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sensors: add support for adxl362 accelerometer

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add support for Analog Devices ADXL362 accelerometer
This commit is contained in:
raiden00pl 2024-04-15 13:47:43 +02:00 committed by Alan Carvalho de Assis
parent 33d0276f3e
commit ebcf25b2f6
5 changed files with 727 additions and 0 deletions
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4
drivers/sensors/CMakeLists.txt
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@ -56,6 +56,10 @@ if(CONFIG_SENSORS)
list(APPEND SRCS adxl345_base.c)
endif()
if(CONFIG_SENSORS_ADXL362)
list(APPEND SRCS adxl362_uorb.c)
endif()
if(CONFIG_SENSORS_DHTXX)
list(APPEND SRCS dhtxx.c)
endif()

31
drivers/sensors/Kconfig
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@ -892,6 +892,37 @@ config ADXL345_REGDEBUG
endif # SENSORS_ADXL345
config SENSORS_ADXL362
bool "Analog Devices ADXL362 Driver"
default n
---help---
Enables support for the ADXL362 driver
if SENSORS_ADXL362
config SENSORS_ADXL362_POLL
bool "Enables polling sensor data"
default n
---help---
Enables polling of sensor.
config SENSORS_ADXL362_POLL_INTERVAL
int "Polling interval in microseconds, default 1 sec"
depends on SENSORS_ADXL362_POLL
default 1000000
range 0 4294967295
---help---
The interval until a new sensor measurement will be triggered.
config SENSORS_ADXL362_THREAD_STACKSIZE
int "Worker thread stack size"
depends on SENSORS_ADXL362_POLL
default 1024
---help---
The stack size for the worker thread.
endif # SENSORS_ADXL362
config SENSORS_ADXL372
bool "Analog Devices ADXL372 Sensor support"
default n

4
drivers/sensors/Make.defs
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@ -285,6 +285,10 @@ ifeq ($(CONFIG_ADXL345_SPI),y)
CSRCS += adxl345_spi.c
endif
ifeq ($(CONFIG_SENSORS_ADXL362),y)
CSRCS += adxl362_uorb.c
endif
ifeq ($(CONFIG_SENSORS_ADXL372),y)
CSRCS += adxl372.c
endif

623
drivers/sensors/adxl362_uorb.c Normal file
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@ -0,0 +1,623 @@
/****************************************************************************
* drivers/sensors/adxl362_uorb.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <debug.h>
#include <stdio.h>
#include <string.h>
#include <sys/param.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/signal.h>
#include <nuttx/sensors/adxl362.h>
#include <nuttx/sensors/sensor.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define ADXL362_SPI_FREQUENCY 1000000
#define ADXL362_SPI_MODE SPIDEV_MODE0
#define ADXL362_WRITE 0x0a
#define ADXL362_READ 0x0b
#define ADXL362_FIFO 0x0d
#define ADXL362_DEVID_AD 0x00
# define ADXL362_DEVID_AD_VALUE 0xad
#define ADXL362_DEVID_MST 0x01
# define ADXL362_DEVID_MST_VALUE 0x1d
#define ADXL362_PARTID 0x02
# define ADXL362_PARTID_VALUE 0xf2
#define ADXL362_REVID 0x03
#define ADXL362_XDATA 0x08
#define ADXL362_YDATA 0x09
#define ADXL362_ZDATA 0x0a
#define ADXL362_STATUS 0x0b
#define ADXL362_FIFO_L 0x0c
#define ADXL362_FIFO_H 0x0d
#define ADXL362_XDATA_L 0x0e
#define ADXL362_XDATA_H 0x0f
#define ADXL362_YDATA_L 0x10
#define ADXL362_YDATA_H 0x11
#define ADXL362_ZDATA_L 0x12
#define ADXL362_ZDATA_H 0x13
#define ADXL362_TMEP_L 0x14
#define ADXL362_TEMP_H 0x15
#define ADXL362_SOFT_RESET 0x1f
#define ADXL362_THRESH_ACT_L 0x20
#define ADXL362_THRESH_ACT_H 0x21
#define ADXL362_TIME_ACT 0x22
#define ADXL362_THRESH_INACT_L 0x23
#define ADXL362_THRESH_INACT_H 0x24
#define ADXL362_TIME_INACT_L 0x25
#define ADXL362_TIME_INACT_H 0x26
#define ADXL362_ACT_INACT_CTL 0x27
#define ADXL362_FIFO_CONTROL 0x28
#define ADXL362_FIFO_SAMPLES 0x29
#define ADXL362_INTMAP1 0x2a
#define ADXL362_INTMAP2 0x2b
#define ADXL362_FILTER_CTL 0x2c
#define ADXL362_POWER_CTL 0x2d
# define ADXL362_LOW_NOISE (0 << 4)
# define ADXL362_ULTRALOW_NOISE (2 << 4)
# define ADXL362_POWER_MODE_STANDBY 0
# define ADXL362_POWER_MODE_MEASURE 2
#define ADXL362_SELF_TEST 0x2e
#define CONSTANTS_ONE_G 9.8f
#define ADXL362_TEMP_SCALE 0.065f
/****************************************************************************
* Private Types
****************************************************************************/
struct adxl362_sensor_s
{
struct sensor_lowerhalf_s lower;
