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new c21405d2d5c drivers/sensors/goldfish: goldfish support more sensors
c21405d2d5c is described below
commit c21405d2d5cdc4b75c88d06194676247cff3618a
Author: chenzihan1 <[email protected]>
AuthorDate: Tue Jan 21 16:30:10 2025 +0800
drivers/sensors/goldfish: goldfish support more sensors
add sensors type to align android
Signed-off-by: chenzihan1 <[email protected]>
---
.../platforms/arm/goldfish/goldfish_sensor.rst | 224 +++++++
drivers/sensors/goldfish_sensor_uorb.c | 745 ++++++++++++---------
2 files changed, 649 insertions(+), 320 deletions(-)
diff --git a/Documentation/platforms/arm/goldfish/goldfish_sensor.rst
b/Documentation/platforms/arm/goldfish/goldfish_sensor.rst
new file mode 100644
index 00000000000..f4a568628ad
--- /dev/null
+++ b/Documentation/platforms/arm/goldfish/goldfish_sensor.rst
@@ -0,0 +1,224 @@
+=======================
+Goldfish Sensor Driver
+=======================
+
+Introduction
+============
+
+The Goldfish Sensor driver provides a virtual multi-sensor interface for
+Android Goldfish/QEMU emulator environments. This driver enables NuttX to
+interact with the QEMU sensor emulation infrastructure, allowing applications
+to access various simulated sensor types without requiring physical hardware.
+
+The driver supports multiple sensor types through a unified interface based
+on the NuttX sensor framework (uORB), making it suitable for development,
+testing, and debugging of sensor-dependent applications in virtualized
+environments.
+
+Supported Sensor Types
+=======================
+
+The Goldfish Sensor driver supports the following sensor types:
+
+Inertial Sensors
+----------------
+
+- **Accelerometer** (``SENSOR_TYPE_ACCELEROMETER``)
+
+ - Measures linear acceleration in three axes (x, y, z)
+ - Range: ±2.8 m/s²
+ - Resolution: 1.0/4032.0 m/s²
+ - Power consumption: 3.0 mW
+
+- **Gyroscope** (``SENSOR_TYPE_GYROSCOPE``)
+
+ - Measures angular velocity in three axes
+ - Range: ±11.11 rad/s
+ - Resolution: 1.0/1000.0 rad/s
+ - Power consumption: 3.0 mW
+
+- **Uncalibrated Accelerometer** (``SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED``)
+
+ - Raw accelerometer data without calibration
+ - Range: ±39.3 m/s²
+ - Resolution: 1.0/4032.0 m/s²
+
+- **Uncalibrated Gyroscope** (``SENSOR_TYPE_GYROSCOPE_UNCALIBRATED``)
+
+ - Raw gyroscope data without drift compensation
+ - Range: ±16.46 rad/s
+ - Resolution: 1.0/1000.0 rad/s
+
+Magnetic Sensors
+----------------
+
+- **Magnetometer** (``SENSOR_TYPE_MAGNETIC_FIELD``)
+
+ - Measures magnetic field strength in three axes
+ - Range: ±2000.0 μT
+ - Resolution: 1.0 μT
+ - Power consumption: 6.7 mW
+
+- **Uncalibrated Magnetometer** (``SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED``)
+
+ - Raw magnetic field data without hard/soft iron correction
+ - Range: ±2000.0 μT
+ - Resolution: 1.0 μT
+
+Environmental Sensors
+---------------------
+
+- **Ambient Temperature** (``SENSOR_TYPE_AMBIENT_TEMPERATURE``)
+
+ - Measures ambient temperature
+ - Range: 0-80°C
+ - Resolution: 1.0°C
+ - Power consumption: 0.0 mW
+
+- **Barometric Pressure** (``SENSOR_TYPE_BAROMETER``)
+
+ - Measures atmospheric pressure
+ - Range: 0-800 hPa
+ - Resolution: 1.0 hPa
+ - Power consumption: 20.0 mW
+
+- **Relative Humidity** (``SENSOR_TYPE_RELATIVE_HUMIDITY``)
+
+ - Measures relative humidity
+ - Range: 0-100%
+ - Resolution: 1.0%
+ - Power consumption: 20.0 mW
+
+Optical Sensors
+---------------
+
+- **Ambient Light** (``SENSOR_TYPE_LIGHT``)
+
+ - Measures ambient light intensity
+ - Range: 0-40000 lux
+ - Resolution: 1.0 lux
+ - Power consumption: 20.0 mW
+
+- **Proximity** (``SENSOR_TYPE_PROXIMITY``)
+
+ - Detects nearby objects
+ - Range: 0-1.0 (binary detection)
+ - Resolution: 1.0
+ - Power consumption: 20.0 mW
+
+Orientation Sensors
+-------------------
+
+- **Orientation** (``SENSOR_TYPE_ORIENTATION``)
+
+ - Provides device orientation (azimuth, pitch, roll)
+ - Range: 0-360°
+ - Resolution: 1.0°
+ - Power consumption: 9.7 mW
+
+Position Sensors
+----------------
+
+- **Hinge Angle 0/1/2** (``SENSOR_TYPE_HINGE_ANGLE``)
+
+ - Measures foldable device hinge angles
+ - Range: 0-360°
+ - Resolution: 1.0°
+ - Power consumption: 3.0 mW
+ - Note: Supports up to 3 hinges (for multi-fold devices)
+
+Biometric Sensors
