[Sensor] Added support for trigger mode

Added trigger support, since currently in Zephyr, triggers can
only be signaledfrom interrupt from x86 side, all the x86 side
code is wrapped with BUILD_MODULE_SENSOR_TRIGGER #ifdef so that
it can be turn off later when Zephyr changes.

The trigger are set to sample in 50Hz, any higher frequency
will cause the ring buffer to start dropping change events.

Signed-off-by: Jimmy Huang <jimmy.huang@intel.com>

Author: jimmy-huang

arc/src/main.c

@@ -26,18 +26,12 @@
 #define SLEEP_TICKS       1  // 10ms sleep time in cpu ticks
 #define UPDATE_INTERVAL 200  // 2sec interval in between notifications
 
-#ifdef BUILD_MODULE_AIO
 #define ADC_DEVICE_NAME "ADC_0"
 #define ADC_BUFFER_SIZE 2
-#endif
 
-#ifdef BUILD_MODULE_I2C
 #define MAX_I2C_BUS 1
-#endif
 
-#ifdef BUILD_MODULE_GROVE_LCD
 #define MAX_BUFFER_SIZE 256
-#endif
 
 static struct nano_sem arc_sem;
 static struct zjs_ipm_message msg_queue[QUEUE_SIZE];
@@ -63,8 +57,8 @@ static char str[MAX_BUFFER_SIZE];
 
 #ifdef BUILD_MODULE_SENSOR
 static struct device *bmi160 = NULL;
-static bool accel_poll = false;
-static bool gyro_poll = false;
+static bool accel_trigger = false;
+static bool gyro_trigger = false;
 static double accel_last_value[3];
 static double gyro_last_value[3];
 #endif
@@ -428,7 +422,7 @@ static void handle_glcd(struct zjs_ipm_message* msg)
 }
 #endif
 
-#ifdef	BUILD_MODULE_SENSOR
+#ifdef BUILD_MODULE_SENSOR
 #ifdef DEBUG_BUILD
 static inline int sensor_value_snprintf(char *buf, size_t len,
                                         const struct sensor_value *val)
@@ -533,19 +527,14 @@ static void process_accel_data(struct device *dev)
     double dval[3];
 
     if (sensor_channel_get(dev, SENSOR_CHAN_ACCEL_ANY, val) < 0) {
-        ZJS_PRINT("Cannot read accelerometer channels.\n");
+        ZJS_PRINT("failed to read accelerometer channels\n");
         return;
     }
 
     dval[0] = convert_sensor_value(&val[0]);
     dval[1] = convert_sensor_value(&val[1]);
     dval[2] = convert_sensor_value(&val[2]);
 
-    if (dval[0] == 0 && dval[1] == 0 && dval[2] == 0) {
-        // FIXME: BUG? why sometimes it reports 0, 0, 0 on all axes
-        return;
-    }
-
     // set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2)
     double threshold = 0.980665;
     if (ABS(dval[0] - accel_last_value[0]) > threshold ||
@@ -574,7 +563,7 @@ static void process_gyro_data(struct device *dev)
     double dval[3];
 
     if (sensor_channel_get(dev, SENSOR_CHAN_GYRO_ANY, val) < 0) {
-        ZJS_PRINT("Cannot read gyroscope channels.\n");
+        ZJS_PRINT("failed to read gyroscope channels.\n");
         return;
     }
 
@@ -598,20 +587,26 @@ static void process_gyro_data(struct device *dev)
     sensor_value_snprintf(buf_x, sizeof(buf_x), &val[0]);
     sensor_value_snprintf(buf_y, sizeof(buf_y), &val[1]);
     sensor_value_snprintf(buf_z, sizeof(buf_z), &val[2]);
-    ZJS_PRINT("Sending gyro : X=%s, Y=%s, Z=%s\n", buf_x, buf_y, buf_z);
+    ZJS_PRINT("sending gyro : X=%s, Y=%s, Z=%s\n", buf_x, buf_y, buf_z);
 #endif
 }
 
-static void fetch_sensor(struct device *dev) {
+static void trigger_hdlr(struct device *dev,
+                         struct sensor_trigger *trigger)
+{
+    if (trigger->type != SENSOR_TRIG_DELTA &&
+        trigger->type != SENSOR_TRIG_DATA_READY) {
+        return;
+    }
+
     if (sensor_sample_fetch(dev) < 0) {
         ZJS_PRINT("failed to fetch sensor data\n");
         return;
     }
 
