text: /****************************************************************************
   *
   *   Copyright (c) 2016 James Wilson. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file sensors_init.cpp
   *
   *	Sensor initialization code, used on everything but QURT.
   *
   * @author James Wilson <jywilson99@hotmail.com>
   */
  
  #include <drivers/drv_accel.h>
  #include <drivers/drv_gyro.h>
  #include <drivers/drv_mag.h>
  #include <drivers/drv_baro.h>
  #include <drivers/drv_adc.h>
  
  
  #include <DevMgr.hpp>
  
  #include "sensors_init.h"
  
  using namespace DriverFramework;
  
  #if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
  
  // Sensor initialization is performed automatically when the QuRT sensor drivers
  // are loaded.
  // The same is true for the Raspberry Pi.
  
  int
  sensors_init(void)
  {
  	return 0;
  }
  
  #else
  
  /**
   * Do accel-related initialisation.
   */
  int		accel_init();
  
  /**
   * Do gyro-related initialisation.
   */
  int		gyro_init();
  
  /**
   * Do mag-related initialisation.
   */
  int		mag_init();
  
  /**
   * Do baro-related initialisation.
   */
  int		baro_init();
  
  
  int
  sensors_init(void)
  {
  	int ret;
  
  	ret = accel_init();
  
  	if (ret) { return ret; }
  
  	ret = gyro_init();
  
  	if (ret) { return ret; }
  
  	ret = mag_init();
  
  	if (ret) { return ret; }
  
  	ret = baro_init();
  
  	if (ret) { return ret; }
  
  	return 0;
  }
  
  
  int
  accel_init()
  {
  	DevHandle h_accel;
  	DevMgr::getHandle(ACCEL0_DEVICE_PATH, h_accel);
  
  	if (!h_accel.isValid()) {
  		warnx("FATAL: no accelerometer found: %s (%d)", ACCEL0_DEVICE_PATH, h_accel.getError());
  		return PX4_ERROR;
  
  	} else {
  
  		/* set the accel internal sampling rate to default rate */
  		h_accel.ioctl(ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT);
  
  		/* set the driver to poll at default rate */
  		h_accel.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
  	}
  
  	return OK;
  }
  
  int
  gyro_init()
  {
  	DevHandle h_gyro;
  	DevMgr::getHandle(GYRO0_DEVICE_PATH, h_gyro);
  
  	if (!h_gyro.isValid()) {
  		warnx("FATAL: no gyro found: %s (%d)", GYRO0_DEVICE_PATH, h_gyro.getError());
  		return PX4_ERROR;
  
  	}
  
  	/* set the gyro internal sampling rate to default rate */
  	h_gyro.ioctl(GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
  
  	/* set the driver to poll at default rate */
  	h_gyro.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
  
  	return OK;
  }
  
  int
  mag_init()
  {
  	int	ret;
  
  	DevHandle h_mag;
  	DevMgr::getHandle(MAG0_DEVICE_PATH, h_mag);
  
  	if (!h_mag.isValid()) {
  		warnx("FATAL: no magnetometer found: %s (%d)", MAG0_DEVICE_PATH, h_mag.getError());
  		return PX4_ERROR;
  	}
  
  	/* try different mag sampling rates */
  
  
  	ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 150);
  
  	if (ret == OK) {
  		/* set the pollrate accordingly */
  		h_mag.ioctl(SENSORIOCSPOLLRATE, 150);
  
  	} else {
  		ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 100);
  
  		/* if the slower sampling rate still fails, something is wrong */
  		if (ret == OK) {
  			/* set the driver to poll also at the slower rate */
  			h_mag.ioctl(SENSORIOCSPOLLRATE, 100);
  
  		} else {
  			warnx("FATAL: mag sampling rate could not be set");
  			return PX4_ERROR;
  		}
  	}
  
  	return OK;
  }
  
  int
  baro_init()
  {
  	DevHandle h_baro;
  	DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
  
  	if (!h_baro.isValid()) {
  		warnx("FATAL: No barometer found: %s (%d)", BARO0_DEVICE_PATH, h_baro.getError());
  		return PX4_ERROR;
  	}
  
  	/* set the driver to poll at 150Hz */
  	h_baro.ioctl(SENSORIOCSPOLLRATE, 150);
  
  	return OK;
  }
  
  #endif
  