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

Replaces usages of a seperate channel and channel_index parameter
where previously used with a struct sensor_chan_spec.

Signed-off-by: Tom Burdick <thomas.burdick@intel.com>
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@teburd
teburd committed Apr 22, 2024
1 parent a200dd8 commit eae752b
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Showing 9 changed files with 162 additions and 129 deletions.
19 changes: 9 additions & 10 deletions drivers/sensor/asahi_kasei/akm09918c/akm09918c_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,22 +5,22 @@

#include "akm09918c.h"

static int akm09918c_decoder_get_frame_count(const uint8_t *buffer, enum sensor_channel channel,
size_t channel_idx, uint16_t *frame_count)
static int akm09918c_decoder_get_frame_count(const uint8_t *buffer,
struct sensor_chan_spec chan_spec,
uint16_t *frame_count)
{
ARG_UNUSED(buffer);
ARG_UNUSED(channel);
ARG_UNUSED(channel_idx);
ARG_UNUSED(chan_spec);

/* This sensor lacks a FIFO; there will always only be one frame at a time. */
*frame_count = 1;
return 0;
}

static int akm09918c_decoder_get_size_info(enum sensor_channel channel, size_t *base_size,
static int akm09918c_decoder_get_size_info(struct sensor_chan_spec chan_spec, size_t *base_size,
size_t *frame_size)
{
switch (channel) {
switch (chan_spec.chan_type) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
Expand Down Expand Up @@ -48,17 +48,16 @@ static int akm09918c_convert_raw_to_q31(int16_t reading, q31_t *out)
return 0;
}

static int akm09918c_decoder_decode(const uint8_t *buffer, enum sensor_channel channel,
size_t channel_idx, uint32_t *fit,
uint16_t max_count, void *data_out)
static int akm09918c_decoder_decode(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
uint32_t *fit, uint16_t max_count, void *data_out)
{
const struct akm09918c_encoded_data *edata = (const struct akm09918c_encoded_data *)buffer;

if (*fit != 0) {
return 0;
}

switch (channel) {
switch (chan_spec.chan_type) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
Expand Down
8 changes: 6 additions & 2 deletions drivers/sensor/bosch/bma4xx/bma4xx.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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_chan_spec *const channels = cfg->channels;
const size_t num_channels = cfg->count;

uint32_t min_buf_len = sizeof(struct bma4xx_encoded_data);
Expand All @@ -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
Expand Down
107 changes: 57 additions & 50 deletions drivers/sensor/default_rtio_sensor.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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_chan_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;
Expand Down Expand Up @@ -92,12 +93,12 @@ static inline uint32_t compute_min_buf_len(int num_output_samples)
* @return Index of the @p channel if found or negative if not found
*/
static inline int check_header_contains_channel(const struct sensor_data_generic_header *header,
enum sensor_channel channel, int num_channels)
struct sensor_chan_spec chan_spec, int num_channels)
{
__ASSERT_NO_MSG(!SENSOR_CHANNEL_3_AXIS(channel));

for (int i = 0; i < num_channels; ++i) {
if (header->channels[i] == channel) {
if (sensor_chan_spec_eq(header->channels[i], chan_spec)) {
return i;
}
}
Expand All @@ -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_chan_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());
Expand Down Expand Up @@ -148,24 +149,34 @@ 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;
header->channels[sample_idx++] =
rc == 0 ? channels[i] - 2 : SENSOR_CHAN_MAX;
header->channels[sample_idx++] =
rc == 0 ? channels[i] - 1 : SENSOR_CHAN_MAX;
header->channels[sample_idx++] = (struct sensor_chan_spec) {
rc == 0 ? channels[i].chan_type - 3 : SENSOR_CHAN_MAX,
0
};
header->channels[sample_idx++] = (struct sensor_chan_spec) {
rc == 0 ? channels[i].chan_type - 2 : SENSOR_CHAN_MAX,
0
};
header->channels[sample_idx++] = (struct sensor_chan_spec) {
rc == 0 ? channels[i].chan_type - 1 : SENSOR_CHAN_MAX,
0
};
} else {
header->channels[sample_idx++] = rc == 0 ? channels[i] : SENSOR_CHAN_MAX;
header->channels[sample_idx++] = (struct sensor_chan_spec) {
rc == 0 ? channels[i].chan_type : SENSOR_CHAN_MAX,
0
};
}

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;
}

Expand Down Expand Up @@ -277,45 +288,41 @@ void sensor_processing_with_callback(struct rtio *ctx, sensor_processing_callbac
* @param[out] frame_count The number of frames in the buffer (always 1)
* @return 0 in all cases
*/
static int get_frame_count(const uint8_t *buffer, enum sensor_channel channel, size_t channel_idx,
static int get_frame_count(const uint8_t *buffer, struct sensor_chan_spec channel,
uint16_t *frame_count)
{
struct sensor_data_generic_header *header = (struct sensor_data_generic_header *)buffer;
size_t count = 0;

switch (channel) {
switch (channel.chan_type) {
case SENSOR_CHAN_ACCEL_XYZ:
channel = SENSOR_CHAN_ACCEL_X;
channel.chan_type = SENSOR_CHAN_ACCEL_X;
break;
case SENSOR_CHAN_GYRO_XYZ:
channel = SENSOR_CHAN_GYRO_X;
channel.chan_type = SENSOR_CHAN_GYRO_X;
break;
case SENSOR_CHAN_MAGN_XYZ:
channel = SENSOR_CHAN_MAGN_X;
channel.chan_type = SENSOR_CHAN_MAGN_X;
break;
default:
break;
}
for (size_t i = 0; i < header->num_channels; ++i) {
if (header->channels[i] == channel) {
if (channel_idx == count) {
*frame_count = 1;
return 0;
}
++count;
if (sensor_chan_spec_eq(header->channels[i], channel)) {
*frame_count = 1;
return 0;
}
}

