linux驱动由浅入深系列:高通sensor架构实例分析之二(驱动代码结构)
2017-06-20 15:00
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linux驱动由浅入深系列:高通sensor架构实例分析之一(整体概览+AP侧代码分析)
linux驱动由浅入深系列:高通sensor架构实例分析之二(adsp驱动代码结构)
[b]Linux驱动由浅入深系列:高通sensor架构实例分析之三(adsp上报数据详解、校准流程详解)[/b]
上一篇文章中我们了解了高通sensor的整体架构及对AP侧的代码进行了分析,这篇文章我们详细分析一下aDSP侧的代码结构。
sensor数据流关键代码概览
下图是sensor数据流程中的关键代码部分:
实现sensor驱动最重要的一个结构体
结合上一篇的测试代码,可以清楚的看到高通sensor的数据处理流程。图中7位置指示了每个基于ADSP架构的传感器需要实现的接口如下:
typedef struct { /** * @brief Initializes the driver and sets up devices. * * Allocates a handle to a driver instance, opens a communication port to * associated devices, configures the driver and devices, and places * the devices in the default power state. Returns the instance handle along * with a list of supported sensors. This function will be called at init * time. * * @param[out] dd_handle_ptr Pointer that this function must malloc and * populate. This is a handle to the driver * instance that will be passed in to all other * functions. NB: Do not use @a memhandler to * allocate this memory. * @param[in] smgr_handle Handle used to identify this driver when it * calls into Sensors Manager functions. * @param[in] nv_params NV parameters retrieved for the driver. * @param[in] device_info Access info for physical devices controlled by * this driver. Used to configure the bus * and talk to the devices. * @param[in] num_devices Number of elements in @a device_info. * @param[in] memhandler Memory handler used to dynamically allocate * output parameters, if applicable. NB: Do not * use memhandler to allocate memory for * @a dd_handle_ptr. * @param[in/out] sensors List of supported sensors, allocated, * populated, and returned by this function. * @param[in/out] num_sensors Number of elements in @a sensors. * * @return Success if @a dd_handle_ptr was allocated and the driver was * configured properly. Otherwise a specific error code is returned. */ sns_ddf_status_e (*init)( sns_ddf_handle_t* dd_handle_ptr, sns_ddf_handle_t smgr_handle, sns_ddf_nv_params_s* nv_params, sns_ddf_device_access_s device_info[], uint32_t num_devices, sns_ddf_memhandler_s* memhandler, sns_ddf_sensor_e** sensors, uint32_t* num_sensors); /** * @brief Retrieves a single set of sensor data. * * Requests a single sample of sensor data from each of the specified * sensors. Data is returned in one of two ways: (1) immediately after being * read from the sensor, in which case data is populated in the same order * it was requested, or (2) in cases where the sensor requires several steps * to be read, this function will return with the status SNS_DDF_PENDING, * and provide the data asynchronously via @a sns_ddf_smgr_data_notify() * when it is ready. Note that @a sns_ddf_smgr_data_notify() must be called * even in the event of an error in order to report a failed status. An * asynchronous notification is also expected in the case of mixed data * (i.e. synchronous and asynchronous). * * @note In the case where multiple sensors are requested, the driver must * attempt to collect data from all requested sensors, meaning that * the time it takes to execute this function will be determined by * the number of sensors sampled, and their various delays. Drivers * must never return partial responses. If a sensor has failed or * isn't available, @a sns_ddf_sensor_data_s.status must be used to * reflect this status. * * @param[in] dd_handle Handle to a driver instance. * @param[in] sensors List of sensors for which data is requested. * @param[in] num_sensors Number of elements in @a sensors. * @param[in] memhandler Memory handler used to dynamically allocate * output parameters, if applicable. * @param[out] data Sampled sensor data. The number of elements must * match @a num_sensors. * * @return SNS_DDF_SUCCESS if data was populated successfully. If any of the * sensors queried are to 4000 be read asynchronously SNS_DDF_PENDING is * returned and data is via @a sns_ddf_smgr_data_notify() when * available. Otherwise a specific error code is returned. * * @see sns_ddf_data_notify() */ sns_ddf_status_e (*get_data)( sns_ddf_handle_t dd_handle, sns_ddf_sensor_e sensors[], uint32_t num_sensors, sns_ddf_memhandler_s* memhandler, sns_ddf_sensor_data_s** data); /** * @brief Sets a sensor attribute to a specific value. * * @param[in] dd_handle Handle to a driver instance. * @param[in] sensor Sensor for which this attribute is to be set. When * addressing an attribute that refers to the driver * this value is set to SNS_DDF_SENSOR__ALL. * @param[in] attrib Attribute to be set. * @param[in] value Value to set this attribute. * * @return Success if the value of the attribute was set properly. Otherwise * a specific error code is returned. */ sns_ddf_status_e (*set_attrib)( sns_ddf_handle_t dd_handle, sns_ddf_sensor_e sensor, sns_ddf_attribute_e attrib, void* value); /** * @brief Retrieves the value of an attribute for a sensor. * * @param[in] dd_handle Handle to a driver instance. * @param[in] sensor Sensor whose attribute is to be retrieved. When * addressing an attribute that refers to the driver * this value is set to SNS_DDF_SENSOR__ALL. * @param[in] attrib Attribute to be retrieved. * @param[in] memhandler Memory handler used to dynamically allocate * output parameters, if applicable. * @param[out] value Pointer that this function will allocate or set * to the attribute's value. * @param[out] num_elems Number of elements in @a value. * * @return Success if the attribute was retrieved and the buffer was * populated. Otherwise a specific error code is returned. */ sns_ddf_status_e (*get_attrib)( sns_ddf_handle_t dd_handle, sns_ddf_sensor_e sensor, sns_ddf_attribute_e attrib, sns_ddf_memhandler_s* memhandler, void** value, uint32_t* num_elems); /** * @brief Called when the timer set by this driver has expired. This must be * the callback function submitted when initializing a timer. * * @note This will be called within the context of the Sensors Manager task. * * @param[in] dd_handle Handle to a driver instance. * @param[in] arg The argument submitted when the timer was set. * * @see sns_ddf_set_timer() */ void (*handle_timer)(sns_ddf_handle_t dd_handle, void* arg); /** * @brief Called in response to an interrupt for this driver. * * @note This function will be called within the context of the SMGR task, * *not* the ISR. * * @param[in] dd_handle Handle to a driver instance. * @param[in] gpio_num GPIO number that triggered this interrupt. * @param[in] timestamp Time at which interrupt happened. */ void (*handle_irq)( sns_ddf_handle_t dd_handle, uint32_t gpio_num, sns_ddf_time_t timestamp); /** * @brief Resets the driver and device so they return to the state they were * in after init() was called. * * @param[in] dd_handle Handle to a driver instance. * * @return Success if the driver was able to reset its state and the device. * Otherwise a specific error code is returned. */ sns_ddf_status_e (*reset)(sns_ddf_handle_t dd_handle); /** * @brief Runs a factory test case. * * Tests may include embedded hardware tests in cases where the sensor * supports it, as well as driver based sensor tests. This is generally run * in a factory setting and must not be called while a device is streaming * data. * * @param[in] dd_handle Handle to a driver instance. * @param[in] sensor Sensor on which to run the test. * @param[in] test Test case to run. * @param[out] err Optional driver-specific error code. * * @return One of the following error codes: * SNS_DDF_SUCCESS - Test passed. * SNS_DDF_PENDING - Test result will be sent as an event. * SNS_DDF_EDEVICE_BUSY - Device is busy streaming, cannot run test. * SNS_DDF_EINVALID_TEST - Test is not defined for this sensor. * SNS_DDF_EINVALID_PARAM - One of the parameters is invalid. * SNS_DDF_EFAIL - Unknown error occurred. */ sns_ddf_status_e (*run_test)( sns_ddf_handle_t dd_handle, sns_ddf_sensor_e sensor, sns_ddf_test_e test, uint32_t* err); /** * @brief Begins device-scheduled sampling and enables notification via Data * Ready Interrupts (DRI). * * The driver commands the device to begin sampling at the configured * ODR (@a SNS_DDF_ATTRIB_ODR) and enables DRI. When data is ready, the * driver's handle_irq() function is called and the driver notifies * SMGR of the event via @a sns_ddf_smgr_notify_event() and @a * SNS_DDF_EVENT_DATAREADY. * * @param[in] handle Handle to the driver's instance. * @param[in] sensor Sensor to be sampled. * @param[in] enable True to enable or false to disable data stream. * * @return SNS_DDF_SUCCESS if sensor was successfully configured and * internal sampling has commenced or ceased. Otherwise an * appropriate error code. */ sns_ddf_status_e (*enable_sched_data)( sns_ddf_handle_t handle, sns_ddf_sensor_e sensor, bool enable); /** * @brief Probes for the device with a given configuration. * * This commands the driver to look for the device with the specified * configuration (ie, I2C address/bus defined in the sns_ddf_device_access_s * struct. * * @param[in] dev_info Access info for physical devices controlled by * this driver. Used to determine if the device is * physically present. * @param[in] memhandler Memory handler used to dynamically allocate * output parameters, if applicable. * @param[out] num_sensors Number of sensors supported. 