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Primary Git Repository for the Zephyr Project. Zephyr is a new generation, scalable, optimized, secure RTOS for multiple hardware architectures.
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zephyr/drivers/sensor/sensor_shell.c

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/*
* Copyright (c) 2018 Diego Sueiro
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <ctype.h>
#include <stdlib.h>
#include <string.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/kernel.h>
#include <zephyr/rtio/rtio.h>
#include <zephyr/shell/shell.h>
#include <zephyr/sys/iterable_sections.h>
#include <zephyr/sys/util.h>
#include "sensor_shell.h"
LOG_MODULE_REGISTER(sensor_shell, CONFIG_SENSOR_LOG_LEVEL);
#define SENSOR_GET_HELP \
"Get sensor data. Channel names are optional. All channels are read " \
"when no channels are provided. Syntax:\n" \
"<device_name> <channel name 0> .. <channel name N>"
#define SENSOR_STREAM_HELP \
"Start/stop streaming sensor data. Data ready trigger will be used if no triggers " \
"are provided. Syntax:\n" \
"<device_name> on|off <trigger name> incl|drop|nop"
#define SENSOR_ATTR_GET_HELP \
"Get the sensor's channel attribute. Syntax:\n" \
"<device_name> [<channel_name 0> <attribute_name 0> .. " \
"<channel_name N> <attribute_name N>]"
#define SENSOR_ATTR_SET_HELP \
"Set the sensor's channel attribute.\n" \
"<device_name> <channel_name> <attribute_name> <value>"
#define SENSOR_INFO_HELP "Get sensor info, such as vendor and model name, for all sensors."
#define SENSOR_TRIG_HELP \
"Get or set the trigger type on a sensor. Currently only supports `data_ready`.\n" \
"<device_name> <on/off> <trigger_name>"
static const char *sensor_channel_name[SENSOR_CHAN_COMMON_COUNT] = {
[SENSOR_CHAN_ACCEL_X] = "accel_x",
[SENSOR_CHAN_ACCEL_Y] = "accel_y",
[SENSOR_CHAN_ACCEL_Z] = "accel_z",
[SENSOR_CHAN_ACCEL_XYZ] = "accel_xyz",
[SENSOR_CHAN_GYRO_X] = "gyro_x",
[SENSOR_CHAN_GYRO_Y] = "gyro_y",
[SENSOR_CHAN_GYRO_Z] = "gyro_z",
[SENSOR_CHAN_GYRO_XYZ] = "gyro_xyz",
[SENSOR_CHAN_MAGN_X] = "magn_x",
[SENSOR_CHAN_MAGN_Y] = "magn_y",
[SENSOR_CHAN_MAGN_Z] = "magn_z",
[SENSOR_CHAN_MAGN_XYZ] = "magn_xyz",
[SENSOR_CHAN_DIE_TEMP] = "die_temp",
[SENSOR_CHAN_AMBIENT_TEMP] = "ambient_temp",
[SENSOR_CHAN_PRESS] = "press",
[SENSOR_CHAN_PROX] = "prox",
[SENSOR_CHAN_HUMIDITY] = "humidity",
[SENSOR_CHAN_LIGHT] = "light",
[SENSOR_CHAN_IR] = "ir",
[SENSOR_CHAN_RED] = "red",
[SENSOR_CHAN_GREEN] = "green",
[SENSOR_CHAN_BLUE] = "blue",
[SENSOR_CHAN_ALTITUDE] = "altitude",
[SENSOR_CHAN_PM_1_0] = "pm_1_0",
[SENSOR_CHAN_PM_2_5] = "pm_2_5",
[SENSOR_CHAN_PM_10] = "pm_10",
[SENSOR_CHAN_DISTANCE] = "distance",
[SENSOR_CHAN_CO2] = "co2",
[SENSOR_CHAN_O2] = "o2",
[SENSOR_CHAN_VOC] = "voc",
[SENSOR_CHAN_GAS_RES] = "gas_resistance",
[SENSOR_CHAN_VOLTAGE] = "voltage",
[SENSOR_CHAN_VSHUNT] = "vshunt",
[SENSOR_CHAN_CURRENT] = "current",
[SENSOR_CHAN_POWER] = "power",
[SENSOR_CHAN_RESISTANCE] = "resistance",
[SENSOR_CHAN_ROTATION] = "rotation",
[SENSOR_CHAN_POS_DX] = "pos_dx",
[SENSOR_CHAN_POS_DY] = "pos_dy",
[SENSOR_CHAN_POS_DZ] = "pos_dz",
[SENSOR_CHAN_POS_DXYZ] = "pos_dxyz",
[SENSOR_CHAN_RPM] = "rpm",
[SENSOR_CHAN_GAUGE_VOLTAGE] = "gauge_voltage",
[SENSOR_CHAN_GAUGE_AVG_CURRENT] = "gauge_avg_current",
[SENSOR_CHAN_GAUGE_STDBY_CURRENT] = "gauge_stdby_current",
