1 /* ST Microelectronics LSM6DSO16IS 6-axis IMU sensor driver
2 *
3 * Copyright (c) 2023 STMicroelectronics
4 *
5 * SPDX-License-Identifier: Apache-2.0
6 *
7 * Datasheet:
8 * https://www.st.com/resource/en/datasheet/lsm6dso16is.pdf
9 */
10
11 #define DT_DRV_COMPAT st_lsm6dso16is
12
13 #include <zephyr/kernel.h>
14 #include <zephyr/drivers/sensor.h>
15 #include <zephyr/drivers/gpio.h>
16 #include <zephyr/logging/log.h>
17
18 #include "lsm6dso16is.h"
19
20 LOG_MODULE_DECLARE(LSM6DSO16IS, CONFIG_SENSOR_LOG_LEVEL);
21
22 #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
23 /**
24 * lsm6dso16is_enable_t_int - TEMP enable selected int pin to generate interrupt
25 */
lsm6dso16is_enable_t_int(const struct device * dev,int enable)26 static int lsm6dso16is_enable_t_int(const struct device *dev, int enable)
27 {
28 const struct lsm6dso16is_config *cfg = dev->config;
29 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
30 lsm6dso16is_pin_int2_route_t val;
31 int ret;
32
33 if (enable) {
34 int16_t buf;
35
36 /* dummy read: re-trigger interrupt */
37 lsm6dso16is_temperature_raw_get(ctx, &buf);
38 }
39
40 /* set interrupt (TEMP DRDY interrupt is only on INT2) */
41 if (cfg->drdy_pin == 1) {
42 return -EIO;
43 }
44
45 ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
46 if (ret < 0) {
47 LOG_ERR("pint_int2_route_get error");
48 return ret;
49 }
50
51 val.drdy_temp = 1;
52
53 return lsm6dso16is_pin_int2_route_set(ctx, val);
54 }
55 #endif
56
57 /**
58 * lsm6dso16is_enable_xl_int - XL enable selected int pin to generate interrupt
59 */
lsm6dso16is_enable_xl_int(const struct device * dev,int enable)60 static int lsm6dso16is_enable_xl_int(const struct device *dev, int enable)
61 {
62 const struct lsm6dso16is_config *cfg = dev->config;
63 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
64 int ret;
65
66 if (enable) {
67 int16_t buf[3];
68
69 /* dummy read: re-trigger interrupt */
70 lsm6dso16is_acceleration_raw_get(ctx, buf);
71 }
72
73 /* set interrupt */
74 if (cfg->drdy_pin == 1) {
75 lsm6dso16is_pin_int1_route_t val;
76
77 ret = lsm6dso16is_pin_int1_route_get(ctx, &val);
78 if (ret < 0) {
79 LOG_ERR("pint_int1_route_get error");
80 return ret;
81 }
82
83 val.drdy_xl = 1;
84
85 ret = lsm6dso16is_pin_int1_route_set(ctx, val);
86 } else {
87 lsm6dso16is_pin_int2_route_t val;
88
89 ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
90 if (ret < 0) {
91 LOG_ERR("pint_int2_route_get error");
92 return ret;
93 }
94
95 val.drdy_xl = 1;
96
97 ret = lsm6dso16is_pin_int2_route_set(ctx, val);
98 }
99
100 return ret;
101 }
102
103 /**
104 * lsm6dso16is_enable_g_int - Gyro enable selected int pin to generate interrupt
105 */
lsm6dso16is_enable_g_int(const struct device * dev,int enable)106 static int lsm6dso16is_enable_g_int(const struct device *dev, int enable)
107 {
108 const struct lsm6dso16is_config *cfg = dev->config;
109 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
110 int ret;
111
112 if (enable) {
113 int16_t buf[3];
114
115 /* dummy read: re-trigger interrupt */
116 lsm6dso16is_angular_rate_raw_get(ctx, buf);
117 }
118
119 /* set interrupt */
120 if (cfg->drdy_pin == 1) {
121 lsm6dso16is_pin_int1_route_t val;
122
123 ret = lsm6dso16is_pin_int1_route_get(ctx, &val);
124 if (ret < 0) {
125 LOG_ERR("pint_int1_route_get error");
126 return ret;
127 }
128
129 val.drdy_gy = 1;
130
131 ret = lsm6dso16is_pin_int1_route_set(ctx, val);
132 } else {
