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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/08/19 15:19:46 UTC
[incubator-nuttx] branch master updated (15fb70c -> 06cf126)
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a change to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git.
from 15fb70c libs/libxx: Download C++ libraries during context.
new b30f5e1 drivers/sensors: add an upper half 3-phase Hall effect sensor driver
new 7896216 arch/stm32: add 3-phase Hall effect sensor lower half
new dbe4cd8 boards/stm32/common: add 3-phase Hall effect sensor common logic
new 06cf126 nucleo-f446re: add 3-phase Hall effect sensor support
The 4 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails. The revisions
listed as "add" were already present in the repository and have only
been added to this reference.
Summary of changes:
arch/arm/src/stm32/Make.defs | 4 +
arch/arm/src/stm32/stm32_hall3ph.c | 209 +++++++++++++++++++++
.../rp2040_xosc.h => stm32/stm32_hall3ph.h} | 47 ++---
boards/arm/stm32/common/Kconfig | 8 +
.../arm/stm32/common/include/board_hall3ph.h | 23 +--
boards/arm/stm32/common/src/Make.defs | 4 +
.../src/{stm32_qencoder.c => board_hall3ph.c} | 39 ++--
boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h | 11 ++
boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c | 22 ++-
drivers/sensors/Kconfig | 4 +
drivers/sensors/Make.defs | 6 +
drivers/sensors/{qencoder.c => hall3ph.c} | 178 +++++++-----------
include/nuttx/sensors/hall3ph.h | 138 ++++++++++++++
include/nuttx/sensors/ioctl.h | 4 +
14 files changed, 530 insertions(+), 167 deletions(-)
create mode 100644 arch/arm/src/stm32/stm32_hall3ph.c
copy arch/arm/src/{rp2040/rp2040_xosc.h => stm32/stm32_hall3ph.h} (71%)
copy drivers/power/greedy_governor.h => boards/arm/stm32/common/include/board_hall3ph.h (76%)
copy boards/arm/stm32/common/src/{stm32_qencoder.c => board_hall3ph.c} (66%)
copy drivers/sensors/{qencoder.c => hall3ph.c} (63%)
create mode 100644 include/nuttx/sensors/hall3ph.h
[incubator-nuttx] 04/04: nucleo-f446re: add 3-phase Hall effect
sensor support
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 06cf12617c11cdd6fb3a727b0d53ba94606ce2fc
Author: raiden00pl <ra...@railab.me>
AuthorDate: Wed Aug 18 14:05:06 2021 +0200
nucleo-f446re: add 3-phase Hall effect sensor support
---
boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h | 11 +++++++++++
boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c | 22 ++++++++++++++++++++--
2 files changed, 31 insertions(+), 2 deletions(-)
diff --git a/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h b/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
index 7b9b3bf..5e1e069 100644
--- a/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
+++ b/boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
@@ -216,6 +216,17 @@
#define GPIO_FIRE GPIO_BUTTON_2
#define GPIO_JUMP GPIO_BUTTON_3
+#ifdef CONFIG_SENSORS_HALL3PHASE
+/* GPIO pins used by the 3-phase Hall effect sensor */
+
+# define GPIO_HALL_PHA (GPIO_INPUT | GPIO_SPEED_2MHz | \
+ GPIO_PORTA | GPIO_PIN15)
+# define GPIO_HALL_PHB (GPIO_INPUT | GPIO_SPEED_2MHz | \
+ GPIO_PORTB | GPIO_PIN3)
+# define GPIO_HALL_PHC (GPIO_INPUT | GPIO_SPEED_2MHz | \
+ GPIO_PORTB | GPIO_PIN10)
+#endif
+
/****************************************************************************
* Public Data
****************************************************************************/
diff --git a/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c b/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
index 773e1ff..6f913ae 100644
--- a/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
+++ b/boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
@@ -44,11 +44,15 @@
#endif
#ifdef CONFIG_SENSORS_QENCODER
-#include "board_qencoder.h"
+# include "board_qencoder.h"
+#endif
+
