OpenHarmony开发——传感器驱动开发实例

jiecho

发布于 2021-7-2 11:51

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传感器驱动开发实例

基于HDF驱动模型，加载启动加速度计传感器驱动，代码形式如下，具体原理可参考HDF驱动开发指南。加速度传感器选择通讯接口方式为I2C，厂家选择博世BMI160加速度传感器。

加速度计传感器驱动入口注册

加速度计传感器驱动入口函数实现

/* 注册加速度计传感器入口数据结构体对象 */
struct HdfDriverEntry g_sensorAccelDevEntry = {
    .moduleVersion = 1, /* 加速度计传感器模块版本号 */
    .moduleName = "HDF_SENSOR_ACCEL", /* 加速度计传感器模块名，要与device_info.hcs文件里的加速度计moduleName字段值一样*/
    .Bind = BindAccelDriver, /* 加速度计传感器绑定函数 */
    .Init = InitAccelDriver, /* 加速度计传感器初始化函数 */
    .Release = ReleaseAccelDriver, /* 加速度计传感器资源释放函数 */
};

/* 调用HDF_INIT将驱动入口注册到HDF框架中，在加载驱动时HDF框架会先调用Bind函数,再调用Init函数加载该驱动，当Init调用异常时，HDF框架会调用Release释放驱动资源并退出 */
HDF_INIT(g_sensorAccelDevEntry);

加速度计传感器设备配置描述

加速度传感器模型使用HCS作为配置描述源码，HCS配置字段详细介绍参考配置管理介绍。

/* 加速度计传感器设备HCS配置 */
device_sensor_accel :: device {
    device0 :: deviceNode {
        policy = 1; /* policy字段是驱动服务发布的策略 */
        priority = 105; /* 驱动启动优先级（0-200），值越大优先级越低，建议默认配100，优先级相同则不保证device的加载顺序 */
        preload = 2; /* 驱动按需加载字段，0表示加载，2表示不加载 */
        permission = 0664; /* 驱动创建设备节点权限 */
        moduleName = "HDF_SENSOR_ACCEL"; /* 驱动名称，该字段的值必须和驱动入口结构的moduleName值一致 */
        serviceName = "sensor_accel"; /* 驱动对外发布服务的名称，必须唯一 */
        deviceMatchAttr = "hdf_sensor_accel_driver"; /* 驱动私有数据匹配的关键字，必须和驱动私有数据配置表中的match_attr值相等 */
    }
}

加速度计传感器驱动初始化和去初始化

初始化入口函数init

/* 加速度计传感器驱动对外提供的服务绑定到HDF框架 */
int32_t BindAccelDriver(struct HdfDeviceObject *device)
{
    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);

    static struct IDeviceIoService service = {
        .object = {0},
        .Dispatch = DispatchAccel,
    };
    device->service = &service;

    return HDF_SUCCESS;
}
/*在探测到器件在位后，需要调用RegisterAccelChipOps注册差异化适配函数*/
int32_t RegisterAccelChipOps(struct AccelOpsCall *ops)
{
    struct AccelDrvData *drvData = NULL;

    CHECK_NULL_PTR_RETURN_VALUE(ops, HDF_ERR_INVALID_PARAM);

    drvData = AccelGetDrvData();
    drvData->ops.Init = ops->Init;
    drvData->ops.ReadData = ops->ReadData;
    return HDF_SUCCESS;
}
/* 挂载加速度计传感器驱动归一化的接口函数 */
static int32_t InitAccelOps(struct SensorDeviceInfo *deviceInfo)
{
    struct AccelDrvData *drvData = AccelGetDrvData();

