sensors: Add channel specifiers

Use a structured channel specifier rather than a single enum when
specifying channels to read in the new read/decoder API.

Signed-off-by: Tom Burdick <thomas.burdick@intel.com>

drivers/sensor/bma4xx/bma4xx.c

@@ -343,7 +343,7 @@ static int bma4xx_submit_one_shot(const struct device *dev, struct rtio_iodev_sq
 	struct bma4xx_data *bma4xx = dev->data;
 
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
-	const enum sensor_channel *const channels = cfg->channels;
+	const struct sensor_channel_spec *const channels = cfg->channels;
 	const size_t num_channels = cfg->count;
 
 	uint32_t min_buf_len = sizeof(struct bma4xx_encoded_data);
@@ -370,7 +370,11 @@ static int bma4xx_submit_one_shot(const struct device *dev, struct rtio_iodev_sq
 
 	/* Determine what channels we need to fetch */
 	for (int i = 0; i < num_channels; i++) {
-		switch (channels[i]) {
+		if (channels[i].chan_idx != 0) {
+			LOG_ERR("Only channel index 0 supported");
+			return -ENOTSUP;
+		}
+		switch (channels[i].chan_type) {
 		case SENSOR_CHAN_ALL:
 			edata->has_accel = 1;
 #ifdef CONFIG_BMA4XX_TEMPERATURE

drivers/sensor/default_rtio_sensor.c

@@ -46,12 +46,13 @@ const struct rtio_iodev_api __sensor_iodev_api = {
  * @param[in] num_channels Number of channels on the @p channels array
  * @return The number of samples required to read the given channels
  */
-static inline int compute_num_samples(const enum sensor_channel *channels, size_t num_channels)
+static inline int compute_num_samples(const struct sensor_channel_spec *const channels,
+				      size_t num_channels)
 {
 	int num_samples = 0;
 
 	for (size_t i = 0; i < num_channels; ++i) {
-		num_samples += SENSOR_CHANNEL_3_AXIS(channels[i]) ? 3 : 1;
+		num_samples += SENSOR_CHANNEL_3_AXIS(channels[i].chan_type) ? 3 : 1;
 	}
 
 	return num_samples;
@@ -113,7 +114,7 @@ static inline int check_header_contains_channel(const struct sensor_data_generic
 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 enum sensor_channel *const channels = cfg->channels;
+	const struct sensor_channel_spec *const channels = cfg->channels;
 	const int num_output_samples = compute_num_samples(channels, cfg->count);
 	uint32_t min_buf_len = compute_min_buf_len(num_output_samples);
 	uint64_t timestamp_ns = k_ticks_to_ns_floor64(k_uptime_ticks());
@@ -148,24 +149,26 @@ static void sensor_submit_fallback(const struct device *dev, struct rtio_iodev_s
 	/* Populate values, update shift, and set channels */
 	for (size_t i = 0, sample_idx = 0; i < cfg->count; ++i) {
 		struct sensor_value value[3];
-		const int num_samples = SENSOR_CHANNEL_3_AXIS(channels[i]) ? 3 : 1;
+		const int num_samples = SENSOR_CHANNEL_3_AXIS(channels[i].chan_type) ? 3 : 1;
 
 		/* Get the current channel requested by the user */
-		rc = sensor_channel_get(dev, channels[i], value);
+		rc = sensor_channel_get(dev, channels[i].chan_type, value);
 
 		if (num_samples == 3) {
 			header->channels[sample_idx++] =
-				rc == 0 ? channels[i] - 3 : SENSOR_CHAN_MAX;
+				rc == 0 ? channels[i].chan_type - 3 : SENSOR_CHAN_MAX;
 			header->channels[sample_idx++] =
-				rc == 0 ? channels[i] - 2 : SENSOR_CHAN_MAX;
+				rc == 0 ? channels[i].chan_type - 2 : SENSOR_CHAN_MAX;
 			header->channels[sample_idx++] =
-				rc == 0 ? channels[i] - 1 : SENSOR_CHAN_MAX;
+				rc == 0 ? channels[i].chan_type - 1 : SENSOR_CHAN_MAX;
 		} else {
-			header->channels[sample_idx++] = rc == 0 ? channels[i] : SENSOR_CHAN_MAX;
+			header->channels[sample_idx++] =
+				rc == 0 ? channels[i].chan_type : SENSOR_CHAN_MAX;
 		}
 
 		if (rc != 0) {
-			LOG_DBG("Failed to get channel %d, skipping", channels[i]);
+			LOG_DBG("Failed to get channel (type: %d, index %d), skipping",
+				channels[i].chan_type, channels[i].chan_idx);
 			continue;
 		}
 
@@ -474,9 +477,8 @@ static int decode(const uint8_t *buffer, enum sensor_channel channel, size_t cha
 {
 	const struct sensor_data_generic_header *header =
 		(const struct sensor_data_generic_header *)buffer;
-	const q31_t *q =
-		(const q31_t *)(buffer + sizeof(struct sensor_data_generic_header) +
-				header->num_channels * sizeof(enum sensor_channel));
+	const q31_t *q = (const q31_t *)(buffer + sizeof(struct sensor_data_generic_header) +
+					 header->num_channels * sizeof(enum sensor_channel));
 	int count = 0;
 
 	if (*fit != 0 || max_count < 1) {

drivers/sensor/sensor_shell.c

@@ -217,7 +217,7 @@ static enum dynamic_command_context current_cmd_ctx = NONE;
 K_MUTEX_DEFINE(cmd_get_mutex);
 
