| /* |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <sensor.h> |
| #include <kernel.h> |
| #include <device.h> |
| #include <init.h> |
| #include <i2c.h> |
| #include <misc/byteorder.h> |
| #include <misc/__assert.h> |
| |
| #include <gpio.h> |
| |
| #include "lsm9ds0_gyro.h" |
| |
| extern struct lsm9ds0_gyro_data lsm9ds0_gyro_data; |
| |
| int lsm9ds0_gyro_trigger_set(struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct lsm9ds0_gyro_data *data = dev->driver_data; |
| const struct lsm9ds0_gyro_config * const config = |
| dev->config->config_info; |
| u8_t state; |
| |
| if (trig->type == SENSOR_TRIG_DATA_READY) { |
| gpio_pin_disable_callback(data->gpio_drdy, |
| config->gpio_drdy_int_pin); |
| |
| state = 0; |
| if (handler) { |
| state = 1; |
| } |
| |
| data->handler_drdy = handler; |
| data->trigger_drdy = *trig; |
| |
| if (i2c_reg_update_byte(data->i2c_master, |
| config->i2c_slave_addr, |
| LSM9DS0_GYRO_REG_CTRL_REG3_G, |
| LSM9DS0_GYRO_MASK_CTRL_REG3_G_I2_DRDY, |
| state << LSM9DS0_GYRO_SHIFT_CTRL_REG3_G_I2_DRDY) |
| < 0) { |
| SYS_LOG_DBG("failed to set DRDY interrupt"); |
| return -EIO; |
| } |
| |
| gpio_pin_enable_callback(data->gpio_drdy, |
| config->gpio_drdy_int_pin); |
| return 0; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static void lsm9ds0_gyro_gpio_drdy_callback(struct device *dev, |
| struct gpio_callback *cb, u32_t pins) |
| { |
| struct lsm9ds0_gyro_data *data = |
| CONTAINER_OF(cb, struct lsm9ds0_gyro_data, gpio_cb); |
| const struct lsm9ds0_gyro_config * const config = |
| data->dev->config->config_info; |
| |
| gpio_pin_disable_callback(dev, config->gpio_drdy_int_pin); |
| |
| k_sem_give(&data->sem); |
| } |
| |
| static void lsm9ds0_gyro_thread_main(void *arg1, void *arg2, void *arg3) |
| { |
| struct device *dev = (struct device *) arg1; |
| struct lsm9ds0_gyro_data *data = dev->driver_data; |
| const struct lsm9ds0_gyro_config *config = dev->config->config_info; |
| |
| int gpio_pin = config->gpio_drdy_int_pin; |
| |
| while (1) { |
| k_sem_take(&data->sem, K_FOREVER); |
| |
| if (data->handler_drdy) { |
| data->handler_drdy(dev, &data->trigger_drdy); |
| } |
| |
| gpio_pin_enable_callback(data->gpio_drdy, gpio_pin); |
| } |
| } |
| |
| int lsm9ds0_gyro_init_interrupt(struct device *dev) |
| { |
| const struct lsm9ds0_gyro_config * const config = |
| dev->config->config_info; |
| struct lsm9ds0_gyro_data *data = dev->driver_data; |
| |
| k_sem_init(&data->sem, 0, UINT_MAX); |
| |
| k_thread_create(&data->thread, data->thread_stack, |
| CONFIG_LSM9DS0_GYRO_THREAD_STACK_SIZE, |
| lsm9ds0_gyro_thread_main, dev, NULL, NULL, |
| K_PRIO_COOP(10), 0, 0); |
| |
| data->gpio_drdy = device_get_binding(config->gpio_drdy_dev_name); |
| if (!data->gpio_drdy) { |
| SYS_LOG_DBG("gpio controller %s not found", |
| config->gpio_drdy_dev_name); |
| return -EINVAL; |
| } |
| |
| gpio_pin_configure(data->gpio_drdy, config->gpio_drdy_int_pin, |
| GPIO_DIR_IN | GPIO_INT | |
| GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE); |
| |
| gpio_init_callback(&data->gpio_cb, |
| lsm9ds0_gyro_gpio_drdy_callback, |
| BIT(config->gpio_drdy_int_pin)); |
| |
| if (gpio_add_callback(data->gpio_drdy, &data->gpio_cb) < 0) { |
| SYS_LOG_DBG("failed to set gpio callback"); |
| return -EINVAL; |
| } |
| |
| return 0; |
| } |