1 /*
2 * Copyright (c) 2017, NXP
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #define DT_DRV_COMPAT nxp_fxas21002
8
9 #include <zephyr/logging/log.h>
10
11 #include "fxas21002.h"
12
13 LOG_MODULE_DECLARE(FXAS21002, CONFIG_SENSOR_LOG_LEVEL);
14
fxas21002_gpio_callback(const struct device * dev,struct gpio_callback * cb,uint32_t pin_mask)15 static void fxas21002_gpio_callback(const struct device *dev,
16 struct gpio_callback *cb,
17 uint32_t pin_mask)
18 {
19 struct fxas21002_data *data =
20 CONTAINER_OF(cb, struct fxas21002_data, gpio_cb);
21 const struct fxas21002_config *config = data->dev->config;
22
23 if ((pin_mask & BIT(config->int_gpio.pin)) == 0U) {
24 return;
25 }
26
27 gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_DISABLE);
28
29 #if defined(CONFIG_FXAS21002_TRIGGER_OWN_THREAD)
30 k_sem_give(&data->trig_sem);
31 #elif defined(CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD)
32 k_work_submit(&data->work);
33 #endif
34 }
35
fxas21002_handle_drdy_int(const struct device * dev)36 static int fxas21002_handle_drdy_int(const struct device *dev)
37 {
38 struct fxas21002_data *data = dev->data;
39
40 if (data->drdy_handler) {
41 data->drdy_handler(dev, data->drdy_trig);
42 }
43
44 return 0;
45 }
46
fxas21002_handle_int(const struct device * dev)47 static void fxas21002_handle_int(const struct device *dev)
48 {
49 const struct fxas21002_config *config = dev->config;
50 struct fxas21002_data *data = dev->data;
51 uint8_t int_source;
52
53 k_sem_take(&data->sem, K_FOREVER);
54
55 if (config->ops->byte_read(dev, FXAS21002_REG_INT_SOURCE,
56 &int_source)) {
57 LOG_ERR("Could not read interrupt source");
58 int_source = 0U;
59 }
60
61 k_sem_give(&data->sem);
62
63 if (int_source & FXAS21002_INT_SOURCE_DRDY_MASK) {
64 fxas21002_handle_drdy_int(dev);
65 }
66
67 gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
68 }
69
70 #ifdef CONFIG_FXAS21002_TRIGGER_OWN_THREAD
fxas21002_thread_main(struct fxas21002_data * data)71 static void fxas21002_thread_main(struct fxas21002_data *data)
72 {
73 while (true) {
74 k_sem_take(&data->trig_sem, K_FOREVER);
75 fxas21002_handle_int(data->dev);
76 }
77 }
78 #endif
79
80 #ifdef CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD
fxas21002_work_handler(struct k_work * work)81 static void fxas21002_work_handler(struct k_work *work)
82 {
83 struct fxas21002_data *data =
84 CONTAINER_OF(work, struct fxas21002_data, work);
85
86 fxas21002_handle_int(data->dev);
87 }
88 #endif
89
fxas21002_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)90 int fxas21002_trigger_set(const struct device *dev,
91 const struct sensor_trigger *trig,
92 sensor_trigger_handler_t handler)
93 {
94 const struct fxas21002_config *config = dev->config;
95 struct fxas21002_data *data = dev->data;
96 enum fxas21002_power power = FXAS21002_POWER_STANDBY;
97 uint32_t transition_time;
98 uint8_t mask;
99 int ret = 0;
100
101 if (!config->int_gpio.port) {
102 return -ENOTSUP;
103 }
104
105 k_sem_take(&data->sem, K_FOREVER);
106
107 switch (trig->type) {
108 case SENSOR_TRIG_DATA_READY:
109 mask = FXAS21002_CTRLREG2_CFG_EN_MASK;
110 data->drdy_handler = handler;
111 data->drdy_trig = trig;
112 break;
113 default:
114 LOG_ERR("Unsupported sensor trigger");
115 ret = -ENOTSUP;
116 goto exit;
117 }
118
119 /* The sensor must be in standby or ready mode when writing the
120 * configuration registers, therefore get the current power mode so we
121 * can restore it later.
122 */
123 if (fxas21002_get_power(dev, &power)) {
124 LOG_ERR("Could not get power mode");
125 ret = -EIO;
126 goto exit;
127 }
128
129 /* Put the sensor in ready mode */
130 if (fxas21002_set_power(dev, FXAS21002_POWER_READY)) {
131 LOG_ERR("Could not set ready mode");
132 ret = -EIO;
133 goto exit;
134 }
135
136 /* Configure the sensor interrupt */
137 if (config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG2, mask,
138 handler ? mask : 0)) {
139 LOG_ERR("Could not configure interrupt");
140 ret = -EIO;
141 goto exit;
142 }
143
144 /* Restore the previous power mode */
145 if (fxas21002_set_power(dev, power)) {
146 LOG_ERR("Could not restore power mode");
147 ret = -EIO;
148 goto exit;
149 }
150
151 /* Wait the transition time from ready mode */
152 transition_time = fxas21002_get_transition_time(FXAS21002_POWER_READY,
153 power,
154 config->dr);
155 k_busy_wait(transition_time);
156
157 exit:
158 k_sem_give(&data->sem);
159
160 return ret;
161 }
162
fxas21002_trigger_init(const struct device * dev)163 int fxas21002_trigger_init(const struct device *dev)
164 {
165 const struct fxas21002_config *config = dev->config;
166 struct fxas21002_data *data = dev->data;
167 uint8_t ctrl_reg2;
168 int ret;
169
170 data->dev = dev;
171
172 #if defined(CONFIG_FXAS21002_TRIGGER_OWN_THREAD)
173 k_sem_init(&data->trig_sem, 0, K_SEM_MAX_LIMIT);
174 k_thread_create(&data->thread, data->thread_stack,
175 CONFIG_FXAS21002_THREAD_STACK_SIZE,
176 (k_thread_entry_t)fxas21002_thread_main, data, 0, NULL,
177 K_PRIO_COOP(CONFIG_FXAS21002_THREAD_PRIORITY),
178 0, K_NO_WAIT);
179 #elif defined(CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD)
180 data->work.handler = fxas21002_work_handler;
181 #endif
182
183 /* Route the interrupts to INT1/INT2 pins */
184 ctrl_reg2 = 0U;
185 #if CONFIG_FXAS21002_DRDY_INT1
186 ctrl_reg2 |= FXAS21002_CTRLREG2_CFG_DRDY_MASK;
187 #endif
188
189 if (config->ops->byte_write(dev, FXAS21002_REG_CTRLREG2,
190 ctrl_reg2)) {
191 LOG_ERR("Could not configure interrupt pin routing");
192 return -EIO;
193 }
194
195 if (!gpio_is_ready_dt(&config->int_gpio)) {
196 LOG_ERR("GPIO device not ready");
197 return -ENODEV;
198 }
199
200 ret = gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
201 if (ret < 0) {
202 return ret;
203 }
204
205 gpio_init_callback(&data->gpio_cb, fxas21002_gpio_callback,
206 BIT(config->int_gpio.pin));
207
208 ret = gpio_add_callback(config->int_gpio.port, &data->gpio_cb);
209 if (ret < 0) {
210 return ret;
211 }
212
213 ret = gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
214 if (ret < 0) {
215 return ret;
216 }
217
218 return 0;
219 }
220
