sensor.h File Reference

Public APIs for the sensor driver. More...

#include <errno.h>
#include <stdlib.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor_data_types.h>
#include <zephyr/dsp/types.h>
#include <zephyr/rtio/rtio.h>
#include <zephyr/sys/iterable_sections.h>
#include <zephyr/types.h>
#include <zephyr/syscalls/sensor.h>

Go to the source code of this file.

Data Structures
struct	sensor_value
	Representation of a sensor readout value. More...
struct	sensor_trigger
	Sensor trigger spec. More...
struct	sensor_chan_spec
	Sensor Channel Specification. More...
struct	sensor_decoder_api
	Decodes a single raw data buffer. More...
struct	sensor_decode_context
	Used for iterating over the data frames via the sensor_decoder_api. More...
struct	sensor_stream_trigger
struct	sensor_read_config
struct	sensor_driver_api
struct	sensor_data_generic_header

Macros
#define	SENSOR_DECODE_CONTEXT_INIT(decoder_, buffer_, channel_type_, channel_index_)
	Initialize a sensor_decode_context.
#define	SENSOR_STREAM_TRIGGER_PREP(_trigger, _opt)
#define	SENSOR_DT_READ_IODEV(name, dt_node, ...)
	Define a reading instance of a sensor.
#define	SENSOR_DT_STREAM_IODEV(name, dt_node, ...)
	Define a stream instance of a sensor.
#define	SENSOR_CHANNEL_3_AXIS(chan)
	checks if a given channel is a 3-axis channel
#define	SENSOR_G   9806650LL
	The value of gravitational constant in micro m/s^2.
#define	SENSOR_PI   3141592LL
	The value of constant PI in micros.
#define	SENSOR_INFO_DEFINE(name, ...)
#define	SENSOR_INFO_DT_DEFINE(node_id)
#define	SENSOR_DEVICE_DT_DEFINE(node_id, init_fn, pm_device, data_ptr, cfg_ptr, level, prio, api_ptr, ...)
	Like DEVICE_DT_DEFINE() with sensor specifics.
#define	SENSOR_DEVICE_DT_INST_DEFINE(inst, ...)
	Like SENSOR_DEVICE_DT_DEFINE() for an instance of a DT_DRV_COMPAT compatible.
#define	SENSOR_DECODER_NAME()
	Get the decoder name for the current driver.
#define	SENSOR_DECODER_DT_GET(node_id)
	Statically get the decoder for a given node.
#define	SENSOR_DECODER_API_DT_DEFINE()
	Define a decoder API.

Typedefs
typedef void(*	sensor_trigger_handler_t) (const struct device *dev, const struct sensor_trigger *trigger)
	Callback API upon firing of a trigger.
typedef int(*	sensor_attr_set_t) (const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, const struct sensor_value *val)
	Callback API upon setting a sensor's attributes.
typedef int(*	sensor_attr_get_t) (const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, struct sensor_value *val)
	Callback API upon getting a sensor's attributes.
typedef int(*	sensor_trigger_set_t) (const struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler)
	Callback API for setting a sensor's trigger and handler.
typedef int(*	sensor_sample_fetch_t) (const struct device *dev, enum sensor_channel chan)
	Callback API for fetching data from a sensor.
typedef int(*	sensor_channel_get_t) (const struct device *dev, enum sensor_channel chan, struct sensor_value *val)
	Callback API for getting a reading from a sensor.
typedef int(*	sensor_get_decoder_t) (const struct device *dev, const struct sensor_decoder_api **api)
	Get the decoder associate with the given device.
typedef void(*	sensor_submit_t) (const struct device *sensor, struct rtio_iodev_sqe *sqe)
typedef void(*	sensor_processing_callback_t) (int result, uint8_t *buf, uint32_t buf_len, void *userdata)
	Callback function used with the helper processing function.

