/* Bosch BMG160 gyro driver, trigger implementation
*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* http://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMG160-DS000-09.pdf
*/
#include <kernel.h>
#include <sensor.h>
#include "bmg160.h"
extern struct bmg160_device_data bmg160_data;
static void bmg160_gpio_callback(struct device *port, struct gpio_callback *cb,
u32_t pin)
{
struct bmg160_device_data *bmg160 =
CONTAINER_OF(cb, struct bmg160_device_data, gpio_cb);
ARG_UNUSED(port);
ARG_UNUSED(pin);
#if defined(CONFIG_BMG160_TRIGGER_OWN_THREAD)
k_sem_give(&bmg160->trig_sem);
#elif defined(CONFIG_BMG160_TRIGGER_GLOBAL_THREAD)
k_work_submit(&bmg160->work);
#endif
}
static int bmg160_anymotion_set(struct device *dev,
sensor_trigger_handler_t handler)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
u8_t anymotion_en = 0;
if (handler) {
anymotion_en = BMG160_ANY_EN_X |
BMG160_ANY_EN_Y |
BMG160_ANY_EN_Z;
}
if (bmg160_update_byte(dev, BMG160_REG_ANY_EN,
BMG160_ANY_EN_MASK, anymotion_en) < 0) {
return -EIO;
}
bmg160->anymotion_handler = handler;
return 0;
}
static int bmg160_drdy_set(struct device *dev, sensor_trigger_handler_t handler)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
if (bmg160_update_byte(dev, BMG160_REG_INT_EN0,
BMG160_DATA_EN,
handler ? BMG160_DATA_EN : 0) < 0) {
return -EIO;
}
bmg160->drdy_handler = handler;
return 0;
}
int bmg160_slope_config(struct device *dev, enum sensor_attribute attr,
const struct sensor_value *val)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
if (attr == SENSOR_ATTR_SLOPE_TH) {
u16_t any_th_dps, range_dps;
u8_t any_th_reg_val;
any_th_dps = sensor_rad_to_degrees(val);
range_dps = BMG160_SCALE_TO_RANGE(bmg160->scale);
any_th_reg_val = any_th_dps * 2000 / range_dps;
/* the maximum slope depends on selected range */
if (any_th_dps > range_dps / 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_THRES,
any_th_dps & BMG160_THRES_MASK);
} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
/* slope duration can be 4, 8, 12 or 16 samples */
if (val->val1 != 4 && val->val1 != 8 &&
val->val1 != 12 && val->val1 != 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_ANY_EN,
(val->val1 << BMG160_ANY_DURSAMPLE_POS) &
BMG160_ANY_DURSAMPLE_MASK);
}
return -ENOTSUP;
}
int bmg160_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
if (trig->type == SENSOR_TRIG_DELTA) {
return bmg160_anymotion_set(dev, handler);
} else if (trig->type == SENSOR_TRIG_DATA_READY) {
return bmg160_drdy_set(dev, handler);
}
return -ENOTSUP;
}
static int bmg160_handle_anymotion_int(struct device *dev)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
struct sensor_trigger any_trig = {
.type = SENSOR_TRIG_DELTA,
.chan = SENSOR_CHAN_GYRO_XYZ,
};
if (bmg160->anymotion_handler) {
bmg160->anymotion_handler(dev, &any_trig);
}
return 0;
}
static int bmg160_handle_dataready_int(struct device *dev)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
struct sensor_trigger drdy_trig = {
.type = SENSOR_TRIG_DATA_READY,
.chan = SENSOR_CHAN_GYRO_XYZ,
};
if (bmg160->drdy_handler) {
bmg160->drdy_handler(dev, &drdy_trig);
}
return 0;
}
static void bmg160_handle_int(void *arg)
{
struct device *dev = (struct device *)arg;
u8_t status_int[4];
if (bmg160_read(dev, BMG160_REG_INT_STATUS0, status_int, 4) < 0) {
return;
}
if (status_int[0] & BMG160_ANY_INT) {
bmg160_handle_anymotion_int(dev);
} else {
bmg160_handle_dataready_int(dev);
}
}
#ifdef CONFIG_BMG160_TRIGGER_OWN_THREAD
static K_THREAD_STACK_DEFINE(bmg160_thread_stack, CONFIG_BMG160_THREAD_STACK_SIZE);
static struct k_thread bmg160_thread;
static void bmg160_thread_main(void *arg1, void *arg2, void *arg3)
{
struct device *dev = (struct device *)arg1;
struct bmg160_device_data *bmg160 = dev->driver_data;
while (true) {
k_sem_take(&bmg160->trig_sem, K_FOREVER);
bmg160_handle_int(dev);
}
}
#endif
#ifdef CONFIG_BMG160_TRIGGER_GLOBAL_THREAD
static void bmg160_work_cb(struct k_work *work)
{
struct bmg160_device_data *bmg160 =
CONTAINER_OF(work, struct bmg160_device_data, work);
bmg160_handle_int(bmg160->dev);
}
#endif
int bmg160_trigger_init(struct device *dev)
{
const struct bmg160_device_config *cfg = dev->config->config_info;
struct bmg160_device_data *bmg160 = dev->driver_data;
/* set INT1 pin to: push-pull, active low */
if (bmg160_write_byte(dev, BMG160_REG_INT_EN1, 0) < 0) {
SYS_LOG_DBG("Failed to select interrupt pins type.");
return -EIO;
}
/* set interrupt mode to non-latched */
if (bmg160_write_byte(dev, BMG160_REG_INT_RST_LATCH, 0) < 0) {
SYS_LOG_DBG("Failed to set the interrupt mode.");
return -EIO;
}
/* map anymotion and high rate interrupts to INT1 pin */
if (bmg160_write_byte(dev, BMG160_REG_INT_MAP0,
BMG160_INT1_ANY | BMG160_INT1_HIGH) < 0) {
SYS_LOG_DBG("Unable to map interrupts.");
return -EIO;
}
/* map data ready, FIFO and FastOffset interrupts to INT1 pin */
if (bmg160_write_byte(dev, BMG160_REG_INT_MAP1,
BMG160_INT1_DATA | BMG160_INT1_FIFO |
BMG160_INT1_FAST_OFFSET) < 0) {
SYS_LOG_DBG("Unable to map interrupts.");
return -EIO;
}
bmg160->gpio = device_get_binding((char *)cfg->gpio_port);
if (!bmg160->gpio) {
SYS_LOG_DBG("Gpio controller %s not found", cfg->gpio_port);
return -EINVAL;
}
#if defined(CONFIG_BMG160_TRIGGER_OWN_THREAD)
k_sem_init(&bmg160->trig_sem, 0, UINT_MAX);
k_thread_create(&bmg160_thread, bmg160_thread_stack,
CONFIG_BMG160_THREAD_STACK_SIZE, bmg160_thread_main,
dev, NULL, NULL, K_PRIO_COOP(10), 0, 0);
#elif defined(CONFIG_BMG160_TRIGGER_GLOBAL_THREAD)
bmg160->work.handler = bmg160_work_cb;
bmg160->dev = dev;
#endif
gpio_pin_configure(bmg160->gpio, cfg->int_pin,
GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
GPIO_INT_ACTIVE_LOW | GPIO_INT_DEBOUNCE);
gpio_init_callback(&bmg160->gpio_cb, bmg160_gpio_callback,
BIT(cfg->int_pin));
gpio_add_callback(bmg160->gpio, &bmg160->gpio_cb);
gpio_pin_enable_callback(bmg160->gpio, cfg->int_pin);
return 0;
}