4  * SPDX-License-Identifier: Apache-2.0
23 	struct mpu9250_data *drv_data = dev->data;  in mpu9250_trigger_set()
24 	const struct mpu9250_config *cfg = dev->config;  in mpu9250_trigger_set()
27 	if (trig->type != SENSOR_TRIG_DATA_READY) {  in mpu9250_trigger_set()
28 		return -ENOTSUP;  in mpu9250_trigger_set()
31 	ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);  in mpu9250_trigger_set()
37 	drv_data->data_ready_handler = handler;  in mpu9250_trigger_set()
42 	drv_data->data_ready_trigger = trig;  in mpu9250_trigger_set()
44 	ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,  in mpu9250_trigger_set()
59 	const struct mpu9250_config *cfg = drv_data->dev->config;  in mpu9250_gpio_callback()
64 	ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);  in mpu9250_gpio_callback()
71 	k_sem_give(&drv_data->gpio_sem);  in mpu9250_gpio_callback()
73 	k_work_submit(&drv_data->work);  in mpu9250_gpio_callback()
79 	struct mpu9250_data *drv_data = dev->data;  in mpu9250_thread_cb()
80 	const struct mpu9250_config *cfg = dev->config;  in mpu9250_thread_cb()
83 	if (drv_data->data_ready_handler != NULL) {  in mpu9250_thread_cb()
84 		drv_data->data_ready_handler(dev,  in mpu9250_thread_cb()
85 					     drv_data->data_ready_trigger);  in mpu9250_thread_cb()
88 	ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,  in mpu9250_thread_cb()
105 		k_sem_take(&drv_data->gpio_sem, K_FOREVER);  in mpu9250_thread()
106 		mpu9250_thread_cb(drv_data->dev);  in mpu9250_thread()
117 	mpu9250_thread_cb(drv_data->dev);  in mpu9250_work_cb()
123 	struct mpu9250_data *drv_data = dev->data;  in mpu9250_init_interrupt()
124 	const struct mpu9250_config *cfg = dev->config;  in mpu9250_init_interrupt()
127 	/* setup data ready gpio interrupt */  in mpu9250_init_interrupt()
128 	if (!gpio_is_ready_dt(&cfg->int_pin)) {  in mpu9250_init_interrupt()
129 		LOG_ERR("Interrupt pin is not ready.");  in mpu9250_init_interrupt()
130 		return -EIO;  in mpu9250_init_interrupt()
133 	drv_data->dev = dev;  in mpu9250_init_interrupt()
135 	ret = gpio_pin_configure_dt(&cfg->int_pin, GPIO_INPUT);  in mpu9250_init_interrupt()
141 	gpio_init_callback(&drv_data->gpio_cb,  in mpu9250_init_interrupt()
143 			   BIT(cfg->int_pin.pin));  in mpu9250_init_interrupt()
145 	ret = gpio_add_callback(cfg->int_pin.port, &drv_data->gpio_cb);  in mpu9250_init_interrupt()
151 	/* enable data ready interrupt */  in mpu9250_init_interrupt()
152 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_INT_EN,  in mpu9250_init_interrupt()
155 		LOG_ERR("Failed to enable data ready interrupt.");  in mpu9250_init_interrupt()
160 	ret = k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);  in mpu9250_init_interrupt()
166 	k_thread_create(&drv_data->thread, drv_data->thread_stack,  in mpu9250_init_interrupt()
172 	drv_data->work.handler = mpu9250_work_cb;  in mpu9250_init_interrupt()
175 	ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,  in mpu9250_init_interrupt()