471 lines
22 KiB
Plaintext
471 lines
22 KiB
Plaintext
ADXL345 (Alan Carvalho de Assis)
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=======
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The ADXL345 accelerometer can operate in I2C or SPI mode. To operate in I2C
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mode just connect the CS pin to Vddi/o.
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In order to operate in SPI mode CS need to use connected to microcontroller,
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it cannot leave unconnected.
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In SPI mode it works with clock polarity (CPOL) = 1 and clock phase (CPHA)
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= 1.
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ADXL372 (Bob Feretich)
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=======
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The ADXL372 is a 200g tri-axis accelerometer that is capable of detecting
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and recording shock impact impact events. Recording trigger
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characteristics are programed into the sensor via multiple threshold and
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duration registers. The ADXL372 is a SPI only device that can transfer
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data at 10 MHz. The data transfer performance of this part permits the
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sensor to be sampled "on demand" rather than periodically sampled by a
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worker task.
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See the description of the "Common Sensor Register Interface" below for more
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details. It also implements the "Sensor Cluster Driver Interface".
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LSM330_SPI (Bob Feretich)
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==========
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The LSM330 consists of a multi-range tri-axis accelerometer and a
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multi-range tri-axis gyroscope. The tri-axis accelerometer features two
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state machines that can be firmware programmed for event detection. The
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tri-axis gyroscope features threshold and duration registers for event
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detection.
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This driver supports the LSM330 in SPI mode. In this mode, the LSM330
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that can transfer data at 10 MHz. The data transfer performance of
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this part permits the sensor to be sampled "on demand" rather than
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periodically sampled by a worker task. See the description of the "Common
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Sensor Register Interface" below for more details. It also implements the
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"Sensor Cluster Driver Interface".
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MPL115A (Alan Carvalho de Assis)
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=======
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This driver has support only for MPL115A1 (SPI), but support to MPL115A2
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(I2C) can be added easily.
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Common Sensor Register Interface (Bob Feretich)
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================================
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Background and problem statement:
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The capabilities and performance of modern sensors have grown tremendously.
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Most sensors are now capable of some degree of autonomous behavior and
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several permit the user to load firmware into them and perform as
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nanocontrollers. Other sensors have very sophisticated built-in digital
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filters that can be programmed with hundreds of parameters.
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Currently most sensor drivers in the Nuttx drivers/sensors
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directory implement file_ops open(), close(), and read() functions.
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The open() function initializes the sensor and places it in a mode where
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it can transfer live data in a default configuration. The close() function
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places the sensor in a low power shutdown mode. The read() function
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returns the most recent data sample from the sensor's most used data
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output registers. The write() function is rarely implemented and when it
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is there is no consistency in its use. The lseek() and poll() functions
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seem to be completely ignored. This results in the sensors being operated
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in only their most primitive modes using a fixed "default configuration".
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To work around this problem sensor drivers have implemented ioctl()
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functions to perform configuration, program the sensor, and manage
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autonomous activity. Ioctls provide a method where user programs can
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tunnel through a high level driver to access and control device specific
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features. The problem with using ioctls is that before the ioctl interface
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can be used, the sensor driver must be opened; and the open() function
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causes the driver to start performing these primitive actions, so before
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ioctls can manage the drivers as desired, ioctls must first be used to
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undo the generic actions caused by the open() function. Another major
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issue is that there is no consistency from sensor to sensor on ioctl
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definitions, not even for the most common sensor actions like writing a
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sensor control register or reading a sensor status register.
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Purpose:
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The purpose of the "Common Sensor Register Interface" is to implement a
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consistent and more useful definition of file_ops interface and to make the
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file_ops open() function more flexible in establishing the initial
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operational state of the sensor. Compatibility for user applications that
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implement the current open(), close(), read() interface will be
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maintained; and the much greater capabilities of modern sensors will
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become accessible through this interface.
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Scope:
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Applicable to I2C and SPI attached sensors, and some serial port attached
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sensors.
