[sensor] Added support for trigger mode (#453)

Added trigger support, since currently in Zephyr, triggers can
only be signaled from interrupt from x86 side, all the x86 side
code is wrapped with BUILD_MODULE_SENSOR_TRIGGER #ifdef so that
it can be turned off later when Zephyr changes.

The triggers are set to sample at 50Hz; any higher frequency
will cause the ring buffer to start dropping change events.

Signed-off-by: Jimmy Huang <[email protected]>

Author: Jimmy Huang

arc/src/main.c

@@ -26,18 +26,12 @@
 #define SLEEP_TICKS       1  // 10ms sleep time in cpu ticks
 #define UPDATE_INTERVAL 200  // 2sec interval in between notifications
 
-#ifdef BUILD_MODULE_AIO
 #define ADC_DEVICE_NAME "ADC_0"
 #define ADC_BUFFER_SIZE 2
-#endif
 
-#ifdef BUILD_MODULE_I2C
 #define MAX_I2C_BUS 1
-#endif
 
-#ifdef BUILD_MODULE_GROVE_LCD
 #define MAX_BUFFER_SIZE 256
-#endif
 
 static struct nano_sem arc_sem;
 static struct zjs_ipm_message msg_queue[QUEUE_SIZE];
@@ -63,8 +57,8 @@ static char str[MAX_BUFFER_SIZE];
 
 #ifdef BUILD_MODULE_SENSOR
 static struct device *bmi160 = NULL;
-static bool accel_poll = false;
-static bool gyro_poll = false;
+static bool accel_trigger = false;
+static bool gyro_trigger = false;
 static double accel_last_value[3];
 static double gyro_last_value[3];
 #endif
@@ -428,7 +422,7 @@ static void handle_glcd(struct zjs_ipm_message* msg)
 }
 #endif
 
-#ifdef	BUILD_MODULE_SENSOR
+#ifdef BUILD_MODULE_SENSOR
 #ifdef DEBUG_BUILD
 static inline int sensor_value_snprintf(char *buf, size_t len,
                                         const struct sensor_value *val)
@@ -533,19 +527,14 @@ static void process_accel_data(struct device *dev)
     double dval[3];
 
     if (sensor_channel_get(dev, SENSOR_CHAN_ACCEL_ANY, val) < 0) {
-        ZJS_PRINT("Cannot read accelerometer channels.\n");
+        ZJS_PRINT("failed to read accelerometer channels\n");
         return;
     }
 
     dval[0] = convert_sensor_value(&val[0]);
     dval[1] = convert_sensor_value(&val[1]);
     dval[2] = convert_sensor_value(&val[2]);
 
-    if (dval[0] == 0 && dval[1] == 0 && dval[2] == 0) {
-        // FIXME: BUG? why sometimes it reports 0, 0, 0 on all axes
-        return;
-    }
-
     // set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2)
     double threshold = 0.980665;
     if (ABS(dval[0] - accel_last_value[0]) > threshold ||
@@ -574,7 +563,7 @@ static void process_gyro_data(struct device *dev)
     double dval[3];
 
     if (sensor_channel_get(dev, SENSOR_CHAN_GYRO_ANY, val) < 0) {
-        ZJS_PRINT("Cannot read gyroscope channels.\n");
+        ZJS_PRINT("failed to read gyroscope channels\n");
         return;
     }
 
@@ -598,20 +587,26 @@ static void process_gyro_data(struct device *dev)
     sensor_value_snprintf(buf_x, sizeof(buf_x), &val[0]);
     sensor_value_snprintf(buf_y, sizeof(buf_y), &val[1]);
     sensor_value_snprintf(buf_z, sizeof(buf_z), &val[2]);
-    ZJS_PRINT("Sending gyro : X=%s, Y=%s, Z=%s\n", buf_x, buf_y, buf_z);
+    ZJS_PRINT("sending gyro: X=%s, Y=%s, Z=%s\n", buf_x, buf_y, buf_z);
 #endif
 }
 
-static void fetch_sensor(struct device *dev) {
+static void trigger_hdlr(struct device *dev,
+                         struct sensor_trigger *trigger)
+{
+    if (trigger->type != SENSOR_TRIG_DELTA &&
+        trigger->type != SENSOR_TRIG_DATA_READY) {
+        return;
+    }
+
     if (sensor_sample_fetch(dev) < 0) {
         ZJS_PRINT("failed to fetch sensor data\n");
         return;
     }
 
