1 /* ST Microelectronics IIS328DQ 3-axis accelerometer driver
2 *
3 * Copyright (c) 2020 STMicroelectronics
4 * Copyright (c) 2024 SILA Embedded Solutions GmbH
5 *
6 * SPDX-License-Identifier: Apache-2.0
7 *
8 * Datasheet:
9 * https://www.st.com/resource/en/datasheet/iis328dq.pdf
10 */
11
12 #define DT_DRV_COMPAT st_iis328dq
13
14 #include <zephyr/kernel.h>
15 #include <zephyr/drivers/sensor.h>
16 #include <zephyr/drivers/gpio.h>
17 #include <zephyr/logging/log.h>
18
19 #include "iis328dq.h"
20
21 LOG_MODULE_DECLARE(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL);
22
iis328dq_set_int_pad_state(const struct device * dev,uint8_t pad,bool enable)23 static int iis328dq_set_int_pad_state(const struct device *dev, uint8_t pad, bool enable)
24 {
25 const struct iis328dq_config *cfg = dev->config;
26
27 int state = enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE;
28
29 if (pad == 1) {
30 return gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, state);
31 } else if (pad == 2) {
32 return gpio_pin_interrupt_configure_dt(&cfg->gpio_int2, state);
33 } else {
34 return -EINVAL;
35 }
36 }
37
38 /**
39 * iis328dq_enable_int - enable selected int pin to generate interrupt
40 */
iis328dq_enable_int(const struct device * dev,const struct sensor_trigger * trig,int enable)41 static int iis328dq_enable_int(const struct device *dev, const struct sensor_trigger *trig,
42 int enable)
43 {
44 const struct iis328dq_config *cfg = dev->config;
45 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
46
47 switch (trig->type) {
48 case SENSOR_TRIG_DATA_READY:
49 if (cfg->drdy_pad == 1) {
50 /* route DRDY to PAD1 */
51 if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_DRDY) != 0) {
52 return -EIO;
53 }
54 } else if (cfg->drdy_pad == 2) {
55 /* route DRDY to PAD2 */
56 if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_DRDY) != 0) {
57 return -EIO;
58 }
59 } else {
60 LOG_ERR("No interrupt pin configured for DRDY in devicetree");
61 return -ENOTSUP;
62 }
63 return iis328dq_set_int_pad_state(dev, cfg->drdy_pad, enable);
64 #ifdef CONFIG_IIS328DQ_THRESHOLD
65 case SENSOR_TRIG_THRESHOLD: {
66 /* set up internal INT1 for lower thresholds */
67 int1_on_th_conf_t int1_conf = {0};
68
69 switch (trig->chan) {
70 case SENSOR_CHAN_ACCEL_X:
71 int1_conf.int1_xlie = 1;
72 break;
73 case SENSOR_CHAN_ACCEL_Y:
74 int1_conf.int1_ylie = 1;
75 break;
76 case SENSOR_CHAN_ACCEL_Z:
77 int1_conf.int1_zlie = 1;
78 break;
79 case SENSOR_CHAN_ACCEL_XYZ:
80 int1_conf.int1_xlie = 1;
81 int1_conf.int1_ylie = 1;
82 int1_conf.int1_zlie = 1;
83 break;
84 default:
85 LOG_ERR("Invalid sensor channel %d", trig->chan);
86 return -EINVAL;
87 }
88
89 if (iis328dq_int1_on_threshold_conf_set(ctx, int1_conf) != 0) {
90 return -EIO;
91 }
92
93 /* set up internal INT2 for uppper thresholds */
94 int2_on_th_conf_t int2_conf = {0};
95
96 int2_conf.int2_xhie = int1_conf.int1_xlie;
97 int2_conf.int2_yhie = int1_conf.int1_ylie;
98 int2_conf.int2_zhie = int1_conf.int1_zlie;
99 if (iis328dq_int2_on_threshold_conf_set(ctx, int2_conf) != 0) {
100 return -EIO;
101 }
102
103 if (cfg->threshold_pad == 1) {
104 /* route both internal interrupts to PAD1 */
105 if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_INT1_OR_INT2_SRC) != 0) {
106 return -EIO;
107 }
108 } else if (cfg->threshold_pad == 2) {
109 /* route both internal interrupts to PAD2 */
110 if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_INT1_OR_INT2_SRC) != 0) {
111 return -EIO;
112 }
113 } else {
114 LOG_ERR("No interrupt pin configured for DRDY in devicetree");
