1 /*
2 * Copyright (c) 2016 Intel Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/drivers/sensor.h>
8 #include <zephyr/kernel.h>
9 #include <zephyr/device.h>
10 #include <zephyr/init.h>
11 #include <zephyr/drivers/i2c.h>
12 #include <zephyr/sys/byteorder.h>
13 #include <zephyr/sys/__assert.h>
14 #include <zephyr/logging/log.h>
15 #include <zephyr/drivers/gpio.h>
16
17 #include "lsm9ds0_gyro.h"
18
19 extern struct lsm9ds0_gyro_data lsm9ds0_gyro_data;
20
21 LOG_MODULE_DECLARE(LSM9DS0_GYRO, CONFIG_SENSOR_LOG_LEVEL);
22
setup_drdy(const struct device * dev,bool enable)23 static inline void setup_drdy(const struct device *dev,
24 bool enable)
25 {
26 const struct lsm9ds0_gyro_config *cfg = dev->config;
27
28 gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
29 enable ? GPIO_INT_EDGE_TO_ACTIVE
30 : GPIO_INT_DISABLE);
31 }
32
lsm9ds0_gyro_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)33 int lsm9ds0_gyro_trigger_set(const struct device *dev,
34 const struct sensor_trigger *trig,
35 sensor_trigger_handler_t handler)
36 {
37 struct lsm9ds0_gyro_data *data = dev->data;
38 const struct lsm9ds0_gyro_config * const config =
39 dev->config;
40 uint8_t state;
41
42 if (!config->int_gpio.port) {
43 return -ENOTSUP;
44 }
45
46 if (trig->type == SENSOR_TRIG_DATA_READY) {
47 setup_drdy(dev, false);
48
49 state = 0U;
50 if (handler) {
51 state = 1U;
52 }
53
54 data->handler_drdy = handler;
55 data->trigger_drdy = trig;
56
57 if (i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG3_G,
58 LSM9DS0_GYRO_MASK_CTRL_REG3_G_I2_DRDY,
59 state << LSM9DS0_GYRO_SHIFT_CTRL_REG3_G_I2_DRDY)
60 < 0) {
61 LOG_DBG("failed to set DRDY interrupt");
62 return -EIO;
63 }
64
65 setup_drdy(dev, true);
66 return 0;
67 }
68
69 return -ENOTSUP;
70 }
71
lsm9ds0_gyro_gpio_drdy_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)72 static void lsm9ds0_gyro_gpio_drdy_callback(const struct device *dev,
73 struct gpio_callback *cb, uint32_t pins)
74 {
75 struct lsm9ds0_gyro_data *data =
76 CONTAINER_OF(cb, struct lsm9ds0_gyro_data, gpio_cb);
77
78 setup_drdy(data->dev, false);
79
80 k_sem_give(&data->sem);
81 }
82
lsm9ds0_gyro_thread_main(void * p1,void * p2,void * p3)83 static void lsm9ds0_gyro_thread_main(void *p1, void *p2, void *p3)
84 {
85 ARG_UNUSED(p2);
86 ARG_UNUSED(p3);
87
88 const struct device *dev = p1;
89 struct lsm9ds0_gyro_data *data = dev->data;
90
91 while (1) {
92 k_sem_take(&data->sem, K_FOREVER);
93
94 if (data->handler_drdy) {
95 data->handler_drdy(dev, data->trigger_drdy);
96 }
97
98 setup_drdy(dev, true);
99 }
100 }
101
lsm9ds0_gyro_init_interrupt(const struct device * dev)102 int lsm9ds0_gyro_init_interrupt(const struct device *dev)
103 {
104 const struct lsm9ds0_gyro_config * const config =
105 dev->config;
106 struct lsm9ds0_gyro_data *data = dev->data;
107
108 data->dev = dev;
109 k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);
110
111 k_thread_create(&data->thread, data->thread_stack,
112 CONFIG_LSM9DS0_GYRO_THREAD_STACK_SIZE,
113 lsm9ds0_gyro_thread_main,
114 (void *)dev, NULL, NULL, K_PRIO_COOP(10), 0, K_NO_WAIT);
115
116 if (!gpio_is_ready_dt(&config->int_gpio)) {
117 LOG_ERR("GPIO device not ready");
118 return -ENODEV;
119 }
120
121 gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
122
123 gpio_init_callback(&data->gpio_cb,
124 lsm9ds0_gyro_gpio_drdy_callback,
125 BIT(config->int_gpio.pin));
126
127 if (gpio_add_callback(config->int_gpio.port, &data->gpio_cb) < 0) {
128 LOG_DBG("failed to set gpio callback");
129 return -EINVAL;
130 }
131
132 return 0;
133 }
134
