blob: 8bf04c1b3b61c9fc647bc9966e95708ad2d6c198 [file] [log] [blame]
/*
* Copyright (c) 2018 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT st_lsm6dsl
#include <zephyr/device.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/sys/__assert.h>
#include <zephyr/sys/util.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/logging/log.h>
#include "lsm6dsl.h"
LOG_MODULE_DECLARE(LSM6DSL, CONFIG_SENSOR_LOG_LEVEL);
static inline void setup_irq(const struct device *dev, bool enable)
{
const struct lsm6dsl_config *config = dev->config;
unsigned int flags = enable
? GPIO_INT_EDGE_TO_ACTIVE
: GPIO_INT_DISABLE;
gpio_pin_interrupt_configure_dt(&config->int_gpio, flags);
}
static inline void handle_irq(const struct device *dev)
{
struct lsm6dsl_data *drv_data = dev->data;
setup_irq(dev, false);
#if defined(CONFIG_LSM6DSL_TRIGGER_OWN_THREAD)
k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD)
k_work_submit(&drv_data->work);
#endif
}
int lsm6dsl_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
const struct lsm6dsl_config *config = dev->config;
struct lsm6dsl_data *drv_data = dev->data;
__ASSERT_NO_MSG(trig->type == SENSOR_TRIG_DATA_READY);
/* If irq_gpio is not configured in DT just return error */
if (!config->int_gpio.port) {
LOG_ERR("triggers not supported");
return -ENOTSUP;
}
setup_irq(dev, false);
drv_data->data_ready_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->data_ready_trigger = trig;
setup_irq(dev, true);
if (gpio_pin_get_dt(&config->int_gpio) > 0) {
handle_irq(dev);
}
return 0;
}
static void lsm6dsl_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct lsm6dsl_data *drv_data =
CONTAINER_OF(cb, struct lsm6dsl_data, gpio_cb);
ARG_UNUSED(pins);
handle_irq(drv_data->dev);
}
static void lsm6dsl_thread_cb(const struct device *dev)
{
struct lsm6dsl_data *drv_data = dev->data;
if (drv_data->data_ready_handler != NULL) {
drv_data->data_ready_handler(dev,
drv_data->data_ready_trigger);
}
setup_irq(dev, true);
}
#ifdef CONFIG_LSM6DSL_TRIGGER_OWN_THREAD
static void lsm6dsl_thread(const struct device *dev)
{
struct lsm6dsl_data *drv_data = dev->data;
while (1) {
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
lsm6dsl_thread_cb(dev);
}
}
#endif
#ifdef CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD
static void lsm6dsl_work_cb(struct k_work *work)
{
struct lsm6dsl_data *drv_data =
CONTAINER_OF(work, struct lsm6dsl_data, work);
lsm6dsl_thread_cb(drv_data->dev);
}
#endif
int lsm6dsl_init_interrupt(const struct device *dev)
{
const struct lsm6dsl_config *config = dev->config;
struct lsm6dsl_data *drv_data = dev->data;
if (!device_is_ready(config->int_gpio.port)) {
LOG_ERR("GPIO device not ready");
return -ENODEV;
}
gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
gpio_init_callback(&drv_data->gpio_cb,
lsm6dsl_gpio_callback, BIT(config->int_gpio.pin));
if (gpio_add_callback(config->int_gpio.port, &drv_data->gpio_cb) < 0) {
LOG_ERR("Could not set gpio callback.");
return -EIO;
}
/* enable data-ready interrupt */
if (drv_data->hw_tf->update_reg(dev,
LSM6DSL_REG_INT1_CTRL,
LSM6DSL_MASK_INT1_CTRL_DRDY_XL |
LSM6DSL_MASK_INT1_CTRL_DRDY_G,
BIT(LSM6DSL_SHIFT_INT1_CTRL_DRDY_XL) |
BIT(LSM6DSL_SHIFT_INT1_CTRL_DRDY_G)) < 0) {
LOG_ERR("Could not enable data-ready interrupt.");
return -EIO;
}
drv_data->dev = dev;
#if defined(CONFIG_LSM6DSL_TRIGGER_OWN_THREAD)
k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&drv_data->thread, drv_data->thread_stack,
CONFIG_LSM6DSL_THREAD_STACK_SIZE,
(k_thread_entry_t)lsm6dsl_thread, (void *)dev,
NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSL_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD)
drv_data->work.handler = lsm6dsl_work_cb;
#endif
setup_irq(dev, true);
return 0;
}