Add generic fifo stream sample

drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_decoder.c

@@ -145,42 +145,29 @@ static int lsm6dsv16x_decoder_get_frame_count(const uint8_t *buffer,
 			*frame_count = 1;
 			return 0;
 		default:
+			*frame_count = 0;
 			return -ENOTSUP;
 		}
 
 		return 0;
 	}
 
 #ifdef CONFIG_LSM6DSV16X_STREAM
-	*frame_count = data->fifo_count;
-#endif
-	return 0;
-}
-
-#ifdef CONFIG_LSM6DSV16X_STREAM
-static int lsm6dsv16x_decode_fifo(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
-				  uint32_t *fit, uint16_t max_count, void *data_out)
-{
 	const struct lsm6dsv16x_fifo_data *edata = (const struct lsm6dsv16x_fifo_data *)buffer;
-	const uint8_t *buffer_end, *tmp_buffer;
-	const struct lsm6dsv16x_decoder_header *header = &edata->header;
-	int count = 0;
+	const uint8_t *buffer_end;
 	uint8_t fifo_tag;
-	uint16_t xl_count = 0, gy_count = 0;
 	uint8_t tot_accel_fifo_words = 0, tot_gyro_fifo_words = 0;
 
 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 	uint8_t tot_temp_fifo_words = 0;
-	uint16_t temp_count = 0;
 #endif
 
 	buffer += sizeof(struct lsm6dsv16x_fifo_data);
 	buffer_end = buffer + LSM6DSV16X_FIFO_SIZE(edata->fifo_count);
 
 	/* count total FIFO word for each tag */
-	tmp_buffer = buffer;
-	while (tmp_buffer < buffer_end) {
-		fifo_tag = (tmp_buffer[0] >> 3);
+	while (buffer < buffer_end) {
+		fifo_tag = (buffer[0] >> 3);
 
 		switch (fifo_tag) {
 		case LSM6DSV16X_XL_NC_TAG:
@@ -198,8 +185,58 @@ static int lsm6dsv16x_decode_fifo(const uint8_t *buffer, struct sensor_chan_spec
 			break;
 		}
 
-		tmp_buffer += LSM6DSV16X_FIFO_ITEM_LEN;
+		buffer += LSM6DSV16X_FIFO_ITEM_LEN;
+	}
+
+	switch (chan_spec.chan_type) {
+	case SENSOR_CHAN_ACCEL_X:
+	case SENSOR_CHAN_ACCEL_Y:
+	case SENSOR_CHAN_ACCEL_Z:
+	case SENSOR_CHAN_ACCEL_XYZ:
+		*frame_count = tot_accel_fifo_words;
+		break;
+
+	case SENSOR_CHAN_GYRO_X:
+	case SENSOR_CHAN_GYRO_Y:
+	case SENSOR_CHAN_GYRO_Z:
+	case SENSOR_CHAN_GYRO_XYZ:
+		*frame_count = tot_gyro_fifo_words;
+		break;
+
+#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
+	case SENSOR_CHAN_DIE_TEMP:
+		*frame_count = tot_temp_fifo_words;
+		break;
+#endif
+	default:
+		*frame_count = 0;
+		break;
 	}
+#endif
+	return 0;
+}
+
+#ifdef CONFIG_LSM6DSV16X_STREAM
+static int lsm6dsv16x_decode_fifo(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
+				  uint32_t *fit, uint16_t max_count, void *data_out)
+{
+	const struct lsm6dsv16x_fifo_data *edata = (const struct lsm6dsv16x_fifo_data *)buffer;
+	const uint8_t *buffer_end;
+	const struct lsm6dsv16x_decoder_header *header = &edata->header;
+	int count = 0;
+	uint8_t fifo_tag;
+	uint16_t xl_count = 0, gy_count = 0;
+	uint16_t tot_chan_fifo_words = 0;
+
+#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
+	uint16_t temp_count = 0;
+#endif
+
+	/* count total FIFO word for each tag */
+	lsm6dsv16x_decoder_get_frame_count(buffer, chan_spec, &tot_chan_fifo_words);
+
+	buffer += sizeof(struct lsm6dsv16x_fifo_data);
+	buffer_end = buffer + LSM6DSV16X_FIFO_SIZE(edata->fifo_count);
 
