| /* ST Microelectronics IIS2DH 3-axis accelerometer driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis2dh.pdf |
| */ |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "iis2dh.h" |
| |
| LOG_MODULE_DECLARE(IIS2DH, CONFIG_SENSOR_LOG_LEVEL); |
| |
| /** |
| * iis2dh_enable_int - enable selected int pin to generate interrupt |
| */ |
| static int iis2dh_enable_drdy(const struct device *dev, |
| enum sensor_trigger_type type, int enable) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| iis2dh_ctrl_reg3_t reg3; |
| |
| /* set interrupt for pin INT1 */ |
| iis2dh_pin_int1_config_get(iis2dh->ctx, ®3); |
| |
| reg3.i1_drdy1 = enable; |
| |
| return iis2dh_pin_int1_config_set(iis2dh->ctx, ®3); |
| } |
| |
| /** |
| * iis2dh_trigger_set - link external trigger to event data ready |
| */ |
| int iis2dh_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| const struct iis2dh_device_config *cfg = dev->config; |
| int16_t raw[3]; |
| int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE; |
| |
| if (!cfg->int_gpio.port) { |
| return -ENOTSUP; |
| } |
| |
| switch (trig->type) { |
| case SENSOR_TRIG_DATA_READY: |
| iis2dh->drdy_handler = handler; |
| if (state) { |
| /* dummy read: re-trigger interrupt */ |
| iis2dh_acceleration_raw_get(iis2dh->ctx, raw); |
| } |
| return iis2dh_enable_drdy(dev, SENSOR_TRIG_DATA_READY, state); |
| default: |
| LOG_ERR("Unsupported sensor trigger"); |
| return -ENOTSUP; |
| } |
| } |
| |
| static int iis2dh_handle_drdy_int(const struct device *dev) |
| { |
| struct iis2dh_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; |
| } |
| |
| /** |
| * iis2dh_handle_interrupt - handle the drdy event |
| * read data and call handler if registered any |
| */ |
| static void iis2dh_handle_interrupt(const struct device *dev) |
| { |
| const struct iis2dh_device_config *cfg = dev->config; |
| |
| iis2dh_handle_drdy_int(dev); |
| |
| gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); |
| } |
| |
| static void iis2dh_gpio_callback(const struct device *dev, |
| struct gpio_callback *cb, uint32_t pins) |
| { |
| struct iis2dh_data *iis2dh = |
| CONTAINER_OF(cb, struct iis2dh_data, gpio_cb); |
| const struct iis2dh_device_config *cfg = iis2dh->dev->config; |
| |
| if ((pins & BIT(cfg->int_gpio.pin)) == 0U) { |
| return; |
| } |
| |
| gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE); |
| |
| #if defined(CONFIG_IIS2DH_TRIGGER_OWN_THREAD) |
| k_sem_give(&iis2dh->gpio_sem); |
| #elif defined(CONFIG_IIS2DH_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&iis2dh->work); |
| #endif /* CONFIG_IIS2DH_TRIGGER_OWN_THREAD */ |
| } |
| |
| #ifdef CONFIG_IIS2DH_TRIGGER_OWN_THREAD |
| static void iis2dh_thread(struct iis2dh_data *iis2dh) |
| { |
| while (1) { |
| k_sem_take(&iis2dh->gpio_sem, K_FOREVER); |
| iis2dh_handle_interrupt(iis2dh->dev); |
| } |
| } |
| #endif /* CONFIG_IIS2DH_TRIGGER_OWN_THREAD */ |
| |
| #ifdef CONFIG_IIS2DH_TRIGGER_GLOBAL_THREAD |
| static void iis2dh_work_cb(struct k_work *work) |
| { |
| struct iis2dh_data *iis2dh = |
| CONTAINER_OF(work, struct iis2dh_data, work); |
| |
| iis2dh_handle_interrupt(iis2dh->dev); |
| } |
| #endif /* CONFIG_IIS2DH_TRIGGER_GLOBAL_THREAD */ |
| |
| int iis2dh_init_interrupt(const struct device *dev) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| const struct iis2dh_device_config *cfg = dev->config; |
| int ret; |
| |
| if (!device_is_ready(cfg->int_gpio.port)) { |
| LOG_ERR("%s: device %s is not ready", dev->name, cfg->int_gpio.port->name); |
| return -ENODEV; |
| } |
| |
| iis2dh->dev = dev; |
| |
| #if defined(CONFIG_IIS2DH_TRIGGER_OWN_THREAD) |
| k_sem_init(&iis2dh->gpio_sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&iis2dh->thread, iis2dh->thread_stack, |
| CONFIG_IIS2DH_THREAD_STACK_SIZE, |
| (k_thread_entry_t)iis2dh_thread, iis2dh, |
| 0, NULL, K_PRIO_COOP(CONFIG_IIS2DH_THREAD_PRIORITY), |
| 0, K_NO_WAIT); |
| #elif defined(CONFIG_IIS2DH_TRIGGER_GLOBAL_THREAD) |
| iis2dh->work.handler = iis2dh_work_cb; |
| #endif /* CONFIG_IIS2DH_TRIGGER_OWN_THREAD */ |
| |
| ret = gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT); |
| if (ret < 0) { |
| LOG_DBG("Could not configure gpio"); |
| return ret; |
| } |
| |
| gpio_init_callback(&iis2dh->gpio_cb, |
| iis2dh_gpio_callback, |
| BIT(cfg->int_gpio.pin)); |
| |
| if (gpio_add_callback(cfg->int_gpio.port, &iis2dh->gpio_cb) < 0) { |
| LOG_DBG("Could not set gpio callback"); |
| return -EIO; |
| } |
| |
| /* enable drdy on int1 in pulse mode */ |
| if (iis2dh_int1_pin_notification_mode_set(iis2dh->ctx, IIS2DH_INT1_PULSED)) { |
| return -EIO; |
| } |
| |
| return gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); |
| } |