本系列导航:
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)
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)
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 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。