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james
2024-08-05 20:57:09 +08:00
commit 46d9ee7795
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15
rt-thread/components/drivers/sensor/Kconfig Normal file
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config RT_USING_SENSOR
bool "Using Sensor device drivers"
select RT_USING_PIN
default n
if RT_USING_SENSOR
config RT_USING_SENSOR_V2
bool "Enable Sensor Framework v2"
default n
config RT_USING_SENSOR_CMD
bool "Using Sensor cmd"
select PKG_USING_RT_VSNPRINTF_FULL if RT_USING_SENSOR_V2
default y
endif

19
rt-thread/components/drivers/sensor/SConscript Normal file
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# SConscript for sensor framework
from building import *
import os
src = []
if GetDepend('RT_USING_SENSOR_V2'):
src += [os.path.join('v2', 'sensor.c')]
if GetDepend('RT_USING_SENSOR_CMD'):
src += [os.path.join('v2', 'sensor_cmd.c')]
else:
src += [os.path.join('v1', 'sensor.c')]
if GetDepend('RT_USING_SENSOR_CMD'):
src += [os.path.join('v1', 'sensor_cmd.c')]
group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_SENSOR'])
Return('group')

495
rt-thread/components/drivers/sensor/v1/sensor.c Normal file
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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-01-31 flybreak first version
* 2020-02-22 luhuadong support custom commands
*/
#include <drivers/sensor.h>
#define DBG_TAG "sensor"
#define DBG_LVL DBG_INFO
#include <rtdbg.h>
#include <string.h>
static char *const sensor_name_str[] =
{
"none",
"acce_", /* Accelerometer */
"gyro_", /* Gyroscope */
"mag_", /* Magnetometer */
"temp_", /* Temperature */
"humi_", /* Relative Humidity */
"baro_", /* Barometer */
"li_", /* Ambient light */
"pr_", /* Proximity */
"hr_", /* Heart Rate */
"tvoc_", /* TVOC Level */
"noi_", /* Noise Loudness */
"step_", /* Step sensor */
"forc_", /* Force sensor */
"dust_", /* Dust sensor */
"eco2_", /* eCO2 sensor */
"gnss_", /* GPS/GNSS sensor */
"tof_", /* TOF sensor */
"spo2_", /* SpO2 sensor */
"iaq_", /* IAQ sensor */
"etoh_", /* EtOH sensor */
"bp_" /* Blood Pressure */
};
/* Sensor interrupt correlation function */
/*
* Sensor interrupt handler function
*/
void rt_sensor_cb(rt_sensor_t sen)
{
if (sen->parent.rx_indicate == RT_NULL)
{
return;
}
if (sen->irq_handle != RT_NULL)
{
sen->irq_handle(sen);
}
/* The buffer is not empty. Read the data in the buffer first */
if (sen->data_len > 0)
{
sen->parent.rx_indicate(&sen->parent, sen->data_len / sizeof(struct rt_sensor_data));
}
else if (sen->config.mode == RT_SENSOR_MODE_INT)
{
/* The interrupt mode only produces one data at a time */
sen->parent.rx_indicate(&sen->parent, 1);
}
else if (sen->config.mode == RT_SENSOR_MODE_FIFO)
{
sen->parent.rx_indicate(&sen->parent, sen->info.fifo_max);
}
}
/* ISR for sensor interrupt */
static void irq_callback(void *args)
{
rt_sensor_t sensor = (rt_sensor_t)args;
rt_uint8_t i;
if (sensor->module)
{
/* Invoke a callback for all sensors in the module */
for (i = 0; i < sensor->module->sen_num; i++)
{
rt_sensor_cb(sensor->module->sen[i]);
}
}
else
{
rt_sensor_cb(sensor);
}
}
/* Sensor interrupt initialization function */
static rt_err_t rt_sensor_irq_init(rt_sensor_t sensor)
{
if (sensor->config.irq_pin.pin == RT_PIN_NONE)
{
return -RT_EINVAL;
}
rt_pin_mode(sensor->config.irq_pin.pin, sensor->config.irq_pin.mode);
if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLDOWN)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING, irq_callback, (void *)sensor);
}
else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLUP)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_FALLING, irq_callback, (void *)sensor);
}
else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING_FALLING, irq_callback, (void *)sensor);
}
rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_TRUE);
LOG_I("interrupt init success");
return 0;
}
// local rt_sensor_ops
static rt_ssize_t local_fetch_data(struct rt_sensor_device *sensor, void *buf, rt_size_t len)
{
LOG_D("Undefined fetch_data");
return 0;
}
static rt_err_t local_control(struct rt_sensor_device *sensor, int cmd, void *arg)
{
LOG_D("Undefined control");
return -RT_ERROR;
}
static struct rt_sensor_ops local_ops =
{
.fetch_data = local_fetch_data,
.control = local_control
};
/* RT-Thread Device Interface */
static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
RT_ASSERT(dev != RT_NULL);
rt_err_t res = RT_EOK;
rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) = local_control;
if (sensor->module)
{
/* take the module mutex */
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf == RT_NULL)
{
/* Allocate memory for the sensor buffer */
sensor->data_buf = rt_malloc(sizeof(struct rt_sensor_data) * sensor->info.fifo_max);
if (sensor->data_buf == RT_NULL)
{
res = -RT_ENOMEM;
goto __exit;
}
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
sensor->config.mode = RT_SENSOR_MODE_POLLING;
if (oflag & RT_DEVICE_FLAG_RDONLY && dev->flag & RT_DEVICE_FLAG_RDONLY)
{
/* If polling mode is supported, configure it to polling mode */
local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_POLLING);
}
else if (oflag & RT_DEVICE_FLAG_INT_RX && dev->flag & RT_DEVICE_FLAG_INT_RX)
{
/* If interrupt mode is supported, configure it to interrupt mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_INT) == RT_EOK)
{
/* Initialization sensor interrupt */
rt_sensor_irq_init(sensor);
sensor->config.mode = RT_SENSOR_MODE_INT;
}
}
else if (oflag & RT_DEVICE_FLAG_FIFO_RX && dev->flag & RT_DEVICE_FLAG_FIFO_RX)
{
/* If fifo mode is supported, configure it to fifo mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_FIFO) == RT_EOK)
{
/* Initialization sensor interrupt */
rt_sensor_irq_init(sensor);
sensor->config.mode = RT_SENSOR_MODE_FIFO;
}
}
else
{
res = -RT_EINVAL;
goto __exit;
}
/* Configure power mode to normal mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_NORMAL) == RT_EOK)
{
sensor->config.power = RT_SENSOR_POWER_NORMAL;
}
__exit:
if (sensor->module)
{
/* release the module mutex */
rt_mutex_release(sensor->module->lock);
}
return res;
}
static rt_err_t rt_sensor_close(rt_device_t dev)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
int i;
rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) = local_control;
RT_ASSERT(dev != RT_NULL);
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
/* Configure power mode to power down mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, (void *)RT_SENSOR_POWER_DOWN) == RT_EOK)
{
sensor->config.power = RT_SENSOR_POWER_DOWN;
}
if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf != RT_NULL)
{
for (i = 0; i < sensor->module->sen_num; i ++)
{
if (sensor->module->sen[i]->parent.ref_count > 0)
goto __exit;
}
/* Free memory for the sensor buffer */
for (i = 0; i < sensor->module->sen_num; i ++)
{
if (sensor->module->sen[i]->data_buf != RT_NULL)
{
rt_free(sensor->module->sen[i]->data_buf);
sensor->module->sen[i]->data_buf = RT_NULL;
}
}
}
if (sensor->config.mode != RT_SENSOR_MODE_POLLING)
{
/* Sensor disable interrupt */
if (sensor->config.irq_pin.pin != RT_PIN_NONE)
{
rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
}
}
__exit:
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return RT_EOK;
}
static rt_ssize_t rt_sensor_read(rt_device_t dev, rt_off_t pos, void *buf, rt_size_t len)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
