三：Sensor SLPI层代码分析
在学习SLPI侧代码前我们先了解下SEE的registry&config。
registry 放在/persist/sensors/registry/registry中，它是通过config生成的，是给SLPI解析的文件。
config 放在/persist/sensors/registry/config中，它需要RD修改更新，用来生成register以便SLPI使用。每次config update后，即会更新registry。每次reboot后，会重新加载registry。
config都是以.json为后缀的文件，每个物理sensor会有两个json文件，一个是包含所有平台的特殊配置文件，另一个是sensor driver的特殊配置文件。
如果config文件不存在并且sensor driver支持默认参数，则sensor library会将默认参数填充到registry中。
sensor driver可以通过发送request给registry sensor来随时更新registry。
下面来详细介绍下json文件：以高通给的demo文件为例。
/persist/sensors/registry/config/sdm845_lsm6dsm_0.json
{"config":{"hw_platform": ["HDK"],"soc_id": ["341"] },"lsm6dso_0_platform":{"owner":"lsm6dso",".config":{"owner":"lsm6dso","bus_type":{"type":"int","ver":"0","data":"1"},"bus_instance":{"type":"int","ver":"0","data":"2"},"slave_config":{"type":"int","ver":"0","data":"0"},"min_bus_speed_khz":{"type":"int","ver":"0","data":"0"},"max_bus_speed_khz":{"type":"int","ver":"0","data":"3300"}, ...}
上面config为platform-specific configuration，格式为：<sensor_name>
图1
上图说明了platform-specific config中每个元素的含义。
图2
上图为可以用作SPI or I2C的GPIO，这些GPIO是可以复用的，
举个栗子：
bus_type：1，bus_instance：2，slave_config：1
意思为：使用SPI bus，QUP为2，即使用SSC_6、SSC_7、SSC_8、SSC_9、SSC_10、SSC_11这6组GPIO。slave_config为0，即设备连在SSC_6（QUP2 lane4）上。
若bus_type :0 ，其他不变的话。
意思为：使用I2C bus，QUP为2，即使用SSC_2、SSC_3，I2C2这组I2C。slave address为0x01。
图3
上图为sensor中断GPIO。高通强烈建议用户使用中断GPIO时与上图一一对应，所以accel的中断pin为117，mag的中断pin为119。
//sdm845_icm206xx_0.json"dri_irq_num":{"type":"int","ver":"0","data":"117"},//sdm845_ak0991x_0.json"dri_irq_num":{"type":"int","ver":"0","data":"119"},
下面说下driver-specific configuration
/persist/sensors/registry/config/lsm6dsm_0.json
{"config": {"hw_platform": ["QRD","MTP","Dragon","Surf","HDK"],"soc_id": ["336","341"] },"lsm6dso_0":{"owner":"lsm6dso",".accel":{"owner":"lsm6dso",".config":{"owner":"lsm6dso","is_dri":{"type":"int","ver":"0","data":"1"},"hw_id":{"type":"int","ver":"0","data":"0"},"res_idx":{"type":"int","ver":"0","data":"2"},"sync_stream":{"type":"int","ver":"0","data":"0"} } },".gyro":{"owner":"lsm6dso",".config":{"owner":"lsm6dso","is_dri":{"type":"int","ver":"0","data":"1"},"hw_id":{"type":"int","ver":"0","data":"0"},"res_idx":{"type":"int","ver":"0","data":"4"},"sync_stream":{"type":"int","ver":"0","data":"0"} } }, ...}
格式为:<sensor_name>_<hadware_id>
图4
上图说明了driver-specific config中每个元素的含义。
了解完registry & config，下面开始学习SLPI层Sensor。
我们研究高通提供的demo sensor driver code：lsm6dso,顺带会说下SLPI侧sensor framework的code。
进入qcom_firware->slpi_proc->ssc->sensors->lsm6dso目录后，首先下看下build脚本。
####lsm6dso.scons######Import('env')importos,inspectif('SSC_TARGET_HEXAGON_MDSP'inenv['CPPDEFINES']): Return()lsm6dso_island_enable =Falseif'SNS_ISLAND_INCLUDE_LSM6DSO'inenv:#No.1lsm6dso_island_enable =Trueif('SSC_TARGET_HEXAGON'inenv['CPPDEFINES'])and('SENSORS_DD_DEV_FLAG'notinenv): env.AddSSCSU(inspect.getfile(inspect.currentframe()),#No.2register_func_name ="sns_register_lsm6dso", binary_lib =False, add_island_files = lsm6dso_island_enable)if'SENSORS_DD_DEV_FLAG'inenv:#No.3ME = inspect.getfile(inspect.currentframe()) MY_ROOT = os.path.dirname(os.path.dirname(ME)) REMOVE_FILES = env.FindFiles(['*.*'], MY_ROOT) env.CleanPack(env['SSC_BUILD_TAGS'], REMOVE_FILES)
No.1中若存在flag=SNS_ISLAND_INCLUDE_LSM6DSO，则lsm6dso_island_enable=true，即lsm6dso被设置成island mode。何为Island mode，高通解释island有着很低的功耗。
如何设置成为island mode呢？
在build脚本上，我们需要设置flag，在build/ssc.scons中加入。
env.AddUsesFlags(['SNS_ISLAND_INCLUDE_LSM6DSO'])
在sensor driver code上，我们我要
(1) 把sensor中这些API放到sns__sensor_island.c中实现
//本例为sns_lsm6dso_sensor_island.csns_sensor_api 内容get_sensor_uid()set_client_request() onlyforaccel driver libraries
(2)把sensor instance中这些API放到sns_<drv_name>_sensor_instance_island.c中实现
//本例为sns_lsm6dso_sensor_instance_island.csns_sensor_instance_api内容notify_event()set_client_config() onlyforaccel driver libraries
(3)把所有sensor & sensor instance island中调用的函数放到sns_<drv_name>_hal_island.c中实现：
//本例为sns_lsm6dso_hal_island.clsm6dso_com_write_wrapper()lsm6dso_start_fifo_streaming()andso on...
