sensor: paa3905: Add streaming mode

Working through either Motion detection or through Data-Ready.

Data-ready has a back-up timer to trigger worst case, if no motion
occurs within 10X data-rate.

On every streaming event, the driver checks for the sensor health, and
attempts recoverying its state if it detects issues.

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

Author: ubieda

drivers/sensor/pixart/paa3905/CMakeLists.txt

@@ -7,3 +7,7 @@ zephyr_library_sources(
 	paa3905.c
 	paa3905_decoder.c
 )
+
+zephyr_library_sources_ifdef(CONFIG_PAA3905_STREAM
+	paa3905_stream.c
+)

drivers/sensor/pixart/paa3905/Kconfig

@@ -11,3 +11,14 @@ config PAA3905
 	select SENSOR_ASYNC_API
 	help
 	  Enable driver for PAA3905 Optical Flow sensor.
+
+if PAA3905
+
+config PAA3905_STREAM
+	bool "Streaming mode"
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_PIXART_PAA3905),int-gpios)
+	select RTIO_WORKQ
+	help
+	  Enable streaming mode for the PAA3905 sensor.
+
+endif # PAA3905

drivers/sensor/pixart/paa3905/paa3905.c

@@ -13,6 +13,7 @@
 
 #include "paa3905.h"
 #include "paa3905_bus.h"
+#include "paa3905_stream.h"
 #include "paa3905_decoder.h"
 
 #include <zephyr/logging/log.h>
@@ -119,6 +120,8 @@ static void paa3905_submit(const struct device *dev, struct rtio_iodev_sqe *iode
 
 	if (!cfg->is_streaming) {
 		paa3905_submit_one_shot(dev, iodev_sqe);
+	} else if (IS_ENABLED(CONFIG_PAA3905_STREAM)) {
+		paa3905_stream_submit(dev, iodev_sqe);
 	} else {
 		LOG_ERR("Streaming not supported");
 		rtio_iodev_sqe_err(iodev_sqe, -ENOTSUP);
@@ -213,6 +216,31 @@ static int paa3905_configure(const struct device *dev)
 	return 0;
 }
 
+int paa3905_recover(const struct device *dev)
+{
+	int err;
+	uint8_t val;
+
+	/* Write 0x5A to Power up reset reg */
+	val = POWER_UP_RESET_VAL;
+	err = paa3905_bus_write(dev, REG_POWER_UP_RESET, &val, 1);
+	if (err) {
+		LOG_ERR("Failed to write Power up reset reg");
+		return err;
+	}
+	/* As per datasheet, writing power-up reset requires 1-ms afterwards. */
+	k_sleep(K_MSEC(1));
+
+	/* Configure registers for Standard detection mode */
+	err = paa3905_configure(dev);
+	if (err) {
+		LOG_ERR("Failed to configure");
+		return err;
+	}
+
+	return err;
+}
+
 static int paa3905_init(const struct device *dev)
 {
 	int err;
@@ -249,6 +277,14 @@ static int paa3905_init(const struct device *dev)
 		return err;
 	}
 
+	if (IS_ENABLED(CONFIG_PAA3905_STREAM)) {
+		err = paa3905_stream_init(dev);
+		if (err) {
+			LOG_ERR("Failed to initialize streaming");
+			return err;
+		}
+	}
+
 	err = paa3905_configure(dev);
 	if (err) {
 		LOG_ERR("Failed to configure");
@@ -271,6 +307,8 @@ static int paa3905_init(const struct device *dev)
 			    0U);								   \
 												   \
 	static const struct paa3905_config paa3905_cfg_##inst = {				   \
+		.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, {0}),			   \
+		.backup_timer_period = DT_PROP(DT_DRV_INST(inst), backup_timer_ms),		   \
 		.resolution = DT_PROP(DT_DRV_INST(inst), resolution),				   \
 		.led_control = DT_PROP_OR(DT_DRV_INST(inst), led_control, false),		   \
 	};											   \

drivers/sensor/pixart/paa3905/paa3905.h

@@ -9,12 +9,18 @@
 #define ZEPHYR_DRIVERS_SENSOR_PAA3905_H_
 
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/sensor.h>
 #include <zephyr/rtio/rtio.h>
 
 struct paa3905_encoded_data {
 	struct {
 		uint64_t timestamp;
 		uint8_t channels : 3;
+		struct {
+			bool drdy : 1;
+			bool motion : 1;
+		} events;
 	} header;
 	union {
 		uint8_t buf[14];
@@ -35,16 +41,43 @@ struct paa3905_encoded_data {
 	};
 };
 
+struct paa3905_stream {
+	struct gpio_callback cb;
+	const struct device *dev;
+	struct rtio_iodev_sqe *iodev_sqe;
+	struct k_timer timer;
+	struct {
+		struct {
+			bool drdy : 1;
+			bool motion : 1;
+		} enabled;
+		struct {
+			enum sensor_stream_data_opt drdy;
+			enum sensor_stream_data_opt motion;
+		} opt;
+	} settings;
+};
+
 struct paa3905_data {
 	struct {
 		struct rtio_iodev *iodev;
 		struct rtio *ctx;
 	} rtio;
+#if defined(CONFIG_PAA3905_STREAM)
+	struct paa3905_stream stream;
+#endif /* CONFIG_PAA3905_STREAM */
 };
 
 struct paa3905_config {
+	struct gpio_dt_spec int_gpio;
 	int resolution;
 	bool led_control;
+	uint32_t backup_timer_period;
 };
 
+/** Made public in order to perform chip recovery if erratic behavior
+ * is detected.
+ */
+int paa3905_recover(const struct device *dev);
+
 #endif /* ZEPHYR_DRIVERS_SENSOR_PAA3905_H_ */

drivers/sensor/pixart/paa3905/paa3905_decoder.c

@@ -196,7 +196,16 @@ static int paa3905_decoder_decode(const uint8_t *buffer,
 
 static bool paa3905_decoder_has_trigger(const uint8_t *buffer, enum sensor_trigger_type trigger)
 {
-	return false;
+	struct paa3905_encoded_data *edata = (struct paa3905_encoded_data *)buffer;
+
+	switch (trigger) {
+	case SENSOR_TRIG_DATA_READY:
+		return edata->header.events.drdy;
+	case SENSOR_TRIG_MOTION:
+		return edata->header.events.motion;
+	default:
+		return false;
+	}
 }
 
 SENSOR_DECODER_API_DT_DEFINE() = {
@@ -225,6 +234,8 @@ int paa3905_encode(const struct device *dev,
 	int err;
 
 	edata->header.channels = 0;
+	edata->header.events.drdy = false;
+	edata->header.events.motion = false;
 
 	for (size_t i = 0 ; i < num_channels; i++) {
 		edata->header.channels |= paa3905_encode_channel(channels[i].chan_type);

drivers/sensor/pixart/paa3905/paa3905_decoder.h

@@ -17,6 +17,8 @@ int paa3905_encode(const struct device *dev,
 		   size_t num_channels,
 		   uint8_t *buf);
 
+uint8_t paa3905_encode_channel(enum sensor_channel chan);
+
 int paa3905_get_decoder(const struct device *dev,
 			const struct sensor_decoder_api **decoder);