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Posted to commits@mynewt.apache.org by vi...@apache.org on 2017/02/24 19:38:38 UTC
[43/50] incubator-mynewt-core git commit: SensorAPI: BNO055 Adding
config to the sensor
SensorAPI: BNO055 Adding config to the sensor
- some cleanup as well
Project: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/repo
Commit: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/commit/e4d0f04a
Tree: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/tree/e4d0f04a
Diff: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/diff/e4d0f04a
Branch: refs/heads/develop
Commit: e4d0f04a2b19691ed5b5e34a09d1d5f5d044ba2c
Parents: 30b53c0
Author: Vipul Rahane <vi...@apache.org>
Authored: Tue Feb 21 18:22:45 2017 -0800
Committer: Vipul Rahane <vi...@apache.org>
Committed: Tue Feb 21 18:22:45 2017 -0800
----------------------------------------------------------------------
apps/slinky/src/main.c | 8 +
hw/bsp/nrf52dk/src/hal_bsp.c | 49 ++++++
.../sensors/bno055/include/bno055/bno055.h | 165 +++++++++++++++----
hw/drivers/sensors/bno055/src/bno055.c | 155 ++++++++++-------
hw/drivers/sensors/bno055/src/bno055_priv.h | 94 -----------
hw/drivers/sensors/bno055/src/bno055_shell.c | 19 ++-
hw/sensor/include/sensor/euler.h | 4 +-
hw/sensor/src/sensor_shell.c | 50 +++++-
8 files changed, 350 insertions(+), 194 deletions(-)
----------------------------------------------------------------------
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/apps/slinky/src/main.c
----------------------------------------------------------------------
diff --git a/apps/slinky/src/main.c b/apps/slinky/src/main.c
index 9eef0c0..1bbce7b 100755
--- a/apps/slinky/src/main.c
+++ b/apps/slinky/src/main.c
@@ -304,6 +304,14 @@ config_sensor(void)
goto err;
}
+ bcfg.bc_units = BNO055_ACC_UNIT_MS2 | BNO055_ANGRATE_UNIT_DPS |
+ BNO055_EULER_UNIT_DEG | BNO055_TEMP_UNIT_DEGC |
+ BNO055_DO_FORMAT_ANDROID;
+
+ bcfg.bc_opr_mode = BNO055_OPR_MODE_ACCONLY;
+
+ bcfg.bc_pwr_mode = BNO055_PWR_MODE_NORMAL;
+
rc = bno055_config((struct bno055 *) dev, &bcfg);
if (rc) {
os_dev_close(dev);
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/bsp/nrf52dk/src/hal_bsp.c
----------------------------------------------------------------------
diff --git a/hw/bsp/nrf52dk/src/hal_bsp.c b/hw/bsp/nrf52dk/src/hal_bsp.c
index 40ce57b..a2909c3 100644
--- a/hw/bsp/nrf52dk/src/hal_bsp.c
+++ b/hw/bsp/nrf52dk/src/hal_bsp.c
@@ -42,6 +42,20 @@
#endif
#include "os/os_dev.h"
#include "bsp.h"
+#include <lsm303dlhc/lsm303dlhc.h>
+#include <tsl2561/tsl2561.h>
+#include <bno055/bno055.h>
+
+#if MYNEWT_VAL(LSM303DLHC_PRESENT)
+static struct lsm303dlhc lsm303dlhc;
+#endif
+#if MYNEWT_VAL(TSL2561_PRESENT)
+static struct tsl2561 tsl2561;
+#endif
+#if MYNEWT_VAL(BNO055_PRESENT)
+static struct bno055 bno055;
+#endif
+
#if MYNEWT_VAL(UART_0)
static struct uart_dev os_bsp_uart0;
@@ -151,6 +165,23 @@ hal_bsp_get_nvic_priority(int irq_num, uint32_t pri)
return cfg_pri;
}
+#if MYNEWT_VAL(LSM303DLHC_PRESENT) || MYNEWT_VAL(BNO055_PRESENT)
+static int
+slinky_accel_init(struct os_dev *dev, void *arg)
+{
+ return (0);
+}
+#endif
+
+#if MYNEWT_VAL(TSL2561_PRESENT)
+static int
+slinky_light_init(struct os_dev *dev, void *arg)
+{
+ return (0);
+}
+#endif
+
+
void
hal_bsp_init(void)
{
@@ -214,4 +245,22 @@ hal_bsp_init(void)
assert(rc == 0);
#endif
+#if MYNEWT_VAL(LSM303DLHC_PRESENT)
+ rc = os_dev_create((struct os_dev *) &lsm303dlhc, "accel0",
+ OS_DEV_INIT_KERNEL, OS_DEV_INIT_PRIMARY, slinky_accel_init, NULL);
