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bmi160 move to PX4Accelerometer and PX4Gyroscope and cleanup (#12128)

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This commit is contained in:
Daniel Agar
2019-06-05 11:25:18 -07:00
committed by David Sidrane
parent ac4458460d
commit 9d726cb0c4
6 changed files with 69 additions and 793 deletions
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src/drivers/imu/bmi160/bmi160_main.cpp
+4 -124
View File
@@ -1,7 +1,7 @@
#include "bmi160.hpp"
#include <board_config.h>
#include <px4_config.h>
#include <px4_getopt.h>
/** driver 'main' command */
@@ -18,8 +18,6 @@ BMI160 *g_dev_ext; // on external bus
void start(bool, enum Rotation);
void stop(bool);
void test(bool);
void reset(bool);
void info(bool);
void regdump(bool);
void testerror(bool);
@@ -35,10 +33,7 @@ void usage();
void
start(bool external_bus, enum Rotation rotation)
{
int fd;
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
if (*g_dev_ptr != nullptr)
/* if already started, the still command succeeded */
@@ -49,14 +44,14 @@ start(bool external_bus, enum Rotation rotation)
/* create the driver */
if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, PX4_SPIDEV_EXT_BMI, rotation);
*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BMI, rotation);
#else
errx(0, "External SPI not available");
#endif
} else {
#if defined(PX4_SPIDEV_BMI)
*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, PX4_SPIDEV_BMI, rotation);
*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BMI, rotation);
#else
errx(0, "No Internal SPI CS");
#endif
@@ -70,19 +65,6 @@ start(bool external_bus, enum Rotation rotation)
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(path_accel, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
close(fd);
exit(0);
fail:
@@ -111,94 +93,6 @@ stop(bool external_bus)
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)
{
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
sensor_accel_s a_report{};
sensor_gyro_s g_report{};
ssize_t sz;
/* get the driver */
int fd = open(path_accel, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'bmi160 start')",
path_accel);
/* get the driver */
int fd_gyro = open(path_gyro, O_RDONLY);
if (fd_gyro < 0) {
err(1, "%s open failed", path_gyro);
}
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report)) {
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
err(1, "immediate acc read failed");
}
print_message(a_report);
/* do a simple demand read */
sz = read(fd_gyro, &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");
}
print_message(g_report);
/* reset to default polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "reset to default polling");
}
close(fd);
close(fd_gyro);
/* XXX add poll-rate tests here too */
reset(external_bus);
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset(bool external_bus)
{
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
int fd = open(path_accel, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
close(fd);
exit(0);
}
/**
* Print a little info about the driver.
*/
@@ -256,7 +150,7 @@ testerror(bool external_bus)
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
warnx("missing command: try 'start', 'info', 'stop', 'regdump', 'testerror'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
@@ -307,20 +201,6 @@ bmi160_main(int argc, char *argv[])
bmi160::stop(external_bus);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
bmi160::test(external_bus);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
bmi160::reset(external_bus);
}
/*
* Print driver information.
*/