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driver/sensors: support custom type of sensor.

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For examples, the custom sensor could define:
struct custem_event_s
{
  uint64_t timestamp;
  int16_t adc[8];
};
struct sensor_lowerhalf_s g_lower =
{
 .buffer_size = 1024,
};
sensor_custom_register(lower, "/dev/sensor/custom0", sizeof(struct custem_event_s));

Signed-off-by: dongjiuzhu <dongjiuzhu1@xiaomi.com>
This commit is contained in:
dongjiuzhu 2020-11-22 16:04:37 +08:00 committed by Matias N
parent 4ce935f711
commit 148afd9548
2 changed files with 169 additions and 64 deletions
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114
drivers/sensors/sensor.c
View File

@ -69,6 +69,7 @@ struct sensor_upperhalf_s
FAR struct pollfd *fds[CONFIG_SENSORS_NPOLLWAITERS];
FAR struct sensor_lowerhalf_s *lower; /* the handle of lower half driver */
struct circbuf_s buffer; /* The circular buffer of sensor device */
uint8_t esize; /* The element size of circular buffer */
uint8_t crefs; /* Number of times the device has been opened */
sem_t exclsem; /* Manages exclusive access to file operations */
sem_t buffersem; /* Wakeup user waiting for data in circular buffer */
@ -98,6 +99,7 @@ static int sensor_poll(FAR struct file *filep, FAR struct pollfd *fds,
static const struct sensor_info g_sensor_info[] =
{
{0, NULL},
{sizeof(struct sensor_event_accel), "accel"},
{sizeof(struct sensor_event_mag), "mag"},
{sizeof(struct sensor_event_gyro), "gyro"},
@ -172,7 +174,6 @@ static int sensor_open(FAR struct file *filep)
FAR struct inode *inode = filep->f_inode;
FAR struct sensor_upperhalf_s *upper = inode->i_private;
FAR struct sensor_lowerhalf_s *lower = upper->lower;
size_t bytes;
uint8_t tmp;
int ret;
@ -194,8 +195,7 @@ static int sensor_open(FAR struct file *filep)
{
/* Initialize sensor buffer */
bytes = ROUNDUP(lower->buffer_size, g_sensor_info[lower->type].esize);
ret = circbuf_init(&upper->buffer, NULL, bytes);
ret = circbuf_init(&upper->buffer, NULL, lower->buffer_size);
if (ret < 0)
{
goto err;
@ -243,7 +243,6 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
FAR struct sensor_upperhalf_s *upper = inode->i_private;
FAR struct sensor_lowerhalf_s *lower = upper->lower;
ssize_t ret;
size_t bytes;
if (!buffer || !len)
{
@ -319,9 +318,7 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
circbuf_size(&upper->buffer) > lower->buffer_size &&
circbuf_used(&upper->buffer) <= lower->buffer_size)
{
bytes = ROUNDUP(lower->buffer_size,
g_sensor_info[lower->type].esize);
ret = circbuf_resize(&upper->buffer, bytes);
ret = circbuf_resize(&upper->buffer, lower->buffer_size);
}
}
@ -404,10 +401,8 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* Adjust length of buffer in batch mode */
bytes = ROUNDUP(ROUNDUP(*val, upper->interval) /
upper->interval *
g_sensor_info[lower->type].esize +
lower->buffer_size,
g_sensor_info[lower->type].esize);
upper->interval * upper->esize +
lower->buffer_size, upper->esize);
ret = circbuf_resize(&upper->buffer, bytes);
}
@ -417,7 +412,7 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case SNIOC_GET_NEVENTBUF:
{
*val = lower->buffer_size / g_sensor_info[lower->type].esize;
*val = lower->buffer_size / upper->esize;
}
break;
@ -425,11 +420,8 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
if (*val != 0)
{
lower->buffer_size = ROUNDUP(*val,
g_sensor_info[lower->type].esize);
bytes = ROUNDUP(lower->buffer_size,
g_sensor_info[lower->type].esize);
ret = circbuf_resize(&upper->buffer, bytes);
lower->buffer_size = ROUNDUP(*val, upper->esize);
ret = circbuf_resize(&upper->buffer, lower->buffer_size);
if (ret >= 0)
{
*val = lower->buffer_size;
@ -613,15 +605,53 @@ static void sensor_notify_event(FAR void *priv)
int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
{
FAR struct sensor_upperhalf_s *upper;
char path[DEVNAME_MAX];
DEBUGASSERT(lower != NULL);
snprintf(path, DEVNAME_MAX, DEVNAME_FMT,
g_sensor_info[lower->type].name,
lower->uncalibrated ? DEVNAME_UNCAL : "",
devno);
return sensor_custom_register(lower, path,
g_sensor_info[lower->type].esize);
}
/****************************************************************************
* Name: sensor_custom_register
*
* Description:
* This function binds an instance of a "lower half" Sensor driver with the
* "upper half" Sensor device and registers that device so that can be used
* by application code.
