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driver/sensor: update sensor data structure and state structure

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Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Jiuzhu Dong 2022-03-23 17:09:46 +08:00 committed by Xiang Xiao
parent 24040250f5
commit e3e59a03b1
4 changed files with 118 additions and 123 deletions
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136
drivers/sensors/sensor.c
View file

@ -58,7 +58,7 @@
struct sensor_info_s
{
uint8_t esize;
unsigned long esize;
FAR char *name;
};
@ -82,7 +82,7 @@ struct sensor_user_s
* appear in dual role
*/
size_t generation; /* Last generation subscriber has seen */
unsigned long generation; /* Last generation subscriber has seen */
unsigned long interval; /* The interval for subscriber */
unsigned long latency; /* The bactch latency for subscriber */
};
@ -94,9 +94,7 @@ struct sensor_upperhalf_s
FAR struct sensor_lowerhalf_s *lower; /* The handle of lower half driver */
struct sensor_state_s state; /* The state of sensor device */
struct circbuf_s buffer; /* The circular buffer of sensor device */
uint8_t esize; /* The element size of circular buffer */
sem_t exclsem; /* Manages exclusive access to file operations */
size_t generation; /* The current generation count */
struct list_node userlist; /* List of users */
};
@ -125,39 +123,39 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
static const struct sensor_info_s g_sensor_info[] =
{
{0, NULL},
{sizeof(struct sensor_event_accel), "accel"},
{sizeof(struct sensor_event_mag), "mag"},
{sizeof(struct sensor_event_gyro), "gyro"},
{sizeof(struct sensor_event_light), "light"},
{sizeof(struct sensor_event_baro), "baro"},
{sizeof(struct sensor_event_prox), "prox"},
{sizeof(struct sensor_event_humi), "humi"},
{sizeof(struct sensor_event_temp), "temp"},
{sizeof(struct sensor_event_rgb), "rgb"},
{sizeof(struct sensor_event_hall), "hall"},
{sizeof(struct sensor_event_ir), "ir"},
{sizeof(struct sensor_event_gps), "gps"},
{sizeof(struct sensor_event_uv), "uv"},
{sizeof(struct sensor_event_noise), "noise"},
{sizeof(struct sensor_event_pm25), "pm25"},
{sizeof(struct sensor_event_pm1p0), "pm1p0"},
{sizeof(struct sensor_event_pm10), "pm10"},
{sizeof(struct sensor_event_co2), "co2"},
{sizeof(struct sensor_event_hcho), "hcho"},
{sizeof(struct sensor_event_tvoc), "tvoc"},
{sizeof(struct sensor_event_ph), "ph"},
{sizeof(struct sensor_event_dust), "dust"},
{sizeof(struct sensor_event_hrate), "hrate"},
{sizeof(struct sensor_event_hbeat), "hbeat"},
{sizeof(struct sensor_event_ecg), "ecg"},
{sizeof(struct sensor_event_ppgd), "ppgd"},
{sizeof(struct sensor_event_ppgq), "ppgq"},
{sizeof(struct sensor_event_impd), "impd"},
{sizeof(struct sensor_event_ots), "ots"},
{sizeof(struct sensor_event_gps_satellite), "gps_satellite"},
{sizeof(struct sensor_event_wake_gesture), "wake_gesture"},
{sizeof(struct sensor_event_cap), "cap"},
{0, NULL},
{sizeof(struct sensor_accel), "accel"},
{sizeof(struct sensor_mag), "mag"},
{sizeof(struct sensor_gyro), "gyro"},
{sizeof(struct sensor_light), "light"},
{sizeof(struct sensor_baro), "baro"},
{sizeof(struct sensor_prox), "prox"},
{sizeof(struct sensor_humi), "humi"},
{sizeof(struct sensor_temp), "temp"},
{sizeof(struct sensor_rgb), "rgb"},
{sizeof(struct sensor_hall), "hall"},
{sizeof(struct sensor_ir), "ir"},
{sizeof(struct sensor_gps), "gps"},
{sizeof(struct sensor_uv), "uv"},
{sizeof(struct sensor_noise), "noise"},
{sizeof(struct sensor_pm25), "pm25"},
{sizeof(struct sensor_pm1p0), "pm1p0"},
{sizeof(struct sensor_pm10), "pm10"},
{sizeof(struct sensor_co2), "co2"},
{sizeof(struct sensor_hcho), "hcho"},
{sizeof(struct sensor_tvoc), "tvoc"},
{sizeof(struct sensor_ph), "ph"},
{sizeof(struct sensor_dust), "dust"},
{sizeof(struct sensor_hrate), "hrate"},
