sensor_shell: Update to new sensor_read API
Update the sensor shell logic to use the new sensor_read() APIs and
make triggers an option of the sensor_shell sample (this avoids the
trigger stealing the interrupt status from one-shot reads).
Signed-off-by: Yuval Peress <peress@google.com>
diff --git a/drivers/sensor/Kconfig b/drivers/sensor/Kconfig
index 1490a72..9f94ff1 100644
--- a/drivers/sensor/Kconfig
+++ b/drivers/sensor/Kconfig
@@ -31,6 +31,7 @@
bool "Sensor shell"
depends on SHELL
select CBPRINTF_FP_SUPPORT
+ select SENSOR_ASYNC_API
default y if !SHELL_MINIMAL
help
This shell provides access to basic sensor data.
diff --git a/drivers/sensor/default_rtio_sensor.c b/drivers/sensor/default_rtio_sensor.c
index ba9a547..55db893 100644
--- a/drivers/sensor/default_rtio_sensor.c
+++ b/drivers/sensor/default_rtio_sensor.c
@@ -101,7 +101,7 @@
/* Check that the fetch succeeded */
if (rc != 0) {
- LOG_ERR("Failed to fetch samples");
+ LOG_WRN("Failed to fetch samples");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}
@@ -109,7 +109,7 @@
/* Get the buffer for the frame, it may be allocated dynamically by the rtio context */
rc = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
if (rc != 0) {
- LOG_ERR("Failed to get a read buffer of size %u bytes", min_buf_len);
+ LOG_WRN("Failed to get a read buffer of size %u bytes", min_buf_len);
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}
diff --git a/drivers/sensor/sensor_shell.c b/drivers/sensor/sensor_shell.c
index d6fe100..d58c0a8 100644
--- a/drivers/sensor/sensor_shell.c
+++ b/drivers/sensor/sensor_shell.c
@@ -4,12 +4,14 @@
* SPDX-License-Identifier: Apache-2.0
*/
-#include <zephyr/shell/shell.h>
+#include <ctype.h>
#include <stdlib.h>
#include <string.h>
-#include <ctype.h>
+
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
+#include <zephyr/rtio/rtio.h>
+#include <zephyr/shell/shell.h>
#include <zephyr/sys/iterable_sections.h>
#define SENSOR_GET_HELP \
@@ -114,6 +116,19 @@
static enum dynamic_command_context current_cmd_ctx = NONE;
+/* Crate a single common config for one-shot reading */
+static enum sensor_channel iodev_sensor_shell_channels[SENSOR_CHAN_ALL];
+static struct sensor_read_config iodev_sensor_shell_read_config = {
+ .sensor = NULL,
+ .channels = iodev_sensor_shell_channels,
+ .count = 0,
+ .max = ARRAY_SIZE(iodev_sensor_shell_channels),
+};
+RTIO_IODEV_DEFINE(iodev_sensor_shell_read, &__sensor_iodev_api, &iodev_sensor_shell_read_config);
+
+/* Create the RTIO context to service the reading */
+RTIO_DEFINE_WITH_MEMPOOL(sensor_read_rtio, 8, 8, 32, 64, 4);
+
static int parse_named_int(const char *name, const char *heystack[], size_t count)
{
char *endptr;
@@ -176,43 +191,71 @@
return 0;
}
-static int handle_channel_by_name(const struct shell *shell_ptr, const struct device *dev,
- const char *channel_name)
+struct sensor_shell_processing_context {
+ const struct device *dev;
+ const struct shell *sh;
+};
+
+static void sensor_shell_processing_callback(int result, uint8_t *buf, uint32_t buf_len,
+ void *userdata)
{
- struct sensor_value value[3];
- int err;
- const int i =
- parse_named_int(channel_name, sensor_channel_name, ARRAY_SIZE(sensor_channel_name));
+ struct sensor_shell_processing_context *ctx = userdata;
+ const struct sensor_decoder_api *decoder;
+ sensor_frame_iterator_t fit = {0};
+ sensor_channel_iterator_t cit = {0};
+ uint64_t timestamp;
+ enum sensor_channel channel;
+ q31_t q;
+ int rc;
- if (i < 0) {
- shell_error(shell_ptr, "Channel not supported (%s)", channel_name);
- return i;
+ ARG_UNUSED(buf_len);
+
+ if (result < 0) {
+ shell_error(ctx->sh, "Read failed");
+ return;
}
- err = sensor_channel_get(dev, i, value);
- if (err < 0) {
- return err;
+ rc = sensor_get_decoder(ctx->dev, &decoder);
+ if (rc != 0) {
+ shell_error(ctx->sh, "Failed to get decoder for '%s'", ctx->dev->name);
+ return;
}
- if (i >= ARRAY_SIZE(sensor_channel_name)) {
- shell_print(shell_ptr, "channel idx=%d value = %10.6f", i,
- sensor_value_to_double(&value[0]));
- } else if (i != SENSOR_CHAN_ACCEL_XYZ && i != SENSOR_CHAN_GYRO_XYZ &&
- i != SENSOR_CHAN_MAGN_XYZ) {
- shell_print(shell_ptr, "channel idx=%d %s = %10.6f", i, sensor_channel_name[i],
- sensor_value_to_double(&value[0]));
- } else {
- /* clang-format off */
- shell_print(shell_ptr,
- "channel idx=%d %s x = %10.6f y = %10.6f z = %10.6f",
- i, sensor_channel_name[i],
- sensor_value_to_double(&value[0]),
- sensor_value_to_double(&value[1]),
- sensor_value_to_double(&value[2]));
- /* clang-format on */
+ rc = decoder->get_timestamp(buf, ×tamp);
+ if (rc != 0) {
+ shell_error(ctx->sh, "Failed to get fetch timestamp for '%s'", ctx->dev->name);
+ return;
}
+ shell_print(ctx->sh, "Got samples at %" PRIu64 " ns", timestamp);
- return 0;
+ while (decoder->decode(buf, &fit, &cit, &channel, &q, 1) > 0) {
+ int8_t shift;
+
+ rc = decoder->get_shift(buf, channel, &shift);
+ if (rc != 0) {
+ shell_error(ctx->sh, "Failed to get bitshift for channel %d", channel);
+ continue;
+ }
+
+ int64_t scaled_value = (int64_t)q << shift;
+ bool is_negative = scaled_value < 0;
+ int numerator;
+ int denominator;
+
+ scaled_value = llabs(scaled_value);
+ numerator = (int)FIELD_GET(GENMASK64(31 + shift, 31), scaled_value);
+ denominator =
+ (int)((FIELD_GET(GENMASK64(30, 0), scaled_value) * 1000000) / INT32_MAX);
+
+ if (channel >= ARRAY_SIZE(sensor_channel_name)) {
+ shell_print(ctx->sh, "channel idx=%d value=%s%d.%06d", channel,
+ is_negative ? "-" : "", numerator, denominator);
+ } else {
+ shell_print(ctx->sh, "channel idx=%d %s value=%s%d.%06d", channel,
+ sensor_channel_name[channel], is_negative ? "-" : "", numerator,
+ denominator);
+ }
+ }
}
static int cmd_get_sensor(const struct shell *sh, size_t argc, char *argv[])
@@ -226,26 +269,48 @@
return -ENODEV;
}
- err = sensor_sample_fetch(dev);
+ if (argc == 2) {
