drivers/sensor/lis2dw12/lis2dw12_trigger.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DW12 3-axis accelerometer driver
  *
  * Copyright (c) 2019 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2dw12.pdf
  */

 #define DT_DRV_COMPAT st_lis2dw12

 #include <zephyr/kernel.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/logging/log.h>

 #include "lis2dw12.h"

 LOG_MODULE_DECLARE(LIS2DW12, CONFIG_SENSOR_LOG_LEVEL);

 /**
  * lis2dw12_enable_int - enable selected int pin to generate interrupt
  */
 static int lis2dw12_enable_int(const struct device *dev,
 			       enum sensor_trigger_type type, int enable)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2dw12_reg_t int_route;

 	switch (type) {
 	case SENSOR_TRIG_DATA_READY:
 		if (cfg->int_pin == 1) {
 			/* set interrupt for pin INT1 */
 			lis2dw12_pin_int1_route_get(ctx,
 					&int_route.ctrl4_int1_pad_ctrl);
 			int_route.ctrl4_int1_pad_ctrl.int1_drdy = enable;

 			return lis2dw12_pin_int1_route_set(ctx,
 					&int_route.ctrl4_int1_pad_ctrl);
 		} else {
 			/* set interrupt for pin INT2 */
 			lis2dw12_pin_int2_route_get(ctx,
 					&int_route.ctrl5_int2_pad_ctrl);
 			int_route.ctrl5_int2_pad_ctrl.int2_drdy = enable;

 			return lis2dw12_pin_int2_route_set(ctx,
 					&int_route.ctrl5_int2_pad_ctrl);
 		}
 		break;
 #ifdef CONFIG_LIS2DW12_TAP
 	case SENSOR_TRIG_TAP:
 		/* set interrupt for pin INT1 */
 		lis2dw12_pin_int1_route_get(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 		int_route.ctrl4_int1_pad_ctrl.int1_single_tap = enable;

 		return lis2dw12_pin_int1_route_set(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 	case SENSOR_TRIG_DOUBLE_TAP:
 		/* set interrupt for pin INT1 */
 		lis2dw12_pin_int1_route_get(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 		int_route.ctrl4_int1_pad_ctrl.int1_tap = enable;

 		return lis2dw12_pin_int1_route_set(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 #endif /* CONFIG_LIS2DW12_TAP */
 #ifdef CONFIG_LIS2DW12_THRESHOLD
 	/**
 	 * Trigger fires when channel reading transitions configured
 	 * thresholds.  The thresholds are configured via the @ref
 	 * SENSOR_ATTR_LOWER_THRESH and @ref SENSOR_ATTR_UPPER_THRESH
 	 * attributes.
 	 */
 	case SENSOR_TRIG_THRESHOLD:
 		LOG_DBG("Setting int1_wu: %d\n", enable);
 		lis2dw12_pin_int1_route_get(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 		int_route.ctrl4_int1_pad_ctrl.int1_wu = enable;
 		return lis2dw12_pin_int1_route_set(ctx,
 						   &int_route.ctrl4_int1_pad_ctrl);
 #endif
 #ifdef CONFIG_LIS2DW12_FREEFALL
 	/**
 	 * Trigger fires when the readings does not include Earth's
 	 * gravitional force for configured duration and threshold.
 	 * The duration and the threshold can be configured in the
 	 * devicetree source of the accelerometer node.
 	 */
 	case SENSOR_TRIG_FREEFALL:
 		LOG_DBG("Setting int1_ff: %d\n", enable);
 		lis2dw12_pin_int1_route_get(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 		int_route.ctrl4_int1_pad_ctrl.int1_ff = enable;
 		return lis2dw12_pin_int1_route_set(ctx,
 				&int_route.ctrl4_int1_pad_ctrl);
 #endif /* CONFIG_LIS2DW12_FREEFALL */
 	default:
 		LOG_ERR("Unsupported trigger interrupt route %d", type);
 		return -ENOTSUP;
 	}
 }

