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| <div class="section" id="sensor-device-driver"> |
| <h1>Sensor Device Driver<a class="headerlink" href="#sensor-device-driver" title="Permalink to this headline">¶</a></h1> |
| <p>A Mynewt sensor device driver uses the sensor framework abstraction and |
| API to enable applications to access sensor data from any Mynewt sensor |
| device using a common interface. The sensor device driver must also use |
| the Mynewt HAL interface to communicate with and control a sensor |
| device.</p> |
| <p>This guide describes what a sensor device driver must implement to |
| enable a sensor device within the sensor framework. For information on |
| using the HAL API to communicate with a sensor device, see the <span class="xref std std-doc">Hardware |
| Layer Abstraction Guide</span>.</p> |
| <p>The <code class="docutils literal notranslate"><span class="pre">hw/drivers/sensors/<sensorname></span></code> package implements the device |
| driver for the sensor named <code class="docutils literal notranslate"><span class="pre">SENSORNAME</span></code>.</p> |
| <p><strong>Note:</strong> All example excerpts are from the BNO055 sensor device driver |
| package.</p> |
| <div class="section" id="initializing-and-configuring-a-sensor-device"> |
| <h2>Initializing and Configuring a Sensor Device<a class="headerlink" href="#initializing-and-configuring-a-sensor-device" title="Permalink to this headline">¶</a></h2> |
| <p>A driver package for a sensor named <code class="docutils literal notranslate"><span class="pre">SENSORNAME</span></code> must define and |
| export the following data structures and functions to initialize and |
| configure a device:</p> |
| <ul> |
| <li><p><code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre"><sensorname></span></code>: This data structure represents a sensor |
| device. The structure must include a <code class="docutils literal notranslate"><span class="pre">dev</span></code> field of type |
| <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">os_dev</span></code> and a <code class="docutils literal notranslate"><span class="pre">sensor</span></code> field of type <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor</span></code>. |
| For example:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>struct bno055 { |
| struct os_dev dev; |
| struct sensor sensor; |
| struct bno055_cfg cfg; |
| os_time_t last_read_time; |
| }; |
| </pre></div> |
| </div> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre"><sensorname>_cfg</span></code>: This data structure defines the |
| configuration for a sensor device. The structure fields are specific |
| to the device. This is the data structure that a BSP, the sensor |
| creator package, or an application sets to configure a sensor device. |
| For example:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>struct bno055_cfg { |
| uint8_t bc_opr_mode; |
| uint8_t bc_pwr_mode; |
| uint8_t bc_units; |
| uint8_t bc_placement; |
| uint8_t bc_acc_range; |
| uint8_t bc_acc_bw; |
| |
| ... |
| |
| uint32_t bc_mask; |
| }; |
| </pre></div> |
| </div> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code>: This is the os device initialization |
| callback of type |
| <code class="docutils literal notranslate"><span class="pre">int</span> <span class="pre">(*os_dev_init_func_t)(struct</span> <span class="pre">os_dev</span> <span class="pre">*,</span> <span class="pre">void</span> <span class="pre">*)</span></code> that the |
| <code class="docutils literal notranslate"><span class="pre">os_dev_create()</span></code> function calls to initialize the device. For |
| example, the bno055 device driver package defines the following |
| function:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>int bno055_init(struct os_dev *dev, void *arg) |
| </pre></div> |
| </div> |
| <p>The BSP, which creates a device for an onboard sensor, and the sensor |
| creator package, which creates a device for an off-board sensor, |
| calls the <code class="docutils literal notranslate"><span class="pre">os_dev_create()</span></code> function and passes:</p> |
| <ul class="simple"> |
| <li><p>A pointer to a <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre"><sensorname></span></code> variable.</p></li> |
| <li><p>The <code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code> function pointer.</p></li> |
| <li><p>A pointer to a <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor_itf</span></code> variable that specifies the |
| interface the driver uses to communicate with the sensor device.</p></li> |
| </ul> |
| <p>See the <span class="xref std std-doc">Creating Sensor |
| Devices</span> page for |
| more details.</p> |
| <p>The <code class="docutils literal notranslate"><span class="pre">os_dev_create()</span></code> function calls the <code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code> |
| function with a pointer to the <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre"><sensorname></span></code> for the |
