drivers/sensors: Add driver for the MLX90393 3 axis magnetometer.
This commit is contained in:
Entinger Alexander
Gregory Nutt
parent
338bf8c9e3
commit
b29287b022
@ -75,6 +75,13 @@ config MB7040_I2C_FREQUENCY
|
||||
range 1 400000
|
||||
depends on MB7040
|
||||
|
||||
config MLX90393
|
||||
bool "MLX90393 3-Axis Magnetometer"
|
||||
default n
|
||||
select SPI
|
||||
---help---
|
||||
Enable driver support for the Melex MLX90393 3-Axis magnetometer.
|
||||
|
||||
config MCP9844
|
||||
bool "MCP9844 Temperature Sensor"
|
||||
default n
|
||||
|
||||
@ -89,6 +89,10 @@ ifeq ($(CONFIG_MCP9844),y)
|
||||
CSRCS += mcp9844.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_MLX90393),y)
|
||||
CSRCS += mlx90393.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_MS58XX),y)
|
||||
CSRCS += ms58xx.c
|
||||
endif
|
||||
|
||||
@ -352,10 +352,10 @@ static int lis3mdl_interrupt_handler(int irq, FAR void *context)
|
||||
|
||||
DEBUGASSERT(priv->work.worker == NULL);
|
||||
ret = work_queue(HPWORK, &priv->work, lis3mdl_worker, priv, 0);
|
||||
if (ret != 0)
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to queue work: %d\n", ret);
|
||||
return ERROR;
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -435,8 +435,9 @@ static int lis3mdl_open(FAR struct file *filep)
|
||||
/* Read back the content of all control registers for debug purposes */
|
||||
|
||||
reg_content = 0;
|
||||
eg_addr = LIS3MDL_CTRL_REG_1;
|
||||
for (; reg_addr <= LIS3MDL_CTRL_REG_5; reg_addr++)
|
||||
for (reg_addr = LIS3MDL_CTRL_REG_1;
|
||||
reg_addr <= LIS3MDL_CTRL_REG_5;
|
||||
reg_addr++)
|
||||
{
|
||||
lis3mdl_read_register(priv, reg_addr, ®_content);
|
||||
snerr("R#%04x = %04x\n", reg_addr, reg_content);
|
||||
@ -469,6 +470,7 @@ static int lis3mdl_close(FAR struct file *filep)
|
||||
/****************************************************************************
|
||||
* Name: lis3mdl_read
|
||||
****************************************************************************/
|
||||
|
||||
static ssize_t lis3mdl_read(FAR struct file *filep, FAR char *buffer,
|
||||
size_t buflen)
|
||||
{
|
||||
@ -490,10 +492,10 @@ static ssize_t lis3mdl_read(FAR struct file *filep, FAR char *buffer,
|
||||
/* Aquire the semaphore before the data is copied */
|
||||
|
||||
ret = sem_wait(&priv->datasem);
|
||||
if (ret != OK)
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Could not aquire priv->datasem: %d\n", ret);
|
||||
return ERROR;
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Copy the sensor data into the buffer */
|
||||
@ -556,8 +558,10 @@ static int lis3mdl_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
||||
* spi - An instance of the SPI interface to use to communicate with LIS3MDL
|
||||
* config - configuration for the LIS3MDL driver. For details see description above.
|
||||
* spi - An instance of the SPI interface to use to communicate with
|
||||
* LIS3MDL
|
||||
* config - configuration for the LIS3MDL driver. For details see
|
||||
* description above.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
|
||||
621
drivers/sensors/mlx90393.c
Normal file
621
drivers/sensors/mlx90393.c
Normal file
@ -0,0 +1,621 @@
|
||||
/****************************************************************************
|
||||
* drivers/sensors/mlx90393.c
|
||||
* Character driver for the MLX90393 3-Axis magnetometer.
