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From vipulrah...@apache.org
Subject [37/50] incubator-mynewt-core git commit: SensorAPI - BNO055 Cleaning up & fixes
Date Fri, 24 Feb 2017 19:38:32 GMT
SensorAPI - BNO055 Cleaning up & fixes

- Adding prototype for write8
- fixing addressing


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/4f61ce12
Tree: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/tree/4f61ce12
Diff: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/diff/4f61ce12

Branch: refs/heads/develop
Commit: 4f61ce122f0b55b90a91e32c655d5982fe1c177c
Parents: 521ea9b
Author: Vipul Rahane <vipulrahane@apache.org>
Authored: Tue Feb 14 16:56:48 2017 -0800
Committer: Vipul Rahane <vipulrahane@apache.org>
Committed: Tue Feb 14 16:56:48 2017 -0800

----------------------------------------------------------------------
 .../sensors/bno055/include/bno055/bno055.h      | 11 +++++++
 hw/drivers/sensors/bno055/src/bno055.c          | 16 +++++-----
 hw/drivers/sensors/bno055/src/bno055_shell.c    | 31 ++++++++++++++++----
 3 files changed, 45 insertions(+), 13 deletions(-)
----------------------------------------------------------------------


http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/4f61ce12/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 64138d5..1e30ba2 100644
--- a/hw/drivers/sensors/bno055/include/bno055/bno055.h
+++ b/hw/drivers/sensors/bno055/include/bno055/bno055.h
@@ -88,6 +88,17 @@ int
 bno055_read8(uint8_t reg, uint8_t *value);
 
 /**
+ * Writes a single byte to the specified register
+ *
+ * @param The register address to write to
+ * @param The value to write
+ *
+ * @return 0 on success, non-zero error on failure.
+ */
+int
+bno055_write8(uint8_t reg, uint8_t value);
+
+/**
  * Setting mode for the bno055 sensor
  *
  * @param Operation mode for the sensor

http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/4f61ce12/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 43e72b8..3080f7b 100644
--- a/hw/drivers/sensors/bno055/src/bno055.c
+++ b/hw/drivers/sensors/bno055/src/bno055.c
@@ -113,10 +113,10 @@ static uint8_t g_bno055_mode;
  * @return 0 on success, non-zero error on failure.
  */
 int
-bno055_write8(uint8_t reg, uint32_t value)
+bno055_write8(uint8_t reg, uint8_t value)
 {
     int rc;
-    uint8_t payload[2] = { reg, value & 0xFF };
+    uint8_t payload[2] = { reg, value};
 
     struct hal_i2c_master_data data_struct = {
         .address = MYNEWT_VAL(BNO055_I2CADDR),
@@ -203,7 +203,7 @@ bno055_readlen(uint8_t reg, uint8_t *buffer, uint8_t len)
     uint8_t payload[8] = { reg, 0, 0, 0, 0, 0, 0, 0};
 
     struct hal_i2c_master_data data_struct = {
-        .address = reg,
+        .address = MYNEWT_VAL(BNO055_I2CADDR),
         .len = 1,
         .buffer = payload
     };
@@ -438,7 +438,7 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
     prev_mode = g_bno055_mode;
 
     /* Check if we can read the chip address */
-    rc = bno055_read8(BNO055_CHIP_ID_ADDR, &id);
+    rc = bno055_get_chip_id(&id);
     if (rc) {
         goto err;
     }
@@ -446,7 +446,7 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
     if (id != BNO055_ID) {
         os_time_delay(OS_TICKS_PER_SEC/2);
 
-        rc = bno055_read8(BNO055_CHIP_ID_ADDR, &id);
+        rc = bno055_get_chip_id(&id);
         if (rc) {
             goto err;
         }
@@ -457,13 +457,13 @@ bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
         }
     }
 
-    rc = bno055_set_mode(BNO055_OPERATION_MODE_CONFIG);
+    /* Reset sensor */
+    rc = bno055_write8(BNO055_SYS_TRIGGER_ADDR, BNO055_SYS_TRIGGER_RST_SYS);
     if (rc) {
         goto err;
     }
 