| <code class="docutils literal notranslate"><span class="pre">dev</span></code> parameter and a pointer to the <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor_itf</span></code> for the |
| <code class="docutils literal notranslate"><span class="pre">arg</span></code> parameter.</p> |
| </li> |
| <li><p><code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></code>: This is the sensor configuration function |
| that the BSP, sensor creator package, or an application calls to |
| configure the sensor device. For example:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>int bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg) |
| </pre></div> |
| </div> |
| </li> |
| </ul> |
| </div> |
| <div class="section" id="defining-functions-to-read-sensor-data-and-get-sensor-value-type"> |
| <h2>Defining Functions to Read Sensor Data and Get Sensor Value Type<a class="headerlink" href="#defining-functions-to-read-sensor-data-and-get-sensor-value-type" title="Permalink to this headline">¶</a></h2> |
| <p>A device driver must implement the following functions that the sensor |
| API uses to read sensor data and to get the configuration value type for |
| a sensor:</p> |
| <ul class="simple"> |
| <li><p>A function of type |
| <code class="docutils literal notranslate"><span class="pre">int</span> <span class="pre">(*sensor_read_func_t)(struct</span> <span class="pre">sensor</span> <span class="pre">*,</span> <span class="pre">sensor_type_t,</span> <span class="pre">sensor_data_func_t,</span> <span class="pre">void</span> <span class="pre">*,</span> <span class="pre">uint32_t)</span></code> |
| that the sensor framework uses to read a single value from a sensor |
| for the specified sensor types. The device driver must implement this |
| function such that it reads, for each sensor type set in the bit |
| mask, a single value from the sensor and calls the |
| <code class="docutils literal notranslate"><span class="pre">sensor_data_funct_t</span></code> callback with the opaque callback argument , |
| the sensor data, and the sensor type.</p></li> |
| <li><p>A function of type |
| <code class="docutils literal notranslate"><span class="pre">int</span> <span class="pre">(*sensor_get_config_func_t)(struct</span> <span class="pre">sensor</span> <span class="pre">*,</span> <span class="pre">sensor_type_t,</span> <span class="pre">struct</span> <span class="pre">sensor_cfg</span> <span class="pre">*)</span></code> |
| that returns the value type for the specified sensor type. For |
| example, the value type for a <code class="docutils literal notranslate"><span class="pre">SENSOR_VALUE_TYPE_TEMPERATURE</span></code> |
| sensor might be <code class="docutils literal notranslate"><span class="pre">SENSOR_VALUE_TYPE_FLOAT</span></code> and the value type for a |
| <code class="docutils literal notranslate"><span class="pre">SENSOR_TYPE_ACCELEROMETER</span></code> sensor might be |
| <code class="docutils literal notranslate"><span class="pre">SENSOR_VALUE_TYPE_FLOAT_TRIPLET</span></code>.</p></li> |
| </ul> |
| <p>The driver initializes a <code class="docutils literal notranslate"><span class="pre">sensor_driver</span></code> structure, shown below, with |
| the pointers to these functions:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor_driver</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">sensor_read_func_t</span><span class="w"> </span><span class="n">sd_read</span><span class="p">;</span> |
| <span class="w"> </span><span class="n">sensor_get_config_func_t</span><span class="w"> </span><span class="n">sd_get_config</span><span class="p">;</span> |
| <span class="p">};</span> |
| </pre></div> |
| </div> |
| <p>For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="nf">bno055_sensor_read</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor</span><span class="w"> </span><span class="o">*</span><span class="p">,</span><span class="w"> </span><span class="n">sensor_type_t</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">sensor_data_func_t</span><span class="p">,</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="p">,</span><span class="w"> </span><span class="kt">uint32_t</span><span class="p">);</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="nf">bno055_sensor_get_config</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor</span><span class="w"> </span><span class="o">*</span><span class="p">,</span><span class="w"> </span><span class="n">sensor_type_t</span><span class="p">,</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor_cfg</span><span class="w"> </span><span class="o">*</span><span class="p">);</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor_driver</span><span class="w"> </span><span class="n">g_bno055_sensor_driver</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">bno055_sensor_read</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">bno055_sensor_get_config</span> |
| <span class="p">};</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="registering-the-sensor-in-the-sensor-framework"> |
