01254de1bf
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
1129 lines
30 KiB
C
1129 lines
30 KiB
C
/****************************************************************************
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* drivers/sensors/sensor.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <string.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <poll.h>
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#include <fcntl.h>
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#include <nuttx/list.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/mm/circbuf.h>
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#include <nuttx/mutex.h>
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#include <nuttx/sensors/sensor.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Device naming ************************************************************/
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#define ROUNDUP(x, esize) ((x + (esize - 1)) / (esize)) * (esize)
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#define DEVNAME_FMT "/dev/sensor/sensor_%s%s%d"
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#define DEVNAME_UNCAL "_uncal"
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* This structure describes sensor info */
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struct sensor_info_s
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{
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unsigned long esize;
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FAR char *name;
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};
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/* This structure describes user info of sensor, the user may be
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* advertiser or subscriber
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*/
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struct sensor_user_s
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{
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/* The common info */
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struct list_node node; /* Node of users list */
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struct pollfd *fds; /* The poll structure of thread waiting events */
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bool changed; /* This is used to indicate event happens and need to
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* asynchronous notify other users
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*/
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sem_t buffersem; /* Wakeup user waiting for data in circular buffer */
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/* The subscriber info
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* Support multi advertisers to subscribe their own data when they
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* appear in dual role
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*/
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unsigned long generation; /* Last generation subscriber has seen */
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unsigned long interval; /* The interval for subscriber */
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unsigned long latency; /* The bactch latency for subscriber */
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bool readlast; /* The flag of readlast */
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};
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/* This structure describes the state of the upper half driver */
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struct sensor_upperhalf_s
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{
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FAR struct sensor_lowerhalf_s *lower; /* The handle of lower half driver */
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struct sensor_state_s state; /* The state of sensor device */
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struct circbuf_s buffer; /* The circular buffer of sensor device */
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rmutex_t lock; /* Manages exclusive access to file operations */
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struct list_node userlist; /* List of users */
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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 sensor_pollnotify(FAR struct sensor_upperhalf_s *upper,
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pollevent_t eventset);
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static int sensor_open(FAR struct file *filep);
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static int sensor_close(FAR struct file *filep);
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static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t sensor_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int sensor_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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static int sensor_poll(FAR struct file *filep, FAR struct pollfd *fds,
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bool setup);
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static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
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size_t bytes);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct sensor_info_s g_sensor_info[] =
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{
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{0, NULL},
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{sizeof(struct sensor_accel), "accel"},
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{sizeof(struct sensor_mag), "mag"},
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{sizeof(struct sensor_gyro), "gyro"},
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{sizeof(struct sensor_light), "light"},
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{sizeof(struct sensor_baro), "baro"},
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{sizeof(struct sensor_prox), "prox"},
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{sizeof(struct sensor_humi), "humi"},
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{sizeof(struct sensor_temp), "temp"},
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{sizeof(struct sensor_rgb), "rgb"},
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{sizeof(struct sensor_hall), "hall"},
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{sizeof(struct sensor_ir), "ir"},
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{sizeof(struct sensor_gps), "gps"},
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{sizeof(struct sensor_uv), "uv"},
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{sizeof(struct sensor_noise), "noise"},
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{sizeof(struct sensor_pm25), "pm25"},
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{sizeof(struct sensor_pm1p0), "pm1p0"},
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{sizeof(struct sensor_pm10), "pm10"},
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{sizeof(struct sensor_co2), "co2"},
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{sizeof(struct sensor_hcho), "hcho"},
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{sizeof(struct sensor_tvoc), "tvoc"},
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{sizeof(struct sensor_ph), "ph"},
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{sizeof(struct sensor_dust), "dust"},
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{sizeof(struct sensor_hrate), "hrate"},
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{sizeof(struct sensor_hbeat), "hbeat"},
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{sizeof(struct sensor_ecg), "ecg"},
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{sizeof(struct sensor_ppgd), "ppgd"},
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{sizeof(struct sensor_ppgq), "ppgq"},
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{sizeof(struct sensor_impd), "impd"},
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{sizeof(struct sensor_ots), "ots"},
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{sizeof(struct sensor_gps_satellite), "gps_satellite"},
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{sizeof(struct sensor_wake_gesture), "wake_gesture"},
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{sizeof(struct sensor_cap), "cap"},
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};
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static const struct file_operations g_sensor_fops =
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{
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sensor_open, /* open */
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sensor_close, /* close */
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sensor_read, /* read */
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sensor_write, /* write */
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NULL, /* seek */
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sensor_ioctl, /* ioctl */
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sensor_poll /* poll */
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, NULL /* unlink */
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#endif
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static bool sensor_in_range(unsigned long left, unsigned long value,
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unsigned long right)
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{
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if (left < right)
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{
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return left <= value && value < right;
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}
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else
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{
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/* Maybe the data overflowed and a wraparound occurred */
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return left <= value || value < right;
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}
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}
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static bool sensor_is_updated(unsigned long generation,
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unsigned long ugeneration)
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{
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return generation > ugeneration;
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}
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static int sensor_update_interval(FAR struct file *filep,
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FAR struct sensor_upperhalf_s *upper,
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FAR struct sensor_user_s *user,
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unsigned long interval)
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{
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FAR struct sensor_lowerhalf_s *lower = upper->lower;
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FAR struct sensor_user_s *tmp;
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unsigned long min_interval = interval;
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unsigned long min_latency = interval != ULONG_MAX ?
