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From vipulrah...@apache.org
Subject incubator-mynewt-core git commit: SensorAPI:BNO055-Handle scaling using UNIT_SEL reg
Date Fri, 17 Feb 2017 00:54:18 GMT
Repository: incubator-mynewt-core
Updated Branches:
  refs/heads/sensors_branch 40b9b6b51 -> 30b53c064


SensorAPI:BNO055-Handle scaling using UNIT_SEL reg


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/30b53c06
Tree: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/tree/30b53c06
Diff: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/diff/30b53c06

Branch: refs/heads/sensors_branch
Commit: 30b53c064284042da9063927edc28898b57523af
Parents: 40b9b6b
Author: Vipul Rahane <vipulrahane@apache.org>
Authored: Thu Feb 16 16:46:05 2017 -0800
Committer: Vipul Rahane <vipulrahane@apache.org>
Committed: Thu Feb 16 16:53:41 2017 -0800

----------------------------------------------------------------------
 .../sensors/bno055/include/bno055/bno055.h      |  17 ++++
 hw/drivers/sensors/bno055/src/bno055.c          | 100 +++++++++++++++----
 hw/drivers/sensors/bno055/src/bno055_priv.h     |  11 ++
 hw/drivers/sensors/bno055/src/bno055_shell.c    |  58 +++++++++++
 4 files changed, 167 insertions(+), 19 deletions(-)
----------------------------------------------------------------------


http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/30b53c06/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 09fa3ec..8aade64 100644
--- a/hw/drivers/sensors/bno055/include/bno055/bno055.h
+++ b/hw/drivers/sensors/bno055/include/bno055/bno055.h
@@ -166,6 +166,23 @@ bno055_set_pwr_mode(uint8_t mode);
 uint8_t
 bno055_get_pwr_mode(void);
 
+/**
+ * Setting units for the bno055 sensor
+ *
+ * @param power mode for the sensor
+ * @return 0 on success, non-zero on failure
+ */
+int
+bno055_set_units(uint8_t val);
+
+/**
+ * Read current power mode of the sensor
+ *
+ * @return mode
+ */
+uint8_t
+bno055_get_units(void);
+
 #ifdef __cplusplus
 }
 #endif

http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/30b53c06/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 bcc880d..014473f 100644
--- a/hw/drivers/sensors/bno055/src/bno055.c
+++ b/hw/drivers/sensors/bno055/src/bno055.c
@@ -104,6 +104,7 @@ static const struct sensor_driver g_bno055_sensor_driver = {
 
 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
@@ -262,19 +263,23 @@ bno055_set_opr_mode(uint8_t mode)
 {
     int rc;
 
+    rc = bno055_write8(BNO055_OPR_MODE_ADDR, BNO055_OPERATION_MODE_CONFIG);
+    if (rc) {
+        goto err;
+    }
+
+    os_time_delay(OS_TICKS_PER_SEC/1000 * 19);
+
     rc = bno055_write8(BNO055_OPR_MODE_ADDR, mode);
     if (rc) {
         goto err;
     }
 
     /* Refer table 3-6 in the datasheet for the delay values */
-    if (mode == BNO055_OPERATION_MODE_CONFIG) {
-        os_time_delay(OS_TICKS_PER_SEC/1000 * 19);
-    } else {
-        os_time_delay(OS_TICKS_PER_SEC/1000 * 7);
-    }
+    os_time_delay(OS_TICKS_PER_SEC/1000 * 7);
 
     g_bno055_opr_mode = mode;
+
     return 0;
 err:
     return rc;
@@ -314,6 +319,39 @@ bno055_get_pwr_mode(void)
 }
 