+ assert(rc == 0);
+#endif
+
+#if MYNEWT_VAL(BNO055_PRESENT)
+ rc = os_dev_create((struct os_dev *) &bno055, "accel1",
+ OS_DEV_INIT_KERNEL, OS_DEV_INIT_PRIMARY, slinky_accel_init, NULL);
+ assert(rc == 0);
+#endif
+
+#if MYNEWT_VAL(TSL2561_PRESENT)
+ rc = os_dev_create((struct os_dev *) &tsl2561, "light0",
+ OS_DEV_INIT_KERNEL, OS_DEV_INIT_PRIMARY, slinky_light_init, NULL);
+ assert(rc == 0);
+#endif
+
}
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/drivers/sensors/bno055/include/bno055/bno055.h
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/include/bno055/bno055.h b/hw/drivers/sensors/bno055/include/bno055/bno055.h
index 8aade64..b8ceb02 100644
--- a/hw/drivers/sensors/bno055/include/bno055/bno055.h
+++ b/hw/drivers/sensors/bno055/include/bno055/bno055.h
@@ -28,8 +28,106 @@
extern "C" {
#endif
+/* Power modes */
+#define BNO055_PWR_MODE_NORMAL 0X00
+#define BNO055_PWR_MODE_LOWPOWER 0X01
+#define BNO055_PWR_MODE_SUSPEND 0X02
+
+/* Operation Modes */
+#define BNO055_OPR_MODE_CONFIG 0X00
+#define BNO055_OPR_MODE_ACCONLY 0X01
+#define BNO055_OPR_MODE_MAGONLY 0X02
+#define BNO055_OPR_MODE_GYRONLY 0X03
+#define BNO055_OPR_MODE_ACCMAG 0X04
+#define BNO055_OPR_MODE_ACCGYRO 0X05
+#define BNO055_OPR_MODE_MAGGYRO 0X06
+#define BNO055_OPR_MODE_AMG 0X07
+#define BNO055_OPR_MODE_IMUPLUS 0X08
+#define BNO055_OPR_MODE_COMPASS 0X09
+#define BNO055_OPR_MODE_M4G 0X0A
+#define BNO055_OPR_MODE_NDOF_FMC_OFF 0X0B
+#define BNO055_OPR_MODE_NDOF 0X0C
+
+#define BNO055_ACC_UNIT_MS2 0x0
+#define BNO055_ACC_UNIT_MG 0x1
+#define BNO055_ANGRATE_UNIT_DPS (0 << 1)
+#define BNO055_ANGRATE_UNIT_RPS (1 << 1)
+#define BNO055_EULER_UNIT_DEG (0 << 2)
+#define BNO055_EULER_UNIT_RAD (1 << 2)
+#define BNO055_TEMP_UNIT_DEGC (0 << 4)
+#define BNO055_TEMP_UNIT_DEGF (1 << 4)
+#define BNO055_DO_FORMAT_WINDOWS (0 << 7)
+#define BNO055_DO_FORMAT_ANDROID (1 << 7)
+
+/* Accelerometer config */
+#define BNO055_ACC_CFG_2G 0x0
+#define BNO055_ACC_CFG_4G 0x1
+#define BNO055_ACC_CFG_8G 0x2
+#define BNO055_ACC_CFG_16G 0x3
+
+#define BNO055_ACC_CFG_BW_7_81HZ (0x0 << 2)
+#define BNO055_ACC_CFG_BW_15_63HZ (0x1 << 2)
+#define BNO055_ACC_CFG_BW_31_25HZ (0x2 << 2)
+#define BNO055_ACC_CFG_BW_6_25HZ (0x3 << 2)
+#define BNO055_ACC_CFG_BW_125HZ (0x4 << 2)
+#define BNO055_ACC_CFG_BW_250HZ (0x5 << 2)
+#define BNO055_ACC_CFG_BW_500HZ (0x6 << 2)
+#define BNO055_ACC_CFG_BW_1000HZ (0x7 << 2)
+
+#define BNO055_ACC_CFG_OPR_MODE_NORMAL (0x0 << 5)
+#define BNO055_ACC_CFG_OPR_MODE_SUSPEND (0x1 << 5)
+#define BNO055_ACC_CFG_OPR_MODE_LOWPWR1 (0x2 << 5)
+#define BNO055_ACC_CFG_OPR_MODE_STD (0x3 << 5)
+#define BNO055_ACC_CFG_OPR_MODE_LOWPWR2 (0x4 << 5)
+#define BNO055_ACC_CFG_OPR_MODE_DSUSPEND (0x5 << 5)
+
+/* Gyroscope config */
+#define BNO055_GYR_CFG_RNG_2000DPS 0x0
+#define BNO055_GYR_CFG_RNG_1000DPS 0x1
+#define BNO055_GYR_CFG_RNG_500DPS 0x2
+#define BNO055_GYR_CFG_RNG_250DPS 0x3
+#define BNO055_GYR_CFG_RNG_125DPS 0x4
+
+#define BNO055_GYR_CFG_BW_523HZ (0x0 << 3)
+#define BNO055_GYR_CFG_BW_230HZ (0x1 << 3)
+#define BNO055_GYR_CFG_BW_116HZ (0x2 << 3)
+#define BNO055_GYR_CFG_BW_47HZ (0x3 << 3)
+#define BNO055_GYR_CFG_BW_23HZ (0x4 << 3)
+#define BNO055_GYR_CFG_BW_12HZ (0x5 << 3)
+#define BNO055_GYR_CFG_BW_64HZ (0x6 << 3)
+#define BNO055_GYR_CFG_BW_32HZ (0x7 << 3)
+
+#define BNO055_GYR_CFG_OPR_MODE_NORMAL (0x0 << 5)
+#define BNO055_GYR_CFG_OPR_MODE_FAST_PWR_UP (0x1 << 5)
+#define BNO055_GYR_CFG_OPR_MODE_DSUSPEND (0x2 << 5)
+#define BNO055_GYR_CFG_OPR_MODE_SUSPEND (0x3 << 5)
