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[Backport v4.0-branch] sensor: shell: Allow individual axis data to be processed #83724

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merged 4 commits into from
Feb 4, 2025
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[Backport v4.0-branch] sensor: shell: Allow individual axis data to be processed #83724

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6093301
sensor: shell: Allow individual axis data to be processed
ubieda Dec 31, 2024
1e3edfa
sensor: default_rtio_sensor: fix: Treat individual axis data as q31_t
ubieda Dec 31, 2024
fd7fa52
tests: sensor: generic_test: Remove special-handling for axis values
ubieda Jan 2, 2025
d1753d1
samples: sensor:shell: test all channels
ubieda Jan 2, 2025
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69 changes: 32 additions & 37 deletions drivers/sensor/default_rtio_sensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -318,25 +318,44 @@

switch (channel.chan_type) {
case SENSOR_CHAN_ACCEL_XYZ:
channel.chan_type = SENSOR_CHAN_ACCEL_X;
break;
case SENSOR_CHAN_GYRO_XYZ:
channel.chan_type = SENSOR_CHAN_GYRO_X;
break;
case SENSOR_CHAN_MAGN_XYZ:
channel.chan_type = SENSOR_CHAN_MAGN_X;
break;
case SENSOR_CHAN_POS_DXYZ:
channel.chan_type = SENSOR_CHAN_POS_DX;
for (size_t i = 0 ; i < header->num_channels; ++i) {
/* For 3-axis channels, we need to verify we have each individual axis */

Check notice on line 325 in drivers/sensor/default_rtio_sensor.c

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drivers/sensor/default_rtio_sensor.c:325 
-		for (size_t i = 0 ; i < header->num_channels; ++i) {
+		for (size_t i = 0; i < header->num_channels; ++i) {

Check notice on line 325 in drivers/sensor/default_rtio_sensor.c

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drivers/sensor/default_rtio_sensor.c:325 
-		for (size_t i = 0 ; i < header->num_channels; ++i) {
+		for (size_t i = 0; i < header->num_channels; ++i) {
struct sensor_chan_spec channel_x = {
.chan_type = channel.chan_type - 3,
.chan_idx = channel.chan_idx,
};
struct sensor_chan_spec channel_y = {
.chan_type = channel.chan_type - 2,
.chan_idx = channel.chan_idx,
};
struct sensor_chan_spec channel_z = {
.chan_type = channel.chan_type - 1,
.chan_idx = channel.chan_idx,
};

/** The three axes don't need to be at the beginning of the header, but
* they should be consecutive.
*/
if (((header->num_channels - i) >= 3) &&
sensor_chan_spec_eq(header->channels[i], channel_x) &&
sensor_chan_spec_eq(header->channels[i + 1], channel_y) &&
sensor_chan_spec_eq(header->channels[i + 2], channel_z)) {
*frame_count = 1;
return 0;
}
}
break;
default:
break;
}
for (size_t i = 0; i < header->num_channels; ++i) {
if (sensor_chan_spec_eq(header->channels[i], channel)) {
*frame_count = 1;
return 0;
for (size_t i = 0; i < header->num_channels; ++i) {
if (sensor_chan_spec_eq(header->channels[i], channel)) {
*frame_count = 1;
return 0;
}
}
break;
}

return -ENOTSUP;
Expand All @@ -353,21 +372,9 @@
}

switch (channel.chan_type) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
case SENSOR_CHAN_POS_DX:
case SENSOR_CHAN_POS_DY:
case SENSOR_CHAN_POS_DZ:
case SENSOR_CHAN_POS_DXYZ:
*base_size = sizeof(struct sensor_three_axis_data);
*frame_size = sizeof(struct sensor_three_axis_sample_data);
Expand Down Expand Up @@ -480,33 +487,21 @@

/* Check for 3d channel mappings */
switch (chan_spec.chan_type) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_ACCEL_X,
SENSOR_CHAN_ACCEL_Y, SENSOR_CHAN_ACCEL_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_GYRO_X,
SENSOR_CHAN_GYRO_Y, SENSOR_CHAN_GYRO_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_MAGN_X,
SENSOR_CHAN_MAGN_Y, SENSOR_CHAN_MAGN_Z,
chan_spec.chan_idx);
break;
case SENSOR_CHAN_POS_DX:
case SENSOR_CHAN_POS_DY:
case SENSOR_CHAN_POS_DZ:
case SENSOR_CHAN_POS_DXYZ:
count = decode_three_axis(header, q, data_out, SENSOR_CHAN_POS_DX,
SENSOR_CHAN_POS_DY, SENSOR_CHAN_POS_DZ,
Expand Down
17 changes: 0 additions & 17 deletions drivers/sensor/sensor_shell.c
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Original file line number Diff line number Diff line change
Expand Up @@ -354,23 +354,6 @@ void sensor_shell_processing_callback(int result, uint8_t *buf, uint32_t buf_len
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",
Expand Down
12 changes: 4 additions & 8 deletions samples/sensor/sensor_shell/pytest/test_sensor_shell.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,16 +21,12 @@ def test_sensor_shell_info(shell: Shell):
def test_sensor_shell_get(shell: Shell):
logger.info('send "sensor get" command')

lines = shell.exec_command('sensor get sensor@0 voltage')
assert any(['channel type=31(voltage)' in line for line in lines]), 'expected response not found'

lines = shell.exec_command('sensor get sensor@1 53')
assert any(['channel type=53(gauge_state_of_health)' in line for line in lines]), 'expected response not found'

# Channel should be the last one before 'all' (because 'all' doesn't print anything) so that the
# for-loop in `parse_named_int()` will go through everything
lines = shell.exec_command('sensor get sensor@0 gauge_desired_charging_current')
assert any(['channel type=59(gauge_desired_charging_current)' in line for line in lines]), 'expected response not found'
for channel in range(59):
logger.info(f'channel {channel}')
lines = shell.exec_command(f'sensor get sensor@0 {channel}')
assert any([f'channel type={channel}' in line for line in lines]), 'expected response not found'

logger.info('response is valid')

Expand Down
29 changes: 2 additions & 27 deletions tests/drivers/build_all/sensor/src/generic_test.c
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Expand Up @@ -217,33 +217,8 @@ static void run_generic_test(const struct device *dev)
q31_t q;
int8_t shift;

switch (ch) {
/* Special handling to break out triplet samples. */
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_GYRO_X:
q = decoded_data.three_axis.readings[0].x;
shift = decoded_data.three_axis.shift;
break;
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_GYRO_Y:
q = decoded_data.three_axis.readings[0].y;
shift = decoded_data.three_axis.shift;
break;
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_GYRO_Z:
q = decoded_data.three_axis.readings[0].z;
shift = decoded_data.three_axis.shift;
break;

/* Default case for single Q31 samples */
default:
q = decoded_data.q31.readings[0].value;
shift = decoded_data.q31.shift;
break;
}
q = decoded_data.q31.readings[0].value;
shift = decoded_data.q31.shift;

/* Align everything to be a 64-bit Q32.32 number for comparison */
int64_t expected_shifted =
Expand Down
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