| /* |
| * Copyright (c) 2016 TDK Invensense |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/device.h> |
| #include <zephyr/drivers/i2c.h> |
| #include <zephyr/sys/util.h> |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/logging/log.h> |
| #include "icm42605.h" |
| #include "icm42605_setup.h" |
| |
| LOG_MODULE_DECLARE(ICM42605, CONFIG_SENSOR_LOG_LEVEL); |
| |
| int icm42605_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct icm42605_data *drv_data = dev->data; |
| const struct icm42605_config *cfg = dev->config; |
| |
| if (trig->type != SENSOR_TRIG_DATA_READY |
| && trig->type != SENSOR_TRIG_TAP |
| && trig->type != SENSOR_TRIG_DOUBLE_TAP) { |
| return -ENOTSUP; |
| } |
| |
| gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE); |
| |
| if (handler == NULL) { |
| icm42605_turn_off_sensor(dev); |
| return 0; |
| } |
| |
| if (trig->type == SENSOR_TRIG_DATA_READY) { |
| drv_data->data_ready_handler = handler; |
| drv_data->data_ready_trigger = trig; |
| } else if (trig->type == SENSOR_TRIG_TAP) { |
| drv_data->tap_handler = handler; |
| drv_data->tap_trigger = trig; |
| drv_data->tap_en = true; |
| } else if (trig->type == SENSOR_TRIG_DOUBLE_TAP) { |
| drv_data->double_tap_handler = handler; |
| drv_data->double_tap_trigger = trig; |
| drv_data->tap_en = true; |
| } else { |
| return -ENOTSUP; |
| } |
| |
| gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE); |
| |
| icm42605_turn_on_sensor(dev); |
| |
| return 0; |
| } |
| |
| static void icm42605_gpio_callback(const struct device *dev, |
| struct gpio_callback *cb, uint32_t pins) |
| { |
| struct icm42605_data *drv_data = |
| CONTAINER_OF(cb, struct icm42605_data, gpio_cb); |
| const struct icm42605_config *cfg = drv_data->dev->config; |
| |
| ARG_UNUSED(pins); |
| |
| gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE); |
| |
| k_sem_give(&drv_data->gpio_sem); |
| } |
| |
| static void icm42605_thread_cb(const struct device *dev) |
| { |
| struct icm42605_data *drv_data = dev->data; |
| const struct icm42605_config *cfg = dev->config; |
| |
| if (drv_data->data_ready_handler != NULL) { |
| drv_data->data_ready_handler(dev, |
| drv_data->data_ready_trigger); |
| } |
| |
| if (drv_data->tap_handler != NULL || |
| drv_data->double_tap_handler != NULL) { |
| icm42605_tap_fetch(dev); |
| } |
| |
| gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE); |
| } |
| |
| static void icm42605_thread(void *p1, void *p2, void *p3) |
| { |
| ARG_UNUSED(p2); |
| ARG_UNUSED(p3); |
| |
| struct icm42605_data *drv_data = p1; |
| |
| while (1) { |
| k_sem_take(&drv_data->gpio_sem, K_FOREVER); |
| icm42605_thread_cb(drv_data->dev); |
| } |
| } |
| |
| int icm42605_init_interrupt(const struct device *dev) |
| { |
| struct icm42605_data *drv_data = dev->data; |
| const struct icm42605_config *cfg = dev->config; |
| int result = 0; |
| |
| if (!device_is_ready(cfg->gpio_int.port)) { |
| LOG_ERR("gpio_int gpio not ready"); |
| return -ENODEV; |
| } |
| |
| drv_data->dev = dev; |
| |
| gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT); |
| gpio_init_callback(&drv_data->gpio_cb, icm42605_gpio_callback, BIT(cfg->gpio_int.pin)); |
| result = gpio_add_callback(cfg->gpio_int.port, &drv_data->gpio_cb); |
| |
| if (result < 0) { |
| LOG_ERR("Failed to set gpio callback"); |
| return result; |
| } |
| |
| k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&drv_data->thread, drv_data->thread_stack, |
| CONFIG_ICM42605_THREAD_STACK_SIZE, icm42605_thread, drv_data, NULL, NULL, |
| K_PRIO_COOP(CONFIG_ICM42605_THREAD_PRIORITY), 0, K_NO_WAIT); |
| |
| gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_INACTIVE); |
| |
| return 0; |
| } |