drivers/sensor/fxas21002/fxas21002_trigger.c

/*
 * Copyright (c) 2017, NXP
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/logging/log.h>

#include "fxas21002.h"

LOG_MODULE_DECLARE(FXAS21002, CONFIG_SENSOR_LOG_LEVEL);

static void fxas21002_gpio_callback(const struct device *dev,
				    struct gpio_callback *cb,
				    uint32_t pin_mask)
{
	struct fxas21002_data *data =
		CONTAINER_OF(cb, struct fxas21002_data, gpio_cb);
	const struct fxas21002_config *config = data->dev->config;

	if ((pin_mask & BIT(config->int_gpio.pin)) == 0U) {
		return;
	}

	gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_DISABLE);

#if defined(CONFIG_FXAS21002_TRIGGER_OWN_THREAD)
	k_sem_give(&data->trig_sem);
#elif defined(CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&data->work);
#endif
}

static int fxas21002_handle_drdy_int(const struct device *dev)
{
	struct fxas21002_data *data = dev->data;

	struct sensor_trigger drdy_trig = {
		.type = SENSOR_TRIG_DATA_READY,
		.chan = SENSOR_CHAN_ALL,
	};

	if (data->drdy_handler) {
		data->drdy_handler(dev, &drdy_trig);
	}

	return 0;
}

static void fxas21002_handle_int(const struct device *dev)
{
	const struct fxas21002_config *config = dev->config;
	struct fxas21002_data *data = dev->data;
	uint8_t int_source;

	k_sem_take(&data->sem, K_FOREVER);

	if (i2c_reg_read_byte_dt(&config->i2c, FXAS21002_REG_INT_SOURCE,
				 &int_source)) {
		LOG_ERR("Could not read interrupt source");
		int_source = 0U;
	}

	k_sem_give(&data->sem);

	if (int_source & FXAS21002_INT_SOURCE_DRDY_MASK) {
		fxas21002_handle_drdy_int(dev);
	}

	gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
}

#ifdef CONFIG_FXAS21002_TRIGGER_OWN_THREAD
static void fxas21002_thread_main(struct fxas21002_data *data)
{
	while (true) {
		k_sem_take(&data->trig_sem, K_FOREVER);
		fxas21002_handle_int(data->dev);
	}
}
#endif

#ifdef CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD
static void fxas21002_work_handler(struct k_work *work)
{
	struct fxas21002_data *data =
		CONTAINER_OF(work, struct fxas21002_data, work);

	fxas21002_handle_int(data->dev);
}
#endif

int fxas21002_trigger_set(const struct device *dev,
			  const struct sensor_trigger *trig,
			  sensor_trigger_handler_t handler)
{
	const struct fxas21002_config *config = dev->config;
	struct fxas21002_data *data = dev->data;
	enum fxas21002_power power = FXAS21002_POWER_STANDBY;
	uint32_t transition_time;
	uint8_t mask;
	int ret = 0;

	k_sem_take(&data->sem, K_FOREVER);

	switch (trig->type) {
	case SENSOR_TRIG_DATA_READY:
		mask = FXAS21002_CTRLREG2_CFG_EN_MASK;
		data->drdy_handler = handler;
		break;
	default:
		LOG_ERR("Unsupported sensor trigger");
		ret = -ENOTSUP;
		goto exit;
	}

	/* The sensor must be in standby or ready mode when writing the
	 * configuration registers, therefore get the current power mode so we
	 * can restore it later.
	 */
	if (fxas21002_get_power(dev, &power)) {
		LOG_ERR("Could not get power mode");
		ret = -EIO;
		goto exit;
	}

	/* Put the sensor in ready mode */
	if (fxas21002_set_power(dev, FXAS21002_POWER_READY)) {
		LOG_ERR("Could not set ready mode");
		ret = -EIO;
		goto exit;
	}

	/* Configure the sensor interrupt */
	if (i2c_reg_update_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG2, mask,
				   handler ? mask : 0)) {
		LOG_ERR("Could not configure interrupt");
		ret = -EIO;
		goto exit;
	}

	/* Restore the previous power mode */
	if (fxas21002_set_power(dev, power)) {
		LOG_ERR("Could not restore power mode");
		ret = -EIO;
		goto exit;
	}

	/* Wait the transition time from ready mode */
	transition_time = fxas21002_get_transition_time(FXAS21002_POWER_READY,
							power,
							config->dr);
	k_busy_wait(transition_time);

exit:
	k_sem_give(&data->sem);

	return ret;
}

int fxas21002_trigger_init(const struct device *dev)
{
	const struct fxas21002_config *config = dev->config;
	struct fxas21002_data *data = dev->data;
	uint8_t ctrl_reg2;
	int ret;

	data->dev = dev;

#if defined(CONFIG_FXAS21002_TRIGGER_OWN_THREAD)
	k_sem_init(&data->trig_sem, 0, K_SEM_MAX_LIMIT);
	k_thread_create(&data->thread, data->thread_stack,
			CONFIG_FXAS21002_THREAD_STACK_SIZE,
			(k_thread_entry_t)fxas21002_thread_main, data, 0, NULL,
			K_PRIO_COOP(CONFIG_FXAS21002_THREAD_PRIORITY),
			0, K_NO_WAIT);
#elif defined(CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD)
	data->work.handler = fxas21002_work_handler;
#endif

	/* Route the interrupts to INT1/INT2 pins */
	ctrl_reg2 = 0U;
#if CONFIG_FXAS21002_DRDY_INT1
	ctrl_reg2 |= FXAS21002_CTRLREG2_CFG_DRDY_MASK;
#endif

	if (i2c_reg_write_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG2,
				  ctrl_reg2)) {
		LOG_ERR("Could not configure interrupt pin routing");
		return -EIO;
	}

	if (!device_is_ready(config->int_gpio.port)) {
		LOG_ERR("GPIO device not ready");
		return -ENODEV;
	}

	ret = gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
	if (ret < 0) {
		return ret;
	}

	gpio_init_callback(&data->gpio_cb, fxas21002_gpio_callback,
			   BIT(config->int_gpio.pin));

	ret = gpio_add_callback(config->int_gpio.port, &data->gpio_cb);
	if (ret < 0) {
		return ret;
	}

	ret = gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
	if (ret < 0) {
		return ret;
	}

	return 0;
}