/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this color sensor
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
tcs34725_init(struct os_dev *dev, void *arg)
{
struct tcs34725 *tcs34725;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
rc = SYS_ENODEV;
goto err;
}
tcs34725 = (struct tcs34725 *) dev;
tcs34725->cfg.mask = SENSOR_TYPE_ALL;
sensor = &tcs34725->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_tcs34725stats),
STATS_SIZE_INIT_PARMS(g_tcs34725stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(tcs34725_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register("tcs34725", STATS_HDR(g_tcs34725stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
/* Add the color sensor driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_COLOR,
(struct sensor_driver *) &g_tcs34725_sensor_driver);
if (rc != 0) {
goto err;
}
/* Set the interface */
rc = sensor_set_interface(sensor, arg);
if (rc) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
rc = sensor_set_type_mask(sensor, tcs34725->cfg.mask);
if (rc) {
goto err;
}
return (0);
err:
return (rc);
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accelerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
sim_accel_init(struct os_dev *dev, void *arg)
{
struct sim_accel *sa;
struct sensor *sensor;
int rc;
sa = (struct sim_accel *) dev;
sensor = &sa->sa_sensor;
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &g_sim_accel_sensor_driver);
if (rc != 0) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
return (0);
err:
return (rc);
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accellerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
bno055_init(struct os_dev *dev, void *arg)
{
struct bno055 *bno055;
struct sensor *sensor;
int rc;
bno055 = (struct bno055 *) dev;
rc = bno055_default_cfg(&bno055->cfg);
if (rc) {
goto err;
}
#if MYNEWT_VAL(BNO055_LOG)
log_register("bno055", &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
#endif
sensor = &bno055->sensor;
#if MYNEWT_VAL(BNO055_STATS)
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_bno055stats),
STATS_SIZE_INIT_PARMS(g_bno055stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(bno055_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register("bno055", STATS_HDR(g_bno055stats));
SYSINIT_PANIC_ASSERT(rc == 0);
#endif
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
/* Add the accelerometer/magnetometer driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER |
SENSOR_TYPE_MAGNETIC_FIELD | SENSOR_TYPE_GYROSCOPE |
SENSOR_TYPE_TEMPERATURE | SENSOR_TYPE_ROTATION_VECTOR |
SENSOR_TYPE_GRAVITY | SENSOR_TYPE_LINEAR_ACCEL |
SENSOR_TYPE_EULER, (struct sensor_driver *) &g_bno055_sensor_driver);
if (rc != 0) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
return (0);
err:
return (rc);
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accellerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
mpu6050_init(struct os_dev *dev, void *arg)
{
struct mpu6050 *mpu;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
return SYS_ENODEV;
}
mpu = (struct mpu6050 *) dev;
mpu->cfg.mask = SENSOR_TYPE_ALL;
log_register(dev->od_name, &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
sensor = &mpu->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_mpu6050stats),
STATS_SIZE_INIT_PARMS(g_mpu6050stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(mpu6050_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register(dev->od_name, STATS_HDR(g_mpu6050stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc) {
return rc;
}
/* Add the accelerometer/gyroscope driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_GYROSCOPE |
SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &g_mpu6050_sensor_driver);
if (rc) {
return rc;
}
rc = sensor_set_interface(sensor, arg);
if (rc) {
return rc;
}
return sensor_mgr_register(sensor);
}
/**
* Clear an asserted interrupt on the device
*
* @param The sensor interface
* @return 0 on success, non-zero on failure
