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fix: sensor: add factory test driver for ak09919c.
CHAMPION-139 Add read id and selftest interface in ioctl, it will be called in the factory test. Fix some bugs in driver. Change-Id: Ie57a78ec2c2fee65efdb5f8bd7073f9a8c788bb8 Signed-off-by: xiatian6 <xiatian6@xiaomi.com>
This commit is contained in:
xiatian6
parent
b82c943d92
commit
aaf9d3c760
1 changed files with 449 additions and 88 deletions
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@ -26,6 +26,7 @@
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#include <errno.h>
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#include <debug.h>
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#include <assert.h>
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#include <nuttx/nuttx.h>
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#include <nuttx/wqueue.h>
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@ -37,69 +38,108 @@
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* Pre-processor Definitions
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****************************************************************************/
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#define AK09919C_DEVID 0x0E48 /* Device ID. */
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#define AK09919C_DEVID 0x0E48 /* Device ID. */
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/* Mag resolution. */
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#define AK09919C_RESOLUTION 0.15f /* uT/LSB. */
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#define AK09919C_RESOLUTION 0.15f /* uT/LSB. */
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/* default ODR */
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#define AK09919C_DEFAULT_ODR 20000 /* default 50 ms */
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#define AK09919C_DEFAULT_ODR 20000 /* default 50 ms */
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/* Register address. */
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#define AK09919C_REG_WIA1 0x00 /* Company ID. */
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#define AK09919C_REG_WIA2 0x01 /* Device ID. */
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#define AK09919C_REG_ST1 0x10 /* Status 1 register. */
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#define AK09919C_REG_HXH 0x11 /* X-axis data high byte. */
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#define AK09919C_REG_HXL 0x12 /* X-axis data low byte. */
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#define AK09919C_REG_HYH 0x13 /* Y-axis data high byte. */
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#define AK09919C_REG_HYL 0x14 /* Y-axis data low byte. */
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#define AK09919C_REG_HZH 0x15 /* Z-axis data high byte. */
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#define AK09919C_REG_HZL 0x16 /* Z-axis data low byte. */
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#define AK09919C_REG_TMPS 0x17 /* Dummy. */
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#define AK09919C_REG_ST2 0x18 /* Status 2 register. */
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#define AK09919C_REG_CNTL1 0x30 /* Control settings 1 register. */
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#define AK09919C_REG_CNTL2 0x31 /* Control settings 2 register. */
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#define AK09919C_REG_CNTL3 0x32 /* Control settings 3 register. */
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#define AK09919C_REG_WIA1 0x00 /* Company ID. */
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#define AK09919C_REG_WIA2 0x01 /* Device ID. */
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#define AK09919C_REG_ST1 0x10 /* Status 1 register. */
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#define AK09919C_REG_HXH 0x11 /* X-axis data high byte. */
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#define AK09919C_REG_HXL 0x12 /* X-axis data low byte. */
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#define AK09919C_REG_HYH 0x13 /* Y-axis data high byte. */
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#define AK09919C_REG_HYL 0x14 /* Y-axis data low byte. */
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#define AK09919C_REG_HZH 0x15 /* Z-axis data high byte. */
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#define AK09919C_REG_HZL 0x16 /* Z-axis data low byte. */
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#define AK09919C_REG_TMPS 0x17 /* Dummy. */
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#define AK09919C_REG_ST2 0x18 /* Status 2 register. */
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#define AK09919C_REG_CNTL1 0x30 /* Control settings 1 register. */
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#define AK09919C_REG_CNTL2 0x31 /* Control settings 2 register. */
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#define AK09919C_REG_CNTL3 0x32 /* Control settings 3 register. */
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/* Noise Suppression Filter. */
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#define AK09919C_NSF_NONE 0x00 /* No noise suppression filter. */
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#define AK09919C_NSF_LOW 0x01 /* Low noise suppression filter. */
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#define AK09919C_NSF_MIDDLE 0x02 /* Middle noise suppression filter. */