Enumerations
enum	sensor_channel {   SENSOR_CHAN_ACCEL_X , SENSOR_CHAN_ACCEL_Y , SENSOR_CHAN_ACCEL_Z , SENSOR_CHAN_ACCEL_XYZ ,   SENSOR_CHAN_GYRO_X , SENSOR_CHAN_GYRO_Y , SENSOR_CHAN_GYRO_Z , SENSOR_CHAN_GYRO_XYZ ,   SENSOR_CHAN_MAGN_X , SENSOR_CHAN_MAGN_Y , SENSOR_CHAN_MAGN_Z , SENSOR_CHAN_MAGN_XYZ ,   SENSOR_CHAN_DIE_TEMP , SENSOR_CHAN_AMBIENT_TEMP , SENSOR_CHAN_PRESS , SENSOR_CHAN_PROX ,   SENSOR_CHAN_HUMIDITY , SENSOR_CHAN_LIGHT , SENSOR_CHAN_IR , SENSOR_CHAN_RED ,   SENSOR_CHAN_GREEN , SENSOR_CHAN_BLUE , SENSOR_CHAN_ALTITUDE , SENSOR_CHAN_PM_1_0 ,   SENSOR_CHAN_PM_2_5 , SENSOR_CHAN_PM_10 , SENSOR_CHAN_DISTANCE , SENSOR_CHAN_CO2 ,   SENSOR_CHAN_O2 , SENSOR_CHAN_VOC , SENSOR_CHAN_GAS_RES , SENSOR_CHAN_VOLTAGE ,   SENSOR_CHAN_VSHUNT , SENSOR_CHAN_CURRENT , SENSOR_CHAN_POWER , SENSOR_CHAN_RESISTANCE ,   SENSOR_CHAN_ROTATION , SENSOR_CHAN_POS_DX , SENSOR_CHAN_POS_DY , SENSOR_CHAN_POS_DZ ,   SENSOR_CHAN_POS_DXYZ , SENSOR_CHAN_RPM , SENSOR_CHAN_GAUGE_VOLTAGE , SENSOR_CHAN_GAUGE_AVG_CURRENT ,   SENSOR_CHAN_GAUGE_STDBY_CURRENT , SENSOR_CHAN_GAUGE_MAX_LOAD_CURRENT , SENSOR_CHAN_GAUGE_TEMP , SENSOR_CHAN_GAUGE_STATE_OF_CHARGE ,   SENSOR_CHAN_GAUGE_FULL_CHARGE_CAPACITY , SENSOR_CHAN_GAUGE_REMAINING_CHARGE_CAPACITY , SENSOR_CHAN_GAUGE_NOM_AVAIL_CAPACITY , SENSOR_CHAN_GAUGE_FULL_AVAIL_CAPACITY ,   SENSOR_CHAN_GAUGE_AVG_POWER , SENSOR_CHAN_GAUGE_STATE_OF_HEALTH , SENSOR_CHAN_GAUGE_TIME_TO_EMPTY , SENSOR_CHAN_GAUGE_TIME_TO_FULL ,   SENSOR_CHAN_GAUGE_CYCLE_COUNT , SENSOR_CHAN_GAUGE_DESIGN_VOLTAGE , SENSOR_CHAN_GAUGE_DESIRED_VOLTAGE , SENSOR_CHAN_GAUGE_DESIRED_CHARGING_CURRENT ,   SENSOR_CHAN_ALL , SENSOR_CHAN_COMMON_COUNT , SENSOR_CHAN_PRIV_START = SENSOR_CHAN_COMMON_COUNT , SENSOR_CHAN_MAX = INT16_MAX }
	Sensor channels. More...
enum	sensor_trigger_type {   SENSOR_TRIG_TIMER , SENSOR_TRIG_DATA_READY , SENSOR_TRIG_DELTA , SENSOR_TRIG_NEAR_FAR ,   SENSOR_TRIG_THRESHOLD , SENSOR_TRIG_TAP , SENSOR_TRIG_DOUBLE_TAP , SENSOR_TRIG_FREEFALL ,   SENSOR_TRIG_MOTION , SENSOR_TRIG_STATIONARY , SENSOR_TRIG_FIFO_WATERMARK , SENSOR_TRIG_FIFO_FULL ,   SENSOR_TRIG_COMMON_COUNT , SENSOR_TRIG_PRIV_START = SENSOR_TRIG_COMMON_COUNT , SENSOR_TRIG_MAX = INT16_MAX }
	Sensor trigger types. More...
enum	sensor_attribute {   SENSOR_ATTR_SAMPLING_FREQUENCY , SENSOR_ATTR_LOWER_THRESH , SENSOR_ATTR_UPPER_THRESH , SENSOR_ATTR_SLOPE_TH ,   SENSOR_ATTR_SLOPE_DUR , SENSOR_ATTR_HYSTERESIS , SENSOR_ATTR_OVERSAMPLING , SENSOR_ATTR_FULL_SCALE ,   SENSOR_ATTR_OFFSET , SENSOR_ATTR_CALIB_TARGET , SENSOR_ATTR_CONFIGURATION , SENSOR_ATTR_CALIBRATION ,   SENSOR_ATTR_FEATURE_MASK , SENSOR_ATTR_ALERT , SENSOR_ATTR_FF_DUR , SENSOR_ATTR_BATCH_DURATION ,   SENSOR_ATTR_GAIN , SENSOR_ATTR_RESOLUTION , SENSOR_ATTR_COMMON_COUNT , SENSOR_ATTR_PRIV_START = SENSOR_ATTR_COMMON_COUNT ,   SENSOR_ATTR_MAX = INT16_MAX }
	Sensor attribute types. More...
enum	sensor_stream_data_opt { SENSOR_STREAM_DATA_INCLUDE = 0 , SENSOR_STREAM_DATA_NOP = 1 , SENSOR_STREAM_DATA_DROP = 2 }
	Options for what to do with the associated data when a trigger is consumed. More...

