sensors/nau7802: Add support for the NAU7802
This patch adds support for the NAU7802 24 bit ADC from Nuvoton. Please read the documentation for more details. Signed-off-by: Daniel Byshkin <online@bskdany.com>
This commit is contained in:
Daniel Byshkin
Xiang Xiao
parent
7482170f3f
commit
504f838577
8 changed files with 1288 additions and 0 deletions
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@ -29,6 +29,7 @@ general interafce.
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sensors/lsm330.rst
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sensors/mcp9600.rst
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sensors/mpl115a.rst
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sensors/nau7802.rst
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sensors/sht4x.rst
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sensors/lsm6dso32.rst
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sensors/lis2mdl.rst
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211
Documentation/components/drivers/special/sensors/nau7802.rst
Normal file
211
Documentation/components/drivers/special/sensors/nau7802.rst
Normal file
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@ -0,0 +1,211 @@
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=======
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NAU7802
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=======
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Contributed by Daniel Byshkin.
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The Adafruit NAU7802 is a high-resolution 24-bit ADC with an integrated load cell amplifier. It is designed for use with load cells and other sensors that require high precision and low noise measurements. The NAU7802 features a built-in programmable gain amplifier (PGA) that allows for easy calibration and adjustment of the sensor's output.
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The driver uses the :doc:`uorb
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</components/drivers/special/sensors/sensors_uorb>` interface.
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Application Programming Interface
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=================================
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.. code-block:: c
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#include <nuttx/sensors/nau7802.h>
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The NAU7802 registration function allows the driver to be registered as a UORB
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driver. Registering this driver will cause the ``/dev/uorb/sensor_force<n>`` topic
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to appear, where ``n`` is the value of ``devno``.
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Registering the device in polling mode will create a kernel thread to poll the sensor
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.. code-block:: c
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int err = nau7802_register(i2c_master, 0, 0x2a);
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if(err < 0){
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printf("Failed to register NAU7802: %d\n", err);
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}
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The following are available commands for the NAU7802 driver:
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``SNIOC_RESET``
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----------------
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Performs a reset of all registers on the NAU7802.
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.. code-block:: c
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orb_ioctl(sensor, SNIOC_RESET);
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``SNIOC_SET_GAIN``
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------------------------
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This command sets the gain of the NAU7802. The possible values are dictated by the
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``nau7802_gain_e`` enum. The default value is 128x.
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.. code-block:: c
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orb_ioctl(sensor, SNIOC_SET_GAIN, NAU7802_GAIN_128);
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``SNIOC_SET_INTERVAL``
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------------------------
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This commands sets the polling interval of the NAU7802. The possible values are dictated by the
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``nau7802_odr_e`` enum. The default value is 10HZ.
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.. code-block:: c
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orb_ioctl(sensor, SNIOC_SET_INTERVAL, NAU7802_ODR_10HZ);
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``SNIOC_SET_LDO``
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------------------------
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This command sets the LDO voltage of the NAU7802. The possible values are dictated by the
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``nau7802_ldo_e`` enum. The default value is 3.0V.
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.. code-block:: c
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orb_ioctl(sensor, SNIOC_SET_LDO, NAU7802_LDO_3V0);
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``SNIOC_CALIBRATE``
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------------------------
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This commands performs one of the calibration procedures of the NAU7802. The possible calibration modes are:
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- NAU7802_CALMOD_INTERNAL: Removes internal PGA gain and offset errors.
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- NAU7802_CALMOD_OFFSET: Calibrates the zero point of the sensor.
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- NAU7802_CALMOD_GAIN: Calibrates the max value of the sensor.
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.. code-block:: c
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orb_ioctl(sensor, SNIOC_CALIBRATE, NAU7802_CALMOD_INTERNAL);
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For the gain calibration mode the user must place a known weight on the sensor. Unfortunately the NAU7802 records it as the maximum value, thus if your loadcell supports up to 100kg you shall put a 100kg weight on.
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A workaround would be to do a manual calibration by placing a smaller known weight and polling the sensor to get an average point, then using such point to offset the recorded values. An example is provided below.
