| /* ST Microelectronics IIS328DQ 3-axis accelerometer driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * Copyright (c) 2024 SILA Embedded Solutions GmbH |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis328dq.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis328dq |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "iis328dq.h" |
| |
| LOG_MODULE_DECLARE(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static int iis328dq_set_int_pad_state(const struct device *dev, uint8_t pad, bool enable) |
| { |
| const struct iis328dq_config *cfg = dev->config; |
| |
| int state = enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE; |
| |
| if (pad == 1) { |
| return gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, state); |
| } else if (pad == 2) { |
| return gpio_pin_interrupt_configure_dt(&cfg->gpio_int2, state); |
| } else { |
| return -EINVAL; |
| } |
| } |
| |
| /** |
| * iis328dq_enable_int - enable selected int pin to generate interrupt |
| */ |
| static int iis328dq_enable_int(const struct device *dev, const struct sensor_trigger *trig, |
| int enable) |
| { |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| switch (trig->type) { |
| case SENSOR_TRIG_DATA_READY: |
| if (cfg->drdy_pad == 1) { |
| /* route DRDY to PAD1 */ |
| if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_DRDY) != 0) { |
| return -EIO; |
| } |
| } else if (cfg->drdy_pad == 2) { |
| /* route DRDY to PAD2 */ |
| if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_DRDY) != 0) { |
| return -EIO; |
| } |
| } else { |
| LOG_ERR("No interrupt pin configured for DRDY in devicetree"); |
| return -ENOTSUP; |
| } |
| return iis328dq_set_int_pad_state(dev, cfg->drdy_pad, enable); |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| case SENSOR_TRIG_THRESHOLD: { |
| /* set up internal INT1 for lower thresholds */ |
| int1_on_th_conf_t int1_conf = {0}; |
| |
| switch (trig->chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| int1_conf.int1_xlie = 1; |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| int1_conf.int1_ylie = 1; |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| int1_conf.int1_zlie = 1; |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| int1_conf.int1_xlie = 1; |
| int1_conf.int1_ylie = 1; |
| int1_conf.int1_zlie = 1; |
| break; |
| default: |
| LOG_ERR("Invalid sensor channel %d", trig->chan); |
| return -EINVAL; |
| } |
| |
| if (iis328dq_int1_on_threshold_conf_set(ctx, int1_conf) != 0) { |
| return -EIO; |
| } |
| |
| /* set up internal INT2 for uppper thresholds */ |
| int2_on_th_conf_t int2_conf = {0}; |
| |
| int2_conf.int2_xhie = int1_conf.int1_xlie; |
| int2_conf.int2_yhie = int1_conf.int1_ylie; |
| int2_conf.int2_zhie = int1_conf.int1_zlie; |
| if (iis328dq_int2_on_threshold_conf_set(ctx, int2_conf) != 0) { |
| return -EIO; |
| } |
| |
| if (cfg->threshold_pad == 1) { |
| /* route both internal interrupts to PAD1 */ |
| if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_INT1_OR_INT2_SRC) != 0) { |
| return -EIO; |
| } |
| } else if (cfg->threshold_pad == 2) { |
| /* route both internal interrupts to PAD2 */ |
| if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_INT1_OR_INT2_SRC) != 0) { |
| return -EIO; |
| } |
| } else { |
| LOG_ERR("No interrupt pin configured for DRDY in devicetree"); |
| return -ENOTSUP; |
| } |
| return iis328dq_set_int_pad_state(dev, cfg->threshold_pad, enable); |
| } |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| default: |
| LOG_ERR("Unsupported trigger interrupt route %d", trig->type); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| /** |
| * iis328dq_trigger_set - link external trigger to event data ready |
| */ |
| int iis328dq_trigger_set(const struct device *dev, const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler) |
| { |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct iis328dq_data *iis328dq = dev->data; |
| int16_t raw[3]; |
| int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE; |
| |
| if (!cfg->gpio_int1.port && !cfg->gpio_int2.port) { |
| /* no interrupts configured */ |
| return -ENOTSUP; |
| } |
| |
| switch (trig->type) { |
| case SENSOR_TRIG_DATA_READY: |
| iis328dq->drdy_handler = handler; |
| iis328dq->drdy_trig = trig; |
| if (state) { |
| /* dummy read: re-trigger interrupt */ |
| iis328dq_acceleration_raw_get(ctx, raw); |
| } |
| break; |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| case SENSOR_TRIG_THRESHOLD: |
| iis328dq->threshold_handler = handler; |
| iis328dq->threshold_trig = trig; |
| break; |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| default: |
| LOG_ERR("Unsupported sensor trigger"); |
| return -ENOTSUP; |
| } |
| |
| return iis328dq_enable_int(dev, trig, state); |
| } |
| |
| /** |
| * iis328dq_handle_interrupt - handle the drdy event |
| * read data and call handler if registered any |
| */ |
| static void iis328dq_handle_interrupt(const struct device *dev) |
| { |
