sensing: add hinge angle sensor

Add hinge angle virtual sensor for sensing subsystem, hinge angle sensor
takes both base accel and lid accel as reporter.

Signed-off-by: Zhang Lixu <lixu.zhang@intel.com>

dts/bindings/sensor/zephyr,sensing-hinge-angle.yaml

@@ -0,0 +1,10 @@
+# Copyright (c) 2023, Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+#
+
+description: Sensing subsystem hinge angle sensor bindings.
+
+compatible: "zephyr,sensing-hinge-angle"
+
+# Common sensor subsystem sensor properties.
+include: ["zephyr,sensing-sensor.yaml"]

subsys/sensing/CMakeLists.txt

@@ -11,3 +11,4 @@ zephyr_library_sources(
 )
 
 add_subdirectory_ifdef(CONFIG_SENSING_SENSOR_PHY_3D_SENSOR sensor/phy_3d_sensor)
+add_subdirectory_ifdef(CONFIG_SENSING_SENSOR_HINGE_ANGLE sensor/hinge_angle)

subsys/sensing/Kconfig

@@ -86,5 +86,6 @@ config SENSING_DISPATCH_THREAD_PRIORITY
 	    Typical values are 8
 
 source "subsys/sensing/sensor/phy_3d_sensor/Kconfig"
+source "subsys/sensing/sensor/hinge_angle/Kconfig"
 
 endif # SENSING

subsys/sensing/sensor/hinge_angle/CMakeLists.txt

@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library_sources(hinge_angle.c)

subsys/sensing/sensor/hinge_angle/Kconfig

@@ -0,0 +1,9 @@
+# Copyright (c) 2023 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+config SENSING_SENSOR_HINGE_ANGLE
+	bool "Sensing hinge angle sensor"
+	default y
+	depends on DT_HAS_ZEPHYR_SENSING_HINGE_ANGLE_ENABLED
+	help
+	  Enable sensing hinge angle sensor.