0 if none. * @param[out] sensor_type Array of sensor types supported, with num_sensor * elements. Allocated by this function. * * @return SNS_DDF_SUCCESS if the part was probed function completed, even * if no device was found (in which case num_sensors will be set to * 0). */ sns_ddf_status_e(*probe)( sns_ddf_device_access_s* device_info, sns_ddf_memhandler_s* memhandler, uint32_t* num_sensors, sns_ddf_sensor_e** sensors ); /** * @brief Retrieves a set of sensor data. Asynchronous API * * Requests sample of sensor data from the specified sensor. * * @note If a sensor has failed or * isn't available, @a sns_ddf_sensor_data_s.status must be used to * reflect this status. * * @param[in] dd_handle Handle to a driver instance. * @param[in] sensor sensor for which data is requested. * * @param[in] num_samples number of samples to retrieve as available. Drain the FIFO if value is set to Zero. * @param[in] trigger now trigger notify fifo data now or * later when trigger_now is set to true. * * * @return SNS_DDF_SUCCESS if data was populated successfully. * via sns_ddf_smgr_data_notify() or if trigger_now is * set to false; Otherwise a specific error code is * returned. * * @see sns_ddf_data_notify_data() as this will be used to report the data. */ sns_ddf_status_e (*trigger_fifo_data)( sns_ddf_handle_t dd_handle, sns_ddf_sensor_e sensor, uint16_t num_samples, bool trigger_now); /** * @brief Delivers a Driver Access Framework message to the driver. * Asynchronous/Synchronous API. * * @detail * * @param[in] dd_handle Handle to a driver instance. * @param[in] req_id Request identifier. * @param[in] req_msg Request message in the opaque payload. If no * payload is supplied, then this pointer will be * null. * @param[in] req_size Number of bytes in @req_msg. If req_msg is empty, * this value must be 0. * @param[in] memhandler Memory handler used to dynamically allocate * output parameters, if applicable. * @param[out] resp_msg Pointer to the output message pointer. The output * message must be allocated first using @memhandler. * @param[out] resp_size Pointer to number of bytes in @resp_msg. If there * is no DAF response message for the request, then * this must be 0 to show that the DAF response is * not present. Response messages are limited in * size to @SNS_SMGR_MAX_DAF_MESSAGE_SIZE_V01 bytes. * Any response message larger than * @SNS_SMGR_MAX_DAF_MESSAGE_SIZE_V01 bytes will be * truncated. * @param[in] trans_id_ptr Pointer to the optional transaction identifier. This will be null if a transaction ID was not provided. * @param[in] conn_handle The connection handle for the request message. * This value must be saved if the particular request * is expected to generate indications. Upon * notifying the SMGR of an indication, this value * must be provided to the SMGR. * * @return Success if the message was retrieved and the buffer was correctly * populated. Otherwise a specific error code is returned. */ sns_ddf_status_e (*process_daf_req)( sns_ddf_handle_t dd_handle, uint32_t req_id, const void* req_msg, uint32_t req_size, sns_ddf_memhandler_s* memhandler, void** resp_msg, uint32_t* resp_size, const uint8_t* trans_id_ptr, void* conn_handle); /** * @brief Cancels all of the driver's current Driver Access Framework * asynchronous transactions for the provided connection handle. * * @note This does not have to cancel a response message in the process of * being created. * This function does not have to be implemented for drivers that do * not support or implement any asynchronous messages (these messages * require the usage of sns_ddf_smgr_notify_daf_ind). * * @param[in] dd_handle Handle to a driver instance. * @param[in] conn_handle The connection handle for the client that is * cancelling the Driver Access Framework * transaction. */ void (*cancel_daf_trans)( sns_ddf_handle_t dd_handle, void* conn_handle); } sns_ddf_driver_if_s;
aDSP初始化流程
aDSP的初始化工作从[Sns_init_dsps.c]文件中的
sns_init()函数开始,其中调用 ->
sns_init_once(); -> SNS_INIT_FUNCTIONS存在一个各个模块的初始化函数指针列表,依次调用各个模块的初始化函数init_ptrs[i]() -> 其中我们关注传感器相关的[sns_smgr_main_uimg.c]sns_smgr_init()
-> 创建了 [sns_smgr_main.c]sns_smgr_task() 进程 ->sns_smgr_hw_init(); ->sns_smgr_process_msg();
->sns_smgr_process_reg_resp_msg(); ->sns_smgr_process_reg_data() ->sns_smgr_process_reg_devinfo()
->sns_smgr_parse_reg_devinfo_resp() -> 通过drv_fn_ptr->probe()指针,调用相应传感器实现的probe函数。如果某传感器没有实现probe函数,则调用sns_smgr_populate_cfg_from_devinfo()。
aDSP上报传感器数据
Sensor上报数据的三种方式:
1, (Polling)0x00调用一次get_data后启动timer,等到timer到时间后调用sns_ddf_driver_if_s中指定的handle_timer()函数上报一组传感器数据
2, (DRI)0x80调用enable_sched_data()启用DRI(Data ReadyInterrupt,数据完成中断),按照set_cycle_time指定的ODR(Output Data Rate,数据输出速率)进行数据采集,采集完成后调用sns_ddf_driver_if_s中指定的handle_irq()函数上报传感器数据。
3, (FIFO)0xD0调用trigger_fifo_data()函数启动FIFO模式,当数据量到达指定的阈值,触发sns_ddf_smgr_data_notify()函数上报一批数据。
关于数据上报流程更详细的见下一篇博客:Linux驱动由浅入深系列:高通sensor架构实例分析之三(adsp上报数据详解)
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