|
||||
*
|
||||
* Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
|
||||
* Author: Alexander Entinger <a.entinger@ds-automotion.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <semaphore.h>
|
||||
|
||||
#include <nuttx/kmalloc.h>
|
||||
#include <nuttx/wqueue.h>
|
||||
|
||||
#include <nuttx/fs/fs.h>
|
||||
#include <nuttx/sensors/mlx90393.h>
|
||||
|
||||
#if defined(CONFIG_SPI) && defined(CONFIG_MLX90393)
|
||||
|
||||
/****************************************************************************
|
||||
* Private
|
||||
****************************************************************************/
|
||||
|
||||
struct mlx90393_sensor_data_s
|
||||
{
|
||||
int16_t x_mag; /* Measurement result for x axis */
|
||||
int16_t y_mag; /* Measurement result for y axis */
|
||||
int16_t z_mag; /* Measurement result for z axis */
|
||||
uint16_t temperature; /* Measurement result for temperature sensor */
|
||||
};
|
||||
|
||||
struct mlx90393_dev_s
|
||||
{
|
||||
FAR struct mlx90393_dev_s *flink; /* Supports a singly linked list
|
||||
* of drivers */
|
||||
FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
|
||||
FAR struct mlx90393_config_s *config; /* Pointer to the configuration of
|
||||
* the MLX90393 sensor */
|
||||
|
||||
sem_t datasem; /* Manages exclusive access to
|
||||
* this structure */
|
||||
struct mlx90393_sensor_data_s data; /* The data as measured by the
|
||||
* sensor */
|
||||
struct work_s work; /* The work queue is responsible
|
||||
* for retrieving the data from
|
||||
* the sensor after the arrival of
|
||||
* new data was signalled in an
|
||||
* interrupt */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev);
|
||||
static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev);
|
||||
static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
|
||||
uint8_t const reg_addr, uint16_t *reg_data);
|
||||
static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
|
||||
uint8_t const reg_addr,
|
||||
uint16_t const reg_data);
|
||||
static void mlx90393_reset(FAR struct mlx90393_dev_s *dev);
|
||||
static int mlx90393_interrupt_handler(int irq, FAR void *context);
|
||||
static void mlx90393_worker(FAR void *arg);
|
||||
|
||||
static int mlx90393_open(FAR struct file *filep);
|
||||
static int mlx90393_close(FAR struct file *filep);
|
||||
static ssize_t mlx90393_read(FAR struct file *, FAR char *, size_t);
|
||||
static ssize_t mlx90393_write(FAR struct file *filep, FAR const char *buffer,
|
||||
size_t buflen);
|
||||
static int mlx90393_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static const struct file_operations g_mlx90393_fops =
|
||||
{
|
||||
mlx90393_open,
|
||||
mlx90393_close,
|
||||
mlx90393_read,
|
||||
mlx90393_write,
|
||||
NULL,
|
||||
mlx90393_ioctl
|
||||
#ifndef CONFIG_DISABLE_POLL
|
||||
, NULL
|
||||
#endif
|
||||
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
|
||||
, NULL
|
||||
#endif
|
||||
};
|
||||
|
||||
/* Single linked list to store instances of drivers */
|
||||
|
||||
static struct mlx90393_dev_s *g_mlx90393_list = NULL;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_start_burst_mode
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev)
|
||||
{
|
||||
/* Lock the SPI bus so that only one device can access it at the same time */
|
||||
|
||||
SPI_LOCK(dev->spi, true);
|
||||
|
||||
/* Set CS to low which selects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
||||
|
||||
/* Start Burst Mode (Continous Measurement on all channels) */
|
||||
|
||||
SPI_SEND(dev->spi, MLX90393_SB | MLX90393_ZYXT_bm);
|
||||
|
||||
/* Write an idle byte to retrieve the status byte */
|
||||
|
||||
SPI_SEND(dev->spi, 0);
|
||||
|
||||
/* Set CS to high which deselects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
||||
|
||||
/* Unlock the SPI bus */
|
||||
|
||||
SPI_LOCK(dev->spi, false);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_read_measurement_data
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev)
|
||||
{
|
||||
int ret;
|
||||
|
||||
/* Lock the SPI bus so that only one device can access it at the same time */
|
||||
|
||||
SPI_LOCK(dev->spi, true);
|
||||
|
||||
/* Set CS to low which selects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
||||
|
||||
/* Issue command to read measurement data on all channels */
|
||||
|
||||
SPI_SEND(dev->spi, MLX90393_RM | MLX90393_ZYXT_bm);
|
||||
|
||||
/* Write an idle byte to retrieve the status byte */
|
||||
|
||||
SPI_SEND(dev->spi, 0);
|
||||
|
||||
/* The data is output in the following order: T (MSB), T (LSB), X (MSB), X
|
||||
* (LSB), Y (MSB), Y (LSB), Z (MSB), Z (LSB)
|
||||
*/
|
||||
|
||||
uint16_t temperature = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
||||
