drivers/sensor/lsm6dsv16x/lsm6dsv16x_trigger.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
  *
  * Copyright (c) 2023 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lsm6dsv16x.pdf
  */

 #define DT_DRV_COMPAT st_lsm6dsv16x

 #include <zephyr/kernel.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/logging/log.h>

 #include "lsm6dsv16x.h"

 LOG_MODULE_DECLARE(LSM6DSV16X, CONFIG_SENSOR_LOG_LEVEL);

 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 /**
  * lsm6dsv16x_enable_t_int - TEMP enable selected int pin to generate interrupt
  */
 static int lsm6dsv16x_enable_t_int(const struct device *dev, int enable)
 {
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lsm6dsv16x_pin_int_route_t val;
 	int ret;

 	if (enable) {
 		int16_t buf;

 		/* dummy read: re-trigger interrupt */
 		lsm6dsv16x_temperature_raw_get(ctx, &buf);
 	}

 	/* set interrupt (TEMP DRDY interrupt is only on INT2) */
 	if (cfg->drdy_pin == 1) {
 		return -EIO;
 	}

 	ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
 	if (ret < 0) {
 		LOG_ERR("pint_int2_route_get error");
 		return ret;
 	}

 	val.drdy_temp = 1;

 	return lsm6dsv16x_pin_int2_route_set(ctx, &val);
 }
 #endif

 /**
  * lsm6dsv16x_enable_xl_int - XL enable selected int pin to generate interrupt
  */
 static int lsm6dsv16x_enable_xl_int(const struct device *dev, int enable)
 {
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int ret;

 	if (enable) {
 		int16_t buf[3];

 		/* dummy read: re-trigger interrupt */
 		lsm6dsv16x_acceleration_raw_get(ctx, buf);
 	}

 	/* set interrupt */
 	if (cfg->drdy_pin == 1) {
 		lsm6dsv16x_pin_int_route_t val;

 		ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
 		if (ret < 0) {
 			LOG_ERR("pint_int1_route_get error");
 			return ret;
 		}

 		val.drdy_xl = 1;

 		ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
 	} else {
 		lsm6dsv16x_pin_int_route_t val;

 		ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
 		if (ret < 0) {
 			LOG_ERR("pint_int2_route_get error");
 			return ret;
 		}

 		val.drdy_xl = 1;

 		ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
 	}

 	return ret;
 }

 /**
  * lsm6dsv16x_enable_g_int - Gyro enable selected int pin to generate interrupt
  */
 static int lsm6dsv16x_enable_g_int(const struct device *dev, int enable)
 {
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int ret;

 	if (enable) {
 		int16_t buf[3];

 		/* dummy read: re-trigger interrupt */
 		lsm6dsv16x_angular_rate_raw_get(ctx, buf);
 	}

 	/* set interrupt */
 	if (cfg->drdy_pin == 1) {
 		lsm6dsv16x_pin_int_route_t val;

 		ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
 		if (ret < 0) {
 			LOG_ERR("pint_int1_route_get error");
 			return ret;
 		}

 		val.drdy_g = 1;

 		ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
 	} else {
 		lsm6dsv16x_pin_int_route_t val;

 		ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
 		if (ret < 0) {
 			LOG_ERR("pint_int2_route_get error");
 			return ret;
 		}

 		val.drdy_g = 1;

 		ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
 	}

 	return ret;
 }

 /**
  * lsm6dsv16x_trigger_set - link external trigger to event data ready
  */
 int lsm6dsv16x_trigger_set(const struct device *dev,
 			  const struct sensor_trigger *trig,
 			  sensor_trigger_handler_t handler)
 {
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;

 	if (!cfg->trig_enabled) {
 		LOG_ERR("trigger_set op not supported");
 		return -ENOTSUP;
 	}

 	if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
 		lsm6dsv16x->handler_drdy_acc = handler;
 		lsm6dsv16x->trig_drdy_acc = trig;
 		if (handler) {
 			return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_EN_BIT);
 		} else {
 			return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_DIS_BIT);
 		}
 	} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
 		lsm6dsv16x->handler_drdy_gyr = handler;
 		lsm6dsv16x->trig_drdy_gyr = trig;
 		if (handler) {
 			return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_EN_BIT);
 		} else {
 			return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_DIS_BIT);
 		}
 	}
 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 	else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
 		lsm6dsv16x->handler_drdy_temp = handler;
 		lsm6dsv16x->trig_drdy_temp = trig;
 		if (handler) {
 			return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_EN_BIT);
 		} else {
 			return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_DIS_BIT);
 		}
 	}
 #endif

