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drivers/sensors: sensor bug fix - part 1 #17824

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50608ef
drivers/sensors: add sensor_device_info when sensor_regsiter by usensor.
Donny9 Nov 13, 2024
f90e25f
drivers/sensors: Fixed O_DIRECT flag triggering rpmsg cross-core.
Otpvondoiats Dec 3, 2024
e5d54d9
drivers/sensors: Added virtual sensor flag to prioritize reading
Otpvondoiats Nov 20, 2024
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64 changes: 33 additions & 31 deletions drivers/sensors/sensor.c
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -614,7 +614,7 @@ static int sensor_open(FAR struct file *filep)
goto errout_with_lock;
}

if (lower->ops->open)
if ((filep->f_oflags & O_DIRECT) == 0 && lower->ops->open)
{
ret = lower->ops->open(lower, filep);
if (ret < 0)
Expand All @@ -623,31 +623,32 @@ static int sensor_open(FAR struct file *filep)
}
}

if ((filep->f_oflags & O_DIRECT) == 0)
/* Using the O_DIRECT flag will prevent cross-core operations,
* allowing for direct I/O operations.
*/

if (filep->f_oflags & O_RDOK)
{
if (filep->f_oflags & O_RDOK)
if (upper->state.nsubscribers == 0 && lower->ops->activate)
{
if (upper->state.nsubscribers == 0 && lower->ops->activate)
ret = lower->ops->activate(lower, filep, true);
if (ret < 0)
{
ret = lower->ops->activate(lower, filep, true);
if (ret < 0)
{
goto errout_with_open;
}
goto errout_with_open;
}

user->role |= SENSOR_ROLE_RD;
upper->state.nsubscribers++;
}

if (filep->f_oflags & O_WROK)
user->role |= SENSOR_ROLE_RD;
upper->state.nsubscribers++;
}

if (filep->f_oflags & O_WROK)
{
user->role |= SENSOR_ROLE_WR;
upper->state.nadvertisers++;
if (filep->f_oflags & SENSOR_PERSIST)
{
user->role |= SENSOR_ROLE_WR;
upper->state.nadvertisers++;
if (filep->f_oflags & SENSOR_PERSIST)
{
lower->persist = true;
}
lower->persist = true;
}
}

Expand Down Expand Up @@ -696,7 +697,7 @@ static int sensor_close(FAR struct file *filep)
int ret = 0;

nxrmutex_lock(&upper->lock);
if (lower->ops->close)
if ((filep->f_oflags & O_DIRECT) == 0 && lower->ops->close)
{
ret = lower->ops->close(lower, filep);
if (ret < 0)
Expand All @@ -706,21 +707,22 @@ static int sensor_close(FAR struct file *filep)
}
}

if ((filep->f_oflags & O_DIRECT) == 0)
/* Using the O_DIRECT flag will prevent cross-core operations,
* allowing for direct I/O operations.
*/

if (filep->f_oflags & O_RDOK)
{
if (filep->f_oflags & O_RDOK)
upper->state.nsubscribers--;
if (upper->state.nsubscribers == 0 && lower->ops->activate)
{
upper->state.nsubscribers--;
if (upper->state.nsubscribers == 0 && lower->ops->activate)
{
lower->ops->activate(lower, filep, false);
}
lower->ops->activate(lower, filep, false);
}
}

if (filep->f_oflags & O_WROK)
{
upper->state.nadvertisers--;
}
if (filep->f_oflags & O_WROK)
{
upper->state.nadvertisers--;
}

list_delete(&user->node);
Expand Down
3 changes: 2 additions & 1 deletion drivers/sensors/sensor_rpmsg.c
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Original file line number Diff line number Diff line change
Expand Up @@ -774,7 +774,8 @@ static int sensor_rpmsg_get_info(FAR struct sensor_lowerhalf_s *lower,
{
ret = drv->ops->get_info(drv, filep, info);
}
else if (!(filep->f_oflags & SENSOR_REMOTE))

if (ret == -ENOTTY && !(filep->f_oflags & SENSOR_REMOTE))
{
ret = sensor_rpmsg_ioctl(dev, SNIOC_GET_INFO,
(unsigned long)(uintptr_t)info,
Expand Down
29 changes: 7 additions & 22 deletions drivers/sensors/usensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -53,9 +53,6 @@ static int usensor_ioctl(FAR struct file *filep, int cmd,
static int usensor_get_info(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR struct sensor_device_info_s *info);
static int usensor_control(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
int cmd, unsigned long arg);

