OrgApache/incubator-nuttx
OrgApache
/
incubator-nuttx
mirror of https://github.com/apache/incubator-nuttx.git
1
0
Fork 0
Code Issues Releases Wiki Activity

drivers: l3gd20 supports the sensor driver model 

Signed-off-by: dongjiuzhu <dongjiuzhu1@xiaomi.com>
This commit is contained in:
dongjiuzhu 2020-11-17 14:02:06 +08:00 committed by Xiang Xiao
parent 9393572aea
commit 60d1755e04
3 changed files with 163 additions and 214 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
drivers/sensors/Kconfig
View File

@ -222,9 +222,19 @@ config SENSORS_L3GD20
bool "STMicro L3GD20 Gyroscope Sensor support"
default n
select SPI
select SCHED_HPWORK if SENSORS_L3GD20_BUFFER_SIZE > 0
---help---
Enable driver support for the STMicro L3GD20 gyroscope sensor.
config SENSORS_L3GD20_BUFFER_SIZE
int "size of buffer"
default 1
depends on SENSORS_L3GD20
---help---
The size of the circular buffer used. If the value equal to zero,
indicates that the circular buffer is disabled.
config SENSOR_KXTJ9
bool "Kionix KXTJ9 Accelerometer support"
default n

350
drivers/sensors/l3gd20.c
View File

@ -29,13 +29,16 @@
#include <debug.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <nuttx/nuttx.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
#include <nuttx/random.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/sensor.h>
#include <nuttx/sensors/l3gd20.h>
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
@ -44,10 +47,6 @@
* Pre-processor Definitions
****************************************************************************/
#if !defined(CONFIG_SCHED_HPWORK)
# error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
#endif
/****************************************************************************
* Private Types
****************************************************************************/
@ -59,13 +58,14 @@ struct l3gd20_dev_s
FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
FAR struct l3gd20_config_s *config; /* Pointer to the configuration of the
* L3GD20 sensor */
sem_t datasem; /* Manages exclusive access to this
* structure */
struct l3gd20_sensor_data_s data; /* The data as measured by the sensor */
uint64_t timestamp; /* Units is microseconds */
struct sensor_lowerhalf_s lower; /* The struct of lower half driver */
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
struct work_s work; /* The work queue is responsible for
* retrieving the data from the sensor
* after the arrival of new data was
* signalled in an interrupt */
#endif
};
/****************************************************************************
@ -80,7 +80,8 @@ static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr,
uint8_t const reg_data);
static void l3gd20_reset(FAR struct l3gd20_dev_s *dev);
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev);
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
FAR struct sensor_event_gyro *data);
static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
uint16_t *x_gyr, uint16_t *y_gyr,
uint16_t *z_gyr);
@ -88,32 +89,32 @@ static void l3gd20_read_temperature(FAR struct l3gd20_dev_s *dev,
uint8_t * temperature);
static int l3gd20_interrupt_handler(int irq, FAR void *context,
FAR void *arg);
static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
bool enable);
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
static void l3gd20_worker(FAR void *arg);
static int l3gd20_open(FAR struct file *filep);
static int l3gd20_close(FAR struct file *filep);
static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
#else
static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_l3gd20_fops =
/* The lower half sensor driver operations for sensor register */
static const struct sensor_ops_s g_l2gd20_ops =
{
l3gd20_open,
l3gd20_close,
l3gd20_read,
l3gd20_write,
NULL,
l3gd20_ioctl,
