drivers/sensor/fxos8700/fxos8700_trigger.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2016 Freescale Semiconductor, Inc.
  * Copyright (c) 2018 Phytec Messtechnik GmbH
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT nxp_fxos8700

 #include "fxos8700.h"
 #include <zephyr/logging/log.h>

 LOG_MODULE_DECLARE(FXOS8700, CONFIG_SENSOR_LOG_LEVEL);

 static void fxos8700_gpio_callback(const struct device *dev,
 				   struct gpio_callback *cb,
 				   uint32_t pin_mask)
 {
 	struct fxos8700_data *data =
 		CONTAINER_OF(cb, struct fxos8700_data, gpio_cb);
 	const struct fxos8700_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_FXOS8700_TRIGGER_OWN_THREAD)
 	k_sem_give(&data->trig_sem);
 #elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
 	k_work_submit(&data->work);
 #endif
 }

 static int fxos8700_handle_drdy_int(const struct device *dev)
 {
 	struct fxos8700_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;
 }

 #ifdef CONFIG_FXOS8700_PULSE
 static int fxos8700_handle_pulse_int(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;
 	struct fxos8700_data *data = dev->data;
 	sensor_trigger_handler_t handler = NULL;
 	uint8_t pulse_source;

 	struct sensor_trigger pulse_trig = {
 		.chan = SENSOR_CHAN_ALL,
 	};

 	k_sem_take(&data->sem, K_FOREVER);

 	if (config->ops->byte_read(dev, FXOS8700_REG_PULSE_SRC,
 				   &pulse_source)) {
 		LOG_ERR("Could not read pulse source");
 	}

 	k_sem_give(&data->sem);

 	if (pulse_source & FXOS8700_PULSE_SRC_DPE) {
 		pulse_trig.type = SENSOR_TRIG_DOUBLE_TAP;
 		handler = data->double_tap_handler;
 	} else {
 		pulse_trig.type = SENSOR_TRIG_TAP;
 		handler = data->tap_handler;
 	}

 	if (handler) {
 		handler(dev, &pulse_trig);
 	}

 	return 0;
 }
 #endif

 #ifdef CONFIG_FXOS8700_MOTION
 static int fxos8700_handle_motion_int(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;
 	struct fxos8700_data *data = dev->data;
 	sensor_trigger_handler_t handler = data->motion_handler;
 	uint8_t motion_source;

 	struct sensor_trigger motion_trig = {
 		.chan = SENSOR_CHAN_ALL,
 	};

 	k_sem_take(&data->sem, K_FOREVER);

 	if (config->ops->byte_read(dev, FXOS8700_REG_FF_MT_SRC,
 				   &motion_source)) {
 		LOG_ERR("Could not read pulse source");
 	}

 	k_sem_give(&data->sem);

 	if (handler) {
 		LOG_DBG("FF_MT_SRC 0x%x", motion_source);
 		handler(dev, &motion_trig);
 	}

 	return 0;
 }
 #endif

 #ifdef CONFIG_FXOS8700_MAG_VECM
 static int fxos8700_handle_m_vecm_int(const struct device *dev)
 {
 	struct fxos8700_data *data = dev->data;

 	struct sensor_trigger m_vecm_trig = {
 		.type = FXOS8700_TRIG_M_VECM,
 		.chan = SENSOR_CHAN_MAGN_XYZ,
 	};

 	if (data->m_vecm_handler) {
 		data->m_vecm_handler(dev, &m_vecm_trig);
 	}

 	return 0;
 }
 #endif

 static void fxos8700_handle_int(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;
 	struct fxos8700_data *data = dev->data;
 	uint8_t int_source;

 	/* Interrupt status register */
 	k_sem_take(&data->sem, K_FOREVER);

 	if (config->ops->byte_read(dev, FXOS8700_REG_INT_SOURCE,
 				   &int_source)) {
 		LOG_ERR("Could not read interrupt source");
 		int_source = 0U;
 	}

 	k_sem_give(&data->sem);

 	if (int_source & FXOS8700_DRDY_MASK) {
 		fxos8700_handle_drdy_int(dev);
 	}
 #ifdef CONFIG_FXOS8700_PULSE
 	if (int_source & FXOS8700_PULSE_MASK) {
 		fxos8700_handle_pulse_int(dev);
 	}
 #endif
 #ifdef CONFIG_FXOS8700_MOTION
 	if (int_source & FXOS8700_MOTION_MASK) {
 		fxos8700_handle_motion_int(dev);
 	}
 #endif
 #ifdef CONFIG_FXOS8700_MAG_VECM
 	/* Magnetometer interrupt source register */
 	k_sem_take(&data->sem, K_FOREVER);