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#define AK09919C_NSF_HIGH 0x03 /* High noise suppression filter. */
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#define AK09919C_NSF_NONE 0x00 /* No noise suppression filter. */
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#define AK09919C_NSF_LOW 0x01 /* Low noise suppression filter. */
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#define AK09919C_NSF_MIDDLE 0x02 /* Middle noise suppression filter. */
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#define AK09919C_NSF_HIGH 0x03 /* High noise suppression filter. */
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/* Power mode. */
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#define AK09919C_POWER_DOWN_MODE 0x00 /* Powerdown mode(default). */
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#define AK09919C_SINGLESHOT_MODE 0x01 /* Single-shot mode. */
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#define AK09919C_CONTINUOUS_MODE1 0x02 /* Continuous conversion mode 1. */
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#define AK09919C_CONTINUOUS_MODE2 0x04 /* Continuous conversion mode 2. */
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#define AK09919C_CONTINUOUS_MODE3 0x06 /* Continuous conversion mode 3. */
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#define AK09919C_CONTINUOUS_MODE4 0x08 /* Continuous conversion mode 4. */
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#define AK09919C_CONTINUOUS_MODE5 0x0E /* Continuous conversion mode 5. */
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#define AK09919C_SELF_TEST_MODE 0x10 /* Self test mode. */
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#define AK09919C_POWER_DOWN_MODE 0x00 /* Powerdown mode(default). */
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#define AK09919C_SINGLESHOT_MODE 0x01 /* Single-shot mode. */
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#define AK09919C_CONTINUOUS_MODE1 0x02 /* Continuous conversion mode 1. */
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#define AK09919C_CONTINUOUS_MODE2 0x04 /* Continuous conversion mode 2. */
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#define AK09919C_CONTINUOUS_MODE3 0x06 /* Continuous conversion mode 3. */
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#define AK09919C_CONTINUOUS_MODE4 0x08 /* Continuous conversion mode 4. */
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#define AK09919C_CONTINUOUS_MODE5 0x0E /* Continuous conversion mode 5. */
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#define AK09919C_SELF_TEST_MODE 0x10 /* Self test mode. */
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/* single mode register value threshold. */
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#define AK09919C_LOLIMIT_SNG_ST1 1 /* low limit of st1 in single mode. */
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#define AK09919C_HILIMIT_SNG_ST1 1 /* high limit of st1 in single mode. */
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#define AK09919C_LOLIMIT_SNG_HX -32751 /* low limit of x-axis in single mode. */
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#define AK09919C_HILIMIT_SNG_HX 32751 /* high limit of x-axis in single mode. */
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#define AK09919C_LOLIMIT_SNG_HY -32751 /* low limit of y-axis in single mode. */
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#define AK09919C_HILIMIT_SNG_HY 32751 /* high limit of y-axis in single mode. */
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#define AK09919C_LOLIMIT_SNG_HZ -32751 /* low limit of z-axis in single mode. */
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#define AK09919C_HILIMIT_SNG_HZ 32751 /* high limit of z-axis in single mode. */
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#define AK09919C_LOLIMIT_SNG_ST2 4 /* low limit of st2 in single mode. */
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#define AK09919C_HILIMIT_SNG_ST2 116 /* high limit of st2 in single mode. */
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/* selftest mode register value threshold. */
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#define AK09919C_LOLIMIT_SLF_ST1 1 /* low limit of st1 in selftest mode. */
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#define AK09919C_HILIMIT_SLF_ST1 1 /* high limit of st1 in selftest mode. */
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#define AK09919C_LOLIMIT_SLF_HX -200 /* low limit of x-axis in selftest mode. */
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#define AK09919C_HILIMIT_SLF_HX 200 /* high limit of x-axis in selftest mode. */
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#define AK09919C_LOLIMIT_SLF_HY -200 /* low limit of y-axis in selftest mode. */
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#define AK09919C_HILIMIT_SLF_HY 200 /* high limit of y-axis in selftest mode. */
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#define AK09919C_LOLIMIT_SLF_HZ -1000 /* low limit of z-axis in selftest mode. */
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#define AK09919C_HILIMIT_SLF_HZ -150 /* high limit of z-axis in selftest mode. */
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#define AK09919C_LOLIMIT_SLF_ST2 4 /* low limit of st2 in selftest mode. */
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#define AK09919C_HILIMIT_SLF_ST2 116 /* high limit of st2 in selftest mode. */
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/* Factory test instructions. */
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#define AK09919C_SIMPLE_CHECK 0x00 /* Simple communication check. */
