feat(sensors): modernize sensor drivers and streaming

dts/bindings/analog,adau1860.yaml → dts/bindings/adi,adau1860.yaml

@@ -6,7 +6,7 @@
 
 include: [sensor-device.yaml, i2c-device.yaml]
 
-compatible: "analog,adau1860"
+compatible: "adi,adau1860"
 
 properties:
   enable-gpios:

include/sensor_sink.h

@@ -0,0 +1,20 @@
+#ifndef SENSOR_SINK_H
+#define SENSOR_SINK_H
+
+#include "openearable_common.h"
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int sensor_sink_put(const struct sensor_msg *msg);
+
+int sensor_sink_write_sd(const void *const *data_blocks, const size_t *lengths,
+                         size_t block_count);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/ParseInfo/DefaultSensors.h

@@ -17,14 +17,14 @@
 // ============= Microphones =============
 
 #define MICRO_CHANNEL_COUNT 2
-SensorComponent microComponenents[MICRO_CHANNEL_COUNT] = {
+SensorComponent microComponents[MICRO_CHANNEL_COUNT] = {
     { .name = "INNER", .unit = "ADC", .parseType = PARSE_TYPE_UINT16 },
-    { .name = "Outer", .unit = "ADC", .parseType = PARSE_TYPE_UINT16 },
+    { .name = "OUTER", .unit = "ADC", .parseType = PARSE_TYPE_UINT16 },
 };
 
 #define MICRO_GROUP_COUNT 1
 SensorComponentGroup microGroups[MICRO_GROUP_COUNT] = {
-    { .name = "MICROPHONE", .componentCount = MICRO_CHANNEL_COUNT, .components = microComponenents },
+    { .name = "MICROPHONE", .componentCount = MICRO_CHANNEL_COUNT, .components = microComponents },
 };
 
 // ============= IMU =============

src/ParseInfo/ParseType.h

@@ -15,7 +15,7 @@ enum ParseType {
     PARSE_TYPE_DOUBLE,
 };
 
-const int parseTypeSizes[] = {
+static const int parseTypeSizes[] = {
     1,  // PARSE_TYPE_INT8
     1,  // PARSE_TYPE_UINT8
 

src/SensorManager/BMA580/BMA580_Sensor.cpp

@@ -32,8 +32,6 @@
  *
  */
 #include <stdint.h>
-// #include <stdlib.h>
-// #include <stdio.h>
 
 #include "bma5.h"
 #include "BMA580_Sensor.h"
@@ -63,7 +61,7 @@ BMA5_INTF_RET_TYPE bma5_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t l
     int ret;
     BMA580_dev_inf * dev_info = (BMA580_dev_inf *) intf_ptr;
 
-    dev_info->i2c_dev->aquire();
+    dev_info->i2c_dev->acquire();
 
     ret = i2c_burst_read(dev_info->i2c_dev->master, dev_info->addr, reg_addr, reg_data, len);
     if (ret) LOG_WRN("I2C read failed: %d\n", ret);
@@ -79,7 +77,7 @@ BMA5_INTF_RET_TYPE bma5_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uin
 {
     BMA580_dev_inf * dev_info = (BMA580_dev_inf *) intf_ptr; 
 
-    dev_info->i2c_dev->aquire();
+    dev_info->i2c_dev->acquire();
 
     int ret = i2c_burst_write(dev_info->i2c_dev->master, dev_info->addr, reg_addr, reg_data, len);
     if (ret) LOG_WRN("I2C write failed: %d", ret);
@@ -236,7 +234,10 @@ int8_t BMA580::get_accel_and_int_settings(struct bma5_dev *dev)
 }
 
 /*!
- * @brief This internal API gets FIFO configurations.
+ * @brief This internal API sets FIFO configurations and verifies the readback
+ * matches what we asked for. The chip silently clamps fifo_size when the
+ * feature engine is enabled (datasheet section 4.6.1.5), so a missing log here
+ * is the only way to notice that condition without a logic analyzer.
  */
 int8_t BMA580::get_fifo_conf(const struct bma5_fifo_conf *fifo_conf, struct bma5_dev *dev)
 {
@@ -252,13 +253,18 @@ int8_t BMA580::get_fifo_conf(const struct bma5_fifo_conf *fifo_conf, struct bma5
     rslt = bma5_get_fifo_conf(&read_fifo_conf, dev);
     bma5_check_rslt("bma5_get_fifo_conf", rslt);
 