 	/*
 	 * Timestamp in header is set when FIFO threshold is reached, so
@@ -209,16 +246,16 @@ static int lsm6dsv16x_decode_fifo(const uint8_t *buffer, struct sensor_chan_spec
 	if (SENSOR_CHANNEL_IS_ACCEL(chan_spec.chan_type)) {
 		((struct sensor_data_header *)data_out)->base_timestamp_ns =
 			edata->header.timestamp -
-			(tot_accel_fifo_words - 1) * accel_period_ns[edata->accel_batch_odr];
+			(tot_chan_fifo_words - 1) * accel_period_ns[edata->accel_batch_odr];
 	} else if (SENSOR_CHANNEL_IS_GYRO(chan_spec.chan_type)) {
 		((struct sensor_data_header *)data_out)->base_timestamp_ns =
 			edata->header.timestamp -
-			(tot_gyro_fifo_words - 1) * gyro_period_ns[edata->gyro_batch_odr];
+			(tot_chan_fifo_words - 1) * gyro_period_ns[edata->gyro_batch_odr];
 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 	} else if (chan_spec.chan_type == SENSOR_CHAN_DIE_TEMP) {
 		((struct sensor_data_header *)data_out)->base_timestamp_ns =
 			edata->header.timestamp -
-			(tot_temp_fifo_words - 1) * temp_period_ns[edata->temp_batch_odr];
+			(tot_chan_fifo_words - 1) * temp_period_ns[edata->temp_batch_odr];
 #endif
 	}
 

samples/sensor/stream_fifo/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (c) 2024 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(stream_fifo)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

