samples: sensor: Add adxl345 streaming and trigger configurations

boards/adi/apard32690/apard32690_max32690_m4.dts

@@ -84,6 +84,21 @@
 			   <21 0 &gpio2 18 0>;	/* D15 */
 	};
 
+	pmod_header: pmod-header {
+		compatible = "digilent,pmod";
+		#gpio-cells = <2>;
+		gpio-map-mask = <0xffffffff 0xffffffc0>;
+		gpio-map-pass-thru = <0 0x3f>;
+		gpio-map = <0 0 &gpio1 0 0>,	/* IO1/CS */
+			   <1 0 &gpio1 1 0>,	/* IO2/MOSI */
+			   <2 0 &gpio1 2 0>,	/* IO3/MISO */
+			   <3 0 &gpio1 3 0>,	/* IO4/SCK */
+			   <4 0 &gpio2 21 0>,	/* IO5/INT */
+			   <5 0 &gpio1 6 0>,	/* IO6/RESET */
+			   <6 0 &gpio1 4 0>,	/* IO7/CS2 */
+			   <7 0 &gpio1 5 0>;	/* IO8/CS3 */
+	};
+
 	sdram1: sdram1@60000000 {
 		compatible = "zephyr,memory-region", "mmio-sram";
 		status = "disabled";

boards/adi/apard32690/apard32690_max32690_m4.yaml

@@ -11,6 +11,7 @@ supported:
   - arduino_serial
   - arduino_spi
   - pmod_spi
+  - pmod_gpio
   - gpio
   - serial
   - spi

boards/shields/pmod_acl/pmod_acl.overlay

@@ -4,15 +4,18 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include <zephyr/dt-bindings/sensor/adxl345.h>
+
 &pmod_spi {
 	status = "okay";
 
 	adxl345_pmod_acl: adxl345@0 {
 		compatible = "adi,adxl345";
 		reg = <0x0>;
 		spi-max-frequency = <DT_FREQ_M(1)>;
+		int2-gpios = <&pmod_header 4 GPIO_ACTIVE_HIGH>;
 		status = "okay";
-		odr = <25>;
+		odr = <ADXL345_DT_ODR_25>;
 		fifo-watermark = <31>;
 	};
 };

drivers/sensor/adi/adxl345/adxl345.c

@@ -325,28 +325,16 @@ static int adxl345_sample_fetch(const struct device *dev,
 {
 	struct adxl345_dev_data *data = dev->data;
 	struct adxl345_sample sample;
-	uint8_t samples_count;
 	int rc;
 
-	data->sample_number = 0;
-	rc = adxl345_reg_read_byte(dev, ADXL345_FIFO_STATUS_REG, &samples_count);
+	rc = adxl345_read_sample(dev, &sample);
 	if (rc < 0) {
-		LOG_ERR("Failed to read FIFO status rc = %d\n", rc);
+		LOG_ERR("Failed to fetch sample rc=%d\n", rc);
 		return rc;
 	}
-
-	__ASSERT_NO_MSG(samples_count <= ARRAY_SIZE(data->bufx));
-
-	for (uint8_t s = 0; s < samples_count; s++) {
-		rc = adxl345_read_sample(dev, &sample);
-		if (rc < 0) {
-			LOG_ERR("Failed to fetch sample rc=%d\n", rc);
-			return rc;
-		}
-		data->bufx[s] = sample.x;
-		data->bufy[s] = sample.y;
-		data->bufz[s] = sample.z;
-	}
+	data->samples.x = sample.x;
+	data->samples.y = sample.y;
+	data->samples.z = sample.z;
 
 	return 0;
 }
@@ -357,28 +345,20 @@ static int adxl345_channel_get(const struct device *dev,
 {
 	struct adxl345_dev_data *data = dev->data;
 
-	if (data->sample_number >= ARRAY_SIZE(data->bufx)) {
-		data->sample_number = 0;
-	}
-
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
-		adxl345_accel_convert(val, data->bufx[data->sample_number]);
-		data->sample_number++;
+		adxl345_accel_convert(val, data->samples.x);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
-		adxl345_accel_convert(val, data->bufy[data->sample_number]);
-		data->sample_number++;
+		adxl345_accel_convert(val, data->samples.y);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
-		adxl345_accel_convert(val, data->bufz[data->sample_number]);
-		data->sample_number++;
+		adxl345_accel_convert(val, data->samples.z);
 		break;
 	case SENSOR_CHAN_ACCEL_XYZ:
-		adxl345_accel_convert(val++, data->bufx[data->sample_number]);
-		adxl345_accel_convert(val++, data->bufy[data->sample_number]);
-		adxl345_accel_convert(val,   data->bufz[data->sample_number]);
-		data->sample_number++;
+		adxl345_accel_convert(val++, data->samples.x);
+		adxl345_accel_convert(val++, data->samples.y);
+		adxl345_accel_convert(val,   data->samples.z);
 		break;
 	default:
 		return -ENOTSUP;
@@ -439,13 +419,9 @@ static int adxl345_init(const struct device *dev)
 {
 	int rc;
 	struct adxl345_dev_data *data = dev->data;
-#ifdef CONFIG_ADXL345_TRIGGER
 	const struct adxl345_dev_config *cfg = dev->config;
-#endif
 	uint8_t dev_id, full_res;
 