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.. code-block:: c
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#include "stdio.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <nuttx/sensors/nau7802.h>
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#include <signal.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <uORB/uORB.h>
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#include <unistd.h>
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int get_data(const struct orb_metadata *imu_meta, int imu, struct sensor_force *data) {
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int err = 0;
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bool update = false;
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err = orb_check(imu, &update);
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if (err < 0) {
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return err;
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}
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err = orb_copy(imu_meta, imu, data);
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if (err < 0) {
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return err;
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}
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return err;
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}
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int main(int argc, char **argv) {
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int err;
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int imu;
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char *name = "sensor_force0";
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const struct orb_metadata *imu_meta = orb_get_meta(name);
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if (imu_meta == NULL) {
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fprintf(stderr, "Failed to get metadata for %s\n", name);
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return EXIT_FAILURE;
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}
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imu = orb_subscribe(imu_meta);
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if (imu < 0) {
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fprintf(stderr, "Could not subsribe to %s: %d\n", name, errno);
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return EXIT_FAILURE;
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}
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struct sensor_force data;
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// flush 10 readings
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for (int i = 0; i < 10; i++) {
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err = get_data(imu_meta, imu, &data);
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if (err < 0) {
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printf("Error reading data\n");
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}
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usleep(100000);
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}
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long zero_point = 0;
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for (int i = 0; i < 10; i++) {
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err = get_data(imu_meta, imu, &data);
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if (err < 0) {
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printf("Error reading data\n");
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} else {
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zero_point += data.force / 10;
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}
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usleep(100000);
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}
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printf("Zero point: %ld\n", zero_point);
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printf("Place weigth on the sensor... you have 5 seconds from when you see this message\n");
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usleep(5000000);
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printf("Starting gain calibration\n");
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long weight_point = 0;
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for (int i = 0; i < 10; i++) {
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err = get_data(imu_meta, imu, &data);
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if (err < 0) {
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printf("Error reading data\n");
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} else {
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weight_point += data.force / 10;
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}
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usleep(100000);
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}
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printf("Weight value: %ld\n", weight_point);
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float known_weight_val = 15000; // 1.5kg
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while (true) {
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err = get_data(imu_meta, imu, &data);
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if (err < 0) {
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printf("Error reading data\n");
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} else {
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printf("Force: %.3f\n", known_weight_val * (data.force - zero_point) / (weight_point - zero_point));
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}
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usleep(50000);
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}
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orb_unsubscribe(imu);
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return EXIT_SUCCESS;
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}
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``SNIOC_GET_CALIBVALUE:``
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----------------------------
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This commands gets the gain calibration value when set by the ``SNIOC_CALIBRATE`` command.
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.. code-block:: c
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uint32_t cal_value;
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orb_ioctl(sensor, SNIOC_GET_CALIBVALUE, (unsigned long)&cal_value);
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``SNIOC_SET_CALIBVALUE:``
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---------------------------
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This commands sets the gain calibration value, useful when you calibrated the sensor with the gain calibration mode once and want to reuse it later on.
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.. code-block:: c
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uint32_t cal_value;
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orb_ioctl(sensor, SNIOC_SET_CALIBVALUE, cal_value);
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@ -489,6 +489,7 @@ Implemented Drivers
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- ltr308
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- mpu9250
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- ms56xx
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- :doc:`nau7802`
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- :doc:`sht4x`
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- :doc:`lsm6dso32`
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- wtgahrs2
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@ -194,6 +194,13 @@ config SENSORS_BH1750FVI
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---help---
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Enable driver support for the Rohm BH1750FVI light sensor.
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config SENSORS_NAU7802
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bool "Adafruit NAU7802 ADC sensor support"
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default n
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select I2C
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---help---
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Enable driver support for the Adafruit NAU7802 sensor.
