| /* |
| * Copyright (c) 2018 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #define DT_DRV_COMPAT st_lsm6dsl |
| |
| #include <device.h> |
| #include <drivers/i2c.h> |
| #include <sys/__assert.h> |
| #include <sys/util.h> |
| #include <kernel.h> |
| #include <drivers/sensor.h> |
| #include <logging/log.h> |
| #include "lsm6dsl.h" |
| |
| LOG_MODULE_DECLARE(LSM6DSL, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static inline void setup_irq(struct lsm6dsl_data *drv_data, |
| uint32_t irq_pin, bool enable) |
| { |
| unsigned int flags = enable |
| ? GPIO_INT_EDGE_TO_ACTIVE |
| : GPIO_INT_DISABLE; |
| |
| gpio_pin_interrupt_configure(drv_data->gpio, |
| irq_pin, flags); |
| } |
| |
| static inline void handle_irq(struct lsm6dsl_data *drv_data, |
| uint32_t irq_pin) |
| { |
| setup_irq(drv_data, irq_pin, 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 (!drv_data->gpio) { |
| LOG_ERR("triggers not supported"); |
| return -ENOTSUP; |
| } |
| |
| setup_irq(drv_data, config->irq_pin, false); |
| |
| drv_data->data_ready_handler = handler; |
| if (handler == NULL) { |
| return 0; |
| } |
| |
| drv_data->data_ready_trigger = *trig; |
| |
| setup_irq(drv_data, config->irq_pin, true); |
| if (gpio_pin_get(drv_data->gpio, config->irq_pin) > 0) { |
| handle_irq(drv_data, config->irq_pin); |
| } |
| |
| 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); |
| const struct lsm6dsl_config *config = drv_data->dev->config; |
| |
| ARG_UNUSED(pins); |
| |
| handle_irq(drv_data, config->irq_pin); |
| } |
| |
| static void lsm6dsl_thread_cb(const struct device *dev) |
| { |
| const struct lsm6dsl_config *config = dev->config; |
| 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(drv_data, config->irq_pin, true); |
| } |
| |
| #ifdef CONFIG_LSM6DSL_TRIGGER_OWN_THREAD |
| static void lsm6dsl_thread(struct lsm6dsl_data *drv_data) |
| { |
| while (1) { |
| k_sem_take(&drv_data->gpio_sem, K_FOREVER); |
| lsm6dsl_thread_cb(drv_data->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; |
| |
| /* setup data ready gpio interrupt */ |
| drv_data->gpio = device_get_binding(config->irq_dev_name); |
| if (drv_data->gpio == NULL) { |
| LOG_INF("Cannot get pointer for irq_dev_name"); |
| goto end; |
| } |
| |
| gpio_pin_configure(drv_data->gpio, config->irq_pin, |
| GPIO_INPUT | config->irq_flags); |
| |
| gpio_init_callback(&drv_data->gpio_cb, |
| lsm6dsl_gpio_callback, BIT(config->irq_pin)); |
| |
| if (gpio_add_callback(drv_data->gpio, &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, drv_data, |
| 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(drv_data, config->irq_pin, true); |
| |
| end: |
| return 0; |
| } |