1 /* 2 * Copyright (c) 2020 TDK Invensense 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_DRIVERS_SENSOR_ICM42605_ICM42605_H_ 8 #define ZEPHYR_DRIVERS_SENSOR_ICM42605_ICM42605_H_ 9 10 #include <zephyr/device.h> 11 #include <zephyr/drivers/gpio.h> 12 #include <zephyr/drivers/spi.h> 13 #include <zephyr/kernel.h> 14 #include <zephyr/sys/util.h> 15 #include <zephyr/types.h> 16 17 #include "icm42605_reg.h" 18 19 typedef void (*tap_fetch_t)(const struct device *dev); 20 int icm42605_tap_fetch(const struct device *dev); 21 22 struct icm42605_data { 23 uint8_t fifo_data[HARDWARE_FIFO_SIZE]; 24 25 int16_t accel_x; 26 int16_t accel_y; 27 int16_t accel_z; 28 uint16_t accel_sensitivity_shift; 29 uint16_t accel_hz; 30 uint16_t accel_sf; 31 32 int16_t temp; 33 34 int16_t gyro_x; 35 int16_t gyro_y; 36 int16_t gyro_z; 37 uint16_t gyro_sensitivity_x10; 38 uint16_t gyro_hz; 39 uint16_t gyro_sf; 40 41 bool accel_en; 42 bool gyro_en; 43 bool tap_en; 44 45 bool sensor_started; 46 47 const struct device *dev; 48 struct gpio_callback gpio_cb; 49 50 const struct sensor_trigger *data_ready_trigger; 51 sensor_trigger_handler_t data_ready_handler; 52 53 const struct sensor_trigger *tap_trigger; 54 sensor_trigger_handler_t tap_handler; 55 56 const struct sensor_trigger *double_tap_trigger; 57 sensor_trigger_handler_t double_tap_handler; 58 59 #ifdef CONFIG_ICM42605_TRIGGER 60 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_ICM42605_THREAD_STACK_SIZE); 61 struct k_thread thread; 62 struct k_sem gpio_sem; 63 #endif 64 }; 65 66 struct icm42605_config { 67 struct spi_dt_spec spi; 68 struct gpio_dt_spec gpio_int; 69 uint16_t accel_hz; 70 uint16_t gyro_hz; 71 uint16_t accel_fs; 72 uint16_t gyro_fs; 73 }; 74 75 int icm42605_trigger_set(const struct device *dev, 76 const struct sensor_trigger *trig, 77 sensor_trigger_handler_t handler); 78 79 int icm42605_init_interrupt(const struct device *dev); 80 81 #endif /* __SENSOR_ICM42605__ */ 82