rt_size_t result = 0;
RT_ASSERT(dev != RT_NULL);
if (buf == NULL || len == 0)
{
return 0;
}
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
/* The buffer is not empty. Read the data in the buffer first */
if (sensor->data_len > 0)
{
if (len > sensor->data_len / sizeof(struct rt_sensor_data))
{
len = sensor->data_len / sizeof(struct rt_sensor_data);
}
rt_memcpy(buf, sensor->data_buf, len * sizeof(struct rt_sensor_data));
/* Clear the buffer */
sensor->data_len = 0;
result = len;
}
else
{
/* If the buffer is empty read the data */
if (sensor->ops->fetch_data != RT_NULL)
{
result = sensor->ops->fetch_data(sensor, buf, len);
}
}
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return result;
}
static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
rt_err_t result = RT_EOK;
RT_ASSERT(dev != RT_NULL);
rt_err_t (*local_ctrl)(struct rt_sensor_device * sensor, int cmd, void *arg) = local_control;
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
switch (cmd)
{
case RT_SENSOR_CTRL_GET_ID:
if (args)
{
result = local_ctrl(sensor, RT_SENSOR_CTRL_GET_ID, args);
}
break;
case RT_SENSOR_CTRL_GET_INFO:
if (args)
{
rt_memcpy(args, &sensor->info, sizeof(struct rt_sensor_info));
}
break;
case RT_SENSOR_CTRL_SET_RANGE:
/* Configuration measurement range */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_RANGE, args);
if (result == RT_EOK)
{
sensor->config.range = (rt_int32_t)args;
LOG_D("set range %d", sensor->config.range);
}
break;
case RT_SENSOR_CTRL_SET_ODR:
/* Configuration data output rate */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_ODR, args);
if (result == RT_EOK)
{
sensor->config.odr = (rt_uint32_t)args & 0xFFFF;
LOG_D("set odr %d", sensor->config.odr);
}
break;
case RT_SENSOR_CTRL_SET_POWER:
/* Configuration sensor power mode */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER, args);
if (result == RT_EOK)
{
sensor->config.power = (rt_uint32_t)args & 0xFF;
LOG_D("set power mode code:", sensor->config.power);
}
break;
case RT_SENSOR_CTRL_SELF_TEST:
/* Device self-test */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
break;
default:
if (cmd > RT_SENSOR_CTRL_USER_CMD_START)
{
/* Custom commands */
result = local_ctrl(sensor, cmd, args);
}
else
{
result = -RT_ERROR;
}
break;
}
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return result;
}
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops rt_sensor_ops =
{
RT_NULL,
rt_sensor_open,
rt_sensor_close,
rt_sensor_read,
RT_NULL,
rt_sensor_control
};
#endif
/*
* sensor register
*/
int rt_hw_sensor_register(rt_sensor_t sensor,
const char *name,
rt_uint32_t flag,
void *data)
{
rt_int8_t result;
rt_device_t device;
RT_ASSERT(sensor != RT_NULL);
char *sensor_name = RT_NULL, *device_name = RT_NULL;
if (sensor->ops == RT_NULL)
{
sensor->ops = &local_ops;
}
/* Add a type name for the sensor device */
sensor_name = sensor_name_str[sensor->info.type];
device_name = (char *)rt_calloc(1, rt_strlen(sensor_name) + 1 + rt_strlen(name));
if (device_name == RT_NULL)
{
LOG_E("device_name calloc failed!");
return -RT_ERROR;
}
rt_memcpy(device_name, sensor_name, rt_strlen(sensor_name) + 1);
strcat(device_name, name);
if (sensor->module != RT_NULL && sensor->module->lock == RT_NULL)
{
/* Create a mutex lock for the module */
sensor->module->lock = rt_mutex_create(name, RT_IPC_FLAG_PRIO);
if (sensor->module->lock == RT_NULL)
{
rt_free(device_name);
return -RT_ERROR;
}
}
device = &sensor->parent;
#ifdef RT_USING_DEVICE_OPS
device->ops = &rt_sensor_ops;
#else
device->init = RT_NULL;
device->open = rt_sensor_open;
device->close = rt_sensor_close;
device->read = rt_sensor_read;
device->write = RT_NULL;
device->control = rt_sensor_control;
#endif
device->type = RT_Device_Class_Sensor;
device->rx_indicate = RT_NULL;
device->tx_complete = RT_NULL;
device->user_data = data;
result = rt_device_register(device, device_name, flag | RT_DEVICE_FLAG_STANDALONE);
if (result != RT_EOK)
{
LOG_E("rt_sensor[%s] register err code: %d", device_name, result);
rt_free(device_name);
return result;
}
LOG_I("rt_sensor[%s] init success", device_name);
rt_free(device_name);
return RT_EOK;
}

516
rt-thread/components/drivers/sensor/v1/sensor_cmd.c Normal file
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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-01-31 flybreak first version
* 2019-07-16 WillianChan Increase the output of sensor information
* 2020-02-22 luhuadong Add vendor info and sensor types for cmd
*/
#include <drivers/sensor.h>
#define DBG_TAG "sensor.cmd"
#define DBG_LVL DBG_INFO
#include <rtdbg.h>
#include <stdlib.h>
#include <string.h>
static rt_sem_t sensor_rx_sem = RT_NULL;
static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor_data *sensor_data)
{
switch (sensor->info.type)
{
case RT_SENSOR_CLASS_ACCE:
LOG_I("num:%3d, x:%5d, y:%5d, z:%5d mg, timestamp:%5d", num, sensor_data->data.acce.x, sensor_data->data.acce.y, sensor_data->data.acce.z, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_GYRO:
LOG_I("num:%3d, x:%8d, y:%8d, z:%8d dps, timestamp:%5d", num, sensor_data->data.gyro.x / 1000, sensor_data->data.gyro.y / 1000, sensor_data->data.gyro.z / 1000, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_MAG:
LOG_I("num:%3d, x:%5d, y:%5d, z:%5d mGauss, timestamp:%5d", num, sensor_data->data.mag.x, sensor_data->data.mag.y, sensor_data->data.mag.z, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_GNSS:
LOG_I("num:%3d, lon:%5d, lat:%5d, timestamp:%5d", num, sensor_data->data.coord.longitude, sensor_data->data.coord.latitude, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_TEMP:
LOG_I("num:%3d, temp:%3d.%d C, timestamp:%5d", num, sensor_data->data.temp / 10, (rt_uint32_t)sensor_data->data.temp % 10, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_HUMI:
LOG_I("num:%3d, humi:%3d.%d%%, timestamp:%5d", num, sensor_data->data.humi / 10, sensor_data->data.humi % 10, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_BARO:
LOG_I("num:%3d, press:%5d pa, timestamp:%5d", num, sensor_data->data.baro, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_LIGHT:
LOG_I("num:%3d, light:%5d lux, timestamp:%5d", num, sensor_data->data.light, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_PROXIMITY:
case RT_SENSOR_CLASS_TOF:
LOG_I("num:%3d, distance:%5d, timestamp:%5d", num, sensor_data->data.proximity, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_HR:
LOG_I("num:%3d, heart rate:%5d bpm, timestamp:%5d", num, sensor_data->data.hr, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_TVOC:
LOG_I("num:%3d, tvoc:%5d ppb, timestamp:%5d", num, sensor_data->data.tvoc, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_NOISE:
LOG_I("num:%3d, noise:%5d, timestamp:%5d", num, sensor_data->data.noise, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_STEP:
LOG_I("num:%3d, step:%5d, timestamp:%5d", num, sensor_data->data.step, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_FORCE:
LOG_I("num:%3d, force:%5d, timestamp:%5d", num, sensor_data->data.force, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_DUST:
LOG_I("num:%3d, dust:%5d ug/m3, timestamp:%5d", num, sensor_data->data.dust, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_ECO2:
LOG_I("num:%3d, eco2:%5d ppm, timestamp:%5d", num, sensor_data->data.eco2, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_IAQ:
