rtio: Real-Time Stream and Sensor API #17434

teburd · 2019-07-09T18:08:41Z

A DMA friendly Stream API for zephyr.

Provides a way to define a driver which provides an output FIFO of
blocks. Blocks are allocated from a specified block allocator. These blocks are
easily used for DMA transfers.

Some convenience functions for storing and retrieving primitive types
in the blocks is provided.

Blocks are meant to be placed into the output fifo based on a policy
describing time or number of entries since the block began being filled. If
the block is full it is meant to be immediately pushed into the FIFO.

The use case in mind is high rate sensors with hardware FIFOs and SPI
interfaces where DMA transfers from these sensors would save a great
deal of CPU time avoiding the high rate of interrupts and small SPI
transfers that would otherwise occur. Other uses are certainly possible,
I imagine audio and video have similar requirements.

For sensors an added interface to iterate over sample sets from a block is provided allowing for lazily converting sample set values into numerical values of varying types. To start only float is available but certainly the current sensor_value (int/int pair), cmsis-dsp friendly q value types, or other numerical formats could be provided.

zephyrbot · 2019-07-09T18:22:28Z

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dbkinder

Doesn't this new rtio API need documentation (as ZIO previously did)?

teburd · 2019-07-11T02:25:14Z

@dbkinder it does, though I'm still working out how things work, so far everyone involved has been ok with this situation while its in the topic branch not yet in master, when the PR for master happens it'll have docs

teburd · 2019-07-12T01:47:54Z

@dbkinder I added some initial documentation this time as I think its important and you are right, I will continue to add to it as this progresses

dbkinder · 2019-07-12T03:27:26Z

Alas, you've tripped on a known issue in our API documentation processing around nested unnamed unions in a struct (don't ask). You can document this as a "known issue" (and remove the reported documentation error) by adding a file to your PR .known-issues/doc/rtio.conf in the zephyr base directory, with this content (you'll find some other of these .conf files there for other "known issues"):

#
# RTIO
#
#
# include/rtio.h warnings
#
^(?P<filename>([\-:\\/\w\.])+[/\\]doc[/\\]reference[/\\]peripherals[/\\]rtio.rst):(?P<lineno>[0-9]+): WARNING: Invalid definition: Expected identifier in nested name. \[error at [0-9]+]
^[ \t]*
^[ \t]*\^
^(?P=filename):(?P=lineno): WARNING: Invalid definition: Expected identifier in nested name. \[error at [0-9]+]
^[ \t]*
^[ \t]*\^
^(?P=filename):(?P=lineno): WARNING: Invalid definition: Expected end of definition. \[error at [0-9]+]
^.*rtio_trigger_config.options
^[- \t]*\^
#

teburd · 2019-07-16T17:16:37Z

@dbkinder I believe everything is sorted now

dbkinder

Some recommended writing edits and we're good to go.

doc/reference/peripherals/rtio.rst

Adds a layer of sensor value decoding on top of the RTIO streaming API to provide physical measurement values in useful numerical formats and units. Signed-off-by: Tom Burdick <tom.burdick@electromatic.us>

tejlmand

please update to use find_package(Zephyr)

tejlmand · 2020-04-16T20:37:10Z

samples/rtio/ramp_reader/CMakeLists.txt

+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)


Before going in, this should be updated to find_package(Zephyr)

Suggested change

include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)

find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})

tejlmand · 2020-04-16T20:38:53Z

samples/rtio/ramp_throughput/CMakeLists.txt

+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)


Please update to find_package(Zephyr)

Suggested change

include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)

find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})

tejlmand · 2020-04-16T20:39:22Z

tests/drivers/rtio/rtio_api/CMakeLists.txt

+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)


Please update to find_package(Zephyr)

Suggested change

include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)

find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})

teburd · 2020-05-19T18:35:03Z

If I get back to this I'll reopen, but I've personally run out of mental energy on this for the time being, and the product it was being made for is on indefinite hold at the moment

gmarull · 2020-08-23T08:27:28Z

@BFrog I'd really like to see the RTIO API moving. At a first glance it looks quite complete and well thought, so I wonder what is missing or left to do. I'm currently developing an application where I need to read data efficiently from an IMU using its FIFO, so I could help on testing and implementing at least a sensor driver.

teburd · 2020-08-26T13:20:05Z

@gmarull at this point it needs to be rebased and all the issues fixed, there needs to be automated tests written, and probably most of all a complete working driver put in to showcase the usage. All of those things were in progress but as mentioned in a previous comment for various reasons I've paused on this. I'd be happy to continue working on it, especially if someone is looking to fund the work as it really is not something easily done on the side in my opinion. If someone else wants to take over the work is here and easily forked, I'd be happy to review and assist in understanding any of my thinking or reasoning.

adamfowleruk · 2021-04-02T14:41:54Z

Hi all. We're in the process of finishing a Herald analysis API. One of the future sources of data will be raw sensor data on devices running Zephyr RTOS. This proposed API in this PR would match very well as a 'Source' for our analysis API. Who can I talk to about progressing this Zephyr API please? Happy to help test it out on my range of devices and sensors here.

