mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 06:30:35 +08:00
Daniel Agar
359 lines
7.4 KiB
C++
359 lines
7.4 KiB
C++
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#include "bmi160.hpp"
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#include <board_config.h>
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/** driver 'main' command */
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extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
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/**
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* Local functions in support of the shell command.
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*/
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namespace bmi160
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{
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BMI160 *g_dev_int; // on internal bus
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BMI160 *g_dev_ext; // on external bus
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void start(bool, enum Rotation);
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void stop(bool);
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void test(bool);
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void reset(bool);
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void info(bool);
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void regdump(bool);
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void testerror(bool);
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void usage();
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/**
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* Start the driver.
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*
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* This function only returns if the driver is up and running
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* or failed to detect the sensor.
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*/
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void
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start(bool external_bus, enum Rotation rotation)
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{
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int fd;
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
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if (*g_dev_ptr != nullptr)
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/* if already started, the still command succeeded */
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{
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errx(0, "already started");
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}
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/* create the driver */
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if (external_bus) {
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#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
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*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
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#else
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errx(0, "External SPI not available");
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#endif
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} else {
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*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI, rotation);
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}
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if (*g_dev_ptr == nullptr) {
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goto fail;
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}
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if (OK != (*g_dev_ptr)->init()) {
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goto fail;
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}
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/* set the poll rate to default, starts automatic data collection */
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fd = open(path_accel, O_RDONLY);
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if (fd < 0) {
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goto fail;
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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goto fail;
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}
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close(fd);
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exit(0);
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fail:
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if (*g_dev_ptr != nullptr) {
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delete (*g_dev_ptr);
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*g_dev_ptr = nullptr;
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}
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errx(1, "driver start failed");
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}
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void
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stop(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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if (*g_dev_ptr != nullptr) {
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delete *g_dev_ptr;
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*g_dev_ptr = nullptr;
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} else {
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/* warn, but not an error */
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warnx("already stopped.");
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}
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exit(0);
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}
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/**
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* Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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void
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test(bool external_bus)
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{
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
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accel_report a_report;
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gyro_report g_report;
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ssize_t sz;
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/* get the driver */
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int fd = open(path_accel, O_RDONLY);
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if (fd < 0)
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err(1, "%s open failed (try 'bmi160 start')",
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path_accel);
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/* get the driver */
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int fd_gyro = open(path_gyro, O_RDONLY);
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if (fd_gyro < 0) {
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err(1, "%s open failed", path_gyro);
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}
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/* reset to manual polling */
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
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err(1, "reset to manual polling");
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}
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/* do a simple demand read */
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sz = read(fd, &a_report, sizeof(a_report));
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if (sz != sizeof(a_report)) {
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warnx("ret: %d, expected: %d", sz, sizeof(a_report));
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err(1, "immediate acc read failed");
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}
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warnx("single read");
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warnx("time: %lld", a_report.timestamp);
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warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
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warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
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warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
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warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
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warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
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warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
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warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
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(double)(a_report.range_m_s2 / BMI160_ONE_G));
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/* do a simple demand read */
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sz = read(fd_gyro, &g_report, sizeof(g_report));
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if (sz != sizeof(g_report)) {
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warnx("ret: %d, expected: %d", sz, sizeof(g_report));
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err(1, "immediate gyro read failed");
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}
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warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
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warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
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warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
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warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
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warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
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warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
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warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
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(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
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warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
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warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
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/* reset to default polling */
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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err(1, "reset to default polling");
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}
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close(fd);
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close(fd_gyro);
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/* XXX add poll-rate tests here too */
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reset(external_bus);
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errx(0, "PASS");
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}
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/**
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* Reset the driver.
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*/
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void
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reset(bool external_bus)
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{
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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int fd = open(path_accel, O_RDONLY);
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if (fd < 0) {
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err(1, "failed ");
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}
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if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
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err(1, "driver reset failed");
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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err(1, "driver poll restart failed");
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}
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close(fd);
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exit(0);
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}
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/**
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* Print a little info about the driver.
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*/
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void
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info(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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if (*g_dev_ptr == nullptr) {
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errx(1, "driver not running");
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}
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printf("state @ %p\n", *g_dev_ptr);
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(*g_dev_ptr)->print_info();
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exit(0);
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}
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/**
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* Dump the register information
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*/
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void
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regdump(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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if (*g_dev_ptr == nullptr) {
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errx(1, "driver not running");
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}
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printf("regdump @ %p\n", *g_dev_ptr);
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(*g_dev_ptr)->print_registers();
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exit(0);
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}
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/**
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* deliberately produce an error to test recovery
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*/
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void
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testerror(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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if (*g_dev_ptr == nullptr) {
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errx(1, "driver not running");
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}
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(*g_dev_ptr)->test_error();
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exit(0);
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}
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void
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usage()
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{
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warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
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warnx("options:");
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warnx(" -X (external bus)");
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warnx(" -R rotation");
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}
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} // namespace
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int
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bmi160_main(int argc, char *argv[])
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{
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bool external_bus = false;
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int ch;
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enum Rotation rotation = ROTATION_NONE;
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/* jump over start/off/etc and look at options first */
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while ((ch = getopt(argc, argv, "XR:")) != EOF) {
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switch (ch) {
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case 'X':
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external_bus = true;
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break;
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case 'R':
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rotation = (enum Rotation)atoi(optarg);
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break;
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default:
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bmi160::usage();
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exit(0);
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}
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}
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const char *verb = argv[optind];
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start")) {
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bmi160::start(external_bus, rotation);
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}
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if (!strcmp(verb, "stop")) {
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bmi160::stop(external_bus);
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}
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/*
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* Test the driver/device.
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*/
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if (!strcmp(verb, "test")) {
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bmi160::test(external_bus);
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}
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/*
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* Reset the driver.
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*/
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if (!strcmp(verb, "reset")) {
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bmi160::reset(external_bus);
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}
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/*
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* Print driver information.
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*/
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if (!strcmp(verb, "info")) {
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bmi160::info(external_bus);
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}
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/*
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* Print register information.
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*/
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if (!strcmp(verb, "regdump")) {
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bmi160::regdump(external_bus);
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}
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if (!strcmp(verb, "testerror")) {
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bmi160::testerror(external_bus);
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}
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bmi160::usage();
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exit(1);
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}
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