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bmp581: Add One-shot Read-Decode support
Decoding one-shot reads through submit API. Signed-off-by: Luis Ubieda <luisf@croxel.com>
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‎drivers/sensor/bosch/bmp581/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -10,3 +10,6 @@ zephyr_library_sources(
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bmp581.c
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bmp581_bus.c
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)
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zephyr_library_sources_ifdef(CONFIG_SENSOR_ASYNC_API
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bmp581_decoder.c
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)

‎drivers/sensor/bosch/bmp581/bmp581.c

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@@ -7,6 +7,7 @@
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#include "bmp581.h"
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#include "bmp581_bus.h"
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#include "bmp581_decoder.h"
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#include <math.h>
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@@ -586,10 +587,106 @@ static int bmp581_init(const struct device *dev)
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return ret;
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}
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#ifdef CONFIG_SENSOR_ASYNC_API
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static void bmp581_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe, void *arg)
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{
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struct rtio_iodev_sqe *iodev_sqe = (struct rtio_iodev_sqe *)arg;
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struct rtio_cqe *cqe;
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int err = 0;
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do {
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cqe = rtio_cqe_consume(ctx);
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if (cqe != NULL) {
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err = cqe->result;
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rtio_cqe_release(ctx, cqe);
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}
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} while (cqe != NULL);
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if (err != 0) {
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rtio_iodev_sqe_err(iodev_sqe, err);
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} else {
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rtio_iodev_sqe_ok(iodev_sqe, 0);
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}
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}
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static void bmp581_submit_one_shot(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
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{
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const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
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uint32_t min_buf_len = sizeof(struct bmp581_encoded_data);
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int err;
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uint8_t *buf;
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uint32_t buf_len;
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struct bmp581_encoded_data *edata;
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const struct bmp581_config *conf = dev->config;
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err = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
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CHECKIF((err < 0) || (buf_len < min_buf_len) || !buf) {
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LOG_ERR("Failed to get a read buffer of size %u bytes", min_buf_len);
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rtio_iodev_sqe_err(iodev_sqe, err);
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return;
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}
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edata = (struct bmp581_encoded_data *)buf;
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err = bmp581_encode(dev, cfg, 0, buf);
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if (err != 0) {
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LOG_ERR("Failed to encode sensor data");
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rtio_iodev_sqe_err(iodev_sqe, err);
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return;
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}
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struct rtio_sqe *read_sqe;
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err = bmp581_prep_reg_read_rtio_async(&conf->bus, BMP5_REG_TEMP_DATA_XLSB,
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edata->payload, sizeof(edata->payload),
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&read_sqe);
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if (err < 0) {
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LOG_ERR("Failed to prepare async read operation");
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rtio_iodev_sqe_err(iodev_sqe, err);
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return;
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}
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read_sqe->flags |= RTIO_SQE_CHAINED;
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struct rtio_sqe *complete_sqe = rtio_sqe_acquire(conf->bus.rtio.ctx);
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if (!complete_sqe) {
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LOG_ERR("Failed to acquire completion SQE");
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rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
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rtio_sqe_drop_all(conf->bus.rtio.ctx);
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return;
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}
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rtio_sqe_prep_callback_no_cqe(complete_sqe,
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bmp581_complete_result,
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iodev_sqe,
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(void *)dev);
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rtio_submit(conf->bus.rtio.ctx, 0);
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}
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static void bmp581_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
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{
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const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
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if (!cfg->is_streaming) {
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bmp581_submit_one_shot(dev, iodev_sqe);
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} else {
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LOG_ERR("Streaming not supported");
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rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
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}
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}
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#endif /* #ifdef CONFIG_SENSOR_ASYNC_API */
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589682
static DEVICE_API(sensor, bmp581_driver_api) = {
590683
.sample_fetch = bmp581_sample_fetch,
591684
.channel_get = bmp581_channel_get,
592685
.attr_set = bmp581_attr_set,
686+
#ifdef CONFIG_SENSOR_ASYNC_API
687+
.submit = bmp581_submit,
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.get_decoder = bmp581_get_decoder,
689+
#endif
593690
};
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#define BMP581_INIT(i) \

