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samples/sensor: Add sample to read RTIO stream using drdy
Add sample to read from up to 10 streaming devices, using the sensor_stream() API and the RTIO framework: https://docs.zephyrproject.org/latest/services/rtio/index.html The devices has to be aliased as streamN (0 <= N <= 9) in DT, and will be instantiated using SENSOR_DT_STREAM_IODEV() macro. Currently the sample gets/prints data on SENSOR_TRIG_DATA_READY trigger basis for the following sensor channels: - SENSOR_CHAN_ACCEL_XYZ Signed-off-by: Armando Visconti <[email protected]>
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‎samples/sensor/stream_drdy/CMakeLists.txt

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(stream_drdy)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/stream_drdy/README.rst

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.. zephyr:code-sample:: stream_drdy
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:name: Generic device sample streaming using Data Ready trigger
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:relevant-api: sensor_interface
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Get accelerometer data frames from a sensor using SENSOR_TRIG_DATA_READY.
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Overview
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********
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This sample application demonstrates how to stream accel data using the
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:ref:`RTIO framework <rtio>` based :ref:`Read and Decode method <sensor-read-and-decode>`.
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The streaming is started using the sensor_stream() API and it is self-sustained by the
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SENSOR_TRIG_DATA_READY trigger.
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Currently the sample gets/prints data only for the accel sensor channel:
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- SENSOR_CHAN_ACCEL_XYZ
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Building and Running
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********************
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This sample supports up to 10 streaming devices. Each device needs
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to be aliased as ``streamN`` where ``N`` goes from ``0`` to ``9``. For example:
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.. code-block:: devicetree
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/ {
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aliases {
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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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Example devicetree overlays and configurations are already available for sensortile_box_pro,
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nucleo_f401re and nucleo_h503rb in the boards directory:
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- :zephyr_file:`samples/sensor/stream_drdy/boards/sensortile_box_pro.overlay`
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DT overlay file for the sensortile_box_pro board.
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- :zephyr_file:`samples/sensor/stream_drdy/boards/sensortile_box_pro.conf`
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Configuration file for the sensortile_box_pro board.
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- :zephyr_file:`samples/sensor/stream_drdy/boards/nucleo_f401re.overlay`
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DT overlay file for the nucleo_f401re board.
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- :zephyr_file:`samples/sensor/stream_drdy/boards/nucleo_f401re.conf`
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Configuration file for the nucleo_f401re board.
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- :zephyr_file:`samples/sensor/stream_drdy/boards/nucleo_h503rb.overlay`
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DT overlay file for the nucleo_h503rb board.
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- :zephyr_file:`samples/sensor/stream_drdy/boards/nucleo_h503rb.conf`
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Configuration file for the nucleo_h503rb board.
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For example, build and run sample for sensortile_box_pro with:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/stream_drdy
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:board: sensortile_box_pro
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:goals: build flash
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:compact:
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Sample Output
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=============
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The following example output is for a lsm6dsv16x IMU device with accelerometer sensor.
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The board used is a sensortile_box_pro.
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.. code-block:: console
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XL data for lsm6dsv16x@0 7320515312ns (-0.387584, 0.224894, 9.766184)
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XL data for lsm6dsv16x@0 7321538600ns (-0.363659, 0.282314, 9.948014)
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XL data for lsm6dsv16x@0 7322561362ns (-0.301454, 0.172259, 9.775754)
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XL data for lsm6dsv16x@0 7323584881ns (-0.210539, 0.153119, 9.857099)
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XL data for lsm6dsv16x@0 7324608368ns (-0.287099, 0.167474, 9.852314)
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XL data for lsm6dsv16x@0 7325631281ns (-0.306239, 0.181829, 9.847529)
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XL data for lsm6dsv16x@0 7326654425ns (-0.272744, 0.167474, 9.842744)
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XL data for lsm6dsv16x@0 7327677993ns (-0.296669, 0.224894, 9.981509)
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XL data for lsm6dsv16x@0 7328701506ns (-0.282314, 0.210539, 9.828389)
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XL data for lsm6dsv16x@0 7329724306ns (-0.244034, 0.153119, 9.866669)
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XL data for lsm6dsv16x@0 7330747556ns (-0.234464, 0.119624, 9.780539)
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XL data for lsm6dsv16x@0 7331771000ns (-0.239249, 0.148334, 9.933659)
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XL data for lsm6dsv16x@0 7332794575ns (-0.220109, 0.119624, 9.833174)
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XL data for lsm6dsv16x@0 7333817437ns (-0.205754, 0.119624, 9.823604)
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XL data for lsm6dsv16x@0 7334840643ns (-0.205754, 0.148334, 9.866669)
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XL data for lsm6dsv16x@0 7335864162ns (-0.186614, 0.129194, 9.861884)
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XL data for lsm6dsv16x@0 7336887593ns (-0.196184, 0.110054, 9.804464)
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XL data for lsm6dsv16x@0 7337910356ns (-0.181829, 0.133979, 9.938444)
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XL data for lsm6dsv16x@0 7338933650ns (-0.215324, 0.081344, 9.536504)
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XL data for lsm6dsv16x@0 7339957075ns (-0.157904, 0.119624, 9.995864)
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XL data for lsm6dsv16x@0 7340980675ns (-0.205754, 0.110054, 9.809249)
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XL data for lsm6dsv16x@0 7342003487ns (-0.177044, 0.143549, 9.971939)
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XL data for lsm6dsv16x@0 7343026593ns (-0.172259, 0.100484, 9.794894)
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XL data for lsm6dsv16x@0 7344050168ns (-0.177044, 0.124409, 9.881024)
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XL data for lsm6dsv16x@0 7345073643ns (-0.191399, 0.124409, 9.986294)
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XL data for lsm6dsv16x@0 7346096587ns (-0.191399, 0.105269, 9.790109)
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References
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==========
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.. target-notes::
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.. _RTIO framework:
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https://docs.zephyrproject.org/latest/services/rtio/index.html
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.. _x-nucleo-iks4a1:
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http://www.st.com/en/ecosystems/x-nucleo-iks4a1.html

‎samples/sensor/stream_drdy/boards/nucleo_f401re.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_I2C_RTIO=y
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CONFIG_LSM6DSV16X_STREAM=y
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CONFIG_LSM6DSV16X_ENABLE_TEMP=y

‎samples/sensor/stream_drdy/boards/nucleo_f401re.overlay

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/*
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* Copyright (c) 2024 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
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/*
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* Nucleo F401RE board + shield iks4a1
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*
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* This devicetree overlay file will be automatically picked by the Zephyr
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* build system when building the sample for the nucleo_f401re board.
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*/
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/ {
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aliases {
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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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&arduino_i2c {
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lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
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compatible = "st,lsm6dsv16x";
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reg = <0x6b>;
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accel-odr = <LSM6DSV16X_DT_ODR_AT_120Hz>;
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accel-range = <LSM6DSV16X_DT_FS_16G>;
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int2-gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
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drdy-pin = <2>;
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drdy-pulsed;
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};
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};

‎samples/sensor/stream_drdy/boards/nucleo_h503rb.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_I2C_RTIO=y
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CONFIG_LSM6DSV16X_STREAM=y
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CONFIG_LSM6DSV16X_ENABLE_TEMP=y

‎samples/sensor/stream_drdy/boards/nucleo_h503rb.overlay

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/*
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* Copyright (c) 2024 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
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/*
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* Nucleo F401RE board + shield iks4a1
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*
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* This devicetree overlay file will be automatically picked by the Zephyr
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* build system when building the sample for the nucleo_f401re board.
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*/
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/ {
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aliases {
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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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&arduino_i2c {
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lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
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compatible = "st,lsm6dsv16x";
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reg = <0x6b>;
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accel-odr = <LSM6DSV16X_DT_ODR_AT_120Hz>;
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accel-range = <LSM6DSV16X_DT_FS_16G>;
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int2-gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
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drdy-pin = <2>;
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drdy-pulsed;
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};
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};

‎samples/sensor/stream_drdy/boards/sensortile_box_pro.conf

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# Copyright (c) 2025 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_SPI_RTIO=y
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CONFIG_LSM6DSV16X_STREAM=y
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CONFIG_LSM6DSV16X_ENABLE_TEMP=y

‎samples/sensor/stream_drdy/boards/sensortile_box_pro.overlay

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/*
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* Copyright (c) 2025 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
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/*
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* This devicetree overlay file will be automatically picked by the Zephyr
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* build system when building the sample for the sensortile_box_pro board.
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*/
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/ {
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aliases {
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stream0 = &lsm6dsv16x_0;
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};
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};
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&spi2 {
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lsm6dsv16x_0: lsm6dsv16x@0 {
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compatible = "st,lsm6dsv16x";
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accel-odr = <LSM6DSV16X_DT_ODR_AT_960Hz>;
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accel-range = <LSM6DSV16X_DT_FS_16G>;
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};
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};

‎samples/sensor/stream_drdy/prj.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_STDOUT_CONSOLE=y
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CONFIG_SENSOR=y
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CONFIG_SENSOR_ASYNC_API=y
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CONFIG_CBPRINTF_FP_SUPPORT=y

‎samples/sensor/stream_drdy/sample.yaml

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sample:
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name: Stream sample on Data Ready trigger
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tests:
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sample.sensor.stream_drdy:
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harness: console
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tags: sensors
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filter: dt_alias_exists("stream0")
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harness_config:
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type: one_line
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regex:
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- "^\\s*[0-9A-Za-z_,+-.]*@[0-9A-Fa-f]* \\[m\/s\\^2\\]: \
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\\(\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*\\)$"

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