int main ()
{
v2x_board_init(); //configure pins and initial safe condition
while (1){
sleepmgr_enter_sleep(); //go to sleep until interrupt
charge_pump_toggle(); //charge pump pin needs toggled to create boost voltage for LEDs
reset_processor(); //look for pending resets
button_service(); //SCAN and report the button
charge_pump_toggle(); //charge pump pin needs toggled to create boost voltage for LEDs
job_coordinator(); //schedule new jobs if needed
GSM_process_buffer(); //handle any pending jobs for GSM
CAN_process_buffer(); //handle any pending jobs for CAN
charge_pump_toggle(); //charge pump pin needs toggled to create boost voltage for LEDs
if (usb_cdc_is_active(USB_ACL)) //if host listening,
{report_accel_data();} //create and send accel data
charge_pump_toggle(); //charge pump pin needs toggled to create boost voltage for LEDs
}
}
static int es705_sensor_hub_handle_data(struct es705_priv *es705)
{
static u32 buffer[ES705_SENSOR_HUB_BLOCK_MAX/sizeof(u32)];
u32 cmd;
u32 resp;
int ret;
unsigned size;
unsigned rdcnt;
struct sensor_sample *pSensData[3];
struct spi_data *spiData = es705->sensData;
static u32 counter;
/* Note: mutex_lock is done by calling function (IRQ worker) */
/* Read sensor hub data block request. */
cmd = cpu_to_le32(SENS_HUB_RDB);
ret = es705->dev_write(es705, (char *)&cmd, 4);
if (ret < 0) {
dev_err(es705->dev,
"[SPI]: error sending write request = %d\n",
ret);
goto OUT;
}
usleep_range(3000, 4000); /* Wait for response */
ret = es705->dev_read(es705, (char *)&resp, 4);
if (ret < 0) {
dev_err(es705->dev,
"[SPI]: error sending read request = %d\n",
ret);
goto OUT;
}
le32_to_cpus(resp);
size = resp & 0xffff;
/* pr_info("[SPI]: 2.Resp: %08X\n", resp); */
if ((resp & 0xffff0000) != 0x802E0000) {
dev_dbg(es705->dev,
"[SPI]: invalid read sensor data block response = 0x%08x\n",
resp);
goto OUT;
}
BUG_ON(size == 0);
BUG_ON(size > ES705_SENSOR_HUB_BLOCK_MAX);
BUG_ON(size % 4 != 0);
/* This assumes we need to transfer the block in 4 byte
* increments. This is true on slimbus, but may not hold true
* for other buses.
*/
for (rdcnt = 0; rdcnt < size; rdcnt += 4) {
ret = es705->dev_read(es705, (char *)&resp, 4);
if (ret < 0) {
dev_dbg(es705->dev,
"[SPI]: error reading data block at %d bytes\n",
rdcnt);
goto OUT;
}
buffer[rdcnt/4] = resp;
}
/* Parse Sensor Data and publish to respective device nodes */
pSensData[0] = (struct sensor_sample *)buffer;
report_accel_data(spiData, pSensData[0]);
if ((counter % 50) == 0) {
pr_debug("[SPI]: Sensor Data: %d:\t%d\t%d\t%d\t%d",
pSensData[0]->id,
pSensData[0]->x,
pSensData[0]->y,
pSensData[0]->z,
pSensData[0]->timeStamp);
}
pSensData[1] = (struct sensor_sample *)&buffer[
sizeof(struct sensor_sample)/sizeof(u32)];
report_gyro_data(spiData, pSensData[1]);
if ((counter % 50) == 0) {
pr_debug("[SPI]: Sensor Data: %d:\t%d\t%d\t%d\t%d",
pSensData[1]->id,
pSensData[1]->x,
pSensData[1]->y,
pSensData[1]->z,
pSensData[1]->timeStamp);
}
pSensData[2] = (struct sensor_sample *)&buffer[
2*sizeof(struct sensor_sample)/sizeof(u32)];
report_mag_data(spiData, pSensData[2]);
if ((counter % 50) == 0) {
pr_debug("[SPI]: Sensor Data: %d:\t%d\t%d\t%d\t%d",
pSensData[2]->id,
pSensData[2]->x,
pSensData[2]->y,
pSensData[2]->z,
pSensData[2]->timeStamp);
}
counter++;
OUT:
/* Note: mutex_unlock is done by calling function (IRQ worker) */
if (ret)
dev_err(es705->dev, "sens read data block failure=%d\n", ret);
return ret;
}
