其实这个在之前已经发过，见https://forum.eepw.com.cn/thread/388069/1，但由于那一篇由于内容比较多，因此框架适配部分略过了，仅仅是贴出了适配后的完整代码，因此在此进一步的解析一下当时的适配过程。
适配过程
首先，经过v1版sensor框架的整理，我们已经获得了v1版sensor框架适配的模板，如下：
#include <drivers/sensor.h>
struct sensor_device {
// driver Param
};
static rt_size_t _polling_get_data(rt_sensor_t sensor, struct rt_sensor_data *data)
{
struct sensor_device *dev = sensor->parent.user_data;
if (sensor->info.type == RT_SENSOR_CLASS_NONE)
{
// TODO: Read and fill data to struct rt_sensor_data *data
return 1;
}
return 0;
}
static rt_size_t _get_data(rt_sensor_t sensor, struct rt_sensor_data *data)
{
struct sensor_device *dev = sensor->parent.user_data;
if (sensor->info.type == RT_SENSOR_CLASS_NONE)
{
// TODO: Read and fill data to struct rt_sensor_data *data
return 1;
}
return 0;
}
static rt_size_t fetch_data(struct rt_sensor_device *sensor, void *buf, rt_size_t len)
{
RT_ASSERT(buf);
if (sensor->config.mode == RT_SENSOR_MODE_POLLING)
return _polling_get_data(sensor, buf);
else
return _get_data(sensor, buf);
}
static rt_err_t control(struct rt_sensor_device *sensor, int cmd, void *args)
{
rt_err_t result = RT_EOK;
switch (cmd)
{
case RT_SENSOR_CTRL_GET_ID:
// TODO: get device id
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_RANGE:
// TODO: set test range
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_ODR:
// TODO: set frequency
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_MODE:
// TODO: set work mode
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_POWER:
// TODO: set power mode
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SELF_TEST:
// TODO: process self test
// result = xxxx(sensor);
break;
default:
return -RT_ERROR;
}
return result;
}
static struct rt_sensor_ops sensor_ops =
{
fetch_data,
control
};
int rt_hw_init(const char *name, struct rt_sensor_config *cfg)
{
rt_int8_t result;
rt_sensor_t sensor = RT_NULL;
struct sensor_device *dev;
// TODO: dev init
/* sensor register */
sensor = rt_calloc(1, sizeof(struct rt_sensor_device));
if (sensor == RT_NULL)
goto __exit;
sensor->info.type = RT_SENSOR_CLASS_NONE; // Set real type
sensor->info.vendor = RT_SENSOR_VENDOR_UNKNOWN; // Set real vendor
sensor->info.model = "xxxx"; // set real model name
sensor->info.unit = RT_SENSOR_UNIT_NONE; // set to real unit flag
sensor->info.intf_type = RT_SENSOR_INTF_SPI; // Set interface type
sensor->info.range_max = SENSOR_RANGE_MAX; // Set to range max
sensor->info.range_min = SENSOR_RANGE_MIN; // Set to range min
sensor->info.period_min = 50; // Set frequency
rt_memcpy(&sensor->config, cfg, sizeof(struct rt_sensor_config));
sensor->ops = &sensor_ops;
result = rt_hw_sensor_register(sensor, name, RT_DEVICE_FLAG_RDONLY, dev);
if (result != RT_EOK)
{
goto __exit;
}
return RT_EOK;
__exit:
if (sensor)
rt_free(sensor);
// TODO: dev deinit
return -RT_ERROR;
}在整理出这份文档后，后续的适配基本上就属于填空题了。
模块驱动代码编写
在填空前，需要实现rrh62000的驱动代码，这部分没别的招，只能自己对着规格书一点一点的写（瑞萨做这方案的团队在美国，技术支持几乎没有，github上的驱动代码又和瑞萨的框架绑定过深，无法顺利剥离）。
v1传感器注册函数实现
前期开发，需要聚焦，因此在适配时最好不要一次适配多个传感器功能，在这里，我优先适配了温度传感器的部分。
首先，按照框架调用INIT_DEVICE_EXPORT(rrh62000_device_register)。
其次，在这个函数中，先实现读取传感器关键信息，确保传感器受控。
最后，按照框架所需信息，一个一个的修改传递给传感器注册函数rt_hw_sensor_register的信息，并调用注册接口实现传感器的注册。
