/* * Copyright (c) 2016 Intel Corporation * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include #include #include #include "mpu6050.h" LOG_MODULE_DECLARE(MPU6050, CONFIG_SENSOR_LOG_LEVEL); int mpu6050_trigger_set(const struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler) { struct mpu6050_data *drv_data = dev->data; const struct mpu6050_config *cfg = dev->config; if (!cfg->int_gpio.port) { return -ENOTSUP; } if (trig->type != SENSOR_TRIG_DATA_READY) { return -ENOTSUP; } gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE); drv_data->data_ready_handler = handler; if (handler == NULL) { return 0; } drv_data->data_ready_trigger = trig; gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); return 0; } static void mpu6050_gpio_callback(const struct device *dev, struct gpio_callback *cb, uint32_t pins) { struct mpu6050_data *drv_data = CONTAINER_OF(cb, struct mpu6050_data, gpio_cb); const struct mpu6050_config *cfg = drv_data->dev->config; ARG_UNUSED(pins); gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE); #if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) k_sem_give(&drv_data->gpio_sem); #elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) k_work_submit(&drv_data->work); #endif } static void mpu6050_thread_cb(const struct device *dev) { struct mpu6050_data *drv_data = dev->data; const struct mpu6050_config *cfg = dev->config; if (drv_data->data_ready_handler != NULL) { drv_data->data_ready_handler(dev, drv_data->data_ready_trigger); } gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); } #ifdef CONFIG_MPU6050_TRIGGER_OWN_THREAD static void mpu6050_thread(struct mpu6050_data *drv_data) { while (1) { k_sem_take(&drv_data->gpio_sem, K_FOREVER); mpu6050_thread_cb(drv_data->dev); } } #endif #ifdef CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD static void mpu6050_work_cb(struct k_work *work) { struct mpu6050_data *drv_data = CONTAINER_OF(work, struct mpu6050_data, work); mpu6050_thread_cb(drv_data->dev); } #endif int mpu6050_init_interrupt(const struct device *dev) { struct mpu6050_data *drv_data = dev->data; const struct mpu6050_config *cfg = dev->config; if (!gpio_is_ready_dt(&cfg->int_gpio)) { LOG_ERR("GPIO device not ready"); return -ENODEV; } drv_data->dev = dev; gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT); gpio_init_callback(&drv_data->gpio_cb, mpu6050_gpio_callback, BIT(cfg->int_gpio.pin)); if (gpio_add_callback(cfg->int_gpio.port, &drv_data->gpio_cb) < 0) { LOG_ERR("Failed to set gpio callback"); return -EIO; } /* enable data ready interrupt */ if (i2c_reg_write_byte_dt(&cfg->i2c, MPU6050_REG_INT_EN, MPU6050_DRDY_EN) < 0) { LOG_ERR("Failed to enable data ready interrupt."); return -EIO; } #if defined(CONFIG_MPU6050_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_MPU6050_THREAD_STACK_SIZE, (k_thread_entry_t)mpu6050_thread, drv_data, NULL, NULL, K_PRIO_COOP(CONFIG_MPU6050_THREAD_PRIORITY), 0, K_NO_WAIT); #elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) drv_data->work.handler = mpu6050_work_cb; #endif gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); return 0; }