+-----------------
+
+- **Heart Rate** (``SENSOR_TYPE_HEART_RATE``)
+
+ - Measures heart rate in beats per minute
+ - Range: 0-500 bpm
+ - Resolution: 1.0 bpm
+ - Power consumption: 20.0 mW
+
+Gesture Sensors
+---------------
+
+- **Wrist Tilt** (``SENSOR_TYPE_WRIST_TILT_GESTURE``)
+
+ - Detects wrist tilt gesture events
+ - Range: 0-1.0 (event trigger)
+ - Resolution: 1.0
+ - Power consumption: 20.0 mW
+
+Usage
+=====
+
+Kernel Configuration
+--------------------
+
+Enable the Goldfish Sensor driver in your NuttX configuration::
+
+ CONFIG_SENSORS=y
+ CONFIG_SENSORS_GOLDFISH=y
+ CONFIG_GOLDFISH_PIPE=y
+
+Driver Initialization
+---------------------
+
+The driver is typically initialized during board-level setup::
+
+ #include <nuttx/sensors/goldfish_sensor.h>
+
+ int board_sensors_initialize(void)
+ {
+ int ret;
+
+ /* Initialize Goldfish sensors with device number 0
+ * and batch buffer size of 1
+ */
+ ret = goldfish_sensor_init(0, 1);
+ if (ret < 0)
+ {
+ snerr("ERROR: Failed to initialize Goldfish sensors: %d\n", ret);
+ return ret;
+ }
+
+ return OK;
+ }
+
+Application Usage
+-----------------
+
+Applications can access sensors through the standard NuttX sensor interface::
+
+ #include <fcntl.h>
+ #include <nuttx/sensors/sensor.h>
+
+ int main(int argc, char *argv[])
+ {
+ struct sensor_accel accel_data;
+ int fd;
+ int ret;
+
+ /* Open accelerometer sensor */
+ fd = open("/dev/uorb/sensor_accel0", O_RDONLY);
+ if (fd < 0)
+ {
+ printf("Failed to open accelerometer\n");
+ return -1;
+ }
+
+ /* Read sensor data */
+ while (1)
+ {
+ ret = read(fd, &accel_data, sizeof(accel_data));
+ if (ret == sizeof(accel_data))
+ {
+ printf("Accel: x=%.2f y=%.2f z=%.2f (timestamp=%llu)\n",
+ accel_data.x, accel_data.y, accel_data.z,
+ accel_data.timestamp);
+ }
+
+ usleep(100000); /* 100ms */
+ }
+
+ close(fd);
+ return 0;
+ }
diff --git a/drivers/sensors/goldfish_sensor_uorb.c
b/drivers/sensors/goldfish_sensor_uorb.c
index f108e7a5e3c..73e5fcfb259 100644
--- a/drivers/sensors/goldfish_sensor_uorb.c
+++ b/drivers/sensors/goldfish_sensor_uorb.c
@@ -25,7 +25,9 @@
****************************************************************************/
#include <fcntl.h>
+#include <inttypes.h>
#include <math.h>
+#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
@@ -42,47 +44,40 @@
* Pre-processor Definitions
****************************************************************************/
-#define GOLDFISH_ACCELERATION 0
-#define GOLDFISH_GYROSCOPE 1
-#define GOLDFISH_MAGNETIC_FIELD 2
-#define GOLDFISH_ORIENTATION 3
-#define GOLDFISH_AMBIENT_TEMPERATURE 4
-#define GOLDFISH_PROXIMITY 5
-#define GOLDFISH_LIGHT 6
-#define GOLDFISH_PRESSURE 7
-#define GOLDFISH_RELATIVE_HUMIDITY 8
-#define GOLDFISH_MAGNETIC_FIELD_UNCALIBRATED 9
-#define GOLDFISH_GYROSCOPE_UNCALIBRATED 10
-#define GOLDFISH_HINGE_ANGLE0 11
-#define GOLDFISH_HINGE_ANGLE1 12
-#define GOLDFISH_HINGE_ANGLE2 13
-#define GOLDFISH_HEART_RATE 14
-#define GOLDFISH_RGBC_LIGHT 15
-#define GOLDFISH_WRIST_TILT 16
-#define GOLDFISH_ACCELERATION_UNCALIBRATED 17
-
#define GOLDFISH_LIST_SENSOR_CMD "list-sensors"
/****************************************************************************
* Private Types
****************************************************************************/
+struct goldfish_lowerhalf_s
+{
+ struct sensor_lowerhalf_s lower;
+ FAR const struct sensor_device_info_s *info;
+ intptr_t offset;
+};
+
struct goldfish_sensor_s
{
int64_t time_bias_ns;
struct file pipe;
- struct sensor_lowerhalf_s lower_accel;
- struct sensor_lowerhalf_s lower_mag;
- struct sensor_lowerhalf_s lower_gyro;
- struct sensor_lowerhalf_s lower_accel_uncalibrated;
- struct sensor_lowerhalf_s lower_mag_uncalibrated;
- struct sensor_lowerhalf_s lower_gyro_uncalibrated;
- struct sensor_lowerhalf_s lower_prox;
- struct sensor_lowerhalf_s lower_light;
- struct sensor_lowerhalf_s lower_baro;
- struct sensor_lowerhalf_s lower_humi;
- struct sensor_lowerhalf_s lower_temp;
- struct sensor_lowerhalf_s lower_hrate;
+ struct goldfish_lowerhalf_s lower_accel;
+ struct goldfish_lowerhalf_s lower_gyro;
+ struct goldfish_lowerhalf_s lower_mag;
+ struct goldfish_lowerhalf_s lower_orient;
+ struct goldfish_lowerhalf_s lower_temp;
+ struct goldfish_lowerhalf_s lower_prox;
+ struct goldfish_lowerhalf_s lower_light;
+ struct goldfish_lowerhalf_s lower_baro;