In particular we will be sourcing temperature, pulse rate/blood ox, ambient light sensors via I2C from an nRF52833. Our mid-level analysis framework (initial use - digital contact tracing exposure risk calculation for COVID-19/Ebola) can be found here for reference: https://github.com/adamfowleruk/herald-for-cpp/blob/0c6d8ba0067f2324cae8563df13834f727577a3a/herald-tests/analysisrunner-tests.cpp#L150

teburd · 2021-04-05T14:16:13Z

@adamfowleruk happy to discuss how we might get this moving forward again, I set it down due to a lack of time as I started other, new projects with other companies.

Happy to pick it up again or help guide others as I mentioned in previous comments. I know @gmarull was also interested in seeing this move forward.

gmarull · 2021-04-06T09:20:30Z

I'd really like to see rtio moving forward, unfortunately I can only help on review/testing right now as I'm busy with other things.

avisconti · 2021-04-07T07:49:39Z

I'm also interested in see this things getting go again.

henrikbrixandersen · 2021-04-07T07:50:24Z

+1 from here as well.

adamfowleruk · 2021-07-14T00:24:29Z

I may have time to look at this over the next month. We now have prototype wearable hardware and so will revisit this soon.

teburd · 2021-07-20T17:25:18Z

I'm happy to hear there's interest in this, maybe a first step on my part would be to rebase it to 2.6 and get it compiling

adamfowleruk · 2021-07-27T16:33:04Z

@BFrog That'd be great, thanks. If you have any time I'd love to pair with you over zoom to understand what is there now.

teburd · 2021-10-01T18:48:06Z

its building again and you can run the ramp_throughput sample, its not PR ready though and might take some time to get there still, happy to discuss on discord

https://github.com/teburd/zephyr/tree/v2.7-rtio

teburd requested review from mbolivar, microbuilder and MaureenHelm July 9, 2019 18:08

teburd requested review from carlescufi, galak and nashif as code owners July 9, 2019 18:08

teburd force-pushed the rtio branch from abe59b2 to b000247 Compare July 9, 2019 18:20

zephyrbot added area: API Changes to public APIs area: Tests Issues related to a particular existing or missing test labels Jul 9, 2019

teburd force-pushed the rtio branch 3 times, most recently from 12b77c4 to afd0366 Compare July 10, 2019 18:46

teburd requested a review from dbkinder as a code owner July 10, 2019 18:46

zephyrbot added the area: Documentation label Jul 10, 2019

teburd force-pushed the rtio branch from afd0366 to 39fa62b Compare July 10, 2019 19:27

dbkinder suggested changes Jul 10, 2019

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teburd force-pushed the rtio branch 3 times, most recently from 3861443 to 30cdbee Compare July 12, 2019 01:44

teburd force-pushed the rtio branch 4 times, most recently from 47d5fd4 to d9ab09e Compare July 16, 2019 16:12

dbkinder suggested changes Jul 16, 2019

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teburd force-pushed the rtio branch from d9ab09e to ca34cac Compare July 16, 2019 21:32

rtio_sensor: Sensor API using RTIO

548e19d

Adds a layer of sensor value decoding on top of the RTIO streaming API to provide physical measurement values in useful numerical formats and units. Signed-off-by: Tom Burdick <tom.burdick@electromatic.us>

teburd force-pushed the rtio branch from 4e8b7ea to 548e19d Compare November 14, 2019 13:39

teburd changed the title ~~rtio: Real-Time Stream API~~ rtio: Real-Time Stream and Sensor API Dec 5, 2019

teburd force-pushed the rtio branch from 548e19d to 2f3ba0a Compare December 19, 2019 19:53

mbolivar mentioned this pull request Dec 20, 2019

Asynchronous sensor API #21515

Closed

teburd force-pushed the rtio branch 3 times, most recently from fe3303c to ca0795f Compare January 5, 2020 22:37

mbolivar-nordic added 2 commits March 12, 2020 11:10

fixup! rtio: Real-Time Stream API

a97bc20

fixup! rtio: Context common driver functionality

3a6cb4c

teburd force-pushed the rtio branch from ca0795f to 3a6cb4c Compare March 12, 2020 16:15

tejlmand requested changes Apr 16, 2020

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teburd closed this May 19, 2020

gmarull mentioned this pull request Aug 24, 2020

Support FIFO mode in sensor drivers for sensors with internal FIFO such as lis2ds12, lis2dw12 #26830

Open

gmarull mentioned this pull request Apr 1, 2021

Add api for hardware trigger #33918

Closed

martinjaeger mentioned this pull request Sep 17, 2021

Power Electronics Roadmap #38629

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4 tasks

teburd moved this from In progress to Done in Sensors Nov 3, 2021

leonardp mentioned this pull request Feb 25, 2022

[RFC][WIP] Add RF PHY API #43201

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rtio: Real-Time Stream and Sensor API #17434

rtio: Real-Time Stream and Sensor API #17434

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teburd commented Oct 1, 2021

	include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
	find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})

rtio: Real-Time Stream and Sensor API #17434

rtio: Real-Time Stream and Sensor API #17434

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