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BMP581: Stream: Add FIFO Watermark Support #93166

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Merged
merged 4 commits into from
Jul 25, 2025
+321 −83
Merged

BMP581: Stream: Add FIFO Watermark Support #93166

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b671278
bmp581: fix: Add parenthesis to macro arguments
ubieda Jul 15, 2025
50a18c8
bmp581: Add LOG_ERR if initialization fails
ubieda Jul 23, 2025
191b74f
bmp581: stream: Add FIFO Watermark support
ubieda Jul 15, 2025
db8c79d
bmp581: code-style improvements
ubieda Jul 24, 2025
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29 changes: 22 additions & 7 deletions drivers/sensor/bosch/bmp581/bmp581.c
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ static int power_up_check(const struct device *dev)

if (rslt == BMP5_OK) {
/* Check if nvm_rdy status = 1 and nvm_err status = 0 to proceed */
if ((nvm_status & BMP5_INT_NVM_RDY) && (!(nvm_status & BMP5_INT_NVM_ERR))) {
if ((nvm_status & BMP5_INT_NVM_RDY) != 0 && (nvm_status & BMP5_INT_NVM_ERR) == 0) {
rslt = BMP5_OK;
} else {
rslt = -EFAULT;
Expand Down Expand Up @@ -221,7 +221,7 @@ static int validate_chip_id(struct bmp581_data *drv)
return -EINVAL;
}

if ((drv->chip_id == BMP5_CHIP_ID_PRIM) || (drv->chip_id == BMP5_CHIP_ID_SEC)) {
if (drv->chip_id == BMP5_CHIP_ID_PRIM || drv->chip_id == BMP5_CHIP_ID_SEC) {
rslt = BMP5_OK;
} else {
drv->chip_id = 0;
Expand Down Expand Up @@ -375,7 +375,7 @@ static int soft_reset(const struct device *dev)
k_usleep(BMP5_DELAY_US_SOFT_RESET);
ret = get_interrupt_status(&int_status, dev);
if (ret == BMP5_OK) {
if (int_status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE) {
if ((int_status & BMP5_INT_ASSERTED_POR_SOFTRESET_COMPLETE) != 0) {
ret = BMP5_OK;
} else {
ret = -EFAULT;
Expand Down Expand Up @@ -457,7 +457,7 @@ static int set_iir_config(const struct sensor_value *iir, const struct device *d
struct bmp581_config *conf = (struct bmp581_config *)dev->config;
int ret = BMP5_OK;

CHECKIF((iir == NULL) | (dev == NULL)) {
CHECKIF(iir == NULL || dev == NULL) {
return -EINVAL;
}

Expand Down Expand Up @@ -550,10 +550,15 @@ static int bmp581_init(const struct device *dev)
drv->chip_id = 0;
memset(&drv->last_sample, 0, sizeof(drv->last_sample));

soft_reset(dev);
ret = soft_reset(dev);
if (ret != BMP5_OK) {
LOG_ERR("Failed to perform soft-reset: %d", ret);
return ret;
}

ret = bmp581_reg_read_rtio(&conf->bus, BMP5_REG_CHIP_ID, &drv->chip_id, 1);
if (ret != BMP5_OK) {
LOG_ERR("Failed to read chip ID: %d", ret);
return ret;
}

Expand Down Expand Up @@ -630,7 +635,7 @@ static void bmp581_submit_one_shot(const struct device *dev, struct rtio_iodev_s
const struct bmp581_config *conf = dev->config;

err = rtio_sqe_rx_buf(iodev_sqe, min_buf_len, min_buf_len, &buf, &buf_len);
CHECKIF((err < 0) || (buf_len < min_buf_len) || !buf) {
CHECKIF(err < 0 || buf_len < min_buf_len || !buf) {
LOG_ERR("Failed to get a read buffer of size %u bytes", min_buf_len);
rtio_iodev_sqe_err(iodev_sqe, err);
return;
Expand Down Expand Up @@ -702,7 +707,14 @@ static DEVICE_API(sensor, bmp581_driver_api) = {