[SENSOR_CHAN_GAUGE_MAX_LOAD_CURRENT] = "gauge_max_load_current",
[SENSOR_CHAN_GAUGE_TEMP] = "gauge_temp",
[SENSOR_CHAN_GAUGE_STATE_OF_CHARGE] = "gauge_state_of_charge",
[SENSOR_CHAN_GAUGE_FULL_CHARGE_CAPACITY] = "gauge_full_cap",
[SENSOR_CHAN_GAUGE_REMAINING_CHARGE_CAPACITY] = "gauge_remaining_cap",
[SENSOR_CHAN_GAUGE_NOM_AVAIL_CAPACITY] = "gauge_nominal_cap",
[SENSOR_CHAN_GAUGE_FULL_AVAIL_CAPACITY] = "gauge_full_avail_cap",
[SENSOR_CHAN_GAUGE_AVG_POWER] = "gauge_avg_power",
[SENSOR_CHAN_GAUGE_STATE_OF_HEALTH] = "gauge_state_of_health",
[SENSOR_CHAN_GAUGE_TIME_TO_EMPTY] = "gauge_time_to_empty",
[SENSOR_CHAN_GAUGE_TIME_TO_FULL] = "gauge_time_to_full",
[SENSOR_CHAN_GAUGE_CYCLE_COUNT] = "gauge_cycle_count",
[SENSOR_CHAN_GAUGE_DESIGN_VOLTAGE] = "gauge_design_voltage",
[SENSOR_CHAN_GAUGE_DESIRED_VOLTAGE] = "gauge_desired_voltage",
[SENSOR_CHAN_GAUGE_DESIRED_CHARGING_CURRENT] = "gauge_desired_charging_current",
[SENSOR_CHAN_ALL] = "all",
};
static const char *sensor_attribute_name[SENSOR_ATTR_COMMON_COUNT] = {
[SENSOR_ATTR_SAMPLING_FREQUENCY] = "sampling_frequency",
[SENSOR_ATTR_LOWER_THRESH] = "lower_thresh",
[SENSOR_ATTR_UPPER_THRESH] = "upper_thresh",
[SENSOR_ATTR_SLOPE_TH] = "slope_th",
[SENSOR_ATTR_SLOPE_DUR] = "slope_dur",
[SENSOR_ATTR_HYSTERESIS] = "hysteresis",
[SENSOR_ATTR_OVERSAMPLING] = "oversampling",
[SENSOR_ATTR_FULL_SCALE] = "full_scale",
[SENSOR_ATTR_OFFSET] = "offset",
[SENSOR_ATTR_CALIB_TARGET] = "calib_target",
[SENSOR_ATTR_CONFIGURATION] = "configuration",
[SENSOR_ATTR_CALIBRATION] = "calibration",
[SENSOR_ATTR_FEATURE_MASK] = "feature_mask",
[SENSOR_ATTR_ALERT] = "alert",
[SENSOR_ATTR_FF_DUR] = "ff_dur",
[SENSOR_ATTR_BATCH_DURATION] = "batch_dur",
};
enum sample_stats_state {
SAMPLE_STATS_STATE_UNINITIALIZED = 0,
SAMPLE_STATS_STATE_ENABLED,
SAMPLE_STATS_STATE_DISABLED,
};
struct sample_stats {
int64_t accumulator;
uint64_t sample_window_start;
uint32_t count;
enum sample_stats_state state;
};
static struct sample_stats sensor_stats[CONFIG_SENSOR_SHELL_MAX_TRIGGER_DEVICES][SENSOR_CHAN_ALL];
static const struct device *sensor_trigger_devices[CONFIG_SENSOR_SHELL_MAX_TRIGGER_DEVICES];
static bool device_is_sensor(const struct device *dev)
{
#ifdef CONFIG_SENSOR_INFO
STRUCT_SECTION_FOREACH(sensor_info, sensor) {
if (sensor->dev == dev) {
return true;
}
}
return false;
#else
return true;
#endif /* CONFIG_SENSOR_INFO */
}
static int find_sensor_trigger_device(const struct device *sensor)
{
for (int i = 0; i < CONFIG_SENSOR_SHELL_MAX_TRIGGER_DEVICES; i++) {
if (sensor_trigger_devices[i] == sensor) {
return i;
}
}
return -1;
}
static bool sensor_device_check(const struct device *dev)
{
return DEVICE_API_IS(sensor, dev);
}
/* Forward declaration */
static void data_ready_trigger_handler(const struct device *sensor,
const struct sensor_trigger *trigger);
#define TRIGGER_DATA_ENTRY(trig_enum, str_name, handler_func) \
[(trig_enum)] = {.name = #str_name, \
.handler = (handler_func), \
.trigger = {.chan = SENSOR_CHAN_ALL, .type = (trig_enum)}}
/**
* @brief This table stores a mapping of string trigger names along with the sensor_trigger struct
* that gets passed to the driver to enable that trigger, plus a function pointer to a handler. If
* that pointer is NULL, this indicates there is not currently support for that trigger type in the
* sensor shell.