+#ifdef CONFIG_SENSORS_HALL3PHASE
+# include "board_hall3ph.h"
#endif
#ifdef CONFIG_VIDEO_FB
-#include <nuttx/video/fb.h>
+# include <nuttx/video/fb.h>
#endif
#include "nucleo-f446re.h"
@@ -169,6 +173,20 @@ int stm32_bringup(void)
}
#endif
+#ifdef CONFIG_SENSORS_HALL3PHASE
+ /* Initialize and register the 3-phase Hall effect sensor driver */
+
+ ret = board_hall3ph_initialize(0, GPIO_HALL_PHA, GPIO_HALL_PHB,
+ GPIO_HALL_PHC);
+ if (ret != OK)
+ {
+ syslog(LOG_ERR,
+ "ERROR: Failed to register the hall : %d\n",
+ ret);
+ return ret;
+ }
+#endif
+
#ifdef CONFIG_INPUT_AJOYSTICK
/* Initialize and register the joystick driver */
[incubator-nuttx] 02/04: arch/stm32: add 3-phase Hall effect sensor
lower half
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 78962165d89965aa717e5e91f05584c2d5903610
Author: raiden00pl <ra...@railab.me>
AuthorDate: Wed Aug 18 14:01:01 2021 +0200
arch/stm32: add 3-phase Hall effect sensor lower half
---
arch/arm/src/stm32/Make.defs | 4 +
arch/arm/src/stm32/stm32_hall3ph.c | 209 +++++++++++++++++++++++++++++++++++++
arch/arm/src/stm32/stm32_hall3ph.h | 63 +++++++++++
3 files changed, 276 insertions(+)
diff --git a/arch/arm/src/stm32/Make.defs b/arch/arm/src/stm32/Make.defs
index 29cdd3a..cea9637 100644
--- a/arch/arm/src/stm32/Make.defs
+++ b/arch/arm/src/stm32/Make.defs
@@ -232,6 +232,10 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
CHIP_CSRCS += stm32_qencoder.c
endif
+ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
+CHIP_CSRCS += stm32_hall3ph.c
+endif
+
ifeq ($(CONFIG_STM32_CAN),y)
CHIP_CSRCS += stm32_can.c
endif
diff --git a/arch/arm/src/stm32/stm32_hall3ph.c b/arch/arm/src/stm32/stm32_hall3ph.c
new file mode 100644
index 0000000..4d6ae71
--- /dev/null
+++ b/arch/arm/src/stm32/stm32_hall3ph.c
@@ -0,0 +1,209 @@
+/****************************************************************************
+ * arch/arm/src/stm32/stm32_hall3ph.c
+ *
+ * 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/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <stdio.h>
+#include <assert.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/hall3ph.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+#include "stm32_hall3ph.h"
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct stm32_lowerhalf_s
+{
+ /* The first field of this state structure must be a pointer to the lower-
+ * half callback structure:
+ */
+
+ FAR const struct hall3_ops_s *ops; /* Lower half callback structure */
+ struct stm32_hall3ph_cfg_s cfg; /* Configuration */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+int stm32_hall3ph_setup(FAR struct hall3_lowerhalf_s *lower);
+int stm32_hall3ph_shutdown(FAR struct hall3_lowerhalf_s *lower);
+int stm32_hall3ph_position(FAR struct hall3_lowerhalf_s *lower,
+ FAR uint8_t *pos);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+struct hall3_ops_s g_hall3ph_ops =
+{
+ .setup = stm32_hall3ph_setup,
+ .shutdown = stm32_hall3ph_shutdown,
+ .position = stm32_hall3ph_position
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_hall3ph_setup
+ *
+ * Description:
+ * Configure the 3-phase Hall effect sensor
+ *
+ ****************************************************************************/
+
+int stm32_hall3ph_setup(FAR struct hall3_lowerhalf_s *lower)
+{
+ FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
+
+ DEBUGASSERT(priv);
+
+ /* Configure input pins */
+
+ stm32_configgpio(priv->cfg.gpio_pha);
+ stm32_configgpio(priv->cfg.gpio_phb);
+ stm32_configgpio(priv->cfg.gpio_phc);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: stm32_hall3ph_shutdown
+ *
+ * Description:
+ * Disable the 3-phase Hall effect sensor
+ *
+ ****************************************************************************/
+
+int stm32_hall3ph_shutdown(FAR struct hall3_lowerhalf_s *lower)
+{
+ FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
