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https://github.com/sunnypilot/sunnypilot.git
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7451db46cf
* change LSM6DS3TR(-c) gyroscope and accelerometer to interrupt
* add pthread for linking
* add interrupt collector thread to fetch in parallel to non interrupt based sensors
* change get_event interface to return true on successful read
* fetch sensor interrupts via gpiochip
* avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block)
* add verifier script to sensor interrupts (sensor_data_to_hist.py)
* add/update sensord testsweet (test_sensord.py)
* add poll timed out check
* unexport interrupt gpio pins
* gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble
* add test to sensord to verify 100Hz interrupt frequency
* add sensor shutdown/low power mode functionality on sensord exit
* relax test, will be readded in the splitup PR
Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
old-commit-hash: 84a3c355e5
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
#include "common/gpio.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <cstring>
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#include <linux/gpio.h>
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#include <sys/ioctl.h>
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#include "common/util.h"
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#include "common/swaglog.h"
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int gpio_init(int pin_nr, bool output) {
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char pin_dir_path[50];
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int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
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"/sys/class/gpio/gpio%d/direction", pin_nr);
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if(pin_dir_path_len <= 0) {
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return -1;
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}
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const char *value = output ? "out" : "in";
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return util::write_file(pin_dir_path, (void*)value, strlen(value));
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}
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int gpio_set(int pin_nr, bool high) {
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char pin_val_path[50];
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int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
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"/sys/class/gpio/gpio%d/value", pin_nr);
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if(pin_val_path_len <= 0) {
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return -1;
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}
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return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
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}
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int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
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// Assumed that all interrupt pins are unexported and rights are given to
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// read from gpiochip0.
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std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
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int fd = open(gpiochip_path.c_str(), O_RDONLY);
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if (fd < 0) {
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LOGE("Error opening gpiochip0 fd")
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return -1;
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}
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// Setup event
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struct gpioevent_request rq;
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rq.lineoffset = pin_nr;
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rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
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/* Requesting both edges as the data ready pulse from the lsm6ds sensor is
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very short(75us) and is mostly detected as falling edge instead of rising.
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So if it is detected as rising the following falling edge is skipped. */
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rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
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strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
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int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
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if (ret == -1) {
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LOGE("Unable to get line event from ioctl : %s", strerror(errno));
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close(fd);
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return -1;
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}
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close(fd);
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return rq.fd;
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}
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