+ struct goldfish_lowerhalf_s lower_humi;
+ struct goldfish_lowerhalf_s lower_mag_uncalibrated;
+ struct goldfish_lowerhalf_s lower_gyro_uncalibrated;
+ struct goldfish_lowerhalf_s lower_hinge_angle0;
+ struct goldfish_lowerhalf_s lower_hinge_angle1;
+ struct goldfish_lowerhalf_s lower_hinge_angle2;
+ struct goldfish_lowerhalf_s lower_hrate;
+ struct goldfish_lowerhalf_s lower_wrist_tilt;
+ struct goldfish_lowerhalf_s lower_accel_uncalibrated;
uint32_t interval;
};
@@ -90,12 +85,13 @@ struct goldfish_sensor_s
* Private Function Prototypes
****************************************************************************/
-static int goldfish_sensor_activate(FAR struct sensor_lowerhalf_s *lower,
+static int goldfish_sensor_activate(FAR struct sensor_lowerhalf_s *lower_,
FAR struct file *filep, bool enabled);
-static int goldfish_sensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
- FAR struct file *filep,
- FAR uint32_t *period_us);
-static int goldfish_sensor_get_info(FAR struct sensor_lowerhalf_s *lower,
+static int
+goldfish_sensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us);
+static int goldfish_sensor_get_info(FAR struct sensor_lowerhalf_s *lower_,
FAR struct file *filep,
FAR struct sensor_device_info_s *info);
static int goldfish_sensor_thread(int argc, FAR char** argv);
@@ -111,31 +107,8 @@ static const struct sensor_ops_s g_goldfish_sensor_ops =
.get_info = goldfish_sensor_get_info,
};
-FAR static const char *const g_goldfish_sensor_name[] =
-{
- "acceleration",
- "gyroscope",
- "magnetic-field",
- "orientation",
- "temperature",
- "proximity",
- "light",
- "pressure",
- "humidity",
- "magnetic-field-uncalibrated",
- "gyroscope-uncalibrated",
- "hinge-angle0",
- "hinge-angle1",
- "hinge-angle2",
- "heart-rate",
- "rgbc-light",
- "wrist-tilt",
- "acceleration-uncalibrated",
-};
-
-static struct sensor_device_info_s g_goldfish_sensor_info[] =
+static const struct sensor_device_info_s g_goldfish_sensor_accel =
{
- {
.version = 1,
.power = 3.0f,
.max_range = 2.8f,
@@ -146,8 +119,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "acceleration",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_gyro =
+{
.version = 1,
.power = 3.0f,
.max_range = 11.1111111,
@@ -156,8 +131,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.max_delay = 500 * 1000,
.name = "gyroscope",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_mag =
+{
.version = 1,
.power = 6.7f,
.max_range = 2000.0f,
@@ -168,8 +145,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "magnetic-field",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_orient =
+{
.version = 1,
.power = 9.7f,
.max_range = 360.0f,
@@ -180,8 +159,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "orientation",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_temp =
+{
.version = 1,
.power = 0.0f,
.max_range = 80.0f,
@@ -192,8 +173,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "temperature",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_prox =
+{
.version = 1,
.power = 20.0f,
.max_range = 1.0f,
@@ -204,8 +187,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "proximity",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_light =
+{
.version = 1,
.power = 20.0f,
.max_range = 40000.0f,
@@ -216,8 +201,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "light",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_baro =
+{
.version = 1,
.power = 20.0f,
.max_range = 800.0f,
@@ -228,8 +215,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "pressure",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_humi =
+{
.version = 1,
.power = 20.0f,
.max_range = 100.0f,
@@ -240,8 +229,10 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.fifo_max_event_count = 0,
.name = "humidity",
.vendor = "The Android Open Source Project",
- },
- {
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_mag_uncal =
+{
.version = 1,
.power = 6.7f,
.max_range = 2000.0f,
@@ -250,7 +241,90 @@ static struct sensor_device_info_s
g_goldfish_sensor_info[] =
.max_delay = 500 * 1000,
.name = "magnetic-field-uncalibrated",
.vendor = "The Android Open Source Project",
- },
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_gyro_uncal =
+{
+ .version = 1,
+ .power = 3.0,
+ .max_range = 16.46,
+ .resolution = 1.0 / 1000.0,
+ .min_delay = 10000,
+ .max_delay = 500 * 1000,