    (void)memset_s((void *)deviceInfo, sizeof(*deviceInfo), 0, sizeof(*deviceInfo));
    deviceInfo->ops.GetInfo = SetAccelInfo;
    deviceInfo->ops.Enable = SetAccelEnable;
    deviceInfo->ops.Disable = SetAccelDisable;
    deviceInfo->ops.SetBatch = SetAccelBatch;
    deviceInfo->ops.SetMode = SetAccelMode;
    deviceInfo->ops.SetOption = SetAccelOption;

    if (memcpy_s(&deviceInfo->sensorInfo, sizeof(deviceInfo->sensorInfo),
        &drvData->accelCfg->sensorInfo, sizeof(drvData->accelCfg->sensorInfo)) != EOK) {
        HDF_LOGE("%s: copy sensor info failed", __func__);
        return HDF_FAILURE;
    }
    /* 传感器类型标识可以在数据HCS配置文件里面配置，也可以在此处 */
    drvData->accelCfg->sensorInfo.sensorTypeId = SENSOR_TAG_ACCELEROMETER;
    drvData->accelCfg->sensorInfo.sensorId = SENSOR_TAG_ACCELEROMETER;

    return HDF_SUCCESS;
}
/* 传感器寄存器初始化操作 */
static int32_t InitAccelAfterConfig(void)
{
    struct SensorDeviceInfo deviceInfo;

    if (InitAccelConfig() != HDF_SUCCESS) {
        HDF_LOGE("%s: init accel config failed", __func__);
        return HDF_FAILURE;
    }

    if (InitAccelOps(&deviceInfo) != HDF_SUCCESS) {
        HDF_LOGE("%s: init accel ops failed", __func__);
        return HDF_FAILURE;
    }

    if (AddSensorDevice(&deviceInfo) != HDF_SUCCESS) {
        HDF_LOGE("%s: add accel device failed", __func__);
        return HDF_FAILURE;
    }

    return HDF_SUCCESS;
}
/*通过器件探测函数，挂载器件差异化函数接口*/
static int32_t DetectAccelChip(void)
{
    int32_t num;
    int32_t ret;
    int32_t loop;
    struct AccelDrvData *drvData = AccelGetDrvData();
    CHECK_NULL_PTR_RETURN_VALUE(drvData->accelCfg, HDF_ERR_INVALID_PARAM);

    num = sizeof(g_accelDetectIfList) / sizeof(g_accelDetectIfList[0]);
    for (loop = 0; loop < num; ++loop) {
        if (g_accelDetectIfList[loop].DetectChip != NULL) {
            ret = g_accelDetectIfList[loop].DetectChip(drvData->accelCfg);
            if (ret == HDF_SUCCESS) {
                drvData->detectFlag = true;
                break;
            }
        }
    }

    if (loop == num) {
        HDF_LOGE("%s: detect accel device failed", __func__);
        drvData->detectFlag = false;
        return HDF_FAILURE;
    }
    return HDF_SUCCESS;
}
/* 加速度计传感器驱动初始化入口函数，主要功能为对传感器私有数据的结构体对象进行初始化，传感器HCS数据配置对象空间分配，传感器HCS数据配置初始化入口函数调用，传感器设备探测是否在位功能，传感器数据上报定时器创建，传感器归一化接口挂载，传感器设备注册功能 */
int32_t InitAccelDriver(struct HdfDeviceObject *device)
{
    /* 获取传感器私有数据结构体对象 */
    struct AccelDrvData *drvData = AccelGetDrvData();

   /* 同类型传感器不同厂家设备探测时，判断此类型传感器是否已经在位，若已经在位，无需再继续探测，直接返回 */
    if (drvData->detectFlag) {
        HDF_LOGE("%s: accel sensor have detected", __func__);
        return HDF_SUCCESS;
    }

    CHECK_NULL_PTR_RETURN_VALUE(device, HDF_ERR_INVALID_PARAM);
    /* 分配存放传感器数据配置的私有结构体数据对象，需要在驱动释放时释放分配的资源空间 */
        drvData->accelCfg = (struct SensorCfgData *)OsalMemCalloc(sizeof(*cfg));
        if (drvData->accelCfg == NULL) {
            HDF_LOGE("%s: malloc sensor config data failed", __func__);
            return HDF_FAILURE;
        }
  
    drvData->accelCfg->regCfgGroup = &g_regCfgGroup[0];
    /* 初始化传感器配置数据主要是解析传感器通讯总线配置类型信息，传感器基本信息，传感器属性信息，传感器是否在位信息，寄存器分组信息 */
    if (GetSensorBaseConfigData(device->property, drvData->accelCfg) != HDF_SUCCESS) {
        HDF_LOGE("%s: get sensor base config failed", __func__);
        goto Base_CONFIG_EXIT;
    }

    if (DetectAccelChip() != HDF_SUCCESS) {
        HDF_LOGE("%s: accel sensor detect device no exist", __func__);
        goto DETECT_CHIP_EXIT;
    }
    drvData->detectFlag = true;
    if (ParseSensorRegConfig(drvData->accelCfg) != HDF_SUCCESS) {
        HDF_LOGE("%s: detect sensor device failed", __func__);
        goto REG_CONFIG_EXIT;
    }

    if (InitAccelAfterConfig() != HDF_SUCCESS) {
        HDF_LOGE("%s: init accel after config failed", __func__);
        goto INIT_EXIT;
    }

