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/* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
*
* Copyright (c) 2023 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.st.com/resource/en/datasheet/lsm6dsv16x.pdf
*/
#define DT_DRV_COMPAT st_lsm6dsv16x
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/logging/log.h>
#include "lsm6dsv16x.h"
LOG_MODULE_DECLARE(LSM6DSV16X, CONFIG_SENSOR_LOG_LEVEL);
#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
/**
* lsm6dsv16x_enable_t_int - TEMP enable selected int pin to generate interrupt
*/
static int lsm6dsv16x_enable_t_int(const struct device *dev, int enable)
{
const struct lsm6dsv16x_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
lsm6dsv16x_pin_int_route_t val;
int ret;
if (enable) {
int16_t buf;
/* dummy read: re-trigger interrupt */
lsm6dsv16x_temperature_raw_get(ctx, &buf);
}
/* set interrupt (TEMP DRDY interrupt is only on INT2) */
if (cfg->drdy_pin == 1) {
return -EIO;
}
ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
if (ret < 0) {
LOG_ERR("pint_int2_route_get error");
return ret;
}
val.drdy_temp = 1;
return lsm6dsv16x_pin_int2_route_set(ctx, &val);
}
#endif
/**
* lsm6dsv16x_enable_xl_int - XL enable selected int pin to generate interrupt
*/
static int lsm6dsv16x_enable_xl_int(const struct device *dev, int enable)
{
const struct lsm6dsv16x_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
int ret;
if (enable) {
int16_t buf[3];
/* dummy read: re-trigger interrupt */
lsm6dsv16x_acceleration_raw_get(ctx, buf);
}
/* set interrupt */
if (cfg->drdy_pin == 1) {
lsm6dsv16x_pin_int_route_t val;
ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
if (ret < 0) {
LOG_ERR("pint_int1_route_get error");
return ret;
}
val.drdy_xl = 1;
ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
} else {
lsm6dsv16x_pin_int_route_t val;
ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
if (ret < 0) {
LOG_ERR("pint_int2_route_get error");
return ret;
}
val.drdy_xl = 1;
ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
}
return ret;
}
/**
* lsm6dsv16x_enable_g_int - Gyro enable selected int pin to generate interrupt
*/
static int lsm6dsv16x_enable_g_int(const struct device *dev, int enable)
{
const struct lsm6dsv16x_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
int ret;
if (enable) {
int16_t buf[3];
/* dummy read: re-trigger interrupt */
lsm6dsv16x_angular_rate_raw_get(ctx, buf);
}
/* set interrupt */
if (cfg->drdy_pin == 1) {
lsm6dsv16x_pin_int_route_t val;
ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
if (ret < 0) {
LOG_ERR("pint_int1_route_get error");
return ret;
}
val.drdy_g = 1;
ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
} else {
lsm6dsv16x_pin_int_route_t val;
ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
if (ret < 0) {
LOG_ERR("pint_int2_route_get error");
return ret;
}
val.drdy_g = 1;
ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
}
return ret;
}
/**
* lsm6dsv16x_trigger_set - link external trigger to event data ready
*/
int lsm6dsv16x_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
const struct lsm6dsv16x_config *cfg = dev->config;
struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
if (!cfg->trig_enabled) {
LOG_ERR("trigger_set op not supported");
return -ENOTSUP;
}
if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
lsm6dsv16x->handler_drdy_acc = handler;
lsm6dsv16x->trig_drdy_acc = trig;
if (handler) {
return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_EN_BIT);
} else {
return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_DIS_BIT);
}
} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
lsm6dsv16x->handler_drdy_gyr = handler;
lsm6dsv16x->trig_drdy_gyr = trig;
if (handler) {
return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_EN_BIT);
} else {
return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_DIS_BIT);
}
}
#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
lsm6dsv16x->handler_drdy_temp = handler;
lsm6dsv16x->trig_drdy_temp = trig;
