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| <h2 id="creating-and-configuring-a-sensor-device">Creating and Configuring a Sensor Device</h2> |
| <p>The steps to create and configure OS devices for onboard and off-board sensors are very similar. The BSP creates the OS devices for onboard sensors and the <code>hw/sensor/creator/</code> package creates the OS devices for off-board sensors. </p> |
| <p>We discuss how a BSP creates a device for an onboard sensor and then discuss what the <code>hw/sensor/creator</code> package does differently to create an off-board sensor. We also discuss how an application can change the default configuration for a sensor device.</p> |
| <p><br></p> |
| <h3 id="creating-an-onboard-sensor">Creating an Onboard Sensor</h3> |
| <p><br> |
| To create and initialize a sensor device named <code>SENSORNAME</code>, the BSP implements the following in the <code>hal_bsp.c</code> file. </p> |
| <p><strong>Note</strong>: All example excerpts are from the code that creates the LIS2DH12 onboard sensor in the nrf52_thingy BSP. </p> |
| <p><br> |
| 1. Define a <code><SENSORNAME>_ONB</code> syscfg setting to specify whether the onboard sensor named <code>SENSORNAME</code> is enabled. The setting is disabled by default. The setting is used to conditionally include the code to create a sensor device for <code>SENSORNAME</code> when it is enabled by the application. For example:</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code>syscfg.defs: |
| LIS2DH12_ONB: |
| description: 'NRF52 Thingy onboard lis2dh12 sensor' |
| value: 0 |
| </code></pre></div> |
| |
| <p><br> |
| 2. Include the "<sensorname>/<sensorname>.h" header file. The BSP uses the functions and data structures that a device driver package exports. See the <a href="/os/modules/sensor_framework/sensor_driver.md">Sensor Device Driver</a> page for details.</p> |
| <p><br> |
| 3. Declare a variable named <code>sensorname</code> of type <code>struct sensorname</code>. For example:</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code><span style="color: #633820">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span style="color: #633820">#include</span> <span style="color: #177500"><lis2dh12/lis2dh12.h></span> |
| <span style="color: #A90D91">static</span> <span style="color: #A90D91">struct</span> <span style="color: #3F6E75">lis2dh12</span> <span style="color: #000000">lis2dh12</span>; |
| <span style="color: #633820">#endif</span> |
| </code></pre></div> |
| |
| <p><br> |
| 4. Declare and specify the values for a variable of type <code>struct sensor_itf</code> that the sensor device driver uses to communicate with the sensor device. For example: </p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code><span style="color: #633820">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span style="color: #A90D91">static</span> <span style="color: #A90D91">struct</span> <span style="color: #3F6E75">sensor_itf</span> <span style="color: #000000">i2c_0_itf_lis</span> <span style="color: #000000">=</span> { |
| .<span style="color: #000000">si_type</span> <span style="color: #000000">=</span> <span style="color: #000000">SENSOR_ITF_I2C</span>, |
| .<span style="color: #000000">si_num</span> <span style="color: #000000">=</span> <span style="color: #1C01CE">0</span>, |
| .<span style="color: #000000">si_addr</span> <span style="color: #000000">=</span> <span style="color: #1C01CE">0x19</span> |
| <span style="color: #000000"><br></span> |
| </code></pre></div> |
| |
| <p><br> |
| 5. In the <code>hal_bsp_init()</code> function, create an OS device for the sensor device. Call the <code>os_dev_create()</code> function and pass the following to the function: </p> |
| <ul> |
| <li>A pointer to the <code>sensorname</code> variable from step 3.</li> |
| <li>A pointer to the <code><sensorname>_init()</code> callback function. Note that the device driver package exports this function.</li> |
| <li>A pointer to the <code>struct sensor_itf</code> variable from step 4. </li> |
| </ul> |
| <p>For example: </p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code>static void |
| sensor_dev_create(void) |
| { |
| int rc; |
| (void)rc; |
| |
| <span style="background-color: #ffffcc">#if MYNEWT_VAL(LIS2DH12_ONB) |
| </span><span style="background-color: #ffffcc"> rc = os_dev_create((struct os_dev *) &lis2dh12, "lis2dh12_0", |
| </span><span style="background-color: #ffffcc"> OS_DEV_INIT_PRIMARY, 0, lis2dh12_init, (void *)&i2c_0_itf_lis); |
| </span><span style="background-color: #ffffcc"> assert(rc == 0); |