+#define BNO055_GYR_CFG_OPR_MODE_ADV_PWR_SAVE (0x4 << 5)
+
+/* Magnetometer config */
+#define BNO055_MAG_CFG_BW_2HZ 0x0
+#define BNO055_MAG_CFG_BW_6HZ 0x1
+#define BNO055_MAG_CFG_BW_8HZ 0x2
+#define BNO055_MAG_CFG_BW_10HZ 0x3
+#define BNO055_MAG_CFG_BW_15HZ 0x4
+#define BNO055_MAG_CFG_BW_20HZ 0x5
+#define BNO055_MAG_CFG_BW_25HZ 0x6
+#define BNO055_MAG_CFG_BW_30HZ 0x7
+
+#define BNO055_MAG_CFG_OPR_MODE_LOWPWR (0x0 << 3)
+#define BNO055_MAG_CFG_OPR_MODE_REG (0x1 << 3)
+#define BNO055_MAG_CFG_OPR_MODE_EREG (0x2 << 3)
+#define BNO055_MAG_CFG_OPR_MODE_HIGHACC (0x3 << 3)
+
+#define BNO055_MAG_CFG_PWR_MODE_NORMAL (0x0 << 5)
+#define BNO055_MAG_CFG_PWR_MODE_SLEEP (0x1 << 5)
+#define BNO055_MAG_CFG_PWR_MODE_SUSPEND (0x2 << 5)
+#define BNO055_MAG_CFG_PWR_MODE_FORCE_MODE (0x3 << 5)
+
+
struct bno055_cfg {
- uint8_t bc_mode;
+ uint8_t bc_opr_mode;
+ uint8_t bc_pwr_mode;
+ uint8_t bc_units;
};
struct bno055 {
@@ -121,67 +219,70 @@ int
bno055_get_rev_info(struct bno055_rev_info *ri);
/**
- * Gets system status, test results and errors if any from the sensor
+ * Set power mode for the sensor
*
- * @param ptr to system status
- * @param ptr to self test result
- * @param ptr to system error
+ * @return mode
*/
int
-bno055_get_sys_status(uint8_t *system_status, uint8_t *self_test_result,
- uint8_t *system_error);
-
-int
-bno055_get_chip_id(uint8_t *id);
+bno055_set_pwr_mode(uint8_t mode);
/**
- * Read current operational mode of the sensor
+ * Setting units for the bno055 sensor
*
- * @return mode
+ * @param power mode for the sensor
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_opr_mode(void);
+int
+bno055_set_units(uint8_t val);
/**
* Read current power mode of the sensor
*
- * @return mode
+ * @param ptr to mode variableto fill up
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_pwr_mode(void);
+int
+bno055_get_pwr_mode(uint8_t *mode);
/**
- * Set power mode for the sensor
+ * Read current operational mode of the sensor
*
- * @return mode
+ * @param ptr to mode variable to fill up
+ * @return 0 on success, non-zero on failure
*/
int
-bno055_set_pwr_mode(uint8_t mode);
+bno055_get_opr_mode(uint8_t *mode);
/**
- * Get power mode for the sensor
+ * Get units of the sensor
*
- * @return mode
+ * @param ptr to the units variable
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_pwr_mode(void);
+int
+bno055_get_units(uint8_t *units);
/**
- * Setting units for the bno055 sensor
+ * Gets system status, test results and errors if any from the sensor
*
- * @param power mode for the sensor
- * @return 0 on success, non-zero on failure
+ * @param ptr to system status
+ * @param ptr to self test result
+ * @param ptr to system error
*/
+
int
-bno055_set_units(uint8_t val);
+bno055_get_sys_status(uint8_t *system_status, uint8_t *self_test_result,
+ uint8_t *system_error);
/**
- * Read current power mode of the sensor
+ * Get chip ID from the sensor
*
- * @return mode
+ * @param Pointer to the variable to fill up chip ID in
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_units(void);
+int
+bno055_get_chip_id(uint8_t *id);
+
#ifdef __cplusplus
}
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/drivers/sensors/bno055/src/bno055.c
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055.c b/hw/drivers/sensors/bno055/src/bno055.c
index 014473f..d1043f2 100644
--- a/hw/drivers/sensors/bno055/src/bno055.c
+++ b/hw/drivers/sensors/bno055/src/bno055.c
@@ -102,10 +102,6 @@ static const struct sensor_driver g_bno055_sensor_driver = {
