blob: 08030c993b61e2ba2ba6aeebf40836eb4eced8c7 [file] [log] [blame]
/* 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);
}