 /**
  * lis2dw12_trigger_set - link external trigger to event data ready
  */
 int lis2dw12_trigger_set(const struct device *dev,
 			  const struct sensor_trigger *trig,
 			  sensor_trigger_handler_t handler)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	int16_t raw[3];
 	int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE;

 	if (cfg->gpio_int.port == NULL) {
 		LOG_ERR("trigger_set is not supported");
 		return -ENOTSUP;
 	}

 	switch (trig->type) {
 	case SENSOR_TRIG_DATA_READY:
 		lis2dw12->drdy_handler = handler;
 		lis2dw12->drdy_trig = trig;
 		if (state) {
 			/* dummy read: re-trigger interrupt */
 			lis2dw12_acceleration_raw_get(ctx, raw);
 		}
 		return lis2dw12_enable_int(dev, SENSOR_TRIG_DATA_READY, state);
 		break;
 #ifdef CONFIG_LIS2DW12_TAP
 	case SENSOR_TRIG_TAP:
 	case SENSOR_TRIG_DOUBLE_TAP:
 		/* check if tap detection is enabled  */
 		if ((cfg->tap_threshold[0] == 0) &&
 		    (cfg->tap_threshold[1] == 0) &&
 		    (cfg->tap_threshold[2] == 0)) {
 			LOG_ERR("Unsupported sensor trigger");
 			return -ENOTSUP;
 		}

 		/* Set single TAP trigger  */
 		if (trig->type == SENSOR_TRIG_TAP) {
 			lis2dw12->tap_handler = handler;
 			lis2dw12->tap_trig = trig;
 			return lis2dw12_enable_int(dev, SENSOR_TRIG_TAP, state);
 		}

 		/* Set double TAP trigger  */
 		lis2dw12->double_tap_handler = handler;
 		lis2dw12->double_tap_trig = trig;
 		return lis2dw12_enable_int(dev, SENSOR_TRIG_DOUBLE_TAP, state);
 #endif /* CONFIG_LIS2DW12_TAP */
 #ifdef CONFIG_LIS2DW12_THRESHOLD
 	case SENSOR_TRIG_THRESHOLD:
 	{
 		LOG_DBG("Set trigger %d (handler: %p)\n", trig->type, handler);
 		lis2dw12->threshold_handler = handler;
 		lis2dw12->threshold_trig = trig;
 		return lis2dw12_enable_int(dev, SENSOR_TRIG_THRESHOLD, state);
 	}
 #endif
 #ifdef CONFIG_LIS2DW12_FREEFALL
 	case SENSOR_TRIG_FREEFALL:
 	LOG_DBG("Set freefall %d (handler: %p)\n", trig->type, handler);
 		lis2dw12->freefall_handler = handler;
 		lis2dw12->freefall_trig = trig;
 		return lis2dw12_enable_int(dev, SENSOR_TRIG_FREEFALL, state);
 	break;
 #endif /* CONFIG_LIS2DW12_FREEFALL */
 	default:
 		LOG_ERR("Unsupported sensor trigger");
 		return -ENOTSUP;
 	}
 }

 static int lis2dw12_handle_drdy_int(const struct device *dev)
 {
 	struct lis2dw12_data *data = dev->data;

 	if (data->drdy_handler) {
 		data->drdy_handler(dev, data->drdy_trig);
 	}

 	return 0;
 }

 #ifdef CONFIG_LIS2DW12_TAP
 static int lis2dw12_handle_single_tap_int(const struct device *dev)
 {
 	struct lis2dw12_data *data = dev->data;
 	sensor_trigger_handler_t handler = data->tap_handler;

 	if (handler) {
 		handler(dev, data->tap_trig);
 	}

 	return 0;
 }

 static int lis2dw12_handle_double_tap_int(const struct device *dev)
 {
 	struct lis2dw12_data *data = dev->data;
 	sensor_trigger_handler_t handler = data->double_tap_handler;

 	if (handler) {
 		handler(dev, data->double_tap_trig);
 	}

 	return 0;
 }
 #endif /* CONFIG_LIS2DW12_TAP */

 #ifdef CONFIG_LIS2DW12_THRESHOLD
 static int lis2dw12_handle_wu_ia_int(const struct device *dev)
 {
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	sensor_trigger_handler_t handler = lis2dw12->threshold_handler;

 	if (handler) {
 		handler(dev, lis2dw12->threshold_trig);
 	}

 	return 0;
 }
 #endif

 #ifdef CONFIG_LIS2DW12_FREEFALL
 static int lis2dw12_handle_ff_ia_int(const struct device *dev)
 {
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	sensor_trigger_handler_t handler = lis2dw12->freefall_handler;

 	if (handler) {
 		handler(dev, lis2dw12->freefall_trig);
 	}

 	return 0;
 }
 #endif /* CONFIG_LIS2DW12_FREEFALL */

 /**
  * lis2dw12_handle_interrupt - handle the drdy event
  * read data and call handler if registered any
  */
 static void lis2dw12_handle_interrupt(const struct device *dev)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2dw12_all_sources_t sources;

