acassis commented on code in PR #15496: URL: https://github.com/apache/nuttx/pull/15496#discussion_r1911418457
########## drivers/sensors/bmi088.c: ########## @@ -0,0 +1,442 @@ +/**************************************************************************** + * drivers/sensors/bmi088.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/semaphore.h> + +#include "bmi088_base.h" + +#if defined(CONFIG_SENSORS_BMI088) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +static uint8_t acc_range = BMI088_ACC_RANGE_6G; +static uint8_t gyro_range = BMI088_GYRO_RANGE_2000DPS; +static uint8_t gyro_bandwidth = BMI088_GYRO_BANDWIDTH_2000HZ_532HZ; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/* Character driver methods */ + +static int bmi088_acc_open(FAR struct file *filep); +static int bmi088_gyro_open(FAR struct file *filep); +static int bmi088_acc_close(FAR struct file *filep); +static int bmi088_gyro_close(FAR struct file *filep); +static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer, + size_t len); +static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer, + size_t len); +static int bmi088_acc_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); +static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_bmi088_acc_fops = +{ + bmi088_acc_open, /* open */ + bmi088_acc_close, /* close */ + bmi088_acc_read, /* read */ + NULL, /* write */ + NULL, /* seek */ + bmi088_acc_ioctl, /* ioctl */ +}; + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_bmi088_gyro_fops = +{ + bmi088_gyro_open, /* open */ + bmi088_gyro_close, /* close */ + bmi088_gyro_read, /* read */ + NULL, /* write */ + NULL, /* seek */ + bmi088_gyro_ioctl, /* ioctl */ +}; + +/**************************************************************************** + * Name: bmi088_acc_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int bmi088_acc_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + up_mdelay(1); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL , + BMI088_ACC_PWR_CTRL_ACC_ENABLE); + up_mdelay(5); + bmi088_put_acc_reg8(priv, BMI088_ACC_RANGE , acc_range); + up_mdelay(50); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF , + BMI088_ACC_PWR_CONF_ACTIVE_MODE); + + bmi088_put_acc_reg8(priv, BMI088_INT1_IO_CONF , 0x08); + bmi088_put_acc_reg8(priv, BMI088_INT1_INT2_MAP_DATA, 0x04); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_gyro_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int bmi088_gyro_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* emable and config acc */ + + bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1 , BMI088_GYRO_PM_NORMAL); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_RANGE , gyro_range); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_BANDWIDTH, gyro_bandwidth); + + bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_CONF, 0x00); + bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_MAP , 0x01); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_INT_CTRL , 0x80); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_acc_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int bmi088_acc_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* Set suspend mode to each sensors. */ + + bmi088_put_acc_reg8(priv, BMI088_ACC_INT_STAT_1, 0x00); + + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF , + BMI088_ACC_PWR_CONF_SUSPEND_MODE); + up_mdelay(5); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL , + BMI088_ACC_PWR_CTRL_ACC_DISABLE); + up_mdelay(5); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_gyro_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int bmi088_gyro_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* Set suspend mode to each sensors. */ + + bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1, BMI088_GYRO_PM_SUSPEND); + up_mdelay(30); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_acc_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer, + size_t len) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer; + + if (len < sizeof(struct acc_gyro_st_s)) + { + snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s)); + return 0; + } + + /* read and caculate acc */ + + bmi088_get_acc_regs(priv, BMI088_ACC_X_LSB, (uint8_t *)&p->acc_source, 6); + p->accel.x = p->acc_source.x / 32768.0 * ((1 << (acc_range)) * 3.0); + p->accel.y = p->acc_source.y / 32768.0 * ((1 << (acc_range)) * 3.0); + p->accel.z = p->acc_source.z / 32768.0 * ((1 << (acc_range)) * 3.0); + + return len; +} + +/**************************************************************************** + * Name: bmi088_acc_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer, + size_t len) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer; + + if (len < sizeof(struct gyro_t)) + { + snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s)); + return 0; + } + + bmi088_get_gyro_regs(priv, BMI088_GYRO_X_LSB, + (uint8_t *)&p->gyro_source, 6); + p->gyro.x = p->gyro_source.x / 32768.0 * (2000.0 / (1 << (gyro_range))); + p->gyro.y = p->gyro_source.y / 32768.0 * (2000.0 / (1 << (gyro_range))); + p->gyro.z = p->gyro_source.z / 32768.0 * (2000.0 / (1 << (gyro_range))); + + return len; +} + +/**************************************************************************** + * Name: bmi088_acc_ioctl + * + * Description: + * Standard character driver ioctl method. + * + ****************************************************************************/ + +static int bmi088_acc_ioctl(FAR struct file *filep, int cmd, + unsigned long arg) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + int ret = OK; + + switch (cmd) + { + case SNIOC_ACC_ENABLE: + break; + case SNIOC_ACC_DISABLE: + break; + default: + snerr("Unrecognized cmd: %d\n", cmd); + ret = -ENOTTY; + break; + } + + return ret; +} + +/**************************************************************************** + * Name: bmi088_gyro_ioctl + * + * Description: + * Standard character driver ioctl method. + * + ****************************************************************************/ + +static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd, + unsigned long arg) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + int ret = OK; + + switch (cmd) + { + case SNIOC_GYRO_ENABLE: + break; + case SNIOC_GYRO_DISABLE: + break; + default: + snerr("Unrecognized cmd: %d\n", cmd); + ret = -ENOTTY; + break; + } + + return ret; +} Review Comment: Ditto ########## drivers/sensors/bmi088.c: ########## @@ -0,0 +1,442 @@ +/**************************************************************************** + * drivers/sensors/bmi088.