Functions
static bool	sensor_chan_spec_eq (struct sensor_chan_spec chan_spec0, struct sensor_chan_spec chan_spec1)
	Check if channel specs are equivalent.
static int	sensor_decode (struct sensor_decode_context *ctx, void *out, uint16_t max_count)
	Decode N frames using a sensor_decode_context.
int	sensor_natively_supported_channel_size_info (struct sensor_chan_spec channel, size_t *base_size, size_t *frame_size)
int	sensor_attr_set (const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, const struct sensor_value *val)
	Set an attribute for a sensor.
int	sensor_attr_get (const struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, struct sensor_value *val)
	Get an attribute for a sensor.
static int	sensor_trigger_set (const struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler)
	Activate a sensor's trigger and set the trigger handler.
int	sensor_sample_fetch (const struct device *dev)
	Fetch a sample from the sensor and store it in an internal driver buffer.
int	sensor_sample_fetch_chan (const struct device *dev, enum sensor_channel type)
	Fetch a sample from the sensor and store it in an internal driver buffer.
int	sensor_channel_get (const struct device *dev, enum sensor_channel chan, struct sensor_value *val)
	Get a reading from a sensor device.
int	sensor_get_decoder (const struct device *dev, const struct sensor_decoder_api **decoder)
	Get the sensor's decoder API.
int	sensor_reconfigure_read_iodev (struct rtio_iodev *iodev, const struct device *sensor, const struct sensor_chan_spec *channels, size_t num_channels)
	Reconfigure a reading iodev.
static int	sensor_stream (struct rtio_iodev *iodev, struct rtio *ctx, void *userdata, struct rtio_sqe **handle)
static int	sensor_read (struct rtio_iodev *iodev, struct rtio *ctx, uint8_t *buf, size_t buf_len)
	Blocking one shot read of samples from a sensor into a buffer.
static int	sensor_read_async_mempool (struct rtio_iodev *iodev, struct rtio *ctx, void *userdata)
	One shot non-blocking read with pool allocated buffer.
void	sensor_processing_with_callback (struct rtio *ctx, sensor_processing_callback_t cb)
	Helper function for common processing of sensor data.
static int32_t	sensor_ms2_to_g (const struct sensor_value *ms2)
	Helper function to convert acceleration from m/s^2 to Gs.
static void	sensor_g_to_ms2 (int32_t g, struct sensor_value *ms2)
	Helper function to convert acceleration from Gs to m/s^2.
static int32_t	sensor_ms2_to_ug (const struct sensor_value *ms2)
	Helper function to convert acceleration from m/s^2 to micro Gs.
static void	sensor_ug_to_ms2 (int32_t ug, struct sensor_value *ms2)
	Helper function to convert acceleration from micro Gs to m/s^2.
static int32_t	sensor_rad_to_degrees (const struct sensor_value *rad)
	Helper function for converting radians to degrees.
static void	sensor_degrees_to_rad (int32_t d, struct sensor_value *rad)
	Helper function for converting degrees to radians.
static int32_t	sensor_rad_to_10udegrees (const struct sensor_value *rad)
	Helper function for converting radians to 10 micro degrees.
static void	sensor_10udegrees_to_rad (int32_t d, struct sensor_value *rad)
	Helper function for converting 10 micro degrees to radians.
static double	sensor_value_to_double (const struct sensor_value *val)
	Helper function for converting struct sensor_value to double.
static float	sensor_value_to_float (const struct sensor_value *val)
	Helper function for converting struct sensor_value to float.
static int	sensor_value_from_double (struct sensor_value *val, double inp)
	Helper function for converting double to struct sensor_value.
static int	sensor_value_from_float (struct sensor_value *val, float inp)
	Helper function for converting float to struct sensor_value.
static int64_t	sensor_value_to_milli (const struct sensor_value *val)
	Helper function for converting struct sensor_value to integer milli units.
static int64_t	sensor_value_to_micro (const struct sensor_value *val)
	Helper function for converting struct sensor_value to integer micro units.
static int	sensor_value_from_milli (struct sensor_value *val, int64_t milli)
	Helper function for converting integer milli units to struct sensor_value.
static int	sensor_value_from_micro (struct sensor_value *val, int64_t micro)
	Helper function for converting integer micro units to struct sensor_value.