*/
int
tsl2561_clear_interrupt(struct sensor_itf *itf)
{
int rc;
uint8_t payload = { TSL2561_COMMAND_BIT | TSL2561_CLEAR_BIT };
struct hal_i2c_master_data data_struct = {
.address = itf->si_addr,
.len = 1,
.buffer = &payload
};
/* To clear the interrupt set the CLEAR bit in the COMMAND register */
rc = hal_i2c_master_write(itf->si_num, &data_struct,
OS_TICKS_PER_SEC / 10, 1);
if (rc) {
goto err;
}
STATS_INC(g_tsl2561stats, ints_cleared);
return 0;
err:
return rc;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this luminosity sensor
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
tsl2561_init(struct os_dev *dev, void *arg)
{
struct tsl2561 *tsl2561;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
rc = SYS_ENODEV;
goto err;
}
tsl2561 = (struct tsl2561 *) dev;
tsl2561->cfg.mask = SENSOR_TYPE_ALL;
sensor = &tsl2561->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_tsl2561stats),
STATS_SIZE_INIT_PARMS(g_tsl2561stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(tsl2561_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register(dev->od_name, STATS_HDR(g_tsl2561stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc) {
goto err;
}
/* Add the light driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_LIGHT,
(struct sensor_driver *) &g_tsl2561_sensor_driver);
if (rc) {
goto err;
}
/* Set the interface */
rc = sensor_set_interface(sensor, arg);
if (rc) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc) {
goto err;
}
return 0;
err:
return rc;
}
static uint32_t
tsl2561_calculate_lux(uint16_t broadband, uint16_t ir, struct tsl2561_cfg *cfg)
{
uint64_t chscale;
uint64_t channel1;
uint64_t channel0;
uint16_t clipthreshold;
uint64_t ratio1;
uint64_t ratio;
int64_t b, m;
uint64_t temp;
uint32_t lux;
/* Make sure the sensor isn't saturated! */
switch (cfg->integration_time) {
case TSL2561_LIGHT_ITIME_13MS:
clipthreshold = TSL2561_CLIPPING_13MS;
break;
case TSL2561_LIGHT_ITIME_101MS:
clipthreshold = TSL2561_CLIPPING_101MS;
break;
default:
clipthreshold = TSL2561_CLIPPING_402MS;
break;
}
/* Return 65536 lux if the sensor is saturated */
if ((broadband > clipthreshold) || (ir > clipthreshold)) {
return 65536;
}
/* Get the correct scale depending on the intergration time */
switch (cfg->integration_time) {
case TSL2561_LIGHT_ITIME_13MS:
chscale = TSL2561_LUX_CHSCALE_TINT0;
break;
case TSL2561_LIGHT_ITIME_101MS:
chscale = TSL2561_LUX_CHSCALE_TINT1;
break;
default: /* No scaling ... integration time = 402ms */
chscale = (1 << TSL2561_LUX_CHSCALE);
break;
}
/* Scale for gain (1x or 16x) */
if (!cfg->gain) {
chscale = chscale << 4;
}
/* Scale the channel values */
channel0 = (broadband * chscale) >> TSL2561_LUX_CHSCALE;
channel1 = (ir * chscale) >> TSL2561_LUX_CHSCALE;
ratio1 = 0;
/* Find the ratio of the channel values (Channel1/Channel0) */
if (channel0 != 0) {
ratio1 = (channel1 << (TSL2561_LUX_RATIOSCALE+1)) / channel0;
}
/* round the ratio value */
ratio = (ratio1 + 1) >> 1;
#if MYNEWT_VAL(TSL2561_PACKAGE_CS)
if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1C)) {
b = TSL2561_LUX_B1C;
m = TSL2561_LUX_M1C;
} else if (ratio <= TSL2561_LUX_K2C) {
b = TSL2561_LUX_B2C;
m = TSL2561_LUX_M2C;
} else if (ratio <= TSL2561_LUX_K3C) {
b = TSL2561_LUX_B3C;
m = TSL2561_LUX_M3C;
} else if (ratio <= TSL2561_LUX_K4C) {
b = TSL2561_LUX_B4C;
m = TSL2561_LUX_M4C;
} else if (ratio <= TSL2561_LUX_K5C) {
b = TSL2561_LUX_B5C;
m = TSL2561_LUX_M5C;
} else if (ratio <= TSL2561_LUX_K6C) {
b = TSL2561_LUX_B6C;
m = TSL2561_LUX_M6C;
} else if (ratio <= TSL2561_LUX_K7C) {
b = TSL2561_LUX_B7C;
m = TSL2561_LUX_M7C;
} else if (ratio > TSL2561_LUX_K8C) {
b = TSL2561_LUX_B8C;
m = TSL2561_LUX_M8C;
}
#else
if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1T)) {
b = TSL2561_LUX_B1T;
m = TSL2561_LUX_M1T;
} else if (ratio <= TSL2561_LUX_K2T) {
b = TSL2561_LUX_B2T;
m = TSL2561_LUX_M2T;
} else if (ratio <= TSL2561_LUX_K3T) {
b = TSL2561_LUX_B3T;
m = TSL2561_LUX_M3T;
} else if (ratio <= TSL2561_LUX_K4T) {
