sensor: rm3100: Add streaming mode

Compatible trigger: DRDY.

Tested with Sensor Shell commands.

Signed-off-by: Luis Ubieda <[email protected]>

Author: ubieda

drivers/sensor/pni/rm3100/CMakeLists.txt

@@ -7,3 +7,6 @@ zephyr_library_sources(
 	rm3100.c
 	rm3100_decoder.c
 )
+zephyr_library_sources_ifdef(CONFIG_RM3100_STREAM
+	rm3100_stream.c
+)

drivers/sensor/pni/rm3100/Kconfig

@@ -11,3 +11,10 @@ config RM3100
 	select SENSOR_ASYNC_API
 	help
 	  Enable driver for PNI RM3100 high-accuracy 3-axis magnetometer.
+
+config RM3100_STREAM
+	bool "RM3100 Streaming Mode"
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_PNI_RM3100),int-gpios)
+	help
+	  Enable streaming mode for the RM3100 sensor.
+	  This mode allows for continuous data output at a specified rate.

drivers/sensor/pni/rm3100/rm3100.c

@@ -20,6 +20,7 @@
 #include "rm3100_reg.h"
 #include "rm3100_bus.h"
 #include "rm3100_decoder.h"
+#include "rm3100_stream.h"
 
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(RM3100, CONFIG_SENSOR_LOG_LEVEL);
@@ -118,6 +119,8 @@ static void rm3100_submit(const struct device *dev, struct rtio_iodev_sqe *iodev
 
 	if (!cfg->is_streaming) {
 		rm3100_submit_one_shot(dev, iodev_sqe);
+	} else if (IS_ENABLED(CONFIG_RM3100_STREAM)) {
+		rm3100_stream_submit(dev, iodev_sqe);
 	} else {
 		LOG_ERR("Streaming not supported");
 		rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
@@ -149,6 +152,14 @@ static int rm3100_init(const struct device *dev)
 	}
 	LOG_DBG("RM3100 chip ID confirmed: 0x%02x", val);
 
+	if (IS_ENABLED(CONFIG_RM3100_STREAM)) {
+		err = rm3100_stream_init(dev);
+		if (err < 0) {
+			LOG_ERR("Failed to set up stream config: %d", err);
+			return err;
+		}
+	}
+
 	uint16_t cycle_count[] = {
 		sys_be16_to_cpu(RM3100_CYCLE_COUNT_DEFAULT),
 		sys_be16_to_cpu(RM3100_CYCLE_COUNT_DEFAULT),
@@ -196,7 +207,9 @@ static int rm3100_init(const struct device *dev)
 	RTIO_DEFINE(rm3100_rtio_ctx_##inst, 8, 8);						   \
 	I2C_DT_IODEV_DEFINE(rm3100_bus_##inst, DT_DRV_INST(inst));				   \
 												   \
-	static const struct rm3100_config rm3100_cfg_##inst;					   \
+	static const struct rm3100_config rm3100_cfg_##inst = {					   \
+		.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, {0}),			   \
+	};											   \
 												   \
 	static struct rm3100_data rm3100_data_##inst = {					   \
 		.rtio = {									   \

drivers/sensor/pni/rm3100/rm3100.h

@@ -9,6 +9,7 @@
 #define ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_H_
 
 #include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/gpio.h>
 #include <zephyr/rtio/rtio.h>
 #include "rm3100_reg.h"
 
@@ -21,6 +22,10 @@ struct rm3100_encoded_data {
 		uint64_t timestamp;
 		uint8_t channels : 3;
 		uint16_t cycle_count;
+		uint8_t status;
+		struct {
+			bool drdy : 1;
+		} events;
 	} header;
 	union {
 		uint8_t payload[RM3100_TOTAL_BYTES];
@@ -33,7 +38,21 @@ struct rm3100_encoded_data {
 };
 
 struct rm3100_config {
-	uint32_t unused; /* Will be expanded with stremaing-mode to hold int-gpios */
+	struct gpio_dt_spec int_gpio;
+};
+
+struct rm3100_stream {
+	struct gpio_callback cb;
+	const struct device *dev;
+	struct rtio_iodev_sqe *iodev_sqe;
+	struct {
+		struct {
+			bool drdy : 1;
+		} enabled;
+		struct {
+			enum sensor_stream_data_opt drdy;
+		} opt;
+	} settings;
 };
 
 struct rm3100_data {
@@ -45,6 +64,9 @@ struct rm3100_data {
 	struct {
 		uint8_t odr;
 	} settings;
+#if defined(CONFIG_RM3100_STREAM)
+	struct rm3100_stream stream;
+#endif /* CONFIG_RM3100_STREAM */
 };
 
 #endif /* ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_H_ */

drivers/sensor/pni/rm3100/rm3100_reg.h

@@ -8,6 +8,9 @@
 #ifndef ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_REG_H_
 #define ZEPHYR_DRIVERS_SENSOR_PNI_RM3100_REG_H_
 
