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Sensor: Clock: Add Helper to simplify sensor-time retrieval #97657

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b6ba264
sensor: clock: Add helper to directly get time in ns
ubieda Oct 7, 2025
d254169
sensor: all: Make use of sensor_clock_get_ns helper
ubieda Oct 15, 2025
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11 changes: 1 addition & 10 deletions drivers/sensor/adi/adxl345/adxl345_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -369,21 +369,12 @@ void adxl345_stream_irq_handler(const struct device *dev)
{
struct adxl345_dev_data *data = (struct adxl345_dev_data *) dev->data;
const struct adxl345_dev_config *cfg = (const struct adxl345_dev_config *) dev->config;
uint64_t cycles;
int rc;

if (data->sqe == NULL) {
return;
}
data->timestamp = sensor_clock_get_ns();

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(data->sqe, rc);
return;
}

data->timestamp = sensor_clock_cycles_to_ns(cycles);
struct rtio_sqe *write_status_addr = rtio_sqe_acquire(data->rtio_ctx);
struct rtio_sqe *read_status_reg = rtio_sqe_acquire(data->rtio_ctx);
struct rtio_sqe *check_status_reg = rtio_sqe_acquire(data->rtio_ctx);
Expand Down
13 changes: 2 additions & 11 deletions drivers/sensor/adi/adxl362/adxl362_stream.c
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Expand Up @@ -395,20 +395,11 @@ static void adxl362_process_status_cb(struct rtio *r, const struct rtio_sqe *sqe
void adxl362_stream_irq_handler(const struct device *dev)
{
struct adxl362_data *data = (struct adxl362_data *) dev->data;
uint64_t cycles;
int rc;
if (data->sqe == NULL) {
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(data->sqe, rc);
if (data->sqe == NULL) {
return;
}

data->timestamp = sensor_clock_cycles_to_ns(cycles);
data->timestamp = sensor_clock_get_ns();

struct rtio_sqe *write_status_addr = rtio_sqe_acquire(data->rtio_ctx);
struct rtio_sqe *read_status_reg = rtio_sqe_acquire(data->rtio_ctx);
Expand Down
13 changes: 2 additions & 11 deletions drivers/sensor/adi/adxl367/adxl367_stream.c
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Expand Up @@ -548,20 +548,11 @@ static void adxl367_process_status_cb(struct rtio *r, const struct rtio_sqe *sqe
void adxl367_stream_irq_handler(const struct device *dev)
{
struct adxl367_data *data = (struct adxl367_data *) dev->data;
uint64_t cycles;
int rc;
if (data->sqe == NULL) {
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(data->sqe, rc);
if (data->sqe == NULL) {
return;
}

data->timestamp = sensor_clock_cycles_to_ns(cycles);
data->timestamp = sensor_clock_get_ns();

struct rtio_sqe *write_status_addr = rtio_sqe_acquire(data->rtio_ctx);
struct rtio_sqe *read_status_reg = rtio_sqe_acquire(data->rtio_ctx);
Expand Down
13 changes: 2 additions & 11 deletions drivers/sensor/adi/adxl372/adxl372_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -421,20 +421,11 @@ static void adxl372_process_status1_cb(struct rtio *r, const struct rtio_sqe *sq
void adxl372_stream_irq_handler(const struct device *dev)
{
struct adxl372_data *data = (struct adxl372_data *)dev->data;
uint64_t cycles;
int rc;
if (data->sqe == NULL) {
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(data->sqe, rc);
if (data->sqe == NULL) {
return;
}

data->timestamp = sensor_clock_cycles_to_ns(cycles);
data->timestamp = sensor_clock_get_ns();

struct rtio_sqe *write_status_addr = rtio_sqe_acquire(data->rtio_ctx);
struct rtio_sqe *read_status_reg = rtio_sqe_acquire(data->rtio_ctx);
Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/asahi_kasei/akm09918c/akm09918c_async.c
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Original file line number Diff line number Diff line change
Expand Up @@ -81,18 +81,10 @@ void akm09918_after_start_cb(struct rtio *rtio_ctx, const struct rtio_sqe *sqe,
const struct device *dev = cfg->sensor;
struct akm09918c_data *data = dev->data;
struct rtio_iodev_sqe *iodev_sqe = (struct rtio_iodev_sqe *)arg0;
uint64_t cycles;
int rc;

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

/* save information for the work item */
data->work_ctx.timestamp = sensor_clock_cycles_to_ns(cycles);
data->work_ctx.timestamp = sensor_clock_get_ns();
data->work_ctx.iodev_sqe = iodev_sqe;

rc = akm09918c_flush_cqes(data->rtio_ctx);
Expand Down
11 changes: 1 addition & 10 deletions drivers/sensor/bosch/bma4xx/bma4xx_rtio.c
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@ static void bma4xx_submit_one_shot(const struct device *dev, struct rtio_iodev_s
uint8_t *buf;
uint32_t buf_len;
uint32_t min_buf_len = sizeof(struct bma4xx_encoded_data);
uint64_t cycles;
int rc;

/* Get the buffer for the frame, it may be allocated dynamically by the rtio context */
Expand All @@ -74,15 +73,7 @@ static void bma4xx_submit_one_shot(const struct device *dev, struct rtio_iodev_s
}

edata->header.accel_fs = bma4xx->cfg.accel_fs_range;

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();

struct rtio_sqe *write_accel_sqe = rtio_sqe_acquire(bma4xx->r);
struct rtio_sqe *read_accel_sqe = rtio_sqe_acquire(bma4xx->r);
Expand Down
12 changes: 1 addition & 11 deletions drivers/sensor/bosch/bma4xx/bma4xx_rtio_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -318,21 +318,11 @@ void bma4xx_fifo_event(const struct device *dev)
const struct bma4xx_config *drv_cfg = dev->config;
struct rtio_iodev *iodev = drv_data->iodev;
struct rtio *r = drv_data->r;
uint64_t cycles;
int rc;

if (drv_data->streaming_sqe == NULL) {
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(drv_data->streaming_sqe, rc);
return;
}

drv_data->timestamp = sensor_clock_cycles_to_ns(cycles);
drv_data->timestamp = sensor_clock_get_ns();

struct rtio_sqe *write_int_reg = rtio_sqe_acquire(r);
struct rtio_sqe *read_int_reg = rtio_sqe_acquire(r);
Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/bosch/bme280/bme280_async.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@ void bme280_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
{
uint32_t min_buf_len = sizeof(struct bme280_encoded_data);
int rc;
uint64_t cycles;
uint8_t *buf;
uint32_t buf_len;

Expand All @@ -33,17 +32,10 @@ void bme280_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

struct bme280_encoded_data *edata;

edata = (struct bme280_encoded_data *)buf;
edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();
edata->has_temp = 0;
edata->has_humidity = 0;
edata->has_press = 0;
Expand Down
9 changes: 1 addition & 8 deletions drivers/sensor/bosch/bmm350/bmm350_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -139,8 +139,6 @@ int bmm350_encode(const struct device *dev,
{
struct bmm350_encoded_data *edata = (struct bmm350_encoded_data *)buf;
struct bmm350_data *data = dev->data;
uint64_t cycles;
int err;

edata->header.channels = 0;

Expand All @@ -155,13 +153,8 @@ int bmm350_encode(const struct device *dev,
}
}

err = sensor_clock_get_cycles(&cycles);
if (err != 0) {
return err;
}

edata->header.events = is_trigger ? BIT(0) : 0;
edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();

memcpy(&edata->comp, &data->mag_comp, sizeof(edata->comp));

Expand Down
9 changes: 1 addition & 8 deletions drivers/sensor/bosch/bmp581/bmp581_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -41,8 +41,6 @@ int bmp581_encode(const struct device *dev,
{
struct bmp581_encoded_data *edata = (struct bmp581_encoded_data *)buf;
struct bmp581_data *data = dev->data;
uint64_t cycles;
int err;

edata->header.channels = 0;
edata->header.press_en = data->osr_odr_press_config.press_en;
Expand All @@ -59,13 +57,8 @@ int bmp581_encode(const struct device *dev,
}
}

err = sensor_clock_get_cycles(&cycles);
if (err != 0) {
return err;
}

edata->header.events = trigger_status;
edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();

return 0;
}
Expand Down
11 changes: 1 addition & 10 deletions drivers/sensor/broadcom/afbr_s50/afbr_s50.c
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Original file line number Diff line number Diff line change
Expand Up @@ -103,16 +103,7 @@ static void data_ready_work_handler(struct rtio_iodev_sqe *iodev_sqe)
return;
}

uint64_t cycles;

err = sensor_clock_get_cycles(&cycles);
CHECKIF(err != 0) {
LOG_ERR("Failed to get sensor clock cycles");
handle_error_on_result(data, -EIO);
return;
}

edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();
edata->header.channels = afbr_s50_encode_channel(SENSOR_CHAN_DISTANCE) |
afbr_s50_encode_channel(SENSOR_CHAN_AFBR_S50_PIXELS);
edata->header.events = cfg->is_streaming ? afbr_s50_encode_event(SENSOR_TRIG_DATA_READY) :
Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/default_rtio_sensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -122,15 +122,7 @@ static void sensor_submit_fallback_sync(struct rtio_iodev_sqe *iodev_sqe)
uint32_t min_buf_len = compute_min_buf_len(num_output_samples);
uint64_t cycles;
int rc;

