rotation),
|
||||
_checked_next(0)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
BMI055::~BMI055()
|
||||
{
|
||||
/* delete the perf counter */
|
||||
perf_free(_sample_perf);
|
||||
perf_free(_bad_transfers);
|
||||
perf_free(_bad_registers);
|
||||
perf_free(_good_transfers);
|
||||
perf_free(_reset_retries);
|
||||
perf_free(_duplicates);
|
||||
|
||||
}
|
||||
|
||||
uint8_t
|
||||
BMI055::read_reg(unsigned reg)
|
||||
{
|
||||
uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
|
||||
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
|
||||
return cmd[1];
|
||||
|
||||
}
|
||||
|
||||
uint16_t
|
||||
BMI055::read_reg16(unsigned reg)
|
||||
{
|
||||
uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
|
||||
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
|
||||
return (uint16_t)(cmd[1] << 8) | cmd[2];
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
BMI055::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
|
||||
cmd[0] = reg | DIR_WRITE;
|
||||
cmd[1] = value;
|
||||
|
||||
transfer(cmd, nullptr, sizeof(cmd));
|
||||
}
|
||||
|
||||
|
||||
|
||||
int
|
||||
bmi055_main(int argc, char *argv[])
|
||||
{
|
||||
bool external_bus = false;
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
enum sensor_type sensor = BMI055_NONE;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'A':
|
||||
sensor = BMI055_ACCEL;
|
||||
break;
|
||||
|
||||
case 'G':
|
||||
sensor = BMI055_GYRO;
|
||||
break;
|
||||
|
||||
default:
|
||||
bmi055::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (sensor == BMI055_NONE) {
|
||||
bmi055::usage();
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmi055::start(external_bus, rotation, sensor);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "stop")) {
|
||||
bmi055::stop(external_bus, sensor);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
bmi055::test(external_bus, sensor);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
bmi055::reset(external_bus, sensor);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmi055::info(external_bus, sensor);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump")) {
|
||||
bmi055::regdump(external_bus, sensor);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "testerror")) {
|
||||
bmi055::testerror(external_bus, sensor);
|
||||
}
|
||||
|
||||
bmi055::usage();
|
||||
exit(1);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user