Nano33 apds9960

boards/nano33ble/src/main.rs

@@ -285,8 +285,6 @@ pub unsafe fn reset_handler() {
 
     kernel::hil::sensors::ProximityDriver::set_client(apds9960, proximity);
 
-    // apds9960.take_measurement();
-
     //--------------------------------------------------------------------------
     // WIRELESS
     //--------------------------------------------------------------------------
@@ -334,8 +332,6 @@ pub unsafe fn reset_handler() {
 
     debug!("Initialization complete. Entering main loop.");
 
-    // apds9960.take_measurement();
-
     //--------------------------------------------------------------------------
     // PROCESSES AND MAIN LOOP
     //--------------------------------------------------------------------------

capsules/src/driver.rs

@@ -46,7 +46,7 @@ pub enum NUM {
     Humidity              = 0x60001,
     AmbientLight          = 0x60002,
     NINEDOF               = 0x60004,
-    Proximity             = 0x60003,
+    Proximity             = 0x60005,
 
     // Sensor ICs
     Tsl2561               = 0x70000,

capsules/src/proximity.rs

@@ -111,7 +111,7 @@ impl<'a> ProximitySensor<'a> {
         let r: ReturnCode = self
             .apps
             .enter(appid, |app, _| {
-                // Return busy if same app attempts to enqueue second command before first one is callbacked
+                // Return busy if same app attempts to enqueue second command before first one is "callbacked"
                 if app.subscribed {
                     return ReturnCode::EBUSY;
                 }
@@ -159,15 +159,11 @@ impl<'a> ProximitySensor<'a> {
                     // run it
                     match app.enqueued_command_type {
                         ProximityCommand::ReadProximity => {
-                            self.call_driver(app.enqueued_command_type, 0, 0);
+                            self.driver.read_proximity();
                         }
                         ProximityCommand::ReadProximityOnInterrupt => {
                             let t: Thresholds = self.find_thresholds();
-                            self.call_driver(
-                                app.enqueued_command_type,
-                                t.lower as usize,
-                                t.upper as usize,
-                            );
+                            self.driver.read_proximity_on_interrupt(t.lower, t.upper);
                         }
                         _ => {}
                     }
@@ -233,13 +229,14 @@ impl hil::sensors::ProximityClient for ProximitySensor<'_> {
     fn callback(&self, temp_val: usize, command_type: usize) {
         // Here we callback the values only to the apps which are relevant for the callback
         // We also dequeue any command for a callback so as to remove it from the wait list and add other commands to continue
+
         match command_type {
             command_type if command_type == ProximityCommand::ReadProximity as usize => {
                 // Schedule callbacks for appropriate apps
                 for cntr in self.apps.iter() {
                     cntr.enter(|app, _| {
                         if app.subscribed
-                            && (command_type == (ProximityCommand::ReadProximity as usize))
+                            && (app.enqueued_command_type == ProximityCommand::ReadProximity)
                         {
                             app.callback.map(|mut cb| cb.schedule(temp_val, 0, 0));
                             app.subscribed = false; // dequeue
@@ -249,17 +246,26 @@ impl hil::sensors::ProximityClient for ProximitySensor<'_> {
             }
 
             command_type if command_type == ProximityCommand::ReadProximityOnInterrupt as usize => {
-                // Schedule callbacks for appropriate apps
+                // Schedule callbacks for appropriate apps (any apps waiting for a proximity command)
                 for cntr in self.apps.iter() {
                     cntr.enter(|app, _| {
                         if app.subscribed
-                            && (command_type
-                                == (ProximityCommand::ReadProximityOnInterrupt as usize))
+                            && ((app.enqueued_command_type
+                                == ProximityCommand::ReadProximityOnInterrupt)
+                                || (app.enqueued_command_type == ProximityCommand::ReadProximity))
                         {
-                            // Only callback to those apps which we expect would want to know about this threshold reading
-                            if ((temp_val as u8) > app.upper_proximity)
-                                || ((temp_val as u8) < app.lower_proximity)
+                            if app.enqueued_command_type
+                                == ProximityCommand::ReadProximityOnInterrupt
                             {
+                                // Only callback to those apps which we expect would want to know about this threshold reading for readproximityoninterrupt readings
+                                if ((temp_val as u8) > app.upper_proximity)
+                                    || ((temp_val as u8) < app.lower_proximity)
+                                {
+                                    app.callback.map(|mut cb| cb.schedule(temp_val, 0, 0));
+                                    app.subscribed = false; // dequeue
+                                }
+                            } else {
+                                // callback to all apps waiting on readproximity
                                 app.callback.map(|mut cb| cb.schedule(temp_val, 0, 0));
                                 app.subscribed = false; // dequeue
                             }

doc/syscalls/README.md

@@ -104,6 +104,7 @@ _Note:_ GPIO is slated for re-numbering in Tock 2.0.
 | ✓ | 0x60002       | [Luminance](60002_luminance.md)               | Ambient Light Sensor (lumens)              |
 |   | 0x60003       | Pressure         | Pressure sensor                            |
 |   | 0x60004       | Ninedof          | Virtualized accelerometer/magnetometer/gyroscope |
+|   | 0x60005       | Proximity        | Proximity Sensor                                                        |
 
 ### Sensor ICs
 

kernel/src/hil/sensors.rs

@@ -34,12 +34,23 @@ pub trait HumidityClient {
 /// A basic interface for a proximity sensor
 pub trait ProximityDriver<'a> {
     fn set_client(&self, client: &'a dyn ProximityClient);
-    fn read_proximity(&self) -> ReturnCode; // Instantaneous proximity reading
-    fn read_proximity_on_interrupt(&self, low: u8, high: u8) -> ReturnCode; // Proximity reading returned only after interrupt is detected
+    /// Callback issued after sensor reads proximity value
+    fn read_proximity(&self) -> ReturnCode;
+    /// Callback issued after sensor reads proximity value greater than 'high_threshold' or less than 'low_threshold'
+    ///
+    /// To elaborate, the callback is not issued by the driver until (prox_reading >= high_threshold || prox_reading <= low_threshold).
+    /// When (prox_reading >= high_threshold || prox_reading <= low_threshold) is read by the sensor, an I2C interrupt is generated and sent to the kernel
+    /// which prompts the driver to collect the proximity reading from the sensor and perform the callback.
+    /// Any apps issuing this command will have to wait for the proximity reading to fall within the aforementioned ranges in order to received a callback.
+    /// Threshold: A value of range [0 , 255] which represents at what proximity reading ranges an interrupt will occur.
+    fn read_proximity_on_interrupt(&self, low_threshold: u8, high_threshold: u8) -> ReturnCode;
 }
 
 pub trait ProximityClient {
-    /// Called when proximity reading has completed (`command_type` is used by proximity.rs to match callbacks to the apps issuing the appropriate commands)
+    /// Called when a proximity reading has completed.
+    ///
+    /// - `value`: the most recently read proximity value which ranges [0 , 255] where 255 -> object is closest readable distance, 0 -> object is farthest readable distance.
+    /// - 'command_type': callback is being issued after driver serviced this type of command (1 -> read_proximity, 2 -> read_proximity_on_interrupt)
     fn callback(&self, value: usize, command_type: usize);
 }