/**************************************************************************** * drivers/sensors/lsm9ds1_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 #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "lsm9ds1_base.h" /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #define CONSTANTS_ONE_G 9.8f /**************************************************************************** * Private Types ****************************************************************************/ enum lsm9ds1_idx_e { LSM9DS1_ACCEL_IDX = 0, LSM9DS1_GYRO_IDX, LSM9DS1_MAG_IDX, LSM9DS1_MAX_IDX }; struct lsm9ds1_sensor_s { struct sensor_lowerhalf_s lower; uint64_t last_update; float scale; FAR void *dev; #ifdef CONFIG_SENSORS_LSM9DS1_POLL bool enabled; unsigned long interval; #endif struct lsm9ds1_dev_s base; }; struct lsm9ds1_sensor_dev_s { struct lsm9ds1_sensor_s priv[3]; mutex_t lock; #ifdef CONFIG_SENSORS_LSM9DS1_POLL sem_t run; #endif }; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /* Sensor methods */ static int lsm9ds1_activate(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, bool enable); static int lsm9ds1_set_interval(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, FAR unsigned long *period_us); #ifndef CONFIG_SENSORS_LSM9DS1_POLL static int lsm9ds1_fetch(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, FAR char *buffer, size_t buflen); #endif static int lsm9ds1_control(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, int cmd, unsigned long arg); /* Helpers */ static int lsm9ds1_mag_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale); static int lsm9ds1_accel_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale); static int lsm9ds1_gyro_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale); /**************************************************************************** * Private Data ****************************************************************************/ static const struct sensor_ops_s g_sensor_ops = { NULL, /* open */ NULL, /* close */ .activate = lsm9ds1_activate, .set_interval = lsm9ds1_set_interval, NULL, /* batch */ #ifdef CONFIG_SENSORS_LSM9DS1_POLL NULL, /* fetch */ #else .fetch = lsm9ds1_fetch, #endif NULL, /* selftest */ NULL, /* set_calibvalue */ NULL, /* calibrate */ .control = lsm9ds1_control }; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: lsm9ds1_activate ****************************************************************************/ static int lsm9ds1_activate(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, bool enable) { #ifdef CONFIG_SENSORS_LSM9DS1_POLL FAR struct lsm9ds1_sensor_s *priv = NULL; FAR struct lsm9ds1_sensor_dev_s *dev = NULL; bool start_thread = false; int ret = OK; priv = container_of(lower, struct lsm9ds1_sensor_s, lower); dev = priv->dev; if (enable) { if (!priv->enabled) { start_thread = true; priv->last_update = sensor_get_timestamp(); } ret = priv->base.ops->start(&priv->base); } else { ret = priv->base.ops->stop(&priv->base); } priv->enabled = enable; if (start_thread) { /* Wake up the thread */ nxsem_post(&dev->run); } return ret; #else return OK; #endif } /**************************************************************************** * Name: lsm9ds1_set_interval ****************************************************************************/ static int lsm9ds1_set_interval(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, FAR unsigned long *interval) { #ifdef CONFIG_SENSORS_LSM9DS1_POLL FAR struct lsm9ds1_sensor_s *priv = NULL; priv = container_of(lower, struct lsm9ds1_sensor_s, lower); priv->interval = *interval; #endif return OK; } /**************************************************************************** * Name: lsm9ds1_data ****************************************************************************/ static int16_t lsm9ds1_data(int16_t data) { /* The value is positive */ if (data < 0x8000) { data = data; } /* The value is negative, so find its absolute value by taking the * two's complement */ else if (data > 0x8000) { data = -(~data + 1); } /* The value is negative and can't be represented