LOG_I("num:%3d, IAQ:%5d.%d , timestamp:%5d", num, sensor_data->data.iaq / 10, sensor_data->data.iaq % 10, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_ETOH:
LOG_I("num:%3d, EtOH:%5d.%03d ppm, timestamp:%5d", num, sensor_data->data.etoh / 1000, sensor_data->data.etoh % 1000, sensor_data->timestamp);
break;
case RT_SENSOR_CLASS_BP:
LOG_I("num:%3d, bp.sbp:%5d mmHg, bp.dbp:%5d mmHg, timestamp:%5d", num, sensor_data->data.bp.sbp, sensor_data->data.bp.dbp, sensor_data->timestamp);
break;
default:
break;
}
}
static rt_err_t rx_callback(rt_device_t dev, rt_size_t size)
{
rt_sem_release(sensor_rx_sem);
return 0;
}
static void sensor_fifo_rx_entry(void *parameter)
{
rt_device_t dev = (rt_device_t)parameter;
rt_sensor_t sensor = (rt_sensor_t)parameter;
struct rt_sensor_data *data = RT_NULL;
struct rt_sensor_info info;
rt_size_t res, i;
rt_device_control(dev, RT_SENSOR_CTRL_GET_INFO, &info);
data = (struct rt_sensor_data *)rt_malloc(sizeof(struct rt_sensor_data) * info.fifo_max);
if (data == RT_NULL)
{
LOG_E("Memory allocation failed!");
}
while (1)
{
rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
res = rt_device_read(dev, 0, data, info.fifo_max);
for (i = 0; i < res; i++)
{
sensor_show_data(i, sensor, &data[i]);
}
}
}
static void sensor_fifo(int argc, char **argv)
{
static rt_thread_t tid1 = RT_NULL;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
sensor = (rt_sensor_t)dev;
if (rt_device_open(dev, RT_DEVICE_FLAG_FIFO_RX) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
if (sensor_rx_sem == RT_NULL)
{
sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
}
else
{
LOG_E("The thread is running, please reboot and try again");
return;
}
tid1 = rt_thread_create("sen_rx_thread",
sensor_fifo_rx_entry, sensor,
1024,
15, 5);
if (tid1 != RT_NULL)
rt_thread_startup(tid1);
rt_device_set_rx_indicate(dev, rx_callback);
rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
}
#ifdef RT_USING_FINSH
MSH_CMD_EXPORT(sensor_fifo, Sensor fifo mode test function);
#endif
static void sensor_irq_rx_entry(void *parameter)
{
rt_device_t dev = (rt_device_t)parameter;
rt_sensor_t sensor = (rt_sensor_t)parameter;
struct rt_sensor_data data;
rt_size_t res, i = 0;
while (1)
{
rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
res = rt_device_read(dev, 0, &data, 1);
if (res == 1)
{
sensor_show_data(i++, sensor, &data);
}
}
}
static void sensor_int(int argc, char **argv)
{
static rt_thread_t tid1 = RT_NULL;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
sensor = (rt_sensor_t)dev;
if (sensor_rx_sem == RT_NULL)
{
sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
}
else
{
LOG_E("The thread is running, please reboot and try again");
return;
}
tid1 = rt_thread_create("sen_rx_thread",
sensor_irq_rx_entry, sensor,
1024,
15, 5);
if (tid1 != RT_NULL)
rt_thread_startup(tid1);
rt_device_set_rx_indicate(dev, rx_callback);
if (rt_device_open(dev, RT_DEVICE_FLAG_INT_RX) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)20);
}
#ifdef RT_USING_FINSH
MSH_CMD_EXPORT(sensor_int, Sensor interrupt mode test function);
#endif
static void sensor_polling(int argc, char **argv)
{
rt_uint16_t num = 10;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
struct rt_sensor_data data;
rt_size_t res, i;
rt_int32_t delay;
rt_err_t result;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
if (argc > 2)
num = atoi(argv[2]);
sensor = (rt_sensor_t)dev;
delay = sensor->info.period_min > 100 ? sensor->info.period_min : 100;
result = rt_device_open(dev, RT_DEVICE_FLAG_RDONLY);
if (result != RT_EOK)
{
LOG_E("open device failed! error code : %d", result);
return;
}
rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)100);
for (i = 0; i < num; i++)
{
res = rt_device_read(dev, 0, &data, 1);
if (res != 1)
{
LOG_E("read data failed!size is %d", res);
}
else
{
sensor_show_data(i, sensor, &data);
}
rt_thread_mdelay(delay);
}
rt_device_close(dev);
}
#ifdef RT_USING_FINSH
MSH_CMD_EXPORT(sensor_polling, Sensor polling mode test function);
#endif
static void sensor(int argc, char **argv)
{
static rt_device_t dev = RT_NULL;
struct rt_sensor_data data;
rt_sensor_t sensor;
rt_size_t res, i;
rt_int32_t delay;
/* If the number of arguments less than 2 */
if (argc < 2)
{
rt_kprintf("\n");
rt_kprintf("sensor [OPTION] [PARAM]\n");
rt_kprintf(" probe <dev_name> Probe sensor by given name\n");
rt_kprintf(" info Get sensor info\n");
rt_kprintf(" sr <var> Set range to var\n");
rt_kprintf(" sm <var> Set work mode to var\n");
rt_kprintf(" sp <var> Set power mode to var\n");
rt_kprintf(" sodr <var> Set output date rate to var\n");
rt_kprintf(" read [num] Read [num] times sensor\n");
rt_kprintf(" num default 5\n");
return ;
}
else if (!strcmp(argv[1], "info"))
{
struct rt_sensor_info info;
if (dev == RT_NULL)
{
LOG_W("Please probe sensor device first!");
return ;
}
rt_device_control(dev, RT_SENSOR_CTRL_GET_INFO, &info);
switch (info.vendor)
{
case RT_SENSOR_VENDOR_UNKNOWN:
rt_kprintf("vendor :unknown vendor\n");
break;
case RT_SENSOR_VENDOR_STM:
rt_kprintf("vendor :STMicroelectronics\n");
break;
case RT_SENSOR_VENDOR_BOSCH:
rt_kprintf("vendor :Bosch\n");
break;
case RT_SENSOR_VENDOR_INVENSENSE:
rt_kprintf("vendor :Invensense\n");
break;
case RT_SENSOR_VENDOR_SEMTECH:
rt_kprintf("vendor :Semtech\n");
break;
case RT_SENSOR_VENDOR_GOERTEK:
rt_kprintf("vendor :Goertek\n");
break;
case RT_SENSOR_VENDOR_MIRAMEMS:
rt_kprintf("vendor :MiraMEMS\n");
break;
case RT_SENSOR_VENDOR_DALLAS:
rt_kprintf("vendor :Dallas\n");
break;
case RT_SENSOR_VENDOR_ASAIR:
rt_kprintf("vendor :Asair\n");
break;
case RT_SENSOR_VENDOR_SHARP:
rt_kprintf("vendor :Sharp\n");
break;
case RT_SENSOR_VENDOR_SENSIRION:
rt_kprintf("vendor :Sensirion\n");
break;
case RT_SENSOR_VENDOR_TI:
rt_kprintf("vendor :Texas Instruments\n");
break;
case RT_SENSOR_VENDOR_PLANTOWER:
rt_kprintf("vendor :Plantower\n");
break;
case RT_SENSOR_VENDOR_AMS:
rt_kprintf("vendor :AMS\n");
break;
case RT_SENSOR_VENDOR_MAXIM:
rt_kprintf("vendor :Maxim Integrated\n");
break;
case RT_SENSOR_VENDOR_MELEXIS:
rt_kprintf("vendor :Melexis\n");
break;
}
rt_kprintf("model :%s\n", info.model);
switch (info.unit)
{
case RT_SENSOR_UNIT_NONE:
rt_kprintf("unit :none\n");
break;
case RT_SENSOR_UNIT_MG:
rt_kprintf("unit :mG\n");
break;
case RT_SENSOR_UNIT_MDPS:
rt_kprintf("unit :mdps\n");
break;
case RT_SENSOR_UNIT_MGAUSS:
rt_kprintf("unit :mGauss\n");
break;
case RT_SENSOR_UNIT_LUX:
rt_kprintf("unit :lux\n");
break;
case RT_SENSOR_UNIT_CM:
rt_kprintf("unit :cm\n");
break;
case RT_SENSOR_UNIT_PA:
rt_kprintf("unit :pa\n");
break;
case RT_SENSOR_UNIT_PERMILLAGE:
rt_kprintf("unit :permillage\n");
break;
case RT_SENSOR_UNIT_DCELSIUS:
rt_kprintf("unit :Celsius\n");
break;
case RT_SENSOR_UNIT_HZ:
rt_kprintf("unit :HZ\n");
break;
case RT_SENSOR_UNIT_ONE:
rt_kprintf("unit :1\n");
break;
case RT_SENSOR_UNIT_BPM:
rt_kprintf("unit :bpm\n");
break;
case RT_SENSOR_UNIT_MM:
rt_kprintf("unit :mm\n");
break;
case RT_SENSOR_UNIT_MN:
rt_kprintf("unit :mN\n");
break;
case RT_SENSOR_UNIT_PPM:
rt_kprintf("unit :ppm\n");
break;
case RT_SENSOR_UNIT_PPB:
rt_kprintf("unit :ppb\n");
break;
case RT_SENSOR_UNIT_MMHG:
rt_kprintf("unit :mmHg\n");
break;
}
rt_kprintf("range_max :%d\n", info.range_max);
rt_kprintf("range_min :%d\n", info.range_min);
rt_kprintf("period_min:%dms\n", info.period_min);
rt_kprintf("fifo_max :%d\n", info.fifo_max);
}
else if (!strcmp(argv[1], "read"))
{
rt_uint16_t num = 5;
if (dev == RT_NULL)
{
