Add Zero Cross device driver support
This commit is contained in:
Alan Carvalho de Assis
Gregory Nutt
parent
f0b40ba96a
commit
8f0c912fff
@ -11027,3 +11027,6 @@
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This lower half driver is only usable in a limited number of
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situations, but can still serve as a module for the lower half button
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driver. (2015-10-13).
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* drivers/sensors/zerocross.c and include/nuttx/sensors/zerocross.h:
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Add Zero Cross device driver support. From Alan Carvalho de Assis
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(2015-10-13).
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@ -123,3 +123,7 @@ config LM92
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config QENCODER
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bool "Qencoder"
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default n
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config ZEROCROSS
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bool "Zero Cross Sensor"
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default n
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@ -101,6 +101,12 @@ ifeq ($(CONFIG_QENCODER),y)
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CSRCS += qencoder.c
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endif
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# Zero Cross upper half
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ifeq ($(CONFIG_ZEROCROSS),y)
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CSRCS += zerocross.c
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endif
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# Include sensor driver build support
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DEPPATH += --dep-path sensors
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546
drivers/sensors/zerocross.c
Normal file
546
drivers/sensors/zerocross.c
Normal file
@ -0,0 +1,546 @@
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/****************************************************************************
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* drivers/sensors/zerocross.c
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*
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* Copyright (C) 2015 Gregory Nutt. All rights reserved.
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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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* Compilation Switches
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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/fs/fs.h>
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#include <nuttx/arch.h>
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#include <nuttx/sensors/zerocross.h>
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#include <arch/irq.h>
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#ifdef CONFIG_ZEROCROSS
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#ifdef CONFIG_DISABLE_SIGNALS
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#error "This driver needs SIGNAL support, remove CONFIG_DISABLE_SIGNALS"
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Debug ********************************************************************/
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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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struct zc_notify_s do_notify;
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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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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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0, /* seek */
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zc_ioctl /* ioctl */
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#ifndef CONFIG_DISABLE_POLL
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, 0 /* poll */
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#endif
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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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flags = irqsave();
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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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irqrestore(flags);
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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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flags = irqsave();
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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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#ifdef CONFIG_CAN_PASS_STRUCTS
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union sigval value;
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value.sival_int = (int)sample;
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(void)sigqueue(opriv->do_pid, opriv->do_notify.zc_signo, value);
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#else
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(void)sigqueue(opriv->do_pid, opriv->do_notify.zc_signo,
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(FAR void *)sample);
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#endif
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}
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irqrestore(flags);
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}
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/************************************************************************************
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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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************************************************************************************/
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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 const struct zc_lowerhalf_s *lower;
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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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ret = sem_wait(&priv->exclsem);
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if (ret < 0)
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{
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snvdbg("ERROR: sem_wait failed: %d\n", ret);
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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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{
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snvdbg("ERROR: Failled to allocate open structure\n");
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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:
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sem_post(&priv->exclsem);
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return ret;
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}
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/************************************************************************************
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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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*
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************************************************************************************/
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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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flags = irqsave();
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closing = opriv->do_closing;
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opriv->do_closing = true;
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irqrestore(flags);
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if (closing)
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{
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/* Another thread is doing the close */
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return OK;
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}
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/* Get exclusive access to the driver structure */
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ret = sem_wait(&priv->exclsem);
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if (ret < 0)
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{
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snvdbg("ERROR: sem_wait failed: %d\n", ret);
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return ret;
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}
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/* Find the open structure in the list of open structures for the device */
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for (prev = NULL, curr = priv->zu_open;
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curr && curr != opriv;
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prev = curr, curr = curr->do_flink);
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DEBUGASSERT(curr);
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if (!curr)
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{
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snvdbg("ERROR: Failed to find open entry\n");
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ret = -ENOENT;
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goto errout_with_exclsem;
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}
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/* Remove the structure from the device */
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if (prev)
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{
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prev->do_flink = opriv->do_flink;
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}
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else
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{
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priv->zu_open = opriv->do_flink;
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}
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/* And free the open structure */
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kmm_free(opriv);
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/* Enable/disable interrupt handling */
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zerocross_enable(priv);
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ret = OK;
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errout_with_exclsem:
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sem_post(&priv->exclsem);
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return ret;
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}
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/************************************************************************************
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* Name: zc_read
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*
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* Description:O
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* A dummy read method. This is provided only to satsify the VFS layer.
