sensors/sht4x: Converted SHT4X driver to UORB framework.

Documentation/components/drivers/special/sensors/sht4x.rst

@@ -1,3 +1,4 @@
+=====
 SHT4X
 =====
 
@@ -7,7 +8,8 @@ The SHT4x is a family of temperature and humidity sensors created by Sensirion
 which operates over I2C. They include a small heating element.
 
 The driver provided allows interfacing with the sensor over I2C. It has been
-tested against the SHT41.
+tested against the SHT41. This driver uses the :doc:`uorb
+</components/drivers/special/sensors/sensors_uorb>` interface.
 
 Application Programming Interface
 =================================
@@ -16,92 +18,64 @@ The header file for the SHT4X driver interface can be included using:
 
 .. code-block:: c
 
-   # include <nuttx/sensors/sht4x.h>
+   #include <nuttx/sensors/sht4x.h>
+
+The SHT4x registration function allows the driver to be registered as a UORB
+driver.
 
-The SHT4x registration function allows the driver to be registered as a POSIX
-character driver.
+The SHT4x measures both ambient temperature and humidity, so registering this
+driver will cause two new UORB topics to appear: ``sensor_humi<n>`` and
+``sensor_temp<n>``.
 
-The standard POSIX `read()` operation will return the temperature and humidity
-measurements in plain-text, which is useful when debugging/testing the driver
-using `cat` from the shell.
+.. code-block:: c
 
-The `write()` operation is not implemented for this sensor.
+   int err;
+   err = sht4x_register(i2c_master, 0, 0x44);
+   if (err < 0)
+   {
+     syslog(LOG_ERR, "Couldn't register SHT4X driver at 0x44: %d\n", err);
+   }
 
-Specific operations the sensor offers can be performed via the POSIX `ioctl`
-operation. The supported commands are:
+To debug this device, you can include the ``uorb_listener`` in your build with
+debugging enabled. Running it will show the sensor measurements.
 
- * :c:macro:`SNIOC_RESET`
- * :c:macro:`SNIOC_WHO_AM_I`
- * :c:macro:`SNIOC_READ_RAW_DATA`
- * :c:macro:`SNIOC_MEASURE`
- * :c:macro:`SNIOC_READ_CONVERT_DATA`
- * :c:macro:`SNIOC_HEAT`
- * :c:macro:`SNIOC_CONFIGURE`
+This sensor also offers some addition control commands for using the onboard
+heater and checking the serial number. These control commands can be used on
+either topic (humidity or temperature), since they control the device as a
+whole.
 
-.. c:macro:: SNIOC_RESET
+``SNIOC_RESET``
+----------------
 
-   This will perform the SHT4X's soft reset command.
+This will perform the SHT4X's soft reset command.
 
 .. code-block:: c
 
-  err = ioctl(sensor, SNIOC_RESET);
+  err = orb_ioctl(sensor, SNIOC_RESET);
   if (err) {
     fprintf(stderr, "SNIOC_RESET: %s\n", strerror(errno));
   } else {
     puts("RESET success!");
   }
 
-.. c:macro:: SNIOC_WHO_AM_I
+``SNIOC_WHO_AM_I``
+------------------
 
 This command reads the serial number of the SHT4X sensor. The serial number is
 returned in the argument to the command, which must be a `uint32_t` pointer.
 
 .. code-block:: c
 
   uint32_t serialno = 0;
-  err = ioctl(sensor, SNIOC_WHO_AM_I, &serialno);
-
-.. c:macro:: SNIOC_READ_RAW_DATA
-
-This command allows the caller to read the raw data returned from the sensor,
-without the driver performing any calculation to convert it into familiar units
-(i.e. degrees Celsius for temperature).
-
-The argument to this command must be a pointer to a `struct sht4x_raw_data_s`
-structure. The raw data will be returned here.
-
-.. code-block:: c
-
-  struct sht4x_raw_data_s raw;
-  err = ioctl(sensor, SNIOC_READ_RAW_DATA, &raw);
-
-.. c:macro:: SNIOC_MEASURE
-
-This command will measure temperature and humidity, and return it in familiar
-units to the user. Temperature will be in degrees (Fahrenheit or Celsius depends
-on the Kconfig options selected during compilation) and humidity will be %RH.
-
-The argument to this command must be a pointer to a `struct sht4x_conv_data_s`.
-This is where the converted data will be returned.
-
-.. code-block:: c
-
-  struct sht4x_conv_data_s data;
-  err = ioctl(sensor, SNIOC_MEASURE, &data);
-
-.. c:macro:: SNIOC_READ_CONVERT_DATA
-
-Same as `SNIOC_MEASURE`.
+  err = orb_ioctl(sensor, SNIOC_WHO_AM_I, &serialno);
 
-.. c:macro:: SNIOC_HEAT
+``SNIOC_HEAT``
+--------------
 
 This command will instruct the SHT4X to turn on its heater unit for the
-specified time. Afterwards, a measurement of temperature and humidity is taken,
-and the converted data is returned to the caller.
+specified time.
 