133 lsm6dso16is_pin_int2_route_t val;
134
135 ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
136 if (ret < 0) {
137 LOG_ERR("pint_int2_route_get error");
138 return ret;
139 }
140
141 val.drdy_gy = 1;
142
143 ret = lsm6dso16is_pin_int2_route_set(ctx, val);
144 }
145
146 return ret;
147 }
148
149 /**
150 * lsm6dso16is_trigger_set - link external trigger to event data ready
151 */
lsm6dso16is_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)152 int lsm6dso16is_trigger_set(const struct device *dev,
153 const struct sensor_trigger *trig,
154 sensor_trigger_handler_t handler)
155 {
156 const struct lsm6dso16is_config *cfg = dev->config;
157 struct lsm6dso16is_data *lsm6dso16is = dev->data;
158
159 if (!cfg->trig_enabled) {
160 LOG_ERR("trigger_set op not supported");
161 return -ENOTSUP;
162 }
163
164 if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
165 lsm6dso16is->handler_drdy_acc = handler;
166 lsm6dso16is->trig_drdy_acc = trig;
167 if (handler) {
168 return lsm6dso16is_enable_xl_int(dev, LSM6DSO16IS_EN_BIT);
169 } else {
170 return lsm6dso16is_enable_xl_int(dev, LSM6DSO16IS_DIS_BIT);
171 }
172 } else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
173 lsm6dso16is->handler_drdy_gyr = handler;
174 lsm6dso16is->trig_drdy_gyr = trig;
175 if (handler) {
176 return lsm6dso16is_enable_g_int(dev, LSM6DSO16IS_EN_BIT);
177 } else {
178 return lsm6dso16is_enable_g_int(dev, LSM6DSO16IS_DIS_BIT);
179 }
180 }
181 #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
182 else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
183 lsm6dso16is->handler_drdy_temp = handler;
184 lsm6dso16is->trig_drdy_temp = trig;
185 if (handler) {
186 return lsm6dso16is_enable_t_int(dev, LSM6DSO16IS_EN_BIT);
187 } else {
188 return lsm6dso16is_enable_t_int(dev, LSM6DSO16IS_DIS_BIT);
189 }
190 }
191 #endif
192
193 return -ENOTSUP;
194 }
195
196 /**
197 * lsm6dso16is_handle_interrupt - handle the drdy event
198 * read data and call handler if registered any
199 */
lsm6dso16is_handle_interrupt(const struct device * dev)200 static void lsm6dso16is_handle_interrupt(const struct device *dev)
201 {
202 struct lsm6dso16is_data *lsm6dso16is = dev->data;
203 const struct lsm6dso16is_config *cfg = dev->config;
204 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
205 lsm6dso16is_status_reg_t status;
206
207 while (1) {
208 if (lsm6dso16is_status_reg_get(ctx, &status) < 0) {
209 LOG_DBG("failed reading status reg");
210 return;
211 }
212
213 if ((status.xlda == 0) && (status.gda == 0)
214 #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
215 && (status.tda == 0)
216 #endif
217 ) {
218 break;
219 }
220
221 if ((status.xlda) && (lsm6dso16is->handler_drdy_acc != NULL)) {
222 lsm6dso16is->handler_drdy_acc(dev, lsm6dso16is->trig_drdy_acc);
223 }
224
225 if ((status.gda) && (lsm6dso16is->handler_drdy_gyr != NULL)) {
226 lsm6dso16is->handler_drdy_gyr(dev, lsm6dso16is->trig_drdy_gyr);
227 }
228
229 #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
230 if ((status.tda) && (lsm6dso16is->handler_drdy_temp != NULL)) {
231 lsm6dso16is->handler_drdy_temp(dev, lsm6dso16is->trig_drdy_temp);
232 }
233 #endif
234 }
235
236 gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
237 GPIO_INT_EDGE_TO_ACTIVE);
238 }
239
lsm6dso16is_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)240 static void lsm6dso16is_gpio_callback(const struct device *dev,
241 struct gpio_callback *cb, uint32_t pins)
242 {