NULL
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL
.activate = l3gd20_activate,
.set_interval = NULL,
.batch = NULL,
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
.fetch = NULL,
#else
.fetch = l3gd20_fetch,
#endif
.control = NULL
};
/* Single linked list to store instances of drivers */
@ -214,13 +215,13 @@ static void l3gd20_reset(FAR struct l3gd20_dev_s *dev)
* Name: l3gd20_read_measurement_data
****************************************************************************/
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
FAR struct sensor_event_gyro *data)
{
uint16_t x_gyr = 0;
uint16_t y_gyr = 0;
uint16_t z_gyr = 0;
uint8_t temperature = 0;
int ret;
/* Read Gyroscope */
@ -230,24 +231,11 @@ static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
l3gd20_read_temperature(dev, &temperature);
/* Acquire the semaphore before the data is copied */
ret = nxsem_wait(&dev->datasem);
if (ret < 0)
{
snerr("ERROR: Could not acquire dev->datasem: %d\n", ret);
return;
}
/* Copy retrieve data to internal data structure */
dev->data.x_gyr = (int16_t) (x_gyr);
dev->data.y_gyr = (int16_t) (y_gyr);
dev->data.z_gyr = (int16_t) (z_gyr);
/* Give back the semaphore */
nxsem_post(&dev->datasem);
data->x = ((int16_t)x_gyr / 180.0f) * (float)M_PI;
data->y = ((int16_t)y_gyr / 180.0f) * (float)M_PI;
data->z = ((int16_t)z_gyr / 180.0f) * (float)M_PI;
data->temperature = temperature;
data->timestamp = dev->timestamp;
/* Feed sensor data to entropy pool */
@ -357,6 +345,11 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
DEBUGASSERT(priv != NULL);
}
/* Get the timestamp */
priv->timestamp = sensor_get_timestamp();
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
/* Task the worker with retrieving the latest sensor data. We should not do
* this in a interrupt since it might take too long. Also we cannot lock
* the SPI bus from within an interrupt.
@ -364,37 +357,82 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
DEBUGASSERT(priv->work.worker == NULL);
ret = work_queue(HPWORK, &priv->work, l3gd20_worker, priv, 0);
if (ret < 0)
{
snerr("ERROR: Failed to queue work: %d\n", ret);
return ret;
}
#else
/* notify event to upper half driver */
priv->lower.notify_event(priv->lower.priv);
#endif
return OK;
}
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
/****************************************************************************
* Name: l3gd20_worker
****************************************************************************/
static void l3gd20_worker(FAR void *arg)
{
struct sensor_event_gyro temp;
FAR struct l3gd20_dev_s *priv = (FAR struct l3gd20_dev_s *)(arg);
DEBUGASSERT(priv != NULL);
/* Read out the latest sensor data */
l3gd20_read_measurement_data(priv);
l3gd20_read_measurement_data(priv, &temp);
/* push data to upper half driver */
priv->lower.push_event(priv->lower.priv, &temp,
sizeof(struct sensor_event_gyro));
}
#else
/****************************************************************************
* Name: l3gd20_open
* Name: l3gd20_fetch
****************************************************************************/
static int l3gd20_open(FAR struct file *filep)
static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
FAR struct l3gd20_dev_s *priv = container_of(lower,
FAR struct l3gd20_dev_s,
lower);
if (buflen != sizeof(struct sensor_event_gyro))
return 0;
DEBUGASSERT(priv != NULL);
/* Read out the latest sensor data */
l3gd20_read_measurement_data(priv, (FAR struct sensor_event_gyro *)buffer);
return sizeof(struct sensor_event_gyro);
}
#endif
/****************************************************************************
* Name: l3gd20_activate
****************************************************************************/
static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