temperature |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
||||
|
||||
uint16_t x_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
||||
x_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
||||
|
||||
uint16_t y_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
||||
y_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
||||
|
||||
uint16_t z_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
||||
z_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
||||
|
||||
/* Set CS to high which deselects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
||||
|
||||
/* Unlock the SPI bus */
|
||||
|
||||
SPI_LOCK(dev->spi, false);
|
||||
|
||||
/* Aquire the semaphore before the data is copied */
|
||||
|
||||
ret = sem_wait(&dev->datasem);
|
||||
if (ret != OK)
|
||||
{
|
||||
sndbg("Could not aquire dev->datasem: %d\n", ret);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Copy retrieve data to internal data structure */
|
||||
|
||||
dev->data.temperature = temperature;
|
||||
dev->data.x_mag = (int16_t) (x_mag);
|
||||
dev->data.y_mag = (int16_t) (y_mag);
|
||||
dev->data.z_mag = (int16_t) (z_mag);
|
||||
|
||||
/* Give back the semaphore */
|
||||
|
||||
sem_post(&dev->datasem);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_start_burst_mode
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_reset(FAR struct mlx90393_dev_s *dev)
|
||||
{
|
||||
/* Lock the SPI bus so that only one device can access it at the same time */
|
||||
|
||||
SPI_LOCK(dev->spi, true);
|
||||
|
||||
/* Set CS to low which selects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
||||
|
||||
/* Issue reset command */
|
||||
|
||||
SPI_SEND(dev->spi, MLX90393_RT);
|
||||
|
||||
/* Write an idle byte to retrieve the status byte */
|
||||
|
||||
SPI_SEND(dev->spi, 0);
|
||||
|
||||
/* Set CS to high which deselects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
||||
|
||||
/* Unlock the SPI bus */
|
||||
|
||||
SPI_LOCK(dev->spi, false);
|
||||
|
||||
/* Wait a little so the device has time to perform a proper reset */
|
||||
|
||||
up_mdelay(100);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_read_register
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
|
||||
uint8_t const reg_addr, uint16_t *reg_data)
|
||||
{
|
||||
/* Lock the SPI bus so that only one device can access it at the same time */
|
||||
|
||||
SPI_LOCK(dev->spi, true);
|
||||
|
||||
/* Set CS to low which selects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
||||
|
||||
/* Issue a read register command */
|
||||
|
||||
SPI_SEND(dev->spi, MLX90393_RR);
|
||||
|
||||
/* Send the register address which needs to be left shifted by 2 */
|
||||
|
||||
SPI_SEND(dev->spi, (reg_addr << 2));
|
||||
|
||||
/* Write an idle byte to retrieve the status byte */
|
||||
|
||||
SPI_SEND(dev->spi, 0);
|
||||
|
||||
*reg_data = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
||||
*reg_data |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
||||
|
||||
/* Set CS to high which deselects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
||||
|
||||
/* Unlock the SPI bus */
|
||||
|
||||
SPI_LOCK(dev->spi, false);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_write_register
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
|
||||
uint8_t const reg_addr,
|
||||
uint16_t const reg_data)
|
||||
{
|
||||
/* Lock the SPI bus so that only one device can access it at the same time */
|
||||
|
||||
SPI_LOCK(dev->spi, true);
|
||||
|
||||
/* Set CS to low which selects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
||||
|
||||
/* Issue a write register command */
|
||||
|
||||
SPI_SEND(dev->spi, MLX90393_WR);
|
||||
|
||||
/* Send the data high byte of the register */
|
||||
|
||||
SPI_SEND(dev->spi, (uint8_t) ((reg_data & 0xFF00) >> 8));
|
||||
|
||||
/* Send the data low byte of the register */
|
||||
|
||||
SPI_SEND(dev->spi, (uint8_t) (reg_data & 0x00FF));
|
||||
|
||||
/* Send the register address which needs to be left shifted by 2 */
|
||||
|
||||
SPI_SEND(dev->spi, (uint8_t) (reg_addr << 2));
|
||||
|
||||
/* Write an idle byte to retrieve the status byte */
|
||||
|
||||
SPI_SEND(dev->spi, 0);
|
||||
|
||||
/* Set CS to high which deselects the MLX90393 */
|
||||
|
||||
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
||||
|
||||
/* Unlock the SPI bus */
|
||||
|
||||
SPI_LOCK(dev->spi, false);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_interrupt_handler
|
||||
****************************************************************************/
|
||||
|
||||
static int mlx90393_interrupt_handler(int irq, FAR void *context)
|
||||
{
|
||||
/* This function should be called upon a rising edge on the MLX90393 INT pin
|
||||
* since it signals that new data has been measured. (INT = DRDY).
