Zephyr drivers - Revision history

Ted: Add missed formatting

2026-02-26T04:46:12Z

Add missed formatting

Ted: Update section q Trigger a.k.a. Interrupt Support q

2026-02-26T04:36:59Z

Update section q Trigger a.k.a. Interrupt Support q

Ted: Update subsection q Sensor Bus API and Sensor Bus q

2026-02-24T16:41:21Z

Update subsection q Sensor Bus API and Sensor Bus q

Ted: Update section q BMI323 Driver Routines q

2026-02-24T16:01:42Z

Update section q BMI323 Driver Routines q

Ted: Update section q Mutex Use in BMI323 Driver q

2026-02-24T15:50:49Z

Update section q Mutex Use in BMI323 Driver q

Ted: Add subsection q Attribute Setters q

2026-02-24T15:47:43Z

Add subsection q Attribute Setters q

Ted: Annotate driver routines with mutex present note

2026-02-24T06:48:06Z

Annotate driver routines with mutex present note

Ted: Add left hand column to annotate BMI323 Driver Routines

2026-02-24T05:41:28Z

Add left hand column to annotate BMI323 Driver Routines

Ted: Amend notes on BMI323 interrupt support

2026-02-24T05:35:30Z

Amend notes on BMI323 interrupt support

Ted: Amend notes on BMI323 interrupt support

2026-02-24T05:30:14Z

Amend notes on BMI323 interrupt support

@@ Line 338: / Line 338: @@
          return gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_DISABLE);
 }
+</pre>
 * https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L1139
 static int bosch_bmi323_init_int1(const struct device *dev)
 {

@@ Line 240: / Line 240: @@
 </pre>
-== [[#top|^]] Trigger a.k.a. Interrupt Support ==
+=== [[#top|^]] Trigger a.k.a. Interrupt Support ===
 * https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L843
@@ Line 289: / Line 288: @@
 </pre>
 * https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L1100
@@ Line 336: / Line 338: @@
          return gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_DISABLE);
 }
-−
 static int bosch_bmi323_init_int1(const struct device *dev)
 {

@@ Line 214: / Line 214: @@
 </pre>
-== [[#top|^]] Sensor Bus API and Sensor Bus ==
+=== [[#top|^]] Sensor Bus API and Sensor Bus ===
 <pre>

@@ Line 161: / Line 161: @@
 . line 1241: static int bosch_bmi323_pm_action(...)
-== [[#top|^]] BMI323 Driver Routines ==
+=== [[#top|^]] BMI323 Driver Routines ===
 <pre>

@@ Line 143: / Line 143: @@
 </pre>
-== [[#top|^]] Mutex Use in BMI323 Driver ==
+=== [[#top|^]] Mutex Use in BMI323 Driver ===
-BMI323 driver code locks a mutex in the following routines of bmi323.c:
+BMI323 driver code locks a mutex in seven of the driver routines of bmi323.c.  It's not yet clear why these particular routines are mutex protected but if any of them may be called by interrupt driven code, or two or more threads of execution then this mutual exclusion protection will be critical to avoiding race conditions:
 .  line 384: static int bosch_bmi323_driver_api_attr_set(...)

@@ Line 45: / Line 45: @@
 == [[#top|^]] Bosch BMI323 Driver Example ==
-The Bosch BMI323 accelerometer magnetometer combined sensor has a driver in Zephyr 4.3.0.  This driver implements its sensor attribute setter function in bmi323.c in two places.  The first place is a sensor API struct which the driver declares.  This API struct organizes the public API function of the driver.  These APIs implement and honor each a function signature that's type defined in Zephyr's sensor.h header file.
+The Bosch BMI323 accelerometer magnetometer combined sensor has a driver in Zephyr 4.3.0.  The driver has just a few source files with nearly all driver functions defined in bmi323.c.  The driver follows Zephyr's sensor model, and entails a notion of "set" and "get" functions for sensor attributes.  In this context attributes are most often sensor configuration registers.  To configure the sensor for particular operating modes is to "set its attributes" in Zephyr sensor model terminology.  This driver also implements "get" and "fetch" functions for Zephyr supported sensor "channels".  Each channel maps to a type of reading the sensor can take, for example x-axis acceleration, y-axis magnetometer reading, die temperature and similar.
-The structure is defined starting at about line 384, bmi323.c:384:
+=== [[#top|^]] Attribute Setters ===
 <pre>

