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ubiedakartben
ubieda
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kartben
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sensor: rm3100: Basic functionality
This patch introduces rm3100 magnetometer sensor, with basic support (only read-decode). This driver has bus support for I2C. Signed-off-by: Luis Ubieda <luisf@croxel.com>
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‎drivers/sensor/CMakeLists.txt

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@@ -22,6 +22,7 @@ add_subdirectory(nordic)
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add_subdirectory(nuvoton)
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add_subdirectory(nxp)
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add_subdirectory(pixart)
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add_subdirectory(pni)
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add_subdirectory(realtek)
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add_subdirectory(renesas)
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add_subdirectory(rohm)

‎drivers/sensor/Kconfig

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@@ -108,6 +108,7 @@ source "drivers/sensor/nordic/Kconfig"
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source "drivers/sensor/nuvoton/Kconfig"
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source "drivers/sensor/nxp/Kconfig"
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source "drivers/sensor/pixart/Kconfig"
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source "drivers/sensor/pni/Kconfig"
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source "drivers/sensor/realtek/Kconfig"
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source "drivers/sensor/renesas/Kconfig"
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source "drivers/sensor/rohm/Kconfig"

‎drivers/sensor/pni/CMakeLists.txt

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# Copyright (c) 2025 Croxel, Inc.
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# Copyright (c) 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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# zephyr-keep-sorted-start
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add_subdirectory_ifdef(CONFIG_RM3100 rm3100)
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# zephyr-keep-sorted-stop

‎drivers/sensor/pni/Kconfig

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# Copyright (c) 2025 Croxel, Inc.
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# Copyright (c) 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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# zephyr-keep-sorted-start
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source "drivers/sensor/pni/rm3100/Kconfig"
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# zephyr-keep-sorted-stop

‎drivers/sensor/pni/rm3100/CMakeLists.txt

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# Copyright (c) 2025 Croxel, Inc.
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# Copyright (c) 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_sources(
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rm3100.c
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rm3100_decoder.c
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)

‎drivers/sensor/pni/rm3100/Kconfig

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# Copyright (c) 2025 Croxel, Inc.
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# Copyright (c) 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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config RM3100
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bool "RM3100 3-Axis Magnetometer"
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default y
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depends on DT_HAS_PNI_RM3100_ENABLED
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select I2C
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select I2C_RTIO
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select SENSOR_ASYNC_API
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help
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Enable driver for PNI RM3100 high-accuracy 3-axis magnetometer.

‎drivers/sensor/pni/rm3100/rm3100.c

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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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#define DT_DRV_COMPAT pni_rm3100
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/rtio/rtio.h>
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#include <zephyr/rtio/work.h>
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#include <zephyr/sys/check.h>
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#include "rm3100.h"
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#include "rm3100_reg.h"
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#include "rm3100_bus.h"
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#include "rm3100_decoder.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(RM3100, CONFIG_SENSOR_LOG_LEVEL);
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static void rm3100_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 *)sqe->userdata;
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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) {
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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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LOG_DBG("One-shot fetch completed");
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}
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static void rm3100_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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const struct sensor_chan_spec *const channels = cfg->channels;
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const size_t num_channels = cfg->count;
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uint32_t min_buf_len = sizeof(struct rm3100_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 rm3100_encoded_data *edata;
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struct rm3100_data *data = dev->data;
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err = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
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if (err) {
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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 rm3100_encoded_data *)buf;
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err = rm3100_encode(dev, channels, num_channels, 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 *write_sqe = rtio_sqe_acquire(data->rtio.ctx);
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struct rtio_sqe *read_sqe = rtio_sqe_acquire(data->rtio.ctx);
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struct rtio_sqe *complete_sqe = rtio_sqe_acquire(data->rtio.ctx);
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if (!write_sqe || !read_sqe || !complete_sqe) {
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LOG_ERR("Failed to acquire RTIO SQEs");
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rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
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return;
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}
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uint8_t val = RM3100_REG_MX;
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rtio_sqe_prep_tiny_write(write_sqe,
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data->rtio.iodev,
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RTIO_PRIO_HIGH,
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&val,
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1,
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NULL);
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write_sqe->flags |= RTIO_SQE_TRANSACTION;
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rtio_sqe_prep_read(read_sqe,
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data->rtio.iodev,
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RTIO_PRIO_HIGH,
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edata->payload,
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sizeof(edata->payload),
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NULL);
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read_sqe->iodev_flags |= RTIO_IODEV_I2C_STOP | RTIO_IODEV_I2C_RESTART;
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read_sqe->flags |= RTIO_SQE_CHAINED;
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rtio_sqe_prep_callback_no_cqe(complete_sqe,
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rm3100_complete_result,
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(void *)dev,
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iodev_sqe);
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rtio_submit(data->rtio.ctx, 0);
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}
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static void rm3100_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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rm3100_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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/* This will be implemented later */
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static DEVICE_API(sensor, rm3100_driver_api) = {
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/* API functions will be added here */
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.submit = rm3100_submit,
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.get_decoder = rm3100_get_decoder,
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};
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static int rm3100_init(const struct device *dev)
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{
133+
uint8_t val;
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int err;
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/* Check device ID to make sure we can talk to the sensor */
137+
err = rm3100_bus_read(dev, RM3100_REG_REVID, &val, 1);
138+
if (err < 0) {
139+
LOG_ERR("Failed to read chip ID");
140+
return err;
141+
} else if (val != RM3100_REVID_VALUE) {
142+
LOG_ERR("Invalid chip ID: 0x%02x, expected 0x%02x",
143+
val, RM3100_REVID_VALUE);
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return -ENODEV;
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}
146+
LOG_DBG("RM3100 chip ID confirmed: 0x%02x", val);
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148+
/** Enable Continuous measurement on all axis */
149+
val = RM3100_CMM_ALL_AXIS;
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err = rm3100_bus_write(dev, RM3100_REG_CMM, &val, 1);
152+
if (err < 0) {
153+
LOG_ERR("Failed to set sensor in Continuous Measurement Mode: %d", err);
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return err;
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}
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return 0;
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}
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#define RM3100_DEFINE(inst) \
161+
\
162+
RTIO_DEFINE(rm3100_rtio_ctx_##inst, 8, 8); \
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I2C_DT_IODEV_DEFINE(rm3100_bus_##inst, DT_DRV_INST(inst)); \
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\
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static const struct rm3100_config rm3100_cfg_##inst; \
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\
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static struct rm3100_data rm3100_data_##inst = { \
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.rtio = { \
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.iodev = &rm3100_bus_##inst, \
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.ctx = &rm3100_rtio_ctx_##inst, \
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}, \
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}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(inst, rm3100_init, NULL, \
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&rm3100_data_##inst, \
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&rm3100_cfg_##inst, \
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POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, \
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&rm3100_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(RM3100_DEFINE)

