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-rw-r--r--components/drivers/sensors/sensor.c145
-rwxr-xr-xcomponents/drivers/sensors/sensor_cmd.c2
2 files changed, 64 insertions, 83 deletions
diff --git a/components/drivers/sensors/sensor.c b/components/drivers/sensors/sensor.c
index dba20f6555..d689988fdd 100644
--- a/components/drivers/sensors/sensor.c
+++ b/components/drivers/sensors/sensor.c
@@ -44,7 +44,7 @@ void rt_sensor_cb(rt_sensor_t sen)
{
return;
}
-
+
if (sen->irq_handle != RT_NULL)
{
sen->irq_handle(sen);
@@ -116,30 +116,18 @@ static rt_err_t rt_sensor_irq_init(rt_sensor_t sensor)
return 0;
}
-/* Sensor interrupt enable */
-static void rt_sensor_irq_enable(rt_sensor_t sensor)
-{
- if (sensor->config.irq_pin.pin != RT_PIN_NONE)
- {
- rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_TRUE);
- }
-}
-
-/* Sensor interrupt disable */
-static void rt_sensor_irq_disable(rt_sensor_t sensor)
-{
- if (sensor->config.irq_pin.pin != RT_PIN_NONE)
- {
- rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
- }
-}
-
/* RT-Thread Device Interface */
-
-static rt_err_t rt_sensor_init(rt_device_t dev)
+static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
RT_ASSERT(dev != RT_NULL);
+ rt_err_t res = RT_EOK;
+
+ if (sensor->module)
+ {
+ /* take the module mutex */
+ rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
+ }
if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf == RT_NULL)
{
@@ -147,60 +135,46 @@ static rt_err_t rt_sensor_init(rt_device_t dev)
sensor->data_buf = rt_malloc(sizeof(struct rt_sensor_data) * sensor->info.fifo_max);
if (sensor->data_buf == RT_NULL)
{
- return -RT_ENOMEM;
+ res = -RT_ENOMEM;
+ goto __exit;
}
}
- return RT_EOK;
-}
-
-static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
-{
- rt_sensor_t sensor = (rt_sensor_t)dev;
- RT_ASSERT(dev != RT_NULL);
-
- if (sensor->module)
- {
- /* take the module mutex */
- rt_mutex_take(sensor->module->lock, RT_WAITING_FOREVER);
- }
-
if (oflag & RT_DEVICE_FLAG_RDONLY && dev->flag & RT_DEVICE_FLAG_RDONLY)
{
- /* If polling mode is supported, configure it to polling mode */
- if (sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_POLLING) == RT_EOK)
+ if (sensor->ops->control != RT_NULL)
{
- sensor->config.mode = RT_SENSOR_MODE_POLLING;
+ /* If polling mode is supported, configure it to polling mode */
+ sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_POLLING);
}
+ sensor->config.mode = RT_SENSOR_MODE_POLLING;
}
else if (oflag & RT_DEVICE_FLAG_INT_RX && dev->flag & RT_DEVICE_FLAG_INT_RX)
{
- /* If interrupt mode is supported, configure it to interrupt mode */
- if (sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_INT) == RT_EOK)
+ if (sensor->ops->control != RT_NULL)
{
- sensor->config.mode = RT_SENSOR_MODE_INT;
- /* Initialization sensor interrupt */
- rt_sensor_irq_init(sensor);
+ /* If interrupt mode is supported, configure it to interrupt mode */
+ sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_INT);
}
+ /* Initialization sensor interrupt */
+ rt_sensor_irq_init(sensor);
+ sensor->config.mode = RT_SENSOR_MODE_INT;
}
else if (oflag & RT_DEVICE_FLAG_FIFO_RX && dev->flag & RT_DEVICE_FLAG_FIFO_RX)
{
- /* If fifo mode is supported, configure it to fifo mode */
- if (sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_FIFO) == RT_EOK)
+ if (sensor->ops->control != RT_NULL)
{
- sensor->config.mode = RT_SENSOR_MODE_FIFO;
- /* Initialization sensor interrupt */
- rt_sensor_irq_init(sensor);
+ /* If fifo mode is supported, configure it to fifo mode */
+ sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, (void *)RT_SENSOR_MODE_FIFO);
}
+ /* Initialization sensor interrupt */
+ rt_sensor_irq_init(sensor);
+ sensor->config.mode = RT_SENSOR_MODE_FIFO;
}
else
{
- if (sensor->module)
- {