    HDF_LOGI("%s: init accel driver success", __func__);
    return HDF_SUCCESS;

INIT_EXIT:
    DestroySensorThread(&drvData->thread, &drvData->threadStatus);
    (void)DeleteSensorDevice(SENSOR_TAG_ACCELEROMETER);
REG_CONFIG_EXIT:
    ReleaseSensorAllRegConfig(drvData->accelCfg);
    (void)ReleaseSensorBusHandle(&drvData->accelCfg->busCfg);
DETECT_CHIP_EXIT:
    drvData->detectFlag = false;
BASE_CONFIG_EXIT:
    drvData->accelCfg->root = NULL;
    drvData->accelCfg->regCfgGroup = NULL;
    OsalMemFree(drvData->accelCfg);
    drvData->accelCfg = NULL;
    return HDF_FAILURE;
}

/* 释放驱动初始化时分配的资源 */
void ReleaseAccelDriver(struct HdfDeviceObject *device)
{
    (void)device;
    struct AccelDrvData *drvData = NULL;

    drvData = AccelGetDrvData();
    (void)DestroySensorThread(&drvData->thread, &drvData->threadStatus);
    (void)DeleteSensorDevice(SENSOR_TAG_ACCELEROMETER);
    drvData->detectFlag = false;

    if (drvData->accelCfg != NULL) {
        drvData->accelCfg->root = NULL;
        drvData->accelCfg->regCfgGroup = NULL;
        ReleaseSensorAllRegConfig(drvData->accelCfg);
        (void)ReleaseSensorBusHandle(&drvData->accelCfg->busCfg);
        OsalMemFree(drvData->accelCfg);
        drvData->accelCfg = NULL;
    }

    drvData->initStatus = false;
}

加速度计传感器寄存器组配置信息

加速度计传感器数据配置只需要按照模板配置即可，基于模板配置的解析功能已经在InitSensorConfigData函数完成，只需初始化时调用即可。如果有新增配置项，需要同步修改此函数。

加速度传感器数据配置模板(accel_config.hcs)
root {
    sensorAccelConfig {
        accelChipConfig {
            /* 传感器设备信息模板 */
            template sensorInfo {
                sensorName = "accelerometer"; /* 加速度计名字，字符最大长度16字节 */
                vendorName = "borsh_bmi160"; /* 传感器设备厂商，字符最大长度16字节 */
                firmwareVersion = "1.0"; /* 传感器固件版本号，默认1.0，字符最大长度16字节 */
                hardwareVersion = "1.0"; /* 传感器硬件版本号，默认1.0，字符最大长度16字节 */
                sensorTypeId = 1; /* 传感器类型编号，详见{@link SensorTypeTag} */
                sensorId = 1; /* 传感器的标识号，有传感器驱动开发者定义，推荐用{@link SensorTypeTag}枚举 */
                maxRange = 8; /* 传感器的最大量程,根据开发者需要配置 */
                precision = 0; /* 传感器的精度，与上报数据配合使用，上报数据结构体{@link SensorEvents } */
                power = 230; /* 传感器的功耗 */
            }
            /* 传感器使用的总线类型和配置信息模板 */
            template sensorBusConfig {
                busType = 0; /* 0:i2c 1:spi */ 
                busNum = 6; /* 芯片上分配给传感器的器件号 */ 
                busAddr = 0; /* 芯片上分配给传感器的地址 */
                regWidth = 1; /* 传感器寄存器地址宽度 */
                regBigEndian = 0; /* 传感器寄存器大小端 */ 
            }
            /* 传感器设备属性模板 */
            template sensorAttr {
                chipName = ""; /* 传感器芯片名字 */
                chipIdRegister = 0xf; /* 传感器在位检测寄存器地址 */
                chipIdValue = 0xd1; /* 校验传感器在位检测寄存器值 */
            }
        }
    }
}

