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drivers: sensors: 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]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,54 +1,85 @@ | ||
| /* | ||
| * Copyright (c) 2023 Google LLC | ||
| * Copyright (c) 2024 Croxel Inc. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| */ | ||
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| #include <zephyr/logging/log.h> | ||
| #include <zephyr/rtio/work.h> | ||
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| #include "akm09918c.h" | ||
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| LOG_MODULE_DECLARE(AKM09918C, CONFIG_SENSOR_LOG_LEVEL); | ||
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| void akm09918c_submit_sync(struct rtio_iodev_sqe *iodev_sqe) | ||
| void akm09918_async_fetch(struct k_work *work) | ||
| { | ||
| const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data; | ||
| 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 min_buf_len = sizeof(struct akm09918c_encoded_data); | ||
| int rc; | ||
| uint8_t *buf; | ||
| uint32_t req_buf_len = sizeof(struct akm09918c_encoded_data); | ||
| uint32_t buf_len; | ||
| uint8_t *buf; | ||
| struct akm09918c_encoded_data *edata; | ||
| int rc; | ||
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| /* 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); | ||
| 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", min_buf_len); | ||
| rtio_iodev_sqe_err(iodev_sqe, rc); | ||
| LOG_ERR("Failed to get a read buffer of size %u bytes", req_buf_len); | ||
| rtio_iodev_sqe_err(ctx->iodev_sqe, rc); | ||
| return; | ||
| } | ||
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| edata = (struct akm09918c_encoded_data *)buf; | ||
| edata->header.timestamp = k_ticks_to_ns_floor64(k_uptime_ticks()); | ||
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| rc = akm09918c_sample_fetch_helper(dev, SENSOR_CHAN_MAGN_XYZ, &edata->readings[0], | ||
| &edata->readings[1], &edata->readings[2]); | ||
| rc = akm09918c_fetch_measurement(dev, &edata->readings[0], &edata->readings[1], | ||
| &edata->readings[2]); | ||
| if (rc != 0) { | ||
| LOG_ERR("Failed to fetch samples"); | ||
| rtio_iodev_sqe_err(iodev_sqe, rc); | ||
| rtio_iodev_sqe_err(ctx->iodev_sqe, rc); | ||
| return; | ||
| } | ||
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| rtio_iodev_sqe_ok(iodev_sqe, 0); | ||
| rtio_iodev_sqe_ok(ctx->iodev_sqe, 0); | ||
| } | ||
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| void akm09918c_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe) | ||
| { | ||
| struct rtio_work_req *req = rtio_work_req_alloc(); | ||
| int rc; | ||
| struct akm09918c_data *data = dev->data; | ||
| const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data; | ||
| const struct sensor_chan_spec *const channels = cfg->channels; | ||
| const size_t num_channels = cfg->count; | ||
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| /* 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; | ||
| } | ||
| } | ||
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| /* start the measurement in the sensor */ | ||
| rc = akm09918c_start_measurement(dev, SENSOR_CHAN_MAGN_XYZ); | ||
| if (rc != 0) { | ||
| LOG_ERR("Failed to fetch samples."); | ||
| rtio_iodev_sqe_err(iodev_sqe, rc); | ||
| return; | ||
| } | ||
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| __ASSERT_NO_MSG(req); | ||
| /* 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; | ||
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| rtio_work_req_submit(req, iodev_sqe, akm09918c_submit_sync); | ||
| 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; | ||
| } |