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(void * p1,void * p2,void * p3)71 static void fxas21002_thread_main(void *p1, void *p2, void *p3)
72 {
73 ARG_UNUSED(p2);
74 ARG_UNUSED(p3);
75
76 struct fxas21002_data *data = p1;
77
78 while (true) {
79 k_sem_take(&data->trig_sem, K_FOREVER);
80 fxas21002_handle_int(data->dev);
81 }
82 }
83 #endif
84
85 #ifdef CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD
fxas21002_work_handler(struct k_work * work)86 static void fxas21002_work_handler(struct k_work *work)
87 {
88 struct fxas21002_data *data =
89 CONTAINER_OF(work, struct fxas21002_data, work);
90
91 fxas21002_handle_int(data->dev);
92 }
93 #endif
94
fxas21002_trigger_set(const struct device * dev,const struct sensor_trigger * trig,sensor_trigger_handler_t handler)95 int fxas21002_trigger_set(const struct device *dev,
96 const struct sensor_trigger *trig,
97 sensor_trigger_handler_t handler)
98 {
99 const struct fxas21002_config *config = dev->config;
100 struct fxas21002_data *data = dev->data;
101 enum fxas21002_power power = FXAS21002_POWER_STANDBY;
102 uint32_t transition_time;
103 uint8_t mask;
104 int ret = 0;
105
106 if (!config->int_gpio.port) {
107 return -ENOTSUP;
108 }
109
110 k_sem_take(&data->sem, K_FOREVER);
111
112 switch (trig->type) {
113 case SENSOR_TRIG_DATA_READY:
114 mask = FXAS21002_CTRLREG2_CFG_EN_MASK;
115 data->drdy_handler = handler;
116 data->drdy_trig = trig;
117 break;
118 default:
119 LOG_ERR("Unsupported sensor trigger");
120 ret = -ENOTSUP;
121 goto exit;
122 }
123
124 /* The sensor must be in standby or ready mode when writing the
125 * configuration registers, therefore get the current power mode so we
126 * can restore it later.
127 */
128 if (fxas21002_get_power(dev, &power)) {
129 LOG_ERR("Could not get power mode");
130 ret = -EIO;
131 goto exit;
132 }
133
134 /* Put the sensor in ready mode */
135 if (fxas21002_set_power(dev, FXAS21002_POWER_READY)) {
136 LOG_ERR("Could not set ready mode");
137 ret = -EIO;
138 goto exit;
139 }
140
141 /* Configure the sensor interrupt */
142 if (config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG2, mask,
143 handler ? mask : 0)) {
144 LOG_ERR("Could not configure interrupt");
145 ret = -EIO;
146 goto exit;
147 }
148
149 /* Restore the previous power mode */
150 if (fxas21002_set_power(dev, power)) {
151 LOG_ERR("Could not restore power mode");
152 ret = -EIO;
153 goto exit;
154 }
155
156 /* Wait the transition time from ready mode */
157 transition_time = fxas21002_get_transition_time(FXAS21002_POWER_READY,
158 power,
159 config->dr);
160 k_busy_wait(transition_time);
161
162 exit:
163 k_sem_give(&data->sem);
164
165 return ret;
166 }
167
fxas21002_trigger_init(const struct device * dev)168 int fxas21002_trigger_init(const struct device *dev)
169 {
170 const struct fxas21002_config *config = dev->config;
171 struct fxas21002_data *data = dev->data;
172 uint8_t ctrl_reg2;
173 int ret;
174
175 data->dev = dev;
176
177 #if defined(CONFIG_FXAS21002_TRIGGER_OWN_THREAD)
178 k_sem_init(&data->trig_sem, 0, K_SEM_MAX_LIMIT);
179 k_thread_create(&data->thread, data->thread_stack,
180 CONFIG_FXAS21002_THREAD_STACK_SIZE,
181 fxas21002_thread_main, data, 0, NULL,
182 K_PRIO_COOP(CONFIG_FXAS21002_THREAD_PRIORITY),
183 0, K_NO_WAIT);
184 #elif defined(CONFIG_FXAS21002_TRIGGER_GLOBAL_THREAD)
185 data->work.handler = fxas21002_work_handler;
186 #endif
187
188 /* Route the interrupts to INT1/INT2 pins */
189 ctrl_reg2 = 0U;
190 #if CONFIG_FXAS21002_DRDY_INT1
191 ctrl_reg2 |= FXAS21002_CTRLREG2_CFG_DRDY_MASK;
192 #endif
193
194 if (config->ops->byte_write(dev, FXAS21002_REG_CTRLREG2,
195 ctrl_reg2)) {
196 LOG_ERR("Could not configure interrupt pin routing");
197 return -EIO;
198 }
199
200 if (!gpio_is_ready_dt(&config->int_gpio)) {
201 LOG_ERR("GPIO device not ready");
202 return -ENODEV;
203 }
204
205 ret = gpio_pin_configure_dt(&config->int_gpio, GPIO_INPUT);
206 if (ret < 0) {
207 return ret;
208 }
209
210 gpio_init_callback(&data->gpio_cb, fxas21002_gpio_callback,
211 BIT(config->int_gpio.pin));
212
213 ret = gpio_add_callback(config->int_gpio.port, &data->gpio_cb);
214 if (ret < 0) {
215 return ret;
216 }
217
218 ret = gpio_pin_interrupt_configure_dt(&config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
219 if (ret < 0) {
220 return ret;
221 }
222
223 return 0;
224 }
225