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drivers/tcs37727: SAUL support + misc fixes

- added default parameters file
- let init() function use param struct
- named return values
- simplified init function
- sensor now active after init was called
- simplified return values
pr/rotary
Hauke Petersen 6 years ago
parent
commit
470f2de771
  1. 86
      drivers/include/tcs37727.h
  2. 72
      drivers/tcs37727/include/tcs37727_params.h
  3. 177
      drivers/tcs37727/tcs37727.c
  4. 46
      drivers/tcs37727/tcs37727_saul.c
  5. 4
      sys/auto_init/auto_init.c
  6. 64
      sys/auto_init/saul/auto_init_tcs37727.c
  7. 8
      tests/driver_tcs37727/Makefile
  8. 28
      tests/driver_tcs37727/main.c

86
drivers/include/tcs37727.h

@ -1,5 +1,6 @@
/*
* Copyright (C) 2015 PHYTEC Messtechnik GmbH
* 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@ -7,7 +8,7 @@
*/
/**
* @defgroup drivers_tcs37727 TCS37727 Light-To-Digital Converter
* @defgroup drivers_tcs37727 TCS37727 RGB Light Sensor
* @ingroup drivers_sensors
* @brief Driver for the AMS TCS37727 Color Light-To-Digital Converter
*
@ -19,13 +20,15 @@
*
* @author Felix Siebel <f.siebel@phytec.de>
* @author Johann Fischer <j.fischer@phytec.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef TCS37727_H
#define TCS37727_H
#include <stdint.h>
#include <stdbool.h>
#include "saul.h"
#include "periph/i2c.h"
#ifdef __cplusplus
@ -42,7 +45,7 @@ extern "C"
#endif
/**
* @brief Struct for storing TCS37727 sensor data
* @brief Struct for storing TCS37727 sensor data
*/
typedef struct {
uint32_t red; /**< IR compensated channels red */
@ -54,66 +57,83 @@ typedef struct {
} tcs37727_data_t;
/**
* @brief Device descriptor for TCS37727 sensors.
* @brief TCS37727 configuration parameters
*/
typedef struct {
i2c_t i2c; /**< I2C bus the sensor is connected to */
uint8_t addr; /**< the sensors address on the I2C bus */
uint32_t atime; /**< conversion time in microseconds */
} tcs37727_params_t;
/**
* @brief Device descriptor for TCS37727 sensors
*/
typedef struct {
i2c_t i2c; /**< I2C device the sensor is connected to */
uint8_t addr; /**< the sensor's slave address on the I2C bus */
bool initialized; /**< sensor status, true if sensor is initialized */
int atime_us; /**< atime value conveted to microseconds */
tcs37727_params_t p; /**< device configuration */
int again; /**< amount of gain */
} tcs37727_t;
/**
* @brief Initialise the TCS37727 sensor driver.
* Settings: Gain 4x, Proximity Detection off
* @brief Possible TCS27737 return values
*/
enum {
TCS37727_OK = 0, /**< everything worked as expected */
TCS37727_NOBUS = -1, /**< access to the configured I2C bus failed */
TCS37727_NODEV = -2 /**< no TCS37727 device found on the bus */
};
/**
* @brief Export the sensor's SAUL interface
*/
extern const saul_driver_t tcs37727_saul_driver;
/**
* @brief Initialize the given TCS37727 sensor
*
* The sensor is initialized in RGBC only mode with proximity detection turned
* off.
*
* The gain will be initially set to 4x, but it will be adjusted
*
* The gain value will be initially set to 4x, but it will be automatically
* adjusted during runtime.
*
* @param[out] dev device descriptor of sensor to initialize
* @param[in] i2c I2C bus the sensor is connected to
* @param[in] address sensor's I2C slave address
* @param[in] atime_us rgbc RGBC integration time in microseconds
* @param[in] params static configuration parameters
*
* @return 0 on success
* @return -1 if initialization of I2C bus failed
* @return -2 if sensor test failed
* @return -3 if sensor configuration failed
* @return TCS27737_OK on success
* @return TCS37727_NOBUS if initialization of I2C bus fails
* @return TCS37727_NODEV if no sensor can be found
*/
int tcs37727_init(tcs37727_t *dev, i2c_t i2c, uint8_t address, int atime_us);
int tcs37727_init(tcs37727_t *dev, const tcs37727_params_t *params);
/**
* @brief Set RGBC enable, this activates periodic RGBC measurements.
*
* @param[out] dev device descriptor of sensor
*
* @return 0 on success
* @return -1 on error
*/
int tcs37727_set_rgbc_active(tcs37727_t *dev);
void tcs37727_set_rgbc_active(tcs37727_t *dev);
/**
* @brief Set RGBC disable, this deactivates periodic RGBC measurements.
* @brief Set RGBC disable, this deactivates periodic RGBC measurements
*
* Also turns off the sensor when proximity measurement is disabled.
*
* @param[in] dev device descriptor of sensor
*
* @return 0 on success
* @return -1 on error
*/
int tcs37727_set_rgbc_standby(tcs37727_t *dev);
void tcs37727_set_rgbc_standby(tcs37727_t *dev);
/**
* @brief Read sensor's data.
* @brief Read sensor's data
*
* Besides an Autogain routine is called. If a maximum or minimum threshold
* value of the channel clear is reached, then the gain will be changed
* correspond to max or min threshold.
*
* @param[in] dev device descriptor of sensor
* @param[out] data device sensor data
*
* @return 0 on success
* @return -1 on error
* @param[out] data device sensor data, MUST not be NULL
*/
int tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data);
void tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data);
#ifdef __cplusplus
}