+ /* read all channels */
+ int count = 0;
+
+ 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_read_config.count = count;
+ } else {
+ /* read specific channels */
+ iodev_sensor_shell_read_config.count = 0;
+ for (int i = 2; i < argc; ++i) {
+ int chan = parse_named_int(argv[i], sensor_channel_name,
+ ARRAY_SIZE(sensor_channel_name));
+
+ if (chan < 0) {
+ shell_error(sh, "Failed to read channel (%s)", argv[i]);
+ continue;
+ }
+ iodev_sensor_shell_channels[iodev_sensor_shell_read_config.count++] =
+ chan;
+ }
+ }
+
+ if (iodev_sensor_shell_read_config.count == 0) {
+ shell_error(sh, "No channels to read, bailing");
+ return -EINVAL;
+ }
+ iodev_sensor_shell_read_config.sensor = dev;
+
+ struct sensor_shell_processing_context ctx = {
+ .dev = dev,
+ .sh = sh,
+ };
+ err = sensor_read(&iodev_sensor_shell_read, &sensor_read_rtio, &ctx);
if (err < 0) {
shell_error(sh, "Failed to read sensor: %d", err);
}
-
- if (argc == 2) {
- /* read all channels */
- for (int i = 0; i < ARRAY_SIZE(sensor_channel_name); i++) {
- if (sensor_channel_name[i]) {
- handle_channel_by_name(sh, dev, sensor_channel_name[i]);
- }
- }
- } else {
- for (int i = 2; i < argc; i++) {
- err = handle_channel_by_name(sh, dev, argv[i]);
- if (err < 0) {
- shell_error(sh, "Failed to read channel (%s)", argv[i]);
- }
- }
- }
+ sensor_processing_with_callback(&sensor_read_rtio, sensor_shell_processing_callback);
return 0;
}
diff --git a/include/zephyr/linker/common-rom/common-rom-misc.ld b/include/zephyr/linker/common-rom/common-rom-misc.ld
index 2e1812b..51d4865 100644
--- a/include/zephyr/linker/common-rom/common-rom-misc.ld
+++ b/include/zephyr/linker/common-rom/common-rom-misc.ld
@@ -14,7 +14,7 @@
ITERABLE_SECTION_ROM(sensor_info, 4)
#endif
-#if defined(CONFIG_SENSOR)
+#if defined(CONFIG_SENSOR_ASYNC_API)
ITERABLE_SECTION_ROM(sensor_decoder_api, 4)
#endif
diff --git a/samples/sensor/sensor_shell/CMakeLists.txt b/samples/sensor/sensor_shell/CMakeLists.txt
index 86a0a84..b33730c 100644
--- a/samples/sensor/sensor_shell/CMakeLists.txt
+++ b/samples/sensor/sensor_shell/CMakeLists.txt
@@ -5,5 +5,7 @@
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(sensor_shell)
-FILE(GLOB app_sources src/*.c)
-target_sources(app PRIVATE ${app_sources})
+target_sources(app PRIVATE src/main.c)
+target_sources_ifdef(CONFIG_INIT_TRIG_DATA_READY app PRIVATE src/trigger.c)
+
+target_include_directories(app PRIVATE include)
diff --git a/samples/sensor/sensor_shell/Kconfig b/samples/sensor/sensor_shell/Kconfig
index db47d9f..370c79d 100644
--- a/samples/sensor/sensor_shell/Kconfig
+++ b/samples/sensor/sensor_shell/Kconfig
@@ -9,3 +9,9 @@
interrupt handler will collect data.
source "Kconfig.zephyr"
+
+config INIT_TRIG_DATA_READY
+ bool "Register data ready triggers for all sensors on start"
+ help
+ When the application starts, automatically register data ready trigger
+ listeners to all available sensors.
