WIP: streaming sensor API

Signed-off-by: Yuval Peress <peress@google.com>

cmake/linker_script/common/common-rom.cmake

@@ -140,6 +140,10 @@ if(CONFIG_SENSOR_INFO)
   zephyr_iterable_section(NAME sensor_info KVMA RAM_REGION GROUP RODATA_REGION SUBALIGN 4)
 endif()
 
+if(CONFIG_SENSOR)
+  zephyr_iterable_section(NAME sensor_decoder_api KVMA RAM_REGION GROUP RODATA_REGION SUBALIGN 4)
+endif()
+
 if(CONFIG_MCUMGR)
   zephyr_iterable_section(NAME mcumgr_handler KVMA RAM_REGION GROUP RODATA_REGION SUBALIGN 4)
 endif()

drivers/sensor/CMakeLists.txt

@@ -139,7 +139,7 @@ add_subdirectory_ifdef(CONFIG_NTC_THERMISTOR ntc_thermistor)
 add_subdirectory_ifdef(CONFIG_S11059            s11059)
 
 zephyr_library()
-zephyr_library_sources(default_rtio_sensor.c)
+zephyr_library_sources(sensor_decoders_init.c default_rtio_sensor.c)
 zephyr_library_sources_ifdef(CONFIG_USERSPACE sensor_handlers.c)
 zephyr_library_sources_ifdef(CONFIG_SENSOR_SHELL sensor_shell.c)
 zephyr_library_sources_ifdef(CONFIG_SENSOR_SHELL_BATTERY shell_battery.c)

drivers/sensor/Kconfig

@@ -30,6 +30,15 @@ config SENSOR_SHELL
 	help
 	  This shell provides access to basic sensor data.
 
+config SENSOR_SHELL_THREAD_STACK_SIZE
+	int "Stack size for the sensor shell data processing thread"
+	depends on SENSOR_SHELL
+	default 1024
+	help
+	  The sensor shell uses a dedicated thread to process data coming from the
+	  sensors in either one-shot or streaming mode. Use this config to control
+	  the size of that thread's stack.
+
 config SENSOR_SHELL_BATTERY
 	bool "Sensor shell 'battery' command"
 	depends on SHELL

drivers/sensor/default_rtio_sensor.c

@@ -16,13 +16,13 @@ static void sensor_submit_fallback(const struct device *dev, struct rtio_iodev_s
 
 static void sensor_iodev_submit(struct rtio_iodev_sqe *iodev_sqe)
 {
-	const struct sensor_read_config *cfg = iodev_sqe->sqe->iodev->data;
+	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
 	const struct device *dev = cfg->sensor;
 	const struct sensor_driver_api *api = dev->api;
 
 	if (api->submit != NULL) {
 		api->submit(dev, iodev_sqe);
-	} else {
+	} else if (!cfg->is_streaming) {
 		sensor_submit_fallback(dev, iodev_sqe);
 	}
 }
@@ -69,9 +69,9 @@ static inline uint32_t compute_min_buf_len(size_t num_channels, int num_output_s
  */
 static void sensor_submit_fallback(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
 {
-	const struct sensor_read_config *cfg = iodev_sqe->sqe->iodev->data;
+	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
 	const enum sensor_channel *const channels = cfg->channels;
-	const size_t num_channels = cfg->num_channels;
+	const size_t num_channels = cfg->count;
 	int num_output_samples = compute_num_samples(channels, num_channels);
 	uint32_t min_buf_len = compute_min_buf_len(num_channels, num_output_samples);
 	uint64_t timestamp_ns = k_ticks_to_ns_floor64(k_uptime_ticks());
@@ -167,7 +167,7 @@ void z_sensor_processing_loop(struct rtio *ctx, sensor_processing_callback_t cb)
 	rtio_cqe_get_mempool_buffer(ctx, cqe, &buf, &buf_len);
 
 	/* Release the CQE */
-	rtio_cqe_release(ctx);
+	rtio_cqe_release(ctx, cqe);
 
 	/* Call the callback */
 	cb(rc, buf, buf_len, userdata);

drivers/sensor/icm42688/CMakeLists.txt

@@ -6,10 +6,10 @@ zephyr_library_sources(
     icm42688.c
     icm42688_common.c
     icm42688_decoder.c
-    icm42688_rtio.c
     icm42688_spi.c
 )
 
+zephyr_library_sources_ifdef(CONFIG_ICM42688_STREAM icm42688_rtio.c)
 zephyr_library_sources_ifdef(CONFIG_ICM42688_TRIGGER icm42688_trigger.c)
 zephyr_library_sources_ifdef(CONFIG_EMUL_ICM42688 icm42688_emul.c)
 zephyr_include_directories_ifdef(CONFIG_EMUL_ICM42688 .)

drivers/sensor/icm42688/Kconfig

@@ -21,6 +21,13 @@ config EMUL_ICM42688
 	  Enable the hardware emulator for the ICM42688. Doing so allows exercising
 	  sensor APIs for this IMU in native_posix and qemu.
 