*/
static const struct {
const char *name;
sensor_trigger_handler_t handler;
struct sensor_trigger trigger;
} sensor_trigger_table[SENSOR_TRIG_COMMON_COUNT] = {
TRIGGER_DATA_ENTRY(SENSOR_TRIG_TIMER, timer, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_DATA_READY, data_ready, data_ready_trigger_handler),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_DELTA, delta, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_NEAR_FAR, near_far, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_THRESHOLD, threshold, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_TAP, tap, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_DOUBLE_TAP, double_tap, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_FREEFALL, freefall, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_MOTION, motion, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_STATIONARY, stationary, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_FIFO_WATERMARK, fifo_wm, NULL),
TRIGGER_DATA_ENTRY(SENSOR_TRIG_FIFO_FULL, fifo_full, NULL),
};
/**
* Lookup the sensor trigger data by name
*
* @param name The name of the trigger
* @return < 0 on error
* @return >= 0 if found
*/
static int sensor_trigger_name_lookup(const char *name)
{
for (int i = 0; i < ARRAY_SIZE(sensor_trigger_table); ++i) {
if (strcmp(name, sensor_trigger_table[i].name) == 0) {
return i;
}
}
return -1;
}
enum dynamic_command_context {
NONE,
CTX_GET,
CTX_ATTR_GET_SET,
CTX_STREAM_ON_OFF,
};
static enum dynamic_command_context current_cmd_ctx = NONE;
/* Mutex for accessing shared RTIO/IODEV data structures */
K_MUTEX_DEFINE(cmd_get_mutex);
/* Crate a single common config for one-shot reading */
static struct sensor_chan_spec iodev_sensor_shell_channels[SENSOR_CHAN_ALL];
static struct sensor_read_config iodev_sensor_shell_read_config = {
.sensor = NULL,
.is_streaming = false,
.channels = iodev_sensor_shell_channels,
.count = 0,
.max = ARRAY_SIZE(iodev_sensor_shell_channels),
};
RTIO_IODEV_DEFINE(iodev_sensor_shell_read, &__sensor_iodev_api, &iodev_sensor_shell_read_config);
/* Create the RTIO context to service the reading */
RTIO_DEFINE_WITH_MEMPOOL(sensor_read_rtio, 8, 8, 32, 64, 4);
static int parse_named_int(const char *name, const char *heystack[], size_t count)
{
char *endptr;
int i;
/* Attempt to parse channel name as a number first */
i = strtoul(name, &endptr, 0);
if (*endptr == '\0') {
return i;
}
/* Channel name is not a number, look it up */
for (i = 0; i < count; i++) {
if (strcmp(name, heystack[i]) == 0) {
return i;
}
}
return -ENOTSUP;
}
static int parse_sensor_value(const char *val_str, struct sensor_value *out)
{
const bool is_negative = val_str[0] == '-';
const char *decimal_pos = strchr(val_str, '.');
long value;
char *endptr;
/* Parse int portion */
value = strtol(val_str, &endptr, 0);
if (*endptr != '\0' && *endptr != '.') {
return -EINVAL;
}
if (value > INT32_MAX || value < INT32_MIN) {
return -EINVAL;
}
out->val1 = (int32_t)value;
if (decimal_pos == NULL) {
return 0;
}
/* Parse the decimal portion */
value = strtoul(decimal_pos + 1, &endptr, 0);
if (*endptr != '\0') {
return -EINVAL;
}
while (value < 100000) {
value *= 10;
}
if (value > INT32_C(999999)) {
return -EINVAL;
}
out->val2 = (int32_t)value;
if (is_negative) {
out->val2 *= -1;
}
return 0;
}
void sensor_shell_processing_callback(int result, uint8_t *buf, uint32_t buf_len, void *userdata)
{
struct sensor_shell_processing_context *ctx = userdata;
const struct sensor_decoder_api *decoder;
uint8_t decoded_buffer[128];
struct {
uint64_t base_timestamp_ns;
int count;
uint64_t timestamp_delta;
int64_t values[3];
int8_t shift;
} accumulator_buffer;
int rc;
ARG_UNUSED(buf_len);
if (result < 0) {
