9568600ab1
This commit backs out most of commit b4747286b1. That change was added because sem_wait() would sometimes cause cancellation points inappropriated. But with these recent changes, nxsem_wait() is used instead and it is not a cancellation point.
In the OS, all calls to sem_wait() changed to nxsem_wait(). nxsem_wait() does not return errors via errno so each place where nxsem_wait() is now called must not examine the errno variable.
In all OS functions (not libraries), change sem_wait() to nxsem_wait(). This will prevent the OS from creating bogus cancellation points and from modifying the per-task errno variable.
sched/semaphore: Add the function nxsem_wait(). This is a new internal OS interface. It is functionally equivalent to sem_wait() except that (1) it is not a cancellation point, and (2) it does not set the per-thread errno value on return.
659 lines
20 KiB
C
659 lines
20 KiB
C
/****************************************************************************
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* drivers/sensors/l3gd20.c
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* Character driver for the ST L3GD20 3-Axis gyroscope.
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*
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* Copyright (C) 2017 Gregory Nutt. All rights reserved.
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* Author: Mateusz Szafoni <raiden00@railab.me>
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*
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* Based on drivers/sensors/lis3dsh.c
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <string.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/random.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/sensors/l3gd20.h>
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#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#if !defined(CONFIG_SCHED_HPWORK)
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# error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct l3gd20_dev_s
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{
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FAR struct l3gd20_dev_s *flink; /* Supports a singly linked list of
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* drivers */
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FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
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FAR struct l3gd20_config_s *config; /* Pointer to the configuration of the
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* L3GD20 sensor */
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sem_t datasem; /* Manages exclusive access to this
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* structure */
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struct l3gd20_sensor_data_s data; /* The data as measured by the sensor */
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struct work_s work; /* The work queue is responsible for
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* retrieving the data from the sensor
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* after the arrival of new data was
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* signalled in an interrupt */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static void l3gd20_read_register(FAR struct l3gd20_dev_s *dev,
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uint8_t const reg_addr, uint8_t *reg_data);
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static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
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uint8_t const reg_addr,
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uint8_t const reg_data);
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static void l3gd20_reset(FAR struct l3gd20_dev_s *dev);
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static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev);
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static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
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uint16_t *x_gyr, uint16_t *y_gyr,
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uint16_t *z_gyr);
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static void l3gd20_read_temperature(FAR struct l3gd20_dev_s *dev,
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uint8_t * temperature);
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static int l3gd20_interrupt_handler(int irq, FAR void *context);
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static void l3gd20_worker(FAR void *arg);
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static int l3gd20_open(FAR struct file *filep);
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static int l3gd20_close(FAR struct file *filep);
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static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_l3gd20_fops =
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{
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l3gd20_open,
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l3gd20_close,
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l3gd20_read,
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l3gd20_write,
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NULL,
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l3gd20_ioctl
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#ifndef CONFIG_DISABLE_POLL
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, NULL
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#endif
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, NULL
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#endif
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};
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/* Single linked list to store instances of drivers */
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static struct l3gd20_dev_s *g_l3gd20_list = NULL;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: l3gd20_read_register
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****************************************************************************/
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static void l3gd20_read_register(FAR struct l3gd20_dev_s *dev,
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uint8_t const reg_addr, uint8_t *reg_data)
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{
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/* Lock the SPI bus so that only one device can access it at the same time */
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SPI_LOCK(dev->spi, true);
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/* Set CS to low which selects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, true);
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/* Transmit the register address from where we want to read - the MSB needs
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* to be set to indicate the read indication.
