| /* Bosch BMI160 inertial measurement unit driver, trigger implementation |
| * |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/drivers/gpio.h> |
| |
| #include "bmi160.h" |
| |
| #include <zephyr/logging/log.h> |
| LOG_MODULE_DECLARE(BMI160, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static void bmi160_handle_anymotion(const struct device *dev) |
| { |
| struct bmi160_data *data = dev->data; |
| struct sensor_trigger anym_trigger = { |
| .type = SENSOR_TRIG_DELTA, |
| .chan = SENSOR_CHAN_ACCEL_XYZ, |
| }; |
| |
| if (data->handler_anymotion) { |
| data->handler_anymotion(dev, &anym_trigger); |
| } |
| } |
| |
| static void bmi160_handle_drdy(const struct device *dev, uint8_t status) |
| { |
| struct bmi160_data *data = dev->data; |
| struct sensor_trigger drdy_trigger = { |
| .type = SENSOR_TRIG_DATA_READY, |
| }; |
| |
| #if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) |
| if (data->handler_drdy_acc && (status & BMI160_STATUS_ACC_DRDY)) { |
| drdy_trigger.chan = SENSOR_CHAN_ACCEL_XYZ; |
| data->handler_drdy_acc(dev, &drdy_trigger); |
| } |
| #endif |
| |
| #if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) |
| if (data->handler_drdy_gyr && (status & BMI160_STATUS_GYR_DRDY)) { |
| drdy_trigger.chan = SENSOR_CHAN_GYRO_XYZ; |
| data->handler_drdy_gyr(dev, &drdy_trigger); |
| } |
| #endif |
| } |
| |
| static void bmi160_handle_interrupts(const struct device *dev) |
| { |
| union { |
| uint8_t raw[6]; |
| struct { |
| uint8_t dummy; /* spi related dummy byte */ |
| uint8_t status; |
| uint8_t int_status[4]; |
| }; |
| } buf; |
| |
| if (bmi160_read(dev, BMI160_REG_STATUS, buf.raw, sizeof(buf)) < 0) { |
| return; |
| } |
| |
| if ((buf.int_status[0] & BMI160_INT_STATUS0_ANYM) && |
| (buf.int_status[2] & (BMI160_INT_STATUS2_ANYM_FIRST_X | |
| BMI160_INT_STATUS2_ANYM_FIRST_Y | |
| BMI160_INT_STATUS2_ANYM_FIRST_Z))) { |
| bmi160_handle_anymotion(dev); |
| } |
| |
| if (buf.int_status[1] & BMI160_INT_STATUS1_DRDY) { |
| bmi160_handle_drdy(dev, buf.status); |
| } |
| |
| } |
| |
| #ifdef CONFIG_BMI160_TRIGGER_OWN_THREAD |
| static K_KERNEL_STACK_DEFINE(bmi160_thread_stack, CONFIG_BMI160_THREAD_STACK_SIZE); |
| static struct k_thread bmi160_thread; |
| |
| static void bmi160_thread_main(struct bmi160_data *data) |
| { |
| while (1) { |
| k_sem_take(&data->sem, K_FOREVER); |
| bmi160_handle_interrupts(data->dev); |
| } |
| } |
| #endif |
| |
| #ifdef CONFIG_BMI160_TRIGGER_GLOBAL_THREAD |
| static void bmi160_work_handler(struct k_work *work) |
| { |
| struct bmi160_data *data = CONTAINER_OF(work, struct bmi160_data, work); |
| |
| bmi160_handle_interrupts(data->dev); |
| } |
| #endif |
| |
| extern struct bmi160_data bmi160_data; |
| |
| static void bmi160_gpio_callback(const struct device *port, |
| struct gpio_callback *cb, uint32_t pin) |
| { |
| struct bmi160_data *data = |
| CONTAINER_OF(cb, struct bmi160_data, gpio_cb); |
| |
| ARG_UNUSED(port); |
| ARG_UNUSED(pin); |
| |
| #if defined(CONFIG_BMI160_TRIGGER_OWN_THREAD) |
| k_sem_give(&data->sem); |
| #elif defined(CONFIG_BMI160_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&data->work); |
| #endif |
| } |
| |
| static int bmi160_trigger_drdy_set(const struct device *dev, |
| enum sensor_channel chan, |
| sensor_trigger_handler_t handler) |
| { |
| struct bmi160_data *data = dev->data; |
| uint8_t drdy_en = 0U; |
| |
| #if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) |
| if (chan == SENSOR_CHAN_ACCEL_XYZ) { |
| data->handler_drdy_acc = handler; |
| } |
| |
| if (data->handler_drdy_acc) { |
| drdy_en = BMI160_INT_DRDY_EN; |
| } |
| #endif |
| |
| #if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) |
| if (chan == SENSOR_CHAN_GYRO_XYZ) { |
| data->handler_drdy_gyr = handler; |
| } |
| |
| if (data->handler_drdy_gyr) { |
| drdy_en = BMI160_INT_DRDY_EN; |
| } |
| #endif |
| |
| if (bmi160_reg_update(dev, BMI160_REG_INT_EN1, |
| BMI160_INT_DRDY_EN, drdy_en) < 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| #if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) |
| static int bmi160_trigger_anym_set(const struct device *dev, |
| sensor_trigger_handler_t handler) |
| { |