if (handler) {
return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_EN_BIT);
} else {
return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_DIS_BIT);
}
}
#endif
return -ENOTSUP;
}
/**
* lsm6dsv16x_handle_interrupt - handle the drdy event
* read data and call handler if registered any
*/
static void lsm6dsv16x_handle_interrupt(const struct device *dev)
{
struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
const struct lsm6dsv16x_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
lsm6dsv16x_data_ready_t status;
while (1) {
if (lsm6dsv16x_flag_data_ready_get(ctx, &status) < 0) {
LOG_DBG("failed reading status reg");
return;
}
if ((status.drdy_xl == 0) && (status.drdy_gy == 0)
#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
&& (status.drdy_temp == 0)
#endif
) {
break;
}
if ((status.drdy_xl) && (lsm6dsv16x->handler_drdy_acc != NULL)) {
lsm6dsv16x->handler_drdy_acc(dev, lsm6dsv16x->trig_drdy_acc);
}
if ((status.drdy_gy) && (lsm6dsv16x->handler_drdy_gyr != NULL)) {
lsm6dsv16x->handler_drdy_gyr(dev, lsm6dsv16x->trig_drdy_gyr);
}
#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
if ((status.drdy_temp) && (lsm6dsv16x->handler_drdy_temp != NULL)) {
lsm6dsv16x->handler_drdy_temp(dev, lsm6dsv16x->trig_drdy_temp);
}
#endif
}
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
GPIO_INT_EDGE_TO_ACTIVE);
}
static void lsm6dsv16x_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct lsm6dsv16x_data *lsm6dsv16x =
CONTAINER_OF(cb, struct lsm6dsv16x_data, gpio_cb);
const struct lsm6dsv16x_config *cfg = lsm6dsv16x->dev->config;
ARG_UNUSED(pins);
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);
#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
k_sem_give(&lsm6dsv16x->gpio_sem);
#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
k_work_submit(&lsm6dsv16x->work);
#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
}
#ifdef CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD
static void lsm6dsv16x_thread(struct lsm6dsv16x_data *lsm6dsv16x)
{
while (1) {
k_sem_take(&lsm6dsv16x->gpio_sem, K_FOREVER);
lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
}
}
#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
#ifdef CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD
static void lsm6dsv16x_work_cb(struct k_work *work)
{
struct lsm6dsv16x_data *lsm6dsv16x =
CONTAINER_OF(work, struct lsm6dsv16x_data, work);
lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
}
#endif /* CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD */
int lsm6dsv16x_init_interrupt(const struct device *dev)
{
struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
const struct lsm6dsv16x_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_drdy)) {
LOG_ERR("Cannot get pointer to drdy_gpio device");
return -EINVAL;
}
#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
k_sem_init(&lsm6dsv16x->gpio_sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&lsm6dsv16x->thread, lsm6dsv16x->thread_stack,
CONFIG_LSM6DSV16X_THREAD_STACK_SIZE,
(k_thread_entry_t)lsm6dsv16x_thread, lsm6dsv16x,
NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSV16X_THREAD_PRIORITY),
0, K_NO_WAIT);
k_thread_name_set(&lsm6dsv16x->thread, "lsm6dsv16x");
#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
lsm6dsv16x->work.handler = lsm6dsv16x_work_cb;
#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
if (ret < 0) {
LOG_DBG("Could not configure gpio");
return ret;
}
gpio_init_callback(&lsm6dsv16x->gpio_cb,
lsm6dsv16x_gpio_callback,
BIT(cfg->gpio_drdy.pin));
if (gpio_add_callback(cfg->gpio_drdy.port, &lsm6dsv16x->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);
lsm6dsv16x_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSV16X_DRDY_PULSED :
LSM6DSV16X_DRDY_LATCHED;
ret = lsm6dsv16x_data_ready_mode_set(ctx, mode);
if (ret < 0) {
LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
return ret;
}
return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
GPIO_INT_EDGE_TO_ACTIVE);
}