LOG_W("Please probe sensor device first!");
return ;
}
if (argc == 3)
{
num = atoi(argv[2]);
}
sensor = (rt_sensor_t)dev;
delay = sensor->info.period_min > 100 ? sensor->info.period_min : 100;
for (i = 0; i < num; i++)
{
res = rt_device_read(dev, 0, &data, 1);
if (res != 1)
{
LOG_E("read data failed!size is %d", res);
}
else
{
sensor_show_data(i, sensor, &data);
}
rt_thread_mdelay(delay);
}
}
else if (argc == 3)
{
if (!strcmp(argv[1], "probe"))
{
rt_uint8_t reg = 0xFF;
if (dev)
{
rt_device_close(dev);
}
dev = rt_device_find(argv[2]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[2]);
return;
}
if (rt_device_open(dev, RT_DEVICE_FLAG_RDWR) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
rt_device_control(dev, RT_SENSOR_CTRL_GET_ID, &reg);
LOG_I("device id: 0x%x!", reg);
}
else if (dev == RT_NULL)
{
LOG_W("Please probe sensor first!");
return ;
}
else if (!strcmp(argv[1], "sr"))
{
rt_device_control(dev, RT_SENSOR_CTRL_SET_RANGE, (void *)atoi(argv[2]));
}
else if (!strcmp(argv[1], "sm"))
{
rt_device_control(dev, RT_SENSOR_CTRL_SET_MODE, (void *)atoi(argv[2]));
}
else if (!strcmp(argv[1], "sp"))
{
rt_device_control(dev, RT_SENSOR_CTRL_SET_POWER, (void *)atoi(argv[2]));
}
else if (!strcmp(argv[1], "sodr"))
{
rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)atoi(argv[2]));
}
else
{
LOG_W("Unknown command, please enter 'sensor' get help information!");
}
}
else
{
LOG_W("Unknown command, please enter 'sensor' get help information!");
}
}
#ifdef RT_USING_FINSH
MSH_CMD_EXPORT(sensor, sensor test function);
#endif

542
rt-thread/components/drivers/sensor/v2/sensor.c Normal file
View File

@@ -0,0 +1,542 @@
/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-01-31 flybreak first version
* 2020-02-22 luhuadong support custom commands
* 2022-12-17 Meco Man re-implement sensor framework
*/
#include <drivers/sensor_v2.h>
#define DBG_TAG "sensor_v2"
#define DBG_LVL DBG_INFO
#include <rtdbg.h>
#include <string.h>
static char *const sensor_name_str[] =
{
"None",
"ac-", /* Accelerometer */
"gy-", /* Gyroscope */
"ma-", /* Magnetometer */
"tm-", /* Temperature */
"hm-", /* Relative Humidity */
"br-", /* Barometer */
"li-", /* Ambient light */
"pr-", /* Proximity */
"hr-", /* Heart Rate */
"tv-", /* TVOC Level */
"ni-", /* Noise Loudness */
"st-", /* Step sensor */
"fr-", /* Force sensor */
"du-", /* Dust sensor */
"ec-", /* eCO2 sensor */
"gn-", /* GPS/GNSS sensor */
"tf-", /* TOF sensor */
"sp-", /* SpO2 sensor */
"ia-", /* IAQ sensor */
"et-", /* EtOH sensor */
"bp-", /* Blood Pressure */
RT_NULL
};
/* sensor interrupt handler function */
static void _sensor_cb(rt_sensor_t sen)
{
if (sen->parent.rx_indicate == RT_NULL)
{
return;
}
if (sen->irq_handle != RT_NULL)
{
sen->irq_handle(sen);
}
/* The buffer is not empty. Read the data in the buffer first */
if (sen->data_len > 0)
{
sen->parent.rx_indicate(&sen->parent, sen->data_len / sizeof(struct rt_sensor_data));
}
else if (RT_SENSOR_MODE_GET_FETCH(sen->info.mode) == RT_SENSOR_MODE_FETCH_INT)
{
/* The interrupt mode only produces one data at a time */
sen->parent.rx_indicate(&sen->parent, 1);
}
else if (RT_SENSOR_MODE_GET_FETCH(sen->info.mode) == RT_SENSOR_MODE_FETCH_FIFO)
{
sen->parent.rx_indicate(&sen->parent, sen->info.fifo_max);
}
}
/* ISR for sensor interrupt */
static void _irq_callback(void *args)
{
rt_sensor_t sensor = (rt_sensor_t)args;
rt_uint8_t i;
if (sensor->module)
{
/* Invoke a callback for all sensors in the module */
for (i = 0; i < sensor->module->sen_num; i++)
{
_sensor_cb(sensor->module->sen[i]);
}
}
else
{
_sensor_cb(sensor);
}
}
/* Sensor interrupt initialization function */
static rt_err_t _sensor_irq_init(rt_sensor_t sensor)
{
if (sensor->config.irq_pin.pin == PIN_IRQ_PIN_NONE)
{
return -RT_EINVAL;
}
rt_pin_mode(sensor->config.irq_pin.pin, sensor->config.irq_pin.mode);
if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLDOWN)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING, _irq_callback, (void *)sensor);
}
else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT_PULLUP)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_FALLING, _irq_callback, (void *)sensor);
}
else if (sensor->config.irq_pin.mode == PIN_MODE_INPUT)
{
rt_pin_attach_irq(sensor->config.irq_pin.pin, PIN_IRQ_MODE_RISING_FALLING, _irq_callback, (void *)sensor);
}
rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_TRUE);
LOG_I("interrupt init success");
return 0;
}
/* sensor local ops */
static rt_ssize_t _local_fetch_data(rt_sensor_t sensor, rt_sensor_data_t buf, rt_size_t len)
{
LOG_D("Undefined fetch_data");
return -RT_EINVAL;
}
static rt_err_t _local_control(rt_sensor_t sensor, int cmd, void *arg)
{
LOG_D("Undefined control");
return -RT_EINVAL;
}
static struct rt_sensor_ops local_ops =
{
.fetch_data = _local_fetch_data,
.control = _local_control
};
/* RT-Thread Device Interface */
static rt_err_t _sensor_open(rt_device_t dev, rt_uint16_t oflag)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
RT_ASSERT(dev != RT_NULL);
rt_err_t res = RT_EOK;
rt_err_t (*local_ctrl)(rt_sensor_t sensor, int cmd, void *arg) = _local_control;
if (sensor->module)
{
/* take the module mutex */
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf == RT_NULL)
{
/* Allocate memory for the sensor buffer */
sensor->data_buf = rt_malloc(sizeof(struct rt_sensor_data) * sensor->info.fifo_max);
if (sensor->data_buf == RT_NULL)
{
res = -RT_ENOMEM;
goto __exit;
}
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
if (oflag & RT_DEVICE_FLAG_RDONLY && dev->flag & RT_DEVICE_FLAG_RDONLY)
{
/* If polling mode is supported, configure it to polling mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_FETCH_MODE, (void *)RT_SENSOR_MODE_FETCH_POLLING) == RT_EOK)
{
RT_SENSOR_MODE_SET_FETCH(sensor->info.mode, RT_SENSOR_MODE_FETCH_POLLING);
}
}
else if (oflag & RT_DEVICE_FLAG_INT_RX && dev->flag & RT_DEVICE_FLAG_INT_RX)
{
/* If interrupt mode is supported, configure it to interrupt mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_FETCH_MODE, (void *)RT_SENSOR_MODE_FETCH_INT) == RT_EOK)
{
/* Initialization sensor interrupt */
_sensor_irq_init(sensor);
RT_SENSOR_MODE_SET_FETCH(sensor->info.mode, RT_SENSOR_MODE_FETCH_INT);
}
}
else if (oflag & RT_DEVICE_FLAG_FIFO_RX && dev->flag & RT_DEVICE_FLAG_FIFO_RX)
{
/* If fifo mode is supported, configure it to fifo mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_FETCH_MODE, (void *)RT_SENSOR_MODE_FETCH_FIFO) == RT_EOK)
{
/* Initialization sensor interrupt */
_sensor_irq_init(sensor);
RT_SENSOR_MODE_SET_FETCH(sensor->info.mode, RT_SENSOR_MODE_FETCH_FIFO);
}
}
else
{
res = -RT_EINVAL;
goto __exit;
}
/* Configure power mode to highest mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER_MODE, (void *)RT_SENSOR_MODE_POWER_HIGHEST) == RT_EOK)
{
RT_SENSOR_MODE_SET_POWER(sensor->info.mode, RT_SENSOR_MODE_POWER_HIGHEST);
}
/* Configure accuracy mode to highest mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_ACCURACY_MODE, (void *)RT_SENSOR_MODE_ACCURACY_HIGHEST) == RT_EOK)
{
RT_SENSOR_MODE_SET_ACCURACY(sensor->info.mode, RT_SENSOR_MODE_ACCURACY_HIGHEST);
}
__exit:
if (sensor->module)
{
/* release the module mutex */
rt_mutex_release(sensor->module->lock);
}
return res;
}
static rt_err_t _sensor_close(rt_device_t dev)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
rt_err_t (*local_ctrl)(rt_sensor_t sensor, int cmd, void *arg) = _local_control;
int i;
RT_ASSERT(dev != RT_NULL);
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
/* Configure power mode to power down mode */
if (local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER_MODE, (void *)RT_SENSOR_MODE_POWER_DOWN) == RT_EOK)
{
RT_SENSOR_MODE_SET_POWER(sensor->info.mode, RT_SENSOR_MODE_POWER_DOWN);
}
if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf != RT_NULL)
{
for (i = 0; i < sensor->module->sen_num; i ++)
{
if (sensor->module->sen[i]->parent.ref_count > 0)
goto __exit;
}
/* Free memory for the sensor buffer */
for (i = 0; i < sensor->module->sen_num; i ++)
{
if (sensor->module->sen[i]->data_buf)
{
rt_free(sensor->module->sen[i]->data_buf);
sensor->module->sen[i]->data_buf = RT_NULL;
}
}
}
if (RT_SENSOR_MODE_GET_FETCH(sensor->info.mode) != RT_SENSOR_MODE_FETCH_POLLING)
{
/* Sensor disable interrupt */
if (sensor->config.irq_pin.pin != PIN_IRQ_PIN_NONE)
{
rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
}
}
__exit:
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return RT_EOK;
}
static rt_ssize_t _sensor_read(rt_device_t dev, rt_off_t pos, void *buf, rt_size_t len)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
rt_size_t result = 0;
RT_ASSERT(dev != RT_NULL);
if (buf == NULL || len == 0)
{
return 0;
}
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
/* The buffer is not empty. Read the data in the buffer first */
if (sensor->data_len > 0)
{
if (len > sensor->data_len / sizeof(struct rt_sensor_data))
{
len = sensor->data_len / sizeof(struct rt_sensor_data);
}
rt_memcpy(buf, sensor->data_buf, len * sizeof(struct rt_sensor_data));
/* Clear the buffer */
sensor->data_len = 0;
result = len;
}
else
{
/* If the buffer is empty, read the data */
if (sensor->ops->fetch_data)
{
result = sensor->ops->fetch_data(sensor, buf, len);
}
}
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return result;
}
static rt_err_t _sensor_control(rt_device_t dev, int cmd, void *args)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
rt_err_t result = RT_EOK;
RT_ASSERT(dev != RT_NULL);
rt_err_t (*local_ctrl)(rt_sensor_t sensor, int cmd, void *arg) = _local_control;
rt_uint8_t mode;
if (sensor->module)
{
rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
}
if (sensor->ops->control != RT_NULL)
{
local_ctrl = sensor->ops->control;
}
switch (cmd)
{
case RT_SENSOR_CTRL_GET_ID:
if (args)
{
result = local_ctrl(sensor, RT_SENSOR_CTRL_GET_ID, args);
}
break;
case RT_SENSOR_CTRL_SET_ACCURACY_MODE:
/* Configuration sensor power mode */
mode = (rt_uint32_t)args & 0x000F;
if (!(mode == RT_SENSOR_MODE_ACCURACY_HIGHEST || mode == RT_SENSOR_MODE_ACCURACY_HIGH ||\
mode == RT_SENSOR_MODE_ACCURACY_MEDIUM || mode == RT_SENSOR_MODE_ACCURACY_LOW ||\
mode == RT_SENSOR_MODE_ACCURACY_LOWEST || mode == RT_SENSOR_MODE_ACCURACY_NOTRUST))
{
LOG_E("sensor accuracy mode illegal: %d", mode);
return -RT_EINVAL;
}
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_ACCURACY_MODE, args);
if (result == RT_EOK)
{
RT_SENSOR_MODE_SET_ACCURACY(sensor->info.mode, mode);
LOG_D("set accuracy mode code: %d", RT_SENSOR_MODE_GET_ACCURACY(sensor->info.mode));
}
break;
case RT_SENSOR_CTRL_SET_POWER_MODE:
/* Configuration sensor power mode */
mode = (rt_uint32_t)args & 0x000F;
if (!(mode == RT_SENSOR_MODE_POWER_HIGHEST || mode == RT_SENSOR_MODE_POWER_HIGH ||\
mode == RT_SENSOR_MODE_POWER_MEDIUM || mode == RT_SENSOR_MODE_POWER_LOW ||\
mode == RT_SENSOR_MODE_POWER_LOWEST || mode == RT_SENSOR_MODE_POWER_DOWN))
{
LOG_E("sensor power mode illegal: %d", mode);
return -RT_EINVAL;
}
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_POWER_MODE, args);
if (result == RT_EOK)
{
RT_SENSOR_MODE_SET_POWER(sensor->info.mode, mode);
LOG_D("set power mode code: %d", RT_SENSOR_MODE_GET_POWER(sensor->info.mode));
}
break;
case RT_SENSOR_CTRL_SET_FETCH_MODE:
/* Configuration sensor power mode */
mode = (rt_uint32_t)args & 0x000F;
if (!(mode == RT_SENSOR_MODE_FETCH_POLLING || mode == RT_SENSOR_MODE_FETCH_INT ||\
mode == RT_SENSOR_MODE_FETCH_FIFO))
{
LOG_E("sensor fetch data mode illegal: %d", mode);
return -RT_EINVAL;
}
result = local_ctrl(sensor, RT_SENSOR_CTRL_SET_FETCH_MODE, args);
if (result == RT_EOK)
{
RT_SENSOR_MODE_SET_FETCH(sensor->info.mode, mode);
LOG_D("set fetch mode code: %d", RT_SENSOR_MODE_GET_FETCH(sensor->info.mode));
}
break;
case RT_SENSOR_CTRL_SELF_TEST:
/* device self test */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
break;
case RT_SENSOR_CTRL_SOFT_RESET:
/* device soft reset */
result = local_ctrl(sensor, RT_SENSOR_CTRL_SOFT_RESET, args);
break;
default:
if (cmd > RT_SENSOR_CTRL_USER_CMD_START)
{
/* Custom commands */
result = local_ctrl(sensor, cmd, args);
}
else
{
result = -RT_EINVAL;
}
break;
}
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
}
return result;
}
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops rt_sensor_ops =
{
RT_NULL,
_sensor_open,
_sensor_close,
_sensor_read,
RT_NULL,
_sensor_control
};
#endif
/*
* sensor register
*/
int rt_hw_sensor_register(rt_sensor_t sensor,
const char *name,
rt_uint32_t flag,
void *data)
{
rt_int8_t result;
rt_device_t device;
RT_ASSERT(sensor != RT_NULL);
char *sensor_name = RT_NULL, *device_name = RT_NULL;
if (sensor->ops == RT_NULL)
{
sensor->ops = &local_ops;
}
/* Add a type name for the sensor device */
sensor_name = sensor_name_str[sensor->info.type];
device_name = (char *)rt_calloc(1, rt_strlen(sensor_name) + 1 + rt_strlen(name));
if (device_name == RT_NULL)
{
LOG_E("device_name calloc failed!");
return -RT_ERROR;
}
rt_memcpy(device_name, sensor_name, rt_strlen(sensor_name) + 1);
strcat(device_name, name);
if (sensor->module != RT_NULL && sensor->module->lock == RT_NULL)
{
/* Create a mutex lock for the module */
sensor->module->lock = rt_mutex_create(name, RT_IPC_FLAG_PRIO);
if (sensor->module->lock == RT_NULL)
{
rt_free(device_name);
return -RT_ERROR;
}
}
device = &sensor->parent;
#ifdef RT_USING_DEVICE_OPS
device->ops = &rt_sensor_ops;
#else
device->init = RT_NULL;
device->open = _sensor_open;
device->close = _sensor_close;
device->read = _sensor_read;
device->write = RT_NULL;
device->control = _sensor_control;
#endif
device->type = RT_Device_Class_Sensor;
device->rx_indicate = RT_NULL;
device->tx_complete = RT_NULL;
device->user_data = data;
result = rt_device_register(device, device_name, flag | RT_DEVICE_FLAG_STANDALONE);
if (result != RT_EOK)
{
LOG_E("sensor[%s] register err code: %d", device_name, result);
rt_free(device_name);
return result;
}
LOG_I("sensor[%s] init success", device_name);
rt_free(device_name);
return RT_EOK;
}
rt_sensor_t rt_sensor_device_find(const char *name)
{
rt_uint8_t index;
char device_name[RT_NAME_MAX];
rt_device_t device;
for (index = 0; sensor_name_str[index] != RT_NULL; index++)
{
rt_memset(device_name, 0, sizeof(device_name));
rt_snprintf(device_name, sizeof(device_name), "%s%s", sensor_name_str[index], name);
device = rt_device_find(device_name);
if (device != RT_NULL)
{
return (rt_sensor_t)device;
}
}
return RT_NULL;
}

799
rt-thread/components/drivers/sensor/v2/sensor_cmd.c Normal file
View File

@@ -0,0 +1,799 @@
/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-01-31 flybreak first version
* 2019-07-16 WillianChan Increase the output of sensor information
* 2020-02-22 luhuadong Add vendor info and sensor types for cmd
* 2022-12-17 Meco Man re-implement sensor framework
*/
#include <drivers/sensor_v2.h>
