1 /*
2 * Copyright (c) 2022 Esco Medical ApS
3 * Copyright (c) 2016 TDK Invensense
4 *
5 * SPDX-License-Identifier: Apache-2.0
6 */
7
8 #include <zephyr/device.h>
9 #include <zephyr/drivers/sensor.h>
10 #include <zephyr/sys/util.h>
11 #include "icm42670.h"
12 #include "icm42670_reg.h"
13 #include "icm42670_spi.h"
14 #include "icm42670_trigger.h"
15
16 #include <zephyr/logging/log.h>
17 LOG_MODULE_DECLARE(ICM42670, CONFIG_SENSOR_LOG_LEVEL);
18
icm42670_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)19 static void icm42670_gpio_callback(const struct device *dev, struct gpio_callback *cb,
20 uint32_t pins)
21 {
22 ARG_UNUSED(dev);
23 ARG_UNUSED(pins);
24
25 struct icm42670_data *data = CONTAINER_OF(cb, struct icm42670_data, gpio_cb);
26
27 #if defined(CONFIG_ICM42670_TRIGGER_OWN_THREAD)
28 k_sem_give(&data->gpio_sem);
29 #elif defined(CONFIG_ICM42670_TRIGGER_GLOBAL_THREAD)
30 k_work_submit(&data->work);
31 #endif
32 }
33
icm42670_thread_cb(const struct device * dev)34 static void icm42670_thread_cb(const struct device *dev)
35 {
36 struct icm42670_data *data = dev->data;
37 const struct icm42670_config *cfg = dev->config;
38
39 icm42670_lock(dev);
40 gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);
41
42 if (data->data_ready_handler) {
43 data->data_ready_handler(dev, data->data_ready_trigger);
44 }
45
46 gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE);
47 icm42670_unlock(dev);
48 }
49
50 #if defined(CONFIG_ICM42670_TRIGGER_OWN_THREAD)
51
icm42670_thread(void * p1,void * p2,void * p3)52 static void icm42670_thread(void *p1, void *p2, void *p3)
53 {
54 ARG_UNUSED(p2);
55 ARG_UNUSED(p3);
56
57 struct icm42670_data *data = p1;
58
59 while (1) {
60 k_sem_take(&data->gpio_sem, K_FOREVER);
61 icm42670_thread_cb(data->dev);
62 }
63 }
64
65 #elif defined(CONFIG_ICM42670_TRIGGER_GLOBAL_THREAD)
66
icm42670_work_handler(struct k_work * work)67 static void icm42670_work_handler(struct k_work *work)
68 {
69 struct icm42670_data *data = CONTAINER_OF(work, struct icm42670_data, work);
70
71 icm42670_thread_cb(data->dev);
72 }
73
74 #endif
75
icm42670_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)76 int icm42670_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
77 sensor_trigger_handler_t handler)
78 {
79 int res = 0;
80 struct icm42670_data *data = dev->data;
81 const struct icm42670_config *cfg = dev->config;
82
83 if (!handler) {
84 return -EINVAL;
85 }
86
87 icm42670_lock(dev);
88 gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);
89
90 switch (trig->type) {
91 case SENSOR_TRIG_DATA_READY:
92 data->data_ready_handler = handler;
93 data->data_ready_trigger = trig;
94 break;
95 default:
96 res = -ENOTSUP;
97 break;
98 }
99
100 icm42670_unlock(dev);
101 gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE);
102
103 return res;
104 }
105
icm42670_trigger_init(const struct device * dev)106 int icm42670_trigger_init(const struct device *dev)
107 {
108 struct icm42670_data *data = dev->data;
109 const struct icm42670_config *cfg = dev->config;
110 int res = 0;
111
112 if (!cfg->gpio_int.port) {
113 LOG_ERR("trigger enabled but no interrupt gpio supplied");
114 return -ENODEV;
115 }
116
117 if (!device_is_ready(cfg->gpio_int.port)) {
118 LOG_ERR("gpio_int gpio not ready");
119 return -ENODEV;
120 }
121
122 data->dev = dev;
123 gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
124 gpio_init_callback(&data->gpio_cb, icm42670_gpio_callback, BIT(cfg->gpio_int.pin));
125 res = gpio_add_callback(cfg->gpio_int.port, &data->gpio_cb);
126
127 if (res < 0) {
128 LOG_ERR("Failed to set gpio callback");
129 return res;
130 }
131
132 k_mutex_init(&data->mutex);
133
134 #if defined(CONFIG_ICM42670_TRIGGER_OWN_THREAD)
135 k_sem_init(&data->gpio_sem, 0, K_SEM_MAX_LIMIT);
136 k_thread_create(&data->thread, data->thread_stack, CONFIG_ICM42670_THREAD_STACK_SIZE,
137 icm42670_thread, data, NULL, NULL,
138 K_PRIO_COOP(CONFIG_ICM42670_THREAD_PRIORITY), 0, K_NO_WAIT);
139 #elif defined(CONFIG_ICM42670_TRIGGER_GLOBAL_THREAD)
140 data->work.handler = icm42670_work_handler;
141 #endif
142
143 return gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE);
144 }
145
icm42670_trigger_enable_interrupt(const struct device * dev)146 int icm42670_trigger_enable_interrupt(const struct device *dev)
147 {
148 int res;
149 const struct icm42670_config *cfg = dev->config;
150
151 /* pulse-mode (auto clearing), push-pull and active-high */
152 res = icm42670_spi_single_write(&cfg->spi, REG_INT_CONFIG,
153 BIT_INT1_DRIVE_CIRCUIT | BIT_INT1_POLARITY);
154
155 if (res) {
156 return res;
157 }
158
159 /* enable data ready interrupt on INT1 pin */
160 return icm42670_spi_single_write(&cfg->spi, REG_INT_SOURCE0, BIT_INT_DRDY_INT1_EN);
161 }
162
icm42670_lock(const struct device * dev)163 void icm42670_lock(const struct device *dev)
164 {
165 struct icm42670_data *data = dev->data;
166
167 k_mutex_lock(&data->mutex, K_FOREVER);
168 }
169
icm42670_unlock(const struct device * dev)170 void icm42670_unlock(const struct device *dev)
171 {
172 struct icm42670_data *data = dev->data;
173
174 k_mutex_unlock(&data->mutex);
175 }
176
