acassis commented on code in PR #12192:
URL: https://github.com/apache/nuttx/pull/12192#discussion_r1573375841
##########
drivers/sensors/Kconfig:
##########
@@ -899,6 +899,39 @@ config SENSORS_ADXL372
---help---
Enable driver support for the Analog Devices ADXL372 Sensor.
+if SENSORS_ADXL372
+
+config SENSORS_ADXL372_UORB
+ bool "ADXL372 UORB interfvace"
Review Comment:
```suggestion
bool "ADXL372 UORB interface"
##########
drivers/sensors/adxl372_uorb.c:
##########
@@ -0,0 +1,609 @@
+/****************************************************************************
+ * drivers/sensors/adxl372_uorb.c
+ *
+ * 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/config.h>
+
+#include <debug.h>
+#include <stdio.h>
+#include <string.h>
+
+#include <sys/param.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/signal.h>
+#include <nuttx/sensors/adxl372.h>
+
+#include <nuttx/sensors/sensor.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CONSTANTS_ONE_G 9.8f
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct adxl372_sensor_s
+{
+ struct sensor_lowerhalf_s lower;
+ FAR struct spi_dev_s *spi;
+ float scale;
+ int devno;
+#ifdef CONFIG_SENSORS_ADXL372_POLL
+ bool enabled;
+ unsigned long interval;
+ sem_t run;
+#endif
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr);
+static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, uint8_t regval);
+static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, FAR uint8_t *regval, int len);
+static int16_t adxl372_data(FAR uint8_t *data);
+static int adxl372_checkid(FAR struct adxl372_sensor_s *priv);
+static void adxl372_start(FAR struct adxl372_sensor_s *priv);
+static void adxl372_stop(FAR struct adxl372_sensor_s *priv);
+
+/* Sensor ops functions */
+
+static int adxl372_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ bool enable);
+static int adxl372_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR unsigned long *period_us);
+#ifndef CONFIG_SENSORS_ADXL372_POLL
+static int adxl372_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_adxl372_accel_ops =
+{
+ NULL, /* open */
+ NULL, /* close */
+ adxl372_activate,
+ adxl372_set_interval,
+ NULL, /* batch */
+#ifdef CONFIG_SENSORS_ADXL372_POLL
+ NULL, /* fetch */
+#else
+ adxl372_fetch,
+#endif
+ NULL, /* selftest */
+ NULL, /* set_calibvalue */
+ NULL, /* calibrate */
+ NULL /* control */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: adxl372_getreg8
+ *
+ * Description:
+ * Read from an 8-bit ADXL372 register
+ *
+ ****************************************************************************/
+
+static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr)
+{
+ uint8_t regval = 0;
+
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register to read and get the next byte */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
+ SPI_RECVBLOCK(priv->spi, ®val, 1);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+
+ return regval;
+}
+
+/****************************************************************************
+ * Name: adxl372_putreg8
+ *
+ * Description:
+ * Write a value to an 8-bit ADXL372 register
+ *
+ ****************************************************************************/
+
+static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, uint8_t regval)
+{
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register address and set the value */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_WRITE);
+ SPI_SEND(priv->spi, regval);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+}
+
+/****************************************************************************
+ * Name: adxl372_getregs
+ *
+ * Description:
+ * Read bytes from specified regaddr
+ *
+ ****************************************************************************/
+
+static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, FAR uint8_t *regval, int len)
+{
+ /* If SPI bus is shared then lock and configure it */
+
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register to read and get the next 2 bytes */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
+ SPI_RECVBLOCK(priv->spi, regval, len);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+}
+
+/****************************************************************************
+ * Name: adxl372_data
+ ****************************************************************************/
+
+static int16_t adxl372_data(FAR uint8_t *data)
+{
+ return ((int16_t)(((data[0] << 8) | (data[1] & 0xf0)))) >> 4;