+ .name = "gyroscope-uncalibrated",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_hinge_angle0 =
+{
+ .version = 1,
+ .power = 3.0,
+ .max_range = 360,
+ .resolution = 1.0,
+ .min_delay = 0,
+ .max_delay = 0,
+ .name = "hinge-angle0",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_hinge_angle1 =
+{
+ .version = 1,
+ .power = 3.0,
+ .max_range = 360,
+ .resolution = 1.0,
+ .min_delay = 0,
+ .max_delay = 0,
+ .name = "hinge-angle1",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_hinge_angle2 =
+{
+ .version = 1,
+ .power = 3.0,
+ .max_range = 360,
+ .resolution = 1.0,
+ .min_delay = 0,
+ .max_delay = 0,
+ .name = "hinge-angle2",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_hrate =
+{
+ .version = 1,
+ .power = 20.0,
+ .max_range = 500,
+ .resolution = 1.0,
+ .min_delay = 0,
+ .max_delay = 500 * 1000,
+ .name = "heart-rate",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_wrist_tilt =
+{
+ .version = 1,
+ .power = 20.0,
+ .max_range = 1.0,
+ .resolution = 1.0,
+ .min_delay = 0,
+ .max_delay = 500 * 1000,
+ .name = "wrist-tilt",
+ .vendor = "The Android Open Source Project",
+};
+
+static const struct sensor_device_info_s g_goldfish_sensor_accel_uncal =
+{
+ .version = 1,
+ .power = 3.0,
+ .max_range = 39.3,
+ .resolution = 1.0 / 4032.0,
+ .min_delay = 10000,
+ .max_delay = 500 * 1000,
+ .name = "acceleration-uncalibrated",
+ .vendor = "The Android Open Source Project",
};
/****************************************************************************
@@ -392,11 +466,6 @@ static inline int goldfish_sensor_open_pipe(FAR struct
file *filep,
return ret;
}
-static inline FAR const char *goldfish_sensor_get_name(int h)
-{
- return g_goldfish_sensor_name[h];
-}
-
static FAR const char *
goldfish_sensor_match(FAR const char *s, FAR const char *p)
{
@@ -411,21 +480,6 @@ goldfish_sensor_weigthed_average(int64_t a, int64_t aw,
return (a * aw + b * bw) / (aw + bw);
}
-static int goldfish_sensor_do_activate(FAR struct file *pipe,
- int handle,
- bool enabled)
-{
- char buffer[64];
- int len;
-
- len = snprintf(buffer, sizeof(buffer),
- "set:%s:%d",
- goldfish_sensor_get_name(handle),
- enabled);
-
- return goldfish_sensor_send(pipe, buffer, len);
-}
-
static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
{
FAR const char *value;
@@ -451,9 +505,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
{
accel.temperature = NAN;
accel.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_accel.push_event(sensor->lower_accel.priv,
- &accel,
- sizeof(struct sensor_accel));
+ sensor->lower_accel.lower.push_event(
+ sensor->lower_accel.lower.priv,
+ &accel, sizeof(struct sensor_accel));
}
}
else if ((value = goldfish_sensor_match(buf, "gyroscope:")) != NULL)
@@ -464,9 +518,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
{
gyro.temperature = NAN;
gyro.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_gyro.push_event(sensor->lower_gyro.priv,
- &gyro,
- sizeof(struct sensor_gyro));
+ sensor->lower_gyro.lower.push_event(
+ sensor->lower_gyro.lower.priv,
+ &gyro, sizeof(struct sensor_gyro));
}
}
else if ((value = goldfish_sensor_match(buf, "magnetic:")) != NULL)
@@ -477,54 +531,21 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
{
mag.temperature = NAN;
mag.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_mag.push_event(sensor->lower_mag.priv,
- &mag,
- sizeof(struct sensor_mag));
- }
- }
- else if ((value = goldfish_sensor_match(
- buf, "gyroscope-uncalibrated:")) != NULL)
- {
- struct sensor_gyro gyro;
- if (sscanf(value, "%f:%f:%f",
- &gyro.x, &gyro.y, &gyro.z) == 3)
- {
- gyro.temperature = NAN;
- gyro.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_gyro_uncalibrated.push_event(
- sensor->lower_gyro_uncalibrated.priv,
- &gyro,
- sizeof(struct sensor_gyro));
+ sensor->lower_mag.lower.push_event(
+ sensor->lower_mag.lower.priv,
+ &mag, sizeof(struct sensor_mag));
}
}
- else if ((value = goldfish_sensor_match(
- buf, "acceleration-uncalibrated:")) != NULL)
+ else if ((value = goldfish_sensor_match(buf, "orientation:")) != NULL)
{
- struct sensor_accel accel;
+ struct sensor_orientation orient;
if (sscanf(value, "%f:%f:%f",
- &accel.x, &accel.y, &accel.z) == 3)
+ &orient.x, &orient.y, &orient.z) == 3)
{
- accel.temperature = NAN;
- accel.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_accel_uncalibrated.push_event(