-    if (accel_poll) {
+    if (trigger->chan == SENSOR_CHAN_ACCEL_ANY) {
         process_accel_data(dev);
-    }
-    if (gyro_poll) {
+    } else if (trigger->chan == SENSOR_CHAN_GYRO_ANY) {
         process_gyro_data(dev);
     }
 }
@@ -627,12 +622,12 @@ struct sensor_value acc_calib[] = {
     {SENSOR_VALUE_TYPE_INT_PLUS_MICRO, { {9, 806650} } }, /* Z */
 };
 
-static bool auto_calibration(struct device *dev)
+static int auto_calibration(struct device *dev)
 {
     /* calibrate accelerometer */
     if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
                         SENSOR_ATTR_CALIB_TARGET, acc_calib) < 0) {
-        return false;
+        return -1;
     }
 
     /*
@@ -642,18 +637,137 @@ static bool auto_calibration(struct device *dev)
      */
     if (sensor_attr_set(dev, SENSOR_CHAN_GYRO_ANY,
                         SENSOR_ATTR_CALIB_TARGET, NULL) < 0) {
-        return false;
+        return -1;
     }
 
-    return true;
+    return 0;
+}
+
+static int start_accel_trigger(struct device *dev)
+{
+    struct sensor_value attr;
+    struct sensor_trigger trig;
+
+    // set accelerometer range to +/- 16G. Since the sensor API needs SI
+    // units, convert the range to m/s^2.
+    sensor_g_to_ms2(16, &attr);
+
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
+        ZJS_PRINT("failed to set accelerometer range\n");
+        return -1;
+    }
+
+    // set sampling frequency to 50Hz for accelerometer
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 50;
+    attr.val2 = 0;
+
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
+        ZJS_PRINT("failed to set accelerometer sampling frequency\n");
+        return -1;
+    }
+
+    // set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2).
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 0;
+    attr.val2 = 980665;
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
+        ZJS_PRINT("failed set slope threshold\n");
+        return -1;
+    }
+
+    // set slope duration to 2 consecutive samples
+    attr.type = SENSOR_VALUE_TYPE_INT;
+    attr.val1 = 2;
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
+        ZJS_PRINT("failed to set slope duration\n");
+        return -1;
+    }
+
+    // set data ready trigger handler
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+
+    if (sensor_trigger_set(dev, &trig, trigger_hdlr) < 0) {
+        ZJS_PRINT("failed to enable accelerometer trigger\n");
+        return -1;
+    }
+
+    accel_trigger = true;
+    return 0;
+}
+
+static int stop_accel_trigger(struct device *dev)
+{
+    struct sensor_trigger trig;
+
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
+        ZJS_PRINT("failed to disable accelerometer trigger\n");
+        return -1;
+    }
+
+    accel_trigger = false;
+    return 0;
+}
+
+static int start_gyro_trigger(struct device *dev)
+{
+    struct sensor_value attr;
+    struct sensor_trigger trig;
+
+    // set sampling frequency to 50Hz for gyroscope
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 50;
+    attr.val2 = 0;
+
+    if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_ANY,
+                        SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
+        ZJS_PRINT("failed to set sampling frequency for gyroscope.\n");
+        return -1;
+    }
+
+    // set data ready trigger handler
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_GYRO_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, trigger_hdlr) < 0) {
+        ZJS_PRINT("failed to enable gyroscope trigger.\n");
+        return -1;
+    }
+
+    gyro_trigger = true;
+    return 0;
+}
+
+static int stop_gyro_trigger(struct device *dev)
+{
+    struct sensor_trigger trig;
+
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_GYRO_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
+        ZJS_PRINT("failed to disable gyroscope trigger\n");
+        return -1;
+    }
+
+    gyro_trigger = false;
+    return 0;
 }
 
 static void handle_sensor(struct zjs_ipm_message* msg)
 {
     uint32_t error_code = ERROR_IPM_NONE;
 