+
+ DEBUGASSERT(priv);
+
+ /* Unconfigure input pins */
+
+ stm32_unconfiggpio(priv->cfg.gpio_pha);
+ stm32_unconfiggpio(priv->cfg.gpio_phb);
+ stm32_unconfiggpio(priv->cfg.gpio_phc);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: stm32_hall3ph_position
+ *
+ * Description:
+ * Return the current 3-phase Hall effect sensor position
+ *
+ ****************************************************************************/
+
+int stm32_hall3ph_position(FAR struct hall3_lowerhalf_s *lower,
+ FAR uint8_t *pos)
+{
+ FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
+ uint8_t ha = 0;
+ uint8_t hb = 0;
+ uint8_t hc = 0;
+ uint8_t i = 0;
+ uint8_t thr = (priv->cfg.samples / 2);
+
+ DEBUGASSERT(priv);
+
+ /* Sample pins */
+
+ for (i = 0; i < priv->cfg.samples; i += 1)
+ {
+ ha += stm32_gpioread(priv->cfg.gpio_pha);
+ hb += stm32_gpioread(priv->cfg.gpio_phb);
+ hc += stm32_gpioread(priv->cfg.gpio_phc);
+ }
+
+ /* Get state based on threshold */
+
+ *pos = ((ha > thr) << 0) |
+ ((hb > thr) << 1) |
+ ((hc > thr) << 2);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_hall3ph_initialize
+ *
+ * Description:
+ * Initialize the 3-phase Hall effect driver
+ *
+ ****************************************************************************/
+
+int stm32_hall3ph_initialize(FAR const char *devpath,
+ FAR struct stm32_hall3ph_cfg_s *cfg)
+{
+ FAR struct stm32_lowerhalf_s *priv = NULL;
+ int ret = OK;
+
+ /* Allocate the lower-half data structure */
+
+ priv = (FAR struct stm32_lowerhalf_s *)
+ kmm_zalloc(sizeof(struct stm32_lowerhalf_s));
+ if (priv == NULL)
+ {
+ snerr("ERROR: Allocation failed\n");
+ ret = -ENOMEM;
+ goto errout;
+ }
+
+ /* Copy configuration */
+
+ memcpy(&priv->cfg, cfg, sizeof(struct stm32_hall3ph_cfg_s));
+
+ /* Connect ops */
+
+ priv->ops = &g_hall3ph_ops;
+
+ /* Initialize a Hall effect sensor interface. */
+
+ ret = hall3_register(devpath, (FAR struct hall3_lowerhalf_s *)priv);
+ if (ret < 0)
+ {
+ snerr("ERROR: hall3ph_register failed: %d\n", ret);
+ }
+
+errout:
+ return ret;
+}
diff --git a/arch/arm/src/stm32/stm32_hall3ph.h b/arch/arm/src/stm32/stm32_hall3ph.h
new file mode 100644
index 0000000..b6efb88
--- /dev/null
+++ b/arch/arm/src/stm32/stm32_hall3ph.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ * arch/arm/src/stm32/stm32_hall3ph.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H
+#define __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* 3-phase Hall effect sensor configuration */
+
+struct stm32_hall3ph_cfg_s
+{
+ int gpio_pha; /* Hall phase A pincfg */
+ int gpio_phb; /* Hall phase B pincfg */
+ int gpio_phc; /* Hall phase C pincfg */
+ int samples; /* Number of samples taken from GPIO */
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_hall3ph_initialize
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_hall3ph_initialize
+ *
+ * Description:
+ * Initialize the 3-phase Hall effect driver
+ *
+ ****************************************************************************/
+
+int stm32_hall3ph_initialize(FAR const char *devpath,
+ FAR struct stm32_hall3ph_cfg_s *cfg);
+
+#endif /* __ARCH_ARM_SRC_STM32_STM32_HALL3PH_H */
[incubator-nuttx] 03/04: boards/stm32/common: add 3-phase Hall
effect sensor common logic
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit dbe4cd88dd4e66c0d8e886ec80253f2a75843b7a
Author: raiden00pl <ra...@railab.me>
AuthorDate: Wed Aug 18 14:04:16 2021 +0200
boards/stm32/common: add 3-phase Hall effect sensor common logic
---
boards/arm/stm32/common/Kconfig | 8 +++
boards/arm/stm32/common/include/board_hall3ph.h | 67 ++++++++++++++++++++++
boards/arm/stm32/common/src/Make.defs | 4 ++
boards/arm/stm32/common/src/board_hall3ph.c | 75 +++++++++++++++++++++++++
4 files changed, 154 insertions(+)
diff --git a/boards/arm/stm32/common/Kconfig b/boards/arm/stm32/common/Kconfig
index 4eef44c..e029254 100644
--- a/boards/arm/stm32/common/Kconfig
+++ b/boards/arm/stm32/common/Kconfig
@@ -70,4 +70,12 @@ endif # BOARD_STM32_IHM16M1
endif # STM32_FOC
+if SENSORS_HALL3PHASE
+
+config BOARD_STM32_HALL3PHASE_SAMPLES
+ int "3-phase Hall effect sensor number of samples"
+ default 10
+
+endif # SENSORS_HALL3PHASE
+
endif # BOARD_STM32_COMMON
diff --git a/boards/arm/stm32/common/include/board_hall3ph.h b/boards/arm/stm32/common/include/board_hall3ph.h
new file mode 100644
index 0000000..4b1431a
--- /dev/null
+++ b/boards/arm/stm32/common/include/board_hall3ph.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ * boards/arm/stm32/common/include/board_hall3ph.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARD_HALL3PH_H
+#define __BOARD_HALL3PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_hall3ph_initialize
+ *
+ * Description:
+ * Initialize the 3-phase Hall effect sensor driver for the given timer
+ *
+ * Input Parameters:
+ * devno - The device number, used to build the device path as /dev/hallN
+ * pha - phase A Hall effect sensor pin configuration
+ * phb - phase B Hall effect sensor pin configuration
+ * phc - phase C Hall effect sensor pin configuration
+ *
+ ****************************************************************************/
+
+int board_hall3ph_initialize(int devno, int pha, int phb, int phc);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __BOARD_HALL3PH_H
diff --git a/boards/arm/stm32/common/src/Make.defs b/boards/arm/stm32/common/src/Make.defs
index 45e91b6..8fee81a 100644
--- a/boards/arm/stm32/common/src/Make.defs
+++ b/boards/arm/stm32/common/src/Make.defs
@@ -78,6 +78,10 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
CSRCS += stm32_qencoder.c
endif
+ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
+ CSRCS += board_hall3ph.c
+endif
+
ifeq ($(CONFIG_SENSORS_INA219),y)
CSRCS += stm32_ina219.c
endif
diff --git a/boards/arm/stm32/common/src/board_hall3ph.c b/boards/arm/stm32/common/src/board_hall3ph.c
new file mode 100644
index 0000000..913d0fc
--- /dev/null
+++ b/boards/arm/stm32/common/src/board_hall3ph.c
@@ -0,0 +1,75 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/board_hall3ph.c
+ *
+ * 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/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <stdio.h>
+#include <assert.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/hall3ph.h>
+#include <arch/board/board.h>
+
+#include "stm32_hall3ph.h"
+#include "board_hall3ph.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_hall3ph_initialize
+ *
+ * Description:
+ * Initialize the 3-phase Hall effect sensor driver
+ *
+ ****************************************************************************/
+
+int board_hall3ph_initialize(int devno, int pha, int phb, int phc)
+{
+ struct stm32_hall3ph_cfg_s cfg;
+ char devpath[12];
+ int ret = OK;
+
+ /* Get configuration */
+
+ cfg.gpio_pha = pha;
+ cfg.gpio_phb = phb;
+ cfg.gpio_phc = phc;
+ cfg.samples = CONFIG_BOARD_STM32_HALL3PHASE_SAMPLES;
+
+ /* Initialize a Hall effect sensor interface. */
+
+ snprintf(devpath, 12, "/dev/hall%d", devno);
+
+ ret = stm32_hall3ph_initialize(devpath, &cfg);
+ if (ret < 0)
+ {
+ snerr("ERROR: stm32_hall3ph_initialize failed: %d\n", ret);
+ }
+
+ return ret;
+}
[incubator-nuttx] 01/04: drivers/sensors: add an upper half 3-phase
Hall effect sensor driver
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit b30f5e146dd2d57d3ffaf55b1fa3aa4456b7a6e9
Author: raiden00pl <ra...@railab.me>
AuthorDate: Wed Aug 18 13:55:44 2021 +0200
drivers/sensors: add an upper half 3-phase Hall effect sensor driver
---
drivers/sensors/Kconfig | 4 +
drivers/sensors/Make.defs | 6 +
drivers/sensors/hall3ph.c | 356 ++++++++++++++++++++++++++++++++++++++++
include/nuttx/sensors/hall3ph.h | 138 ++++++++++++++++
include/nuttx/sensors/ioctl.h | 4 +