72
drivers/tcs37727/include/tcs37727_params.h

@ -0,0 +1,72 @@
/*
* Copyright (C) 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup drivers_tcs37727
*
* @{
* @file
* @brief Default configuration for TCS37727 devices
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef TCS37727_PARAMS_H
#define TCS37727_PARAMS_H
#include "board.h"
#include "tcs37727.h"
#include "saul_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Set default configuration parameters for TCS37727 devices
* @{
*/
#ifndef TCS37727_PARAM_I2C
#define TCS37727_PARAM_I2C I2C_DEV(0)
#endif
#ifndef TCS37727_PARAM_ADDR
#define TCS37727_PARAM_ADDR (TCS37727_I2C_ADDRESS)
#endif
#ifndef TCS37727_PARAM_ATIME
#define TCS37727_PARAM_ATIME (TCS37727_ATIME_DEFAULT)
#endif
#ifndef TCS37727_PARAMS
#define TCS37727_PARAMS { .i2c = TCS37727_PARAM_I2C, \
.addr = TCS37727_PARAM_ADDR, \
.atime = TCS37727_PARAM_ATIME }
#endif
/**@}*/
/**
* @brief TCS37727 configuration
*/
static const tcs37727_params_t tcs37727_params[] =
{
TCS37727_PARAMS
};
/**
* @brief Additional meta information to keep in the SAUL registry
*/
static const saul_reg_info_t tcs37727_saul_info[] =
{
{ .name = "tcs37727" }
};
#ifdef __cplusplus
}
#endif
#endif /* TCS37727_PARAMS_H */
/** @} */