Normal情况哪些API放在哪些文件中呢？
(1) 把sensor中这些API放到sns__sensor.c中实现
init()deinit()set_client_request()fornon-accel driver librariesnotify_event()
(2) 把sensor instance中这些API放到sns_<drv_name>_sensor_instance.c中实现
init()deinit()set_client_config() onlyfornon-accel driver libraries
(3)所有sensor & sensor instance 非island中调用的函数放到sns_<drv_name>_hal.c中实现。
No.2中设置flag=SSC_TARGET_HEXAGON是动态注册，registry_func_name="sns_register_lsm6dso"为sensor driver的入口函数。binary_lib为是否是二进制lib，高通的一些虚拟sensor比如计步器、amd、smd等等都是以lib形式提供给customer的。customer只要调用API使用即可，不需要知道如何实现。
No.3中设置flag=SENSORS_DD_DEV_FLAG是静态注册，在SDM845上使用的均为动态注册。
接着来到入口函数中：
//sns_lsm6dso.csns_rcsns_register_lsm6dso(sns_register_cbconst*register_api){inti =0;/** Register Sensors */for(i =0; i< ARR_SIZE(lsm6dso_supported_sensors) ; i++) { register_api->init_sensor(sizeof(lsm6dso_state), lsm6dso_supported_sensors[i].sensor_api, lsm6dso_supported_sensors[i].instance_api); }returnSNS_RC_SUCCESS;}//sns_lsm6dso_sensor_island.cconstlsm6dso_sensors lsm6dso_supported_sensors[ MAX_SUPPORTED_SENSORS ] = { {LSM6DSO_ACCEL, &lsm6dso_accel_sensor_api, &lsm6dso_sensor_instance_api}, {LSM6DSO_GYRO, &lsm6dso_gyro_sensor_api, &lsm6dso_sensor_instance_api}, {LSM6DSO_MOTION_DETECT , &lsm6dso_motion_detect_sensor_api, &lsm6dso_sensor_instance_api}, {LSM6DSO_SENSOR_TEMP, &lsm6dso_sensor_temp_sensor_api, &lsm6dso_sensor_instance_api}};
上面入口函数中注册四组api，每组api包含sns_sensor_api 和 sns_sensor_instance_api。
sns_sensor_api数据结构放在sns_lsm6dso_sensor_island.c中；
sns_sensor_instance_api数据结构放在sns_lsm6dso_sensor_instance_island.c中。
以LSM6DSO_ACCEL为例：
1： sns_sensor_api定义在sns_sensor.h中，结构如下：
typedef struct sns_sensor_api{ uint32_t struct_len;/** * Initialize a Sensor to its hard-coded/default state. Generate * requests for any other necessary data (e.g. Registry data). A call to * sns_sensor_api::deinit will precede any subsequent calls to this function. * *@param[i] this Sensor reference * *@return* SNS_RC_INVALID_STATE - Requisite hardware not available * SNS_RC_POLICY - Required services not available * SNS_RC_SUCCESS */sns_rc (*init)( sns_sensor *constthis);/** * Release all hardware and software resources associated with this Sensor * *@param[i] this Sensor reference * *@return* SNS_RC_INVALID_STATE - Error occurred: some resource could not be released * SNS_RC_SUCCESS */sns_rc (*deinit)( sns_sensor *constthis);/** * Each Sensor must have a globally unique identifier; each algorithm * and driver will define their own. If a Sensor may be loaded twice on the * system, it is responsible for returning two unique values. These must * not change across device reboots. * *@param[i] this Sensor reference * *@returnThe unique identifier for this Sensor */sns_sensor_uidconst* (*get_sensor_uid)( sns_sensorconst*constthis);/** * Notification to the client that some data has been received. * * The client must use the sns_event_service to obtain this data * for processing. * *@return* SNS_RC_INVALID_STATE - A client error occurred; Framework shall destroy * client * SNS_RC_NOT_AVAILABLE - A transitory error occurred; Framework shall * remove all outstanding input * SNS_RC_INVALID_LIBRARY_STATE - A permanent error occurred; Framework shall * destroy all sensors present in the client library * SNS_RC_SUCCESS */sns_rc (*notify_event)( sns_sensor *constthis);/** * Add, remove, or update a client's request to this Sensor. * * For each new request sent by a client, the Sensor (via this function) * will receive the new_request. If the client has an active request * (which is to be replaced), it will be specified in exist_request. * * If 'remove' is false: * A client has sent a new request to this Sensor. Determine if any * active Sensor Instance in sns_sensor_cb::get_sensor_instance() * will handle this request. If yes, use add_client_request to associate * this new request with that existing Instance. * * If not, instantiate and initialize a new Sensor Instance with the * appropriate configuration, and similarly use add_client_request. * * In either case, if exist_request is provided and new_request provides * a superceding configuration, exist_request must be removed via * remove_client_request. * * If 'remove' is true: * Remove this client request by sns_sensor_instance_cb::remove_client_request; * re-arrange any remaining client requests/sensor instances. * * In all cases, if the result of the operation is a Sensor Instance with * zero clients, sns_sensor_cb::remove_instance must be called. * *@param[i] this Sensor reference *@param[i] exist_request If this request comes-in over an existing stream, * this is the existing request. *@param[i] new_request New request just received *@param[i] remove If the client no longer requires this data * *@return* The Sensor Instance chosen to handle this new client. NULL if an error * occurred during processing; or if "remove" was true. * Or sns_instance_no_error (see above). */struct sns_sensor_instance* (*set_client_request)( sns_sensor *constthis, struct sns_requestconst*exist_request, struct sns_requestconst*new_request, bool remove);} sns_sensor_api;
上面每个函数都有注释，这里不再解释。
//sns_lsm6dso_sensor_island.c , sns_sensor_api放在island文件中，上面island介绍中有解释。sns_sensor_api lsm6dso_accel_sensor_api ={ .struct_len =sizeof(sns_sensor_api), .init = &lsm6dso_accel_init, .deinit = &lsm6dso_accel_deinit, .get_sensor_uid = &lsm6dso_get_sensor_uid, .set_client_request = &lsm6dso_set_client_request, .notify_event = &lsm6dso_sensor_notify_event,};
（1）lsm6dso_accel_init
//sns_lsm6dso_accel_sensor.csns_rclsm6dso_accel_init(sns_sensor *constthis){ lsm6dso_state *state = (lsm6dso_state*)this->state->state;//No.1lsm6dso_acc_publish_attributes(this);//No.2lsm6dso_init_sensor_info(this, &((sns_sensor_uid)ACCEL_SUID), LSM6DSO_ACCEL);//No.3DBG_PRINT(state->diag_service,this, LOW, __FILENAME__, __LINE__,"accel init");returnSNS_RC_SUCCESS;}
No.1中：此形式应用非常广泛，同this指针中获取lsm6dso_state。
lsm6dso_state定义在sns_lsm6dso_sensor.h中，是sensor driver两个非常重要的数据结构之一，当然，另外一个是lsm6dso_instance_state。
（注：这里写成this，大家都明白什么意思了吧，虽然c语言不是面向对象语言，但底层开发处处用到面向对象的思想，this这很明显的说明sns_sensor类似于基类，不同的sensor都继承该基类，该基类数据形式都是common的，强制类型转换成每个sensor独有的数据；在C语言中只不过不叫基类而已，在这里叫做framework，在kernel中叫做core。）
No.2中：比较重要，将accel的atrributes publish到attribute service中并保存起来。
voidlsm6dso_acc_publish_attributes(sns_sensor *constthis){constchartype[] ="accel";constuint32_tactive_current[3] = {25,85,150};//uAconstuint32_tsleep_current =3;//uAlsm6dso_publish_def_attributes(this); { sns_std_attr_value_data values[] = {SNS_ATTR, SNS_ATTR, SNS_ATTR, SNS_ATTR,//No.aSNS_ATTR, SNS_ATTR/*, SNS_ATTR, SNS_ATTR,SNS_ATTR*/}; values[0].has_flt =true; values[0].flt = LSM6DSO_ODR_13; values[1].has_flt =true; values[1].flt = LSM6DSO_ODR_26; values[2].has_flt =true; values[2].flt = LSM6DSO_ODR_52; values[3].has_flt =true; values[3].flt = LSM6DSO_ODR_104; values[4].has_flt =true; values[4].flt = LSM6DSO_ODR_208; values[5].has_flt =true; values[5].flt = LSM6DSO_ODR_416;//QC currently we are limiting to 416/*
values[6].has_flt = true;
values[6].flt = LSM6DSO_ODR_833;
values[7].has_flt = true;
values[7].flt = LSM6DSO_ODR_1660;
values[8].has_flt = true;
values[8].flt = LSM6DSO_ODR_3330;
values[9].has_flt = true;
values[9].flt = LSM6DSO_ODR_6660;