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config BH1750FVI_I2C_FREQUENCY
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int "BH1750FVI I2C frequency"
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default 400000
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@ -34,6 +34,11 @@ ifeq ($(CONFIG_SENSORS_RPMSG),y)
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CSRCS += sensor_rpmsg.c
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endif
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ifeq ($(CONFIG_SENSORS_NAU7802),y)
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CSRCS += nau7802.c
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endif
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ifeq ($(CONFIG_SENSORS_GNSS),y)
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CSRCS += gnss_uorb.c
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endif
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937
drivers/sensors/nau7802.c
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937
drivers/sensors/nau7802.c
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@ -0,0 +1,937 @@
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/****************************************************************************
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* drivers/sensors/nau7802.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/nuttx.h>
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#include <debug.h>
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#include <stdio.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <nuttx/clock.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/kthread.h>
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#include <nuttx/mutex.h>
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#include <nuttx/random.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/sensors/nau7802.h>
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#include <nuttx/sensors/sensor.h>
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#include <nuttx/signal.h>
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#include <nuttx/wqueue.h>
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#ifndef CONFIG_SENSORS_NAU7802_I2C_FREQUENCY
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#define CONFIG_SENSORS_NAU7802_I2C_FREQUENCY 100000
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#endif
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#ifndef CONFIG_SENSORS_NAU7802_THREAD_STACKSIZE
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#define CONFIG_SENSORS_NAU7802_THREAD_STACKSIZE 10000
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#endif
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/* Registers */
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#define REG_PU_CTRL 0x00 // power up control
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#define REG_CTRL_1 0x01 // control/config reg 1
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#define REG_CTRL_2 0x02 // control/config reg 2
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#define REG_GCAL1_B3 0x6 // gain calibration registers
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#define REG_GCAL1_B2 0x7
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#define REG_GCAL1_B1 0x8
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#define REG_GCAL1_B0 0x9
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#define REG_ADCO_B2 0x12 // data bit 23 to 16
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#define REG_ADCO_B1 0x13 // data bit 15 to 8
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#define REG_ADCO_B0 0x14 // data bit 7 to 0
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#define REG_ADC 0x15 // ADC / chopper control
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#define REG_PGA 0x1B // PGA control
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#define REG_POWER 0x1C // power control
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/* Bits for the PU_CTRL register */
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#define BIT_RR 0x0 // register reset
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#define BIT_PUD 0x1 // power up digital
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#define BIT_PUA 0x2 // power up analog
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#define BIT_PUR 0x3 // power up ready
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#define BIT_CS 0x4 // cycle start
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#define BIT_CR 0x5 // cycle ready
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#define BIT_AVVDS 0x7 // AVDDS source select
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/* Bits for the CTRL_2 register */
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#define CAL_START 0x2
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#define CAL_ERR 0x3
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/* ODR to Interval */
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static const uint32_t ODR_TO_INTERVAL[] =
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{
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[NAU7802_ODR_10HZ] = 100000,
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[NAU7802_ODR_20HZ] = 50000,
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[NAU7802_ODR_40HZ] = 25000,
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[NAU7802_ODR_80HZ] = 12500,
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[NAU7802_ODR_320HZ] = 3125
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};
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typedef struct
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{
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struct sensor_lowerhalf_s lower;
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FAR struct i2c_master_s *i2c;
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uint8_t addr;
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sem_t run;
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mutex_t devlock;
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bool enabled;
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nau7802_odr_e odr;
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} nau7802_dev_s;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nau7802_read_reg
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*
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* Description:
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* Read `nbytes` from the register at `addr` into `buf`.
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****************************************************************************/
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static int nau7802_read_reg(FAR nau7802_dev_s *dev, uint8_t addr, void *buf,
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uint8_t nbytes)
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{
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struct i2c_msg_s readcmd[2] = {
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{
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.frequency = CONFIG_SENSORS_NAU7802_I2C_FREQUENCY,
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.addr = dev->addr,
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.flags = I2C_M_NOSTOP,
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.buffer = &addr,
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.length = sizeof(addr),
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},
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{
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.frequency = CONFIG_SENSORS_NAU7802_I2C_FREQUENCY,
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.addr = dev->addr,
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.flags = I2C_M_READ,
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.buffer = buf,
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.length = nbytes,
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},
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};
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return I2C_TRANSFER(dev->i2c, readcmd, 2);
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}
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/****************************************************************************
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* Name: nau7802_write_reg
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*
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* Description:
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* Write `nbytes` from `buf` to the registers starting at `addr`.
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****************************************************************************/
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static int nau7802_write_reg(FAR nau7802_dev_s *dev, uint8_t addr, void *buf,
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uint8_t nbytes)
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{
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struct i2c_msg_s writecmd[2] = {
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{
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.frequency = CONFIG_SENSORS_NAU7802_I2C_FREQUENCY,
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.addr = dev->addr,
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.flags = I2C_M_NOSTOP,
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.buffer = &addr,
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.length = sizeof(addr),
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},
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{
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.frequency = CONFIG_SENSORS_NAU7802_I2C_FREQUENCY,
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.addr = dev->addr,
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.flags = I2C_M_NOSTART,
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.buffer = buf,
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.length = nbytes,
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},
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};
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return I2C_TRANSFER(dev->i2c, writecmd, 2);
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}
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/****************************************************************************
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* Name: nau7802_set_bits
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* Description:
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* Helper function to set bits in a register.