#define DBG_TAG "sensor_v2.cmd"
#define DBG_LVL DBG_INFO
#include <rtdbg.h>
#include <stdlib.h>
#include <string.h>
static rt_sem_t sensor_rx_sem = RT_NULL;
static const char *sensor_get_type_name(rt_sensor_info_t info)
{
switch(info->type)
{
case RT_SENSOR_TYPE_ACCE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_ACCE);
case RT_SENSOR_TYPE_GYRO:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_GYRO);
case RT_SENSOR_TYPE_MAG:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_MAG);
case RT_SENSOR_TYPE_TEMP:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_TEMP);
case RT_SENSOR_TYPE_HUMI:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_HUMI);
case RT_SENSOR_TYPE_BARO:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_BARO);
case RT_SENSOR_TYPE_LIGHT:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_LIGHT);
case RT_SENSOR_TYPE_PROXIMITY:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_PROXIMITY);
case RT_SENSOR_TYPE_HR:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_HR);
case RT_SENSOR_TYPE_TVOC:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_TVOC);
case RT_SENSOR_TYPE_NOISE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_NOISE);
case RT_SENSOR_TYPE_STEP:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_STEP);
case RT_SENSOR_TYPE_FORCE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_FORCE);
case RT_SENSOR_TYPE_DUST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_DUST);
case RT_SENSOR_TYPE_ECO2:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_ECO2);
case RT_SENSOR_TYPE_GNSS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_GNSS);
case RT_SENSOR_TYPE_TOF:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_TOF);
case RT_SENSOR_TYPE_SPO2:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_SPO2);
case RT_SENSOR_TYPE_IAQ:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_IAQ);
case RT_SENSOR_TYPE_ETOH:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_ETOH);
case RT_SENSOR_TYPE_BP:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_BP);
case RT_SENSOR_TYPE_VOLTAGE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_VOLTAGE);
case RT_SENSOR_TYPE_CURRENT:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_CURRENT);
case RT_SENSOR_TYPE_NONE:
default:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_TYPE_NONE);
}
}
static const char *sensor_get_vendor_name(rt_sensor_info_t info)
{
switch(info->vendor)
{
case RT_SENSOR_VENDOR_VIRTUAL:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_VIRTUAL);
case RT_SENSOR_VENDOR_ONCHIP:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_ONCHIP);
case RT_SENSOR_VENDOR_STM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_STM);
case RT_SENSOR_VENDOR_BOSCH:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_BOSCH);
case RT_SENSOR_VENDOR_INVENSENSE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_INVENSENSE);
case RT_SENSOR_VENDOR_SEMTECH:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_SEMTECH);
case RT_SENSOR_VENDOR_GOERTEK:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_GOERTEK);
case RT_SENSOR_VENDOR_MIRAMEMS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_MIRAMEMS);
case RT_SENSOR_VENDOR_DALLAS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_DALLAS);
case RT_SENSOR_VENDOR_ASAIR:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_ASAIR);
case RT_SENSOR_VENDOR_SHARP:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_SHARP);
case RT_SENSOR_VENDOR_SENSIRION:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_SENSIRION);
case RT_SENSOR_VENDOR_TI:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_TI);
case RT_SENSOR_VENDOR_PLANTOWER:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_PLANTOWER);
case RT_SENSOR_VENDOR_AMS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_AMS);
case RT_SENSOR_VENDOR_MAXIM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_MAXIM);
case RT_SENSOR_VENDOR_MELEXIS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_MELEXIS);
case RT_SENSOR_VENDOR_LSC:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_LSC);
case RT_SENSOR_VENDOR_UNKNOWN:
default:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_VENDOR_UNKNOWN);
}
}
static const char *sensor_get_unit_name(rt_sensor_info_t info)
{
switch(info->unit)
{
case RT_SENSOR_UNIT_MG:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MG);
case RT_SENSOR_UNIT_MDPS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MDPS);
case RT_SENSOR_UNIT_MGAUSS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MGAUSS);
case RT_SENSOR_UNIT_LUX:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_LUX);
case RT_SENSOR_UNIT_M:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_M);
case RT_SENSOR_UNIT_CM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_CM);
case RT_SENSOR_UNIT_MM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MM);
case RT_SENSOR_UNIT_PA:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_PA);
case RT_SENSOR_UNIT_MMHG:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MMHG);
case RT_SENSOR_UNIT_PERCENTAGE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_PERCENTAGE);
case RT_SENSOR_UNIT_PERMILLAGE:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_PERMILLAGE);
case RT_SENSOR_UNIT_CELSIUS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_CELSIUS);
case RT_SENSOR_UNIT_FAHRENHEIT:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_FAHRENHEIT);
case RT_SENSOR_UNIT_KELVIN:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_KELVIN);
case RT_SENSOR_UNIT_HZ:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_HZ);
case RT_SENSOR_UNIT_V:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_V);
case RT_SENSOR_UNIT_MV:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MV);
case RT_SENSOR_UNIT_A:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_A);
case RT_SENSOR_UNIT_MA:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MA);
case RT_SENSOR_UNIT_N:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_N);
case RT_SENSOR_UNIT_MN:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MN);
case RT_SENSOR_UNIT_BPM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_BPM);
case RT_SENSOR_UNIT_PPM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_PPM);
case RT_SENSOR_UNIT_PPB:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_PPB);
case RT_SENSOR_UNIT_DMS:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_DMS);
case RT_SENSOR_UNIT_DD:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_DD);
case RT_SENSOR_UNIT_MGM3:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_MGM3);
case RT_SENSOR_UNIT_NONE:
default:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_UNIT_NONE);
}
}
static const char* sensor_get_accuracy_mode_name(rt_sensor_info_t info)
{
switch(RT_SENSOR_MODE_GET_ACCURACY(info->mode))
{
case RT_SENSOR_MODE_ACCURACY_HIGHEST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_HIGHEST);
case RT_SENSOR_MODE_ACCURACY_HIGH:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_HIGH);
case RT_SENSOR_MODE_ACCURACY_MEDIUM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_MEDIUM);
case RT_SENSOR_MODE_ACCURACY_LOW:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_LOW);
case RT_SENSOR_MODE_ACCURACY_LOWEST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_LOWEST);
case RT_SENSOR_MODE_ACCURACY_NOTRUST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_ACCURACY_NOTRUST);
