blob: 0500a404197335db0a53d3884333c73468bb45ed [file] [log] [blame]
/* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver
*
* Copyright (c) 2020 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.st.com/resource/en/datasheet/ism330dhcx.pdf
*/
#define DT_DRV_COMPAT st_ism330dhcx
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/logging/log.h>
#include "ism330dhcx.h"
LOG_MODULE_DECLARE(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL);
#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
/**
* ism330dhcx_enable_t_int - TEMP enable selected int pin to generate interrupt
*/
static int ism330dhcx_enable_t_int(const struct device *dev, int enable)
{
const struct ism330dhcx_config *cfg = dev->config;
struct ism330dhcx_data *ism330dhcx = dev->data;
ism330dhcx_pin_int2_route_t int2_route;
if (enable) {
int16_t buf;
/* dummy read: re-trigger interrupt */
ism330dhcx_temperature_raw_get(ism330dhcx->ctx, &buf);
}
/* set interrupt (TEMP DRDY interrupt is only on INT2) */
if (cfg->int_pin == 1)
return -EIO;
ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
int2_route.int2_ctrl.int2_drdy_temp = enable;
return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
}
#endif
/**
* ism330dhcx_enable_xl_int - XL enable selected int pin to generate interrupt
*/
static int ism330dhcx_enable_xl_int(const struct device *dev, int enable)
{
const struct ism330dhcx_config *cfg = dev->config;
struct ism330dhcx_data *ism330dhcx = dev->data;
if (enable) {
int16_t buf[3];
/* dummy read: re-trigger interrupt */
ism330dhcx_acceleration_raw_get(ism330dhcx->ctx, buf);
}
/* set interrupt */
if (cfg->int_pin == 1) {
ism330dhcx_pin_int1_route_t int1_route;
ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
(uint8_t *)&int1_route.int1_ctrl, 1);
int1_route.int1_ctrl.int1_drdy_xl = enable;
return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
(uint8_t *)&int1_route.int1_ctrl, 1);
} else {
ism330dhcx_pin_int2_route_t int2_route;
ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
int2_route.int2_ctrl.int2_drdy_xl = enable;
return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
}
}
/**
* ism330dhcx_enable_g_int - Gyro enable selected int pin to generate interrupt
*/
static int ism330dhcx_enable_g_int(const struct device *dev, int enable)
{
const struct ism330dhcx_config *cfg = dev->config;
struct ism330dhcx_data *ism330dhcx = dev->data;
if (enable) {
int16_t buf[3];
/* dummy read: re-trigger interrupt */
ism330dhcx_angular_rate_raw_get(ism330dhcx->ctx, buf);
}
/* set interrupt */
if (cfg->int_pin == 1) {
ism330dhcx_pin_int1_route_t int1_route;
ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
(uint8_t *)&int1_route.int1_ctrl, 1);
int1_route.int1_ctrl.int1_drdy_g = enable;
return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
(uint8_t *)&int1_route.int1_ctrl, 1);
} else {
ism330dhcx_pin_int2_route_t int2_route;
ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
int2_route.int2_ctrl.int2_drdy_g = enable;
return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
(uint8_t *)&int2_route.int2_ctrl, 1);
}
}
/**
* ism330dhcx_trigger_set - link external trigger to event data ready
*/
int ism330dhcx_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct ism330dhcx_data *ism330dhcx = dev->data;
const struct ism330dhcx_config *cfg = dev->config;
if (!cfg->drdy_gpio.port) {
return -ENOTSUP;
}
if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
ism330dhcx->handler_drdy_acc = handler;
ism330dhcx->trig_drdy_acc = trig;
if (handler) {
return ism330dhcx_enable_xl_int(dev, ISM330DHCX_EN_BIT);
} else {
return ism330dhcx_enable_xl_int(dev, ISM330DHCX_DIS_BIT);
}
} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
ism330dhcx->handler_drdy_gyr = handler;
ism330dhcx->trig_drdy_gyr = trig;
if (handler) {
return ism330dhcx_enable_g_int(dev, ISM330DHCX_EN_BIT);
} else {
return ism330dhcx_enable_g_int(dev, ISM330DHCX_DIS_BIT);
}
}
