sensor: bma4xx: Use RTIO workq on bma4xx_submit

To make its execution path non-blocking from the caller's perspective.

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

Author: ubieda

drivers/sensor/bosch/bma4xx/Kconfig

@@ -1,6 +1,7 @@
 # BMA4XX 3-axis accelerometer config options
 #
 # Copyright (c) 2023 Google LLC
+# Copyright (c) 2024 Croxel Inc.
 #
 # SPDX-License-Identifier: Apache-2.0
 
@@ -10,6 +11,7 @@ config BMA4XX
 	depends on DT_HAS_BOSCH_BMA4XX_ENABLED
 	depends on SENSOR_ASYNC_API
 	select I2C
+	select RTIO_WORKQ
 	help
 	  Enable driver for Bosch BMA4XX (I2C-based)
 

drivers/sensor/bosch/bma4xx/bma4xx.c

@@ -1,6 +1,7 @@
 /* Bosch BMA4xx 3-axis accelerometer driver
  *
  * Copyright (c) 2023 Google LLC
+ * Copyright (c) 2024 Croxel Inc.
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -12,6 +13,7 @@
 #include <zephyr/sys/__assert.h>
 #include <zephyr/logging/log.h>
 #include <zephyr/pm/device.h>
+#include <zephyr/rtio/work.h>
 
 LOG_MODULE_REGISTER(bma4xx, CONFIG_SENSOR_LOG_LEVEL);
 #include "bma4xx.h"
@@ -425,9 +427,10 @@ static void bma4xx_submit_one_shot(const struct device *dev, struct rtio_iodev_s
 	rtio_iodev_sqe_ok(iodev_sqe, 0);
 }
 
-static void bma4xx_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
+static void bma4xx_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
 {
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
+	const struct device *dev = cfg->sensor;
 
 	/* TODO: Add streaming support */
 	if (!cfg->is_streaming) {
@@ -437,6 +440,15 @@ static void bma4xx_submit(const struct device *dev, struct rtio_iodev_sqe *iodev
 	}
 }
 
+static void bma4xx_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
+{
+	struct rtio_work_req *req = rtio_work_req_alloc();
+
+	__ASSERT_NO_MSG(req);
+
+	rtio_work_req_submit(req, iodev_sqe, bma4xx_submit_sync);
+}
+
 /*
  * RTIO decoder
  */