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#define AK09919C_FULL_CHECK 0x01 /* Fully functional check. */
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/* Reset control bit. */
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#define AK09919C_SOFT_RESET 0x01
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/* Device delay(us) control. */
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#define AK09919C_SOFT_RESET_DELAY 1000 /* Soft reset delay time(us). */
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#define AK09919C_MODE_SWITCH_DELAY 8000 /* Mode switching delay time(us). */
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/* Noise suppresion level control bit. */
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#define AK09919C_NOISE_SUPPRESION 0x60
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#define SET_BITSLICE(s, v, offset, mask) \
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do \
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{ \
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s &= mask; \
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s |= (v << offset) & mask; \
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} \
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while(0) \
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#define SET_BITSLICE(s, v, offset, mask) \
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do \
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{ \
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s &= mask; \
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s |= (v << offset) & mask; \
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} \
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while(0) \
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#define MAKE_S16(u8h, u8l) \
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(int16_t)(((uint16_t)(u8h) << 8) | (uint16_t)(u8l))
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#define MAKE_S16(u8h, u8l) \
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(int16_t)(((uint16_t)(u8h) << 8) | (uint16_t)(u8l))
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#define PARAMETER_VERIFY(data, lolimit, hilimit) \
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( data >= lolimit && data <= hilimit ) ? 0 : -EINVAL
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/****************************************************************************
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* Private Type Definitions
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@ -109,22 +149,53 @@ while(0) \
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struct ak09919c_dev_s
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{
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struct sensor_lowerhalf_s lower; /* The struct of lower half driver. */
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FAR struct ak09919c_config_s *config; /* The board config function. */
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uint64_t start_timestamp; /* Start timestamp(us). */
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uint64_t sample_count; /* The count of sampling */
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bool activated; /* Sensor working state. */
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unsigned int interval; /* Sensor acquisition interval. */
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uint8_t workmode; /* Sensor work mode. */
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struct work_s work; /* Work queue for reading data. */
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struct sensor_lowerhalf_s lower; /* The struct of lower half driver. */
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FAR struct ak09919c_config_s *config; /* The board config function. */
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uint64_t start_timestamp; /* Start timestamp(us). */
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uint64_t sample_count; /* The count of sampling */
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bool activated; /* Sensor working state. */
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unsigned int interval; /* Sensor acquisition interval. */
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uint8_t workmode; /* Sensor work mode. */
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struct work_s work; /* Work queue for reading data. */
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};
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/* Structure for ak09919C odr. */
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struct ak09919c_odr_s
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{
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uint8_t regval; /* the data of register */
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unsigned int odr; /* the unit is us */
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uint8_t regval; /* the data of register. */
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unsigned int odr; /* the unit is us. */
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};
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/* Structure for ak09919c data threshold. */
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struct ak09919c_threshold_s
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{
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uint8_t st1_lolimit; /* low limit of st1. */
