sensors: add new channels to support sensor fusion

Add three new channels and relative data:

    - SENSOR_CHAN_GAME_ROTATION_VECTOR

      The "game rotation vector" reports the four components x/y/z/w
      (quaternions) of the unit vector representing a 3D spatial
      rotation or orientation.

    - SENSOR_CHAN_GRAVITY_VECTOR

      The "gravity vector" reports the three axis x/y/z of the gravity
      vector separated from the linear acceleration components.
      The measurement unit is m/s^2.

    - SENSOR_CHAN_GBIAS_XYZ

      The "gbias" reports the gyroscope offset x/y/z components.
      The measurement unit is radians/s.

Signed-off-by: Armando Visconti <[email protected]>

include/zephyr/drivers/sensor.h

@@ -192,6 +192,12 @@ enum sensor_channel {
 	SENSOR_CHAN_GAUGE_DESIRED_VOLTAGE,
 	/** Desired charging current in mA */
 	SENSOR_CHAN_GAUGE_DESIRED_CHARGING_CURRENT,
+	/** Game Rotation Vector (unit quaternion components X/Y/Z/W) */
+	SENSOR_CHAN_GAME_ROTATION_VECTOR,
+	/** Gravity Vector (X/Y/Z components in m/s^2) */
+	SENSOR_CHAN_GRAVITY_VECTOR,
+	/** Gyroscope bias (X/Y/Z components in radians/s) */
+	SENSOR_CHAN_GBIAS_XYZ,
 
 	/** All channels. */
 	SENSOR_CHAN_ALL,

include/zephyr/drivers/sensor_data_types.h

@@ -74,6 +74,38 @@ struct sensor_three_axis_data {
 		PRIq_arg((data_).readings[(readings_offset_)].y, 6, (data_).shift),                \
 		PRIq_arg((data_).readings[(readings_offset_)].z, 6, (data_).shift)
 
+/**
+ * Data for a sensor channel which reports game rotation vector data. This is used by:
+ * - :c:enum:`SENSOR_CHAN_GAME_ROTATION_VECTOR`
+ */
+struct sensor_game_rotation_vector_data {
+	struct sensor_data_header header;
+	int8_t shift;
+	struct sensor_game_rotation_vector_sample_data {
+		uint32_t timestamp_delta;
+		union {
+			q31_t values[4];
+			q31_t v[4];
+			struct {
+				q31_t x;
+				q31_t y;
+				q31_t z;
+				q31_t w;
+			};
+		};
+	} readings[1];
+};
+
+#define PRIsensor_game_rotation_vector_data PRIu64                                                 \
+	"ns, (%" PRIq(6) ", %" PRIq(6) ", %" PRIq(6)  ", %" PRIq(6) ")"
+
+#define PRIsensor_game_rotation_vector_data_arg(data_, readings_offset_)                           \
+	(data_).header.base_timestamp_ns + (data_).readings[(readings_offset_)].timestamp_delta,   \
+		PRIq_arg((data_).readings[(readings_offset_)].x, 6, (data_).shift),                \
+		PRIq_arg((data_).readings[(readings_offset_)].y, 6, (data_).shift),                \
+		PRIq_arg((data_).readings[(readings_offset_)].z, 6, (data_).shift),                \
+		PRIq_arg((data_).readings[(readings_offset_)].w, 6, (data_).shift)
+
 /**
  * Data from a sensor where we only care about an event occurring. This is used to report triggers.
  */