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| <div class="section" id="creating-and-configuring-a-sensor-device"> |
| <h1>Creating and Configuring a Sensor Device<a class="headerlink" href="#creating-and-configuring-a-sensor-device" title="Permalink to this headline">¶</a></h1> |
| <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 class="docutils literal notranslate"><span class="pre">hw/sensor/creator/</span></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 class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></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> |
| <div class="section" id="creating-an-onboard-sensor"> |
| <h2>Creating an Onboard Sensor<a class="headerlink" href="#creating-an-onboard-sensor" title="Permalink to this headline">¶</a></h2> |
| <p>To create and initialize a sensor device named <code class="docutils literal notranslate"><span class="pre">SENSORNAME</span></code>, the BSP implements the following in the |
| <code class="docutils literal notranslate"><span class="pre">hal_bsp.c</span></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>1. Define a <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_ONB</span></code> syscfg setting to specify whether the |
| onboard sensor named <code class="docutils literal notranslate"><span class="pre">SENSORNAME</span></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 class="docutils literal notranslate"><span class="pre">SENSORNAME</span></code> when it is enabled by the |
| application. For example:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">syscfg.defs:</span> |
| <span class="go"> LIS2DH12_ONB:</span> |
| <span class="go"> description: 'NRF52 Thingy onboard lis2dh12 sensor'</span> |
| <span class="go"> value: 0</span> |
| </pre></div> |
| </div> |
| <p>2. Include the “<sensorname>/<sensorname>.h” header file. The BSP uses |
| the functions and data structures that a device driver package exports. |
| See the <span class="xref std std-doc">Sensor Device |
| Driver</span> page for |
| details.</p> |
| <p>3. Declare a variable named <code class="docutils literal notranslate"><span class="pre">sensorname</span></code> of type |
| <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensorname</span></code>. For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><lis2dh12/lis2dh12.h></span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">lis2dh12</span><span class="w"> </span><span class="n">lis2dh12</span><span class="p">;</span> |
| <span class="cp">#endif</span> |
| </pre></div> |
| </div> |
| <p>4. Declare and specify the values for a variable of type |
| <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor_itf</span></code> that the sensor device driver uses to communicate |
| with the sensor device. For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor_itf</span><span class="w"> </span><span class="n">i2c_0_itf_lis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">si_type</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">SENSOR_ITF_I2C</span><span class="p">,</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">si_num</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">si_addr</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mh">0x19</span> |
| <span class="o"><</span><span class="n">br</span><span class="o">></span> |
| </pre></div> |
| </div> |
| <p>5. In the <code class="docutils literal notranslate"><span class="pre">hal_bsp_init()</span></code> function, create an OS device for the |
| sensor device. Call the <code class="docutils literal notranslate"><span class="pre">os_dev_create()</span></code> function and pass the |
| following to the function:</p> |
| <ul class="simple"> |
| <li><p>A pointer to the <code class="docutils literal notranslate"><span class="pre">sensorname</span></code> variable from step 3.</p></li> |
| <li><p>A pointer to the <code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code> callback function. Note that |
| the device driver package exports this function.</p></li> |
| <li><p>A pointer to the <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor_itf</span></code> variable from step 4.</p></li> |
| </ul> |
| <p>For example:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>static void sensor\_dev\_create(void) |
| { |
| int rc; |
| (void)rc; |
| |
| #if MYNEWT\_VAL(LIS2DH12\_ONB) |
| |
| rc = os_dev_create((struct os_dev *) &lis2dh12, "lis2dh12_0", |
| OS_DEV_INIT_PRIMARY, 0, lis2dh12_init, (void *)&i2c_0_itf_lis); |
| assert(rc == 0); |
| |
| #endif |
| } |
| |
| void hal_bsp_init(void) { int rc; |
| |
| ... |
| |
| |
| sensor_dev_create(); |
| |
| } |
| </pre></div> |
| </div> |
| <p>6. Define a <code class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor()</span></code> function to set the default configuration for the sensor. This function opens the OS device for the sensor device, initializes the a``cfg`` variable of type``struct <sensorname>_cfg `` with the default settings, calls the <code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></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="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> |
| <span class="nf">config_lis2dh12_sensor</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="cp">#if MYNEWT_VAL(LIS2DH12_ONB)</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">rc</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_dev</span><span class="w"> </span><span class="o">*</span><span class="n">dev</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">lis2dh12_cfg</span><span class="w"> </span><span class="n">cfg</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="n">dev</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_dev</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="w"> </span><span class="n">os_dev_open</span><span class="p">(</span><span class="s">"lis2dh12_0"</span><span class="p">,</span><span class="w"> </span><span class="n">OS_TIMEOUT_NEVER</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">dev</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">memset</span><span class="p">(</span><span class="o">&</span><span class="n">cfg</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">cfg</span><span class="p">));</span> |
| |
| <span class="w"> </span><span class="n">cfg</span><span class="p">.</span><span class="n">lc_s_mask</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">SENSOR_TYPE_ACCELEROMETER</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">cfg</span><span class="p">.</span><span class="n">lc_rate</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">LIS2DH12_DATA_RATE_HN_1344HZ_L_5376HZ</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">cfg</span><span class="p">.</span><span class="n">lc_fs</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">LIS2DH12_FS_2G</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">cfg</span><span class="p">.</span><span class="n">lc_pull_up_disc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">1</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="n">rc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">lis2dh12_config</span><span class="p">((</span><span class="k">struct</span><span class="w"> </span><span class="nc">lis2dh12</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="n">dev</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">cfg</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">SYSINIT_PANIC_ASSERT</span><span class="p">(</span><span class="n">rc</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">os_dev_close</span><span class="p">(</span><span class="n">dev</span><span class="p">);</span> |
