d7b4e91dda
1.Don't check the return value of nxsem_init or nxmutex_init 2.Fix some style issue Signed-off-by: anjiahao <anjiahao@xiaomi.com> Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
607 lines
18 KiB
C
607 lines
18 KiB
C
/****************************************************************************
|
|
* drivers/sensors/mlx90393.c
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <assert.h>
|
|
#include <errno.h>
|
|
#include <debug.h>
|
|
#include <string.h>
|
|
|
|
#include <nuttx/kmalloc.h>
|
|
#include <nuttx/wqueue.h>
|
|
#include <nuttx/fs/fs.h>
|
|
#include <nuttx/mutex.h>
|
|
#include <nuttx/sensors/mlx90393.h>
|
|
#include <nuttx/random.h>
|
|
|
|
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_MLX90393)
|
|
|
|
/****************************************************************************
|
|
* Private
|
|
****************************************************************************/
|
|
|
|
struct mlx90393_sensor_data_s
|
|
{
|
|
int16_t x_mag; /* Measurement result for x axis */
|
|
int16_t y_mag; /* Measurement result for y axis */
|
|
int16_t z_mag; /* Measurement result for z axis */
|
|
uint16_t temperature; /* Measurement result for temperature sensor */
|
|
};
|
|
|
|
struct mlx90393_dev_s
|
|
{
|
|
FAR struct mlx90393_dev_s *flink; /* Supports a singly linked list
|
|
* of drivers */
|
|
FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
|
|
FAR struct mlx90393_config_s *config; /* Pointer to the configuration of
|
|
* the MLX90393 sensor */
|
|
|
|
mutex_t datalock; /* Manages exclusive access to
|
|
* this structure */
|
|
struct mlx90393_sensor_data_s data; /* The data as measured by the
|
|
* sensor */
|
|
struct work_s work; /* The work queue is responsible
|
|
* for retrieving the data from
|
|
* the sensor after the arrival of
|
|
* new data was signalled in an
|
|
* interrupt */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev);
|
|
static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev);
|
|
static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
|
|
uint8_t const reg_addr,
|
|
uint16_t *reg_data);
|
|
static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
|
|
uint8_t const reg_addr,
|
|
uint16_t const reg_data);
|
|
static void mlx90393_reset(FAR struct mlx90393_dev_s *dev);
|
|
static int mlx90393_interrupt_handler(int irq, FAR void *context);
|
|
static void mlx90393_worker(FAR void *arg);
|
|
|
|
static int mlx90393_open(FAR struct file *filep);
|
|
static int mlx90393_close(FAR struct file *filep);
|
|
static ssize_t mlx90393_read(FAR struct file *, FAR char *, size_t);
|
|
static ssize_t mlx90393_write(FAR struct file *filep,
|
|
FAR const char *buffer,
|
|
size_t buflen);
|
|
|
|
/****************************************************************************
|
|
* Private Data
|
|
****************************************************************************/
|
|
|
|
static const struct file_operations g_mlx90393_fops =
|
|
{
|
|
mlx90393_open, /* open */
|
|
mlx90393_close, /* close */
|
|
mlx90393_read, /* read */
|
|
mlx90393_write, /* write */
|
|
NULL, /* seek */
|
|
NULL, /* ioctl */
|
|
NULL /* poll */
|
|
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
|
|
, NULL /* unlink */
|
|
#endif
|
|
};
|
|
|
|
/* Single linked list to store instances of drivers */
|
|
|
|
static struct mlx90393_dev_s *g_mlx90393_list = NULL;
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_start_burst_mode
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev)
|
|
{
|
|
/* Lock the SPI bus so that only one device can access it at the same
|
|
* time
|
|
*/
|
|
|
|
SPI_LOCK(dev->spi, true);
|
|
|
|
/* Set CS to low which selects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
|
|
|
/* Start Burst Mode (Continuous Measurement on all channels) */
|
|
|
|
SPI_SEND(dev->spi, MLX90393_SB | MLX90393_ZYXT_BM);
|
|
|
|
/* Write an idle byte to retrieve the status byte */
