blob: fabfbd76d0ba504ff41217edbc7672df44706958 [file] [log] [blame]
/*
* 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;
}