*/sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_RATES, values, ARR_SIZE(values),false); } {//No.bsns_std_attr_value_data value = sns_std_attr_value_data_init_default; value.str.funcs.encode = pb_encode_string_cb; value.str.arg = &((pb_buffer_arg) { .buf = type, .buf_len =sizeof(type) }); sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_TYPE, &value,1,false); } {//No.csns_std_attr_value_data values[] = {SNS_ATTR, SNS_ATTR, SNS_ATTR, SNS_ATTR};inti;for(i =0; i < ARR_SIZE(values); i++) { values[i].has_flt =true; values[i].flt = lsm6dso_accel_resolutions[i]; } sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_RESOLUTIONS, values, i,false); } {//No.dsns_std_attr_value_data values[] = {SNS_ATTR, SNS_ATTR, SNS_ATTR};inti;for(i =0; i < ARR_SIZE(active_current); i++) { values[i].has_sint =true; values[i].sint = active_current[i]; } sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_ACTIVE_CURRENT, values, i,false); } {//No.esns_std_attr_value_data value = sns_std_attr_value_data_init_default; value.has_sint =true; value.sint = sleep_current;//uAsns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_SLEEP_CURRENT, &value,1,false); } {//No.fsns_std_attr_value_data values[] = {SNS_ATTR, SNS_ATTR, SNS_ATTR, SNS_ATTR}; sns_std_attr_value_data range1[] = {SNS_ATTR, SNS_ATTR}; range1[0].has_flt =true; range1[0].flt = LSM6DSO_ACCEL_RANGE_2G_MIN; range1[1].has_flt =true; range1[1].flt = LSM6DSO_ACCEL_RANGE_2G_MAX; values[0].has_subtype =true; values[0].subtype.values.funcs.encode = sns_pb_encode_attr_cb; values[0].subtype.values.arg = &((pb_buffer_arg){ .buf = range1, .buf_len = ARR_SIZE(range1) }); sns_std_attr_value_data range2[] = {SNS_ATTR, SNS_ATTR}; range2[0].has_flt =true; range2[0].flt = LSM6DSO_ACCEL_RANGE_4G_MIN; range2[1].has_flt =true; range2[1].flt = LSM6DSO_ACCEL_RANGE_4G_MAX; values[1].has_subtype =true; values[1].subtype.values.funcs.encode = sns_pb_encode_attr_cb; values[1].subtype.values.arg = &((pb_buffer_arg){ .buf = range2, .buf_len = ARR_SIZE(range2) }); sns_std_attr_value_data range3[] = {SNS_ATTR, SNS_ATTR}; range3[0].has_flt =true; range3[0].flt = LSM6DSO_ACCEL_RANGE_8G_MIN; range3[1].has_flt =true; range3[1].flt = LSM6DSO_ACCEL_RANGE_8G_MIN; values[2].has_subtype =true; values[2].subtype.values.funcs.encode = sns_pb_encode_attr_cb; values[2].subtype.values.arg = &((pb_buffer_arg){ .buf = range3, .buf_len = ARR_SIZE(range3) }); sns_std_attr_value_data range4[] = {SNS_ATTR, SNS_ATTR}; range4[0].has_flt =true; range4[0].flt = LSM6DSO_ACCEL_RANGE_16G_MIN; range4[1].has_flt =true; range4[1].flt = LSM6DSO_ACCEL_RANGE_16G_MAX; values[3].has_subtype =true; values[3].subtype.values.funcs.encode = sns_pb_encode_attr_cb; values[3].subtype.values.arg = &((pb_buffer_arg){ .buf = range4, .buf_len = ARR_SIZE(range4) }); sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_RANGES, values, ARR_SIZE(values),true); } {//No.gsns_std_attr_value_data values[] = {SNS_ATTR};charconstproto1[] ="sns_accel.proto"; values[0].str.funcs.encode = pb_encode_string_cb; values[0].str.arg = &((pb_buffer_arg) { .buf = proto1, .buf_len =sizeof(proto1) }); sns_publish_attribute(this, SNS_STD_SENSOR_ATTRID_API, values, ARR_SIZE(values),false); }}
看似好多东西啊，其实这些东西都是简单的参数。就是lsm6dso driver中accel的一些属性。
sns_publish_attribute参数分别代表：1，sns_sensor；2，attribute_id；3，value；4，value length；5，completed代表是否是最后一被设置的属性，若为true，后续不能修改该属性；若为false，后续可以修改该属性。
No.a中，sns_std_attr_value_data是一个保存attr value的data，初始化元素为SNS_ATTR
#defineSNS_ATTR sns_std_attr_value_data_init_default#definesns_std_attr_value_data_init_default {false, sns_std_attr_value_init_default, {{NULL}, NULL}, false, 0, false, 0, false, 0}typedefstruct_sns_std_attr_value_data{boolhas_subtype; sns_std_attr_value subtype;pb_callback_tstr;boolhas_flt;floatflt;boolhas_sint;int64_tsint;boolhas_boolean;boolboolean;/* @@protoc_insertion_point(struct:sns_std_attr_value_data) */} sns_std_attr_value_data;
可以看到有6个SNS_ATTR，即后面有6个value[ 0 ~ 5 ]，value的has_flt位均设为true，value的flt为LSM6DSO_ODR_13、LSM6DSO_ODR_26、LSM6DSO_ODR_52等等，
设置完后，通过sns_publish_attribute将attribute_id为SNS_STD_SENSOR_ATTRID_RATES publish到attribute service中。
后面简略的介绍下sns_publish_attribute函数后续流程。
//sns_attribute_util.cSNS_SECTION(".text.sns")void//No.asns_publish_attribute(sns_sensor *constsensor,uint32_tattribute_id, sns_std_attr_value_dataconst*values,uint32_tvalues_len,boolcompleted){size_tattribute_len =0; sns_std_attr std_attr = (sns_std_attr)//No.b{ .attr_id = attribute_id, .value.values.funcs.encode = &sns_pb_encode_attr_cb, .value.values.arg = &((pb_buffer_arg){ .buf = values, .buf_len = values_len }) };if(pb_get_encoded_size(&attribute_len, sns_std_attr_fields, &std_attr))//No.c{ sns_service_manager *manager = sensor->cb->get_service_manager(sensor); sns_attribute_service *attribute_service = (sns_attribute_service*)manager->get_service(manager, SNS_ATTRIBUTE_SERVICE);uint8_tattribute[attribute_len];pb_ostream_tstream = pb_ostream_from_buffer(attribute, attribute_len);if(pb_encode(&stream, sns_std_attr_fields, &std_attr))//No.dattribute_service->api->publish_attribute(attribute_service, sensor, attribute, attribute_len, attribute_id, completed);// PEND: Print a message upon errors}}
No.a 中 SNS_SECTION(".text.sns")，将函数放到.text.sns段。
No.b 中根据前面的values填充pb_buffer_arg、填充sns_std_attr数据结构。
typedefstruct_sns_std_attr{int32_tattr_id; sns_std_attr_value value;/* @@protoc_insertion_point(struct:sns_std_attr) */} sns_std_attr;
No.c 中获取sns_service_manager，然后通过get_service来获取attribute service。
No.d 中通过attribute service中api进行push_attribute。
SNS_SECTION(".text.sns")staticsns_rcpublish_attribute(sns_attribute_service *this,structsns_sensor *sensor,voidconst*attribute, uint32_t attribute_len, sns_attribute_id attribute_id,boolcompleted){ UNUSED_VAR(this); UNUSED_VAR(completed); sns_list_iter iter; sns_fw_sensor *fw_sensor = (sns_fw_sensor*)sensor;//No.asns_attribute *new_attr; sns_mem_heap_id heap = (SNS_STD_SENSOR_ATTRID_TYPE == attribute_id || SNS_STD_SENSOR_ATTRID_VENDOR == attribute_id) ? SNS_HEAP_ISLAND : SNS_HEAP_MAIN; SNS_ISLAND_EXIT(); new_attr = sns_malloc(heap,sizeof(*new_attr) + attribute_len);if(SNS_HEAP_ISLAND == heap &&NULL== new_attr) { new_attr = sns_malloc(SNS_HEAP_MAIN,sizeof(*new_attr) + attribute_len); fw_sensor->island_operation = SNS_ISLAND_STATE_ISLAND_DISABLED; } SNS_ASSERT(NULL!= new_attr); sns_list_item_init(&new_attr->list_entry, new_attr); new_attr->id= attribute_id; new_attr->value_len = attribute_len; sns_memscpy(&new_attr->value, attribute_len, attribute, attribute_len);for(sns_list_iter_init(&iter, &fw_sensor->attr_info->attributes,true);NULL!= sns_list_iter_curr(&iter); sns_list_iter_advance(&iter)) { sns_attribute *attr = (sns_attribute*)sns_list_item_get_data(sns_list_iter_curr(&iter));if(attr->id== attribute_id) { sns_list_iter_remove(&iter); sns_free(attr);break; } } sns_list_iter_insert(&iter, &new_attr->list_entry,false); process_special_attributes(new_attr, fw_sensor);//No.breturnSNS_RC_SUCCESS;}
No.a中有个重要的数据结构sns_fw_sensor，该数据结构定义在sns_fw_sensor.h，每个sensor都有自己的sns_fw_sensor。将sns_sensor地址赋给sns_fw_sensor，所以sns_fw_sensor第一个成员为sns_sensor，而且sns_fw_sensor只用在framework层，不开放给sensor开发者使用。
No.b中process_special_attributes继续：
SNS_SECTION(".text.sns")staticvoidprocess_special_attributes(sns_attribute *new_attr, sns_fw_sensor *fw_sensor){if(SNS_STD_SENSOR_ATTRID_AVAILABLE == new_attr->id) {boolavailable = (bool)decode_attribute(new_attr, &pb_decode_attr_value_cb);if(available != sns_attr_info_get_available(fw_sensor->attr_info)) {chardata_type[32]; sns_attr_info_get_data_type(fw_sensor->attr_info, data_type,sizeof(data_type)); sns_attr_info_set_available(fw_sensor->attr_info, available); sns_suid_sensor_apprise(data_type); } sns_diag_register_sensor(fw_sensor); }elseif(SNS_STD_SENSOR_ATTRID_TYPE == new_attr->id) { sns_attr_priority priority = {false,false};charconst*data_type = (char*)decode_attribute(new_attr, &pb_decode_attr_value_cb); SNS_ASSERT(NULL!= data_type); sns_attr_info_set_data_type(fw_sensor->attr_info, data_type);for(uint8_ti =0; i < ARR_SIZE(event_priority_datatypes); i++) {if(0==strcmp(data_type, event_priority_datatypes[i])) { priority.event_priority =true;break; } }for(uint8_ti =0; i < ARR_SIZE(req_priority_datatypes); i++) {if(0==strcmp(data_type, req_priority_datatypes[i])) { priority.req_priority =true;break; } } sns_attr_info_set_priority(fw_sensor->attr_info, priority); }elseif(SNS_STD_SENSOR_ATTRID_VENDOR == new_attr->id) {charconst*vendor = (char*)decode_attribute(new_attr, &pb_decode_attr_value_cb); sns_attr_info_set_vendor(fw_sensor->attr_info, vendor); }elseif(SNS_STD_SENSOR_ATTRID_PHYSICAL_SENSOR == new_attr->id && !sns_attr_info_get_is_physical_sensor(fw_sensor->attr_info)) {boolphysical_sensor = (bool)decode_attribute(new_attr, &pb_decode_attr_value_cb); sns_attr_info_set_is_physical_sensor(fw_sensor->attr_info, physical_sensor); }}
上面函数主要根据attribute_id进行不同的处理，并将数据保存在fw_sensor->attr_info中。
Ok，上面关于sns_publish_attribute大概介绍完毕，有兴趣的童鞋可以仔细研究，没有兴趣的话不影响大局，可以略过不看，只需记得attribte参数放进sns_fw_sensor->attr_info中，以便后续使用！
回到lsm6dso_acc_publish_attributes中。
No.b中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_TYPE的value。
No.c中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_RESOLUTIONS的value。