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user->latency : ULONG_MAX;
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int ret = 0;
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if (interval == user->interval)
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{
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return 0;
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}
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list_for_every_entry(&upper->userlist, tmp, struct sensor_user_s, node)
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{
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if (tmp == user || tmp->interval == ULONG_MAX)
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{
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continue;
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}
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if (min_interval > tmp->interval)
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{
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min_interval = tmp->interval;
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}
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if (min_latency > tmp->latency)
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{
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min_latency = tmp->latency;
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}
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}
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if (lower->ops->set_interval)
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{
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if (min_interval != ULONG_MAX &&
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min_interval != upper->state.min_interval)
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{
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ret = lower->ops->set_interval(lower, filep, &min_interval);
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if (ret < 0)
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{
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return ret;
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}
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}
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if (min_latency == ULONG_MAX)
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{
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min_latency = 0;
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}
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if (lower->ops->batch &&
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(min_latency != upper->state.min_latency ||
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(min_interval != upper->state.min_interval && min_latency)))
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{
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ret = lower->ops->batch(lower, filep, &min_latency);
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if (ret >= 0)
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{
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upper->state.min_latency = min_latency;
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}
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}
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}
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upper->state.min_interval = min_interval;
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user->interval = interval;
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sensor_pollnotify(upper, POLLPRI);
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return ret;
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}
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static int sensor_update_latency(FAR struct file *filep,
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FAR struct sensor_upperhalf_s *upper,
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FAR struct sensor_user_s *user,
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unsigned long latency)
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{
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FAR struct sensor_lowerhalf_s *lower = upper->lower;
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FAR struct sensor_user_s *tmp;
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unsigned long min_latency = latency;
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int ret = 0;
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if (latency == user->latency)
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{
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return 0;
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}
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if (user->interval == ULONG_MAX)
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{
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user->latency = latency;
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return 0;
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}
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if (latency <= upper->state.min_latency)
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{
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goto update;
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}
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list_for_every_entry(&upper->userlist, tmp, struct sensor_user_s, node)
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{
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if (tmp == user || tmp->interval == ULONG_MAX)
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{
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continue;
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}
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if (min_latency > tmp->latency)
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{
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min_latency = tmp->latency;
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}
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}
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update:
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if (min_latency == ULONG_MAX)
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{
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min_latency = 0;
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}
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if (min_latency == upper->state.min_latency)
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{
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user->latency = latency;
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return ret;
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}
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if (lower->ops->batch)
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{
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ret = lower->ops->batch(lower, filep, &min_latency);
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if (ret < 0)
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{
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return ret;
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}
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}
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upper->state.min_latency = min_latency;
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user->latency = latency;
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sensor_pollnotify(upper, POLLPRI);
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return ret;
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}
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static void sensor_pollnotify_one(FAR struct sensor_user_s *user,
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pollevent_t eventset)
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{
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int semcount;
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if (eventset == POLLPRI)
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{
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user->changed = true;
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}
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if (!user->fds)
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{
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return;
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}
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user->fds->revents |= (user->fds->events & eventset);
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if (user->fds->revents != 0)
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{
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sninfo("Report events: %08" PRIx32 "\n", user->fds->revents);
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nxsem_get_value(user->fds->sem, &semcount);
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if (semcount < 1)
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{
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nxsem_post(user->fds->sem);
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}
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}
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}
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static void sensor_pollnotify(FAR struct sensor_upperhalf_s *upper,
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pollevent_t eventset)
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{
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FAR struct sensor_user_s *user;
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list_for_every_entry(&upper->userlist, user, struct sensor_user_s, node)
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{
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sensor_pollnotify_one(user, eventset);
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}
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}
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static int sensor_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 sensor_upperhalf_s *upper = inode->i_private;
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FAR struct sensor_lowerhalf_s *lower = upper->lower;
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FAR struct sensor_user_s *user;
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int ret = 0;
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nxrmutex_lock(&upper->lock);
