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drivers: l3gd20 supports the sensor framework

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Signed-off-by: 丁欣童 <dingxintong@xiaomi.com>
Change-Id: Id5799090ff99393e96f8dde3c2dc5f1db864aca7
This commit is contained in:
丁欣童
2020-10-30 16:38:33 +08:00
committed by dongjiuzhu
parent 070e08bd6e
commit d977381060
6 changed files with 129 additions and 189 deletions
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boards/arm/stm32/common/include/stm32_l3gd20.h
+1 -1
View File
@@ -62,7 +62,7 @@ extern "C"
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input Parameters:
* devno - The device number, used to build the device path as /dev/gyroN
* devno - The device number, used to build the device path as /dev/sensor/gyro_uncalN
* busno - The SPI bus number
*
* Returned Value:
boards/arm/stm32/common/src/stm32_l3gd20.c
+2 -4
View File
@@ -86,7 +86,7 @@ static int l3gd20_attach(FAR struct l3gd20_config_s *cfg, xcpt_t irq)
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input Parameters:
* devno - The device number, used to build the device path as /dev/gyroN
* devno - The device number, used to build the device path as /dev/sensor/gyro_uncalN
* busno - The SPI bus number
*
* Returned Value:
@@ -98,7 +98,6 @@ int board_l3gd20_initialize(int devno, int busno)
{
int ret = 0;
struct spi_dev_s *spi;
char devpath[12];
/* Configure DREADY IRQ input */
@@ -116,8 +115,7 @@ int board_l3gd20_initialize(int devno, int busno)
/* Then register the gyro */
snprintf(devpath, 12, "/dev/gyro%d", devno);
ret = l3gd20_register(devpath, spi, &g_l3gd20_config);
ret = l3gd20_register(devno, spi, &g_l3gd20_config);
if (ret != OK)
{
goto errout;
boards/arm/stm32/stm32f429i-disco/src/stm32_bringup.c
+1 -1
View File
@@ -372,7 +372,7 @@ int stm32_bringup(void)
#endif
#ifdef CONFIG_SENSORS_L3GD20
ret = board_l3gd20_initialize(0, 5);
ret = board_l3gd20_initialize(CONFIG_SENSORS_L3GD20_DEVNO, 5);
if (ret != OK)
{
syslog(LOG_ERR, "ERROR: Failed to initialize l3gd20 sensor:"
drivers/sensors/Kconfig
+14
View File
@@ -218,6 +218,20 @@ config SENSORS_L3GD20
---help---
Enable driver support for the STMicro L3GD20 gyroscope sensor.
config SENSORS_L3GD20_DEVNO
int "The device number"
default 0
depends on SENSORS_L3GD20
---help---
The device number, used to build the device path as /dev/sensor/gyro_uncalN
config SENSORS_L3GD20_BUFFER_SIZE
int "size of buffer"
default 1
depends on SENSORS_L3GD20
---help---
The size of the circular buffer used.
config SENSOR_KXTJ9
bool "Kionix KXTJ9 Accelerometer support"
default n
drivers/sensors/l3gd20.c
+108 -180
View File
@@ -29,6 +29,7 @@
#include <debug.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
@@ -36,6 +37,7 @@
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/sensor.h>
#include <nuttx/sensors/l3gd20.h>
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
@@ -59,9 +61,10 @@ 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 */
struct sensor_lowerhalf_s lower; /* The struct of lower half driver */
sem_t datasem; /* Manages exclusive access to this
* structure */
struct l3gd20_sensor_data_s data; /* The data as measured by the sensor */
struct sensor_event_gyro data; /* The data as measured by the sensor */
struct work_s work; /* The work queue is responsible for
* retrieving the data from the sensor
* after the arrival of new data was
@@ -90,30 +93,19 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
FAR void *arg);
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);
static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower, bool enable);
/****************************************************************************
* 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
#endif
.activate = l3gd20_activate,
.set_interval = NULL,
.batch = NULL
};
/* Single linked list to store instances of drivers */
@@ -241,9 +233,10 @@ static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
/* 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);
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 */
@@ -364,6 +357,11 @@ 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);
@@ -382,182 +380,106 @@ static void l3gd20_worker(FAR void *arg)
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);
}
/****************************************************************************
* Name: l3gd20_open
****************************************************************************/
static int l3gd20_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
#ifdef CONFIG_DEBUG_SENSORS_INFO
uint8_t reg_content;
uint8_t reg_addr;
#endif
DEBUGASSERT(priv != NULL);
/* Perform a reset */
l3gd20_reset(priv);
/* Enable DRDY signal on INT 2 */
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.
*/
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
*/
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 */
l3gd20_read_measurement_data(priv);
/* Read back the content of all control registers for debug purposes */
#ifdef CONFIG_DEBUG_SENSORS_INFO
reg_content = 0;
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);
}
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))
{
snerr("ERROR: Not enough memory for reading out a sensor data"
" sample\n");
return -ENOSYS;
}
/* 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;
}
{
snerr("ERROR: Could not acquire priv->datasem: %d\n", ret);
return;
}
/* Copy the sensor data into the buffer */
/* push data to upper half driver */
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;
priv->lower.push_event(priv->lower.priv, &priv->data, sizeof(struct sensor_event_gyro));
/* Give back the semaphore */
nxsem_post(&priv->datasem);
return sizeof(FAR struct l3gd20_sensor_data_s);
}
/****************************************************************************
* Name: l3gd20_write
* Name: l3gd20_activate
****************************************************************************/
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower, bool enable)
{
return -ENOSYS;
}
FAR struct l3gd20_dev_s *priv = g_l3gd20_list;
/****************************************************************************
* Name: l3gd20_ioctl
****************************************************************************/
DEBUGASSERT(priv != NULL);
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
int ret = OK;
if (enable == true)
{
/* Perform a reset */
switch (cmd)
{
/* @TODO */
l3gd20_reset(priv);
/* Command was not recognized */
/* Enable DRDY signal on INT 2 */
default:
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
l3gd20_write_register(priv,
L3GD20_CTRL_REG_3,
L3GD20_CTRL_REG_3_I2_DRDY_BM);
return ret;
/* 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);
/* 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);
/* Read measurement data to ensure DRDY is low */
l3gd20_read_measurement_data(priv);
/* Read back the content of all control registers for debug purposes */
#ifdef CONFIG_DEBUG_SENSORS_INFO
reg_content = 0;
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);
}
l3gd20_read_register(priv, L3GD20_STATUS_REG, &reg_content);
sninfo("STATUS_REG = %04x\n", reg_content);
#endif
}
else
{
/* Perform a reset */
l3gd20_reset(priv);
}
return 0;
}
/****************************************************************************
@@ -571,7 +493,7 @@ 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 +502,7 @@ 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;
@@ -605,10 +527,16 @@ int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
priv->config = config;
priv->work.worker = NULL;
priv->data.x_gyr = 0;
priv->data.y_gyr = 0;
priv->data.z_gyr = 0;
priv->data.temperature = 0;
priv->data.x = 0.0f;
priv->data.y = 0.0f;
priv->data.z = 0.0f;
priv->data.temperature = 0.0f;
priv->data.timestamp = 0;
priv->lower.type = SENSOR_TYPE_GYROSCOPE;
priv->lower.buffer_bytes = 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 */
@@ -628,9 +556,9 @@ 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);
include/nuttx/sensors/l3gd20.h
+3 -3
View File
@@ -258,8 +258,8 @@ 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 +268,7 @@ 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