drivers: sensor: akm09918: make submit function more unblocking

The driver now does not wait for the completion of a measurement
in the submit function.
Instead it schedule the fetch and the completion of the
submission queue entry as delayed work to the system work queue.

Signed-off-by: Florian Weber <[email protected]>

drivers/sensor/asahi_kasei/akm09918c/akm09918c.c

@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2023 Google LLC
+ * Copyright (c) 2024 Florian Weber <[email protected]>
  * SPDX-License-Identifier: Apache-2.0
  */
 
@@ -21,21 +22,16 @@
 LOG_MODULE_REGISTER(AKM09918C, CONFIG_SENSOR_LOG_LEVEL);
 
 /**
- * @brief Perform the bus transaction to fetch samples
+ * @brief Perform the bus transaction to start measurement.
  *
  * @param dev Sensor device to operate on
- * @param chan Channel ID to fetch
- * @param x Location to write X channel sample.
- * @param y Location to write Y channel sample.
- * @param z Location to write Z channel sample.
+ * @param chan Channel ID for starting the measurement
  * @return int 0 if successful or error code
  */
-int akm09918c_sample_fetch_helper(const struct device *dev, enum sensor_channel chan, int16_t *x,
-				  int16_t *y, int16_t *z)
+int akm09918c_start_measurement(const struct device *dev, enum sensor_channel chan)
 {
 	struct akm09918c_data *data = dev->data;
 	const struct akm09918c_config *cfg = dev->config;
-	uint8_t buf[9] = {0};
 
 	if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_MAGN_X && chan != SENSOR_CHAN_MAGN_Y &&
 	    chan != SENSOR_CHAN_MAGN_Z && chan != SENSOR_CHAN_MAGN_XYZ) {
@@ -49,11 +45,24 @@ int akm09918c_sample_fetch_helper(const struct device *dev, enum sensor_channel
 			LOG_ERR("Failed to start measurement.");
 			return -EIO;
 		}
-
-		/* Wait for sample */
-		LOG_DBG("Waiting for sample...");
-		k_usleep(AKM09918C_MEASURE_TIME_US);
 	}
+	return 0;
+}
+
+/**
+ * @brief Perform the bus transaction to fetch samples.
+ *
+ * @param dev Sensor device to operate on
+ * @param chan Channel ID to fetch
+ * @param x Location to write X channel sample.
+ * @param y Location to write Y channel sample.
+ * @param z Location to write Z channel sample.
+ * @return int 0 if successful or error code
+ */
+int akm09918c_fetch_measurement(const struct device *dev, int16_t *x, int16_t *y, int16_t *z)
+{
+	const struct akm09918c_config *cfg = dev->config;
+	uint8_t buf[9] = {0};
 
 	/* We have to read through the TMPS register or the data_ready bit won't clear */
 	if (i2c_burst_read_dt(&cfg->i2c, AKM09918C_REG_ST1, buf, ARRAY_SIZE(buf)) != 0) {
@@ -66,9 +75,9 @@ int akm09918c_sample_fetch_helper(const struct device *dev, enum sensor_channel
 		return -EBUSY;
 	}
 
-	*x = sys_le16_to_cpu(buf[1] | (buf[2] << 8));
-	*y = sys_le16_to_cpu(buf[3] | (buf[4] << 8));
-	*z = sys_le16_to_cpu(buf[5] | (buf[6] << 8));
+	*x = buf[1] | (buf[2] << 8);
+	*y = buf[3] | (buf[4] << 8);
+	*z = buf[5] | (buf[6] << 8);
 
 	return 0;
 }
@@ -77,8 +86,16 @@ static int akm09918c_sample_fetch(const struct device *dev, enum sensor_channel
 {
 	struct akm09918c_data *data = dev->data;
 