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user = kmm_zalloc(sizeof(struct sensor_user_s));
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if (user == NULL)
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{
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ret = -ENOMEM;
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goto errout_with_sem;
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}
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if (lower->ops->open)
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{
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ret = lower->ops->open(lower, filep);
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if (ret < 0)
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{
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goto errout_with_user;
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}
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}
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if (filep->f_oflags & O_RDOK)
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{
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if (upper->state.nsubscribers == 0 && lower->ops->activate)
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{
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ret = lower->ops->activate(lower, filep, true);
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if (ret < 0)
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{
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goto errout_with_open;
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}
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}
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upper->state.nsubscribers++;
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}
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if (filep->f_oflags & O_WROK)
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{
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upper->state.nadvertisers++;
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if (filep->f_oflags & SENSOR_PERSIST)
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{
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lower->persist = true;
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}
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}
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if (upper->state.generation && lower->persist)
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{
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user->generation = upper->state.generation - 1;
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}
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else
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{
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user->generation = upper->state.generation;
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}
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user->interval = ULONG_MAX;
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user->readlast = true;
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nxsem_init(&user->buffersem, 0, 0);
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nxsem_set_protocol(&user->buffersem, SEM_PRIO_NONE);
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list_add_tail(&upper->userlist, &user->node);
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/* The new user generation, notify to other users */
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sensor_pollnotify(upper, POLLPRI);
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filep->f_priv = user;
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goto errout_with_sem;
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errout_with_open:
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if (lower->ops->close)
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{
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lower->ops->close(lower, filep);
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}
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errout_with_user:
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kmm_free(user);
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errout_with_sem:
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nxrmutex_unlock(&upper->lock);
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return ret;
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}
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|
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static int sensor_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 sensor_upperhalf_s *upper = inode->i_private;
|
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FAR struct sensor_lowerhalf_s *lower = upper->lower;
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FAR struct sensor_user_s *user = filep->f_priv;
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int ret = 0;
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|
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nxrmutex_lock(&upper->lock);
|
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if (lower->ops->close)
|
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{
|
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ret = lower->ops->close(lower, filep);
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if (ret < 0)
|
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{
|
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nxrmutex_unlock(&upper->lock);
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return ret;
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}
|
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}
|
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|
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if (filep->f_oflags & O_RDOK)
|
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{
|
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upper->state.nsubscribers--;
|
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if (upper->state.nsubscribers == 0 && lower->ops->activate)
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{
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lower->ops->activate(lower, filep, false);
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}
|
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}
|
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|
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if (filep->f_oflags & O_WROK)
|
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{
|
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upper->state.nadvertisers--;
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}
|
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|
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list_delete(&user->node);
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sensor_update_latency(filep, upper, user, ULONG_MAX);
|
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sensor_update_interval(filep, upper, user, ULONG_MAX);
|
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nxsem_destroy(&user->buffersem);
|
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|
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/* The user is closed, notify to other users */
|
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|
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sensor_pollnotify(upper, POLLPRI);
|
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nxrmutex_unlock(&upper->lock);
|
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|
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kmm_free(user);
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return ret;
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}
|
|
|
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static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
|
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size_t len)
|
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{
|
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FAR struct inode *inode = filep->f_inode;
|
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FAR struct sensor_upperhalf_s *upper = inode->i_private;
|
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FAR struct sensor_lowerhalf_s *lower = upper->lower;
|
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FAR struct sensor_user_s *user = filep->f_priv;
|
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unsigned long nums;
|
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ssize_t ret;
|
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|
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if (!buffer || !len)
|
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{
|
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return -EINVAL;
|
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}
|
|
|
|
nxrmutex_lock(&upper->lock);
|
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if (lower->ops->fetch)
|
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{
|
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if (!(filep->f_oflags & O_NONBLOCK))
|
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{
|
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nxrmutex_unlock(&upper->lock);
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ret = nxsem_wait_uninterruptible(&user->buffersem);
|
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if (ret < 0)
|
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{
|
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return ret;
|
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}
|
|
|
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nxrmutex_lock(&upper->lock);
|
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}
|
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else if (!upper->state.nsubscribers)
|
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{
|
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ret = -EAGAIN;
|
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goto out;
|
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}
|
|
|
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ret = lower->ops->fetch(lower, filep, buffer, len);
|
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}
|
|
else
|
|
{
|
|
/* If readlast is true, you can always read the last data
|
|
* in the circbuffer as initial value for new users when the
|
|
* sensor device has not yet generated new data, otherwise,
|
|
* it will return 0 when there isn't new data.