 	lis2dw12_all_sources_get(ctx, &sources);

 	if (sources.status_dup.drdy) {
 		lis2dw12_handle_drdy_int(dev);
 	}
 #ifdef CONFIG_LIS2DW12_TAP
 	if (sources.status_dup.single_tap) {
 		lis2dw12_handle_single_tap_int(dev);
 	}
 	if (sources.status_dup.double_tap) {
 		lis2dw12_handle_double_tap_int(dev);
 	}
 #endif /* CONFIG_LIS2DW12_TAP */
 #ifdef CONFIG_LIS2DW12_THRESHOLD
 	if (sources.all_int_src.wu_ia) {
 		lis2dw12_handle_wu_ia_int(dev);
 	}
 #endif
 #ifdef CONFIG_LIS2DW12_FREEFALL
 	if (sources.all_int_src.ff_ia) {
 		lis2dw12_handle_ff_ia_int(dev);
 	}
 #endif /* CONFIG_LIS2DW12_FREEFALL */

 	gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
 					GPIO_INT_EDGE_TO_ACTIVE);
 }

 static void lis2dw12_gpio_callback(const struct device *dev,
 				    struct gpio_callback *cb, uint32_t pins)
 {
 	struct lis2dw12_data *lis2dw12 =
 		CONTAINER_OF(cb, struct lis2dw12_data, gpio_cb);
 	const struct lis2dw12_device_config *cfg = lis2dw12->dev->config;

 	if ((pins & BIT(cfg->gpio_int.pin)) == 0U) {
 		return;
 	}

 	gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);

 #if defined(CONFIG_LIS2DW12_TRIGGER_OWN_THREAD)
 	k_sem_give(&lis2dw12->gpio_sem);
 #elif defined(CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD)
 	k_work_submit(&lis2dw12->work);
 #endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */
 }

 #ifdef CONFIG_LIS2DW12_TRIGGER_OWN_THREAD
 static void lis2dw12_thread(struct lis2dw12_data *lis2dw12)
 {
 	while (1) {
 		k_sem_take(&lis2dw12->gpio_sem, K_FOREVER);
 		lis2dw12_handle_interrupt(lis2dw12->dev);
 	}
 }
 #endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */

 #ifdef CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD
 static void lis2dw12_work_cb(struct k_work *work)
 {
 	struct lis2dw12_data *lis2dw12 =
 		CONTAINER_OF(work, struct lis2dw12_data, work);

 	lis2dw12_handle_interrupt(lis2dw12->dev);
 }
 #endif /* CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD */

 #ifdef CONFIG_LIS2DW12_TAP
 static int lis2dw12_tap_init(const struct device *dev)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	LOG_DBG("TAP: tap mode is %d", cfg->tap_mode);
 	if (lis2dw12_tap_mode_set(ctx, cfg->tap_mode) < 0) {
 		LOG_ERR("Failed to select tap trigger mode");
 		return -EIO;
 	}

 	LOG_DBG("TAP: ths_x is %02x", cfg->tap_threshold[0]);
 	if (lis2dw12_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
 		LOG_ERR("Failed to set tap X axis threshold");
 		return -EIO;
 	}

 	LOG_DBG("TAP: ths_y is %02x", cfg->tap_threshold[1]);
 	if (lis2dw12_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
 		LOG_ERR("Failed to set tap Y axis threshold");
 		return -EIO;
 	}

 	LOG_DBG("TAP: ths_z is %02x", cfg->tap_threshold[2]);
 	if (lis2dw12_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
 		LOG_ERR("Failed to set tap Z axis threshold");
 		return -EIO;
 	}

 	if (cfg->tap_threshold[0] > 0) {
 		LOG_DBG("TAP: tap_x enabled");
 		if (lis2dw12_tap_detection_on_x_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on X axis");
 			return -EIO;
 		}
 	}

 	if (cfg->tap_threshold[1] > 0) {
 		LOG_DBG("TAP: tap_y enabled");
 		if (lis2dw12_tap_detection_on_y_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on Y axis");
 			return -EIO;
 		}
 	}

 	if (cfg->tap_threshold[2] > 0) {
 		LOG_DBG("TAP: tap_z enabled");
 		if (lis2dw12_tap_detection_on_z_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on Z axis");
 			return -EIO;
 		}
 	}

 	LOG_DBG("TAP: shock is %02x", cfg->tap_shock);
 	if (lis2dw12_tap_shock_set(ctx, cfg->tap_shock) < 0) {
 		LOG_ERR("Failed to set tap shock duration");
 		return -EIO;
 	}

