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shell: provide shell commands to poll lsm303dlhc sensor

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This commit is contained in:
Thomas Eichinger 2014-11-05 14:58:18 +01:00
parent 7b8ee959a8
commit 6bbc4ca226
7 changed files with 121 additions and 5 deletions
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4
boards/iot-lab_M3/include/board.h
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@ -111,8 +111,8 @@ extern "C" {
* @{
*/
#define LSM303DLHC_I2C I2C_0
#define LSM303DLHC_ACC_ADDR (25)
#define LSM303DLHC_MAG_ADDR (30)
#define LSM303DLHC_ACC_ADDR (0x19)
#define LSM303DLHC_MAG_ADDR (0x1e)
#define LSM303DLHC_INT1 GPIO_5
#define LSM303DLHC_INT2 GPIO_6
#define LSM303DLHC_DRDY GPIO_7

2
drivers/include/lsm303dlhc.h
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@ -51,6 +51,8 @@ typedef struct {
i2c_t i2c; /**< I2C device */
uint8_t acc_address; /**< accelerometer's I2C address */
uint8_t mag_address; /**< magnetometer's I2C address */
gpio_t acc_pin; /**< accelerometer's data ready pin */
gpio_t mag_pin; /**< magnetometer's data ready pin */
} lsm303dlhc_t;
/**

12
drivers/lsm303dlhc/lsm303dlhc.c
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@ -38,6 +38,8 @@ int lsm303dlhc_init(lsm303dlhc_t *dev, i2c_t i2c, gpio_t acc_pin, gpio_t mag_pin
dev->i2c = i2c;
dev->acc_address = acc_address;
dev->mag_address = mag_address;
dev->acc_pin = acc_pin;
dev->mag_pin = mag_pin;
i2c_init_master(i2c, I2C_SPEED_NORMAL);
@ -110,6 +112,10 @@ int lsm303dlhc_read_acc(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
data->z_axis |= tmp<<8;
DEBUG("read ... ");
data->x_axis = data->x_axis>>4;
data->y_axis = data->y_axis>>4;
data->z_axis = data->z_axis>>4;
if (res < 6) {
DEBUG("[!!failed!!]\n");
return -1;
@ -124,7 +130,7 @@ int lsm303dlhc_read_mag(lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
int res;
DEBUG("lsm303dlhc: wait for mag values... ");
while (gpio_read(GPIO_8) == 0){}
while (gpio_read(dev->mag_pin) == 0){}
DEBUG("read ... ");
@ -192,7 +198,7 @@ int lsm303dlhc_enable(lsm303dlhc_t *dev)
tmp = (LSM303DLHC_CTRL4_A_BDU| LSM303DLHC_CTRL4_A_SCALE_2G | LSM303DLHC_CTRL4_A_HR);
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL4_A, tmp);
res += i2c_write_reg(dev->i2c, dev->acc_address, LSM303DLHC_REG_CTRL3_A, LSM303DLHC_CTRL3_A_I1_DRDY1);
gpio_init_in(GPIO_2, GPIO_NOPULL);
gpio_init_in(dev->acc_pin, GPIO_NOPULL);
tmp = LSM303DLHC_TEMP_EN | LSM303DLHC_TEMP_SAMPLE_75HZ;
res += i2c_write_reg(dev->i2c, dev->mag_address, LSM303DLHC_REG_CRA_M, tmp);
@ -203,7 +209,7 @@ int lsm303dlhc_enable(lsm303dlhc_t *dev)
res += i2c_write_reg(dev->i2c, dev->mag_address,
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS);
gpio_init_in(GPIO_8, GPIO_NOPULL);
gpio_init_in(dev->mag_pin, GPIO_NOPULL);
return (res < 6) ? -1 : 0;
}

1
examples/default/Makefile
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@ -59,6 +59,7 @@ ifneq (,$(filter iot-lab_M3,$(BOARD)))
USEMODULE += isl29020
USEMODULE += lps331ap
USEMODULE += l3g4200d
USEMODULE += lsm303dlhc
endif
include $(RIOTBASE)/Makefile.include