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

uint64_t timestamp_ns = sensor_clock_cycles_to_ns(cycles);
uint64_t timestamp_ns = sensor_clock_get_ns();
uint8_t *buf;
uint32_t buf_len;

Expand Down
11 changes: 1 addition & 10 deletions drivers/sensor/melexis/mlx90394/mlx90394_async.c
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Expand Up @@ -96,10 +96,8 @@ void mlx90394_async_fetch(struct k_work *work)

void mlx90394_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
{
int rc;
const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
struct mlx90394_data *data = dev->data;
uint64_t cycles;

rc = mlx90394_trigger_measurement_internal(dev, cfg->channels->chan_type);
Comment on lines 99 to 102
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Copilot AI Oct 15, 2025

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Variable 'rc' is used without declaration. It was removed from the declarations but is still being used.

Copilot uses AI. Check for mistakes.

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good bot

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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!

if (rc != 0) {
Expand All @@ -108,15 +106,8 @@ void mlx90394_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

/* save information for the work item */
data->work_ctx.timestamp = sensor_clock_cycles_to_ns(cycles);
data->work_ctx.timestamp = sensor_clock_get_ns();
data->work_ctx.iodev_sqe = iodev_sqe;
data->work_ctx.config_val = data->config_val;

Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/memsic/mmc56x3/mmc56x3_async.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@ void mmc56x3_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
int rc;
uint8_t *buf;
uint32_t buf_len;
uint64_t cycles;

const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
const struct device *dev = cfg->sensor;
Expand All @@ -31,17 +30,10 @@ void mmc56x3_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
return;
}

rc = sensor_clock_get_cycles(&cycles);
if (rc != 0) {
LOG_ERR("Failed to get sensor clock cycles");
rtio_iodev_sqe_err(iodev_sqe, rc);
return;
}

struct mmc56x3_encoded_data *edata;

edata = (struct mmc56x3_encoded_data *)buf;
edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);
edata->header.timestamp = sensor_clock_get_ns();
edata->has_temp = 0;
edata->has_magn_x = 0;
edata->has_magn_y = 0;
Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/pixart/paa3905/paa3905_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -230,23 +230,15 @@ int paa3905_encode(const struct device *dev,
uint8_t *buf)
{
struct paa3905_encoded_data *edata = (struct paa3905_encoded_data *)buf;
uint64_t cycles;
int err;

edata->header.channels = 0;
edata->header.events.drdy = false;
edata->header.events.motion = false;
edata->header.timestamp = sensor_clock_get_ns();

for (size_t i = 0 ; i < num_channels; i++) {
edata->header.channels |= paa3905_encode_channel(channels[i].chan_type);
}

err = sensor_clock_get_cycles(&cycles);
if (err != 0) {
return err;
}

edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);

return 0;
}
9 changes: 1 addition & 8 deletions drivers/sensor/pixart/paa3905/paa3905_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,6 @@ static void paa3905_complete_result(struct rtio *ctx,
static void paa3905_stream_get_data(const struct device *dev)
{
struct paa3905_data *data = dev->data;
uint64_t cycles;
int err;

CHECKIF(!data->stream.iodev_sqe) {
Expand Down Expand Up @@ -149,13 +148,7 @@ static void paa3905_stream_get_data(const struct device *dev)
struct rtio_sqe *cb_sqe = rtio_sqe_acquire(data->rtio.ctx);
uint8_t val;

err = sensor_clock_get_cycles(&cycles);
CHECKIF(err) {
LOG_ERR("Failed to get timestamp: %d", err);
handle_result_on_error(dev, err);
return;
}
buf->header.timestamp = sensor_clock_cycles_to_ns(cycles);
buf->header.timestamp = sensor_clock_get_ns();

CHECKIF(!write_sqe || !read_sqe || !cb_sqe) {
LOG_ERR("Failed to acquire RTIO SQE's");
Expand Down
10 changes: 1 addition & 9 deletions drivers/sensor/pixart/pat9136/pat9136_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -327,23 +327,15 @@ int pat9136_encode(const struct device *dev,
uint8_t *buf)
{
struct pat9136_encoded_data *edata = (struct pat9136_encoded_data *)buf;
uint64_t cycles;
int err;

edata->header.channels = 0;
edata->header.events.drdy = 0;
edata->header.events.motion = 0;
edata->header.timestamp = sensor_clock_get_ns();

for (size_t i = 0 ; i < num_channels; i++) {
edata->header.channels |= pat9136_encode_channel(channels[i].chan_type);
}

err = sensor_clock_get_cycles(&cycles);
if (err != 0) {
return err;
}

edata->header.timestamp = sensor_clock_cycles_to_ns(cycles);

return 0;
}
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