add support for userspace

include/zephyr/sensing/sensing.h

@@ -40,6 +40,73 @@ extern "C" {
 #define SENSING_BMEM
 #endif
 
+/**
+ * @addtogroup sensiong_sensor_modes
+ * @{
+ */
+
+enum sensing_sensor_mode {
+	/**
+	 * @brief Get events from the sensor.
+	 *
+	 * Power: Turn on if not already on.
+	 * Reporting: Continuous. Send each new event as it comes (subject to batching and latency).
+	 */
+	SENSING_SENSOR_MODE_CONTINUOUS,
+
+	/**
+	 * @brief Get a single event from the sensor and then become DONE.
+	 *
+	 * Once the event is sent, the sensor automatically changes to
+	 * :c:enum:`SENSING_SENSOR_MODE_DONE`.
+	 *
+	 * Power: Turn on if not already on.
+	 * Reporting: One shot. Send the next event and then be DONE.
+	 */
+	SENSING_SENSOR_MODE_ONE_SHOT,
+
+	/**
+	 * @brief Get events from a sensor that are generated for any client in the system.
+	 *
+	 * This is considered passive because the sensor will not be powered on for the sake of the
+	 * client. If and only if another client in the system has requested this sensor power on
+	 * will we get events.
+	 *
+	 * This can be useful for something which is interested in seeing data, but not interested
+	 * enough to be responsible for powering on the sensor.
+	 *
+	 * Power: Do not power the sensor on our behalf.
+	 * Reporting: Continuous. Send each event as it comes.
+	 */
+	SENSING_SENSOR_MODE_PASSIVE_CONTINUOUS,
+
+	/**
+	 * @brief Get a single event from a sensor that is generated for any client in the system.
+	 *
+	 * See :c:enum:`SENSING_SENSOR_MODE_PASSIVE_CONTINUOUS` for more details on what the
+	 * "passive" means.
+	 *
+	 * Power: Do not power the sensor on our behalf.
+	 * Reporting: One shot. Send only the next event and then be DONE.
+	 */
+	SENSING_SENSOR_MODE_PASSIVE_ONE_SHOT,
+
+	/**
+	 * @brief Indicate we are done using this sensor and no longer interested in it.
+	 *
+	 * See :c:func:`sensing_configure` for more details on expressing interest or lack of
+	 * interest in a sensor.
+	 *
+	 * Power: Do not power the sensor on our behalf.
+	 * Reporting: None.
+	 */
+	SENSING_SENSOR_MODE_DONE,
+};
+
+/**
+ * @}
+ */
+
 /**
  * @struct sensing_sensor_version
  * @brief Sensor Version

include/zephyr/sensing/sensor_types.h

@@ -22,26 +22,25 @@
 /**
  * sensor category light
  */
-#define SENSING_SENSOR_TYPE_LIGHT_AMBIENTLIGHT			0x41
+#define SENSING_SENSOR_TYPE_LIGHT_AMBIENTLIGHT 0x41
 
 /**
  * sensor category motion
  */
-#define SENSING_SENSOR_TYPE_MOTION_ACCELEROMETER_3D		115
-#define SENSING_SENSOR_TYPE_MOTION_GYROMETER_3D			118
-#define SENSING_SENSOR_TYPE_MOTION_MOTION_DETECTOR		119
-
+#define SENSING_SENSOR_TYPE_MOTION_ACCELEROMETER_3D 115
+#define SENSING_SENSOR_TYPE_MOTION_GYROMETER_3D     118
+#define SENSING_SENSOR_TYPE_MOTION_MOTION_DETECTOR  119
 
 /**
  * sensor category other
  */
-#define SENSING_SENSOR_TYPE_OTHER_CUSTOM			0xE1
+#define SENSING_SENSOR_TYPE_OTHER_CUSTOM 0xE1
 
-#define SENSING_SENSOR_TYPE_MOTION_UNCALIB_ACCELEROMETER_3D	0x240
+#define SENSING_SENSOR_TYPE_MOTION_UNCALIB_ACCELEROMETER_3D 0x240
 
-#define SENSING_SENSOR_TYPE_MOTION_HINGE_ANGLE			0x20B
+#define SENSING_SENSOR_TYPE_MOTION_HINGE_ANGLE 0x20B
 
-#define SENSING_SENSOR_TYPE_ALL					0xFFFF
+#define SENSING_SENSOR_TYPE_ALL 0xFFFF
 
