Rework sensing subsystem

Signed-off-by: Yuval Peress <[email protected]>

dts/bindings/sensing/zephyr,sensing-pipe.yaml

@@ -0,0 +1,43 @@
+# Copyright (c) 2023 Google LLC
+# SPDX-License-Identifier: Apache-2.0
+
+description: Passthrough sensor type which enables the sensing subsystem to communicate with physical devices
+
+compatible: "zephyr,sensing-pipe"
+
+include: [sensor-device.yaml, base.yaml]
+
+properties:
+  dev:
+    type: phandle
+    required: true
+    description: Physical device which provides the data
+
+  sensor-types:
+    type: array
+    required: true
+    description: |
+      One or more sensor data types that are provided by this device. For
+      example, a 'dev' pointing to a bmi160 may report accel/gyro/die_temp or
+      any subset of those types.
+
+  rotation-matrix:
+    type: array
+    description: |
+      3x3 matrix to rotation x, y, and z axes.
+      In order to make application logic agnostic to how the device was placed
+      on the board, it's possible to enter the rotation matrix which will be
+      applied to every sample produced by this sensor. The final orientation
+      will be:
+      * X-axis is horizontal and positive toward the right
+      * Y-axis is vertical and positive toward the top
+      * Z-axis is depth and positive toward the user
+      
+      If not provided, the rotation matrix will be the identity matrix.
+      Otherwise, the following will be used:
+      
+      +-        -+   +-        -+   +- -+
+      | v1 v2 v3 |   | sensor_X | = | X |
+      | v4 v5 v6 | * | sensor_Y | = | Y |
+      | v7 v8 v9 |   | sensor_Z | = | Z |
+      +-        -+   +-        -+   +- -+

include/zephyr/drivers/sensor.h

@@ -1210,7 +1210,7 @@ struct sensor_info {
 	}
 
 #define SENSOR_INFO_DEFINE(name, ...)					\
-	static const STRUCT_SECTION_ITERABLE(sensor_info, name) =	\
+	const STRUCT_SECTION_ITERABLE(sensor_info, name) =	        \
 		SENSOR_INFO_INITIALIZER(__VA_ARGS__)
 
 #define SENSOR_INFO_DT_NAME(node_id)					\
@@ -1221,7 +1221,14 @@ struct sensor_info {
 			   DEVICE_DT_GET(node_id),			\
 			   DT_NODE_VENDOR_OR(node_id, NULL),		\
 			   DT_NODE_MODEL_OR(node_id, NULL),		\
-			   DT_PROP_OR(node_id, friendly_name, NULL))	\
+			   DT_PROP_OR(node_id, friendly_name, NULL))
+
+#if defined(CONFIG_HAS_DTS) || defined(__DOXYGEN__)
+#define Z_MAYBE_SENSOR_INFO_DECLARE_INTERNAL(node_id)                                              \
+	extern const struct sensor_info SENSOR_INFO_DT_NAME(node_id);
+
+DT_FOREACH_STATUS_OKAY_NODE(Z_MAYBE_SENSOR_INFO_DECLARE_INTERNAL);
+#endif /* CONFIG_HAS_DTS || __DOXYGEN__ */
 
 #else
 

include/zephyr/sensing/sensing.h

@@ -17,9 +17,10 @@
  * @ingroup sensing
  */
 
-#include <zephyr/sensing/sensing_datatypes.h>
-#include <zephyr/sensing/sensing_sensor_types.h>
 #include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/sensing/datatypes.h>
+#include <zephyr/sensing/sensor_types.h>
 
 /**
  * @brief Sensing Subsystem API
@@ -82,17 +83,6 @@ enum sensing_sensor_state {
 	SENSING_SENSOR_STATE_OFFLINE = 1,
 };
 
-/**
- * @brief Sensing subsystem sensor config attribute
- *
- */
-enum sensing_sensor_attribute {
-	SENSING_SENSOR_ATTRIBUTE_INTERVAL = 0,
-	SENSING_SENSOR_ATTRIBUTE_SENSITIVITY = 1,
-	SENSING_SENSOR_ATTRIBUTE_LATENCY = 2,
-	SENSING_SENSOR_ATTRIBUTE_MAX,
-};
-
 
 /**
  * @brief Define Sensing subsystem sensor handle
@@ -118,23 +108,10 @@ typedef void (*sensing_data_event_t)(
  *
  */
 struct sensing_sensor_info {
-	/** Name of the sensor instance */
-	const char *name;
-
-	/** Friendly name of the sensor instance */
-	const char *friendly_name;
-
-	/** Vendor name of the sensor instance */
-	const char *vendor;
-
-	/** Model name of the sensor instance */
-	const char *model;
+	const struct sensor_info * info;
 
 	/** Sensor type */
-	const int32_t type;
-
-	/** Minimal report interval in micro seconds */
-	const uint32_t minimal_interval;
+	int32_t type;
 };
 
 /**
@@ -145,20 +122,6 @@ struct sensing_sensor_info {
 struct sensing_callback_list {
 	sensing_data_event_t on_data_event;
 };
-/**
- * @struct sensing_sensor_config
- * @brief Sensing subsystem sensor configure, including interval, sensitivity, latency
- *
- */
-struct sensing_sensor_config {
-	enum sensing_sensor_attribute attri;
-	int8_t data_field;
-	union {
-		uint32_t interval;
-		uint32_t sensitivity;
-		uint64_t latency;
-	};
-};
 
 
  /**
@@ -227,36 +190,6 @@ int sensing_open_sensor_by_dt(
 int sensing_close_sensor(
 		sensing_sensor_handle_t *handle);
 
-/**
- * @brief Set current config items to Sensing subsystem.
- *
- * @param handle The sensor instance handle.
- *
- * @param configs The configs to be set according to config attribute.
- *
- * @param count count of configs.
- *
- * @return 0 on success or negative error value on failure, not support etc.
- */
-int sensing_set_config(
-		sensing_sensor_handle_t handle,
-		struct sensing_sensor_config *configs, int count);
-
-/**
- * @brief Get current config items from Sensing subsystem.
- *
- * @param handle The sensor instance handle.
- *
- * @param configs The configs to be get according to config attribute.
- *
- * @param count count of configs.
- *
- * @return 0 on success or negative error value on failure, not support etc.
- */
-int sensing_get_config(
-		sensing_sensor_handle_t handle,
-		struct sensing_sensor_config *configs, int count);
-
 /**
  * @brief Get sensor information from sensor instance handle.
  *