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[sensor] draft new sensor-hal framework (#6746)
* [sensor] new sensor framework 针对老版本sensor框架的诸多不合理设计进行重构 之前的PR中已经重构了浮点数相关的问题 本次PR主要围绕sensor的整体架构予以重构，对过于理想化的参数和模式予以删除 * [sensor] 增加can modbus总线类型 * [stm32l745] 完善sensor对接 * [sensor] fix the onchip ID print
This commit is contained in:
Man, Jianting (Meco)
@@ -6,6 +6,7 @@
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* Change Logs:
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* Date Author Notes
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* 2019-01-31 flybreak first version
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* 2022-12-17 Meco Man re-implement sensor framework
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*/
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#ifndef __SENSOR_H__
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@@ -32,54 +33,54 @@ extern "C" {
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#define RT_SENSOR_MACRO_GET_NAME(macro) (macro##_STR)
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/* Sensor types */
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#define RT_SENSOR_CLASS_NONE (0)
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#define RT_SENSOR_CLASS_NONE_STR "None"
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#define RT_SENSOR_CLASS_ACCE (1)
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#define RT_SENSOR_CLASS_ACCE_STR "Accelerometer"
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#define RT_SENSOR_CLASS_GYRO (2)
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#define RT_SENSOR_CLASS_GYRO_STR "Gyroscope"
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#define RT_SENSOR_CLASS_MAG (3)
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#define RT_SENSOR_CLASS_MAG_STR "Magnetometer"
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#define RT_SENSOR_CLASS_TEMP (4)
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#define RT_SENSOR_CLASS_TEMP_STR "Temperature"
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#define RT_SENSOR_CLASS_HUMI (5)
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#define RT_SENSOR_CLASS_HUMI_STR "Relative Humidity"
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#define RT_SENSOR_CLASS_BARO (6)
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#define RT_SENSOR_CLASS_BARO_STR "Barometer"
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#define RT_SENSOR_CLASS_LIGHT (7)
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#define RT_SENSOR_CLASS_LIGHT_STR "Ambient light"
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#define RT_SENSOR_CLASS_PROXIMITY (8)
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#define RT_SENSOR_CLASS_PROXIMITY_STR "Proximity"
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#define RT_SENSOR_CLASS_HR (9)
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#define RT_SENSOR_CLASS_HR_STR "Heart Rate"
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#define RT_SENSOR_CLASS_TVOC (10)
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#define RT_SENSOR_CLASS_TVOC_STR "TVOC Level"
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#define RT_SENSOR_CLASS_NOISE (11)
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#define RT_SENSOR_CLASS_NOISE_STR "Noise Loudness"
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#define RT_SENSOR_CLASS_STEP (12)
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#define RT_SENSOR_CLASS_STEP_STR "Step"
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#define RT_SENSOR_CLASS_FORCE (13)
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#define RT_SENSOR_CLASS_FORCE_STR "Force"
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#define RT_SENSOR_CLASS_DUST (14)
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#define RT_SENSOR_CLASS_DUST_STR "Dust"
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#define RT_SENSOR_CLASS_ECO2 (15)
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#define RT_SENSOR_CLASS_ECO2_STR "eCO2"
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#define RT_SENSOR_CLASS_GNSS (16)
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#define RT_SENSOR_CLASS_GNSS_STR "GNSS"
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#define RT_SENSOR_CLASS_TOF (17)
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#define RT_SENSOR_CLASS_TOF_STR "ToF"
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#define RT_SENSOR_CLASS_SPO2 (18)
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#define RT_SENSOR_CLASS_SPO2_STR "SpO2"
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#define RT_SENSOR_CLASS_IAQ (19)
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#define RT_SENSOR_CLASS_IAQ_STR "IAQ"
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#define RT_SENSOR_CLASS_ETOH (20)
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#define RT_SENSOR_CLASS_ETOH_STR "EtOH"
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#define RT_SENSOR_CLASS_BP (21)