FAR struct spi_dev_s *spi;
int devno;
float scale;
#ifdef CONFIG_SENSORS_ADXL362_POLL
bool enabled;
unsigned long interval;
sem_t run;
#endif
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static uint8_t adxl362_getreg8(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr);
static void adxl362_putreg8(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr, uint8_t regval);
static void adxl362_getregs(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr, FAR uint8_t *regval, int len);
static int16_t adxl362_data(FAR uint8_t *data);
static int adxl362_checkid(FAR struct adxl362_sensor_s *priv);
static void adxl362_start(FAR struct adxl362_sensor_s *priv);
static void adxl362_stop(FAR struct adxl362_sensor_s *priv);
/* Sensor ops functions */
static int adxl362_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
bool enable);
static int adxl362_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR unsigned long *period_us);
#ifndef CONFIG_SENSORS_ADXL362_POLL
static int adxl362_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR char *buffer, size_t buflen);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const struct sensor_ops_s g_adxl362_accel_ops =
{
NULL, /* open */
NULL, /* close */
adxl362_activate,
adxl362_set_interval,
NULL, /* batch */
#ifdef CONFIG_SENSORS_ADXL362_POLL
NULL, /* fetch */
#else
adxl362_fetch,
#endif
NULL, /* selftest */
NULL, /* set_calibvalue */
NULL, /* calibrate */
NULL, /* control */
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: adxl362_getreg8
*
* Description:
* Read from an 8-bit ADXL362 register
*
****************************************************************************/
static uint8_t adxl362_getreg8(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr)
{
uint8_t regval = 0;
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
/* Select the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register to read and get the next byte */
SPI_SEND(priv->spi, ADXL362_READ);
SPI_SEND(priv->spi, regaddr);
SPI_RECVBLOCK(priv->spi, &regval, 1);
/* Deselect the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
return regval;
}
/****************************************************************************
* Name: adxl362_putreg8
*
* Description:
* Write a value to an 8-bit ADXL362 register
*
****************************************************************************/
static void adxl362_putreg8(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr, uint8_t regval)
{
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
/* Select the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register address and set the value */
SPI_SEND(priv->spi, ADXL362_WRITE);
SPI_SEND(priv->spi, regaddr);
SPI_SEND(priv->spi, regval);
/* Deselect the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
}
/****************************************************************************
* Name: adxl362_getregs
*
* Description:
* Read bytes from specified regaddr
*
****************************************************************************/
static void adxl362_getregs(FAR struct adxl362_sensor_s *priv,
uint8_t regaddr, FAR uint8_t *regval, int len)
{
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
/* Select the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
/* Send register to read and get the next 2 bytes */
SPI_SEND(priv->spi, ADXL362_READ);
SPI_SEND(priv->spi, regaddr);
SPI_RECVBLOCK(priv->spi, regval, len);
/* Deselect the ADXL362 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
}
/****************************************************************************
* Name: adxl362_data
****************************************************************************/
static int16_t adxl362_data(FAR uint8_t *data)
{
return (int16_t)(data[0] | (data[1]) << 8);
}
/****************************************************************************
* Name: adxl362_checkid
*
* Description:
* Read and verify the ADXL362 chip ID
*
****************************************************************************/
static int adxl362_checkid(FAR struct adxl362_sensor_s *priv)
{
uint8_t id = 0;
id = adxl362_getreg8(priv, ADXL362_DEVID_AD);
if (id != ADXL362_DEVID_AD_VALUE)
{