/* 根据不同器件硬件差异，修改模板配置，不修改的就会默认采用模板配置 */
root {
    sensorAccelConfig {
        accel_bmi160_chip_config : accelChipConfig {
            match_attr = "hdf_sensor_accel_driver"; /* 需要和加速度传感器设备配置match_attr字段保持一致 */
            accelInfo :: sensorInfo {
                vendorName = "borsh_bmi160";
                sensorTypeId = 1;
                sensorId = 1;
            }
            accelBusConfig :: sensorBusConfig {
                busType = 0; /* i2c通讯方式 */
                busNum = 6;
                busAddr = 0x68;
                regWidth = 1; /* 1字节位宽 */ 
            }
            accelAttr :: sensorAttr {
                chipName = "bmi160";
                chipIdRegister = 0x00;
                chipIdValue = 0xd1;
            }
            accelRegConfig {
                /*  regAddr: 寄存器地址
                    value: 寄存器值
                    mask: 寄存器值的掩码
                    len: 寄存器值的数据长度(字节)
                    delay: 配置寄存器延时(ms)
                    opsType:操作类型 0-无 1-读 2-写 3-读并检查 4-位更新
                    calType: 计算类型 0-无 1-写 2-取反 3-异或 4-左移 5-右移
                    shiftNum: 移动位数
                    debug: 调试开关，0-调试关闭 1-调试打开
                    save: 保存数据开关，0-不保存数据 1-保存数据 
                */
                /* 传感器寄存器操作分组，按照分组进行有序配置 */
                /* 寄存器地址, 寄存器值, 寄存器值的掩码, 寄存器值的数据长度, 配置寄存器延时, 操作类型, 计算类型, 移动位数, 调试开关, 保存开关 */
                /* 初始化寄存器组 */
                initSeqConfig = [
                    0x7e,    0xb6, 0xff,   1,     5,       2,       0,        0,     0,    0,
                    0x7e,    0x10, 0xff,   1,     5,       2,       0,        0,     0,    0
                ];
                /* 使能寄存器组 */
                enableSeqConfig = [
                    0x7e,    0x11, 0xff,   1,     5,       2,       0,        0,     0,    0,
                    0x41,    0x03, 0xff,   1,     0,       2,       0,        0,     0,    0,
                    0x40,    0x08, 0xff,   1,     0,       2,       0,        0,     0,    0
                ];
                /* 去使能寄存器组 */
                disableSeqConfig = [
                    0x7e,    0x10, 0xff,   1,     5,       2,       0,        0,     0,    0
                ];
            }
        }
    }
}

加速度计传感器驱动操作接口实现

开发者需要根据每种类型的传感器实现归一化接口。

/* 不使用函数暂时置空 */
static int32_t SetAccelInfo(struct SensorBasicInfo *info)
{
    (void)info;

    return HDF_ERR_NOT_SUPPORT;
}
/* 下发使能寄存器组的配置 */
static int32_t SetAccelEnable(void)
{
    int32_t ret;
    struct AccelDrvData *drvData = AccelGetDrvData();

    CHECK_NULL_PTR_RETURN_VALUE(drvData->accelCfg, HDF_ERR_INVALID_PARAM);
    ret = SetSensorRegCfgArray(&drvData->accelCfg->busCfg, drvData->accelCfg->regCfgGroup[SENSOR_ENABLE_GROUP]);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: accel sensor disable config failed", __func__);
        return HDF_FAILURE;
    }

    drvData->threadStatus = SENSOR_THREAD_RUNNING;

    return HDF_SUCCESS;
}
/* 下发去使能寄存器组的配置 */
static int32_t SetAccelDisable(void)
{
    int32_t ret;
    struct AccelDrvData *drvData = AccelGetDrvData();