as a positive * int16_t value */ else { data = -32768; } return data; } #ifndef CONFIG_SENSORS_LSM9DS1_POLL /**************************************************************************** * Name: lsm9ds1_set_interval ****************************************************************************/ static int lsm9ds1_fetch(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, FAR char *buffer, size_t buflen) { FAR struct lsm9ds1_sensor_s *priv = NULL; int16_t data[3]; int ret = OK; priv = container_of(lower, struct lsm9ds1_sensor_s, lower); switch (lower->type) { case SENSOR_TYPE_ACCELEROMETER: { struct sensor_accel accel; ret = lsm9ds1_readreg(&priv->base, LSM9DS1_OUT_X_L_XL, (FAR uint8_t *)data, 6); accel.timestamp = sensor_get_timestamp(); accel.x = (int16_t)lsm9ds1_data(data[0]) * priv->scale; accel.y = (int16_t)lsm9ds1_data(data[1]) * priv->scale; accel.z = (int16_t)lsm9ds1_data(data[2]) * priv->scale; memcpy(buffer, &accel, sizeof(accel)); break; } case SENSOR_TYPE_GYROSCOPE: { struct sensor_gyro gyro; ret = lsm9ds1_readreg(&priv->base, LSM9DS1_OUT_X_L_G, (FAR uint8_t *)data, 6); gyro.timestamp = sensor_get_timestamp(); gyro.x = (int16_t)lsm9ds1_data(data[0]) * priv->scale; gyro.y = (int16_t)lsm9ds1_data(data[1]) * priv->scale; gyro.z = (int16_t)lsm9ds1_data(data[2]) * priv->scale; memcpy(buffer, &gyro, sizeof(gyro)); break; } case SENSOR_TYPE_MAGNETIC_FIELD: { struct sensor_mag mag; ret = lsm9ds1_readreg(&priv->base, LSM9DS1_OUT_X_L_M, (FAR uint8_t *)data, 6); mag.timestamp = sensor_get_timestamp(); mag.x = (int16_t)lsm9ds1_data(data[0]) * priv->scale; mag.y = (int16_t)lsm9ds1_data(data[1]) * priv->scale; mag.z = (int16_t)lsm9ds1_data(data[2]) * priv->scale; memcpy(buffer, &mag, sizeof(mag)); break; } default: { ret = -EINVAL; break; } } return ret; } #endif /**************************************************************************** * Name: lsm9ds1_cotrol ****************************************************************************/ static int lsm9ds1_control(FAR struct sensor_lowerhalf_s *lower, FAR struct file *filep, int cmd, unsigned long arg) { FAR struct lsm9ds1_sensor_s *priv = NULL; int ret = OK; priv = container_of(lower, struct lsm9ds1_sensor_s, lower); switch (cmd) { /* Set full scale command */ case SNIOC_SET_SCALE_XL: { if (priv->lower.type == SENSOR_TYPE_GYROSCOPE) { ret = lsm9ds1_gyro_scale(priv, arg); } else if (priv->lower.type == SENSOR_TYPE_ACCELEROMETER) { ret = lsm9ds1_accel_scale(priv, arg); } else if (priv->lower.type == SENSOR_TYPE_MAGNETIC_FIELD) { ret = lsm9ds1_mag_scale(priv, arg); } break; } default: { snerr("ERROR: Unrecognized cmd: %d\n", cmd); ret = -ENOTTY; break; } } return ret; } /**************************************************************************** * Name: lsm9ds1_mag_scale ****************************************************************************/ static int lsm9ds1_mag_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale) { int ret = OK; ret = priv->base.ops->setfullscale(&priv->base, scale); if (ret < 0) { return ret; } if (scale < lsm9ds1_midpoint(4, 8)) { priv->scale = 8.f / 65536.f; } else if (scale < lsm9ds1_midpoint(8, 12)) { priv->scale = 16.f / 65536.f; } else if (scale < lsm9ds1_midpoint(12, 16)) { priv->scale = 24.f / 65536.f; } else { priv->scale = 32.f / 65536.f; } return ret; } /**************************************************************************** * Name: lsm9ds1_accel_scale ****************************************************************************/ static int lsm9ds1_accel_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale) { int ret = OK; ret = priv->base.ops->setfullscale(&priv->base, scale); if (ret < 0) { return ret; } if (scale < lsm9ds1_midpoint(2, 4)) { priv->scale = CONSTANTS_ONE_G / 16384.f; } else if (scale < lsm9ds1_midpoint(4, 8)) { priv->scale = CONSTANTS_ONE_G / 8192.f; } else if (scale < lsm9ds1_midpoint(8, 16)) { priv->scale = CONSTANTS_ONE_G / 4096.f; } else { priv->scale = CONSTANTS_ONE_G / 2048.f; } return ret; } /**************************************************************************** * Name: lsm9ds1_gyro_scale ****************************************************************************/ static int lsm9ds1_gyro_scale(FAR struct lsm9ds1_sensor_s *priv, uint8_t scale) { int ret = OK; ret = priv->base.ops->setfullscale(&priv->base, scale); if (ret < 0) { return ret; } if (scale < lsm9ds1_midpoint(245, 500)) { priv->scale = (M_PI / 180.0f) * 245.f / 32768.f; } else if (scale < lsm9ds1_midpoint(500, 2000)) { priv->scale = (M_PI / 180.0f) * 500.f / 32768.f; } else { priv->scale = (M_PI / 180.0f) * 2000.f / 32768.f; } return ret; } #ifdef CONFIG_SENSORS_LSM9DS1_POLL /**************************************************************************** * Name: lsm9ds1_accel_data * * Description: get and push accel data from struct sensor_data_s * * Parameter: * priv - Internal private lower half driver instance * buf - Point to data * * Return: * OK - on success * ****************************************************************************/ static void lsm9ds1_accel_data(FAR struct lsm9ds1_sensor_s *priv, FAR int16_t *buf) { FAR struct sensor_lowerhalf_s *lower = &priv->lower; struct sensor_accel accel; uint64_t now = sensor_get_timestamp(); if (!priv->enabled || now - priv->last_update < priv->interval) { return; } priv->last_update = now; accel.timestamp = now; accel.x = (int16_t)lsm9ds1_data(buf[0]) * priv->scale; accel.y = (int16_t)lsm9ds1_data(buf[1]) * priv->scale; accel.z = (int16_t)lsm9ds1_data(buf[2]) * priv->scale; accel.temperature = 0; lower->push_event(lower->priv, &accel, sizeof(accel)); } /**************************************************************************** * Name: lsm9ds1_gyro_data * * Description: get and push gyro data from struct sensor_data_s * * Parameter: * priv - Internal private lower half driver instance * buf - Point to data * * Return: * OK - on success * ****************************************************************************/ static void lsm9ds1_gyro_data(FAR struct lsm9ds1_sensor_s *priv, FAR int16_t *buf) { FAR struct sensor_lowerhalf_s *lower = &priv->lower; struct sensor_gyro gyro; uint64_t now = sensor_get_timestamp(); if (!priv->enabled || now - priv->last_update < priv->interval) { return; } priv->last_update = now; gyro.timestamp = now; gyro.x = (int16_t)lsm9ds1_data(buf[0]) * priv->scale; gyro.y = (int16_t)lsm9ds1_data(buf[1]) * priv->scale; gyro.z = (int16_t)lsm9ds1_data(buf[2]) * priv->scale; gyro.temperature = 0; lower->push_event(lower->priv, &gyro, sizeof(gyro)); } /**************************************************************************** * Name: lsm9ds1_mag_data * * Description: get and push magnetometer data from struct sensor_data_s * * Parameter: * priv - Internal private lower half driver instance * buf - Point to data * * Return: * OK - on success * ****************************************************************************/ static void lsm9ds1_mag_data(FAR struct lsm9ds1_sensor_s *priv, FAR int16_t *buf) { FAR struct sensor_lowerhalf_s *lower = &priv->lower; struct sensor_mag mag; uint64_t now = sensor_get_timestamp(); if (!priv->enabled || now - priv->last_update < priv->interval) { return; } priv->last_update = now; mag.timestamp = now; mag.x = (int16_t)lsm9ds1_data(buf[0]) * priv->scale; mag.y = (int16_t)lsm9ds1_data(buf[1]) * priv->scale; mag.z = (int16_t)lsm9ds1_data(buf[2]) * priv->scale; mag.temperature = 0; lower->push_event(lower->priv, &mag, sizeof(mag)); } /**************************************************************************** * Name: lsm9ds1_thread * * Description: Thread for performing interval measurement cycle and data * read. * * Parameter: * argc - Number opf arguments * argv - Pointer to argument list * ****************************************************************************/ static int lsm9ds1_thread(int argc, FAR char **argv) { FAR struct lsm9ds1_sensor_dev_s *dev = (FAR struct lsm9ds1_sensor_dev_s *)((uintptr_t)strtoul(argv[1], NULL, 16)); FAR struct lsm9ds1_sensor_s *accel = &dev->priv[LSM9DS1_ACCEL_IDX]; FAR struct lsm9ds1_sensor_s *gyro = &dev->priv[LSM9DS1_GYRO_IDX]; FAR