-    if (accel_poll) {
+    if (trigger->chan == SENSOR_CHAN_ACCEL_ANY) {
         process_accel_data(dev);
-    }
-    if (gyro_poll) {
+    } else if (trigger->chan == SENSOR_CHAN_GYRO_ANY) {
         process_gyro_data(dev);
     }
 }
@@ -627,12 +622,12 @@ struct sensor_value acc_calib[] = {
     {SENSOR_VALUE_TYPE_INT_PLUS_MICRO, { {9, 806650} } }, /* Z */
 };
 
-static bool auto_calibration(struct device *dev)
+static int auto_calibration(struct device *dev)
 {
     /* calibrate accelerometer */
     if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
                         SENSOR_ATTR_CALIB_TARGET, acc_calib) < 0) {
-        return false;
+        return -1;
     }
 
     /*
@@ -642,18 +637,137 @@ static bool auto_calibration(struct device *dev)
      */
     if (sensor_attr_set(dev, SENSOR_CHAN_GYRO_ANY,
                         SENSOR_ATTR_CALIB_TARGET, NULL) < 0) {
-        return false;
+        return -1;
     }
 
-    return true;
+    return 0;
+}
+
+static int start_accel_trigger(struct device *dev)
+{
+    struct sensor_value attr;
+    struct sensor_trigger trig;
+
+    // set accelerometer range to +/- 16G. Since the sensor API needs SI
+    // units, convert the range to m/s^2.
+    sensor_g_to_ms2(16, &attr);
+
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
+        ZJS_PRINT("failed to set accelerometer range\n");
+        return -1;
+    }
+
+    // set sampling frequency to 50Hz for accelerometer
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 50;
+    attr.val2 = 0;
+
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
+        ZJS_PRINT("failed to set accelerometer sampling frequency\n");
+        return -1;
+    }
+
+    // set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2).
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 0;
+    attr.val2 = 980665;
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
+        ZJS_PRINT("failed set slope threshold\n");
+        return -1;
+    }
+
+    // set slope duration to 2 consecutive samples
+    attr.type = SENSOR_VALUE_TYPE_INT;
+    attr.val1 = 2;
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+                        SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
+        ZJS_PRINT("failed to set slope duration\n");
+        return -1;
+    }
+
+    // set data ready trigger handler
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+
+    if (sensor_trigger_set(dev, &trig, trigger_hdlr) < 0) {
+        ZJS_PRINT("failed to enable accelerometer trigger\n");
+        return -1;
+    }
+
+    accel_trigger = true;
+    return 0;
+}
+
+static int stop_accel_trigger(struct device *dev)
+{
+    struct sensor_trigger trig;
+
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
+        ZJS_PRINT("failed to disable accelerometer trigger\n");
+        return -1;
+    }
+
+    accel_trigger = false;
+    return 0;
+}
+
+static int start_gyro_trigger(struct device *dev)
+{
+    struct sensor_value attr;
+    struct sensor_trigger trig;
+
+    // set sampling frequency to 50Hz for gyroscope
+    attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
+    attr.val1 = 50;
+    attr.val2 = 0;
+
+    if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_ANY,
+                        SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
+        ZJS_PRINT("failed to set sampling frequency for gyroscope.\n");
+        return -1;
+    }
+
+    // set data ready trigger handler
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_GYRO_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, trigger_hdlr) < 0) {
+        ZJS_PRINT("failed to enable gyroscope trigger.\n");
+        return -1;
+    }
+
+    gyro_trigger = true;
+    return 0;
+}
+
+static int stop_gyro_trigger(struct device *dev)
+{
+    struct sensor_trigger trig;
+
+    trig.type = SENSOR_TRIG_DATA_READY;
+    trig.chan = SENSOR_CHAN_GYRO_ANY;
+
+    if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
+        ZJS_PRINT("failed to disable gyroscope trigger\n");
+        return -1;
+    }
+
+    gyro_trigger = false;
+    return 0;
 }
 
 static void handle_sensor(struct zjs_ipm_message* msg)
 {
     uint32_t error_code = ERROR_IPM_NONE;
 