177
drivers/tcs37727/tcs37727.c

@ -1,5 +1,6 @@
/*
* Copyright (C) 2015 PHYTEC Messtechnik GmbH
* 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@ -16,135 +17,93 @@
*
* @author Felix Siebel <f.siebel@phytec.de>
* @author Johann Fischer <j.fischer@phytec.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdint.h>
#include <stdbool.h>
#include "periph/i2c.h"
#include <string.h>
#include "log.h"
#include "assert.h"
#include "tcs37727.h"
#include "tcs37727-internal.h"
#define ENABLE_DEBUG (0)
#define ENABLE_DEBUG (0)
#include "debug.h"
#define I2C_SPEED I2C_SPEED_FAST
#define I2C_SPEED I2C_SPEED_FAST
#define BUS (dev->p.i2c)
#define ADR (dev->p.addr)
static int tcs37727_test(tcs37727_t *dev)
int tcs37727_init(tcs37727_t *dev, const tcs37727_params_t *params)
{
uint8_t id;
i2c_acquire(dev->i2c);
if (i2c_read_reg(dev->i2c, dev->addr, TCS37727_ID, &id) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
if (id != TCS37727_ID_VALUE) {
return -1;
}
return 0;
}
uint8_t tmp;
int tcs37727_init(tcs37727_t *dev, i2c_t i2c, uint8_t address, int atime_us)
{
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
/* check parameters */
assert(dev && params);
i2c_acquire(dev->i2c);
/* initialize the device descriptor */
memcpy(&dev->p, params, sizeof(tcs37727_params_t));
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -1;
/* setup the I2C bus */
i2c_acquire(BUS);
if (i2c_init_master(BUS, I2C_SPEED) < 0) {
i2c_release(BUS);
LOG_ERROR("[tcs37727] init: error initializing I2C bus\n");
return TCS37727_NOBUS;
}
i2c_release(dev->i2c);
if (tcs37727_test(dev)) {
return -2;
/* check if we can communicate with the device */
i2c_read_reg(BUS, ADR, TCS37727_ID, &tmp);
if (tmp != TCS37727_ID_VALUE) {
i2c_release(BUS);
LOG_ERROR("[tcs37727] init: error while reading ID register\n");
return TCS37727_NODEV;
}
i2c_acquire(dev->i2c);
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_CONTROL,
TCS37727_CONTROL_AGAIN_4) != 1) {
i2c_release(dev->i2c);
return -3;
}
/* configure gain and conversion time */
i2c_write_reg(BUS, ADR, TCS37727_ATIME, TCS37727_ATIME_TO_REG(dev->p.atime));
i2c_write_reg(BUS, ADR, TCS37727_CONTROL, TCS37727_CONTROL_AGAIN_4);
dev->again = 4;
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_ATIME,
TCS37727_ATIME_TO_REG(atime_us)) != 1) {
i2c_release(dev->i2c);
return -3;
}
dev->atime_us = atime_us;
/* enable the device */
tmp = (TCS37727_ENABLE_AEN | TCS37727_ENABLE_PON);
i2c_write_reg(BUS, ADR, TCS37727_ENABLE, tmp);
dev->initialized = true;
i2c_release(BUS);
i2c_release(dev->i2c);
return 0;
return TCS37727_OK;
}
int tcs37727_set_rgbc_active(tcs37727_t *dev)
void tcs37727_set_rgbc_active(tcs37727_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, TCS37727_ENABLE, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
assert(dev);
i2c_acquire(BUS);
i2c_read_reg(BUS, ADR, TCS37727_ENABLE, &reg);
reg |= (TCS37727_ENABLE_AEN | TCS37727_ENABLE_PON);
