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drivers: sensor: rm3100: fix I2C addressing and streaming SQE handling #117395

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drivers: sensor: rm3100: fix I2C addressing and streaming SQE handling #117395

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a59bee2
drivers: sensor: rm3100: only set the SPI read bit on SPI transfers
bperseghetti Aug 24, 2026
8a87fed
drivers: sensor: rm3100: encode a fixed channel spec when streaming
bperseghetti Aug 24, 2026
42721be
drivers: sensor: rm3100: fix bus SQE pool corruption under streaming …
bperseghetti Aug 24, 2026
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8 changes: 6 additions & 2 deletions drivers/sensor/pni/rm3100/rm3100.c
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,11 @@ static void rm3100_submit_one_shot(const struct device *dev, struct rtio_iodev_s
return;
}

uint8_t val = RM3100_REG_MX | REG_READ_BIT;
uint8_t val = RM3100_REG_MX;

if (!rtio_is_i2c(data->rtio.type)) {
val |= REG_READ_BIT;
}

rtio_sqe_prep_tiny_write(write_sqe,
data->rtio.iodev,
Expand Down Expand Up @@ -223,7 +227,7 @@ static int rm3100_init(const struct device *dev)

#define RM3100_DEFINE(inst) \
\
RTIO_DEFINE(rm3100_rtio_ctx_##inst, 8, 8); \
RTIO_DEFINE(rm3100_rtio_ctx_##inst, 16, 16); \
COND_CODE_1(DT_INST_ON_BUS(inst, i2c), \
(I2C_DT_IODEV_DEFINE(rm3100_bus_##inst, DT_DRV_INST(inst))), \
()); \
Expand Down
8 changes: 7 additions & 1 deletion drivers/sensor/pni/rm3100/rm3100_bus.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,13 @@ static inline int rm3100_bus_read(const struct device *dev,
return -ENOMEM;
}

reg = reg | REG_READ_BIT;
/* The read-address flag is an SPI-only convention: on I2C the
* register address must be sent raw, or reads hit a nonexistent
* register and return zeros.
*/
if (!rtio_is_i2c(data->rtio.type)) {
reg = reg | REG_READ_BIT;
}

rtio_sqe_prep_write(write_sqe, iodev, RTIO_PRIO_HIGH, &reg, 1, NULL);
write_sqe->flags |= RTIO_SQE_TRANSACTION;
Expand Down
46 changes: 33 additions & 13 deletions drivers/sensor/pni/rm3100/rm3100_stream.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,15 @@
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(RM3100_STREAM, CONFIG_SENSOR_LOG_LEVEL);

/** A streaming read-config describes triggers, not channels: struct sensor_read_config
* keeps "channels" and "triggers" in the same union and "count" is the trigger count.
* A data-ready event always carries all three axes, so the encoded channel mask is
* fixed here instead of being derived from the read-config.
*/
static const struct sensor_chan_spec rm3100_stream_chan_spec[] = {
{ SENSOR_CHAN_MAGN_XYZ, 0 },
};

static void rm3100_complete_result(struct rtio *ctx, const struct rtio_sqe *sqe, int err,
void *arg)
{
Expand Down Expand Up @@ -69,9 +78,6 @@ static void rm3100_stream_get_data(const struct device *dev)
}

struct rtio_iodev_sqe *iodev_sqe = data->stream.iodev_sqe;
const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
const struct sensor_chan_spec *const channels = cfg->channels;
const size_t num_channels = cfg->count;
uint8_t *buf;
uint32_t buf_len;
uint32_t min_buf_len = sizeof(struct rm3100_encoded_data);
Expand All @@ -88,31 +94,42 @@ static void rm3100_stream_get_data(const struct device *dev)

edata = (struct rm3100_encoded_data *)buf;

err = rm3100_encode(dev, channels, num_channels, buf);
err = rm3100_encode(dev, rm3100_stream_chan_spec,
ARRAY_SIZE(rm3100_stream_chan_spec), buf);
if (err != 0) {
LOG_ERR("Failed to encode sensor data");
rtio_iodev_sqe_err(iodev_sqe, err);
return;
}

struct rtio_sqe *status_wr_sqe = rtio_sqe_acquire(data->rtio.ctx);
struct rtio_sqe *status_rd_sqe = rtio_sqe_acquire(data->rtio.ctx);
struct rtio_sqe *write_sqe = rtio_sqe_acquire(data->rtio.ctx);
struct rtio_sqe *read_sqe = rtio_sqe_acquire(data->rtio.ctx);
struct rtio_sqe *complete_sqe = rtio_sqe_acquire(data->rtio.ctx);
/*
* Acquire the chain's five SQEs atomically: the bus RTIO context is
* shared across reads, so a per-SQE acquire that falls back to
* rtio_sqe_drop_all could free an SQE still in flight from another
* chain.
*/
struct rtio_sqe *sqes[5];

if (!write_sqe || !read_sqe || !complete_sqe) {
if (rtio_sqe_acquire_array(data->rtio.ctx, ARRAY_SIZE(sqes), sqes) != 0) {
LOG_ERR("Failed to acquire RTIO SQEs");
rtio_sqe_drop_all(data->rtio.ctx);

data->stream.iodev_sqe = NULL;
rtio_iodev_sqe_err(iodev_sqe, -ENOMEM);
return;
}

struct rtio_sqe *status_wr_sqe = sqes[0];
struct rtio_sqe *status_rd_sqe = sqes[1];
struct rtio_sqe *write_sqe = sqes[2];
struct rtio_sqe *read_sqe = sqes[3];
struct rtio_sqe *complete_sqe = sqes[4];

uint8_t val;

val = RM3100_REG_STATUS | REG_READ_BIT;
val = RM3100_REG_STATUS;
if (!rtio_is_i2c(data->rtio.type)) {
val |= REG_READ_BIT;
}

rtio_sqe_prep_tiny_write(status_wr_sqe,
data->rtio.iodev,
Expand All @@ -134,7 +151,10 @@ static void rm3100_stream_get_data(const struct device *dev)
}
status_rd_sqe->flags |= RTIO_SQE_CHAINED;

val = RM3100_REG_MX | REG_READ_BIT;
val = RM3100_REG_MX;
if (!rtio_is_i2c(data->rtio.type)) {
val |= REG_READ_BIT;
}

rtio_sqe_prep_tiny_write(write_sqe,
data->rtio.iodev,
Expand Down
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