|
|
|
|
SPI_SEND(dev->spi, 0);
|
|
|
|
/* Set CS to high which deselects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
|
|
|
/* Unlock the SPI bus */
|
|
|
|
SPI_LOCK(dev->spi, false);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_read_measurement_data
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev)
|
|
{
|
|
int ret;
|
|
|
|
/* Lock the SPI bus so that only one device can access it at the same
|
|
* time
|
|
*/
|
|
|
|
SPI_LOCK(dev->spi, true);
|
|
|
|
/* Set CS to low which selects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
|
|
|
/* Issue command to read measurement data on all channels */
|
|
|
|
SPI_SEND(dev->spi, MLX90393_RM | MLX90393_ZYXT_BM);
|
|
|
|
/* Write an idle byte to retrieve the status byte */
|
|
|
|
SPI_SEND(dev->spi, 0);
|
|
|
|
/* The data is output in the following order: T (MSB), T (LSB), X (MSB), X
|
|
* (LSB), Y (MSB), Y (LSB), Z (MSB), Z (LSB)
|
|
*/
|
|
|
|
uint16_t temperature = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
|
temperature |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
|
|
|
uint16_t x_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
|
x_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
|
|
|
uint16_t y_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
|
y_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
|
|
|
uint16_t z_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
|
z_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
|
|
|
/* Set CS to high which deselects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
|
|
|
/* Unlock the SPI bus */
|
|
|
|
SPI_LOCK(dev->spi, false);
|
|
|
|
/* Acquire the mutex before the data is copied */
|
|
|
|
ret = nxmutex_lock(&dev->datalock);
|
|
if (ret != OK)
|
|
{
|
|
snerr("ERROR: Could not acquire dev->datalock: %d\n", ret);
|
|
return;
|
|
}
|
|
|
|
/* Copy retrieve data to internal data structure */
|
|
|
|
dev->data.temperature = temperature;
|
|
dev->data.x_mag = (int16_t) (x_mag);
|
|
dev->data.y_mag = (int16_t) (y_mag);
|
|
dev->data.z_mag = (int16_t) (z_mag);
|
|
|
|
/* Give back the mutex */
|
|
|
|
nxmutex_unlock(&dev->datalock);
|
|
|
|
/* Feed sensor data to entropy pool */
|
|
|
|
add_sensor_randomness((x_mag << 17) ^ (y_mag << 9) ^ (z_mag << 1) ^
|
|
temperature);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_start_burst_mode
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_reset(FAR struct mlx90393_dev_s *dev)
|
|
{
|
|
/* Lock the SPI bus so that only one device can access it at the same
|
|
* time
|
|
*/
|
|
|
|
SPI_LOCK(dev->spi, true);
|
|
|
|
/* Set CS to low which selects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
|
|
|
/* Issue reset command */
|
|
|
|
SPI_SEND(dev->spi, MLX90393_RT);
|
|
|
|
/* Write an idle byte to retrieve the status byte */
|
|
|
|
SPI_SEND(dev->spi, 0);
|
|
|
|
/* Set CS to high which deselects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
|
|
|
/* Unlock the SPI bus */
|
|
|
|
SPI_LOCK(dev->spi, false);
|
|
|
|
/* Wait a little so the device has time to perform a proper reset */
|
|
|
|
up_mdelay(100);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_read_register
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
|
|
uint8_t const reg_addr,
|
|
uint16_t *reg_data)
|
|
{
|
|
/* Lock the SPI bus so that only one device can access it at the same
|
|
* time
|
|
*/
|
|
|
|
SPI_LOCK(dev->spi, true);
|
|
|
|
/* Set CS to low which selects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
|
|
|
/* Issue a read register command */
|
|
|
|
SPI_SEND(dev->spi, MLX90393_RR);
|
|
|
|
/* Send the register address which needs to be left shifted by 2 */
|
|
|
|
SPI_SEND(dev->spi, (reg_addr << 2));
|
|
|
|
/* Write an idle byte to retrieve the status byte */
|
|
|
|
SPI_SEND(dev->spi, 0);
|
|
|
|
*reg_data = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
|
|
*reg_data |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