    CHECK_NULL_PTR_RETURN_VALUE(drvData->accelCfg, HDF_ERR_INVALID_PARAM);

    ret = SetSensorRegCfgArray(&drvData->accelCfg->busCfg, drvData->accelCfg->regCfgGroup[SENSOR_DISABLE_GROUP]);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: accel sensor disable config failed", __func__);
        return HDF_FAILURE;
        }

    drvData->threadStatus = SENSOR_THREAD_STOPPED;

    return HDF_SUCCESS;
}
/* 配置传感器采样率和数据上报间隔 */
static int32_t SetAccelBatch(int64_t samplingInterval, int64_t interval)
{
    (void)interval;

    struct AccelDrvData *drvData = AccelGetDrvData();
    drvData->interval = samplingInterval;

    return HDF_SUCCESS;
}
/* 设置传感器工作模式，当前支持实时模式 */
static int32_t SetAccelMode(int32_t mode)
{
    return (mode == SENSOR_WORK_MODE_REALTIME) ? HDF_SUCCESS : HDF_FAILURE;
}
/* 设置传感器可选配置 */
static int32_t SetAccelOption(uint32_t option)
{
    (void)option;
    return HDF_ERR_NOT_SUPPORT;
}

差异化处理接口

/* 器件探测时，如果探测成功，则注册差异化处理函数到accel驱动模型里 */
int32_t DetectAccelBim160Chip(struct SensorCfgData *data)
{
    int32_t ret;
    struct AccelOpsCall ops;
    CHECK_NULL_PTR_RETURN_VALUE(data, HDF_ERR_INVALID_PARAM);

    if (strcmp(ACCEL_CHIP_NAME_BMI160, data->sensorAttr.chipName) != 0) {
        return HDF_SUCCESS;
    }
    ret = InitAccelPreConfig();
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: init  BMI160 bus mux config", __func__);
        return HDF_FAILURE;
    }
    if (DetectSensorDevice(data) != HDF_SUCCESS) {
        return HDF_FAILURE;
    }

   /* 差异化处理函数 */
    ops.Init = InitBmi160;
    ops.ReadData = ReadBmi160Data;
    ret = RegisterAccelChipOps(&ops);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: register BMI160 accel failed", __func__);
        (void)ReleaseSensorBusHandle(&data->busCfg);
        return HDF_FAILURE;
    }
    return HDF_SUCCESS;
}
/* 初始化处理函数 */
static int32_t InitBmi160(struct SensorCfgData *data)
{
    int32_t ret;

    CHECK_NULL_PTR_RETURN_VALUE(data, HDF_ERR_INVALID_PARAM);
    ret = SetSensorRegCfgArray(&data->busCfg, data->regCfgGroup[SENSOR_INIT_GROUP]);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: bmi160 sensor init config failed", __func__);
        return HDF_FAILURE;
    }
    return HDF_SUCCESS;
}
/* 数据处理函数 */
int32_t ReadBmi160Data(struct SensorCfgData *data)
{
    int32_t ret;
    struct AccelData  rawData = { 0, 0, 0 };
    int32_t tmp[ACCEL_AXIS_NUM];
    struct SensorReportEvent event;

    (void)memset_s(&event, sizeof(event), 0, sizeof(event));

    ret = ReadBmi160RawData(data, &rawData, &event.timestamp);
    if (ret != HDF_SUCCESS) {
        return HDF_FAILURE;
    }

    event.sensorId = SENSOR_TAG_ACCELEROMETER;
    event.option = 0;
    event.mode = SENSOR_WORK_MODE_REALTIME;

    rawData.x = rawData.x * BMI160_ACC_SENSITIVITY_2G;
    rawData.y = rawData.y * BMI160_ACC_SENSITIVITY_2G;
    rawData.z = rawData.z * BMI160_ACC_SENSITIVITY_2G;

    tmp[ACCEL_X_AXIS] = (rawData.x * SENSOR_1K_UNIT) / SENSOR_CONVERT_UNIT;
    tmp[ACCEL_Y_AXIS] = (rawData.y * SENSOR_1K_UNIT) / SENSOR_CONVERT_UNIT;
    tmp[ACCEL_Z_AXIS] = (rawData.z * SENSOR_1K_UNIT) / SENSOR_CONVERT_UNIT;

    event.dataLen = sizeof(tmp);
    event.data = (uint8_t *)&tmp;
    ret = ReportSensorEvent(&event);
    return ret;
}