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uint8_t st1_hilimit; /* high limit of st1. */
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uint8_t st2_lolimit; /* low limit of st2. */
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uint8_t st2_hilimit; /* high limit of st2. */
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int xdata_lolimit; /* low limit of x-axis data. */
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int xdata_hilimit; /* high limit of x-axis data. */
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int ydata_lolimit; /* low limit of y-axis data. */
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int ydata_hilimit; /* high limit of y-axis data. */
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int zdata_lolimit; /* low limit of z-axis data. */
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int zdata_hilimit; /* high limit of z-axis data. */
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};
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/* Structure for ak09919c data. */
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struct ak09919c_magdata_s
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{
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uint8_t st1; /* data of AK09919C_REG_ST1. */
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uint8_t xdata_hi; /* data of AK09919C_REG_HXH. */
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uint8_t xdata_lo; /* data of AK09919C_REG_HXL. */
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uint8_t ydata_hi; /* data of AK09919C_REG_HYH. */
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uint8_t ydata_lo; /* data of AK09919C_REG_HYL. */
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uint8_t zdata_hi; /* data of AK09919C_REG_HZH. */
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uint8_t zdata_lo; /* data of AK09919C_REG_HZL. */
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uint8_t res; /* data of AK09919C_REG_TMPS. */
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uint8_t st2; /* data of AK09919C_REG_ST2. */
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};
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/****************************************************************************
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@ -146,6 +217,7 @@ static int ak09919c_i2c_read(FAR struct ak09919c_dev_s *priv,
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static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable);
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static int ak09919c_init(FAR struct ak09919c_dev_s *priv);
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static int ak09919c_checkid(FAR struct ak09919c_dev_s *priv);
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static int ak09919c_checkdev(FAR struct ak09919c_dev_s *priv);
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static int ak09919c_setmode(FAR struct ak09919c_dev_s *priv, uint8_t mode);
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static int ak09919c_setnoisefilter(FAR struct ak09919c_dev_s *priv,
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uint32_t nsf);
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@ -153,6 +225,8 @@ static int ak09919c_readmag(FAR struct ak09919c_dev_s *priv,
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FAR struct sensor_event_mag *data);
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static int ak09919c_softreset(FAR struct ak09919c_dev_s *priv);
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static int ak09919c_findodr(FAR unsigned int *expect_period_us);
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static int ak09919c_verifyparam(FAR struct ak09919c_magdata_s *magdata,
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FAR struct ak09919c_threshold_s *threshold);
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/* Sensor ops functions. */
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@ -160,6 +234,8 @@ static int ak09919c_activate(FAR struct sensor_lowerhalf_s *lower,
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bool enable);
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static int ak09919c_set_interval(FAR struct sensor_lowerhalf_s *lower,
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FAR unsigned int * interval_us);
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static int ak09919c_selftest(FAR struct sensor_lowerhalf_s *lower,
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unsigned long arg);
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/* Sensor poll functions. */
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@ -182,6 +258,35 @@ static const struct sensor_ops_s g_ak09919c_ops =
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{
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.activate = ak09919c_activate, /* Enable/disable snesor. */
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.set_interval = ak09919c_set_interval, /* Set output data period. */
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.selftest = ak09919c_selftest /* Sensor selftest function. */
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};
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static const struct ak09919c_threshold_s g_ak09919c_sngthr =
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{
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.st1_lolimit = AK09919C_LOLIMIT_SNG_ST1, /* low limit of st1 in single mode. */