+config ICM42688_DECODER
+	bool "ICM42688 decoder logic"
+	default y if ICM42688
+	help
+	  Compile the ICM42688 decoder API which allows decoding raw data returned
+	  from the sensor.
+
 if ICM42688
 
 choice
@@ -42,6 +49,14 @@ config ICM42688_TRIGGER_OWN_THREAD
 
 endchoice
 
+config ICM42688_STREAM
+	bool "Use hardware FIFO to stream data"
+	select ICM42688_TRIGGER
+	default y
+	depends on SPI_RTIO
+	help
+	  Use this config option to enable streaming sensor data via RTIO subsystem.
+
 config ICM42688_TRIGGER
 	bool
 

drivers/sensor/icm42688/icm42688.c

@@ -127,7 +127,7 @@ int icm42688_channel_get(const struct device *dev, enum sensor_channel chan,
 {
 	struct icm42688_sensor_data *data = dev->data;
 
-	return icm42688_channel_parse_readings(chan, data->readings, &data->dev_data.cfg, val);
+	return icm42688_channel_parse_readings(chan, data->readings, &data->cfg, val);
 }
 
 int icm42688_sample_fetch(const struct device *dev, enum sensor_channel chan)
@@ -165,7 +165,7 @@ static int icm42688_attr_set(const struct device *dev, enum sensor_channel chan,
 			     enum sensor_attribute attr, const struct sensor_value *val)
 {
 	const struct icm42688_sensor_data *data = dev->data;
-	struct icm42688_cfg new_config = data->dev_data.cfg;
+	struct icm42688_cfg new_config = data->cfg;
 	int res = 0;
 
 	__ASSERT_NO_MSG(val != NULL);
@@ -213,7 +213,7 @@ static int icm42688_attr_get(const struct device *dev, enum sensor_channel chan,
 			     enum sensor_attribute attr, struct sensor_value *val)
 {
 	const struct icm42688_sensor_data *data = dev->data;
-	const struct icm42688_cfg *cfg = &data->dev_data.cfg;
+	const struct icm42688_cfg *cfg = &data->cfg;
 	int res = 0;
 
 	__ASSERT_NO_MSG(val != NULL);
@@ -288,22 +288,17 @@ int icm42688_init(const struct device *dev)
 		LOG_ERR("Failed to initialize triggers");
 		return res;
 	}
-
-	res = icm42688_trigger_enable_interrupt(dev);
-	if (res != 0) {
-		LOG_ERR("Failed to enable triggers");
-		return res;
-	}
 #endif
 
-	data->dev_data.cfg.accel_mode = ICM42688_ACCEL_LN;
-	data->dev_data.cfg.gyro_mode = ICM42688_GYRO_LN;
-	data->dev_data.cfg.accel_fs = ICM42688_ACCEL_FS_2G;
-	data->dev_data.cfg.gyro_fs = ICM42688_GYRO_FS_125;
-	data->dev_data.cfg.accel_odr = ICM42688_ACCEL_ODR_1000;
-	data->dev_data.cfg.gyro_odr = ICM42688_GYRO_ODR_1000;
+	data->cfg.accel_mode = ICM42688_ACCEL_LN;
+	data->cfg.gyro_mode = ICM42688_GYRO_LN;
+	data->cfg.accel_fs = ICM42688_ACCEL_FS_2G;
+	data->cfg.gyro_fs = ICM42688_GYRO_FS_125;
+	data->cfg.accel_odr = ICM42688_ACCEL_ODR_1000;
+	data->cfg.gyro_odr = ICM42688_GYRO_ODR_1000;
+	data->cfg.fifo_en = IS_ENABLED(CONFIG_ICM42688_STREAM);
 
-	res = icm42688_configure(dev, &data->dev_data.cfg);
+	res = icm42688_configure(dev, &data->cfg);
 	if (res != 0) {
 		LOG_ERR("Failed to configure");
 		return res;
@@ -327,8 +322,21 @@ void icm42688_unlock(const struct device *dev)
 #define ICM42688_SPI_CFG                                                                           \
 	SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8) | SPI_TRANSFER_MSB
 