|
||||
*/
|
||||
|
||||
FAR struct mlx90393_dev_s *priv = 0;
|
||||
int ret;
|
||||
|
||||
/* Find out which MLX90396 device caused the interrupt */
|
||||
|
||||
for (priv = g_mlx90393_list; priv && priv->config->irq != irq;
|
||||
priv = priv->flink);
|
||||
DEBUGASSERT(priv != NULL);
|
||||
|
||||
/* Task the worker with retrieving the latest sensor data. We should not do
|
||||
* this in a interrupt since it might take too long. Also we cannot lock the
|
||||
* SPI bus from within an interrupt.
|
||||
*/
|
||||
|
||||
DEBUGASSERT(priv->work.worker == NULL);
|
||||
ret = work_queue(HPWORK, &priv->work, mlx90393_worker, priv, 0);
|
||||
if (ret < 0)
|
||||
{
|
||||
sndbg("Failed to queue work: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
else
|
||||
{
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_worker
|
||||
****************************************************************************/
|
||||
|
||||
static void mlx90393_worker(FAR void *arg)
|
||||
{
|
||||
FAR struct mlx90393_dev_s *priv = (FAR struct mlx90393_dev_s *)(arg);
|
||||
DEBUGASSERT(priv != NULL);
|
||||
|
||||
/* Read out the latest sensor data */
|
||||
|
||||
mlx90393_read_measurement_data(priv);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_open
|
||||
****************************************************************************/
|
||||
|
||||
static int mlx90393_open(FAR struct file *filep)
|
||||
{
|
||||
FAR struct inode *inode = filep->f_inode;
|
||||
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
||||
static int const NUM_REGS = 10;
|
||||
int reg_addr;
|
||||
|
||||
DEBUGASSERT(priv != NULL);
|
||||
|
||||
/* Reset the device */
|
||||
|
||||
mlx90393_reset(priv);
|
||||
|
||||
/* Read the content of ALL registers for debug purposes */
|
||||
|
||||
for (reg_addr = 0; reg_addr < NUM_REGS; reg_addr++)
|
||||
{
|
||||
uint16_t reg_content = 0;
|
||||
mlx90393_read_register(priv, reg_addr, ®_content);
|
||||
sndbg("R%d = %x\n", reg_addr, reg_content);
|
||||
}
|
||||
|
||||
/* Start the burst mode */
|
||||
|
||||
mlx90393_start_burst_mode(priv);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_close
|
||||
****************************************************************************/
|
||||
|
||||
static int mlx90393_close(FAR struct file *filep)
|
||||
{
|
||||
FAR struct inode *inode = filep->f_inode;
|
||||
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
||||
|
||||
DEBUGASSERT(priv != NULL);
|
||||
|
||||
/* Reset the device */
|
||||
|
||||
mlx90393_reset(priv);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_read
|
||||
****************************************************************************/
|
||||
|
||||
static ssize_t mlx90393_read(FAR struct file *filep, FAR char *buffer,
|
||||
size_t buflen)
|
||||
{
|
||||
FAR struct inode *inode = filep->f_inode;
|
||||
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
||||
FAR struct mlx90393_sensor_data_s *data;
|
||||
int ret;
|
||||
|
||||
DEBUGASSERT(priv != NULL);
|
||||
|
||||
/* Check if enough memory was provided for the read call */
|
||||
|
||||
if (buflen < sizeof(FAR struct mlx90393_sensor_data_s))
|
||||
{
|
||||
sndbg("Not enough memory for reading out a sensor data sample\n");
|
||||
return -ENOSYS;
|
||||
}
|
||||
|
||||
/* Copy the sensor data into the buffer */
|
||||
|
||||
/* Aquire the semaphore before the data is copied */
|
||||
|
||||
ret = sem_wait(&priv->datasem);
|
||||
if (ret < 0)
|
||||
{
|
||||
sndbg("Could not aquire priv->datasem: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
data = (FAR struct mlx90393_sensor_data_s *)buffer;
