42a0796615
sched/semaphore: Add nxsem_post() which is identical to sem_post() except that it never modifies the errno variable. Changed all references to sem_post in the OS to nxsem_post().
sched/semaphore: Add nxsem_destroy() which is identical to sem_destroy() except that it never modifies the errno variable. Changed all references to sem_destroy() in the OS to nxsem_destroy().
libc/semaphore and sched/semaphore: Add nxsem_getprotocol() and nxsem_setprotocola which are identical to sem_getprotocol() and set_setprotocol() except that they never modifies the errno variable. Changed all references to sem_setprotocol in the OS to nxsem_setprotocol(). sem_getprotocol() was not used in the OS
603 lines
19 KiB
C
603 lines
19 KiB
C
/****************************************************************************
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* drivers/sensors/lis3dsh.c
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* Character driver for the LIS3DSH 3-Axis acclerometer.
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*
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* Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
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* Author: Alexander Entinger <a.entinger@ds-automotion.com>
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* Thomas Ilk
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* Florian Olbrich <flox@posteo.de>
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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 <string.h>
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#include <semaphore.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/lis3dsh.h>
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#if defined(CONFIG_SPI) && defined(CONFIG_LIS3DSH)
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/****************************************************************************
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* Private
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****************************************************************************/
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struct lis3dsh_sensor_data_s
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{
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int16_t x_acc; /* Measurement result for x axis */
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int16_t y_acc; /* Measurement result for y axis */
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int16_t z_acc; /* Measurement result for z axis */
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};
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struct lis3dsh_dev_s
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{
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FAR struct lis3dsh_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 lis3dsh_config_s *config; /* Pointer to the configuration
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* of the LIS3DSH sensor */
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sem_t datasem; /* Manages exclusive access to this
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* structure */
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struct lis3dsh_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
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* sensor after the arrival of new
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* data was 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 lis3dsh_read_register(FAR struct lis3dsh_dev_s *dev,
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uint8_t const reg_addr, uint8_t *reg_data);
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static void lis3dsh_write_register(FAR struct lis3dsh_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 lis3dsh_reset(FAR struct lis3dsh_dev_s *dev);
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static void lis3dsh_read_measurement_data(FAR struct lis3dsh_dev_s *dev);
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static void lis3dsh_read_acclerometer_data(FAR struct lis3dsh_dev_s *dev,
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uint16_t *x_acc, uint16_t *y_acc,
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uint16_t *z_acc);
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static int lis3dsh_interrupt_handler(int irq, FAR void *context);
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static void lis3dsh_worker(FAR void *arg);
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static int lis3dsh_open(FAR struct file *filep);
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static int lis3dsh_close(FAR struct file *filep);
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static ssize_t lis3dsh_read(FAR struct file *, FAR char *buffer,
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size_t buflen);
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static ssize_t lis3dsh_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int lis3dsh_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_lis3dsh_fops =
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{
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lis3dsh_open,
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lis3dsh_close,
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lis3dsh_read,
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lis3dsh_write,
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NULL,
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lis3dsh_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 lis3dsh_dev_s *g_lis3dsh_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: lis3dsh_read_register
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****************************************************************************/
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static void lis3dsh_read_register(FAR struct lis3dsh_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 LIS3DSH */
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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 LIS3DSH */
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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: lis3dsh_write_register
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****************************************************************************/
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static void lis3dsh_write_register(FAR struct lis3dsh_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 LIS3DSH */
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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 LIS3DSH */
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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: lis3dsh_reset
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****************************************************************************/
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static void lis3dsh_reset(FAR struct lis3dsh_dev_s *dev)
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{
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lis3dsh_write_register(dev, LIS3DSH_CTRL_REG_6, LIS3DSH_CTRL_REG_6_BOOT_bm);
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up_mdelay(100);
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}
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/****************************************************************************
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* Name: lis3dsh_read_measurement_data
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****************************************************************************/
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static void lis3dsh_read_measurement_data(FAR struct lis3dsh_dev_s *dev)
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{
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uint16_t x_acc = 0;
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uint16_t y_acc = 0;
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uint16_t z_acc = 0;
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int ret;
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/* Read acclerometer data */
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lis3dsh_read_acclerometer_data(dev, &x_acc, &y_acc, &z_acc);
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/* Aquire the semaphore before the data is copied */
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ret = sem_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_acc = (int16_t)x_acc;
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dev->data.y_acc = (int16_t)y_acc;
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dev->data.z_acc = (int16_t)z_acc;
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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_acc << 16) ^ (y_acc << 8) ^ (z_acc << 0));
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}
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/****************************************************************************
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* Name: lis3dsh_read_acclerometer_data
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****************************************************************************/
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static void lis3dsh_read_acclerometer_data(FAR struct lis3dsh_dev_s *dev,
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uint16_t * x_acc, uint16_t * y_acc,
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uint16_t * z_acc)
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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 LIS3DSH */
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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 0x80 ->
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* MSB is set -> Read Indication.
