| /* |
| * Copyright (c) 2021, Nordic Semiconductor ASA |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/sys/util.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "mpu9250.h" |
| |
| LOG_MODULE_DECLARE(MPU9250, CONFIG_SENSOR_LOG_LEVEL); |
| |
| |
| #define MPU9250_REG_INT_EN 0x38 |
| #define MPU9250_DRDY_EN BIT(0) |
| |
| |
| int mpu9250_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct mpu9250_data *drv_data = dev->data; |
| const struct mpu9250_config *cfg = dev->config; |
| int ret; |
| |
| if (trig->type != SENSOR_TRIG_DATA_READY) { |
| return -ENOTSUP; |
| } |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE); |
| if (ret < 0) { |
| LOG_ERR("Failed to disable gpio interrupt."); |
| return ret; |
| } |
| |
| drv_data->data_ready_handler = handler; |
| if (handler == NULL) { |
| return 0; |
| } |
| |
| drv_data->data_ready_trigger = trig; |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| if (ret < 0) { |
| LOG_ERR("Failed to enable gpio interrupt."); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| static void mpu9250_gpio_callback(const struct device *dev, |
| struct gpio_callback *cb, uint32_t pins) |
| { |
| struct mpu9250_data *drv_data = |
| CONTAINER_OF(cb, struct mpu9250_data, gpio_cb); |
| const struct mpu9250_config *cfg = drv_data->dev->config; |
| int ret; |
| |
| ARG_UNUSED(pins); |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE); |
| if (ret < 0) { |
| LOG_ERR("Disabling gpio interrupt failed with err: %d", ret); |
| return; |
| } |
| |
| #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD) |
| k_sem_give(&drv_data->gpio_sem); |
| #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&drv_data->work); |
| #endif |
| } |
| |
| static void mpu9250_thread_cb(const struct device *dev) |
| { |
| struct mpu9250_data *drv_data = dev->data; |
| const struct mpu9250_config *cfg = dev->config; |
| int ret; |
| |
| if (drv_data->data_ready_handler != NULL) { |
| drv_data->data_ready_handler(dev, |
| drv_data->data_ready_trigger); |
| } |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| if (ret < 0) { |
| LOG_ERR("Enabling gpio interrupt failed with err: %d", ret); |
| } |
| |
| } |
| |
| #ifdef CONFIG_MPU9250_TRIGGER_OWN_THREAD |
| static void mpu9250_thread(void *p1, void *p2, void *p3) |
| { |
| ARG_UNUSED(p2); |
| ARG_UNUSED(p3); |
| |
| struct mpu9250_data *drv_data = p1; |
| |
| while (1) { |
| k_sem_take(&drv_data->gpio_sem, K_FOREVER); |
| mpu9250_thread_cb(drv_data->dev); |
| } |
| } |
| #endif |
| |
| #ifdef CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD |
| static void mpu9250_work_cb(struct k_work *work) |
| { |
| struct mpu9250_data *drv_data = |
| CONTAINER_OF(work, struct mpu9250_data, work); |
| |
| mpu9250_thread_cb(drv_data->dev); |
| } |
| #endif |
| |
| int mpu9250_init_interrupt(const struct device *dev) |
| { |
| struct mpu9250_data *drv_data = dev->data; |
| const struct mpu9250_config *cfg = dev->config; |
| int ret; |
| |
| /* setup data ready gpio interrupt */ |
| if (!gpio_is_ready_dt(&cfg->int_pin)) { |
| LOG_ERR("Interrupt pin is not ready."); |
| return -EIO; |
| } |
| |
| drv_data->dev = dev; |
| |
| ret = gpio_pin_configure_dt(&cfg->int_pin, GPIO_INPUT); |
| if (ret < 0) { |
| LOG_ERR("Failed to configure interrupt pin."); |
| return ret; |
| } |
| |
| gpio_init_callback(&drv_data->gpio_cb, |
| mpu9250_gpio_callback, |
| BIT(cfg->int_pin.pin)); |
| |
| ret = gpio_add_callback(cfg->int_pin.port, &drv_data->gpio_cb); |
| if (ret < 0) { |
| LOG_ERR("Failed to set gpio callback."); |
| return ret; |
| } |
| |
| /* enable data ready interrupt */ |
| ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_INT_EN, |
| MPU9250_DRDY_EN); |
| if (ret < 0) { |
| LOG_ERR("Failed to enable data ready interrupt."); |
| return ret; |
| } |
| |
| #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD) |
| ret = k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT); |
| if (ret < 0) { |
| LOG_ERR("Failed to enable semaphore"); |
| return ret; |
| } |
| |
| k_thread_create(&drv_data->thread, drv_data->thread_stack, |
| CONFIG_MPU9250_THREAD_STACK_SIZE, |
| mpu9250_thread, drv_data, |
| NULL, NULL, K_PRIO_COOP(CONFIG_MPU9250_THREAD_PRIORITY), |
| 0, K_NO_WAIT); |
| #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD) |
| drv_data->work.handler = mpu9250_work_cb; |
| #endif |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| if (ret < 0) { |
| LOG_ERR("Failed to enable interrupt"); |
| return ret; |
| } |
| |
| return 0; |
| } |