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The file_ops interface definition:
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open(): This function performs the below actions...
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1) Reads the sensors ID register. If the sensor responds with an
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unexpected value, then...
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a) The driver's write() function is disabled.
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b) The open function initializes the driver instance, so
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that read() and lseek() operations may be performed to enable
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problem diagnoses, but the sensor hardware is not initialized.
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(No write operations are performed to the sensor.)
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c) The errno global variable is set to positive ENODEV
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("No such device").
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d) The open() function returns successfully with a file_handle.
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Note that the calling routine should clear errno before
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calling open(). (The file_ops rules prevent drivers from
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setting errno to zero.)
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2) The other file_ops functions are enabled.
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3) The driver's "current reg address" state variable is set to the
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sensor's first sensor data output register. (This will make
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calls to read() return live sensor data and maintain compatibility
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with existing user programs.)
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4) If the driver supports a default worker task and an interrupt
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handler is specified by in the sensor configuration structure, then
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the default worker task is bound to the default worker task.
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5) The sensor configuration structure (that was provided to the driver
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registration function) is examined to determine whether a custom
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sensor configuration is specified. (The custom configuration is
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basically an array of (device_reg_address, value) pairs that are
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written to the sensor via "single register write" operations.
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If a custom sensor configuration was specified, then that
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configuration is written to the sensor, otherwise the "default
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sensor configuration" is written to the sensor.
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(A side effect of writing this data may result in interrupts
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occurring and data being transferred to/from the worker task.)
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6) The open() function returns successfully with a file_handle.
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close(): This function stops sensor activity and places it in a low
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power mode. The file_ops interface functions are disabled for this
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instance of the sensor driver. (Except for open())
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read(): The action of this function is dependent on whether a "default
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worker task" is running and the value of the driver's "current reg
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address" state variable.
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If a "default worker task" is running,
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AND the driver's "current reg address" is equal to the value of
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the first sensor data output register,
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AND the number of bytes to be read is less than or equal to the
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number of bytes in a "default worker task" sample,
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Then data is copied from the "default worker task's" sample memory to
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the caller's provided buffer.
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Otherwise, this function transfers data from sensor registers to the
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data buffer provided by the caller. The first byte read is from the
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sensor register address specified by the sensor's "current reg
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address". The addresses of subsequent bytes to be read are context
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sensitive. If more than bus transfer is needed to complete the read,
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then a "multi-byte" (sometimes called "burst mode") data transfer
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will be used to fill the buffer.
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See the sensor's datasheet to determine the auto-increment
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behavior of a "multi-byte" data transfers.
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Note: That most sensors collect only a few bytes of data per sample.
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Small data transfers occurring over a high speed bus (like SPI and some
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high speed i2c and serial interfaces) are much more efficient when
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collected directly from the sensor hardware than by using a worker task
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as an intermediary.
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write(): This function transfers data from the data buffer provided by
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the caller to sensor registers. The first byte written is to the
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sensor register address specified by the sensor's "current reg
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address". The addresses of subsequent bytes to be read are context
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sensitive. If more than bus transfer is needed to complete the write,
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then a "multi-byte" (sometimes called "burst mode") data
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transfer will be used to transfer data from the buffer.
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See the sensor's datasheet to determine the auto-increment
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behavior of a "multi-byte" data transfers.
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Note: If write() function was disabled, then no writes will be performed
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and the function will return 0 (characters transferred) and errno
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is set to -EROFS ("read-only file system").
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lseek(): This function sets the value of the sensor's "current reg address"
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(seek_address). The open() function initializes the "current reg address"
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to the first sensor data output register, so unless the user needs
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to change the sensor configuration, lseek() does not need to be
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called. Neither read() nor write() change the sensor's "current reg
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address".
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The definition of lseek is...
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off_t lseek(int fd, off_t offset, int whence);
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For whence == SEEK_SET, the sensor's "current reg address" will be set
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to offset.