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.st1_hilimit = AK09919C_HILIMIT_SNG_ST1, /* high limit of st1 in single mode. */
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.st2_lolimit = AK09919C_LOLIMIT_SNG_ST2, /* low limit of st2 in single mode. */
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.st2_hilimit = AK09919C_HILIMIT_SNG_ST2, /* high limit of st2 in single mode. */
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.xdata_lolimit = AK09919C_LOLIMIT_SNG_HX, /* low limit of x-axis in single mode. */
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.xdata_hilimit = AK09919C_HILIMIT_SNG_HX, /* high limit of x-axis in single mode. */
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.ydata_lolimit = AK09919C_LOLIMIT_SNG_HY, /* low limit of y-axis in single mode. */
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.ydata_hilimit = AK09919C_HILIMIT_SNG_HY, /* high limit of y-axis in single mode. */
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.zdata_lolimit = AK09919C_LOLIMIT_SNG_HZ, /* low limit of z-axis in single mode. */
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.zdata_hilimit = AK09919C_HILIMIT_SNG_HZ /* high limit of z-axis in single mode. */
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};
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static const struct ak09919c_threshold_s g_ak09919c_slfthr =
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{
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.st1_lolimit = AK09919C_LOLIMIT_SLF_ST1, /* low limit of st1 in selftest mode. */
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.st1_hilimit = AK09919C_HILIMIT_SLF_ST1, /* high limit of st1 in selftest mode. */
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.st2_lolimit = AK09919C_LOLIMIT_SLF_ST2, /* low limit of st2 in selftest mode. */
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.st2_hilimit = AK09919C_HILIMIT_SLF_ST2, /* high limit of st2 in selftest mode. */
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.xdata_lolimit = AK09919C_LOLIMIT_SLF_HX, /* low limit of x-axis in selftest mode. */
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.xdata_hilimit = AK09919C_HILIMIT_SLF_HX, /* high limit of x-axis in selftest mode. */
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.ydata_lolimit = AK09919C_LOLIMIT_SLF_HY, /* low limit of y-axis in selftest mode. */
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.ydata_hilimit = AK09919C_HILIMIT_SLF_HY, /* high limit of y-axis in selftest mode. */
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.zdata_lolimit = AK09919C_LOLIMIT_SLF_HZ, /* low limit of z-axis in selftest mode. */
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.zdata_hilimit = AK09919C_HILIMIT_SLF_HZ /* high limit of z-axis in selftest mode. */
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};
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/****************************************************************************
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@ -207,7 +312,7 @@ static const struct sensor_ops_s g_ak09919c_ops =
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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@ -255,7 +360,7 @@ static int ak09919c_i2c_read(FAR struct ak09919c_dev_s *priv,
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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@ -281,7 +386,7 @@ static int ak09919c_i2c_readreg(FAR struct ak09919c_dev_s *priv,
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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@ -327,7 +432,7 @@ static int ak09919c_i2c_writereg(FAR struct ak09919c_dev_s *priv,
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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@ -343,7 +448,7 @@ static int ak09919c_setmode(FAR struct ak09919c_dev_s *priv,
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}
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else
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{
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up_udelay(1000);
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up_udelay(AK09919C_MODE_SWITCH_DELAY);
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}
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return ret;
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@ -364,7 +469,7 @@ static int ak09919c_setmode(FAR struct ak09919c_dev_s *priv,
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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@ -406,7 +511,7 @@ static int ak09919c_setnoisefilter(FAR struct ak09919c_dev_s *priv,
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* value is returned on any failure;
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*
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* Assumptions/Limitations:
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* none.
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* None.
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*
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****************************************************************************/
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|
|
@ -457,7 +562,7 @@ static int ak09919c_readmag(FAR struct ak09919c_dev_s *priv,
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -467,7 +572,13 @@ static int ak09919c_checkid(FAR struct ak09919c_dev_s *priv)
|
|||
uint16_t devid;
|
||||
|
||||
ret = ak09919c_i2c_read(priv, AK09919C_REG_WIA1, (uint8_t *)&devid, 2);
|
||||
if (ret < 0 || devid != AK09919C_DEVID)
|
||||
if (ret < 0 )
|
||||
{
|