+/* Address value has a read bit */
+#define REG_READ_BIT BIT(7)
+
 /* RM3100 register addresses */
 #define RM3100_REG_CMM         0x01 /* Continuous measurement mode */
 #define RM3100_REG_CCX_MSB     0x04 /* Cycle Count X LSB */

drivers/sensor/pni/rm3100/rm3100_stream.c

@@ -0,0 +1,261 @@
+/*
+ * Copyright (c) 2025 Croxel, Inc.
+ * Copyright (c) 2025 CogniPilot Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/sensor_clock.h>
+#include <zephyr/rtio/rtio.h>
+#include <zephyr/sys/check.h>
+#include "rm3100_stream.h"
+#include "rm3100_decoder.h"
+#include "rm3100.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(RM3100_STREAM, CONFIG_SENSOR_LOG_LEVEL);
+
+static void rm3100_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe, void *arg)
+{
+	const struct device *dev = (const struct device *)arg;
+	struct rm3100_data *data = dev->data;
+	struct rtio_iodev_sqe *iodev_sqe = data->stream.iodev_sqe;
+	struct rtio_cqe *cqe;
+	int err = 0;
+	struct rm3100_encoded_data *edata = sqe->userdata;
+
+	edata->header.events.drdy = ((edata->header.status != 0) &&
+				     data->stream.settings.enabled.drdy);
+	edata->header.channels = 0;
+
+	if (!edata->header.events.drdy) {
+		LOG_ERR("Status register does not have DRDY bit set: 0x%02x",
+			edata->header.status);
+	} else if (data->stream.settings.opt.drdy == SENSOR_STREAM_DATA_INCLUDE) {
+		edata->header.channels |= rm3100_encode_channel(SENSOR_CHAN_MAGN_XYZ);
+	}
+
+	do {
+		cqe = rtio_cqe_consume(ctx);
+		if (cqe != NULL) {
+			err = cqe->result;
+			rtio_cqe_release(ctx, cqe);
+		}
+	} while (cqe != NULL);
+
+	if (err) {
+		rtio_iodev_sqe_err(iodev_sqe, err);
+	} else {
+		rtio_iodev_sqe_ok(iodev_sqe, 0);
+	}
+
+	LOG_DBG("Streaming read-out complete");
+}
+
+static void rm3100_stream_get_data(const struct device *dev)
+{
+	struct rm3100_data *data = dev->data;
+	uint64_t cycles;
+	int err;
+
+	CHECKIF(!data->stream.iodev_sqe) {
+		LOG_WRN("No RTIO submission with an INT GPIO event");
+		return;
+	}
+
+	struct rtio_iodev_sqe *iodev_sqe = data->stream.iodev_sqe;
+	uint8_t *buf;
+	uint32_t buf_len;
+	uint32_t min_buf_len = sizeof(struct rm3100_encoded_data);
+	struct rm3100_encoded_data *edata;
+
+	err = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
+	if (err) {
+		LOG_ERR("Failed to get a read buffer of size %u bytes", min_buf_len);
+
+		data->stream.iodev_sqe = NULL;
+		rtio_iodev_sqe_err(iodev_sqe, err);
+		return;
+	}
+
+	edata = (struct rm3100_encoded_data *)buf;
+
+	err = sensor_clock_get_cycles(&cycles);
+	CHECKIF(err) {
+		LOG_ERR("Failed to get timestamp: %d", err);
+
+		data->stream.iodev_sqe = NULL;
+		rtio_iodev_sqe_err(iodev_sqe, err);
+		return;
+	}
+	edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
+
+	struct rtio_sqe *status_wr_sqe = rtio_sqe_acquire(data->rtio.ctx);
+	struct rtio_sqe *status_rd_sqe = rtio_sqe_acquire(data->rtio.ctx);
+	struct rtio_sqe *write_sqe = rtio_sqe_acquire(data->rtio.ctx);
+	struct rtio_sqe *read_sqe = rtio_sqe_acquire(data->rtio.ctx);
+	struct rtio_sqe *complete_sqe = rtio_sqe_acquire(data->rtio.ctx);
+
+	if (!write_sqe || !read_sqe || !complete_sqe) {
+		LOG_ERR("Failed to acquire RTIO SQEs");
+		rtio_sqe_drop_all(data->rtio.ctx);
+
+		data->stream.iodev_sqe = NULL;
+		rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
+		return;
+	}
+
+	uint8_t val;
+
+	val = RM3100_REG_STATUS;
+
+	rtio_sqe_prep_tiny_write(status_wr_sqe,
+				 data->rtio.iodev,
+				 RTIO_PRIO_HIGH,
+				 &val,
+				 1,
+				NULL);
+	status_wr_sqe->flags |= RTIO_SQE_TRANSACTION;
+
+	rtio_sqe_prep_read(status_rd_sqe,
+			   data->rtio.iodev,
+			   RTIO_PRIO_HIGH,
+			   &edata->header.status,