-	data->sample_number = 0;
-
 	if (!adxl345_bus_is_ready(dev)) {
 		LOG_ERR("bus not ready");
 		return -ENODEV;
@@ -479,14 +455,14 @@ static int adxl345_init(const struct device *dev)
 		return -EIO;
 	}
 
-#ifdef CONFIG_ADXL345_TRIGGER
-	rc = adxl345_configure_fifo(dev, ADXL345_FIFO_STREAMED,
-				     ADXL345_INT2,
-				     cfg->fifo_config.fifo_samples);
+	rc = adxl345_configure_fifo(dev,
+				    IS_ENABLED(CONFIG_ADXL345_STREAM) ? ADXL345_FIFO_STREAMED :
+									ADXL345_FIFO_BYPASSED,
+				    ADXL345_INT2,
+				    cfg->fifo_config.fifo_samples);
 	if (rc) {
 		return rc;
 	}
-#endif
 
 	rc = adxl345_reg_write_byte(dev, ADXL345_POWER_CTL_REG, ADXL345_ENABLE_MEASURE_BIT);
 	if (rc < 0) {

drivers/sensor/adi/adxl345/adxl345.h

@@ -151,10 +151,11 @@ enum adxl345_op_mode {
 };
 
 struct adxl345_dev_data {
-	unsigned int sample_number;
-	int16_t bufx[ADXL345_MAX_FIFO_SIZE];
-	int16_t bufy[ADXL345_MAX_FIFO_SIZE];
-	int16_t bufz[ADXL345_MAX_FIFO_SIZE];
+	struct {
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	} samples;
 	struct adxl345_fifo_config fifo_config;
 	uint8_t is_full_res;
 	uint8_t selected_range;
@@ -273,8 +274,8 @@ int adxl345_reg_write_byte(const struct device *dev, uint8_t addr, uint8_t val);
 int adxl345_reg_read_byte(const struct device *dev, uint8_t addr, uint8_t *buf);
 
 int adxl345_set_op_mode(const struct device *dev, enum adxl345_op_mode op_mode);
-#ifdef CONFIG_SENSOR_ASYNC_API
 int adxl345_read_sample(const struct device *dev, struct adxl345_sample *sample);
+#ifdef CONFIG_SENSOR_ASYNC_API
 void adxl345_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe);
 int adxl345_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder);
 void adxl345_accel_convert(struct sensor_value *val, int16_t sample);

drivers/sensor/adi/adxl345/adxl345_trigger.c

@@ -90,7 +90,9 @@ int adxl345_trigger_set(const struct device *dev,
 {
 	const struct adxl345_dev_config *cfg = dev->config;
 	struct adxl345_dev_data *drv_data = dev->data;
-	uint8_t int_mask, int_en, status1;
+	struct adxl345_sample sample;
+	uint8_t int_mask, int_en;
+	uint8_t samples_count;
 	int ret;
 
 	ret = gpio_pin_interrupt_configure_dt(&cfg->interrupt,
@@ -103,26 +105,45 @@ int adxl345_trigger_set(const struct device *dev,
 	case SENSOR_TRIG_DATA_READY:
 		drv_data->drdy_handler = handler;
 		drv_data->drdy_trigger = trig;
-		int_mask = ADXL345_INT_MAP_DATA_RDY_MSK;
+		/** Enabling DRDY means not using Watermark interrupt as both
+		 * are served by reading data-register: two clients can't be
+		 * served simultaneously.
+		 */
+		int_mask = ADXL345_INT_MAP_DATA_RDY_MSK |
+			   ADXL345_INT_MAP_OVERRUN_MSK |
+			   ADXL345_INT_MAP_WATERMARK_MSK;
 		break;
 	default:
 		LOG_ERR("Unsupported sensor trigger");
 		return -ENOTSUP;
 	}
 
 	if (handler) {
-		int_en = int_mask;
+		int_en = ADXL345_INT_MAP_DATA_RDY_MSK;
 	} else {
 		int_en = 0U;
 	}
 