+    /* Verify that the chip accepted the size we asked for. */
+    if (read_fifo_conf.fifo_size != fifo_conf->fifo_size) {
+        LOG_ERR("FIFO size mismatch: requested 0x%02X, readback 0x%02X "
+                "(feature engine likely still enabled)",
+                fifo_conf->fifo_size, read_fifo_conf.fifo_size);
+    }
+
     return rslt;
 }
 
 int BMA580::init(int odr, int fifo_watermark_level) {
     int8_t rslt;
-    struct bma580_int_map int_map, get_int_map;
-    //struct bma5_fifo_conf fifo_conf;
 
     /* Assign context parameter selection */
     enum bma5_context context = BMA5_HEARABLE;
@@ -276,19 +282,20 @@ int BMA580::init(int odr, int fifo_watermark_level) {
     bma5_check_rslt("bma580_init", rslt);
     LOG_DBG("Chip ID :0x%X", dev.chip_id);
 
-    /* Map generic interrupts to hardware interrupt pin of the sensor */
-    rslt = bma580_get_int_map(&int_map, &dev);
-    bma5_check_rslt("bma580_get_int_map", rslt);
-
-    /* Set FIFO full interrupt to INT2 */
-    //int_map.fifo_full_int_map = BMA580_FIFO_FULL_INT_MAP_INT2;
-	int_map.fifo_wm_int_map = BMA580_FIFO_WM_INT_MAP_INT1;
-
-    rslt = bma580_set_int_map(&int_map, &dev);
-    bma5_check_rslt("bma580_set_int_map", rslt);
-
-    rslt = bma580_get_int_map(&get_int_map, &dev);
-    bma5_check_rslt("bma580_get_int_map", rslt);
+    /* Disable the feature engine. The BMA580 powers up with feat_eng enabled
+     * (FEAT_ENG_CONF reset value = 0x01), and feat_eng shares its 1024-byte
+     * RAM with the FIFO. While feat_eng is enabled the FIFO is capped at
+     * 512 bytes and any write of fifo_size = 0x03 (1024 B) is silently
+     * clamped to 0x02 (512 B) — verified empirically via the readback log
+     * in get_fifo_conf(). We don't use any feature-engine features
+     * (VAD, tap, generic interrupts, FOC, self-wakeup), so disabling it is
+     * safe and gives the FIFO its full 1024 bytes. */
+    rslt = bma5_set_feat_eng_conf(BMA5_FEAT_ENG_CTRL_DISABLE, &dev);
+    bma5_check_rslt("bma5_set_feat_eng_conf", rslt);
+
+    /* INT1/INT2 hardware interrupt pins are unused — FIFO is drained by a
+     * timer-based poll in BoneConduction::update_sensor, so we don't map
+     * the watermark or full interrupts to any pin. */
 
     rslt = get_accel_and_int_settings(&dev);
     bma5_check_rslt("get_accel_and_int_settings", rslt);
@@ -297,17 +304,14 @@ int BMA580::init(int odr, int fifo_watermark_level) {
     rslt = bma5_get_fifo_conf(&fifo_conf, &dev);
     bma5_check_rslt("bma5_get_fifo_conf", rslt);
 
-    rslt = bma5_get_fifo_conf(&fifo_conf, &dev);
-    bma5_check_rslt("bma5_get_fifo_conf", rslt);
-
     fifo_conf.fifo_cfg = BMA5_FIFO_CFG_ENABLE;
     fifo_conf.fifo_acc_x = BMA5_FIFO_ACC_X_ENABLE;
     fifo_conf.fifo_acc_y = BMA5_FIFO_ACC_Y_ENABLE;
     fifo_conf.fifo_acc_z = BMA5_FIFO_ACC_Z_ENABLE;
     fifo_conf.fifo_compression = BMA5_FIFO_COMPRESSION_ACC_16BIT;
     fifo_conf.fifo_sensor_time = BMA5_FIFO_SENSOR_TIME_OFF;
-    fifo_conf.fifo_size = BMA5_FIFO_SIZE_MAX_512_BYTES;
-    fifo_conf.fifo_stop_on_full = BMA5_ENABLE; //BMA5_ENABLE
+    fifo_conf.fifo_size = BMA5_FIFO_SIZE_MAX_1024_BYTES;
+    fifo_conf.fifo_stop_on_full = BMA5_DISABLE;
 
     rslt = get_fifo_conf(&fifo_conf, &dev);
     bma5_check_rslt("get_fifo_conf", rslt);
@@ -335,32 +339,19 @@ int BMA580::stop() {
 
 int BMA580::read(bma5_sens_fifo_axes_data_16_bit *fifo_accel_data) {
     int8_t rslt = BMA5_OK;
-    uint8_t n_status = 1;
-    struct bma580_int_status_types int_status = { 0 };
 
     fifoframe.fifo_avail_frames = 0;
 