| struct bmi160_data *data = dev->data; |
| uint8_t anym_en = 0U; |
| |
| data->handler_anymotion = handler; |
| |
| if (handler) { |
| anym_en = BMI160_INT_ANYM_X_EN | |
| BMI160_INT_ANYM_Y_EN | |
| BMI160_INT_ANYM_Z_EN; |
| } |
| |
| if (bmi160_reg_update(dev, BMI160_REG_INT_EN0, |
| BMI160_INT_ANYM_MASK, anym_en) < 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int bmi160_trigger_set_acc(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| if (trig->type == SENSOR_TRIG_DATA_READY) { |
| return bmi160_trigger_drdy_set(dev, trig->chan, handler); |
| } else if (trig->type == SENSOR_TRIG_DELTA) { |
| return bmi160_trigger_anym_set(dev, handler); |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| int bmi160_acc_slope_config(const struct device *dev, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| uint8_t acc_range_g, reg_val; |
| uint32_t slope_th_ums2; |
| |
| if (attr == SENSOR_ATTR_SLOPE_TH) { |
| if (bmi160_byte_read(dev, BMI160_REG_ACC_RANGE, ®_val) < 0) { |
| return -EIO; |
| } |
| |
| acc_range_g = bmi160_acc_reg_val_to_range(reg_val); |
| |
| slope_th_ums2 = val->val1 * 1000000 + val->val2; |
| |
| /* make sure the provided threshold does not exceed range / 2 */ |
| if (slope_th_ums2 > (acc_range_g / 2 * SENSOR_G)) { |
| return -EINVAL; |
| } |
| |
| reg_val = (slope_th_ums2 - 1) * 512U / (acc_range_g * SENSOR_G); |
| |
| if (bmi160_byte_write(dev, BMI160_REG_INT_MOTION1, |
| reg_val) < 0) { |
| return -EIO; |
| } |
| } else { /* SENSOR_ATTR_SLOPE_DUR */ |
| /* slope duration is measured in number of samples */ |
| if (val->val1 < 1 || val->val1 > 4) { |
| return -ENOTSUP; |
| } |
| |
| if (bmi160_reg_field_update(dev, BMI160_REG_INT_MOTION0, |
| BMI160_ANYM_DUR_POS, |
| BMI160_ANYM_DUR_MASK, |
| val->val1) < 0) { |
| return -EIO; |
| } |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| #if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) |
| static int bmi160_trigger_set_gyr(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| if (trig->type == SENSOR_TRIG_DATA_READY) { |
| return bmi160_trigger_drdy_set(dev, trig->chan, handler); |
| } |
| |
| return -ENOTSUP; |
| } |
| #endif |
| |
| int bmi160_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| #if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) |
| if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) { |
| return bmi160_trigger_set_acc(dev, trig, handler); |
| } |
| #endif |
| #if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) |
| if (trig->chan == SENSOR_CHAN_GYRO_XYZ) { |
| return bmi160_trigger_set_gyr(dev, trig, handler); |
| } |
| #endif |
| return -ENOTSUP; |
| } |
| |
| int bmi160_trigger_mode_init(const struct device *dev) |
| { |
| struct bmi160_data *data = dev->data; |
| const struct bmi160_cfg *cfg = dev->config; |
| int ret; |
| |
| if (!device_is_ready(cfg->interrupt.port)) { |
| LOG_DBG("GPIO port %s not ready", cfg->interrupt.port->name); |
| return -EINVAL; |
| } |
| |
| data->dev = dev; |
| |
| #if defined(CONFIG_BMI160_TRIGGER_OWN_THREAD) |
| k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&bmi160_thread, bmi160_thread_stack, |
| CONFIG_BMI160_THREAD_STACK_SIZE, |
| (k_thread_entry_t)bmi160_thread_main, |
| data, NULL, NULL, |
| K_PRIO_COOP(CONFIG_BMI160_THREAD_PRIORITY), |
| 0, K_NO_WAIT); |
| #elif defined(CONFIG_BMI160_TRIGGER_GLOBAL_THREAD) |
| data->work.handler = bmi160_work_handler; |
| #endif |
| |
| /* map all interrupts to INT1 pin */ |
| if (bmi160_word_write(dev, BMI160_REG_INT_MAP0, 0xf0ff) < 0) { |
| LOG_DBG("Failed to map interrupts."); |
| return -EIO; |
| } |
| |
| ret = gpio_pin_configure_dt(&cfg->interrupt, GPIO_INPUT); |
| if (ret < 0) { |
| return ret; |
| } |
| |
| gpio_init_callback(&data->gpio_cb, |
| bmi160_gpio_callback, |
| BIT(cfg->interrupt.pin)); |
| |
| ret = gpio_add_callback(cfg->interrupt.port, &data->gpio_cb); |
| if (ret < 0) { |
| return ret; |
| } |
| |
| ret = gpio_pin_interrupt_configure_dt(&cfg->interrupt, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| if (ret < 0) { |
| return ret; |
| } |
| |
| return bmi160_byte_write(dev, BMI160_REG_INT_OUT_CTRL, |
| BMI160_INT1_OUT_EN | BMI160_INT1_EDGE_CTRL); |
| } |