No.d中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_ACTIVE_CURRENT的value。
No.e中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_SLEEP_CURRENT的value。
No.f中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_RANGES的value。范围
No.g中：同样publish attribute_id为SNS_STD_SENSOR_ATTRID_API的value。API使用的是sns_accel.proto。
回到lsm6dso_init_sensor_info中，
首先介绍几个数据结构。之前我们知道有个struct sns_sensor，sns_sensor有个成员为struct sns_sensor_cb const*cb我们没有介绍过。
//sns_sensor.htypedefstructsns_sensor{/* Functions which call back into the framework; provided by the Framework */structsns_sensor_cbconst*cb;/* API implementation provided for and by this Sensor */structsns_sensor_apiconst*sensor_api;/* The associated API for an Sensor Instances created for and by this
* Sensor. */structsns_sensor_instance_apiconst*instance_api;/* State space allocated by the Framework for the sole use of the Sensor
* developer. */structsns_sensor_state*state;} sns_sensor;
//sns_sensor.htypedef struct sns_sensor_cb{ uint32_t struct_len;/** * Get a reference to the Service Manager. With this object, a reference * to any other utility service can be obtained. * *@param[i] this Sensor reference * *@returnService Manager reference */struct sns_service_manager* (*get_service_manager)( sns_sensorconst*this);/** * Return the next Sensor Instance associated with this Sensor. * * Each Sensor has a list of associated Sensor Instances; entries are added * to that list within calls to 'create_instance', and removed from the * list when it services no client requests. * * Each call to this function iterates over the list, and returns the next * entry. NULL is returned at the end of the list, or if the list is empty. * *@param[i] this Sensor reference *@param[i] first Return the first instance; reset the internal iterator * Must be called first to initialize iteration * *@returnNext Sensor Instance associated with this Sensor */struct sns_sensor_instance* (*get_sensor_instance)( sns_sensorconst*this, bool first);/** * Allocate and initialize a new Sensor Instance to be associated with this * Sensor. Will call sns_sensor_instance::init. * *@noteDirect pointers to the returned value should not be saved. * *@param[i] this Sensor reference *@param[i] stateLen Allocation size for sns_sensor_instance::state * *@returnNewly created Sensor Instance */struct sns_sensor_instance* (*create_instance)( sns_sensor *this, uint32_t state_len);/** * Remove and deallocate a Sensor Instance. Will call * sns_sensor_instance::deinit. * *@param[i] instance Instance received within set_client_request */void(*remove_instance)( struct sns_sensor_instance *instance);/** * Return the next Sensor associated with this library. * * Each Sensor is a member of a library; each library may contain several * Sensors. Sensors may be removed from a library upon errors, but no * entries are added after Framework initialization has completed. * * Each call to this function iterates over the list, and returns the next * entry. NULL is returned at the end of the list, or if the list is empty. * * This function is intended to be used by Sensors which share physical * hardware with another sensor, and hence must share state/instances. * *@param[i] this Sensor reference *@param[i] first Return the first sensor; reset the internal iterator; * Must be called first to initialize iteration * *@returnNext Sensor associated with this library. */struct sns_sensor* (*get_library_sensor)( sns_sensorconst*this, bool first);/** * If multiple copies of this Sensor Library have been registered with SEE, * this returns the index (starting at '0') of this particular copy. See * parameter registration_cnt of env.AddSSCSU. * *@param[i] this Sensor reference * *@returnLibrary registration index */uint32_t (*get_registration_index)( sns_sensorconst*this);} sns_sensor_cb;
sns_sensor_cb是通过SEE framework 提供来给sensor使用的callback。其中包含5个函数，分别是
*.get_service_manager()：用来获取service manager handle。
*.get_sensor_instance()：用来获取sensor的下一个instance。
*.create_instance()：创建新的instance。
*.remove_instance()：移除存在的instance。
*.get_library_sensor()：通过sensor library 获取另一个sensor的support。
No.3中：填充lsm6dso_state，
通过sns_sensor ->cb->get_service_manager来获取一个sns_service_manager的handle。sns_service_manager是可以管理所有service的数据结构。
然后在介绍下init_dependencies比较重要：
//sns_lsm6dso_sensor.cstaticchardef_dependency[][MAX_DEP_LENGTH] = {"interrupt","async_com_port","timer","data_acquisition_engine","registry"};staticvoidinit_dependencies(sns_sensor *constthis){inti =0; lsm6dso_state *state = (lsm6dso_state*)this->state->state; DBG_PRINT(state->diag_service,this, LOW, __FILENAME__, __LINE__,"init_dependencies sensor");for(i=0;i
accel 所依赖的platform sensor。有interrupt、async_com_port、timer、registry等等。
send_suid_req函数内容比较中要！因为后面很多地方会用到，这里我们重点介绍下：
staticvoid send_suid_req(sns_sensor *this, char *constdata_type, uint32_t data_type_len){ lsm6dso_state *state = (lsm6dso_state*)this->state->state;if(state->fw_stream ==NULL)//No.a{ sns_service_manager *manager = this->cb->get_service_manager(this); sns_stream_service *stream_service = (sns_stream_service*)manager->get_service(manager, SNS_STREAM_SERVICE); stream_service->api->create_sensor_stream(stream_service, this, sns_get_suid_lookup(), &state->fw_stream); }if(state->fw_stream !=NULL)//No.b{ size_t encoded_len; pb_buffer_arg data = (pb_buffer_arg){ .buf = data_type, .buf_len = data_type_len }; uint8_t buffer[50]; sns_suid_req suid_req = sns_suid_req_init_default; suid_req.has_register_updates =true; suid_req.register_updates =true; suid_req.data_type.funcs.encode = &pb_encode_string_cb; suid_req.data_type.arg = &data; sns_rc rc = SNS_RC_SUCCESS; encoded_len = pb_encode_request(buffer, sizeof(buffer), &suid_req, sns_suid_req_fields,NULL);if(0< encoded_len) { sns_request request = (sns_request){ .request_len = encoded_len, .request = buffer, .message_id = SNS_SUID_MSGID_SNS_SUID_REQ }; rc = state->fw_stream->api->send_request(state->fw_stream, &request); }if(0>= encoded_len || SNS_RC_SUCCESS != rc) { DBG_PRINT(state->diag_service, this, ERROR, __FILENAME__,__LINE__,"encoded_len=%d rc=%u", encoded_len, rc); } }}
No.a中：首先介绍个数据结构sns_data_stream
//sns_data_stream.htypedef struct sns_data_stream{ struct sns_data_stream_api *api;} sns_data_stream;typedef struct sns_data_stream_api{ uint32_t struct_len;/** * Send a request to some other service/Sensor. This request may * update or replace the existing stream, depending on the Sensor * specification. * *@param[io] data_stream Data stream on which to send the request *@param[i] Request to be sent; Framework will copy request * *@return* SNS_RC_INVALID_TYPE - Request ID not valid * SNS_RC_INVALID_STATE - Stream is no longer available; create again * SNS_RC_SUCCESS */sns_rc (*send_request)( sns_data_stream *data_stream, sns_request *request);/** * Initiate a flush on the connection associated with sensorUID. * *@noteThis is a helper function; clients may also initiate a flush * by generating a flush request message, and sending it via send_request. * *@param[io] data_stream Data stream on which to initiate the flush * *@return* SNS_RC_INVALID_STATE - Stream is no longer available; create again * SNS_RC_SUCCESS */sns_rc (*initiate_flush)( sns_data_stream *data_stream);/** * Retrieve a pointer to the oldest unprocessed input sample associated with * this data stream from the event queue. This event is a single, logical * sample, as produced and published by the source Sensor. * *@noteMultiple sequential calls to this function will return the same * pointer. * *@param[io] data_stream Data stream from which to get an event * *@returnNext unprocessed event on the queue; NULL if no events remain */sns_sensor_event* (*peek_input)( sns_data_stream *data_stream);/** * Remove the current event from the input queue (the event that would * be returned via peek_input). Return the next unprocessed event from the * event queue. * * Once this function returns, there is no means to retrieve the removed * Event again; the data has been freed, and its memory should not be * accessed. * *@param[io] data_stream Data stream from which to get an event * *@returnThe next unprocessed event on the queue (after the removal occurs) * NULL if no further events remain */sns_sensor_event* (*get_next_input)( sns_data_stream *data_stream);/** * Lookup the current number of input pending on this data stream. This * value may change at any time, and should not be treated as precise. * *@noteDo no rely on this value to assume valid input from peek_input. * *@param[io] data_stream Data stream from which to get the input count * *@returnNumber of input events (aka samples) available for processing */uint32_t (*get_input_cnt)( sns_data_stream *data_stream);} sns_data_stream_api;