shell_error(ctx->sh, "Read failed");
return;
}
rc = sensor_get_decoder(ctx->dev, &decoder);
if (rc != 0) {
shell_error(ctx->sh, "Failed to get decoder for '%s'", ctx->dev->name);
return;
}
for (int trigger = 0; decoder->has_trigger != NULL && trigger < SENSOR_TRIG_COMMON_COUNT;
++trigger) {
if (!decoder->has_trigger(buf, trigger)) {
continue;
}
shell_info(ctx->sh, "Trigger (%d / %s) detected", trigger,
(sensor_trigger_table[trigger].name == NULL
? "UNKNOWN"
: sensor_trigger_table[trigger].name));
}
for (struct sensor_chan_spec ch = {0, 0}; ch.chan_type < SENSOR_CHAN_ALL; ch.chan_type++) {
uint32_t fit = 0;
size_t base_size;
size_t frame_size;
uint16_t frame_count;
/* Channels with multi-axis equivalents are skipped */
switch (ch.chan_type) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_POS_DX:
case SENSOR_CHAN_POS_DY:
case SENSOR_CHAN_POS_DZ:
continue;
}
rc = decoder->get_size_info(ch, &base_size, &frame_size);
if (rc != 0) {
LOG_DBG("skipping unsupported channel %s:%d",
sensor_channel_name[ch.chan_type], ch.chan_idx);
/* Channel not supported, skipping */
continue;
}
if (base_size > ARRAY_SIZE(decoded_buffer)) {
shell_error(ctx->sh,
"Channel (type %d, idx %d) requires %zu bytes to decode, but "
"only %zu are available",
ch.chan_type, ch.chan_idx, base_size,
ARRAY_SIZE(decoded_buffer));
continue;
}
while (decoder->get_frame_count(buf, ch, &frame_count) == 0) {
LOG_DBG("decoding %d frames from channel %s:%d",
frame_count, sensor_channel_name[ch.chan_type], ch.chan_idx);
fit = 0;
memset(&accumulator_buffer, 0, sizeof(accumulator_buffer));
while (decoder->decode(buf, ch, &fit, 1, decoded_buffer) > 0) {
switch (ch.chan_type) {
case SENSOR_CHAN_ACCEL_XYZ:
case SENSOR_CHAN_GYRO_XYZ:
case SENSOR_CHAN_MAGN_XYZ:
case SENSOR_CHAN_POS_DXYZ: {
struct sensor_three_axis_data *data =
(struct sensor_three_axis_data *)decoded_buffer;
if (accumulator_buffer.count == 0) {
accumulator_buffer.base_timestamp_ns =
data->header.base_timestamp_ns;
}
accumulator_buffer.count++;
accumulator_buffer.shift = data->shift;
accumulator_buffer.timestamp_delta +=
data->readings[0].timestamp_delta;
accumulator_buffer.values[0] += data->readings[0].values[0];
accumulator_buffer.values[1] += data->readings[0].values[1];
accumulator_buffer.values[2] += data->readings[0].values[2];
break;
}
case SENSOR_CHAN_PROX: {
struct sensor_byte_data *data =
(struct sensor_byte_data *)decoded_buffer;
if (accumulator_buffer.count == 0) {
accumulator_buffer.base_timestamp_ns =
data->header.base_timestamp_ns;
}
accumulator_buffer.count++;
accumulator_buffer.timestamp_delta +=
data->readings[0].timestamp_delta;
accumulator_buffer.values[0] += data->readings[0].is_near;
break;
}
default: {
struct sensor_q31_data *data =
(struct sensor_q31_data *)decoded_buffer;
if (accumulator_buffer.count == 0) {
accumulator_buffer.base_timestamp_ns =
data->header.base_timestamp_ns;
}
accumulator_buffer.count++;
accumulator_buffer.shift = data->shift;
accumulator_buffer.timestamp_delta +=
data->readings[0].timestamp_delta;
accumulator_buffer.values[0] += data->readings[0].value;
break;
}
}
}
/* Print the accumulated value average */
switch (ch.chan_type) {
case SENSOR_CHAN_ACCEL_XYZ:
case SENSOR_CHAN_GYRO_XYZ:
case SENSOR_CHAN_MAGN_XYZ:
case SENSOR_CHAN_POS_DXYZ: {
struct sensor_three_axis_data *data =
(struct sensor_three_axis_data *)decoded_buffer;
data->header.base_timestamp_ns =
accumulator_buffer.base_timestamp_ns;
data->header.reading_count = 1;
data->shift = accumulator_buffer.shift;
data->readings[0].timestamp_delta =
(uint32_t)(accumulator_buffer.timestamp_delta /
accumulator_buffer.count);
data->readings[0].values[0] = (q31_t)(accumulator_buffer.values[0] /