| <h2>Registering the Sensor in the Sensor Framework<a class="headerlink" href="#registering-the-sensor-in-the-sensor-framework" title="Permalink to this headline">¶</a></h2> |
| <p>The device driver must initialize and register a <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor</span></code> |
| object with the sensor manager. See the <span class="xref std std-doc">Sensor |
| API</span> and the <span class="xref std std-doc">Sensor |
| Manager API</span> |
| pages for more details.</p> |
| <p>The device driver <code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code> function initializes and |
| registers a sensor object as follows:</p> |
| <ul class="simple"> |
| <li><p>Calls the <code class="docutils literal notranslate"><span class="pre">sensor_init()</span></code> function to initialize the |
| <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor</span></code> object.</p></li> |
| <li><p>Calls the <code class="docutils literal notranslate"><span class="pre">sensor_set_driver()</span></code> function to specify the sensor |
| types that the sensor device supports, and the pointer to the |
| <code class="docutils literal notranslate"><span class="pre">struct</span> <span class="pre">sensor_driver</span></code> variable that specifies the driver functions |
| to read the sensor data and to get the value type for a sensor.</p></li> |
| <li><p>Calls the <code class="docutils literal notranslate"><span class="pre">sensor_set_interface()</span></code> function to set the interface |
| that the device driver uses to communicate with the sensor device. |
| The BSP, or sensor creator package for an off-board sensors, sets up |
| the <code class="docutils literal notranslate"><span class="pre">sensor_itf</span></code> and passes it to the <code class="docutils literal notranslate"><span class="pre"><sensorname>_init()</span></code> |
| function. The <code class="docutils literal notranslate"><span class="pre">sensor_set_interface()</span></code> functions saves this |
| information in the sensor object. The device driver uses the |
| <code class="docutils literal notranslate"><span class="pre">SENSOR_GET_ITF()</span></code> macro to retrieve the sensor_itf when it needs |
| to communicate with the sensor device.</p></li> |
| <li><p>Calls the <code class="docutils literal notranslate"><span class="pre">sensor_mgr_register()</span></code> function to register the sensor |
| with the sensor manager.</p></li> |
| </ul> |
| <p>For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> |
| <span class="nf">bno055_init</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="n">dev</span><span class="p">,</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">bno055</span><span class="w"> </span><span class="o">*</span><span class="n">bno055</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor</span><span class="w"> </span><span class="o">*</span><span class="n">sensor</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="k">if</span><span class="w"> </span><span class="p">(</span><span class="o">!</span><span class="n">arg</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="o">!</span><span class="n">dev</span><span class="p">)</span><span class="w"> </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">SYS_ENODEV</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="n">bno055</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">bno055</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="w"> </span><span class="n">dev</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">bno055_default_cfg</span><span class="p">(</span><span class="o">&</span><span class="n">bno055</span><span class="o">-></span><span class="n">cfg</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="n">sensor</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="o">&</span><span class="n">bno055</span><span class="o">-></span><span class="n">sensor</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="cm">/* Code to setup logging and stats may go here */</span> |
| <span class="w"> </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">sensor_init</span><span class="p">(</span><span class="n">sensor</span><span class="p">,</span><span class="w"> </span><span class="n">dev</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </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="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="cm">/* Add the accelerometer/magnetometer driver */</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">sensor_set_driver</span><span class="p">(</span><span class="n">sensor</span><span class="p">,</span><span class="w"> </span><span class="n">SENSOR_TYPE_ACCELEROMETER</span><span class="w"> </span><span class="o">|</span> |
| <span class="w"> </span><span class="n">SENSOR_TYPE_MAGNETIC_FIELD</span><span class="w"> </span><span class="o">|</span><span class="w"> </span><span class="n">SENSOR_TYPE_GYROSCOPE</span><span class="w"> </span><span class="o">|</span> |
| <span class="w"> </span><span class="n">SENSOR_TYPE_TEMPERATURE</span><span class="w"> </span><span class="o">|</span><span class="w"> </span><span class="n">SENSOR_TYPE_ROTATION_VECTOR</span><span class="w"> </span><span class="o">|</span> |