snerr("Wrong AD! %02x\n", id);
return -ENODEV;
}
id = adxl362_getreg8(priv, ADXL362_DEVID_MST);
if (id != ADXL362_DEVID_MST_VALUE)
{
snerr("Wrong MST! %02x\n", id);
return -ENODEV;
}
id = adxl362_getreg8(priv, ADXL362_PARTID);
if (id != ADXL362_PARTID_VALUE)
{
snerr("Wrong PARTID! %02x\n", id);
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: adxl362_start
****************************************************************************/
static void adxl362_start(FAR struct adxl362_sensor_s *priv)
{
adxl362_putreg8(priv, ADXL362_POWER_CTL, ADXL362_POWER_MODE_MEASURE);
}
/****************************************************************************
* Name: adxl362_stop
****************************************************************************/
static void adxl362_stop(FAR struct adxl362_sensor_s *priv)
{
adxl362_putreg8(priv, ADXL362_POWER_CTL, 0);
}
/****************************************************************************
* Name: adxl362_activate
*
* Description:
* Enable or disable sensor device. when enable sensor, sensor will
* work in current mode(if not set, use default mode). when disable
* sensor, it will disable sense path and stop convert.
*
* Input Parameters:
* lower - The instance of lower half sensor driver.
* filep - The pointer of file, represents each user using the sensor.
* enable - true(enable) and false(disable).
*
* Returned Value:
* Return 0 if the driver was success; A negated errno
* value is returned on any failure.
*
* Assumptions/Limitations:
* none.
*
****************************************************************************/
static int adxl362_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
bool enable)
{
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
#ifdef CONFIG_SENSORS_ADXL362_POLL
bool start_thread = false;
#endif
if (enable)
{
#ifdef CONFIG_SENSORS_ADXL362_POLL
if (!priv->enabled)
{
start_thread = true;
}
#endif
adxl362_start(priv);
}
else
{
adxl362_stop(priv);
}
#ifdef CONFIG_SENSORS_ADXL362_POLL
priv->enabled = enable;
if (start_thread)
{
/* Wake up the thread */
nxsem_post(&priv->run);
}
#endif
return OK;
}
/****************************************************************************
* Name: adxl362_set_interval
*
* Description:
* Set the sensor output data period in microseconds for a given sensor.
* If *period_us > max_delay it will be truncated to max_delay and if
* *period_us < min_delay it will be replaced by min_delay.
*
* Input Parameters:
* lower - The instance of lower half sensor driver.
* filep - The pointer of file, represents each user using the sensor.
* period_us - The time between report data, in us. It may by overwrite
* by lower half driver.
*
* Returned Value:
* Return 0 if the driver was success; A negated errno
* value is returned on any failure.
*
* Assumptions/Limitations:
* none.
*
****************************************************************************/
static int adxl362_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR unsigned long *period_us)
{
#ifdef CONFIG_SENSORS_ADXL362_POLL
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
priv->interval = *period_us;
#endif
return OK;
}
#ifndef CONFIG_SENSORS_ADXL362_POLL
/****************************************************************************
* Name: adxl362_set_interval
****************************************************************************/
static int adxl362_fetch(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
struct sensor_accel accel;
uint8_t data[8];
/* Wait for data ready */
while (!(adxl362_getreg8(priv, ADXL362_STATUS) & 0x01));
/* Get data */
adxl362_getregs(priv, ADXL362_XDATA_L, (FAR uint8_t *)data, 8);
accel.timestamp = sensor_get_timestamp();
accel.x = (float)adxl362_data(&data[0]) * priv->scale;
accel.y = (float)adxl362_data(&data[1]) * priv->scale;
accel.z = (float)adxl362_data(&data[2]) * priv->scale;
accel.temperature = (float)adxl362_data(&data[6]) * ADXL362_TEMP_SCALE;
memcpy(buffer, &accel, sizeof(accel));
return sizeof(accel);
}
#endif
#ifdef CONFIG_SENSORS_ADXL362_POLL
/****************************************************************************
* Name: adxl362_thread
*
* Description: Thread for performing interval measurement cycle and data
* read.
