1 /*
2 * Copyright (c) 2022 Intel Corporation
3 * Copyright (c) 2023 Google LLC
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/device.h>
8 #include <zephyr/drivers/sensor.h>
9 #include <zephyr/drivers/gpio.h>
10 #include <zephyr/logging/log.h>
11 #include <zephyr/sys/util.h>
12
13 #include "icm42688.h"
14 #include "icm42688_reg.h"
15 #include "icm42688_spi.h"
16 #include "icm42688_trigger.h"
17
18 LOG_MODULE_DECLARE(ICM42688, CONFIG_SENSOR_LOG_LEVEL);
19
icm42688_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)20 static void icm42688_gpio_callback(const struct device *dev, struct gpio_callback *cb,
21 uint32_t pins)
22 {
23 struct icm42688_dev_data *data = CONTAINER_OF(cb, struct icm42688_dev_data, gpio_cb);
24
25 ARG_UNUSED(dev);
26 ARG_UNUSED(pins);
27
28 #if defined(CONFIG_ICM42688_TRIGGER_OWN_THREAD)
29 k_sem_give(&data->gpio_sem);
30 #elif defined(CONFIG_ICM42688_TRIGGER_GLOBAL_THREAD)
31 k_work_submit(&data->work);
32 #endif
33 }
34
icm42688_thread_cb(const struct device * dev)35 static void icm42688_thread_cb(const struct device *dev)
36 {
37 struct icm42688_dev_data *data = dev->data;
38
39 icm42688_lock(dev);
40
41 if (data->data_ready_handler != NULL) {
42 data->data_ready_handler(dev, data->data_ready_trigger);
43 }
44
45 icm42688_unlock(dev);
46 }
47
48 #if defined(CONFIG_ICM42688_TRIGGER_OWN_THREAD)
49
icm42688_thread(void * p1,void * p2,void * p3)50 static void icm42688_thread(void *p1, void *p2, void *p3)
51 {
52 ARG_UNUSED(p2);
53 ARG_UNUSED(p3);
54
55 struct icm42688_dev_data *data = p1;
56
57 while (1) {
58 k_sem_take(&data->gpio_sem, K_FOREVER);
59 icm42688_thread_cb(data->dev);
60 }
61 }
62
63 #elif defined(CONFIG_ICM42688_TRIGGER_GLOBAL_THREAD)
64
icm42688_work_handler(struct k_work * work)65 static void icm42688_work_handler(struct k_work *work)
66 {
67 struct icm42688_dev_data *data = CONTAINER_OF(work, struct icm42688_dev_data, work);
68
69 icm42688_thread_cb(data->dev);
70 }
71
72 #endif
73
icm42688_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)74 int icm42688_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
75 sensor_trigger_handler_t handler)
76 {
77 struct icm42688_dev_data *data = dev->data;
78 const struct icm42688_dev_cfg *cfg = dev->config;
79 uint8_t status;
80 int res = 0;
81
82 if (trig == NULL || handler == NULL) {
83 return -EINVAL;
84 }
85
86 icm42688_lock(dev);
87 gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, GPIO_INT_DISABLE);
88
89 switch (trig->type) {
90 case SENSOR_TRIG_DATA_READY:
91 data->data_ready_handler = handler;
92 data->data_ready_trigger = trig;
93
94 icm42688_lock(dev);
95 icm42688_spi_read(&cfg->spi, REG_INT_STATUS, &status, 1);
96 icm42688_unlock(dev);
97 break;
98 default:
99 res = -ENOTSUP;
100 break;
101 }
102
103 icm42688_unlock(dev);
104 gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, GPIO_INT_EDGE_TO_ACTIVE);
105
106 return res;
107 }
108
icm42688_trigger_init(const struct device * dev)109 int icm42688_trigger_init(const struct device *dev)
110 {
111 struct icm42688_dev_data *data = dev->data;
112 const struct icm42688_dev_cfg *cfg = dev->config;
113 int res = 0;
114
115 if (!cfg->gpio_int1.port) {
116 LOG_ERR("trigger enabled but no interrupt gpio supplied");
117 return -ENODEV;
118 }
119
120 if (!gpio_is_ready_dt(&cfg->gpio_int1)) {
121 LOG_ERR("gpio_int1 not ready");
122 return -ENODEV;
123 }
124
125 data->dev = dev;
126 gpio_pin_configure_dt(&cfg->gpio_int1, GPIO_INPUT);
127 gpio_init_callback(&data->gpio_cb, icm42688_gpio_callback, BIT(cfg->gpio_int1.pin));
128 res = gpio_add_callback(cfg->gpio_int1.port, &data->gpio_cb);
129
130 if (res < 0) {
131 LOG_ERR("Failed to set gpio callback");
132 return res;
133 }
134
135 k_mutex_init(&data->mutex);
136 #if defined(CONFIG_ICM42688_TRIGGER_OWN_THREAD)
137 k_sem_init(&data->gpio_sem, 0, K_SEM_MAX_LIMIT);
138 k_thread_create(&data->thread, data->thread_stack, CONFIG_ICM42688_THREAD_STACK_SIZE,
139 icm42688_thread, data, NULL, NULL,
140 K_PRIO_COOP(CONFIG_ICM42688_THREAD_PRIORITY), 0, K_NO_WAIT);
141 #elif defined(CONFIG_ICM42688_TRIGGER_GLOBAL_THREAD)
142 data->work.handler = icm42688_work_handler;
143 #endif
144 return gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, GPIO_INT_EDGE_TO_ACTIVE);
145 }
146
icm42688_trigger_enable_interrupt(const struct device * dev)147 int icm42688_trigger_enable_interrupt(const struct device *dev)
148 {
149 int res;
150 const struct icm42688_dev_cfg *cfg = dev->config;
151
152 /* pulse-mode (auto clearing), push-pull and active-high */
153 res = icm42688_spi_single_write(&cfg->spi, REG_INT_CONFIG,
154 BIT_INT1_DRIVE_CIRCUIT | BIT_INT1_POLARITY);
155 if (res != 0) {
156 return res;
157 }
158
159 /* Deassert async reset for proper INT pin operation, see datasheet 14.50 */
160 res = icm42688_spi_single_write(&cfg->spi, REG_INT_CONFIG1, 0);
161 if (res != 0) {
162 return res;
163 }
164
165 /* enable data ready interrupt on INT1 pin */
166 return icm42688_spi_single_write(&cfg->spi, REG_INT_SOURCE0,
167 FIELD_PREP(BIT_UI_DRDY_INT1_EN, 1));
168 }
169
icm42688_lock(const struct device * dev)170 void icm42688_lock(const struct device *dev)
171 {
172 struct icm42688_dev_data *data = dev->data;
173
174 k_mutex_lock(&data->mutex, K_FOREVER);
175 }
176
icm42688_unlock(const struct device * dev)177 void icm42688_unlock(const struct device *dev)
178 {
179 struct icm42688_dev_data *data = dev->data;
180
181 k_mutex_unlock(&data->mutex);
182 }
183