115 return -ENOTSUP;
116 }
117 return iis328dq_set_int_pad_state(dev, cfg->threshold_pad, enable);
118 }
119 #endif /* CONFIG_IIS328DQ_THRESHOLD */
120 default:
121 LOG_ERR("Unsupported trigger interrupt route %d", trig->type);
122 return -ENOTSUP;
123 }
124
125 return 0;
126 }
127
128 /**
129 * iis328dq_trigger_set - link external trigger to event data ready
130 */
iis328dq_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)131 int iis328dq_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
132 sensor_trigger_handler_t handler)
133 {
134 const struct iis328dq_config *cfg = dev->config;
135 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
136 struct iis328dq_data *iis328dq = dev->data;
137 int16_t raw[3];
138 int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE;
139
140 if (!cfg->gpio_int1.port && !cfg->gpio_int2.port) {
141 /* no interrupts configured */
142 return -ENOTSUP;
143 }
144
145 switch (trig->type) {
146 case SENSOR_TRIG_DATA_READY:
147 iis328dq->drdy_handler = handler;
148 iis328dq->drdy_trig = trig;
149 if (state) {
150 /* dummy read: re-trigger interrupt */
151 iis328dq_acceleration_raw_get(ctx, raw);
152 }
153 break;
154 #ifdef CONFIG_IIS328DQ_THRESHOLD
155 case SENSOR_TRIG_THRESHOLD:
156 iis328dq->threshold_handler = handler;
157 iis328dq->threshold_trig = trig;
158 break;
159 #endif /* CONFIG_IIS328DQ_THRESHOLD */
160 default:
161 LOG_ERR("Unsupported sensor trigger");
162 return -ENOTSUP;
163 }
164
165 return iis328dq_enable_int(dev, trig, state);
166 }
167
168 /**
169 * iis328dq_handle_interrupt - handle the drdy event
170 * read data and call handler if registered any
171 */
iis328dq_handle_interrupt(const struct device * dev)172 static void iis328dq_handle_interrupt(const struct device *dev)
173 {
174 const struct iis328dq_config *cfg = dev->config;
175 struct iis328dq_data *data = dev->data;
176 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
177 iis328dq_status_reg_t status;
178 iis328dq_int1_src_t sources1;
179 iis328dq_int2_src_t sources2;
180
181 iis328dq_status_reg_get(ctx, &status);
182
183 if (status.zyxda) {
184 if (data->drdy_handler) {
185 data->drdy_handler(dev, data->drdy_trig);
186 }
187
188 iis328dq_set_int_pad_state(dev, cfg->drdy_pad, true);
189 }
190 #ifdef CONFIG_IIS328DQ_THRESHOLD
191 iis328dq_int1_src_get(ctx, &sources1);
192 iis328dq_int2_src_get(ctx, &sources2);
193 if (sources1.ia || sources2.ia) {
194 if (data->threshold_handler) {
195 data->threshold_handler(dev, data->threshold_trig);
196 }
197
198 iis328dq_set_int_pad_state(dev, cfg->threshold_pad, true);
199 }
200 #endif /* CONFIG_IIS328DQ_THRESHOLD */
201 }
202
iis328dq_int1_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)203 static void iis328dq_int1_gpio_callback(const struct device *dev, struct gpio_callback *cb,
204 uint32_t pins)
205 {
206 struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int1_cb);
207
208 ARG_UNUSED(pins);
209
210 iis328dq_set_int_pad_state(iis328dq->dev, 1, true);
211
212 #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
213 k_sem_give(&iis328dq->gpio_sem);
214 #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
215 k_work_submit(&iis328dq->work);
216 #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
217 }
218
iis328dq_int2_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pins)219 static void iis328dq_int2_gpio_callback(const struct device *dev, struct gpio_callback *cb,
220 uint32_t pins)
221 {
222 struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int2_cb);
223