| <span class="w"> </span><span class="n">SENSOR_TYPE_GRAVITY</span><span class="w"> </span><span class="o">|</span><span class="w"> </span><span class="n">SENSOR_TYPE_LINEAR_ACCEL</span><span class="w"> </span><span class="o">|</span> |
| <span class="w"> </span><span class="n">SENSOR_TYPE_EULER</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">sensor_driver</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="w"> </span><span class="o">&</span><span class="n">g_bno055_sensor_driver</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </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="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="cm">/* Set the interface */</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">sensor_set_interface</span><span class="p">(</span><span class="n">sensor</span><span class="p">,</span><span class="w"> </span><span class="n">arg</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </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">sensor_mgr_register</span><span class="p">(</span><span class="n">sensor</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </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="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| |
| <span class="nl">err</span><span class="p">:</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="configuring-the-sensor-device-and-setting-the-configured-sensor-types"> |
| <h2>Configuring the Sensor Device and Setting the Configured Sensor Types<a class="headerlink" href="#configuring-the-sensor-device-and-setting-the-configured-sensor-types" title="Permalink to this headline">¶</a></h2> |
| <p>After the BSP, or the sensor creator package for an off-board sensor, |
| creates the OS device for a sensor, it calls the |
| <code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></code> function to configure sensor device |
| information such as mode, power mode, and to set the configured sensor |
| types. The <code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></code> function configures the settings on |
| the sensor device. It must also call the <code class="docutils literal notranslate"><span class="pre">sensor_set_type_mask()</span></code> |
| function to set the configured sensor types in the sensor object. The |
| configured sensor types are a subset of the sensor types that the sensor |
| device supports and the sensor framework only reads sensor data for |
| configured sensor types.</p> |
| <p><strong>Notes:</strong></p> |
| <ul class="simple"> |
| <li><p>The device driver uses the <code class="docutils literal notranslate"><span class="pre">SENSOR_GET_ITF()</span></code> macro to retrieve the |
| sensor interface to communicate with the sensor.</p></li> |
| <li><p>If a sensor device has a chip ID that can be queried, we recommend |
| that the device driver read and verify the chip ID with the data |
| sheet.</p></li> |
| <li><p>An application may call the <code class="docutils literal notranslate"><span class="pre"><sensorname>_config()</span></code> function to |
| configure the sensor device.</p></li> |
| </ul> |
| <p>For example:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> |
| <span class="nf">bno055_config</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">bno055</span><span class="w"> </span><span class="o">*</span><span class="n">bno055</span><span class="p">,</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">bno055_cfg</span><span class="w"> </span><span class="o">*</span><span class="n">cfg</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="kt">uint8_t</span><span class="w"> </span><span class="n">id</span><span class="p">;</span> |
| <span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">mode</span><span class="p">;</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="o">*</span><span class="n">itf</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="n">itf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">SENSOR_GET_ITF</span><span class="p">(</span><span class="o">&</span><span class="p">(</span><span class="n">bno055</span><span class="o">-></span><span class="n">sensor</span><span class="p">));</span> |
| |
| <span class="w"> </span><span class="cm">/* Check if we can read the chip address */</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">bno055_get_chip_id</span><span class="p">(</span><span class="n">itf</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">id</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">id</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="n">BNO055_ID</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_time_delay</span><span class="p">((</span><span class="n">OS_TICKS_PER_SEC</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="mi">100</span><span class="p">)</span><span class="o">/</span><span class="mi">1000</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">bno055_get_chip_id</span><span class="p">(</span><span class="n">itf</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">id</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="k">if</span><span class="p">(</span><span class="n">id</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="n">BNO055_ID</span><span class="p">)</span><span class="w"> </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">SYS_EINVAL</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="p">....</span> |