| const struct iis328dq_config *cfg = dev->config; |
| struct iis328dq_data *data = dev->data; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| iis328dq_status_reg_t status; |
| iis328dq_int1_src_t sources1; |
| iis328dq_int2_src_t sources2; |
| |
| iis328dq_status_reg_get(ctx, &status); |
| |
| if (status.zyxda) { |
| if (data->drdy_handler) { |
| data->drdy_handler(dev, data->drdy_trig); |
| } |
| |
| iis328dq_set_int_pad_state(dev, cfg->drdy_pad, true); |
| } |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| iis328dq_int1_src_get(ctx, &sources1); |
| iis328dq_int2_src_get(ctx, &sources2); |
| if (sources1.ia || sources2.ia) { |
| if (data->threshold_handler) { |
| data->threshold_handler(dev, data->threshold_trig); |
| } |
| |
| iis328dq_set_int_pad_state(dev, cfg->threshold_pad, true); |
| } |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| } |
| |
| static void iis328dq_int1_gpio_callback(const struct device *dev, struct gpio_callback *cb, |
| uint32_t pins) |
| { |
| struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int1_cb); |
| |
| ARG_UNUSED(pins); |
| |
| iis328dq_set_int_pad_state(iis328dq->dev, 1, true); |
| |
| #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD) |
| k_sem_give(&iis328dq->gpio_sem); |
| #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&iis328dq->work); |
| #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */ |
| } |
| |
| static void iis328dq_int2_gpio_callback(const struct device *dev, struct gpio_callback *cb, |
| uint32_t pins) |
| { |
| struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int2_cb); |
| |
| ARG_UNUSED(pins); |
| |
| iis328dq_set_int_pad_state(iis328dq->dev, 2, true); |
| |
| #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD) |
| k_sem_give(&iis328dq->gpio_sem); |
| #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD) |
| k_work_submit(&iis328dq->work); |
| #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */ |
| } |
| |
| #ifdef CONFIG_IIS328DQ_TRIGGER_OWN_THREAD |
| static void iis328dq_thread(void *p1, void *p2, void *p3) |
| { |
| ARG_UNUSED(p2); |
| ARG_UNUSED(p3); |
| |
| struct iis328dq_data *iis328dq = p1; |
| |
| while (1) { |
| k_sem_take(&iis328dq->gpio_sem, K_FOREVER); |
| iis328dq_handle_interrupt(iis328dq->dev); |
| } |
| } |
| #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */ |
| |
| #ifdef CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD |
| static void iis328dq_work_cb(struct k_work *work) |
| { |
| struct iis328dq_data *iis328dq = CONTAINER_OF(work, struct iis328dq_data, work); |
| |
| iis328dq_handle_interrupt(iis328dq->dev); |
| } |
| #endif /* CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD */ |
| |
| int iis328dq_init_interrupt(const struct device *dev) |
| { |
| struct iis328dq_data *iis328dq = dev->data; |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| int ret; |
| |
| if (!cfg->gpio_int1.port && !cfg->gpio_int2.port) { |
| /* no interrupts configured, nothing to do */ |
| return 0; |
| } |
| |
| /* setup data ready gpio interrupt (INT1 and INT2) */ |
| if (cfg->gpio_int1.port) { |
| if (!gpio_is_ready_dt(&cfg->gpio_int1)) { |
| LOG_ERR("INT_1 pin is not ready"); |
| return -EINVAL; |
| } |
| } |
| if (cfg->gpio_int2.port) { |
| if (!gpio_is_ready_dt(&cfg->gpio_int2)) { |
| LOG_ERR("INT_2 pin is not ready"); |
| return -EINVAL; |
| } |
| } |
| |
| #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD) |
| k_sem_init(&iis328dq->gpio_sem, 0, K_SEM_MAX_LIMIT); |
| |
| k_thread_create(&iis328dq->thread, iis328dq->thread_stack, |
| CONFIG_IIS328DQ_THREAD_STACK_SIZE, iis328dq_thread, iis328dq, NULL, NULL, |
| K_PRIO_COOP(CONFIG_IIS328DQ_THREAD_PRIORITY), 0, K_NO_WAIT); |
| #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD) |
| iis328dq->work.handler = iis328dq_work_cb; |
| #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */ |
| |
| if (cfg->gpio_int1.port) { |
| ret = gpio_pin_configure_dt(&cfg->gpio_int1, GPIO_INPUT); |
| if (ret < 0) { |
| LOG_ERR("Could not configure INT_1 gpio"); |
| return ret; |
| } |
| gpio_init_callback(&iis328dq->int1_cb, iis328dq_int1_gpio_callback, |
| BIT(cfg->gpio_int1.pin)); |
| if (gpio_add_callback(cfg->gpio_int1.port, &iis328dq->int1_cb) < 0) { |
| LOG_ERR("Could not set INT1 callback"); |
| return -EIO; |
| } |
| } |
| |
| if (cfg->gpio_int2.port) { |
| ret = gpio_pin_configure_dt(&cfg->gpio_int2, GPIO_INPUT); |
| if (ret < 0) { |
| LOG_ERR("Could not configure INT_2 gpio"); |
| return ret; |
| } |
| gpio_init_callback(&iis328dq->int2_cb, iis328dq_int2_gpio_callback, |
| BIT(cfg->gpio_int2.pin)); |
| if (gpio_add_callback(cfg->gpio_int2.port, &iis328dq->int2_cb) < 0) { |
| LOG_ERR("Could not set INT2 callback"); |
| return -EIO; |
| } |
| } |
| |
| if (iis328dq_int1_notification_set(ctx, IIS328DQ_INT1_PULSED) != 0) { |
| return -EIO; |
| } |
| |
| if (iis328dq_int2_notification_set(ctx, IIS328DQ_INT2_PULSED) != 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |