| /* |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #include <device.h> |
| #include <i2c.h> |
| #include <misc/util.h> |
| #include <nanokernel.h> |
| #include <sensor.h> |
| |
| #include "sensor_bma280.h" |
| |
| int bma280_attr_set(struct device *dev, |
| enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| uint64_t slope_th; |
| int rc; |
| |
| if (chan != SENSOR_CHAN_ACCEL_ANY) { |
| return -ENOTSUP; |
| } |
| |
| if (attr == SENSOR_ATTR_SLOPE_TH) { |
| /* slope_th = (val * 10^6 * 2^10) / BMA280_PMU_FULL_RAGE */ |
| slope_th = (uint64_t)val->val1 * 1000000 + (uint64_t)val->val2; |
| slope_th = (slope_th * (1 << 10)) / BMA280_PMU_FULL_RANGE; |
| rc = i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_SLOPE_TH, (uint8_t)slope_th); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not set slope threshold"); |
| return -EIO; |
| } |
| } else if (attr == SENSOR_ATTR_SLOPE_DUR) { |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_5, |
| BMA280_SLOPE_DUR_MASK, |
| val->val1 << BMA280_SLOPE_DUR_SHIFT); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not set slope duration"); |
| return -EIO; |
| } |
| } else { |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static void bma280_gpio_callback(struct device *dev, |
| struct gpio_callback *cb, uint32_t pins) |
| { |
| struct bma280_data *drv_data = |
| CONTAINER_OF(cb, struct bma280_data, gpio_cb); |
| |
| ARG_UNUSED(pins); |
| |
| gpio_pin_disable_callback(dev, CONFIG_BMA280_GPIO_PIN_NUM); |
| |
| #if defined(CONFIG_BMA280_TRIGGER_OWN_FIBER) |
| nano_sem_give(&drv_data->gpio_sem); |
| #elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_FIBER) |
| nano_isr_fifo_put(sensor_get_work_fifo(), &drv_data->work); |
| #endif |
| } |
| |
| static void bma280_fiber_cb(void *arg) |
| { |
| struct device *dev = arg; |
| struct bma280_data *drv_data = dev->driver_data; |
| uint8_t status = 0; |
| |
| /* check for data ready */ |
| i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_STATUS_1, &status); |
| if (status & BMA280_BIT_DATA_INT_STATUS && |
| drv_data->data_ready_handler != NULL) { |
| drv_data->data_ready_handler(dev, |
| &drv_data->data_ready_trigger); |
| } |
| |
| /* check for any motion */ |
| i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_STATUS_0, &status); |
| if (status & BMA280_BIT_SLOPE_INT_STATUS && |
| drv_data->any_motion_handler != NULL) { |
| drv_data->any_motion_handler(dev, |
| &drv_data->data_ready_trigger); |
| |
| /* clear latched interrupt */ |
| i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_RST_LATCH, |
| BMA280_BIT_INT_LATCH_RESET, |
| BMA280_BIT_INT_LATCH_RESET); |
| } |
| |
| gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM); |
| } |
| |
| #ifdef CONFIG_BMA280_TRIGGER_OWN_FIBER |
| static void bma280_fiber(int dev_ptr, int unused) |
| { |
| struct device *dev = INT_TO_POINTER(dev_ptr); |
| struct bma280_data *drv_data = dev->driver_data; |
| |
| ARG_UNUSED(unused); |
| |
| while (1) { |
| nano_fiber_sem_take(&drv_data->gpio_sem, TICKS_UNLIMITED); |
| bma280_fiber_cb(dev); |
| } |
| } |
| #endif |
| |
| int bma280_trigger_set(struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| int rc; |
| |
| if (trig->type == SENSOR_TRIG_DATA_READY) { |
| /* disable data ready interrupt while changing trigger params */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_1, |
| BMA280_BIT_DATA_EN, 0); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not disable data ready interrupt"); |
| return -EIO; |
| } |
| |
| drv_data->data_ready_handler = handler; |
| if (handler == NULL) { |
| return 0; |
| } |
| drv_data->data_ready_trigger = *trig; |
| |