subsys/sensing/sensor/hinge_angle/hinge_angle.c

@@ -0,0 +1,167 @@
+/*
+ * Copyright (c) 2023 Intel Corporation.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdlib.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/sys/util.h>
+#include <zephyr/sensing/sensing_sensor.h>
+
+LOG_MODULE_REGISTER(hinge_angle, CONFIG_SENSING_LOG_LEVEL);
+
+#define HINGE_REPORTER_NUM 2
+
+static struct sensing_sensor_register_info hinge_reg = {
+	.flags = SENSING_SENSOR_FLAG_REPORT_ON_CHANGE,
+	.sample_size = sizeof(struct sensing_sensor_value_q31),
+	.sensitivity_count = 1,
+	.version.value = SENSING_SENSOR_VERSION(1, 0, 0, 0),
+};
+
+struct hinge_angle_context {
+	struct rtio_iodev_sqe *sqe;
+	sensing_sensor_handle_t reporters[HINGE_REPORTER_NUM];
+	struct sensing_sensor_value_3d_q31 sample[HINGE_REPORTER_NUM];
+	int has_sample[HINGE_REPORTER_NUM];
+};
+
+static int hinge_init(const struct device *dev)
+{
+	struct hinge_angle_context *data = dev->data;
+	int ret;
+
+	ret = sensing_sensor_get_reporters(dev,
+			SENSING_SENSOR_TYPE_MOTION_ACCELEROMETER_3D,
+			data->reporters, HINGE_REPORTER_NUM);
+	if (ret != HINGE_REPORTER_NUM) {
+		LOG_ERR("%s: reporter mismatch:%d", dev->name, ret);
+		return -ENODEV;
+	}
+
+	LOG_INF("%s:Found reporter 0: %s", dev->name,
+			sensing_get_sensor_info(data->reporters[0])->name);
+	LOG_INF("%s:Found reporter 1: %s", dev->name,
+			sensing_get_sensor_info(data->reporters[1])->name);
+
+	return 0;
+}
+
+static int hinge_attr_set(const struct device *dev,
+		enum sensor_channel chan,
+		enum sensor_attribute attr,
+		const struct sensor_value *val)
+{
+	struct sensing_sensor_config config = {0};
+	struct hinge_angle_context *data = dev->data;
+	int ret = 0;
+
+	switch (attr) {
+	case SENSOR_ATTR_SAMPLING_FREQUENCY:
+		config.attri = SENSING_SENSOR_ATTRIBUTE_INTERVAL;
+		config.interval = (uint32_t)(USEC_PER_SEC * 1000LL /
+				sensor_value_to_milli(val));
+		ret = sensing_set_config(data->reporters[0], &config, 1);
+		ret |= sensing_set_config(data->reporters[1], &config, 1);
+		break;
+
+	case SENSOR_ATTR_HYSTERESIS:
+		break;
+
+	default:
+		ret = -ENOTSUP;
+		break;
+	}
+
+	LOG_INF("%s set attr:%d ret:%d", dev->name, attr, ret);
+	return ret;
+}
+
+static int hinge_submit(const struct device *dev,
+		struct rtio_iodev_sqe *sqe)
+{
+	struct hinge_angle_context *data = dev->data;
+
+	if (data->sqe) {
+		return -EBUSY;
+	}
+
+	data->sqe = sqe;
+	return 0;
+}
+
+static const struct sensor_driver_api hinge_api = {
+	.attr_set = hinge_attr_set,
+	.submit = hinge_submit,
+};
+
+static q31_t calc_hinge_angle(struct hinge_angle_context *data)
+{
+	q31_t val;
+
+	LOG_INF("Acc 0: x:%08x y:%08x z:%08x",
+			data->sample[0].readings[0].x,
+			data->sample[0].readings[0].y,
+			data->sample[0].readings[0].z);
+	LOG_INF("Acc 1: x:%08x y:%08x z:%08x",
+			data->sample[1].readings[0].x,
+			data->sample[1].readings[0].y,
+			data->sample[1].readings[0].z);
+
+	/* Todo: calc hinge angle base on data->sample[0] and data->sample[1] */
+	val = 0;
+
+	return val;
+}
+
+static void hinge_reporter_on_data_event(sensing_sensor_handle_t handle,
+		const void *buf, void *context)
+{
+	struct hinge_angle_context *data = context;
+	struct sensing_sensor_value_q31 *sample;
+	uint32_t buffer_len = 0;
+	int both = 0;
+	int i, ret;
+
+	for (i = 0; i < HINGE_REPORTER_NUM; ++i) {
+		if (handle == data->reporters[i]) {
+			memcpy(&data->sample[i], buf, sizeof(data->sample[i]));
+			data->has_sample[i] = 1;
+		}
+		both += data->has_sample[i];
+	}
+
+	if (both == HINGE_REPORTER_NUM) {
+		data->has_sample[0] = 0;
+		data->has_sample[1] = 0;
+
+		ret = rtio_sqe_rx_buf(data->sqe, sizeof(*sample), sizeof(*sample),
+				(uint8_t **)&sample, &buffer_len);
+		if (ret) {
+			rtio_iodev_sqe_err(data->sqe, ret);
+			return;
+		}
+
+		sample->readings[0].v = calc_hinge_angle(data);
+
+		rtio_iodev_sqe_ok(data->sqe, 0);
+	}
+}
+
+#define DT_DRV_COMPAT zephyr_sensing_hinge_angle
+#define SENSING_HINGE_ANGLE_DT_DEFINE(_inst)					\
+	static struct hinge_angle_context _CONCAT(hinge_ctx, _inst);		\
+	static const struct sensing_callback_list _CONCAT(hinge_cb, _inst) = {	\
+		.on_data_event = hinge_reporter_on_data_event,			\
+		.context = &_CONCAT(hinge_ctx, _inst),				\
+	};									\
+	SENSING_SENSOR_DT_INST_DEFINE(_inst, &hinge_reg,			\
+		&_CONCAT(hinge_cb, _inst),					\
+		&hinge_init, NULL,						\
+		&_CONCAT(hinge_ctx, _inst), NULL,				\
+		POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,			\
+		&hinge_api);
+
+DT_INST_FOREACH_STATUS_OKAY(SENSING_HINGE_ANGLE_DT_DEFINE);