 /**
+ * Setting units for the bno055 sensor
+ *
+ * @param power mode for the sensor
+ * @return 0 on success, non-zero on failure
+ */
+int
+bno055_set_units(uint8_t val)
+{
+    int rc;
+
+    rc = bno055_write8(BNO055_UNIT_SEL_ADDR, val);
+    if (rc) {
+        goto err;
+    }
+
+    g_bno055_units = val;
+    return 0;
+err:
+    return rc;
+}
+
+/**
+ * Read current power mode of the sensor
+ *
+ * @return mode
+ */
+uint8_t
+bno055_get_units(void)
+{
+    return g_bno055_units;
+}
+
+/**
  * Read current operational mode of the sensor
  *
  * @return mode
@@ -479,7 +517,7 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
     }
 
     if (id != BNO055_ID) {
-        os_time_delay(OS_TICKS_PER_SEC/2);
+        os_time_delay(OS_TICKS_PER_SEC/1000 * 100);
 
         rc = bno055_get_chip_id(&id);
         if (rc) {
@@ -503,11 +541,8 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
         goto err;
     }
 
-    /* Wait for about 100 ms */
-    os_time_delay(OS_TICKS_PER_SEC/1000 * 100);
-
     /* Set to normal power mode */
-    rc = bno055_write8(BNO055_PWR_MODE_ADDR, BNO055_POWER_MODE_NORMAL);
+    rc = bno055_set_pwr_mode(BNO055_POWER_MODE_NORMAL);
     if (rc) {
         goto err;
     }
@@ -529,6 +564,14 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
         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);
+    if (rc) {
+        goto err;
+    }
+
     /* Overwrite the configuration data. */
     memcpy(&bno055->cfg, cfg, sizeof(*cfg));
 
@@ -637,6 +680,11 @@ bno055_get_vector_data(void *datastruct, int type)
     struct sensor_accel_data *sad;
     struct sensor_euler_data *sed;
     uint8_t reg;
+    uint8_t units;
+    float acc_div;
+    float gyro_div;
+    float euler_div;
+
     int rc;
 
     memset (payload, 0, 6);
@@ -657,6 +705,12 @@ 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();
+
+    acc_div  = units & BNO055_ACC_UNIT_MG ? 1.0:100.0;
+    gyro_div = units & BNO055_ANGRATE_UNIT_RPS ? 900.0:16.0;
+    euler_div = units & BNO055_EULER_UNIT_RAD ? 16.0:900.0;
+
     /**
      * Convert the value to an appropriate range (section 3.6.4)
      */
@@ -671,25 +725,25 @@ bno055_get_vector_data(void *datastruct, int type)
         case SENSOR_TYPE_GYROSCOPE:
             sad = datastruct;
             /* 1rps = 900 LSB */
-            sad->sad_x = ((double)x)/900.0;
-            sad->sad_y = ((double)y)/900.0;
-            sad->sad_z = ((double)z)/900.0;
+            sad->sad_x = ((double)x)/gyro_div;
+            sad->sad_y = ((double)y)/gyro_div;
+            sad->sad_z = ((double)z)/gyro_div;
             break;
         case SENSOR_TYPE_EULER:
             sad = datastruct;
             /* 1 degree = 16 LSB */
-            sed->sed_h = ((double)x)/16.0;
-            sed->sed_r = ((double)y)/16.0;
-            sed->sed_p = ((double)z)/16.0;
+            sed->sed_h = ((double)x)/euler_div;
+            sed->sed_r = ((double)y)/euler_div;
+            sed->sed_p = ((double)z)/euler_div;
             break;
         case SENSOR_TYPE_ACCELEROMETER:
         case SENSOR_TYPE_LINEAR_ACCEL:
         case SENSOR_TYPE_GRAVITY:
             sad = datastruct;
             /* 1m/s^2 = 100 LSB */
-            sad->sad_x = ((double)x)/100.0;
-            sad->sad_y = ((double)y)/100.0;
-            sad->sad_z = ((double)z)/100.0;
+            sad->sad_x = ((double)x)/acc_div;
+            sad->sad_y = ((double)y)/acc_div;
+            sad->sad_z = ((double)z)/acc_div;
             break;
         default:
             BNO055_ERR("Not supported sensor type: %d\n", type);
@@ -712,9 +766,17 @@ int
 bno055_get_temp(int8_t *temp)
 {
     int rc;
+    uint8_t units;
+    uint8_t div;
 
     rc = bno055_read8(BNO055_TEMP_ADDR, (uint8_t *)temp);
 