- sensor->lower_accel_uncalibrated.priv,
- &accel,
- sizeof(struct sensor_accel));
- }
- }
- else if ((value = goldfish_sensor_match(
- buf, "magnetic-uncalibrated:")) != NULL)
- {
- struct sensor_mag mag;
- if (sscanf(value, "%f:%f:%f",
- &mag.x, &mag.y, &mag.z) == 3)
- {
- mag.temperature = NAN;
- mag.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_mag_uncalibrated.push_event(
- sensor->lower_mag_uncalibrated.priv,
- &mag,
- sizeof(struct sensor_mag));
+ orient.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_orient.lower.push_event(
+ sensor->lower_orient.lower.priv,
+ &orient, sizeof(struct sensor_orientation));
}
}
else if ((value = goldfish_sensor_match(buf, "temperature:")) != NULL)
@@ -533,9 +554,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
if (sscanf(value, "%f", &temp.temperature) == 1)
{
temp.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_temp.push_event(sensor->lower_temp.priv,
- &temp,
- sizeof(struct sensor_temp));
+ sensor->lower_temp.lower.push_event(
+ sensor->lower_temp.lower.priv,
+ &temp, sizeof(struct sensor_temp));
}
}
else if ((value = goldfish_sensor_match(buf, "proximity:")) != NULL)
@@ -544,9 +565,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
if (sscanf(value, "%f", &prox.proximity) == 1)
{
prox.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_prox.push_event(sensor->lower_prox.priv,
- &prox,
- sizeof(struct sensor_prox));
+ sensor->lower_prox.lower.push_event(
+ sensor->lower_prox.lower.priv,
+ &prox, sizeof(struct sensor_prox));
}
}
else if ((value = goldfish_sensor_match(buf, "light:")) != NULL)
@@ -556,9 +577,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
{
light.timestamp = now_ns + sensor->time_bias_ns;
light.ir = NAN;
- sensor->lower_light.push_event(sensor->lower_light.priv,
- &light,
- sizeof(struct sensor_light));
+ sensor->lower_light.lower.push_event(
+ sensor->lower_light.lower.priv,
+ &light, sizeof(struct sensor_light));
}
}
else if ((value = goldfish_sensor_match(buf, "pressure:")) != NULL)
@@ -568,9 +589,9 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
{
baro.timestamp = now_ns + sensor->time_bias_ns;
baro.temperature = NAN;
- sensor->lower_baro.push_event(sensor->lower_baro.priv,
- &baro,
- sizeof(struct sensor_baro));
+ sensor->lower_baro.lower.push_event(
+ sensor->lower_baro.lower.priv,
+ &baro, sizeof(struct sensor_baro));
}
}
else if ((value = goldfish_sensor_match(buf, "humidity:")) != NULL)
@@ -579,9 +600,70 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
if (sscanf(value, "%f", &humi.humidity) == 1)
{
humi.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_humi.push_event(sensor->lower_humi.priv,
- &humi,
- sizeof(struct sensor_humi));
+ sensor->lower_humi.lower.push_event(
+ sensor->lower_humi.lower.priv,
+ &humi, sizeof(struct sensor_humi));
+ }
+ }
+ else if ((value = goldfish_sensor_match(
+ buf, "magnetic-uncalibrated:")) != NULL)
+ {
+ struct sensor_mag mag;
+ if (sscanf(value, "%f:%f:%f",
+ &mag.x, &mag.y, &mag.z) == 3)
+ {
+ mag.temperature = NAN;
+ mag.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_mag_uncalibrated.lower.push_event(
+ sensor->lower_mag_uncalibrated.lower.priv,
+ &mag, sizeof(struct sensor_mag));
+ }
+ }
+ else if ((value = goldfish_sensor_match(
+ buf, "gyroscope-uncalibrated:")) != NULL)
+ {
+ struct sensor_gyro gyro;
+ if (sscanf(value, "%f:%f:%f",
+ &gyro.x, &gyro.y, &gyro.z) == 3)
+ {
+ gyro.temperature = NAN;
+ gyro.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_gyro_uncalibrated.lower.push_event(
+ sensor->lower_gyro_uncalibrated.lower.priv,
+ &gyro, sizeof(struct sensor_gyro));
+ }
+ }
+ else if ((value = goldfish_sensor_match(buf, "hinge-angle0")) != NULL)
+ {
+ struct sensor_angle angle;
+ if (sscanf(value, "%f:", &angle.angle) == 1)
+ {
+ angle.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_hinge_angle0.lower.push_event(
+ sensor->lower_hinge_angle0.lower.priv,
+ &angle, sizeof(struct sensor_angle));
+ }
+ }
+ else if ((value = goldfish_sensor_match(buf, "hinge-angle1")) != NULL)
+ {
+ struct sensor_angle angle;
+ if (sscanf(value, "%f:", &angle.angle) == 1)
+ {
+ angle.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_hinge_angle1.lower.push_event(
+ sensor->lower_hinge_angle1.lower.priv,
+ &angle, sizeof(struct sensor_angle));
+ }
+ }
