sensors: Create `sensor trig` subcommand
This PR relocates the sensor trigger sample application from the
`sensor_shell` sample to a subcommand in the actual sensor shell. The
subcommand has a UI for enabling a given trigger on a given sensor.
A built-in handler for the data_ready trigger is included that prints
the latest data to the log. Currently, only `SENSOR_TRIG_DATA_READY` is
supported but the groundwork is there to add others. Tested on a
`tdk_robokit1` board.
Signed-off-by: Tristan Honscheid <honscheid@google.com>
diff --git a/drivers/sensor/Kconfig b/drivers/sensor/Kconfig
index 9f94ff1..838bdf1 100644
--- a/drivers/sensor/Kconfig
+++ b/drivers/sensor/Kconfig
@@ -44,6 +44,14 @@
in a convenient format. It makes use of a fuel gauge to read its
information.
+config SENSOR_SHELL_TRIG_PRINT_TIMEOUT_MS
+ int "Timeout for printing the average sensor sample value"
+ default 5000
+ depends on SENSOR_SHELL
+ help
+ Control the frequency of the sampling window over which the sensor
+ interrupt handler will collect data.
+
config SENSOR_INFO
bool "Sensor Info iterable section"
diff --git a/drivers/sensor/sensor_shell.c b/drivers/sensor/sensor_shell.c
index d58c0a8..b8c8282 100644
--- a/drivers/sensor/sensor_shell.c
+++ b/drivers/sensor/sensor_shell.c
@@ -14,6 +14,8 @@
#include <zephyr/shell/shell.h>
#include <zephyr/sys/iterable_sections.h>
+LOG_MODULE_REGISTER(sensor_shell);
+
#define SENSOR_GET_HELP \
"Get sensor data. Channel names are optional. All channels are read " \
"when no channels are provided. Syntax:\n" \
@@ -30,6 +32,10 @@
#define SENSOR_INFO_HELP "Get sensor info, such as vendor and model name, for all sensors."
+#define SENSOR_TRIG_HELP \
+ "Get or set the trigger type on a sensor. Currently only supports `data_ready`.\n" \
+ "<device_name> <on/off> <trigger_name>"
+
const char *sensor_channel_name[SENSOR_CHAN_ALL] = {
[SENSOR_CHAN_ACCEL_X] = "accel_x",
[SENSOR_CHAN_ACCEL_Y] = "accel_y",
@@ -108,6 +114,38 @@
[SENSOR_ATTR_FF_DUR] = "ff_dur",
};
+/* Forward declaration */
+static void data_ready_trigger_handler(const struct device *sensor,
+ const struct sensor_trigger *trigger);
+
+#define TRIGGER_DATA_ENTRY(trig_enum, str_name, handler_func) \
+ [(trig_enum)] = {.name = #str_name, \
+ .handler = (handler_func), \
+ .trigger = {.chan = SENSOR_CHAN_ALL, .type = (trig_enum)}}
+
+/**
+ * @brief This table stores a mapping of string trigger names along with the sensor_trigger struct
+ * that gets passed to the driver to enable that trigger, plus a function pointer to a handler. If
+ * that pointer is NULL, this indicates there is not currently support for that trigger type in the
+ * sensor shell.
+ */
+static const struct {
+ const char *name;
+ sensor_trigger_handler_t handler;
+ struct sensor_trigger trigger;
+} sensor_trigger_table[SENSOR_TRIG_COMMON_COUNT] = {
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_TIMER, timer, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_DATA_READY, data_ready, data_ready_trigger_handler),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_DELTA, delta, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_NEAR_FAR, near_far, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_THRESHOLD, threshold, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_TAP, tap, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_DOUBLE_TAP, double_tap, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_FREEFALL, freefall, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_MOTION, motion, NULL),
+ TRIGGER_DATA_ENTRY(SENSOR_TRIG_STATIONARY, stationary, NULL),
+};
+
enum dynamic_command_context {
NONE,
CTX_GET,
@@ -502,6 +540,61 @@
}
SHELL_DYNAMIC_CMD_CREATE(dsub_device_name_for_attr, device_name_get_for_attr);
+static void trigger_name_get(size_t idx, struct shell_static_entry *entry)
+{
+ int cnt = 0;
+
+ entry->syntax = NULL;
+ entry->handler = NULL;
+ entry->help = NULL;
+ entry->subcmd = NULL;
+
+ for (int i = 0; i < SENSOR_TRIG_COMMON_COUNT; i++) {
+ if (sensor_trigger_table[i].name != NULL) {
+ if (cnt == idx) {
+ entry->syntax = sensor_trigger_table[i].name;
+ break;
+ }
+ cnt++;
+ }
+ }
+}
+
+SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_name, trigger_name_get);
+
+static void trigger_on_off_get(size_t idx, struct shell_static_entry *entry)
+{
+ entry->handler = NULL;
+ entry->help = NULL;
+ entry->subcmd = &dsub_trigger_name;