-The argument to this command must be a pointer to a `struct sht4x_conv_data_s`.
-This is where the converted data will be returned. The `temperature` field of
-the struct must contain a value from the `enum sht4x_heater_e`, which will
+The argument to this command must be of type `enum sht4x_heater_e`, which will
 indicate the duration the heater is on and the power used.
 
 Heating commands are not allowed more than once per second to avoid damaging the
@@ -110,11 +84,10 @@ sensor. If a command is issued before this one second cool-down period is over,
 
 .. code-block:: c
 
-  struct sht4x_conv_data_s data;
-  data.temp = SHT4X_HEATER_200MW_1;
-  err = ioctl(sensor, SNIOC_HEAT, &data);
+  err = orb_ioctl(sensor, SNIOC_HEAT, SHT4X_HEATER_200MW_1);
 
-.. c:macro:: SNIOC_CONFIGURE
+``SNIOC_CONFIGURE``
+-------------------
 
 This command allows the caller to configure the precision of the SHT4X sensor
 used by subsequent measurement commands. By default, the sensor starts at high
@@ -124,4 +97,4 @@ The argument to this command is one of the values in `enum sht4x_precision_e`.
 
 .. code-block:: c
 
-  err = ioctl(sensor, SNIOC_CONFIGURE, SHT4X_PREC_LOW);
+  err = orb_ioctl(sensor, SNIOC_CONFIGURE, SHT4X_PREC_LOW);

boards/arm/rp2040/common/src/rp2040_common_bringup.c

@@ -533,9 +533,9 @@ int rp2040_common_bringup(void)
 
 #ifdef CONFIG_SENSORS_SHT4X
 
-  /* Try to register SHT4X device as /dev/sht4x0 at I2C0. */
+  /* Try to register SHT4X device on I2C0 */
 
-  ret = sht4x_register("/dev/sht4x0", rp2040_i2cbus_initialize(0),
+  ret = sht4x_register(rp2040_i2cbus_initialize(0), 0,
                        CONFIG_SHT4X_I2C_ADDR);
   if (ret < 0)
     {

drivers/sensors/CMakeLists.txt

@@ -285,7 +285,7 @@ if(CONFIG_SENSORS)
     endif()
 
     if(CONFIG_SENSORS_SHT4X)
-      list(APPEND SRCS sht4x.c)
+      list(APPEND SRCS sht4x_uorb.c)
     endif()
 
     if(CONFIG_SENSORS_SPS30)

drivers/sensors/Kconfig

@@ -1627,19 +1627,19 @@ config SHT4X_I2C_FREQUENCY
 	default 400000
 	range 1 400000
 
+config SHT4X_THREAD_STACKSIZE
+    int "SHT4X worker thread stack size"
+	default 1024
+	---help---
+		The stack size for the worker thread that performs measurements
+
 config SHT4X_I2C_ADDR
 	hex "SHT4X I2C address"
 	default 0x44
 	range 0x44 0x46
 	---help---
 		Enables debug features for the SHT4X
 
-config SHT4X_FAHRENHEIT
-	bool "SHT4X use Fahrenheit"
-	default n
-	---help---
-		Configures read outputs of the SHT4X to be in Fahrenheit. Default uses Celsius.
-
 config SHT4X_LIMIT_HUMIDITY
 	bool "SHT4X limit humidity between 0-100%"
 	default y
@@ -1652,11 +1652,12 @@ config SHT4X_CRC_LOOKUP
 	---help---
 		Configures the SHT4X to do CRC checks with a lookup table. Default uses a bitwise CRC calculation.
 
-config SHT4X_DEBUG
-	bool "SHT4X debug support"
-	default n
+config SENSORS_SHT4X_POLL
+	bool "Use polling"
+	default y
 	---help---
-		Enables debug features for the SHT4X
+        Configures the SHT4X to be polled at an interval instead of allowing user code to choose when measurements are
+        taken.
 
 endif # SENSORS_SHT4X
 

drivers/sensors/Make.defs

@@ -289,7 +289,7 @@ ifeq ($(CONFIG_SENSORS_SHT3X),y)
 endif
 
 ifeq ($(CONFIG_SENSORS_SHT4X),y)
-  CSRCS += sht4x.c
+  CSRCS += sht4x_uorb.c
 endif
 
 ifeq ($(CONFIG_SENSORS_SPS30),y)