||||
snerr("Failed to read device id: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (devid != AK09919C_DEVID)
|
||||
{
|
||||
snerr("Wrong Device ID! %02x\n", devid);
|
||||
ret = -ENODEV;
|
||||
|
|
@ -490,7 +601,7 @@ static int ak09919c_checkid(FAR struct ak09919c_dev_s *priv)
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -506,7 +617,86 @@ static int ak09919c_softreset(FAR struct ak09919c_dev_s *priv)
|
|||
}
|
||||
else
|
||||
{
|
||||
up_udelay(1000);
|
||||
up_udelay(AK09919C_SOFT_RESET_DELAY);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: ak09919c_verifyparam
|
||||
*
|
||||
* Description:
|
||||
* Parameter verification
|
||||
*
|
||||
* Input Parameters
|
||||
* magdata - Data of mag
|
||||
* threshold - Threshold of mag data
|
||||
*
|
||||
* Returned Value
|
||||
* Return 0 if the driver was success; A negated errno
|
||||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int ak09919c_verifyparam(FAR struct ak09919c_magdata_s *magdata,
|
||||
FAR struct ak09919c_threshold_s *threshold)
|
||||
{
|
||||
int xdata;
|
||||
int ydata;
|
||||
int zdata;
|
||||
int ret;
|
||||
|
||||
xdata = MAKE_S16(magdata->xdata_hi, magdata->xdata_lo);
|
||||
ydata = MAKE_S16(magdata->ydata_hi, magdata->ydata_lo);
|
||||
zdata = MAKE_S16(magdata->zdata_hi, magdata->zdata_lo);
|
||||
|
||||
ret = PARAMETER_VERIFY(magdata->st1,
|
||||
threshold->st1_lolimit,
|
||||
threshold->st1_hilimit);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("ST1 data is abnormal: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = PARAMETER_VERIFY(magdata->st2,
|
||||
threshold->st2_lolimit,
|
||||
threshold->st2_hilimit);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("ST2 data is abnormal: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = PARAMETER_VERIFY(xdata,
|
||||
threshold->xdata_lolimit,
|
||||
threshold->xdata_hilimit);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("X-axis data is abnormal: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = PARAMETER_VERIFY(ydata,
|
||||
threshold->ydata_lolimit,
|
||||
threshold->ydata_hilimit);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Y-axis data is abnormal: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = PARAMETER_VERIFY(zdata,
|
||||
threshold->zdata_lolimit,
|
||||
threshold->zdata_hilimit);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Z-axis data is abnormal: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return ret;
|
||||
|
|
@ -526,7 +716,7 @@ static int ak09919c_softreset(FAR struct ak09919c_dev_s *priv)
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -536,7 +726,7 @@ static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable)
|
|||
|
||||
if (enable)
|
||||
{
|
||||
/* Reset soft device */
|
||||
/* Reset soft device. */
|
||||
|
||||
ret = ak09919c_softreset(priv);
|
||||
if (ret < 0)
|
||||
|
|
@ -545,7 +735,7 @@ static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable)
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* Set noise filter */
|
||||
/* Set noise filter. */
|
||||
|
||||
ret = ak09919c_setnoisefilter(priv, AK09919C_NSF_LOW);
|
||||
if (ret < 0)
|
||||
|
|
@ -554,7 +744,7 @@ static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable)
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* Set work mode */
|
||||
/* Set work mode. */
|
||||
|
||||
ret = ak09919c_setmode(priv, priv->workmode);
|
||||
if (ret < 0)
|
||||
|
|
@ -562,12 +752,20 @@ static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable)
|
|||
snerr("Failed set work mode: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
priv->start_timestamp = sensor_get_timestamp();
|
||||
priv->sample_count = 1;
|
||||
|
||||
work_queue(HPWORK, &priv->work,
|
||||
ak09919c_worker, priv,
|
||||
priv->interval / USEC_PER_TICK);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Reset soft device */
|
||||
work_cancel(HPWORK, &priv->work);
|
||||
|
||||
/* Reset soft device. */
|
||||
|
||||
priv->workmode = AK09919C_POWER_DOWN_MODE;
|
||||
ret = ak09919c_softreset(priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
|
|
@ -589,10 +787,10 @@ static int ak09919c_enable(FAR struct ak09919c_dev_s *priv, bool enable)
|
|||
* expect_period_us -the time(expext) between report data, in us.
|
||||
*
|
||||
* Returned Value
|
||||
* index of odr param.
|
||||
* Index of odr param.
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -626,7 +824,7 @@ static int ak09919c_findodr(FAR unsigned int *expect_period_us)
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -634,7 +832,7 @@ static int ak09919c_init(FAR struct ak09919c_dev_s *priv)
|
|||
{
|
||||
int ret;
|
||||
|
||||
/* Reset soft device */
|
||||
/* Reset soft device. */
|
||||
|
||||
ret = ak09919c_softreset(priv);
|
||||
if (ret < 0)
|
||||
|
|
@ -643,7 +841,7 @@ static int ak09919c_init(FAR struct ak09919c_dev_s *priv)
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* Set noise suppression level */
|
||||
/* Set noise suppression level. */
|
||||
|
||||
ret = ak09919c_setnoisefilter(priv, AK09919C_NSF_LOW);
|
||||
if (ret < 0)
|
||||
|
|
@ -652,7 +850,7 @@ static int ak09919c_init(FAR struct ak09919c_dev_s *priv)
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* Set power down mode */
|
||||
/* Set power down mode. */
|
||||
|
||||
ret = ak09919c_setmode(priv, priv->workmode);
|
||||
if (ret < 0)
|
||||
|
|
@ -664,6 +862,117 @@ static int ak09919c_init(FAR struct ak09919c_dev_s *priv)
|
|||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: ak09919c_checkdev
|
||||
*
|
||||
* Description:
|
||||
* Check if the device is working properly.