+ else if ((value = goldfish_sensor_match(buf, "hinge-angle2")) != NULL)
+ {
+ struct sensor_angle angle;
+ if (sscanf(value, "%f:", &angle.angle) == 1)
+ {
+ angle.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_hinge_angle2.lower.push_event(
+ sensor->lower_hinge_angle2.lower.priv,
+ &angle, sizeof(struct sensor_angle));
}
}
else if ((value = goldfish_sensor_match(buf, "heart-rate:")) != NULL)
@@ -590,9 +672,34 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
if (sscanf(value, "%f", &hrate.bpm) == 1)
{
hrate.timestamp = now_ns + sensor->time_bias_ns;
- sensor->lower_hrate.push_event(sensor->lower_hrate.priv,
- &hrate,
- sizeof(struct sensor_hrate));
+ sensor->lower_hrate.lower.push_event(
+ sensor->lower_hrate.lower.priv,
+ &hrate, sizeof(struct sensor_hrate));
+ }
+ }
+ else if ((value = goldfish_sensor_match(buf, "wrist-tilt")) != NULL)
+ {
+ struct sensor_event wrist;
+ if (sscanf(value, "%" PRIu32, &wrist.event) == 1)
+ {
+ wrist.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_wrist_tilt.lower.push_event(
+ sensor->lower_wrist_tilt.lower.priv,
+ &wrist, sizeof(struct sensor_event));
+ }
+ }
+ else if ((value = goldfish_sensor_match(
+ buf, "acceleration-uncalibrated:")) != NULL)
+ {
+ struct sensor_accel accel;
+ if (sscanf(value, "%f:%f:%f",
+ &accel.x, &accel.y, &accel.z) == 3)
+ {
+ accel.temperature = NAN;
+ accel.timestamp = now_ns + sensor->time_bias_ns;
+ sensor->lower_accel_uncalibrated.lower.push_event(
+ sensor->lower_accel_uncalibrated.lower.priv,
+ &accel, sizeof(struct sensor_accel));
}
}
else if ((value = goldfish_sensor_match(buf, "guest-sync:")) != NULL)
@@ -615,118 +722,62 @@ static void goldfish_sensor_parse_event(FAR struct
goldfish_sensor_s *sensor)
}
}
-static int goldfish_get_priv(FAR struct sensor_lowerhalf_s *lower,
- FAR struct goldfish_sensor_s **priv)
-{
- switch (lower->type)
- {
- case SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED:
- priv = container_of(lower, struct goldfish_sensor_s,
- lower_accel_uncalibrated);
- return GOLDFISH_ACCELERATION_UNCALIBRATED;
- case SENSOR_TYPE_ACCELEROMETER:
- priv = container_of(lower, struct goldfish_sensor_s, lower_accel);
- return GOLDFISH_ACCELERATION;
- case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- priv = container_of(lower, struct goldfish_sensor_s,
- lower_mag_uncalibrated);
- return GOLDFISH_MAGNETIC_FIELD_UNCALIBRATED;
- case SENSOR_TYPE_MAGNETIC_FIELD:
- priv = container_of(lower, struct goldfish_sensor_s, lower_mag);
- return GOLDFISH_MAGNETIC_FIELD;
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- priv = container_of(lower, struct goldfish_sensor_s,
- lower_gyro_uncalibrated);
- return GOLDFISH_GYROSCOPE_UNCALIBRATED;
- case SENSOR_TYPE_GYROSCOPE:
- priv = container_of(lower, struct goldfish_sensor_s, lower_gyro);
- return GOLDFISH_GYROSCOPE;
- case SENSOR_TYPE_PROXIMITY:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_prox);
- return GOLDFISH_PROXIMITY;
- case SENSOR_TYPE_LIGHT:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_light);
- return GOLDFISH_LIGHT;
- case SENSOR_TYPE_BAROMETER:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_baro);
- return GOLDFISH_PRESSURE;
- case SENSOR_TYPE_RELATIVE_HUMIDITY:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_humi);
- return GOLDFISH_RELATIVE_HUMIDITY;
- case SENSOR_TYPE_AMBIENT_TEMPERATURE:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_temp);
- return GOLDFISH_AMBIENT_TEMPERATURE;
- case SENSOR_TYPE_HEART_RATE:
- *priv = container_of(lower, struct goldfish_sensor_s, lower_hrate);
- return GOLDFISH_HEART_RATE;
- default:
- return -EINVAL;
- }
+static FAR struct goldfish_sensor_s *
+goldfish_get_priv(FAR struct sensor_lowerhalf_s *lower_)
+{
+ FAR struct goldfish_lowerhalf_s *lower =
+ container_of(lower_, struct goldfish_lowerhalf_s, lower);
+ intptr_t offset = lower->offset;
+
+ return (FAR struct goldfish_sensor_s *)((FAR char *)lower - offset);
}
-static int goldfish_sensor_activate(FAR struct sensor_lowerhalf_s *lower,
+static int goldfish_sensor_activate(FAR struct sensor_lowerhalf_s *lower_,
FAR struct file *filep, bool enabled)
{
- FAR struct goldfish_sensor_s *priv;
- int handle = goldfish_get_priv(lower, &priv);
-
- if (handle < 0)
- {
- return handle;
- }
+ FAR struct goldfish_lowerhalf_s *lower =
+ container_of(lower_, struct goldfish_lowerhalf_s, lower);
