8 #include <zephyr/drivers/sensor.h>
48 static uint32_t arbitrate_interval(struct sensing_sensor *sensor)  in arbitrate_interval()  argument
55 	for_each_client_conn(sensor, conn) {  in arbitrate_interval()
56 		LOG_INF("arbitrate interval, sensor:%s for each conn:%p, interval:%d(us)",  in arbitrate_interval()
57 			sensor->dev->name, conn, conn->interval);  in arbitrate_interval()
65 	/* min_interval == UINT32_MAX means sensor is not opened by any clients,  in arbitrate_interval()
70 	LOG_DBG("arbitrate interval, sensor:%s, interval:%d(us)",  in arbitrate_interval()
71 			sensor->dev->name, interval);  in arbitrate_interval()
76 static int set_arbitrate_interval(struct sensing_sensor *sensor, uint32_t interval)  in set_arbitrate_interval()  argument
78 	struct sensing_submit_config *config = sensor->iodev->data;  in set_arbitrate_interval()
82 	__ASSERT(sensor && sensor->dev, "set arbitrate interval, sensor or sensor device is NULL");  in set_arbitrate_interval()
84 	LOG_INF("set arbitrate interval:%d, sensor:%s, is_streaming:%d",  in set_arbitrate_interval()
85 			interval, sensor->dev->name, config->is_streaming);  in set_arbitrate_interval()
92 	ret = sensor_attr_set(sensor->dev, config->chan,  in set_arbitrate_interval()
95 		LOG_ERR("%s set attr freq failed:%d", sensor->dev->name, ret);  in set_arbitrate_interval()
99 	if (sensor->interval) {  in set_arbitrate_interval()
101 			rtio_sqe_cancel(sensor->stream_sqe);  in set_arbitrate_interval()
103 			k_timer_stop(&sensor->timer);  in set_arbitrate_interval()
109 			ret = sensor_stream(sensor->iodev, &sensing_rtio_ctx,  in set_arbitrate_interval()
110 					sensor, &sensor->stream_sqe);  in set_arbitrate_interval()
112 			k_timer_start(&sensor->timer, K_USEC(interval),  in set_arbitrate_interval()
117 	sensor->interval = interval;  in set_arbitrate_interval()
122 static int config_interval(struct sensing_sensor *sensor)  in config_interval()  argument
124 	uint32_t interval = arbitrate_interval(sensor);  in config_interval()
126 	LOG_INF("config interval, sensor:%s, interval:%d", sensor->dev->name, interval);  in config_interval()
128 	return set_arbitrate_interval(sensor, interval);  in config_interval()
131 static uint32_t arbitrate_sensitivity(struct sensing_sensor *sensor, int index)  in arbitrate_sensitivity()  argument
137 	for_each_client_conn(sensor, conn) {  in arbitrate_sensitivity()
138 		LOG_DBG("arbitrate sensitivity, sensor:%s for each conn:%p, idx:%d, sens:%d",  in arbitrate_sensitivity()
139 				sensor->dev->name, conn, index,  in arbitrate_sensitivity()
148 	LOG_DBG("arbitrate sensitivity, sensor:%s, min_sensitivity:%d",  in arbitrate_sensitivity()
149 		sensor->dev->name, min_sensitivity);  in arbitrate_sensitivity()
151 	/* min_sensitivity == UINT32_MAX means no client is requesting to open sensor,  in arbitrate_sensitivity()
157 static int set_arbitrate_sensitivity(struct sensing_sensor *sensor, int index, uint32_t sensitivity)  in set_arbitrate_sensitivity()  argument
159 	struct sensing_submit_config *config = (struct sensing_submit_config *)sensor->iodev->data;  in set_arbitrate_sensitivity()
163 	/* update sensor sensitivity */  in set_arbitrate_sensitivity()
164 	sensor->sensitivity[index] = sensitivity;  in set_arbitrate_sensitivity()
166 	for (i = 0; i < sensor->sensitivity_count; i++) {  in set_arbitrate_sensitivity()
167 		threshold.val1 = MIN(sensor->sensitivity[i], threshold.val1);  in set_arbitrate_sensitivity()
170 	return sensor_attr_set(sensor->dev, config->chan,  in set_arbitrate_sensitivity()
174 static int config_sensitivity(struct sensing_sensor *sensor, int index)  in config_sensitivity()  argument
176 	uint32_t sensitivity = arbitrate_sensitivity(sensor, index);  in config_sensitivity()
178 	LOG_INF("config sensitivity, sensor:%s, index:%d, sensitivity:%d",  in config_sensitivity()
179 		sensor->dev->name, index, sensitivity);  in config_sensitivity()
181 	return set_arbitrate_sensitivity(sensor, index, sensitivity);  in config_sensitivity()
184 static int config_sensor(struct sensing_sensor *sensor)  in config_sensor()  argument
189 	ret = config_interval(sensor);  in config_sensor()
191 		LOG_WRN("sensor:%s config interval error", sensor->dev->name);  in config_sensor()
