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xiaoxiang pushed a commit to branch master
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The following commit(s) were added to refs/heads/master by this push:
new 1d205e9ae23 sensors/mcp9600: Converted MCP9600 legacy driver to UORB
driver as per suggestions on PR #15525.
1d205e9ae23 is described below
commit 1d205e9ae23db1b7e8a7f47697233ee440124e70
Author: Matteo Golin <[email protected]>
AuthorDate: Thu Jan 16 23:21:20 2025 -0500
sensors/mcp9600: Converted MCP9600 legacy driver to UORB driver as per
suggestions on PR #15525.
---
.../components/drivers/special/sensors/mcp9600.rst | 107 ++--
.../arm/rp2040/common/src/rp2040_common_bringup.c | 4 +-
drivers/sensors/Kconfig | 15 +
drivers/sensors/Make.defs | 2 +-
drivers/sensors/{mcp9600.c => mcp9600_uorb.c} | 670 ++++++++++++---------
include/nuttx/sensors/ioctl.h | 29 +-
include/nuttx/sensors/mcp9600.h | 37 +-
include/nuttx/uorb.h | 4 +-
8 files changed, 501 insertions(+), 367 deletions(-)
diff --git a/Documentation/components/drivers/special/sensors/mcp9600.rst
b/Documentation/components/drivers/special/sensors/mcp9600.rst
index 1d7852b45f1..cabf9491891 100644
--- a/Documentation/components/drivers/special/sensors/mcp9600.rst
+++ b/Documentation/components/drivers/special/sensors/mcp9600.rst
@@ -1,10 +1,12 @@
+=======
MCP9600
=======
Contributed by Matteo Golin.
-The MCP9600 is a thermocouple EMF to temperature converter made by Microchip.
It is also sold as a `breakout board module
-by Adafruit
<https://learn.adafruit.com/adafruit-mcp9600-i2c-thermocouple-amplifier>`_.
+The MCP9600 is a thermocouple EMF to temperature converter made by Microchip.
It
+is also sold as a `breakout board module by Adafruit
+<https://learn.adafruit.com/adafruit-mcp9600-i2c-thermocouple-amplifier>`_.
Application Programming Interface
==================================
@@ -15,26 +17,63 @@ The header file for the MCP9600 driver interface can be
included using:
#include <nuttx/sensors/mcp9600.h>
-The MCP9600 registration function allows the driver to be registered as a POSIX
-character driver.
+The MCP9600 registration function allows the driver to be registered as a
+:doc:`UORB </components/drivers/special/sensors/sensors_uorb>` sensor.
+
+The MCP9600 measures three types of temperature:
+ * Hot junction temperature
+ * Cold junction temperature
+ * Temperature delta
+
+Registering this sensor will create three UORB temperature topics, each with
+their own unique device number. You must specify the unique device numbers for
+each topic in the registration function:
+
+.. code-block:: c
+
+ /* Registers sensor_temp1, sensor_temp2 and sensor_temp 3, where 1 is the
+ * hot junction topic, 2 is the cold junction topic and 3 is the delta
+ */
-The standard POSIX `read()` operation will return the device information in
-plain-text, which is useful when debugging/testing the driver using `cat` from
-the shell.
+ int err;
+ err = mcp9600_register(i2c_master, 0x60, 1, 2, 3);
+ if (err < 0) {
+ syslog(LOG_ERR, "Could not register MCP9600: %d\n", err);
+ }
-The `write()` operation is not implemented for this sensor.
-Specific operations the sensor offers can be performed via the POSIX `ioctl`
-operation. The supported commands are:
+This sensor offers some additional control commands for features that are not
+accessible with the standard UORB interface.
+ * :c:macro:`SNIOC_SET_THERMO`
* :c:macro:`SNIOC_WHO_AM_I`
* :c:macro:`SNIOC_READ_RAW_DATA`
* :c:macro:`SNIOC_CHECK_STATUS_REG`
* :c:macro:`SNIOC_CONFIGURE`
* :c:macro:`SNIOC_WRITECONF`
- * :c:macro:`SNIOC_READTEMP`
- * :c:macro:`SNIOC_SHUTDOWN`
- * :c:macro:`SNIOC_START`
+
+``SNIOC_SET_THERMO``
+--------------------
+
+This command configures the thermocouple type of the MCP9600. The device
+supports the following thermocouple types:
+
+ * K
+ * J
+ * T
+ * N
+ * E
+ * S
+ * B
+ * R
+
+.. code-block:: c
+
+ int err;
+ err = orb_ioctl(sensor, SNIOC_SET_THERMO, SENSOR_THERMO_TYPE_J);
+ if (err < 0) {
+ syslog(LOG_ERR, "Failed to set thermocouple type: %d\n", err);
+ }
``SNIOC_WHO_AM_I``
------------------
@@ -46,7 +85,7 @@ type ``struct mcp9600_devinfo_s *``.
.. code-block:: c
struct mcp9600_devinfo_s devinfo;
- err = ioctl(sensor, SNIOC_WHO_AM_I, &devinfo);
+ err = orb_ioctl(sensor, SNIOC_WHO_AM_I, &devinfo);
uint8_t revision_minor = MCP9600_REV_MINOR(devinfo.revision);
uint8_t revision_major = MCP9600_REV_MAJOR(devinfo.revision);
@@ -64,7 +103,7 @@ configured resolution; consult the data sheet.
.. code-block:: c
int32_t raw;
- err = ioctl(sensor, SNIOC_READ_RAW_DATA, &raw);
+ err = orb_ioctl(sensor, SNIOC_READ_RAW_DATA, &raw);
``SNIOC_CHECK_STATUS_REG``
--------------------------
@@ -75,7 +114,7 @@ this command must be a pointer to type ``struct
mcp9600_status_s``.