b = TSL2561_LUX_B4T;
m = TSL2561_LUX_M4T;
} else if (ratio <= TSL2561_LUX_K5T) {
b = TSL2561_LUX_B5T;
m = TSL2561_LUX_M5T;
} else if (ratio <= TSL2561_LUX_K6T) {
b = TSL2561_LUX_B6T;
m = TSL2561_LUX_M6T;
} else if (ratio <= TSL2561_LUX_K7T) {
b = TSL2561_LUX_B7T;
m = TSL2561_LUX_M7T;
} else if (ratio > TSL2561_LUX_K8T) {
b = TSL2561_LUX_B8T;
m = TSL2561_LUX_M8T;
}
#endif
temp = ((channel0 * b) - (channel1 * m));
/* Do not allow negative lux value */
if (temp < 0) {
temp = 0;
}
/* Round lsb (2^(LUX_SCALE-1)) */
temp += (1 << (TSL2561_LUX_LUXSCALE - 1));
/* Strip off fractional portion */
lux = temp >> TSL2561_LUX_LUXSCALE;
return lux;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accelerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
lis2dw12_init(struct os_dev *dev, void *arg)
{
struct lis2dw12 *lis2dw12;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
rc = SYS_ENODEV;
goto err;
}
lis2dw12 = (struct lis2dw12 *) dev;
lis2dw12->cfg.mask = SENSOR_TYPE_ALL;
log_register(dev->od_name, &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
sensor = &lis2dw12->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_lis2dw12stats),
STATS_SIZE_INIT_PARMS(g_lis2dw12stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(lis2dw12_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register(dev->od_name, STATS_HDR(g_lis2dw12stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc) {
goto err;
}
/* Add the light driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &g_lis2dw12_sensor_driver);
if (rc) {
goto err;
}
/* Set the interface */
rc = sensor_set_interface(sensor, arg);
if (rc) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc) {
goto err;
}
if (sensor->s_itf.si_type == SENSOR_ITF_SPI) {
rc = hal_spi_disable(sensor->s_itf.si_num);
if (rc) {
goto err;
}
rc = hal_spi_config(sensor->s_itf.si_num, &spi_lis2dw12_settings);
if (rc == EINVAL) {
/* If spi is already enabled, for nrf52, it returns -1, We should not
* fail if the spi is already enabled
*/
goto err;
}
rc = hal_spi_enable(sensor->s_itf.si_num);
if (rc) {
goto err;
}
rc = hal_gpio_init_out(sensor->s_itf.si_cs_pin, 1);
if (rc) {
goto err;
}
}
init_interrupt(&lis2dw12->intr, lis2dw12->sensor.s_itf.si_ints);
lis2dw12->pdd.notify_ctx.snec_sensor = sensor;
lis2dw12->pdd.registered_mask = 0;
lis2dw12->pdd.interrupt = NULL;
rc = init_intpin(lis2dw12, lis2dw12_int_irq_handler, sensor);
if (rc) {
return rc;
}
return 0;
err:
return rc;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accelerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
adxl345_init(struct os_dev *dev, void *arg)
{
struct adxl345 *adxl;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
return SYS_ENODEV;
}
adxl = (struct adxl345 *) dev;
adxl->cfg.mask = SENSOR_TYPE_ALL;
log_register(dev->od_name, &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
sensor = &adxl->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_adxl345stats),
STATS_SIZE_INIT_PARMS(g_adxl345stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(adxl345_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register(dev->od_name, STATS_HDR(g_adxl345stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc) {
return rc;
}
/* Add the accelerometer/gyroscope driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &adxl345_sensor_driver);
if (rc) {
return rc;
}
rc = sensor_set_interface(sensor, arg);
if (rc) {
return rc;
}
rc = sensor_mgr_register(sensor);
if (rc) {
return rc;
}
if (sensor->s_itf.si_type == SENSOR_ITF_SPI) {
rc = hal_spi_config(sensor->s_itf.si_num, &spi_adxl345_settings);
if (rc == EINVAL) {
return rc;
}
rc = hal_spi_enable(sensor->s_itf.si_num);
if (rc) {
return rc;
}
rc = hal_gpio_init_out(sensor->s_itf.si_cs_pin, 1);
if (rc) {
return rc;
}
}
#if MYNEWT_VAL(ADXL345_INT_ENABLE)
adxl->pdd.read_ctx.srec_sensor = sensor;
adxl->pdd.notify_ctx.snec_sensor = sensor;
rc = init_intpin(adxl, interrupt_handler, sensor);
if (rc != 0) {
return rc;
}
#endif
return 0;
}