|
|
*/
|
|
|
|
if (user->readlast)
|
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{
|
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if (circbuf_is_empty(&upper->buffer))
|
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{
|
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ret = -ENODATA;
|
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goto out;
|
|
}
|
|
|
|
/* If the device data is persistent, and when the device has no
|
|
* new data, the user can copy the old data, otherwise return
|
|
* -ENODATA.
|
|
*/
|
|
|
|
if (user->generation == upper->state.generation)
|
|
{
|
|
if (lower->persist)
|
|
{
|
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user->generation--;
|
|
}
|
|
else
|
|
{
|
|
ret = -ENODATA;
|
|
goto out;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* We must make sure that when the semaphore is equal to 1,
|
|
* there must be events available in the buffer, so we use a
|
|
* while statement to synchronize this case that other read
|
|
* operations consume events that have just entered the buffer.
|
|
*/
|
|
|
|
while (circbuf_is_empty(&upper->buffer) ||
|
|
user->generation == upper->state.generation)
|
|
{
|
|
if (filep->f_oflags & O_NONBLOCK)
|
|
{
|
|
ret = -EAGAIN;
|
|
goto out;
|
|
}
|
|
else
|
|
{
|
|
nxrmutex_unlock(&upper->lock);
|
|
ret = nxsem_wait_uninterruptible(&user->buffersem);
|
|
if (ret < 0)
|
|
{
|
|
return ret;
|
|
}
|
|
|
|
nxrmutex_lock(&upper->lock);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* If user's generation isn't within circbuffer range, the
|
|
* oldest data in circbuffer are returned to the users.
|
|
*/
|
|
|
|
if (!sensor_in_range(upper->state.generation - lower->nbuffer,
|
|
user->generation, upper->state.generation))
|
|
|
|
{
|
|
user->generation = upper->state.generation - lower->nbuffer;
|
|
}
|
|
|
|
nums = upper->state.generation - user->generation;
|
|
if (len < nums * upper->state.esize)
|
|
{
|
|
nums = len / upper->state.esize;
|
|
}
|
|
|
|
len = nums * upper->state.esize;
|
|
ret = circbuf_peekat(&upper->buffer,
|
|
user->generation * upper->state.esize,
|
|
buffer, len);
|
|
user->generation += nums;
|
|
}
|
|
|
|
out:
|
|
nxrmutex_unlock(&upper->lock);
|
|
return ret;
|
|
}
|
|
|
|
static ssize_t sensor_write(FAR struct file *filep, FAR const char *buffer,
|
|
size_t buflen)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct sensor_upperhalf_s *upper = inode->i_private;
|
|
FAR struct sensor_lowerhalf_s *lower = upper->lower;
|
|
|
|
return lower->push_event(lower->priv, buffer, buflen);
|
|
}
|
|
|
|
static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct sensor_upperhalf_s *upper = inode->i_private;
|
|
FAR struct sensor_lowerhalf_s *lower = upper->lower;
|
|
FAR struct sensor_user_s *user = filep->f_priv;
|
|
int ret = 0;
|
|
|
|
sninfo("cmd=%x arg=%08lx\n", cmd, arg);
|
|
|
|
switch (cmd)
|
|
{
|
|
case SNIOC_GET_STATE:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
memcpy((FAR void *)(uintptr_t)arg,
|
|
&upper->state, sizeof(upper->state));
|
|
user->changed = false;
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_SET_INTERVAL:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
ret = sensor_update_interval(filep, upper, user,
|
|
arg ? arg : ULONG_MAX);
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_BATCH:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
ret = sensor_update_latency(filep, upper, user, arg);