.. code-block:: c
struct mcp9600_status_s status;
- err = ioctl(sensor, SNIOC_CHECK_STATUS_REG, &status);
+ err = orb_ioctl(sensor, SNIOC_CHECK_STATUS_REG, &status);
``SNIOC_CONFIGURE``
-------------------
@@ -93,7 +132,7 @@ mcp9600_devconf_s``.
.resolution = MCP9600_ADC_RES_18,
/* More fields ... */
};
- err = ioctl(sensor, SNIOC_CONFIGURE, &conf);
+ err = orb_ioctl(sensor, SNIOC_CONFIGURE, &conf);
``SNIOC_WRITECONF``
-------------------
@@ -111,36 +150,4 @@ mcp9600_alertconf_s``.
.limit = 40 / 0.25,
/* More fields ... */
};
- err = ioctl(sensor, SNIOC_WRITECONF, &conf);
-
-``SNIOC_READTEMP``
-------------------
-
-This command lets you read the three different types of temperature that the
-MCP9600 can measure. The argument to this command must be a pointer to type
-``struct mcp9600_temp_s``.
-
-.. code-block:: c
-
- struct mcp9600_temp_s temps;
- err = ioctl(sensor, SNIOC_READTEMP, &temps);
-
- printf("Temperature: %d C\n", temps.hot_junc);
-
-``SNIOC_SHUTDOWN``
-------------------
-
-This command shuts down the sensor. It takes no arguments.
-
-.. code-block:: c
-
- err = ioctl(sensor, SNIOC_SHUTDOWN, NULL);
-
-``SNIOC_START``
----------------
-
-This command starts the sensor in normal mode. It takes no arguments.
-
-.. code-block:: c
-
- err = ioctl(sensor, SNIOC_START, NULL);
+ err = orb_ioctl(sensor, SNIOC_WRITECONF, &conf);
diff --git a/boards/arm/rp2040/common/src/rp2040_common_bringup.c
b/boards/arm/rp2040/common/src/rp2040_common_bringup.c
index 7f43be8655f..8d41310b024 100644
--- a/boards/arm/rp2040/common/src/rp2040_common_bringup.c
+++ b/boards/arm/rp2040/common/src/rp2040_common_bringup.c
@@ -549,9 +549,9 @@ int rp2040_common_bringup(void)
#endif
#ifdef CONFIG_SENSORS_MCP9600
- /* Try to register MCP9600 device as /dev/thermo0 at I2C0. */
+ /* Try to register MCP9600 device as /dev/therm0 at I2C0. */
- ret = mcp9600_register("/dev/thermo0", rp2040_i2cbus_initialize(0), 0x60);
+ ret = mcp9600_register(rp2040_i2cbus_initialize(0), 0x60, 1, 2, 3);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: couldn't initialize MCP9600: %d\n", ret);
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 47960acaccf..473513bd33c 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -965,6 +965,21 @@ config MCP9600_I2C_FREQUENCY
range 10000 100000
depends on SENSORS_MCP9600
+config SENSORS_MCP9600_POLL
+ bool "MCP9600 polling"
+ default y
+ depends on SENSORS_MCP9600
+ ---help---
+ Enable the worker thread for polling the MCP9600 and collecting
+ measurements
+
+config MCP9600_THREAD_STACKSIZE
+ int "MCP9600 stack size"
+ default 1024
+ depends on SENSORS_MCP9600
+ ---help---
+ Stack size of the worker thread polling the MCP9600 for measurements
+
endif # SENSORS_MCP9600
config SENSORS_MCP9844
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index bc382e7e3ac..95410290da2 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -225,7 +225,7 @@ ifeq ($(CONFIG_SENSORS_MB7040),y)
endif
ifeq ($(CONFIG_SENSORS_MCP9600),y)
- CSRCS += mcp9600.c
+ CSRCS += mcp9600_uorb.c
endif
ifeq ($(CONFIG_SENSORS_MCP9844),y)
diff --git a/drivers/sensors/mcp9600.c b/drivers/sensors/mcp9600_uorb.c
similarity index 55%
rename from drivers/sensors/mcp9600.c
rename to drivers/sensors/mcp9600_uorb.c
index 4c48539dc08..cae99833eac 100644
--- a/drivers/sensors/mcp9600.c
+++ b/drivers/sensors/mcp9600_uorb.c
@@ -1,5 +1,5 @@
/****************************************************************************
- * drivers/sensors/mcp9600.c
+ * drivers/sensors/mcp9600_uorb.c
*
* Contributed by Matteo Golin
*
@@ -27,6 +27,7 @@
****************************************************************************/
#include <nuttx/config.h>
+#include <nuttx/nuttx.h>
#include <assert.h>
#include <debug.h>
@@ -36,7 +37,11 @@
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/semaphore.h>
#include <nuttx/sensors/mcp9600.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/signal.h>
/****************************************************************************
* Pre-processor Definitions
@@ -73,84 +78,126 @@
* Private Types
****************************************************************************/
+/* Lower half driver for each of the temperature measurement types */
+
+struct mcp9600_sens_s
+{
+ FAR struct sensor_lowerhalf_s lower; /* Lower-half driver */
+ FAR struct mcp9600_dev_s *dev; /* Backward reference to parent */
+ bool enabled; /* Whether this sensor is enabled */
+};
+
+/* Full device */
+
struct mcp9600_dev_s
{
- FAR struct i2c_master_s *i2c; /* I2C interface */
- uint8_t addr; /* I2C address */
- struct mcp9600_devconf_s conf; /* Device configuration */
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- int16_t crefs; /* Number of open references. */
- bool unlinked; /* True, driver has been unlinked. */
-#endif
- mutex_t devlock;
+ struct mcp9600_sens_s hot_junc; /* Hot junction lower-half driver */
+ struct mcp9600_sens_s cold_junc; /* Cold-junction lower-half driver */
+ struct mcp9600_sens_s delta; /* Delta lower-half driver */
+ uint32_t interval; /* Measurement interval in us */
+ FAR struct i2c_master_s *i2c; /* I2C interface */
+ uint8_t addr; /* I2C address */