bno055_sensor_get_config
};
-static uint8_t g_bno055_opr_mode;
-static uint8_t g_bno055_pwr_mode;
-static uint8_t g_bno055_units;
-
/**
* Writes a single byte to the specified register
*
@@ -263,12 +259,12 @@ bno055_set_opr_mode(uint8_t mode)
{
int rc;
- rc = bno055_write8(BNO055_OPR_MODE_ADDR, BNO055_OPERATION_MODE_CONFIG);
+ rc = bno055_write8(BNO055_OPR_MODE_ADDR, BNO055_OPR_MODE_CONFIG);
if (rc) {
goto err;
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 19);
+ os_time_delay((OS_TICKS_PER_SEC * 19)/1000 + 1);
rc = bno055_write8(BNO055_OPR_MODE_ADDR, mode);
if (rc) {
@@ -276,9 +272,7 @@ bno055_set_opr_mode(uint8_t mode)
}
/* Refer table 3-6 in the datasheet for the delay values */
- os_time_delay(OS_TICKS_PER_SEC/1000 * 7);
-
- g_bno055_opr_mode = mode;
+ os_time_delay((OS_TICKS_PER_SEC * 7)/1000 + 1);
return 0;
err:
@@ -301,7 +295,6 @@ bno055_set_pwr_mode(uint8_t mode)
goto err;
}
- g_bno055_pwr_mode = mode;
return 0;
err:
return rc;
@@ -310,12 +303,25 @@ err:
/**
* Read current power mode of the sensor
*
- * @return mode
+ * @param ptr to mode variableto fill up
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_pwr_mode(void)
+int
+bno055_get_pwr_mode(uint8_t *mode)
{
- return g_bno055_pwr_mode;
+ int rc;
+ uint8_t val;
+
+ rc = bno055_read8(BNO055_PWR_MODE_ADDR, &val);
+ if (rc) {
+ goto err;
+ }
+
+ *mode = val;
+
+ return 0;
+err:
+ return rc;
}
/**
@@ -334,32 +340,57 @@ bno055_set_units(uint8_t val)
goto err;
}
- g_bno055_units = val;
return 0;
err:
return rc;
}
/**
- * Read current power mode of the sensor
+ * Get units of the sensor
*
- * @return mode
+ * @param ptr to the units variable
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_units(void)
+int
+bno055_get_units(uint8_t *units)
{
- return g_bno055_units;
+ int rc;
+ uint8_t val;
+
+ rc = bno055_read8(BNO055_UNIT_SEL_ADDR, &val);
+ if (rc) {
+ goto err;
+ }
+
+ *units = val;
+
+ return 0;
+err:
+ return rc;
}
/**
* Read current operational mode of the sensor
*
- * @return mode
+ * @param ptr to mode variable to fill up
+ * @return 0 on success, non-zero on failure
*/
-uint8_t
-bno055_get_opr_mode(void)
+int
+bno055_get_opr_mode(uint8_t *mode)
{
- return g_bno055_opr_mode;
+ int rc;
+ uint8_t val;
+
+ rc = bno055_read8(BNO055_OPR_MODE_ADDR, &val);
+ if (rc) {
+ goto err;
+ }
+
+ *mode = val;
+
+ return 0;
+err:
+ return rc;
}
/**
@@ -403,9 +434,11 @@ bno055_init(struct os_dev *dev, void *arg)
}
/* Add the accelerometer/magnetometer driver */
- rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER |
- SENSOR_TYPE_MAGNETIC_FIELD,
- (struct sensor_driver *) &g_bno055_sensor_driver);
+ rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER |
+ SENSOR_TYPE_MAGNETIC_FIELD | SENSOR_TYPE_GYROSCOPE |
+ SENSOR_TYPE_TEMPERATURE | SENSOR_TYPE_ROTATION_VECTOR |
+ SENSOR_TYPE_GRAVITY | SENSOR_TYPE_LINEAR_ACCEL |
+ SENSOR_TYPE_EULER, (struct sensor_driver *) &g_bno055_sensor_driver);
if (rc != 0) {
goto err;
}
@@ -448,23 +481,23 @@ err:
/**
* Use external crystal 32.768KHz
*
+ * @param operational mode of the sensor
* @return 0 on success, non-zero on failure
*/
static int
-bno055_set_ext_xtal_use(uint8_t use_xtal)
+bno055_set_ext_xtal_use(uint8_t use_xtal, uint8_t mode)
{
int rc;
- uint8_t prev_mode;
-
- prev_mode = g_bno055_opr_mode;
- /* Switch to config mode */
- rc = bno055_set_opr_mode(BNO055_OPERATION_MODE_CONFIG);
- if (rc) {
- goto err;
+ if (mode != BNO055_OPR_MODE_CONFIG) {
+ /* Switch to config mode */
+ rc = bno055_set_opr_mode(BNO055_OPR_MODE_CONFIG);