{sizeof(struct sensor_hbeat), "hbeat"},
{sizeof(struct sensor_ecg), "ecg"},
{sizeof(struct sensor_ppgd), "ppgd"},
{sizeof(struct sensor_ppgq), "ppgq"},
{sizeof(struct sensor_impd), "impd"},
{sizeof(struct sensor_ots), "ots"},
{sizeof(struct sensor_gps_satellite), "gps_satellite"},
{sizeof(struct sensor_wake_gesture), "wake_gesture"},
{sizeof(struct sensor_cap), "cap"},
};
static const struct file_operations g_sensor_fops =
@ -178,7 +176,8 @@ static const struct file_operations g_sensor_fops =
* Private Functions
****************************************************************************/
static bool sensor_in_range(size_t left, size_t value, size_t right)
static bool sensor_in_range(unsigned long left, unsigned long value,
unsigned long right)
{
if (left < right)
{
@ -192,7 +191,8 @@ static bool sensor_in_range(size_t left, size_t value, size_t right)
}
}
static bool sensor_is_updated(size_t generation, size_t ugeneration)
static bool sensor_is_updated(unsigned long generation,
unsigned long ugeneration)
{
return generation > ugeneration;
}
@ -390,7 +390,7 @@ static int sensor_open(FAR struct file *filep)
user->interval = ULONG_MAX;
user->latency = ULONG_MAX;
user->generation = upper->generation;
user->generation = upper->state.generation;
nxsem_init(&user->buffersem, 0, 0);
nxsem_set_protocol(&user->buffersem, SEM_PRIO_NONE);
list_add_tail(&upper->userlist, &user->node);
@ -458,8 +458,8 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
FAR struct sensor_upperhalf_s *upper = inode->i_private;
FAR struct sensor_lowerhalf_s *lower = upper->lower;
FAR struct sensor_user_s *user = filep->f_priv;
unsigned long nums;
ssize_t ret;
size_t nums;
if (!buffer || !len)
{
@ -534,7 +534,7 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
* new data.
*/
if (user->generation == upper->generation)
if (user->generation == upper->state.generation)
{
user->generation--;
}
@ -543,21 +543,22 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
* oldest data in circbuffer are returned to the users.
*/
else if (!sensor_in_range(upper->generation - lower->buffer_number,
user->generation, upper->generation))
else if (!sensor_in_range(upper->state.generation - lower->nbuffer,
user->generation, upper->state.generation))
{
user->generation = upper->generation - lower->buffer_number;
user->generation = upper->state.generation - lower->nbuffer;
}
nums = upper->generation - user->generation;
if (len < nums * upper->esize)
nums = upper->state.generation - user->generation;
if (len < nums * upper->state.esize)
{
nums = len / upper->esize;
nums = len / upper->state.esize;
}
len = nums * upper->esize;
ret = circbuf_peekat(&upper->buffer, user->generation * upper->esize,
len = nums * upper->state.esize;
ret = circbuf_peekat(&upper->buffer,
user->generation * upper->state.esize,
buffer, len);
user->generation += nums;
}
@ -650,9 +651,9 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
break;
case SNIOC_GET_NEVENTBUF:
case SNIOC_SET_USERPRIV:
{
*(FAR uint32_t *)(uintptr_t)arg = lower->buffer_number;
upper->state.priv = (FAR void *)(uintptr_t)arg;
}
break;
@ -660,9 +661,9 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
if (!circbuf_is_init(&upper->buffer))
{
if (arg >= lower->buffer_number)
if (arg >= lower->nbuffer)
{
lower->buffer_number = arg;
lower->nbuffer = arg;
}
else
{
@ -742,7 +743,7 @@ static int sensor_poll(FAR struct file *filep,
}
}
}
else if (sensor_is_updated(upper->generation, user->generation))
else if (sensor_is_updated(upper->state.generation, user->generation))
{
eventset |= (fds->events & POLLIN);
}
@ -774,12 +775,12 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
FAR struct sensor_upperhalf_s *upper = priv;
FAR struct sensor_lowerhalf_s *lower = upper->lower;
FAR struct sensor_user_s *user;
size_t envcount;
unsigned long envcount;
