drivers: sensor: omron: add d6f driver

drivers/sensor/CMakeLists.txt

@@ -22,6 +22,7 @@ add_subdirectory(microchip)
 add_subdirectory(nordic)
 add_subdirectory(nuvoton)
 add_subdirectory(nxp)
+add_subdirectory(omron)
 add_subdirectory(pixart)
 add_subdirectory(pni)
 add_subdirectory(realtek)

drivers/sensor/Kconfig

@@ -108,6 +108,7 @@ source "drivers/sensor/microchip/Kconfig"
 source "drivers/sensor/nordic/Kconfig"
 source "drivers/sensor/nuvoton/Kconfig"
 source "drivers/sensor/nxp/Kconfig"
+source "drivers/sensor/omron/Kconfig"
 source "drivers/sensor/pixart/Kconfig"
 source "drivers/sensor/pni/Kconfig"
 source "drivers/sensor/realtek/Kconfig"

drivers/sensor/omron/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Copyright (c) 2025 Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+add_subdirectory_ifdef(CONFIG_D6F d6f)
+# zephyr-keep-sorted-stop

drivers/sensor/omron/Kconfig

@@ -0,0 +1,6 @@
+# Copyright (c) 2025 Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+source "drivers/sensor/omron/d6f/Kconfig"
+# zephyr-keep-sorted-stop

drivers/sensor/omron/d6f/CMakeLists.txt

@@ -0,0 +1,5 @@
+# Copyright (c) 2025 Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+zephyr_library_sources(d6f.c)

drivers/sensor/omron/d6f/Kconfig

@@ -0,0 +1,12 @@
+# Copyright (c) 2025 Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+config D6F
+	bool "D6F mass flow rate sensor"
+	default y
+	depends on DT_HAS_OMRON_D6F_P0001_ENABLED || DT_HAS_OMRON_D6F_P0010_ENABLED
+	select ADC
+	select FPU if CPU_HAS_FPU
+	help
+	  Enable Omron D6F mass flow rate sensor driver. The sensor series
+	  outputs an analogue voltage which is read using an ADC.