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*
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************************************************************************************/
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static ssize_t zc_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
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{
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/* Return zero -- usually meaning end-of-file */
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return 0;
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}
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/************************************************************************************
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* Name: zc_write
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*
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* Description:
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* A dummy write method. This is provided only to satsify the VFS layer.
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*
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************************************************************************************/
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static ssize_t zc_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
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{
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/* Return a failure */
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return -EPERM;
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}
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/************************************************************************************
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* Name: zc_ioctl
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*
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* Description:
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* The standard ioctl method. This is where ALL of the PWM work is done.
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*
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************************************************************************************/
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static int zc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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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_lowerhalf_s *lower;
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int ret;
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snvdbg("cmd: %d arg: %ld\n", cmd, arg);
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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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/* Get exclusive access to the device structures */
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ret = sem_wait(&priv->exclsem);
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if (ret < 0)
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{
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return ret;
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}
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/* Handle built-in ioctl commands */
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ret = -EINVAL;
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switch (cmd)
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{
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#ifndef CONFIG_DISABLE_SIGNALS
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/* Command: ZCIOC_REGISTER
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* Description: Register to receive a signal whenever there is zero
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* cross detection interrupt.
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* Argument: A read-only pointer to an instance of struct
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* zc_notify_s
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* Return: Zero (OK) on success. Minus one will be returned on
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* failure with the errno value set appropriately.
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*/
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case ZCIOC_REGISTER:
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{
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FAR struct zc_notify_s *notify =
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(FAR struct zc_notify_s *)((uintptr_t)arg);
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if (notify)
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{
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/* Save the notification events */
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opriv->do_notify.zc_signo = notify->zc_signo;
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opriv->do_pid = getpid();
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/* Enable/disable interrupt handling */
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zerocross_enable(priv);
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ret = OK;
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}
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}
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break;
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#endif
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default:
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{
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snvdbg("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
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ret = -ENOTTY;
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}
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break;
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}
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sem_post(&priv->exclsem);
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: zc_register
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*
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* Description:
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* Register the Zero Cross lower half device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/zc0"
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* lower - An instance of the lower half interface
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure. The following
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* possible error values may be returned (most are returned by
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* register_driver()):
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*
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* EINVAL - 'path' is invalid for this operation
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* EEXIST - An inode already exists at 'path'
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* ENOMEM - Failed to allocate in-memory resources for the operation
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*
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****************************************************************************/
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int zc_register(FAR const char *devname, FAR struct zc_lowerhalf_s *lower)
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{
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FAR struct zc_upperhalf_s *priv;
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int ret;
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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)
|
||||
{
|
||||
snvdbg("ERROR: Failed to allocate device structure\n");
|
||||
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;
|
||||
sem_init(&priv->exclsem, 0, 1);
|
||||
|
||||
/* And register the zero cross driver */
|
||||
|
||||
ret = register_driver(devname, &g_zcops, 0666, priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snvdbg("ERROR: register_driver failed: %d\n", ret);
|
||||
sem_destroy(&priv->exclsem);
|
||||
kmm_free(priv);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_ZEROCROSS */
|
||||
@ -78,7 +78,8 @@
|
||||
#define _RELAYBASE (0x1900) /* Relay devices ioctl commands */
|
||||
#define _CANBASE (0x1a00) /* CAN ioctl commands */
|
||||
#define _BTNBASE (0x1b00) /* Button ioctl commands */
|
||||
#define _BOARDBASE (0x1c00) /* boardctl ioctl commands */
|
||||
#define _ZCBASE (0x1c00) /* Zero Cross ioctl commands */
|
||||
#define _BOARDBASE (0x1d00) /* boardctl ioctl commands */
|
||||
|
||||
/* Macros used to manage ioctl commands */
|
||||
|
||||
@ -268,56 +269,56 @@
|
||||
/* NuttX Audio driver ioctl definitions *************************************/
|
||||
/* (see nuttx/audio/audio.h) */
|
||||
|
||||
#define _AUDIOIOCVALID(c) (_IOC_TYPE(c)==_AUDIOIOCBASE)
|
||||
#define _AUDIOIOC(nr) _IOC(_AUDIOIOCBASE,nr)
|
||||
#define _AUDIOIOCVALID(c) (_IOC_TYPE(c)==_AUDIOIOCBASE)
