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drivers/sensors: l3gd20 support fetch function

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Change-Id: I3450d9aaf92fea04f9a03c407358aaddcb437273
Signed-off-by: 丁欣童 <dingxintong@xiaomi.com>
(cherry picked from commit 0b4d4768e90eea5915da2109f7535c771579578c)
This commit is contained in:
丁欣童
2020-11-09 17:45:42 +08:00
committed by dongjiuzhu1
parent f5bd0a06f0
commit 52a60155f5
3 changed files with 138 additions and 122 deletions
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drivers/sensors/Kconfig
+2 -1
View File
@@ -237,7 +237,8 @@ config SENSORS_L3GD20_BUFFER_SIZE
default 1
depends on SENSORS_L3GD20
---help---
The size of the circular buffer used.
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"
drivers/sensors/l3gd20.c
+134 -110
View File
@@ -31,6 +31,7 @@
#include <string.h>
#include <math.h>
#include <nuttx/nuttx.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
#include <nuttx/random.h>
@@ -61,14 +62,14 @@ 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 */
uint64_t timestamp; /* Units is microseconds */
struct sensor_lowerhalf_s lower; /* The struct of lower half driver */
sem_t datasem; /* Manages exclusive access to this
* structure */
struct sensor_event_gyro data; /* The data as measured by the sensor */
#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
};
/****************************************************************************
@@ -83,7 +84,8 @@ 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);
@@ -91,21 +93,32 @@ 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_activate(FAR struct sensor_lowerhalf_s *lower, bool enable);
#else
static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* The lower half sensor driver operations for sensor register*/
/* The lower half sensor driver operations for sensor register */
static const struct sensor_ops_s g_l2gd20_ops =
{
.activate = l3gd20_activate,
.set_interval = NULL,
.batch = 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 */
@@ -206,13 +219,13 @@ 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 */
@@ -222,25 +235,11 @@ 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 = ((int16_t)x_gyr / 180.0f) * M_PI_F;
dev->data.y = ((int16_t)y_gyr / 180.0f) * M_PI_F;
dev->data.z = ((int16_t)z_gyr / 180.0f) * M_PI_F;
dev->data.temperature = temperature;
/* Give back the semaphore */
nxsem_post(&dev->datasem);
data->x = ((int16_t)x_gyr / 180.0f) * M_PI_F;
data->y = ((int16_t)y_gyr / 180.0f) * M_PI_F;
data->z = ((int16_t)z_gyr / 180.0f) * M_PI_F;
data->temperature = temperature;
data->timestamp = dev->timestamp;
/* Feed sensor data to entropy pool */
@@ -350,6 +349,11 @@ 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.
@@ -358,126 +362,152 @@ 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);
/* Get the timestamp */
priv->data.timestamp = sensor_get_timestamp();
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);
int ret;
/* Read out the latest sensor data */
l3gd20_read_measurement_data(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;
}
l3gd20_read_measurement_data(priv, &temp);
/* push data to upper half driver */
priv->lower.push_event(priv->lower.priv, &priv->data, sizeof(struct sensor_event_gyro));
/* Give back the semaphore */
nxsem_post(&priv->datasem);
priv->lower.push_event(priv->lower.priv, &temp,
sizeof(struct sensor_event_gyro));
}
#else
/****************************************************************************
* Name: l3gd20_fetch
****************************************************************************/
static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR char *buffer, size_t buflen)
{
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)
static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
bool enable)
{
FAR struct l3gd20_dev_s *priv = g_l3gd20_list;
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;
#endif
DEBUGASSERT(priv != NULL);
if (enable == true)
{
/* Perform a reset */
{
/* 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
}
}
else
{
/* Perform a reset */
{
/* Perform a reset */
l3gd20_reset(priv);
}
l3gd20_reset(priv);
}
return 0;
}
@@ -493,7 +523,8 @@ static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower, bool enable)
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devno - The device number, used to build the device path as /dev/sensor/gyro_uncalN
* 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.
*
@@ -525,23 +556,17 @@ int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
priv->spi = spi;
priv->config = config;
#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
priv->work.worker = NULL;
priv->data.x = 0.0f;
priv->data.y = 0.0f;
priv->data.z = 0.0f;
priv->data.temperature = 0.0f;
priv->data.timestamp = 0;
#endif
priv->timestamp = 0;
priv->lower.type = SENSOR_TYPE_GYROSCOPE;
priv->lower.buffer_size = sizeof(struct sensor_event_gyro) * CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
priv->lower.buffer_size = sizeof(struct sensor_event_gyro) *
CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
priv->lower.ops = &g_l2gd20_ops;
priv->lower.uncalibrated = true;
/* Initialize sensor data access semaphore */
nxsem_init(&priv->datasem, 0, 1);
/* Setup SPI frequency and mode */
SPI_SETFREQUENCY(spi, L3GD20_SPI_FREQUENCY);
@@ -563,7 +588,6 @@ int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
nxsem_destroy(&priv->datasem);
goto errout;
}
include/nuttx/sensors/l3gd20.h
+2 -11
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
****************************************************************************/
@@ -258,7 +248,8 @@ extern "C"
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devno - The device number, used to build the device path as /dev/sensor/gyro_uncalN
* 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.