drivers/sensor/omron/d6f/d6f.c

@@ -0,0 +1,141 @@
+/*
+ * Copyright (c) 2025 Prevas A/S
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <math.h>
+#include <stdint.h>
+
+#include <zephyr/drivers/adc.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/device.h>
+#include <zephyr/devicetree.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_REGISTER(d6f, CONFIG_SENSOR_LOG_LEVEL);
+
+struct d6f_config {
+	const struct adc_dt_spec *adc;
+	struct adc_sequence sequence;
+	const float *polynomial_coefficients;
+	uint8_t polynomial_degree;
+};
+
+struct d6f_data {
+	uint32_t adc_sample;
+};
+
+static int d6f_sample_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	const struct d6f_config *config = dev->config;
+
+	switch (chan) {
+	case SENSOR_CHAN_ALL:
+	case SENSOR_CHAN_FLOW_RATE:
+		return adc_read_dt(config->adc, &config->sequence);
+	default:
+		return -ENOTSUP;
+	}
+}
+
+static int d6f_flow_rate(const struct d6f_config *config, struct d6f_data *data,
+			 struct sensor_value *val)
+{
+	float flow_rate = config->polynomial_coefficients[0];
+	int32_t uv = data->adc_sample;
+	float v;
+	int rc;
+
+	rc = adc_raw_to_microvolts_dt(config->adc, &uv);
+	if (rc != 0) {
+		return rc;
+	}
+	v = uv / 1000000.f;
+
+	for (uint8_t i = 1; i <= config->polynomial_degree; ++i) {
+		flow_rate += config->polynomial_coefficients[i] * powf(v, i);
+	}
+
+	rc = sensor_value_from_float(val, flow_rate);
+	if (rc != 0) {
+		return rc;
+	}
+
+	return 0;
+}
+
+static int d6f_channel_get(const struct device *dev, enum sensor_channel chan,
+			   struct sensor_value *val)
+{
+	const struct d6f_config *config = dev->config;
+	struct d6f_data *data = dev->data;
+
+	switch (chan) {
+	case SENSOR_CHAN_FLOW_RATE:
+		return d6f_flow_rate(config, data, val);
+	default:
+		return -ENOTSUP;
+	}
+
+	return 0;
+}
+
+static int d6f_init(const struct device *dev)
+{
+	const struct d6f_config *config = dev->config;
+	int rc;
+
+	LOG_DBG("Initializing %s", dev->name);
+
+	if (!adc_is_ready_dt(config->adc)) {
+		LOG_ERR("%s not ready", dev->name);
+		return -ENODEV;
+	}
+
+	rc = adc_channel_setup_dt(config->adc);
+	if (rc != 0) {
+		LOG_ERR("%s setup failed: %d", config->adc->dev->name, rc);
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static DEVICE_API(sensor, d6f_driver_api) = {
+	.sample_fetch = d6f_sample_fetch,
+	.channel_get = d6f_channel_get,
+};
+
+#define D6F_INIT(n, c, p)                                                                          \
+	static struct d6f_data d6f_data_##c##_##n;                                                 \
+	static const struct adc_dt_spec d6f_adc_##c##_##n = ADC_DT_SPEC_INST_GET(n);               \
+	static const struct d6f_config d6f_config_##c##_##n = {                                    \
+		.adc = &d6f_adc_##c##_##n,                                                         \
+		.sequence =                                                                        \
+			{                                                                          \
+				.options = NULL,                                                   \
+				.channels = BIT(d6f_adc_##c##_##n.channel_id),                     \
+				.buffer = &d6f_data_##c##_##n.adc_sample,                          \
+				.buffer_size = sizeof(d6f_data_##c##_##n.adc_sample),              \
+				.resolution = d6f_adc_##c##_##n.resolution,                        \
+				.oversampling = d6f_adc_##c##_##n.oversampling,                    \
+				.calibrate = false,                                                \
+			},                                                                         \
+		.polynomial_coefficients = (p),                                                    \
+		.polynomial_degree = (ARRAY_SIZE(p) - 1),                                          \
+	};                                                                                         \
+                                                                                                   \
+	SENSOR_DEVICE_DT_INST_DEFINE(n, d6f_init, NULL, &d6f_data_##c##_##n,                       \
+				     &d6f_config_##c##_##n, POST_KERNEL,                           \
+				     CONFIG_SENSOR_INIT_PRIORITY, &d6f_driver_api);
+
+#undef DT_DRV_COMPAT
+#define DT_DRV_COMPAT omron_d6f_p0001
+static __maybe_unused const float d6f_p0001_polynomial_coefficients[] = {-0.024864, 0.049944};
+DT_INST_FOREACH_STATUS_OKAY_VARGS(D6F_INIT, DT_DRV_COMPAT, d6f_p0001_polynomial_coefficients)
+
+#undef DT_DRV_COMPAT
+#define DT_DRV_COMPAT omron_d6f_p0010
+static __maybe_unused const float d6f_p0010_polynomial_coefficients[] = {
+	-0.269996, 1.060657, -1.601495, 1.374705, 1.374705, -0.564312, 0.094003};
+DT_INST_FOREACH_STATUS_OKAY_VARGS(D6F_INIT, DT_DRV_COMPAT, d6f_p0010_polynomial_coefficients)

drivers/sensor/sensor_shell.c

@@ -81,6 +81,7 @@ static const char *const sensor_channel_name[SENSOR_CHAN_COMMON_COUNT] = {
 	[SENSOR_CHAN_O2] = "o2",
 	[SENSOR_CHAN_VOC] = "voc",
 	[SENSOR_CHAN_GAS_RES] = "gas_resistance",
+	[SENSOR_CHAN_FLOW_RATE] = "flow_rate",
 	[SENSOR_CHAN_VOLTAGE] = "voltage",
 	[SENSOR_CHAN_VSHUNT] = "vshunt",
 	[SENSOR_CHAN_CURRENT] = "current",