 	if (config->ops->byte_read(dev, FXOS8700_REG_M_INT_SRC,
 				   &int_source)) {
 		LOG_ERR("Could not read magnetometer interrupt source");
 		int_source = 0U;
 	}

 	k_sem_give(&data->sem);

 	if (int_source & FXOS8700_VECM_MASK) {
 		fxos8700_handle_m_vecm_int(dev);
 	}
 #endif

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

 #ifdef CONFIG_FXOS8700_TRIGGER_OWN_THREAD
 static void fxos8700_thread_main(struct fxos8700_data *data)
 {
 	while (true) {
 		k_sem_take(&data->trig_sem, K_FOREVER);
 		fxos8700_handle_int(data->dev);
 	}
 }
 #endif

 #ifdef CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD
 static void fxos8700_work_handler(struct k_work *work)
 {
 	struct fxos8700_data *data =
 		CONTAINER_OF(work, struct fxos8700_data, work);

 	fxos8700_handle_int(data->dev);
 }
 #endif

 int fxos8700_trigger_set(const struct device *dev,
 			 const struct sensor_trigger *trig,
 			 sensor_trigger_handler_t handler)
 {
 	const struct fxos8700_config *config = dev->config;
 	struct fxos8700_data *data = dev->data;
 	enum fxos8700_power power = FXOS8700_POWER_STANDBY;
 	uint8_t mask;
 	int ret = 0;

 	k_sem_take(&data->sem, K_FOREVER);

 	switch (trig->type) {
 	case SENSOR_TRIG_DATA_READY:
 		mask = FXOS8700_DRDY_MASK;
 		data->drdy_handler = handler;
 		break;
 #ifdef CONFIG_FXOS8700_PULSE
 	case SENSOR_TRIG_TAP:
 		mask = FXOS8700_PULSE_MASK;
 		data->tap_handler = handler;
 		break;
 	case SENSOR_TRIG_DOUBLE_TAP:
 		mask = FXOS8700_PULSE_MASK;
 		data->double_tap_handler = handler;
 		break;
 #endif
 #ifdef CONFIG_FXOS8700_MOTION
 	case SENSOR_TRIG_DELTA:
 		mask = FXOS8700_MOTION_MASK;
 		data->motion_handler = handler;
 		break;
 #endif
 #ifdef CONFIG_FXOS8700_MAG_VECM
 	case FXOS8700_TRIG_M_VECM:
 		mask = FXOS8700_VECM_MASK;
 		data->m_vecm_handler = handler;
 		break;
 #endif
 	default:
 		LOG_ERR("Unsupported sensor trigger");
 		ret = -ENOTSUP;
 		goto exit;
 	}

 	/* The sensor must be in standby mode when writing the configuration
 	 * registers, therefore get the current power mode so we can restore it
 	 * later.
 	 */
 	if (fxos8700_get_power(dev, &power)) {
 		LOG_ERR("Could not get power mode");
 		ret = -EIO;
 		goto exit;
 	}

 	/* Put the sensor in standby mode */
 	if (fxos8700_set_power(dev, FXOS8700_POWER_STANDBY)) {
 		LOG_ERR("Could not set standby mode");
 		ret = -EIO;
 		goto exit;
 	}

 	/* Configure the sensor interrupt */
 	if (config->ops->reg_field_update(dev, FXOS8700_REG_CTRLREG4, mask,
 					  handler ? mask : 0)) {
 		LOG_ERR("Could not configure interrupt");
 		ret = -EIO;
 		goto exit;
 	}

 	/* Restore the previous power mode */
 	if (fxos8700_set_power(dev, power)) {
 		LOG_ERR("Could not restore power mode");
 		ret = -EIO;
 		goto exit;
 	}

 exit:
 	k_sem_give(&data->sem);

 	return ret;
 }

 #ifdef CONFIG_FXOS8700_PULSE
 static int fxos8700_pulse_init(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_CFG,
 				    config->pulse_cfg)) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSX,
 				    config->pulse_ths[0])) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSY,
 				    config->pulse_ths[1])) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSZ,
 				    config->pulse_ths[2])) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_TMLT,
 				    config->pulse_tmlt)) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_LTCY,
 				    config->pulse_ltcy)) {
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_WIND,
 				    config->pulse_wind)) {
 		return -EIO;
 	}

 	return 0;
 }
 #endif

 #ifdef CONFIG_FXOS8700_MOTION
 static int fxos8700_motion_init(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;

