lsm303d: changed tones for accel fail to 3 tones

distinct tones for init fail, post-boot fail and recovery

src/drivers/lsm303d/lsm303d.cpp

@@ -664,6 +664,7 @@ void
 LSM303D::check_extremes(const accel_report *arb)
 {
 	const float extreme_threshold = 30;
+        static bool boot_ok = false;
 	bool is_extreme = (fabsf(arb->x) > extreme_threshold && 
 			   fabsf(arb->y) > extreme_threshold && 
 			   fabsf(arb->z) > extreme_threshold);
@@ -671,6 +672,8 @@ LSM303D::check_extremes(const accel_report *arb)
 		perf_count(_extreme_values);
 		// force accel logging on if we see extreme values
 		_accel_logging_enabled = true;
+	} else {
+            boot_ok = true;
         }
 
 	if (! _accel_logging_enabled) {
@@ -705,15 +708,16 @@ LSM303D::check_extremes(const accel_report *arb)
 	if (_last_log_us == 0 ||
 	    now - _last_log_us > 1000*1000) {
 		_last_log_us = now;
-		::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d\r\n",
+		::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
 			  (unsigned long long)arb->timestamp, 
 			  arb->x, arb->y, arb->z,
 			  (int)arb->x_raw,
 			  (int)arb->y_raw,
-			  (int)arb->z_raw);
+			  (int)arb->z_raw,
+			  (unsigned)boot_ok);
 	}
 
-        const uint8_t reglist[] = { ADDR_WHO_AM_I, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, 
+        const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, 
                                     ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, 
                                     ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, 
                                     ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, 
@@ -723,7 +727,7 @@ LSM303D::check_extremes(const accel_report *arb)
                                     ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, 
                                     ADDR_ACT_THS, ADDR_ACT_DUR,
                                     ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, 
-                                    ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M};
+                                    ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I};
         uint8_t regval[sizeof(reglist)];
         for (uint8_t i=0; i<sizeof(reglist); i++) {
             regval[i] = read_reg(reglist[i]);
@@ -753,7 +757,15 @@ LSM303D::check_extremes(const accel_report *arb)
 		_last_log_alarm_us = now;
 		int tfd = ::open(TONEALARM_DEVICE_PATH, 0);
 		if (tfd != -1) {
-			::ioctl(tfd, TONE_SET_ALARM, is_extreme?4:3);
+			uint8_t tone = 3;
+			if (!is_extreme) {
+				tone = 3;
+			} else if (boot_ok) {
+				tone = 4;
+			} else {
+				tone = 5;
+			}
+			::ioctl(tfd, TONE_SET_ALARM, tone);
 			::close(tfd);
 		}		
 	}