+ if (rc) {
+ goto err;
+ }
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 25);
+ os_time_delay((OS_TICKS_PER_SEC * 25)/1000 + 1);
rc = bno055_write8(BNO055_PAGE_ID_ADDR, 0);
if (rc) {
@@ -485,16 +518,14 @@ bno055_set_ext_xtal_use(uint8_t use_xtal)
}
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 10);
+ os_time_delay((OS_TICKS_PER_SEC * 10)/1000 + 1);
/* Reset to previous operating mode */
- rc = bno055_set_opr_mode(prev_mode);
+ rc = bno055_set_opr_mode(mode);
if (rc) {
goto err;
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 20);
-
return 0;
err:
return rc;
@@ -506,9 +537,6 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
{
int rc;
uint8_t id;
- uint8_t prev_mode;
-
- prev_mode = g_bno055_opr_mode;
/* Check if we can read the chip address */
rc = bno055_get_chip_id(&id);
@@ -517,7 +545,7 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
}
if (id != BNO055_ID) {
- os_time_delay(OS_TICKS_PER_SEC/1000 * 100);
+ os_time_delay((OS_TICKS_PER_SEC * 100)/1000 + 1);
rc = bno055_get_chip_id(&id);
if (rc) {
@@ -536,13 +564,13 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
goto err;
}
- rc = bno055_set_opr_mode(BNO055_OPERATION_MODE_CONFIG);
+ rc = bno055_set_opr_mode(BNO055_OPR_MODE_CONFIG);
if (rc) {
goto err;
}
/* Set to normal power mode */
- rc = bno055_set_pwr_mode(BNO055_POWER_MODE_NORMAL);
+ rc = bno055_set_pwr_mode(cfg->bc_pwr_mode);
if (rc) {
goto err;
}
@@ -552,22 +580,20 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
goto err;
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 10);
+ os_time_delay((OS_TICKS_PER_SEC * 10)/1000 + 1);
/**
* As per Section 5.5 in the BNO055 Datasheet,
* external crystal should be used for accurate
* results
*/
- rc = bno055_set_ext_xtal_use(1);
+ rc = bno055_set_ext_xtal_use(1, BNO055_OPR_MODE_CONFIG);
if (rc) {
goto err;
}
/* Setting units and data output format */
- rc = bno055_set_units(BNO055_ACC_UNIT_MS2 | BNO055_ANGRATE_UNIT_DPS |
- BNO055_EULER_UNIT_DEG | BNO055_TEMP_UNIT_DEGC |
- BNO055_DO_FORMAT_ANDROID);
+ rc = bno055_set_units(cfg->bc_units);
if (rc) {
goto err;
}
@@ -575,8 +601,8 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
/* Overwrite the configuration data. */
memcpy(&bno055->cfg, cfg, sizeof(*cfg));
- /* Change back to previous mode */
- rc = bno055_set_opr_mode(prev_mode);
+ /* Change mode to requested mode */
+ rc = bno055_set_opr_mode(cfg->bc_opr_mode);
if (rc) {
goto err;
}
@@ -705,7 +731,10 @@ bno055_get_vector_data(void *datastruct, int type)
y = ((int16_t)payload[2]) | (((int16_t)payload[3]) << 8);
z = ((int16_t)payload[4]) | (((int16_t)payload[5]) << 8);
- units = bno055_get_units();
+ rc = bno055_get_units(&units);
+ if (rc) {
+ goto err;
+ }
acc_div = units & BNO055_ACC_UNIT_MG ? 1.0:100.0;
gyro_div = units & BNO055_ANGRATE_UNIT_RPS ? 900.0:16.0;
@@ -770,13 +799,21 @@ bno055_get_temp(int8_t *temp)
uint8_t div;
rc = bno055_read8(BNO055_TEMP_ADDR, (uint8_t *)temp);
+ if (rc) {
+ goto err;
+ }
- units = bno055_get_units();
+ rc = bno055_get_units(&units);
+ if (rc) {
+ goto err;
+ }
div = units & BNO055_TEMP_UNIT_DEGF ? 2 : 1;
*temp = *temp/div;
+ return 0;
+err:
return rc;
}
@@ -911,7 +948,7 @@ bno055_get_sys_status(uint8_t *system_status, uint8_t *self_test_result, uint8_t
}
}
- os_time_delay(OS_TICKS_PER_SEC/1000 * 200);
+ os_time_delay((OS_TICKS_PER_SEC * 200)/1000 + 1);
return 0;
err:
@@ -996,7 +1033,11 @@ bno055_sensor_get_config(struct sensor *sensor, sensor_type_t type,
goto err;
}
- cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+ if (type != SENSOR_TYPE_TEMPERATURE) {
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+ } else {
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_INT32;
+ }
return (0);
err:
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/drivers/sensors/bno055/src/bno055_priv.h
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055_priv.h b/hw/drivers/sensors/bno055/src/bno055_priv.h
index 8bb0ea1..d98d3d0 100644
--- a/hw/drivers/sensors/bno055/src/bno055_priv.h
+++ b/hw/drivers/sensors/bno055/src/bno055_priv.h
@@ -102,16 +102,6 @@
#define BNO055_UNIT_SEL_ADDR 0X3B
#define BNO055_DATA_SELECT_ADDR 0X3C
-#define BNO055_ACC_UNIT_MS2 0x0
-#define BNO055_ACC_UNIT_MG 0x1
-#define BNO055_ANGRATE_UNIT_DPS (0 << 1)
-#define BNO055_ANGRATE_UNIT_RPS (1 << 1)
-#define BNO055_EULER_UNIT_DEG (0 << 2)
-#define BNO055_EULER_UNIT_RAD (1 << 2)
-#define BNO055_TEMP_UNIT_DEGC (0 << 4)
-#define BNO055_TEMP_UNIT_DEGF (1 << 4)
-#define BNO055_DO_FORMAT_WINDOWS (0 << 7)
-#define BNO055_DO_FORMAT_ANDROID (1 << 7)
/* Mode registers */
#define BNO055_OPR_MODE_ADDR 0X3D
@@ -179,26 +169,6 @@
#define BNO055_MAG_RADIUS_LSB_ADDR 0X69
#define BNO055_MAG_RADIUS_MSB_ADDR 0X6A
-/* Power modes */
-#define BNO055_POWER_MODE_NORMAL 0X00
-#define BNO055_POWER_MODE_LOWPOWER 0X01
-#define BNO055_POWER_MODE_SUSPEND 0X02
-
-/* Operation Modes */
-#define BNO055_OPERATION_MODE_CONFIG 0X00
-#define BNO055_OPERATION_MODE_ACCONLY 0X01
-#define BNO055_OPERATION_MODE_MAGONLY 0X02
-#define BNO055_OPERATION_MODE_GYRONLY 0X03
-#define BNO055_OPERATION_MODE_ACCMAG 0X04
-#define BNO055_OPERATION_MODE_ACCGYRO 0X05
-#define BNO055_OPERATION_MODE_MAGGYRO 0X06
-#define BNO055_OPERATION_MODE_AMG 0X07
-#define BNO055_OPERATION_MODE_IMUPLUS 0X08
-#define BNO055_OPERATION_MODE_COMPASS 0X09
-#define BNO055_OPERATION_MODE_M4G 0X0A
-#define BNO055_OPERATION_MODE_NDOF_FMC_OFF 0X0B
-#define BNO055_OPERATION_MODE_NDOF 0X0C
-
/* Remap config - Default: 0x24 */
#define BNO055_REMAP_CONFIG_P0 0x21
#define BNO055_REMAP_CONFIG_P1 0x24
@@ -248,68 +218,4 @@
#define BNO055_GYRO_ANY_MOTION_THRES_ADDR 0X1E
#define BNO055_GYRO_ANY_MOTION_SET_ADDR 0X1F
-/* Accelerometer config */
-#define BNO055_ACC_CFG_2G 0x0
-#define BNO055_ACC_CFG_4G 0x1
-#define BNO055_ACC_CFG_8G 0x2
-#define BNO055_ACC_CFG_16G 0x3
-
-#define BNO055_ACC_CFG_BW_7_81HZ (0x0 << 2)
-#define BNO055_ACC_CFG_BW_15_63HZ (0x1 << 2)
-#define BNO055_ACC_CFG_BW_31_25HZ (0x2 << 2)
-#define BNO055_ACC_CFG_BW_6_25HZ (0x3 << 2)
-#define BNO055_ACC_CFG_BW_125HZ (0x4 << 2)
-#define BNO055_ACC_CFG_BW_250HZ (0x5 << 2)
-#define BNO055_ACC_CFG_BW_500HZ (0x6 << 2)
-#define BNO055_ACC_CFG_BW_1000HZ (0x7 << 2)
-
-#define BNO055_ACC_CFG_OPR_MODE_NORMAL (0x0 << 5)
-#define BNO055_ACC_CFG_OPR_MODE_SUSPEND (0x1 << 5)
-#define BNO055_ACC_CFG_OPR_MODE_LOWPWR1 (0x2 << 5)
-#define BNO055_ACC_CFG_OPR_MODE_STD (0x3 << 5)
-#define BNO055_ACC_CFG_OPR_MODE_LOWPWR2 (0x4 << 5)
-#define BNO055_ACC_CFG_OPR_MODE_DSUSPEND (0x5 << 5)
-
-/* Gyroscope config */
-#define BNO055_GYR_CFG_RNG_2000DPS 0x0
-#define BNO055_GYR_CFG_RNG_1000DPS 0x1
-#define BNO055_GYR_CFG_RNG_500DPS 0x2
-#define BNO055_GYR_CFG_RNG_250DPS 0x3
-#define BNO055_GYR_CFG_RNG_125DPS 0x4
-
-#define BNO055_GYR_CFG_BW_523HZ (0x0 << 3)
-#define BNO055_GYR_CFG_BW_230HZ (0x1 << 3)
-#define BNO055_GYR_CFG_BW_116HZ (0x2 << 3)
-#define BNO055_GYR_CFG_BW_47HZ (0x3 << 3)
-#define BNO055_GYR_CFG_BW_23HZ (0x4 << 3)
-#define BNO055_GYR_CFG_BW_12HZ (0x5 << 3)