struct lsm9ds1_sensor_s *mag = &dev->priv[LSM9DS1_MAG_IDX]; unsigned long min_interval; int16_t adata[3]; int16_t gdata[3]; int16_t mdata[3]; int ret; while (true) { if ((!accel->enabled) && (!gyro->enabled) && (!mag->enabled)) { /* Waiting to be woken up */ ret = nxsem_wait(&dev->run); if (ret < 0) { continue; } } /* Read accel */ if (accel->enabled) { ret = lsm9ds1_readreg(&accel->base, LSM9DS1_OUT_X_L_XL, (FAR uint8_t *)adata, 6); lsm9ds1_accel_data(accel, adata); } /* Read gyro */ if (gyro->enabled) { ret = lsm9ds1_readreg(&gyro->base, LSM9DS1_OUT_X_L_G, (FAR uint8_t *)gdata, 6); lsm9ds1_gyro_data(gyro, gdata); } /* Read mag */ if (mag->enabled) { ret = lsm9ds1_readreg(&mag->base, LSM9DS1_OUT_X_L_M, (FAR uint8_t *)mdata, 6); lsm9ds1_mag_data(mag, mdata); } /* Sleeping thread before fetching the next sensor data */ min_interval = MIN(accel->interval, gyro->interval); min_interval = MIN(min_interval, mag->interval); nxsig_usleep(min_interval); } return OK; } #endif /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: lsm9ds1_register_uorb * * Description: * Register the LSM9DS1 IMU as sensor device * * Input Parameters: * devno - Instance number for driver * config - configuratio * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ int lsm9ds1_register_uorb(int devno, FAR struct lsm9ds1_config_s *config) { FAR struct lsm9ds1_sensor_dev_s *dev = NULL; FAR struct lsm9ds1_sensor_s *tmp = NULL; #ifdef CONFIG_SENSORS_LSM9DS1_POLL FAR char *argv[2]; char arg1[32]; #endif int ret = OK; /* Initialize the device structure. */ dev = (FAR struct lsm9ds1_sensor_dev_s *)kmm_malloc(sizeof(*dev)); if (dev == NULL) { snerr("ERROR: Failed to allocate instance\n"); return -ENOMEM; } memset(dev, 0, sizeof(*dev)); nxmutex_init(&dev->lock); #ifdef CONFIG_SENSORS_LSM9DS1_POLL nxsem_init(&dev->run, 0, 0); #endif /* Accelerometer register */ tmp = &dev->priv[LSM9DS1_ACCEL_IDX]; tmp->dev = dev; tmp->base.ops = &g_lsm9ds1accel_ops; tmp->base.i2c = config->i2c; tmp->base.addr = config->addr_acc; tmp->lower.ops = &g_sensor_ops; tmp->lower.type = SENSOR_TYPE_ACCELEROMETER; tmp->lower.nbuffer = 1; #ifdef CONFIG_SENSORS_LSM9DS1_POLL tmp->enabled = false; tmp->interval = CONFIG_SENSORS_LSM9DS1_POLL_INTERVAL; #endif ret = sensor_register(&tmp->lower, devno); if (ret < 0) { snerr("sensor_register failed: %d\n", ret); goto gyro_err; } lsm9ds1_accel_scale(tmp, 2); /* Gyroscope register */ tmp = &dev->priv[LSM9DS1_GYRO_IDX]; tmp->dev = dev; tmp->base.ops = &g_lsm9ds1gyro_ops; tmp->base.i2c = config->i2c; tmp->base.addr = config->addr_gyro; tmp->lower.ops = &g_sensor_ops; tmp->lower.type = SENSOR_TYPE_GYROSCOPE; tmp->lower.nbuffer = 1; #ifdef CONFIG_SENSORS_LSM9DS1_POLL tmp->enabled = false; tmp->interval = CONFIG_SENSORS_LSM9DS1_POLL_INTERVAL; #endif ret = sensor_register(&tmp->lower, devno); if (ret < 0) { snerr("sensor_register failed: %d\n", ret); goto gyro_err; } lsm9ds1_gyro_scale(tmp, 245); /* Magnetic register */ tmp = &dev->priv[LSM9DS1_MAG_IDX]; tmp->dev = dev; tmp->base.ops = &g_lsm9ds1mag_ops; tmp->base.i2c = config->i2c; tmp->base.addr = config->addr_mag; tmp->lower.ops = &g_sensor_ops; tmp->lower.type = SENSOR_TYPE_MAGNETIC_FIELD; tmp->lower.nbuffer = 1; #ifdef CONFIG_SENSORS_LSM9DS1_POLL tmp->enabled = false; tmp->interval = CONFIG_SENSORS_LSM9DS1_POLL_INTERVAL; #endif ret = sensor_register(&tmp->lower, devno); if (ret < 0) { snerr("sensor_register failed: %d\n", ret); goto mag_err; } lsm9ds1_mag_scale(tmp, 4); #ifdef CONFIG_SENSORS_LSM9DS1_POLL /* Create thread for polling sensor data */ snprintf(arg1, 16, "%p", dev); argv[0] = arg1; argv[1] = NULL; ret = kthread_create("lsm9ds1_thread", SCHED_PRIORITY_DEFAULT, CONFIG_SENSORS_LSM9DS1_THREAD_STACKSIZE, lsm9ds1_thread, argv); if (ret < 0) { goto thr_err; } #endif return ret; #ifdef CONFIG_SENSORS_LSM9DS1_POLL thr_err: #endif sensor_unregister(&dev->priv[LSM9DS1_MAG_IDX].lower, devno); mag_err: sensor_unregister(&dev->priv[LSM9DS1_GYRO_IDX].lower, devno); gyro_err: sensor_unregister(&dev->priv[LSM9DS1_ACCEL_IDX].lower, devno); kmm_free(dev); return ret; }