+#ifdef CONFIG_ADXL345_STREAM
+	(void)adxl345_configure_fifo(dev, ADXL345_FIFO_BYPASSED, ADXL345_INT2, 0);
+#endif
+
+	ret = adxl345_reg_write_mask(dev, ADXL345_INT_ENABLE, int_mask, 0);
+	if (ret < 0) {
+		return ret;
+	}
+
 	ret = adxl345_reg_write_mask(dev, ADXL345_INT_MAP, int_mask, int_en);
 	if (ret < 0) {
 		return ret;
 	}
-	/* Clear status */
-	ret = adxl345_get_status(dev, &status1, NULL);
+
+	/* Clear status and read sample-set to clear interrupt flag */
+	(void)adxl345_read_sample(dev, &sample);
+
+	ret = adxl345_reg_read_byte(dev, ADXL345_FIFO_STATUS_REG, &samples_count);
 	if (ret < 0) {
+		LOG_ERR("Failed to read FIFO status rc = %d\n", ret);
 		return ret;
 	}
 
@@ -132,6 +153,11 @@ int adxl345_trigger_set(const struct device *dev,
 		return ret;
 	}
 
+	ret = adxl345_reg_write_mask(dev, ADXL345_INT_ENABLE, int_mask, int_en);
+	if (ret < 0) {
+		return ret;
+	}
+
 	return 0;
 }
 
@@ -171,6 +197,8 @@ int adxl345_init_interrupt(const struct device *dev)
 			adxl345_thread, drv_data,
 			NULL, NULL, K_PRIO_COOP(CONFIG_ADXL345_THREAD_PRIORITY),
 			0, K_NO_WAIT);
+
+	k_thread_name_set(&drv_data->thread, dev->name);
 #elif defined(CONFIG_ADXL345_TRIGGER_GLOBAL_THREAD)
 	drv_data->work.handler = adxl345_work_cb;
 #endif

samples/sensor/accel_polling/adxl345-stream.conf

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Analog Devices, Inc.
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_SPI_RTIO=y
+CONFIG_SENSOR_ASYNC_API=y
+CONFIG_ADXL345_STREAM=y

samples/sensor/accel_polling/sample.yaml

@@ -27,11 +27,22 @@ tests:
       - b_l4s5i_iot01a                  # lsm6dsl
       - sensortile_box                  # lis2dw12, lsm6dso, iisdhhc
       - thingy53/nrf5340/cpuapp         # adxl362, bmi270
+  sample.sensor.accel_polling.adxl345-stream:
+    extra_args:
+      - SHIELD=pmod_acl
+      - EXTRA_CONF_FILE=adxl345-stream.conf
+      - SNIPPET=rtt-tracing;rtt-console
+    extra_configs:
+      - CONFIG_UART_CONSOLE=n
+    platform_allow:
+      - apard32690/max32690/m4
   sample.sensor.accel_polling.adxl362-stream:
     extra_args:
       - SHIELD=eval_adxl362_ardz
       - EXTRA_CONF_FILE=adxl362-stream.conf
       - SNIPPET=rtt-tracing;rtt-console
+    extra_configs:
+      - CONFIG_UART_CONSOLE=n
     platform_allow:
       - apard32690/max32690/m4
   sample.sensor.accel_polling.adxl367-stream:

samples/sensor/accel_polling/src/main.c

@@ -29,7 +29,7 @@ static const struct device *const sensors[] = {LISTIFY(10, ACCELEROMETER_DEVICE,
 
 #define ACCEL_TRIGGERS                                   \
 	{SENSOR_TRIG_FIFO_FULL, SENSOR_STREAM_DATA_INCLUDE}, \
-	{SENSOR_TRIG_FIFO_WATERMARK, SENSOR_STREAM_DATA_DROP}
+	{SENSOR_TRIG_FIFO_WATERMARK, SENSOR_STREAM_DATA_INCLUDE}
 
 #define ACCEL_DEFINE_IODEV(id, _)         \
 	SENSOR_DT_STREAM_IODEV(               \

samples/sensor/accel_trig/adxl345-trigger.conf

@@ -0,0 +1,4 @@
+# Copyright (c) 2024 Analog Devices, Inc.
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ADXL345_TRIGGER_OWN_THREAD=y

samples/sensor/accel_trig/sample.yaml

@@ -23,11 +23,22 @@ tests:
       - disco_l475_iot1
       - stm32l562e_dk
       - stm32wb5mm_dk
+  sample.sensor.accel_trig.adxl345-trigger:
+    extra_args:
+      - SHIELD=pmod_acl
+      - EXTRA_CONF_FILE=adxl345-trigger.conf
+      - SNIPPET=rtt-tracing;rtt-console
+    extra_configs:
+      - CONFIG_UART_CONSOLE=n
+    platform_allow:
+      - apard32690/max32690/m4
   sample.sensor.accel_trig.adxl362-trigger:
     extra_args:
       - SHIELD=eval_adxl362_ardz
       - EXTRA_CONF_FILE=adxl362-trigger.conf
       - SNIPPET=rtt-tracing;rtt-console
+    extra_configs:
+      - CONFIG_UART_CONSOLE=n
     platform_allow:
       - apard32690/max32690/m4
   sample.sensor.accel_trig.shield-tap: