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rt-thread-official/components/drivers/sensor/sensor.c

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/*
* Copyright (c) 2006-2022, 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.h>
#define DBG_TAG "sensor"
#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 */
};
/* 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;
int i;
rt_err_t (*local_ctrl)(rt_sensor_t 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_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_size_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;
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, (rt_uint32_t)args & 0x0F);
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;
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, (rt_uint32_t)args & 0x0F);
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;
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, (rt_uint32_t)args & 0x0F);
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);
/* set sensor accuracy and power as the hightest */
rt_device_control(device, RT_SENSOR_CTRL_SET_ACCURACY_MODE, RT_SENSOR_MODE_ACCURACY_HIGHEST);
rt_device_control(device, RT_SENSOR_CTRL_SET_POWER_MODE, RT_SENSOR_MODE_POWER_HIGHEST);
return RT_EOK;
}
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