drivers: sensors: bmi270: Add CRT support to sensor_attr_get

Fixes: #62514 This change allows using sensor_attr_get with SENSOR_ATTR_CALIBRATION to retrieve the compensated user-gain updated data of gyroscope. Also, it allows checking if CRT has ever been performed. Signed-off-by: Pedro Machado <[email protected]>
zephyrproject-rtos · Oct 1, 2023 · 1856833 · 1856833
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diff --git a/drivers/sensor/bmi270/bmi270.c b/drivers/sensor/bmi270/bmi270.c
@@ -654,6 +654,35 @@ static int bmi270_attr_set(const struct device *dev, enum sensor_channel chan,
 	return ret;
 }
 
+static int bmi270_attr_get(const struct device *dev, enum sensor_channel chan,
+			   enum sensor_attribute attr, struct sensor_value *val)
+{
+	int ret = -ENOTSUP;
+
+	if ((chan == SENSOR_CHAN_ACCEL_X) || (chan == SENSOR_CHAN_ACCEL_Y)
+	    || (chan == SENSOR_CHAN_ACCEL_Z)
+	    || (chan == SENSOR_CHAN_ACCEL_XYZ)) {
+		switch (attr) {
+		default:
+			ret = -ENOTSUP;
+		}
+	} else if ((chan == SENSOR_CHAN_GYRO_X) || (chan == SENSOR_CHAN_GYRO_Y)
+		   || (chan == SENSOR_CHAN_GYRO_Z)
+		   || (chan == SENSOR_CHAN_GYRO_XYZ)) {
+		switch (attr) {
+#ifdef CONFIG_BMI270_CRT
+		case SENSOR_ATTR_CALIBRATION:
+			ret = bmi270_get_gyro_user_gain(dev, val);
+			break;
+#endif /* CONFIG_BMI270_CRT */
+		default:
+			ret = -ENOTSUP;
+		}
+	}
+
+	return ret;
+}
+
 /**
  * @brief This function resets bmi2 sensor.
  * All registers are overwritten with their default values.
@@ -798,6 +827,7 @@ static const struct sensor_driver_api bmi270_driver_api = {
 	.sample_fetch = bmi270_sample_fetch,
 	.channel_get = bmi270_channel_get,
 	.attr_set = bmi270_attr_set,
+	.attr_get = bmi270_attr_get,
 #if defined(CONFIG_BMI270_TRIGGER)
 	.trigger_set = bmi270_trigger_set,
 #endif

diff --git a/drivers/sensor/bmi270/bmi270.h b/drivers/sensor/bmi270/bmi270.h
@@ -472,6 +472,24 @@ int bmi270_nvm_prog(const struct device *dev);
  * @retval < 0 -> Fail
  */
 int bmi270_set_gyro_gain(const struct device *dev, const struct sensor_value *status);
+
+/**
+ * @brief This public method gets the compensated user-gain data of gyroscope
+ * converted into sensor_value type
+ *
+ * @param[in] dev : Structure instance of bmi270 device
+ * @param[in] gain : Compensated user-gain data of gyroscope
+ *                   converted into sensor_value type.
+ *                   sensor_value.val1 & 0xFF: x-axis
+ *                   (sensor_value.val1 >> 8) & 0xFF: y-axis
+ *                   (sensor_value.val1 >> 16) & 0xFF: z-axis
+ *
+ * @return Result of get compensated user-gain data of gyro
+ * @retval 0 -> Success
+ * @retval -EAGAIN -> CRT has not been performed yet.
+ * @retval < 0 -> Fail
+ */
+int bmi270_get_gyro_user_gain(const struct device *dev, struct sensor_value *gain);
 #endif /* CONFIG_BMI270_CRT */
 
 #endif /* ZEPHYR_DRIVERS_SENSOR_BMI270_BMI270_H_ */
diff --git a/drivers/sensor/bmi270/bmi270_crt.c b/drivers/sensor/bmi270/bmi270_crt.c
@@ -389,6 +389,54 @@ static int bmi270_read_gyro_user_gain(const struct device *dev,
 	return ret;
 }
 
+/**
+ * @brief This public method gets the compensated user-gain data of gyroscope
+ * converted into sensor_value type
+ *
+ * @param[in] dev : Structure instance of bmi270 device
+ * @param[in] gain : Compensated user-gain data of gyroscope
+ *                   converted into sensor_value type.
+ *                   sensor_value.val1 & 0xFF: x-axis
+ *                   (sensor_value.val1 >> 8) & 0xFF: y-axis
+ *                   (sensor_value.val1 >> 16) & 0xFF: z-axis
+ *
+ * @return Result of get compensated user-gain data of gyro
+ * @retval 0 -> Success
+ * @retval -EAGAIN -> CRT has not been performed yet.
+ * @retval < 0 -> Fail
+ */
+int bmi270_get_gyro_user_gain(const struct device *dev, struct sensor_value *gain)
+{
+	int ret;
+	struct bmi2_gyro_user_gain_data gyr_usr_gain = {0};
+
+	/* Read user-gain data of gyroscope */
+	ret = bmi270_read_gyro_user_gain(dev, &gyr_usr_gain);
+	if (ret != 0) {
+		LOG_ERR("Failed in bmi270_read_gyro_user_gain: Error code %d", ret);
+		return ret;
+	}
+
+	/* Unchanged user-gain data means CRT has not been performed yet */
+	if ((gyr_usr_gain.x == 0) && (gyr_usr_gain.y == 0) && (gyr_usr_gain.z == 0)) {
+		LOG_ERR("CRT has not yet been performed");
+		return -EAGAIN;
+	}
+
+	/* Clean sensor value */
+	gain->val1 = 0;
+	gain->val2 = 0;
+
+	/* Convert compensated user-gain data
+	 * into sensor_value type
+	 */
+	gain->val1 |= gyr_usr_gain.x;
+	gain->val1 |= (uint32_t)gyr_usr_gain.y << 8;
+	gain->val1 |= (uint32_t)gyr_usr_gain.z << 16;
+
+	return ret;
+}
+
 /**
  * @brief Method to prepare the setup for crt processing
  *