+ struct mcp9600_devconf_s conf; /* Device configuration */
+ sem_t run; /* Run the measurement thread */
+ mutex_t devlock; /* Single access */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
-static int mcp9600_open(FAR struct file *filep);
-static int mcp9600_close(FAR struct file *filep);
-static ssize_t mcp9600_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen);
-static ssize_t mcp9600_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen);
-static int mcp9600_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
-static int mcp9600_unlink(FAR struct inode *inode);
+static int mcp9600_control(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, int cmd,
+ unsigned long arg);
+static int mcp9600_get_info(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR struct sensor_device_info_s *info);
+static int mcp9600_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us);
+static int mcp9600_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, bool enable);
+#ifndef CONFIG_SENSORS_MCP9600_POLL
+static int mcp9600_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, FAR char *buffer,
+ size_t buflen);
+#endif
/****************************************************************************
* Private Data
****************************************************************************/
-static const struct file_operations g_mcp9600fops =
+/* Sensor operations */
+
+static const struct sensor_ops_s g_sensor_ops =
{
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- .open = mcp9600_open,
- .close = mcp9600_close,
+ .activate = mcp9600_activate,
+ .set_interval = mcp9600_set_interval,
+ .get_info = mcp9600_get_info,
+ .control = mcp9600_control,
+#ifndef CONFIG_SENSORS_MCP9600_POLL
+ .fetch = mcp9600_fetch,
#else
- .open = NULL,
- .close = NULL,
-#endif
- .read = mcp9600_read,
- .write = mcp9600_write,
- .seek = NULL,
- .ioctl = mcp9600_ioctl,
- .mmap = NULL,
- .truncate = NULL,
- .poll = NULL,
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- .unlink = mcp9600_unlink,
+ .fetch = NULL,
#endif
};
+/* Thermocouple types and their max ranges in Celsius (from datasheet) */
+
+static const float g_thermo_ranges[] =
+{
+ [SENSOR_THERMO_TYPE_K] = 1372.0f, [SENSOR_THERMO_TYPE_J] = 1200.0f,
+ [SENSOR_THERMO_TYPE_T] = 400.0f, [SENSOR_THERMO_TYPE_N] = 1300.0f,
+ [SENSOR_THERMO_TYPE_S] = 1664.0f, [SENSOR_THERMO_TYPE_E] = 1000.0f,
+ [SENSOR_THERMO_TYPE_B] = 1800.0f, [SENSOR_THERMO_TYPE_R] = 1664.0f,
+};
+
+/* Thermocouple types and their register values */
+
+static const uint8_t g_thermo_types[] =
+{
+ [SENSOR_THERMO_TYPE_K] = 0x0, [SENSOR_THERMO_TYPE_J] = 0x1,
+ [SENSOR_THERMO_TYPE_T] = 0x2, [SENSOR_THERMO_TYPE_N] = 0x3,
+ [SENSOR_THERMO_TYPE_S] = 0x4, [SENSOR_THERMO_TYPE_E] = 0x5,
+ [SENSOR_THERMO_TYPE_B] = 0x6, [SENSOR_THERMO_TYPE_R] = 0x7,
+};
+
+/* Resolutions */
+
+static const float g_resolutions[] =
+{
+ [MCP9600_COLDRES_0625] = 0.0625f,
+ [MCP9600_COLDRES_25] = 0.25f,
+};
+
/* Alert hysterisis registers */
static const enum mcp9600_alert_e g_alert_hysts[] =
{
- [MCP9600_ALERT1] = REG_ALERT1_HYST,
- [MCP9600_ALERT2] = REG_ALERT2_HYST,
- [MCP9600_ALERT3] = REG_ALERT3_HYST,
- [MCP9600_ALERT4] = REG_ALERT4_HYST,
+ [MCP9600_ALERT1] = REG_ALERT1_HYST,
+ [MCP9600_ALERT2] = REG_ALERT2_HYST,
+ [MCP9600_ALERT3] = REG_ALERT3_HYST,
+ [MCP9600_ALERT4] = REG_ALERT4_HYST,
};
/* Alert limit registers */
static const enum mcp9600_alert_e g_alert_limits[] =
{
- [MCP9600_ALERT1] = REG_ALERT1_TEMP,
- [MCP9600_ALERT2] = REG_ALERT2_TEMP,
- [MCP9600_ALERT3] = REG_ALERT3_TEMP,
- [MCP9600_ALERT4] = REG_ALERT4_TEMP,
+ [MCP9600_ALERT1] = REG_ALERT1_TEMP,
+ [MCP9600_ALERT2] = REG_ALERT2_TEMP,
+ [MCP9600_ALERT3] = REG_ALERT3_TEMP,
+ [MCP9600_ALERT4] = REG_ALERT4_TEMP,
};
/* Alert configuration registers */
static const enum mcp9600_alert_e g_alert_configs[] =
{
- [MCP9600_ALERT1] = REG_ALERT1_CONF,
- [MCP9600_ALERT2] = REG_ALERT2_CONF,
- [MCP9600_ALERT3] = REG_ALERT3_CONF,
- [MCP9600_ALERT4] = REG_ALERT4_CONF,
+ [MCP9600_ALERT1] = REG_ALERT1_CONF,
+ [MCP9600_ALERT2] = REG_ALERT2_CONF,
+ [MCP9600_ALERT3] = REG_ALERT3_CONF,
+ [MCP9600_ALERT4] = REG_ALERT4_CONF,
};
/****************************************************************************
@@ -233,9 +280,10 @@ static int mcp9600_write_reg(FAR struct mcp9600_dev_s
*priv, uint8_t reg,
****************************************************************************/
static int mcp9600_read_temp(FAR struct mcp9600_dev_s *priv, uint8_t reg,
- FAR int16_t *temp)
+ FAR struct sensor_temp *temp)
{
int err;
+ int16_t raw_temp;
uint8_t raw[2];
err = mcp9600_read_reg(priv, reg, raw, sizeof(raw));
@@ -244,17 +292,52 @@ static int mcp9600_read_temp(FAR struct mcp9600_dev_s
*priv, uint8_t reg,
return err;
}
- /* Positive temperature */
+ raw_temp = (int16_t)(((uint16_t)raw[0] << 8) | raw[1]);
+ temp->temperature = (float)(raw_temp) / 16.0f;
+ temp->timestamp = sensor_get_timestamp();
- *temp = (raw[0] * 16 + raw[1] / 16);
+ return err;
+}
- /* Negative temperature */
+/****************************************************************************
+ * Name: mcp9600_read
+ *
+ * Description:
+ * Reads all thermocouple values in degrees Celsius.
