2015-10-13 15:27:16 +02:00
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/****************************************************************************
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* drivers/sensors/zerocross.c
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*
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2017-10-04 23:22:27 +02:00
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* Copyright (C) 2015, 2017 Gregory Nutt. All rights reserved.
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2015-10-13 15:27:16 +02:00
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <semaphore.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/arch.h>
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2017-10-07 18:57:09 +02:00
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#include <nuttx/signal.h>
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#include <nuttx/fs/fs.h>
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2015-10-13 15:27:16 +02:00
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#include <nuttx/sensors/zerocross.h>
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2016-02-14 14:32:58 +01:00
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#include <nuttx/irq.h>
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2015-10-13 15:27:16 +02:00
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2017-08-24 18:26:53 +02:00
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#ifdef CONFIG_SENSORS_ZEROCROSS
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2015-10-13 15:27:16 +02:00
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/****************************************************************************
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* Private Type Definitions
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****************************************************************************/
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/* This structure describes the state of the upper half driver */
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struct zc_upperhalf_s
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{
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FAR struct zc_lowerhalf_s *lower; /* lower-half state */
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sem_t exclsem; /* Supports mutual exclusion */
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/* The following is a singly linked list of open references to the
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* zero cross device.
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*/
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FAR struct zc_open_s *zu_open;
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};
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/* This structure describes the state of one open zero cross driver instance */
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struct zc_open_s
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{
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/* Supports a singly linked list */
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FAR struct zc_open_s *do_flink;
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/* The following will be true if we are closing */
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volatile bool do_closing;
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/* Zero cross event notification information */
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pid_t do_pid;
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2019-01-27 15:53:12 +01:00
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struct sigevent do_event;
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2019-01-27 16:28:59 +01:00
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struct sigwork_s do_work;
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2015-10-13 15:27:16 +02:00
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int zc_open(FAR struct file *filep);
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static int zc_close(FAR struct file *filep);
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static ssize_t zc_read(FAR struct file *filep, FAR char *buffer, size_t
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buflen);
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static ssize_t zc_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int zc_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
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static void zerocross_enable(FAR struct zc_upperhalf_s *priv);
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static void zerocross_interrupt(FAR const struct zc_lowerhalf_s *lower,
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FAR void *arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_zcops =
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{
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2016-08-12 18:40:07 +02:00
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zc_open, /* open */
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zc_close, /* close */
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zc_read, /* read */
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zc_write, /* write */
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2019-05-22 02:57:54 +02:00
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NULL, /* seek */
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zc_ioctl, /* ioctl */
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NULL /* poll */
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2016-08-12 18:40:07 +02:00
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, 0 /* unlink */
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#endif
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2015-10-13 15:27:16 +02:00
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};
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volatile int sample = 0;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: zerocross_enable
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****************************************************************************/
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static void zerocross_enable(FAR struct zc_upperhalf_s *priv)
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{
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FAR const struct zc_lowerhalf_s *lower;
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irqstate_t flags;
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DEBUGASSERT(priv && priv->lower);
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lower = priv->lower;
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/* This routine is called both task level and interrupt level, so
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* interrupts must be disabled.
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*/
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2016-02-14 14:32:58 +01:00
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flags = enter_critical_section();
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2015-10-13 15:27:16 +02:00
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/* Enable interrupts */
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DEBUGASSERT(lower->zc_enable);
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/* Enable interrupts with the new button set */
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lower->zc_enable(lower, (zc_interrupt_t)zerocross_interrupt, priv);
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2016-02-14 14:32:58 +01:00
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leave_critical_section(flags);
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2015-10-13 15:27:16 +02:00
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}
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/****************************************************************************
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* Name: zerocross_interrupt
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****************************************************************************/
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static void zerocross_interrupt(FAR const struct zc_lowerhalf_s *lower,
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FAR void *arg)
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{
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FAR struct zc_upperhalf_s *priv = (FAR struct zc_upperhalf_s *)arg;
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FAR struct zc_open_s *opriv;
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irqstate_t flags;
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/* This routine is called both task level and interrupt level, so
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* interrupts must be disabled.
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*/
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2016-02-14 14:32:58 +01:00
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flags = enter_critical_section();
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2015-10-13 15:27:16 +02:00
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/* Update sample value */
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sample++;
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/* Visit each opened reference and notify a zero cross event */
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for (opriv = priv->zu_open; opriv; opriv = opriv->do_flink)
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{
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/* Signal the waiter */
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2019-01-27 15:53:12 +01:00
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opriv->do_event.sigev_value.sival_int = sample;
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2019-01-27 16:28:59 +01:00
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nxsig_notification(opriv->do_pid, &opriv->do_event,
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SI_QUEUE, &opriv->do_work);
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2015-10-13 15:27:16 +02:00
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}
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2016-02-14 14:32:58 +01:00
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leave_critical_section(flags);
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2015-10-13 15:27:16 +02:00
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}
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2017-10-07 18:57:09 +02:00
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/****************************************************************************
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2015-10-13 15:27:16 +02:00
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* Name: zc_open
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*
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* Description:
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* This function is called whenever the PWM device is opened.