 	/* Set Mode 4, Motion detection with ELE = 1, OAE = 1 */
 	if (config->ops->byte_write(dev,
 				    FXOS8700_REG_FF_MT_CFG,
 				    FXOS8700_FF_MT_CFG_ELE |
 				    FXOS8700_FF_MT_CFG_OAE |
 				    FXOS8700_FF_MT_CFG_ZEFE |
 				    FXOS8700_FF_MT_CFG_YEFE |
 				    FXOS8700_FF_MT_CFG_XEFE)) {
 		return -EIO;
 	}

 	/* Set motion threshold to maximimum */
 	if (config->ops->byte_write(dev, FXOS8700_REG_FF_MT_THS,
 				    FXOS8700_REG_FF_MT_THS)) {
 		return -EIO;
 	}

 	return 0;
 }
 #endif

 #ifdef CONFIG_FXOS8700_MAG_VECM
 static int fxos8700_m_vecm_init(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;
 	uint8_t m_vecm_cfg = config->mag_vecm_cfg;

 	/* Route the interrupt to INT1 pin */
 #if CONFIG_FXOS8700_MAG_VECM_INT1
 	m_vecm_cfg |= FXOS8700_MAG_VECM_INT1_MASK;
 #endif

 	/* Set magnetic vector-magnitude function */
 	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_CFG,
 				    m_vecm_cfg)) {
 		LOG_ERR("Could not set magnetic vector-magnitude function");
 		return -EIO;
 	}

 	/* Set magnetic vector-magnitude function threshold values:
 	 * handle both MSB and LSB registers
 	 */
 	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_THS_MSB,
 				    config->mag_vecm_ths[0])) {
 		LOG_ERR("Could not set magnetic vector-magnitude function threshold MSB value");
 		return -EIO;
 	}

 	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_THS_LSB,
 				    config->mag_vecm_ths[1])) {
 		LOG_ERR("Could not set magnetic vector-magnitude function threshold LSB value");
 		return -EIO;
 	}

 	return 0;
 }
 #endif

 int fxos8700_trigger_init(const struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config;
 	struct fxos8700_data *data = dev->data;
 	uint8_t ctrl_reg5;
 	int ret;

 	data->dev = dev;

 #if defined(CONFIG_FXOS8700_TRIGGER_OWN_THREAD)
 	k_sem_init(&data->trig_sem, 0, K_SEM_MAX_LIMIT);
 	k_thread_create(&data->thread, data->thread_stack,
 			CONFIG_FXOS8700_THREAD_STACK_SIZE,
 			(k_thread_entry_t)fxos8700_thread_main,
 			data, NULL, NULL,
 			K_PRIO_COOP(CONFIG_FXOS8700_THREAD_PRIORITY),
 			0, K_NO_WAIT);
 #elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
 	data->work.handler = fxos8700_work_handler;
 #endif

 	/* Route the interrupts to INT1/INT2 pins */
 	ctrl_reg5 = 0U;
 #if CONFIG_FXOS8700_DRDY_INT1
 	ctrl_reg5 |= FXOS8700_DRDY_MASK;
 #endif
 #if CONFIG_FXOS8700_PULSE_INT1
 	ctrl_reg5 |= FXOS8700_PULSE_MASK;
 #endif
 #if CONFIG_FXOS8700_MOTION_INT1
 	ctrl_reg5 |= FXOS8700_MOTION_MASK;
 #endif

 	if (config->ops->byte_write(dev, FXOS8700_REG_CTRLREG5,
 				    ctrl_reg5)) {
 		LOG_ERR("Could not configure interrupt pin routing");
 		return -EIO;
 	}

 #ifdef CONFIG_FXOS8700_PULSE
 	if (fxos8700_pulse_init(dev)) {
 		LOG_ERR("Could not configure pulse");
 		return -EIO;
 	}
 #endif
 #ifdef CONFIG_FXOS8700_MOTION
 	if (fxos8700_motion_init(dev)) {
 		LOG_ERR("Could not configure motion");
 		return -EIO;
 	}
 #endif
 #ifdef CONFIG_FXOS8700_MAG_VECM
 	if (fxos8700_m_vecm_init(dev)) {
 		LOG_ERR("Could not configure magnetic vector-magnitude");
 		return -EIO;
 	}
 #endif