+ *
+ ****************************************************************************/
- if (raw[0] & 0x80)
+static int mcp9600_read(FAR struct mcp9600_dev_s *priv,
+ FAR struct sensor_temp *hot,
+ FAR struct sensor_temp *cold,
+ FAR struct sensor_temp *delta)
+{
+ int err;
+
+ /* Exclusive access */
+
+ err = nxmutex_lock(&priv->devlock);
+ if (err < 0)
{
- *temp -= 4096;
+ return err;
}
+ err = mcp9600_read_temp(priv, REG_JUNC_TEMP_DELTA, delta);
+ if (err < 0)
+ {
+ goto early_ret;
+ };
+
+ err = mcp9600_read_temp(priv, REG_THERMO_HOT_JUNC, hot);
+ if (err < 0)
+ {
+ goto early_ret;
+ };
+
+ err = mcp9600_read_temp(priv, REG_COLD_JUNC_TEMP, cold);
+
+early_ret:
+ nxmutex_unlock(&priv->devlock);
return err;
}
@@ -303,6 +386,26 @@ static int mcp9600_config_alert(FAR struct mcp9600_dev_s
*priv,
sizeof(config_reg));
}
+/****************************************************************************
+ * Name: mcp9600_write_devconf
+ *
+ * Description:
+ * Writes configuration settings for the device configuration register.
+ * Returns 0 on success and negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int mcp9600_write_devconf(FAR struct mcp9600_dev_s *dev)
+{
+ uint8_t reg = 0;
+ reg |= (dev->conf.mode & 0x3);
+ reg |= ((dev->conf.num_samples & 0x7) << 2);
+ reg |= ((dev->conf.resolution & 0x3) << 5);
+ reg |= ((dev->conf.cold_res & 0x1) << 7);
+
+ return mcp9600_write_reg(dev, REG_DEV_CONFIG, ®, sizeof(reg));
+}
+
/****************************************************************************
* Name: mcp9600_validate_conf
*
@@ -319,12 +422,6 @@ static int mcp9600_validate_conf(FAR struct
mcp9600_devconf_s *conf)
return -EINVAL;
}
- if (conf->thermo_type < MCP9600_THERMO_TYPE_K ||
- conf->thermo_type > MCP9600_THERMO_TYPE_R)
- {
- return -EINVAL;
- }
-
if (conf->filter_coeff > 0 || conf->filter_coeff > 8)
{
return -EINVAL;
@@ -357,222 +454,147 @@ static int mcp9600_validate_conf(FAR struct
mcp9600_devconf_s *conf)
}
/****************************************************************************
- * Name: mcp9600_open
+ * Name: mcp9600_set_interval
*
* Description:
- * This function is called whenever the MCP9600 device is opened.
+ * Sets the measurement interval for the MCP9600 sensor in microseconds.
*
****************************************************************************/
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
-static int mcp9600_open(FAR struct file *filep)
+static int mcp9600_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct mcp9600_dev_s *priv = inode->i_private;
- int err;
-
- err = nxmutex_lock(&priv->devlock);
- if (err < 0)
- {
- return err;
- }
-
- /* Increment the count of open references on the driver */
-
- priv->crefs++;
- DEBUGASSERT(priv->crefs > 0);
-
- nxmutex_unlock(&priv->devlock);
+ FAR struct mcp9600_sens_s *sens =
+ container_of(lower, FAR struct mcp9600_sens_s, lower);
+ sens->dev->interval = *period_us;
return 0;
}
-#endif
/****************************************************************************
- * Name: mcp9600_close
- *
- * Description:
- * This routine is called when the MCP9600 device is closed.