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* Arguments:
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* addr - The address of the register to modify
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* n_bits - The number of bits to set
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* n_bit_shifts - The number of bits to shift
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* value - The value to set
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****************************************************************************/
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static int nau7802_set_bits(FAR nau7802_dev_s *dev, uint8_t addr,
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uint8_t n_bits, uint8_t n_bit_shifts,
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uint8_t value)
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{
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int err = 0;
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uint8_t reg_val;
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err = nau7802_read_reg(dev, addr, ®_val, sizeof(reg_val));
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if (err < 0)
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{
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return err;
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}
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uint8_t mask = ((1 << n_bits) - 1);
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reg_val &= ~(mask << n_bit_shifts);
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reg_val |= ((value & mask) << n_bit_shifts);
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return nau7802_write_reg(dev, addr, ®_val, sizeof(reg_val));
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}
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/****************************************************************************
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* Name: nau7802_read_bit
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****************************************************************************/
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static int nau7802_read_bit(FAR nau7802_dev_s *dev, uint8_t addr,
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uint8_t bit, bool *val)
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{
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int err = 0;
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uint8_t reg_val;
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err = nau7802_read_reg(dev, addr, ®_val, sizeof(reg_val));
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if (err < 0)
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||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
*val = (reg_val >> bit) & 1;
|
||||
return err;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_reset
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_reset(FAR nau7802_dev_s *dev)
|
||||
{
|
||||
int err = 0;
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_RR, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_RR, 0);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_PUD, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* waiting 200 micoroseconds for the power up */
|
||||
|
||||
usleep(200);
|
||||
|
||||
uint8_t reg_val;
|
||||
err = nau7802_read_reg(dev, REG_PU_CTRL, ®_val, sizeof(reg_val));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* check if power up is successful */
|
||||
|
||||
if (((reg_val >> BIT_PUR) & 1) == 1)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
snerr("Power up failed\n");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_enable
|
||||
* Description:
|
||||
* Enable or disable the NAU7802.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_enable(FAR nau7802_dev_s *dev, bool enable)
|
||||
{
|
||||
int err = 0;
|
||||
if (!enable)
|
||||
{
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_PUA, 0);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_PUD, 0);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_PUD, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_PUA, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
usleep(600000);
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_CS, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
bool reg_val;
|
||||
err = nau7802_read_bit(dev, REG_PU_CTRL, BIT_PUR, ®_val);
|
||||
if (err < 0 || !reg_val)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_data_available
|
||||
* Description:
|
||||
* Check if data is available over I2C.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_data_available(FAR nau7802_dev_s *dev, bool *val)
|
||||
{
|
||||
return nau7802_read_bit(dev, REG_PU_CTRL, BIT_CR, val);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_read_data
|
||||
*
|
||||
* Description:
|
||||
* Read the ADC data from the NAU7802 into the sensor_force structure.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_read_data(FAR nau7802_dev_s *dev,