| </span><span style="background-color: #ffffcc">#endif |
| </span> |
| } |
| |
| void |
| hal_bsp_init(void) |
| { |
| int rc; |
| |
| ... |
| |
| |
| sensor_dev_create(); |
| |
| } |
| </code></pre></div> |
| |
| <p><br> |
| 6. Define a <code>config_<sensorname>_sensor()</code> function to set the default configuration for the sensor. This function opens the OS device for the sensor device, initializes the a <code>cfg</code> variable of type <code>struct <sensorname>_cfg</code> with the default settings, calls the <code><sensorname>_config()</code> driver function to configure the device, and closes the device. This function is called when the BSP is initialized during sysinit(). For example:</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code><span style="color: #A90D91">int</span> |
| <span style="color: #000000">config_lis2dh12_sensor</span>(<span style="color: #A90D91">void</span>) |
| { |
| <span style="color: #633820">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span style="color: #A90D91">int</span> <span style="color: #000000">rc</span>; |
| <span style="color: #A90D91">struct</span> <span style="color: #3F6E75">os_dev</span> <span style="color: #000000">*dev</span>; |
| <span style="color: #A90D91">struct</span> <span style="color: #3F6E75">lis2dh12_cfg</span> <span style="color: #000000">cfg</span>; |
| |
| <span style="color: #000000">dev</span> <span style="color: #000000">=</span> (<span style="color: #A90D91">struct</span> <span style="color: #3F6E75">os_dev</span> <span style="color: #000000">*</span>) <span style="color: #000000">os_dev_open</span>(<span style="color: #C41A16">"lis2dh12_0"</span>, <span style="color: #000000">OS_TIMEOUT_NEVER</span>, <span style="color: #A90D91">NULL</span>); |
| <span style="color: #000000">assert</span>(<span style="color: #000000">dev</span> <span style="color: #000000">!=</span> <span style="color: #A90D91">NULL</span>); |
| |
| <span style="color: #000000">memset</span>(<span style="color: #000000">&cfg</span>, <span style="color: #1C01CE">0</span>, <span style="color: #A90D91">sizeof</span>(<span style="color: #000000">cfg</span>)); |
| |
| <span style="color: #000000">cfg</span>.<span style="color: #000000">lc_s_mask</span> <span style="color: #000000">=</span> <span style="color: #000000">SENSOR_TYPE_ACCELEROMETER</span>; |
| <span style="color: #000000">cfg</span>.<span style="color: #000000">lc_rate</span> <span style="color: #000000">=</span> <span style="color: #000000">LIS2DH12_DATA_RATE_HN_1344HZ_L_5376HZ</span>; |
| <span style="color: #000000">cfg</span>.<span style="color: #000000">lc_fs</span> <span style="color: #000000">=</span> <span style="color: #000000">LIS2DH12_FS_2G</span>; |
| <span style="color: #000000">cfg</span>.<span style="color: #000000">lc_pull_up_disc</span> <span style="color: #000000">=</span> <span style="color: #1C01CE">1</span>; |
| |
| <span style="color: #000000">rc</span> <span style="color: #000000">=</span> <span style="color: #000000">lis2dh12_config</span>((<span style="color: #A90D91">struct</span> <span style="color: #3F6E75">lis2dh12</span> <span style="color: #000000">*</span>)<span style="color: #000000">dev</span>, <span style="color: #000000">&cfg</span>); |
| <span style="color: #000000">SYSINIT_PANIC_ASSERT</span>(<span style="color: #000000">rc</span> <span style="color: #000000">==</span> <span style="color: #1C01CE">0</span>); |
| |
| <span style="color: #000000">os_dev_close</span>(<span style="color: #000000">dev</span>); |
| <span style="color: #633820">#endif</span> |
| <span style="color: #A90D91">return</span> <span style="color: #1C01CE">0</span>; |
| } |
| </code></pre></div> |
| |
| <p><br> |
| 7. Add the following in the BSP <code>pkg.yml</code> file: </p> |
| <ul> |
| <li> |
| <p>A conditional package dependency for the <code>hw/drivers/sensors/<sensorname></code> package when the <code><SENSORNAME>_ONB</code> setting is enabled. </p> |
| </li> |
| <li> |
| <p>The <code>config_<sensorname>_sensor</code> function with an init stage of 400 to the <code>pkg.init</code> parameter. </p> |
| </li> |
| </ul> |
| <p>For example:</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code>pkg.deps.LIS2DH12_ONB: |
| - hw/drivers/sensors/lis2dh12 |
| |
| pkg.init: |
| config_lis2dh12_sensor: 400 |
| </code></pre></div> |
| |
| <p><br></p> |
| <h3 id="creating-an-off-board-sensor">Creating an Off-Board Sensor</h3> |
| <p>The steps to create an off-board sensor is very similar to the steps for a BSP. The <code>hw/sensor/creator/</code> package also declares the variables and implements the <code>config_<sensorname>_sensor()</code> function described for a BSP. The package does the following differently. </p> |