- *
+ * Name: mcp9600_activate
****************************************************************************/
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
-static int mcp9600_close(FAR struct file *filep)
+static int mcp9600_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, bool enable)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct mcp9600_dev_s *priv = inode->i_private;
- int err;
+ bool start_thread = false;
+ int err = 0;
+ FAR struct mcp9600_sens_s *priv =
+ container_of(lower, FAR struct mcp9600_sens_s, lower);
+ FAR struct mcp9600_dev_s *dev = priv->dev;
- err = nxmutex_lock(&priv->devlock);
- if (err < 0)
+ if (enable && !priv->enabled)
{
- return err;
- }
-
- /* Decrement the count of open references on the driver */
+ start_thread = true;
- DEBUGASSERT(priv->crefs > 0);
- priv->crefs--;
+ /* Power on the sensor for operation */
- /* If the count has decremented to zero and the driver has been unlinked,
- * then free memory now.
- */
-
- if (priv->crefs <= 0 && priv->unlinked)
- {
- nxmutex_destroy(&priv->devlock);
- kmm_free(priv);
- return 0;
- }
-
- nxmutex_unlock(&priv->devlock);
- return 0;
-}
-#endif
-
-/****************************************************************************
- * Name: mcp9600_unlink
- ****************************************************************************/
-
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
-static int mcp9600_unlink(FAR struct inode *inode)
-{
- FAR struct mcp9600_dev_s *priv;
- int err;
-
- DEBUGASSERT(inode->i_private != NULL);
- priv = inode->i_private;
-
- err = nxmutex_lock(&priv->devlock);
- if (err < 0)
- {
- return err;
+ if (dev->conf.mode == MCP9600_MODE_SHUTDOWN)
+ {
+ dev->conf.mode = MCP9600_MODE_NORMAL;
+ err = mcp9600_write_devconf(dev);
+ }
}
- /* Are there open references to the driver data structure? */
-
- if (priv->crefs <= 0)
+ else if (!enable && priv->enabled)
{
- nxmutex_destroy(&priv->devlock);
- kmm_free(priv);
- return 0;
- }
-
- /* No. Just mark the driver as unlinked and free the resources when
- * the last client closes their reference to the driver.
- */
+ /* Temporarily mark disabled so we can check if everything is disabled
+ */
- priv->unlinked = true;
- nxmutex_unlock(&priv->devlock);
- return OK;
-}
-#endif
+ priv->enabled = enable;
-/****************************************************************************
- * Name: mcp9600_read
- *
- * Description:
- * Character driver interface to sensor for debugging.
- *
- ****************************************************************************/
+ /* Power off the sensor to save power only if all features are disabled
+ * and we're not yet shut down.
+ */
-static ssize_t mcp9600_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen)
-{
- FAR struct inode *inode = filep->f_inode;
- FAR struct mcp9600_dev_s *priv = inode->i_private;
- int err;
- int16_t hot_junc_temp;
+ if ((dev->conf.mode != MCP9600_MODE_SHUTDOWN) &&
+ (!dev->hot_junc.enabled && !dev->cold_junc.enabled &&
+ !dev->delta.enabled))
+ {
+ /* Put back enable state in case we encounter an error and fail to
+ * disable
+ */
- /* If file position is non-zero, then we're at the end of file. */
+ priv->enabled = true;
- if (filep->f_pos > 0)
- {
- return 0;
+ dev->conf.mode = MCP9600_MODE_SHUTDOWN;
+ err = mcp9600_write_devconf(dev);
+ }
}
- /* Get exclusive access */
-
- err = nxmutex_lock(&priv->devlock);
if (err < 0)
{
return err;
}
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- if (priv->unlinked)
- {
- /* Do not allow operations on unlinked sensors. This allows
- * sensor use on hot swappable I2C bus.
- */
-
- goto finish_unlock;
- }
-#endif
+ priv->enabled = enable;
- err = mcp9600_read_temp(priv, REG_THERMO_HOT_JUNC, &hot_junc_temp);
-
- if (err < 0)
+ if (start_thread)
{
- goto finish_unlock;
- }
+ /* Wake up the polling thread */
- err = snprintf(buffer, buflen, "%d C\n", hot_junc_temp);
-
- if (err > buflen)
- {
- err = buflen;
+ nxsem_post(&dev->run);
}
- filep->f_pos += err;
-
-finish_unlock:
- nxmutex_unlock(&priv->devlock);
return err;
}
/****************************************************************************
- * Name: mcp9600_write
- *
- * Description:
- * Not implemented.
+ * Name: mcp9600_get_info
****************************************************************************/
-static ssize_t mcp9600_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen)
+static int mcp9600_get_info(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR struct sensor_device_info_s *info)
{
- return -ENOSYS;
+ FAR struct mcp9600_sens_s *sens =
+ container_of(lower, FAR struct mcp9600_sens_s, lower);
+ FAR struct mcp9600_dev_s *dev = sens->dev;
+
+ info->version = 0;
+ info->power = 1.5f; /* 1.5mA */
+ info->min_delay = 63.0f;
+ info->max_delay = 250.0f;
+ memcpy(info->name, "MCP9600", sizeof("MCP9600"));
+ memcpy(info->vendor, "Microchip", sizeof("Microchip"));
+ info->max_range = g_thermo_ranges[dev->conf.thermo_type];
+ info->resolution = g_resolutions[dev->conf.thermo_type];
+ info->fifo_reserved_event_count = 0;
+ info->fifo_max_event_count = 0;
+ return 0;
}
/****************************************************************************
* Name: mcp9600_ioctl
****************************************************************************/
-static int mcp9600_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+static int mcp9600_control(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep, int cmd,
+ unsigned long arg)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct mcp9600_dev_s *priv = inode->i_private;
+ FAR struct mcp9600_sens_s *sens =
+ container_of(lower, FAR struct mcp9600_sens_s, lower);
+ FAR struct mcp9600_dev_s *dev = sens->dev;
int err;
- err = nxmutex_lock(&priv->devlock);
+ err = nxmutex_lock(&dev->devlock);
if (err < 0)
{
return err;
}
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- if (priv->unlinked)
+ switch (cmd)
{
- /* Do not allow operations on unlinked sensors. This allows
- * sensor use on hot swappable I2C bus.