return -ENOTSUP;
}

int sensor_natively_supported_channel_size_info(enum sensor_channel channel, size_t *base_size,
int sensor_natively_supported_channel_size_info(struct sensor_chan_spec channel, size_t *base_size,
size_t *frame_size)
{
__ASSERT_NO_MSG(base_size != NULL);
__ASSERT_NO_MSG(frame_size != NULL);

switch (channel) {
switch (channel.chan_type) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
Expand Down Expand Up @@ -391,19 +398,13 @@ int sensor_natively_supported_channel_size_info(enum sensor_channel channel, siz
}

static int get_q31_value(const struct sensor_data_generic_header *header, const q31_t *values,
enum sensor_channel channel, size_t channel_idx, q31_t *out)
struct sensor_chan_spec chan_spec, q31_t *out)
{
size_t count = 0;

for (size_t i = 0; i < header->num_channels; ++i) {
if (channel != header->channels[i]) {
continue;
}
if (count == channel_idx) {
if (sensor_chan_spec_eq(chan_spec, header->channels[i])) {
*out = values[i];
return 0;
}
++count;
}
return -EINVAL;
}
Expand All @@ -419,24 +420,26 @@ static int decode_three_axis(const struct sensor_data_generic_header *header, co
data_out->shift = header->shift;
data_out->readings[0].timestamp_delta = 0;

rc = get_q31_value(header, values, x, channel_idx, &data_out->readings[0].values[0]);
rc = get_q31_value(header, values, (struct sensor_chan_spec){x, channel_idx},
&data_out->readings[0].values[0]);
if (rc < 0) {
return rc;
}
rc = get_q31_value(header, values, y, channel_idx, &data_out->readings[0].values[1]);
rc = get_q31_value(header, values, (struct sensor_chan_spec){y, channel_idx},
&data_out->readings[0].values[1]);
if (rc < 0) {
return rc;
}
rc = get_q31_value(header, values, z, channel_idx, &data_out->readings[0].values[2]);
rc = get_q31_value(header, values, (struct sensor_chan_spec){z, channel_idx},
&data_out->readings[0].values[2]);
if (rc < 0) {
return rc;
}
return 1;
}

static int decode_q31(const struct sensor_data_generic_header *header, const q31_t *values,
struct sensor_q31_data *data_out, enum sensor_channel channel,
size_t channel_idx)
struct sensor_q31_data *data_out, struct sensor_chan_spec chan_spec)
{
int rc;

Expand All @@ -445,7 +448,7 @@ static int decode_q31(const struct sensor_data_generic_header *header, const q31
data_out->shift = header->shift;
data_out->readings[0].timestamp_delta = 0;

rc = get_q31_value(header, values, channel, channel_idx, &data_out->readings[0].value);
rc = get_q31_value(header, values, chan_spec, &data_out->readings[0].value);
if (rc < 0) {
return rc;
}
Expand All @@ -469,7 +472,7 @@ static int decode_q31(const struct sensor_data_generic_header *header, const q31
* @return >0 the number of decoded frames
* @return <0 on error
*/
static int decode(const uint8_t *buffer, enum sensor_channel channel, size_t channel_idx,
static int decode(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
uint32_t *fit, uint16_t max_count, void *data_out)
{
const struct sensor_data_generic_header *header =
Expand All @@ -484,33 +487,37 @@ static int decode(const uint8_t *buffer, enum sensor_channel channel, size_t cha
}

/* Check for 3d channel mappings */
switch (channel) {
switch (chan_spec.chan_type) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_ACCEL_X,
SENSOR_CHAN_ACCEL_Y, SENSOR_CHAN_ACCEL_Z, channel_idx);
SENSOR_CHAN_ACCEL_Y, SENSOR_CHAN_ACCEL_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_GYRO_X,
SENSOR_CHAN_GYRO_Y, SENSOR_CHAN_GYRO_Z, channel_idx);
SENSOR_CHAN_GYRO_Y, SENSOR_CHAN_GYRO_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_MAGN_X,
SENSOR_CHAN_MAGN_Y, SENSOR_CHAN_MAGN_Z, channel_idx);
SENSOR_CHAN_MAGN_Y, SENSOR_CHAN_MAGN_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_POS_DX:
case SENSOR_CHAN_POS_DY:
case SENSOR_CHAN_POS_DZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_POS_DX,
SENSOR_CHAN_POS_DY, SENSOR_CHAN_POS_DZ, channel_idx);
SENSOR_CHAN_POS_DY, SENSOR_CHAN_POS_DZ,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_DIE_TEMP:
case SENSOR_CHAN_AMBIENT_TEMP:
Expand Down Expand Up @@ -552,7 +559,7 @@ static int decode(const uint8_t *buffer, enum sensor_channel channel, size_t cha
case SENSOR_CHAN_GAUGE_DESIGN_VOLTAGE:
case SENSOR_CHAN_GAUGE_DESIRED_VOLTAGE:
case SENSOR_CHAN_GAUGE_DESIRED_CHARGING_CURRENT:
count = decode_q31(header, q, data_out, channel, channel_idx);
count = decode_q31(header, q, data_out, chan_spec);
break;
default:
break;
Expand Down
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