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#define RT_SENSOR_CLASS_BP_STR "Blood Pressure"
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#define RT_SENSOR_CLASS_VOLTAGE (22)
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#define RT_SENSOR_CLASS_VOLTAGE_STR "Voltage"
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#define RT_SENSOR_CLASS_CURRENT (23)
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#define RT_SENSOR_CLASS_CURRENT_STR "Current"
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#define RT_SENSOR_TYPE_NONE (0)
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#define RT_SENSOR_TYPE_NONE_STR "None"
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#define RT_SENSOR_TYPE_ACCE (1)
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#define RT_SENSOR_TYPE_ACCE_STR "Accelerometer"
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#define RT_SENSOR_TYPE_GYRO (2)
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#define RT_SENSOR_TYPE_GYRO_STR "Gyroscope"
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#define RT_SENSOR_TYPE_MAG (3)
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#define RT_SENSOR_TYPE_MAG_STR "Magnetometer"
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#define RT_SENSOR_TYPE_TEMP (4)
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#define RT_SENSOR_TYPE_TEMP_STR "Temperature"
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#define RT_SENSOR_TYPE_HUMI (5)
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#define RT_SENSOR_TYPE_HUMI_STR "Relative Humidity"
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#define RT_SENSOR_TYPE_BARO (6)
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#define RT_SENSOR_TYPE_BARO_STR "Barometer"
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#define RT_SENSOR_TYPE_LIGHT (7)
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#define RT_SENSOR_TYPE_LIGHT_STR "Ambient light"
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#define RT_SENSOR_TYPE_PROXIMITY (8)
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#define RT_SENSOR_TYPE_PROXIMITY_STR "Proximity"
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#define RT_SENSOR_TYPE_HR (9)
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#define RT_SENSOR_TYPE_HR_STR "Heart Rate"
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#define RT_SENSOR_TYPE_TVOC (10)
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#define RT_SENSOR_TYPE_TVOC_STR "TVOC Level"
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#define RT_SENSOR_TYPE_NOISE (11)
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#define RT_SENSOR_TYPE_NOISE_STR "Noise Loudness"
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#define RT_SENSOR_TYPE_STEP (12)
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#define RT_SENSOR_TYPE_STEP_STR "Step"
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#define RT_SENSOR_TYPE_FORCE (13)
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#define RT_SENSOR_TYPE_FORCE_STR "Force"
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#define RT_SENSOR_TYPE_DUST (14)
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#define RT_SENSOR_TYPE_DUST_STR "Dust"
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#define RT_SENSOR_TYPE_ECO2 (15)
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#define RT_SENSOR_TYPE_ECO2_STR "eCO2"
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#define RT_SENSOR_TYPE_GNSS (16)
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#define RT_SENSOR_TYPE_GNSS_STR "GNSS"
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#define RT_SENSOR_TYPE_TOF (17)
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#define RT_SENSOR_TYPE_TOF_STR "ToF"
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#define RT_SENSOR_TYPE_SPO2 (18)
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#define RT_SENSOR_TYPE_SPO2_STR "SpO2"
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#define RT_SENSOR_TYPE_IAQ (19)
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#define RT_SENSOR_TYPE_IAQ_STR "IAQ"
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#define RT_SENSOR_TYPE_ETOH (20)
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#define RT_SENSOR_TYPE_ETOH_STR "EtOH"
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#define RT_SENSOR_TYPE_BP (21)
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#define RT_SENSOR_TYPE_BP_STR "Blood Pressure"
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#define RT_SENSOR_TYPE_VOLTAGE (22)
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#define RT_SENSOR_TYPE_VOLTAGE_STR "Voltage"
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#define RT_SENSOR_TYPE_CURRENT (23)
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#define RT_SENSOR_TYPE_CURRENT_STR "Current"
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/* Sensor vendor types */
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#define RT_SENSOR_VENDOR_UNKNOWN (0)