*
* You can register the character device type by specific path and esize.
* This API corresponds to the sensor_custom_unregister.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
* instance is bound to the sensor driver and must persists as long
* as the driver persists.
* path - The user specifies path of device. ex: /dev/sensor/xxx.
* esize - The element size of intermediate circular buffer.
*
* Returned Value:
* OK if the driver was successfully register; A negated errno value is
* returned on any failure.
*
****************************************************************************/
int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
FAR const char *path, uint8_t esize)
{
FAR struct sensor_upperhalf_s *upper;
int ret = -EINVAL;
DEBUGASSERT(lower != NULL);
if (lower->type >= SENSOR_TYPE_COUNT)
if (lower->type >= SENSOR_TYPE_COUNT || !esize)
{
snerr("ERROR: Type is invalid\n");
snerr("ERROR: type is invalid\n");
return ret;
}
@ -637,6 +667,7 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
/* Initialize the upper-half data structure */
upper->lower = lower;
upper->esize = esize;
nxsem_init(&upper->exclsem, 0, 1);
nxsem_init(&upper->buffersem, 0, 0);
@ -651,7 +682,11 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
{
if (!lower->buffer_size)
{
lower->buffer_size = g_sensor_info[lower->type].esize;
lower->buffer_size = esize;
}
else
{
lower->buffer_size = ROUNDUP(lower->buffer_size, esize);
}
lower->push_event = sensor_push_event;
@ -659,14 +694,10 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
else
{
lower->notify_event = sensor_notify_event;
lower->buffer_size = 0;
}
snprintf(path, DEVNAME_MAX, DEVNAME_FMT,
g_sensor_info[lower->type].name,
lower->uncalibrated ? DEVNAME_UNCAL : "",
devno);
sninfo("Registering %s\n", path);
ret = register_driver(path, &g_sensor_fops, 0666, upper);
if (ret)
{
@ -700,18 +731,39 @@ drv_err:
void sensor_unregister(FAR struct sensor_lowerhalf_s *lower, int devno)
{
FAR struct sensor_upperhalf_s *upper;
char path[DEVNAME_MAX];
snprintf(path, DEVNAME_MAX, DEVNAME_FMT,
g_sensor_info[lower->type].name,
lower->uncalibrated ? DEVNAME_UNCAL : "",
devno);
sensor_custom_unregister(lower, path);
}
/****************************************************************************
* Name: sensor_custom_unregister
*
* Description:
* This function unregister character node and release all resource about
* upper half driver. This API corresponds to the sensor_custom_register.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
* instance is bound to the sensor driver and must persists as long
* as the driver persists.
* path - The user specifies path of device, ex: /dev/sensor/xxx
****************************************************************************/
void sensor_custom_unregister(FAR struct sensor_lowerhalf_s *lower,
FAR const char *path)
{
FAR struct sensor_upperhalf_s *upper;
DEBUGASSERT(lower != NULL);
DEBUGASSERT(lower->priv != NULL);
upper = lower->priv;
snprintf(path, DEVNAME_MAX, DEVNAME_FMT,
g_sensor_info[lower->type].name,
lower->uncalibrated ? DEVNAME_UNCAL : "",
devno);
sninfo("UnRegistering %s\n", path);
unregister_driver(path);

119
include/nuttx/sensors/sensor.h
View File

@ -40,142 +40,151 @@
/* sensor type definition */
/* Custom Sensor
* Some special sensor whose event size is not fixed or dynamically change,
* are called sensor of custom type. You should treat its events as byte
* streams and use sensor_custom_register to register character device
* with specific path, ex: "/dev/sensor/custom_dummy".