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*
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2017-10-07 18:57:09 +02:00
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****************************************************************************/
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2015-10-13 15:27:16 +02:00
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static int zc_open(FAR struct file *filep)
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{
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FAR struct inode *inode;
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FAR struct zc_upperhalf_s *priv;
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FAR struct zc_open_s *opriv;
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int ret;
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DEBUGASSERT(filep && filep->f_inode);
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inode = filep->f_inode;
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DEBUGASSERT(inode->i_private);
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priv = (FAR struct zc_upperhalf_s *)inode->i_private;
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/* Get exclusive access to the driver structure */
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|
2017-10-04 23:22:27 +02:00
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ret = nxsem_wait(&priv->exclsem);
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2015-10-13 15:27:16 +02:00
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if (ret < 0)
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{
|
2017-10-04 23:22:27 +02:00
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snerr("ERROR: nxsem_wait failed: %d\n", ret);
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2015-10-13 15:27:16 +02:00
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return ret;
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}
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/* Allocate a new open structure */
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opriv = (FAR struct zc_open_s *)kmm_zalloc(sizeof(struct zc_open_s));
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if (!opriv)
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{
|
2016-06-20 19:59:15 +02:00
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snerr("ERROR: Failled to allocate open structure\n");
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2015-10-13 15:27:16 +02:00
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ret = -ENOMEM;
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goto errout_with_sem;
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}
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/* Attach the open structure to the device */
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opriv->do_flink = priv->zu_open;
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priv->zu_open = opriv;
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/* Attach the open structure to the file structure */
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filep->f_priv = (FAR void *)opriv;
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ret = OK;
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errout_with_sem:
|
2017-10-03 23:35:24 +02:00
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nxsem_post(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
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return ret;
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}
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|
2017-10-07 18:57:09 +02:00
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/****************************************************************************
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2015-10-13 15:27:16 +02:00
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* Name: zc_close
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*
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* Description:
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* This function is called when the PWM device is closed.
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*
|
2017-10-07 18:57:09 +02:00
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****************************************************************************/
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2015-10-13 15:27:16 +02:00
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static int zc_close(FAR struct file *filep)
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{
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FAR struct inode *inode;
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FAR struct zc_upperhalf_s *priv;
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FAR struct zc_open_s *opriv;
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FAR struct zc_open_s *curr;
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FAR struct zc_open_s *prev;
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irqstate_t flags;
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bool closing;
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int ret;
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DEBUGASSERT(filep && filep->f_priv && filep->f_inode);
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opriv = filep->f_priv;
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inode = filep->f_inode;
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DEBUGASSERT(inode->i_private);
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priv = (FAR struct zc_upperhalf_s *)inode->i_private;
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/* Handle an improbable race conditions with the following atomic test
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* and set.
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*
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* This is actually a pretty feeble attempt to handle this. The
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* improbable race condition occurs if two different threads try to
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* close the zero cross driver at the same time. The rule: don't do
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* that! It is feeble because we do not really enforce stale pointer
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* detection anyway.