|
|
|
|
/* Set CS to high which deselects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
|
|
|
/* Unlock the SPI bus */
|
|
|
|
SPI_LOCK(dev->spi, false);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_write_register
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
|
|
uint8_t const reg_addr,
|
|
uint16_t const reg_data)
|
|
{
|
|
/* Lock the SPI bus so that only one device can access it at the same
|
|
* time
|
|
*/
|
|
|
|
SPI_LOCK(dev->spi, true);
|
|
|
|
/* Set CS to low which selects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
|
|
|
|
/* Issue a write register command */
|
|
|
|
SPI_SEND(dev->spi, MLX90393_WR);
|
|
|
|
/* Send the data high byte of the register */
|
|
|
|
SPI_SEND(dev->spi, (uint8_t) ((reg_data & 0xff00) >> 8));
|
|
|
|
/* Send the data low byte of the register */
|
|
|
|
SPI_SEND(dev->spi, (uint8_t) (reg_data & 0x00ff));
|
|
|
|
/* Send the register address which needs to be left shifted by 2 */
|
|
|
|
SPI_SEND(dev->spi, (uint8_t) (reg_addr << 2));
|
|
|
|
/* Write an idle byte to retrieve the status byte */
|
|
|
|
SPI_SEND(dev->spi, 0);
|
|
|
|
/* Set CS to high which deselects the MLX90393 */
|
|
|
|
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
|
|
|
|
/* Unlock the SPI bus */
|
|
|
|
SPI_LOCK(dev->spi, false);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_interrupt_handler
|
|
****************************************************************************/
|
|
|
|
static int mlx90393_interrupt_handler(int irq, FAR void *context)
|
|
{
|
|
/* This function should be called upon a rising edge on the MLX90393 INT
|
|
* pin since it signals that new data has been measured. (INT = DRDY).
|
|
*/
|
|
|
|
FAR struct mlx90393_dev_s *priv = 0;
|
|
int ret;
|
|
|
|
/* Find out which MLX90396 device caused the interrupt */
|
|
|
|
for (priv = g_mlx90393_list; priv && priv->config->irq != irq;
|
|
priv = priv->flink);
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Task the worker with retrieving the latest sensor data. We should not do
|
|
* this in a interrupt since it might take too long. Also we cannot lock
|
|
* the SPI bus from within an interrupt.
|
|
*/
|
|
|
|
DEBUGASSERT(priv->work.worker == NULL);
|
|
ret = work_queue(HPWORK, &priv->work, mlx90393_worker, priv, 0);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to queue work: %d\n", ret);
|
|
return ret;
|
|
}
|
|
else
|
|
{
|
|
return OK;
|
|
}
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_worker
|
|
****************************************************************************/
|
|
|
|
static void mlx90393_worker(FAR void *arg)
|
|
{
|
|
FAR struct mlx90393_dev_s *priv = (FAR struct mlx90393_dev_s *)(arg);
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Read out the latest sensor data */
|
|
|
|
mlx90393_read_measurement_data(priv);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_open
|
|
****************************************************************************/
|
|
|
|
static int mlx90393_open(FAR struct file *filep)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
|
static int const NUM_REGS = 10;
|
|
int reg_addr;
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Reset the device */
|
|
|
|
mlx90393_reset(priv);
|
|
|
|
#ifdef CONFIG_DEBUG_SENSORS_INFO
|
|
/* Read the content of ALL registers for debug purposes */
|
|
|
|
for (reg_addr = 0; reg_addr < NUM_REGS; reg_addr++)
|
|
{
|
|
uint16_t reg_content = 0;
|
|
mlx90393_read_register(priv, reg_addr, ®_content);
|
|
sninfo("R%d = %x\n", reg_addr, reg_content);
|
|
}
|
|
#endif
|
|
|
|
/* Start the burst mode */
|
|
|
|
mlx90393_start_burst_mode(priv);
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_close
|
|
****************************************************************************/
|
|
|
|
static int mlx90393_close(FAR struct file *filep)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Reset the device */