| <p><strong>Note</strong>: All example excerpts are from the code that creates the BNO055 off-board sensor in <code>hw/sensor/creator</code> package.</p> |
| <p><br> |
| 1. Define a <code><SENSORNAME>_OFB</code> syscfg setting to specify whether the off-board sensor named <code>SENSORNAME</code> is enabled. This setting is disabled by default. The <code>hw/sensor/creator</code> package uses the setting to conditionally include the code to create the sensor device when it is enabled by the application.</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code># Package: hw/sensor/creator |
| |
| syscfg.defs: |
| ... |
| |
| BNO055_OFB: |
| description: 'BNO055 is present' |
| value : 0 |
| |
| ... |
| </code></pre></div> |
| |
| <p><br> |
| 2. Add the calls to the <code>os_dev_create()</code> and the <code>config_<sensorname>_sensor()</code> functions in the <code>sensor_dev_create()</code> function defined in the <code>sensor_creator.c</code> file . The <code>sensor_dev_create()</code> function is the <code>hw/sensor/creator</code> package initialization function that <code>sysinit()</code> calls. </p> |
| <p>For example: </p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code><span style="color: #A90D91">void</span> |
| <span style="color: #000000">sensor_dev_create</span>(<span style="color: #A90D91">void</span>) |
| { |
| <span style="color: #A90D91">int</span> <span style="color: #000000">rc</span>; |
| |
| ... |
| |
| <span style="color: #633820">#if MYNEWT_VAL(BNO055_OFB)</span> |
| <span style="color: #000000">rc</span> <span style="color: #000000">=</span> <span style="color: #000000">os_dev_create</span>((<span style="color: #A90D91">struct</span> <span style="color: #3F6E75">os_dev</span> <span style="color: #000000">*</span>) <span style="color: #000000">&bno055</span>, <span style="color: #C41A16">"bno055_0"</span>, |
| <span style="color: #000000">OS_DEV_INIT_PRIMARY</span>, <span style="color: #1C01CE">0</span>, <span style="color: #000000">bno055_init</span>, (<span style="color: #A90D91">void</span> <span style="color: #000000">*</span>)<span style="color: #000000">&i2c_0_itf_bno</span>); |
| <span style="color: #000000">assert</span>(<span style="color: #000000">rc</span> <span style="color: #000000">==</span> <span style="color: #1C01CE">0</span>); |
| |
| <span style="color: #000000">rc</span> <span style="color: #000000">=</span> <span style="color: #000000">config_bno055_sensor</span>(); |
| <span style="color: #000000">assert</span>(<span style="color: #000000">rc</span> <span style="color: #000000">==</span> <span style="color: #1C01CE">0</span>); |
| <span style="color: #633820">#endif</span> |
| |
| .... |
| |
| } |
| </code></pre></div> |
| |
| <p><br> |
| 3. Add a conditional package dependency for the <code>hw/drivers/sensors/<sensorname></code> package when the <code><SENSORNAME>_OFB</code> setting is enabled. For example:</p> |
| <div class="codehilite" style="background: #ffffff"><pre style="line-height: 125%;"><span></span><code>pkg.deps.BNO055_OFB: |
| - hw/drivers/sensors/bno055 |
| </code></pre></div> |
| |
| <p><br></p> |
| <h3 id="reconfiguring-a-sensor-device-by-an-application">Reconfiguring A Sensor Device by an Application</h3> |
| <p>The BSP and sensor creator package use a default configuration and enable all supported sensors on a sensor device by default. If the default configuration does not meet your application requirements, you may change the default configuration for a sensor device. As in the <code>config_<sensorname>_sensor</code> function, an application must open the OS device for the sensor, set up the values for the <code><sensorname>_cfg</code> structure, call the <code><sensorname>_config()</code> device driver function to change the configuration in the device, and close the OS device. </p> |
| <p>We recommend that you copy the <code>config_<sensorname>_sensor()</code> function from the BSP or the sensor creator package in to your application code and change the desired settings. Note that you must keep all the fields in the <code><sensorname>_cfg</code> structure initialized with the default values for the settings that you do not want to change.</p> |
| <p>See the <a href="/os/tutorials/sensors/sensor_offboard_config/">Changing the Default Configuration for a Sensor Tutorial</a> for more details on how to change the default sensor configuration from an application.</p> |
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