int semcount;
int ret;
envcount = bytes / upper->esize;
if (!envcount || bytes != envcount * upper->esize)
envcount = bytes / upper->state.esize;
if (!envcount || bytes != envcount * upper->state.esize)
{
return -EINVAL;
}
@ -794,8 +795,8 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
{
/* Initialize sensor buffer when data is first generated */
ret = circbuf_init(&upper->buffer, NULL, lower->buffer_number *
upper->esize);
ret = circbuf_init(&upper->buffer, NULL, lower->nbuffer *
upper->state.esize);
if (ret < 0)
{
nxsem_post(&upper->exclsem);
@ -804,10 +805,10 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
}
circbuf_overwrite(&upper->buffer, data, bytes);
upper->generation += envcount;
upper->state.generation += envcount;
list_for_every_entry(&upper->userlist, user, struct sensor_user_s, node)
{
if (sensor_is_updated(upper->generation, user->generation))
if (sensor_is_updated(upper->state.generation, user->generation))
{
nxsem_get_value(&user->buffersem, &semcount);
if (semcount < 1)
@ -916,7 +917,7 @@ int sensor_register(FAR struct sensor_lowerhalf_s *lower, int devno)
****************************************************************************/
int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
FAR const char *path, uint8_t esize)
FAR const char *path, unsigned long esize)
{
FAR struct sensor_upperhalf_s *upper;
int ret = -EINVAL;
@ -941,9 +942,9 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
/* Initialize the upper-half data structure */
upper->lower = lower;
upper->esize = esize;
list_initialize(&upper->userlist);
upper->state.esize = esize;
upper->state.min_interval = ULONG_MAX;
upper->state.min_latency = ULONG_MAX;
if (lower->ops->activate)
@ -959,9 +960,9 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
if (!lower->ops->fetch)
{
if (!lower->buffer_number)
if (!lower->nbuffer)
{
lower->buffer_number = 1;
lower->nbuffer = 1;
}
lower->push_event = sensor_push_event;
@ -969,9 +970,10 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
else
{
lower->notify_event = sensor_notify_event;
lower->buffer_number = 0;
lower->nbuffer = 0;
}
upper->state.nbuffer = lower->nbuffer;
sninfo("Registering %s\n", path);
ret = register_driver(path, &g_sensor_fops, 0666, upper);
if (ret)

2
drivers/sensors/usensor.c
View file

@ -104,7 +104,7 @@ static int usensor_register(FAR struct usensor_context_s *usensor,
return -ENOMEM;
}
lower->driver.buffer_number = info->nqueue;
lower->driver.nbuffer = info->nbuffer;
lower->driver.ops = &g_usensor_ops;
strcpy(lower->path, info->path);
ret = sensor_custom_register(&lower->driver, lower->path, info->esize);

18
include/nuttx/sensors/ioctl.h
View file

@ -256,22 +256,12 @@
#define SNIOC_BATCH _SNIOC(0x0082)
/* Command: SNIOC_GET_NEVENTBUF
* Description: the number of sensor events that sensor buffer of upper half
* holds.
* Argument: This is the number of events pointer, is output parameter.
* Note: Tell the application layer number of sensor events in sensor
* buffer.
* This buffer is used to solve the problem that the
* application layer can't read the sensor event in time.
* Recommend the number of sensor events in application layer's
* buffer is same as result by call this function.
* This is number of sensor events rather than the length of
* buffer.
* See sensor.h(struct sensor_lower_half_s buffer_bytes).
/* Command: SNIOC_SET_USERPRIV
* Description: Set the private data of userspace user.
* Argument: This is the pointer of private data.
*/
#define SNIOC_GET_NEVENTBUF _SNIOC(0x0083)
#define SNIOC_SET_USERPRIV _SNIOC(0x0083)
/* Command: SNIOC_SET_BUFFER_NUMBER
* Description: Set the number of events intermediate circualr buffer can

85
include/nuttx/sensors/sensor.h
View file

@ -313,7 +313,7 @@ static inline uint64_t sensor_get_timestamp(void)
* reported.
