drivers/sensors: bug fix about sensor and sensor rpmsg driver

drivers/sensors/sensor.c

@@ -399,7 +399,7 @@ static void sensor_generate_timing(FAR struct sensor_upperhalf_s *upper,
 static bool sensor_is_updated(FAR struct sensor_upperhalf_s *upper,
                               FAR struct sensor_user_s *user)
 {
-  long delta = upper->state.generation - user->state.generation;
+  long delta = (long long)upper->state.generation - user->state.generation;
 
   if (delta <= 0)
     {
@@ -431,7 +431,7 @@ static void sensor_catch_up(FAR struct sensor_upperhalf_s *upper,
   long delta;
 
   circbuf_peek(&upper->timing, &generation, TIMING_BUF_ESIZE);
-  delta = generation - user->state.generation;
+  delta = (long long)generation - user->state.generation;
   if (delta > 0)
     {
       user->bufferpos = upper->timing.tail / TIMING_BUF_ESIZE;
@@ -615,28 +615,31 @@ static int sensor_open(FAR struct file *filep)
         }
     }
 
-  if (filep->f_oflags & O_RDOK)
+  if ((filep->f_oflags & O_DIRECT) == 0)
     {
-      if (upper->state.nsubscribers == 0 && lower->ops->activate)
+      if (filep->f_oflags & O_RDOK)
         {
-          ret = lower->ops->activate(lower, filep, true);
-          if (ret < 0)
+          if (upper->state.nsubscribers == 0 && lower->ops->activate)
             {
-              goto errout_with_open;
+              ret = lower->ops->activate(lower, filep, true);
+              if (ret < 0)
+                {
+                  goto errout_with_open;
+                }
             }
-        }
 
-      user->role |= SENSOR_ROLE_RD;
-      upper->state.nsubscribers++;
-    }
+          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)
+      if (filep->f_oflags & O_WROK)
         {
-          lower->persist = true;
+          user->role |= SENSOR_ROLE_WR;
+          upper->state.nadvertisers++;
+          if (filep->f_oflags & SENSOR_PERSIST)
+            {
+              lower->persist = true;
+            }
         }
     }
 
@@ -695,18 +698,21 @@ static int sensor_close(FAR struct file *filep)
         }
     }
 
-  if (filep->f_oflags & O_RDOK)
+  if ((filep->f_oflags & O_DIRECT) == 0)
     {
-      upper->state.nsubscribers--;
-      if (upper->state.nsubscribers == 0 && lower->ops->activate)
+      if (filep->f_oflags & O_RDOK)
         {
-          lower->ops->activate(lower, filep, false);
+          upper->state.nsubscribers--;
+          if (upper->state.nsubscribers == 0 && lower->ops->activate)
+            {
+              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);
@@ -816,8 +822,6 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
   uint32_t arg1 = (uint32_t)arg;
   int ret = 0;
 
-  sninfo("cmd=%x arg=%08lx\n", cmd, arg);
-
   switch (cmd)
     {
       case SNIOC_GET_STATE:
@@ -950,8 +954,10 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
           nxrmutex_lock(&upper->lock);
           *(FAR unsigned int *)(uintptr_t)arg = user->event;
           user->event = 0;
+          user->changed = false;
           nxrmutex_unlock(&upper->lock);
         }
+        break;
 
      case SNIOC_FLUSH:
         {
@@ -1329,7 +1335,7 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
   if (lower == NULL)
     {
       ret = -EIO;
-      goto drv_err;
+      goto rpmsg_err;
     }
 #endif
 
@@ -1345,6 +1351,11 @@ int sensor_custom_register(FAR struct sensor_lowerhalf_s *lower,
   return ret;
 
 drv_err:
+#ifdef CONFIG_SENSORS_RPMSG
+  sensor_rpmsg_unregister(lower);
+rpmsg_err:
+#endif
+
   nxrmutex_destroy(&upper->lock);
 
   kmm_free(upper);

drivers/sensors/sensor_rpmsg.c

@@ -251,9 +251,6 @@ static int sensor_rpmsg_ioctl_handler(FAR struct rpmsg_endpoint *ept,
 static int sensor_rpmsg_ioctlack_handler(FAR struct rpmsg_endpoint *ept,
                                          FAR void *data, size_t len,
                                          uint32_t src, FAR void *priv);
-static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
-                                       FAR struct sensor_rpmsg_stub_s *stub,
-                                       bool flushed);
 
