1 /*
2 * Copyright (c) 2021, Nordic Semiconductor ASA
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/sys/util.h>
8 #include <zephyr/logging/log.h>
9
10 #include "mpu9250.h"
11
12 LOG_MODULE_DECLARE(MPU9250, CONFIG_SENSOR_LOG_LEVEL);
13
14
15 #define MPU9250_REG_INT_EN 0x38
16 #define MPU9250_DRDY_EN BIT(0)
17
18
mpu9250_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)19 int mpu9250_trigger_set(const struct device *dev,
20 const struct sensor_trigger *trig,
21 sensor_trigger_handler_t handler)
22 {
23 struct mpu9250_data *drv_data = dev->data;
24 const struct mpu9250_config *cfg = dev->config;
25 int ret;
26
27 if (trig->type != SENSOR_TRIG_DATA_READY) {
28 return -ENOTSUP;
29 }
30
31 ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);
32 if (ret < 0) {
33 LOG_ERR("Failed to disable gpio interrupt.");
34 return ret;
35 }
36
37 drv_data->data_ready_handler = handler;
38 if (handler == NULL) {
39 return 0;
40 }
41
42 drv_data->data_ready_trigger = trig;
43
44 ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
45 GPIO_INT_EDGE_TO_ACTIVE);
46 if (ret < 0) {
47 LOG_ERR("Failed to enable gpio interrupt.");
48 return ret;
49 }
50
51 return 0;
52 }
53
mpu9250_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)54 static void mpu9250_gpio_callback(const struct device *dev,
55 struct gpio_callback *cb, uint32_t pins)
56 {
57 struct mpu9250_data *drv_data =
58 CONTAINER_OF(cb, struct mpu9250_data, gpio_cb);
59 const struct mpu9250_config *cfg = drv_data->dev->config;
60 int ret;
61
62 ARG_UNUSED(pins);
63
64 ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);
65 if (ret < 0) {
66 LOG_ERR("Disabling gpio interrupt failed with err: %d", ret);
67 return;
68 }
69
70 #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD)
71 k_sem_give(&drv_data->gpio_sem);
72 #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD)
73 k_work_submit(&drv_data->work);
74 #endif
75 }
76
mpu9250_thread_cb(const struct device * dev)77 static void mpu9250_thread_cb(const struct device *dev)
78 {
79 struct mpu9250_data *drv_data = dev->data;
80 const struct mpu9250_config *cfg = dev->config;
81 int ret;
82
83 if (drv_data->data_ready_handler != NULL) {
84 drv_data->data_ready_handler(dev,
85 drv_data->data_ready_trigger);
86 }
87
88 ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
89 GPIO_INT_EDGE_TO_ACTIVE);
90 if (ret < 0) {
91 LOG_ERR("Enabling gpio interrupt failed with err: %d", ret);
92 }
93
94 }
95
96 #ifdef CONFIG_MPU9250_TRIGGER_OWN_THREAD
mpu9250_thread(void * p1,void * p2,void * p3)97 static void mpu9250_thread(void *p1, void *p2, void *p3)
98 {
99 ARG_UNUSED(p2);
100 ARG_UNUSED(p3);
101
102 struct mpu9250_data *drv_data = p1;
103
104 while (1) {
105 k_sem_take(&drv_data->gpio_sem, K_FOREVER);
106 mpu9250_thread_cb(drv_data->dev);
107 }
108 }
109 #endif
110
111 #ifdef CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD
mpu9250_work_cb(struct k_work * work)112 static void mpu9250_work_cb(struct k_work *work)
113 {
114 struct mpu9250_data *drv_data =
115 CONTAINER_OF(work, struct mpu9250_data, work);
116
117 mpu9250_thread_cb(drv_data->dev);
118 }
119 #endif
120
mpu9250_init_interrupt(const struct device * dev)121 int mpu9250_init_interrupt(const struct device *dev)
122 {
123 struct mpu9250_data *drv_data = dev->data;
124 const struct mpu9250_config *cfg = dev->config;
125 int ret;
126
127 /* setup data ready gpio interrupt */
128 if (!gpio_is_ready_dt(&cfg->int_pin)) {
129 LOG_ERR("Interrupt pin is not ready.");
130 return -EIO;
131 }
132
133 drv_data->dev = dev;
134
135 ret = gpio_pin_configure_dt(&cfg->int_pin, GPIO_INPUT);
136 if (ret < 0) {
137 LOG_ERR("Failed to configure interrupt pin.");
138 return ret;
139 }
140
141 gpio_init_callback(&drv_data->gpio_cb,
142 mpu9250_gpio_callback,
143 BIT(cfg->int_pin.pin));
144
145 ret = gpio_add_callback(cfg->int_pin.port, &drv_data->gpio_cb);
146 if (ret < 0) {
147 LOG_ERR("Failed to set gpio callback.");
148 return ret;
149 }
150
151 /* enable data ready interrupt */
152 ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_INT_EN,
153 MPU9250_DRDY_EN);
154 if (ret < 0) {
155 LOG_ERR("Failed to enable data ready interrupt.");
156 return ret;
157 }
158
159 #if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD)
160 ret = k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
161 if (ret < 0) {
162 LOG_ERR("Failed to enable semaphore");
163 return ret;
164 }
165
166 k_thread_create(&drv_data->thread, drv_data->thread_stack,
167 CONFIG_MPU9250_THREAD_STACK_SIZE,
168 mpu9250_thread, drv_data,
169 NULL, NULL, K_PRIO_COOP(CONFIG_MPU9250_THREAD_PRIORITY),
170 0, K_NO_WAIT);
171 #elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD)
172 drv_data->work.handler = mpu9250_work_cb;
173 #endif
174
175 ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
176 GPIO_INT_EDGE_TO_ACTIVE);
177 if (ret < 0) {
178 LOG_ERR("Failed to enable interrupt");
179 return ret;
180 }
181
182 return 0;
183 }
184
