I am trying to use the FIFO from the ADXL362 with in the Thingy:53. As I noticed there is now the Option to use ADXL362_STREAM. I just wanted to use the example from: https://github.com/zephyrproject-rtos/zephyr/tree/main/samples/sensor/accel_polling. I did a bit of changes, because the frequency of the ADXL362 can not be changed over set() in the runtime. Otherwise I thought it should work. I noticed that the FIFO_WATERMARK usage is kind of new implemented. So I just changed the adi,adxl362.yaml so that I can set the fifo-watermark in an overlay file. I do not know if this is even possible, but my build works.
The problem is that:
cqe = rtio_cqe_consume_block(&accel_ctx); is blocking. So it seems that the Watermark and fifo are not working. the question is why?
I work with th nrf SDK v3.0.0 and the Toolchain v3.0.0 and the Thingy:53.
I want to use the FIFO because with just polling by 400 Hz ODR I gut just about 377 samples/second. Or would that be not any different with the FIFO usage?
/*
* Copyright (c) 2022 TOKITA Hiroshi <[email protected]
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdio.h>
#include <stdlib.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/sys/util_macro.h>
#include <zephyr/kernel.h>
#include <zephyr/rtio/rtio.h>
#include <zephyr/drivers/sensor.h>
#define ACCEL_ALIAS(i) DT_ALIAS(_CONCAT(accel, i))
#define ACCELEROMETER_DEVICE(i, _) \
IF_ENABLED(DT_NODE_EXISTS(ACCEL_ALIAS(i)), (DEVICE_DT_GET(ACCEL_ALIAS(i)),))
#define NUM_SENSORS 1
/* support up to 10 accelerometer sensors */
static const struct device *const sensors[] = {LISTIFY(10, ACCELEROMETER_DEVICE, ())};
#ifdef CONFIG_SENSOR_ASYNC_API
#define ACCEL_IODEV_SYM(id) CONCAT(accel_iodev, id)
#define ACCEL_IODEV_PTR(id, _) &ACCEL_IODEV_SYM(id)
#define ACCEL_TRIGGERS \
{SENSOR_TRIG_FIFO_FULL, SENSOR_STREAM_DATA_INCLUDE}, \
{SENSOR_TRIG_FIFO_WATERMARK, SENSOR_STREAM_DATA_DROP}
#define ACCEL_DEFINE_IODEV(id, _) \
SENSOR_DT_STREAM_IODEV( \
ACCEL_IODEV_SYM(id), \
ACCEL_ALIAS(id), \
ACCEL_TRIGGERS);
LISTIFY(NUM_SENSORS, ACCEL_DEFINE_IODEV, (;));
struct rtio_iodev *iodevs[NUM_SENSORS] = { LISTIFY(NUM_SENSORS, ACCEL_IODEV_PTR, (,)) };
RTIO_DEFINE_WITH_MEMPOOL(accel_ctx, NUM_SENSORS, NUM_SENSORS, NUM_SENSORS*20, 256, sizeof(void *));
static int print_accels_stream(const struct device *dev, struct rtio_iodev *iodev)
{
int rc = 0;
struct sensor_three_axis_data accel_data = {0};
const struct sensor_decoder_api *decoder;
struct rtio_cqe *cqe;
uint8_t *buf;
uint32_t buf_len;
struct rtio_sqe *handles[NUM_SENSORS];
/* Start the streams */
for (int i = 0; i < NUM_SENSORS; i++) {
printk("sensor_stream\n");
sensor_stream(iodevs[i], &accel_ctx, NULL, &handles[i]);
}
while (1) {
cqe = rtio_cqe_consume_block(&accel_ctx);
if (cqe->result != 0) {
printk("async read failed %d\n", cqe->result);
return cqe->result;
}
rc = rtio_cqe_get_mempool_buffer(&accel_ctx, cqe, &buf, &buf_len);
if (rc != 0) {
printk("get mempool buffer failed %d\n", rc);
return rc;
}
const struct device *sensor = dev;
rtio_cqe_release(&accel_ctx, cqe);
rc = sensor_get_decoder(sensor, &decoder);
if (rc != 0) {
printk("sensor_get_decoder failed %d\n", rc);
return rc;
}
/* Frame iterator values when data comes from a FIFO */
uint32_t accel_fit = 0;
/* Number of accelerometer data frames */
uint16_t frame_count;
rc = decoder->get_frame_count(buf,
(struct sensor_chan_spec) {SENSOR_CHAN_ACCEL_XYZ, 0}, &frame_count);
if (rc != 0) {
printk("sensor_get_decoder failed %d\n", rc);
return rc;
}
/* If a tap has occurred lets print it out */
if (decoder->has_trigger(buf, SENSOR_TRIG_TAP)) {
printk("Tap! Sensor %s\n", dev->name);
}
/* Decode all available accelerometer sample frames */
for (int i = 0; i < frame_count; i++) {
decoder->decode(buf, (struct sensor_chan_spec) {SENSOR_CHAN_ACCEL_XYZ, 0},
&accel_fit, 1, &accel_data);
printk("Accel data for %s (%" PRIq(6) ", %" PRIq(6)
", %" PRIq(6) ") %lluns\n", dev->name,
PRIq_arg(accel_data.readings[0].x, 6, accel_data.shift),
PRIq_arg(accel_data.readings[0].y, 6, accel_data.shift),
PRIq_arg(accel_data.readings[0].z, 6, accel_data.shift),
(accel_data.header.base_timestamp_ns
+ accel_data.readings[0].timestamp_delta));
}
rtio_release_buffer(&accel_ctx, buf, buf_len);
}
return rc;
}
#else
static const enum sensor_channel channels[] = {
SENSOR_CHAN_ACCEL_X,
SENSOR_CHAN_ACCEL_Y,
SENSOR_CHAN_ACCEL_Z,
};
static int print_accels(const struct device *dev)
{
int ret;
struct sensor_value accel[3];
ret = sensor_sample_fetch(dev);
if (ret < 0) {
printk("%s: sensor_sample_fetch() failed: %d\n", dev->name, ret);
return ret;
}
for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
ret = sensor_channel_get(dev, channels[i], &accel[i]);
if (ret < 0) {
printk("%s: sensor_channel_get(%c) failed: %d\n", dev->name, 'X' + i, ret);
return ret;
}
}
printk("%16s [m/s^2]: (%12.6f, %12.6f, %12.6f)\n", dev->name,
sensor_value_to_double(&accel[0]), sensor_value_to_double(&accel[1]),
sensor_value_to_double(&accel[2]));
return 0;
}
#endif /*CONFIG_SENSOR_ASYNC_API*/
int main(void)
{
int ret;
for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
if (!device_is_ready(sensors[i])) {
printk("sensor: device %s not ready.\n", sensors[i]->name);
return 0;
}
}
#ifndef CONFIG_COVERAGE
while (1) {
#else
for (int i = 0; i < 5; i++) {
#endif
for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
#ifdef CONFIG_SENSOR_ASYNC_API
ret = print_accels_stream(sensors[i], iodevs[i]);
#else
ret = print_accels(sensors[i]);
#endif /*CONFIG_SENSOR_ASYNC_API*/
if (ret < 0) {
return 0;
}
}
k_msleep(1000);
}
return 0;
}
(sorry I had Problems attaching the main() but its all from: https://github.com/zephyrproject-rtos/zephyr/tree/main/samples/sensor/accel_polling.)