|
||||
FAR struct sensor_force *data)
|
||||
{
|
||||
uint8_t msb;
|
||||
uint8_t mid;
|
||||
uint8_t lsb;
|
||||
int32_t value;
|
||||
int err = 0;
|
||||
|
||||
err = nau7802_read_reg(dev, REG_ADCO_B2, &msb, sizeof(msb));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
nau7802_read_reg(dev, REG_ADCO_B1, &mid, sizeof(mid));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
nau7802_read_reg(dev, REG_ADCO_B0, &lsb, sizeof(lsb));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Combine into 24-bit value and sign extend to 32-bit */
|
||||
|
||||
value = (int32_t)((uint32_t)msb << 16 | (uint32_t)mid << 8 | lsb);
|
||||
|
||||
/* Sign extend if negative (MSB is set) */
|
||||
|
||||
if (value & 0x800000)
|
||||
{
|
||||
value |= 0xff000000;
|
||||
}
|
||||
|
||||
data->timestamp = sensor_get_timestamp();
|
||||
data->event = 0;
|
||||
data->force = value;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_set_ldo
|
||||
* Description:
|
||||
* Set the LDO voltage.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_set_ldo(FAR nau7802_dev_s *dev, nau7802_ldo_e voltage)
|
||||
{
|
||||
if (voltage == NAU7802_LDO_V_EXTERNAL)
|
||||
{
|
||||
return nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_AVVDS, 0);
|
||||
}
|
||||
|
||||
int err = 0;
|
||||
err = nau7802_set_bits(dev, REG_PU_CTRL, 1, BIT_AVVDS, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
return nau7802_set_bits(dev, REG_CTRL_1, 3, 3, voltage);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_set_gain
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_set_gain(FAR nau7802_dev_s *dev, nau7802_gain_e gain)
|
||||
{
|
||||
return nau7802_set_bits(dev, REG_CTRL_1, 3, 0, gain);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_set_interval
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_set_interval(FAR nau7802_dev_s *dev,
|
||||
nau7802_odr_e rate)
|
||||
{
|
||||
dev->odr = rate;
|
||||
return nau7802_set_bits(dev, REG_CTRL_2, 3, 4, rate);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_push_data
|
||||
*
|
||||
* Description:
|
||||
* Reads some data with exclusive device access and pushed it to the UORB
|
||||
* upper half.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_push_data(FAR nau7802_dev_s *dev)
|
||||
{
|
||||
int err = 0;
|
||||
struct sensor_force data;
|
||||
|
||||
err = nxmutex_lock(&dev->devlock);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
if (!dev->enabled)
|
||||
{
|
||||
err = -EAGAIN;
|
||||
goto unlock_ret;
|
||||
}
|
||||
|
||||
bool data_ready;
|
||||
err = nau7802_data_available(dev, &data_ready);
|
||||
if (err < 0 || !data_ready)
|
||||
{
|
||||
goto unlock_ret;
|
||||
}
|
||||
|
||||
err = nau7802_read_data(dev, &data);
|
||||
if (err < 0)
|
||||
{
|
||||
goto unlock_ret;
|
||||
}
|
||||
|
||||
dev->lower.push_event(dev->lower.priv, &data, sizeof(data));
|
||||
|
||||
unlock_ret:
|
||||
nxmutex_unlock(&dev->devlock);
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_get_calibvalue
|
||||
* Description:
|
||||
* Get the gain calibration value.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_get_calibvalue(FAR nau7802_dev_s *dev, unsigned long arg)
|
||||
{
|
||||
uint32_t *calibvalue = (uint32_t *)arg;
|
||||
uint8_t reg_b3;
|
||||
uint8_t reg_b2;
|
||||
uint8_t reg_b1;
|
||||
uint8_t reg_b0;
|
||||
|
||||
int err = 0;
|
||||
|
||||
err = nau7802_read_reg(dev, REG_GCAL1_B3, ®_b3, sizeof(reg_b3));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_read_reg(dev, REG_GCAL1_B2, ®_b2, sizeof(reg_b2));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_read_reg(dev, REG_GCAL1_B1, ®_b1, sizeof(reg_b1));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_read_reg(dev, REG_GCAL1_B0, ®_b0, sizeof(reg_b0));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
*calibvalue = (reg_b3 << 24) | (reg_b2 << 16) | (reg_b1 << 8) | reg_b0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_set_calibvalue
|
||||
* Description:
|
||||
* Set the gain calibration value.
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_set_calibvalue(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, unsigned long arg)
|
||||
{
|
||||
FAR nau7802_dev_s *dev = container_of(lower, FAR nau7802_dev_s, lower);
|
||||
uint32_t calibvalue = (uint32_t)arg;
|
||||
uint8_t reg_b3 = (calibvalue >> 24) & 0xff;
|
||||
uint8_t reg_b2 = (calibvalue >> 16) & 0xff;
|
||||
uint8_t reg_b1 = (calibvalue >> 8) & 0xff;
|
||||
uint8_t reg_b0 = calibvalue & 0xff;
|
||||
|
||||
int err = 0;
|
||||
err = nau7802_write_reg(dev, REG_GCAL1_B3, ®_b3, sizeof(reg_b3));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_write_reg(dev, REG_GCAL1_B2, ®_b2, sizeof(reg_b2));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_write_reg(dev, REG_GCAL1_B1, ®_b1, sizeof(reg_b1));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_write_reg(dev, REG_GCAL1_B0, ®_b0, sizeof(reg_b0));
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_calibrate
|
||||
* Description:
|
||||
* Perform either an INTERNAL, OFFSET or GAIN calibration.