     if (msg->type != TYPE_SENSOR_INIT && !bmi160) {
-        ZJS_PRINT("Grove LCD device not found.\n");
+        ZJS_PRINT("BMI160 sensor not found.\n");
         ipm_send_error_reply(msg, ERROR_IPM_OPERATION_FAILED);
         return;
     }
@@ -667,30 +781,36 @@ static void handle_sensor(struct zjs_ipm_message* msg)
                 error_code = ERROR_IPM_OPERATION_FAILED;
                 ZJS_PRINT("failed to initialize BMI160 sensor\n");
             } else {
-                if (!auto_calibration(bmi160)) {
+                if (auto_calibration(bmi160)) {
                     ZJS_PRINT("failed to perform auto calibration\n");
                 }
-
-                accel_poll = gyro_poll = false;
                 DBG_PRINT("BMI160 sensor initialized\n");
             }
         }
         break;
     case TYPE_SENSOR_START:
         if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
-            accel_poll = true;
+            if (!accel_trigger && start_accel_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
-            gyro_poll = true;
+            if (!gyro_trigger && start_gyro_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else {
             ZJS_PRINT("invalid sensor channel\n");
             error_code = ERROR_IPM_NOT_SUPPORTED;
         }
         break;
     case TYPE_SENSOR_STOP:
         if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
-            accel_poll = false;
+            if (accel_trigger && stop_accel_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
-            gyro_poll = false;
+            if (gyro_trigger && stop_gyro_trigger(bmi160) != 0) {
+                error_code = ERROR_IPM_OPERATION_FAILED;
+            }
         } else {
             ZJS_PRINT("invalid sensor channel\n");
             error_code = ERROR_IPM_NOT_SUPPORTED;
@@ -776,11 +896,6 @@ void main(void)
             tick_count = 0;
         }
         tick_count += SLEEP_TICKS;
-#endif
-#ifdef BUILD_MODULE_SENSOR
-        if (accel_poll || gyro_poll) {
-            fetch_sensor(bmi160);
-        }
 #endif
         task_sleep(SLEEP_TICKS);
     }

samples/Gyroscope.js

@@ -6,7 +6,9 @@
 console.log("Gyroscope test...");
 
 
-var sensor = new Gyroscope();
+var sensor = new Gyroscope({
+    frequency: 50
+});
 
 sensor.onchange = function(event) {
     console.log("rotation (rad/s): " +

scripts/analyze.sh

@@ -187,18 +187,31 @@ if [ $? -eq 0 ] && [[ $MODULE != *"BUILD_MODULE_BUFFER"* ]]; then
     >&2 echo Using module: Buffer
     MODULES+=" -DBUILD_MODULE_BUFFER"
 fi
-sensor=$(grep -E Accelerometer\|Gyroscope  $SCRIPT)
+sensor=$(grep -E Accelerometer\|Gyroscope $SCRIPT)
 if [ $? -eq 0 ]; then
     >&2 echo Using module: Sensor
     MODULES+=" -DBUILD_MODULE_SENSOR"
-    echo "CONFIG_SPI=y" >> arc/prj.conf.tmp
-    echo "CONFIG_SENSOR=y" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160=y" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160_INIT_PRIORITY=80" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160_NAME=\"bmi160\"" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160_SPI_PORT_NAME=\"SPI_1\"" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160_SLAVE=1" >> arc/prj.conf.tmp
-    echo "CONFIG_BMI160_SPI_BUS_FREQ=88" >> arc/prj.conf.tmp
+    if [ $BOARD = "arduino_101" ]; then
+        MODULES+=" -DBUILD_MODULE_SENSOR_TRIGGER"
+        echo "CONFIG_SENSOR=y" >> arc/prj.conf.tmp
+        echo "CONFIG_GPIO=y" >> prj.conf.tmp
+        echo "CONFIG_GPIO_QMSI=y" >> prj.conf.tmp
+        echo "CONFIG_GPIO_QMSI_0_PRI=2" >> prj.conf.tmp
+        echo "CONFIG_GPIO_QMSI_1=y" >> prj.conf.tmp
+        echo "CONFIG_GPIO_QMSI_1_NAME=\"GPIO_1\"" >> prj.conf.tmp
+        echo "CONFIG_GPIO_QMSI_1_PRI=2" >> prj.conf.tmp
+        echo "CONFIG_SPI=y" >> arc/prj.conf.tmp
+        echo "CONFIG_SPI_DW_ARC_AUX_REGS=y" >> arc/prj.conf.tmp
+        echo "CONFIG_SPI_DW_INTERRUPT_SEPARATED_LINES=y" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160=y" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_INIT_PRIORITY=80" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_NAME=\"bmi160\"" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_SPI_PORT_NAME=\"SPI_1\"" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_SLAVE=1" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_SPI_BUS_FREQ=88" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_TRIGGER=y" >> arc/prj.conf.tmp
+        echo "CONFIG_BMI160_TRIGGER_OWN_FIBER=y" >> arc/prj.conf.tmp
+    fi
 fi
 
 console=$(grep console $SCRIPT)

src/zjs_ipm.h

@@ -109,7 +109,6 @@ typedef struct zjs_ipm_message {
         struct sensor_data {
             enum sensor_channel channel;
             uint32_t frequency;
-            double value[3];
             union sensor_reading {
                 // x y z axis for Accelerometer and Gyroscope
                 struct {