*
* Parameter:
* argc - Number opf arguments
* argv - Pointer to argument list
*
****************************************************************************/
static int adxl362_thread(int argc, FAR char **argv)
{
FAR struct adxl362_sensor_s *priv
= (FAR struct adxl362_sensor_s *)((uintptr_t)strtoul(argv[1], NULL,
16));
struct sensor_accel accel;
uint8_t data[8];
int ret;
while (true)
{
if ((!priv->enabled))
{
/* Waiting to be woken up */
ret = nxsem_wait(&priv->run);
if (ret < 0)
{
continue;
}
}
/* Read accel */
if (priv->enabled)
{
adxl362_getregs(priv, ADXL362_XDATA_L, (FAR uint8_t *)data, 8);
accel.timestamp = sensor_get_timestamp();
accel.x = (float)adxl362_data(&data[0]) * priv->scale;
accel.y = (float)adxl362_data(&data[2]) * priv->scale;
accel.z = (float)adxl362_data(&data[4]) * priv->scale;
accel.temperature =
(float)adxl362_data(&data[6]) * ADXL362_TEMP_SCALE;
priv->lower.push_event(priv->lower.priv, &accel, sizeof(accel));
}
/* Sleeping thread before fetching the next sensor data */
nxsig_usleep(priv->interval);
}
return OK;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: adxl362_register
*
* Description:
* Register the ADXL362 character device as 'devpath'
*
* Input Parameters:
* devno - Sensor device number.
* dev - An instance of the SPI or I2C interface to use to communicate
* with ADXL362
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int adxl362_register(int devno, FAR struct spi_dev_s *spi)
{
FAR struct adxl362_sensor_s *priv;
int ret;
#ifdef CONFIG_SENSORS_ADXL362_POLL
FAR char *argv[2];
char arg1[32];
#endif
/* Sanity check */
DEBUGASSERT(spi != NULL);
/* Initialize the ADXL362 device structure */
priv = kmm_zalloc(sizeof(struct adxl362_sensor_s));
if (priv == NULL)
{
return -ENOMEM;
}
priv->spi = spi;
priv->lower.ops = &g_adxl362_accel_ops;
priv->lower.type = SENSOR_TYPE_ACCELEROMETER;
priv->lower.nbuffer = 1;
priv->scale = (CONSTANTS_ONE_G / 1000.0f);
priv->devno = devno;
#ifdef CONFIG_SENSORS_ADXL362_POLL
priv->enabled = false;
priv->interval = CONFIG_SENSORS_ADXL362_POLL_INTERVAL;
nxsem_init(&priv->run, 0, 0);
#endif
/* Read and verify the deviceid */
ret = adxl362_checkid(priv);
if (ret < 0)
{
snerr("Wrong Device ID!\n");
kmm_free(priv);
return ret;
}
/* Register the character driver */
ret = sensor_register(&priv->lower, devno);
if (ret < 0)
{
snerr("Failed to register accel driver: %d\n", ret);
kmm_free(priv);
}
#ifdef CONFIG_SENSORS_ADXL362_POLL
/* Create thread for polling sensor data */
snprintf(arg1, 16, "%p", priv);
argv[0] = arg1;
argv[1] = NULL;
ret = kthread_create("adxl362_thread", SCHED_PRIORITY_DEFAULT,
CONFIG_SENSORS_ADXL362_THREAD_STACKSIZE,
adxl362_thread,
argv);
if (ret < 0)
{
kmm_free(priv);
}
#endif
return ret;
}

65
include/nuttx/sensors/adxl362.h Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
* include/nuttx/sensors/adxl362.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_ADXL362_H
#define __INCLUDE_NUTTX_SENSORS_ADXL362_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/spi/spi.h>
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: adxl362_register
*
* Description:
* Register the ADXL362 character device as uorb
*
* Input Parameters:
* devno - device instance
* spi - An instance of the SPI interface to use to communicate with
* ADXL362
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int adxl362_register(int devno, FAR struct spi_dev_s *spi);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_SENSORS_ADXL362_H */