bmi055_main.cpp

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#include "BMI055_accel.hpp"
#include "BMI055_gyro.hpp"

/** driver 'main' command */
extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }

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    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)
{
    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;
        }

        // start automatic data collection
        (*g_dev_acc_ptr)->start();
    }

    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;
        }

        // start automatic data collection
        (*g_dev_gyr_ptr)->start();
    }

    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);

}

/**
 * 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', 'stop', '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),
    _register_wait(0),
    _reset_wait(0),
    _rotation(rotation),
    _checked_next(0)
{
}

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);
    }

    /*
     * 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);
}