5  * SPDX-License-Identifier: Apache-2.0
18  * Ensure that the size of the generic header aligns with the sensor channel specifier . If it
19  * doesn't, then cores that require aligned memory access will fail to read channel[0].
27 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;  in sensor_iodev_submit()
28 	const struct device *dev = cfg->sensor;  in sensor_iodev_submit()
29 	const struct sensor_driver_api *api = dev->api;  in sensor_iodev_submit()
31 	if (api->submit != NULL) {  in sensor_iodev_submit()
32 		api->submit(dev, iodev_sqe);  in sensor_iodev_submit()
33 	} else if (!cfg->is_streaming) {  in sensor_iodev_submit()
36 		rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);  in sensor_iodev_submit()
90  * @brief Checks if the header already contains a given channel
93  * @param[in] channel The channel to search for
95  * @return Index of the @p channel if found or negative if not found
103 		if (sensor_chan_spec_eq(header->channels[i], chan_spec)) {  in check_header_contains_channel()
107 	return -1;  in check_header_contains_channel()
117 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;  in sensor_submit_fallback_sync()
118 	const struct device *dev = cfg->sensor;  in sensor_submit_fallback_sync()
119 	const struct sensor_chan_spec *const channels = cfg->channels;  in sensor_submit_fallback_sync()
120 	const int num_output_samples = compute_num_samples(channels, cfg->count);  in sensor_submit_fallback_sync()
145 	header->timestamp_ns = timestamp_ns;  in sensor_submit_fallback_sync()
146 	header->num_channels = num_output_samples;  in sensor_submit_fallback_sync()
147 	header->shift = 0;  in sensor_submit_fallback_sync()
152 	for (size_t i = 0, sample_idx = 0; i < cfg->count; ++i) {  in sensor_submit_fallback_sync()
156 		/* Get the current channel requested by the user */  in sensor_submit_fallback_sync()
160 			header->channels[sample_idx++] = (struct sensor_chan_spec) {  in sensor_submit_fallback_sync()
161 				rc == 0 ? channels[i].chan_type - 3 : SENSOR_CHAN_MAX,  in sensor_submit_fallback_sync()
164 			header->channels[sample_idx++] = (struct sensor_chan_spec) {  in sensor_submit_fallback_sync()
165 				rc == 0 ? channels[i].chan_type - 2 : SENSOR_CHAN_MAX,  in sensor_submit_fallback_sync()
168 			header->channels[sample_idx++] = (struct sensor_chan_spec) {  in sensor_submit_fallback_sync()
169 				rc == 0 ? channels[i].chan_type - 1 : SENSOR_CHAN_MAX,  in sensor_submit_fallback_sync()
173 			header->channels[sample_idx++] = (struct sensor_chan_spec) {  in sensor_submit_fallback_sync()
180 			LOG_DBG("Failed to get channel (type: %d, index %d), skipping",  in sensor_submit_fallback_sync()
185 		/* Get the largest absolute value reading to set the scale for the channel */  in sensor_submit_fallback_sync()
204 		int8_t new_shift = ilog2(header_scale - 1) + 1;  in sensor_submit_fallback_sync()
207 		sample_idx -= num_samples;  in sensor_submit_fallback_sync()
208 		if (header->shift < new_shift) {  in sensor_submit_fallback_sync()
215 				q[q_idx] = q[q_idx] >> (new_shift - header->shift);  in sensor_submit_fallback_sync()
217 			header->shift = new_shift;  in sensor_submit_fallback_sync()
226 			/* Check if the channel is already in the buffer */  in sensor_submit_fallback_sync()
228 				header, header->channels[sample_idx + sample], sample_idx + sample);  in sensor_submit_fallback_sync()
239 			/* Convert the value to micro-units */  in sensor_submit_fallback_sync()
244 				((value_u * ((INT64_C(1) << 31) - 1)) / 1000000) >> header->shift;  in sensor_submit_fallback_sync()
247 				sample, value_u < 0 ? "-" : "",  in sensor_submit_fallback_sync()