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*/
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|
2016-02-14 14:32:58 +01:00
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flags = enter_critical_section();
|
2015-10-13 15:27:16 +02:00
|
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closing = opriv->do_closing;
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opriv->do_closing = true;
|
2016-02-14 14:32:58 +01:00
|
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leave_critical_section(flags);
|
2015-10-13 15:27:16 +02:00
|
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if (closing)
|
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{
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|
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/* Another thread is doing the close */
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return OK;
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}
|
|
|
|
|
|
|
|
/* Get exclusive access to the driver structure */
|
|
|
|
|
2017-10-04 23:22:27 +02:00
|
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ret = nxsem_wait(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
|
|
|
if (ret < 0)
|
|
|
|
{
|
2017-10-04 23:22:27 +02:00
|
|
|
snerr("ERROR: nxsem_wait failed: %d\n", ret);
|
2015-10-13 15:27:16 +02:00
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Find the open structure in the list of open structures for the device */
|
|
|
|
|
|
|
|
for (prev = NULL, curr = priv->zu_open;
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|
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curr && curr != opriv;
|
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prev = curr, curr = curr->do_flink);
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|
|
|
|
|
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DEBUGASSERT(curr);
|
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if (!curr)
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|
|
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{
|
2016-06-20 19:59:15 +02:00
|
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|
snerr("ERROR: Failed to find open entry\n");
|
2015-10-13 15:27:16 +02:00
|
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|
ret = -ENOENT;
|
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|
|
goto errout_with_exclsem;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Remove the structure from the device */
|
|
|
|
|
|
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if (prev)
|
|
|
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{
|
|
|
|
prev->do_flink = opriv->do_flink;
|
|
|
|
}
|
|
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|
else
|
|
|
|
{
|
|
|
|
priv->zu_open = opriv->do_flink;
|
|
|
|
}
|
|
|
|
|
2019-01-27 16:28:59 +01:00
|
|
|
/* Cancel any pending notification */
|
|
|
|
|
|
|
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nxsig_cancel_notification(&opriv->do_work);
|
|
|
|
|
2015-10-13 15:27:16 +02:00
|
|
|
/* And free the open structure */
|
|
|
|
|
|
|
|
kmm_free(opriv);
|
|
|
|
|
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|
|
/* Enable/disable interrupt handling */
|
|
|
|
|
|
|
|
zerocross_enable(priv);
|
|
|
|
ret = OK;
|
|
|
|
|
|
|
|
errout_with_exclsem:
|
2017-10-03 23:35:24 +02:00
|
|
|
nxsem_post(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2017-10-07 18:57:09 +02:00
|
|
|
/****************************************************************************
|
2015-10-13 15:27:16 +02:00
|
|
|
* Name: zc_read
|
|
|
|
*
|
2018-02-01 19:03:55 +01:00
|
|
|
* Description:
|
2015-10-13 15:27:16 +02:00
|
|
|
* A dummy read method. This is provided only to satsify the VFS layer.
|
|
|
|
*
|
2017-10-07 18:57:09 +02:00
|
|
|
****************************************************************************/
|
2015-10-13 15:27:16 +02:00
|
|
|
|
2017-10-07 18:57:09 +02:00
|
|
|
static ssize_t zc_read(FAR struct file *filep, FAR char *buffer,
|
|
|
|
size_t buflen)
|
2015-10-13 15:27:16 +02:00
|
|
|
{
|
|
|
|
/* Return zero -- usually meaning end-of-file */
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
2017-10-07 18:57:09 +02:00
|
|
|
/****************************************************************************
|
2015-10-13 15:27:16 +02:00
|
|
|
* Name: zc_write
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* A dummy write method. This is provided only to satsify the VFS layer.
|
|
|
|
*
|
2017-10-07 18:57:09 +02:00
|
|
|
****************************************************************************/
|
2015-10-13 15:27:16 +02:00
|
|
|
|
2017-10-07 18:57:09 +02:00
|
|
|
static ssize_t zc_write(FAR struct file *filep, FAR const char *buffer,
|
|
|
|
size_t buflen)
|
2015-10-13 15:27:16 +02:00
|
|
|
{
|
|
|
|
/* Return a failure */
|
|
|
|
|
|
|
|
return -EPERM;
|
|
|
|
}
|
|
|
|
|
2017-10-07 18:57:09 +02:00
|
|
|
/****************************************************************************
|
2015-10-13 15:27:16 +02:00
|
|
|
* Name: zc_ioctl
|
|
|
|
*
|
|
|
|
* Description:
|
|
|
|
* The standard ioctl method. This is where ALL of the PWM work is done.
|
|
|
|
*
|
2017-10-07 18:57:09 +02:00
|
|
|
****************************************************************************/
|
2015-10-13 15:27:16 +02:00
|
|
|
|
|
|
|
static int zc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
|
|
{
|
|
|
|
FAR struct inode *inode;
|
|
|
|
FAR struct zc_upperhalf_s *priv;
|
|
|
|
FAR struct zc_open_s *opriv;
|
|
|
|
int ret;
|
|
|
|
|
2016-06-11 19:59:51 +02:00
|
|
|
sninfo("cmd: %d arg: %ld\n", cmd, arg);
|
2015-10-13 15:27:16 +02:00
|
|
|
DEBUGASSERT(filep && filep->f_priv && filep->f_inode);
|
|
|
|
opriv = filep->f_priv;
|
|
|
|
inode = filep->f_inode;
|
2019-03-29 16:11:08 +01:00
|
|
|
DEBUGASSERT(inode->i_private);
|
2015-10-13 15:27:16 +02:00
|
|
|
priv = (FAR struct zc_upperhalf_s *)inode->i_private;
|
|
|
|
|
|
|
|
/* Get exclusive access to the device structures */
|
|
|
|
|
2017-10-04 23:22:27 +02:00
|
|
|
ret = nxsem_wait(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
|
|
|
if (ret < 0)
|
|
|
|
{
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Handle built-in ioctl commands */
|
|
|
|
|
|
|
|
ret = -EINVAL;
|
|
|
|
switch (cmd)
|
|
|
|
{
|
2019-04-29 22:52:05 +02:00
|
|
|
/* Command: ZCIOC_REGISTER
|
|
|
|
* Description: Register to receive a signal whenever there is zero
|
|
|
|
* cross detection interrupt.