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*/
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SPI_SEND(dev->spi, reg_addr | 0x80);
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/* Write an idle byte while receiving the required data */
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*reg_data = (uint8_t) (SPI_SEND(dev->spi, 0));
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/* Set CS to high which deselects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, false);
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/* Unlock the SPI bus */
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SPI_LOCK(dev->spi, false);
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}
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/****************************************************************************
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* Name: l3gd20_write_register
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****************************************************************************/
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static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
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uint8_t const reg_addr,
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uint8_t const reg_data)
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{
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/* Lock the SPI bus so that only one device can access it at the same time */
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SPI_LOCK(dev->spi, true);
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/* Set CS to low which selects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, true);
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/* Transmit the register address from where we want to read */
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SPI_SEND(dev->spi, reg_addr);
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/* Transmit the content which should be written in the register */
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SPI_SEND(dev->spi, reg_data);
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/* Set CS to high which deselects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, false);
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/* Unlock the SPI bus */
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SPI_LOCK(dev->spi, false);
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}
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/****************************************************************************
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* Name: l3gd20_reset
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****************************************************************************/
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static void l3gd20_reset(FAR struct l3gd20_dev_s *dev)
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{
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/* Reboot memory content */
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l3gd20_write_register(dev, L3GD20_CTRL_REG_5, L3GD20_CTRL_REG_5_BOOT_bm);
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up_mdelay(100);
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}
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/****************************************************************************
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* Name: l3gd20_read_measurement_data
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****************************************************************************/
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static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
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{
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uint16_t x_gyr = 0;
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uint16_t y_gyr = 0;
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uint16_t z_gyr = 0;
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uint8_t temperature = 0;
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int ret;
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/* Read Gyroscope */
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l3gd20_read_gyroscope_data(dev, &x_gyr, &y_gyr, &z_gyr);
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/* Read Temperature */
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l3gd20_read_temperature(dev, &temperature);
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/* Aquire the semaphore before the data is copied */
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ret = nxsem_wait(&dev->datasem);
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if (ret < 0)
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{
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snerr("ERROR: Could not aquire dev->datasem: %d\n", ret);
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return;
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}
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/* Copy retrieve data to internal data structure */
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dev->data.x_gyr = (int16_t) (x_gyr);
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dev->data.y_gyr = (int16_t) (y_gyr);
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dev->data.z_gyr = (int16_t) (z_gyr);
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/* Give back the semaphore */
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nxsem_post(&dev->datasem);
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/* Feed sensor data to entropy pool */
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add_sensor_randomness((x_gyr << 16) ^ (y_gyr << 8) ^ (z_gyr << 0));
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}
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/****************************************************************************
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* Name: l3gd20_read_gyroscope_data
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****************************************************************************/
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static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
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uint16_t * x_gyr, uint16_t * y_gyr,
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uint16_t * z_gyr)
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{
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/* Lock the SPI bus so that only one device can access it at the same time */
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SPI_LOCK(dev->spi, true);
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/* Set CS to low which selects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, true);
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/* Transmit the register address from where we want to start reading
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* 0x80 -> MSB is set -> Read Indication
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* 0x40 -> MSB-1 (MS-Bit) is set -> auto increment of address when reading
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* multiple bytes.
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*/
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SPI_SEND(dev->spi, (L3GD20_OUT_X_L_REG | 0x80 | 0x40)); /* RX */
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*x_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*x_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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*y_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*y_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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*z_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*z_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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/* Set CS to high which deselects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, false);
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/* Unlock the SPI bus */
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SPI_LOCK(dev->spi, false);
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}
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/****************************************************************************
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* Name: l3gd20_read_temperature
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****************************************************************************/
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static void l3gd20_read_temperature(FAR struct l3gd20_dev_s* dev,
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uint8_t* temperature)
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{
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/* Lock the SPI bus so that only one device can access it at the same time */
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SPI_LOCK(dev->spi, true);
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/* Set CS to low which selects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, true);
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/* Transmit the register address from where we want to start reading
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* 0x80 MSB is set -> Read Indication
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*/
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SPI_SEND(dev->spi, (L3GD20_OUT_TEMP_REG | 0x80));
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/* RX */
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*temperature = (SPI_SEND(dev->spi, 0));
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/* Set CS to high which deselects the L3GD20 */
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SPI_SELECT(dev->spi, dev->config->spi_devid, false);
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/* Unlock the SPI bus */
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SPI_LOCK(dev->spi, false);
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}
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/****************************************************************************
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* Name: l3gd20_interrupt_handler
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****************************************************************************/
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static int l3gd20_interrupt_handler(int irq, FAR void* context)
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{
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/* This function should be called upon a rising edge on the L3GD20 new data
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* interrupt pin since it signals that new data has been measured.