 	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, fxos8700_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;
 }
	/*
	* Copyright (c) 2016 Freescale Semiconductor, Inc.
	* Copyright (c) 2018 Phytec Messtechnik GmbH
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT nxp_fxos8700

	#include "fxos8700.h"
	#include <zephyr/logging/log.h>

	LOG_MODULE_DECLARE(FXOS8700, CONFIG_SENSOR_LOG_LEVEL);

	static void fxos8700_gpio_callback(const struct device *dev,
	struct gpio_callback *cb,
	uint32_t pin_mask)
	{
	struct fxos8700_data *data =
	CONTAINER_OF(cb, struct fxos8700_data, gpio_cb);
	const struct fxos8700_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_FXOS8700_TRIGGER_OWN_THREAD)
	k_sem_give(&data->trig_sem);
	#elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&data->work);
	#endif
	}

	static int fxos8700_handle_drdy_int(const struct device *dev)
	{
	struct fxos8700_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;
	}

	#ifdef CONFIG_FXOS8700_PULSE
	static int fxos8700_handle_pulse_int(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;
	struct fxos8700_data *data = dev->data;
	sensor_trigger_handler_t handler = NULL;
	uint8_t pulse_source;

	struct sensor_trigger pulse_trig = {
	.chan = SENSOR_CHAN_ALL,
	};

	k_sem_take(&data->sem, K_FOREVER);

	if (config->ops->byte_read(dev, FXOS8700_REG_PULSE_SRC,
	&pulse_source)) {
	LOG_ERR("Could not read pulse source");
	}

	k_sem_give(&data->sem);

	if (pulse_source & FXOS8700_PULSE_SRC_DPE) {
	pulse_trig.type = SENSOR_TRIG_DOUBLE_TAP;
	handler = data->double_tap_handler;
	} else {
	pulse_trig.type = SENSOR_TRIG_TAP;
	handler = data->tap_handler;
	}

	if (handler) {
	handler(dev, &pulse_trig);
	}

	return 0;
	}
	#endif

	#ifdef CONFIG_FXOS8700_MOTION
	static int fxos8700_handle_motion_int(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;
	struct fxos8700_data *data = dev->data;
	sensor_trigger_handler_t handler = data->motion_handler;
	uint8_t motion_source;

	struct sensor_trigger motion_trig = {
	.chan = SENSOR_CHAN_ALL,
	};

	k_sem_take(&data->sem, K_FOREVER);

	if (config->ops->byte_read(dev, FXOS8700_REG_FF_MT_SRC,
	&motion_source)) {
	LOG_ERR("Could not read pulse source");
	}

	k_sem_give(&data->sem);

	if (handler) {
	LOG_DBG("FF_MT_SRC 0x%x", motion_source);
	handler(dev, &motion_trig);
	}

	return 0;
	}
	#endif

	#ifdef CONFIG_FXOS8700_MAG_VECM
	static int fxos8700_handle_m_vecm_int(const struct device *dev)
	{
	struct fxos8700_data *data = dev->data;

	struct sensor_trigger m_vecm_trig = {
	.type = FXOS8700_TRIG_M_VECM,
	.chan = SENSOR_CHAN_MAGN_XYZ,
	};

	if (data->m_vecm_handler) {
	data->m_vecm_handler(dev, &m_vecm_trig);
	}

	return 0;
	}
	#endif

	static void fxos8700_handle_int(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;
	struct fxos8700_data *data = dev->data;
	uint8_t int_source;

	/* Interrupt status register */
	k_sem_take(&data->sem, K_FOREVER);

	if (config->ops->byte_read(dev, FXOS8700_REG_INT_SOURCE,
	&int_source)) {
	LOG_ERR("Could not read interrupt source");
	int_source = 0U;
	}

	k_sem_give(&data->sem);

	if (int_source & FXOS8700_DRDY_MASK) {
	fxos8700_handle_drdy_int(dev);
	}
	#ifdef CONFIG_FXOS8700_PULSE
	if (int_source & FXOS8700_PULSE_MASK) {
	fxos8700_handle_pulse_int(dev);
	}
	#endif
	#ifdef CONFIG_FXOS8700_MOTION
	if (int_source & FXOS8700_MOTION_MASK) {
	fxos8700_handle_motion_int(dev);
	}
	#endif
	#ifdef CONFIG_FXOS8700_MAG_VECM
	/* Magnetometer interrupt source register */
	k_sem_take(&data->sem, K_FOREVER);

