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/* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
*
* Copyright (c) 2018-2019 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.st.com/resource/en/datasheet/lis2mdl.pdf
*/
#define DT_DRV_COMPAT st_lis2mdl
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/logging/log.h>
#include "lis2mdl.h"
LOG_MODULE_DECLARE(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);
static int lis2mdl_enable_int(const struct device *dev, int enable)
{
const struct lis2mdl_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
LOG_DBG("Set int with %d", enable);
/* set interrupt on mag */
return lis2mdl_drdy_on_pin_set(ctx, enable);
}
/* link external trigger to event data ready */
int lis2mdl_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
const struct lis2mdl_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
struct lis2mdl_data *lis2mdl = dev->data;
int16_t raw[3];
if (!cfg->trig_enabled) {
LOG_ERR("trigger_set op not supported");
return -ENOTSUP;
}
if (trig->chan == SENSOR_CHAN_MAGN_XYZ) {
lis2mdl->handler_drdy = handler;
if (handler) {
/* fetch raw data sample: re-trigger lost interrupt */
lis2mdl_magnetic_raw_get(ctx, raw);
return lis2mdl_enable_int(dev, 1);
} else {
return lis2mdl_enable_int(dev, 0);
}
}
return -ENOTSUP;
}
/* handle the drdy event: read data and call handler if registered any */
static void lis2mdl_handle_interrupt(const struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->data;
const struct lis2mdl_config *const cfg = dev->config;
struct sensor_trigger drdy_trigger = {
.type = SENSOR_TRIG_DATA_READY,
};
if (lis2mdl->handler_drdy != NULL) {
lis2mdl->handler_drdy(dev, &drdy_trigger);
}
if (cfg->single_mode) {
k_sem_give(&lis2mdl->fetch_sem);
}
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
GPIO_INT_EDGE_TO_ACTIVE);
}
static void lis2mdl_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct lis2mdl_data *lis2mdl =
CONTAINER_OF(cb, struct lis2mdl_data, gpio_cb);
const struct lis2mdl_config *const cfg = lis2mdl->dev->config;
ARG_UNUSED(pins);
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);
#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
k_sem_give(&lis2mdl->gpio_sem);
#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
k_work_submit(&lis2mdl->work);
#endif
}
#ifdef CONFIG_LIS2MDL_TRIGGER_OWN_THREAD
static void lis2mdl_thread(struct lis2mdl_data *lis2mdl)
{
while (1) {
k_sem_take(&lis2mdl->gpio_sem, K_FOREVER);
lis2mdl_handle_interrupt(lis2mdl->dev);
}
}
#endif
#ifdef CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD
static void lis2mdl_work_cb(struct k_work *work)
{
struct lis2mdl_data *lis2mdl =
CONTAINER_OF(work, struct lis2mdl_data, work);
lis2mdl_handle_interrupt(lis2mdl->dev);
}
#endif
int lis2mdl_init_interrupt(const struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->data;
const struct lis2mdl_config *const cfg = dev->config;
int ret;
/* setup data ready gpio interrupt */
if (!device_is_ready(cfg->gpio_drdy.port)) {
LOG_ERR("Cannot get pointer to drdy_gpio device");
return -EINVAL;
}
#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
k_sem_init(&lis2mdl->gpio_sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&lis2mdl->thread, lis2mdl->thread_stack,
CONFIG_LIS2MDL_THREAD_STACK_SIZE,
(k_thread_entry_t)lis2mdl_thread, lis2mdl,
NULL, NULL, K_PRIO_COOP(CONFIG_LIS2MDL_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
lis2mdl->work.handler = lis2mdl_work_cb;
#endif
ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
if (ret < 0) {
LOG_ERR("Could not configure gpio");
return ret;
}
gpio_init_callback(&lis2mdl->gpio_cb,
lis2mdl_gpio_callback,
BIT(cfg->gpio_drdy.pin));
if (gpio_add_callback(cfg->gpio_drdy.port, &lis2mdl->gpio_cb) < 0) {
LOG_ERR("Could not set gpio callback");
return -EIO;
}
return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
GPIO_INT_EDGE_TO_ACTIVE);
}