| |
| <span class="cm">/* Other code to set the configuration on the sensor device. */</span> |
| |
| <span class="w"> </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">sensor_set_type_mask</span><span class="p">(</span><span class="o">&</span><span class="p">(</span><span class="n">bno055</span><span class="o">-></span><span class="n">sensor</span><span class="p">),</span><span class="w"> </span><span class="n">cfg</span><span class="o">-></span><span class="n">bc_mask</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="n">bno055</span><span class="o">-></span><span class="n">cfg</span><span class="p">.</span><span class="n">bc_mask</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">cfg</span><span class="o">-></span><span class="n">bc_mask</span><span class="p">;</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="nl">err</span><span class="p">:</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="n">rc</span><span class="p">;</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="implementing-a-sensor-device-shell-command"> |
| <h2>Implementing a Sensor Device Shell Command<a class="headerlink" href="#implementing-a-sensor-device-shell-command" title="Permalink to this headline">¶</a></h2> |
| <p>A sensor device driver package may optionally implement a sensor device |
| shell command that retrieves and sets sensor device information to aid |
| in testing and debugging. While the sensor framework <span class="xref std std-doc">sensor shell |
| command</span> reads sensor |
| data for configured sensor types and is useful for testing an |
| application, it does not access low level device information, such as |
| reading register values and setting hardware configurations, that might |
| be needed to test a sensor device or to debug the sensor device driver |
| code. A sensor device shell command implementation is device specific |
| but should minimally support reading sensor data for all the sensor |
| types that the device supports because the sensor framework <code class="docutils literal notranslate"><span class="pre">sensor</span></code> |
| shell command only reads sensor data for configured sensor types.</p> |
| <p>The package should:</p> |
| <ul class="simple"> |
| <li><p>Name the sensor device shell command <code class="docutils literal notranslate"><span class="pre"><sensorname></span></code>. For example, |
| the sensor device shell command for the BNO055 sensor device is |
| <code class="docutils literal notranslate"><span class="pre">bno055</span></code>.</p></li> |
| <li><p>Define a <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_CLI</span></code> syscfg setting to specify whether the |
| shell command is enabled and disable the setting by default.</p></li> |
| <li><p>Export a <code class="docutils literal notranslate"><span class="pre"><sensorname>_shell_init()</span></code> function that an application |
| calls to initialize the sensor shell command when the |
| <code class="docutils literal notranslate"><span class="pre">SENSORNAME_CLI</span></code> setting is enabled.</p></li> |
| </ul> |
| <p>For an example on how to implement a sensor device shell command, see |
| the <a class="reference external" href="https://github.com/apache/mynewt-core/blob/master/hw/drivers/sensors/bno055/src/bno055_shell.c">bno055 shell |
| command</a> |
| source code. See the <a class="reference internal" href="../../../tutorials/sensors/sensor_nrf52_bno055.html"><span class="doc">Enabling an Off-Board Sensor in an Existing |
| Application Tutorial</span></a> |
| for examples of the bno055 shell command.</p> |
| </div> |
| <div class="section" id="defining-logs"> |
| <h2>Defining Logs<a class="headerlink" href="#defining-logs" title="Permalink to this headline">¶</a></h2> |
| <p>A sensor device driver should define logs for testing purposes. See the |
| <span class="xref std std-doc">Log OS Guide</span> for more details on how to |
| add logs. The driver should define a <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_LOG</span></code> syscfg setting |
| to specify whether logging is enabled and disable the setting by |
| default.</p> |
| <p>Here is an example from the BNO055 sensor driver package:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#if MYNEWT_VAL(BNO055_LOG)</span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf">"log/log.h"</span> |
| <span class="cp">#endif</span> |
| |
| <span class="cp">#if MYNEWT_VAL(BNO055_LOG)</span> |
| <span class="cp">#define LOG_MODULE_BNO055 (305)</span> |
| <span class="cp">#define BNO055_INFO(...) LOG_INFO(&_log, LOG_MODULE_BNO055, _VA_ARGS_)</span> |
