| /* Bosch BMI08X inertial measurement unit driver, trigger implementation |
| * |
| * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/pm/device.h> |
| #include <zephyr/kernel.h> |
| |
| #define DT_DRV_COMPAT bosch_bmi08x_gyro |
| #include "bmi08x.h" |
| |
| #include <zephyr/logging/log.h> |
| LOG_MODULE_DECLARE(BMI08X_GYRO, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static void bmi08x_handle_drdy_gyr(const struct device *dev) |
| { |
| struct bmi08x_gyro_data *data = dev->data; |
| |
| #ifdef CONFIG_PM_DEVICE |
| enum pm_device_state state; |
| |
| (void)pm_device_state_get(dev, &state); |
| if (state != PM_DEVICE_STATE_ACTIVE) { |
| return; |
| } |
| #endif |
| |
| if (data->handler_drdy_gyr) { |
| data->handler_drdy_gyr(dev, data->drdy_trig_gyr); |
| } |
| } |
| |
| static void bmi08x_handle_interrupts_gyr(void *arg) |
| { |
| const struct device *dev = (const struct device *)arg; |
| |
| bmi08x_handle_drdy_gyr(dev); |
| } |
| |
| #ifdef CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD |
| static void bmi08x_gyr_thread_main(void *arg1, void *unused1, void *unused2) |
| { |
| k_thread_name_set(NULL, "bmi08x_gyr_trig"); |
| |
| ARG_UNUSED(unused1); |
| ARG_UNUSED(unused2); |
| |
| const struct device *dev = (const struct device *)arg1; |
| struct bmi08x_gyro_data *data = dev->data; |
| |
| while (1) { |
| k_sem_take(&data->sem, K_FOREVER); |
| bmi08x_handle_interrupts_gyr((void *)dev); |
| } |
| } |
| #endif |
| |
| #ifdef CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD |
| static void bmi08x_gyr_work_handler(struct k_work *work) |
| { |
| struct bmi08x_gyro_data *data = CONTAINER_OF(work, struct bmi08x_gyro_data, work); |
| |
| bmi08x_handle_interrupts_gyr((void *)data->dev); |
| } |
| #endif |
| |
| static void bmi08x_gyr_gpio_callback(const struct device *port, struct gpio_callback *cb, |
| uint32_t pin) |
| { |
| struct bmi08x_gyro_data *data = CONTAINER_OF(cb, struct bmi08x_gyro_data, gpio_cb); |
| |
| ARG_UNUSED(port); |
| ARG_UNUSED(pin); |
| |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD) |
| k_sem_give(&data->sem); |
| #elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&data->work); |
| #endif |
| } |
| |
| int bmi08x_trigger_set_gyr(const struct device *dev, const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| struct bmi08x_gyro_data *data = dev->data; |
| |
| if ((trig->chan == SENSOR_CHAN_GYRO_XYZ) && (trig->type == SENSOR_TRIG_DATA_READY)) { |
| data->handler_drdy_gyr = handler; |
| data->drdy_trig_gyr = trig; |
| return 0; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| int bmi08x_gyr_trigger_mode_init(const struct device *dev) |
| { |
| struct bmi08x_gyro_data *data = dev->data; |
| const struct bmi08x_gyro_config *cfg = dev->config; |
| int ret; |
| |
| if (!gpio_is_ready_dt(&cfg->int_gpio)) { |
| LOG_ERR("GPIO device not ready"); |
| return -ENODEV; |
| } |
| |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD) |
| k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&data->thread, data->thread_stack, |
| CONFIG_BMI08X_GYRO_THREAD_STACK_SIZE, bmi08x_gyr_thread_main, (void *)dev, |
| NULL, NULL, K_PRIO_COOP(CONFIG_BMI08X_GYRO_THREAD_PRIORITY), 0, K_NO_WAIT); |
| #elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD) |
| data->work.handler = bmi08x_gyr_work_handler; |
| data->dev = dev; |
| #endif |
| |
| gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT); |
| |
| gpio_init_callback(&data->gpio_cb, bmi08x_gyr_gpio_callback, BIT(cfg->int_gpio.pin)); |
| |
| ret = gpio_add_callback(cfg->int_gpio.port, &data->gpio_cb); |
| |
| if (ret < 0) { |
| LOG_ERR("Failed to set gpio callback."); |
| return ret; |
| } |
| gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); |
| |
| return ret; |
| } |