-#define BNO055_GYR_CFG_BW_64HZ (0x6 << 3)
-#define BNO055_GYR_CFG_BW_32HZ (0x7 << 3)
-
-#define BNO055_GYR_CFG_OPR_MODE_NORMAL (0x0 << 5)
-#define BNO055_GYR_CFG_OPR_MODE_FAST_PWR_UP (0x1 << 5)
-#define BNO055_GYR_CFG_OPR_MODE_DSUSPEND (0x2 << 5)
-#define BNO055_GYR_CFG_OPR_MODE_SUSPEND (0x3 << 5)
-#define BNO055_GYR_CFG_OPR_MODE_ADV_PWR_SAVE (0x4 << 5)
-
-/* Magnetometer config */
-#define BNO055_MAG_CFG_BW_2HZ 0x0
-#define BNO055_MAG_CFG_BW_6HZ 0x1
-#define BNO055_MAG_CFG_BW_8HZ 0x2
-#define BNO055_MAG_CFG_BW_10HZ 0x3
-#define BNO055_MAG_CFG_BW_15HZ 0x4
-#define BNO055_MAG_CFG_BW_20HZ 0x5
-#define BNO055_MAG_CFG_BW_25HZ 0x6
-#define BNO055_MAG_CFG_BW_30HZ 0x7
-
-#define BNO055_MAG_CFG_OPR_MODE_LOWPWR (0x0 << 3)
-#define BNO055_MAG_CFG_OPR_MODE_REG (0x1 << 3)
-#define BNO055_MAG_CFG_OPR_MODE_EREG (0x2 << 3)
-#define BNO055_MAG_CFG_OPR_MODE_HIGHACC (0x3 << 3)
-
-#define BNO055_MAG_CFG_PWR_MODE_NORMAL (0x0 << 5)
-#define BNO055_MAG_CFG_PWR_MODE_SLEEP (0x1 << 5)
-#define BNO055_MAG_CFG_PWR_MODE_SUSPEND (0x2 << 5)
-#define BNO055_MAG_CFG_PWR_MODE_FORCE_MODE (0x3 << 5)
-
#define BNO055_ID 0xA0
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/drivers/sensors/bno055/src/bno055_shell.c
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055_shell.c b/hw/drivers/sensors/bno055/src/bno055_shell.c
index 4e0b3f7..5a74dfd 100644
--- a/hw/drivers/sensors/bno055/src/bno055_shell.c
+++ b/hw/drivers/sensors/bno055/src/bno055_shell.c
@@ -33,7 +33,6 @@
#include "hal/hal_i2c.h"
#if MYNEWT_VAL(BNO055_CLI)
-extern uint8_t g_bno055_mode;
static int bno055_shell_cmd(int argc, char **argv);
@@ -254,8 +253,11 @@ bno055_shell_cmd_opr_mode(int argc, char **argv)
/* Display the mode */
if (argc == 2) {
- val = bno055_get_opr_mode();
- console_printf("%u\n", (unsigned int)val);
+ rc = bno055_get_opr_mode((uint8_t *)&val);
+ if (rc) {
+ goto err;
+ }
+ console_printf("%u\n", ((unsigned int)(*(uint8_t *)&val)));
}
/* Update the mode */
@@ -264,7 +266,7 @@ bno055_shell_cmd_opr_mode(int argc, char **argv)
return bno055_shell_err_invalid_arg(argv[2]);
}
/* Make sure mode is valid */
- if (val > BNO055_OPERATION_MODE_NDOF) {
+ if (val > BNO055_OPR_MODE_NDOF) {
return bno055_shell_err_invalid_arg(argv[2]);
}
@@ -291,7 +293,10 @@ bno055_shell_cmd_pwr_mode(int argc, char **argv)
/* Display the mode */
if (argc == 2) {
- val = bno055_get_pwr_mode();
+ rc = bno055_get_pwr_mode((uint8_t *)&val);
+ if (rc) {
+ goto err;
+ }
console_printf("%u\n", (unsigned int)val);
}
@@ -301,7 +306,7 @@ bno055_shell_cmd_pwr_mode(int argc, char **argv)
return bno055_shell_err_invalid_arg(argv[2]);
}
/* Make sure mode is valid */
- if (val > BNO055_POWER_MODE_SUSPEND) {
+ if (val > BNO055_PWR_MODE_SUSPEND) {
return bno055_shell_err_invalid_arg(argv[2]);
}
@@ -328,7 +333,7 @@ bno055_shell_units_cmd(int argc, char **argv)
/* Display the units */
if (argc == 2) {
- val = bno055_get_units();
+ rc = bno055_get_units((uint8_t *)&val);
console_printf("Acc, linear acc, gravity: %s\n"
"Mag field strength: Micro Tesla\n"
"Ang rate: %s\n"
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/sensor/include/sensor/euler.h
----------------------------------------------------------------------
diff --git a/hw/sensor/include/sensor/euler.h b/hw/sensor/include/sensor/euler.h
index 5ddd44f..0b23ad1 100644
--- a/hw/sensor/include/sensor/euler.h
+++ b/hw/sensor/include/sensor/euler.h
@@ -39,9 +39,9 @@ struct sensor_euler_data {
} __attribute__((packed));
/**
- * Accelerometer data is unused for this field.
