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Permissions (Part 2) Description: In kernel builds, any unprivileged process running on the NuttX device can open /dev/efuse and attempt to read/write fuse content. Reading the fuses may provide valuable information to an attacker controlling the user process. The write operation, in extreme cases where the fuse blocks are not locked, may brick the device. DISCLAIMER: I tried to be strict with the settings, better to relax them later if it's needed. This is part of https://github.com/apache/nuttx/issues/19410 See https://github.com/apache/nuttx/issues/19410 Compiles ok. Signed-off-by: Catalin Visinescu <catalin_visinescu@yahoo.com>
451 lines
14 KiB
C
451 lines
14 KiB
C
/****************************************************************************
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* drivers/sensors/bmi088.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/* WARNING for developers:
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*
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* This driver uses the legacy style of writing sensor drivers for NuttX. The
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* project has since decided to adopt a new sensor framework in order to
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* have a consistent API and feature-set.
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*
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* Sensors which use the uORB framework are typically suffixed "_uorb". You
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* can also visit the documentation about the new sensor framework to learn
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* more.
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*/
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#warning "This is a deprecated legacy sensor driver."
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/semaphore.h>
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#include "bmi088_base.h"
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#if defined(CONFIG_SENSORS_BMI088)
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/****************************************************************************
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* Private Types
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****************************************************************************/
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static uint8_t acc_range = BMI088_ACC_RANGE_6G;
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static uint8_t gyro_range = BMI088_GYRO_RANGE_2000DPS;
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static uint8_t gyro_bandwidth = BMI088_GYRO_BANDWIDTH_2000HZ_532HZ;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/* Character driver methods */
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static int bmi088_acc_open(FAR struct file *filep);
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static int bmi088_gyro_open(FAR struct file *filep);
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static int bmi088_acc_close(FAR struct file *filep);
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static int bmi088_gyro_close(FAR struct file *filep);
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static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer,
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size_t len);
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static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer,
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size_t len);
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static int bmi088_acc_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* This the vtable that supports the character driver interface */
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static const struct file_operations g_bmi088_acc_fops =
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{
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bmi088_acc_open, /* open */
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bmi088_acc_close, /* close */
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bmi088_acc_read, /* read */
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NULL, /* write */
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NULL, /* seek */
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bmi088_acc_ioctl, /* ioctl */
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};
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/* This the vtable that supports the character driver interface */
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static const struct file_operations g_bmi088_gyro_fops =
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{
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bmi088_gyro_open, /* open */
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bmi088_gyro_close, /* close */
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bmi088_gyro_read, /* read */
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NULL, /* write */
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NULL, /* seek */
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bmi088_gyro_ioctl, /* ioctl */
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};
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/****************************************************************************
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* Name: bmi088_acc_open
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*
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* Description:
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* Standard character driver open method.
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*
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****************************************************************************/
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static int bmi088_acc_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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up_mdelay(1);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL ,
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BMI088_ACC_PWR_CTRL_ACC_ENABLE);
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up_mdelay(5);
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bmi088_put_acc_reg8(priv, BMI088_ACC_RANGE , acc_range);
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up_mdelay(50);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF ,
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BMI088_ACC_PWR_CONF_ACTIVE_MODE);
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bmi088_put_acc_reg8(priv, BMI088_INT1_IO_CONF , 0x08);
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bmi088_put_acc_reg8(priv, BMI088_INT1_INT2_MAP_DATA, 0x04);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyro_open
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*
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* Description:
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* Standard character driver open method.
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*
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****************************************************************************/
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static int bmi088_gyro_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* enable and config acc */
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1 , BMI088_GYRO_PM_NORMAL);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_RANGE , gyro_range);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_BANDWIDTH, gyro_bandwidth);
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bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_CONF, 0x00);
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bmi088_put_gyro_reg8(priv, BMI088_INT3_INT4_IO_MAP , 0x01);
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_INT_CTRL , 0x80);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_acc_close
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*
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* Description:
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* Standard character driver close method.
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*
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****************************************************************************/
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static int bmi088_acc_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* Set suspend mode to each sensors. */
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bmi088_put_acc_reg8(priv, BMI088_ACC_INT_STAT_1, 0x00);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CONF ,
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BMI088_ACC_PWR_CONF_SUSPEND_MODE);
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up_mdelay(5);
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bmi088_put_acc_reg8(priv, BMI088_ACC_PWR_CTRL ,
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BMI088_ACC_PWR_CTRL_ACC_DISABLE);
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up_mdelay(5);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyro_close
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*
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* Description:
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* Standard character driver close method.
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*
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****************************************************************************/
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static int bmi088_gyro_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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/* Set suspend mode to each sensors. */
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bmi088_put_gyro_reg8(priv, BMI088_GYRO_LPM1, BMI088_GYRO_PM_SUSPEND);
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up_mdelay(30);
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_acc_read
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*
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* Description:
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* Standard character driver read method.