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_ENABLE, reg) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
i2c_write_reg(BUS, ADR, TCS37727_ENABLE, reg);
i2c_release(BUS);
}
int tcs37727_set_rgbc_standby(tcs37727_t *dev)
void tcs37727_set_rgbc_standby(tcs37727_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, TCS37727_ENABLE, &reg, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
assert(dev);
i2c_acquire(BUS);
i2c_read_reg(BUS, ADR, TCS37727_ENABLE, &reg);
reg &= ~TCS37727_ENABLE_AEN;
if (!(reg & TCS37727_ENABLE_PEN)) {
reg &= ~TCS37727_ENABLE_PON;
}
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_ENABLE, reg) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
i2c_write_reg(BUS, ADR, TCS37727_ENABLE, reg);
i2c_release(BUS);
}
static uint8_t tcs37727_trim_gain(tcs37727_t *dev, int rawc)
@ -152,10 +111,6 @@ static uint8_t tcs37727_trim_gain(tcs37727_t *dev, int rawc)
uint8_t reg_again = 0;
int val_again = dev->again;
if (dev->initialized == false) {
return -1;
}
if (rawc < TCS37727_AG_THRESHOLD_LOW) {
switch (val_again) {
case 1:
@ -204,41 +159,33 @@ static uint8_t tcs37727_trim_gain(tcs37727_t *dev, int rawc)
return 0;
}
i2c_acquire(dev->i2c);
i2c_acquire(BUS);
uint8_t reg = 0;
if (i2c_read_reg(dev->i2c, dev->addr, TCS37727_CONTROL, &reg) != 1) {
i2c_release(dev->i2c);
if (i2c_read_reg(BUS, ADR, TCS37727_CONTROL, &reg) != 1) {
i2c_release(BUS);
return -2;
}
reg &= ~TCS37727_CONTROL_AGAIN_MASK;
reg |= reg_again;
if (i2c_write_reg(dev->i2c, dev->addr, TCS37727_CONTROL, reg) != 1) {
i2c_release(dev->i2c);
if (i2c_write_reg(BUS, ADR, TCS37727_CONTROL, reg) != 1) {
i2c_release(BUS);
return -2;
}
i2c_release(dev->i2c);
i2c_release(BUS);
dev->again = val_again;
return 0;
}
int tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data)
void tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data)
{
uint8_t buf[8];
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr,
(TCS37727_INC_TRANS | TCS37727_CDATA), buf, 8) != 8) {
i2c_release(dev->i2c);
return -1;
}
assert(dev && data);
i2c_release(dev->i2c);
i2c_acquire(BUS);
i2c_read_regs(BUS, ADR, (TCS37727_INC_TRANS | TCS37727_CDATA), buf, 8);
i2c_release(BUS);
int32_t tmpc = ((uint16_t)buf[1] << 8) | buf[0];
int32_t tmpr = ((uint16_t)buf[3] << 8) | buf[2];
@ -259,7 +206,7 @@ int tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data)
/* Lux calculation as described in the DN40. */
int32_t gi = R_COEF_IF * tmpr + G_COEF_IF * tmpg + B_COEF_IF * tmpb;
/* TODO: add Glass Attenuation Factor GA compensation */
int32_t cpl = (dev->atime_us * dev->again) / DGF_IF;
int32_t cpl = (dev->p.atime * dev->again) / DGF_IF;
int32_t lux = gi / cpl;
/* Autogain */
@ -271,6 +218,4 @@ int tcs37727_read(tcs37727_t *dev, tcs37727_data_t *data)
data->clear = (tmpb < 0) ? 0 : (tmpc * 1000) / cpl;
data->lux = (lux < 0) ? 0 : lux;
data->ct = (ct < 0) ? 0 : ct;
return 0;
}