 /* Crate a single common config for one-shot reading */
-static enum sensor_channel iodev_sensor_shell_channels[SENSOR_CHAN_ALL];
+static struct sensor_channel_spec iodev_sensor_shell_channels[SENSOR_CHAN_ALL];
 static struct sensor_read_config iodev_sensor_shell_read_config = {
 	.sensor = NULL,
 	.is_streaming = false,
@@ -444,8 +444,8 @@ void sensor_shell_processing_callback(int result, uint8_t *buf, uint32_t buf_len
 				shell_info(ctx->sh,
 					   "channel idx=%d %s shift=%d num_samples=%d "
 					   "value=%" PRIsensor_three_axis_data,
-					   channel, sensor_channel_name[channel],
-					   data->shift, accumulator_buffer.count,
+					   channel, sensor_channel_name[channel], data->shift,
+					   accumulator_buffer.count,
 					   PRIsensor_three_axis_data_arg(*data, 0));
 				break;
 			}
@@ -521,12 +521,12 @@ static int cmd_get_sensor(const struct shell *sh, size_t argc, char *argv[])
 	}
 
 	if (argc == 2) {
-		/* read all channels */
+		/* read all channel types */
 		for (int i = 0; i < ARRAY_SIZE(iodev_sensor_shell_channels); ++i) {
 			if (SENSOR_CHANNEL_3_AXIS(i)) {
 				continue;
 			}
-			iodev_sensor_shell_channels[count++] = i;
+			iodev_sensor_shell_channels[count++] = (struct sensor_channel_spec){i, 0};
 		}
 	} else {
 		/* read specific channels */
@@ -538,7 +538,8 @@ static int cmd_get_sensor(const struct shell *sh, size_t argc, char *argv[])
 				shell_error(sh, "Failed to read channel (%s)", argv[i]);
 				continue;
 			}
-			iodev_sensor_shell_channels[count++] = chan;
+			iodev_sensor_shell_channels[count++] =
+				(struct sensor_channel_spec){chan, 0};
 		}
 	}
 
@@ -570,7 +571,6 @@ static int cmd_get_sensor(const struct shell *sh, size_t argc, char *argv[])
 	return 0;
 }
 
-
 static int cmd_sensor_attr_set(const struct shell *shell_ptr, size_t argc, char *argv[])
 {
 	const struct device *dev;
@@ -975,10 +975,8 @@ static void data_ready_trigger_handler(const struct device *sensor,
 			value.val1 = micro_value / 1000000;
 			value.val2 = (int32_t)llabs(micro_value - (value.val1 * 1000000));
 			LOG_INF("sensor=%.*s, chan=%s, num_samples=%u, data=%d.%06d",
-				sensor_name_len_before_at, sensor_name,
-				sensor_channel_name[i],
-				stats[i].count,
-				value.val1, value.val2);
+				sensor_name_len_before_at, sensor_name, sensor_channel_name[i],
+				stats[i].count, value.val1, value.val2);
 
 			stats[i].accumulator = 0;
 			stats[i].count = 0;
@@ -1018,7 +1016,7 @@ static int cmd_trig_sensor(const struct shell *sh, size_t argc, char **argv)
 
 		if (sensor_idx < 0) {
 			shell_error(sh, "Unable to support more simultaneous sensor trigger"
-				    " devices");
+					" devices");
 			err = -ENOTSUP;
 		} else {
 			struct sample_stats *stats = sensor_stats[sensor_idx];

drivers/sensor/tdk/icm42688/icm42688_decoder.c

@@ -178,7 +178,7 @@ static uint8_t icm42688_encode_channel(enum sensor_channel chan)
 	return encode_bmask;
 }
 
-int icm42688_encode(const struct device *dev, const enum sensor_channel *const channels,
+int icm42688_encode(const struct device *dev, const struct sensor_channel_spec *const channels,
 		    const size_t num_channels, uint8_t *buf)
 {
 	struct icm42688_dev_data *data = dev->data;
@@ -187,7 +187,7 @@ int icm42688_encode(const struct device *dev, const enum sensor_channel *const c
 	edata->channels = 0;
 
 	for (int i = 0; i < num_channels; i++) {
-		edata->channels |= icm42688_encode_channel(channels[i]);
+		edata->channels |= icm42688_encode_channel(channels[i].chan_type);
 	}
 
 	edata->header.is_fifo = false;

drivers/sensor/tdk/icm42688/icm42688_rtio.c

@@ -46,7 +46,7 @@ static int icm42688_rtio_sample_fetch(const struct device *dev, int16_t readings
 static int icm42688_submit_one_shot(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
 {
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
-	const enum sensor_channel *const channels = cfg->channels;
+	const struct sensor_channel_spec *const channels = cfg->channels;
 	const size_t num_channels = cfg->count;
 	uint32_t min_buf_len = sizeof(struct icm42688_encoded_data);
 	int rc;