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*/
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SPI_SEND(dev->spi, (LIS3DSH_OUT_X_L_REG | 0x80));
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/* RX */
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*x_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*x_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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*y_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*y_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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*z_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
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*z_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
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/* Set CS to high which deselects the LIS3DSH */
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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: lis3dsh_interrupt_handler
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****************************************************************************/
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static int lis3dsh_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 LIS3DSH 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 lis3dsh_dev_s *priv = NULL;
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int ret;
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/* Find out which device caused the interrupt */
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for (priv = g_lis3dsh_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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}
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DEBUGASSERT(priv != NULL);
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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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if (work_available(&priv->work))
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{
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ret = work_queue(HPWORK, &priv->work, lis3dsh_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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}
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return OK;
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}
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/****************************************************************************
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* Name: lis3dsh_worker
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****************************************************************************/
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static void lis3dsh_worker(FAR void *arg)
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{
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FAR struct lis3dsh_dev_s *priv = (FAR struct lis3dsh_dev_s *)(arg);
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DEBUGASSERT(priv != NULL);
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/* Read out the latest sensor data */
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lis3dsh_read_measurement_data(priv);
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}
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/****************************************************************************
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* Name: lis3dsh_open
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****************************************************************************/
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static int lis3dsh_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 lis3dsh_dev_s *priv = inode->i_private;
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DEBUGASSERT(priv != NULL);
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/* Perform a reset */
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lis3dsh_reset(priv);
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/* Enable - the full scale range (FS = +/- 16 g) */
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lis3dsh_write_register(priv,
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LIS3DSH_CTRL_REG_5, LIS3DSH_CTRL_REG_5_FSCALE_2_bm);
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/* Enable - Auto increment of address when reading multiple bytes */
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lis3dsh_write_register(priv,
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LIS3DSH_CTRL_REG_6, LIS3DSH_CTRL_REG_6_ADD_INC_bm);
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/* Enable - Measurement of X-, Y-, and Z-axis - Block data update for
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* accelerating data This should prevent race conditions when reading sensor
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* data - fastest output data rate (ODR = 1600 Hz) */
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lis3dsh_write_register(priv,
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LIS3DSH_CTRL_REG_4,
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LIS3DSH_CTRL_REG_4_XEN_bm | LIS3DSH_CTRL_REG_4_YEN_bm |
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LIS3DSH_CTRL_REG_4_ZEN_bm | LIS3DSH_CTRL_REG_4_BDU_bm |
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LIS3DSH_CTRL_REG_4_ODR_3_bm | LIS3DSH_CTRL_REG_4_ODR_0_bm);
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/* Enable - DRDY signal enable to INT 1 */
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lis3dsh_write_register(priv,
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LIS3DSH_CTRL_REG_3,
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LIS3DSH_CTRL_REG_3_DR_EN_bm | LIS3DSH_CTRL_REG_3_IEA_bm |
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LIS3DSH_CTRL_REG_3_IEL_bm | LIS3DSH_CTRL_REG_3_INT1_EN_bm);
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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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{
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uint8_t reg_content = 0;
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_1, ®_content);
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sninfo("LIS3DSH_CTRL_REG_1 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_2, ®_content);
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sninfo("LIS3DSH_CTRL_REG_2 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_3, ®_content);
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sninfo("LIS3DSH_CTRL_REG_3 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_4, ®_content);
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sninfo("LIS3DSH_CTRL_REG_4 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_5, ®_content);