46
drivers/tcs37727/tcs37727_saul.c

@ -0,0 +1,46 @@
/*
* Copyright (C) 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_tcs37727
* @{
*
* @file
* @brief TCS37727 adaption to the RIOT actuator/sensor interface
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <string.h>
#include "saul.h"
#include "tcs37727.h"
static int read(void *dev, phydat_t *res)
{
tcs37727_t *d = (tcs37727_t *)dev;
tcs37727_data_t val;
tcs37727_read(d, &val);
res->val[0] = (int16_t)val.red;
res->val[1] = (int16_t)val.green;
res->val[2] = (int16_t)val.blue;
res->unit = UNIT_CD;
res->scale = 0;
return 3;
}
const saul_driver_t tcs37727_saul_driver = {
.read = read,
.write = saul_notsup,
.type = SAUL_SENSE_COLOR,
};

4
sys/auto_init/auto_init.c

@ -318,6 +318,10 @@ void auto_init(void)
extern void auto_init_dht(void);
auto_init_dht();
#endif
#ifdef MODULE_TCS37727
extern void auto_init_tcs37727(void);
auto_init_tcs37727();
#endif
#endif /* MODULE_AUTO_INIT_SAUL */

64
sys/auto_init/saul/auto_init_tcs37727.c

@ -0,0 +1,64 @@
/*
* Copyright (C) 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/*
* @ingroup auto_init_saul
* @{
*
* @file
* @brief Auto initialization of TCS37727 light sensors
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#ifdef MODULE_TCS37727
#include "log.h"
#include "saul_reg.h"
#include "tcs37727.h"
#include "tcs37727_params.h"
/**
* @brief Define the number of configured sensors
*/
#define TCS37727_NUM (sizeof(tcs37727_params) / sizeof(tcs37727_params[0]))
/**
* @brief Allocate memory for the device descriptors
*/
static tcs37727_t tcs37727_devs[TCS37727_NUM];
/**
* @brief Memory for the SAUL registry entries
*/
static saul_reg_t saul_entries[TCS37727_NUM];
void auto_init_tcs37727(void)
{
for (unsigned i = 0; i < TCS37727_NUM; i++) {
LOG_DEBUG("[auto_init_saul] initializing tcs29020 #%u\n", i);
int res = tcs37727_init(&tcs37727_devs[i], &tcs37727_params[i]);
if (res != TCS37727_OK) {
LOG_ERROR("[auto_init_saul] error initializing tcs37727 #%u\n", i);
}
else {
saul_entries[i].dev = &(tcs37727_devs[i]);
saul_entries[i].name = tcs37727_saul_info[i].name;
saul_entries[i].driver = &tcs37727_saul_driver;
saul_reg_add(&(saul_entries[i]));
}
}
}
#else
typedef int dont_be_pedantic;
#endif /* MODULE_TCS37727 */

8
tests/driver_tcs37727/Makefile

@ -6,12 +6,4 @@ FEATURES_REQUIRED = periph_i2c
USEMODULE += tcs37727
USEMODULE += xtimer
# set default device parameters in case they are undefined
TEST_TCS37727_I2C ?= I2C_DEV\(0\)
TEST_TCS37727_ADDR ?= 0x29
# export parameters
CFLAGS += -DTEST_TCS37727_I2C=$(TEST_TCS37727_I2C)
CFLAGS += -DTEST_TCS37727_ADDR=$(TEST_TCS37727_ADDR)
include $(RIOTBASE)/Makefile.include

28
tests/driver_tcs37727/main.c

@ -1,5 +1,6 @@
/*
* Copyright (C) 2015 PHYTEC Messtechnik GmbH
* 2017 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@ -7,30 +8,25 @@
*/
/**
* @ingroup tests
* @ingroup tests
* @{
*
* @file
* @brief Test application for the TCS37727 sensor driver.
*
* @author Felix Siebel <f.siebel@phytec.de>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#ifndef TEST_TCS37727_I2C
#error "TEST_TCS37727_I2C not defined"
#endif
#ifndef TEST_TCS37727_ADDR
#error "TEST_TCS37727_ADDR not defined"
#endif
#include <stdio.h>
#include "xtimer.h"
#include "tcs37727.h"
#include "tcs37727_params.h"
#define SLEEP (1000 * 1000U)
#define SLEEP (1 * US_PER_SEC)
int main(void)
{
@ -38,10 +34,9 @@ int main(void)
tcs37727_data_t data;
puts("TCS37727 RGBC Data; Sensor driver test application\n");
printf("Initializing TCS37727 sensor at I2C_%i... ", TEST_TCS37727_I2C);
printf("Initializing first configured TCS37727 sensor...");
if (tcs37727_init(&dev, TEST_TCS37727_I2C, TEST_TCS37727_ADDR,
TCS37727_ATIME_DEFAULT) == 0) {
if (tcs37727_init(&dev, &tcs37727_params[0]) == TCS37727_OK) {
puts("[OK]\n");
}
else {
@ -49,17 +44,12 @@ int main(void)
return -1;
}
if (tcs37727_set_rgbc_active(&dev)) {
puts("Measurement start failed.");
return -1;
}
while (1) {
tcs37727_read(&dev, &data);
printf("R: %5"PRIu32" G: %5"PRIu32" B: %5"PRIu32" C: %5"PRIu32"\n",
data.red, data.green, data.blue, data.clear);
printf("CT : %5"PRIu32" Lux: %6"PRIu32" AGAIN: %2d ATIME %d\n",
data.ct, data.lux, dev.again, dev.atime_us);
printf("CT : %5"PRIu32" Lux: %6"PRIu32" AGAIN: %2d ATIME %"PRIu32"\n",
data.ct, data.lux, dev.again, dev.p.atime);
xtimer_usleep(SLEEP);
}

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