+ FAR struct goldfish_sensor_s *priv = goldfish_get_priv(lower_);
+ char buffer[64];
+ int len;
- return goldfish_sensor_do_activate(&priv->pipe, handle, enabled);
+ len = snprintf(buffer, sizeof(buffer),
+ "set:%s:%d",
+ lower->info->name,
+ enabled);
+ return goldfish_sensor_send(&priv->pipe, buffer, len);
}
-static int goldfish_sensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
- FAR struct file *filep,
- FAR uint32_t *period_us)
+static int
+goldfish_sensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR uint32_t *period_us)
{
- struct FAR goldfish_sensor_s *priv;
+ FAR struct goldfish_sensor_s *priv = goldfish_get_priv(lower);
char buffer[64];
- int handle;
int len;
+ int ret;
- handle = goldfish_get_priv(lower, &priv);
- if (handle < 0)
+ len = snprintf(buffer, sizeof(buffer), "set-delay: %d",
+ (int)(*period_us / 1000));
+ ret = goldfish_sensor_send(&priv->pipe, buffer, len);
+ if (ret < 0)
{
- return handle;
+ return ret;
}
- len = snprintf(buffer, sizeof(buffer), "set-delay: %d",
- (int)(*period_us / 1000));
- goldfish_sensor_send(&priv->pipe, buffer, len);
priv->interval = *period_us;
return OK;
}
-static int goldfish_sensor_get_info(FAR struct sensor_lowerhalf_s *lower,
+static int goldfish_sensor_get_info(FAR struct sensor_lowerhalf_s *lower_,
FAR struct file *filep,
FAR struct sensor_device_info_s *info)
{
- FAR struct goldfish_sensor_s *priv;
- int handle;
- int i;
-
- handle = goldfish_get_priv(lower, &priv);
- if (handle < 0)
- {
- return -handle;
- }
-
- for (i = 0; i < sizeof(g_goldfish_sensor_info); i++)
- {
- if (!strncmp(goldfish_sensor_get_name(handle),
- g_goldfish_sensor_info[i].name,
- strlen(g_goldfish_sensor_info[i].name)))
- {
- memcpy(info, &g_goldfish_sensor_info[i],
- sizeof(struct sensor_device_info_s));
- return OK;
- }
- }
-
- return -EINVAL;
+ FAR struct goldfish_lowerhalf_s *lower =
+ container_of(lower_, struct goldfish_lowerhalf_s, lower);
+ memcpy(info, lower->info, sizeof(struct sensor_device_info_s));
+ return OK;
}
static int goldfish_sensor_thread(int argc, FAR char** argv)
@@ -742,6 +793,21 @@ static int goldfish_sensor_thread(int argc, FAR char**
argv)
return OK;
}
+static int
+goldfish_register_sensor(FAR struct goldfish_lowerhalf_s *lower,
+ FAR const struct sensor_device_info_s *info,
+ int type, int devno, uint32_t batch_number,
+ bool uncalibrated, intptr_t offset)
+{
+ lower->lower.uncalibrated = uncalibrated;
+ lower->lower.type = type;
+ lower->lower.ops = &g_goldfish_sensor_ops;
+ lower->lower.nbuffer = batch_number;
+ lower->info = info;
+ lower->offset = offset;
+ return sensor_register(&lower->lower, devno);
+}
+
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -838,67 +904,106 @@ int goldfish_sensor_init(int devno, uint32_t
batch_number)
/* Register sensor */
- sensor->lower_accel.type = SENSOR_TYPE_ACCELEROMETER;
- sensor->lower_accel.ops = &g_goldfish_sensor_ops;
- sensor->lower_accel.nbuffer = batch_number;
-
- sensor->lower_mag.type = SENSOR_TYPE_MAGNETIC_FIELD;
- sensor->lower_mag.ops = &g_goldfish_sensor_ops;
- sensor->lower_mag.nbuffer = batch_number;
-
- sensor->lower_gyro.type = SENSOR_TYPE_GYROSCOPE;
- sensor->lower_gyro.ops = &g_goldfish_sensor_ops;
- sensor->lower_gyro.nbuffer = batch_number;
-
- sensor->lower_accel_uncalibrated.type =
- SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED;
- sensor->lower_accel_uncalibrated.ops = &g_goldfish_sensor_ops;
- sensor->lower_accel_uncalibrated.nbuffer = batch_number;
-
- sensor->lower_mag_uncalibrated.type =
- SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
- sensor->lower_mag_uncalibrated.ops = &g_goldfish_sensor_ops;
- sensor->lower_mag_uncalibrated.nbuffer = batch_number;
-
- sensor->lower_gyro_uncalibrated.type =
- SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
- sensor->lower_gyro_uncalibrated.ops = &g_goldfish_sensor_ops;
- sensor->lower_gyro_uncalibrated.nbuffer = batch_number;
-
- sensor->lower_prox.type = SENSOR_TYPE_PROXIMITY;
- sensor->lower_prox.ops = &g_goldfish_sensor_ops;
- sensor->lower_prox.nbuffer = batch_number;
-
- sensor->lower_light.type = SENSOR_TYPE_LIGHT;
- sensor->lower_light.ops = &g_goldfish_sensor_ops;
- sensor->lower_light.nbuffer = batch_number;
-
- sensor->lower_baro.type = SENSOR_TYPE_BAROMETER;
- sensor->lower_baro.ops = &g_goldfish_sensor_ops;