5 files changed, 508 insertions(+)
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index a6ee116..3aca00f 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -927,6 +927,10 @@ config SENSORS_QENCODER
bool "Qencoder"
default n
+config SENSORS_HALL3PHASE
+ bool "3-phase Hall effect sensor"
+ default n
+
config SENSORS_VEML6070
bool "Vishay VEML6070 UV-A Light Sensor support"
default n
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index 6c52e22..b9ade92 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -280,6 +280,12 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
CSRCS += qencoder.c
endif
+# 3-phase Hall effect sensor upper half
+
+ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
+ CSRCS += hall3ph.c
+endif
+
# Vishay VEML6070
ifeq ($(CONFIG_SENSORS_VEML6070),y)
diff --git a/drivers/sensors/hall3ph.c b/drivers/sensors/hall3ph.c
new file mode 100644
index 0000000..52cc973
--- /dev/null
+++ b/drivers/sensors/hall3ph.c
@@ -0,0 +1,356 @@
+/****************************************************************************
+ * drivers/sensors/hall3ph.c
+ *
+ * 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/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/arch.h>
+#include <nuttx/semaphore.h>
+#include <nuttx/sensors/hall3ph.h>
+
+#include <arch/irq.h>
+
+/****************************************************************************
+ * Private Type Definitions
+ ****************************************************************************/
+
+/* This structure describes the state of the upper half driver */
+
+struct hall3_upperhalf_s
+{
+ uint8_t crefs;
+ sem_t exclsem;
+ FAR struct hall3_lowerhalf_s *lower;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int hall3_open(FAR struct file *filep);
+static int hall3_close(FAR struct file *filep);
+static ssize_t hall3_read(FAR struct file *filep, FAR char *buffer,
+ size_t buflen);
+static ssize_t hall3_write(FAR struct file *filep, FAR const char *buffer,
+ size_t buflen);
+static int hall3_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct file_operations g_hall3ops =
+{
+ hall3_open, /* open */
+ hall3_close, /* close */
+ hall3_read, /* read */
+ hall3_write, /* write */
+ NULL , /* seek */
+ hall3_ioctl, /* ioctl */
+ NULL /* poll */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hall3_open
+ *
+ * Description:
+ * This function is called whenever the hall device is opened.
+ *
+ ****************************************************************************/
+
+static int hall3_open(FAR struct file *filep)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct hall3_upperhalf_s *upper = inode->i_private;
+ uint8_t tmp;
+ int ret;
+
+ sninfo("crefs: %d\n", upper->crefs);
+
+ /* Get exclusive access to the device structures */
+
+ ret = nxsem_wait(&upper->exclsem);
+ if (ret < 0)
+ {
+ goto errout;
+ }
+
+ /* Increment the count of references to the device. If this is the first
+ * time that the driver has been opened for this device, then initialize
+ * the device.
+ */
+
+ tmp = upper->crefs + 1;
+ if (tmp == 0)
+ {
+ /* More than 255 opens; uint8_t overflows to zero */
+
+ ret = -EMFILE;
+ goto errout_with_sem;
+ }
+
+ /* Check if this is the first time that the driver has been opened. */
+
+ if (tmp == 1)
+ {
+ FAR struct hall3_lowerhalf_s *lower = upper->lower;
+
+ /* Yes.. perform one time hardware initialization. */
+
+ DEBUGASSERT(lower->ops->setup != NULL);
+ sninfo("calling setup\n");
+
+ ret = lower->ops->setup(lower);
+ if (ret < 0)
+ {
+ goto errout_with_sem;
+ }
+ }
+
+ /* Save the new open count on success */
+
+ upper->crefs = tmp;
+ ret = OK;
+
+errout_with_sem:
+ nxsem_post(&upper->exclsem);
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: hall3_close
+ *
+ * Description:
+ * This function is called when the hall device is closed.