#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
ism330dhcx->handler_drdy_temp = handler;
ism330dhcx->trig_drdy_temp = trig;
if (handler) {
return ism330dhcx_enable_t_int(dev, ISM330DHCX_EN_BIT);
} else {
return ism330dhcx_enable_t_int(dev, ISM330DHCX_DIS_BIT);
}
}
#endif
return -ENOTSUP;
}
/**
* ism330dhcx_handle_interrupt - handle the drdy event
* read data and call handler if registered any
*/
static void ism330dhcx_handle_interrupt(const struct device *dev)
{
struct ism330dhcx_data *ism330dhcx = dev->data;
const struct ism330dhcx_config *cfg = dev->config;
ism330dhcx_status_reg_t status;
while (1) {
if (ism330dhcx_status_reg_get(ism330dhcx->ctx, &status) < 0) {
LOG_DBG("failed reading status reg");
return;
}
if ((status.xlda == 0) && (status.gda == 0)
#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
&& (status.tda == 0)
#endif
) {
break;
}
if ((status.xlda) && (ism330dhcx->handler_drdy_acc != NULL)) {
ism330dhcx->handler_drdy_acc(dev, ism330dhcx->trig_drdy_acc);
}
if ((status.gda) && (ism330dhcx->handler_drdy_gyr != NULL)) {
ism330dhcx->handler_drdy_gyr(dev, ism330dhcx->trig_drdy_gyr);
}
#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
if ((status.tda) && (ism330dhcx->handler_drdy_temp != NULL)) {
ism330dhcx->handler_drdy_temp(dev, ism330dhcx->trig_drdy_temp);
}
#endif
}
gpio_pin_interrupt_configure_dt(&cfg->drdy_gpio, GPIO_INT_EDGE_TO_ACTIVE);
}
static void ism330dhcx_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct ism330dhcx_data *ism330dhcx =
CONTAINER_OF(cb, struct ism330dhcx_data, gpio_cb);
const struct ism330dhcx_config *cfg = ism330dhcx->dev->config;
ARG_UNUSED(pins);
gpio_pin_interrupt_configure_dt(&cfg->drdy_gpio, GPIO_INT_DISABLE);
#if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD)
k_sem_give(&ism330dhcx->gpio_sem);
#elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD)
k_work_submit(&ism330dhcx->work);
#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
}
#ifdef CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD
static void ism330dhcx_thread(struct ism330dhcx_data *ism330dhcx)
{
while (1) {
k_sem_take(&ism330dhcx->gpio_sem, K_FOREVER);
ism330dhcx_handle_interrupt(ism330dhcx->dev);
}
}
#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
#ifdef CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD
static void ism330dhcx_work_cb(struct k_work *work)
{
struct ism330dhcx_data *ism330dhcx =
CONTAINER_OF(work, struct ism330dhcx_data, work);
ism330dhcx_handle_interrupt(ism330dhcx->dev);
}
#endif /* CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD */
int ism330dhcx_init_interrupt(const struct device *dev)
{
struct ism330dhcx_data *ism330dhcx = dev->data;
const struct ism330dhcx_config *cfg = dev->config;
int ret;
if (!device_is_ready(cfg->drdy_gpio.port)) {
LOG_ERR("GPIO device not ready");
return -ENODEV;
}
#if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD)
k_sem_init(&ism330dhcx->gpio_sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&ism330dhcx->thread, ism330dhcx->thread_stack,
CONFIG_ISM330DHCX_THREAD_STACK_SIZE,
(k_thread_entry_t)ism330dhcx_thread,
ism330dhcx, NULL, NULL,
K_PRIO_COOP(CONFIG_ISM330DHCX_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD)
ism330dhcx->work.handler = ism330dhcx_work_cb;
#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
ret = gpio_pin_configure_dt(&cfg->drdy_gpio, GPIO_INPUT);
if (ret < 0) {
LOG_ERR("Could not configure gpio");
return ret;
}
gpio_init_callback(&ism330dhcx->gpio_cb, ism330dhcx_gpio_callback, BIT(cfg->drdy_gpio.pin));
if (gpio_add_callback(cfg->drdy_gpio.port, &ism330dhcx->gpio_cb) < 0) {
LOG_ERR("Could not set gpio callback");
return -EIO;
}
/* enable interrupt on int1/int2 in pulse mode */
if (ism330dhcx_int_notification_set(ism330dhcx->ctx,
ISM330DHCX_ALL_INT_PULSED) < 0) {
LOG_ERR("Could not set pulse mode");
return -EIO;
}
return gpio_pin_interrupt_configure_dt(&cfg->drdy_gpio, GPIO_INT_EDGE_TO_ACTIVE);
}