+
+ switch (idx) {
+ case 0:
+ entry->syntax = "on";
+ break;
+ case 1:
+ entry->syntax = "off";
+ break;
+ default:
+ entry->syntax = NULL;
+ break;
+ }
+}
+
+SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_onoff, trigger_on_off_get);
+
+static void device_name_get_for_trigger(size_t idx, struct shell_static_entry *entry)
+{
+ const struct device *dev = shell_device_lookup(idx, NULL);
+
+ entry->syntax = (dev != NULL) ? dev->name : NULL;
+ entry->handler = NULL;
+ entry->help = NULL;
+ entry->subcmd = &dsub_trigger_onoff;
+}
+
+SHELL_DYNAMIC_CMD_CREATE(dsub_trigger, device_name_get_for_trigger);
+
static int cmd_get_sensor_info(const struct shell *sh, size_t argc, char **argv)
{
ARG_UNUSED(argc);
@@ -525,6 +618,119 @@
#endif
}
+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_SENSOR_SHELL_TRIG_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;
+ }
+ }
+}
+
+static int cmd_trig_sensor(const struct shell *sh, size_t argc, char **argv)
+{
+ const struct device *dev;
+ enum sensor_trigger_type trigger;
+ int err;
+
+ if (argc < 4) {
+ shell_error(sh, "Wrong number of args");
+ return -EINVAL;
+ }
+
+ /* Parse device name */
+ dev = device_get_binding(argv[1]);
+ if (dev == NULL) {
+ shell_error(sh, "Device unknown (%s)", argv[1]);
+ return -ENODEV;
+ }
+
+ /* Map the trigger string to an enum value */
+ for (trigger = 0; trigger < ARRAY_SIZE(sensor_trigger_table); trigger++) {
+ if (strcmp(argv[3], sensor_trigger_table[trigger].name) == 0) {
+ break;
+ }
+ }
+ if (trigger >= SENSOR_TRIG_COMMON_COUNT || sensor_trigger_table[trigger].handler == NULL) {
+ shell_error(sh, "Unsupported trigger type (%s)", argv[3]);
+ return -ENOTSUP;
+ }
+
+ /* Parse on/off */
+ if (strcmp(argv[2], "on") == 0) {
+ err = sensor_trigger_set(dev, &sensor_trigger_table[trigger].trigger,
+ sensor_trigger_table[trigger].handler);
+ } else if (strcmp(argv[2], "off") == 0) {
+ /* Clear the handler for the given trigger on this device */
+ err = sensor_trigger_set(dev, &sensor_trigger_table[trigger].trigger, NULL);
+ } else {
+ shell_error(sh, "Pass 'on' or 'off' to enable/disable trigger");
+ return -EINVAL;
+ }
+
+ if (err) {
+ shell_error(sh, "Error while setting trigger %d on device %s (%d)", trigger,
+ argv[1], err);
+ }
+
+ return err;
+}
+
/* clang-format off */
SHELL_STATIC_SUBCMD_SET_CREATE(sub_sensor,
SHELL_CMD_ARG(get, &dsub_device_name, SENSOR_GET_HELP, cmd_get_sensor,
@@ -535,6 +741,8 @@
cmd_sensor_attr_get, 2, 255),
SHELL_COND_CMD(CONFIG_SENSOR_INFO, info, NULL, SENSOR_INFO_HELP,
cmd_get_sensor_info),
+ SHELL_CMD_ARG(trig, &dsub_trigger, SENSOR_TRIG_HELP, cmd_trig_sensor,
+ 2, 255),
SHELL_SUBCMD_SET_END
);
/* clang-format on */
diff --git a/samples/sensor/sensor_shell/CMakeLists.txt b/samples/sensor/sensor_shell/CMakeLists.txt
index b33730c..1f13027 100644
--- a/samples/sensor/sensor_shell/CMakeLists.txt
+++ b/samples/sensor/sensor_shell/CMakeLists.txt
@@ -6,6 +6,5 @@
project(sensor_shell)
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 370c79d..354385e 100644
--- a/samples/sensor/sensor_shell/Kconfig
+++ b/samples/sensor/sensor_shell/Kconfig
@@ -1,17 +1,4 @@
# Copyright (c) 2023 Google LLC
# SPDX-License-Identifier: Apache-2.0
-config SAMPLE_PRINT_TIMEOUT_MS
- int "Timeout for printing the average sensor sample value"
- default 5000
- help
- Control the frequency of the sampling window over which the sensor
- 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/src/main.c b/samples/sensor/sensor_shell/src/main.c
index 31065c6..d8d77c1 100644
--- a/samples/sensor/sensor_shell/src/main.c
+++ b/samples/sensor/sensor_shell/src/main.c
@@ -4,28 +4,12 @@
* SPDX-License-Identifier: Apache-2.0
*/
-#include <stdlib.h>
-#include <zephyr/drivers/sensor.h>
-#include <zephyr/kernel.h>
-#include <zephyr/logging/log.h>
-#include <zephyr/sys/iterable_sections.h>
-
-#include "trigger.h"
-
-LOG_MODULE_REGISTER(app);
+/*
+ * This sample app launches a shell. Interact with it using the `sensor` command. See
+ * `drivers/sensor/sensor_shell.c`. There is nothing to do in the main thread.
+ */
int main(void)
{
- 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
deleted file mode 100644
index ee92723..0000000
--- a/samples/sensor/sensor_shell/src/trigger.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * 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;
- }
- }
-}
