sensors: implement system calls

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>

include/sensor.h

@@ -265,10 +265,15 @@ struct sensor_driver_api {
  *
  * @return 0 if successful, negative errno code if failure.
  */
-static inline int sensor_attr_set(struct device *dev,
-				  enum sensor_channel chan,
-				  enum sensor_attribute attr,
-				  const struct sensor_value *val)
+__syscall int sensor_attr_set(struct device *dev,
+			      enum sensor_channel chan,
+			      enum sensor_attribute attr,
+			      const struct sensor_value *val);
+
+static inline int _impl_sensor_attr_set(struct device *dev,
+					enum sensor_channel chan,
+					enum sensor_attribute attr,
+					const struct sensor_value *val)
 {
 	const struct sensor_driver_api *api = dev->driver_api;
 
@@ -287,6 +292,8 @@ static inline int sensor_attr_set(struct device *dev,
  * driver.  It is currently up to the caller to ensure that the handler
  * does not overflow the stack.
  *
+ * This API is not permitted for user threads.
+ *
  * @param dev Pointer to the sensor device
  * @param trig The trigger to activate
  * @param handler The function that should be called when the trigger
@@ -323,7 +330,9 @@ static inline int sensor_trigger_set(struct device *dev,
  *
  * @return 0 if successful, negative errno code if failure.
  */
-static inline int sensor_sample_fetch(struct device *dev)
+__syscall int sensor_sample_fetch(struct device *dev);
+
+static inline int _impl_sensor_sample_fetch(struct device *dev)
 {
 	const struct sensor_driver_api *api = dev->driver_api;
 
@@ -349,8 +358,11 @@ static inline int sensor_sample_fetch(struct device *dev)
  *
  * @return 0 if successful, negative errno code if failure.
  */
-static inline int sensor_sample_fetch_chan(struct device *dev,
-					   enum sensor_channel type)
+__syscall int sensor_sample_fetch_chan(struct device *dev,
+				       enum sensor_channel type);
+
+static inline int _impl_sensor_sample_fetch_chan(struct device *dev,
+						 enum sensor_channel type)
 {
 	const struct sensor_driver_api *api = dev->driver_api;
 
@@ -378,9 +390,13 @@ static inline int sensor_sample_fetch_chan(struct device *dev,
  *
  * @return 0 if successful, negative errno code if failure.
  */
-static inline int sensor_channel_get(struct device *dev,
-				     enum sensor_channel chan,
-				     struct sensor_value *val)
+__syscall int sensor_channel_get(struct device *dev,
+				 enum sensor_channel chan,
+				 struct sensor_value *val);
+
+static inline int _impl_sensor_channel_get(struct device *dev,
+					   enum sensor_channel chan,
+					   struct sensor_value *val)
 {
 	const struct sensor_driver_api *api = dev->driver_api;
 
@@ -469,6 +485,7 @@ static inline double sensor_value_to_double(struct sensor_value *val)
 	return (double)val->val1 + (double)val->val2 / 1000000;
 }
 
+#include <syscalls/sensor.h>
 
 #ifdef __cplusplus
 }

subsys/Makefile

@@ -9,3 +9,4 @@ obj-$(CONFIG_CPLUSPLUS) += cpp/
 obj-y += logging/
 obj-y += debug/
 obj-$(CONFIG_MCUBOOT_IMG_MANAGER) += dfu/
+obj-$(CONFIG_USERSPACE) += driver_handlers/

subsys/driver_handlers/Makefile

@@ -0,0 +1,2 @@
+obj-$(CONFIG_SENSOR) += sensor.o
+

subsys/driver_handlers/sensor.c

@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2017 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <sensor.h>
+#include <syscall_handler.h>
+
+u32_t _handler_sensor_attr_set(u32_t dev, u32_t chan, u32_t attr,
+			       u32_t val, u32_t arg5, u32_t arg6, void *ssf)
+{
+	_SYSCALL_ARG4;
+
+	_SYSCALL_IS_OBJ(dev, K_OBJ_DRIVER_SENSOR, 0, ssf);
+	_SYSCALL_MEMORY(val, sizeof(struct sensor_value), 0, ssf);
+	return _impl_sensor_attr_set((struct device *)dev, chan, attr,
+				     (const struct sensor_value *)val);
+}
+
+u32_t _handler_sensor_sample_fetch(u32_t dev, u32_t arg2, u32_t arg3,
+				   u32_t arg4, u32_t arg5, u32_t arg6,
+				   void *ssf)
+{
+	_SYSCALL_ARG1;
+
+	_SYSCALL_IS_OBJ(dev, K_OBJ_DRIVER_SENSOR, 0, ssf);
+	return _impl_sensor_sample_fetch((struct device *)dev);
+}
+
+
+u32_t _handler_sensor_sample_fetch_chan(u32_t dev, u32_t type, u32_t arg3,
+					u32_t arg4, u32_t arg5, u32_t arg6,
+					void *ssf)
+{
+	_SYSCALL_ARG2;
+
+	_SYSCALL_IS_OBJ(dev, K_OBJ_DRIVER_SENSOR, 0, ssf);
+	return _impl_sensor_sample_fetch_chan((struct device *)dev, type);
+}
+
+u32_t _handler_sensor_channel_get(u32_t dev, u32_t chan, u32_t val,
+				  u32_t arg4, u32_t arg5, u32_t arg6,
+				  void *ssf)
+{
+	_SYSCALL_ARG3;
+
+	_SYSCALL_IS_OBJ(dev, K_OBJ_DRIVER_SENSOR, 0, ssf);
+	_SYSCALL_MEMORY(val, sizeof(struct sensor_value), 1, ssf);
+	return _impl_sensor_channel_get((struct device *)dev, chan,
+					(struct sensor_value *)val);
+}
+