+#define ICM42688_RTIO_DEFINE(inst)                                                                 \
+	SPI_DT_IODEV_DEFINE(icm42688_spi_iodev_##inst, DT_DRV_INST(inst), ICM42688_SPI_CFG, 0U);   \
+	RTIO_DEFINE(icm42688_rtio_##inst, 8, 4);
+
+#define ICM42688_DEFINE_DATA(inst)                                                                 \
+	IF_ENABLED(CONFIG_ICM42688_STREAM, (ICM42688_RTIO_DEFINE(inst)));                          \
+	static struct icm42688_sensor_data icm42688_driver_##inst = {                              \
+		IF_ENABLED(CONFIG_ICM42688_STREAM, (                                               \
+			.r = &icm42688_rtio_##inst,                                                \
+			.spi_iodev = &icm42688_spi_iodev_##inst,                                   \
+		))                                                                                 \
+	};
+
 #define ICM42688_INIT(inst)                                                                        \
-	static struct icm42688_sensor_data icm42688_driver_##inst = {0};                           \
+	ICM42688_DEFINE_DATA(inst);                                                                \
                                                                                                    \
 	static const struct icm42688_sensor_config icm42688_cfg_##inst = {                         \
 		.dev_cfg =                                                                         \

drivers/sensor/icm42688/icm42688.h

@@ -385,17 +385,17 @@ struct icm42688_cfg {
 	/* TODO additional FIFO options */
 
 	/* TODO interrupt options */
+	bool interrupt1_drdy;
+	bool interrupt1_fifo_ths;
+	bool interrupt1_fifo_full;
 };
 
 struct icm42688_trigger_entry {
 	struct sensor_trigger trigger;
 	sensor_trigger_handler_t handler;
 };
 
-/**
- * @brief Device data (struct device)
- */
-struct icm42688_dev_data {
+struct icm42688_sensor_data {
 	struct icm42688_cfg cfg;
 #ifdef CONFIG_ICM42688_TRIGGER
 #if defined(CONFIG_ICM42688_TRIGGER_OWN_THREAD)
@@ -405,16 +405,20 @@ struct icm42688_dev_data {
 #elif defined(CONFIG_ICM42688_TRIGGER_GLOBAL_THREAD)
 	struct k_work work;
 #endif
+#ifdef CONFIG_ICM42688_STREAM
+	struct rtio_iodev_sqe *streaming_sqe;
+	struct rtio *r;
+	struct rtio_iodev *spi_iodev;
+	uint8_t int_status;
+	uint16_t fifo_count;
+	atomic_t reading_fifo;
+#endif /* CONFIG_ICM42688_STREAM */
 	const struct device *dev;
 	struct gpio_callback gpio_cb;
 	sensor_trigger_handler_t data_ready_handler;
 	const struct sensor_trigger *data_ready_trigger;
 	struct k_mutex mutex;
 #endif /* CONFIG_ICM42688_TRIGGER */
-};
-
-struct icm42688_sensor_data {
-	struct icm42688_dev_data dev_data;
 
 	int16_t readings[7];
 };

drivers/sensor/icm42688/icm42688_common.c

@@ -12,6 +12,7 @@
 #include "icm42688.h"
 #include "icm42688_reg.h"
 #include "icm42688_spi.h"
+#include "icm42688_trigger.h"
 
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(ICM42688_LL, CONFIG_SENSOR_LOG_LEVEL);
@@ -71,7 +72,7 @@ int icm42688_reset(const struct device *dev)
 
 int icm42688_configure(const struct device *dev, struct icm42688_cfg *cfg)
 {
-	struct icm42688_dev_data *dev_data = dev->data;
+	struct icm42688_sensor_data *dev_data = dev->data;
 	const struct icm42688_dev_cfg *dev_cfg = dev->config;
 	int res;
 
@@ -173,8 +174,12 @@ int icm42688_configure(const struct device *dev, struct icm42688_cfg *cfg)
 	}
 
 	/* Pulse mode with async reset (resets interrupt line on int status read) */
-	res = icm42688_spi_single_write(&dev_cfg->spi, REG_INT_CONFIG,
-					BIT_INT1_DRIVE_CIRCUIT | BIT_INT1_POLARITY);
+	if (IS_ENABLED(CONFIG_ICM42688_TRIGGER)) {
+		res = icm42688_trigger_enable_interrupt(dev, cfg);
+	} else {
+		res = icm42688_spi_single_write(&dev_cfg->spi, REG_INT_CONFIG,
+						BIT_INT1_DRIVE_CIRCUIT | BIT_INT1_POLARITY);
+	}
 	if (res) {
 		LOG_ERR("Error writing to INT_CONFIG");
 		return res;
@@ -263,7 +268,7 @@ int icm42688_configure(const struct device *dev, struct icm42688_cfg *cfg)
 
 int icm42688_safely_configure(const struct device *dev, struct icm42688_cfg *cfg)
 {
-	struct icm42688_dev_data *drv_data = dev->data;
+	struct icm42688_sensor_data *drv_data = dev->data;
 	int ret = icm42688_configure(dev, cfg);
 
 	if (ret == 0) {