samples/sensor/stream_fifo/README.rst

@@ -0,0 +1,148 @@
+.. zephyr:code-sample:: stream_fifo
+   :name: Generic device FIFO streaming
+   :relevant-api: sensor_interface
+
+   Get accelerometer/gyroscope/temperature FIFO data frames from a sensor using
+   SENSOR_TRIG_FIFO_WATERMARK as a trigger.
+
+Overview
+********
+
+This sample application demonstrates how to stream FIFO data using the `RTIO framework`_.
+
+The streaming is started using the sensor_stream() API and it is self-sustained by the
+SENSOR_TRIG_FIFO_WATERMARK trigger.
+
+Currently the sample gets/prints data for the following sensor channels:
+
+        - SENSOR_CHAN_ACCEL_XYZ
+        - SENSOR_CHAN_GYRO_XYZ
+        - SENSOR_CHAN_DIE_TEMP
+
+Building and Running
+********************
+
+This sample supports up to 10 FIFO streaming devices. Each device needs
+to be aliased as ``streamN`` where ``N`` goes from ``0`` to ``9``. For example:
+
+.. code-block:: devicetree
+
+  / {
+      aliases {
+                   stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
+              };
+      };
+
+Example devicetree overlays and configurations are already available for nucleo_f401re and
+nucleo_h503rb in the boards directory:
+
+- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.overlay`
+
+  DT overlay file for the nucleo_f401re board.
+
+- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.conf`
+
+  Configuration file for the nucleo_f401re board.
+
+- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.overlay`
+
+  DT overlay file for the nucleo_h503rb board.
+
+- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.conf`
+
+  Configuration file for the nucleo_h503rb board.
+
+For example, build and run sample for nucleo_h503rb with:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/sensor/stream_fifo
+   :board: nucleo_h503rb
+   :goals: build flash
+   :compact:
+
+Sample Output
+=============
+
+The following example output is for a lsm6dsv16x IMU device with accelerometer, gyroscope
+and temperature sensors. The FIFO watermark is set to 64. The board used is a nucleo_h503rb
+equipped with a `x-nucleo-iks4a1`_ shield.
+
+.. code-block:: console
+
+       FIFO count - 65
+       XL data for lsm6dsv16x@6b 708054166675ns (0.267959, -0.162689, 9.933659)
+       XL data for lsm6dsv16x@6b 708087500008ns (0.258389, -0.162689, 9.919304)
+       XL data for lsm6dsv16x@6b 708120833341ns (0.253604, -0.167474, 9.909734)
+       XL data for lsm6dsv16x@6b 708154166674ns (0.258389, -0.153119, 9.933659)
+       XL data for lsm6dsv16x@6b 708187500007ns (0.253604, -0.157904, 9.919304)
+       XL data for lsm6dsv16x@6b 708220833340ns (0.258389, -0.162689, 9.943229)
+       XL data for lsm6dsv16x@6b 708254166673ns (0.258389, -0.157904, 9.904949)
+       XL data for lsm6dsv16x@6b 708287500006ns (0.253604, -0.162689, 9.952799)
+       GY data for lsm6dsv16x@6b 708054166675ns (0.000609, 0.000000, 0.004574)
+       GY data for lsm6dsv16x@6b 708087500008ns (-0.000304, 0.000304, 0.003964)
+       GY data for lsm6dsv16x@6b 708120833341ns (-0.000609, 0.000304, 0.004269)
+       GY data for lsm6dsv16x@6b 708154166674ns (0.000304, -0.000304, 0.004879)
+       GY data for lsm6dsv16x@6b 708187500007ns (0.001219, -0.001524, 0.004269)
+       GY data for lsm6dsv16x@6b 708220833340ns (-0.000914, -0.000609, 0.004879)
+       GY data for lsm6dsv16x@6b 708254166673ns (0.000000, -0.000304, 0.004269)
+       GY data for lsm6dsv16x@6b 708287500006ns (0.000609, 0.000000, 0.004574)
+       TP data for lsm6dsv16x@6b 708087500008ns 24.390625 °C
+       TP data for lsm6dsv16x@6b 708154166674ns 24.421875 °C
+       TP data for lsm6dsv16x@6b 708220833340ns 24.414062 °C
+       TP data for lsm6dsv16x@6b 708287500006ns 24.441406 °C
+       XL data for lsm6dsv16x@6b 708320833339ns (0.258389, -0.157904, 9.957584)
+       XL data for lsm6dsv16x@6b 708354166672ns (0.258389, -0.177044, 9.900164)
+       XL data for lsm6dsv16x@6b 708387500005ns (0.019139, 0.277529, 9.426449)
+       XL data for lsm6dsv16x@6b 708420833338ns (-0.052634, -0.244034, 9.866669)
+       XL data for lsm6dsv16x@6b 708454166671ns (0.263174, -0.172259, 9.861884)
+       XL data for lsm6dsv16x@6b 708487500004ns (0.277529, -0.129194, 9.890594)
+       XL data for lsm6dsv16x@6b 708520833337ns (0.301454, -0.138764, 9.928874)
+       XL data for lsm6dsv16x@6b 708554166670ns (0.258389, -0.138764, 9.971939)
+       GY data for lsm6dsv16x@6b 708320833339ns (0.000304, 0.000609, 0.004269)
+       GY data for lsm6dsv16x@6b 708354166672ns (0.001524, -0.003049, 0.004269)
+       GY data for lsm6dsv16x@6b 708387500005ns (-0.015554, -0.025314, 0.004879)
+       GY data for lsm6dsv16x@6b 708420833338ns (0.006404, 0.006099, 0.011894)
+       GY data for lsm6dsv16x@6b 708454166671ns (-0.004879, 0.007014, -0.001829)
+       GY data for lsm6dsv16x@6b 708487500004ns (0.014944, -0.023789, 0.003354)
+       GY data for lsm6dsv16x@6b 708520833337ns (0.008539, -0.017689, 0.006099)
+       GY data for lsm6dsv16x@6b 708554166670ns (0.005489, -0.004574, 0.005184)
+       TP data for lsm6dsv16x@6b 708354166672ns 24.339843 °C
+       TP data for lsm6dsv16x@6b 708420833338ns 24.375000 °C
+       TP data for lsm6dsv16x@6b 708487500004ns 24.421875 °C
+       TP data for lsm6dsv16x@6b 708554166670ns 24.398437 °C
+       XL data for lsm6dsv16x@6b 708587500003ns (0.272744, -0.172259, 9.861884)
+       XL data for lsm6dsv16x@6b 708620833336ns (0.344519, -0.267959, 10.038929)
+       XL data for lsm6dsv16x@6b 708654166669ns (0.339734, -0.081344, 9.967154)
+       XL data for lsm6dsv16x@6b 708687500002ns (0.263174, -0.124409, 9.981509)
+       XL data for lsm6dsv16x@6b 708720833335ns (0.296669, -0.181829, 9.948014)
+       XL data for lsm6dsv16x@6b 708754166668ns (0.272744, -0.114839, 9.948014)
+       XL data for lsm6dsv16x@6b 708787500001ns (0.296669, -0.153119, 9.995864)
+       XL data for lsm6dsv16x@6b 708820833334ns (0.200969, -0.248819, 9.756614)
+       GY data for lsm6dsv16x@6b 708587500003ns (0.004879, -0.007624, 0.005489)
+       GY data for lsm6dsv16x@6b 708620833336ns (-0.006709, -0.001219, 0.012504)
+       GY data for lsm6dsv16x@6b 708654166669ns (-0.001524, -0.004269, 0.006404)
+       GY data for lsm6dsv16x@6b 708687500002ns (0.000304, -0.005184, 0.007319)
+       GY data for lsm6dsv16x@6b 708720833335ns (0.001829, 0.000609, 0.003354)
+       GY data for lsm6dsv16x@6b 708754166668ns (0.005489, -0.001524, 0.004574)
+       GY data for lsm6dsv16x@6b 708787500001ns (0.052459, -0.010979, 0.041174)
+       GY data for lsm6dsv16x@6b 708820833334ns (-0.021044, -0.008234, 0.089059)
+       TP data for lsm6dsv16x@6b 708620833336ns 24.414062 °C
+       TP data for lsm6dsv16x@6b 708687500002ns 24.382812 °C
+       TP data for lsm6dsv16x@6b 708754166668ns 24.429687 °C
+       TP data for lsm6dsv16x@6b 708820833334ns 24.421875 °C
+       XL data for lsm6dsv16x@6b 708854166667ns (0.373229, 0.325379, 9.928874)
+       XL data for lsm6dsv16x@6b 708887500000ns (0.086129, 0.119624, 10.986359)
+       GY data for lsm6dsv16x@6b 708854166667ns (0.015249, 0.003049, 0.039954)
+       GY data for lsm6dsv16x@6b 708887500000ns (0.025924, 0.071674, -0.101869)
+       TP data for lsm6dsv16x@6b 708887500000ns 24.457031 °C
+
+References
+==========
+
+.. target-notes::
+
+.. _RTIO framework:
+   https://docs.zephyrproject.org/latest/services/rtio/index.html
+
+.. _x-nucleo-iks4a1:
+   http://www.st.com/en/ecosystems/x-nucleo-iks4a1.html