 /****************************************************************************
  * Private Data
@@ -515,6 +512,43 @@ sensor_rpmsg_alloc_proxy(FAR struct sensor_rpmsg_dev_s *dev,
   return proxy;
 }
 
+static
+void sensor_rpmsg_push_event_persist(FAR struct sensor_rpmsg_dev_s *dev,
+                                     FAR struct sensor_rpmsg_stub_s *stub)
+{
+  FAR struct sensor_rpmsg_cell_s *cell;
+  FAR struct sensor_rpmsg_data_s *msg;
+  FAR struct sensor_rpmsg_ept_s *sre;
+  uint32_t space;
+  int ret;
+
+  sre = container_of(stub->ept, struct sensor_rpmsg_ept_s, ept);
+  msg = rpmsg_get_tx_payload_buffer(&sre->ept, &space, true);
+  if (!msg)
+    {
+      snerr("ERROR: push event persist get buffer failed:%s\n",
+            rpmsg_get_cpuname(sre->ept.rdev));
+      return;
+    }
+
+  msg->command = SENSOR_RPMSG_PUBLISH;
+  cell = (FAR struct sensor_rpmsg_cell_s *)(msg + 1);
+  ret = file_read(&stub->file, cell->data, space - sizeof(*msg) -
+                  sizeof(*cell));
+  if (ret > 0)
+    {
+      cell->len     = ret;
+      cell->cookie  = stub->cookie;
+      cell->nbuffer = dev->lower.nbuffer;
+      rpmsg_send_nocopy(&sre->ept, msg, sizeof(*msg) +
+                        ((sizeof(*cell) + ret + 0x7) & ~0x7));
+    }
+  else
+    {
+      rpmsg_release_tx_buffer(&sre->ept, msg);
+    }
+}
+
 static FAR struct sensor_rpmsg_stub_s *
 sensor_rpmsg_alloc_stub(FAR struct sensor_rpmsg_dev_s *dev,
                         FAR struct rpmsg_endpoint *ept,
@@ -559,7 +593,7 @@ sensor_rpmsg_alloc_stub(FAR struct sensor_rpmsg_dev_s *dev,
 
   if (dev->lower.persist)
     {
-      sensor_rpmsg_push_event_one(dev, stub, false);
+      sensor_rpmsg_push_event_persist(dev, stub);
     }
 
   sensor_rpmsg_unlock(dev);
@@ -833,6 +867,7 @@ static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
           if (sre->buffer)
             {
               rpmsg_send_nocopy(&sre->ept, sre->buffer, sre->written);
+              sre->buffer = NULL;
             }
 
           msg = rpmsg_get_tx_payload_buffer(&sre->ept, &sre->space, true);
@@ -1150,7 +1185,13 @@ static int sensor_rpmsg_publish_handler(FAR struct rpmsg_endpoint *ept,
           ret = file_open(&file, dev->path, SENSOR_REMOTE | O_CLOEXEC);
           if (ret >= 0)
             {
-              file_ioctl(&file, SNIOC_SET_BUFFER_NUMBER, cell->nbuffer);
+              ret = file_ioctl(&file, SNIOC_SET_BUFFER_NUMBER,
+                               cell->nbuffer);
+              if (ret >= 0)
+                {
+                  dev->lower.nbuffer = cell->nbuffer;
+                }
+
               file_close(&file);
             }
         }
@@ -1302,7 +1343,11 @@ static void sensor_rpmsg_ns_unbind_cb(FAR struct rpmsg_endpoint *ept)
   nxrmutex_unlock(&g_dev_lock);
 
   nxrmutex_lock(&g_ept_lock);
-  list_delete(&sre->node);
+  if (list_in_list(&sre->node))
+    {
+      list_delete(&sre->node);
+    }
+
   nxrmutex_unlock(&g_ept_lock);
 
   nxrmutex_destroy(&sre->lock);