@@ Line 156: / Line 156: @@
 <pre>
 :static int bosch_bmi323_bus_init(const struct device *dev)
 :static int bosch_bmi323_bus_read_words(const struct device *dev, uint8_t offset, uint16_t *words,
 :static int bosch_bmi323_bus_write_words(const struct device *dev, uint8_t offset, uint16_t *words,
 :static int32_t bosch_bmi323_lsb_from_fullscale(int64_t fullscale)
 :static int64_t bosch_bmi323_value_to_micro(int16_t value, int32_t lsb)
 :static void bosch_bmi323_value_to_sensor_value(struct sensor_value *result, int16_t value,
 :static bool bosch_bmi323_value_is_valid(int16_t value)
 :static int bosch_bmi323_validate_chip_id(const struct device *dev)
 :static int bosch_bmi323_soft_reset(const struct device *dev)
 :static int bosch_bmi323_enable_feature_engine(const struct device *dev)
 :static int bosch_bmi323_driver_api_set_acc_odr(const struct device *dev,
 :static int bosch_bmi323_driver_api_set_acc_full_scale(const struct device *dev,
 :static int bosch_bmi323_driver_api_set_acc_feature_mask(const struct device *dev,
 :static int bosch_bmi323_driver_api_set_gyro_odr(const struct device *dev,
 :static int bosch_bmi323_driver_api_set_gyro_full_scale(const struct device *dev,
 :static int bosch_bmi323_driver_api_set_gyro_feature_mask(const struct device *dev,
-:static int bosch_bmi323_driver_api_attr_set(const struct device *dev, enum sensor_channel chan,
+      [mtx]  384:static int bosch_bmi323_driver_api_attr_set(const struct device *dev, enum sensor_channel chan,
 :static int bosch_bmi323_driver_api_get_acc_odr(const struct device *dev, struct sensor_value *val)
 :static int bosch_bmi323_driver_api_get_acc_full_scale(const struct device *dev,
 :static int bosch_bmi323_driver_api_get_acc_feature_mask(const struct device *dev,
 :static int bosch_bmi323_driver_api_get_gyro_odr(const struct device *dev, struct sensor_value *val)
 :static int bosch_bmi323_driver_api_get_gyro_full_scale(const struct device *dev,
 :static int bosch_bmi323_driver_api_get_gyro_feature_mask(const struct device *dev,
-:static int bosch_bmi323_driver_api_attr_get(const struct device *dev, enum sensor_channel chan,
+      [mtx]  727:static int bosch_bmi323_driver_api_attr_get(const struct device *dev, enum sensor_channel chan,
-[irq]  796:static int bosch_bmi323_driver_api_trigger_set_acc_drdy(const struct device *dev)
+[irq]        796:static int bosch_bmi323_driver_api_trigger_set_acc_drdy(const struct device *dev)
-[irq]  806:static int bosch_bmi323_driver_api_trigger_set_acc_motion(const struct device *dev)
+[irq]        806:static int bosch_bmi323_driver_api_trigger_set_acc_motion(const struct device *dev)
-[irq]  843:static int bosch_bmi323_driver_api_trigger_set(const struct device *dev,
+[irq] [mtx]  843:static int bosch_bmi323_driver_api_trigger_set(const struct device *dev,
 :static int bosch_bmi323_driver_api_fetch_acc_samples(const struct device *dev)
 :static int bosch_bmi323_driver_api_fetch_gyro_samples(const struct device *dev)
 :static int bosch_bmi323_driver_api_fetch_temperature(const struct device *dev)
-:static int bosch_bmi323_driver_api_sample_fetch(const struct device *dev, enum sensor_channel chan)
+      [mtx]  996:static int bosch_bmi323_driver_api_sample_fetch(const struct device *dev, enum sensor_channel chan)
-:static int bosch_bmi323_driver_api_channel_get(const struct device *dev, enum sensor_channel chan,
+       [mtx] 1047:static int bosch_bmi323_driver_api_channel_get(const struct device *dev, enum sensor_channel chan,
 :static DEVICE_API(sensor, bosch_bmi323_api) = {
-[irq] 1108:static void bosch_bmi323_irq_callback(const struct device *dev)
+[irq]       1108:static void bosch_bmi323_irq_callback(const struct device *dev)
-[irq] 1115:static int bosch_bmi323_init_irq(const struct device *dev)
+[irq]       1115:static int bosch_bmi323_init_irq(const struct device *dev)
-[irq] 1139:static int bosch_bmi323_init_int1(const struct device *dev)
+[irq]       1139:static int bosch_bmi323_init_int1(const struct device *dev)
-[irq] 1150:static void bosch_bmi323_irq_callback_handler(struct k_work *item)
+[irq] [mtx] 1150:static void bosch_bmi323_irq_callback_handler(struct k_work *item)
 :static int bosch_bmi323_pm_resume(const struct device *dev)
 :static int bosch_bmi323_pm_suspend(const struct device *dev)
-:static int bosch_bmi323_pm_action(const struct device *dev, enum pm_device_action action)
+       [mtx] 1241:static int bosch_bmi323_pm_action(const struct device *dev, enum pm_device_action action)
 :static int bosch_bmi323_init(const struct device *dev)
-:	static struct bosch_bmi323_data bosch_bmi323_data_##inst;                                  \
+:       static struct bosch_bmi323_data bosch_bmi323_data_##inst;                                  \
-[irq] 1322:	static void bosch_bmi323_irq_callback##inst(const struct device *dev,                      \
+[irq]       1322:       static void bosch_bmi323_irq_callback##inst(const struct device *dev,                      \
-:	static const struct bosch_bmi323_config bosch_bmi323_config_##inst = {                     \
+:       static const struct bosch_bmi323_config bosch_bmi323_config_##inst = {                     \
 </pre>