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@@ -186,33 +187,76 @@ extern "C" {
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#define RT_SENSOR_INTF_UART_STR "UART"
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#define RT_SENSOR_INTF_ONEWIRE (1 << 3)
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#define RT_SENSOR_INTF_ONEWIRE_STR "1-Wire"
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#define RT_SENSOR_INTF_CAN (1 << 4)
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#define RT_SENSOR_INTF_CAN_STR "CAN"
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#define RT_SENSOR_INTF_MODBUS (1 << 5)
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#define RT_SENSOR_INTF_MODBUS_STR "Modbus"
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/* Sensor power mode types */
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#define RT_SENSOR_POWER_NONE (0)
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#define RT_SENSOR_POWER_NONE_STR "None"
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#define RT_SENSOR_POWER_DOWN (1) /* power down mode */
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#define RT_SENSOR_POWER_DOWN_STR "Down"
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#define RT_SENSOR_POWER_NORMAL (2) /* normal-power mode */
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#define RT_SENSOR_POWER_NORMAL_STR "Normal"
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#define RT_SENSOR_POWER_LOW (3) /* low-power mode */
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#define RT_SENSOR_POWER_LOW_STR "Low"
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#define RT_SENSOR_POWER_HIGH (4) /* high-power mode */
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#define RT_SENSOR_POWER_HIGH_STR "High"
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/**
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* Sensor mode
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* rt_uint16_t mode
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* 0000 | 0000 | 0000 | 0000
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* unused accuracy power fetch data
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*/
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#define RT_SENSOR_MODE_ACCURACY_BIT_OFFSET (8)
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#define RT_SENSOR_MODE_POWER_BIT_OFFSET (4)
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#define RT_SENSOR_MODE_FETCH_BIT_OFFSET (0)
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/* Sensor work mode types */
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#define RT_SENSOR_MODE_NONE (0)
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#define RT_SENSOR_MODE_POLLING (1) /* One shot only read a data */
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#define RT_SENSOR_MODE_INT (2) /* TODO: One shot interrupt only read a data */
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#define RT_SENSOR_MODE_FIFO (3) /* TODO: One shot interrupt read all fifo data */
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#define RT_SENSOR_MODE_GET_ACCURACY(mode) (rt_uint8_t)((mode >> RT_SENSOR_MODE_ACCURACY_BIT_OFFSET) & 0x0F)
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#define RT_SENSOR_MODE_GET_POWER(mode) (rt_uint8_t)((mode >> RT_SENSOR_MODE_POWER_BIT_OFFSET) & 0x0F)
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#define RT_SENSOR_MODE_GET_FETCH(mode) (rt_uint8_t)((mode >> RT_SENSOR_MODE_FETCH_BIT_OFFSET) & 0x0F)
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#define RT_SENSOR_MODE_CLEAR_ACCURACY(mode) (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET)))
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#define RT_SENSOR_MODE_CLEAR_POWER(mode) (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_POWER_BIT_OFFSET)))
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#define RT_SENSOR_MODE_CLEAR_FETCH(mode) (mode &= ((rt_uint16_t)~((rt_uint16_t)0x0F << RT_SENSOR_MODE_FETCH_BIT_OFFSET)))
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#define RT_SENSOR_MODE_SET_ACCURACY(mode, accuracy_mode) RT_SENSOR_MODE_CLEAR_ACCURACY(mode); (mode |= (accuracy_mode << RT_SENSOR_MODE_ACCURACY_BIT_OFFSET))
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#define RT_SENSOR_MODE_SET_POWER(mode, power_mode) RT_SENSOR_MODE_CLEAR_POWER(mode); (mode |= (power_mode << RT_SENSOR_MODE_POWER_BIT_OFFSET))
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#define RT_SENSOR_MODE_SET_FETCH(mode, fetch_mode) RT_SENSOR_MODE_CLEAR_FETCH(mode); (mode |= (fetch_mode << RT_SENSOR_MODE_FETCH_BIT_OFFSET))
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/* Sensor mode: accuracy */
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#define RT_SENSOR_MODE_ACCURACY_HIGHEST (0)
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#define RT_SENSOR_MODE_ACCURACY_HIGHEST_STR "Accuracy Highest"
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#define RT_SENSOR_MODE_ACCURACY_HIGH (1)
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#define RT_SENSOR_MODE_ACCURACY_HIGH_STR "Accuracy High"