-	return akm09918c_sample_fetch_helper(dev, chan, &data->x_sample, &data->y_sample,
-					     &data->z_sample);
+	int ret = akm09918c_start_measurement(dev, chan);
+
+	if (ret) {
+		return ret;
+	}
+	/* Wait for sample */
+	LOG_DBG("Waiting for sample...");
+	k_usleep(AKM09918C_MEASURE_TIME_US);
+
+	return akm09918c_fetch_measurement(dev, &data->x_sample, &data->y_sample, &data->z_sample);
 }
 
 static void akm09918c_convert(struct sensor_value *val, int16_t sample)
@@ -213,7 +230,10 @@ static int akm09918c_init(const struct device *dev)
 		return rc;
 	}
 	data->mode = AKM09918C_CNTL2_PWR_DOWN;
-
+#ifdef CONFIG_SENSOR_ASYNC_API
+	/* init work for fetching after measurement has completed */
+	k_work_init_delayable(&data->work_ctx.async_fetch_work, akm09918_async_fetch);
+#endif
 	return 0;
 }
 

drivers/sensor/asahi_kasei/akm09918c/akm09918c.h

@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2023 Google LLC
+ * Copyright (c) 2024 Florian Weber <[email protected]>
  * SPDX-License-Identifier: Apache-2.0
  */
 
@@ -34,6 +35,13 @@ struct akm09918c_data {
 	int16_t y_sample;
 	int16_t z_sample;
 	uint8_t mode;
+#ifdef CONFIG_SENSOR_ASYNC_API
+	struct akm09918c_async_fetch_ctx {
+		struct rtio_iodev_sqe *iodev_sqe;
+		uint64_t timestamp;
+		struct k_work_delayable async_fetch_work;
+	} work_ctx;
+#endif
 };
 
 struct akm09918c_config {
@@ -74,22 +82,23 @@ static inline void akm09918c_reg_to_hz(uint8_t reg, struct sensor_value *val)
 		break;
 	}
 }
+int akm09918c_start_measurement(const struct device *dev, enum sensor_channel chan);
 
+int akm09918c_fetch_measurement(const struct device *dev, int16_t *x, int16_t *y, int16_t *z);
 /*
  * RTIO types
  */
 
 struct akm09918c_decoder_header {
 	uint64_t timestamp;
-} __attribute__((__packed__));
+} __packed;
 
 struct akm09918c_encoded_data {
 	struct akm09918c_decoder_header header;
 	int16_t readings[3];
 };
 
-int akm09918c_sample_fetch_helper(const struct device *dev, enum sensor_channel chan, int16_t *x,
-				  int16_t *y, int16_t *z);
+void akm09918_async_fetch(struct k_work *work);
 
 int akm09918c_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder);
 

drivers/sensor/asahi_kasei/akm09918c/akm09918c_async.c

@@ -1,7 +1,7 @@
 /*
  * Copyright (c) 2023 Google LLC
  * Copyright (c) 2024 Croxel Inc.
- *
+ * Copyright (c) 2024 Florian Weber <[email protected]>
  * SPDX-License-Identifier: Apache-2.0
  */
 
@@ -16,39 +16,86 @@ void akm09918c_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
 {
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
 	const struct device *dev = cfg->sensor;
-	uint32_t min_buf_len = sizeof(struct akm09918c_encoded_data);
+	struct akm09918c_data *data = dev->data;
+	const struct sensor_chan_spec *const channels = cfg->channels;
+	const size_t num_channels = cfg->count;
 	int rc;
-	uint8_t *buf;
-	uint32_t buf_len;
-	struct akm09918c_encoded_data *edata;
 
-	/* Get the buffer for the frame, it may be allocated dynamically by the rtio context */
-	rc = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
-	if (rc != 0) {
-		LOG_ERR("Failed to get a read buffer of size %u bytes", min_buf_len);
-		rtio_iodev_sqe_err(iodev_sqe, rc);
-		return;
+	/* Check if the requested channels are supported */
+	for (size_t i = 0; i < num_channels; i++) {
+		switch (channels[i].chan_type) {
+		case SENSOR_CHAN_MAGN_X:
+		case SENSOR_CHAN_MAGN_Y:
+		case SENSOR_CHAN_MAGN_Z:
+		case SENSOR_CHAN_MAGN_XYZ:
+		case SENSOR_CHAN_ALL:
+			break;
+		default:
+			LOG_ERR("Unsupported channel type %d", channels[i].chan_type);
+			rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
+			return;
+		}
 	}
 