static struct rt_sensor_ops sensor_ops =
{
fetch_data,
control
};
struct sensor_device * rrh62000_param_init(void)
{
struct sensor_device *dev;
struct rrh62000_firmwareversion fwVersion;
struct rrh62000_algoversion algoVersion;
dev = rt_calloc(1, sizeof(struct sensor_device));
if(!dev)
{
goto exit;
}
rt_memset(dev, 0x00, sizeof(struct sensor_device));
dev->dev = (struct rt_i2c_bus_device *)rt_device_find("i2c1");
if(dev->dev == RT_NULL)
{
goto exit;
}
if(rrh62000_read_firmware_verison(dev->dev, &fwVersion) != RT_EOK)
{
goto exit;
}
if(rrh62000_read_algoritm_verison(dev->dev, &algoVersion) != RT_EOK)
{
goto exit;
}
rt_kprintf("rrh62000 firmware version %d.%d\n\r", fwVersion.major, fwVersion.minor);
rt_kprintf("rrh62000 algoritm version %d.%d.%d\n\r", algoVersion.major, algoVersion.minor, algoVersion.patch);
return dev;
exit:
if(dev)
rt_free(dev);
return RT_NULL;
}
int rt_hw_init(const char *name, struct rt_sensor_config *cfg)
{
rt_int8_t result;
rt_sensor_t sensor = RT_NULL;
struct sensor_device *dev;
dev = rrh62000_param_init();
if(dev == RT_NULL)
{
goto __exit;
}
/* sensor register */
sensor = rt_calloc(1, sizeof(struct rt_sensor_device));
if (sensor == RT_NULL)
goto __exit;
sensor->info.type = RT_SENSOR_CLASS_TEMP; // Set real type
sensor->info.vendor = RT_SENSOR_VENDOR_UNKNOWN; // Set real vendor
sensor->info.model = name; // set real model name
sensor->info.unit = RT_SENSOR_UNIT_DCELSIUS; // set to real unit flag
sensor->info.intf_type = RT_SENSOR_INTF_I2C; // Set interface type
sensor->info.range_max = 0xFFFF; // Set to range max
sensor->info.range_min = 0x0000; // Set to range min
sensor->info.period_min = 50; // Set frequency
rt_memcpy(&sensor->config, cfg, sizeof(struct rt_sensor_config));
sensor->ops = &sensor_ops;
result = rt_hw_sensor_register(sensor, name, RT_DEVICE_FLAG_RDONLY, dev);
if (result != RT_EOK)
{
goto __exit;
}
return RT_EOK;
__exit:
if (sensor)
rt_free(sensor);
if(dev)
rt_free(dev);
return -RT_ERROR;
}
static int rrh62000_device_register(void)
{
struct rt_sensor_config cfg = {
.mode = RT_SENSOR_MODE_POLLING,
.power = RT_SENSOR_POWER_DOWN,
};
rt_hw_init("rrh62000", &cfg);
return RT_EOK;
}
INIT_DEVICE_EXPORT(rrh62000_device_register);读取数据接口实现
struct sensor_device {
rt_bool_t openCount;
struct rt_i2c_bus_device * dev;
struct rrh62000_data data;
};
static rt_ssize_t _get_data(rt_sensor_t sensor, struct rt_sensor_data *data)
{
struct sensor_device *dev = sensor->parent.user_data;
rt_bool_t isDataReady = RT_FALSE;
if (sensor->info.type == RT_SENSOR_CLASS_TEMP)
{
if((rrh62000_read_data_status(dev->dev, &isDataReady) == RT_EOK) && (isDataReady))
{
rrh62000_read_measured_value(dev->dev, &dev->data);
}
}
if (sensor->info.type == RT_SENSOR_CLASS_TEMP)
{
data->data.temp = (dev->data.temperature.integer_part << 16) + dev->data.temperature.decimal_part;
data->timestamp = rt_sensor_get_ts();
return 1;
}
return 0;
}
static rt_ssize_t fetch_data(struct rt_sensor_device *sensor, void *buf, rt_size_t len)
{
RT_ASSERT(buf);
if (sensor->config.mode == RT_SENSOR_MODE_POLLING)
return _get_data(sensor, buf);
else
return 0;