+ *
+ ****************************************************************************/
+
+static int hall3_close(FAR struct file *filep)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct hall3_upperhalf_s *upper = inode->i_private;
+ int ret;
+
+ sninfo("crefs: %d\n", upper->crefs);
+
+ /* Get exclusive access to the device structures */
+
+ ret = nxsem_wait(&upper->exclsem);
+ if (ret < 0)
+ {
+ goto errout;
+ }
+
+ /* Decrement the references to the driver. If the reference count will
+ * decrement to 0, then uninitialize the driver.
+ */
+
+ if (upper->crefs > 1)
+ {
+ upper->crefs--;
+ }
+ else
+ {
+ FAR struct hall3_lowerhalf_s *lower = upper->lower;
+
+ /* There are no more references to the port */
+
+ upper->crefs = 0;
+
+ /* Disable the hall device */
+
+ DEBUGASSERT(lower->ops->shutdown != NULL);
+ sninfo("calling shutdown\n");
+
+ lower->ops->shutdown(lower);
+ }
+
+ nxsem_post(&upper->exclsem);
+ ret = OK;
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: hall3_read
+ *
+ * Description:
+ * A dummy read method. This is provided only to satisfy the VFS layer.
+ *
+ ****************************************************************************/
+
+static ssize_t hall3_read(FAR struct file *filep,
+ FAR char *buffer,
+ size_t buflen)
+{
+ /* Return zero -- usually meaning end-of-file */
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: hall3_write
+ *
+ * Description:
+ * A dummy write method. This is provided only to satisfy the VFS layer.
+ *
+ ****************************************************************************/
+
+static ssize_t hall3_write(FAR struct file *filep,
+ FAR const char *buffer,
+ size_t buflen)
+{
+ /* Return a failure */
+
+ return -EPERM;
+}
+
+/****************************************************************************
+ * Name: hall3_ioctl
+ *
+ * Description:
+ * The standard ioctl method.
+ * This is where ALL of the hall work is done.
+ *
+ ****************************************************************************/
+
+static int hall3_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct hall3_upperhalf_s *upper;
+ FAR struct hall3_lowerhalf_s *lower;
+ int ret;
+
+ sninfo("cmd: %d arg: %ld\n", cmd, arg);
+ upper = inode->i_private;
+ DEBUGASSERT(upper != NULL);
+ lower = upper->lower;
+ DEBUGASSERT(lower != NULL);
+
+ /* Get exclusive access to the device structures */
+
+ ret = nxsem_wait(&upper->exclsem);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ /* Handle built-in ioctl commands */
+
+ switch (cmd)
+ {
+ /* SNIOC_GET_POSITION - Get the current position from the Hall sensor.
+ * Argument: uint8_t pointer to the location to return the position.
+ */
+
+ case SNIOC_GET_POSITION:
+ {
+ FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
+ DEBUGASSERT(lower->ops->position != NULL && ptr);
+ ret = lower->ops->position(lower, ptr);
+ }
+ break;
+
+ default:
+ {
+ ret = -ENOTTY;
+ }
+ break;
+ }
+
+ nxsem_post(&upper->exclsem);
+ return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hall3_register
+ *
+ * Description:
+ * Register the 3-phase Hall effect sensor lower half device as 'devpath'
+ *
+ * Input Parameters:
+ * devpath - The full path to the driver to register. E.g., "/dev/hall0"
+ * lower - An instance of the lower half interface
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure. The following
+ * possible error values may be returned (most are returned by
+ * register_driver()):
+ *
+ * EINVAL - 'path' is invalid for this operation
+ * EEXIST - An inode already exists at 'path'
+ * ENOMEM - Failed to allocate in-memory resources for the operation
+ *
+ ****************************************************************************/
+
+int hall3_register(FAR const char *devpath,
+ FAR struct hall3_lowerhalf_s *lower)
+{
+ FAR struct hall3_upperhalf_s *upper = NULL;