*/
#define SENSOR_TYPE_CUSTOM 0
/* Accelerometer
* All values are in SI units (m/s^2), and measure the acceleration of the
* device minus the acceleration dut to gravity.
*/
#define SENSOR_TYPE_ACCELEROMETER 0
#define SENSOR_TYPE_ACCELEROMETER 1
/* Magneric Field
* All values are in micro-Tesla (uT) and measure the geomagnetic field
* in X, Y and Z axis.
*/
#define SENSOR_TYPE_MAGNETIC_FIELD 1
#define SENSOR_TYPE_MAGNETIC_FIELD 2
/* Gyroscope
* All values are in radians/second and measure the rate of rotation around
* the X, Y and Z axis.
*/
#define SENSOR_TYPE_GYROSCOPE 2
#define SENSOR_TYPE_GYROSCOPE 3
/* Ambient Light
* The ambient light sensor value is returned in SI units lux.
*/
#define SENSOR_TYPE_LIGHT 3
#define SENSOR_TYPE_LIGHT 4
/* Barometer
* All values are in hectopascal (hPa) and measure the athmospheric pressure
* we can calculate altitude by perssure.
* All values are in hectopascal (hPa) and measure the athmospheric pressure.
* You can calculate altitude by perssure.
*/
#define SENSOR_TYPE_BAROMETER 4
#define SENSOR_TYPE_BAROMETER 5
/* Proximity
* The values correspond to the distance to the nearest
* object in centimeters.
*/
#define SENSOR_TYPE_PROXIMITY 5
#define SENSOR_TYPE_PROXIMITY 6
/* Relative Humidity
* A relative humidity sensor measure relative ambient air humidity and
* return a value in percent.
*/
#define SENSOR_TYPE_RELATIVE_HUMIDITY 6
#define SENSOR_TYPE_RELATIVE_HUMIDITY 7
/* Ambient Temperature
* The ambient (room) temperature in degree Celsius
*/
#define SENSOR_TYPE_AMBIENT_TEMPERATURE 7
#define SENSOR_TYPE_AMBIENT_TEMPERATURE 8
/* RGB
* We use these values of RGB to weighted to obtain the color of LED.
* These values is in unit percent.
*/
#define SENSOR_TYPE_RGB 8
#define SENSOR_TYPE_RGB 9
/* Hall
* All values are in bool type (0 or 1) and it often is used to as switch.
* A values of 1 indicates that switch on.
*/
#define SENSOR_TYPE_HALL 9
#define SENSOR_TYPE_HALL 10
/* IR (Infrared Ray)
* This sensor can detect a human approach and outputs a signal from
* interrupt pins. This sensor value is in lux.
*/
#define SENSOR_TYPE_IR 10
#define SENSOR_TYPE_IR 11
/* GPS
* A sensor of this type returns gps data. Include year, month, day,
* hour, minutes, seconds, altitude, longitude, latitude.
*/
#define SENSOR_TYPE_GPS 11
#define SENSOR_TYPE_GPS 12
/* Ultraviolet light sensor
* This sensor can identify the UV index in ambient light help people
* to effectively protect themselves from sunburns, cancer or eye damage.
* This value range is 0 - 15.
*/
#define SENSOR_TYPE_ULTRAVIOLET 12
#define SENSOR_TYPE_ULTRAVIOLET 13
/* Noise Loudness
* A sensor of this type returns the loudness of noise in SI units (db)
*/
#define SENSOR_TYPE_NOISE 13
#define SENSOR_TYPE_NOISE 14
/* PM25
* A sensor of this type returns the content of pm2.5 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM25 14
#define SENSOR_TYPE_PM25 15
/* PM1P0
* A sensor of this type returns the content of pm1.0 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM1P0 15
#define SENSOR_TYPE_PM1P0 16
/* PM10
* A sensor of this type returns the content of pm10 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM10 16
#define SENSOR_TYPE_PM10 17
/* CO2
* A sensor of this type returns the content of CO2 in the air
* This vaule is in units (ppm-part per million).
*/
#define SENSOR_TYPE_CO2 17
#define SENSOR_TYPE_CO2 18
/* HCHO
* The HCHO pollution is an important indicator of household air
* pollution. This value is in units (ppm-part per million).
