sensor: lsm6dsv16x: add SENSOR_TRIG_DATA_READY trigger

Add SENSOR_TRIG_DATA_READY trigger support to RTIO streaming.
Currently it just handle XL drdy.

Signed-off-by: Armando Visconti <[email protected]>

Author: avisconti

drivers/sensor/st/lsm6dsv16x/lsm6dsv16x.h

@@ -124,6 +124,12 @@ struct lsm6dsv16x_ibi_payload {
 	uint8_t mlc_status;
 } __packed;
 
+struct trigger_config {
+	uint8_t int_fifo_th : 1;
+	uint8_t int_fifo_full : 1;
+	uint8_t int_drdy : 1;
+};
+
 struct lsm6dsv16x_data {
 	const struct device *dev;
 	int16_t acc[3];
@@ -157,16 +163,17 @@ struct lsm6dsv16x_data {
 	struct rtio_iodev_sqe *streaming_sqe;
 	struct rtio *rtio_ctx;
 	struct rtio_iodev *iodev;
-	uint64_t fifo_timestamp;
+	uint64_t timestamp;
+	uint8_t status;
 	uint8_t fifo_status[2];
 	uint16_t fifo_count;
-	uint8_t fifo_irq;
-	uint8_t accel_batch_odr : 4;
-	uint8_t gyro_batch_odr : 4;
-	uint8_t temp_batch_odr : 2;
-	uint8_t bus_type : 2; /* I2C is 0, SPI is 1, I3C is 2 */
-	uint8_t sflp_batch_odr : 3;
-	uint8_t reserved : 1;
+	struct trigger_config trig_cfg;
+	uint16_t accel_batch_odr : 4;
+	uint16_t gyro_batch_odr : 4;
+	uint16_t temp_batch_odr : 2;
+	uint16_t bus_type : 2; /* I2C is 0, SPI is 1, I3C is 2 */
+	uint16_t sflp_batch_odr : 3;
+	uint16_t reserved : 1;
 	int32_t gbias_x_udps;
 	int32_t gbias_y_udps;
 	int32_t gbias_z_udps;

drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_decoder.c

@@ -152,6 +152,7 @@ static int lsm6dsv16x_decoder_get_frame_count(const uint8_t *buffer,
 					      uint16_t *frame_count)
 {
 	struct lsm6dsv16x_fifo_data *data = (struct lsm6dsv16x_fifo_data *)buffer;
+	struct lsm6dsv16x_rtio_data *rdata = (struct lsm6dsv16x_rtio_data *)buffer;
 	const struct lsm6dsv16x_decoder_header *header = &data->header;
 
 	if (chan_spec.chan_idx != 0) {
@@ -164,13 +165,20 @@ static int lsm6dsv16x_decoder_get_frame_count(const uint8_t *buffer,
 		case SENSOR_CHAN_ACCEL_Y:
 		case SENSOR_CHAN_ACCEL_Z:
 		case SENSOR_CHAN_ACCEL_XYZ:
+			*frame_count = rdata->has_accel ? 1 : 0;
+			return 0;
+
 		case SENSOR_CHAN_GYRO_X:
 		case SENSOR_CHAN_GYRO_Y:
 		case SENSOR_CHAN_GYRO_Z:
 		case SENSOR_CHAN_GYRO_XYZ:
+			*frame_count = rdata->has_gyro ? 1 : 0;
+			return 0;
+
 		case SENSOR_CHAN_DIE_TEMP:
-			*frame_count = 1;
+			*frame_count = rdata->has_temp ? 1 : 0;
 			return 0;
+
 		default:
 			*frame_count = 0;
 			return -ENOTSUP;
@@ -652,6 +660,8 @@ static int lsm6dsv16x_decoder_decode(const uint8_t *buffer, struct sensor_chan_s
 
 	if (header->is_fifo) {
 		return lsm6dsv16x_decode_fifo(buffer, chan_spec, fit, max_count, data_out);
+	} else {
+		return lsm6dsv16x_decode_sample(buffer, chan_spec, fit, max_count, data_out);
 	}
 #endif