- */
+ /* Set thermocouple type */
- nxmutex_unlock(&priv->devlock);
- return -ENODEV;
- }
-#endif
+ case SNIOC_SET_THERMO:
+ {
+ dev->conf.thermo_type = g_thermo_types[arg];
+ err = mcp9600_write_devconf(dev);
+ }
+ break;
- switch (cmd)
- {
/* Device ID */
case SNIOC_WHO_AM_I:
@@ -585,7 +607,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
break;
}
- err = mcp9600_read_reg(priv, REG_DEVID, devinfo, sizeof(*devinfo));
+ err = mcp9600_read_reg(dev, REG_DEVID, devinfo, sizeof(*devinfo));
}
break;
@@ -600,7 +622,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
break;
}
- err = mcp9600_read_reg(priv, REG_RAW_ADC, raw_data,
+ err = mcp9600_read_reg(dev, REG_RAW_ADC, raw_data,
3); /* Only read 24 bits */
/* Sign bit 1, set all upper bits to 1 for correct value in 32-bit
@@ -623,7 +645,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
break;
}
- err = mcp9600_read_reg(priv, REG_STATUS, &status_reg,
+ err = mcp9600_read_reg(dev, REG_STATUS, &status_reg,
sizeof(status_reg));
if (err < 0)
{
@@ -643,7 +665,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
/* Clear what has been read (burst & temp registers) */
status_reg &= 0x3f;
- err = mcp9600_write_reg(priv, REG_STATUS, &status_reg,
+ err = mcp9600_write_reg(dev, REG_STATUS, &status_reg,
sizeof(status_reg));
}
break;
@@ -684,7 +706,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
* write operation.
*/
- err = mcp9600_write_reg(priv, REG_THERMO_SEN_CONF, registers,
+ err = mcp9600_write_reg(dev, REG_THERMO_SEN_CONF, registers,
sizeof(registers));
if (err < 0)
{
@@ -693,7 +715,7 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
/* Store this as the official configuration */
- memcpy(&priv->conf, conf, sizeof(priv->conf));
+ memcpy(&dev->conf, conf, sizeof(dev->conf));
}
/* Configure alerts */
@@ -708,73 +730,86 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
break;
}
- err = mcp9600_config_alert(priv, conf);
+ err = mcp9600_config_alert(dev, conf);
}
- /* Read temperature data */
-
- case SNIOC_READTEMP:
- {
- struct mcp9600_temp_s *temps = (struct mcp9600_temp_s *)(arg);
- if (temps == NULL)
- {
- err = -EINVAL;
- break;
- }
-
- err =
- mcp9600_read_temp(priv, REG_JUNC_TEMP_DELTA, &temps->temp_delta);
- if (err < 0)
- {
- break;
- };
-
- err = mcp9600_read_temp(priv, REG_THERMO_HOT_JUNC, &temps->hot_junc);
- if (err < 0)
- {
- break;
- };
+ default:
+ err = -EINVAL;
+ break;
+ }
- err = mcp9600_read_temp(priv, REG_COLD_JUNC_TEMP, &temps->cold_junc);
- }
+ nxmutex_unlock(&dev->devlock);
+ return err;
+}
- /* Shutdown the device (argument unused) */
+/****************************************************************************
+ * Name: mcp9600_thread
+ *
+ * Description: Thread for performing interval measurement cycle and data
+ * read.
+ *
+ * Parameter:
+ * argc - Number of arguments
+ * argv - Pointer to argument list
+ *
+ ****************************************************************************/
- case SNIOC_SHUTDOWN:
- {
- uint8_t reg = 0;
- priv->conf.mode = MCP9600_MODE_SHUTDOWN;
+static int mcp9600_thread(int argc, char **argv)
+{
+ FAR struct mcp9600_dev_s *dev =
+ (FAR struct mcp9600_dev_s *)((uintptr_t)strtoul(argv[1], NULL, 16));
+ int err;
- reg |= (priv->conf.mode & 0x3);
- reg |= ((priv->conf.num_samples & 0x7) << 2);
- reg |= ((priv->conf.resolution & 0x3) << 5);
- reg |= ((priv->conf.cold_res & 0x1) << 7);
+ struct sensor_temp hot_junc;
+ struct sensor_temp cold_junc;
+ struct sensor_temp delta;
- err = mcp9600_write_reg(priv, REG_DEV_CONFIG, ®, sizeof(reg));
- }
+ while (true)
+ {
+ if (!dev->hot_junc.enabled && !dev->cold_junc.enabled &&
+ !dev->delta.enabled)
+ {
+ /* Wait for one of the lower halves to be enabled and wake us up */
+
+ snerr("MCP9600 disabled, waiting...\n");
+ err = nxsem_wait(&dev->run);
+ if (err < 0)
+ {
+ continue;
+ }
+ }
+
+ err = mcp9600_read(dev, &hot_junc, &cold_junc, &delta);
+ if (err < 0)
+ {
+ snerr("Error reading MCP9600: %d\n", err);
+ continue;
+ }
- /* Start the device again */
+ if (dev->hot_junc.enabled)
+ {
+ dev->hot_junc.lower.push_event(dev->hot_junc.lower.priv, &hot_junc,
+ sizeof(hot_junc));
+ }
- case SNIOC_START:
- {
- uint8_t reg = 0;
- priv->conf.mode = MCP9600_MODE_NORMAL;
+ if (dev->cold_junc.enabled)
+ {
+ dev->cold_junc.lower.push_event(dev->cold_junc.lower.priv,
+ &cold_junc, sizeof(cold_junc));
+ }
- reg |= (priv->conf.mode & 0x3);
- reg |= ((priv->conf.num_samples & 0x7) << 2);
- reg |= ((priv->conf.resolution & 0x3) << 5);
- reg |= ((priv->conf.cold_res & 0x1) << 7);
+ if (dev->delta.enabled)
+ {
+ dev->delta.lower.push_event(dev->delta.lower.priv, &delta,
+ sizeof(delta));
+ }
- err = mcp9600_write_reg(priv, REG_DEV_CONFIG, ®, sizeof(reg));
- }
+ /* Sleep before next fetch */
- default:
- err = -EINVAL;
- break;
+ nxsig_usleep(dev->interval);
}
- nxmutex_unlock(&priv->devlock);
- return err;
+ return OK;
}
/****************************************************************************
@@ -785,23 +820,29 @@ static int mcp9600_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
* Name: mcp9600_register
*
* Description:
- * Register the MCP9600 character device as 'devpath'
+ * Register the MCP9600 UORB sensor. This registers 3 temperature UORB
+ * topics.