	if (config->ops->byte_read(dev, FXOS8700_REG_M_INT_SRC,
	&int_source)) {
	LOG_ERR("Could not read magnetometer interrupt source");
	int_source = 0U;
	}

	k_sem_give(&data->sem);

	if (int_source & FXOS8700_VECM_MASK) {
	fxos8700_handle_m_vecm_int(dev);
	}
	#endif

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

	#ifdef CONFIG_FXOS8700_TRIGGER_OWN_THREAD
	static void fxos8700_thread_main(struct fxos8700_data *data)
	{
	while (true) {
	k_sem_take(&data->trig_sem, K_FOREVER);
	fxos8700_handle_int(data->dev);
	}
	}
	#endif

	#ifdef CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD
	static void fxos8700_work_handler(struct k_work *work)
	{
	struct fxos8700_data *data =
	CONTAINER_OF(work, struct fxos8700_data, work);

	fxos8700_handle_int(data->dev);
	}
	#endif

	int fxos8700_trigger_set(const struct device *dev,
	const struct sensor_trigger *trig,
	sensor_trigger_handler_t handler)
	{
	const struct fxos8700_config *config = dev->config;
	struct fxos8700_data *data = dev->data;
	enum fxos8700_power power = FXOS8700_POWER_STANDBY;
	uint8_t mask;
	int ret = 0;

	k_sem_take(&data->sem, K_FOREVER);

	switch (trig->type) {
	case SENSOR_TRIG_DATA_READY:
	mask = FXOS8700_DRDY_MASK;
	data->drdy_handler = handler;
	break;
	#ifdef CONFIG_FXOS8700_PULSE
	case SENSOR_TRIG_TAP:
	mask = FXOS8700_PULSE_MASK;
	data->tap_handler = handler;
	break;
	case SENSOR_TRIG_DOUBLE_TAP:
	mask = FXOS8700_PULSE_MASK;
	data->double_tap_handler = handler;
	break;
	#endif
	#ifdef CONFIG_FXOS8700_MOTION
	case SENSOR_TRIG_DELTA:
	mask = FXOS8700_MOTION_MASK;
	data->motion_handler = handler;
	break;
	#endif
	#ifdef CONFIG_FXOS8700_MAG_VECM
	case FXOS8700_TRIG_M_VECM:
	mask = FXOS8700_VECM_MASK;
	data->m_vecm_handler = handler;
	break;
	#endif
	default:
	LOG_ERR("Unsupported sensor trigger");
	ret = -ENOTSUP;
	goto exit;
	}

	/* The sensor must be in standby mode when writing the configuration
	* registers, therefore get the current power mode so we can restore it
	* later.
	*/
	if (fxos8700_get_power(dev, &power)) {
	LOG_ERR("Could not get power mode");
	ret = -EIO;
	goto exit;
	}

	/* Put the sensor in standby mode */
	if (fxos8700_set_power(dev, FXOS8700_POWER_STANDBY)) {
	LOG_ERR("Could not set standby mode");
	ret = -EIO;
	goto exit;
	}

	/* Configure the sensor interrupt */
	if (config->ops->reg_field_update(dev, FXOS8700_REG_CTRLREG4, mask,
	handler ? mask : 0)) {
	LOG_ERR("Could not configure interrupt");
	ret = -EIO;
	goto exit;
	}

	/* Restore the previous power mode */
	if (fxos8700_set_power(dev, power)) {
	LOG_ERR("Could not restore power mode");
	ret = -EIO;
	goto exit;
	}

	exit:
	k_sem_give(&data->sem);

	return ret;
	}

	#ifdef CONFIG_FXOS8700_PULSE
	static int fxos8700_pulse_init(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_CFG,
	config->pulse_cfg)) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSX,
	config->pulse_ths[0])) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSY,
	config->pulse_ths[1])) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_THSZ,
	config->pulse_ths[2])) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_TMLT,
	config->pulse_tmlt)) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_LTCY,
	config->pulse_ltcy)) {
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_PULSE_WIND,
	config->pulse_wind)) {
	return -EIO;
	}

	return 0;
	}
	#endif

	#ifdef CONFIG_FXOS8700_MOTION
	static int fxos8700_motion_init(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;

