Sensor: Build All Tests: Add Sensor Async API

drivers/sensor/pixart/paa3905/paa3905_stream.c

@@ -59,14 +59,14 @@ static void start_drdy_backup_timer(const struct device *dev)
 
 static void paa3905_complete_result(struct rtio *ctx,
 				    const struct rtio_sqe *sqe,
+				    int err,
 				    void *arg)
 {
 	const struct device *dev = (const struct device *)arg;
 	struct paa3905_data *data = dev->data;
 	struct rtio_iodev_sqe *iodev_sqe = data->stream.iodev_sqe;
 	struct paa3905_encoded_data *edata = sqe->userdata;
 	struct rtio_cqe *cqe;
-	int err;
 
 	edata->header.events.drdy = true &&
 				    data->stream.settings.enabled.drdy;
@@ -85,6 +85,22 @@ static void paa3905_complete_result(struct rtio *ctx,
 		start_drdy_backup_timer(dev);
 	}
 
+	/* Flush RTIO bus CQEs */
+	do {
+		cqe = rtio_cqe_consume(ctx);
+		if (cqe != NULL) {
+			if (err >= 0) {
+				err = cqe->result;
+			}
+			rtio_cqe_release(ctx, cqe);
+		}
+	} while (cqe != NULL);
+
+	if (err < 0) {
+		rtio_iodev_sqe_err(iodev_sqe, err);
+		return;
+	}
+
 	/** Attempt chip recovery if erratic behavior is detected  */
 	if (!REG_OBSERVATION_CHIP_OK(edata->observation)) {
 
@@ -101,15 +117,6 @@ static void paa3905_complete_result(struct rtio *ctx,
 	} else {
 		rtio_iodev_sqe_ok(iodev_sqe, 0);
 	}
-
-	/* Flush RTIO bus CQEs */
-	do {
-		cqe = rtio_cqe_consume(ctx);
-		if (cqe != NULL) {
-			err = cqe->result;
-			rtio_cqe_release(ctx, cqe);
-		}
-	} while (cqe != NULL);
 }
 
 static void paa3905_stream_get_data(const struct device *dev)

drivers/sensor/pixart/pat9136/pat9136_stream.c

@@ -45,6 +45,7 @@ static void start_drdy_cooldown_timer(const struct device *dev)
 
 static void pat9136_complete_result(struct rtio *ctx,
 				    const struct rtio_sqe *sqe,
+				    int result,
 				    void *arg)
 {
 	const struct device *dev = (const struct device *)arg;
@@ -74,11 +75,13 @@ static void pat9136_complete_result(struct rtio *ctx,
 
 	/** Attempt chip recovery if erratic behavior is detected  */
 	if (!REG_OBSERVATION_READ_IS_VALID(edata->observation)) {
-
 		LOG_WRN("CHIP OK register indicates issues. Attempting chip recovery: 0x%02X",
 			edata->observation);
+		result = -EAGAIN;
+	}
 
-		rtio_iodev_sqe_err(iodev_sqe, -EAGAIN);
+	if (result < 0) {
+		rtio_iodev_sqe_err(iodev_sqe, result);
 	} else {
 		rtio_iodev_sqe_ok(iodev_sqe, 0);
 	}

drivers/sensor/pni/rm3100/rm3100_stream.c

@@ -16,13 +16,13 @@
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(RM3100_STREAM, CONFIG_SENSOR_LOG_LEVEL);
 
-static void rm3100_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe, void *arg)
+static void rm3100_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe, int err,
+				   void *arg)
 {
 	const struct device *dev = (const struct device *)arg;
 	struct rm3100_data *data = dev->data;
 	struct rtio_iodev_sqe *iodev_sqe = data->stream.iodev_sqe;
 	struct rtio_cqe *cqe;
-	int err = 0;
 	struct rm3100_encoded_data *edata = sqe->userdata;
 
 	edata->header.events.drdy = ((edata->header.status != 0) &&
@@ -39,7 +39,9 @@ static void rm3100_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe,
 	do {
 		cqe = rtio_cqe_consume(ctx);
 		if (cqe != NULL) {
-			err = cqe->result;
+			if (err >= 0) {
+				err = cqe->result;
+			}
 			rtio_cqe_release(ctx, cqe);
 		}
 	} while (cqe != NULL);