*
* Input Parameters:
- * devpath - The full path to the driver to register. E.g., "/dev/temp0"
* i2c - An instance of the I2C interface to use to communicate with
* the MCP9600
* addr - The I2C address of the MCP9600, between 0x60 and 0x67
*
+ * h_devno - The device number for the hot junction topic
+ * c_devno - The device number for the cold junction topic
+ * d_devno - The device number for the delta topic
+ *
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
-int mcp9600_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
- uint8_t addr)
+int mcp9600_register(FAR struct i2c_master_s *i2c, uint8_t addr,
+ uint8_t h_devno, uint8_t c_devno, uint8_t d_devno)
{
FAR struct mcp9600_dev_s *priv;
+ FAR char *argv[2];
+ char arg1[32];
int err;
DEBUGASSERT(i2c != NULL);
@@ -818,10 +859,11 @@ int mcp9600_register(FAR const char *devpath, FAR struct
i2c_master_s *i2c,
priv->i2c = i2c;
priv->addr = addr;
+ priv->interval = 1000000; /* 1s default interval */
priv->conf = (struct mcp9600_devconf_s)
{
- .thermo_type = MCP9600_THERMO_TYPE_T,
+ .thermo_type = SENSOR_THERMO_TYPE_T,
.filter_coeff = 0,
.resolution = MCP9600_ADC_RES_18,
.num_samples = MCP9600_SAMPLE_1,
@@ -829,8 +871,15 @@ int mcp9600_register(FAR const char *devpath, FAR struct
i2c_master_s *i2c,
.mode = MCP9600_COLDRES_0625,
};
- priv->unlinked = false;
- priv->crefs = 0;
+ /* Initialize semaphore */
+
+ err = nxsem_init(&priv->run, 0, 0);
+ if (err < 0)
+ {
+ snerr("Failed to register MCP9600 driver: %d\n", err);
+ kmm_free(priv);
+ return err;
+ }
/* Initialize mutex */
@@ -838,18 +887,73 @@ int mcp9600_register(FAR const char *devpath, FAR struct
i2c_master_s *i2c,
if (err < 0)
{
snerr("ERROR: Failed to register MCP9600 driver: %d\n", err);
- kmm_free(priv);
- return err;
+ goto del_sem;
}
- /* Register the character driver */
+ /* Cold junction lower half */
+
+ priv->cold_junc.enabled = false;
+ priv->cold_junc.dev = priv;
+ priv->cold_junc.lower.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
+ priv->cold_junc.lower.ops = &g_sensor_ops;
- err = register_driver(devpath, &g_mcp9600fops, 0666, priv);
+ err = sensor_register(&priv->cold_junc.lower, c_devno);
if (err < 0)
{
- snerr("ERROR: Failed to register MCP9600 driver: %d\n", err);
+ snerr("Failed to register MCP9600 driver: %d\n", err);
+ goto del_mutex;
+ }
+
+ /* Hot junction lower half */
+
+ priv->hot_junc.enabled = false;
+ priv->hot_junc.dev = priv;
+ priv->hot_junc.lower.type = SENSOR_TYPE_TEMPERATURE;
+ priv->hot_junc.lower.ops = &g_sensor_ops;
+
+ err = sensor_register(&priv->hot_junc.lower, h_devno);
+ if (err < 0)
+ {
+ snerr("Failed to register MCP9600 driver: %d\n", err);
+ goto unreg_cold;
+ }
+
+ /* Delta lower half */
+
+ priv->delta.enabled = false;
+ priv->delta.dev = priv;
+ priv->delta.lower.type = SENSOR_TYPE_TEMPERATURE;
+ priv->delta.lower.ops = &g_sensor_ops;
+
+ err = sensor_register(&priv->delta.lower, d_devno);
+ if (err < 0)
+ {
+ snerr("Failed to register MCP9600 driver: %d\n", err);
+ goto unreg_hot;
+ }
+
+ /* Start polling thread */
+
+ snprintf(arg1, 16, "%p", priv);
+ argv[0] = arg1;
+ argv[1] = NULL;
+ err = kthread_create("mcp9600_thread", SCHED_PRIORITY_DEFAULT,
+ CONFIG_MCP9600_THREAD_STACKSIZE, mcp9600_thread,
+ argv);
+ if (err < 0)
+ {
+ snerr("Failed to create the MCP9600 notification kthread.\n");
+ sensor_unregister(&priv->delta.lower, d_devno);
+ unreg_hot:
+ sensor_unregister(&priv->hot_junc.lower, h_devno);
+ unreg_cold:
+ sensor_unregister(&priv->cold_junc.lower, c_devno);
+ del_mutex:
nxmutex_destroy(&priv->devlock);
+ del_sem:
+ nxsem_destroy(&priv->run);
kmm_free(priv);
+ return err;
}
return err;
diff --git a/include/nuttx/sensors/ioctl.h b/include/nuttx/sensors/ioctl.h
index a77cd19c275..96bf05dc745 100644
--- a/include/nuttx/sensors/ioctl.h
+++ b/include/nuttx/sensors/ioctl.h
@@ -454,7 +454,7 @@
#endif
/* Command: SNIOC_FLUSH
- * Description: Flush sensor harware fifo buffer.