	/* Set Mode 4, Motion detection with ELE = 1, OAE = 1 */
	if (config->ops->byte_write(dev,
	FXOS8700_REG_FF_MT_CFG,
	FXOS8700_FF_MT_CFG_ELE \|
	FXOS8700_FF_MT_CFG_OAE \|
	FXOS8700_FF_MT_CFG_ZEFE \|
	FXOS8700_FF_MT_CFG_YEFE \|
	FXOS8700_FF_MT_CFG_XEFE)) {
	return -EIO;
	}

	/* Set motion threshold to maximimum */
	if (config->ops->byte_write(dev, FXOS8700_REG_FF_MT_THS,
	FXOS8700_REG_FF_MT_THS)) {
	return -EIO;
	}

	return 0;
	}
	#endif

	#ifdef CONFIG_FXOS8700_MAG_VECM
	static int fxos8700_m_vecm_init(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;
	uint8_t m_vecm_cfg = config->mag_vecm_cfg;

	/* Route the interrupt to INT1 pin */
	#if CONFIG_FXOS8700_MAG_VECM_INT1
	m_vecm_cfg \|= FXOS8700_MAG_VECM_INT1_MASK;
	#endif

	/* Set magnetic vector-magnitude function */
	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_CFG,
	m_vecm_cfg)) {
	LOG_ERR("Could not set magnetic vector-magnitude function");
	return -EIO;
	}

	/* Set magnetic vector-magnitude function threshold values:
	* handle both MSB and LSB registers
	*/
	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_THS_MSB,
	config->mag_vecm_ths[0])) {
	LOG_ERR("Could not set magnetic vector-magnitude function threshold MSB value");
	return -EIO;
	}

	if (config->ops->byte_write(dev, FXOS8700_REG_M_VECM_THS_LSB,
	config->mag_vecm_ths[1])) {
	LOG_ERR("Could not set magnetic vector-magnitude function threshold LSB value");
	return -EIO;
	}

	return 0;
	}
	#endif

	int fxos8700_trigger_init(const struct device *dev)
	{
	const struct fxos8700_config *config = dev->config;
	struct fxos8700_data *data = dev->data;
	uint8_t ctrl_reg5;
	int ret;

	data->dev = dev;

	#if defined(CONFIG_FXOS8700_TRIGGER_OWN_THREAD)
	k_sem_init(&data->trig_sem, 0, K_SEM_MAX_LIMIT);
	k_thread_create(&data->thread, data->thread_stack,
	CONFIG_FXOS8700_THREAD_STACK_SIZE,
	(k_thread_entry_t)fxos8700_thread_main,
	data, NULL, NULL,
	K_PRIO_COOP(CONFIG_FXOS8700_THREAD_PRIORITY),
	0, K_NO_WAIT);
	#elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
	data->work.handler = fxos8700_work_handler;
	#endif

	/* Route the interrupts to INT1/INT2 pins */
	ctrl_reg5 = 0U;
	#if CONFIG_FXOS8700_DRDY_INT1
	ctrl_reg5 \|= FXOS8700_DRDY_MASK;
	#endif
	#if CONFIG_FXOS8700_PULSE_INT1
	ctrl_reg5 \|= FXOS8700_PULSE_MASK;
	#endif
	#if CONFIG_FXOS8700_MOTION_INT1
	ctrl_reg5 \|= FXOS8700_MOTION_MASK;
	#endif

	if (config->ops->byte_write(dev, FXOS8700_REG_CTRLREG5,
	ctrl_reg5)) {
	LOG_ERR("Could not configure interrupt pin routing");
	return -EIO;
	}

	#ifdef CONFIG_FXOS8700_PULSE
	if (fxos8700_pulse_init(dev)) {
	LOG_ERR("Could not configure pulse");
	return -EIO;
	}
	#endif
	#ifdef CONFIG_FXOS8700_MOTION
	if (fxos8700_motion_init(dev)) {
	LOG_ERR("Could not configure motion");
	return -EIO;
	}
	#endif
	#ifdef CONFIG_FXOS8700_MAG_VECM
	if (fxos8700_m_vecm_init(dev)) {
	LOG_ERR("Could not configure magnetic vector-magnitude");
	return -EIO;
	}
	#endif

	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, fxos8700_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;
	}