-    /* Reset sensor */
-    rc = bno055_write8(BNO055_SYS_TRIGGER_ADDR, BNO055_SYS_TRIGGER_RST_SYS);
+    rc = bno055_set_mode(BNO055_OPERATION_MODE_CONFIG);
     if (rc) {
         goto err;
     }

http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/4f61ce12/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 48a1196..82ba7e3 100644
--- a/hw/drivers/sensors/bno055/src/bno055_shell.c
+++ b/hw/drivers/sensors/bno055/src/bno055_shell.c
@@ -177,10 +177,10 @@ bno055_shell_cmd_read(int argc, char **argv)
         }
         samples = (uint16_t)val;
 
-        if (bno055_shell_stol(argv[2], 1, UINT16_MAX, &val)) {
+        if (bno055_shell_stol(argv[3], 0, UINT16_MAX, &val)) {
             return bno055_shell_err_invalid_arg(argv[2]);
         }
-        type = (uint16_t)(1 << val);
+        type = (int)(1 << val);
     }
 
     while(samples--) {
@@ -199,6 +199,7 @@ bno055_shell_cmd_read(int argc, char **argv)
             rc = bno055_get_vector_data(databuf, type);
             if (rc) {
                 console_printf("Read failed: %d\n", rc);
+                goto err;
             }
             sed = databuf;
             console_printf("h:%u r:%u p:%u\n", (unsigned int)sed->sed_h,
@@ -207,6 +208,7 @@ bno055_shell_cmd_read(int argc, char **argv)
             rc = bno055_get_vector_data(databuf, type);
             if (rc) {
                 console_printf("Read failed: %d\n", rc);
+                goto err;
             }
             sad = databuf;
             console_printf("x:%u y:%u z:%u\n", (unsigned int)sad->sad_x,
@@ -361,11 +363,13 @@ static int
 shell_i2cscan_cmd(int argc, char **argv)
 {
     uint8_t addr;
-    int32_t timeout = OS_TICKS_PER_SEC / 10;
+    int32_t timeout;
     uint8_t dev_count = 0;
     long i2cnum;
     int rc;
 
+    timeout = OS_TICKS_PER_SEC / 10;
+
     if (bno055_shell_stol(argv[2], 0, 0xf, &i2cnum)) {
         return bno055_shell_err_invalid_arg(argv[2]);
     }
@@ -389,13 +393,29 @@ shell_i2cscan_cmd(int argc, char **argv)
         } else {
             console_printf("-- ");
         }
+        os_time_delay(OS_TICKS_PER_SEC/1000 * 20);
     }
-    console_printf("\nFound %u devices on I2C bus 0\n", dev_count);
+    console_printf("\nFound %u devices on I2C bus %u\n", dev_count, (uint8_t)i2cnum);
 
     return 0;
 }
 
 static int
+bno055_shell_cmd_reset(int argc, char **argv)
+{
+    int rc;
+    /* Reset sensor */
+    rc = bno055_write8(BNO055_SYS_TRIGGER_ADDR, BNO055_SYS_TRIGGER_RST_SYS);
+    if (rc) {
+        goto err;
+    }
+
+    return 0;
+err:
+    return rc;
+}
+
+static int
 bno055_shell_cmd(int argc, char **argv)
 {
     if (argc == 1) {
@@ -421,18 +441,19 @@ bno055_shell_cmd(int argc, char **argv)
     if (argc > 1 && strcmp(argv[1], "rev") == 0) {
         return bno055_shell_cmd_get_rev_info(argc, argv);
     }
-#if 0
     /* Reset command */
     if (argc > 1 && strcmp(argv[1], "reset") == 0) {
         return bno055_shell_cmd_reset(argc, argv);
     }
 
+#if 0
     /* Power mode command */
     if (argc > 1 && strcmp(argv[1], "pmode") == 0) {
         return bno055_shell_cmd_pmode(argc, argv);
     }
 
 #endif
+
     /* Dump Registers command */
     if (argc > 1 && strcmp(argv[1], "dumpreg") == 0) {
         return bno055_shell_cmd_dumpreg(argc, argv);


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