3
sys/shell/commands/Makefile
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@ -52,5 +52,8 @@ endif
ifneq (,$(filter l3g4200d,$(USEMODULE)))
SRC += sc_l3g4200d.c
endif
ifneq (,$(filter lsm303dlhc,$(USEMODULE)))
SRC += sc_lsm303dlhc.c
endif
include $(RIOTBASE)/Makefile.base

95
sys/shell/commands/sc_lsm303dlhc.c Normal file
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@ -0,0 +1,95 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup shell_commands
* @{
*
* @file
* @brief provides shell commands to poll lsm303dlhc sensor
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
*
* @}
*/
#include <stdio.h>
#include "board.h"
#include "lsm303dlhc.h"
#ifdef MODULE_LSM303DLHC
#define ACC_S_RATE LSM303DLHC_ACC_SAMPLE_RATE_10HZ
#define ACC_SCALE LSM303DLHC_ACC_SCALE_2G
#define MAG_S_RATE LSM303DLHC_MAG_SAMPLE_RATE_75HZ
#define MAG_GAIN LSM303DLHC_MAG_GAIN_400_355_GAUSS
static lsm303dlhc_t lsm303_dev;
void _get_lsm303dlhc_init_handler(int argc, char **argv)
{
(void)argc;
(void)argv;
uint8_t error;
error = lsm303dlhc_init(&lsm303_dev, LSM303DLHC_I2C,
LSM303DLHC_INT1, LSM303DLHC_DRDY,
LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE,
LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN);
if (error) {
puts("Error initializing lsm303dlhc sensor.");
}
else {
puts("Initialized lsm303dlhc sensor with default values");
}
}
void _get_lsm303dlhc_read_handler(int argc, char **argv)
{
(void)argc;
(void)argv;
uint8_t error;
lsm303dlhc_3d_data_t data;
if (!lsm303_dev.acc_address || !lsm303_dev.mag_address) {
puts("Error: please call `lsm303dlhc_init` first!");
return;
}
error = lsm303dlhc_read_acc(&lsm303_dev, &data);
if (error) {
puts("Error reading accelerometer data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Accelerometer {%i, %i, %i} mg\n", data.x_axis, data.y_axis, data.z_axis);
}
error = lsm303dlhc_read_mag(&lsm303_dev, &data);
if (error) {
puts("Error reading magnetometer data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Magnetometer {%i, %i, %i}/1100 gauss\n", data.x_axis, data.y_axis, data.z_axis);
}
error = lsm303dlhc_read_temp(&lsm303_dev, &(data.x_axis));
if (error) {
puts("Error reading temperature data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Temperature %i\n", data.x_axis);
}
}
#endif /* MODULE_LSM303DLHC */

9
sys/shell/commands/shell_commands.c
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@ -64,6 +64,11 @@ extern void _get_l3g4200d_init_handler(int argc, char **argv);
extern void _get_l3g4200d_read_handler(int argc, char **argv);
#endif
#ifdef MODULE_LSM303DLHC
extern void _get_lsm303dlhc_init_handler(int argc, char **argv);
extern void _get_lsm303dlhc_read_handler(int argc, char **argv);
#endif
#ifdef MODULE_LTC4150
extern void _get_current_handler(int argc, char **argv);
extern void _reset_current_handler(int argc, char **argv);
@ -172,6 +177,10 @@ const shell_command_t _shell_command_list[] = {
{"l3g4200d_init", "Initializes the l3g4200d sensor driver.", _get_l3g4200d_init_handler},
{"l3g4200d_read", "Prints data from the l3g4200d sensor.", _get_l3g4200d_read_handler},
#endif
#ifdef MODULE_LSM303DLHC
{"lsm303dlhc_init", "Initializes the lsm303dlhc sensor driver.", _get_lsm303dlhc_init_handler},
{"lsm303dlhc_read", "Prints data from the lsm303dlhc sensor.", _get_lsm303dlhc_read_handler},
#endif
#ifdef MODULE_LTC4150
{"cur", "Prints current and average power consumption.", _get_current_handler},
{"rstcur", "Resets coulomb counter.", _reset_current_handler},