‎drivers/sensor/pni/rm3100/rm3100.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
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_H_
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#define ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_H_
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/rtio/rtio.h>
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#include "rm3100_reg.h"
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/* RM3100 produces 3 bytes (24-bit) of data per axis */
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#define RM3100_BYTES_PER_AXIS 3
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#define RM3100_TOTAL_BYTES (RM3100_BYTES_PER_AXIS * 3)
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struct rm3100_encoded_data {
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struct {
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uint64_t timestamp;
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uint8_t channels : 3;
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} header;
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union {
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uint8_t payload[RM3100_TOTAL_BYTES];
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struct {
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uint32_t x : 24;
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uint32_t y : 24;
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uint32_t z : 24;
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} __attribute__((__packed__)) magn;
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};
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};
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struct rm3100_config {
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uint32_t unused; /* Will be expanded with stremaing-mode to hold int-gpios */
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};
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struct rm3100_data {
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/* RTIO context */
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struct {
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struct rtio_iodev *iodev;
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struct rtio *ctx;
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} rtio;
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};
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#endif /* ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_H_ */

‎drivers/sensor/pni/rm3100/rm3100_bus.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
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_RM3100_BUS_H_
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#define ZEPHYR_DRIVERS_SENSOR_RM3100_BUS_H_
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#include <stdint.h>
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#include <zephyr/rtio/rtio.h>
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#include "rm3100.h"
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#include "rm3100_reg.h"
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static inline int rm3100_bus_read(const struct device *dev,
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uint8_t reg,
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uint8_t *buf,
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uint16_t len)
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{
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struct rm3100_data *data = dev->data;
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struct rtio *ctx = data->rtio.ctx;
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struct rtio_iodev *iodev = data->rtio.iodev;
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struct rtio_sqe *write_sqe = rtio_sqe_acquire(ctx);
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struct rtio_sqe *read_sqe = rtio_sqe_acquire(ctx);
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struct rtio_cqe *cqe;
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int err;
29+
30+
if (!write_sqe || !read_sqe) {
31+
return -ENOMEM;
32+
}
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rtio_sqe_prep_write(write_sqe, iodev, RTIO_PRIO_HIGH, &reg, 1, NULL);
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write_sqe->flags |= RTIO_SQE_TRANSACTION;
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rtio_sqe_prep_read(read_sqe, iodev, RTIO_PRIO_HIGH, buf, len, NULL);
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read_sqe->iodev_flags |= RTIO_IODEV_I2C_STOP | RTIO_IODEV_I2C_RESTART;
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err = rtio_submit(ctx, 2);
40+
if (err) {
41+
return err;
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}
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do {
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cqe = rtio_cqe_consume(ctx);
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if (cqe != NULL) {
47+
err = cqe->result;
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rtio_cqe_release(ctx, cqe);
49+
}
50+
} while (cqe != NULL);
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return err;
53+
}
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static inline int rm3100_bus_write(const struct device *dev,
56+
uint8_t reg,
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const uint8_t *buf,
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uint16_t len)
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{
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struct rm3100_data *data = dev->data;
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struct rtio *ctx = data->rtio.ctx;
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struct rtio_iodev *iodev = data->rtio.iodev;
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struct rtio_sqe *write_reg_sqe = rtio_sqe_acquire(ctx);
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struct rtio_sqe *write_buf_sqe = rtio_sqe_acquire(ctx);
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struct rtio_cqe *cqe;
66+
int err;
67+
68+
if (!write_reg_sqe || !write_buf_sqe) {
69+
return -ENOMEM;
70+
}
71+
72+
rtio_sqe_prep_write(write_reg_sqe, iodev, RTIO_PRIO_HIGH, &reg, 1, NULL);
73+
write_reg_sqe->flags |= RTIO_SQE_TRANSACTION;
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rtio_sqe_prep_write(write_buf_sqe, iodev, RTIO_PRIO_HIGH, buf, len, NULL);
75+
write_buf_sqe->iodev_flags |= RTIO_IODEV_I2C_STOP;
76+
77+
err = rtio_submit(ctx, 2);
78+
if (err) {
79+
return err;
80+
}
81+
82+
do {
83+
cqe = rtio_cqe_consume(ctx);
84+
if (cqe != NULL) {
85+
err = cqe->result;
86+
rtio_cqe_release(ctx, cqe);
87+
}
88+
} while (cqe != NULL);
89+
90+
return err;
91+
}
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#endif /* ZEPHYR_DRIVERS_SENSOR_RM3100_BUS_H_ */

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