|
||||
#define _AUDIOIOC(nr) _IOC(_AUDIOIOCBASE,nr)
|
||||
|
||||
/* Segment LCD driver ioctl definitions *************************************/
|
||||
/* (see nuttx/include/lcd/slcd_codec.h */
|
||||
|
||||
#define _SLCDIOCVALID(c) (_IOC_TYPE(c)==_SLCDIOCBASE)
|
||||
#define _SLCDIOC(nr) _IOC(_SLCDIOCBASE,nr)
|
||||
#define _SLCDIOCVALID(c) (_IOC_TYPE(c)==_SLCDIOCBASE)
|
||||
#define _SLCDIOC(nr) _IOC(_SLCDIOCBASE,nr)
|
||||
|
||||
/* Wireless driver ioctl definitions ****************************************/
|
||||
/* (see nuttx/include/wireless/wireless.h */
|
||||
|
||||
#define _WLIOCVALID(c) (_IOC_TYPE(c)==_WLIOCBASE)
|
||||
#define _WLIOC(nr) _IOC(_WLIOCBASE,nr)
|
||||
#define _WLIOCVALID(c) (_IOC_TYPE(c)==_WLIOCBASE)
|
||||
#define _WLIOC(nr) _IOC(_WLIOCBASE,nr)
|
||||
|
||||
/* Application Config Data driver ioctl definitions *************************/
|
||||
/* (see nuttx/include/configdata.h */
|
||||
|
||||
#define _CFGDIOCVALID(c) (_IOC_TYPE(c)==_CFGDIOCBASE)
|
||||
#define _CFGDIOC(nr) _IOC(_CFGDIOCBASE,nr)
|
||||
#define _CFGDIOCVALID(c) (_IOC_TYPE(c)==_CFGDIOCBASE)
|
||||
#define _CFGDIOC(nr) _IOC(_CFGDIOCBASE,nr)
|
||||
|
||||
/* Timer driver ioctl commands **********************************************/
|
||||
/* (see nuttx/include/timer.h */
|
||||
|
||||
#define _TCIOCVALID(c) (_IOC_TYPE(c)==_TCIOCBASE)
|
||||
#define _TCIOC(nr) _IOC(_TCIOCBASE,nr)
|
||||
#define _TCIOCVALID(c) (_IOC_TYPE(c)==_TCIOCBASE)
|
||||
#define _TCIOC(nr) _IOC(_TCIOCBASE,nr)
|
||||
|
||||
/* Discrete joystick driver ioctl definitions *******************************/
|
||||
/* (see nuttx/include/input/djoystick.h */
|
||||
|
||||
#define _DJOYIOCVALID(c) (_IOC_TYPE(c)==_DJOYBASE)
|
||||
#define _DJOYIOC(nr) _IOC(_DJOYBASE,nr)
|
||||
#define _DJOYIOCVALID(c) (_IOC_TYPE(c)==_DJOYBASE)
|
||||
#define _DJOYIOC(nr) _IOC(_DJOYBASE,nr)
|
||||
|
||||
/* Analog joystick driver ioctl definitions *********************************/
|
||||
/* (see nuttx/include/input/ajoystick.h */
|
||||
|
||||
#define _AJOYIOCVALID(c) (_IOC_TYPE(c)==_AJOYBASE)
|
||||
#define _AJOYIOC(nr) _IOC(_AJOYBASE,nr)
|
||||
#define _AJOYIOCVALID(c) (_IOC_TYPE(c)==_AJOYBASE)
|
||||
#define _AJOYIOC(nr) _IOC(_AJOYBASE,nr)
|
||||
|
||||
/* FIFOs and pipe driver ioctl definitions **********************************/
|
||||
|
||||
#define _PIPEIOCVALID(c) (_IOC_TYPE(c)==_PIPEBASE)
|
||||
#define _PIPEIOC(nr) _IOC(_PIPEBASE,nr)
|
||||
#define _PIPEIOCVALID(c) (_IOC_TYPE(c)==_PIPEBASE)
|
||||
#define _PIPEIOC(nr) _IOC(_PIPEBASE,nr)
|
||||
|
||||
#define PIPEIOC_POLICY _PIPEIOC(0x0001) /* Set buffer policy
|
||||
* IN: unsigned long integer
|
||||
* 0=free on last close
|
||||
* (default)
|
||||
* 1=fre when empty
|
||||
* OUT: None */
|
||||
#define PIPEIOC_POLICY _PIPEIOC(0x0001) /* Set buffer policy
|
||||
* IN: unsigned long integer
|
||||
* 0=free on last close
|
||||
* (default)
|
||||
* 1=fre when empty
|
||||
* OUT: None */
|
||||
|
||||
/* RTC driver ioctl definitions *********************************************/
|
||||
/* (see nuttx/include/rtc.h */
|
||||
@ -328,20 +329,26 @@
|
||||
/* Relay driver ioctl definitions *******************************************/
|
||||
/* (see nuttx/power/relay.h */
|
||||
|
||||
#define _RELAYIOCVALID(c) (_IOC_TYPE(c)==_RELAYBASE)
|
||||
#define _RELAYIOC(nr) _IOC(_RELAYBASE,nr)
|
||||
#define _RELAYIOCVALID(c) (_IOC_TYPE(c)==_RELAYBASE)
|
||||
#define _RELAYIOC(nr) _IOC(_RELAYBASE,nr)
|
||||
|
||||
/* CAN driver ioctl definitions *********************************************/
|
||||
/* (see nuttx/can.h */
|
||||
|
||||
#define _CANIOCVALID(c) (_IOC_TYPE(c)==_CANBASE)
|
||||
#define _CANIOC(nr) _IOC(_CANBASE,nr)
|
||||
#define _CANIOCVALID(c) (_IOC_TYPE(c)==_CANBASE)
|
||||
#define _CANIOC(nr) _IOC(_CANBASE,nr)
|
||||
|
||||
/* Button driver ioctl definitions ******************************************/
|
||||
/* (see nuttx/can.h */
|
||||
|
||||
#define _BTNIOCVALID(c) (_IOC_TYPE(c)==_BTNBASE)
|
||||
#define _BTNIOC(nr) _IOC(_BTNBASE,nr)
|
||||
#define _BTNIOCVALID(c) (_IOC_TYPE(c)==_BTNBASE)
|
||||
#define _BTNIOC(nr) _IOC(_BTNBASE,nr)
|
||||
|
||||
/* Zero Cross driver ioctl definitions **************************************/
|
||||
/* (see nuttx/include/sensor/zerocross.h */
|
||||
|
||||
#define _ZCIOCVALID(c) (_IOC_TYPE(c)==_ZCBASE)
|
||||
#define _ZCIOC(nr) _IOC(_ZCBASE,nr)
|
||||
|
||||
/* boardctl() command definitions *******************************************/
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user