/*
* Copyright (c) 2018 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <device.h>
#include <drivers/i2c.h>
#include <sys/__assert.h>
#include <sys/util.h>
#include <kernel.h>
#include <drivers/sensor.h>
#include <logging/log.h>
#include "lsm6dsl.h"
LOG_MODULE_DECLARE(LSM6DSL, CONFIG_SENSOR_LOG_LEVEL);
static inline void setup_irq(struct lsm6dsl_data *drv_data,
bool enable)
{
unsigned int flags = enable
? GPIO_INT_EDGE_TO_ACTIVE
: GPIO_INT_DISABLE;
gpio_pin_interrupt_configure(drv_data->gpio,
DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_PIN,
flags);
}
static inline void handle_irq(struct lsm6dsl_data *drv_data)
{
setup_irq(drv_data, false);
#if defined(CONFIG_LSM6DSL_TRIGGER_OWN_THREAD)
k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD)
k_work_submit(&drv_data->work);
#endif
}
int lsm6dsl_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct lsm6dsl_data *drv_data = dev->driver_data;
__ASSERT_NO_MSG(trig->type == SENSOR_TRIG_DATA_READY);
setup_irq(drv_data, false);
drv_data->data_ready_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->data_ready_trigger = *trig;
setup_irq(drv_data, true);
if (gpio_pin_get(drv_data->gpio, DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_PIN) > 0) {
handle_irq(drv_data);
}
return 0;
}
static void lsm6dsl_gpio_callback(struct device *dev,
struct gpio_callback *cb, u32_t pins)
{
struct lsm6dsl_data *drv_data =
CONTAINER_OF(cb, struct lsm6dsl_data, gpio_cb);
ARG_UNUSED(pins);
handle_irq(drv_data);
}
static void lsm6dsl_thread_cb(void *arg)
{
struct device *dev = arg;
struct lsm6dsl_data *drv_data = dev->driver_data;
if (drv_data->data_ready_handler != NULL) {
drv_data->data_ready_handler(dev,
&drv_data->data_ready_trigger);
}
setup_irq(drv_data, true);
}
#ifdef CONFIG_LSM6DSL_TRIGGER_OWN_THREAD
static void lsm6dsl_thread(int dev_ptr, int unused)
{
struct device *dev = INT_TO_POINTER(dev_ptr);
struct lsm6dsl_data *drv_data = dev->driver_data;
ARG_UNUSED(unused);
while (1) {
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
lsm6dsl_thread_cb(dev);
}
}
#endif
#ifdef CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD
static void lsm6dsl_work_cb(struct k_work *work)
{
struct lsm6dsl_data *drv_data =
CONTAINER_OF(work, struct lsm6dsl_data, work);
lsm6dsl_thread_cb(drv_data->dev);
}
#endif
int lsm6dsl_init_interrupt(struct device *dev)
{
struct lsm6dsl_data *drv_data = dev->driver_data;
/* setup data ready gpio interrupt */
drv_data->gpio = device_get_binding(DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_CONTROLLER);
if (drv_data->gpio == NULL) {
LOG_ERR("Cannot get pointer to %s device.",
DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_CONTROLLER);
return -EINVAL;
}
gpio_pin_configure(drv_data->gpio, DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_PIN,
GPIO_INPUT | DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_FLAGS);
gpio_init_callback(&drv_data->gpio_cb,
lsm6dsl_gpio_callback,
BIT(DT_INST_0_ST_LSM6DSL_IRQ_GPIOS_PIN));
if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) {
LOG_ERR("Could not set gpio callback.");
return -EIO;
}
/* enable data-ready interrupt */
if (drv_data->hw_tf->update_reg(drv_data,
LSM6DSL_REG_INT1_CTRL,
LSM6DSL_MASK_INT1_CTRL_DRDY_XL |
LSM6DSL_MASK_INT1_CTRL_DRDY_G,
BIT(LSM6DSL_SHIFT_INT1_CTRL_DRDY_XL) |
BIT(LSM6DSL_SHIFT_INT1_CTRL_DRDY_G)) < 0) {
LOG_ERR("Could not enable data-ready interrupt.");
return -EIO;
}
#if defined(CONFIG_LSM6DSL_TRIGGER_OWN_THREAD)
k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
k_thread_create(&drv_data->thread, drv_data->thread_stack,
CONFIG_LSM6DSL_THREAD_STACK_SIZE,
(k_thread_entry_t)lsm6dsl_thread, dev,
0, NULL, K_PRIO_COOP(CONFIG_LSM6DSL_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD)
drv_data->work.handler = lsm6dsl_work_cb;
drv_data->dev = dev;
#endif
setup_irq(drv_data, true);
return 0;
}