samples/sensor/stream_fifo/boards/nucleo_f401re.conf

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_RTIO=y
+CONFIG_LSM6DSV16X_STREAM=y
+CONFIG_LSM6DSV16X_ENABLE_TEMP=y

samples/sensor/stream_fifo/boards/nucleo_f401re.overlay

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2024 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
+
+
+/*
+ * Nucleo F401RE board + shield iks4a1
+ *
+ * This devicetree overlay file will be automatically picked by the Zephyr
+ * build system when building the sample for the nucleo_f401re board.
+ */
+
+/ {
+	aliases {
+		stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
+	};
+};
+
+&arduino_i2c {
+	lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
+		compatible = "st,lsm6dsv16x";
+		reg = <0x6b>;
+		accel-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
+		accel-range = <LSM6DSV16X_DT_FS_16G>;
+		gyro-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
+		gyro-range = <LSM6DSV16X_DT_FS_500DPS>;
+		fifo-watermark = <64>;
+		accel-fifo-batch-rate = <LSM6DSV16X_DT_XL_BATCHED_AT_60Hz>;
+		gyro-fifo-batch-rate = <LSM6DSV16X_DT_GY_BATCHED_AT_60Hz>;
+		temp-fifo-batch-rate = <LSM6DSV16X_DT_TEMP_BATCHED_AT_15Hz>;
+		int2-gpios =  <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
+		drdy-pin = <2>;
+		drdy-pulsed;
+	};
+};

samples/sensor/stream_fifo/boards/nucleo_h503rb.conf

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_I2C_RTIO=y
+CONFIG_LSM6DSV16X_STREAM=y
+CONFIG_LSM6DSV16X_ENABLE_TEMP=y

samples/sensor/stream_fifo/boards/nucleo_h503rb.overlay

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2024 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
+
+
+/*
+ * Nucleo F401RE board + shield iks4a1
+ *
+ * This devicetree overlay file will be automatically picked by the Zephyr
+ * build system when building the sample for the nucleo_f401re board.
+ */
+
+/ {
+	aliases {
+		stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
+	};
+};
+
+&arduino_i2c {
+	lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
+		compatible = "st,lsm6dsv16x";
+		reg = <0x6b>;
+		accel-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
+		accel-range = <LSM6DSV16X_DT_FS_16G>;
+		gyro-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
+		gyro-range = <LSM6DSV16X_DT_FS_500DPS>;
+		fifo-watermark = <64>;
+		accel-fifo-batch-rate = <LSM6DSV16X_DT_XL_BATCHED_AT_60Hz>;
+		gyro-fifo-batch-rate = <LSM6DSV16X_DT_GY_BATCHED_AT_60Hz>;
+		temp-fifo-batch-rate = <LSM6DSV16X_DT_TEMP_BATCHED_AT_15Hz>;
+		int2-gpios =  <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
+		drdy-pin = <2>;
+		drdy-pulsed;
+	};
+};

samples/sensor/stream_fifo/prj.conf

@@ -0,0 +1,7 @@
+# Copyright (c) 2024 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_STDOUT_CONSOLE=y
+CONFIG_SENSOR=y
+CONFIG_SENSOR_ASYNC_API=y
+CONFIG_CBPRINTF_FP_SUPPORT=y

samples/sensor/stream_fifo/sample.yaml

@@ -0,0 +1,12 @@
+sample:
+  name: Stream FIFO sample
+tests:
+  sample.sensor.stream_fifo:
+    harness: console
+    tags: sensors
+    filter: dt_alias_exists("stream0")
+    harness_config:
+      type: one_line
+      regex:
+        - "^\\s*[0-9A-Za-z_,+-.]*@[0-9A-Fa-f]* \\[m\/s\\^2\\]:    \
+           \\(\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*\\)$"