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_SELFTEST:
|
|
{
|
|
if (lower->ops->selftest == NULL)
|
|
{
|
|
ret = -ENOTSUP;
|
|
break;
|
|
}
|
|
|
|
ret = lower->ops->selftest(lower, filep, arg);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_SET_CALIBVALUE:
|
|
{
|
|
if (lower->ops->set_calibvalue == NULL)
|
|
{
|
|
ret = -ENOTSUP;
|
|
break;
|
|
}
|
|
|
|
ret = lower->ops->set_calibvalue(lower, filep, arg);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_CALIBRATE:
|
|
{
|
|
if (lower->ops->calibrate == NULL)
|
|
{
|
|
ret = -ENOTSUP;
|
|
break;
|
|
}
|
|
|
|
ret = lower->ops->calibrate(lower, filep, arg);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_SET_USERPRIV:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
upper->state.priv = (FAR void *)(uintptr_t)arg;
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_SET_BUFFER_NUMBER:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
if (!circbuf_is_init(&upper->buffer))
|
|
{
|
|
if (arg >= lower->nbuffer)
|
|
{
|
|
lower->nbuffer = arg;
|
|
}
|
|
else
|
|
{
|
|
ret = -ERANGE;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
ret = -EBUSY;
|
|
}
|
|
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
case SNIOC_READLAST:
|
|
{
|
|
nxrmutex_lock(&upper->lock);
|
|
user->readlast = !!arg;
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
break;
|
|
|
|
default:
|
|
|
|
/* Lowerhalf driver process other cmd. */
|
|
|
|
if (lower->ops->control)
|
|
{
|
|
ret = lower->ops->control(lower, filep, cmd, arg);
|
|
}
|
|
else
|
|
{
|
|
ret = -ENOTTY;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int sensor_poll(FAR struct file *filep,
|
|
FAR struct pollfd *fds, bool setup)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct sensor_upperhalf_s *upper = inode->i_private;
|
|
FAR struct sensor_lowerhalf_s *lower = upper->lower;
|
|
FAR struct sensor_user_s *user = filep->f_priv;
|
|
pollevent_t eventset = 0;
|
|
int semcount;
|
|
int ret = 0;
|
|
|
|
nxrmutex_lock(&upper->lock);
|
|
if (setup)
|
|
{
|
|
/* Don't have enough space to store fds */
|
|
|
|
if (user->fds)
|
|
{
|
|
ret = -ENOSPC;
|
|
goto errout;
|
|
}
|
|
|
|
user->fds = fds;
|
|
fds->priv = filep;
|
|
if (lower->ops->fetch)
|
|
{
|
|
/* Always return POLLIN for fetch data directly(non-block) */
|
|
|
|
if (filep->f_oflags & O_NONBLOCK)
|
|
{
|
|
eventset |= (fds->events & POLLIN);
|
|
}
|
|
else
|
|
{
|
|
nxsem_get_value(&user->buffersem, &semcount);
|
|
if (semcount > 0)
|
|
{
|
|
eventset |= (fds->events & POLLIN);
|
|
}
|
|
}
|
|
}
|
|
else if (sensor_is_updated(upper->state.generation, user->generation))
|
|
{
|
|
eventset |= (fds->events & POLLIN);
|
|
}
|
|
|
|
if (user->changed)
|
|
{
|
|
eventset |= (fds->events & POLLPRI);
|
|
}
|
|
|
|
if (eventset)
|
|
{
|
|
sensor_pollnotify_one(user, eventset);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
user->fds = NULL;
|
|
fds->priv = NULL;
|
|
}
|
|
|
|
errout:
|
|
nxrmutex_unlock(&upper->lock);
|
|
return ret;
|
|
}
|
|
|
|
static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
|
|
size_t bytes)
|
|
{
|
|
FAR struct sensor_upperhalf_s *upper = priv;
|
|
FAR struct sensor_lowerhalf_s *lower = upper->lower;
|
|
FAR struct sensor_user_s *user;
|
|
unsigned long envcount;
|
|
int semcount;
|
|
int ret;
|
|
|
|
envcount = bytes / upper->state.esize;
|
|
if (!envcount || bytes != envcount * upper->state.esize)