+}
+
+/****************************************************************************
+ * Name: adxl372_checkid
+ *
+ * Description:
+ * Read and verify the ADXL372 chip ID
+ *
+ ****************************************************************************/
+
+static int adxl372_checkid(FAR struct adxl372_sensor_s *priv)
+{
+ uint8_t id = 0;
+
+ id = adxl372_getreg8(priv, ADXL372_DEVID_AD);
+ if (id != ADXL372_DEVID_AD_VALUE)
+ {
+ snerr("Wrong AD! %02x\n", id);
+ return -ENODEV;
+ }
+
+ id = adxl372_getreg8(priv, ADXL372_DEVID_MST);
+ if (id != ADXL372_DEVID_MST_VALUE)
+ {
+ snerr("Wrong MST! %02x\n", id);
+ return -ENODEV;
+ }
+
+ id = adxl372_getreg8(priv, ADXL372_PARTID);
+ if (id != ADXL372_PARTID_VALUE)
+ {
+ snerr("Wrong PARTID! %02x\n", id);
+ return -ENODEV;
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: adxl372_start
+ ****************************************************************************/
+
+static void adxl372_start(FAR struct adxl372_sensor_s *priv)
+{
+ adxl372_putreg8(priv, ADXL372_POWER_CTL,
+ ADXL372_POWER_HPF_DISABLE |
+ ADXL372_POWER_MODE_MEASURE);
+}
+
+/****************************************************************************
+ * Name: adxl372_stop
+ ****************************************************************************/
+
+static void adxl372_stop(FAR struct adxl372_sensor_s *priv)
+{
+ adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
+}
+
+/****************************************************************************
+ * Name: adxl372_reset
+ ****************************************************************************/
+
+static void adxl372_reset(FAR struct adxl372_sensor_s *priv)
+{
+ int wdcnt = 10;
+
+ /* Set stanby mode */
+
+ adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
+
+ /* Wait for boot to finish (15 ms error timeout) */
+
+ up_mdelay(5);
+ while (wdcnt > 0 && (0 != adxl372_getreg8(priv, ADXL372_RESET)))
+ {
+ up_mdelay(1);
+ }
+
+ /* Reset ADXL372 Accelerometer. Write only. Begin a boot. */
+
+ adxl372_putreg8(priv, ADXL372_RESET_VALUE, ADXL372_RESET);
+
+ /* Wait for boot to finish (15 ms error timeout) */
+
+ up_mdelay(5);
+ wdcnt = 10;
+ while (wdcnt > 0 && (0 != adxl372_getreg8(priv, ADXL372_RESET)))
+ {
+ up_mdelay(1);
Review Comment:
Ditto
##########
drivers/sensors/adxl372_uorb.c:
##########
@@ -0,0 +1,609 @@
+/****************************************************************************
+ * drivers/sensors/adxl372_uorb.c
+ *
+ * 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/config.h>
+
+#include <debug.h>
+#include <stdio.h>
+#include <string.h>
+
+#include <sys/param.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/kthread.h>
+#include <nuttx/signal.h>
+#include <nuttx/sensors/adxl372.h>
+
+#include <nuttx/sensors/sensor.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CONSTANTS_ONE_G 9.8f
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct adxl372_sensor_s
+{
+ struct sensor_lowerhalf_s lower;
+ FAR struct spi_dev_s *spi;
+ float scale;
+ int devno;
+#ifdef CONFIG_SENSORS_ADXL372_POLL
+ bool enabled;
+ unsigned long interval;
+ sem_t run;
+#endif
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr);
+static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, uint8_t regval);
+static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, FAR uint8_t *regval, int len);
+static int16_t adxl372_data(FAR uint8_t *data);
+static int adxl372_checkid(FAR struct adxl372_sensor_s *priv);
+static void adxl372_start(FAR struct adxl372_sensor_s *priv);
+static void adxl372_stop(FAR struct adxl372_sensor_s *priv);
+
+/* Sensor ops functions */
+
+static int adxl372_activate(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ bool enable);
+static int adxl372_set_interval(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR unsigned long *period_us);
+#ifndef CONFIG_SENSORS_ADXL372_POLL
+static int adxl372_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR struct file *filep,
+ FAR char *buffer, size_t buflen);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct sensor_ops_s g_adxl372_accel_ops =
+{
+ NULL, /* open */
+ NULL, /* close */
+ adxl372_activate,
+ adxl372_set_interval,
+ NULL, /* batch */
+#ifdef CONFIG_SENSORS_ADXL372_POLL
+ NULL, /* fetch */
+#else
+ adxl372_fetch,
+#endif
+ NULL, /* selftest */
+ NULL, /* set_calibvalue */
+ NULL, /* calibrate */
+ NULL /* control */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: adxl372_getreg8