| /* enable data ready interrupt */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_1, |
| BMA280_BIT_DATA_EN, |
| BMA280_BIT_DATA_EN); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not enable data ready interrupt"); |
| return -EIO; |
| } |
| } else if (trig->type == SENSOR_TRIG_DELTA) { |
| /* disable any-motion interrupt while changing trigger params */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_0, |
| BMA280_SLOPE_EN_XYZ, 0); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not disable data ready interrupt"); |
| return -EIO; |
| } |
| |
| drv_data->any_motion_handler = handler; |
| if (handler == NULL) { |
| return 0; |
| } |
| drv_data->any_motion_trigger = *trig; |
| |
| /* enable any-motion interrupt */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_0, |
| BMA280_SLOPE_EN_XYZ, |
| BMA280_SLOPE_EN_XYZ); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not enable data ready interrupt"); |
| return -EIO; |
| } |
| } else { |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| int bma280_init_interrupt(struct device *dev) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| int rc; |
| |
| /* set latched interrupts */ |
| rc = i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_RST_LATCH, |
| BMA280_BIT_INT_LATCH_RESET | |
| BMA280_INT_MODE_LATCH); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not set latched interrupts"); |
| return -EIO; |
| } |
| |
| /* setup data ready gpio interrupt */ |
| drv_data->gpio = device_get_binding(CONFIG_BMA280_GPIO_DEV_NAME); |
| if (drv_data->gpio == NULL) { |
| SYS_LOG_DBG("Cannot get pointer to %s device", |
| CONFIG_BMA280_GPIO_DEV_NAME); |
| return -EINVAL; |
| } |
| |
| gpio_pin_configure(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM, |
| GPIO_DIR_IN | GPIO_INT | GPIO_INT_LEVEL | |
| GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE); |
| |
| gpio_init_callback(&drv_data->gpio_cb, |
| bma280_gpio_callback, |
| BIT(CONFIG_BMA280_GPIO_PIN_NUM)); |
| |
| rc = gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not set gpio callback"); |
| return -EIO; |
| } |
| |
| /* map data ready interrupt to INT1 */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_MAP_1, |
| BMA280_INT_MAP_1_BIT_DATA, |
| BMA280_INT_MAP_1_BIT_DATA); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not map data ready interrupt pin"); |
| return -EIO; |
| } |
| |
| /* map any-motion interrupt to INT1 */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_MAP_0, |
| BMA280_INT_MAP_0_BIT_SLOPE, |
| BMA280_INT_MAP_0_BIT_SLOPE); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not map any-motion interrupt pin"); |
| return -EIO; |
| } |
| |
| /* disable data ready interrupt */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_1, |
| BMA280_BIT_DATA_EN, 0); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not disable data ready interrupt"); |
| return -EIO; |
| } |
| |
| /* disable any-motion interrupt */ |
| rc = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_INT_EN_0, |
| BMA280_SLOPE_EN_XYZ, 0); |
| if (rc != 0) { |
| SYS_LOG_DBG("Could not disable data ready interrupt"); |
| return -EIO; |
| } |
| |
| #if defined(CONFIG_BMA280_TRIGGER_OWN_FIBER) |
| nano_sem_init(&drv_data->gpio_sem); |
| |
| fiber_start(drv_data->fiber_stack, CONFIG_BMA280_FIBER_STACK_SIZE, |
| (nano_fiber_entry_t)bma280_fiber, POINTER_TO_INT(dev), |
| 0, CONFIG_BMA280_FIBER_PRIORITY, 0); |
| #elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_FIBER) |
| drv_data->work.handler = bma280_fiber_cb; |
| drv_data->work.arg = dev; |
| #endif |
| |
| gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM); |
| |
| return 0; |
| } |