上面注释很清楚了，不再解释。
第一次很定进入state->fw_stream==NULL，通过获取sns_service_manager获取sns_service_type为SNS_STREAM_SERVICE的stream_service。并通过stream_service来创建一个新的sensor stream。
No.b中：接着会进入state->fw_stream != NULL，这里比较重要的是：会填充一个sns_suid_req，并通过pb_encode_request函数编码成buffer，然后继续填充sns_request，最后，通过state->fw_stream->api->send_request发送改message_id为SNS_SUID_MSGID_SNS_SUID_REQ的sns_request。后面不用说也可以知道，通过SNS_SUID_MSGID_SNS_SUID_EVENT接收的event，获取suid。不信，你可以看lsm6dso_sensor_notify_event中lsm6dso_process_suid_events函数。就是对SNS_SUID_MSGID_SNS_SUID_EVENT进行处理的。后面再详细介绍。
Ok，lsm6dso_accel_init解析完毕。
（2）init对应的是deinit
sns_rclsm6dso_accel_deinit(sns_sensor *constthis){ UNUSED_VAR(this);// Turn Sensor OFF.// Close COM port.// Turn Power Rails OFF.// No need to clear lsm6dso_state because it will get freed anyway.returnSNS_RC_SUCCESS;}
（3）lsm6dso_get_sensor_uid函数，用来获取suid。
sns_sensor_uidconst*lsm6dso_get_sensor_uid(sns_sensorconst*constthis){ lsm6dso_state *state = (lsm6dso_state*)this->state->state;return&state->my_suid;}
（4）lsm6dso_set_client_request函数，用来设置来自client的request。并创建sensor instance。
set_client_request函数的解释如下：
该函数是用来Add、remove、update来自client的request。
如果remove设为false：任何从sns_sensor_cb::get_sensor_instance()获取active的sensor instance来决定是否处理该request，若是，使用add_client_request将new request和existing instance关联起来。若不是，同样使用add_client_request来实例化并初始化一个新的sensor instance。在这两种情况下，exist_request存在，并且new_request提供一个超配置，exsit_request必须通过removed_client_request来移除。
如果remove为true：通过sns_sensor_instance_cb::remove_client_request来删除这个client，并重排来自client的request和sensor_instances。
可以看到在sns_stream_service.c的handle_req中，set_client_request的remove参数为false的。在handle_stream_destroy中，set_client_request的remove参数为true。
sns_sensor_instance* lsm6dso_set_client_request(sns_sensor *constthis, struct sns_requestconst*exist_request, struct sns_requestconst*new_request, bool remove){ lsm6dso_state *state = (lsm6dso_state*)this->state->state;//No.1sns_sensor_instance *instance = sns_sensor_util_get_shared_instance(this);//No.2sns_diag_service* diag = state->diag_service; sns_time on_timestamp;//No.3sns_time delta; bool reval_config =false; ...if(remove)//No.4{if(NULL== instance) { DBG_PRINT(diag, this, ERROR, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: Instance not available! Returning!");returninstance; } DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: remove request"); lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state; inst_state->config_sensors |= state->sensor; instance->cb->remove_client_request(instance, exist_request);/* Assumption: The FW will call deinit() on the instance before destroying it.
Putting all HW resources (sensor HW, COM port, power rail)in
low power state happens in Instance deinit().*/if(exist_request->message_id != SNS_PHYSICAL_SENSOR_TEST_MSGID_SNS_PHYSICAL_SENSOR_TEST_CONFIG) { lsm6dso_reval_instance_config(this, instance, state->sensor); }else{ lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state;//if reconfigure hw has been postponed due to a remove request during self test. Do it nowif(inst_state->self_test_info.reconfig_postpone) { DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"Reconfiguring HW for request recieved during self-test"); lsm6dso_reval_instance_config(this, instance, state->sensor); inst_state->fifo_info.interrupt_cnt =0; inst_state->self_test_info.reconfig_postpone =false; }//If a factory self test was run, update the registry & sensor->stateif(inst_state->self_test_info.update_registry) { DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"Updating registry and sensor state with new calibration values");//copy to sensor stateif(LSM6DSO_ACCEL == inst_state->self_test_info.sensor) { sns_memscpy(state->fac_cal_bias, sizeof(state->fac_cal_bias), inst_state->accel_registry_cfg.fac_cal_bias, sizeof(inst_state->accel_registry_cfg.fac_cal_bias)); }elseif(LSM6DSO_GYRO == inst_state->self_test_info.sensor) { sns_memscpy(state->fac_cal_bias, sizeof(state->fac_cal_bias), inst_state->gyro_registry_cfg.fac_cal_bias, sizeof(inst_state->gyro_registry_cfg.fac_cal_bias)); }//Update flag in sensor_state to indicate which registry is to be updated//write registryinst_state->registry_reset.request =false; lsm6dso_sensor_write_output_to_registry(this, instance);// Set the flag to false indicating that the registry is updatedinst_state->self_test_info.update_registry =false; } } }else//No.5{// 1. If new request then:// a. Power ON rails.// b. Power ON COM port - Instance must handle COM port power.// c. Create new instance.// d. Re-evaluate existing requests and choose appropriate instance config.// e. set_client_config for this instance.// f. Add new_request to list of requests handled by the Instance.// g. Power OFF COM port if not needed- Instance must handle COM port power.// h. Return the Instance.// 2. If there is an Instance already present:// a. Add new_request to list of requests handled by the Instance.// b. Remove exist_request from list of requests handled by the Instance.// c. Re-evaluate existing requests and choose appropriate Instance config.// d. set_client_config for the Instance if not the same as current config.// e. publish the updated config.// f. Return the Instance.// 3. If "flush" request:// a. Perform flush on the instance.// b. Return NULL.DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: add request ");if(NULL!= instance) { lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state;if(inst_state->self_test_info.test_alive) { DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"Self test is running. Ignoring new request! ");returnNULL;// Return without honouring any request for any sensor streaming} }if(NULL== instance) {if(state->sensor == LSM6DSO_GYRO) { state->rail_config.rail_vote = SNS_RAIL_ON_NPM; }else{ state->rail_config.rail_vote = SNS_RAIL_ON_LPM; } state->pwr_rail_service->api->sns_vote_power_rail_update( state->pwr_rail_service, this, &state->rail_config, &on_timestamp); delta = sns_get_system_time() - on_timestamp;// Use on_timestamp to determine correct Timer value.if(delta < sns_convert_ns_to_ticks(LSM6DSO_OFF_TO_IDLE_MS*1000*1000)) { DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: start power rail timer"); lsm6dso_start_power_rail_timer(this, sns_convert_ns_to_ticks(LSM6DSO_OFF_TO_IDLE_MS*1000*1000) - delta, LSM6DSO_POWER_RAIL_PENDING_SET_CLIENT_REQ); }else{// rail is already ONDBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: power rail already ON"); state->power_rail_pend_state = LSM6DSO_POWER_RAIL_PENDING_NONE; reval_config =true; } DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: creating instance");/** create_instance() calls init() for the Sensor Instance */instance = this->cb->create_instance(this, sizeof(lsm6dso_instance_state));/* If rail is already ON then flag instance OK to configure */if(reval_config) { lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state; inst_state->instance_is_ready_to_configure =true; } }else{ DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: instance already available");if(NULL!= new_request) DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"sensor %d new_req msg_id %d",state->sensor, new_request->message_id);if(NULL!= exist_request &&NULL!= new_request && new_request->message_id == SNS_STD_MSGID_SNS_STD_FLUSH_REQ) { lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state;if(inst_state->fifo_info.fifo_enabled && ((state->sensor == LSM6DSO_ACCEL) || (state->sensor == LSM6DSO_GYRO))) { lsm6dso_send_flush_config(this, instance);/** Do not update instance client request list at this point
because FIFO flush is a transitory request for an on-going
stream request. */returninstance; }else{/** There aren't any FIFO sensors enabled to support flush.