-    int_status.int_src = BMA580_INT_STATUS_INT1;
-
-    /* Get fifo full interrupt 2 status */
-    rslt = bma580_get_int_status(&int_status, n_status, &dev);
-    bma5_check_rslt("bma580_get_int_status", rslt);
+    /* Read whatever is in the FIFO — don't wait for watermark interrupt.
+     * When using a timer-based read at the FIFO fill rate, the watermark
+     * may not have triggered yet due to clock drift between the nRF5340
+     * and BMA580.  Reading unconditionally avoids this race. */
+    rslt = bma5_read_fifo_data(&fifoframe, &fifo_conf, &dev);
+    bma5_check_rslt("bma5_read_fifo_data", rslt);
 
-    if (int_status.int_status.fifo_wm_int_status & BMA5_ENABLE)
+    if (rslt == BMA5_OK && fifoframe.fifo_avail_len > 0)
     {
-        /* Read FIFO data */
-        rslt = bma5_read_fifo_data(&fifoframe, &fifo_conf, &dev);
-        bma5_check_rslt("bma5_read_fifo_data", rslt);
-
-        /* Set fifo full interrupt 2 status */
-        rslt = bma580_set_int_status(&int_status, n_status, &dev);
-        bma5_check_rslt("bma580_get_int_status\n", rslt);
-
-        if (rslt == BMA5_OK)
-        {
-            /* Parse the FIFO data to extract accelerometer and sensortime data from the FIFO buffer */
-            (void)bma5_extract_acc_sens_time_16_bit(fifo_accel_data, &fifoframe, &fifo_conf, &dev);
-        }
+        (void)bma5_extract_acc_sens_time_16_bit(fifo_accel_data, &fifoframe, &fifo_conf, &dev);
     }
 
     return fifoframe.fifo_avail_frames;

src/SensorManager/BMA580/BMA580_Sensor.h

@@ -37,14 +37,13 @@
 
 #include <stdio.h>
 #include "bma5.h"
-//#include "Wire.h"
 #include <TWIM.h>
 
 /******************************************************************************/
 /*!                Macro definition                                           */
 
 /*! FIFO raw data buffer size */
-#define BMA580_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(520)
+#define BMA580_FIFO_RAW_DATA_BUFFER_SIZE  UINT16_C(1032)
 
 /*! Number of accel frames to be extracted from FIFO
  * Calculation:

src/SensorManager/BMP388/Adafruit_BMP3XX.cpp

@@ -59,7 +59,7 @@ Adafruit_BMP3XX::Adafruit_BMP3XX(void) {
 }
 
 bool Adafruit_BMP3XX::detect(int address) {
-  dev_inf.i2c_dev->aquire();
+  dev_inf.i2c_dev->acquire();
   uint8_t dummy = 0;
   int ret = i2c_write(dev_inf.i2c_dev->master, &dummy, 0, address);
   dev_inf.i2c_dev->release();
@@ -140,16 +140,24 @@ bool Adafruit_BMP3XX::_init(void) {
   printk("P9 = %i\n", the_sensor.calib_data.reg_calib_data.par_p9);
   printk("P10 = %i\n", the_sensor.calib_data.reg_calib_data.par_p10);
   printk("P11 = %i\n", the_sensor.calib_data.reg_calib_data.par_p11);
-  // printk("T lin = %i\n", the_sensor.calib_data.reg_calib_data.t_lin);
 #endif
 
   setTemperatureOversampling(BMP3_NO_OVERSAMPLING);
   setPressureOversampling(BMP3_NO_OVERSAMPLING);
   setIIRFilterCoeff(BMP3_IIR_FILTER_DISABLE);
   setOutputDataRate(BMP3_ODR_25_HZ);
 
-  // don't do anything till we request a reading
-  the_sensor.settings.op_mode = BMP3_MODE_FORCED;
+  the_sensor.settings.temp_en = BMP3_ENABLE;
+  the_sensor.settings.press_en = BMP3_ENABLE;
+  uint16_t settings_sel = BMP3_SEL_TEMP_EN | BMP3_SEL_PRESS_EN | BMP3_SEL_ODR;
+  int8_t settings_rslt = bmp3_set_sensor_settings(settings_sel, &the_sensor);
+  if (settings_rslt != BMP3_OK)
+    return false;
+
+  the_sensor.settings.op_mode = BMP3_MODE_NORMAL;
+  settings_rslt = bmp3_set_op_mode(&the_sensor);
+  if (settings_rslt != BMP3_OK)
+    return false;
 