 	LOG_DBG("TAP: latency is %02x", cfg->tap_latency);
 	if (lis2dw12_tap_dur_set(ctx, cfg->tap_latency) < 0) {
 		LOG_ERR("Failed to set tap latency");
 		return -EIO;
 	}

 	LOG_DBG("TAP: quiet time is %02x", cfg->tap_quiet);
 	if (lis2dw12_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
 		LOG_ERR("Failed to set tap quiet time");
 		return -EIO;
 	}

 	return 0;
 }
 #endif /* CONFIG_LIS2DW12_TAP */

 #ifdef CONFIG_LIS2DW12_FREEFALL
 static int lis2dw12_ff_init(const struct device *dev)
 {
 	int rc;
 	const struct lis2dw12_device_config *cfg = dev->config;
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint16_t duration;

 	duration = (lis2dw12->odr * cfg->freefall_duration) / 1000;

 	LOG_DBG("FREEFALL: duration is %d ms", cfg->freefall_duration);
 	rc = lis2dw12_ff_dur_set(ctx, duration);
 	if (rc != 0) {
 		LOG_ERR("Failed to set freefall duration");
 		return -EIO;
 	}

 	LOG_DBG("FREEFALL: threshold is %02x", cfg->freefall_threshold);
 	rc = lis2dw12_ff_threshold_set(ctx, cfg->freefall_threshold);
 	if (rc != 0) {
 		LOG_ERR("Failed to set freefall thrshold");
 		return -EIO;
 	}
 	return 0;
 }
 #endif /* CONFIG_LIS2DW12_FREEFALL */

 int lis2dw12_init_interrupt(const struct device *dev)
 {
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int ret;

 	/* setup data ready gpio interrupt (INT1 or INT2) */
 	if (!gpio_is_ready_dt(&cfg->gpio_int)) {
 		if (cfg->gpio_int.port) {
 			LOG_ERR("%s: device %s is not ready", dev->name,
 						cfg->gpio_int.port->name);
 			return -ENODEV;
 		}

 		LOG_DBG("%s: gpio_int not defined in DT", dev->name);
 		return 0;
 	}

 	lis2dw12->dev = dev;

 	LOG_INF("%s: int-pin is on INT%d", dev->name, cfg->int_pin);
 #if defined(CONFIG_LIS2DW12_TRIGGER_OWN_THREAD)
 	k_sem_init(&lis2dw12->gpio_sem, 0, K_SEM_MAX_LIMIT);

 	k_thread_create(&lis2dw12->thread, lis2dw12->thread_stack,
 		       CONFIG_LIS2DW12_THREAD_STACK_SIZE,
 		       (k_thread_entry_t)lis2dw12_thread, lis2dw12,
 		       NULL, NULL, K_PRIO_COOP(CONFIG_LIS2DW12_THREAD_PRIORITY),
 		       0, K_NO_WAIT);
 #elif defined(CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD)
 	lis2dw12->work.handler = lis2dw12_work_cb;
 #endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */

 	ret = gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
 	if (ret < 0) {
 		LOG_ERR("Could not configure gpio");
 		return ret;
 	}

 	LOG_INF("%s: int on %s.%02u", dev->name, cfg->gpio_int.port->name,
 				      cfg->gpio_int.pin);

 	gpio_init_callback(&lis2dw12->gpio_cb,
 			   lis2dw12_gpio_callback,
 			   BIT(cfg->gpio_int.pin));

 	if (gpio_add_callback(cfg->gpio_int.port, &lis2dw12->gpio_cb) < 0) {
 		LOG_DBG("Could not set gpio callback");
 		return -EIO;
 	}

 	/* set data ready mode on int1/int2 */
 	LOG_DBG("drdy_pulsed is %d", (int)cfg->drdy_pulsed);
 	lis2dw12_drdy_pulsed_t mode = cfg->drdy_pulsed ? LIS2DW12_DRDY_PULSED :
 							 LIS2DW12_DRDY_LATCHED;

 	ret = lis2dw12_data_ready_mode_set(ctx, mode);
 	if (ret < 0) {
 		LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
 		return ret;
 	}

 #ifdef CONFIG_LIS2DW12_TAP
 	ret = lis2dw12_tap_init(dev);
 	if (ret < 0) {
 		return ret;
 	}
 #endif /* CONFIG_LIS2DW12_TAP */

 #ifdef CONFIG_LIS2DW12_FREEFALL
 	ret = lis2dw12_ff_init(dev);
 		if (ret < 0) {
 			return ret;
 		}
 #endif /* CONFIG_LIS2DW12_FREEFALL */

 	return gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
 					       GPIO_INT_EDGE_TO_ACTIVE);
 }
	/* ST Microelectronics LIS2DW12 3-axis accelerometer driver
	*
	* Copyright (c) 2019 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2dw12.pdf
	*/

	#define DT_DRV_COMPAT st_lis2dw12

	#include <zephyr/kernel.h>
	#include <zephyr/drivers/sensor.h>
	#include <zephyr/drivers/gpio.h>
	#include <zephyr/logging/log.h>

	#include "lis2dw12.h"

	LOG_MODULE_DECLARE(LIS2DW12, CONFIG_SENSOR_LOG_LEVEL);

	/**
	* lis2dw12_enable_int - enable selected int pin to generate interrupt
	*/
	static int lis2dw12_enable_int(const struct device *dev,
	enum sensor_trigger_type type, int enable)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2dw12_reg_t int_route;

	switch (type) {
	case SENSOR_TRIG_DATA_READY:
	if (cfg->int_pin == 1) {
	/* set interrupt for pin INT1 */
	lis2dw12_pin_int1_route_get(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	int_route.ctrl4_int1_pad_ctrl.int1_drdy = enable;

	return lis2dw12_pin_int1_route_set(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	} else {
	/* set interrupt for pin INT2 */
	lis2dw12_pin_int2_route_get(ctx,
	&int_route.ctrl5_int2_pad_ctrl);
	int_route.ctrl5_int2_pad_ctrl.int2_drdy = enable;

	return lis2dw12_pin_int2_route_set(ctx,
	&int_route.ctrl5_int2_pad_ctrl);
	}
	break;
	#ifdef CONFIG_LIS2DW12_TAP
	case SENSOR_TRIG_TAP:
	/* set interrupt for pin INT1 */
	lis2dw12_pin_int1_route_get(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	int_route.ctrl4_int1_pad_ctrl.int1_single_tap = enable;

	return lis2dw12_pin_int1_route_set(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	case SENSOR_TRIG_DOUBLE_TAP:
	/* set interrupt for pin INT1 */
	lis2dw12_pin_int1_route_get(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	int_route.ctrl4_int1_pad_ctrl.int1_tap = enable;

	return lis2dw12_pin_int1_route_set(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	#endif /* CONFIG_LIS2DW12_TAP */
	#ifdef CONFIG_LIS2DW12_THRESHOLD
	/**
	* Trigger fires when channel reading transitions configured
	* thresholds. The thresholds are configured via the @ref
	* SENSOR_ATTR_LOWER_THRESH and @ref SENSOR_ATTR_UPPER_THRESH
	* attributes.
	*/
	case SENSOR_TRIG_THRESHOLD:
	LOG_DBG("Setting int1_wu: %d\n", enable);
	lis2dw12_pin_int1_route_get(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	int_route.ctrl4_int1_pad_ctrl.int1_wu = enable;
	return lis2dw12_pin_int1_route_set(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	#endif
	#ifdef CONFIG_LIS2DW12_FREEFALL
	/**
	* Trigger fires when the readings does not include Earth's
	* gravitional force for configured duration and threshold.
	* The duration and the threshold can be configured in the
	* devicetree source of the accelerometer node.
	*/
	case SENSOR_TRIG_FREEFALL:
	LOG_DBG("Setting int1_ff: %d\n", enable);
	lis2dw12_pin_int1_route_get(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	int_route.ctrl4_int1_pad_ctrl.int1_ff = enable;
	return lis2dw12_pin_int1_route_set(ctx,
	&int_route.ctrl4_int1_pad_ctrl);
	#endif /* CONFIG_LIS2DW12_FREEFALL */
	default:
	LOG_ERR("Unsupported trigger interrupt route %d", type);
	return -ENOTSUP;
	}
	}