| <span class="cp">#endif</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <ol class="arabic simple" start="7"> |
| <li><p>Add the following in the BSP <code class="docutils literal notranslate"><span class="pre">pkg.yml</span></code> file:</p></li> |
| </ol> |
| <ul class="simple"> |
| <li><p>A conditional package dependency for the |
| <code class="docutils literal notranslate"><span class="pre">hw/drivers/sensors/<sensorname></span></code> package when the |
| <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_ONB</span></code> setting is enabled.</p></li> |
| <li><p>The <code class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor</span></code> function with an init stage of 400 |
| to the <code class="docutils literal notranslate"><span class="pre">pkg.init</span></code> parameter.</p></li> |
| </ul> |
| <p>For example:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">pkg.deps.LIS2DH12_ONB:</span> |
| <span class="go"> - "@apache-mynewt-core/hw/drivers/sensors/lis2dh12"</span> |
| |
| <span class="go">pkg.init:</span> |
| <span class="go"> config_lis2dh12_sensor: 400</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="creating-an-off-board-sensor"> |
| <h2>Creating an Off-Board Sensor<a class="headerlink" href="#creating-an-off-board-sensor" title="Permalink to this headline">¶</a></h2> |
| <p>The steps to create an off-board sensor is very similar to the steps for |
| a BSP. The <code class="docutils literal notranslate"><span class="pre">hw/sensor/creator/</span></code> package also declares the variables |
| and implements the <code class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor()</span></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 class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></code> package.</p> |
| <p>1. Define a <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_OFB</span></code> syscfg setting to specify whether the |
| off-board sensor named <code class="docutils literal notranslate"><span class="pre">SENSORNAME</span></code> is enabled. This setting is |
| disabled by default. The <code class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></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="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp"># </span>Package:<span class="w"> </span>hw/sensor/creator |
| |
| <span class="go">syscfg.defs:</span> |
| <span class="go"> ...</span> |
| |
| <span class="go"> BNO055_OFB:</span> |
| <span class="go"> description: 'BNO055 is present'</span> |
| <span class="go"> value : 0</span> |
| |
| <span class="go"> ...</span> |
| </pre></div> |
| </div> |
| <p>2. Add the calls to the <code class="docutils literal notranslate"><span class="pre">os_dev_create()</span></code> and the |
| <code class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor()</span></code> functions in the |
| <code class="docutils literal notranslate"><span class="pre">sensor_dev_create()</span></code> function defined in the <code class="docutils literal notranslate"><span class="pre">sensor_creator.c</span></code> |
| file . The <code class="docutils literal notranslate"><span class="pre">sensor_dev_create()</span></code> function is the <code class="docutils literal notranslate"><span class="pre">hw/sensor/creator</span></code> |
| package initialization function that <code class="docutils literal notranslate"><span class="pre">sysinit()</span></code> calls.</p> |
| <p>For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span> |
| <span class="nf">sensor_dev_create</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">rc</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="cp">#if MYNEWT_VAL(BNO055_OFB)</span> |
| <span class="w"> </span><span class="n">rc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">os_dev_create</span><span class="p">((</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_dev</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="w"> </span><span class="o">&</span><span class="n">bno055</span><span class="p">,</span><span class="w"> </span><span class="s">"bno055_0"</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">OS_DEV_INIT_PRIMARY</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="n">bno055_init</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="o">&</span><span class="n">i2c_0_itf_bno</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">rc</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">rc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">config_bno055_sensor</span><span class="p">();</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">rc</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span> |
| <span class="cp">#endif</span> |
| |
| <span class="w"> </span><span class="p">....</span> |
| |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>3. Add a conditional package dependency for the |
| <code class="docutils literal notranslate"><span class="pre">hw/drivers/sensors/<sensorname></span></code> package when the |
| <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_OFB</span></code> setting is enabled. For example:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">pkg.deps.BNO055_OFB:</span> |
| <span class="go"> - "@apache-mynewt-core/hw/drivers/sensors/bno055"</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="reconfiguring-a-sensor-device-by-an-application"> |
| <h2>Reconfiguring A Sensor Device by an Application<a class="headerlink" href="#reconfiguring-a-sensor-device-by-an-application" title="Permalink to this headline">¶</a></h2> |
| <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 class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor</span></code> function, an application must open the OS |
| device for the sensor, set up the values for the <code class="docutils literal notranslate"><span class="pre"><sensorname>_cfg</span></code> |
| structure, call the <code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></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 class="docutils literal notranslate"><span class="pre">config_<sensorname>_sensor()</span></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 class="docutils literal notranslate"><span class="pre"><sensorname>_cfg</span></code> structure initialized with the default |
| values for the settings that you do not want to change.</p> |
| <p>See the <a class="reference internal" href="../../../tutorials/sensors/sensor_offboard_config.html"><span class="doc">Changing the Default Configuration for a Sensor |
| Tutorial</span></a> for more |
| details on how to change the default sensor configuration from an |
| application.</p> |
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