+
+ /* Allocate the upper-half data structure */
+
+ upper = (FAR struct hall3_upperhalf_s *)
+ kmm_zalloc(sizeof(struct hall3_upperhalf_s));
+ if (upper == NULL)
+ {
+ snerr("ERROR: Allocation failed\n");
+ return -ENOMEM;
+ }
+
+ /* Initialize the hall 3-phase sensor device structure
+ * (it was already zeroed by kmm_zalloc())
+ */
+
+ nxsem_init(&upper->exclsem, 0, 1);
+ upper->lower = lower;
+
+ /* Register the Hall effect sensor device */
+
+ sninfo("Registering %s\n", devpath);
+ return register_driver(devpath, &g_hall3ops, 0666, upper);
+}
diff --git a/include/nuttx/sensors/hall3ph.h b/include/nuttx/sensors/hall3ph.h
new file mode 100644
index 0000000..d4dc2dd
--- /dev/null
+++ b/include/nuttx/sensors/hall3ph.h
@@ -0,0 +1,138 @@
+/****************************************************************************
+ * include/nuttx/sensors/hall3ph.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_HALL3PH_H
+#define __INCLUDE_NUTTX_SENSORS_HALL3PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <nuttx/sensors/ioctl.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* 120-degree Hall effect sensors positions */
+
+enum hall3_120deg_position_e
+{
+ HALL3_120DEG_POS_1 = 0b001,
+ HALL3_120DEG_POS_2 = 0b011,
+ HALL3_120DEG_POS_3 = 0b010,
+ HALL3_120DEG_POS_4 = 0b110,
+ HALL3_120DEG_POS_5 = 0b100,
+ HALL3_120DEG_POS_6 = 0b101
+};
+
+/* 60-degree Hall effect sensors postions */
+
+enum hall3_60deg_position_e
+{
+ HALL3_60DEG_POS_1 = 0b000,
+ HALL3_60DEG_POS_2 = 0b001,
+ HALL3_60DEG_POS_3 = 0b101,
+ HALL3_60DEG_POS_4 = 0b111,
+ HALL3_60DEG_POS_5 = 0b110,
+ HALL3_60DEG_POS_6 = 0b010
+};
+
+/* This structure provides the "lower-half" driver operations available to
+ * the "upper-half" driver.
+ */
+
+struct hall3_lowerhalf_s;
+struct hall3_ops_s
+{
+ /* Configure the 3-phase Hall effect sensor device */
+
+ CODE int (*setup)(FAR struct hall3_lowerhalf_s *lower);
+
+ /* Disable the 3-phase Hall effect sensor device */
+
+ CODE int (*shutdown)(FAR struct hall3_lowerhalf_s *lower);
+
+ /* Return the current 3-phase Hall effect sensor position */
+
+ CODE int (*position)(FAR struct hall3_lowerhalf_s *lower,
+ FAR uint8_t *pos);
+};
+
+/* This structure provides the publicly visible representation of the
+ * "lower-half" driver state structure. "lower half" drivers will have an
+ * internal structure definition that will be cast-compatible with this
+ * structure definitions.
+ */
+
+struct hall3_lowerhalf_s
+{
+ FAR const struct hall3_ops_s *ops;
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hall3_register
+ *
+ * Description:
+ * Register the 3-phase Hall effect sensor lower half device as 'devpath'
+ *
+ * Input Parameters:
+ * devpath - The full path to the driver to register. E.g., "/dev/hall0"
+ * lower - An instance of the lower half interface
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure. The following
+ * possible error values may be returned (most are returned by
+ * register_driver()):
+ *
+ * EINVAL - 'path' is invalid for this operation
+ * EEXIST - An inode already exists at 'path'
+ * ENOMEM - Failed to allocate in-memory resources for the operation
+ *
+ ****************************************************************************/
+
+int hall3_register(FAR const char *devpath,
+ FAR struct hall3_lowerhalf_s *lower);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_SENSORS_HALL3PH_H */
diff --git a/include/nuttx/sensors/ioctl.h b/include/nuttx/sensors/ioctl.h
index a24e169..8e1f8c3 100644
--- a/include/nuttx/sensors/ioctl.h
+++ b/include/nuttx/sensors/ioctl.h
@@ -284,4 +284,8 @@
#define SNIOC_SET_BUFFER_NUMBER _SNIOC(0x0084)
+/* IOCTL commands unique to the Hall effect sensor */
+
+#define SNIOC_GET_POSITION _SNIOC(0x0085)
+
#endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */