From 0c5c3d9b77d3fea9c2fd041b5c614101025a61eb Mon Sep 17 00:00:00 2001
From: Hyungsin <hskim@berkeley.edu>
Date: Tue, 26 Jun 2018 13:46:37 -0700
Subject: [PATCH] driver/pir: add pir-based occupancy sensing
---
drivers/Makefile.dep | 5 ++
drivers/Makefile.include | 4 ++
drivers/include/pir.h | 50 +++++++++++++++--
drivers/include/saul.h | 1 +
drivers/pir/include/pir_params.h | 71 +++++++++++++++++++++++
drivers/pir/pir.c | 90 +++++++++++++++++++++++++++---
drivers/pir/pir_saul.c | 42 ++++++++++++++
drivers/saul/saul_str.c | 1 +
sys/auto_init/auto_init.c | 4 ++
sys/auto_init/saul/auto_init_pir.c | 71 +++++++++++++++++++++++
tests/driver_pir/Makefile | 12 ++--
tests/driver_pir/README.md | 6 +-
tests/driver_pir/main.c | 18 +++---
13 files changed, 345 insertions(+), 30 deletions(-)
create mode 100644 drivers/pir/include/pir_params.h
create mode 100644 drivers/pir/pir_saul.c
create mode 100644 sys/auto_init/saul/auto_init_pir.c
diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index d9bed242d2..48f58ce295 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -279,6 +279,11 @@ ifneq (,$(filter pcd8544,$(USEMODULE)))
USEMODULE += xtimer
endif
+ifneq (,$(filter pir,$(USEMODULE)))
+ FEATURES_REQUIRED += periph_gpio
+ USEMODULE += xtimer
+endif
+
ifneq (,$(filter rgbled,$(USEMODULE)))
USEMODULE += color
endif
diff --git a/drivers/Makefile.include b/drivers/Makefile.include
index 8c7a1c4482..7bf9964085 100644
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@@ -186,6 +186,10 @@ ifneq (,$(filter pcd8544,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/pcd8544/include
endif
+ifneq (,$(filter pir,$(USEMODULE)))
+ USEMODULE_INCLUDES += $(RIOTBASE)/drivers/pir/include
+endif
+
ifneq (,$(filter pulse_counter,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/pulse_counter/include
endif
diff --git a/drivers/include/pir.h b/drivers/include/pir.h
index ac1f6fd174..e0be71234d 100644
--- a/drivers/include/pir.h
+++ b/drivers/include/pir.h
@@ -16,6 +16,7 @@
* @brief Device driver interface for the PIR motion sensor
*
* @author Ludwig Knüpfer <ludwig.knuepfer@fu-berlin.de>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
*/
#ifndef PIR_H
@@ -23,17 +24,41 @@
#include "kernel_types.h"
#include "periph/gpio.h"
+#include "stdbool.h"
#ifdef __cplusplus
extern "C" {
#endif
+/**
+ * @brief PIR specific return values
+ */
+enum {
+ PIR_OK = 0, /**< everything went as expected */
+ PIR_NOGPIO = -1, /**< errors while initializing the GPIO */
+ PIR_NOTHREAD = -2, /**< errors while registering the thread */
+ PIR_TIMEERR = -3, /**< errors while getting the time information */
+};
+
+/**
+ * @brief Parameters needed for device initialization
+ */
+typedef struct {
+ gpio_t gpio; /**< GPIO device which is used */
+ bool active_high; /**< Active when GPIO pin is high or not */
+} pir_params_t;
+
+
/**
* @brief device descriptor for a PIR sensor
*/
typedef struct {
- gpio_t gpio_dev; /**< GPIO device which is used */
- kernel_pid_t msg_thread_pid; /**< thread to msg on irq */
+ uint64_t start_active_time; /**< Time when PIR starts to be active */
+ uint64_t accum_active_time; /**< Accumulated active time */
+ uint64_t last_read_time; /**< Last time when PIR status is read */
+ kernel_pid_t msg_thread_pid; /**< thread to msg on irq */
+ bool active; /**< Indicate PIR is active or not */
+ pir_params_t p; /**< Configuration parameters */
} pir_t;
/**
@@ -47,8 +72,8 @@ typedef struct {
* @brief event type for a PIR sensor
*/
typedef enum {
- PIR_STATUS_HI = PIR_MSG_T_STATUS_START, /**< motion was detected */
- PIR_STATUS_LO, /**< no motion is detected */
+ PIR_STATUS_ACTIVE = PIR_MSG_T_STATUS_START, /**< motion was detected */
+ PIR_STATUS_INACTIVE, /**< no motion is detected */
} pir_event_t;
/**
@@ -62,12 +87,12 @@ typedef enum {
* measurements can be made.
*
* @param[out] dev device descriptor of an PIR sensor
- * @param[in] gpio the GPIO device the sensor is connected to
+ * @param[in] params parameters of the PIR sensor
*
* @return 0 on success
* @return -1 on error
*/
-int pir_init(pir_t *dev, gpio_t gpio);
+int pir_init(pir_t *dev, const pir_params_t* params);
/**
* @brief Read the current status of the motion sensor
@@ -78,6 +103,19 @@ int pir_init(pir_t *dev, gpio_t gpio);
*/
pir_event_t pir_get_status(const pir_t *dev);
+/**
+ * @brief Read OCCUPANCY value
+ *
+ * @param[in] dev device descriptor of the PIR motion sensor to read from
+ * @param[out] occup occupancy ratio [in 100 * percentage]
+ * The value is renewed when it is read. So it is percentage
+ * of occupancy since the last read.
+ *
+ * @return 0 on success,
+ * @return -1 on errors,
+ */
+int pir_get_occupancy(pir_t *dev, int16_t *occup);
+
/**
* @brief Register a thread for notification whan state changes on the
* motion sensor.
diff --git a/drivers/include/saul.h b/drivers/include/saul.h
index 6bc40036b3..c678d6b19f 100644
--- a/drivers/include/saul.h
+++ b/drivers/include/saul.h
@@ -96,6 +96,7 @@ enum {
SAUL_SENSE_DISTANCE = 0x8e, /**< sensor: distance */
SAUL_SENSE_CO2 = 0x8f, /**< sensor: CO2 Gas */
SAUL_SENSE_TVOC = 0x90, /**< sensor: TVOC Gas */
+ SAUL_SENSE_OCCUP = 0x91, /**< sensor: occupancy */
SAUL_CLASS_ANY = 0xff /**< any device - wildcard */
/* extend this list as needed... */
};
diff --git a/drivers/pir/include/pir_params.h b/drivers/pir/include/pir_params.h
new file mode 100644
index 0000000000..cca0ae8d26
--- /dev/null
+++ b/drivers/pir/include/pir_params.h
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_pir
+ *
+ * @{
+ * @file
+ * @brief Default configuration for PIR devices
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ */
+
+#ifndef PIR_PARAMS_H
+#define PIR_PARAMS_H
+
+#include "board.h"
+#include "pir.h"
+#include "saul_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Set default configuration parameters for the PIR driver
+ * @{
+ */
+#ifndef PIR_PARAM_GPIO
+#define PIR_PARAM_GPIO GPIO_PIN(0, 6)
+#endif
+#ifndef PIR_PARAM_ACTIVE_HIGH
+#define PIR_PARAM_ACTIVE_HIGH 1
+#endif
+
+#ifndef PIR_PARAMS
+#define PIR_PARAMS { .gpio = PIR_PARAM_GPIO, \
+ .active_high = PIR_PARAM_ACTIVE_HIGH }
+#endif
+#ifndef PIR_SAUL_INFO
+#define PIR_SAUL_INFO { .name = "pir" }
+#endif
+/**@}*/
+
+/**
+ * @brief PIR configuration
+ */
+static const pir_params_t pir_params[] =
+{
+ PIR_PARAMS
+};
+
+/**
+ * @brief Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t pir_saul_info[] =
+{
+ PIR_SAUL_INFO
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PIR_PARAMS_H */
+/** @} */
diff --git a/drivers/pir/pir.c b/drivers/pir/pir.c
index 1f4ac527d4..2f01afe69b 100644
--- a/drivers/pir/pir.c
+++ b/drivers/pir/pir.c
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
+ * Copyright (C) 2018 UC Berkeley
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@@ -14,13 +15,16 @@
* @brief Device driver implementation for the PIR motion sensor
*
* @author Ludwig Knüpfer <ludwig.knuepfer@fu-berlin.de>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
*
* @}
*/
#include "pir.h"
+#include "irq.h"
#include "thread.h"
#include "msg.h"
+#include "xtimer.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
@@ -37,16 +41,56 @@ static void pir_send_msg(pir_t *dev, pir_event_t event);
* public API implementation
**********************************************************************/
-int pir_init(pir_t *dev, gpio_t gpio)
+int pir_init(pir_t *dev, const pir_params_t *params)
{
- dev->gpio_dev = gpio;
+ dev->p.gpio = params->gpio;
+ dev->p.active_high = params->active_high;
dev->msg_thread_pid = KERNEL_PID_UNDEF;
- return gpio_init(dev->gpio_dev, GPIO_IN);
+
+ dev->active = false;
+ dev->accum_active_time = 0;
+ dev->start_active_time = 0;
+ dev->last_read_time = xtimer_now_usec64();
+
+ gpio_mode_t gpio_mode;
+ if (dev->p.active_high) {
+ gpio_mode = GPIO_IN_PD;
+ }
+ else {
+ gpio_mode = GPIO_IN_PU;
+ }
+
+ if (gpio_init_int(dev->p.gpio, gpio_mode, GPIO_BOTH, pir_callback, dev)) {
+ return PIR_NOGPIO;
+ }
+ return PIR_OK;
}
pir_event_t pir_get_status(const pir_t *dev)
{
- return ((gpio_read(dev->gpio_dev) == 0) ? PIR_STATUS_LO : PIR_STATUS_HI);
+ return (((gpio_read(dev->p.gpio) > 0) == dev->p.active_high) ?
+ PIR_STATUS_ACTIVE : PIR_STATUS_INACTIVE);
+}
+
+int pir_get_occupancy(pir_t *dev, int16_t *occup) {
+ int irq_state = irq_disable();
+ uint64_t now = xtimer_now_usec64();
+ uint64_t total_time = now - dev->last_read_time;
+ if (total_time == 0) {
+ irq_restore(irq_state);
+ return PIR_TIMEERR;
+ }
+
+ /* We were busy counting */
+ if (dev->active) {
+ dev->accum_active_time += (now - dev->start_active_time);
+ dev->start_active_time = now;
+ }
+ *occup = (int16_t)((dev->accum_active_time * 10000) / total_time);
+ dev->last_read_time = now;
+ dev->accum_active_time = 0;
+ irq_restore(irq_state);
+ return PIR_OK;
}
int pir_register_thread(pir_t *dev)
@@ -54,20 +98,20 @@ int pir_register_thread(pir_t *dev)
if (dev->msg_thread_pid != KERNEL_PID_UNDEF) {
if (dev->msg_thread_pid != thread_getpid()) {
DEBUG("pir_register_thread: already registered to another thread\n");
- return -2;
+ return PIR_NOTHREAD;
}
}
else {
DEBUG("pir_register_thread: activating interrupt for %p..\n", (void *)dev);
- if (pir_activate_int(dev) != 0) {
+ if (pir_activate_int(dev) != PIR_OK) {
DEBUG("\tfailed\n");
- return -1;
+ return PIR_NOGPIO;
}
DEBUG("\tsuccess\n");
}
dev->msg_thread_pid = thread_getpid();
- return 0;
+ return PIR_OK;
}
/**********************************************************************
@@ -100,6 +144,23 @@ static void pir_callback(void *arg)
{
DEBUG("pir_callback: %p\n", arg);
pir_t *dev = (pir_t*) arg;
+ bool pin_now = gpio_read(dev->p.gpio);
+ uint64_t now = xtimer_now_usec64();
+
+ /* We were busy counting */
+ if (dev->active) {
+ /* Add into accumulation */
+ dev->accum_active_time += (now - dev->start_active_time);
+ }
+ /* Pin is rising */
+ if (pin_now == dev->p.active_high) {
+ dev->start_active_time = now;
+ dev->active = true;
+ /* Pin is falling */
+ } else {
+ dev->active = false;
+ }
+
if (dev->msg_thread_pid != KERNEL_PID_UNDEF) {
pir_send_msg(dev, pir_get_status(dev));
}
@@ -107,5 +168,16 @@ static void pir_callback(void *arg)
static int pir_activate_int(pir_t *dev)
{
- return gpio_init_int(dev->gpio_dev, GPIO_IN, GPIO_BOTH, pir_callback, dev);
+ gpio_mode_t gpio_mode;
+ if (dev->p.active_high) {
+ gpio_mode = GPIO_IN_PD;
+ }
+ else {
+ gpio_mode = GPIO_IN_PU;
+ }
+
+ if (gpio_init_int(dev->p.gpio, gpio_mode, GPIO_BOTH, pir_callback, dev)) {
+ return PIR_NOGPIO;
+ }
+ return PIR_OK;
}
diff --git a/drivers/pir/pir_saul.c b/drivers/pir/pir_saul.c
new file mode 100644
index 0000000000..eea97f6e3a
--- /dev/null
+++ b/drivers/pir/pir_saul.c
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup drivers_pir
+ * @{
+ *
+ * @file
+ * @brief PIR adaption to the RIOT actuator/sensor interface
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#include <string.h>
+
+#include "saul.h"
+#include "pir.h"
+
+static int read_occup(const void *dev, phydat_t *res) {
+ pir_t *d = (pir_t *)dev;
+ if (pir_get_occupancy(d, &(res->val[0]))) {
+ /* Read failure */
+ return -ECANCELED;
+ }
+ memset(&(res->val[1]), 0, 2 * sizeof(int16_t));
+ res->unit = UNIT_PERCENT;
+ res->scale = -2;
+ return 1;
+}
+
+const saul_driver_t pir_saul_occup_driver = {
+ .read = read_occup,
+ .write = saul_notsup,
+ .type = SAUL_SENSE_OCCUP,
+};
diff --git a/drivers/saul/saul_str.c b/drivers/saul/saul_str.c
index 3f66582bd2..255037d879 100644
--- a/drivers/saul/saul_str.c
+++ b/drivers/saul/saul_str.c
@@ -54,6 +54,7 @@ const char *saul_class_to_str(const uint8_t class_id)
case SAUL_SENSE_CO2: return "SENSE_CO2";
case SAUL_SENSE_TVOC: return "SENSE_TVOC";
case SAUL_CLASS_ANY: return "CLASS_ANY";
+ case SAUL_SENSE_OCCUP: return "SENSE_OCCUP";
default: return "CLASS_UNKNOWN";
}
}
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index 067b367e85..8287a2568c 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -330,6 +330,10 @@ auto_init_mpu9150();
extern void auto_init_grove_ledbar(void);
auto_init_grove_ledbar();
#endif
+#ifdef MODULE_PIR
+ extern void auto_init_pir(void);
+ auto_init_pir();
+#endif
#ifdef MODULE_SI70XX
extern void auto_init_si70xx(void);
auto_init_si70xx();
diff --git a/sys/auto_init/saul/auto_init_pir.c b/sys/auto_init/saul/auto_init_pir.c
new file mode 100644
index 0000000000..d01b1217c6
--- /dev/null
+++ b/sys/auto_init/saul/auto_init_pir.c
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2018 UC Berkeley
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup sys_auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief Auto initialization for PIR devices
+ *
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
+ *
+ * @}
+ */
+
+#ifdef MODULE_PIR
+
+#include "log.h"
+#include "saul_reg.h"
+#include "pir_params.h"
+
+/**
+ * @brief Define the number of configured sensors
+ */
+#define PIR_NUM (sizeof(pir_params)/sizeof(pir_params[0]))
+
+/**
+ * @brief Allocate memory for the device descriptors
+ */
+static pir_t pir_devs[PIR_NUM];
+
+/**
+ * @brief Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[PIR_NUM];
+
+/**
+ * @brief Reference to the occupancy driver struct
+ * @{
+ */
+extern saul_driver_t pir_saul_occup_driver;
+/** @} */
+
+
+void auto_init_pir(void)
+{
+ for (unsigned i = 0; i < PIR_NUM; i++) {
+ LOG_DEBUG("[auto_init_saul] initializing pir #%u\n", i);
+
+ int res = pir_init(&pir_devs[i], &pir_params[i]);
+ if (res != 0) {
+ LOG_ERROR("[auto_init_saul] error initializing pir #%u\n", i);
+ }
+ else {
+ saul_entries[i].dev = &(pir_devs[i]);
+ saul_entries[i].name = pir_saul_info[i].name;
+ saul_entries[i].driver = &pir_saul_occup_driver;
+ saul_reg_add(&(saul_entries[i]));
+ }
+ }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_PIR */
diff --git a/tests/driver_pir/Makefile b/tests/driver_pir/Makefile
index 54ca113e5b..47ddf2c560 100644
--- a/tests/driver_pir/Makefile
+++ b/tests/driver_pir/Makefile
@@ -9,17 +9,21 @@ USEMODULE += xtimer
# define parameters for selected boards
ifneq (,$(filter stm32f4discovery,$(BOARD)))
- PIR_GPIO ?= GPIO_PIN\(3,7\)
+ PIR_PARAM_GPIO ?= GPIO_PIN\(3,7\)
+ PIR_PARAM_ACTIVE_HIGH ?= 1
endif
ifneq (,$(filter arduino-due,$(BOARD)))
- PIR_GPIO ?= GPIO_PIN\(0,20\)
+ PIR_PARAM_GPIO ?= GPIO_PIN\(0,20\)
+ PIR_PARAM_ACTIVE_HIGH ?= 1
endif
# set default device parameters in case they are undefined
-PIR_GPIO ?= GPIO_PIN\(0,0\)
+PIR_PARAM_GPIO ?= GPIO_PIN\(0,0\)
+PIR_PARAM_ACTIVE_HIGH ?= 1
# export parameters
-CFLAGS += -DPIR_GPIO=$(PIR_GPIO)
+CFLAGS += -DPIR_PARAM_GPIO=$(PIR_PARAM_GPIO)
+CFLAGS += -DPIR_PARAM_ACTIVE_HIGH=$(PIR_PARAM_ACTIVE_HIGH)
include $(RIOTBASE)/Makefile.include
diff --git a/tests/driver_pir/README.md b/tests/driver_pir/README.md
index 108a479c59..6121fb7a82 100644
--- a/tests/driver_pir/README.md
+++ b/tests/driver_pir/README.md
@@ -16,7 +16,8 @@ configured to create interrupts.