 	return -ENOTSUP;
 }

 /**
  * lsm6dsv16x_handle_interrupt - handle the drdy event
  * read data and call handler if registered any
  */
 static void lsm6dsv16x_handle_interrupt(const struct device *dev)
 {
 	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lsm6dsv16x_data_ready_t status;

 	while (1) {
 		if (lsm6dsv16x_flag_data_ready_get(ctx, &status) < 0) {
 			LOG_DBG("failed reading status reg");
 			return;
 		}

 		if ((status.drdy_xl == 0) && (status.drdy_gy == 0)
 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 					&& (status.drdy_temp == 0)
 #endif
 					) {
 			break;
 		}

 		if ((status.drdy_xl) && (lsm6dsv16x->handler_drdy_acc != NULL)) {
 			lsm6dsv16x->handler_drdy_acc(dev, lsm6dsv16x->trig_drdy_acc);
 		}

 		if ((status.drdy_gy) && (lsm6dsv16x->handler_drdy_gyr != NULL)) {
 			lsm6dsv16x->handler_drdy_gyr(dev, lsm6dsv16x->trig_drdy_gyr);
 		}

 #if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
 		if ((status.drdy_temp) && (lsm6dsv16x->handler_drdy_temp != NULL)) {
 			lsm6dsv16x->handler_drdy_temp(dev, lsm6dsv16x->trig_drdy_temp);
 		}
 #endif
 	}

 	gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
 					GPIO_INT_EDGE_TO_ACTIVE);
 }

 static void lsm6dsv16x_gpio_callback(const struct device *dev,
 				    struct gpio_callback *cb, uint32_t pins)
 {
 	struct lsm6dsv16x_data *lsm6dsv16x =
 		CONTAINER_OF(cb, struct lsm6dsv16x_data, gpio_cb);
 	const struct lsm6dsv16x_config *cfg = lsm6dsv16x->dev->config;

 	ARG_UNUSED(pins);

 	gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);

 #if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
 	k_sem_give(&lsm6dsv16x->gpio_sem);
 #elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
 	k_work_submit(&lsm6dsv16x->work);
 #endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
 }

 #ifdef CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD
 static void lsm6dsv16x_thread(struct lsm6dsv16x_data *lsm6dsv16x)
 {
 	while (1) {
 		k_sem_take(&lsm6dsv16x->gpio_sem, K_FOREVER);
 		lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
 	}
 }
 #endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */

 #ifdef CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD
 static void lsm6dsv16x_work_cb(struct k_work *work)
 {
 	struct lsm6dsv16x_data *lsm6dsv16x =
 		CONTAINER_OF(work, struct lsm6dsv16x_data, work);

 	lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
 }
 #endif /* CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD */

 int lsm6dsv16x_init_interrupt(const struct device *dev)
 {
 	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
 	const struct lsm6dsv16x_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int ret;

 	/* setup data ready gpio interrupt (INT1 or INT2) */
 	if (!device_is_ready(cfg->gpio_drdy.port)) {
 		LOG_ERR("Cannot get pointer to drdy_gpio device");
 		return -EINVAL;
 	}

 #if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
 	k_sem_init(&lsm6dsv16x->gpio_sem, 0, K_SEM_MAX_LIMIT);

 	k_thread_create(&lsm6dsv16x->thread, lsm6dsv16x->thread_stack,
 			CONFIG_LSM6DSV16X_THREAD_STACK_SIZE,
 			(k_thread_entry_t)lsm6dsv16x_thread, lsm6dsv16x,
 			NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSV16X_THREAD_PRIORITY),
 			0, K_NO_WAIT);
 	k_thread_name_set(&lsm6dsv16x->thread, "lsm6dsv16x");
 #elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
 	lsm6dsv16x->work.handler = lsm6dsv16x_work_cb;
 #endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */

 	ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
 	if (ret < 0) {
 		LOG_DBG("Could not configure gpio");
 		return ret;
 	}

 	gpio_init_callback(&lsm6dsv16x->gpio_cb,
 			   lsm6dsv16x_gpio_callback,
 			   BIT(cfg->gpio_drdy.pin));

 	if (gpio_add_callback(cfg->gpio_drdy.port, &lsm6dsv16x->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);
 	lsm6dsv16x_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSV16X_DRDY_PULSED :
 							     LSM6DSV16X_DRDY_LATCHED;

 	ret = lsm6dsv16x_data_ready_mode_set(ctx, mode);
 	if (ret < 0) {
 		LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
 		return ret;
 	}

 	return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
 					       GPIO_INT_EDGE_TO_ACTIVE);
 }
	/* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
	*
	* Copyright (c) 2023 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lsm6dsv16x.pdf
	*/