|
|
{
|
|
return -EINVAL;
|
|
}
|
|
|
|
nxrmutex_lock(&upper->lock);
|
|
if (!circbuf_is_init(&upper->buffer))
|
|
{
|
|
/* Initialize sensor buffer when data is first generated */
|
|
|
|
ret = circbuf_init(&upper->buffer, NULL, lower->nbuffer *
|
|
upper->state.esize);
|
|
if (ret < 0)
|
|
{
|
|
nxrmutex_unlock(&upper->lock);
|
|
return ret;
|
|
}
|
|
}
|
|
|
|
circbuf_overwrite(&upper->buffer, data, bytes);
|
|
upper->state.generation += envcount;
|
|
list_for_every_entry(&upper->userlist, user, struct sensor_user_s, node)
|
|
{
|
|
if (sensor_is_updated(upper->state.generation, user->generation))
|
|
{
|
|
nxsem_get_value(&user->buffersem, &semcount);
|
|
if (semcount < 1)
|
|
{
|
|
nxsem_post(&user->buffersem);
|
|
}
|
|
|
|
sensor_pollnotify_one(user, POLLIN);
|
|
}
|
|
}
|
|
|
|
nxrmutex_unlock(&upper->lock);
|
|
return bytes;
|
|
}
|
|
|
|
static void sensor_notify_event(FAR void *priv)
|
|
{
|
|
FAR struct sensor_upperhalf_s *upper = priv;
|
|
FAR struct sensor_user_s *user;
|
|
int semcount;
|
|
|
|
nxrmutex_lock(&upper->lock);
|
|
list_for_every_entry(&upper->userlist, user, struct sensor_user_s, node)
|
|
{
|
|
nxsem_get_value(&user->buffersem, &semcount);
|
|
if (semcount < 1)
|
|
{
|
|
nxsem_post(&user->buffersem);
|
|
}
|
|
|
|
sensor_pollnotify_one(user, POLLIN);
|
|
}
|
|
|
|
nxrmutex_unlock(&upper->lock);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: sensor_register
|
|
*
|
|
* Description:
|
|
* This function binds an instance of a "lower half" Sensor driver with the
|
|
* "upper half" Sensor device and registers that device so that can be used
|
|
* by application code.
|
|
*
|
|
* We will register the chararter device by node name format based on the
|
|
* type of sensor. Multiple types of the same type are distinguished by
|
|
* numbers. eg: accel0, accel1
|
|
*
|
|
* Input Parameters:
|
|
* dev - A pointer to an instance of lower half sensor driver. This
|
|
* instance is bound to the sensor driver and must persists as long
|
|
* as the driver persists.
|
|
* devno - The user specifies which device of this type, from 0. If the
|
|
* devno alerady exists, -EEXIST will be returned.
|
|
*
|
|
* Returned Value:
|
|
* OK if the driver was successfully register; A negated errno value is
|
|
* returned on any failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
|
|
{
|
|
char path[PATH_MAX];
|
|
|
|
DEBUGASSERT(lower != NULL);
|
|
|
|
snprintf(path, PATH_MAX, DEVNAME_FMT,
|
|
g_sensor_info[lower->type].name,
|
|
lower->uncalibrated ? DEVNAME_UNCAL : "",
|
|
devno);
|
|
return sensor_custom_register(lower, path,
|
|
g_sensor_info[lower->type].esize);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: sensor_custom_register
|
|
*
|
|
* Description:
|
|
* This function binds an instance of a "lower half" Sensor driver with the
|
|
* "upper half" Sensor device and registers that device so that can be used
|
|
* by application code.
|
|
*
|
|
* You can register the character device type by specific path and esize.
|
|
* This API corresponds to the sensor_custom_unregister.
|
|
*
|
|
* Input Parameters:
|
|
* dev - A pointer to an instance of lower half sensor driver. This
|
|
* instance is bound to the sensor driver and must persists as long
|
|
* as the driver persists.
|
|
* path - The user specifies path of device. ex: /dev/sensor/xxx.
|
|
* esize - The element size of intermediate circular buffer.
|
|
*
|
|
* Returned Value:
|
|
* OK if the driver was successfully register; A negated errno value is
|
|
* returned on any failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR const char *path, unsigned long esize)
|
|
{
|
|
FAR struct sensor_upperhalf_s *upper;
|
|
int ret = -EINVAL;
|
|
|
|
DEBUGASSERT(lower != NULL);
|
|
|
|
if (lower->type >= SENSOR_TYPE_COUNT || !esize)
|
|
{
|
|
snerr("ERROR: type is invalid\n");
|
|
return ret;
|
|
}
|
|
|
|
/* Allocate the upper-half data structure */
|
|
|
|
upper = kmm_zalloc(sizeof(struct sensor_upperhalf_s));
|
|
if (!upper)
|
|
{
|
|
snerr("ERROR: Allocation failed\n");
|
|
return -ENOMEM;
|
|
}
|
|
|
|
/* Initialize the upper-half data structure */
|
|
|
|
list_initialize(&upper->userlist);
|
|
upper->state.esize = esize;
|
|
upper->state.min_interval = ULONG_MAX;
|
|
if (lower->ops->activate)
|
|
{
|
|
upper->state.nadvertisers = 1;
|
|
}
|
|
|
|
nxrmutex_init(&upper->lock);
|
|
|
|
/* Bind the lower half data structure member */
|
|
|
|
lower->priv = upper;
|
|
|
|
if (!lower->ops->fetch)
|
|
{
|
|
if (!lower->nbuffer)
|
|
{
|
|
lower->nbuffer = 1;
|
|
}
|
|
|
|
lower->push_event = sensor_push_event;
|
|
}
|
|
else
|
|
{
|
|
lower->notify_event = sensor_notify_event;
|
|
lower->nbuffer = 0;
|
|
}
|
|
|
|
#ifdef CONFIG_SENSORS_RPMSG
|
|
lower = sensor_rpmsg_register(lower, path);
|
|
if (lower == NULL)
|
|
{
|
|
ret = -EIO;
|
|
goto drv_err;
|
|
}
|
|
#endif
|
|
|
|
upper->state.nbuffer = lower->nbuffer;
|
|
upper->lower = lower;
|
|
sninfo("Registering %s\n", path);
|
|
ret = register_driver(path, &g_sensor_fops, 0666, upper);
|
|
if (ret)
|
|
{
|
|
goto drv_err;
|
|
}
|
|
|
|
return ret;
|
|
|
|
drv_err:
|
|
nxrmutex_destroy(&upper->lock);
|
|
|
|
kmm_free(upper);
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: sensor_unregister
|
|
*
|
|
* Description:
|
|
* This function unregister character node and release all resource about
|
|
* upper half driver.
|
|
*
|
|
* Input Parameters:
|
|
* dev - A pointer to an instance of lower half sensor driver. This
|
|
* instance is bound to the sensor driver and must persists as long
|
|
* as the driver persists.
|
|
* devno - The user specifies which device of this type, from 0.
|
|
****************************************************************************/
|
|
|
|
void sensor_unregister(FAR struct sensor_lowerhalf_s *lower, int devno)
|
|
{
|
|
char path[PATH_MAX];
|
|
|
|
snprintf(path, PATH_MAX, DEVNAME_FMT,
|
|
g_sensor_info[lower->type].name,
|
|
lower->uncalibrated ? DEVNAME_UNCAL : "",
|
|
devno);
|
|
sensor_custom_unregister(lower, path);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: sensor_custom_unregister
|
|
*
|
|
* Description:
|
|
* This function unregister character node and release all resource about
|
|
* upper half driver. This API corresponds to the sensor_custom_register.
|
|
*
|
|
* Input Parameters:
|
|
* dev - A pointer to an instance of lower half sensor driver. This
|
|
* instance is bound to the sensor driver and must persists as long
|
|
* as the driver persists.
|
|
* path - The user specifies path of device, ex: /dev/sensor/xxx
|
|
****************************************************************************/
|
|
|
|
void sensor_custom_unregister(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR const char *path)
|
|
{
|
|
FAR struct sensor_upperhalf_s *upper;
|
|
|
|
DEBUGASSERT(lower != NULL);
|
|
DEBUGASSERT(lower->priv != NULL);
|
|
|
|
upper = lower->priv;
|
|
|
|
sninfo("UnRegistering %s\n", path);
|
|
unregister_driver(path);
|
|
|
|
#ifdef CONFIG_SENSORS_RPMSG
|
|
sensor_rpmsg_unregister(lower);
|
|
#endif
|
|
|
|
nxrmutex_destroy(&upper->lock);
|
|
if (circbuf_is_init(&upper->buffer))
|
|
{
|
|
circbuf_uninit(&upper->buffer);
|
|
}
|
|
|
|
kmm_free(upper);
|
|
}
|