- sensor->lower_baro.nbuffer = batch_number;
-
- sensor->lower_humi.type = SENSOR_TYPE_RELATIVE_HUMIDITY;
- sensor->lower_humi.ops = &g_goldfish_sensor_ops;
- sensor->lower_humi.nbuffer = batch_number;
-
- sensor->lower_temp.type = SENSOR_TYPE_AMBIENT_TEMPERATURE;
- sensor->lower_temp.ops = &g_goldfish_sensor_ops;
- sensor->lower_temp.nbuffer = batch_number;
-
- sensor->lower_hrate.type = SENSOR_TYPE_HEART_RATE;
- sensor->lower_hrate.ops = &g_goldfish_sensor_ops;
- sensor->lower_hrate.nbuffer = batch_number;
-
- return sensor_register(&sensor->lower_accel, devno) |
- sensor_register(&sensor->lower_mag, devno) |
- sensor_register(&sensor->lower_gyro, devno) |
- sensor_register(&sensor->lower_accel_uncalibrated, devno) |
- sensor_register(&sensor->lower_mag_uncalibrated, devno) |
- sensor_register(&sensor->lower_gyro_uncalibrated, devno) |
- sensor_register(&sensor->lower_prox, devno) |
- sensor_register(&sensor->lower_light, devno) |
- sensor_register(&sensor->lower_baro, devno) |
- sensor_register(&sensor->lower_humi, devno) |
- sensor_register(&sensor->lower_temp, devno) |
- sensor_register(&sensor->lower_hrate, devno);
+ return goldfish_register_sensor(
+ &sensor->lower_accel,
+ &g_goldfish_sensor_accel,
+ SENSOR_TYPE_ACCELEROMETER,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_accel)) |
+ goldfish_register_sensor(
+ &sensor->lower_gyro,
+ &g_goldfish_sensor_gyro,
+ SENSOR_TYPE_GYROSCOPE,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_gyro)) |
+ goldfish_register_sensor(
+ &sensor->lower_mag,
+ &g_goldfish_sensor_mag,
+ SENSOR_TYPE_MAGNETIC_FIELD,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_mag)) |
+ goldfish_register_sensor(
+ &sensor->lower_orient,
+ &g_goldfish_sensor_orient,
+ SENSOR_TYPE_ORIENTATION,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_orient)) |
+ goldfish_register_sensor(
+ &sensor->lower_temp,
+ &g_goldfish_sensor_temp,
+ SENSOR_TYPE_AMBIENT_TEMPERATURE,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_temp)) |
+ goldfish_register_sensor(
+ &sensor->lower_prox,
+ &g_goldfish_sensor_prox,
+ SENSOR_TYPE_PROXIMITY,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_prox)) |
+ goldfish_register_sensor(
+ &sensor->lower_light,
+ &g_goldfish_sensor_light,
+ SENSOR_TYPE_LIGHT,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_light)) |
+ goldfish_register_sensor(
+ &sensor->lower_baro,
+ &g_goldfish_sensor_baro,
+ SENSOR_TYPE_BAROMETER,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_baro)) |
+ goldfish_register_sensor(
+ &sensor->lower_humi,
+ &g_goldfish_sensor_humi,
+ SENSOR_TYPE_RELATIVE_HUMIDITY,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_humi)) |
+ goldfish_register_sensor(
+ &sensor->lower_mag_uncalibrated,
+ &g_goldfish_sensor_mag_uncal,
+ SENSOR_TYPE_MAGNETIC_FIELD,
+ devno, batch_number, true,
+ offsetof(struct goldfish_sensor_s, lower_mag_uncalibrated)) |
+ goldfish_register_sensor(
+ &sensor->lower_gyro_uncalibrated,
+ &g_goldfish_sensor_gyro_uncal,
+ SENSOR_TYPE_GYROSCOPE,
+ devno, batch_number, true,
+ offsetof(struct goldfish_sensor_s, lower_gyro_uncalibrated)) |
+ goldfish_register_sensor(
+ &sensor->lower_hinge_angle0,
+ &g_goldfish_sensor_hinge_angle0,
+ SENSOR_TYPE_HINGE_ANGLE,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_hinge_angle0)) |
+ goldfish_register_sensor(
+ &sensor->lower_hinge_angle1,
+ &g_goldfish_sensor_hinge_angle1,
+ SENSOR_TYPE_HINGE_ANGLE,
+ devno + 1, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_hinge_angle1)) |
+ goldfish_register_sensor(
+ &sensor->lower_hinge_angle2,
+ &g_goldfish_sensor_hinge_angle2,
+ SENSOR_TYPE_HINGE_ANGLE,
+ devno + 2, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_hinge_angle2)) |
+ goldfish_register_sensor(
+ &sensor->lower_hrate,
+ &g_goldfish_sensor_hrate,
+ SENSOR_TYPE_HEART_RATE,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_hrate)) |
+ goldfish_register_sensor(
+ &sensor->lower_wrist_tilt,
+ &g_goldfish_sensor_wrist_tilt,
+ SENSOR_TYPE_WRIST_TILT_GESTURE,
+ devno, batch_number, false,
+ offsetof(struct goldfish_sensor_s, lower_wrist_tilt)) |
+ goldfish_register_sensor(
+ &sensor->lower_accel_uncalibrated,
+ &g_goldfish_sensor_accel_uncal,
+ SENSOR_TYPE_ACCELEROMETER,
+ devno, batch_number, true,
+ offsetof(struct goldfish_sensor_s, lower_accel_uncalibrated));
}