|
||||
* The gain calibration value is saved and can be retrieved via the
|
||||
* SNIOC_GET_GAIN_CALIBVALUE command
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_calibrate(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, unsigned long int arg)
|
||||
{
|
||||
FAR nau7802_dev_s *dev = container_of(lower, FAR nau7802_dev_s, lower);
|
||||
nau7802_calibmode_e mode = (nau7802_calibmode_e)arg;
|
||||
int err = 0;
|
||||
|
||||
/* Choosing calibration mode */
|
||||
|
||||
err = nau7802_set_bits(dev, REG_CTRL_2, 2, 0, mode);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Start calibration */
|
||||
|
||||
err = nau7802_set_bits(dev, REG_CTRL_2, 1, CAL_START, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Wait for calibration to complete */
|
||||
|
||||
bool reg_val;
|
||||
do
|
||||
{
|
||||
err = nau7802_read_bit(dev, REG_CTRL_2, CAL_START, ®_val);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
usleep(10000);
|
||||
}
|
||||
while (reg_val);
|
||||
|
||||
/* Check calibration error bit */
|
||||
|
||||
err = nau7802_read_bit(dev, REG_CTRL_2, CAL_ERR, ®_val);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
if (reg_val)
|
||||
{
|
||||
snerr("Calibration failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_control
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_control(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, int cmd,
|
||||
unsigned long arg)
|
||||
{
|
||||
FAR nau7802_dev_s *dev = container_of(lower, FAR nau7802_dev_s, lower);
|
||||
int err = 0;
|
||||
|
||||
err = nxmutex_lock(&dev->devlock);
|
||||
if (err)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
switch (cmd)
|
||||
{
|
||||
case SNIOC_RESET:
|
||||
err = nau7802_reset(dev);
|
||||
break;
|
||||
|
||||
case SNIOC_SET_GAIN:
|
||||
err = nau7802_set_gain(dev, arg);
|
||||
break;
|
||||
|
||||
case SNIOC_SET_LDO:
|
||||
err = nau7802_set_ldo(dev, arg);
|
||||
break;
|
||||
|
||||
case SNIOC_GET_CALIBVALUE:
|
||||
err = nau7802_get_calibvalue(dev, arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
err = -EINVAL;
|
||||
snerr("Unknown command for NAU7802: lu\n", cmd);
|
||||
break;
|
||||
}
|
||||
|
||||
nxmutex_unlock(&dev->devlock);
|
||||
return err;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_activate
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_activate(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, bool enable)
|
||||
{
|
||||
FAR nau7802_dev_s *dev = container_of(lower, FAR nau7802_dev_s, lower);
|
||||
bool start_thread = false;
|
||||
int err = 0;
|
||||
|
||||
/* Start the collection thread if not already enabled */
|
||||
|
||||
if (enable && !dev->enabled)
|
||||
{
|
||||
start_thread = true;
|
||||
|
||||
err = nau7802_reset(dev);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_enable(dev, true);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
uint8_t reg_val;
|
||||
err = nau7802_read_reg(dev, 0x1f, ®_val, sizeof(reg_val));
|
||||
if (err < 0 || (reg_val & 0xf) != 0xf)
|
||||
{
|
||||
snerr("Could not read the revision register\n");
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_ldo(dev, NAU7802_LDO_V_3V0);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_gain(dev, NAU7802_GAIN_128);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
err = nau7802_set_interval(dev, NAU7802_ODR_10HZ);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Disable ADC chopper */
|
||||
|
||||
err = nau7802_set_bits(dev, REG_ADC, 2, 4, 0x3);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Use low ESR caps */
|
||||
|
||||
err = nau7802_set_bits(dev, REG_PGA, 1, 6, 0);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* PGA stabilizer cap on output */
|
||||
|
||||
err = nau7802_set_bits(dev, REG_POWER, 1, 7, 1);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
}
|
||||
|
||||
dev->enabled = enable;
|
||||
|
||||
if (start_thread)
|
||||
{
|
||||
return nxsem_post(&dev->run);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_get_info
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_get_info(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
FAR struct sensor_device_info_s *info)
|
||||
{
|
||||
info->version = 0;
|
||||
info->power = 2.1f;
|
||||
memcpy(info->name, "NAU7802", sizeof("NAU7802"));
|
||||