accumulator_buffer.count);
data->readings[0].values[1] = (q31_t)(accumulator_buffer.values[1] /
accumulator_buffer.count);
data->readings[0].values[2] = (q31_t)(accumulator_buffer.values[2] /
accumulator_buffer.count);
shell_info(ctx->sh,
"channel type=%d(%s) index=%d shift=%d num_samples=%d "
"value=%" PRIsensor_three_axis_data,
ch.chan_type, sensor_channel_name[ch.chan_type],
ch.chan_idx, data->shift, accumulator_buffer.count,
PRIsensor_three_axis_data_arg(*data, 0));
break;
}
case SENSOR_CHAN_PROX: {
struct sensor_byte_data *data =
(struct sensor_byte_data *)decoded_buffer;
data->header.base_timestamp_ns =
accumulator_buffer.base_timestamp_ns;
data->header.reading_count = 1;
data->readings[0].timestamp_delta =
(uint32_t)(accumulator_buffer.timestamp_delta /
accumulator_buffer.count);
data->readings[0].is_near =
accumulator_buffer.values[0] / accumulator_buffer.count;
shell_info(ctx->sh,
"channel type=%d(%s) index=%d num_samples=%d "
"value=%" PRIsensor_byte_data(is_near),
ch.chan_type, sensor_channel_name[ch.chan_type],
ch.chan_idx, accumulator_buffer.count,
PRIsensor_byte_data_arg(*data, 0, is_near));
break;
}
default: {
struct sensor_q31_data *data =
(struct sensor_q31_data *)decoded_buffer;
data->header.base_timestamp_ns =
accumulator_buffer.base_timestamp_ns;
data->header.reading_count = 1;
data->shift = accumulator_buffer.shift;
data->readings[0].timestamp_delta =
(uint32_t)(accumulator_buffer.timestamp_delta /
accumulator_buffer.count);
data->readings[0].value = (q31_t)(accumulator_buffer.values[0] /
accumulator_buffer.count);
shell_info(ctx->sh,
"channel type=%d(%s) index=%d shift=%d num_samples=%d "
"value=%" PRIsensor_q31_data,
ch.chan_type,
(ch.chan_type >= ARRAY_SIZE(sensor_channel_name))
? ""
: sensor_channel_name[ch.chan_type],
ch.chan_idx,
data->shift, accumulator_buffer.count,
PRIsensor_q31_data_arg(*data, 0));
}
}
++ch.chan_idx;
}
ch.chan_idx = 0;
}
}
static int cmd_get_sensor(const struct shell *sh, size_t argc, char *argv[])
{
static struct sensor_shell_processing_context ctx;
const struct device *dev;
int count = 0;
int err;
err = k_mutex_lock(&cmd_get_mutex, K_NO_WAIT);
if (err < 0) {
shell_error(sh, "Another sensor reading in progress");
return err;
}
dev = shell_device_get_binding(argv[1]);
if (dev == NULL || !sensor_device_check(dev)) {
shell_error(sh, "Sensor device unknown (%s)", argv[1]);
k_mutex_unlock(&cmd_get_mutex);
return -ENODEV;
}
if (!device_is_sensor(dev)) {
shell_error(sh, "Device is not a sensor (%s)", argv[1]);
k_mutex_unlock(&cmd_get_mutex);
return -ENODEV;
}
if (argc == 2) {
/* read all channel types */
for (int i = 0; i < ARRAY_SIZE(iodev_sensor_shell_channels); ++i) {
if (SENSOR_CHANNEL_3_AXIS(i)) {
continue;
}
iodev_sensor_shell_channels[count++] = (struct sensor_chan_spec){i, 0};
}
} else {
/* read specific channels */
for (int i = 2; i < argc; ++i) {
int chan = parse_named_int(argv[i], sensor_channel_name,
ARRAY_SIZE(sensor_channel_name));
if (chan < 0) {
shell_error(sh, "Failed to read channel (%s)", argv[i]);
continue;
}
iodev_sensor_shell_channels[count++] =
(struct sensor_chan_spec){chan, 0};
}
}
if (count == 0) {
shell_error(sh, "No channels to read, bailing");
k_mutex_unlock(&cmd_get_mutex);
return -EINVAL;
}
iodev_sensor_shell_read_config.sensor = dev;
iodev_sensor_shell_read_config.count = count;
ctx.dev = dev;
ctx.sh = sh;
err = sensor_read_async_mempool(&iodev_sensor_shell_read, &sensor_read_rtio, &ctx);
if (err < 0) {
shell_error(sh, "Failed to read sensor: %d", err);
}
if (!IS_ENABLED(CONFIG_SENSOR_SHELL_STREAM)) {
/*
* Streaming enables a thread that polls the RTIO context, so if it's enabled, we
* don't need a blocking read here.