+ *
+ * Description:
+ * Read from an 8-bit ADXL372 register
+ *
+ ****************************************************************************/
+
+static uint8_t adxl372_getreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr)
+{
+ uint8_t regval = 0;
+
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register to read and get the next byte */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
+ SPI_RECVBLOCK(priv->spi, ®val, 1);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+
+ return regval;
+}
+
+/****************************************************************************
+ * Name: adxl372_putreg8
+ *
+ * Description:
+ * Write a value to an 8-bit ADXL372 register
+ *
+ ****************************************************************************/
+
+static void adxl372_putreg8(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, uint8_t regval)
+{
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register address and set the value */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_WRITE);
+ SPI_SEND(priv->spi, regval);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+}
+
+/****************************************************************************
+ * Name: adxl372_getregs
+ *
+ * Description:
+ * Read bytes from specified regaddr
+ *
+ ****************************************************************************/
+
+static void adxl372_getregs(FAR struct adxl372_sensor_s *priv,
+ uint8_t regaddr, FAR uint8_t *regval, int len)
+{
+ /* If SPI bus is shared then lock and configure it */
+
+ SPI_LOCK(priv->spi, true);
+
+ SPI_SETFREQUENCY(priv->spi, ADXL372_SPI_FREQUENCY);
+ SPI_SETMODE(priv->spi, ADXL372_SPI_MODE);
+
+ /* Select the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
+
+ /* Send register to read and get the next 2 bytes */
+
+ SPI_SEND(priv->spi, (regaddr << 1) | ADXL372_READ);
+ SPI_RECVBLOCK(priv->spi, regval, len);
+
+ /* Deselect the ADXL372 */
+
+ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
+
+ /* Unlock bus */
+
+ SPI_LOCK(priv->spi, false);
+}
+
+/****************************************************************************
+ * Name: adxl372_data
+ ****************************************************************************/
+
+static int16_t adxl372_data(FAR uint8_t *data)
+{
+ return ((int16_t)(((data[0] << 8) | (data[1] & 0xf0)))) >> 4;
+}
+
+/****************************************************************************
+ * Name: adxl372_checkid
+ *
+ * Description:
+ * Read and verify the ADXL372 chip ID
+ *
+ ****************************************************************************/
+
+static int adxl372_checkid(FAR struct adxl372_sensor_s *priv)
+{
+ uint8_t id = 0;
+
+ id = adxl372_getreg8(priv, ADXL372_DEVID_AD);
+ if (id != ADXL372_DEVID_AD_VALUE)
+ {
+ snerr("Wrong AD! %02x\n", id);
+ return -ENODEV;
+ }
+
+ id = adxl372_getreg8(priv, ADXL372_DEVID_MST);
+ if (id != ADXL372_DEVID_MST_VALUE)
+ {
+ snerr("Wrong MST! %02x\n", id);
+ return -ENODEV;
+ }
+
+ id = adxl372_getreg8(priv, ADXL372_PARTID);
+ if (id != ADXL372_PARTID_VALUE)
+ {
+ snerr("Wrong PARTID! %02x\n", id);
+ return -ENODEV;
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: adxl372_start
+ ****************************************************************************/
+
+static void adxl372_start(FAR struct adxl372_sensor_s *priv)
+{
+ adxl372_putreg8(priv, ADXL372_POWER_CTL,
+ ADXL372_POWER_HPF_DISABLE |
+ ADXL372_POWER_MODE_MEASURE);
+}
+
+/****************************************************************************
+ * Name: adxl372_stop
+ ****************************************************************************/
+
+static void adxl372_stop(FAR struct adxl372_sensor_s *priv)
+{
+ adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
+}
+
+/****************************************************************************
+ * Name: adxl372_reset
+ ****************************************************************************/
+
+static void adxl372_reset(FAR struct adxl372_sensor_s *priv)
+{
+ int wdcnt = 10;
+
+ /* Set stanby mode */
+
+ adxl372_putreg8(priv, ADXL372_POWER_CTL, 0);
+
+ /* Wait for boot to finish (15 ms error timeout) */
+
+ up_mdelay(5);
+ while (wdcnt > 0 && (0 != adxl372_getreg8(priv, ADXL372_RESET)))
+ {
+ up_mdelay(1);
Review Comment:
You are not decreasing the protection counter `wdcnt` to avoid stuck here
forever
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