9f85a70a04
Docs now start at a high level, discussing sensors, attributes, channels, and reading data from them. Followed by more detailed usage guides in how to solve common problems sensor users may run into. Additionally renames the sensor_api sphinx tag to sensor Signed-off-by: Tom Burdick <thomas.burdick@intel.com>
102 lines
2.6 KiB
C
102 lines
2.6 KiB
C
/*
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* Copyright (c) 2024 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/drivers/sensor.h>
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#define ACCEL_TRIGGERS \
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{ SENSOR_TRIG_DRDY, SENSOR_STREAM_DATA_INCLUDE }, \
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{ SENSOR_TRIG_TAP, SENSOR_STREAM_DATA_NOP }
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#define ACCEL_ALIAS(id) DT_ALIAS(CONCAT(accel, id))
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#define ACCEL_IODEV_SYM(id) CONCAT(accel_iodev, id)
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#define ACCEL_IODEV_PTR(id) &ACCEL_IODEV_SYM(id)
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#define ACCEL_DEFINE_IODEV(id) \
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SENSOR_DT_STREAM_IODEV( \
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ACCEL_IODEV_SYM(id), \
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ACCEL_ALIAS(id), \
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ACCEL_TRIGGERS \
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);
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#define NUM_SENSORS 2
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LISTIFY(NUM_SENSORS, ACCEL_DEFINE_IODEV, (;));
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struct sensor_iodev *iodevs[NUM_SENSORS] = { LISTIFY(NUM_SENSORS, ACCEL_IODEV_PTR, (,)) };
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RTIO_DEFINE_WITH_MEMPOOL(accel_ctx, NUM_SENSORS, NUM_SENSORS, NUM_SENSORS, 16, sizeof(void *));
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int main(void)
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{
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int rc;
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uint32_t accel_frame_iter = 0;
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struct sensor_three_axis_data accel_data[2] = {0};
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struct sensor_decoder_api *decoder;
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struct rtio_cqe *cqe;
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uint8_t *buf;
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uint32_t buf_len;
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struct rtio_sqe *handles[2];
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/* Start the streams */
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for (int i = 0; i < NUM_SENSORS; i++) {
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sensor_stream(iodevs[i], &accel_ctx, NULL, &handles[i]);
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}
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while (1) {
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cqe = rtio_cqe_consume_block(&accel_ctx);
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if (cqe->result != 0) {
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printk("async read failed %d\n", cqe->result);
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return;
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}
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rc = rtio_cqe_get_mempool_buffer(&accel_ctx, cqe, &buf, &buf_len);
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if (rc != 0) {
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printk("get mempool buffer failed %d\n", rc);
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return;
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}
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struct device *sensor = ((struct sensor_read_config *)
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((struct rtio_iodev *)cqe->userdata)->data)->sensor;
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rtio_cqe_release(&accel_ctx, cqe);
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rc = sensor_get_decoder(sensor, &decoder);
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if (rc != 0) {
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printk("sensor_get_decoder failed %d\n", rc);
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return;
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}
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/* Frame iterator values when data comes from a FIFO */
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uint32_t accel_fit = 0;
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/* Number of accelerometer data frames */
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uint32_t frame_count;
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rc = decoder->get_frame_count(buf, {SENSOR_CHAN_ACCEL_XYZ, 0},
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&frame_count);
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if (rc != 0) {
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printk("sensor_get_decoder failed %d\n", rc);
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return;
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}
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/* If a tap has occurred lets print it out */
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if (decoder->has_trigger(buf, SENSOR_TRIG_TAP)) {
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printk("Tap! Sensor %s\n", dev->name);
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}
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/* Decode all available accelerometer sample frames */
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for (int i = 0; i < frame_count; i++) {
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decoder->decode(buf, {SENSOR_CHAN_ACCEL_XYZ, 0},
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accel_fit, 1, &accel_data);
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printk("Accel data for %s " PRIsensor_three_axis_data "\n",
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dev->name,
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PRIsensor_three_axis_data_arg(accel_data, 0));
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}
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rtio_release_buffer(&accel_ctx, buf, buf_len);
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}
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}
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