	#define DT_DRV_COMPAT st_lsm6dsv16x

	#include <zephyr/kernel.h>
	#include <zephyr/drivers/sensor.h>
	#include <zephyr/drivers/gpio.h>
	#include <zephyr/logging/log.h>

	#include "lsm6dsv16x.h"

	LOG_MODULE_DECLARE(LSM6DSV16X, CONFIG_SENSOR_LOG_LEVEL);

	#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
	/**
	* lsm6dsv16x_enable_t_int - TEMP enable selected int pin to generate interrupt
	*/
	static int lsm6dsv16x_enable_t_int(const struct device *dev, int enable)
	{
	const struct lsm6dsv16x_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lsm6dsv16x_pin_int_route_t val;
	int ret;

	if (enable) {
	int16_t buf;

	/* dummy read: re-trigger interrupt */
	lsm6dsv16x_temperature_raw_get(ctx, &buf);
	}

	/* set interrupt (TEMP DRDY interrupt is only on INT2) */
	if (cfg->drdy_pin == 1) {
	return -EIO;
	}

	ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
	if (ret < 0) {
	LOG_ERR("pint_int2_route_get error");
	return ret;
	}

	val.drdy_temp = 1;

	return lsm6dsv16x_pin_int2_route_set(ctx, &val);
	}
	#endif

	/**
	* lsm6dsv16x_enable_xl_int - XL enable selected int pin to generate interrupt
	*/
	static int lsm6dsv16x_enable_xl_int(const struct device *dev, int enable)
	{
	const struct lsm6dsv16x_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int ret;

	if (enable) {
	int16_t buf[3];

	/* dummy read: re-trigger interrupt */
	lsm6dsv16x_acceleration_raw_get(ctx, buf);
	}

	/* set interrupt */
	if (cfg->drdy_pin == 1) {
	lsm6dsv16x_pin_int_route_t val;

	ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
	if (ret < 0) {
	LOG_ERR("pint_int1_route_get error");
	return ret;
	}

	val.drdy_xl = 1;

	ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
	} else {
	lsm6dsv16x_pin_int_route_t val;

	ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
	if (ret < 0) {
	LOG_ERR("pint_int2_route_get error");
	return ret;
	}

	val.drdy_xl = 1;

	ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
	}

	return ret;
	}

	/**
	* lsm6dsv16x_enable_g_int - Gyro enable selected int pin to generate interrupt
	*/
	static int lsm6dsv16x_enable_g_int(const struct device *dev, int enable)
	{
	const struct lsm6dsv16x_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int ret;

	if (enable) {
	int16_t buf[3];

	/* dummy read: re-trigger interrupt */
	lsm6dsv16x_angular_rate_raw_get(ctx, buf);
	}

	/* set interrupt */
	if (cfg->drdy_pin == 1) {
	lsm6dsv16x_pin_int_route_t val;

	ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
	if (ret < 0) {
	LOG_ERR("pint_int1_route_get error");
	return ret;
	}

	val.drdy_g = 1;

	ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
	} else {
	lsm6dsv16x_pin_int_route_t val;

	ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
	if (ret < 0) {
	LOG_ERR("pint_int2_route_get error");
	return ret;
	}

	val.drdy_g = 1;

	ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
	}

	return ret;
	}

	/**
	* lsm6dsv16x_trigger_set - link external trigger to event data ready
	*/
	int lsm6dsv16x_trigger_set(const struct device *dev,
	const struct sensor_trigger *trig,
	sensor_trigger_handler_t handler)
	{
	const struct lsm6dsv16x_config *cfg = dev->config;
	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;

	if (!cfg->trig_enabled) {
	LOG_ERR("trigger_set op not supported");
	return -ENOTSUP;
	}

	if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
	lsm6dsv16x->handler_drdy_acc = handler;
	lsm6dsv16x->trig_drdy_acc = trig;
	if (handler) {
	return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_EN_BIT);
	} else {
	return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_DIS_BIT);
	}
	} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
	lsm6dsv16x->handler_drdy_gyr = handler;
	lsm6dsv16x->trig_drdy_gyr = trig;
	if (handler) {
	return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_EN_BIT);
	} else {
	return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_DIS_BIT);
	}
	}
	#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
	else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
	lsm6dsv16x->handler_drdy_temp = handler;
	lsm6dsv16x->trig_drdy_temp = trig;
	if (handler) {
	return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_EN_BIT);
	} else {
	return lsm6dsv16x_enable_t_int(dev, LSM6DSV16X_DIS_BIT);
	}
	}
	#endif

