blob: 54270560d81ac225ec341ab36d986ac7c3375a53 [file] [log] [blame]
/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/drivers/sensor.h>
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/init.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/sys/byteorder.h>
#include <zephyr/sys/__assert.h>
#include <zephyr/logging/log.h>
#include <zephyr/drivers/gpio.h>
#include "lsm9ds0_gyro.h"
extern struct lsm9ds0_gyro_data lsm9ds0_gyro_data;
LOG_MODULE_DECLARE(LSM9DS0_GYRO, CONFIG_SENSOR_LOG_LEVEL);
static inline void setup_drdy(const struct device *dev,
bool enable)
{
const struct lsm9ds0_gyro_config *cfg = dev->config;
gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
enable ? GPIO_INT_EDGE_TO_ACTIVE
: GPIO_INT_DISABLE);
}
int lsm9ds0_gyro_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct lsm9ds0_gyro_data *data = dev->data;
const struct lsm9ds0_gyro_config * const config =
dev->config;
uint8_t state;
if (!config->int_gpio.port) {
return -ENOTSUP;
}
if (trig->type == SENSOR_TRIG_DATA_READY) {
setup_drdy(dev, false);
state = 0U;
if (handler) {
state = 1U;
}
data->handler_drdy = handler;
data->trigger_drdy = *trig;
if (i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG3_G,
LSM9DS0_GYRO_MASK_CTRL_REG3_G_I2_DRDY,
state << LSM9DS0_GYRO_SHIFT_CTRL_REG3_G_I2_DRDY)
< 0) {
LOG_DBG("failed to set DRDY interrupt");
return -EIO;
}
setup_drdy(dev, true);
return 0;
}
return -ENOTSUP;
}
static void lsm9ds0_gyro_gpio_drdy_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct lsm9ds0_gyro_data *data =
CONTAINER_OF(cb, struct lsm9ds0_gyro_data, gpio_cb);
setup_drdy(data->dev, false);
k_sem_give(&data->sem);
}
static void lsm9ds0_gyro_thread_main(const struct device *dev)
{
struct lsm9ds0_gyro_data *data = dev->data;
while (1) {
k_sem_take(&data->sem, K_FOREVER);
if (data->handler_drdy) {
data->handler_drdy(dev, &data->trigger_drdy);
}
setup_drdy(dev, true);
}
}
int lsm9ds0_gyro_init_interrupt(const struct device *dev)
{
const struct lsm9ds0_gyro_config * const config =
dev->config;
struct lsm9ds0_gyro_data *data = dev->data;
data->dev = dev;
k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&data->thread, data->thread_stack,
CONFIG_LSM9DS0_GYRO_THREAD_STACK_SIZE,
(k_thread_entry_t)lsm9ds0_gyro_thread_main,
(void *)dev, NULL, NULL, K_PRIO_COOP(10), 0, K_NO_WAIT);
if (!device_is_ready(config->int_gpio.port)) {
LOG_ERR("GPIO device not ready");
return -ENODEV;
}
gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
gpio_init_callback(&data->gpio_cb,
lsm9ds0_gyro_gpio_drdy_callback,
BIT(config->int_gpio.pin));
if (gpio_add_callback(config->int_gpio.port, &data->gpio_cb) < 0) {
LOG_DBG("failed to set gpio callback");
return -EINVAL;
}
return 0;
}