diff --git a/samples/sensor/sensor_shell/include/trigger.h b/samples/sensor/sensor_shell/include/trigger.h
new file mode 100644
index 0000000..eb5a35f
--- /dev/null
+++ b/samples/sensor/sensor_shell/include/trigger.h
@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SAMPLES_SENSOR_SENSOR_SHELL_INCLUDE_TRIGGER_H
+#define ZEPHYR_SAMPLES_SENSOR_SENSOR_SHELL_INCLUDE_TRIGGER_H
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+
+void sensor_shell_data_ready_trigger_handler(const struct device *sensor,
+ const struct sensor_trigger *trigger);
+
+#endif /* ZEPHYR_SAMPLES_SENSOR_SENSOR_SHELL_INCLUDE_TRIGGER_H */
diff --git a/samples/sensor/sensor_shell/prj.conf b/samples/sensor/sensor_shell/prj.conf
index 2a9e6a3..d3189e3 100644
--- a/samples/sensor/sensor_shell/prj.conf
+++ b/samples/sensor/sensor_shell/prj.conf
@@ -5,3 +5,4 @@
CONFIG_SENSOR_INFO=y
CONFIG_LOG=y
+CONFIG_RTIO_CONSUME_SEM=y
diff --git a/samples/sensor/sensor_shell/src/main.c b/samples/sensor/sensor_shell/src/main.c
index 61f2273..31065c6 100644
--- a/samples/sensor/sensor_shell/src/main.c
+++ b/samples/sensor/sensor_shell/src/main.c
@@ -10,80 +10,22 @@
#include <zephyr/logging/log.h>
#include <zephyr/sys/iterable_sections.h>
+#include "trigger.h"
+
LOG_MODULE_REGISTER(app);
-enum sample_stats_state {
- SAMPLE_STATS_STATE_UNINITIALIZED = 0,
- SAMPLE_STATS_STATE_ENABLED,
- SAMPLE_STATS_STATE_DISABLED,
-};
-
-struct sample_stats {
- int64_t accumulator;
- uint32_t count;
- uint64_t sample_window_start;
- enum sample_stats_state state;
-};
-
-static void data_ready_trigger_handler(const struct device *sensor,
- const struct sensor_trigger *trigger)
-{
- static struct sample_stats stats[SENSOR_CHAN_ALL];
- const int64_t now = k_uptime_get();
- struct sensor_value value;
-
- if (sensor_sample_fetch(sensor)) {
- LOG_ERR("Failed to fetch samples on data ready handler");
- }
- for (int i = 0; i < SENSOR_CHAN_ALL; ++i) {
- int rc;
-
- /* Skip disabled channels */
- if (stats[i].state == SAMPLE_STATS_STATE_DISABLED) {
- continue;
- }
- /* Skip 3 axis channels */
- if (i == SENSOR_CHAN_ACCEL_XYZ || i == SENSOR_CHAN_GYRO_XYZ ||
- i == SENSOR_CHAN_MAGN_XYZ) {
- continue;
- }
-
- rc = sensor_channel_get(sensor, i, &value);
- if (rc == -ENOTSUP && stats[i].state == SAMPLE_STATS_STATE_UNINITIALIZED) {
- /* Stop reading this channel if the driver told us it's not supported. */
- stats[i].state = SAMPLE_STATS_STATE_DISABLED;
- }
- if (rc != 0) {
- /* Skip on any error. */
- continue;
- }
- /* Do something with the data */
- stats[i].accumulator += value.val1 * INT64_C(1000000) + value.val2;
- if (stats[i].count++ == 0) {
- stats[i].sample_window_start = now;
- } else if (now > stats[i].sample_window_start + CONFIG_SAMPLE_PRINT_TIMEOUT_MS) {
- int64_t micro_value = stats[i].accumulator / stats[i].count;
-
- value.val1 = micro_value / 1000000;
- value.val2 = (int32_t)llabs(micro_value - (value.val1 * 1000000));
- LOG_INF("chan=%d, num_samples=%u, data=%d.%06d", i, stats[i].count,
- value.val1, value.val2);
-
- stats[i].accumulator = 0;
- stats[i].count = 0;
- }
- }
-}
-
int main(void)
{
- STRUCT_SECTION_FOREACH(sensor_info, sensor)
- {
- struct sensor_trigger trigger = {