+ * Euler angles data is unused for this field.
*/
-#define SENSOR_ACCEL_DATA_UNUSED (-1)
+#define SENSOR_EULER_DATA_UNUSED (-1)
#ifdef __cplusplus
}
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/e4d0f04a/hw/sensor/src/sensor_shell.c
----------------------------------------------------------------------
diff --git a/hw/sensor/src/sensor_shell.c b/hw/sensor/src/sensor_shell.c
index bd73cfa..545653f 100644
--- a/hw/sensor/src/sensor_shell.c
+++ b/hw/sensor/src/sensor_shell.c
@@ -34,6 +34,8 @@
#include "sensor/accel.h"
#include "sensor/mag.h"
#include "sensor/light.h"
+#include "sensor/quat.h"
+#include "sensor/euler.h"
#include "console/console.h"
#include "shell/shell.h"
@@ -48,12 +50,13 @@ sensor_display_help(void)
{
console_printf("Possible commands for sensor are:\n");
console_printf(" list\n");
+ console_printf(" read\n");
}
static void
sensor_cmd_display_sensor(struct sensor *sensor)
{
- console_printf("sensor dev = %s, type = %lld\n", sensor->s_dev->od_name,
+ console_printf("sensor dev = %s, type = 0x%llx\n", sensor->s_dev->od_name,
sensor->s_types);
}
@@ -100,13 +103,19 @@ sensor_shell_read_listener(struct sensor *sensor, void *arg, void *data)
struct sensor_accel_data *sad;
struct sensor_mag_data *smd;
struct sensor_light_data *sld;
+ struct sensor_euler_data *sed;
+ struct sensor_quat_data *sqd;
+ int8_t *temperature;
char tmpstr[13];
ctx = (struct sensor_shell_read_ctx *) arg;
++ctx->num_entries;
- if (ctx->type == SENSOR_TYPE_ACCELEROMETER) {
+ if (ctx->type == SENSOR_TYPE_ACCELEROMETER ||
+ ctx->type == SENSOR_TYPE_LINEAR_ACCEL ||
+ ctx->type == SENSOR_TYPE_GRAVITY) {
+
sad = (struct sensor_accel_data *) data;
if (sad->sad_x != SENSOR_ACCEL_DATA_UNUSED) {
console_printf("x = %s ", sensor_ftostr(sad->sad_x, tmpstr, 13));
@@ -148,6 +157,43 @@ sensor_shell_read_listener(struct sensor *sensor, void *arg, void *data)
console_printf("\n");
}
+ if (ctx->type == SENSOR_TYPE_TEMPERATURE) {
+ temperature = (int8_t *) data;
+ console_printf("temprature = %d", *temperature);
+ console_printf("\n");
+ }
+
+ if (ctx->type == SENSOR_TYPE_EULER) {
+ sed = (struct sensor_euler_data *) data;
+ if (sed->sed_h != SENSOR_EULER_DATA_UNUSED) {
+ console_printf("h = %s", sensor_ftostr(sed->sed_h, tmpstr, 13));
+ }
+ if (sed->sed_r != SENSOR_EULER_DATA_UNUSED) {
+ console_printf("r = %s", sensor_ftostr(sed->sed_r, tmpstr, 13));
+ }
+ if (sed->sed_p != SENSOR_EULER_DATA_UNUSED) {
+ console_printf("p = %s", sensor_ftostr(sed->sed_p, tmpstr, 13));
+ }
+ console_printf("\n");
+ }
+
+ if (ctx->type == SENSOR_TYPE_ROTATION_VECTOR) {
+ sqd = (struct sensor_quat_data *) data;
+ if (sqd->sqd_x != SENSOR_QUAT_DATA_UNUSED) {
+ console_printf("x = %s ", sensor_ftostr(sqd->sqd_x, tmpstr, 13));
+ }
+ if (sqd->sqd_y != SENSOR_QUAT_DATA_UNUSED) {
+ console_printf("y = %s ", sensor_ftostr(sqd->sqd_y, tmpstr, 13));
+ }
+ if (sqd->sqd_z != SENSOR_QUAT_DATA_UNUSED) {
+ console_printf("z = %s ", sensor_ftostr(sqd->sqd_z, tmpstr, 13));
+ }
+ if (sqd->sqd_w != SENSOR_QUAT_DATA_UNUSED) {
+ console_printf("w = %s ", sensor_ftostr(sqd->sqd_w, tmpstr, 13));
+ }
+ console_printf("\n");
+ }
+
return (0);
}