80ed7afab2
Implement the RTIO/Sensors V2/Async API for the AKM09918C. Add a decoder API implementation as well. Signed-off-by: Tristan Honscheid <honscheid@google.com>
96 lines
2.5 KiB
C
96 lines
2.5 KiB
C
/*
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* Copyright (c) 2023 Google LLC
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "akm09918c.h"
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static int akm09918c_decoder_get_frame_count(const uint8_t *buffer, enum sensor_channel channel,
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size_t channel_idx, uint16_t *frame_count)
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{
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ARG_UNUSED(buffer);
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ARG_UNUSED(channel);
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ARG_UNUSED(channel_idx);
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/* This sensor lacks a FIFO; there will always only be one frame at a time. */
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*frame_count = 1;
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return 0;
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}
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static int akm09918c_decoder_get_size_info(enum sensor_channel channel, size_t *base_size,
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size_t *frame_size)
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{
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switch (channel) {
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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case SENSOR_CHAN_MAGN_XYZ:
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*base_size = sizeof(struct sensor_three_axis_data);
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*frame_size = sizeof(struct sensor_three_axis_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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/** Fixed shift value to use. All channels (MAGN_X, _Y, and _Z) have the same fixed range of
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* +/- 49.12 Gauss.
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*/
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#define AKM09918C_SHIFT (6)
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static int akm09918c_convert_raw_to_q31(int16_t reading, q31_t *out)
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{
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int64_t intermediate = ((int64_t)reading * AKM09918C_MICRO_GAUSS_PER_BIT) *
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((int64_t)INT32_MAX + 1) /
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((1 << AKM09918C_SHIFT) * INT64_C(1000000));
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*out = CLAMP(intermediate, INT32_MIN, INT32_MAX);
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return 0;
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}
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static int akm09918c_decoder_decode(const uint8_t *buffer, enum sensor_channel channel,
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size_t channel_idx, uint32_t *fit,
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uint16_t max_count, void *data_out)
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{
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const struct akm09918c_encoded_data *edata = (const struct akm09918c_encoded_data *)buffer;
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if (*fit != 0) {
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return 0;
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}
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switch (channel) {
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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case SENSOR_CHAN_MAGN_XYZ: {
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struct sensor_three_axis_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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out->shift = AKM09918C_SHIFT;
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akm09918c_convert_raw_to_q31(edata->readings[0], &out->readings[0].x);
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akm09918c_convert_raw_to_q31(edata->readings[1], &out->readings[0].y);
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akm09918c_convert_raw_to_q31(edata->readings[2], &out->readings[0].z);
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*fit = 1;
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return 1;
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}
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default:
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return -EINVAL;
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}
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}
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SENSOR_DECODER_API_DT_DEFINE() = {
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.get_frame_count = akm09918c_decoder_get_frame_count,
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.get_size_info = akm09918c_decoder_get_size_info,
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.decode = akm09918c_decoder_decode,
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};
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int akm09918c_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder)
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{
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ARG_UNUSED(dev);
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*decoder = &SENSOR_DECODER_NAME();
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return 0;
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}
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