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*
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****************************************************************************/
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static ssize_t bmi088_acc_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer;
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if (len < sizeof(struct acc_gyro_st_s))
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{
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snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s));
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return 0;
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}
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/* read and calculate acc */
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bmi088_get_acc_regs(priv, BMI088_ACC_X_LSB, (uint8_t *)&p->acc_source, 6);
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p->accel.x = p->acc_source.x / 32768.0 * ((1 << (acc_range)) * 3.0);
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p->accel.y = p->acc_source.y / 32768.0 * ((1 << (acc_range)) * 3.0);
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p->accel.z = p->acc_source.z / 32768.0 * ((1 << (acc_range)) * 3.0);
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return len;
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}
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/****************************************************************************
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* Name: bmi088_acc_read
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*
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* Description:
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* Standard character driver read method.
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*
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****************************************************************************/
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static ssize_t bmi088_gyro_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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FAR struct acc_gyro_st_s *p = (FAR struct acc_gyro_st_s *)buffer;
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if (len < sizeof(struct gyro_t))
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{
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snerr("Expected buffer size is %zu\n", sizeof(struct acc_gyro_st_s));
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return 0;
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}
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bmi088_get_gyro_regs(priv, BMI088_GYRO_X_LSB,
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(uint8_t *)&p->gyro_source, 6);
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p->gyro.x = p->gyro_source.x / 32768.0 * (2000.0 / (1 << (gyro_range)));
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p->gyro.y = p->gyro_source.y / 32768.0 * (2000.0 / (1 << (gyro_range)));
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p->gyro.z = p->gyro_source.z / 32768.0 * (2000.0 / (1 << (gyro_range)));
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return len;
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}
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/****************************************************************************
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* Name: bmi088_acc_ioctl
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*
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* Description:
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* Standard character driver ioctl method.
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*
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****************************************************************************/
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static int bmi088_acc_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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int ret = OK;
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switch (cmd)
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{
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case SNIOC_ACC_ENABLE:
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break;
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case SNIOC_ACC_DISABLE:
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break;
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default:
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snerr("Unrecognized cmd: %d\n", cmd);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Name: bmi088_gyro_ioctl
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*
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* Description:
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* Standard character driver ioctl method.
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*
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****************************************************************************/
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static int bmi088_gyro_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct bmi088_dev_s *priv = inode->i_private;
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int ret = OK;
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switch (cmd)
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{
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case SNIOC_GYRO_ENABLE:
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break;
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case SNIOC_GYRO_DISABLE:
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break;
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default:
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snerr("Unrecognized cmd: %d\n", cmd);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bmi088_acc_register
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*
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* Description:
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* Register the BMI088 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/press0"
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* dev - An instance of the SPI interface to use to communicate with
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* BMI088
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI088_I2C
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int bmi088_acc_register(FAR const char *devpath,
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FAR struct i2c_master_s *dev)
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#else /* CONFIG_SENSORS_BMI088_SPI */
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int bmi088_acc_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
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#endif
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{
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FAR struct bmi088_dev_s *priv;
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int ret;
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priv = (FAR struct bmi088_dev_s *)kmm_malloc(sizeof(struct bmi088_dev_s));
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if (!priv)
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{
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snerr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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#ifdef CONFIG_SENSORS_BMI088_I2C
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priv->i2c = dev;
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priv->addr = BMI088_I2C_ACC_ADDR;
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priv->freq = BMI088_I2C_FREQ;
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#else /* CONFIG_SENSORS_BMI088_SPI */
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priv->spi = dev;
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#endif
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ret = bmi088_get_acc_reg8(priv, BMI088_ACC_CHIP_ID);
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if (ret != 0x1e)
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{
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snerr("Wrong Device ID!\n");
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kmm_free(priv);
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return ret;
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}
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ret = register_driver(devpath, &g_bmi088_acc_fops, 0600, priv);
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if (ret < 0)
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{
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snerr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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}
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sninfo("BMI088 driver loaded successfully!\n");
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return OK;
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}
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/****************************************************************************
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* Name: bmi088_gyroregister
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*
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* Description:
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* Register the BMI088 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/press0"
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* dev - An instance of the SPI interface to use to communicate with
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* BMI088
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI088_I2C
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int bmi088_gyro_register(FAR const char *devpath,
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FAR struct i2c_master_s *dev)
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#else /* CONFIG_SENSORS_BMI088_SPI */
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int bmi088_gyro_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
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#endif
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{
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FAR struct bmi088_dev_s *priv;
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int ret;
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priv = (FAR struct bmi088_dev_s *)kmm_malloc(sizeof(struct bmi088_dev_s));
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if (!priv)
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{
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snerr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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#ifdef CONFIG_SENSORS_BMI088_I2C
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priv->i2c = dev;
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priv->addr = BMI088_I2C_GY_ADDR;
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priv->freq = BMI088_I2C_FREQ;
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#else /* CONFIG_SENSORS_BMI088_SPI */
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priv->spi = dev;
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#endif
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ret = bmi088_get_gyro_reg8(priv, BMI088_GYRO_CHIP_ID);
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if (ret != 0x0f)
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{
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snerr("Wrong Device ID!\n");
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kmm_free(priv);
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return ret;
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}
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ret = register_driver(devpath, &g_bmi088_gyro_fops, 0600, priv);
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if (ret < 0)
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{
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snerr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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}
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sninfo("BMI088 driver loaded successfully!\n");
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return OK;
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}
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#endif /* CONFIG_SENSORS_BMI088 */
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