| /* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver |
| * |
| * Copyright (c) 2023 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2du12.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2du12 |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "lis2du12.h" |
| |
| LOG_MODULE_DECLARE(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| /** |
| * lis2du12_enable_xl_int - XL enable selected int pin to generate interrupt |
| */ |
| static int lis2du12_enable_xl_int(const struct device *dev, int enable) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| int ret; |
| |
| if (enable) { |
| lis2du12_md_t md; |
| lis2du12_data_t xl_data; |
| |
| /* dummy read: re-trigger interrupt */ |
| md.fs = cfg->accel_range; |
| lis2du12_data_get(ctx, &md, &xl_data); |
| } |
| |
| /* set interrupt */ |
| if (cfg->drdy_pin == 1) { |
| lis2du12_pin_int_route_t val; |
| |
| ret = lis2du12_pin_int1_route_get(ctx, &val); |
| if (ret < 0) { |
| LOG_ERR("pint_int1_route_get error"); |
| return ret; |
| } |
| |
| val.drdy_xl = 1; |
| |
| ret = lis2du12_pin_int1_route_set(ctx, &val); |
| } else { |
| lis2du12_pin_int_route_t val; |
| |
| ret = lis2du12_pin_int2_route_get(ctx, &val); |
| if (ret < 0) { |
| LOG_ERR("pint_int2_route_get error"); |
| return ret; |
| } |
| |
| val.drdy_xl = 1; |
| |
| ret = lis2du12_pin_int2_route_set(ctx, &val); |
| } |
| |
| return ret; |
| } |
| |
| /** |
| * lis2du12_trigger_set - link external trigger to event data ready |
| */ |
| int lis2du12_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| struct lis2du12_data *lis2du12 = dev->data; |
| |
| if (!cfg->trig_enabled) { |
| LOG_ERR("trigger_set op not supported"); |
| return -ENOTSUP; |
| } |
| |
| switch (trig->chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2du12->handler_drdy_acc = handler; |
| lis2du12->trig_drdy_acc = trig; |
| if (handler) { |
| return lis2du12_enable_xl_int(dev, LIS2DU12_EN_BIT); |
| } |
| |
| return lis2du12_enable_xl_int(dev, LIS2DU12_DIS_BIT); |
| |
| default: |
| return -ENOTSUP; |
| } |
| |
| } |
| |
| /** |
| * lis2du12_handle_interrupt - handle the drdy event |
| * read data and call handler if registered any |
| */ |
| static void lis2du12_handle_interrupt(const struct device *dev) |
| { |
| struct lis2du12_data *lis2du12 = dev->data; |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| lis2du12_status_t status; |
| |
| while (1) { |
| if (lis2du12_status_get(ctx, &status) < 0) { |
| LOG_ERR("failed reading status reg"); |
| return; |
| } |
| |
| if (status.drdy_xl == 0) { |
| break; |
| } |
| |
| if ((status.drdy_xl) && (lis2du12->handler_drdy_acc != NULL)) { |
| lis2du12->handler_drdy_acc(dev, lis2du12->trig_drdy_acc); |
| } |
| } |
| |
| gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| } |
| |
| static void lis2du12_gpio_callback(const struct device *dev, |
| struct gpio_callback *cb, uint32_t pins) |
| { |
| struct lis2du12_data *lis2du12 = |
| CONTAINER_OF(cb, struct lis2du12_data, gpio_cb); |
| |
| ARG_UNUSED(pins); |
| |
| gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio, GPIO_INT_DISABLE); |
| |
| #if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD) |
| k_sem_give(&lis2du12->gpio_sem); |
| #elif defined(CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&lis2du12->work); |
| #endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */ |
| } |
| |
| #ifdef CONFIG_LIS2DU12_TRIGGER_OWN_THREAD |
| static void lis2du12_thread(struct lis2du12_data *lis2du12) |
| { |
| while (1) { |
| k_sem_take(&lis2du12->gpio_sem, K_FOREVER); |
| lis2du12_handle_interrupt(lis2du12->dev); |
| } |
| } |
| #endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */ |
| |
| #ifdef CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD |
| static void lis2du12_work_cb(struct k_work *work) |
| { |
| struct lis2du12_data *lis2du12 = |
| CONTAINER_OF(work, struct lis2du12_data, work); |
| |
| lis2du12_handle_interrupt(lis2du12->dev); |
| } |
| #endif /* CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD */ |
| |
| int lis2du12_init_interrupt(const struct device *dev) |
| { |
| struct lis2du12_data *lis2du12 = dev->data; |
| const struct lis2du12_config *cfg = dev->config; |
| int ret; |
| |
| lis2du12->drdy_gpio = (cfg->drdy_pin == 1) ? |
| (struct gpio_dt_spec *)&cfg->int1_gpio : |
| (struct gpio_dt_spec *)&cfg->int2_gpio; |
| |
| /* setup data ready gpio interrupt (INT1 or INT2) */ |
| if (!gpio_is_ready_dt(lis2du12->drdy_gpio)) { |
| LOG_ERR("Cannot get pointer to drdy_gpio device (%p)", |
| lis2du12->drdy_gpio); |
| return -EINVAL; |
| } |
| |
| #if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD) |
| k_sem_init(&lis2du12->gpio_sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&lis2du12->thread, lis2du12->thread_stack, |
| CONFIG_LIS2DU12_THREAD_STACK_SIZE, |
| (k_thread_entry_t)lis2du12_thread, lis2du12, |
| NULL, NULL, K_PRIO_COOP(CONFIG_LIS2DU12_THREAD_PRIORITY), |
| 0, K_NO_WAIT); |
| k_thread_name_set(&lis2du12->thread, dev->name); |
| #elif defined(CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD) |
| lis2du12->work.handler = lis2du12_work_cb; |
| #endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */ |
| |
| ret = gpio_pin_configure_dt(lis2du12->drdy_gpio, GPIO_INPUT); |
| if (ret < 0) { |
| LOG_ERR("Could not configure gpio: %d", ret); |
| return ret; |
| } |
| |
| gpio_init_callback(&lis2du12->gpio_cb, |
| lis2du12_gpio_callback, |
| BIT(lis2du12->drdy_gpio->pin)); |
| |
| if (gpio_add_callback(lis2du12->drdy_gpio->port, &lis2du12->gpio_cb) < 0) { |
| LOG_ERR("Could not set gpio callback"); |
| return -EIO; |
| } |
| |
| return gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio, |
| GPIO_INT_EDGE_TO_ACTIVE); |
| } |