*/
#define SENSOR_TYPE_HCHO 18
#define SENSOR_TYPE_HCHO 19
/* TVOC (total volatile organic compounds)
* The indoor TVOC is cause indoor air pollution is one of the
* main reasons why. This value is in units (ppb-part per billion).
*/
#define SENSOR_TYPE_TVOC 19
#define SENSOR_TYPE_TVOC 20
/* PH
* The acid-base degree describes the strength of the aqueous
@ -184,21 +193,21 @@
* pH<7 is acidic, and pH>7 is alkaline.
*/
#define SENSOR_TYPE_PH 20
#define SENSOR_TYPE_PH 21
/* Dust
* A sensor of this type returns the content of dust in the air
* values is in ug/m^3.
*/
#define SENSOR_TYPE_DUST 21
#define SENSOR_TYPE_DUST 22
/* Heart Rate
* A sensor of this type returns the current heart rate.
* Current heart rate is in beats per minute (BPM).
*/
#define SENSOR_TYPE_HEART_RATE 22
#define SENSOR_TYPE_HEART_RATE 23
/* Heart Beat
* A sensor of this type returns an event evetytime
@ -206,11 +215,11 @@
* to the positive peak in the QRS complex of and ECG signal.
*/
#define SENSOR_TYPE_HEART_BEAT 23
#define SENSOR_TYPE_HEART_BEAT 24
/* The total number of sensor */
#define SENSOR_TYPE_COUNT 24
#define SENSOR_TYPE_COUNT 25
/****************************************************************************
* Inline Functions
@ -532,7 +541,7 @@ struct sensor_ops_s
/**************************************************************************
* Name: control
*
* In this method, we allow user to set some special config for the sensor,
* With this method, the user can set some special config for the sensor,
* such as changing the custom mode, setting the custom resolution, reset,
* etc, which are all parsed and implemented by lower half driver.
*
@ -648,9 +657,10 @@ extern "C"
* "upper half" Sensor device and registers that device so that can be used
* by application code.
*
* We will register the chararter device by node name format based on the
* You can register the character device by node name format based on the
* type of sensor. Multiple types of the same type are distinguished by
* numbers. eg: accel0, accel1
* numbers. eg: accel0, accel1. This type of sensor must be less than
* SENSOR_TYPE_COUNT. This API corresponds to the sensor_unregister.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
@ -668,21 +678,64 @@ extern "C"
int sensor_register(FAR struct sensor_lowerhalf_s *dev, int devno);
/****************************************************************************
* Name: sensor_unregister
* Name: sensor_custom_register
*
* Description:
* This function unregister character node and release all resource about
* upper half driver.
* This function binds an instance of a "lower half" Sensor driver with the
* "upper half" Sensor device and registers that device so that can be used
* by application code.
*
* You can register the character device type by specific path and esize.
* This API corresponds to the sensor_custom_unregister.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
* instance is bound to the sensor driver and must persist as long
* as the driver persists.
* path - The user specifies path of device. ex: /dev/sensor/xxx.
* esize - The element size of intermediate circular buffer.
*
* Returned Value:
* OK if the driver was successfully register; A negated errno value is
* returned on any failure.
*
****************************************************************************/
int sensor_custom_register(FAR struct sensor_lowerhalf_s *dev,
FAR const char *path, uint8_t esize);
/****************************************************************************
* Name: sensor_unregister
*
* Description:
* This function unregisters character node and releases all resource from
* upper half driver. This API corresponds to the sensor_register.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
* instance is bound to the sensor driver and must persists as long
* as the driver persists.
* devno - The user specifies which device of this type, from 0.
****************************************************************************/
void sensor_unregister(FAR struct sensor_lowerhalf_s *dev, int devno);
/****************************************************************************
* Name: sensor_custom_unregister
*
* Description:
* This function unregisters character node and releases all resource from
* upper half driver. This API corresponds to the sensor_custom_register.
*
* Input Parameters:
* dev - A pointer to an instance of lower half sensor driver. This
* instance is bound to the sensor driver and must persists as long
* as the driver persists.
* path - The user specifies path of device, ex: /dev/sensor/xxx
****************************************************************************/
void sensor_custom_unregister(FAR struct sensor_lowerhalf_s *dev,
FAR const char *path);
#undef EXTERN
#if defined(__cplusplus)
}