* Send flush complete event anyway. */lsm6dso_send_fifo_flush_done(instance, &state->my_suid);returninstance; } }else{ reval_config =true;/** An existing client is changing request*/if((NULL!= exist_request) && (NULL!= new_request)) { instance->cb->remove_client_request(instance, exist_request); }/** A new client sent new_request*/elseif(NULL!= new_request) {// No-op. new_request will be added to requests list below.} } }/** Add the new request to list of client_requests.*/if(NULL!= instance) { lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state;if(NULL!= new_request) { instance->cb->add_client_request(instance, new_request); DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: adding new client request reval_config = %d inst_ready_to_config = %d", reval_config, inst_state->instance_is_ready_to_configure); DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: adding new client request sensor %d msg_id %d", state->sensor, new_request->message_id);if(LSM6DSO_MOTION_DETECT == state->sensor) { sns_memscpy(&inst_state->md_info.md_config, sizeof(inst_state->md_info.md_config), &state->md_config, sizeof(state->md_config)); DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"lsm6dso_set_client_request:: copying md config"); }if(new_request->message_id == SNS_STD_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG || new_request->message_id == SNS_STD_EVENT_GATED_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG) { inst_state->config_sensors |= state->sensor;//copy range/resolution to inst stateif(LSM6DSO_ACCEL == state->sensor) { inst_state->accel_info.sstvt = lsm6dso_accel_resolutions[state->resolution_idx]*1000;//convert to micro-g/LSBinst_state->accel_info.range = lsm6dso_accel_ranges[state->resolution_idx]; inst_state->accel_info.range_idx = state->resolution_idx; }elseif(LSM6DSO_GYRO == state->sensor) { inst_state->gyro_info.sstvt = lsm6dso_gyro_resolutions[state->resolution_idx]; inst_state->gyro_info.range = lsm6dso_gyro_ranges[state->resolution_idx]; inst_state->gyro_info.range_idx = state->resolution_idx; } }if(new_request->message_id == SNS_CAL_MSGID_SNS_CAL_RESET) { DBG_PRINT(diag, this, HIGH, __FILENAME__,__LINE__,"Received event: SNS_CAL_MSGID_SNS_CAL_RESET"); inst_state->registry_reset.request =true; inst_state->registry_reset.sensor_type = state->sensor; lsm6dso_sensor_write_output_to_registry(this, instance);//copy to sensor stateif(LSM6DSO_ACCEL == state->sensor) { sns_memscpy(state->fac_cal_bias, sizeof(state->fac_cal_bias), inst_state->accel_registry_cfg.fac_cal_bias, sizeof(inst_state->accel_registry_cfg.fac_cal_bias)); sns_memscpy(&state->fac_cal_corr_mat, sizeof(state->fac_cal_corr_mat), &inst_state->accel_registry_cfg.fac_cal_corr_mat, sizeof(inst_state->accel_registry_cfg.fac_cal_corr_mat)); }elseif(LSM6DSO_GYRO == state->sensor) { sns_memscpy(state->fac_cal_bias, sizeof(state->fac_cal_bias), inst_state->gyro_registry_cfg.fac_cal_bias, sizeof(inst_state->gyro_registry_cfg.fac_cal_bias)); sns_memscpy(&state->fac_cal_corr_mat, sizeof(state->fac_cal_corr_mat), &inst_state->gyro_registry_cfg.fac_cal_corr_mat, sizeof(inst_state->gyro_registry_cfg.fac_cal_corr_mat)); } lsm6dso_send_cal_event(instance, state->sensor); }if(new_request->message_id == SNS_STD_SENSOR_MSGID_SNS_STD_ON_CHANGE_CONFIG && state->sensor == LSM6DSO_MOTION_DETECT) {if(inst_state->fifo_info.publish_sensors & LSM6DSO_ACCEL) {//send event as MD disabled since non-gated client is active//no need of this as we alreay set md_info statesns_motion_detect_event md_state; md_state.motion_detect_event_type = SNS_MOTION_DETECT_EVENT_TYPE_DISABLED; DBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"send MD_event =%d", md_state.motion_detect_event_type); pb_send_event(instance, sns_motion_detect_event_fields, &md_state, sns_get_system_time(), SNS_MOTION_DETECT_MSGID_SNS_MOTION_DETECT_EVENT, &inst_state->md_info.suid); reval_config =false; }elseif(inst_state->md_info.enable_md_int) {//there is exsisting md client already present, just send eventDBG_PRINT(diag, this, MED, __FILENAME__,__LINE__,"send MD_event =%d", inst_state->md_info.cur_md_state.motion_detect_event_type); pb_send_event(instance, sns_motion_detect_event_fields, &inst_state->md_info.cur_md_state, sns_get_system_time(), SNS_MOTION_DETECT_MSGID_SNS_MOTION_DETECT_EVENT, &inst_state->md_info.suid); reval_config =false; }elseinst_state->md_info.md_new_req =true; } }if(reval_config && inst_state->instance_is_ready_to_configure) { lsm6dso_reval_instance_config(this, instance, state->sensor); } } }if(NULL!= instance) { lsm6dso_instance_state *inst_state = (lsm6dso_instance_state*)instance->state->state;//reset config sensor bit if sensor is not present if fifo enabledif(!(inst_state->fifo_info.fifo_enabled & state->sensor)) inst_state->config_sensors &= ~state->sensor; }// Sensors are required to call remove_instance when clientlessif(NULL!= instance &&NULL== instance->cb->get_client_request(instance, &(sns_sensor_uid)ACCEL_SUID,true) &&NULL== instance->cb->get_client_request(instance, &(sns_sensor_uid)MOTION_DETECT_SUID,true) &&NULL== instance->cb->get_client_request(instance, &(sns_sensor_uid)GYRO_SUID,true) &&NULL== instance->cb->get_client_request(instance, &(sns_sensor_uid)SENSOR_TEMPERATURE_SUID,true)) { this->cb->remove_instance(instance); }returninstance;}
炒鸡多，一步步分析吧。开始之前，在了解下sns_sensor_instance中的sns_sensor_instance_cb的callback函数吧，上面我们介绍了sns_sensor中的sns_sensor_cb callback函数。
//sns_sensor_instance.htypedefstructsns_sensor_instance{/* Functions which call back into the framework; provided by the Framework */structsns_sensor_instance_cbconst*cb;/* State space allocated by the Framework for the sole use of the Sensor
* Instance developer. */structsns_sensor_instance_state*state;} sns_sensor_instance;
//sns_sensor_instance.htypedef struct sns_sensor_instance_cb{ uint32_t struct_len;/** * Get a reference to the Service Manager. With this object, a reference * to any other utility service can be obtained. * *@param[i] this Sensor Instance reference * *@returnService Manager reference */struct sns_service_manager* (*get_service_manager)( sns_sensor_instance *this);/** * Return the next client request associated with this Sensor Instance and * SUID. * * Each Sensor Instance has a list of client requests per SUID which it is * servicing. Entries are added via calls to add_client_request; removed * via remove_client_request. * * Each call to this function iterates over the list, and returns the next * entry. NULL is returned at the end of the list, or if the list is empty. * *@noteAn Instance may be handling client requests for multiple * (related) Sensors; must use SUID parameter to filter. * *@param[i] this Sensor Instance reference *@param[i] suid Sensor associated with this Instance *@param[i] first Return the first