1 /*
2 * Copyright (c) 2023 Google LLC
3 * Copyright (c) 2024 Croxel Inc.
4 * Copyright (c) 2024 Florian Weber <Florian.Weber@live.de>
5 *
6 * SPDX-License-Identifier: Apache-2.0
7 */
8
9 #include <zephyr/logging/log.h>
10 #include <zephyr/rtio/work.h>
11
12 #include "akm09918c.h"
13
14 LOG_MODULE_DECLARE(AKM09918C, CONFIG_SENSOR_LOG_LEVEL);
15
akm09918c_submit_sync(struct rtio_iodev_sqe * iodev_sqe)16 void akm09918c_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
17 {
18 const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
19 const struct device *dev = cfg->sensor;
20 struct akm09918c_data *data = dev->data;
21 const struct sensor_chan_spec *const channels = cfg->channels;
22 const size_t num_channels = cfg->count;
23 int rc;
24
25 /* Check if the requested channels are supported */
26 for (size_t i = 0; i < num_channels; i++) {
27 switch (channels[i].chan_type) {
28 case SENSOR_CHAN_MAGN_X:
29 case SENSOR_CHAN_MAGN_Y:
30 case SENSOR_CHAN_MAGN_Z:
31 case SENSOR_CHAN_MAGN_XYZ:
32 case SENSOR_CHAN_ALL:
33 break;
34 default:
35 LOG_ERR("Unsupported channel type %d", channels[i].chan_type);
36 rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
37 return;
38 }
39 }
40
41 /* start the measurement in the sensor */
42 rc = akm09918c_start_measurement(dev, SENSOR_CHAN_MAGN_XYZ);
43 if (rc != 0) {
44 LOG_ERR("Failed to fetch samples.");
45 rtio_iodev_sqe_err(iodev_sqe, rc);
46 return;
47 }
48
49 /* save information for the work item */
50 data->work_ctx.timestamp = k_ticks_to_ns_floor64(k_uptime_ticks());
51 data->work_ctx.iodev_sqe = iodev_sqe;
52
53 rc = k_work_schedule(&data->work_ctx.async_fetch_work, K_USEC(AKM09918C_MEASURE_TIME_US));
54 if (rc == 0) {
55 LOG_ERR("The last fetch has not finished yet. "
56 "Try again later when the last sensor read operation has finished.");
57 rtio_iodev_sqe_err(iodev_sqe, -EBUSY);
58 }
59 return;
60 }
61
akm09918c_submit(const struct device * dev,struct rtio_iodev_sqe * iodev_sqe)62 void akm09918c_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
63 {
64 struct rtio_work_req *req = rtio_work_req_alloc();
65
66 if (req == NULL) {
67 LOG_ERR("RTIO work item allocation failed. Consider to increase "
68 "CONFIG_RTIO_WORKQ_POOL_ITEMS.");
69 rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
70 return;
71 }
72
73 rtio_work_req_submit(req, iodev_sqe, akm09918c_submit_sync);
74 }
75
akm09918_async_fetch(struct k_work * work)76 void akm09918_async_fetch(struct k_work *work)
77 {
78 struct k_work_delayable *dwork = k_work_delayable_from_work(work);
79 struct akm09918c_async_fetch_ctx *ctx =
80 CONTAINER_OF(dwork, struct akm09918c_async_fetch_ctx, async_fetch_work);
81 const struct sensor_read_config *cfg = ctx->iodev_sqe->sqe.iodev->data;
82 const struct device *dev = cfg->sensor;
83 uint32_t req_buf_len = sizeof(struct akm09918c_encoded_data);
84 uint32_t buf_len;
85 uint8_t *buf;
86 struct akm09918c_encoded_data *edata;
87 int rc;
88
89 /* Get the buffer for the frame, it may be allocated dynamically by the rtio context */
90 rc = rtio_sqe_rx_buf(ctx->iodev_sqe, req_buf_len, req_buf_len, &buf, &buf_len);
91 if (rc != 0) {
92 LOG_ERR("Failed to get a read buffer of size %u bytes", req_buf_len);
93 rtio_iodev_sqe_err(ctx->iodev_sqe, rc);
94 return;
95 }
96 edata = (struct akm09918c_encoded_data *)buf;
97 rc = akm09918c_fetch_measurement(dev, &edata->readings[0], &edata->readings[1],
98 &edata->readings[2]);
99 if (rc != 0) {
100 rtio_iodev_sqe_err(ctx->iodev_sqe, rc);
101 return;
102 }
103 rtio_iodev_sqe_ok(ctx->iodev_sqe, 0);
104 }
105