|
||||
*
|
||||
* Input Parameters
|
||||
* priv -Device struct
|
||||
*
|
||||
* Returned Value
|
||||
* Return 0 if the driver was success; A negated errno
|
||||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int ak09919c_checkdev(FAR struct ak09919c_dev_s *priv)
|
||||
{
|
||||
struct ak09919c_magdata_s magdata;
|
||||
int ret;
|
||||
|
||||
/* Reset soft device. */
|
||||
|
||||
ret = ak09919c_softreset(priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed reset device: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Set to single measurement mode. */
|
||||
|
||||
ret = ak09919c_setmode(priv, AK09919C_SINGLESHOT_MODE);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed set single measurement mode: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* AK09919C_REG_ST1 must be read separately before reading data. */
|
||||
|
||||
ret = ak09919c_i2c_readreg(priv, AK09919C_REG_ST1, &magdata.st1);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to read state: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* New data can be unlocked only when AK09919C_REG_ST2(8th byte) is read. */
|
||||
|
||||
ret = ak09919c_i2c_read(priv, AK09919C_REG_HXH,
|
||||
&magdata.xdata_hi, 8);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to read mag: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Check whether single mode data is right. */
|
||||
|
||||
ret = ak09919c_verifyparam(&magdata,
|
||||
&g_ak09919c_sngthr);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("The data of single mode is error: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Set to selftest mode. */
|
||||
|
||||
ret = ak09919c_setmode(priv, AK09919C_SELF_TEST_MODE);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed set selftest mode: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* AK09919C_REG_ST1 must be read separately before reading data. */
|
||||
|
||||
ret = ak09919c_i2c_readreg(priv, AK09919C_REG_ST1, &magdata.st1);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to read state: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* New data can be unlocked only when AK09919C_REG_ST2(8th byte) is read. */
|
||||
|
||||
ret = ak09919c_i2c_read(priv, AK09919C_REG_HXH,
|
||||
&magdata.xdata_hi, 8);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to read mag: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Check whether selftest mode data is right. */
|
||||
|
||||
ret = ak09919c_verifyparam(&magdata,
|
||||
&g_ak09919c_slfthr);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("The data of selftest mode is error: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Sensor ops functions */
|
||||
|
||||
/****************************************************************************
|
||||
|
|
@ -681,7 +990,7 @@ static int ak09919c_init(FAR struct ak09919c_dev_s *priv)
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -724,7 +1033,7 @@ static int ak09919c_set_interval(FAR struct sensor_lowerhalf_s *lower,
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -750,25 +1059,74 @@ static int ak09919c_activate(FAR struct sensor_lowerhalf_s *lower,
|
|||
}
|
||||
|
||||
priv->activated = enable;
|
||||
|
||||
if (enable)
|
||||
{
|
||||
priv->start_timestamp = sensor_get_timestamp();
|
||||
priv->sample_count = 1;
|
||||
|
||||
work_queue(HPWORK, &priv->work,
|
||||
ak09919c_worker, priv,
|
||||
priv->interval / USEC_PER_TICK);
|
||||
}
|
||||
else
|
||||
{
|
||||
work_cancel(HPWORK, &priv->work);
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: ak09919c_selftest
|
||||
*
|
||||
* Description:
|
||||
* Mainly used in the self-test link, including device ID inspection
|
||||
* and device functional inspection.
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - The instance of lower half sensor driver.
|
||||
* arg - The parameters associated with cmd.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
* -ENOTTY - The cmd don't support.
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int ak09919c_selftest(FAR struct sensor_lowerhalf_s *lower,
|
||||
unsigned long arg)
|
||||
{
|
||||
FAR struct ak09919c_dev_s *priv = (FAR struct ak09919c_dev_s *)lower;
|
||||
int ret;
|
||||
|
||||
DEBUGASSERT(lower != NULL);
|
||||
|
||||
/* Process ioctl commands. */
|
||||
|
||||
switch (arg)
|
||||
{
|
||||
case AK09919C_SIMPLE_CHECK: /* Simple communication check. */
|
||||
{
|
||||
ret = ak09919c_checkid(priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to get DeviceID: %d\n", ret);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case AK09919C_FULL_CHECK: /* Fully functional check. */
|
||||
{
|
||||
ret = ak09919c_checkdev(priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("Failed to selftest: %d\n", ret);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
default: /* Other cmd tag. */
|
||||
{
|
||||
ret = -ENOTTY;
|
||||
snerr("The cmd don't support: %d\n", ret);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: ak09919c_worker
|
||||
*
|
||||
|
|
@ -783,7 +1141,7 @@ static int ak09919c_activate(FAR struct sensor_lowerhalf_s *lower,
|
|||
* value is returned on any failure;
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* none.
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
|
@ -844,6 +1202,9 @@ static void ak09919c_worker(FAR void *arg)
|
|||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
* Assumptions/Limitations:
|
||||
* None.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int ak09919c_register(int devno, FAR const struct ak09919c_config_s *config)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue