Sensor: Clock: Add Helper to simplify sensor-time retrieval #97657
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Spares from having to do it in a two-step process, typically seen in sensor drivers. Signed-off-by: Luis Ubieda <[email protected]>
In order to reduce duplication. Signed-off-by: Luis Ubieda <[email protected]>
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yperess
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Oct 15, 2025
kartben
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Oct 15, 2025
| * and converts it directly in nanoseconds, instead of having to do it in | ||
| * a two-step process. | ||
| * | ||
| * @return nanoseconds on succes, zero on failure. |
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Suggested change
| * @return nanoseconds on succes, zero on failure. | |
| * @return nanoseconds on success, zero on failure. |
| * @brief Get Current sensor clock in nanoseconds. | ||
| * | ||
| * This helper function performs the acquisition of sensor time in cycles | ||
| * and converts it directly in nanoseconds, instead of having to do it in |
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not a native speaker so i might be wrong
Suggested change
| * and converts it directly in nanoseconds, instead of having to do it in | |
| * and converts it directly to nanoseconds, instead of having to do it in |
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Pull Request Overview
This PR introduces a helper function sensor_clock_get_ns() to simplify sensor timestamp retrieval by combining cycle acquisition and nanosecond conversion into a single call. The helper reduces code duplication across multiple sensor drivers and removes error handling for timestamp acquisition, returning 0 on failure instead of propagating errors.
- Adds
sensor_clock_get_ns()helper function to sensor_clock.h - Replaces two-step timestamp acquisition pattern across 30+ sensor driver files
- Removes error handling for timestamp failures, allowing sensors to continue operation with zero timestamp
Reviewed Changes
Copilot reviewed 31 out of 31 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| include/zephyr/drivers/sensor_clock.h | Adds new inline helper function sensor_clock_get_ns() |
| drivers/sensor/tdk/icm45686/icm45686_stream.c | Replaces manual timestamp acquisition with helper function |
| drivers/sensor/tdk/icm45686/icm45686_decoder.c | Simplifies timestamp acquisition using new helper |
| drivers/sensor/tdk/icm4268x/icm4268x_rtio_stream.c | Updates to use helper function for timestamp |
| drivers/sensor/tdk/icm4268x/icm4268x_decoder.c | Adopts new helper for timestamp generation |
| drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_rtio_stream.c | Replaces error-prone timestamp code with helper |
| drivers/sensor/st/lsm6dsv16x/lsm6dsv16x_rtio.c | Simplifies timestamp handling |
| drivers/sensor/st/lis2dux12/lis2dux12_rtio_stream.c | Updates timestamp acquisition pattern |
| drivers/sensor/st/lis2dux12/lis2dux12_rtio.c | Uses helper function for cleaner code |
| drivers/sensor/st/iis3dwb/iis3dwb_stream.c | Adopts simplified timestamp approach |
| drivers/sensor/st/iis3dwb/iis3dwb.c | Updates to use new helper function |
| drivers/sensor/pni/rm3100/rm3100_stream.c | Simplifies timestamp acquisition |
| drivers/sensor/pni/rm3100/rm3100_decoder.c | Uses helper for timestamp generation |
| drivers/sensor/pixart/pat9136/pat9136_stream.c | Replaces complex timestamp code with helper |
| drivers/sensor/pixart/pat9136/pat9136_decoder.c | Adopts new helper function |
| drivers/sensor/pixart/paa3905/paa3905_stream.c | Updates timestamp handling |
| drivers/sensor/pixart/paa3905/paa3905_decoder.c | Uses simplified timestamp approach |
| drivers/sensor/memsic/mmc56x3/mmc56x3_async.c | Adopts helper function |
| drivers/sensor/melexis/mlx90394/mlx90394_async.c | Simplifies timestamp code |
| drivers/sensor/default_rtio_sensor.c | Updates fallback sensor implementation |
| drivers/sensor/broadcom/afbr_s50/afbr_s50.c | Uses new helper for timestamp |
| drivers/sensor/bosch/bmp581/bmp581_decoder.c | Adopts simplified approach |
| drivers/sensor/bosch/bmm350/bmm350_decoder.c | Updates timestamp handling |
| drivers/sensor/bosch/bme280/bme280_async.c | Uses helper function |
| drivers/sensor/bosch/bma4xx/bma4xx_rtio_stream.c | Simplifies timestamp acquisition |
| drivers/sensor/bosch/bma4xx/bma4xx_rtio.c | Adopts new helper |
| drivers/sensor/asahi_kasei/akm09918c/akm09918c_async.c | Updates timestamp code |
| drivers/sensor/adi/adxl372/adxl372_stream.c | Uses helper function |
| drivers/sensor/adi/adxl367/adxl367_stream.c | Simplifies timestamp handling |
| drivers/sensor/adi/adxl362/adxl362_stream.c | Adopts new approach |
| drivers/sensor/adi/adxl345/adxl345_stream.c | Updates to use helper function |
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| const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data; | ||
| struct mlx90394_data *data = dev->data; | ||
| uint64_t cycles; | ||
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| rc = mlx90394_trigger_measurement_internal(dev, cfg->channels->chan_type); |
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Variable 'rc' is used without declaration. It was removed from the declarations but is still being used.
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Looks like we could use a build-all test that covers streaming.
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Filed #97824 to bridge this gap. Thanks for catching it!
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Basic helper to reduce code-duplication.
Note
I'm aware this removes error-handling of failing to obtain the timestamp.
my impression was that even without timestamp, some-data (and the time at which it is received) is better than no data with an error. In both cases, the error can still be detected (e.g: timestamp = 0) and handled accordingly
Although that's my preference, I'm willing to add it back. Feel free to chime in with your thoughts.