数据处理函数

创建传感器定时器，按照配置的采样率定时采样，并上报给数据订阅者。

/* 传感器定时工作线程 */
static int32_t ReadAccelDataThreadWorker(void *arg)
{
    (void)arg;
    int64_t interval;
    struct AccelDrvData *drvData = AccelGetDrvData();

    drvData->threadStatus = SENSOR_THREAD_START;
    while (true) {
        if (drvData->threadStatus == SENSOR_THREAD_RUNNING) {
            if (drvData->ops.ReadData != NULL) {
                (void)drvData->ops.ReadData(drvData->accelCfg);
            }
            interval = OsalDivS64(drvData->interval, (SENSOR_CONVERT_UNIT * SENSOR_CONVERT_UNIT));
            OsalMSleep(interval);
        } else if (drvData->threadStatus == SENSOR_THREAD_DESTROY) {
            break;
        } else {
            OsalMSleep(ACC_DEFAULT_SAMPLING_200_MS / SENSOR_CONVERT_UNIT / SENSOR_CONVERT_UNIT);
        }

        if ((!drvData->initStatus) || (drvData->interval < 0) || drvData->threadStatus != SENSOR_THREAD_RUNNING) {
            continue;
        }
    }

    return HDF_SUCCESS;
}
/* 创建传感器定时器和器件初始化 */
static int32_t InitAccelConfig(void)
{
    int32_t ret;
    struct AccelDrvData *drvData = AccelGetDrvData();

    if (drvData->threadStatus != SENSOR_THREAD_NONE && drvData->threadStatus != SENSOR_THREAD_DESTROY) {
        HDF_LOGE("%s: accel thread have created", __func__);
        return HDF_SUCCESS;
    }

    ret = CreateSensorThread(&drvData->thread, ReadAccelDataThreadWorker, "hdf_sensor_accel", drvData);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: accel create thread failed", __func__);
        drvData->threadStatus = SENSOR_THREAD_NONE;
        return HDF_FAILURE;
    }

    CHECK_NULL_PTR_RETURN_VALUE(drvData->ops.Init, HDF_ERR_INVALID_PARAM);

    ret = drvData->ops.Init(drvData->accelCfg);
    if (ret != HDF_SUCCESS) {
        HDF_LOGE("%s: accel create thread failed", __func__);
        drvData->threadStatus = SENSOR_THREAD_NONE;
        return HDF_FAILURE;
    }
    drvData->initStatus = true;
    return HDF_SUCCESS;
}

主要的数据结构

/* 传感器转换单位*/
#define SENSOR_CONVERT_UNIT             1000
#define SENSOR_1K_UNIT                  1024
/* 传感器2g对应灵敏度转换值 */
#define BMI160_ACC_SENSITIVITY_2G       61
/* 传感器数据采样寄存器地址 */
#define BMI160_ACCEL_X_LSB_ADDR              0X12
#define BMI160_ACCEL_X_MSB_ADDR              0X13
#define BMI160_ACCEL_Y_LSB_ADDR              0X14
#define BMI160_ACCEL_Y_MSB_ADDR              0X15
#define BMI160_ACCEL_Z_LSB_ADDR              0X16
#define BMI160_ACCEL_Z_MSB_ADDR              0X17
/* 传感器数据维度 */
enum AccelAxisNum {
    ACCEL_X_AXIS   = 0,
    ACCEL_Y_AXIS   = 1,
    ACCEL_Z_AXIS   = 2,
    ACCEL_AXIS_NUM = 3,
};
/* 传感器每个维度值 */
struct AccelData {
    int32_t x;
    int32_t y;
    int32_t z;
};
/* 传感器私有数据结构体 */
struct AccelDrvData {
    bool detectFlag;
    uint8_t threadStatus;
    uint8_t initStatus;
    int64_t interval;
    struct SensorCfgData *accelCfg;
    struct OsalThread thread;
    struct AccelOpsCall ops;
};
/* 差异化适配函数 */
struct AccelOpsCall {
    int32_t (*Init)(struct SensorCfgData *data);
    int32_t (*ReadData)(struct SensorCfgData *data);
};

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已于2021-7-2 11:51:32修改

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