/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <device.h>
#include <drivers/i2c.h>
#include <sys/util.h>
#include <kernel.h>
#include <drivers/sensor.h>
#include "bma280.h"
#include <logging/log.h>
LOG_MODULE_DECLARE(BMA280, CONFIG_SENSOR_LOG_LEVEL);
static inline void setup_int1(struct device *dev,
bool enable)
{
struct bma280_data *data = dev->driver_data;
gpio_pin_interrupt_configure(data->gpio,
DT_INST_0_BOSCH_BMA280_INT1_GPIOS_PIN,
(enable
? GPIO_INT_EDGE_TO_ACTIVE
: GPIO_INT_DISABLE));
}
int bma280_attr_set(struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
struct bma280_data *drv_data = dev->driver_data;
u64_t slope_th;
if (chan != SENSOR_CHAN_ACCEL_XYZ) {
return -ENOTSUP;
}
if (attr == SENSOR_ATTR_SLOPE_TH) {
/* slope_th = (val * 10^6 * 2^10) / BMA280_PMU_FULL_RAGE */
slope_th = (u64_t)val->val1 * 1000000U + (u64_t)val->val2;
slope_th = (slope_th * (1 << 10)) / BMA280_PMU_FULL_RANGE;
if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_SLOPE_TH, (u8_t)slope_th)
< 0) {
LOG_DBG("Could not set slope threshold");
return -EIO;
}
} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_5,
BMA280_SLOPE_DUR_MASK,
val->val1 << BMA280_SLOPE_DUR_SHIFT)
< 0) {
LOG_DBG("Could not set slope duration");
return -EIO;
}
} else {
return -ENOTSUP;
}
return 0;
}
static void bma280_gpio_callback(struct device *dev,
struct gpio_callback *cb, u32_t pins)
{
struct bma280_data *drv_data =
CONTAINER_OF(cb, struct bma280_data, gpio_cb);
ARG_UNUSED(pins);
setup_int1(drv_data->dev, false);
#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
k_work_submit(&drv_data->work);
#endif
}
static void bma280_thread_cb(void *arg)
{
struct device *dev = arg;
struct bma280_data *drv_data = dev->driver_data;
u8_t status = 0U;
int err = 0;
/* check for data ready */
err = i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_STATUS_1, &status);
if (status & BMA280_BIT_DATA_INT_STATUS &&
drv_data->data_ready_handler != NULL &&
err == 0) {
drv_data->data_ready_handler(dev,
&drv_data->data_ready_trigger);
}
/* check for any motion */
err = i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_STATUS_0, &status);
if (status & BMA280_BIT_SLOPE_INT_STATUS &&
drv_data->any_motion_handler != NULL &&
err == 0) {
drv_data->any_motion_handler(dev,
&drv_data->data_ready_trigger);
/* clear latched interrupt */
err = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_RST_LATCH,
BMA280_BIT_INT_LATCH_RESET,
BMA280_BIT_INT_LATCH_RESET);
if (err < 0) {
LOG_DBG("Could not update clear the interrupt");
return;
}
}
setup_int1(dev, true);
}
#ifdef CONFIG_BMA280_TRIGGER_OWN_THREAD
static void bma280_thread(int dev_ptr, int unused)
{
struct device *dev = INT_TO_POINTER(dev_ptr);
struct bma280_data *drv_data = dev->driver_data;
ARG_UNUSED(unused);
while (1) {
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
bma280_thread_cb(dev);
}
}
#endif
#ifdef CONFIG_BMA280_TRIGGER_GLOBAL_THREAD
static void bma280_work_cb(struct k_work *work)
{
struct bma280_data *drv_data =
CONTAINER_OF(work, struct bma280_data, work);
bma280_thread_cb(drv_data->dev);
}
#endif
int bma280_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct bma280_data *drv_data = dev->driver_data;
if (trig->type == SENSOR_TRIG_DATA_READY) {
/* disable data ready interrupt while changing trigger params */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_1,
BMA280_BIT_DATA_EN, 0) < 0) {
LOG_DBG("Could not disable data ready interrupt");
return -EIO;
}
drv_data->data_ready_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->data_ready_trigger = *trig;
/* enable data ready interrupt */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_1,
BMA280_BIT_DATA_EN,
BMA280_BIT_DATA_EN) < 0) {
LOG_DBG("Could not enable data ready interrupt");
return -EIO;
}
} else if (trig->type == SENSOR_TRIG_DELTA) {
/* disable any-motion interrupt while changing trigger params */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_0,
BMA280_SLOPE_EN_XYZ, 0) < 0) {
LOG_DBG("Could not disable data ready interrupt");
return -EIO;
}
drv_data->any_motion_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->any_motion_trigger = *trig;
/* enable any-motion interrupt */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_0,
BMA280_SLOPE_EN_XYZ,
BMA280_SLOPE_EN_XYZ) < 0) {
LOG_DBG("Could not enable data ready interrupt");
return -EIO;
}
} else {
return -ENOTSUP;
}
return 0;
}
int bma280_init_interrupt(struct device *dev)
{
struct bma280_data *drv_data = dev->driver_data;
/* set latched interrupts */
if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_RST_LATCH,
BMA280_BIT_INT_LATCH_RESET |
BMA280_INT_MODE_LATCH) < 0) {
LOG_DBG("Could not set latched interrupts");
return -EIO;
}
/* setup data ready gpio interrupt */
drv_data->gpio =
device_get_binding(DT_INST_0_BOSCH_BMA280_INT1_GPIOS_CONTROLLER);
if (drv_data->gpio == NULL) {
LOG_DBG("Cannot get pointer to %s device",
DT_INST_0_BOSCH_BMA280_INT1_GPIOS_CONTROLLER);
return -EINVAL;
}
gpio_pin_configure(drv_data->gpio,
DT_INST_0_BOSCH_BMA280_INT1_GPIOS_PIN,
DT_INST_0_BOSCH_BMA280_INT1_GPIOS_FLAGS
| GPIO_INPUT);
gpio_init_callback(&drv_data->gpio_cb,
bma280_gpio_callback,
BIT(DT_INST_0_BOSCH_BMA280_INT1_GPIOS_PIN));
if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) {
LOG_DBG("Could not set gpio callback");
return -EIO;
}
/* map data ready interrupt to INT1 */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_MAP_1,
BMA280_INT_MAP_1_BIT_DATA,
BMA280_INT_MAP_1_BIT_DATA) < 0) {
LOG_DBG("Could not map data ready interrupt pin");
return -EIO;
}
/* map any-motion interrupt to INT1 */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_MAP_0,
BMA280_INT_MAP_0_BIT_SLOPE,
BMA280_INT_MAP_0_BIT_SLOPE) < 0) {
LOG_DBG("Could not map any-motion interrupt pin");
return -EIO;
}
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_1,
BMA280_BIT_DATA_EN, 0) < 0) {
LOG_DBG("Could not disable data ready interrupt");
return -EIO;
}
/* disable any-motion interrupt */
if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
BMA280_REG_INT_EN_0,
BMA280_SLOPE_EN_XYZ, 0) < 0) {
LOG_DBG("Could not disable data ready interrupt");
return -EIO;
}
drv_data->dev = dev;
#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
k_thread_create(&drv_data->thread, drv_data->thread_stack,
CONFIG_BMA280_THREAD_STACK_SIZE,
(k_thread_entry_t)bma280_thread, dev,
0, NULL, K_PRIO_COOP(CONFIG_BMA280_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
drv_data->work.handler = bma280_work_cb;
#endif
setup_int1(dev, true);
return 0;
}