	/**
	* lis2dw12_trigger_set - link external trigger to event data ready
	*/
	int lis2dw12_trigger_set(const struct device *dev,
	const struct sensor_trigger *trig,
	sensor_trigger_handler_t handler)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2dw12_data *lis2dw12 = dev->data;
	int16_t raw[3];
	int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE;

	if (cfg->gpio_int.port == NULL) {
	LOG_ERR("trigger_set is not supported");
	return -ENOTSUP;
	}

	switch (trig->type) {
	case SENSOR_TRIG_DATA_READY:
	lis2dw12->drdy_handler = handler;
	lis2dw12->drdy_trig = trig;
	if (state) {
	/* dummy read: re-trigger interrupt */
	lis2dw12_acceleration_raw_get(ctx, raw);
	}
	return lis2dw12_enable_int(dev, SENSOR_TRIG_DATA_READY, state);
	break;
	#ifdef CONFIG_LIS2DW12_TAP
	case SENSOR_TRIG_TAP:
	case SENSOR_TRIG_DOUBLE_TAP:
	/* check if tap detection is enabled */
	if ((cfg->tap_threshold[0] == 0) &&
	(cfg->tap_threshold[1] == 0) &&
	(cfg->tap_threshold[2] == 0)) {
	LOG_ERR("Unsupported sensor trigger");
	return -ENOTSUP;
	}

	/* Set single TAP trigger */
	if (trig->type == SENSOR_TRIG_TAP) {
	lis2dw12->tap_handler = handler;
	lis2dw12->tap_trig = trig;
	return lis2dw12_enable_int(dev, SENSOR_TRIG_TAP, state);
	}

	/* Set double TAP trigger */
	lis2dw12->double_tap_handler = handler;
	lis2dw12->double_tap_trig = trig;
	return lis2dw12_enable_int(dev, SENSOR_TRIG_DOUBLE_TAP, state);
	#endif /* CONFIG_LIS2DW12_TAP */
	#ifdef CONFIG_LIS2DW12_THRESHOLD
	case SENSOR_TRIG_THRESHOLD:
	{
	LOG_DBG("Set trigger %d (handler: %p)\n", trig->type, handler);
	lis2dw12->threshold_handler = handler;
	lis2dw12->threshold_trig = trig;
	return lis2dw12_enable_int(dev, SENSOR_TRIG_THRESHOLD, state);
	}
	#endif
	#ifdef CONFIG_LIS2DW12_FREEFALL
	case SENSOR_TRIG_FREEFALL:
	LOG_DBG("Set freefall %d (handler: %p)\n", trig->type, handler);
	lis2dw12->freefall_handler = handler;
	lis2dw12->freefall_trig = trig;
	return lis2dw12_enable_int(dev, SENSOR_TRIG_FREEFALL, state);
	break;
	#endif /* CONFIG_LIS2DW12_FREEFALL */
	default:
	LOG_ERR("Unsupported sensor trigger");
	return -ENOTSUP;
	}
	}

	static int lis2dw12_handle_drdy_int(const struct device *dev)
	{
	struct lis2dw12_data *data = dev->data;

	if (data->drdy_handler) {
	data->drdy_handler(dev, data->drdy_trig);
	}

	return 0;
	}

	#ifdef CONFIG_LIS2DW12_TAP
	static int lis2dw12_handle_single_tap_int(const struct device *dev)
	{
	struct lis2dw12_data *data = dev->data;
	sensor_trigger_handler_t handler = data->tap_handler;

	if (handler) {
	handler(dev, data->tap_trig);
	}

	return 0;
	}

	static int lis2dw12_handle_double_tap_int(const struct device *dev)
	{
	struct lis2dw12_data *data = dev->data;
	sensor_trigger_handler_t handler = data->double_tap_handler;

	if (handler) {
	handler(dev, data->double_tap_trig);
	}

	return 0;
	}
	#endif /* CONFIG_LIS2DW12_TAP */

	#ifdef CONFIG_LIS2DW12_THRESHOLD
	static int lis2dw12_handle_wu_ia_int(const struct device *dev)
	{
	struct lis2dw12_data *lis2dw12 = dev->data;
	sensor_trigger_handler_t handler = lis2dw12->threshold_handler;

	if (handler) {
	handler(dev, lis2dw12->threshold_trig);
	}

	return 0;
	}
	#endif

	#ifdef CONFIG_LIS2DW12_FREEFALL
	static int lis2dw12_handle_ff_ia_int(const struct device *dev)
	{
	struct lis2dw12_data *lis2dw12 = dev->data;
	sensor_trigger_handler_t handler = lis2dw12->freefall_handler;

	if (handler) {
	handler(dev, lis2dw12->freefall_trig);
	}

	return 0;
	}
	#endif /* CONFIG_LIS2DW12_FREEFALL */

	/**
	* lis2dw12_handle_interrupt - handle the drdy event
	* read data and call handler if registered any
	*/
	static void lis2dw12_handle_interrupt(const struct device *dev)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2dw12_all_sources_t sources;

	lis2dw12_all_sources_get(ctx, &sources);

	if (sources.status_dup.drdy) {
	lis2dw12_handle_drdy_int(dev);
	}
	#ifdef CONFIG_LIS2DW12_TAP
	if (sources.status_dup.single_tap) {
	lis2dw12_handle_single_tap_int(dev);
	}
	if (sources.status_dup.double_tap) {
	lis2dw12_handle_double_tap_int(dev);
	}
	#endif /* CONFIG_LIS2DW12_TAP */
	#ifdef CONFIG_LIS2DW12_THRESHOLD
	if (sources.all_int_src.wu_ia) {
	lis2dw12_handle_wu_ia_int(dev);
	}
	#endif
	#ifdef CONFIG_LIS2DW12_FREEFALL
	if (sources.all_int_src.ff_ia) {
	lis2dw12_handle_ff_ia_int(dev);
	}
	#endif /* CONFIG_LIS2DW12_FREEFALL */

	gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
	GPIO_INT_EDGE_TO_ACTIVE);
	}

	static void lis2dw12_gpio_callback(const struct device *dev,
	struct gpio_callback *cb, uint32_t pins)
	{
	struct lis2dw12_data *lis2dw12 =
	CONTAINER_OF(cb, struct lis2dw12_data, gpio_cb);
	const struct lis2dw12_device_config *cfg = lis2dw12->dev->config;

	if ((pins & BIT(cfg->gpio_int.pin)) == 0U) {
	return;
	}

	gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);

	#if defined(CONFIG_LIS2DW12_TRIGGER_OWN_THREAD)
	k_sem_give(&lis2dw12->gpio_sem);
	#elif defined(CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&lis2dw12->work);
	#endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */
	}

	#ifdef CONFIG_LIS2DW12_TRIGGER_OWN_THREAD
	static void lis2dw12_thread(struct lis2dw12_data *lis2dw12)
	{
	while (1) {
	k_sem_take(&lis2dw12->gpio_sem, K_FOREVER);
	lis2dw12_handle_interrupt(lis2dw12->dev);
	}
	}
	#endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */

	#ifdef CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD
	static void lis2dw12_work_cb(struct k_work *work)
	{
	struct lis2dw12_data *lis2dw12 =
	CONTAINER_OF(work, struct lis2dw12_data, work);

	lis2dw12_handle_interrupt(lis2dw12->dev);
	}
	#endif /* CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD */

	#ifdef CONFIG_LIS2DW12_TAP
	static int lis2dw12_tap_init(const struct device *dev)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	LOG_DBG("TAP: tap mode is %d", cfg->tap_mode);
	if (lis2dw12_tap_mode_set(ctx, cfg->tap_mode) < 0) {
	LOG_ERR("Failed to select tap trigger mode");
	return -EIO;
	}

	LOG_DBG("TAP: ths_x is %02x", cfg->tap_threshold[0]);
	if (lis2dw12_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
	LOG_ERR("Failed to set tap X axis threshold");
	return -EIO;
	}

	LOG_DBG("TAP: ths_y is %02x", cfg->tap_threshold[1]);
	if (lis2dw12_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
	LOG_ERR("Failed to set tap Y axis threshold");
	return -EIO;
	}

	LOG_DBG("TAP: ths_z is %02x", cfg->tap_threshold[2]);
	if (lis2dw12_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
	LOG_ERR("Failed to set tap Z axis threshold");
	return -EIO;
	}

	if (cfg->tap_threshold[0] > 0) {
	LOG_DBG("TAP: tap_x enabled");
	if (lis2dw12_tap_detection_on_x_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on X axis");
	return -EIO;
	}
	}

	if (cfg->tap_threshold[1] > 0) {
	LOG_DBG("TAP: tap_y enabled");
	if (lis2dw12_tap_detection_on_y_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on Y axis");
	return -EIO;
	}
	}

	if (cfg->tap_threshold[2] > 0) {
	LOG_DBG("TAP: tap_z enabled");
	if (lis2dw12_tap_detection_on_z_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on Z axis");
	return -EIO;
	}
	}

	LOG_DBG("TAP: shock is %02x", cfg->tap_shock);
	if (lis2dw12_tap_shock_set(ctx, cfg->tap_shock) < 0) {
	LOG_ERR("Failed to set tap shock duration");
	return -EIO;
	}

	LOG_DBG("TAP: latency is %02x", cfg->tap_latency);
	if (lis2dw12_tap_dur_set(ctx, cfg->tap_latency) < 0) {
	LOG_ERR("Failed to set tap latency");
	return -EIO;
	}