‎drivers/sensor/bosch/bmp581/bmp581_decoder.c

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,199 @@
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/*
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* Copyright (c) 2025 Croxel, Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/drivers/sensor_clock.h>
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#include <zephyr/sys/util.h>
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#include "bmp581.h"
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#include "bmp581_decoder.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(BMP581_DECODER, CONFIG_SENSOR_LOG_LEVEL);
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static uint8_t bmp581_encode_channel(enum sensor_channel chan)
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{
18+
uint8_t encode_bmask = 0;
19+
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switch (chan) {
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case SENSOR_CHAN_AMBIENT_TEMP:
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encode_bmask |= BIT(0);
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break;
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case SENSOR_CHAN_PRESS:
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encode_bmask |= BIT(1);
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break;
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case SENSOR_CHAN_ALL:
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encode_bmask |= BIT(0) | BIT(1);
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break;
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default:
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break;
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}
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return encode_bmask;
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}
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int bmp581_encode(const struct device *dev,
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const struct sensor_read_config *read_config,
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uint8_t trigger_status,
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uint8_t *buf)
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{
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struct bmp581_encoded_data *edata = (struct bmp581_encoded_data *)buf;
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struct bmp581_data *data = dev->data;
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uint64_t cycles;
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int err;
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edata->header.channels = 0;
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edata->header.press_en = data->osr_odr_press_config.press_en;
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if (trigger_status) {
51+
edata->header.channels |= bmp581_encode_channel(SENSOR_CHAN_ALL);
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} else {
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const struct sensor_chan_spec *const channels = read_config->channels;
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size_t num_channels = read_config->count;
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for (size_t i = 0; i < num_channels; i++) {
57+
edata->header.channels |= bmp581_encode_channel(channels[i].chan_type);
58+
}
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}
60+
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err = sensor_clock_get_cycles(&cycles);
62+
if (err != 0) {
63+
return err;
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}
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edata->header.events = trigger_status ? BIT(0) : 0;
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edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
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return 0;
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}
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static int bmp581_decoder_get_frame_count(const uint8_t *buffer,
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struct sensor_chan_spec chan_spec,
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uint16_t *frame_count)
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{
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const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;
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if (chan_spec.chan_idx != 0) {
79+
return -ENOTSUP;
80+
}
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uint8_t channel_request = bmp581_encode_channel(chan_spec.chan_type);
83+
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/* Filter unknown channels and having no data */
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if ((edata->header.channels & channel_request) != channel_request) {
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return -ENODATA;
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}
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*frame_count = 1;
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return 0;
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}
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static int bmp581_decoder_get_size_info(struct sensor_chan_spec chan_spec,
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size_t *base_size,
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size_t *frame_size)
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{
97+
switch (chan_spec.chan_type) {
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case SENSOR_CHAN_AMBIENT_TEMP:
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case SENSOR_CHAN_PRESS:
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*base_size = sizeof(struct sensor_q31_data);
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*frame_size = sizeof(struct sensor_q31_sample_data);
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return 0;
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default:
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return -ENOTSUP;
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}
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}
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static int bmp581_decoder_decode(const uint8_t *buffer,
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struct sensor_chan_spec chan_spec,
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uint32_t *fit,
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uint16_t max_count,
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void *data_out)
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{
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const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;
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uint8_t channel_request;
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if (*fit != 0) {
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return 0;
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}
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if (max_count == 0 || chan_spec.chan_idx != 0) {
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return -EINVAL;
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}
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channel_request = bmp581_encode_channel(chan_spec.chan_type);
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if ((channel_request & edata->header.channels) != channel_request) {
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return -ENODATA;
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}
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struct sensor_q31_data *out = data_out;
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out->header.base_timestamp_ns = edata->header.timestamp;
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out->header.reading_count = 1;
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switch (chan_spec.chan_type) {
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case SENSOR_CHAN_AMBIENT_TEMP: {
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/* Temperature is in data[2:0], data[2] is integer part */
138+
uint32_t raw_temp = ((uint32_t)edata->payload[2] << 16) |
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((uint16_t)edata->payload[1] << 8) |
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edata->payload[0];
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int32_t raw_temp_signed = sign_extend(raw_temp, 23);
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out->shift = (31 - 16); /* 16 left shifts gives us the value in celsius */
144+
out->readings[0].value = raw_temp_signed;
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break;
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}
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case SENSOR_CHAN_PRESS:
148+
if (!edata->header.press_en) {
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return -ENODATA;
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}
151+
/* Shift by 10 bits because we'll divide by 1000 to make it kPa */
152+
uint64_t raw_press = (((uint32_t)edata->payload[5] << 16) |
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((uint16_t)edata->payload[4] << 8) |
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edata->payload[3]);
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int64_t raw_press_signed = sign_extend_64(raw_press, 23);
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raw_press_signed *= 1024;
159+
raw_press_signed /= 1000;
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/* Original value was in Pa by left-shifting 6 spaces, but
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* we've multiplied by 2^10 to not lose precision when
163+
* converting to kPa. Hence, left-shift 16 spaces.
164+
*/
165+
out->shift = (31 - 6 - 10);
166+
out->readings[0].value = (int32_t)raw_press_signed;
167+
break;
168+
default:
169+
return -EINVAL;
170+
}
171+
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*fit = 1;
173+
return 1;
174+
}
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static bool bmp581_decoder_has_trigger(const uint8_t *buffer, enum sensor_trigger_type trigger)
177+
{
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const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;
179+
180+
if ((trigger == SENSOR_TRIG_DATA_READY) && (edata->header.events != 0)) {
181+
return true;
182+
}
183+
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return false;
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}
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187+
SENSOR_DECODER_API_DT_DEFINE() = {
188+
.get_frame_count = bmp581_decoder_get_frame_count,
189+
.get_size_info = bmp581_decoder_get_size_info,
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.decode = bmp581_decoder_decode,
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.has_trigger = bmp581_decoder_has_trigger,
192+
};
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int bmp581_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder)
195+
{
196+
ARG_UNUSED(dev);
197+
*decoder = &SENSOR_DECODER_NAME();
198+
return 0;
199+
}

‎drivers/sensor/bosch/bmp581/bmp581_decoder.h

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/*
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* Copyright (c) 2025 Croxel, Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
6+
*/
7+
8+
#ifndef ZEPHYR_DRIVERS_SENSOR_BMP581_DECODER_H_
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#define ZEPHYR_DRIVERS_SENSOR_BMP581_DECODER_H_
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11+
#include <stdint.h>
12+
#include <zephyr/drivers/sensor.h>
13+
#include "bmp581.h"
14+
15+
struct bmp581_encoded_data {
16+
struct {
17+
uint8_t channels;
18+
uint8_t events;
19+
uint64_t timestamp;
20+
uint8_t press_en;
21+
} header;
22+
uint8_t payload[6]; /* 3 bytes temp + 3 bytes press */
23+
};
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int bmp581_encode(const struct device *dev,
26+
const struct sensor_read_config *read_config,
27+
uint8_t trigger_status,
28+
uint8_t *buf);
29+
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int bmp581_get_decoder(const struct device *dev,
31+
const struct sensor_decoder_api **decoder);
32+
33+
#endif /* ZEPHYR_DRIVERS_SENSOR_BMP581_DECODER_H_ */

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