request; reset the internal iterator * Must be called first to initialize iteration * * SNS_RC_NOT_AVAILABLE - The Framework is not aware of SUID * SNS_RC_SUCCESS */struct sns_requestconst* (*get_client_request)( sns_sensor_instance *this, sns_sensor_uidconst*suid, bool first);/** * Remove a client request from this Sensor Instance. * *@param[i] this Sensor Instance reference *@param[i] request Client request to be removed */void(*remove_client_request)( sns_sensor_instance *this, struct sns_requestconst*request);/** * Assign this Sensor Instance to service the client request. * *@noteThis function may only be given sns_request objects received * from sns_sensor_api::set_client_request. * *@noteThe SUID of the recepient Sensor will be noted upon addition; * this SUID must be used within get_client_request. * *@param[i] this Sensor Instance reference *@param[i] request Client request to be added */void(*add_client_request)( sns_sensor_instance *this, struct sns_requestconst*request);} sns_sensor_instance_cb;
四个函数分别如下：
*.get_service_manager()：获取service manger的handle
*.get_client_request()：获取与instance相关联的下一次client request。
*.remove_client_request()：通过instance移除一个client的request handle。
*.add_client_request()：通过instance添加一个client request handle。
然后就可以继续分析set_client_request代码了。
No.1：获取lsm6dso_state指针。
No.2：获取一个共享的instance，许多物理sensor会共享一个单独的instance，这个函数就是查找这个共享的instance，若有返回instance，若无返回NULL。
No.3：获取diag_service
No.4：remove为true，即为移除instance。首先判断instance是否为NULL，
若为NULL，OK，已经不能用了，直接返回即可。
若不为NULL，现获取从instance中获取lsm6dso_instance_state，并通过instance_state的callback函数cb来remove_client_request来从instance中移除exist_request。
紧接着，
若msg_id不是SNS_PHYSICAL_SENSOR_TEST_MSGID_SNS_PHYSICAL_SENSOR_TEST_CONFIG，需要设置instance的config并关电。在lsm6dso_reval_instance_config函数中进行处理。
若msg_id是，会将config数据写到registry sensor中，通过lsm6dso_sensor_write_output_to_registry()函数保存在“/persist/sensor/registry/registry/lsm6dso_0_platform.accel.fac_cal”和“/persist/sensor/registry/registry/lsm6dso_0_platform.gyro.fac_cal”中。
具体细节不再分析。
No.5：else为remove为false的情况。也为创建新的instance的情况。
高通代码给出了相应的注释。
若instance不为NULL，从instance获取lsm6dso_instance_state
若instance为NULL，
填充state的rail_config，设置rail电压。并通过sns_vote_power_rail_update配置rail config。
通过sns_get_system_time获取时间
lsm6dso_start_power_rail_timer来上电
通过create_instance来创建新的instance。
若instance不为NULL
若exist_request & new_request不为NULL，且new_request的msg_id为SNS_STD_MSGID_SNS_STD_FLUSH_REQ，若fifo enable，则发送flush fifo config，ACCEL & GYRO使用fifo，若fifo disable 或者不是accel or gyro，发送flash 完成的event。不再enable fifo 。（这里注意下：不要在enable后更新client的request给instance，因为FIFO是一个持续的stream request。）
若exist_request or new_request为NULL 或者msg_id不为上面的msg_id，相应处理。
若instance 不为NULL，再跟进new_request->msg_id不同设置相应的config。这里我们看到了常见的new_request->message_id == SNS_STD_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG。
然后都完成后，通过lsm6dso_reval_instance_config函数来通过sensor instance进行处理。
接着分析下lsm6dso_reval_instance_config()，主要有一个函数lsm6dso_set_inst_config，在该函数中，可以看到，client request发送到sensor API中.set_client_request的数据，最终通过lsm6dso_set_inst_config函数发送给sensor_instance API中.set_client_config。
voidlsm6dso_reval_instance_config(sns_sensor *this, sns_sensor_instance *instance, lsm6dso_sensor_type sensor_type){ ...uint8_tsensor_count = ARR_SIZE(lsm6dso_supported_sensors);struct{lsm6dso_sensor_type sensor;floatsample_rate;floatreport_rate;uint64_tflush_period_ticks;boolngated_client_present;//= client_presentboolgated_client_present;//incase of accel and md} sensor_info[sensor_count]; ...for(; i< sensor_count ; i++) { ...if((sensor_info[i].sensor == LSM6DSO_ACCEL) || (sensor_info[i].sensor == LSM6DSO_GYRO)) { lsm6dso_get_imu_config(this, instance, sensor_info[i].sensor, &sensor_info[i].sample_rate, &sensor_info[i].report_rate, &sensor_info[i].flush_period_ticks, &sensor_info[i].ngated_client_present, &sensor_info[i].gated_client_present); message_id = SNS_STD_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG; ... }elseif(sensor_info[i].sensor == LSM6DSO_MOTION_DETECT) { lsm6dso_get_motion_detect_config(this, instance, &sensor_info[i].ngated_client_present); ... message_id = SNS_STD_SENSOR_MSGID_SNS_STD_ON_CHANGE_CONFIG; ... }elseif(sensor_info[i].sensor == LSM6DSO_SENSOR_TEMP) { lsm6dso_get_sensor_temp_config(this, instance, &sensor_info[i].sample_rate, &sensor_info[i].report_rate, &sensor_info[i].flush_period_ticks, &sensor_info[i].ngated_client_present); message_id = SNS_STD_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG; } . chosen_sample_rate = SNS_MAX(chosen_sample_rate, sensor_info[i].sample_rate); chosen_report_rate = SNS_MAX(chosen_report_rate, sensor_info[i].report_rate); chosen_flush_ticks = SNS_MAX(chosen_flush_ticks, sensor_info[i].flush_period_ticks); ... lsm6dso_set_inst_config(this, instance, sensor_type, chosen_report_rate, chosen_sample_rate, chosen_flush_ticks, registry_cfg, message_id); ...}
lsm6dso_reval_instance_config函数中会针对不同sensor type进行不同的处理，比如accel & gyro，使用lsm6dso_get_imu_config来从request中获取payload数据填充sensor_info；motion_detect，使用lsm6dso_get_motion_detect_config来填充sensor_info等等，chosen_sample_rate & chosen_sample_rate & chosen_flush_ticks会通过request中参数和他们自己进行比较取最大者。并通过lsm6dso_set_inst_config传递给sensor instance。
staticvoidlsm6dso_set_inst_config(sns_sensor *this, sns_sensor_instance *instance, lsm6dso_sensor_type sensor,floatchosen_report_rate,floatchosen_sample_rate,uint64_tchosen_flush_ticks, sns_lsm6dso_registry_cfg registry_cfg,uint32_tmessage_id){ ...if(((sensor == LSM6DSO_ACCEL) || (sensor == LSM6DSO_GYRO) || (sensor == LSM6DSO_MOTION_DETECT) || (sensor == LSM6DSO_SENSOR_TEMP)) && (inst_state->common_info.mode & LSM6DSO_MODE_SELF_TEST) && (!inst_state->self_test_info.test_alive)) { sns_lsm6dso_self_test_req client_config; client_config.test_type = inst_state->self_test_info.test_type; req_config.message_id = SNS_PHYSICAL_SENSOR_TEST_MSGID_SNS_PHYSICAL_SENSOR_TEST_CONFIG; req_config.request_len =sizeof(sns_lsm6dso_self_test_req); req_config.request = &client_config;this->instance_api->set_client_config(instance, &req_config); }elseif((sensor == LSM6DSO_ACCEL) || (sensor == LSM6DSO_GYRO) || (sensor == LSM6DSO_MOTION_DETECT) || (sensor == LSM6DSO_SENSOR_TEMP)) { sns_lsm6dso_req client_config; client_config.desired_report_rate = chosen_report_rate; client_config.desired_sample_rate = chosen_sample_rate; client_config.desired_flush_ticks = chosen_flush_ticks; client_config.registry_cfg = registry_cfg; req_config.message_id = message_id; req_config.request_len =sizeof(sns_lsm6dso_req); req_config.request = &client_config;this->instance_api->set_client_config(instance, &req_config); }elsereturn;}
在该函数，