194 	for (i = 0; i < sensor->sensitivity_count; i++) {  in config_sensor()
195 		ret = config_sensitivity(sensor, i);  in config_sensor()
197 			LOG_WRN("sensor:%s config sensitivity index:%d error:%d",  in config_sensor()
198 					sensor->dev->name, i, ret);  in config_sensor()
207 	LOG_INF("sensor later config begin...");  in sensor_later_config()
209 	for_each_sensor_reverse(sensor) {  in sensor_later_config()
210 		if (atomic_test_and_clear_bit(&sensor->flag, SENSOR_LATER_CFG_BIT)) {  in sensor_later_config()
211 			LOG_INF("sensor later config, sensor:%s",  in sensor_later_config()
212 				sensor->dev->name);  in sensor_later_config()
213 			config_sensor(sensor);  in sensor_later_config()
236 static void save_config_and_notify(struct sensing_sensor *sensor)  in save_config_and_notify()  argument
240 	__ASSERT(sensor, "save config and notify, sensing_sensor not be NULL");  in save_config_and_notify()
242 	LOG_INF("save config and notify, sensor:%s", sensor->dev->name);  in save_config_and_notify()
244 	/* remember sensor_later_config bit to sensor */  in save_config_and_notify()
245 	atomic_set_bit(&sensor->flag, SENSOR_LATER_CFG_BIT);  in save_config_and_notify()
253 static int set_sensor_state(struct sensing_sensor *sensor, enum sensing_sensor_state state)  in set_sensor_state()  argument
255 	__ASSERT(sensor, "set sensor state, sensing_sensor is NULL");  in set_sensor_state()
257 	sensor->state = state;  in set_sensor_state()
284 	struct sensing_sensor *sensor = CONTAINER_OF(timer_id,  in sensing_sensor_polling_timer()  local
288 	sensor_read_async_mempool(sensor->iodev, &sensing_rtio_ctx, sensor);  in sensing_sensor_polling_timer()
291 static int init_sensor(struct sensing_sensor *sensor)  in init_sensor()  argument
297 	__ASSERT(sensor && sensor->dev, "init sensor, sensor or sensor device is NULL");  in init_sensor()
299 	k_timer_init(&sensor->timer, sensing_sensor_polling_timer, NULL);  in init_sensor()
300 	sys_slist_init(&sensor->client_list);  in init_sensor()
302 	for (i = 0; i < sensor->reporter_num; i++) {  in init_sensor()
303 		conn = &sensor->conns[i];  in init_sensor()
305 		/* source sensor has been assigned in compile time */  in init_sensor()
306 		init_connection(conn, NULL, sensor);  in init_sensor()
308 		LOG_INF("init sensor, reporter:%s, client:%s, connection:%d(%p)",  in init_sensor()
309 			conn->source->dev->name, sensor->dev->name, i, conn);  in init_sensor()
312 	config = sensor->iodev->data;  in init_sensor()
313 	config->chan = sensing_sensor_type_to_chan(sensor->info->type);  in init_sensor()
326 	for_each_sensor(sensor) {  in sensing_init()
327 		ret = init_sensor(sensor);  in sensing_init()
329 			LOG_ERR("sensor:%s initial error", sensor->dev->name);  in sensing_init()
332 		ret = set_sensor_state(sensor, state);  in sensing_init()
334 			LOG_ERR("set sensor:%s state:%d error", sensor->dev->name, state);  in sensing_init()
336 		LOG_INF("sensing init, sensor:%s, state:%d", sensor->dev->name, sensor->state);  in sensing_init()
347 int open_sensor(struct sensing_sensor *sensor, struct sensing_connection **conn)  in open_sensor()  argument
351 	if (sensor->state != SENSING_SENSOR_STATE_READY) {  in open_sensor()
355 	/* create connection from sensor to application(client = NULL) */  in open_sensor()
361 	init_connection(tmp_conn, sensor, NULL);  in open_sensor()
377 	__ASSERT(!tmp_conn->sink, "sensor derived from device tree cannot be closed");  in close_sensor()
412 	LOG_INF("set interval, sensor:%s, interval:%u(us)", conn->source->dev->name, interval);  in set_interval()
425 	LOG_INF("set interval, sensor:%s, conn:%p, interval:%d",  in set_interval()
438 	LOG_INF("get interval, sensor:%s, interval:%u(us)", conn->source->dev->name, *interval);  in get_interval()
449 	LOG_INF("set sensitivity, sensor:%s, index:%d, sensitivity:%d, count:%d",  in set_sensitivity()
454 		LOG_ERR("sensor:%s sensitivity index:%d invalid", conn->source->dev->name, index);  in set_sensitivity()
478 		LOG_ERR("sensor:%s sensitivity index:%d invalid", conn->source->dev->name, index);  in get_sensitivity()
496 	LOG_INF("get_sensitivity, sensor:%s, index:%d, sensitivity:%d, count:%d",  in get_sensitivity()