esp32[s2|s3]: Add UORB support for internal temperature sensor

arch/xtensa/src/common/espressif/Kconfig

@@ -31,10 +31,23 @@ config ESPRESSIF_SPIFLASH
 menu "Internal Temperature Sensor Configuration"
 	depends on ESPRESSIF_TEMP
 
+config ESPRESSIF_TEMP_UORB
+	bool "Internal Temperature Sensor UORB Interface"
+	default n
+	---help---
+		Enables work with the UORB or Character Device interface.
+		If not set, the Character Device is used by default.
+
 config ESPRESSIF_TEMP_PATH
 	string "Internal Temperature Sensor Path"
+	depends on !ESPRESSIF_TEMP_UORB
 	default "dev/temp"
 
+config ESPRESSIF_TEMP_PATH_DEVNO
+	int "Internal Temperature Sensor Path Device Number"
+	depends on ESPRESSIF_TEMP_UORB
+	default 0
+
 endmenu # ESPRESSIF_TEMP
 
 config ESPRESSIF_HAVE_OTA_PARTITION

arch/xtensa/src/common/espressif/esp_temperature_sensor.c

@@ -23,6 +23,7 @@
  ****************************************************************************/
 
 #include <nuttx/config.h>
+#include <nuttx/nuttx.h>
 
 #ifdef CONFIG_ESPRESSIF_TEMP
 #include <stdio.h>
@@ -42,6 +43,9 @@
 #include <nuttx/can/can.h>
 #include <nuttx/signal.h>
 #include <nuttx/arch.h>
+#ifdef CONFIG_ESPRESSIF_TEMP_UORB
+#include <nuttx/sensors/sensor.h>
+#endif
 
 #include "xtensa.h"
 #include "espressif/esp_temperature_sensor.h"
@@ -62,6 +66,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+#define ESP_TEMP_MIN_INTERVAL 30000
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -78,14 +84,19 @@ enum esp_tempstate_e
 
 struct esp_temp_priv_s
 {
+#ifndef CONFIG_ESPRESSIF_TEMP_UORB
   const struct file_operations *ops;                     /* Standard file operations */
+#endif
   const temperature_sensor_attribute_t *tsens_attribute; /* Attribute struct of the common layer */
   struct esp_temp_sensor_config_t cfg;                   /* Configuration struct of the common layer */
   temperature_sensor_clk_src_t clk_src;                  /* Clock source to use */
   int module;                                            /* Peripheral module */
   int refs;                                              /* Reference count */
   mutex_t lock;                                          /* Mutual exclusion mutex */
-
+#ifdef CONFIG_ESPRESSIF_TEMP_UORB
+  struct sensor_lowerhalf_s lower;                       /* Lower half sensor driver. */
+  uint32_t interval;                                     /* Sensor acquisition interval. */
+#endif
   /* Temperature sensor work state (see enum esp_tempstate_e) */
 
   volatile enum esp_tempstate_e tempstate;
@@ -109,9 +120,25 @@ static void esp_temp_sensor_register(struct esp_temp_priv_s *priv);
 static int esp_temperature_sensor_install(struct esp_temp_priv_s *priv,
   struct esp_temp_sensor_config_t cfg);
 static void esp_temperature_sensor_uninstall(struct esp_temp_priv_s *priv);
-static int esp_temperature_sensor_get_celsius(struct file *filep,
+static int esp_temperature_sensor_get_celsius(struct esp_temp_priv_s *priv,
+                                              int *buffer);
+#ifdef CONFIG_ESPRESSIF_TEMP_UORB
+static int esp_temperature_sensor_set_interval(
+  struct sensor_lowerhalf_s *lower,
+  struct file *filep,
+  uint32_t *period_us);
+static int esp_temperature_sensor_activate(
+  struct sensor_lowerhalf_s *lower,
+  struct file *filep,
+  bool enable);
+static int esp_temperature_sensor_fetch(struct sensor_lowerhalf_s *lower,
+                                        struct file *filep,
+                                        char *buffer, size_t buflen);
+#else
+static int esp_temperature_sensor_read(struct file *filep,
                                        char *buffer,
                                        size_t buflen);
+#endif /* CONFIG_ESPRESSIF_TEMP_UORB */
 
 /****************************************************************************
  * Private Data
@@ -119,17 +146,28 @@ static int esp_temperature_sensor_get_celsius(struct file *filep,
 
 static float g_delta_t = NAN;
 