| <span class="cp">#define BNO055_ERR(...) LOG_ERROR(&_log, LOG_MODULE_BNO055,_VA_ARGS_)</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">log</span><span class="w"> </span><span class="n">_log</span><span class="p">;</span> |
| <span class="cp">#else</span> |
| <span class="cp">#define BNO055_INFO(...)</span> |
| <span class="cp">#define BNO055_ERR(...)</span> |
| <span class="cp">#endif</span> |
| |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="kt">int</span> |
| <span class="n">bno055_init</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="n">dev</span><span class="p">,</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| |
| <span class="w"> </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">bno055_default_cfg</span><span class="p">(</span><span class="o">&</span><span class="n">bno055</span><span class="o">-></span><span class="n">cfg</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="cp">#if MYNEWT_VAL(BNO055_LOG)</span> |
| <span class="w"> </span><span class="n">log_register</span><span class="p">(</span><span class="n">dev</span><span class="o">-></span><span class="n">od_name</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">_log</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">log_console_handler</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">LOG_SYSLEVEL</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> |
| </div> |
| <div class="section" id="defining-stats"> |
| <h2>Defining Stats<a class="headerlink" href="#defining-stats" title="Permalink to this headline">¶</a></h2> |
| <p>A sensor device driver may also define stats for the sensor. See the |
| <span class="xref std std-doc">Stats OS Guide</span> for more details on how |
| to add stats. The driver should define a <code class="docutils literal notranslate"><span class="pre"><SENSORNAME>_STATS</span></code> syscfg |
| setting to specify whether stats is enabled and disable the setting by |
| default.</p> |
| <p>Here is an example from the BNO055 sensor driver package:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#if MYNEWT_VAL(BNO055_STATS)</span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf">"stats/stats.h"</span> |
| <span class="cp">#endif</span> |
| |
| <span class="cp">#if MYNEWT_VAL(BNO055_STATS)</span> |
| |
| <span class="cm">/* Define the stats section and records */</span> |
| <span class="n">STATS_SECT_START</span><span class="p">(</span><span class="n">bno055_stat_section</span><span class="p">)</span> |
| <span class="n">STATS_SECT_ENTRY</span><span class="p">(</span><span class="n">errors</span><span class="p">)</span> |
| <span class="n">STATS_SECT_END</span> |
| |
| <span class="cm">/* Define stat names for querying */</span> |
| <span class="n">STATS_NAME_START</span><span class="p">(</span><span class="n">bno055_stat_section</span><span class="p">)</span> |
| <span class="n">STATS_NAME</span><span class="p">(</span><span class="n">bno055_stat_section</span><span class="p">,</span><span class="w"> </span><span class="n">errors</span><span class="p">)</span> |
| <span class="n">STATS_NAME_END</span><span class="p">(</span><span class="n">bno055_stat_section</span><span class="p">)</span> |
| |
| <span class="cm">/* Global variable used to hold stats data */</span> |
| <span class="n">STATS_SECT_DECL</span><span class="p">(</span><span class="n">bno055_stat_section</span><span class="p">)</span><span class="w"> </span><span class="n">g_bno055stats</span><span class="p">;</span> |
| <span class="cp">#endif</span> |
| |
| <span class="p">...</span> |
| |
| <span class="kt">int</span> |
| <span class="n">bno055_init</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="n">dev</span><span class="p">,</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="cp">#if MYNEWT\_VAL(BNO055\_STATS)</span> |
| |
| <span class="w"> </span><span class="cm">/* Initialise the stats entry */</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">stats_init</span><span class="p">(</span> |
| <span class="w"> </span><span class="n">STATS_HDR</span><span class="p">(</span><span class="n">g_bno055stats</span><span class="p">),</span> |
| <span class="w"> </span><span class="n">STATS_SIZE_INIT_PARMS</span><span class="p">(</span><span class="n">g_bno055stats</span><span class="p">,</span><span class="w"> </span><span class="n">STATS_SIZE_32</span><span class="p">),</span> |
| <span class="w"> </span><span class="n">STATS_NAME_INIT_PARMS</span><span class="p">(</span><span class="n">bno055_stat_section</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="cm">/* Register the entry with the stats registry */</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">stats_register</span><span class="p">(</span><span class="n">dev</span><span class="o">-></span><span class="n">od_name</span><span class="p">,</span><span class="w"> </span><span class="n">STATS_HDR</span><span class="p">(</span><span class="n">g_bno055stats</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="cp">#endif</span> |
| |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="p">}</span> |
| </pre></div> |
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