-	edata = (struct akm09918c_encoded_data *)buf;
-	edata->header.timestamp = k_ticks_to_ns_floor64(k_uptime_ticks());
-
-	rc = akm09918c_sample_fetch_helper(dev, SENSOR_CHAN_MAGN_XYZ, &edata->readings[0],
-					   &edata->readings[1], &edata->readings[2]);
+	/* start the measurement in the sensor */
+	rc = akm09918c_start_measurement(dev, SENSOR_CHAN_MAGN_XYZ);
 	if (rc != 0) {
-		LOG_ERR("Failed to fetch samples");
+		LOG_ERR("Failed to fetch samples.");
 		rtio_iodev_sqe_err(iodev_sqe, rc);
 		return;
 	}
 
-	rtio_iodev_sqe_ok(iodev_sqe, 0);
+	/* save information for the work item */
+	data->work_ctx.timestamp = k_ticks_to_ns_floor64(k_uptime_ticks());
+	data->work_ctx.iodev_sqe = iodev_sqe;
+
+	rc = k_work_schedule(&data->work_ctx.async_fetch_work, K_USEC(AKM09918C_MEASURE_TIME_US));
+	if (rc == 0) {
+		LOG_ERR("The last fetch has not finished yet. "
+			"Try again later when the last sensor read operation has finished.");
+		rtio_iodev_sqe_err(iodev_sqe, -EBUSY);
+	}
+	return;
 }
 
 void akm09918c_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
 {
 	struct rtio_work_req *req = rtio_work_req_alloc();
 
-	__ASSERT_NO_MSG(req);
-
-	rtio_work_req_submit(req, iodev_sqe, akm09918c_submit_sync);
+	if(!req){
+		LOG_ERR("RTIO work item allocation failed. Consider to to increase CONFIG_RTIO_WORKQ_POOL_ITEMS.");
+		rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
+	}else{
+		rtio_work_req_submit(req, iodev_sqe, akm09918c_submit_sync);
+	}
 }
+
+void akm09918_async_fetch(struct k_work *work)
+{
+	struct k_work_delayable *dwork = k_work_delayable_from_work(work);
+	struct akm09918c_async_fetch_ctx *ctx =
+		CONTAINER_OF(dwork, struct akm09918c_async_fetch_ctx, async_fetch_work);
+	const struct sensor_read_config *cfg = ctx->iodev_sqe->sqe.iodev->data;
+	const struct device *dev = cfg->sensor;
+	uint32_t req_buf_len = sizeof(struct akm09918c_encoded_data);
+	uint32_t buf_len;
+	uint8_t *buf;
+	struct akm09918c_encoded_data *edata;
+	int rc;
+
+	/* Get the buffer for the frame, it may be allocated dynamically by the rtio context */
+	rc = rtio_sqe_rx_buf(ctx->iodev_sqe, req_buf_len, req_buf_len, &buf, &buf_len);
+	if (rc != 0) {
+		LOG_ERR("Failed to get a read buffer of size %u bytes", req_buf_len);
+		rtio_iodev_sqe_err(ctx->iodev_sqe, rc);
+		return;
+	}
+	edata = (struct akm09918c_encoded_data *)buf;
+	rc = akm09918c_fetch_measurement(dev, &edata->readings[0], &edata->readings[1],
+					 &edata->readings[2]);
+	if (rc != 0) {
+		rtio_iodev_sqe_err(ctx->iodev_sqe, rc);
+		return;
+	}
+	rtio_iodev_sqe_ok(ctx->iodev_sqe, 0);
+}