*/
sensor_processing_with_callback(&sensor_read_rtio,
sensor_shell_processing_callback);
}
k_mutex_unlock(&cmd_get_mutex);
return 0;
}
static int cmd_sensor_attr_set(const struct shell *shell_ptr, size_t argc, char *argv[])
{
const struct device *dev;
int rc;
dev = shell_device_get_binding(argv[1]);
if (dev == NULL || !sensor_device_check(dev)) {
shell_error(shell_ptr, "Sensor device unknown (%s)", argv[1]);
return -ENODEV;
}
if (!device_is_sensor(dev)) {
shell_error(shell_ptr, "Device is not a sensor (%s)", argv[1]);
k_mutex_unlock(&cmd_get_mutex);
return -ENODEV;
}
for (size_t i = 2; i < argc; i += 3) {
int channel = parse_named_int(argv[i], sensor_channel_name,
ARRAY_SIZE(sensor_channel_name));
int attr = parse_named_int(argv[i + 1], sensor_attribute_name,
ARRAY_SIZE(sensor_attribute_name));
struct sensor_value value = {0};
if (channel < 0) {
shell_error(shell_ptr, "Channel '%s' unknown", argv[i]);
return -EINVAL;
}
if (attr < 0) {
shell_error(shell_ptr, "Attribute '%s' unknown", argv[i + 1]);
return -EINVAL;
}
if (parse_sensor_value(argv[i + 2], &value)) {
shell_error(shell_ptr, "Sensor value '%s' invalid", argv[i + 2]);
return -EINVAL;
}
rc = sensor_attr_set(dev, channel, attr, &value);
if (rc) {
shell_error(shell_ptr, "Failed to set channel(%s) attribute(%s): %d",
sensor_channel_name[channel], sensor_attribute_name[attr], rc);
continue;
}
shell_info(shell_ptr, "%s channel=%s, attr=%s set to value=%s", dev->name,
sensor_channel_name[channel], sensor_attribute_name[attr], argv[i + 2]);
}
return 0;
}
static void cmd_sensor_attr_get_handler(const struct shell *shell_ptr, const struct device *dev,
const char *channel_name, const char *attr_name,
bool print_missing_attribute)
{
int channel =
parse_named_int(channel_name, sensor_channel_name, ARRAY_SIZE(sensor_channel_name));
int attr = parse_named_int(attr_name, sensor_attribute_name,
ARRAY_SIZE(sensor_attribute_name));
struct sensor_value value = {0};
int rc;
if (channel < 0) {
shell_error(shell_ptr, "Channel '%s' unknown", channel_name);
return;
}
if (attr < 0) {
shell_error(shell_ptr, "Attribute '%s' unknown", attr_name);
return;
}
rc = sensor_attr_get(dev, channel, attr, &value);
if (rc != 0) {
if (rc == -EINVAL && !print_missing_attribute) {
return;
}
shell_error(shell_ptr, "Failed to get channel(%s) attribute(%s): %d",
sensor_channel_name[channel], sensor_attribute_name[attr], rc);
return;
}
shell_info(shell_ptr, "%s(channel=%s, attr=%s) value=%.6f", dev->name,
sensor_channel_name[channel], sensor_attribute_name[attr],
sensor_value_to_double(&value));
}
static int cmd_sensor_attr_get(const struct shell *shell_ptr, size_t argc, char *argv[])
{
const struct device *dev;
dev = shell_device_get_binding(argv[1]);
if (dev == NULL || !sensor_device_check(dev)) {
shell_error(shell_ptr, "Sensor device unknown (%s)", argv[1]);
return -ENODEV;
}
if (!device_is_sensor(dev)) {
shell_error(shell_ptr, "Device is not a sensor (%s)", argv[1]);
k_mutex_unlock(&cmd_get_mutex);
return -ENODEV;
}
if (argc > 2) {
for (size_t i = 2; i < argc; i += 2) {
cmd_sensor_attr_get_handler(shell_ptr, dev, argv[i], argv[i + 1],
/*print_missing_attribute=*/true);
}
} else {
for (size_t channel_idx = 0; channel_idx < ARRAY_SIZE(sensor_channel_name);
++channel_idx) {
for (size_t attr_idx = 0; attr_idx < ARRAY_SIZE(sensor_attribute_name);
++attr_idx) {
cmd_sensor_attr_get_handler(shell_ptr, dev,
sensor_channel_name[channel_idx],
sensor_attribute_name[attr_idx],
/*print_missing_attribute=*/false);
}
}
}
return 0;
}
static void channel_name_get(size_t idx, struct shell_static_entry *entry);
SHELL_DYNAMIC_CMD_CREATE(dsub_channel_name, channel_name_get);
static void attribute_name_get(size_t idx, struct shell_static_entry *entry);
SHELL_DYNAMIC_CMD_CREATE(dsub_attribute_name, attribute_name_get);
static void channel_name_get(size_t idx, struct shell_static_entry *entry)
{
int cnt = 0;
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
if (current_cmd_ctx == CTX_GET) {
entry->subcmd = &dsub_channel_name;
} else if (current_cmd_ctx == CTX_ATTR_GET_SET) {
entry->subcmd = &dsub_attribute_name;
} else {
entry->subcmd = NULL;
}
for (int i = 0; i < ARRAY_SIZE(sensor_channel_name); i++) {
if (sensor_channel_name[i] != NULL) {
if (cnt == idx) {
entry->syntax = sensor_channel_name[i];
break;
}
cnt++;
}
}
}
static void attribute_name_get(size_t idx, struct shell_static_entry *entry)
{
int cnt = 0;
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_channel_name;
for (int i = 0; i < ARRAY_SIZE(sensor_attribute_name); i++) {
if (sensor_attribute_name[i] != NULL) {
if (cnt == idx) {
entry->syntax = sensor_attribute_name[i];
break;
}
cnt++;
}
}
}
static void trigger_opt_get_for_stream(size_t idx, struct shell_static_entry *entry);
SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_opt_get_for_stream, trigger_opt_get_for_stream);
static void trigger_opt_get_for_stream(size_t idx, struct shell_static_entry *entry)
{
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = NULL;
switch (idx) {
case SENSOR_STREAM_DATA_INCLUDE:
entry->syntax = "incl";
break;
case SENSOR_STREAM_DATA_DROP:
entry->syntax = "drop";
break;
case SENSOR_STREAM_DATA_NOP:
entry->syntax = "nop";
break;
}
}
static void trigger_name_get_for_stream(size_t idx, struct shell_static_entry *entry);
SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_name_for_stream, trigger_name_get_for_stream);
static void trigger_name_get_for_stream(size_t idx, struct shell_static_entry *entry)
{
int cnt = 0;
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_trigger_opt_get_for_stream;
for (int i = 0; i < ARRAY_SIZE(sensor_trigger_table); i++) {
if (sensor_trigger_table[i].name != NULL) {
if (cnt == idx) {
entry->syntax = sensor_trigger_table[i].name;
break;
}
cnt++;
}
}
}
static void stream_on_off(size_t idx, struct shell_static_entry *entry)
{
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
if (idx == 0) {
entry->syntax = "on";
entry->subcmd = &dsub_trigger_name_for_stream;
} else if (idx == 1) {
entry->syntax = "off";
entry->subcmd = NULL;
}
}
SHELL_DYNAMIC_CMD_CREATE(dsub_stream_on_off, stream_on_off);
static void device_name_get(size_t idx, struct shell_static_entry *entry);
SHELL_DYNAMIC_CMD_CREATE(dsub_device_name, device_name_get);
static void device_name_get(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_filter(idx, sensor_device_check);
current_cmd_ctx = CTX_GET;
entry->syntax = (dev != NULL) ? dev->name : NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_channel_name;
}
static void device_name_get_for_attr(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
current_cmd_ctx = CTX_ATTR_GET_SET;
entry->syntax = (dev != NULL) ? dev->name : NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_channel_name;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_device_name_for_attr, device_name_get_for_attr);
static void trigger_name_get(size_t idx, struct shell_static_entry *entry)
{
int cnt = 0;
entry->syntax = NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = NULL;
for (int i = 0; i < ARRAY_SIZE(sensor_trigger_table); i++) {
if (sensor_trigger_table[i].name != NULL) {
if (cnt == idx) {
entry->syntax = sensor_trigger_table[i].name;
break;
}
cnt++;
}
}
}
SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_name, trigger_name_get);
static void trigger_on_off_get(size_t idx, struct shell_static_entry *entry)
{
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_trigger_name;
switch (idx) {
case 0:
entry->syntax = "on";
break;
case 1:
entry->syntax = "off";
break;
default:
entry->syntax = NULL;
break;
}
}
SHELL_DYNAMIC_CMD_CREATE(dsub_trigger_onoff, trigger_on_off_get);
static void device_name_get_for_trigger(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
entry->syntax = (dev != NULL) ? dev->name : NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_trigger_onoff;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_trigger, device_name_get_for_trigger);
static void device_name_get_for_stream(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
current_cmd_ctx = CTX_STREAM_ON_OFF;
entry->syntax = (dev != NULL) ? dev->name : NULL;
entry->handler = NULL;
entry->help = NULL;
entry->subcmd = &dsub_stream_on_off;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_device_name_for_stream, device_name_get_for_stream);
static int cmd_get_sensor_info(const struct shell *sh, size_t argc, char **argv)
{
ARG_UNUSED(argc);
ARG_UNUSED(argv);
#ifdef CONFIG_SENSOR_INFO
const char *null_str = "(null)";
STRUCT_SECTION_FOREACH(sensor_info, sensor) {
shell_print(sh,
"device name: %s, vendor: %s, model: %s, "
"friendly name: %s",
sensor->dev->name, sensor->vendor ? sensor->vendor : null_str,
sensor->model ? sensor->model : null_str,
sensor->friendly_name ? sensor->friendly_name : null_str);
}
return 0;
#else
return -EINVAL;
#endif
}
static void data_ready_trigger_handler(const struct device *sensor,
const struct sensor_trigger *trigger)
{
const int64_t now = k_uptime_get();
struct sensor_value value;
int sensor_idx = find_sensor_trigger_device(sensor);
struct sample_stats *stats;
int sensor_name_len_before_at;
const char *sensor_name;
if (sensor_idx < 0) {
LOG_ERR("Unable to find sensor trigger device");
return;
}
stats = sensor_stats[sensor_idx];
sensor_name = sensor_trigger_devices[sensor_idx]->name;
if (sensor_name) {
sensor_name_len_before_at = strchr(sensor_name, '@') - sensor_name;
} else {
sensor_name_len_before_at = 0;
}
if (sensor_sample_fetch(sensor)) {
LOG_ERR("Failed to fetch samples on data ready handler");
}
for (int i = 0; i < SENSOR_CHAN_ALL; ++i) {
int rc;
/* Skip disabled channels */
if (stats[i].state == SAMPLE_STATS_STATE_DISABLED) {
continue;
}
/* Skip 3 axis channels */
if (SENSOR_CHANNEL_3_AXIS(i)) {
continue;
}
rc = sensor_channel_get(sensor, i, &value);
if (stats[i].state == SAMPLE_STATS_STATE_UNINITIALIZED) {
if (rc == -ENOTSUP) {
/*
* Stop reading this channel if the driver told us
* it's not supported.
*/
stats[i].state = SAMPLE_STATS_STATE_DISABLED;
} else if (rc == 0) {
stats[i].state = SAMPLE_STATS_STATE_ENABLED;
}
}
if (rc != 0) {
/* Skip on any error. */
continue;
}
/* Do something with the data */
stats[i].accumulator += value.val1 * INT64_C(1000000) + value.val2;
if (stats[i].count++ == 0) {
stats[i].sample_window_start = now;
} else if (now > stats[i].sample_window_start +
CONFIG_SENSOR_SHELL_TRIG_PRINT_TIMEOUT_MS) {
int64_t micro_value = stats[i].accumulator / stats[i].count;
value.val1 = micro_value / 1000000;
value.val2 = (int32_t)llabs(micro_value - (value.val1 * 1000000));
LOG_INF("sensor=%.*s, chan=%s, num_samples=%u, data=%d.%06d",
sensor_name_len_before_at, sensor_name,
sensor_channel_name[i],
stats[i].count,
value.val1, value.val2);
stats[i].accumulator = 0;
stats[i].count = 0;
}
}
}
static int cmd_trig_sensor(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int trigger;
bool trigger_enabled = false;
int err;
if (argc < 4) {
shell_error(sh, "Wrong number of args");
return -EINVAL;
}
/* Parse device name */
dev = shell_device_get_binding(argv[1]);
if (dev == NULL || !sensor_device_check(dev)) {
shell_error(sh, "Sensor device unknown (%s)", argv[1]);
return -ENODEV;
}
/* Map the trigger string to an enum value */
trigger = sensor_trigger_name_lookup(argv[3]);
if (trigger < 0 || sensor_trigger_table[trigger].handler == NULL) {
shell_error(sh, "Unsupported trigger type (%s)", argv[3]);
return -ENOTSUP;
}
/* Parse on/off */
if (strcmp(argv[2], "on") == 0) {
/* find a free entry in sensor_trigger_devices[] */
int sensor_idx = find_sensor_trigger_device(NULL);
if (sensor_idx < 0) {
shell_error(sh, "Unable to support more simultaneous sensor trigger"
" devices");
err = -ENOTSUP;
} else {
struct sample_stats *stats = sensor_stats[sensor_idx];
sensor_trigger_devices[sensor_idx] = dev;
/* reset stats state to UNINITIALIZED */
for (unsigned int ch = 0; ch < SENSOR_CHAN_ALL; ch++) {
stats[ch].state = SAMPLE_STATS_STATE_UNINITIALIZED;
}
err = sensor_trigger_set(dev, &sensor_trigger_table[trigger].trigger,
sensor_trigger_table[trigger].handler);
trigger_enabled = true;
}
} else if (strcmp(argv[2], "off") == 0) {
/* Clear the handler for the given trigger on this device */
err = sensor_trigger_set(dev, &sensor_trigger_table[trigger].trigger, NULL);
if (!err) {
/* find entry in sensor_trigger_devices[] and free it */
int sensor_idx = find_sensor_trigger_device(dev);
if (sensor_idx < 0) {
shell_error(sh, "Unable to find sensor device in trigger array");
} else {
sensor_trigger_devices[sensor_idx] = NULL;
}
}
} else {
shell_error(sh, "Pass 'on' or 'off' to enable/disable trigger");
return -EINVAL;
}
if (err) {
shell_error(sh, "Error while setting trigger %d on device %s (%d)", trigger,
argv[1], err);
} else {
shell_info(sh, "%s trigger idx=%d %s on device %s",
trigger_enabled ? "Enabled" : "Disabled", trigger,
sensor_trigger_table[trigger].name, argv[1]);
}
return err;
}
/* clang-format off */
SHELL_STATIC_SUBCMD_SET_CREATE(sub_sensor,
SHELL_CMD_ARG(get, &dsub_device_name, SENSOR_GET_HELP, cmd_get_sensor,
2, 255),
SHELL_CMD_ARG(attr_set, &dsub_device_name_for_attr, SENSOR_ATTR_SET_HELP,
cmd_sensor_attr_set, 2, 255),
SHELL_CMD_ARG(attr_get, &dsub_device_name_for_attr, SENSOR_ATTR_GET_HELP,
cmd_sensor_attr_get, 2, 255),
SHELL_COND_CMD(CONFIG_SENSOR_SHELL_STREAM, stream, &dsub_device_name_for_stream,
SENSOR_STREAM_HELP, cmd_sensor_stream),
SHELL_COND_CMD(CONFIG_SENSOR_INFO, info, NULL, SENSOR_INFO_HELP,
cmd_get_sensor_info),
SHELL_CMD_ARG(trig, &dsub_trigger, SENSOR_TRIG_HELP, cmd_trig_sensor,
2, 255),
SHELL_SUBCMD_SET_END
);
/* clang-format on */
SHELL_CMD_REGISTER(sensor, &sub_sensor, "Sensor commands", NULL);