+			   sizeof(edata->header.status),
+			   NULL);
+	status_rd_sqe->iodev_flags |= RTIO_IODEV_I2C_STOP | RTIO_IODEV_I2C_RESTART;
+	status_rd_sqe->flags |= RTIO_SQE_CHAINED;
+
+	val = RM3100_REG_MX;
+
+	rtio_sqe_prep_tiny_write(write_sqe,
+				 data->rtio.iodev,
+				 RTIO_PRIO_HIGH,
+				 &val,
+				 1,
+				NULL);
+	write_sqe->flags |= RTIO_SQE_TRANSACTION;
+
+	rtio_sqe_prep_read(read_sqe,
+			   data->rtio.iodev,
+			   RTIO_PRIO_HIGH,
+			   edata->payload,
+			   sizeof(edata->payload),
+			   NULL);
+	read_sqe->iodev_flags |= RTIO_IODEV_I2C_STOP | RTIO_IODEV_I2C_RESTART;
+	read_sqe->flags |= RTIO_SQE_CHAINED;
+
+	rtio_sqe_prep_callback_no_cqe(complete_sqe,
+				      rm3100_complete_result,
+				      (void *)dev,
+				      buf);
+
+	rtio_submit(data->rtio.ctx, 0);
+}
+
+static void rm3100_gpio_callback(const struct device *gpio_dev,
+				  struct gpio_callback *cb,
+				  uint32_t pins)
+{
+	struct rm3100_stream *stream = CONTAINER_OF(cb,
+						    struct rm3100_stream,
+						    cb);
+	const struct device *dev = stream->dev;
+	const struct rm3100_config *cfg = dev->config;
+	int err;
+
+	/* Disable interrupts */
+	err = gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
+					      GPIO_INT_MODE_DISABLED);
+	if (err) {
+		LOG_ERR("Failed to disable interrupt");
+		return;
+	}
+
+	rm3100_stream_get_data(dev);
+}
+
+static inline bool settings_changed(const struct rm3100_stream *a,
+				    const struct rm3100_stream *b)
+{
+	return (a->settings.enabled.drdy != b->settings.enabled.drdy) ||
+	       (a->settings.opt.drdy != b->settings.opt.drdy);
+}
+
+void rm3100_stream_submit(const struct device *dev,
+			  struct rtio_iodev_sqe *iodev_sqe)
+{
+	const struct sensor_read_config *read_config = iodev_sqe->sqe.iodev->data;
+	struct rm3100_data *data = dev->data;
+	const struct rm3100_config *cfg = dev->config;
+	int err;
+
+	if ((read_config->count != 1) ||
+	    (read_config->triggers[0].trigger != SENSOR_TRIG_DATA_READY)) {
+		LOG_ERR("Only SENSOR_TRIG_DATA_READY is supported");
+		rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
+		return;
+	}
+
+	/* Store context for next submission (handled within callbacks) */
+	data->stream.iodev_sqe = iodev_sqe;
+
+	data->stream.settings.enabled.drdy = true;
+	data->stream.settings.opt.drdy = read_config->triggers[0].opt;
+
+	err = gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
+						GPIO_INT_LEVEL_ACTIVE);
+	if (err) {
+		LOG_ERR("Failed to enable interrupts");
+
+		data->stream.iodev_sqe = NULL;
+		rtio_iodev_sqe_err(iodev_sqe, err);
+		return;
+	}
+}
+
+int rm3100_stream_init(const struct device *dev)
+{
+	const struct rm3100_config *cfg = dev->config;
+	struct rm3100_data *data = dev->data;
+	int err;
+
+	/** Needed to get back the device handle from the callback context */
+	data->stream.dev = dev;
+
+	if (!cfg->int_gpio.port) {
+		LOG_ERR("Interrupt GPIO not supplied");
+		return -ENODEV;
+	}
+
+	if (!gpio_is_ready_dt(&cfg->int_gpio)) {
+		LOG_ERR("Interrupt GPIO not ready");
+		return -ENODEV;
+	}
+
+	err = gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT);
+	if (err) {
+		LOG_ERR("Failed to configure interrupt GPIO");
+		return -EIO;
+	}
+
+	gpio_init_callback(&data->stream.cb,
+			   rm3100_gpio_callback,
+			   BIT(cfg->int_gpio.pin));
+
+	err = gpio_add_callback(cfg->int_gpio.port, &data->stream.cb);
+	if (err) {
+		LOG_ERR("Failed to add interrupt callback");
+		return -EIO;
+	}
+
+	err = gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
+					      GPIO_INT_MODE_DISABLED);
+	if (err) {
+		LOG_ERR("Failed to configure interrupt as disabled");
+		return -EIO;
+	}
+
+	return 0;
+}