 /**
  * @}

samples/sensor/sensor_shell/prj.conf

@@ -7,6 +7,7 @@ CONFIG_SENSOR_INFO=y
 CONFIG_LOG=y
 CONFIG_RTIO_CONSUME_SEM=y
 
+CONFIG_USERSPACE=y
 CONFIG_SENSING=y
 CONFIG_SENSING_SHELL=y
 CONFIG_SENSOR_LOG_LEVEL_DBG=y

subsys/sensing/CMakeLists.txt

@@ -8,5 +8,6 @@ zephyr_library_sources(
     src/sensor_connections.c
 )
 zephyr_library_sources_ifdef(CONFIG_SENSING_SHELL src/shell.c)
+zephyr_library_sources_ifdef(CONFIG_USERSPACE     src/userspace.c)
 
 zephyr_library_include_directories(include)

subsys/sensing/include/sensing/internal/sensing.h

@@ -8,6 +8,7 @@
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/sensing/sensing.h>
 #include <zephyr/dsp/types.h>
+#include <zephyr/sys/mutex.h>
 
 #define __SENSING_POOL_MASK_BUNDLE_COUNT                                                           \
 	(DIV_ROUND_UP(DIV_ROUND_UP(CONFIG_SENSING_MAX_CONNECTIONS, 8), sizeof(uint32_t)))
@@ -17,20 +18,27 @@ struct sensing_connection {
 	const struct sensing_callback_list *cb_list;
 	q31_t attributes[SENSOR_ATTR_COMMON_COUNT];
 	uint32_t attribute_mask;
-	struct {
-		uint8_t in_use: 1;
-		uint8_t reserved: 7;
-	} flags;
 } __packed __aligned(4);
 
 extern struct sensing_connection_pool {
 	struct sensing_connection pool[CONFIG_SENSING_MAX_CONNECTIONS];
 	sys_bitarray_t *bitarray;
-	struct k_mutex *lock;
+	struct sys_mutex *lock;
 } __sensing_connection_pool;
 
 BUILD_ASSERT(SENSOR_ATTR_COMMON_COUNT <= 32, "Too many sensor attributes");
 
+static inline bool __sensing_is_connected(const struct sensing_sensor_info *info,
+					  const struct sensing_connection *connection)
+{
+	int is_set;
+	int connection_index = connection - __sensing_connection_pool.pool;
+	int rc = sys_bitarray_test_bit(__sensing_connection_pool.bitarray, connection_index,
+				       &is_set);
+
+	return rc == 0 && is_set != 0 && (info == NULL || connection->info == info);
+}
+
 void __sensing_arbitrate();
 
 #endif // ZEPHYR_SUBSYS_SENSING_INCLUDE_SENSING_INTERNAL_SENSING_H

subsys/sensing/src/sensor_arbitrate.c

@@ -52,24 +52,22 @@ static int arbitrate_sensor_attribute(const struct sensing_sensor_info *info,
 	q31_t value;
 
 	for (int i = 0; i < CONFIG_SENSING_MAX_CONNECTIONS; ++i) {
-		if (connections[i].info != info || !connections[i].flags.in_use) {
-//			LOG_DBG("Skipping connection %p, info mismatch", (void*)&connections[i]);
+		if (!__sensing_is_connected(info, &connections[i])) {
 			continue;
 		}
 		if (FIELD_GET(BIT(attribute), connections[i].attribute_mask) == 0) {
-//			LOG_DBG("Skipping connection %p, attribute not set", (void*)&connections[i]);
 			continue;
 		}
 		if (connection_count == 0) {
 			/* First connection */
 			value = connections[i].attributes[attribute];
 			LOG_DBG("Arbitrating '%s'@%p type=%d attribute=%d", info->info->dev->name,
 				info->info->dev, info->type, attribute);
-			LOG_DBG("    First connection %p, value=0x%08x", (void*)&connections[i], value);
+			LOG_DBG("    First connection %d/%p, value=0x%08x", i, (void*)&connections[i], value);
 		} else {
 			value = arbitrate_attribute_value(attribute, value,
 							  connections[i].attributes[attribute]);
-			LOG_DBG("    Updating         %p, value=0x%08x", (void*)&connections[i], value);
+			LOG_DBG("    Updating         %d/%p, value=0x%08x", i, (void*)&connections[i], value);
 		}
 		connection_count++;
 	}
@@ -83,9 +81,12 @@ static int arbitrate_sensor_attribute(const struct sensing_sensor_info *info,
 
 static void arbitrate_sensor_instance(const struct sensing_sensor_info *info)
 {
+	int count = 0;
+
 	for (int i = 0; i < SENSOR_ATTR_COMMON_COUNT; ++i) {
-		arbitrate_sensor_attribute(info, i);
+		count += arbitrate_sensor_attribute(info, i);
 	}
+	LOG_DBG("Arbitrated %p with %d connections", (void*)info, count);
 }
 
 void __sensing_arbitrate(void)

subsys/sensing/src/sensor_connections.c

@@ -15,22 +15,22 @@ LOG_MODULE_REGISTER(sensing_connect, CONFIG_SENSING_LOG_LEVEL);
 	__ASSERT_NO_MSG((uintptr_t)name < (uintptr_t)__sensing_connection_pool.pool +              \
 						  sizeof(__sensing_connection_pool.pool));
 
-K_MUTEX_DEFINE(connection_lock);
+SENSING_DMEM SYS_MUTEX_DEFINE(connection_lock);
 
