f9d9e5bb6d
- Add AFBR module as a HAL.
- Platform layer to support running AFBR API using Zephyr.
- Ability to instantiate on device-tree.
- Samples in the module proving foundations works.
- Zephyr Sensor API support, by introducing:
- Read/Decode for SENSOR_CHAN_DISTANCE (1-D results).
- Streaming mode for DATA_READY (1-D results).
Signed-off-by: Luis Ubieda <luisf@croxel.com>
41 lines
938 B
C
41 lines
938 B
C
/*
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* Copyright (c) 2025 Croxel Inc.
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* Copyright (c) 2025 CogniPilot Foundation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stddef.h>
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#include <zephyr/kernel.h>
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#include <zephyr/sys/check.h>
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#define DT_DRV_COMPAT brcm_afbr_s50
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#define NUM_AFBR_INST DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT)
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BUILD_ASSERT(NUM_AFBR_INST > 0, "Invalid number of AFBR-S50 instances");
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/** Defined separate memslab to isolate library from the other components.
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* Through debugging, the library requests an initial allocation of ~4-KiB,
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* which is why the total pool is sized to 8-KiB per instance.
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*/
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K_MEM_SLAB_DEFINE(argus_memslab, 64, 128 * NUM_AFBR_INST, sizeof(void *));
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void *Argus_Malloc(size_t size)
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{
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void *ptr = NULL;
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int err;
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err = k_mem_slab_alloc(&argus_memslab, &ptr, K_NO_WAIT);
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CHECKIF(err != 0 || ptr == NULL) {
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return NULL;
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}
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return ptr;
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}
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void Argus_Free(void *ptr)
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{
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k_mem_slab_free(&argus_memslab, ptr);
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}
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