|
||||
memset(data, 0, sizeof(FAR struct mlx90393_sensor_data_s));
|
||||
|
||||
data->x_mag = priv->data.x_mag;
|
||||
data->y_mag = priv->data.y_mag;
|
||||
data->z_mag = priv->data.z_mag;
|
||||
data->temperature = priv->data.temperature;
|
||||
|
||||
/* Give back the semaphore */
|
||||
|
||||
sem_post(&priv->datasem);
|
||||
|
||||
return sizeof(FAR struct mlx90393_sensor_data_s);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_write
|
||||
****************************************************************************/
|
||||
|
||||
static ssize_t mlx90393_write(FAR struct file *filep, FAR const char *buffer,
|
||||
size_t buflen)
|
||||
{
|
||||
return -ENOSYS;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_ioctl
|
||||
****************************************************************************/
|
||||
|
||||
static int mlx90393_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
switch (cmd)
|
||||
{
|
||||
/* Command was not recognized */
|
||||
|
||||
default:
|
||||
sndbg("Unrecognized cmd: %d\n", cmd);
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_register
|
||||
*
|
||||
* Description:
|
||||
* Register the MLX90393 character device as 'devpath'
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
||||
* spi - An instance of the SPI interface to use to communicate with
|
||||
* MLX90393
|
||||
* config - Describes the configuration of the MLX90393 part.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int mlx90393_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
|
||||
FAR struct mlx90393_config_s *config)
|
||||
{
|
||||
FAR struct mlx90393_dev_s *priv;
|
||||
int ret;
|
||||
|
||||
/* Sanity check */
|
||||
|
||||
DEBUGASSERT(spi != NULL);
|
||||
DEBUGASSERT(config != NULL);
|
||||
|
||||
/* Initialize the MLX90393 device structure */
|
||||
|
||||
priv = (FAR struct mlx90393_dev_s *)kmm_malloc(sizeof(struct mlx90393_dev_s));
|
||||
if (priv == NULL)
|
||||
{
|
||||
dbg("Failed to allocate instance\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
priv->spi = spi;
|
||||
priv->config = config;
|
||||
|
||||
priv->work.worker = NULL;
|
||||
|
||||
sem_init(&priv->datasem, 0, 1); /* Initialize sensor data access
|
||||
* semaphore */
|
||||
|
||||
/* Setup SPI frequency and mode */
|
||||
|
||||
SPI_SETFREQUENCY(spi, MLX90393_SPI_FREQUENCY);
|
||||
SPI_SETMODE(spi, MLX90393_SPI_MODE);
|
||||
|
||||
/* Attach the interrupt handler */
|
||||
|
||||
ret = priv->config->attach(priv->config, &mlx90393_interrupt_handler);
|
||||
if (ret < 0)
|
||||
{
|
||||
dbg("Failed to attach interrupt\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the character driver */
|
||||
|
||||
ret = register_driver(devpath, &g_mlx90393_fops, 0666, priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
dbg("Failed to register driver: %d\n", ret);
|
||||
kmm_free(priv);
|
||||
sem_destroy(&priv->datasem);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Since we support multiple MLX90393 devices are supported, we will need to
|
||||
* add this new instance to a list of device instances so that it can be
|
||||
* found by the interrupt handler based on the received IRQ number. */
|
||||
|
||||
priv->flink = g_mlx90393_list;
|
||||
g_mlx90393_list = priv;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SPI && CONFIG_MLX90393 */
|
||||
@ -158,8 +158,10 @@ extern "C"
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
||||
* spi - An instance of the SPI interface to use to communicate with LIS3MDL
|
||||
* config - configuration for the LIS3MDL driver. For details see description above.