default:
rt_kprintf("accuracy mode illegal!\n");
return "";
}
}
static const char* sensor_get_power_mode_name(rt_sensor_info_t info)
{
switch(RT_SENSOR_MODE_GET_POWER(info->mode))
{
case RT_SENSOR_MODE_POWER_HIGHEST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_HIGHEST);
case RT_SENSOR_MODE_POWER_HIGH:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_HIGH);
case RT_SENSOR_MODE_POWER_MEDIUM:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_MEDIUM);
case RT_SENSOR_MODE_POWER_LOW:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_LOW);
case RT_SENSOR_MODE_POWER_LOWEST:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_LOWEST);
case RT_SENSOR_MODE_POWER_DOWN:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_POWER_DOWN);
default:
rt_kprintf("power mode illegal!\n");
return "";
}
}
static const char* sensor_get_fetch_mode_name(rt_sensor_info_t info)
{
switch(RT_SENSOR_MODE_GET_FETCH(info->mode))
{
case RT_SENSOR_MODE_FETCH_POLLING:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_FETCH_POLLING);
case RT_SENSOR_MODE_FETCH_INT:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_FETCH_INT);
case RT_SENSOR_MODE_FETCH_FIFO:
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_MODE_FETCH_FIFO);
default:
rt_kprintf("fetch data mode illegal!\n");
return "";
}
}
static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor_data *sensor_data)
{
const char *unit_name = sensor_get_unit_name(&sensor->info);
switch (sensor->info.type)
{
case RT_SENSOR_TYPE_ACCE:
rt_kprintf("num:%d, x:%f, y:%f, z:%f %s, timestamp:%u\n", num, sensor_data->data.acce.x, sensor_data->data.acce.y, sensor_data->data.acce.z, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_GYRO:
rt_kprintf("num:%d, x:%f, y:%f, z:%f %s, timestamp:%u\n", num, sensor_data->data.gyro.x, sensor_data->data.gyro.y, sensor_data->data.gyro.z, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_MAG:
rt_kprintf("num:%d, x:%f, y:%f, z:%f %s, timestamp:%u\n", num, sensor_data->data.mag.x, sensor_data->data.mag.y, sensor_data->data.mag.z, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_GNSS:
rt_kprintf("num:%d, lon:%f, lat:%f %s, timestamp:%u\n", num, sensor_data->data.coord.longitude, sensor_data->data.coord.latitude, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_TEMP:
rt_kprintf("num:%d, temp:%f%s, timestamp:%u\n", num, sensor_data->data.temp, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_HUMI:
rt_kprintf("num:%d, humi:%f%s, timestamp:%u\n", num, sensor_data->data.humi, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_BARO:
rt_kprintf("num:%d, press:%f%s, timestamp:%u\n", num, sensor_data->data.baro, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_LIGHT:
rt_kprintf("num:%d, light:%f%s, timestamp:%u\n", num, sensor_data->data.light, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_PROXIMITY:
case RT_SENSOR_TYPE_TOF:
rt_kprintf("num:%d, distance:%f%s, timestamp:%u\n", num, sensor_data->data.proximity, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_HR:
rt_kprintf("num:%d, heart rate:%f%s, timestamp:%u\n", num, sensor_data->data.hr, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_TVOC:
rt_kprintf("num:%d, tvoc:%f%s, timestamp:%u\n", num, sensor_data->data.tvoc, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_NOISE:
rt_kprintf("num:%d, noise:%f%s, timestamp:%u\n", num, sensor_data->data.noise, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_STEP:
rt_kprintf("num:%d, step:%f%s, timestamp:%u\n", num, sensor_data->data.step, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_FORCE:
rt_kprintf("num:%d, force:%f%s, timestamp:%u\n", num, sensor_data->data.force, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_DUST:
rt_kprintf("num:%d, dust:%f%s, timestamp:%u\n", num, sensor_data->data.dust, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_ECO2:
rt_kprintf("num:%d, eco2:%f%s, timestamp:%u\n", num, sensor_data->data.eco2, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_IAQ:
rt_kprintf("num:%d, IAQ:%f%s, timestamp:%u\n", num, sensor_data->data.iaq, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_ETOH:
rt_kprintf("num:%d, EtOH:%f%s, timestamp:%u\n", num, sensor_data->data.etoh, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_BP:
rt_kprintf("num:%d, bp.sbp:%f, bp.dbp:%f %s, timestamp:%u\n", num, sensor_data->data.bp.sbp, sensor_data->data.bp.dbp, unit_name, sensor_data->timestamp);
break;
case RT_SENSOR_TYPE_NONE:
default:
rt_kprintf("Unknown type of sensor!\n");
break;
}
}
static const char* sensor_get_intf_name(rt_sensor_t sensor)
{
rt_uint8_t type = sensor->config.intf.type;
if (type | RT_SENSOR_INTF_I2C)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_I2C);
}
else if (type | RT_SENSOR_INTF_SPI)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_SPI);
}
else if (type | RT_SENSOR_INTF_UART)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_UART);
}
else if (type | RT_SENSOR_INTF_ONEWIRE)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_ONEWIRE);
}
else if (type | RT_SENSOR_INTF_CAN)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_CAN);
}
else if (type | RT_SENSOR_INTF_MODBUS)
{
return RT_SENSOR_MACRO_GET_NAME(RT_SENSOR_INTF_MODBUS);
}
else
{
return "";
}
}
static rt_err_t rx_callback(rt_device_t dev, rt_size_t size)
{
rt_sem_release(sensor_rx_sem);
return 0;
}
static void sensor_fifo_rx_entry(void *parameter)
{
rt_sensor_t sensor = (rt_sensor_t)parameter;
struct rt_sensor_data *data = RT_NULL;
rt_size_t res, i;
data = (struct rt_sensor_data *)rt_calloc(sensor->info.fifo_max, sizeof(struct rt_sensor_data));
if (data == RT_NULL)
{
LOG_E("Memory allocation failed!");
}
while (1)
{
rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
res = rt_device_read((rt_device_t)sensor, 0, data, sensor->info.fifo_max);
for (i = 0; i < res; i++)
{
sensor_show_data(i, sensor, &data[i]);
}
}
}
static void sensor_fifo(int argc, char **argv)
{
static rt_thread_t tid1 = RT_NULL;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
sensor = (rt_sensor_t)dev;
if (rt_device_open(dev, RT_DEVICE_FLAG_FIFO_RX) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
if (sensor_rx_sem == RT_NULL)
{
sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
}
else
{
LOG_E("The thread is running, please reboot and try again");
return;
}
tid1 = rt_thread_create("sen_rx_thread",
sensor_fifo_rx_entry, sensor,
1024,
15, 5);
if (tid1 != RT_NULL)
rt_thread_startup(tid1);
rt_device_set_rx_indicate(dev, rx_callback);
}
MSH_CMD_EXPORT(sensor_fifo, Sensor fifo mode test function);
static void sensor_irq_rx_entry(void *parameter)
{
rt_device_t dev = (rt_device_t)parameter;
rt_sensor_t sensor = (rt_sensor_t)parameter;
struct rt_sensor_data data;
rt_size_t res, i = 0;
while (1)
{
rt_sem_take(sensor_rx_sem, RT_WAITING_FOREVER);
res = rt_device_read(dev, 0, &data, 1);
if (res == 1)
{
sensor_show_data(i++, sensor, &data);
}
}
}
static void sensor_int(int argc, char **argv)
{
static rt_thread_t tid1 = RT_NULL;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
sensor = (rt_sensor_t)dev;
if (sensor_rx_sem == RT_NULL)
{
sensor_rx_sem = rt_sem_create("sen_rx_sem", 0, RT_IPC_FLAG_FIFO);
}
else
{
LOG_E("The thread is running, please reboot and try again");
return;
}
tid1 = rt_thread_create("sen_rx_thread",
sensor_irq_rx_entry, sensor,
1024,
15, 5);
if (tid1 != RT_NULL)
rt_thread_startup(tid1);