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/semaphore.h> + +#include "bmi088_base.h" + +#if defined(CONFIG_SENSORS_BMI088) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +static uint8_t acc_range = BMI088_ACC_RANGE_6G; +static uint8_t gyro_range = BMI088_GYRO_RANGE_2000DPS; +static uint8_t gyro_bandwidth = BMI088_GYRO_BANDWIDTH_2000HZ_532HZ; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/* Character driver methods */ + +static int bmi088_acc_open(FAR struct file *filep); +static int bmi088_gyro_open(FAR struct file *filep); +static int bmi088_acc_close(FAR struct file *filep); +static int bmi088_gyro_close(FAR struct file *filep); +static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer, + size_t len); +static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer, + size_t len); +static int bmi088_acc_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); +static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_bmi088_acc_fops = +{ + bmi088_acc_open, /* open */ + bmi088_acc_close, /* close */ + bmi088_acc_read, /* read */ + NULL, /* write */ + NULL, /* seek */ + bmi088_acc_ioctl, /* ioctl */ +}; + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_bmi088_gyro_fops = +{ + bmi088_gyro_open, /* open */ + bmi088_gyro_close, /* close */ + bmi088_gyro_read, /* read */ + NULL, /* write */ + NULL, /* seek */ + bmi088_gyro_ioctl, /* ioctl */ +}; + +/**************************************************************************** + * Name: bmi088_acc_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int bmi088_acc_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + up_mdelay(1); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL , + BMI088_ACC_PWR_CTRL_ACC_ENABLE); + up_mdelay(5); + bmi088_put_acc_reg8(priv, BMI088_ACC_RANGE , acc_range); + up_mdelay(50); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF , + BMI088_ACC_PWR_CONF_ACTIVE_MODE); + + bmi088_put_acc_reg8(priv, BMI088_INT1_IO_CONF , 0x08); + bmi088_put_acc_reg8(priv, BMI088_INT1_INT2_MAP_DATA, 0x04); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_gyro_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int bmi088_gyro_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* emable and config acc */ + + bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1 , BMI088_GYRO_PM_NORMAL); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_RANGE , gyro_range); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_BANDWIDTH, gyro_bandwidth); + + bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_CONF, 0x00); + bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_MAP , 0x01); + bmi088_put_gyro_reg8(priv, BMI088_GYRO_INT_CTRL , 0x80); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_acc_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int bmi088_acc_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* Set suspend mode to each sensors. */ + + bmi088_put_acc_reg8(priv, BMI088_ACC_INT_STAT_1, 0x00); + + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF , + BMI088_ACC_PWR_CONF_SUSPEND_MODE); + up_mdelay(5); + bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL , + BMI088_ACC_PWR_CTRL_ACC_DISABLE); + up_mdelay(5); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_gyro_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int bmi088_gyro_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + + /* Set suspend mode to each sensors. */ + + bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1, BMI088_GYRO_PM_SUSPEND); + up_mdelay(30); + + return OK; +} + +/**************************************************************************** + * Name: bmi088_acc_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer, + size_t len) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer; + + if (len < sizeof(struct acc_gyro_st_s)) + { + snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s)); + return 0; + } + + /* read and caculate acc */ + + bmi088_get_acc_regs(priv, BMI088_ACC_X_LSB, (uint8_t *)&p->acc_source, 6); + p->accel.x = p->acc_source.x / 32768.0 * ((1 << (acc_range)) * 3.0); + p->accel.y = p->acc_source.y / 32768.0 * ((1 << (acc_range)) * 3.0); + p->accel.z = p->acc_source.z / 32768.0 * ((1 << (acc_range)) * 3.0); + + return len; +} + +/**************************************************************************** + * Name: bmi088_acc_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer, + size_t len) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer; + + if (len < sizeof(struct gyro_t)) + { + snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s)); + return 0; + } + + bmi088_get_gyro_regs(priv, BMI088_GYRO_X_LSB, + (uint8_t *)&p->gyro_source, 6); + p->gyro.x = p->gyro_source.x / 32768.0 * (2000.0 / (1 << (gyro_range))); + p->gyro.y = p->gyro_source.y / 32768.0 * (2000.0 / (1 << (gyro_range))); + p->gyro.z = p->gyro_source.z / 32768.0 * (2000.0 / (1 << (gyro_range))); + + return len; +} + +/**************************************************************************** + * Name: bmi088_acc_ioctl + * + * Description: + * Standard character driver ioctl method. + * + ****************************************************************************/ + +static int bmi088_acc_ioctl(FAR struct file *filep, int cmd, + unsigned long arg) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi088_dev_s *priv = inode->i_private; + int ret = OK; + + switch (cmd) + { + case SNIOC_ACC_ENABLE: + break; + case SNIOC_ACC_DISABLE: + break; + default: + snerr("Unrecognized cmd: %d\n", cmd); + ret = -ENOTTY; + break; + } + + return ret; +} Review Comment: Why to add ioctl if it is doing nothing? -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