#define BMP581_INIT(i) \
\
RTIO_DEFINE(bmp581_rtio_ctx_##i, 8, 8); \
BUILD_ASSERT(COND_CODE_1(DT_INST_NODE_HAS_PROP(i, fifo_watermark), \
(DT_INST_PROP(i, fifo_watermark) > 0 && \
DT_INST_PROP(i, fifo_watermark) < 16), \
(true)), \
"fifo-watermark must be between 1 and 15. Please set it in " \
"the device-tree node properties"); \
\
RTIO_DEFINE(bmp581_rtio_ctx_##i, 16, 16); \
I2C_DT_IODEV_DEFINE(bmp581_bus_##i, DT_DRV_INST(i)); \
\
static struct bmp581_data bmp581_data_##i = { \
Expand All @@ -715,6 +727,9 @@ static DEVICE_API(sensor, bmp581_driver_api) = {
.iir_p = DT_INST_PROP(i, press_iir), \
.power_mode = DT_INST_PROP(i, power_mode), \
}, \
.stream = { \
.fifo_thres = DT_INST_PROP_OR(i, fifo_watermark, 0), \
}, \
}; \
\
static const struct bmp581_config bmp581_config_##i = { \
Expand Down
22 changes: 19 additions & 3 deletions drivers/sensor/bosch/bmp581/bmp581.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,10 @@
#define BMP5_SET_HIGH_BYTE 0xFF00u

/* BIT SLICE GET AND SET FUNCTIONS */
#define BMP5_GET_BITSLICE(regvar, bitname) ((regvar & bitname##_MSK) >> bitname##_POS)
#define BMP5_GET_BITSLICE(regvar, bitname) (((regvar) & (bitname##_MSK)) >> (bitname##_POS))

#define BMP5_SET_BITSLICE(regvar, bitname, val) \
((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
(((regvar) & ~(bitname##_MSK)) | (((val) << (bitname##_POS)) & (bitname##_MSK)))

#define BMP5_GET_LSB(var) (uint8_t)(var & BMP5_SET_LOW_BYTE)
#define BMP5_GET_MSB(var) (uint8_t)((var & BMP5_SET_HIGH_BYTE) >> 8)
Expand Down Expand Up @@ -120,6 +120,11 @@
#define BMP5_FIFO_MAX_THRESHOLD_P_T_MODE 0x0F
#define BMP5_FIFO_MAX_THRESHOLD_P_MODE 0x1F

#define BMP5_FIFO_FRAME_SEL_OFF 0
#define BMP5_FIFO_FRAME_SEL_TEMP 1
#define BMP5_FIFO_FRAME_SEL_PRESS 2
#define BMP5_FIFO_FRAME_SEL_ALL 3

/* Macro is used to bypass both iir_t and iir_p together */
#define BMP5_IIR_BYPASS 0xC0

Expand Down Expand Up @@ -239,9 +244,12 @@
#define BMP5_FIFO_DEC_SEL_MSK 0x1C
#define BMP5_FIFO_DEC_SEL_POS 2

#define BMP5_FIFO_COUNT_MSK 0x3F
/* This driver only supports both Pressure and Temperature FIFO mode. */
#define BMP5_FIFO_COUNT_MSK BMP5_FIFO_MAX_THRESHOLD_P_T_MODE
#define BMP5_FIFO_COUNT_POS 0

#define BMP5_FIFO_FRAME_SEL_MSK 0x03
#define BMP5_FIFO_FRAME_SEL_POS 0

/* Out-of-range configuration */
#define BMP5_OOR_THR_P_LSB_MSK 0x0000FF
Expand Down Expand Up @@ -316,10 +324,18 @@ struct bmp581_sample {
struct sensor_value temperature;
};

/** Aligned with register bitmask to easily match on data-readout */
enum bmp581_event {
BMP581_EVENT_DRDY = BIT(0),
BMP581_EVENT_FIFO_WM = BIT(2),
};

struct bmp581_stream {
const struct device *dev;
struct gpio_callback cb;
struct rtio_iodev_sqe *iodev_sqe;
enum bmp581_event enabled_mask;
uint8_t fifo_thres;
atomic_t state;
};

Expand Down
109 changes: 70 additions & 39 deletions drivers/sensor/bosch/bmp581/bmp581_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ int bmp581_encode(const struct device *dev,

if (trigger_status) {
edata->header.channels |= bmp581_encode_channel(SENSOR_CHAN_ALL);
edata->header.fifo_count = data->stream.fifo_thres;
} else {
const struct sensor_chan_spec *const channels = read_config->channels;
size_t num_channels = read_config->count;
Expand All @@ -63,7 +64,7 @@ int bmp581_encode(const struct device *dev,
return err;
}

edata->header.events = trigger_status ? BIT(0) : 0;
edata->header.events = trigger_status;
edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);

return 0;
Expand All @@ -86,7 +87,11 @@ static int bmp581_decoder_get_frame_count(const uint8_t *buffer,
return -ENODATA;
}

*frame_count = 1;
if (edata->header.events & BMP581_EVENT_FIFO_WM) {
*frame_count = edata->header.fifo_count;
} else {
*frame_count = 1;
}
return 0;
}

Expand All @@ -105,53 +110,37 @@ static int bmp581_decoder_get_size_info(struct sensor_chan_spec chan_spec,
}
}

static int bmp581_decoder_decode(const uint8_t *buffer,
struct sensor_chan_spec chan_spec,
uint32_t *fit,
uint16_t max_count,
void *data_out)
static int bmp581_convert_raw_to_q31_value(const struct bmp581_encoded_header *header,
struct sensor_chan_spec *chan_spec,
const struct bmp581_frame *frame,
uint32_t *fit,
struct sensor_q31_data *out)
{
const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;
uint8_t channel_request;

if (*fit != 0) {
return 0;
}

if (max_count == 0 || chan_spec.chan_idx != 0) {
return -EINVAL;
}

channel_request = bmp581_encode_channel(chan_spec.chan_type);
if ((channel_request & edata->header.channels) != channel_request) {
if (((header->events & BMP581_EVENT_FIFO_WM) != 0 && *fit >= header->fifo_count) ||
((header->events & BMP581_EVENT_FIFO_WM) == 0 && *fit != 0)) {
return -ENODATA;
}

struct sensor_q31_data *out = data_out;

out->header.base_timestamp_ns = edata->header.timestamp;
out->header.reading_count = 1;

switch (chan_spec.chan_type) {
switch (chan_spec->chan_type) {
case SENSOR_CHAN_AMBIENT_TEMP: {
/* Temperature is in data[2:0], data[2] is integer part */
uint32_t raw_temp = ((uint32_t)edata->payload[2] << 16) |
((uint16_t)edata->payload[1] << 8) |
edata->payload[0];
uint32_t raw_temp = ((uint32_t)frame[*fit].payload[2] << 16) |
((uint16_t)frame[*fit].payload[1] << 8) |
frame[*fit].payload[0];
int32_t raw_temp_signed = sign_extend(raw_temp, 23);

out->shift = (31 - 16); /* 16 left shifts gives us the value in celsius */
out->readings[0].value = raw_temp_signed;
out->readings[*fit].value = raw_temp_signed;
break;
}
case SENSOR_CHAN_PRESS:
if (!edata->header.press_en) {
case SENSOR_CHAN_PRESS: {
if (!header->press_en) {
return -ENODATA;
}
/* Shift by 10 bits because we'll divide by 1000 to make it kPa */
uint64_t raw_press = (((uint32_t)edata->payload[5] << 16) |
((uint16_t)edata->payload[4] << 8) |
edata->payload[3]);
uint64_t raw_press = (((uint32_t)frame[*fit].payload[5] << 16) |
((uint16_t)frame[*fit].payload[4] << 8) |
frame[*fit].payload[3]);

int64_t raw_press_signed = sign_extend_64(raw_press, 23);

Expand All @@ -163,21 +152,63 @@ static int bmp581_decoder_decode(const uint8_t *buffer,
* converting to kPa. Hence, left-shift 16 spaces.
*/
out->shift = (31 - 6 - 10);
out->readings[0].value = (int32_t)raw_press_signed;
out->readings[*fit].value = (int32_t)raw_press_signed;
break;
}
default:
return -EINVAL;
}

*fit = 1;
return 1;
*fit = (*fit) + 1;
return 0;
}

static int bmp581_decoder_decode(const uint8_t *buffer,
struct sensor_chan_spec chan_spec,
uint32_t *fit,
uint16_t max_count,
void *data_out)
{
const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;
uint8_t channel_request;

if (max_count == 0 || chan_spec.chan_idx != 0) {
return -EINVAL;
}

channel_request = bmp581_encode_channel(chan_spec.chan_type);
if ((channel_request & edata->header.channels) != channel_request) {
return -ENODATA;
}

struct sensor_q31_data *out = data_out;

out->header.base_timestamp_ns = edata->header.timestamp;

int err;
uint32_t fit_0 = *fit;

do {
err = bmp581_convert_raw_to_q31_value(&edata->header, &chan_spec,
edata->frame, fit, out);
} while (err == 0 && *fit < max_count);

if (*fit == fit_0 || err != 0) {
return err;
}

out->header.reading_count = *fit;
return *fit - fit_0;
}

static bool bmp581_decoder_has_trigger(const uint8_t *buffer, enum sensor_trigger_type trigger)
{
const struct bmp581_encoded_data *edata = (const struct bmp581_encoded_data *)buffer;

if ((trigger == SENSOR_TRIG_DATA_READY) && (edata->header.events != 0)) {
if ((trigger == SENSOR_TRIG_DATA_READY &&
edata->header.events & BMP581_EVENT_DRDY) ||
(trigger == SENSOR_TRIG_FIFO_WATERMARK &&
edata->header.events & BMP581_EVENT_FIFO_WM)) {
return true;
}

Expand Down
42 changes: 38 additions & 4 deletions drivers/sensor/bosch/bmp581/bmp581_decoder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,16 +12,50 @@
#include <zephyr/drivers/sensor.h>
#include "bmp581.h"

struct bmp581_encoded_data {
struct {
struct bmp581_encoded_header {
uint8_t channels;
uint8_t events;
uint64_t timestamp;
uint8_t press_en;
} header;
uint8_t payload[6]; /* 3 bytes temp + 3 bytes press */
uint8_t fifo_count;
};

struct bmp581_frame {
uint8_t payload[6];
};

struct bmp581_encoded_data {
struct bmp581_encoded_header header;
union {
uint8_t payload[6]; /* 3 bytes temp + 3 bytes press */
struct bmp581_frame frame[0]; /* Used for FIFO frames */
};
};

static inline enum bmp581_event bmp581_encode_events_bitmask(
const struct sensor_stream_trigger *const triggers,
size_t count)
{
enum bmp581_event result = 0;

for (size_t i = 0 ; i < count ; i++) {
switch (triggers[i].trigger) {
case SENSOR_TRIG_DATA_READY:
result |= ((triggers[i].opt == SENSOR_STREAM_DATA_INCLUDE) ?
BMP581_EVENT_DRDY : 0);
break;
case SENSOR_TRIG_FIFO_WATERMARK:
result |= ((triggers[i].opt == SENSOR_STREAM_DATA_INCLUDE) ?
BMP581_EVENT_FIFO_WM : 0);
break;
default:
break;
}
}

return result;
}

int bmp581_encode(const struct device *dev,
const struct sensor_read_config *read_config,
uint8_t trigger_status,
Expand Down
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