Compile and flash this test application like:
export BOARD=your_board
- export PIR_GPIO=name_of_your_pin
+ export PIR_PARAM_GPIO=name_of_your_pin
+ export PIR_PARAM_ACTIVE_HIGH=if_gpio_pin_is_high_or_low_when_pir_is_active
make clean
make all-interrupt
make flash
@@ -40,7 +41,8 @@ Connect the sensor's "out" pin to any GPIO pin of you board.
Compile and flash this test application like:
export BOARD=your_board
- export PIR_GPIO=name_of_your_pin
+ export PIR_PARAM_GPIO=name_of_your_pin
+ export PIR_PARAM_ACTIVE_HIGH=if_gpio_pin_is_high_or_low_when_pir_is_active
make clean
make all-polling
make flash
diff --git a/tests/driver_pir/main.c b/tests/driver_pir/main.c
index 14bf822071..63736db54d 100644
--- a/tests/driver_pir/main.c
+++ b/tests/driver_pir/main.c
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2014 Freie Universität Berlin
+ * Copyright (C) 2018 UC Berkeley
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@@ -14,19 +15,17 @@
* @brief Test application for the PIR motion sensor driver
*
* @author Ludwig Knüpfer <ludwig.knuepfer@fu-berlin.de>
+ * @author Hyung-Sin Kim <hs.kim@cs.berkeley.edu>
*
* @}
*/
-#ifndef PIR_GPIO
-#error "PIR_GPIO not defined"
-#endif
-
#include <stdio.h>
#include "thread.h"
#include "xtimer.h"
#include "pir.h"
+#include "pir_params.h"
static char pir_handler_stack[THREAD_STACKSIZE_MAIN];
static pir_t dev;
@@ -44,10 +43,10 @@ void* pir_handler(void *arg)
while (msg_receive(&m)) {
printf("PIR handler got a message: ");
switch (m.type) {
- case PIR_STATUS_HI:
+ case PIR_STATUS_ACTIVE:
puts("something started moving.");
break;
- case PIR_STATUS_LO:
+ case PIR_STATUS_INACTIVE:
puts("the movement has ceased.");
break;
default:
@@ -63,8 +62,8 @@ void* pir_handler(void *arg)
int main(void)
{
puts("PIR motion sensor test application\n");
- printf("Initializing PIR sensor at GPIO_%ld... ", (long)PIR_GPIO);
- if (pir_init(&dev, PIR_GPIO) == 0) {
+ printf("Initializing PIR sensor at GPIO_%ld... ", (long)PIR_PARAM_GPIO);
+ if (pir_init(&dev, &pir_params[0]) == 0) {
puts("[OK]\n");
}
else {
@@ -75,7 +74,8 @@ int main(void)
#if TEST_PIR_POLLING
puts("Printing sensor state every second.");
while (1) {
- printf("Status: %s\n", pir_get_status(&dev) == PIR_STATUS_LO ? "lo" : "hi");
+ printf("Status: %s\n", pir_get_status(&dev) == PIR_STATUS_INACTIVE ?
+ "inactive" : "active");
xtimer_usleep(1000 * 1000);
}
#else
--
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