@@ Line 227: / Line 227: @@
 BMI323 sensor driver provides interrupt handling and support through the following code constructs:
 <pre>
@@ Line 244: / Line 292: @@
 }
 </pre>
 <pre>
@@ Line 281: / Line 332: @@
 }
 </pre>
 * https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L1150

← Older revision		Revision as of 05:30, 24 February 2026
Line 227:		Line 227:

	BMI323 sensor driver provides interrupt handling and support through the following code constructs:		BMI323 sensor driver provides interrupt handling and support through the following code constructs:
		+
		+	<pre>
		+	1100 static DEVICE_API(sensor, bosch_bmi323_api) = {
		+	1101 .attr_set = bosch_bmi323_driver_api_attr_set,
		+	1102 .attr_get = bosch_bmi323_driver_api_attr_get,
		+	1103 .trigger_set = bosch_bmi323_driver_api_trigger_set,
		+	1104 .sample_fetch = bosch_bmi323_driver_api_sample_fetch,
		+	1105 .channel_get = bosch_bmi323_driver_api_channel_get,
		+	1106 };
		+	1107
		+	1108 static void bosch_bmi323_irq_callback(const struct device *dev)
		+	1109 {
		+	1110 struct bosch_bmi323_data data = (struct bosch_bmi323_data )dev->data;
		+	1111
		+	1112 k_work_submit(&data->callback_work);
		+	1113 }
		+	</pre>
		+
		+	<pre>
		+	1115 static int bosch_bmi323_init_irq(const struct device *dev)
		+	1116 {
		+	1117 struct bosch_bmi323_data data = (struct bosch_bmi323_data )dev->data;
		+	1118 struct bosch_bmi323_config config = (struct bosch_bmi323_config )dev->config;
		+	1119 int ret;
		+	1120
		+	1121 ret = gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
		+	1122
		+	1123 if (ret < 0) {
		+	1124 return ret;
		+	1125 }
		+	1126
		+	1127 gpio_init_callback(&data->gpio_callback, config->int_gpio_callback,
		+	1128 BIT(config->int_gpio.pin));
		+	1129
		+	1130 ret = gpio_add_callback(config->int_gpio.port, &data->gpio_callback);
		+	1131
		+	1132 if (ret < 0) {
		+	1133 return ret;
		+	1134 }
		+	1135
		+	1136 return gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_DISABLE);
		+	1137 }
		+	1138
		+	1139 static int bosch_bmi323_init_int1(const struct device *dev)
		+	1140 {
		+	1141 uint16_t buf;
		+	1142
		+	1143 buf = IMU_BOSCH_BMI323_REG_VALUE(IO_INT_CTRL, INT1_LVL, ACT_HIGH) \|
		+	1144 IMU_BOSCH_BMI323_REG_VALUE(IO_INT_CTRL, INT1_OD, PUSH_PULL) \|
		+	1145 IMU_BOSCH_BMI323_REG_VALUE(IO_INT_CTRL, INT1_OUTPUT_EN, EN);
		+	1146
		+	1147 return bosch_bmi323_bus_write_words(dev, IMU_BOSCH_BMI323_REG_IO_INT_CTRL, &buf, 1);
		+	1148 }
		+	</pre>

	* https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L1150		* https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/sensor/bosch/bmi323/bmi323.c#L1150