-static uint32_t bitarray_bundles[__SENSING_POOL_MASK_BUNDLE_COUNT];
-static sys_bitarray_t bitarray = {
+SENSING_DMEM static uint32_t bitarray_bundles[__SENSING_POOL_MASK_BUNDLE_COUNT] = {0};
+SENSING_DMEM static sys_bitarray_t bitarray = {
 	.num_bits = CONFIG_SENSING_MAX_CONNECTIONS,
 	.num_bundles = __SENSING_POOL_MASK_BUNDLE_COUNT,
 	.bundles = bitarray_bundles,
 };
 
-struct sensing_connection_pool __sensing_connection_pool = {
+SENSING_DMEM struct sensing_connection_pool __sensing_connection_pool = {
 	.bitarray = &bitarray,
 	.lock = &connection_lock,
 };
 
-#define __lock   k_mutex_lock(__sensing_connection_pool.lock, K_FOREVER)
-#define __unlock k_mutex_unlock(__sensing_connection_pool.lock)
+#define __lock   sys_mutex_lock(__sensing_connection_pool.lock, K_FOREVER)
+#define __unlock sys_mutex_unlock(__sensing_connection_pool.lock)
 
 int sensing_open_sensor(const struct sensing_sensor_info *info,
 			const struct sensing_callback_list *cb_list,
@@ -53,10 +53,9 @@ int sensing_open_sensor(const struct sensing_sensor_info *info,
 
 	connection = &__sensing_connection_pool.pool[offset];
 
-	__ASSERT_NO_MSG(!connection->flags.in_use);
 	LOG_DBG("Connection opened @ %p (size=%d) for info @ %p", connection,
 		(int)sizeof(struct sensing_connection), info);
-	connection->flags.in_use = true;
+	memset(connection, 0, sizeof(struct sensing_connection));
 	connection->info = info;
 	connection->cb_list = cb_list;
 	*handle = connection;
@@ -67,21 +66,19 @@ int sensing_open_sensor(const struct sensing_sensor_info *info,
 int sensing_close_sensor(sensing_sensor_handle_t handle)
 {
 	__HANDLE_TO_CONNECTION(connection, handle);
-
-	if (!connection->flags.in_use) {
-		return -EINVAL;
-	}
-	connection->flags.in_use = false;
+	int rc = -EINVAL;
 
 	__lock;
-	LOG_DBG("Releasing connection at %p", handle);
-	int rc = sys_bitarray_free(__sensing_connection_pool.bitarray, 1,
-				   connection - __sensing_connection_pool.pool);
-
-	if (rc != 0) {
-		connection->flags.in_use = true;
-	} else {
-		__sensing_arbitrate();
+	if (__sensing_is_connected(NULL, connection)) {
+		LOG_DBG("Releasing connection at %p/%d", handle,
+			connection - __sensing_connection_pool.pool);
+		rc = sys_bitarray_free(__sensing_connection_pool.bitarray, 1,
+				       connection - __sensing_connection_pool.pool);
+		if (rc == 0) {
+			__sensing_arbitrate();
+		} else {
+			LOG_WRN("Failed to release connection");
+		}
 	}
 	__unlock;
 	return rc;

subsys/sensing/src/shell.c

@@ -205,7 +205,6 @@ static int parse_sensor_value(const struct shell *sh, const char *val_str, q31_t
 	micro_value += value;
 end:
 	*q = ((micro_value * (INT64_C(1) << 31)) / 1000000) >> *shift;
-	shell_info(sh, "micro_value=%" PRIi64, micro_value);
 	*shift += 1;
 	return 0;
 }
@@ -240,7 +239,6 @@ static int cmd_config(const struct shell *sh, size_t argc, char **argv)
 		return -EINVAL;
 	}
 
-	shell_info(sh, "Configuring q=0x%08x, shift=%d", config.value, config.shift);
 	rc = sensing_set_attributes(open_connections[connection_index].handle, &config, 1);
 	if (rc != 0) {
 		shell_error(sh, "Failed to set attribute '%s' to '%s'", argv[2], argv[3]);

subsys/sensing/src/userspace.c

@@ -0,0 +1,22 @@
+//
+// Created by peress on 29/06/23.
+//
+
+#include <zephyr/rtio/rtio.h>
+#include <zephyr/sensing/sensing.h>
+#include <zephyr/app_memory/app_memdomain.h>
+
+K_APPMEM_PARTITION_DEFINE(sensing_mem_partition);
+
+static int sensing_mem_init(void)
+{
+	int rc;
+
+	rc = k_mem_domain_add_partition(&k_mem_domain_default, &sensing_mem_partition);
+	if (rc != 0) {
+		return rc;
+	}
+	return k_mem_domain_add_partition(&k_mem_domain_default, &rtio_partition);
+}
+
+SYS_INIT(sensing_mem_init, POST_KERNEL, 99);