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For whence == SEEK_CUR, offset will be added to the sensor's "current
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reg address".
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For whence == SEEK_END, offset is ignored and the sensor's "current
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reg address" is set to the first sensor data output register.
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lseek() will return an error if the resulting "current reg address"
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is invalid for the sensor.
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ioctl(): Ioctls() may still be used and this interface make no attempt to
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regulate them. But, it is expected that far fewer ioctls will be needed.
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The above interface can be used to fully configure a sensor to the needs
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of an application, including the ability to load firmware into sensor
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state machines
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Sensor Cluster Driver Interface:(Bob Feretich)
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===============================
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Background and problem statement:
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Most microcontrollers can support SPI bus transfers at 8 MHz or greater.
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Most SPI attached sensors can support a 10 MHz SPI bus. Most tri-axis
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accelerometers, tri-axis gyroscopes, or tri-axis magnetometers use only 6
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bytes per sample. Many sensors use less than 6 bytes per sample. On an 8
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MHz SPI bus it takes about 8 microseconds to transfer a 6 byte sample.
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(This time includes a command byte, 6 data bytes, and chip select select
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setup and hold.) So, for the below discussion keep in mind that the sensor
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sample collection work we want to perform should ideally take 8 microseconds
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per sample.
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The drivers in the drivers/sensors directory support only the user space
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file_ops interface (accessing drivers through the POSIX open/read/close
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functions using a file descriptor). Also these drivers typically start
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their own worker task to perform sensor data collection, even when their
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sensors only transfer a few bytes of data per sample and those transfers
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are being made over a high performance bus.
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Using the current implementation...
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1) A sensor "data ready" or timer interrupt occurs.
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2) Context is saved and and the driver's interrupt handler is scheduled
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to run.
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3) The Nuttx scheduler dispatches the driver's interrupt handler task.
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4) The driver's interrupt handler task posts to a semaphore that the
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driver's worker task is waiting on.
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5) Nuttx restores the context for the driver's worker task and starts it
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running.
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6) The driver's worker task starts the i/o to collect the sample.) (This is
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where the 8 microseconds of real work gets performed.) And waits on a
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SPI data transfer complete semaphore.
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7) The Nuttx saves the context of the driver's worker task, and the
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scheduler dispatches some other task to run while we are waiting.
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Note that this is a good thing. This task is probably performing some
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other real work. We want this to happen during the data transfer.
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8) The completion of the data transfer causes an interrupt. Nuttx saves the
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current context and restores the driver's worker task's context.
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9) The driver's worker task goes to sleep waiting on the semaphore for the
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next sensor "data ready" or timer interrupt.
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10) The Nuttx saves the context of the driver's worker task, and the
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scheduler dispatches some other task to run while we are waiting.
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Independently with the above...
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a) The sensor application program performs a file_ops read() to collect a
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sample.
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b) The Nuttx high level driver receives control, performs a thin layer of
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housekeeping and calls the sensor driver's read function.
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c) The sensor driver's read function copies the most recent sample from the
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worker task's data area to the application's buffer and returns.
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d) The Nuttx high level driver receives control, performs a thin layer of
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housekeeping and returns.
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e) The application processes the sample.
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Using a 216 MHz STM32F7 with no other activity occurring, we have timed the
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above the elapsed time for the above to be on average 45 microseconds.
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Most sensor applications process data from multiple sensors. (An 9-DoF IMU
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is typically represented as three sensors (accelerometer, gyroscope, and
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magnetometer). In this case there are three copies of 1-10 occurring in
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parallel.
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In applications where live data is being used, the context switch
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thrashing and cache pollution of this approach cripples system
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performance. In applications where sensor FIFO data is being used and
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therefore a large amount of data is collected per iteration, the non "zero
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copy" nature of the data collection becomes a performance issue.
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Purpose:
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The "Sensor Cluster Driver Interface" provides a standard mechanism for
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an application to collect data from multiple sensor drivers in a much more
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efficient manner. It significantly reduces the number of running tasks and
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the context thrashing and cache pollution caused by them. It also permits
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"zero copy" collection of sensor data.