|
|
|
|
mlx90393_reset(priv);
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_read
|
|
****************************************************************************/
|
|
|
|
static ssize_t mlx90393_read(FAR struct file *filep, FAR char *buffer,
|
|
size_t buflen)
|
|
{
|
|
FAR struct inode *inode = filep->f_inode;
|
|
FAR struct mlx90393_dev_s *priv = inode->i_private;
|
|
FAR struct mlx90393_sensor_data_s *data;
|
|
int ret;
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Check if enough memory was provided for the read call */
|
|
|
|
if (buflen < sizeof(struct mlx90393_sensor_data_s))
|
|
{
|
|
snerr("ERROR: "
|
|
"Not enough memory for reading out a sensor data sample\n");
|
|
return -ENOSYS;
|
|
}
|
|
|
|
/* Copy the sensor data into the buffer */
|
|
|
|
/* Acquire the mutex before the data is copied */
|
|
|
|
ret = nxmutex_lock(&priv->datalock);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Could not acquire priv->datalock: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
data = (FAR struct mlx90393_sensor_data_s *)buffer;
|
|
memset(data, 0, sizeof(struct mlx90393_sensor_data_s));
|
|
|
|
data->x_mag = priv->data.x_mag;
|
|
data->y_mag = priv->data.y_mag;
|
|
data->z_mag = priv->data.z_mag;
|
|
data->temperature = priv->data.temperature;
|
|
|
|
/* Give back the mutex */
|
|
|
|
nxmutex_unlock(&priv->datalock);
|
|
|
|
return sizeof(struct mlx90393_sensor_data_s);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_write
|
|
****************************************************************************/
|
|
|
|
static ssize_t mlx90393_write(FAR struct file *filep, FAR const char *buffer,
|
|
size_t buflen)
|
|
{
|
|
return -ENOSYS;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: mlx90393_register
|
|
*
|
|
* Description:
|
|
* Register the MLX90393 character device as 'devpath'
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
|
|
* spi - An instance of the SPI interface to use to communicate with
|
|
* MLX90393
|
|
* config - Describes the configuration of the MLX90393 part.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int mlx90393_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
|
|
FAR struct mlx90393_config_s *config)
|
|
{
|
|
FAR struct mlx90393_dev_s *priv;
|
|
int ret;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(spi != NULL);
|
|
DEBUGASSERT(config != NULL);
|
|
|
|
/* Initialize the MLX90393 device structure */
|
|
|
|
priv = (FAR struct mlx90393_dev_s *)
|
|
kmm_malloc(sizeof(struct mlx90393_dev_s));
|
|
if (priv == NULL)
|
|
{
|
|
snerr("ERROR: Failed to allocate instance\n");
|
|
return -ENOMEM;
|
|
}
|
|
|
|
priv->spi = spi;
|
|
priv->config = config;
|
|
|
|
priv->work.worker = NULL;
|
|
|
|
nxmutex_init(&priv->datalock); /* Initialize sensor data access mutex */
|
|
|
|
/* Setup SPI frequency and mode */
|
|
|
|
SPI_SETFREQUENCY(spi, MLX90393_SPI_FREQUENCY);
|
|
SPI_SETMODE(spi, MLX90393_SPI_MODE);
|
|
|
|
/* Attach the interrupt handler */
|
|
|
|
ret = priv->config->attach(priv->config, &mlx90393_interrupt_handler);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to attach interrupt\n");
|
|
nxmutex_destroy(&priv->datalock);
|
|
kmm_free(priv);
|
|
return ret;
|
|
}
|
|
|
|
/* Register the character driver */
|
|
|
|
ret = register_driver(devpath, &g_mlx90393_fops, 0666, priv);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to register driver: %d\n", ret);
|
|
nxmutex_destroy(&priv->datalock);
|
|
kmm_free(priv);
|
|
return ret;
|
|
}
|
|
|
|
/* Since we support multiple MLX90393 devices are supported, we will need
|
|
* to add this new instance to a list of device instances so that it can be
|
|
* found by the interrupt handler based on the received IRQ number.
|
|
*/
|
|
|
|
priv->flink = g_mlx90393_list;
|
|
g_mlx90393_list = priv;
|
|
|
|
return OK;
|
|
}
|
|
|
|
#endif /* CONFIG_SPI && CONFIG_SENSORS_MLX90393 */
|