bool enable)
{
FAR struct l3gd20_dev_s *priv = container_of(lower,
FAR struct l3gd20_dev_s,
lower);
struct sensor_event_gyro temp;
#ifdef CONFIG_DEBUG_SENSORS_INFO
uint8_t reg_content;
uint8_t reg_addr;
@ -402,162 +440,72 @@ static int l3gd20_open(FAR struct file *filep)
DEBUGASSERT(priv != NULL);
/* Perform a reset */
if (enable == true)
{
/* Perform a reset */
l3gd20_reset(priv);
l3gd20_reset(priv);
/* Enable DRDY signal on INT 2 */
/* Enable DRDY signal on INT 2 */
l3gd20_write_register(priv,
L3GD20_CTRL_REG_3,
L3GD20_CTRL_REG_3_I2_DRDY_BM);
l3gd20_write_register(priv,
L3GD20_CTRL_REG_3,
L3GD20_CTRL_REG_3_I2_DRDY_BM);
/* Enable the maximum full scale mode.
* Enable block data update for gyro sensor data.
* This should prevent race conditions when reading sensor data.
*/
/* Enable the maximum full scale mode.
* Enable block data update for gyro sensor data.
* This should prevent race conditions when reading sensor data.
*/
l3gd20_write_register(priv,
L3GD20_CTRL_REG_4,
L3GD20_CTRL_REG_4_BDU_BM |
L3GD20_CTRL_REG_4_FS_1_BM |
L3GD20_CTRL_REG_4_FS_0_BM);
l3gd20_write_register(priv,
L3GD20_CTRL_REG_4,
L3GD20_CTRL_REG_4_BDU_BM |
L3GD20_CTRL_REG_4_FS_1_BM |
L3GD20_CTRL_REG_4_FS_0_BM);
/* Enable X,Y,Z axis
* DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
*/
/* Enable X,Y,Z axis
* DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
*/
l3gd20_write_register(priv,
L3GD20_CTRL_REG_1,
L3GD20_CTRL_REG_1_POWERDOWN_BM |
L3GD20_CTRL_REG_1_X_EN_BM |
L3GD20_CTRL_REG_1_Y_EN_BM |
L3GD20_CTRL_REG_1_Z_EN_BM);
l3gd20_write_register(priv,
L3GD20_CTRL_REG_1,
L3GD20_CTRL_REG_1_POWERDOWN_BM |
L3GD20_CTRL_REG_1_X_EN_BM |
L3GD20_CTRL_REG_1_Y_EN_BM |
L3GD20_CTRL_REG_1_Z_EN_BM);
/* Read measurement data to ensure DRDY is low */
/* Read measurement data to ensure DRDY is low */
l3gd20_read_measurement_data(priv);
l3gd20_read_measurement_data(priv, &temp);
/* Read back the content of all control registers for debug purposes */
/* Read back the content of all control registers for debug purposes */
#ifdef CONFIG_DEBUG_SENSORS_INFO
reg_content = 0;
reg_content = 0;
l3gd20_read_register(priv, L3GD20_WHO_AM_I, &reg_content);
sninfo("WHO_AM_I_REG = %04x\n", reg_content);
l3gd20_read_register(priv, L3GD20_WHO_AM_I, &reg_content);
sninfo("WHO_AM_I_REG = %04x\n", reg_content);
for (reg_addr = L3GD20_CTRL_REG_1;
reg_addr <= L3GD20_CTRL_REG_5;
reg_addr++)
{
l3gd20_read_register(priv, reg_addr, &reg_content);
sninfo("R#%04x = %04x\n", reg_addr, reg_content);
}
for (reg_addr = L3GD20_CTRL_REG_1;
reg_addr <= L3GD20_CTRL_REG_5;
reg_addr++)
{
l3gd20_read_register(priv, reg_addr, &reg_content);
sninfo("R#%04x = %04x\n", reg_addr, reg_content);
}
l3gd20_read_register(priv, L3GD20_STATUS_REG, &reg_content);
sninfo("STATUS_REG = %04x\n", reg_content);
l3gd20_read_register(priv, L3GD20_STATUS_REG, &reg_content);
sninfo("STATUS_REG = %04x\n", reg_content);
#endif
return OK;
}
/****************************************************************************
* Name: l3gd20_close
****************************************************************************/
static int l3gd20_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
DEBUGASSERT(priv != NULL);
/* Perform a reset */
l3gd20_reset(priv);
return OK;
}
/****************************************************************************
* Name: l3gd20_read
****************************************************************************/
static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
FAR struct l3gd20_sensor_data_s *data;
int ret;
DEBUGASSERT(priv != NULL);
/* Check if enough memory was provided for the read call */
if (buflen < sizeof(FAR struct l3gd20_sensor_data_s))
}
else
{
snerr("ERROR: Not enough memory for reading out a sensor data"
" sample\n");
return -ENOSYS;
/* Perform a reset */
l3gd20_reset(priv);
}
/* Acquire the semaphore before the data is copied */
ret = nxsem_wait(&priv->datasem);
if (ret < 0)
{
snerr("ERROR: Could not acquire priv->datasem: %d\n", ret);
return ret;
}
/* Copy the sensor data into the buffer */
data = (FAR struct l3gd20_sensor_data_s *)buffer;
memset(data, 0, sizeof(FAR struct l3gd20_sensor_data_s));
data->x_gyr = priv->data.x_gyr;
data->y_gyr = priv->data.y_gyr;
data->z_gyr = priv->data.z_gyr;
data->temperature = priv->data.temperature;
/* Give back the semaphore */
nxsem_post(&priv->datasem);
return sizeof(FAR struct l3gd20_sensor_data_s);
}
/****************************************************************************
* Name: l3gd20_write
****************************************************************************/
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: l3gd20_ioctl
****************************************************************************/
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
int ret = OK;
switch (cmd)
{
/* @TODO */
/* Command was not recognized */
default:
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
return ret;
return 0;
}
/****************************************************************************
@ -571,7 +519,8 @@ static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
* devno - The device number, used to build the device path
* as /dev/sensor/gyro_uncalN
* spi - An SPI driver instance.
* config - configuration for the L3GD20 driver.
*
@ -580,7 +529,7 @@ static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
*
****************************************************************************/
int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config)
{
FAR struct l3gd20_dev_s *priv;
@ -603,16 +552,16 @@ int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
priv->spi = spi;
priv->config = config;
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
priv->work.worker = NULL;
#endif
priv->timestamp = 0;
priv->data.x_gyr = 0;
priv->data.y_gyr = 0;
priv->data.z_gyr = 0;
priv->data.temperature = 0;
/* Initialize sensor data access semaphore */
nxsem_init(&priv->datasem, 0, 1);
priv->lower.type = SENSOR_TYPE_GYROSCOPE;
priv->lower.buffer_size = sizeof(struct sensor_event_gyro) *
CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
priv->lower.ops = &g_l2gd20_ops;
priv->lower.uncalibrated = true;
/* Setup SPI frequency and mode */
@ -628,14 +577,13 @@ int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
goto errout;
}
/* Register the character driver */
/* Register the sensor driver */
ret = register_driver(devpath, &g_l3gd20_fops, 0666, priv);
ret = sensor_register(&priv->lower, devno);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
nxsem_destroy(&priv->datasem);
goto errout;
}

17
include/nuttx/sensors/l3gd20.h
View File

@ -229,16 +229,6 @@ struct l3gd20_config_s
int (*attach)(FAR struct l3gd20_config_s *, xcpt_t);
};
/* Data returned by reading from the L3GD20 is returned in this format. */
struct l3gd20_sensor_data_s
{
int16_t x_gyr; /* Measurement result for x axis */
int16_t y_gyr; /* Measurement result for y axis */
int16_t z_gyr; /* Measurement result for z axis */
int8_t temperature; /* Measurement result for temperature sensor */
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
@ -258,8 +248,9 @@ extern "C"
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
* i2c - An SPI driver instance.
* devno - The device number, used to build the device path
* as /dev/sensor/gyro_uncalN
* spi - An SPI driver instance.
* config - configuration for the L3GD20 driver. For details see
* description above.
*
@ -268,7 +259,7 @@ extern "C"
*
****************************************************************************/
int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config);
#undef EXTERN