	return -ENOTSUP;
	}

	/**
	* lsm6dsv16x_handle_interrupt - handle the drdy event
	* read data and call handler if registered any
	*/
	static void lsm6dsv16x_handle_interrupt(const struct device *dev)
	{
	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
	const struct lsm6dsv16x_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lsm6dsv16x_data_ready_t status;

	while (1) {
	if (lsm6dsv16x_flag_data_ready_get(ctx, &status) < 0) {
	LOG_DBG("failed reading status reg");
	return;
	}

	if ((status.drdy_xl == 0) && (status.drdy_gy == 0)
	#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
	&& (status.drdy_temp == 0)
	#endif
	) {
	break;
	}

	if ((status.drdy_xl) && (lsm6dsv16x->handler_drdy_acc != NULL)) {
	lsm6dsv16x->handler_drdy_acc(dev, lsm6dsv16x->trig_drdy_acc);
	}

	if ((status.drdy_gy) && (lsm6dsv16x->handler_drdy_gyr != NULL)) {
	lsm6dsv16x->handler_drdy_gyr(dev, lsm6dsv16x->trig_drdy_gyr);
	}

	#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
	if ((status.drdy_temp) && (lsm6dsv16x->handler_drdy_temp != NULL)) {
	lsm6dsv16x->handler_drdy_temp(dev, lsm6dsv16x->trig_drdy_temp);
	}
	#endif
	}

	gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
	GPIO_INT_EDGE_TO_ACTIVE);
	}

	static void lsm6dsv16x_gpio_callback(const struct device *dev,
	struct gpio_callback *cb, uint32_t pins)
	{
	struct lsm6dsv16x_data *lsm6dsv16x =
	CONTAINER_OF(cb, struct lsm6dsv16x_data, gpio_cb);
	const struct lsm6dsv16x_config *cfg = lsm6dsv16x->dev->config;

	ARG_UNUSED(pins);

	gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);

	#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
	k_sem_give(&lsm6dsv16x->gpio_sem);
	#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
	k_work_submit(&lsm6dsv16x->work);
	#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
	}

	#ifdef CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD
	static void lsm6dsv16x_thread(struct lsm6dsv16x_data *lsm6dsv16x)
	{
	while (1) {
	k_sem_take(&lsm6dsv16x->gpio_sem, K_FOREVER);
	lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
	}
	}
	#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */

	#ifdef CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD
	static void lsm6dsv16x_work_cb(struct k_work *work)
	{
	struct lsm6dsv16x_data *lsm6dsv16x =
	CONTAINER_OF(work, struct lsm6dsv16x_data, work);

	lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
	}
	#endif /* CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD */

	int lsm6dsv16x_init_interrupt(const struct device *dev)
	{
	struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
	const struct lsm6dsv16x_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int ret;

	/* setup data ready gpio interrupt (INT1 or INT2) */
	if (!device_is_ready(cfg->gpio_drdy.port)) {
	LOG_ERR("Cannot get pointer to drdy_gpio device");
	return -EINVAL;
	}

	#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
	k_sem_init(&lsm6dsv16x->gpio_sem, 0, K_SEM_MAX_LIMIT);

	k_thread_create(&lsm6dsv16x->thread, lsm6dsv16x->thread_stack,
	CONFIG_LSM6DSV16X_THREAD_STACK_SIZE,
	(k_thread_entry_t)lsm6dsv16x_thread, lsm6dsv16x,
	NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSV16X_THREAD_PRIORITY),
	0, K_NO_WAIT);
	k_thread_name_set(&lsm6dsv16x->thread, "lsm6dsv16x");
	#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
	lsm6dsv16x->work.handler = lsm6dsv16x_work_cb;
	#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */

	ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
	if (ret < 0) {
	LOG_DBG("Could not configure gpio");
	return ret;
	}

	gpio_init_callback(&lsm6dsv16x->gpio_cb,
	lsm6dsv16x_gpio_callback,
	BIT(cfg->gpio_drdy.pin));

	if (gpio_add_callback(cfg->gpio_drdy.port, &lsm6dsv16x->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);
	lsm6dsv16x_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSV16X_DRDY_PULSED :
	LSM6DSV16X_DRDY_LATCHED;

	ret = lsm6dsv16x_data_ready_mode_set(ctx, mode);
	if (ret < 0) {
	LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
	return ret;
	}

	return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
	GPIO_INT_EDGE_TO_ACTIVE);
	}