memcpy(info->vendor, "Nuvoton", sizeof("Nuvoton"));
|
||||
|
||||
info->min_delay = 3125; /* For 320 ODR (fastest rate) */
|
||||
info->max_delay = 100000; /* For 10 ODR (slowest rate) */
|
||||
info->fifo_reserved_event_count = 0;
|
||||
info->fifo_max_event_count = 0;
|
||||
info->max_range = 1.0f;
|
||||
info->resolution = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_thread
|
||||
*
|
||||
* Description:
|
||||
* Kernel thread to poll the NAU7802
|
||||
****************************************************************************/
|
||||
|
||||
static int nau7802_thread(int argc, FAR char *argv[])
|
||||
{
|
||||
FAR nau7802_dev_s *dev =
|
||||
(FAR nau7802_dev_s *)((uintptr_t)strtoul(argv[1], NULL, 16));
|
||||
int err = 0;
|
||||
|
||||
while (true)
|
||||
{
|
||||
/* If the sensor is disabled we wait indefinitely */
|
||||
|
||||
if (!dev->enabled)
|
||||
{
|
||||
err = nxsem_wait(&dev->run);
|
||||
if (err < 0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* If the sensor is enabled, grab some data */
|
||||
|
||||
err = nau7802_push_data(dev);
|
||||
if (err < 0)
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
/* Wait for next measurement cycle */
|
||||
|
||||
nxsig_usleep(ODR_TO_INTERVAL[dev->odr]);
|
||||
}
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
static const struct sensor_ops_s g_sensor_ops =
|
||||
{
|
||||
.activate = nau7802_activate,
|
||||
.get_info = nau7802_get_info,
|
||||
.control = nau7802_control,
|
||||
.calibrate = nau7802_calibrate,
|
||||
.set_calibvalue = nau7802_set_calibvalue
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_register
|
||||
*
|
||||
* Description:
|
||||
* Register the NAU7802 device as a UORB sensor.
|
||||
*
|
||||
* Input Parameters:
|
||||
* i2c - An instance of the I2C interface to use to communicate with
|
||||
* the NAU7802.
|
||||
* addr - The I2C address of the NAU7802. Should always be 0x2a.
|
||||
* devno - The device number to use for the topic (i.e. /dev/mag0)
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
****************************************************************************/
|
||||
|
||||
int nau7802_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr)
|
||||
{
|
||||
int err;
|
||||
FAR nau7802_dev_s *priv = kmm_zalloc(sizeof(nau7802_dev_s));
|
||||
DEBUGASSERT(i2c != NULL);
|
||||
DEBUGASSERT(addr == 0x2a);
|
||||
|
||||
if (priv == NULL)
|
||||
{
|
||||
snerr("Failed to allocate nau7802 instance\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
err = nxmutex_init(&priv->devlock);
|
||||
if (err < 0)
|
||||
{
|
||||
snerr("Failed to register nau7802 driver: %d\n", err);
|
||||
goto del_mem;
|
||||
}
|
||||
|
||||
err = nxsem_init(&priv->run, 0, 0);
|
||||
if (err < 0)
|
||||
{
|
||||
snerr("Failed to register nau7802 driver: %d\n", err);
|
||||
goto del_mutex;
|
||||
}
|
||||
|
||||
priv->i2c = i2c;
|
||||
priv->addr = addr;
|
||||
priv->lower.ops = &g_sensor_ops;
|
||||
priv->lower.type = SENSOR_TYPE_FORCE;
|
||||
priv->enabled = false;
|
||||
priv->odr = NAU7802_ODR_10HZ; /* 10Hz (0.1s) default ODR */
|
||||
|
||||
err = sensor_register(&priv->lower, devno);
|
||||
if (err < 0)
|
||||
{
|
||||
snerr("Failed to register nau7802 driver: %d\n", err);
|
||||
goto del_sem;
|
||||
}
|
||||
|
||||
FAR char *argv[2];
|
||||
char arg1[32];
|
||||
snprintf(arg1, 16, "%p", priv);
|
||||
argv[0] = arg1;
|
||||
argv[1] = NULL;
|
||||
|
||||
err = kthread_create("nau7802_thread", SCHED_PRIORITY_DEFAULT,
|
||||
CONFIG_SENSORS_NAU7802_THREAD_STACKSIZE,
|
||||
nau7802_thread, argv);
|
||||
if (err < 0)
|
||||
{
|
||||
snerr("Failed to create the nau7802 notification kthread\n");
|
||||
goto sensor_unreg;
|
||||
}
|
||||
|
||||
sninfo("Registered nau7802 driver with kernel polling thread\n");
|
||||
|
||||
if (err < 0)
|
||||
{
|
||||
sensor_unreg:
|
||||
sensor_unregister(&priv->lower, devno);
|
||||
del_sem:
|
||||
nxsem_destroy(&priv->run);
|
||||
del_mutex:
|
||||
nxmutex_destroy(&priv->devlock);
|
||||
del_mem:
|
||||
kmm_free(priv);
|
||||
return err;
|
||||
}
|
||||
|
||||
sninfo("Registered NAU7802 driver\n");
|
||||
return err;
|
||||
}
|
||||
|
|
@ -480,6 +480,24 @@
|
|||
|
||||
#define SNIOC_LPF _SNIOC(0x00A0)
|
||||
|
||||
/* Command: SNIOC_SET_GAIN
|
||||
* Description: Sets the gain of the sensor.