}注册函数实现后，后面就需要实现两个关键的函数了，一个时读取数据的接口fetch_data，一个是对传感器各项功能设置的control接口。读取数据的实现如下：
需要注意的是，由于读数据只有一个接口，因此在实现时，需根据当前传感器的工作状态调用不同的读取实现，由于RRH62000只支持轮询读取的方式，因此读取实现就相对简单的多，仅仅需要读出数据并转换成struct rt_sensor_data格式的数据即可，对此结构体观察会发现，其实此结构体内部是个共用体，因此向上传递的数据需要按照温度传感器数据的格式上报，并记录读取数据的时间戳，若能读到传感器的时间使用传感器的时间，读不到，则使用rtt提供的时间。
控制接口实现
控制接口需要实现的功能不少，有设置工作状态的命令set_power，有设置频率的接口set_odr，有设置两成的接口set_range，还有设置工作模式的接口set_mode。对于常见的传感器来说，这些接口都需要实现，但是呢，RRH62000除了传感器的开关，其他几个接口都只能使用默认参数去使用，因此适配起来就相对简单点了，仅仅需要适配set_power接口即可。
static rt_err_t _set_power(struct rt_sensor_device *sensor, void *args)
{
struct sensor_device *dev = sensor->parent.user_data;
rt_uint8_t power = *(uint8_t *)args;
//fsp_err_t ret;
rt_err_t ret;
rt_bool_t isTVOCCLean = RT_FALSE;
int count = 70; // 70s
if(power == RT_SENSOR_POWER_DOWN)
{
if(dev->openCount != 0)
{
dev->openCount--;
}
}
else
{
if(dev->openCount == 0)
{
do
{
if(rrh62000_read_TVOC_sensor_clean_status(dev->dev, &isTVOCCLean) == RT_EOK)
{
if(isTVOCCLean == RT_FALSE)
{
rt_thread_mdelay(1000);
count--;
}
}
}while((isTVOCCLean == RT_FALSE) && (count--));
if(count == 0)
{
goto RET;
}
ret = rrh62000_reset(dev->dev);
if(ret != RT_EOK)
{
rt_kprintf("open failed %d\n\r",ret);
goto RET;
}
rt_thread_mdelay(1000);
ret = rrh62000_moving_average_set(dev->dev, 1);
ret = rrh62000_fan_speed_set(dev->dev, 60);
}
dev->openCount++;
}
return RT_EOK;
RET:
return -RT_ERROR;
}
static rt_err_t control(struct rt_sensor_device *sensor, int cmd, void *args)
{
rt_err_t result = RT_EOK;
switch (cmd)
{
case RT_SENSOR_CTRL_GET_ID:
// TODO: get device id
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_GET_INFO:
// TODO: get info
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_RANGE:
// TODO: set test range
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_ODR:
// TODO: set frequency
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_MODE:
// TODO: set work mode
// result = xxxx(sensor, args);
break;
case RT_SENSOR_CTRL_SET_POWER:
// TODO: set power mode
result = _set_power(sensor, args);
break;
case RT_SENSOR_CTRL_SELF_TEST:
// TODO: process self test
// result = xxxx(sensor);
break;
default:
return -RT_ERROR;
}
return result;
}测试接口编写
对于格式接口，个人比较喜欢写成命令行命令的方式调用，这样可以通过传参的方式灵活验证验证接口的有效性，在这里也不例外，我写了如下代码：
#if 1
#define RRH_TEMP_DEVICE_NAME "temp_rrh"
void rrh6200_temp_read(void)
{
rt_device_t dev = rt_device_find(RRH_TEMP_DEVICE_NAME);
rt_err_t result;
rt_uint32_t len;
struct rt_sensor_data data;
if(!dev)
{
rt_kprintf("No device name %s\n\r", RRH_TEMP_DEVICE_NAME);
return;
}
result = rt_device_open(dev,RT_DEVICE_FLAG_RDONLY);
if(result != RT_EOK)
{
rt_kprintf("Open %s Fail\n\r", RRH_TEMP_DEVICE_NAME);
return;
}
len = rt_device_read(dev, 0 ,&data,1);
if(len)
{
rt_kprintf("Temp %d.%d \n\r", data.data.temp >> 16, data.data.temp & 0x0000FFFF);
}
result = rt_device_close(dev);
if(result != RT_EOK)
{
rt_kprintf("Close %s Fail\n\r", RRH_TEMP_DEVICE_NAME);
return;
}
}
MSH_CMD_EXPORT(rrh6200_temp_read, rrh62000 temprate sample);
#endif其中：MSH_CMD_EXPORT便是把此函数编译成命令行代码的实现入口。
总结
编译验证部分，在之前发布的帖子中已经实现，在这里就不再说明。后续增加新的传感器类型，其实也是一样的套路，唯一的区别是，control和fetch_data中需要识别当前的传感器，根据传感器进行功能的实现。
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