+#ifndef CONFIG_ESPRESSIF_TEMP_UORB
 static const struct file_operations g_esp_temp_sensor_fops =
 {
   NULL,                               /* open */
   NULL,                               /* close */
-  esp_temperature_sensor_get_celsius, /* read */
+  esp_temperature_sensor_read,        /* read */
   NULL,                               /* write */
 };
+#else
+static const struct sensor_ops_s g_esp_temp_sensor_sops =
+{
+  .activate     = esp_temperature_sensor_activate,     /* Enable/disable sensor. */
+  .fetch        = esp_temperature_sensor_fetch,
+  .set_interval = esp_temperature_sensor_set_interval, /* Set output data period. */
+};
+#endif /* CONFIG_ESPRESSIF_TEMP_UORB */
 
 struct esp_temp_priv_s esp_temp_priv =
 {
+#ifndef CONFIG_ESPRESSIF_TEMP_UORB
   .ops = &g_esp_temp_sensor_fops,
+#endif
   .tsens_attribute = NULL,
   .cfg =
   {
@@ -139,6 +177,13 @@ struct esp_temp_priv_s esp_temp_priv =
   .module = PERIPH_TEMPSENSOR_MODULE,
   .refs = 0,
   .lock = NXMUTEX_INITIALIZER,
+#ifdef CONFIG_ESPRESSIF_TEMP_UORB
+  .lower =
+  {
+    0
+  },
+  .interval = ESP_TEMP_MIN_INTERVAL,
+#endif
   .tempstate = 0,
 };
 
@@ -229,7 +274,7 @@ static int temperature_sensor_choose_best_range(struct esp_temp_priv_s *priv)
 
   if (priv->tsens_attribute == NULL)
     {
-      syslog(LOG_ERR, "Out of testing range");
+      snerr("Out of testing range");
       return ERROR;
     }
 
@@ -255,12 +300,12 @@ static int temperature_sensor_read_delta_t(void)
 {
   if (esp_efuse_rtc_calib_get_tsens_val(&g_delta_t) != OK)
     {
-      syslog(LOG_WARNING, "Calibration failed");
+      snwarn("Calibration failed");
       g_delta_t = 0;
       return ERROR;
     }
 
-  syslog(LOG_INFO, "delta_T = %f", g_delta_t);
+  sninfo("delta_T = %f", g_delta_t);
   return OK;
 }
 
@@ -339,8 +384,7 @@ static void esp_temperature_sensor_disable(struct esp_temp_priv_s *priv)
  * Name: esp_temp_sensor_register
  *
  * Description:
- *   This function registers the internal temperature sensor to
+ *   This function registers the internal temperature sensor.
- *   /dev/temp driver.
  *
  * Input Parameters:
  *   priv - Pointer to the internal driver state structure.
@@ -352,8 +396,12 @@ static void esp_temperature_sensor_disable(struct esp_temp_priv_s *priv)
 
 static void esp_temp_sensor_register(struct esp_temp_priv_s *priv)
 {
+#ifndef CONFIG_ESPRESSIF_TEMP_UORB
   register_driver(CONFIG_ESPRESSIF_TEMP_PATH, &g_esp_temp_sensor_fops,
                   0666, priv);
+#else
+  sensor_register(&priv->lower, CONFIG_ESPRESSIF_TEMP_PATH_DEVNO);
+#endif /* CONFIG_ESPRESSIF_TEMP_UORB */
 }
 
 /****************************************************************************
@@ -381,7 +429,7 @@ static int esp_temperature_sensor_install(struct esp_temp_priv_s *priv,
   ret = temperature_sensor_attribute_table_sort();
   if (ret < 0)
     {
-      syslog(LOG_ERR, "Table sort failed");
+      snerr("Table sort failed");
       goto err;
     }
 
@@ -390,7 +438,7 @@ static int esp_temperature_sensor_install(struct esp_temp_priv_s *priv,
   ret = temperature_sensor_choose_best_range(priv);
   if (ret < 0)
     {
-      syslog(LOG_ERR, "Cannot select the correct range");
+      snerr("Cannot select the correct range");
       goto err;
     }
 
@@ -434,40 +482,36 @@ static void esp_temperature_sensor_uninstall(struct esp_temp_priv_s *priv)
  *   Read temperature sensor data that is converted to degrees Celsius.
  *
  * Input Parameters:
- *   filep  - The pointer of file, represents each user using the sensor
+ *   priv   - Pointer to the internal driver state structure.
  *   buffer - Buffer to save temperature sensor value in degrees Celsius
- *   buflen - Length of the buffer
  *
  * Returned Value:
  *   Returns OK on success; a negated errno value on failure
  *
  ****************************************************************************/
 
-static int esp_temperature_sensor_get_celsius(struct file *filep,
+static int esp_temperature_sensor_get_celsius(struct esp_temp_priv_s *priv,
-                                              char *buffer,
+                                              int *buffer)
-                                              size_t buflen)
 {
   uint32_t tsens_out;
-  struct inode *inode = filep->f_inode;
+  float *out = (float *)buffer;
-  struct esp_temp_priv_s *priv = inode->i_private;
-  int *out = (int *)buffer;
 
   nxmutex_lock(&priv->lock);
   if (priv == NULL)
     {
-      syslog(LOG_WARNING, "Temperature sensor has not been installed");
+      snwarn("Temperature sensor has not been installed");
       goto err;
     }
 
   esp_temperature_sensor_enable(priv);
   if (priv->tempstate != TEMP_SENSOR_ENABLE)
     {
-      syslog(LOG_WARNING, "Temperature sensor not enabled");
+      snwarn("Temperature sensor not enabled");
       goto err;
     }
 
   tsens_out = temperature_sensor_ll_get_raw_value();
-  syslog(LOG_INFO, "Temperature sensor raw value: %d", tsens_out);
+  sninfo("Temperature sensor raw value: %ld", (long int)tsens_out);
 
   *out = temperature_sensor_parse_raw_value(tsens_out,
                                      priv->tsens_attribute->offset);
@@ -476,7 +520,7 @@ static int esp_temperature_sensor_get_celsius(struct file *filep,
   if (*out < priv->tsens_attribute->range_min ||
       *out > priv->tsens_attribute->range_max)
     {
-      syslog(LOG_WARNING, "Temperature sensor value is out of range");
+      snwarn("Temperature sensor value is out of range");
       goto err;
     }
 
@@ -488,6 +532,142 @@ err:
   return ERROR;
 }
 
+#ifndef CONFIG_ESPRESSIF_TEMP_UORB
+/****************************************************************************
+ * Name: esp_temperature_sensor_read
+ *
+ * Description:
+ *   Read temperature sensor data that is converted to degrees Celsius.
+ *
+ * Input Parameters:
+ *   filep  - The pointer of file, represents each user using the sensor
+ *   buffer - Buffer to save temperature sensor value in degrees Celsius
+ *   buflen - Length of the buffer
+ *
+ * Returned Value:
+ *   Returns OK on success; a negated errno value on failure
+ *
+ ****************************************************************************/
+
+static int esp_temperature_sensor_read(struct file *filep,
+                                       char *buffer,
+                                       size_t buflen)
+{
+  struct inode *inode = filep->f_inode;
+  struct esp_temp_priv_s *priv = inode->i_private;
+
+  return esp_temperature_sensor_get_celsius(priv, (int *)buffer);
+}
+#else
+static int esp_temperature_sensor_fetch(struct sensor_lowerhalf_s *lower,
+                                        struct file *filep,
+                                        char *buffer, size_t buflen)
+{
+  struct esp_temp_priv_s *priv =
+    container_of (lower, struct esp_temp_priv_s, lower);
+
+  int ret;
+  struct sensor_temp temp;
+  float val = 0.0;
+
+  if (buflen != sizeof(temp))
+    {
+      return -EINVAL;
+    }
+
+  esp_temperature_sensor_get_celsius(priv, (int *)&val);
+  sninfo("temp = %d\n", (int)val);
+
+  temp.timestamp = sensor_get_timestamp();
+  temp.temperature = (int)val;
+
+  memcpy(buffer, &temp, sizeof(temp));
+
+  return buflen;
+}
+
+/****************************************************************************
+ * Name: esp_temperature_sensor_set_interval
+ *
+ * Description:
+ *   Set the sensor output data period in microseconds for a given sensor.
+ *   If *period_us < min_delay it will be replaced by min_delay.
+ *
+ * Input Parameters:
+ *   lower     - The instance of lower half sensor driver.
+ *   filep     - The pointer of file, represents each user using the sensor.
+ *   period_us - The time between report data, in us. It may by overwrite
+ *               by lower half driver.
+ *
+ * Returned Value:
+ *   Return OK(0) if the driver was success; A negated errno
+ *   value is returned on any failure.
+ *
+ ****************************************************************************/
+
+static int esp_temperature_sensor_set_interval(
+  struct sensor_lowerhalf_s *lower,
+  struct file *filep,
+  uint32_t *period_us)
+{
+  struct esp_temp_priv_s *priv = (struct esp_temp_priv_s *)lower;
+
+  if (*period_us < ESP_TEMP_MIN_INTERVAL)
+    {
+      priv->interval = ESP_TEMP_MIN_INTERVAL;
+      *period_us = priv->interval;
+    }
+  else
+    {
+      priv->interval = *period_us;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: esp_temperature_sensor_activate
+ *
+ * Description:
+ *   Enable or disable sensor device. when enable sensor, sensor will
+ *   work in  current mode(if not set, use default mode). when disable
+ *   sensor, it will disable sense path and stop convert.
+ *
+ * Input Parameters:
+ *   lower  - The instance of lower half sensor driver.
+ *   filep  - The pointer of file, represents each user using the sensor.
+ *   enable - true(enable) and false(disable).
+ *
+ * Returned Value:
+ *   Return OK(0)  if the driver was success; A negated errno
+ *   value is returned on any failure.
+ *
+ ****************************************************************************/
+
+static int esp_temperature_sensor_activate(
+  struct sensor_lowerhalf_s *lower,
+  struct file *filep,
+  bool enable)
+{
+  struct esp_temp_priv_s *priv = (struct esp_temp_priv_s *)lower;
+
+  /* Set accel output data rate. */
+
+  if (enable)
+    {
+        esp_temperature_sensor_enable(priv);
+    }
+  else
+    {
+      /* Set suspend mode to sensors. */
+
+        esp_temperature_sensor_disable(priv);
+    }
+
+  return OK;
+}
+#endif /* CONFIG_ESPRESSIF_TEMP_UORB */
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -517,7 +697,7 @@ int esp_temperature_sensor_initialize(struct esp_temp_sensor_config_t cfg)
   if (priv->refs++ != 0)
     {
       nxmutex_unlock(&priv->lock);
-      syslog(LOG_INFO, "Temperature sensor previously initialized."
+      sninfo("Temperature sensor previously initialized."
              "Handler: %p\n", priv);
     }
   else
@@ -525,16 +705,22 @@ int esp_temperature_sensor_initialize(struct esp_temp_sensor_config_t cfg)
       ret = esp_temperature_sensor_install(priv, cfg);
       if (ret != OK)
         {
-          syslog(LOG_ERR, "Temperature sensor initialization failed!");
+          snerr("Temperature sensor initialization failed!");
           nxmutex_unlock(&priv->lock);
           return ret;
         }
     }
 
+#ifdef CONFIG_ESPRESSIF_TEMP_UORB
+  priv->lower.ops = &g_esp_temp_sensor_sops;
+  priv->lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
+  priv->interval = ESP_TEMP_MIN_INTERVAL;
+#endif
+
   esp_temp_sensor_register(priv);
   nxmutex_unlock(&priv->lock);
 
-  syslog(LOG_INFO, "Temperature sensor initialized! Handler: %p\n", priv);
+  sninfo("Temperature sensor initialized! Handler: %p\n", priv);
 
   return OK;
 }

boards/xtensa/esp32s2/esp32s2-saola-1/configs/temperature_sensor/defconfig

@@ -0,0 +1,49 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32s2-saola-1"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32S2_SAOLA_1=y
+CONFIG_ARCH_CHIP="esp32s2"
+CONFIG_ARCH_CHIP_ESP32S2=y
+CONFIG_ARCH_CHIP_ESP32S2WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32S2_UART0=y
+CONFIG_ESPRESSIF_TEMP=y
+CONFIG_ESPRESSIF_TEMP_UORB=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_SENSORTEST=y
+CONFIG_UART0_SERIAL_CONSOLE=y

boards/xtensa/esp32s3/esp32s3-devkit/configs/temperature_sensor/defconfig

@@ -0,0 +1,51 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32s3-devkit"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32S3_DEVKIT=y
+CONFIG_ARCH_CHIP="esp32s3"
+CONFIG_ARCH_CHIP_ESP32S3=y
+CONFIG_ARCH_CHIP_ESP32S3WROOM1N4=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ESP32S3_UART0=y
+CONFIG_ESPRESSIF_TEMP=y
+CONFIG_ESPRESSIF_TEMP_UORB=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_SENSORTEST=y
+CONFIG_UART0_SERIAL_CONSOLE=y