|
||||
* spi - An instance of the SPI interface to use to communicate with
|
||||
* LIS3MDL
|
||||
* config - configuration for the LIS3MDL driver. For details see
|
||||
* description above.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
|
||||
153
include/nuttx/sensors/mlx90393.h
Normal file
153
include/nuttx/sensors/mlx90393.h
Normal file
@ -0,0 +1,153 @@
|
||||
/****************************************************************************
|
||||
* include/nuttx/sensors/mlx90393.h
|
||||
*
|
||||
* Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
|
||||
* Author: Alexander Entinger <a.entinger@ds-automotion.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_
|
||||
#define NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#if defined(CONFIG_SPI) && defined(CONFIG_MLX90393)
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* MLX90393 Command Definitions *********************************************/
|
||||
|
||||
#define MLX90393_SB (0x10) /* SB = Start Burst Mode */
|
||||
#define MLX90393_SW (0x20) /* SW = Start Wake-up on Change Mode */
|
||||
#define MLX90393_SM (0x30) /* SB = Start Single Measurement Mode */
|
||||
#define MLX90393_RM (0x40) /* RM = Read Measurement */
|
||||
#define MLX90393_RR (0x50) /* RR = Read Register */
|
||||
#define MLX90393_WR (0x60) /* WR = Write Register */
|
||||
#define MLX90393_EX (0x80) /* EX = Exit Mode */
|
||||
#define MLX90393_HR (0xD0) /* HR = Memory Recall */
|
||||
#define MLX90393_HS (0xE0) /* HS = Memory Store */
|
||||
#define MLX90393_RT (0xF0) /* RT = Reset */
|
||||
|
||||
/* MLX90393 Sensor Selection Bit Definitions ********************************/
|
||||
|
||||
#define MLX90393_T_bm (1<<0) /* Temperature Sensor Bitmask */
|
||||
#define MLX90393_X_bm (1<<1) /* Magnetometer X-Axis Bitmask */
|
||||
#define MLX90393_Y_bm (1<<2) /* Magnetometer Y-Axis Bitmask */
|
||||
#define MLX90393_Z_bm (1<<3) /* Magnetometer Z-Axis Bitmask */
|
||||
#define MLX90393_ZYXT_bm (MLX90393_Z_bm | MLX90393_Y_bm | MLX90393_X_bm | MLX90393_T_bm)
|
||||
|
||||
/* SPI BUS PARAMETERS *******************************************************/
|
||||
|
||||
#define MLX90393_SPI_FREQUENCY (1000000) /* 1 MHz */
|
||||
#define MLX90393_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3: CPOL=1, CPHA=1 */
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* A reference to a structure of this type must be passed to the MLX90393
|
||||
* driver. This structure provides information about the configuration
|
||||
* of the sensor and provides some board-specific hooks.
|
||||
*
|
||||
* Memory for this structure is provided by the caller. It is not copied
|
||||
* by the driver and is presumed to persist while the driver is active.
|
||||
*/
|
||||
|
||||
struct mlx90393_config_s
|
||||
{
|
||||
/* Since multiple MLX90393 can be connected to the same SPI bus we need
|
||||
* to use multiple spi device ids which are employed by NuttX to select/
|
||||
* deselect the desired MLX90393 chip via their chip select inputs.
|
||||
*/
|
||||
|
||||
int spi_devid;
|
||||
|
||||
/* The IRQ number must be provided for each so MLX90393 device so that
|
||||
* their interrupts can be distinguished.
|
||||
*/
|
||||
|
||||
int irq;
|
||||
|
||||
/* Attach the MLX90393 interrupt handler to the GPIO interrupt of the
|
||||
* concrete MLX90393 instance.
|
||||
*/
|
||||
|
||||
int (*attach)(FAR struct mlx90393_config_s *, xcpt_t);
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: mlx90393_register
|
||||
*
|
||||
* Description:
|
||||
* Register the MLX90393 character device as 'devpath'
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
||||
* spi - An instance of the SPI interface to use to communicate with
|
||||
* MLX90393
|
||||
* config - Describes the configuration of the MLX90393 part.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int mlx90393_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
|
||||
FAR struct mlx90393_config_s *config);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SPI && CONFIG_MLX90393 */
|
||||
|
||||
#endif /* NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_ */
|
||||
Loading…
Reference in New Issue
Block a user