*/
struct sensor_event_accel /* Type: Accerometer */
struct sensor_accel /* Type: Accerometer */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in m/s^2 */
@ -322,7 +322,7 @@ struct sensor_event_accel /* Type: Accerometer */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_event_gyro /* Type: Gyroscope */
struct sensor_gyro /* Type: Gyroscope */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in rad/s */
@ -331,7 +331,7 @@ struct sensor_event_gyro /* Type: Gyroscope */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_event_mag /* Type: Magnetic Field */
struct sensor_mag /* Type: Magnetic Field */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in Gauss or micro Tesla (uT) */
@ -340,38 +340,38 @@ struct sensor_event_mag /* Type: Magnetic Field */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_event_baro /* Type: Barometer */
struct sensor_baro /* Type: Barometer */
{
uint64_t timestamp; /* Units is microseconds */
float pressure; /* pressure measurement in millibar or hpa */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_event_prox /* Type: proximity */
struct sensor_prox /* Type: proximity */
{
uint64_t timestamp; /* Units is microseconds */
float proximity; /* distance to the nearest object in centimeters */
};
struct sensor_event_light /* Type: Light */
struct sensor_light /* Type: Light */
{
uint64_t timestamp; /* Units is microseconds */
float light; /* in SI lux units */
};
struct sensor_event_humi /* Type: Relative Humidity */
struct sensor_humi /* Type: Relative Humidity */
{
uint64_t timestamp; /* Units is microseconds */
float humidity; /* in percent */
};
struct sensor_event_temp /* Type: Ambient Temperature */
struct sensor_temp /* Type: Ambient Temperature */
{
uint64_t timestamp; /* Units is microseconds */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_event_rgb /* Type: RGB */
struct sensor_rgb /* Type: RGB */
{
uint64_t timestamp; /* Units is microseconds */
float r; /* Units is percent */
@ -379,19 +379,19 @@ struct sensor_event_rgb /* Type: RGB */
float b; /* Units is percent */
};
struct sensor_event_hall /* Type: HALL */
struct sensor_hall /* Type: HALL */
{
uint64_t timestamp; /* Units is microseconds */
bool hall; /* Boolean type */
};
struct sensor_event_ir /* Type: Infrared Ray */
struct sensor_ir /* Type: Infrared Ray */
{
uint64_t timestamp; /* Units is microseconds */
float ir; /* in SI units lux */
};
struct sensor_event_gps /* Type: Gps */
struct sensor_gps /* Type: Gps */
{
uint64_t timestamp; /* Time since system start, Units is microseconds */
@ -424,85 +424,85 @@ struct sensor_event_gps /* Type: Gps */
uint32_t satellites_used; /* Number of satellites used */
};
struct sensor_event_uv /* Type: Ultraviolet Light */
struct sensor_uv /* Type: Ultraviolet Light */
{
uint64_t timestamp; /* Units is microseconds */
float uvi; /* the value range is 0 - 15 */
};
struct sensor_event_noise /* Type: Noise Loudness */
struct sensor_noise /* Type: Noise Loudness */
{
uint64_t timestamp; /* Units is microseconds */
float db; /* in SI units db */
};
struct sensor_event_pm25 /* Type: PM25 */
struct sensor_pm25 /* Type: PM25 */
{
uint64_t timestamp; /* Units is microseconds */
float pm25; /* in SI units ug/m^3 */
};
struct sensor_event_pm10 /* Type: PM10 */
struct sensor_pm10 /* Type: PM10 */
{
uint64_t timestamp; /* Units is microseconds */
float pm10; /* in SI units ug/m^3 */
};
struct sensor_event_pm1p0 /* Type: PM1P0 */
struct sensor_pm1p0 /* Type: PM1P0 */
{
uint64_t timestamp; /* Units is microseconds */
float pm1p0; /* in SI units ug/m^3 */
};
struct sensor_event_co2 /* Type: CO2 */
struct sensor_co2 /* Type: CO2 */
{
uint64_t timestamp; /* Units is microseconds */
float co2; /* in SI units ppm */
};
struct sensor_event_hcho /* Type: HCHO */
struct sensor_hcho /* Type: HCHO */
{
uint64_t timestamp; /* Units is microseconds */
float hcho; /* in SI units ppm */
};
struct sensor_event_tvoc /* Type: TVOC */
struct sensor_tvoc /* Type: TVOC */
{
uint64_t timestamp; /* Units is microseconds */
float tvoc; /* in SI units ppm */
};
struct sensor_event_ph /* Type: PH */
struct sensor_ph /* Type: PH */
{
uint64_t timestamp; /* Units is microseconds */
float ph; /* PH = 7.0 neutral, PH < 7.0 acidic, PH > 7.0 alkaline */
};
struct sensor_event_dust /* Type: DUST */
struct sensor_dust /* Type: DUST */
{
uint64_t timestamp; /* Units is microseconds */
float dust; /* is SI units ug/m^3 */
};
struct sensor_event_hrate /* Type: Heart Rate */
