sensor: fallback: Decouple RTIO request using RTIO workqueues service

Incorporate RTIO workqueues to turn sensor_submit_callback into an
asynchronous request.

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

Author: ubieda

drivers/sensor/Kconfig

@@ -1,6 +1,7 @@
 # Sensor configuration options
 
 # Copyright (c) 2016 Intel Corporation
+# Copyright (c) 2024 Croxel Inc
 # SPDX-License-Identifier: Apache-2.0
 
 menuconfig SENSOR
@@ -25,6 +26,7 @@ config SENSOR_ASYNC_API
 	select RTIO
 	select RTIO_SYS_MEM_BLOCKS
 	select RTIO_CONSUME_SEM
+	select RTIO_WORKQ
 	help
 	  Enables the asynchronous sensor API by leveraging the RTIO subsystem.
 

drivers/sensor/default_rtio_sensor.c

@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2023 Google LLC.
+ * Copyright (c) 2024 Croxel Inc.
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +10,7 @@
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/dsp/types.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/rtio/work.h>
 
 LOG_MODULE_REGISTER(sensor_compat, CONFIG_SENSOR_LOG_LEVEL);
 
@@ -106,14 +108,14 @@ static inline int check_header_contains_channel(const struct sensor_data_generic
 }
 
 /**
- * @brief Fallback function for retrofiting old drivers to rtio
+ * @brief Fallback function for retrofiting old drivers to rtio (sync)
  *
- * @param[in] dev The sensor device to read
  * @param[in] iodev_sqe The read submission queue event
  */
-static void sensor_submit_fallback(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
+static void sensor_submit_fallback_sync(struct rtio_iodev_sqe *iodev_sqe)
 {
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
+	const struct device *dev = cfg->sensor;
 	const struct sensor_chan_spec *const channels = cfg->channels;
 	const int num_output_samples = compute_num_samples(channels, cfg->count);
 	uint32_t min_buf_len = compute_min_buf_len(num_output_samples);
@@ -253,6 +255,21 @@ static void sensor_submit_fallback(const struct device *dev, struct rtio_iodev_s
 	rtio_iodev_sqe_ok(iodev_sqe, 0);
 }
 
+/**
+ * @brief Fallback function for retrofiting old drivers to rtio
+ *
+ * @param[in] dev The sensor device to read
+ * @param[in] iodev_sqe The read submission queue event
+ */
+static void sensor_submit_fallback(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, sensor_submit_fallback_sync);
+}
+
 void sensor_processing_with_callback(struct rtio *ctx, sensor_processing_callback_t cb)
 {
 	void *userdata = NULL;