Detailed Description

Public APIs for the sensor driver.

Macro Definition Documentation

SENSOR_DECODER_API_DT_DEFINE

#define SENSOR_DECODER_API_DT_DEFINE

(

)

Value:

        COND_CODE_1(DT_HAS_COMPAT_STATUS_OKAY(DT_DRV_COMPAT), (), (static))                        \
        const STRUCT_SECTION_ITERABLE(sensor_decoder_api, SENSOR_DECODER_NAME())

Define a decoder API.

This macro should be created once per compatible string of a sensor and will create a statically referenceable decoder API.

SENSOR_DECODER_API_DT_DEFINE() = {
  .get_frame_count = my_driver_get_frame_count,
  .get_timestamp = my_driver_get_timestamp,
  .get_shift = my_driver_get_shift,
  .decode = my_driver_decode,
};

SENSOR_DECODER_DT_GET

#define SENSOR_DECODER_DT_GET

(

node_id

)

Value:

        &UTIL_CAT(DT_STRING_TOKEN_BY_IDX(node_id, compatible, 0), __decoder_api)

Statically get the decoder for a given node.

static const sensor_decoder_api *decoder = SENSOR_DECODER_DT_GET(DT_ALIAS(accel));

SENSOR_DECODER_NAME

#define SENSOR_DECODER_NAME

(

)

Value:

UTIL_CAT(DT_DRV_COMPAT, __decoder_api)

Get the decoder name for the current driver.

This function depends on DT_DRV_COMPAT being defined.