rt_device_set_rx_indicate(dev, rx_callback);
if (rt_device_open(dev, RT_DEVICE_FLAG_INT_RX) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
}
MSH_CMD_EXPORT(sensor_int, Sensor interrupt mode test function);
static void sensor_polling(int argc, char **argv)
{
rt_uint16_t num = 10;
rt_device_t dev = RT_NULL;
rt_sensor_t sensor;
struct rt_sensor_data data;
rt_size_t res, i;
rt_int32_t delay;
rt_err_t result;
dev = rt_device_find(argv[1]);
if (dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[1]);
return;
}
if (argc > 2)
num = atoi(argv[2]);
sensor = (rt_sensor_t)dev;
delay = sensor->info.acquire_min > 100 ? sensor->info.acquire_min : 100;
result = rt_device_open(dev, RT_DEVICE_FLAG_RDONLY);
if (result != RT_EOK)
{
LOG_E("open device failed! error code : %d", result);
return;
}
for (i = 0; i < num; i++)
{
res = rt_device_read(dev, 0, &data, 1);
if (res != 1)
{
LOG_E("read data failed!size is %d", res);
}
else
{
sensor_show_data(i, sensor, &data);
}
rt_thread_mdelay(delay);
}
rt_device_close(dev);
}
MSH_CMD_EXPORT(sensor_polling, Sensor polling mode test function);
static void sensor_cmd_warning_unknown(void)
{
LOG_W("Unknown command, please enter 'sensor' get help information!");
rt_kprintf("sensor [OPTION] [PARAM]\n");
rt_kprintf(" list list all sensor devices\n");
rt_kprintf(" probe <dev_name> probe sensor by given name\n");
rt_kprintf(" info get sensor information\n");
rt_kprintf(" read [num] read [num] times sensor (default 5)\n");
rt_kprintf(" power [mode] set or get power mode\n");
rt_kprintf(" accuracy [mode] set or get accuracy mode\n");
rt_kprintf(" fetch [mode] set or get fetch data mode\n");
rt_kprintf(" reset reset sensor chip\n");
}
static void sensor_cmd_warning_probe(void)
{
LOG_W("Please probe sensor device first!");
}
static void sensor(int argc, char **argv)
{
static rt_device_t dev = RT_NULL;
struct rt_sensor_data data;
rt_sensor_t sensor;
rt_size_t res, i;
rt_int32_t delay;
/* If the number of arguments less than 2 */
if (argc < 2)
{
sensor_cmd_warning_unknown();
return;
}
else if (!rt_strcmp(argv[1], "info"))
{
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return ;
}
sensor = (rt_sensor_t)dev;
rt_kprintf("name :%s\n", sensor->info.name);
rt_kprintf("type: :%s\n", sensor_get_type_name(&sensor->info));
rt_kprintf("vendor :%s\n", sensor_get_vendor_name(&sensor->info));
rt_kprintf("unit :%s\n", sensor_get_unit_name(&sensor->info));
rt_kprintf("fetch data:%s\n", sensor_get_fetch_mode_name(&sensor->info));
rt_kprintf("power :%s\n", sensor_get_power_mode_name(&sensor->info));
rt_kprintf("accuracy :%s\n", sensor_get_accuracy_mode_name(&sensor->info));
rt_kprintf("range max :%f\n", sensor->info.scale.range_max);
rt_kprintf("range min :%f\n", sensor->info.scale.range_min);
rt_kprintf("resolution:%f\n", sensor->info.accuracy.resolution);
rt_kprintf("error :%f\n", sensor->info.accuracy.error);
rt_kprintf("acquire min:%fms\n", sensor->info.acquire_min);
rt_kprintf("fifo max :%d\n", sensor->info.fifo_max);
rt_kprintf("interface type :%s\n", sensor_get_intf_name(sensor));
rt_kprintf("interface device :%s\n", sensor->config.intf.dev_name);
}
else if (!rt_strcmp(argv[1], "read"))
{
rt_uint16_t num = 5;
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return;
}
if (argc == 3)
{
num = atoi(argv[2]);
}
sensor = (rt_sensor_t)dev;
delay = sensor->info.acquire_min > 100 ? sensor->info.acquire_min : 100;
for (i = 0; i < num; i++)
{
res = rt_device_read(dev, 0, &data, 1);
if (res != 1)
{
LOG_E("read data failed!size is %d", res);
}
else
{
sensor_show_data(i, sensor, &data);
}
rt_thread_mdelay(delay);
}
}
else if (!rt_strcmp(argv[1], "list"))
{
struct rt_object *object;
struct rt_list_node *node;
struct rt_object_information *information;
rt_sensor_t sensor_dev;
information = rt_object_get_information(RT_Object_Class_Device);
if(information == RT_NULL)
return;
rt_kprintf("device name sensor name sensor type mode resolution range\n");
rt_kprintf("----------- ------------- ------------------ ---- ---------- ----------\n");
for (node = information->object_list.next;
node != &(information->object_list);
node = node->next)
{
object = rt_list_entry(node, struct rt_object, list);
sensor_dev = (rt_sensor_t)object;
if (sensor_dev->parent.type != RT_Device_Class_Sensor)
continue;
rt_kprintf("%-*.*s %-*s %-*s %u%u%u %-*f %.*f - %.*f%-*s\n",
RT_NAME_MAX+3, RT_NAME_MAX, sensor_dev->parent.parent.name,
13, sensor_dev->info.name,
18, sensor_get_type_name(&sensor_dev->info),
RT_SENSOR_MODE_GET_ACCURACY(sensor_dev->info.mode), RT_SENSOR_MODE_GET_POWER(sensor_dev->info.mode), RT_SENSOR_MODE_GET_FETCH(sensor_dev->info.mode),
10, sensor_dev->info.accuracy.resolution,
2, sensor_dev->info.scale.range_min, 2, sensor_dev->info.scale.range_max, 5, sensor_get_unit_name(&sensor_dev->info));
}
}
else if (!rt_strcmp(argv[1], "reset"))
{
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return;
}
if (rt_device_control(dev, RT_SENSOR_CTRL_SOFT_RESET, RT_NULL) != RT_EOK)
{
LOG_E("This sensor doesn't support this command!");
}
}
else if (!rt_strcmp(argv[1], "probe"))
{
rt_uint8_t reg = 0xFF;
rt_device_t new_dev;
if (argc < 3)
{
sensor_cmd_warning_unknown();
return;
}
new_dev = rt_device_find(argv[2]);
if (new_dev == RT_NULL)
{
LOG_E("Can't find device:%s", argv[2]);
return;
}
if (rt_device_open(new_dev, RT_DEVICE_FLAG_RDWR) != RT_EOK)
{
LOG_E("open device failed!");
return;
}
if (rt_device_control(new_dev, RT_SENSOR_CTRL_GET_ID, &reg) == RT_EOK)
{
rt_kprintf("Sensor Chip ID: %#x\n", reg);
}
if (dev)
{
rt_device_close(dev);
}
dev = new_dev;
}
else if (!rt_strcmp(argv[1], "power"))
{
rt_uint32_t mode;
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return;
}
sensor = (rt_sensor_t)dev;
if (argc == 2)
{
rt_kprintf("current power mode: %s\n", sensor_get_power_mode_name(&sensor->info));
}
else if (argc == 3)
{
mode = atoi(argv[2]);
if (rt_device_control(dev, RT_SENSOR_CTRL_SET_POWER_MODE, (void *)mode) == RT_EOK)
{
rt_kprintf("set new power mode as: %s\n", sensor_get_power_mode_name(&sensor->info));
}
else
{
LOG_E("Don't support! Set new power mode error!");
}
}
else
{
sensor_cmd_warning_unknown();
}
}
else if (!rt_strcmp(argv[1], "accuracy"))
{
rt_uint32_t mode;
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return;
}
sensor = (rt_sensor_t)dev;
if (argc == 2)
{
rt_kprintf("current accuracy mode: %s\n", sensor_get_accuracy_mode_name(&sensor->info));
}
else if (argc == 3)
{
mode = atoi(argv[2]);
if (rt_device_control(dev, RT_SENSOR_CTRL_SET_ACCURACY_MODE, (void *)mode) == RT_EOK)
{
rt_kprintf("set new accuracy mode as: %s\n", sensor_get_accuracy_mode_name(&sensor->info));
}
else
{
LOG_E("Don't support! Set new accuracy mode error!");
}
}
else
{
sensor_cmd_warning_unknown();
}
}
else if (!rt_strcmp(argv[1], "fetch"))
{
rt_uint32_t mode;
if (dev == RT_NULL)
{
sensor_cmd_warning_probe();
return;
}
sensor = (rt_sensor_t)dev;
if (argc == 2)
{
rt_kprintf("current fetch data mode: %s\n", sensor_get_fetch_mode_name(&sensor->info));
}
else if (argc == 3)
{
mode = atoi(argv[2]);
if (rt_device_control(dev, RT_SENSOR_CTRL_SET_FETCH_MODE, (void *)mode) == RT_EOK)
{
rt_kprintf("set new fetch data mode as: %s\n", sensor_get_fetch_mode_name(&sensor->info));
}
else
{
LOG_E("Don't support! Set new fetch data mode error!");
}
}
else
{
sensor_cmd_warning_unknown();
}
}
else
{
sensor_cmd_warning_unknown();
}
}
MSH_CMD_EXPORT(sensor, sensor test function);