| /* 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); |
| } |