+ * Description: Flush sensor hardware fifo buffer.
*/
#define SNIOC_FLUSH _SNIOC(0x009D)
@@ -466,4 +466,31 @@
#define SNIOC_GET_EVENTS _SNIOC(0x009E)
+/* Command: SNIOC_SET_THERMO
+ * Description: Set the thermocouple type.
+ * Argument: An option from `enum sensor_thermo_type_e`
+ */
+
+#define SNIOC_SET_THERMO _SNIOC(0x009F)
+
+/****************************************************************************
+ * Public types
+ ****************************************************************************/
+
+/* Possible thermocouple types. Implementations should not rely on the enum's
+ * underlying value.
+ */
+
+enum sensor_thermo_type_e
+{
+ SENSOR_THERMO_TYPE_K,
+ SENSOR_THERMO_TYPE_J,
+ SENSOR_THERMO_TYPE_T,
+ SENSOR_THERMO_TYPE_N,
+ SENSOR_THERMO_TYPE_S,
+ SENSOR_THERMO_TYPE_E,
+ SENSOR_THERMO_TYPE_B,
+ SENSOR_THERMO_TYPE_R,
+};
+
#endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */
diff --git a/include/nuttx/sensors/mcp9600.h b/include/nuttx/sensors/mcp9600.h
index e336cbaef2c..0cc3762f771 100644
--- a/include/nuttx/sensors/mcp9600.h
+++ b/include/nuttx/sensors/mcp9600.h
@@ -56,20 +56,6 @@ enum mcp9600_alert_e
MCP9600_ALERT4 = 3, /* Alert 4 */
};
-/* Thermocouple types */
-
-enum mcp9600_thermocouple_e
-{
- MCP9600_THERMO_TYPE_K = 0x0,
- MCP9600_THERMO_TYPE_J = 0x1,
- MCP9600_THERMO_TYPE_T = 0x2,
- MCP9600_THERMO_TYPE_N = 0x3,
- MCP9600_THERMO_TYPE_S = 0x4,
- MCP9600_THERMO_TYPE_E = 0x5,
- MCP9600_THERMO_TYPE_B = 0x6,
- MCP9600_THERMO_TYPE_R = 0x7,
-};
-
/* ADC resolution */
enum mcp9600_resolution_e
@@ -134,7 +120,7 @@ struct mcp9600_alert_conf_s
struct mcp9600_devconf_s
{
- enum mcp9600_thermocouple_e thermo_type; /* Thermocouple type */
+ enum sensor_thermo_type_e thermo_type; /* Thermocouple type */
uint8_t filter_coeff; /* Filter coefficient */
enum mcp9600_resolution_e resolution; /* ADC resolution */
enum mcp9600_samples_e num_samples; /* Number of samples */
@@ -161,15 +147,6 @@ struct mcp9600_status_s
bool alerts[4]; /* Alert statuses for alerts 1-4 (0-3) */
};
-/* Temperature readings */
-
-struct mcp9600_temp_s
-{
- int16_t temp_delta; /* Temperature delta in degrees Celsius */
- int16_t hot_junc; /* Hot junction temperature in degrees Celsius */
- int16_t cold_junc; /* Cold junction temperature in degrees Celsius */
-};
-
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
@@ -178,20 +155,24 @@ struct mcp9600_temp_s
* Name: mcp9600_register
*
* Description:
- * Register the MCP9600 character device as 'devpath'
+ * Register the MCP9600 UORB sensor. This registers 3 temperature UORB
+ * topics.
*
* Input Parameters:
- * devpath - The full path to the driver to register. E.g., "/dev/temp0"
* i2c - An instance of the I2C interface to use to communicate with
* the MCP9600
* addr - The I2C address of the MCP9600, between 0x60 and 0x67
*
+ * h_devno - The device number for the hot junction topic
+ * c_devno - The device number for the cold junction topic
+ * d_devno - The device number for the delta topic
+ *
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
-int mcp9600_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
- uint8_t addr);
+int mcp9600_register(FAR struct i2c_master_s *i2c, uint8_t addr,
+ uint8_t h_devno, uint8_t c_devno, uint8_t d_devno);
#endif /* __INCLUDE_NUTTX_SENSORS_MCP9600_H */
diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index 8a201b2bdc5..2f2cfbf12b1 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -112,7 +112,7 @@
* Celsius.
*/
-#define SENSOR_TYPE_TEMPERAUTRE 7
+#define SENSOR_TYPE_TEMPERATURE 7
/* Proximity
* The values correspond to the distance to the nearest
@@ -162,7 +162,7 @@
#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
-/* Magneric Field Uncalibrated
+/* Magnetic Field Uncalibrated
* Similar to MAGNETIC_FIELD, all values are in micro-Tesla (uT)
* and measure the geomagnetic field in X, Y and Z axis.
*/