dts/bindings/sensor/omron,d6f-analog.yaml

@@ -0,0 +1,14 @@
+# Copyright (c) 2025, Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+title: Omron D6F mass flow rate sensor.
+
+include: sensor-device.yaml
+
+properties:
+  io-channels:
+    type: phandle-array
+    required: true
+    description: |
+      ADC used to measure the mass flow rate:
+      <&adc_node channel>

dts/bindings/sensor/omron,d6f-p0001.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2025, Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+title: Omron D6F-P0001A1 0.1 L/min flow rate sensor.
+
+compatible: "omron,d6f-p0001"
+
+include: omron,d6f-analog.yaml

dts/bindings/sensor/omron,d6f-p0010.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2025, Prevas A/S
+# SPDX-License-Identifier: Apache-2.0
+
+title: Omron D6F-P0010 1 L/min flow rate sensor.
+
+compatible: "omron,d6f-p0010"
+
+include: omron,d6f-analog.yaml

dts/bindings/vendor-prefixes.txt

@@ -1,4 +1,4 @@
 # Device tree binding vendor prefix registry. Keep this list in
 # alphabetical order.
 #
 # This isn't an exhaustive list, but you should add new prefixes to it
@@ -492,6 +492,7 @@
 oki	Oki Electric Industry Co., Ltd.
 olimex	OLIMEX Ltd.
 olpc	One Laptop Per Child
+omron	OMRON Corporation
 onion	Onion Corporation
 onnn	ON Semiconductor Corp.
 ontat	On Tat Industrial Company

include/zephyr/drivers/sensor.h

@@ -130,6 +130,8 @@ enum sensor_channel {
 	SENSOR_CHAN_VOC,
 	/** Gas sensor resistance in ohms. */
 	SENSOR_CHAN_GAS_RES,
+	/** Flow rate in litres per minute */
+	SENSOR_CHAN_FLOW_RATE,
 
 	/** Voltage, in volts **/
 	SENSOR_CHAN_VOLTAGE,

samples/sensor/sensor_shell/pytest/test_sensor_shell.py

@@ -41,7 +41,7 @@ def test_sensor_shell_attr_get(shell: Shell):
     assert any(['sensor@0(channel=co2, attr=sampling_frequency)' in line for line in lines]), 'expected response not found'
 
     shell.wait_for_prompt()
-    lines = shell.exec_command('sensor attr_get sensor@1 54 3')
+    lines = shell.exec_command('sensor attr_get sensor@1 55 3')
     assert any(['sensor@1(channel=gauge_state_of_health, attr=slope_th)' in line for line in lines]), 'expected response not found'
 
     logger.info('response is valid')
@@ -56,7 +56,7 @@ def test_sensor_shell_attr_set(shell: Shell):
     assert any([expected_line in line for line in lines]), 'expected response not found'
 
     shell.wait_for_prompt()
-    lines = shell.exec_command('sensor attr_set sensor@1 54 3 1')
+    lines = shell.exec_command('sensor attr_set sensor@1 55 3 1')
     expected_line = 'sensor@1 channel=gauge_state_of_health, attr=slope_th set to value=1'
     assert any([expected_line in line for line in lines]), 'expected response not found'
 

tests/drivers/build_all/sensor/adc.dtsi

@@ -92,6 +92,18 @@ test_murata_ncp15wb473: murata-ncp15wb473 {
 	connected-positive;
 };
 
+test_omron_d6f_p0001: test-omron-d6f-p0001 {
+	status = "okay";
+	compatible = "omron,d6f-p0001";
+	io-channels = <&test_adc 0>;
+};
+
+test_omron_d6f_p0010: test-omron-d6f-p0010 {
+	status = "okay";
+	compatible = "omron,d6f-p0010";
+	io-channels = <&test_adc 0>;
+};
+
 test_tdk_ntcg163jf103ft1: tdk-ntcg163jf103ft1 {
 	compatible = "tdk,ntcg163jf103ft1";
 	io-channels = <&test_adc 0>;