px4_autopilot/nuttx/drivers/analog/adc.c

/****************************************************************************
 * drivers/analog/adc.c
 *
 *   Copyright (C) 2011 Li Zhuoyi. All rights reserved.
 *   Author: Li Zhuoyi <lzyy.cn@gmail.com>
 *   History: 0.1 2011-08-04 initial version
 *
 * Derived from drivers/can.c
 *
 *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <unistd.h>
#include <string.h>
#include <semaphore.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/fs/fs.h>
#include <nuttx/arch.h>
#include <nuttx/analog/adc.h>

#include <arch/irq.h>

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static int     adc_open(FAR struct file *filep);
static int     adc_close(FAR struct file *filep);
static ssize_t adc_read(FAR struct file *, FAR char *, size_t);
static ssize_t adc_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
static int     adc_ioctl(FAR struct file *filep,int cmd,unsigned long arg);

/****************************************************************************
 * Private Data
 ****************************************************************************/

static const struct file_operations adc_fops =
{
  adc_open,     /* open */
  adc_close,    /* close */
  adc_read,     /* read */
  adc_write,    /* write */
  0,            /* seek */
  adc_ioctl     /* ioctl */
#ifndef CONFIG_DISABLE_POLL
  , 0           /* poll */
#endif
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/
/************************************************************************************
 * Name: adc_open
 *
 * Description:
 *   This function is called whenever the ADC device is opened.
 *
 ************************************************************************************/

static int adc_open(FAR struct file *filep)
{
  FAR struct inode     *inode = filep->f_inode;
  FAR struct adc_dev_s *dev   = inode->i_private;
  uint8_t               tmp;
  int                   ret   = OK;

  /* If the port is the middle of closing, wait until the close is finished */

  if (sem_wait(&dev->ad_closesem) != OK)
    {
      ret = -errno;
    }
  else
    {
      /* Increment the count of references to the device.  If this the first
       * time that the driver has been opened for this device, then initialize
       * the device.
       */

      tmp = dev->ad_ocount + 1;
      if (tmp == 0)
        {
          /* More than 255 opens; uint8_t overflows to zero */

          ret = -EMFILE;
        }
      else
        {
          /* Check if this is the first time that the driver has been opened. */

          if (tmp == 1)
            {
              /* Yes.. perform one time hardware initialization. */

              irqstate_t flags = irqsave();
              ret = dev->ad_ops->ao_setup(dev);
              if (ret == OK)
                {
                  /* Mark the FIFOs empty */

                  dev->ad_recv.af_head = 0;
                  dev->ad_recv.af_tail = 0;

                  /* Finally, Enable the CAN RX interrupt */

                  dev->ad_ops->ao_rxint(dev, true);

                  /* Save the new open count on success */

                  dev->ad_ocount = tmp;
                }
              irqrestore(flags);
            }
        }
      sem_post(&dev->ad_closesem);
    }
  return ret;
}

/************************************************************************************
 * Name: adc_close
 *
 * Description:
 *   This routine is called when the ADC device is closed.
 *   It waits for the last remaining data to be sent.
 *
 ************************************************************************************/

static int adc_close(FAR struct file *filep)
{
  FAR struct inode     *inode = filep->f_inode;
  FAR struct adc_dev_s *dev   = inode->i_private;
  irqstate_t            flags;
  int                   ret = OK;

  if (sem_wait(&dev->ad_closesem) != OK)
    {
      ret = -errno;
    }
  else
    {
      /* Decrement the references to the driver.  If the reference count will
       * decrement to 0, then uninitialize the driver.
       */

      if (dev->ad_ocount > 1)
        {
          dev->ad_ocount--;
          sem_post(&dev->ad_closesem);
        }
      else
        {
          /* There are no more references to the port */

          dev->ad_ocount = 0;

          /* Free the IRQ and disable the ADC device */

          flags = irqsave();       /* Disable interrupts */
          dev->ad_ops->ao_shutdown(dev);       /* Disable the ADC */
          irqrestore(flags);

          sem_post(&dev->ad_closesem);
        }
    }
  return ret;
}

/****************************************************************************
 * Name: adc_read
 ****************************************************************************/

static ssize_t adc_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
{
  FAR struct inode     *inode = filep->f_inode;
  FAR struct adc_dev_s *dev   = inode->i_private;
  size_t                nread;
  irqstate_t            flags;
  int                   ret   = 0;
  int                   msglen;

  avdbg("buflen: %d\n", (int)buflen);

  if (buflen % 5 == 0)
    msglen = 5;
  else if (buflen % 4 == 0)
    msglen = 4;
  else if (buflen % 3 == 0)
    msglen = 3;
  else if (buflen % 2 == 0)
    msglen = 2;
  else if (buflen == 1)
    msglen = 1;
  else
    msglen = 5;

  if (buflen >= msglen)
    {
      /* Interrupts must be disabled while accessing the ad_recv FIFO */

      flags = irqsave();
      while (dev->ad_recv.af_head == dev->ad_recv.af_tail)
        {
          /* The receive FIFO is empty -- was non-blocking mode selected? */

          if (filep->f_oflags & O_NONBLOCK)
            {
              ret = -EAGAIN;
              goto return_with_irqdisabled;
            }