250 				q[sample_idx + sample], header->shift);  in sensor_submit_fallback_sync()
254 	LOG_DBG("Total channels in header: %" PRIu32, header->num_channels);  in sensor_submit_fallback_sync()
271 		rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);  in sensor_submit_fallback()
289 	rc = cqe->result;  in sensor_processing_with_callback()
290 	userdata = cqe->userdata;  in sensor_processing_with_callback()
304  * @brief Default decoder get frame count
309  * @param[in]  channel The channel to get the count for
310  * @param[in]  channel_idx The index of the channel
314 static int get_frame_count(const uint8_t *buffer, struct sensor_chan_spec channel,  in get_frame_count()  argument
319 	switch (channel.chan_type) {  in get_frame_count()
321 		channel.chan_type = SENSOR_CHAN_ACCEL_X;  in get_frame_count()
324 		channel.chan_type = SENSOR_CHAN_GYRO_X;  in get_frame_count()
327 		channel.chan_type = SENSOR_CHAN_MAGN_X;  in get_frame_count()
330 		channel.chan_type = SENSOR_CHAN_POS_DX;  in get_frame_count()
335 	for (size_t i = 0; i < header->num_channels; ++i) {  in get_frame_count()
336 		if (sensor_chan_spec_eq(header->channels[i], channel)) {  in get_frame_count()
342 	return -ENOTSUP;  in get_frame_count()
345 int sensor_natively_supported_channel_size_info(struct sensor_chan_spec channel, size_t *base_size,  in sensor_natively_supported_channel_size_info()  argument
351 	if (channel.chan_type >= SENSOR_CHAN_ALL) {  in sensor_natively_supported_channel_size_info()
352 		return -ENOTSUP;  in sensor_natively_supported_channel_size_info()
355 	switch (channel.chan_type) {  in sensor_natively_supported_channel_size_info()
393 	for (size_t i = 0; i < header->num_channels; ++i) {  in get_q31_value()
394 		if (sensor_chan_spec_eq(chan_spec, header->channels[i])) {  in get_q31_value()
399 	return -EINVAL;  in get_q31_value()
408 	data_out->header.base_timestamp_ns = header->timestamp_ns;  in decode_three_axis()
409 	data_out->header.reading_count = 1;  in decode_three_axis()
410 	data_out->shift = header->shift;  in decode_three_axis()
411 	data_out->readings[0].timestamp_delta = 0;  in decode_three_axis()
414 			   &data_out->readings[0].values[0]);  in decode_three_axis()
419 			   &data_out->readings[0].values[1]);  in decode_three_axis()
424 			   &data_out->readings[0].values[2]);  in decode_three_axis()
436 	data_out->header.base_timestamp_ns = header->timestamp_ns;  in decode_q31()
437 	data_out->header.reading_count = 1;  in decode_q31()
438 	data_out->shift = header->shift;  in decode_q31()
439 	data_out->readings[0].timestamp_delta = 0;  in decode_q31()
441 	rc = get_q31_value(header, values, chan_spec, &data_out->readings[0].value);  in decode_q31()
451  * This function will never wrap frames. If 1 channel is available in the current frame and
452  * @p max_count is 2, only 1 channel will be decoded and the frame iterator will be modified
456  * @param[in]     channel The channel to decode
457  * @param[in]     channel_idx The index of the channel
470 	const q31_t *q = (const q31_t *)(buffer + compute_header_size(header->num_channels));  in decode()
471 	int count = 0;  in decode()  local
474 		return -EINVAL;  in decode()
481 	/* Check for 3d channel mappings */  in decode()
487 		count = decode_three_axis(header, q, data_out, SENSOR_CHAN_ACCEL_X,  in decode()
495 		count = decode_three_axis(header, q, data_out, SENSOR_CHAN_GYRO_X,  in decode()
503 		count = decode_three_axis(header, q, data_out, SENSOR_CHAN_MAGN_X,  in decode()
511 		count = decode_three_axis(header, q, data_out, SENSOR_CHAN_POS_DX,  in decode()
516 		count = decode_q31(header, q, data_out, chan_spec);  in decode()
519 	if (count > 0) {  in decode()
522 	return count;  in decode()