243 struct lsm6dso16is_data *lsm6dso16is =
244 CONTAINER_OF(cb, struct lsm6dso16is_data, gpio_cb);
245 const struct lsm6dso16is_config *cfg = lsm6dso16is->dev->config;
246
247 ARG_UNUSED(pins);
248
249 gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);
250
251 #if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD)
252 k_sem_give(&lsm6dso16is->gpio_sem);
253 #elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD)
254 k_work_submit(&lsm6dso16is->work);
255 #endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
256 }
257
258 #ifdef CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD
lsm6dso16is_thread(void * p1,void * p2,void * p3)259 static void lsm6dso16is_thread(void *p1, void *p2, void *p3)
260 {
261 ARG_UNUSED(p2);
262 ARG_UNUSED(p3);
263
264 struct lsm6dso16is_data *lsm6dso16is = p1;
265
266 while (1) {
267 k_sem_take(&lsm6dso16is->gpio_sem, K_FOREVER);
268 lsm6dso16is_handle_interrupt(lsm6dso16is->dev);
269 }
270 }
271 #endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
272
273 #ifdef CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD
lsm6dso16is_work_cb(struct k_work * work)274 static void lsm6dso16is_work_cb(struct k_work *work)
275 {
276 struct lsm6dso16is_data *lsm6dso16is =
277 CONTAINER_OF(work, struct lsm6dso16is_data, work);
278
279 lsm6dso16is_handle_interrupt(lsm6dso16is->dev);
280 }
281 #endif /* CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD */
282
lsm6dso16is_init_interrupt(const struct device * dev)283 int lsm6dso16is_init_interrupt(const struct device *dev)
284 {
285 struct lsm6dso16is_data *lsm6dso16is = dev->data;
286 const struct lsm6dso16is_config *cfg = dev->config;
287 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
288 int ret;
289
290 /* setup data ready gpio interrupt (INT1 or INT2) */
291 if (!gpio_is_ready_dt(&cfg->gpio_drdy)) {
292 LOG_ERR("Cannot get pointer to drdy_gpio device");
293 return -EINVAL;
294 }
295
296 #if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD)
297 k_sem_init(&lsm6dso16is->gpio_sem, 0, K_SEM_MAX_LIMIT);
298
299 k_thread_create(&lsm6dso16is->thread, lsm6dso16is->thread_stack,
300 CONFIG_LSM6DSO16IS_THREAD_STACK_SIZE,
301 lsm6dso16is_thread, lsm6dso16is,
302 NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSO16IS_THREAD_PRIORITY),
303 0, K_NO_WAIT);
304 k_thread_name_set(&lsm6dso16is->thread, "lsm6dso16is");
305 #elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD)
306 lsm6dso16is->work.handler = lsm6dso16is_work_cb;
307 #endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
308
309 ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
310 if (ret < 0) {
311 LOG_DBG("Could not configure gpio");
312 return ret;
313 }
314
315 gpio_init_callback(&lsm6dso16is->gpio_cb,
316 lsm6dso16is_gpio_callback,
317 BIT(cfg->gpio_drdy.pin));
318
319 if (gpio_add_callback(cfg->gpio_drdy.port, &lsm6dso16is->gpio_cb) < 0) {
320 LOG_DBG("Could not set gpio callback");
321 return -EIO;
322 }
323
324
325 /* set data ready mode on int1/int2 */
326 LOG_DBG("drdy_pulsed is %d", (int)cfg->drdy_pulsed);
327 lsm6dso16is_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSO16IS_DRDY_PULSED :
328 LSM6DSO16IS_DRDY_LATCHED;
329
330 ret = lsm6dso16is_data_ready_mode_set(ctx, mode);
331 if (ret < 0) {
332 LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
333 return ret;
334 }
335
336 return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
337 GPIO_INT_EDGE_TO_ACTIVE);
338 }
339