          /* Wait for a message to be received */

          dev->ad_nrxwaiters++;
          ret = sem_wait(&dev->ad_recv.af_sem);
          dev->ad_nrxwaiters--;
          if (ret < 0)
            {
              ret = -errno;
              goto return_with_irqdisabled;
            }
        }

      /* The ad_recv FIFO is not empty.  Copy all buffered data that will fit
       * in the user buffer.
       */

      nread = 0;
      do
        {
          FAR struct adc_msg_s *msg = &dev->ad_recv.af_buffer[dev->ad_recv.af_head];

          /* Will the next message in the FIFO fit into the user buffer? */

          if (nread + msglen > buflen)
            {
              /* No.. break out of the loop now with nread equal to the actual
               * number of bytes transferred.
               */

              break;
            }

          /* Copy the message to the user buffer */

          if (msglen == 1)
            {
              /* Only one channel,read highest 8-bits */

              buffer[nread] = msg->am_data >> 24;
            }
          else if (msglen == 2)
            {
              /* Only one channel, read highest 16-bits */

              *(int16_t *)&buffer[nread] = msg->am_data >> 16;
            }
          else if (msglen == 3)
            {
              /* Read channel highest 16-bits */

              buffer[nread] = msg->am_channel;
              *(int16_t *)&buffer[nread + 1] = msg->am_data >> 16;
            }
          else if (msglen == 4)
            {
              /* read channel highest 24-bits */

              *(int32_t *)&buffer[nread] = msg->am_data;
              buffer[nread] = msg->am_channel;
            }
          else
            {
              /* Read all */

              *(int32_t *)&buffer[nread + 1] = msg->am_data;
              buffer[nread] = msg->am_channel;
            }
          nread += msglen;

          /* Increment the head of the circular message buffer */

          if (++dev->ad_recv.af_head >= CONFIG_ADC_FIFOSIZE)
            {
              dev->ad_recv.af_head = 0;
            }
        }
      while (dev->ad_recv.af_head != dev->ad_recv.af_tail);

      /* All on the messages have bee transferred.  Return the number of bytes
       * that were read.
       */

      ret = nread;

return_with_irqdisabled:
      irqrestore(flags);
    }

  avdbg("Returning: %d\n", ret);
  return ret;
}

/************************************************************************************
 * Name: adc_write
 ************************************************************************************/

static ssize_t adc_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
{
  return 0;
}

/************************************************************************************
 * Name: adc_ioctl
 ************************************************************************************/

static int adc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
  FAR struct inode     *inode = filep->f_inode;
  FAR struct adc_dev_s *dev   = inode->i_private;
  int               ret   = OK;

  ret = dev->ad_ops->ao_ioctl(dev, cmd, arg);
  return ret;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

int adc_receive(FAR struct adc_dev_s *dev, uint8_t ch, int32_t data)
{
  FAR struct adc_fifo_s *fifo = &dev->ad_recv;
  int                    nexttail;
  int                    err = -ENOMEM;

  /* Check if adding this new message would over-run the drivers ability to enqueue
   * read data.
   */

  nexttail = fifo->af_tail + 1;
  if (nexttail >= CONFIG_ADC_FIFOSIZE)
    {
      nexttail = 0;
    }

  /* Refuse the new data if the FIFO is full */

  if (nexttail != fifo->af_head)
    {
      /* Add the new, decoded CAN message at the tail of the FIFO */

      fifo->af_buffer[fifo->af_tail].am_channel = ch;
      fifo->af_buffer[fifo->af_tail].am_data    = data;

      /* Increment the tail of the circular buffer */

      fifo->af_tail = nexttail;

      if (dev->ad_nrxwaiters > 0)
        {
          sem_post(&fifo->af_sem);
        }
      err = OK;
    }
    return err;
}

int adc_register(FAR const char *path, FAR struct adc_dev_s *dev)
{
  /* Initialize the ADC device structure */

  dev->ad_ocount = 0;

  sem_init(&dev->ad_recv.af_sem, 0, 0);
  sem_init(&dev->ad_closesem, 0, 1);

  dev->ad_ops->ao_reset(dev);

  return register_driver(path, &adc_fops, 0444, dev);
}