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*/
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FAR struct l3gd20_dev_s *priv = 0;
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int ret;
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/* Find out which L3GD20 device caused the interrupt */
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for (priv = g_l3gd20_list;
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priv && priv->config->irq != irq;
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priv = priv->flink)
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{
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DEBUGASSERT(priv != NULL);
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}
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/* Task the worker with retrieving the latest sensor data. We should not do
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* this in a interrupt since it might take too long. Also we cannot lock the
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* SPI bus from within an interrupt.
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*/
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DEBUGASSERT(priv->work.worker == NULL);
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ret = work_queue(HPWORK, &priv->work, l3gd20_worker, priv, 0);
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if (ret < 0)
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{
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snerr("ERROR: Failed to queue work: %d\n", ret);
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return ret;
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}
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return OK;
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}
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/****************************************************************************
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* Name: l3gd20_worker
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****************************************************************************/
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static void l3gd20_worker(FAR void *arg)
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{
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FAR struct l3gd20_dev_s *priv = (FAR struct l3gd20_dev_s *)(arg);
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DEBUGASSERT(priv != NULL);
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/* Read out the latest sensor data */
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l3gd20_read_measurement_data(priv);
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}
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/****************************************************************************
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* Name: l3gd20_open
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****************************************************************************/
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static int l3gd20_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct l3gd20_dev_s *priv = inode->i_private;
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#ifdef CONFIG_DEBUG_SENSORS_INFO
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uint8_t reg_content;
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uint8_t reg_addr;
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#endif
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DEBUGASSERT(priv != NULL);
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/* Perform a reset */
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l3gd20_reset(priv);
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/* Enable DRDY signal on INT 2 */
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l3gd20_write_register(priv,
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L3GD20_CTRL_REG_3,
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L3GD20_CTRL_REG_3_I2_DRDY_bm);
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/* Enable the maximum full scale mode.
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* Enable block data update for gyro sensor data.
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* This should prevent race conditions when reading sensor data.
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*/
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l3gd20_write_register(priv,
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L3GD20_CTRL_REG_4,
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L3GD20_CTRL_REG_4_BDU_bm |
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L3GD20_CTRL_REG_4_FS_1_bm |
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L3GD20_CTRL_REG_4_FS_0_bm);
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/* Enable X,Y,Z axis
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* DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
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*/
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l3gd20_write_register(priv,
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L3GD20_CTRL_REG_1,
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L3GD20_CTRL_REG_1_POWERDOWN_bm |
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L3GD20_CTRL_REG_1_X_EN_bm |
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L3GD20_CTRL_REG_1_Y_EN_bm |
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L3GD20_CTRL_REG_1_Z_EN_bm);
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/* Read measurement data to ensure DRDY is low */
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l3gd20_read_measurement_data(priv);
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/* Read back the content of all control registers for debug purposes */
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#ifdef CONFIG_DEBUG_SENSORS_INFO
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reg_content = 0;
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l3gd20_read_register(priv, L3GD20_WHO_AM_I, ®_content);
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sninfo("WHO_AM_I_REG = %04x\n", reg_content);
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for (reg_addr = L3GD20_CTRL_REG_1;
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reg_addr <= L3GD20_CTRL_REG_5;