	LOG_DBG("TAP: quiet time is %02x", cfg->tap_quiet);
	if (lis2dw12_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
	LOG_ERR("Failed to set tap quiet time");
	return -EIO;
	}

	return 0;
	}
	#endif /* CONFIG_LIS2DW12_TAP */

	#ifdef CONFIG_LIS2DW12_FREEFALL
	static int lis2dw12_ff_init(const struct device *dev)
	{
	int rc;
	const struct lis2dw12_device_config *cfg = dev->config;
	struct lis2dw12_data *lis2dw12 = dev->data;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint16_t duration;

	duration = (lis2dw12->odr * cfg->freefall_duration) / 1000;

	LOG_DBG("FREEFALL: duration is %d ms", cfg->freefall_duration);
	rc = lis2dw12_ff_dur_set(ctx, duration);
	if (rc != 0) {
	LOG_ERR("Failed to set freefall duration");
	return -EIO;
	}

	LOG_DBG("FREEFALL: threshold is %02x", cfg->freefall_threshold);
	rc = lis2dw12_ff_threshold_set(ctx, cfg->freefall_threshold);
	if (rc != 0) {
	LOG_ERR("Failed to set freefall thrshold");
	return -EIO;
	}
	return 0;
	}
	#endif /* CONFIG_LIS2DW12_FREEFALL */

	int lis2dw12_init_interrupt(const struct device *dev)
	{
	struct lis2dw12_data *lis2dw12 = dev->data;
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int ret;

	/* setup data ready gpio interrupt (INT1 or INT2) */
	if (!gpio_is_ready_dt(&cfg->gpio_int)) {
	if (cfg->gpio_int.port) {
	LOG_ERR("%s: device %s is not ready", dev->name,
	cfg->gpio_int.port->name);
	return -ENODEV;
	}

	LOG_DBG("%s: gpio_int not defined in DT", dev->name);
	return 0;
	}

	lis2dw12->dev = dev;

	LOG_INF("%s: int-pin is on INT%d", dev->name, cfg->int_pin);
	#if defined(CONFIG_LIS2DW12_TRIGGER_OWN_THREAD)
	k_sem_init(&lis2dw12->gpio_sem, 0, K_SEM_MAX_LIMIT);

	k_thread_create(&lis2dw12->thread, lis2dw12->thread_stack,
	CONFIG_LIS2DW12_THREAD_STACK_SIZE,
	(k_thread_entry_t)lis2dw12_thread, lis2dw12,
	NULL, NULL, K_PRIO_COOP(CONFIG_LIS2DW12_THREAD_PRIORITY),
	0, K_NO_WAIT);
	#elif defined(CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD)
	lis2dw12->work.handler = lis2dw12_work_cb;
	#endif /* CONFIG_LIS2DW12_TRIGGER_OWN_THREAD */

	ret = gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
	if (ret < 0) {
	LOG_ERR("Could not configure gpio");
	return ret;
	}

	LOG_INF("%s: int on %s.%02u", dev->name, cfg->gpio_int.port->name,
	cfg->gpio_int.pin);

	gpio_init_callback(&lis2dw12->gpio_cb,
	lis2dw12_gpio_callback,
	BIT(cfg->gpio_int.pin));

	if (gpio_add_callback(cfg->gpio_int.port, &lis2dw12->gpio_cb) < 0) {
	LOG_DBG("Could not set gpio callback");
	return -EIO;
	}

	/* set data ready mode on int1/int2 */
	LOG_DBG("drdy_pulsed is %d", (int)cfg->drdy_pulsed);
	lis2dw12_drdy_pulsed_t mode = cfg->drdy_pulsed ? LIS2DW12_DRDY_PULSED :
	LIS2DW12_DRDY_LATCHED;

	ret = lis2dw12_data_ready_mode_set(ctx, mode);
	if (ret < 0) {
	LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
	return ret;
	}

	#ifdef CONFIG_LIS2DW12_TAP
	ret = lis2dw12_tap_init(dev);
	if (ret < 0) {
	return ret;
	}
	#endif /* CONFIG_LIS2DW12_TAP */

	#ifdef CONFIG_LIS2DW12_FREEFALL
	ret = lis2dw12_ff_init(dev);
	if (ret < 0) {
	return ret;
	}
	#endif /* CONFIG_LIS2DW12_FREEFALL */

	return gpio_pin_interrupt_configure_dt(&cfg->gpio_int,
	GPIO_INT_EDGE_TO_ACTIVE);
	}