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The Sensor Cluster Driver Interface uses a single "worker task" to be shared
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by an arbitrary number of drivers. This shared worker task is a kernel
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task that is registered like a driver, supports a driver interface to
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application programs, and collects data from multiple sensors (a cluster of
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sensors), we refer to it a "Sensor Cluster Driver".
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Its goal is to change the sequence of events detailed above to...
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1) A sensor "data ready" or timer interrupt occurs.
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2) Context is saved and and the cluster driver's interrupt handler is
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scheduled to run.
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3) The Nuttx scheduler dispatches the cluster driver's interrupt handler
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task.
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4) The cluster driver's interrupt handler task posts to a semaphore that
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the cluster driver's worker task is waiting on.
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5) Nuttx restores the context for the driver's worker task and starts it
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running.
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6) The cluster driver's worker task starts the i/o to collect the sample.
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There are two choices here. Programed I/O (PIO) or DMA. If PIO is
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fastest for a small sample size, but it will lock up the processor for
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the full duration of the transfer; it can only transfer from one
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sensor at a time; and the worker task should manually yield control
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occasionally to permit other tasks to run. DMA has higher start and
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completion overhead, but it is much faster for long transfers, can
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perform simultaneous transfers from sensors on different buses, and
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automatically releases the processor while the transfer is occurring.
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For this reason our drivers allows the worker task to choose between
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PIO (driver_read()) and DMA (driver_exchange()), a common extension to
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the sensor_cluster_operations_s structure. So either way after one or
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more transfers we yield control and move to the next step. Note that
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the data is being transferred directly into the buffer provided by the
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application program; so no copy needs to be performed.
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7) The Nuttx saves the context of the cluster driver's worker task, and the
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scheduler dispatches some other task to run while we are waiting.
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Again note that this is a good thing. This task is probably performing
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some other real work. We want this to happen during the data transfer.
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8) The completion of the last of the previous data transfers causes an
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interrupt. Nuttx saves the current context and restores the cluster
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driver's worker task's context. If there is more sensor data to
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collect, then goto Step 6. Otherwise it posts to a semaphore that
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will wake the application.
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9) The driver's worker task goes to sleep waiting on the semaphore for the
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next sensor "data ready" or timer interrupt.
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10) The Nuttx saves the context of the driver's worker task, and the
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scheduler dispatches some other task to run while we are waiting.
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Independently with the above...
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a) The sensor application program performs a file_ops read() to collect a
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sample.
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b) The Nuttx high level driver receives control, performs a thin layer of
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housekeeping and calls the sensor driver's read function.
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c) The sensor driver's read function copies the most recent sample from the
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worker task's data area to the application's buffer and returns.
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d) The Nuttx high level driver receives control, performs a thin layer of
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housekeeping and returns.
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e) The application processes the sample.
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So when collecting data from three sensors, this mechanism saved...
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* the handling of 2 sensor "data ready" or timer interrupts (Steps 1 - 4).
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* 2 occurrences of waking and scheduling of a worker task (Step 5).
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* 2 context switches to other tasks (Step 9 & 10)
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* if the three sensors were on separate buses, then 2 occurrences of
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Steps 6 - 8 could have also been saved.
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* An extra copy operation of the collected sensor data.
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* The cache pollution caused by 2 competing worker tasks.
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Definitions:
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Leaf Driver - a kernel driver that implements the "Sensor Cluster Driver
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Interface" so that it can be called by Cluster drivers.
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Cluster Driver - a kernel driver that uses the "Sensor Cluster Driver
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Interface" to call leaf drivers.
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Entry-Point Vector - an array of function addresses to which a leaf driver
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will permit calls by a Cluster Driver.
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Leaf Driver Instance Handle - a pointer to an opaque Leaf Driver structure
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that identifies an instance of the leaf driver. Leaf Drivers store this
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handle in its configuration structure during registration.