/****************************************************************************
* Private Types
Expand All @@ -75,7 +72,7 @@ struct usensor_lowerhalf_s
{
struct list_node node; /* node in all usensor list */
struct sensor_lowerhalf_s driver; /* The lowerhalf driver of user sensor */
struct sensor_device_info_s info; /* Virtual sensor information */
struct sensor_device_info_s devinfo; /* Virtual sensor information */
char path[1]; /* The path of usensor character device */
};

Expand All @@ -99,7 +96,6 @@ static const struct file_operations g_usensor_fops =
static const struct sensor_ops_s g_usensor_ops =
{
.get_info = usensor_get_info,
.control = usensor_control
};

/****************************************************************************
Expand All @@ -124,6 +120,8 @@ static int usensor_register(FAR struct usensor_context_s *usensor,
lower->driver.persist = info->persist;
lower->driver.ops = &g_usensor_ops;
strlcpy(lower->path, info->path, size + 1);
memcpy(&lower->devinfo, &info->devinfo, sizeof(lower->devinfo));

ret = sensor_custom_register(&lower->driver, lower->path, info->esize);
if (ret < 0)
{
Expand Down Expand Up @@ -231,26 +229,13 @@ static int usensor_get_info(FAR struct sensor_lowerhalf_s *lower,
FAR struct usensor_lowerhalf_s *ulower = container_of(lower,
struct usensor_lowerhalf_s,
driver);

*info = ulower->info;
return 0;
}

static int usensor_control(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
int cmd, unsigned long arg)
{
FAR struct usensor_lowerhalf_s *ulower = container_of(lower,
struct usensor_lowerhalf_s,
driver);

if (cmd == SNIOC_SET_INFO)
if (ulower->devinfo.name[0] == '\0')
{
ulower->info = *(FAR struct sensor_device_info_s *)(uintptr_t)arg;
return 0;
return -ENOTTY;
}

return -ENOTTY;
*info = ulower->devinfo;
return 0;
}

/****************************************************************************
Expand Down
13 changes: 2 additions & 11 deletions include/nuttx/sensors/ioctl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -444,27 +444,18 @@

#define SNIOC_GET_INFO _SNIOC(0x009B)

#ifdef CONFIG_USENSOR
/* Command: SNIOC_SET_INFO
* Description: Set device information. Only used by user space.
* Argument: This is the device info pointer.
*/

# define SNIOC_SET_INFO _SNIOC(0x009C)
#endif

Comment on lines -447 to -455
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@linguini1 linguini1 Jan 17, 2026

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Is this considered a breaking change?

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@xiaoxiang781216 xiaoxiang781216 Jan 18, 2026

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this ioctl is normally used with Android sensor HAL to report the additional sensor info required by Android, since both side is modified, the impact is minimal.

/* Command: SNIOC_FLUSH
* Description: Flush sensor hardware fifo buffer.
*/

#define SNIOC_FLUSH _SNIOC(0x009D)
#define SNIOC_FLUSH _SNIOC(0x009C)

/* Command: SNIOC_GET_EVENTS
* Description: Get events of the sensor device.
* Argument: The events pointer, (unsigned int *)
*/

#define SNIOC_GET_EVENTS _SNIOC(0x009E)
#define SNIOC_GET_EVENTS _SNIOC(0x009D)

/* Command: SNIOC_SET_THERMO
* Description: Set the thermocouple type.
Expand Down
35 changes: 18 additions & 17 deletions include/nuttx/uorb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1220,23 +1220,6 @@ struct sensor_ustate_s
uint64_t generation; /* The recent generation of circular buffer */
};

/* This structure describes the register info for the user sensor */

#ifdef CONFIG_USENSOR
struct sensor_reginfo_s
{
char path[NAME_MAX]; /* The path of user sensor */
uint32_t esize; /* The element size of user sensor */
uint32_t nbuffer; /* The number of queue buffered elements */

/* The flag is used to indicate that the validity of sensor data
* is persistent.
*/

int persist;
};
#endif

/* This structure describes the context custom ioctl for device */

struct sensor_ioctl_s
Expand Down Expand Up @@ -1311,4 +1294,22 @@ struct sensor_device_info_s
char vendor[SENSOR_INFO_NAME_SIZE];
};

/* This structure describes the register info for the user sensor */

#ifdef CONFIG_USENSOR
struct sensor_reginfo_s
{
char path[NAME_MAX]; /* The path of user sensor */
uint32_t esize; /* The element size of user sensor */
uint32_t nbuffer; /* The number of queue buffered elements */
struct sensor_device_info_s devinfo; /* The device info. */

/* The flag is used to indicate that the validity of sensor data
* is persistent.
*/

int persist;
};
#endif

#endif /* __INCLUDE_NUTTX_SENSORS_SENSOR_H */
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