   return true;
 }
@@ -218,86 +226,24 @@ float Adafruit_BMP3XX::readAltitude(float seaLevel) {
 */
 /**************************************************************************/
 bool Adafruit_BMP3XX::performReading(void) {
-  //g_i2c_dev = i2c_dev;
-  //g_spi_dev = spi_dev;
   int8_t rslt;
-  /* Used to select the settings user needs to change */
-  uint16_t settings_sel = 0;
-  /* Variable used to select the sensor component */
-  uint8_t sensor_comp = 0;
-
-  /* Select the pressure and temperature sensor to be enabled */
-  the_sensor.settings.temp_en = BMP3_ENABLE;
-  settings_sel |= BMP3_SEL_TEMP_EN;
-  sensor_comp |= BMP3_TEMP;
-  if (_tempOSEnabled) {
-    settings_sel |= BMP3_SEL_TEMP_OS;
-  }
-
-  the_sensor.settings.press_en = BMP3_ENABLE;
-  settings_sel |= BMP3_SEL_PRESS_EN;
-  sensor_comp |= BMP3_PRESS;
-  if (_presOSEnabled) {
-    settings_sel |= BMP3_SEL_PRESS_OS;
-  }
-
-  if (_filterEnabled) {
-    settings_sel |= BMP3_SEL_IIR_FILTER;
-  }
-
-  if (_ODREnabled) {
-    settings_sel |= BMP3_SEL_ODR;
-  }
-
-  // set interrupt to data ready
-  // settings_sel |= BMP3_DRDY_EN_SEL | BMP3_LEVEL_SEL | BMP3_LATCH_SEL;
-
-  /* Set the desired sensor configuration */
-#ifdef BMP3XX_DEBUG
-  printk("Setting sensor settings\n");
-#endif
-  rslt = bmp3_set_sensor_settings(settings_sel, &the_sensor);
-
-  if (rslt != BMP3_OK)
-    return false;
-
-  /* Set the power mode */
-  the_sensor.settings.op_mode = BMP3_MODE_FORCED;
-#ifdef BMP3XX_DEBUG
-  printk("Setting power mode\n");
-#endif
-  rslt = bmp3_set_op_mode(&the_sensor);
-  if (rslt != BMP3_OK)
-    return false;
-
-  /* Variable used to store the compensated data */
   struct bmp3_data data;
 
-  /* Temperature and Pressure data are read and stored in the bmp3_data instance
-   */
-#ifdef BMP3XX_DEBUG
-  printk("Getting sensor data\n");
-#endif
-  rslt = bmp3_get_sensor_data(sensor_comp, &data, &the_sensor);
+  rslt = bmp3_get_sensor_data(BMP3_TEMP | BMP3_PRESS, &data, &the_sensor);
   if (rslt != BMP3_OK)
     return false;
 
-  /*
-#ifdef BMP3XX_DEBUG
-  Serial.println(F("Analyzing sensor data"));
-#endif
-  rslt = analyze_sensor_data(&data);
-  if (rslt != BMP3_OK)
-    return false;
-    */
-
-  /* Save the temperature and pressure data */
   temperature = data.temperature;
   pressure = data.pressure;
 
   return true;
 }
 
+bool Adafruit_BMP3XX::sleep(void) {
+  the_sensor.settings.op_mode = BMP3_MODE_SLEEP;
+  return bmp3_set_op_mode(&the_sensor) == BMP3_OK;
+}
+
 /**************************************************************************/
 /*!
     @brief  Setter for Temperature oversampling
@@ -403,7 +349,7 @@ int8_t i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len,
 
   BMP3XX_dev_inf * dev_info = (BMP3XX_dev_inf *) intf_ptr;
 
-  dev_info->i2c_dev->aquire();
+  dev_info->i2c_dev->acquire();
 
   int ret = i2c_burst_read(dev_info->i2c_dev->master, dev_info->addr, reg_addr, reg_data, len);
   if (ret) LOG_WRN("I2C read failed: %d\n", ret);
@@ -422,7 +368,7 @@ int8_t i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len,
                  void *intf_ptr) {
   BMP3XX_dev_inf * dev_info = (BMP3XX_dev_inf *) intf_ptr;
 
-  dev_info->i2c_dev->aquire();
+  dev_info->i2c_dev->acquire();
 
   int ret = i2c_burst_write(dev_info->i2c_dev->master, dev_info->addr, reg_addr, reg_data, len);
   if (ret) LOG_WRN("I2C write failed: %d", ret);