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Sensor Cluster Interface description:
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* The definition of an entry-point vector. This is similar to the
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entry-point vector that is provided to the file-ops high level driver.
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This entry-point vector must include the sensor_cluster_operations_s
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structure as its first member.
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* The the definition of an driver entry-point vector member in the leaf
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driver's configuration structure. The leaf driver registration function
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must store the address of its entry-point vector in this field.
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* The the definition of an instance handle member in the leaf drivers
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configuration structure. The leaf driver registration function must store
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a handle (opaque pointer) to the instance of the leaf driver being
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registered in this field. Note that this should be the same handle that
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the leaf driver supplies to Nuttx to register itself. The cluster driver
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will include this handle as a parameter in calls made to the leaf driver.
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struct sensor_cluster_operations_s
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{
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CODE int (*driver_open)(FAR void *instance_handle, int32_t arg);
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CODE int (*driver_close)(FAR void *instance_handle, int32_t arg);
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CODE ssize_t (*driver_read)(FAR void *instance_handle, FAR char *buffer,
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size_t buflen);
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CODE ssize_t (*driver_write)(FAR void *instance_handle,
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FAR const char *buffer, size_t buflen);
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CODE off_t (*driver_seek)(FAR void *instance_handle, off_t offset,
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int whence);
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CODE int (*driver_ioctl)(FAR void *instance_handle, int cmd,
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unsigned long arg);
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CODE int (*driver_suspend)(FAR void *instance_handle, int32_t arg);
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CODE int (*driver_resume)(FAR void *instance_handle, int32_t arg);
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};
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Note that the sensor_cluster_operations_s strongly resembles the Nuttx fs.h
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file_operations structures. This permits the current file_operations
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functions to become thin wrappers around these functions.
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driver_open(): Same as the fs.h open() except that arg can be specify
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permitting more flexibility in sensor configuration and initial operation.
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when arg = 0 the function of driver_open() must be identical to open().
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driver_close(): Same as the fs.h close() except that arg can be specify
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permitting more flexibility in selecting a sensor low power state.
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when arg = 0 the function of driver_close() must be identical to close().
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driver_read(): Same as the fs.h read().
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driver_write(): Same as the fs.h write(). Optional. Set to NULL if not
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supported.
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driver_seek(): Same as the fs.h seek(). Optional. Set to NULL if not
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supported.
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driver_ioctl(): Same as the fs.h ioctl(). Optional. Set to NULL if not
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supported.
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driver_suspend() and driver_resume(): Optional. Set to NULL if not
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supported. It is common for sensor applications to conserve power and
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send their microcontroller into a low power sleep state. It seems
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appropriate to reserve these spots for future use. These driver entry
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points exist in Linux and Windows. Since microcontrollers and sensors
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get more capable every year, there should soon be a requirement for
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these entry points. Discussion on how to standardize their use and
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implementation should
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be taken up independently from this driver document.
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Note that all drivers are encouraged to extend their entry-point vectors
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beyond this common segment. For example it may be beneficial for the
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worker task to select between programed i/o and DMA data transfer
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routines. Unregulated extensions to the Entry-Point Vector should be
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encouraged to maximize the benefits of a sensor's features.
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Operation:
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Board logic (configs directory) will register the cluster driver. The
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cluster driver will register the leaf drivers that it will call.
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This means that the cluster driver has access to the leaf driver's
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configuration structures and can pass the Leaf Driver Instance Handle to
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the leaf driver as a parameter in calls made via the Entry-Point Vector.
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Either board logic or an application program may open() the cluster
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driver. The cluster driver open() calls the open() function of the leaf
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drivers. The cluster driver open() or read() function can launch the
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shared worker task that collects the data.
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The cluster driver close() function calls the close functions of the leaf
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drivers.
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||
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ADT7320 (Augusto Fraga Giachero)
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=======
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The ADT7320 is a SPI temperature sensor with a temperature range of
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−40°C to +150°C.
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