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#define RT_SENSOR_MODE_ACCURACY_MEDIUM (2)
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#define RT_SENSOR_MODE_ACCURACY_MEDIUM_STR "Accuracy Medium"
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#define RT_SENSOR_MODE_ACCURACY_LOW (4)
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#define RT_SENSOR_MODE_ACCURACY_LOW_STR "Accuracy Low"
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#define RT_SENSOR_MODE_ACCURACY_LOWEST (5)
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#define RT_SENSOR_MODE_ACCURACY_LOWEST_STR "Accuracy Lowest"
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#define RT_SENSOR_MODE_ACCURACY_NOTRUST (6)
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#define RT_SENSOR_MODE_ACCURACY_NOTRUST_STR "Accuracy No Trust"
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/* Sensor mode: power */
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#define RT_SENSOR_MODE_POWER_HIGHEST (0)
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#define RT_SENSOR_MODE_POWER_HIGHEST_STR "Power Highest"
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#define RT_SENSOR_MODE_POWER_HIGH (1)
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#define RT_SENSOR_MODE_POWER_HIGH_STR "Power High"
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#define RT_SENSOR_MODE_POWER_MEDIUM (2)
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#define RT_SENSOR_MODE_POWER_MEDIUM_STR "Power Medium"
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#define RT_SENSOR_MODE_POWER_LOW (3)
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#define RT_SENSOR_MODE_POWER_LOW_STR "Power Low"
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#define RT_SENSOR_MODE_POWER_LOWEST (4)
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#define RT_SENSOR_MODE_POWER_LOWEST_STR "Power Lowest"
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#define RT_SENSOR_MODE_POWER_DOWN (5)
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#define RT_SENSOR_MODE_POWER_DOWN_STR "Power Down"
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/* Sensor mode: fetch data */
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#define RT_SENSOR_MODE_FETCH_POLLING (0) /* One shot only read a data */
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#define RT_SENSOR_MODE_FETCH_POLLING_STR "Polling Mode"
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#define RT_SENSOR_MODE_FETCH_INT (1) /* TODO: One shot interrupt only read a data */
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#define RT_SENSOR_MODE_FETCH_INT_STR "Interrupt Mode"
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#define RT_SENSOR_MODE_FETCH_FIFO (2) /* TODO: One shot interrupt read all fifo data */
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#define RT_SENSOR_MODE_FETCH_FIFO_STR "FIFO Mode"
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/* Sensor control cmd types */
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#define RT_SENSOR_CTRL_GET_ID (RT_DEVICE_CTRL_BASE(Sensor) + 0) /* Get device id */
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#define RT_SENSOR_CTRL_GET_INFO (RT_DEVICE_CTRL_BASE(Sensor) + 1) /* Get sensor info */
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#define RT_SENSOR_CTRL_SET_RANGE (RT_DEVICE_CTRL_BASE(Sensor) + 2) /* Set the measure range of sensor. unit is info of sensor */
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#define RT_SENSOR_CTRL_SET_ODR (RT_DEVICE_CTRL_BASE(Sensor) + 3) /* Set output date rate. unit is HZ */
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#define RT_SENSOR_CTRL_SET_MODE (RT_DEVICE_CTRL_BASE(Sensor) + 4) /* Set sensor's work mode. ex. RT_SENSOR_MODE_POLLING,RT_SENSOR_MODE_INT */
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#define RT_SENSOR_CTRL_SET_POWER (RT_DEVICE_CTRL_BASE(Sensor) + 5) /* Set power mode. args type of sensor power mode. ex. RT_SENSOR_POWER_DOWN,RT_SENSOR_POWER_NORMAL */
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#define RT_SENSOR_CTRL_SELF_TEST (RT_DEVICE_CTRL_BASE(Sensor) + 6) /* Take a self test */
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#define RT_SENSOR_CTRL_GET_ID (RT_DEVICE_CTRL_BASE(Sensor) + 0) /* Get device id */
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#define RT_SENSOR_CTRL_SELF_TEST (RT_DEVICE_CTRL_BASE(Sensor) + 1) /* Take a self test */
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#define RT_SENSOR_CTRL_SOFT_RESET (RT_DEVICE_CTRL_BASE(Sensor) + 2) /* soft reset sensor */
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#define RT_SENSOR_CTRL_SET_FETCH_MODE (RT_DEVICE_CTRL_BASE(Sensor) + 3) /* set fetch data mode */
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#define RT_SENSOR_CTRL_SET_POWER_MODE (RT_DEVICE_CTRL_BASE(Sensor) + 4) /* set power mode */
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#define RT_SENSOR_CTRL_SET_ACCURACY_MODE (RT_DEVICE_CTRL_BASE(Sensor) + 5) /* set accuracy mode */