- .chan = SENSOR_CHAN_ALL,
- .type = SENSOR_TRIG_DATA_READY,
- };
- sensor_trigger_set(sensor->dev, &trigger, data_ready_trigger_handler);
+ if (IS_ENABLED(CONFIG_INIT_TRIG_DATA_READY)) {
+ STRUCT_SECTION_FOREACH(sensor_info, sensor)
+ {
+ struct sensor_trigger trigger = {
+ .chan = SENSOR_CHAN_ALL,
+ .type = SENSOR_TRIG_DATA_READY,
+ };
+ sensor_trigger_set(sensor->dev, &trigger,
+ sensor_shell_data_ready_trigger_handler);
+ }
}
return 0;
}
diff --git a/samples/sensor/sensor_shell/src/trigger.c b/samples/sensor/sensor_shell/src/trigger.c
new file mode 100644
index 0000000..ee92723
--- /dev/null
+++ b/samples/sensor/sensor_shell/src/trigger.c
@@ -0,0 +1,78 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "trigger.h"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_DECLARE(app);
+
+enum sample_stats_state {
+ SAMPLE_STATS_STATE_UNINITIALIZED = 0,
+ SAMPLE_STATS_STATE_ENABLED,
+ SAMPLE_STATS_STATE_DISABLED,
+};
+
+struct sample_stats {
+ int64_t accumulator;
+ uint32_t count;
+ uint64_t sample_window_start;
+ enum sample_stats_state state;
+};
+
+void sensor_shell_data_ready_trigger_handler(const struct device *sensor,
+ const struct sensor_trigger *trigger)
+{
+ static struct sample_stats stats[SENSOR_CHAN_ALL];
+ const int64_t now = k_uptime_get();
+ struct sensor_value value;
+
+ ARG_UNUSED(trigger);
+
+ if (sensor_sample_fetch(sensor)) {
+ LOG_ERR("Failed to fetch samples on data ready handler");
+ }
+ for (int i = 0; i < SENSOR_CHAN_ALL; ++i) {
+ int rc;
+
+ /* Skip disabled channels */
+ if (stats[i].state == SAMPLE_STATS_STATE_DISABLED) {
+ continue;
+ }
+ /* Skip 3 axis channels */
+ if (i == SENSOR_CHAN_ACCEL_XYZ || i == SENSOR_CHAN_GYRO_XYZ ||
+ i == SENSOR_CHAN_MAGN_XYZ) {
+ continue;
+ }
+
+ rc = sensor_channel_get(sensor, i, &value);
+ if (rc == -ENOTSUP && stats[i].state == SAMPLE_STATS_STATE_UNINITIALIZED) {
+ /* Stop reading this channel if the driver told us it's not supported. */
+ stats[i].state = SAMPLE_STATS_STATE_DISABLED;
+ }
+ if (rc != 0) {
+ /* Skip on any error. */
+ continue;
+ }
+ /* Do something with the data */
+ stats[i].accumulator += value.val1 * INT64_C(1000000) + value.val2;
+ if (stats[i].count++ == 0) {
+ stats[i].sample_window_start = now;
+ } else if (now > stats[i].sample_window_start + CONFIG_SAMPLE_PRINT_TIMEOUT_MS) {
+ int64_t micro_value = stats[i].accumulator / stats[i].count;
+
+ value.val1 = micro_value / 1000000;
+ value.val2 = (int32_t)llabs(micro_value - (value.val1 * 1000000));
+ LOG_INF("chan=%d, num_samples=%u, data=%d.%06d", i, stats[i].count,
+ value.val1, value.val2);
+
+ stats[i].accumulator = 0;
+ stats[i].count = 0;
+ }
+ }
+}
diff --git a/scripts/build/gen_kobject_list.py b/scripts/build/gen_kobject_list.py
index 02cbcc6..64524c6 100755
--- a/scripts/build/gen_kobject_list.py
+++ b/scripts/build/gen_kobject_list.py
@@ -114,7 +114,7 @@
("ztest_test_rule", ("CONFIG_ZTEST_NEW_API", True, False)),
("rtio", ("CONFIG_RTIO", False, False)),
("rtio_iodev", ("CONFIG_RTIO", False, False)),
- ("sensor_decoder_api", ("CONFIG_SENSOR", True, False))
+ ("sensor_decoder_api", ("CONFIG_SENSOR_ASYNC_API", True, False))
])
def kobject_to_enum(kobj):