     if (msg->type != TYPE_SENSOR_INIT && !bmi160) {
-        ZJS_PRINT("Grove LCD device not found.\n");
+        ZJS_PRINT("BMI160 sensor not found.\n");
         ipm_send_error_reply(msg, ERROR_IPM_OPERATION_FAILED);
         return;
     }
@@ -667,30 +781,36 @@ static void handle_sensor(struct zjs_ipm_message* msg)
                 error_code = ERROR_IPM_OPERATION_FAILED;
                 ZJS_PRINT("failed to initialize BMI160 sensor\n");
             } else {
-                if (!auto_calibration(bmi160)) {
+                if (auto_calibration(bmi160) != 0) {
                     ZJS_PRINT("failed to perform auto calibration\n");
                 }
-
-                accel_poll = gyro_poll = false;
                 DBG_PRINT("BMI160 sensor initialized\n");
             }
         }
         break;
     case TYPE_SENSOR_START:
         if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
-            accel_poll = true;
+            if (!accel_trigger && start_accel_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
-            gyro_poll = true;
+            if (!gyro_trigger && start_gyro_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else {
             ZJS_PRINT("invalid sensor channel\n");
             error_code = ERROR_IPM_NOT_SUPPORTED;
         }
         break;
     case TYPE_SENSOR_STOP:
         if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
-            accel_poll = false;
+            if (accel_trigger && stop_accel_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
-            gyro_poll = false;
+            if (gyro_trigger && stop_gyro_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else {
             ZJS_PRINT("invalid sensor channel\n");
             error_code = ERROR_IPM_NOT_SUPPORTED;
@@ -776,11 +896,6 @@ void main(void)
             tick_count = 0;
         }
         tick_count += SLEEP_TICKS;
-#endif
-#ifdef BUILD_MODULE_SENSOR
-        if (accel_poll || gyro_poll) {
-            fetch_sensor(bmi160);
-        }
 #endif
         task_sleep(SLEEP_TICKS);
     }

deps/zephyr

@@ -6,7 +6,9 @@
 console.log("Gyroscope test...");
 
 
-var sensor = new Gyroscope();
+var sensor = new Gyroscope({
+    frequency: 50
+});
 
 sensor.onchange = function(event) {
     console.log("rotation (rad/s): " +

samples/Gyroscope.js

@@ -187,18 +187,29 @@ if [ $? -eq 0 ] && [[ $MODULE != *"BUILD_MODULE_BUFFER"* ]]; then
     >&2 echo Using module: Buffer
     MODULES+=" -DBUILD_MODULE_BUFFER"
 fi
-sensor=$(grep -E Accelerometer\|Gyroscope  $SCRIPT)
+sensor=$(grep -E Accelerometer\|Gyroscope $SCRIPT)
 if [ $? -eq 0 ]; then
     >&2 echo Using module: Sensor
     MODULES+=" -DBUILD_MODULE_SENSOR"
-    echo "CONFIG_SPI=y" >> arc/prj.conf.tmp
+    MODULES+=" -DBUILD_MODULE_SENSOR_TRIGGER"
     echo "CONFIG_SENSOR=y" >> arc/prj.conf.tmp
+    echo "CONFIG_GPIO=y" >> prj.conf.tmp
+    echo "CONFIG_GPIO_QMSI=y" >> prj.conf.tmp
+    echo "CONFIG_GPIO_QMSI_0_PRI=2" >> prj.conf.tmp
+    echo "CONFIG_GPIO_QMSI_1=y" >> prj.conf.tmp
+    echo "CONFIG_GPIO_QMSI_1_NAME=\"GPIO_1\"" >> prj.conf.tmp
+    echo "CONFIG_GPIO_QMSI_1_PRI=2" >> prj.conf.tmp
+    echo "CONFIG_SPI=y" >> arc/prj.conf.tmp
+    echo "CONFIG_SPI_DW_ARC_AUX_REGS=y" >> arc/prj.conf.tmp
+    echo "CONFIG_SPI_DW_INTERRUPT_SEPARATED_LINES=y" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160=y" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160_INIT_PRIORITY=80" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160_NAME=\"bmi160\"" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160_SPI_PORT_NAME=\"SPI_1\"" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160_SLAVE=1" >> arc/prj.conf.tmp
     echo "CONFIG_BMI160_SPI_BUS_FREQ=88" >> arc/prj.conf.tmp
+    echo "CONFIG_BMI160_TRIGGER=y" >> arc/prj.conf.tmp
+    echo "CONFIG_BMI160_TRIGGER_OWN_FIBER=y" >> arc/prj.conf.tmp
 fi
 
 console=$(grep console $SCRIPT)

scripts/analyze.sh

@@ -109,7 +109,6 @@ typedef struct zjs_ipm_message {
         struct sensor_data {
             enum sensor_channel channel;
             uint32_t frequency;
-            double value[3];
             union sensor_reading {
                 // x y z axis for Accelerometer and Gyroscope
                 struct {