struct sensor_hrate /* Type: Heart Rate */
{
uint64_t timestamp; /* Units is microseconds */
float bpm; /* is SI units BPM */
};
struct sensor_event_hbeat /* Type: Heart Beat */
struct sensor_hbeat /* Type: Heart Beat */
{
uint64_t timestamp; /* Units is microseconds */
float beat; /* Units is times/minutes */
};
struct sensor_event_ecg /* Type: ECG */
struct sensor_ecg /* Type: ECG */
{
uint64_t timestamp; /* Unit is microseconds */
float ecg; /* Unit is μV */
};
struct sensor_event_ppgd /* Type: PPGD */
struct sensor_ppgd /* Type: PPGD */
{
uint64_t timestamp; /* Unit is microseconds */
uint32_t ppg[2]; /* PPG from 2 channels. Units are ADC counts. */
@ -510,7 +510,7 @@ struct sensor_event_ppgd /* Type: PPGD */
uint16_t gain[2]; /* ADC gains of channels. Units are V/V or V/A. */
};
struct sensor_event_ppgq /* Type: PPDQ */
struct sensor_ppgq /* Type: PPDQ */
{
uint64_t timestamp; /* Unit is microseconds */
uint32_t ppg[4]; /* PPG from 4 channels. Units are ADC counts. */
@ -518,21 +518,21 @@ struct sensor_event_ppgq /* Type: PPDQ */
uint16_t gain[4]; /* ADC gains of channels. Units are V/V or V/A. */
};
struct sensor_event_impd /* Type: Impedance */
struct sensor_impd /* Type: Impedance */
{
uint64_t timestamp; /* Unit is microseconds */
float real; /* Real part, unit is Ohm(Ω) */
float imag; /* Imaginary part, unit is Ohm(Ω) */
};
struct sensor_event_ots /* Type: OTS */
struct sensor_ots /* Type: OTS */
{
uint64_t timestamp; /* Unit is microseconds */
int32_t x; /* Axis X in counts */
int32_t y; /* Axis Y in counts */
};
struct sensor_event_gps_satellite
struct sensor_gps_satellite
{
uint64_t timestamp; /* Time since system start, Units is microseconds */
uint32_t count; /* Total number of messages of satellites visible */
@ -561,7 +561,7 @@ struct sensor_event_gps_satellite
info[4];
};
struct sensor_event_wake_gesture /* Type: Wake gesture */
struct sensor_wake_gesture /* Type: Wake gesture */
{
uint64_t timestamp; /* Units is microseconds */
@ -572,7 +572,7 @@ struct sensor_event_wake_gesture /* Type: Wake gesture */
uint32_t event;
};
struct sensor_event_cap /* Type: Capacitance */
struct sensor_cap /* Type: Capacitance */
{
uint64_t timestamp; /* Unit is microseconds */
int32_t status; /* Detection status */
@ -814,10 +814,10 @@ struct sensor_lowerhalf_s
*
* If device support batch mode, the number of events that hardware fifo
* hold maximum number of samples, must be aligned with size of
* struct sensor_event_xxx.
* struct sensor_xxx.
*/
uint32_t buffer_number;
unsigned long nbuffer;
/* The uncalibrated use to describe whether the sensor event is
* uncalibrated. True is uncalibrated data, false is calibrated data,
@ -878,11 +878,14 @@ struct sensor_lowerhalf_s
struct sensor_state_s
{
unsigned long min_interval; /* The minimum subscription interval for sensor, in us */
unsigned long esize; /* The element size of circular buffer */
unsigned long nbuffer; /* The number of events that the circular buffer can hold */
unsigned long min_latency; /* The minimum batch latency for sensor, in us */
unsigned long nsubscribers; /* The number of subcribers, if subsrciber exists,
* the sensor deivce is enabled */
unsigned long min_interval; /* The minimum subscription interval for sensor, in us */
unsigned long nsubscribers; /* The number of subcribers */
unsigned long nadvertisers; /* The number of advertisers */
unsigned long generation; /* The recent generation of circular buffer */
FAR void *priv; /* The pointer to private data of userspace user */
};
/* This structure describes the register info for the user sensor */
@ -890,9 +893,9 @@ struct sensor_state_s
#ifdef CONFIG_USENSOR
struct sensor_reginfo_s
{
FAR const char *path; /* The path of user sensor */
uint16_t esize; /* The element size of user sensor */
uint32_t nqueue; /* The number of queue buffered elements */
FAR const char *path; /* The path of user sensor */
unsigned long esize; /* The element size of user sensor */
unsigned long nbuffer; /* The number of queue buffered elements */
};
#endif
@ -966,7 +969,7 @@ int sensor_register(FAR struct sensor_lowerhalf_s *dev, int devno);
****************************************************************************/
int sensor_custom_register(FAR struct sensor_lowerhalf_s *dev,
FAR const char *path, uint8_t esize);
FAR const char *path, unsigned long esize);
/****************************************************************************
* Name: sensor_unregister