if中当inst_state->common_info.mode & LSM6DSO_MODE_SELF_TEST && (!inst_state->self_test_info.test_alive)为true，会用msg_id=SNS_PHYSICAL_SENSOR_TEST_MSGID_SNS_PHYSICAL_SENSOR_TEST_CONFIG进行factory calibration，往上追code发现，当client request中msg_id为SNS_PHYSICAL_SENSOR_TEST_MSGID_SNS_PHYSICAL_SENSOR_TEST_CONFIG时，会把inst_state->common_info.mode设成LSM6DSO_MODE_SELF_TEST的，这里是一一对应的。另外一个inst_state->self_test_info.test_alive，即此时正在进行操作，当然正在factory calibration操作时不能再操作，所以要满足该条件。
else中为正常走的流程，msg_id=SNS_STD_SENSOR_MSGID_SNS_STD_SENSOR_CONFIG也会走该路。两者最后都会调用this->instance_api->set_client_config(instance, &req_config);进入sensor instance中。
此时，sns_sensor_api除了.notify_event其他均分析完了，为了高清流程性，.notify_event会最后分析。
2： sns_sensor_instance_api定义在sns_sensor_instance.h中，结构如下：
//sns_sensor_instance.htypedef struct sns_sensor_instance_api{ uint32_t struct_len;/** * Initialize a Sensor Instance to its default state. A call to * sns_sensor_instance_api::deinit will precede any subsequent calls * to this function. * *@notePersistent configuration can be made available using the * sensor_state. * *@param[i] this Sensor Instance reference *@param[i] sensor_state State of the Sensor which created this Instance * *@return* SNS_RC_NOT_AVAILABLE - Sensor state does not allow for this operation * SNS_RC_SUCCESS */sns_rc (*init)( sns_sensor_instance *constthis, sns_sensor_stateconst*sensor_state);/** * Release all hardware and software resources associated with this Sensor * Instance. * *@param[i] this Sensor Instance reference * *@return* SNS_RC_INVALID_STATE - Error occurred: some resource could not be released * SNS_RC_SUCCESS */sns_rc (*deinit)( sns_sensor_instance *constthis);/** * Update a Sensor Instance configuration to this sensorRequest. * * The Sensor Instance is expected to start all dependent streams, timers, etc.. * *@note* A Sensor may define any number of unique request types they support. * However, a client may only have a single active stream; an enable * request can inherently serve as a "reconfiguration" request. * *@param[i] this Sensor Instance reference * *@return* SNS_RC_INVALID_VALUE - Invalid client request * SNS_RC_SUCCESS */sns_rc (*set_client_config)( sns_sensor_instance *constthis, struct sns_requestconst*client_request);/** * Notification to the client that some data has been received. * * The client must use the sns_manager_event to obtain this data * for processing. * *@return* SNS_RC_INVALID_STATE - A client error occurred; Framework shall destroy client * SNS_RC_NOT_AVAILABLE - A transitory error occurred; Framework shall remove * all outstanding input * SNS_RC_SUCCESS */sns_rc (*notify_event)( sns_sensor_instance *constthis);} sns_sensor_instance_api;
上面每个函数都有注释，这里不再解释。
什么时候会进入sns_sensor_instance API .init呢？在上面介绍中在lsm6dso_set_client_request有如下一段代码，
/** create_instance() calls init() for the Sensor Instance */instance =this->cb->create_instance(this,sizeof(lsm6dso_instance_state));
当instance为NULL时，通过cb创建一个instance，SEE framework会创建一个sensor instance并调用其.init函数。简略的追下code。
//sns_sensor.csns_rcsns_sensor_init_fw(void){ ... sensor_cb = (sns_sensor_cb) { .struct_len =sizeof(sensor_cb), .get_service_manager = &get_service_manager, .get_sensor_instance = &get_sensor_instance, .create_instance = &sns_sensor_instance_init, .remove_instance = &sns_sensor_instance_deinit, .get_library_sensor = &get_library_sensor, .get_registration_index = &get_registration_index, };returnSNS_RC_SUCCESS;}
其中create_instance回调的是sns_sensor_instance_init。
//sns_sensor_instance.cSNS_SECTION(".text.sns") sns_sensor_instance*sns_sensor_instance_init(sns_sensor *sensor, uint32_t state_len){ sns_fw_sensor_instance *instance =NULL; instance = sns_sensor_instance_alloc(fw_sensor, state_len); ... rv = sensor->instance_api->init( (sns_sensor_instance*)instance, sensor->state); ...return(sns_sensor_instance*)instance;}
其他不用管，可以看到sensor->instance_api->init()。
sns_rc lsm6dso_inst_init(sns_sensor_instance *constthis, sns_sensor_stateconst*sstate){ state->scp_service = (sns_sync_com_port_service*) service_mgr->get_service(service_mgr, SNS_SYNC_COM_PORT_SERVICE);/**---------Setup stream connections with dependent Sensors---------*/stream_mgr->api->create_sensor_instance_stream(stream_mgr, this, sensor_state->irq_suid, &state->interrupt_data_stream); stream_mgr->api->create_sensor_instance_stream(stream_mgr, this, sensor_state->acp_suid, &state->async_com_port_data_stream);
在lsm6dso_inst_init中多数为初始化设置，包含获取sync_com_port service和创建async_com_port&interrupt data stream。
state->scp_service->api->sns_scp_register_com_port(&state->com_port_info.com_config,
&state->com_port_info.port_handle);
通过instance注册com port。
在instance state复制所有sensor uids，初始化FIFO状态，初始Accel状态，初始Gyro状态等等，初始化中断数据，初始化com config，enable async com port：
/** Configure the Async Com Port */{ sns_data_stream* data_stream = state->async_com_port_data_stream; uint8_t pb_encode_buffer[100]; sns_request async_com_port_request = { .message_id = SNS_ASYNC_COM_PORT_MSGID_SNS_ASYNC_COM_PORT_CONFIG, .request = &pb_encode_buffer }; async_com_port_request.request_len = pb_encode_request(pb_encode_buffer, sizeof(pb_encode_buffer), &state->ascp_config, sns_async_com_port_config_fields,NULL); data_stream->api->send_request(data_stream, &async_com_port_request); }
等等。。。
对应的是lsm6dso_inst_deinit
sns_rclsm6dso_inst_deinit(sns_sensor_instance *constthis){ lsm6dso_instance_state *state = (lsm6dso_instance_state*)this->state->state; inst_cleanup(this, state);returnSNS_RC_SUCCESS;}
staticvoid inst_cleanup(sns_sensor_instance *constthis, lsm6dso_instance_state *state){ ...if(NULL!= state->com_port_info.port_handle) { state->scp_service->api->sns_scp_update_bus_power(state->com_port_info.port_handle,true); } lsm6dso_set_fifo_config(this,0,0,0,0); lsm6dso_reconfig_hw(this);if(NULL!= state->com_port_info.port_handle) { state->scp_service->api->sns_scp_update_bus_power(state->com_port_info.port_handle,false); } sns_sensor_util_remove_sensor_instance_stream(this, &state->interrupt_data_stream); sns_sensor_util_remove_sensor_instance_stream(this, &state->async_com_port_data_stream); sns_sensor_util_remove_sensor_instance_stream(this, &state->timer_sensor_temp_data_stream); sns_sensor_util_remove_sensor_instance_stream(this, &state->timer_md_data_stream); sns_sensor_util_remove_sensor_instance_stream(this, &state->timer_self_test_data_stream); sns_sensor_util_remove_sensor_instance_stream(this, &state->timer_heart_beat_data_stream);if(NULL!= state->scp_service) { state->scp_service->api->sns_scp_close(state->com_port_info.port_handle); state->scp_service->api->sns_scp_deregister_com_port(&state->com_port_info.port_handle); state->scp_service =NULL; } lsm6dso_dae_if_deinit(this);}
inst_cleanup中：
判断port_handle是否存在，存在则关电。
通过sns_sensor_util_remove_sensor_instance_stream，remove掉所有在instance中创建的data_stream。
scp_service设成NULL
lsm6dso_dae_if_deinit
上面代码中client request最终进入的sensor instance .set_client_config中。
作者：汉克233
链接：https://www.jianshu.com/p/6eaad04bdc00
来源：简书
简书著作权归作者所有，任何形式的转载都请联系作者获得授权并注明出处。
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