224 ARG_UNUSED(pins);
225
226 iis328dq_set_int_pad_state(iis328dq->dev, 2, true);
227
228 #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
229 k_sem_give(&iis328dq->gpio_sem);
230 #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
231 k_work_submit(&iis328dq->work);
232 #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
233 }
234
235 #ifdef CONFIG_IIS328DQ_TRIGGER_OWN_THREAD
iis328dq_thread(void * p1,void * p2,void * p3)236 static void iis328dq_thread(void *p1, void *p2, void *p3)
237 {
238 ARG_UNUSED(p2);
239 ARG_UNUSED(p3);
240
241 struct iis328dq_data *iis328dq = p1;
242
243 while (1) {
244 k_sem_take(&iis328dq->gpio_sem, K_FOREVER);
245 iis328dq_handle_interrupt(iis328dq->dev);
246 }
247 }
248 #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
249
250 #ifdef CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD
iis328dq_work_cb(struct k_work * work)251 static void iis328dq_work_cb(struct k_work *work)
252 {
253 struct iis328dq_data *iis328dq = CONTAINER_OF(work, struct iis328dq_data, work);
254
255 iis328dq_handle_interrupt(iis328dq->dev);
256 }
257 #endif /* CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD */
258
iis328dq_init_interrupt(const struct device * dev)259 int iis328dq_init_interrupt(const struct device *dev)
260 {
261 struct iis328dq_data *iis328dq = dev->data;
262 const struct iis328dq_config *cfg = dev->config;
263 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
264 int ret;
265
266 if (!cfg->gpio_int1.port && !cfg->gpio_int2.port) {
267 /* no interrupts configured, nothing to do */
268 return 0;
269 }
270
271 /* setup data ready gpio interrupt (INT1 and INT2) */
272 if (cfg->gpio_int1.port) {
273 if (!gpio_is_ready_dt(&cfg->gpio_int1)) {
274 LOG_ERR("INT_1 pin is not ready");
275 return -EINVAL;
276 }
277 }
278 if (cfg->gpio_int2.port) {
279 if (!gpio_is_ready_dt(&cfg->gpio_int2)) {
280 LOG_ERR("INT_2 pin is not ready");
281 return -EINVAL;
282 }
283 }
284
285 #if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
286 k_sem_init(&iis328dq->gpio_sem, 0, K_SEM_MAX_LIMIT);
287
288 k_thread_create(&iis328dq->thread, iis328dq->thread_stack,
289 CONFIG_IIS328DQ_THREAD_STACK_SIZE, iis328dq_thread, iis328dq, NULL, NULL,
290 K_PRIO_COOP(CONFIG_IIS328DQ_THREAD_PRIORITY), 0, K_NO_WAIT);
291 #elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
292 iis328dq->work.handler = iis328dq_work_cb;
293 #endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
294
295 if (cfg->gpio_int1.port) {
296 ret = gpio_pin_configure_dt(&cfg->gpio_int1, GPIO_INPUT);
297 if (ret < 0) {
298 LOG_ERR("Could not configure INT_1 gpio");
299 return ret;
300 }
301 gpio_init_callback(&iis328dq->int1_cb, iis328dq_int1_gpio_callback,
302 BIT(cfg->gpio_int1.pin));
303 if (gpio_add_callback(cfg->gpio_int1.port, &iis328dq->int1_cb) < 0) {
304 LOG_ERR("Could not set INT1 callback");
305 return -EIO;
306 }
307 }
308
309 if (cfg->gpio_int2.port) {
310 ret = gpio_pin_configure_dt(&cfg->gpio_int2, GPIO_INPUT);
311 if (ret < 0) {
312 LOG_ERR("Could not configure INT_2 gpio");
313 return ret;
314 }
315 gpio_init_callback(&iis328dq->int2_cb, iis328dq_int2_gpio_callback,
316 BIT(cfg->gpio_int2.pin));
317 if (gpio_add_callback(cfg->gpio_int2.port, &iis328dq->int2_cb) < 0) {
318 LOG_ERR("Could not set INT2 callback");
319 return -EIO;
320 }
321 }
322
323 if (iis328dq_int1_notification_set(ctx, IIS328DQ_INT1_PULSED) != 0) {
324 return -EIO;
325 }
326
327 if (iis328dq_int2_notification_set(ctx, IIS328DQ_INT2_PULSED) != 0) {
328 return -EIO;
329 }
330
331 return 0;
332 }
333