drivers/sensor/tdk/icm45686/icm45686_stream.c

@@ -565,18 +565,17 @@ int icm45686_stream_init(const struct device *dev)
 		}
 #if DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(invensense_icm45686, i3c)
 	/** I3C devices use IBI only if no GPIO INT pin is defined. */
-	} else if (data->rtio.type == ICM45686_BUS_I3C) {
-		const struct i3c_iodev_data *iodev_data = data->rtio.iodev->data;
+	} else if (data->bus.rtio.type == ICM45686_BUS_I3C) {
+		const struct i3c_iodev_data *iodev_data = data->bus.rtio.iodev->data;
 
-		data->rtio.i3c.desc = i3c_device_find(iodev_data->bus,
-						      &data->rtio.i3c.id);
-		if (data->rtio.i3c.desc == NULL) {
+		data->bus.rtio.i3c.desc = i3c_device_find(iodev_data->bus, &data->bus.rtio.i3c.id);
+		if (data->bus.rtio.i3c.desc == NULL) {
 			LOG_ERR("Failed to find I3C device");
 			return -ENODEV;
 		}
-		data->rtio.i3c.desc->ibi_cb = icm45686_ibi_cb;
+		data->bus.rtio.i3c.desc->ibi_cb = icm45686_ibi_cb;
 
-		err = i3c_ibi_enable(data->rtio.i3c.desc);
+		err = i3c_ibi_enable(data->bus.rtio.i3c.desc);
 		if (err) {
 			LOG_ERR("Failed to enable IBI: %d", err);
 			return err;

tests/drivers/build_all/sensor/i2c.dtsi

@@ -41,6 +41,8 @@ test_i2c_adt7420: adt7420@0 {
 test_i2c_adxl345: adxl345@1 {
 	compatible = "adi,adxl345";
 	reg = <0x1>;
+	int1-gpios = <&test_gpio 0 0>;
+	fifo-watermark = <1>;
 };
 
 test_i2c_adxl372: adxl372@2 {

tests/drivers/build_all/sensor/sensors_async_api.conf

@@ -0,0 +1,14 @@
+CONFIG_SENSOR_ASYNC_API=y
+CONFIG_ADXL345_STREAM=y
+CONFIG_ADXL362_STREAM=y
+CONFIG_ADXL367_STREAM=y
+CONFIG_ADXL372_STREAM=y
+CONFIG_BMA4XX_STREAM=y
+CONFIG_BMM350_STREAM=y
+CONFIG_PAA3905_STREAM=y
+CONFIG_PAT9136_STREAM=y
+CONFIG_RM3100_STREAM=y
+CONFIG_IIS3DWB_STREAM=y
+CONFIG_LSM6DSV16X_STREAM=y
+CONFIG_ICM45686_STREAM=y
+CONFIG_ICM4268X_STREAM=y

tests/drivers/build_all/sensor/spi.dtsi

@@ -479,3 +479,11 @@ test_spi_iis3dwb: iis3dwb@39 {
 	odr = <IIS3DWB_DT_ODR_26k7Hz>;
 	filter = <IIS3DWB_DT_HP_ODR_DIV_800>;
 };
+
+test_spi_adxl345: adxl345@3a {
+	compatible = "adi,adxl345";
+	reg = <0x3a>;
+	spi-max-frequency = <0>;
+	int1-gpios = <&test_gpio 0 0>;
+	fifo-watermark = <1>;
+};

tests/drivers/build_all/sensor/testcase.yaml

@@ -18,6 +18,8 @@ tests:
     extra_args: EXTRA_CONF_FILE=sensors_trigger_none.conf;sensors_die_temp.conf
   drivers.sensor.no_default.build:
     extra_args: EXTRA_CONF_FILE=sensors_no_default.conf
+  drivers.sensor.async_api:
+    extra_args: EXTRA_CONF_FILE=sensors_async_api.conf
   drivers.sensor.build:
     tags: sensors
     extra_args: EXTRA_CONF_FILE=sensors_die_temp.conf