- /* release the module mutex */
- rt_mutex_release(sensor->module->lock);
- }
- return -RT_EINVAL;
+ res = -RT_EINVAL;
+ goto __exit;
}
/* Configure power mode to normal mode */
@@ -209,18 +183,21 @@ static rt_err_t rt_sensor_open(rt_device_t dev, rt_uint16_t oflag)
sensor->config.power = RT_SENSOR_POWER_NORMAL;
}
+__exit:
if (sensor->module)
{
/* release the module mutex */
rt_mutex_release(sensor->module->lock);
}
- return RT_EOK;
+ return res;
}
-static rt_err_t rt_sensor_close(rt_device_t dev)
+static rt_err_t rt_sensor_close(rt_device_t dev)
{
rt_sensor_t sensor = (rt_sensor_t)dev;
+ int i;
+
RT_ASSERT(dev != RT_NULL);
if (sensor->module)
@@ -235,8 +212,31 @@ static rt_err_t rt_sensor_close(rt_device_t dev)
}
/* Sensor disable interrupt */
- rt_sensor_irq_disable(sensor);
+ if (sensor->config.irq_pin.pin != RT_PIN_NONE)
+ {
+ rt_pin_irq_enable(sensor->config.irq_pin.pin, RT_FALSE);
+ }
+
+ if (sensor->module != RT_NULL && sensor->info.fifo_max > 0 && sensor->data_buf != RT_NULL)
+ {
+ for (i = 0; i < sensor->module->sen_num; i ++)
+ {
+ if (sensor->module->sen[i]->parent.ref_count > 0)
+ goto __exit;
+ }
+
+ /* Free memory for the sensor buffer */
+ for (i = 0; i < sensor->module->sen_num; i ++)
+ {
+ if (sensor->module->sen[i]->data_buf != RT_NULL)
+ {
+ rt_free(sensor->module->sen[i]->data_buf);
+ sensor->module->sen[i]->data_buf = RT_NULL;
+ }
+ }
+ }
+__exit:
if (sensor->module)
{
rt_mutex_release(sensor->module->lock);
@@ -325,7 +325,7 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
}
break;
case RT_SENSOR_CTRL_SET_ODR:
-
+
/* Configuration data output rate */
result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_ODR, args);
if (result == RT_EOK)
@@ -334,27 +334,8 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
LOG_D("set odr %d", sensor->config.odr);
}
break;
- case RT_SENSOR_CTRL_SET_MODE:
-
- /* Configuration sensor work mode */
- result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_MODE, args);
- if (result == RT_EOK)
- {
- sensor->config.mode = (rt_uint32_t)args & 0xFF;
- LOG_D("set work mode code:", sensor->config.mode);
-
- if (sensor->config.mode == RT_SENSOR_MODE_POLLING)
- {
- rt_sensor_irq_disable(sensor);
- }
- else if (sensor->config.mode == RT_SENSOR_MODE_INT || sensor->config.mode == RT_SENSOR_MODE_FIFO)
- {
- rt_sensor_irq_enable(sensor);
- }
- }
- break;
case RT_SENSOR_CTRL_SET_POWER:
-
+
/* Configuration sensor power mode */
result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SET_POWER, args);
if (result == RT_EOK)
@@ -364,7 +345,7 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
}
break;
case RT_SENSOR_CTRL_SELF_TEST:
-
+
/* Device self-test */
result = sensor->ops->control(sensor, RT_SENSOR_CTRL_SELF_TEST, args);
break;
@@ -383,7 +364,7 @@ static rt_err_t rt_sensor_control(rt_device_t dev, int cmd, void *args)
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops rt_sensor_ops =
{
- rt_sensor_init,
+ RT_NULL,
rt_sensor_open,
rt_sensor_close,
rt_sensor_read,
@@ -434,7 +415,7 @@ int rt_hw_sensor_register(rt_sensor_t sensor,
#ifdef RT_USING_DEVICE_OPS
device->ops = &rt_sensor_ops;
#else
- device->init = rt_sensor_init;
+ device->init = RT_NULL;
device->open = rt_sensor_open;
device->close = rt_sensor_close;
device->read = rt_sensor_read;
diff --git a/components/drivers/sensors/sensor_cmd.c b/components/drivers/sensors/sensor_cmd.c
index 6babf12db3..245279020e 100755
--- a/components/drivers/sensors/sensor_cmd.c
+++ b/components/drivers/sensors/sensor_cmd.c
@@ -55,7 +55,7 @@ static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor
}
}
-rt_err_t rx_callback(rt_device_t dev, rt_size_t size)
+static rt_err_t rx_callback(rt_device_t dev, rt_size_t size)
{
rt_sem_release(sensor_rx_sem);
return 0;
generated by cgit v1.3.1 (git 2.54.0) at 2026-10-30 11:00:09 +0000