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sninfo("LIS3DSH_CTRL_REG_5 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_6, ®_content);
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sninfo("LIS3DSH_CTRL_REG_6 = %04x\n", reg_content);
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lis3dsh_read_register(priv, LIS3DSH_STATUS_REG, ®_content);
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sninfo("STATUS_REG = %04x\n", reg_content);
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}
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#endif
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return OK;
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}
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/****************************************************************************
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* Name: lis3dsh_close
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****************************************************************************/
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static int lis3dsh_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 lis3dsh_dev_s *priv = inode->i_private;
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DEBUGASSERT(priv != NULL);
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/* Perform a reset */
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lis3dsh_reset(priv);
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return OK;
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}
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/****************************************************************************
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* Name: lis3dsh_read
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****************************************************************************/
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static ssize_t lis3dsh_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 lis3dsh_dev_s *priv = inode->i_private;
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FAR struct lis3dsh_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 lis3dsh_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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/* Aquire the semaphore before the data is copied */
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ret = sem_wait(&priv->datasem);
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if (ret < 0)
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{
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int errcode = errno;
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snerr("ERROR: Could not aquire priv->datasem: %d\n", errcode);
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return -errcode;
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}
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/* Copy the sensor data into the buffer */
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data = (FAR struct lis3dsh_sensor_data_s *)buffer;
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memset(data, 0, sizeof(FAR struct lis3dsh_sensor_data_s));
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data->x_acc = priv->data.x_acc;
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data->y_acc = priv->data.y_acc;
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data->z_acc = priv->data.z_acc;
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/* Give back the semaphore */
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nxsem_post(&priv->datasem);
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return sizeof(FAR struct lis3dsh_sensor_data_s);
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}
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/****************************************************************************
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* Name: lis3dsh_write
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****************************************************************************/
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static ssize_t lis3dsh_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 -ENOSYS;
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}
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/****************************************************************************
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|
* Name: lis3dsh_ioctl
|
|
****************************************************************************/
|
|
|
|
static int lis3dsh_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
{
|
|
int ret = OK;
|
|
|
|
switch (cmd)
|
|
{
|
|
/* Command was not recognized */
|
|
|
|
default:
|
|
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
|
|
ret = -ENOTTY;
|
|
break;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: lis3dsh_register
|
|
*
|
|
* Description:
|
|
* Register the LIS3DSH character device as 'devpath'
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register. E.g., "/dev/acc0"
|
|
* spi - An instance of the SPI interface to use to communicate with
|
|
* LIS3DSH
|
|
* config - configuration for the LIS3DSH driver.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int lis3dsh_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
|
|
FAR struct lis3dsh_config_s *config)
|
|
{
|
|
FAR struct lis3dsh_dev_s *priv;
|
|
int ret;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(spi != NULL);
|
|
DEBUGASSERT(config != NULL);
|
|
|
|
/* Initialize the LIS3DSH device structure */
|
|
|
|
priv = (FAR struct lis3dsh_dev_s *)kmm_malloc(sizeof(struct lis3dsh_dev_s));
|
|
if (priv == NULL)
|
|
{
|
|
snerr("ERROR: Failed to allocate instance\n");
|
|
return -ENOMEM;
|
|
}
|
|
|
|
priv->spi = spi;
|
|
priv->config = config;
|
|
priv->work.worker = NULL;
|
|
|
|
nxsem_init(&priv->datasem, 0, 1); /* Initialize sensor data access
|
|
* semaphore */
|
|
|
|
/* Setup SPI frequency and mode */
|
|
|
|
SPI_SETFREQUENCY(spi, LIS3DSH_SPI_FREQUENCY);
|
|
SPI_SETMODE(spi, LIS3DSH_SPI_MODE);
|
|
|
|
/* Register the character driver */
|
|
|
|
ret = register_driver(devpath, &g_lis3dsh_fops, 0666, priv);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to register driver: %d\n", ret);
|
|
kmm_free(priv);
|
|
nxsem_destroy(&priv->datasem);
|
|
return ret;
|
|
}
|
|
|
|
/* Since we support multiple LIS3DSH 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_lis3dsh_list;
|
|
g_lis3dsh_list = priv;
|
|
|
|
/* Attach the interrupt handler */
|
|
|
|
ret = priv->config->attach(priv->config, &lis3dsh_interrupt_handler);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to attach interrupt: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
#endif /* CONFIG_SPI && CONFIG_LIS3DSH */
|