|
|
|
|
* Argument: A read-only pointer to an instance of struct
|
|
|
|
* zc_notify_s
|
|
|
|
* Return: Zero (OK) on success. Minus one will be returned on
|
|
|
|
* failure with the errno value set appropriately.
|
|
|
|
*/
|
|
|
|
|
|
|
|
case ZCIOC_REGISTER:
|
|
|
|
{
|
|
|
|
FAR struct sigevent *event =
|
|
|
|
(FAR struct sigevent *)((uintptr_t)arg);
|
|
|
|
|
|
|
|
if (event)
|
|
|
|
{
|
|
|
|
/* Save the notification events */
|
|
|
|
|
|
|
|
opriv->do_event = *event;
|
|
|
|
opriv->do_pid = getpid();
|
|
|
|
|
|
|
|
/* Enable/disable interrupt handling */
|
|
|
|
|
|
|
|
zerocross_enable(priv);
|
|
|
|
ret = OK;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
2015-10-13 15:27:16 +02:00
|
|
|
|
|
|
|
default:
|
|
|
|
{
|
2016-08-12 18:40:07 +02:00
|
|
|
snerr("ERROR: Unrecognized cmd: %d arg: %ld\n", cmd, arg);
|
2015-10-13 15:27:16 +02:00
|
|
|
ret = -ENOTTY;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2017-10-03 23:35:24 +02:00
|
|
|
nxsem_post(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Public Functions
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
/****************************************************************************
|
|
|
|
* Name: zc_register
|
|
|
|
*
|
|
|
|
* Description:
|
2016-08-12 18:40:07 +02:00
|
|
|
* Register the Zero Cross character device as 'devpath'
|
2015-10-13 15:27:16 +02:00
|
|
|
*
|
|
|
|
* Input Parameters:
|
|
|
|
* devpath - The full path to the driver to register. E.g., "/dev/zc0"
|
|
|
|
* lower - An instance of the lower half interface
|
|
|
|
*
|
|
|
|
* Returned Value:
|
|
|
|
* Zero (OK) on success; a negated errno value on failure. The following
|
|
|
|
* possible error values may be returned (most are returned by
|
|
|
|
* register_driver()):
|
|
|
|
*
|
|
|
|
* EINVAL - 'path' is invalid for this operation
|
|
|
|
* EEXIST - An inode already exists at 'path'
|
|
|
|
* ENOMEM - Failed to allocate in-memory resources for the operation
|
|
|
|
*
|
|
|
|
****************************************************************************/
|
|
|
|
|
|
|
|
int zc_register(FAR const char *devname, FAR struct zc_lowerhalf_s *lower)
|
|
|
|
{
|
|
|
|
FAR struct zc_upperhalf_s *priv;
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
DEBUGASSERT(devname && lower);
|
|
|
|
|
|
|
|
/* Allocate a new zero cross driver instance */
|
|
|
|
|
|
|
|
priv = (FAR struct zc_upperhalf_s *)
|
|
|
|
kmm_zalloc(sizeof(struct zc_upperhalf_s));
|
|
|
|
|
|
|
|
if (!priv)
|
|
|
|
{
|
2016-06-20 19:59:15 +02:00
|
|
|
snerr("ERROR: Failed to allocate device structure\n");
|
2015-10-13 15:27:16 +02:00
|
|
|
return -ENOMEM;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Make sure that zero cross interrupt is disabled */
|
|
|
|
|
|
|
|
DEBUGASSERT(lower->zc_enable);
|
|
|
|
lower->zc_enable(lower, NULL, NULL);
|
|
|
|
|
|
|
|
/* Initialize the new zero cross driver instance */
|
|
|
|
|
|
|
|
priv->lower = lower;
|
2017-10-03 20:51:15 +02:00
|
|
|
nxsem_init(&priv->exclsem, 0, 1);
|
2015-10-13 15:27:16 +02:00
|
|
|
|
|
|
|
/* And register the zero cross driver */
|
|
|
|
|
|
|
|
ret = register_driver(devname, &g_zcops, 0666, priv);
|
|
|
|
if (ret < 0)
|
|
|
|
{
|
2016-06-20 19:59:15 +02:00
|
|
|
snerr("ERROR: register_driver failed: %d\n", ret);
|
2017-10-03 23:35:24 +02:00
|
|
|
nxsem_destroy(&priv->exclsem);
|
2015-10-13 15:27:16 +02:00
|
|
|
kmm_free(priv);
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2017-08-24 18:26:53 +02:00
|
|
|
#endif /* CONFIG_SENSORS_ZEROCROSS */
|