1 /*
2 * Copyright (c) 2024 Intel Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/drivers/sensor.h>
8
9 #define ACCEL_TRIGGERS \
10 { SENSOR_TRIG_DRDY, SENSOR_STREAM_DATA_INCLUDE }, \
11 { SENSOR_TRIG_TAP, SENSOR_STREAM_DATA_NOP }
12 #define ACCEL_ALIAS(id) DT_ALIAS(CONCAT(accel, id))
13 #define ACCEL_IODEV_SYM(id) CONCAT(accel_iodev, id)
14 #define ACCEL_IODEV_PTR(id) &ACCEL_IODEV_SYM(id)
15 #define ACCEL_DEFINE_IODEV(id) \
16 SENSOR_DT_STREAM_IODEV( \
17 ACCEL_IODEV_SYM(id), \
18 ACCEL_ALIAS(id), \
19 ACCEL_TRIGGERS \
20 );
21
22 #define NUM_SENSORS 2
23
24 LISTIFY(NUM_SENSORS, ACCEL_DEFINE_IODEV, (;));
25
26 struct sensor_iodev *iodevs[NUM_SENSORS] = { LISTIFY(NUM_SENSORS, ACCEL_IODEV_PTR, (,)) };
27
28 RTIO_DEFINE_WITH_MEMPOOL(accel_ctx, NUM_SENSORS, NUM_SENSORS, NUM_SENSORS, 16, sizeof(void *));
29
main(void)30 int main(void)
31 {
32 int rc;
33 uint32_t accel_frame_iter = 0;
34 struct sensor_three_axis_data accel_data[2] = {0};
35 struct sensor_decoder_api *decoder;
36 struct rtio_cqe *cqe;
37 uint8_t *buf;
38 uint32_t buf_len;
39 struct rtio_sqe *handles[2];
40
41 /* Start the streams */
42 for (int i = 0; i < NUM_SENSORS; i++) {
43 sensor_stream(iodevs[i], &accel_ctx, NULL, &handles[i]);
44 }
45
46 while (1) {
47 cqe = rtio_cqe_consume_block(&accel_ctx);
48
49 if (cqe->result != 0) {
50 printk("async read failed %d\n", cqe->result);
51 return;
52 }
53
54 rc = rtio_cqe_get_mempool_buffer(&accel_ctx, cqe, &buf, &buf_len);
55
56 if (rc != 0) {
57 printk("get mempool buffer failed %d\n", rc);
58 return;
59 }
60
61 struct device *sensor = ((struct sensor_read_config *)
62 ((struct rtio_iodev *)cqe->userdata)->data)->sensor;
63
64 rtio_cqe_release(&accel_ctx, cqe);
65
66 rc = sensor_get_decoder(sensor, &decoder);
67
68 if (rc != 0) {
69 printk("sensor_get_decoder failed %d\n", rc);
70 return;
71 }
72
73 /* Frame iterator values when data comes from a FIFO */
74 uint32_t accel_fit = 0;
75
76 /* Number of accelerometer data frames */
77 uint32_t frame_count;
78
79 rc = decoder->get_frame_count(buf, {SENSOR_CHAN_ACCEL_XYZ, 0},
80 &frame_count);
81 if (rc != 0) {
82 printk("sensor_get_decoder failed %d\n", rc);
83 return;
84 }
85
86 /* If a tap has occurred lets print it out */
87 if (decoder->has_trigger(buf, SENSOR_TRIG_TAP)) {
88 printk("Tap! Sensor %s\n", dev->name);
89 }
90
91 /* Decode all available accelerometer sample frames */
92 for (int i = 0; i < frame_count; i++) {
93 decoder->decode(buf, {SENSOR_CHAN_ACCEL_XYZ, 0},
94 accel_fit, 1, &accel_data);
95 printk("Accel data for %s " PRIsensor_three_axis_data "\n",
96 dev->name,
97 PRIsensor_three_axis_data_arg(accel_data, 0));
98 }
99
100 rtio_release_buffer(&accel_ctx, buf, buf_len);
101 }
102 }
103