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reg_addr++)
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{
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l3gd20_read_register(priv, reg_addr, ®_content);
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sninfo("R#%04x = %04x\n", reg_addr, reg_content);
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}
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l3gd20_read_register(priv, L3GD20_STATUS_REG, ®_content);
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sninfo("STATUS_REG = %04x\n", reg_content);
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#endif
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return OK;
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}
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/****************************************************************************
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* Name: l3gd20_close
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****************************************************************************/
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static int l3gd20_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct l3gd20_dev_s *priv = inode->i_private;
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DEBUGASSERT(priv != NULL);
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/* Perform a reset */
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l3gd20_reset(priv);
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return OK;
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}
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/****************************************************************************
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* Name: l3gd20_read
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****************************************************************************/
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static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct l3gd20_dev_s *priv = inode->i_private;
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FAR struct l3gd20_sensor_data_s *data;
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int ret;
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DEBUGASSERT(priv != NULL);
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/* Check if enough memory was provided for the read call */
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if (buflen < sizeof(FAR struct l3gd20_sensor_data_s))
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{
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snerr("ERROR: Not enough memory for reading out a sensor data sample\n");
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return -ENOSYS;
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}
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/* Acquire the semaphore before the data is copied */
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ret = nxsem_wait(&priv->datasem);
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if (ret < 0)
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{
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snerr("ERROR: Could not aquire priv->datasem: %d\n", ret);
|
|
DEBUGASSERT(ret == -EINTR);
|
|
return ret;
|
|
}
|
|
|
|
/* Copy the sensor data into the buffer */
|
|
|
|
data = (FAR struct l3gd20_sensor_data_s *)buffer;
|
|
memset(data, 0, sizeof(FAR struct l3gd20_sensor_data_s));
|
|
|
|
data->x_gyr = priv->data.x_gyr;
|
|
data->y_gyr = priv->data.y_gyr;
|
|
data->z_gyr = priv->data.z_gyr;
|
|
data->temperature = priv->data.temperature;
|
|
|
|
/* Give back the semaphore */
|
|
|
|
nxsem_post(&priv->datasem);
|
|
|
|
return sizeof(FAR struct l3gd20_sensor_data_s);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: l3gd20_write
|
|
****************************************************************************/
|
|
|
|
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
|
|
size_t buflen)
|
|
{
|
|
return -ENOSYS;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: l3gd20_ioctl
|
|
****************************************************************************/
|
|
|
|
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
{
|
|
int ret = OK;
|
|
|
|
switch (cmd)
|
|
{
|
|
/* @TODO */
|
|
|
|
/* Command was not recognized */
|
|
|
|
default:
|
|
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
|
|
ret = -ENOTTY;
|
|
break;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: l3gd20_register
|
|
*
|
|
* Description:
|
|
* Register the L3DF20 character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
|
|
* spi - An SPI driver instance.
|
|
* config - configuration for the L3GD20 driver.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
|
|
FAR struct l3gd20_config_s *config)
|
|
{
|
|
FAR struct l3gd20_dev_s *priv;
|
|
int ret = OK;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(spi != NULL);
|
|
DEBUGASSERT(config != NULL);
|
|
|
|
/* Initialize the L3GD20 device structure */
|
|
|
|
priv = (FAR struct l3gd20_dev_s *)kmm_malloc(sizeof(struct l3gd20_dev_s));
|
|
if (priv == NULL)
|
|
{
|
|
snerr("ERROR: Failed to allocate instance\n");
|
|
ret = -ENOMEM;
|
|
goto errout;
|
|
}
|
|
|
|
priv->spi = spi;
|
|
priv->config = config;
|
|
priv->work.worker = NULL;
|
|
|
|
priv->data.x_gyr = 0;
|
|
priv->data.y_gyr = 0;
|
|
priv->data.z_gyr = 0;
|
|
priv->data.temperature = 0;
|
|
|
|
/* Initialize sensor data access semaphore */
|
|
|
|
nxsem_init(&priv->datasem, 0, 1);
|
|
|
|
/* Setup SPI frequency and mode */
|
|
|
|
SPI_SETFREQUENCY(spi, L3GD20_SPI_FREQUENCY);
|
|
SPI_SETMODE(spi, L3GD20_SPI_MODE);
|
|
|
|
/* Attach the interrupt handler */
|
|
|
|
ret = priv->config->attach(priv->config, &l3gd20_interrupt_handler);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to attach interrupt\n");
|
|
goto errout;
|
|
}
|
|
|
|
/* Register the character driver */
|
|
|
|
ret = register_driver(devpath, &g_l3gd20_fops, 0666, priv);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to register driver: %d\n", ret);
|
|
kmm_free(priv);
|
|
nxsem_destroy(&priv->datasem);
|
|
goto errout;
|
|
}
|
|
|
|
/* Since we support multiple L3GD20 devices, 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_l3gd20_list;
|
|
g_l3gd20_list = priv;
|
|
|
|
errout:
|
|
return ret;
|
|
}
|
|
|
|
#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */
|