+    units = bno055_get_units();
+
+    div = units & BNO055_TEMP_UNIT_DEGF ? 2 : 1;
+
+    *temp = *temp/div;
+
     return rc;
 }
 

http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/30b53c06/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 97f4280..8bb0ea1 100644
--- a/hw/drivers/sensors/bno055/src/bno055_priv.h
+++ b/hw/drivers/sensors/bno055/src/bno055_priv.h
@@ -100,7 +100,18 @@
 
 /* Unit selection register */
 #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

http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/30b53c06/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 f370655..4e0b3f7 100644
--- a/hw/drivers/sensors/bno055/src/bno055_shell.c
+++ b/hw/drivers/sensors/bno055/src/bno055_shell.c
@@ -159,6 +159,7 @@ bno055_shell_cmd_read(int argc, char **argv)
     struct sensor_quat_data *sqd;
     struct sensor_euler_data *sed;
     struct sensor_accel_data *sad;
+    int8_t *temp;
     int type;
     char tmpstr[13];
 
@@ -211,6 +212,15 @@ bno055_shell_cmd_read(int argc, char **argv)
             console_printf("r:%s ", sensor_ftostr(sed->sed_r, tmpstr, 13));
             console_printf("p:%s\n", sensor_ftostr(sed->sed_p, tmpstr, 13));
 
+        } else if (type == SENSOR_TYPE_TEMPERATURE) {
+            rc = bno055_get_temp(databuf);
+            if (rc) {
+                console_printf("Read failed: %d\n", rc);
+                goto err;
+            }
+            temp = databuf;
+
+            console_printf("Temperature:%u\n", *temp);
         } else {
             rc = bno055_get_vector_data(databuf, type);
             if (rc) {
@@ -307,6 +317,50 @@ err:
 }
 
 static int
+bno055_shell_units_cmd(int argc, char **argv)
+{
+    long val;
+    int rc;
+
+    if (argc > 3) {
+        return bno055_shell_err_too_many_args(argv[1]);
+    }
+
+    /* Display the units */
+    if (argc == 2) {
+        val = bno055_get_units();
+        console_printf("Acc, linear acc, gravity: %s\n"
+                       "Mag field strength: Micro Tesla\n"
+                       "Ang rate: %s\n"
+                       "Euler ang: %s\n",
+                       (uint8_t)val & BNO055_ACC_UNIT_MG ? "mg":"m/s^2",
+                       (uint8_t)val & BNO055_ANGRATE_UNIT_RPS ? "Rps":"Dps",
+                       (uint8_t)val & BNO055_EULER_UNIT_RAD ? "Rad":"Deg");
+        console_printf("Quat: Quat units\n"
+                       "Temp: %s\n"
+                       "Fusion data output: %s\n",
+                       (uint8_t)val & BNO055_TEMP_UNIT_DEGF ? "Deg F":"Deg C",
+                       (uint8_t)val & BNO055_DO_FORMAT_ANDROID ? "Android":"Windows");
+    }
+
+    /* Update the units */
+    if (argc == 3) {
+        if (bno055_shell_stol(argv[2], 0, UINT8_MAX, &val)) {
+            return bno055_shell_err_invalid_arg(argv[2]);
+        }
+
+        rc = bno055_set_units(val);
+        if (rc) {
+            goto err;
+        }
+    }
+
+    return 0;
+err:
+    return rc;
+}
+
+static int
 bno055_shell_cmd_dumpreg(int argc, char **argv)
 {
     long addr;
@@ -427,6 +481,10 @@ bno055_shell_cmd(int argc, char **argv)
     if (argc > 1 && strcmp(argv[1], "i2cscan") == 0) {
         return shell_i2cscan_cmd(argc, argv);
     }
+
+    if (argc > 1 && strcmp(argv[1], "units") == 0) {
+        return bno055_shell_units_cmd(argc, argv);
+    }
     return bno055_shell_err_unknown_arg(argv[1]);
 }
 


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