|
||||
*/
|
||||
|
||||
#define SNIOC_SET_GAIN _SNIOC(0x00A1)
|
||||
|
||||
/* Command: SNIOC_SET_LDO
|
||||
* Description: Sets the LDO voltage of the sensor.
|
||||
*/
|
||||
|
||||
#define SNIOC_SET_LDO _SNIOC(0x00A2)
|
||||
|
||||
/* Command: SNIOC_GET_CALIBVALUE
|
||||
* Description: Get the gain calibration value of the sensor.
|
||||
*/
|
||||
|
||||
#define SNIOC_GET_CALIBVALUE _SNIOC(0x00A3)
|
||||
|
||||
/****************************************************************************
|
||||
* Public types
|
||||
****************************************************************************/
|
||||
|
|
|
|||
108
include/nuttx/sensors/nau7802.h
Normal file
108
include/nuttx/sensors/nau7802.h
Normal file
|
|
@ -0,0 +1,108 @@
|
|||
/****************************************************************************
|
||||
* include/nuttx/sensors/nau7802.h
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/sensors/ioctl.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
struct i2c_master_s; /* Forward reference */
|
||||
|
||||
typedef int (*nau7802_attach)(xcpt_t, FAR void *arg);
|
||||
|
||||
/* Valid calibration modes */
|
||||
|
||||
typedef enum
|
||||
{
|
||||
NAU7802_CALMOD_INTERNAL = 0,
|
||||
NAU7802_CALMOD_OFFSET = 2,
|
||||
NAU7802_CALMOD_GAIN = 3
|
||||
} nau7802_calibmode_e;
|
||||
|
||||
/* Valid LDO voltage settings */
|
||||
|
||||
typedef enum
|
||||
{
|
||||
NAU7802_LDO_V_4V5,
|
||||
NAU7802_LDO_V_4V2,
|
||||
NAU7802_LDO_V_3V9,
|
||||
NAU7802_LDO_V_3V6,
|
||||
NAU7802_LDO_V_3V3,
|
||||
NAU7802_LDO_V_3V0,
|
||||
NAU7802_LDO_V_2V7,
|
||||
NAU7802_LDO_V_2V4,
|
||||
NAU7802_LDO_V_EXTERNAL
|
||||
} nau7802_ldo_e;
|
||||
|
||||
/* Valid gain settings */
|
||||
|
||||
typedef enum
|
||||
{
|
||||
NAU7802_GAIN_1,
|
||||
NAU7802_GAIN_2,
|
||||
NAU7802_GAIN_4,
|
||||
NAU7802_GAIN_8,
|
||||
NAU7802_GAIN_16,
|
||||
NAU7802_GAIN_32,
|
||||
NAU7802_GAIN_64,
|
||||
NAU7802_GAIN_128
|
||||
} nau7802_gain_e;
|
||||
|
||||
/* Valid odr values */
|
||||
|
||||
typedef enum
|
||||
{
|
||||
NAU7802_ODR_10HZ = 0,
|
||||
NAU7802_ODR_20HZ = 1,
|
||||
NAU7802_ODR_40HZ = 2,
|
||||
NAU7802_ODR_80HZ = 3,
|
||||
NAU7802_ODR_320HZ = 7
|
||||
} nau7802_odr_e;
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nau7802_register
|
||||
*
|
||||
* Description:
|
||||
* Register the nau7802 device as a UORB sensor.
|
||||
*
|
||||
* Input Parameters:
|
||||
* i2c - An instance of the I2C interface to use to communicate with
|
||||
* the nau7802.
|
||||
* addr - The I2C address of the nau7802. Should always be 0x2a.
|
||||
* devno - The device number to use for the topic (i.e. /dev/mag0)
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int nau7802_register(FAR struct i2c_master_s *i2c, int devno, uint8_t addr);
|
||||
Loading…
Add table
Reference in a new issue