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#define RT_SENSOR_CTRL_USER_CMD_START 0x100 /* User commands should be greater than 0x100 */
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@@ -223,17 +267,30 @@ typedef double rt_sensor_float_t;
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typedef float rt_sensor_float_t;
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#endif /* RT_USING_SENSOR_DOUBLE_FLOAT */
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struct rt_sensor_accuracy
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{
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rt_sensor_float_t resolution; /* resolution of sesnor measurement */
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rt_sensor_float_t error; /* error of sesnor measurement */
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};
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struct rt_sensor_scale
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{
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rt_sensor_float_t range_max; /* maximum range of this sensor's value. unit is 'unit' */
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rt_sensor_float_t range_min; /* minimum range of this sensor's value. unit is 'unit' */
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};
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struct rt_sensor_info
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{
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rt_uint8_t type; /* The sensor type */
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rt_uint8_t vendor; /* Vendor of sensors */
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const char *model; /* model name of sensor */
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rt_uint8_t type; /* sensor type */
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rt_uint8_t vendor; /* sensors vendor */
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const char *name; /* name of sensor */
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rt_uint8_t unit; /* unit of measurement */
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rt_uint8_t intf_type; /* Communication interface type */
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rt_int32_t range_max; /* maximum range of this sensor's value. unit is 'unit' */
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rt_int32_t range_min; /* minimum range of this sensor's value. unit is 'unit' */
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rt_uint32_t period_min; /* Minimum measurement period,unit:ms. zero = not a constant rate */
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rt_uint8_t intf_type; /* communication interface type */
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rt_uint16_t mode; /* sensor work mode */
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rt_uint8_t fifo_max;
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rt_sensor_float_t acquire_min; /* minimum acquirement period, unit:ms. zero = not a constant rate */
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struct rt_sensor_accuracy accuracy; /* sensor current measure accuracy */
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struct rt_sensor_scale scale; /* sensor current scale range */
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};
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struct rt_sensor_intf
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@@ -247,15 +304,13 @@ struct rt_sensor_config
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{
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struct rt_sensor_intf intf; /* sensor interface config */
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struct rt_device_pin_mode irq_pin; /* Interrupt pin, The purpose of this pin is to notification read data */
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rt_uint8_t mode; /* sensor work mode */
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rt_uint8_t power; /* sensor power mode */
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rt_uint16_t odr; /* sensor out data rate */
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rt_int32_t range; /* sensor range of measurement */
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};
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typedef struct rt_sensor_device *rt_sensor_t;
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typedef struct rt_sensor_data *rt_sensor_data_t;
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typedef struct rt_sensor_info *rt_sensor_info_t;
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typedef struct rt_sensor_accuracy *rt_sensor_accuracy_t;
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typedef struct rt_sensor_scale *rt_sensor_scale_t;
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struct rt_sensor_device
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{
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