driver/usensor: support register user sensor
1.cmd:SNIOC_REGISTER with struct sensor_reginfo_s to register user sensor 2.cmd:SNIOC_UNREGISTER to unregister user sensor Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Jiuzhu Dong
Xiang Xiao
parent
8d971101cd
commit
b3ea6522f4
@ -19,6 +19,12 @@ config SENSORS_NPOLLWAITERS
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Maximum number of threads than can be waiting for POLL events.
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Default: 2
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config USENSOR
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bool "Usensor Device Support"
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default n
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---help---
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Allow application to register user sensor by /dev/usensor.
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config SENSORS_WTGAHRS2
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bool "Wtgahrs2 Sensor Support"
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default n
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@ -24,6 +24,10 @@ ifeq ($(CONFIG_SENSORS),y)
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CSRCS += sensor.c
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ifeq ($(CONFIG_USENSOR),y)
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CSRCS += usensor.c
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endif
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ifeq ($(CONFIG_SENSORS_WTGAHRS2),y)
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CSRCS += wtgahrs2.c
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endif
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249
drivers/sensors/usensor.c
Normal file
249
drivers/sensors/usensor.c
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@ -0,0 +1,249 @@
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/****************************************************************************
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* drivers/sensors/usensor.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/list.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/sensors/sensor.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define USENSOR_PATH "/dev/usensor"
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int usensor_open(FAR struct file *filep);
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static int usensor_close(FAR struct file *filep);
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static ssize_t usensor_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t usensor_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int usensor_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* This structure describes context of usensor */
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struct usensor_context_s
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{
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sem_t exclsem; /* Manages exclusive access to file operations */
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struct list_node list; /* List of node registered */
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};
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/* This structure describes lowerhalf driver for an usensor registered */
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struct usensor_lowerhalf_s
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{
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struct list_node node; /* node in all usensor list */
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struct sensor_lowerhalf_s driver; /* The lowerhalf driver of user sensor */
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char path[1]; /* The path of usensor character device */
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};
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_usensor_fops =
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{
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usensor_open, /* open */
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usensor_close, /* close */
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usensor_read, /* read */
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usensor_write, /* write */
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NULL, /* seek */
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usensor_ioctl, /* ioctl */
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NULL, /* poll */
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};
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static const struct sensor_ops_s g_usensor_ops =
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{
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static int usensor_register(FAR struct usensor_context_s *usensor,
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FAR const struct sensor_reginfo_s *info)
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{
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FAR struct usensor_lowerhalf_s *lower;
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int ret;
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lower = kmm_zalloc(sizeof(*lower) + strlen(info->path));
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if (!lower)
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{
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return -ENOMEM;
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}
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lower->driver.buffer_number = info->nqueue;
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lower->driver.ops = &g_usensor_ops;
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strcpy(lower->path, info->path);
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ret = sensor_custom_register(&lower->driver, lower->path, info->esize);
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if (ret < 0)
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{
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goto errout_with_lower;
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}
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ret = nxsem_wait(&usensor->exclsem);
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if (ret < 0)
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{
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goto errout_with_register;
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}
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list_add_tail(&usensor->list, &lower->node);
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nxsem_post(&usensor->exclsem);
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return ret;
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errout_with_register:
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sensor_custom_unregister(&lower->driver, info->path);
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errout_with_lower:
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kmm_free(lower);
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return ret;
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}
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static int usensor_unregister(FAR struct usensor_context_s *usensor,
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FAR const char *path)
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{
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FAR struct usensor_lowerhalf_s *lower;
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int ret;
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ret = nxsem_wait(&usensor->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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list_for_every_entry(&usensor->list, lower, struct usensor_lowerhalf_s,
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node)
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{
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if (strcmp(path, lower->path) == 0)
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{
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list_delete(&lower->node);
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nxsem_post(&usensor->exclsem);
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sensor_custom_unregister(&lower->driver, path);
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kmm_free(lower);
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return 0;
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}
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}
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nxsem_post(&usensor->exclsem);
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return -ENOENT;
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}
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static int usensor_open(FAR struct file *filep)
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{
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return 0;
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}
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static int usensor_close(FAR struct file *filep)
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{
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return 0;
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}
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static ssize_t usensor_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen)
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{
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return buflen;
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}
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static ssize_t usensor_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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return buflen;
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}
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static int usensor_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct usensor_context_s *usensor = inode->i_private;
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int ret = -ENOTTY;
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if (cmd == SNIOC_REGISTER)
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{
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FAR const struct sensor_reginfo_s *info;
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info = (FAR const struct sensor_reginfo_s *)(uintptr_t)arg;
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ret = usensor_register(usensor, info);
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}
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else if (cmd == SNIOC_UNREGISTER)
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{
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FAR const char *path;
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path = (FAR const char *)(uintptr_t)arg;
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ret = usensor_unregister(usensor, path);
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}
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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: usensor_initialize
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*
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* Description:
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* This function registers usensor character node "/dev/usensor", so that
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* application can register user sensor by this node. The node will
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* manager all user sensors in this character dirver.
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****************************************************************************/
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int usensor_initialize(void)
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{
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FAR struct usensor_context_s *usensor;
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int ret;
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usensor = kmm_zalloc(sizeof(*usensor));
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if (!usensor)
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{
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return -ENOMEM;
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}
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nxsem_init(&usensor->exclsem, 0, 1);
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list_initialize(&usensor->list);
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ret = register_driver(USENSOR_PATH, &g_usensor_fops, 0666, usensor);
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if (ret < 0)
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{
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goto errout_with_sem;
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}
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return ret;
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errout_with_sem:
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nxsem_destroy(&usensor->exclsem);
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kmm_free(usensor);
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return ret;
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}
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@ -315,4 +315,24 @@
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#define SNIOC_CALIBRATE _SNIOC(0x0088)
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#ifdef CONFIG_USENSOR
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/* Command: SNIOC_REGISTER
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* Description: Register user sensor.
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* Argument: A pointer of structure sensor_reginfo_s for user sensor.
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* Note: If register is failed, return errno, otherwise,
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* return OK.
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*/
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#define SNIOC_REGISTER _SNIOC(0x0089)
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/* Command: SNIOC_UNREGISTER
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* Description: Unregister user sensor.
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* Argument: The path name of user sensor character node.
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* Note: If register is failed, return errno, otherwise,
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* return OK.
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*/
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#define SNIOC_UNREGISTER _SNIOC(0x0090)
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#endif
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#endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */
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@ -874,6 +874,17 @@ struct sensor_lowerhalf_s
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FAR void *priv;
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};
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/* This structure describes the register info for the user sensor */
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#ifdef CONFIG_USENSOR
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struct sensor_reginfo_s
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{
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FAR const char *path; /* The path of user sensor */
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uint16_t esize; /* The element size of user sensor */
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uint32_t nqueue; /* The number of queue buffered elements */
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};
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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@ -978,6 +989,20 @@ void sensor_unregister(FAR struct sensor_lowerhalf_s *dev, int devno);
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void sensor_custom_unregister(FAR struct sensor_lowerhalf_s *dev,
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FAR const char *path);
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/****************************************************************************
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* Name: usensor_initialize
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*
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* Description:
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* This function registers usensor character node "/dev/usensor", so that
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* application can register user sensor by this node. The node will
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* manager all user sensor in this character dirver.
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****************************************************************************/
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#ifdef CONFIG_USENSOR
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int usensor_initialize(void);
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#endif
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#undef EXTERN
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#if defined(__cplusplus)
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}
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