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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 | /* ST Microelectronics LSM6DSO 6-axis IMU sensor driver * * Copyright (c) 2019 STMicroelectronics * * SPDX-License-Identifier: Apache-2.0 * * Datasheet: * https://www.st.com/resource/en/datasheet/lsm6dso.pdf */ #include <kernel.h> #include <drivers/sensor.h> #include <drivers/gpio.h> #include <logging/log.h> #include "lsm6dso.h" LOG_MODULE_DECLARE(LSM6DSO, CONFIG_SENSOR_LOG_LEVEL); #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) /** * lsm6dso_enable_t_int - TEMP enable selected int pin to generate interrupt */ static int lsm6dso_enable_t_int(struct device *dev, int enable) { const struct lsm6dso_config *cfg = dev->config->config_info; struct lsm6dso_data *lsm6dso = dev->driver_data; lsm6dso_pin_int2_route_t int2_route; if (enable) { union axis1bit16_t buf; /* dummy read: re-trigger interrupt */ lsm6dso_temperature_raw_get(lsm6dso->ctx, buf.u8bit); } /* set interrupt (TEMP DRDY interrupt is only on INT2) */ if (cfg->int_pin == 1) return -EIO; lsm6dso_read_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); int2_route.int2_ctrl.int2_drdy_temp = enable; return lsm6dso_write_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); } #endif /** * lsm6dso_enable_xl_int - XL enable selected int pin to generate interrupt */ static int lsm6dso_enable_xl_int(struct device *dev, int enable) { const struct lsm6dso_config *cfg = dev->config->config_info; struct lsm6dso_data *lsm6dso = dev->driver_data; if (enable) { union axis3bit16_t buf; /* dummy read: re-trigger interrupt */ lsm6dso_acceleration_raw_get(lsm6dso->ctx, buf.u8bit); } /* set interrupt */ if (cfg->int_pin == 1) { lsm6dso_pin_int1_route_t int1_route; lsm6dso_read_reg(lsm6dso->ctx, LSM6DSO_INT1_CTRL, (uint8_t *)&int1_route.int1_ctrl, 1); int1_route.int1_ctrl.int1_drdy_xl = enable; return lsm6dso_write_reg(lsm6dso->ctx, LSM6DSO_INT1_CTRL, (uint8_t *)&int1_route.int1_ctrl, 1); } else { lsm6dso_pin_int2_route_t int2_route; lsm6dso_read_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); int2_route.int2_ctrl.int2_drdy_xl = enable; return lsm6dso_write_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); } } /** * lsm6dso_enable_g_int - Gyro enable selected int pin to generate interrupt */ static int lsm6dso_enable_g_int(struct device *dev, int enable) { const struct lsm6dso_config *cfg = dev->config->config_info; struct lsm6dso_data *lsm6dso = dev->driver_data; if (enable) { union axis3bit16_t buf; /* dummy read: re-trigger interrupt */ lsm6dso_angular_rate_raw_get(lsm6dso->ctx, buf.u8bit); } /* set interrupt */ if (cfg->int_pin == 1) { lsm6dso_pin_int1_route_t int1_route; lsm6dso_read_reg(lsm6dso->ctx, LSM6DSO_INT1_CTRL, (uint8_t *)&int1_route.int1_ctrl, 1); int1_route.int1_ctrl.int1_drdy_g = enable; return lsm6dso_write_reg(lsm6dso->ctx, LSM6DSO_INT1_CTRL, (uint8_t *)&int1_route.int1_ctrl, 1); } else { lsm6dso_pin_int2_route_t int2_route; lsm6dso_read_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); int2_route.int2_ctrl.int2_drdy_g = enable; return lsm6dso_write_reg(lsm6dso->ctx, LSM6DSO_INT2_CTRL, (uint8_t *)&int2_route.int2_ctrl, 1); } } /** * lsm6dso_trigger_set - link external trigger to event data ready */ int lsm6dso_trigger_set(struct device *dev, const struct sensor_trigger *trig, sensor_trigger_handler_t handler) { struct lsm6dso_data *lsm6dso = dev->driver_data; if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) { lsm6dso->handler_drdy_acc = handler; if (handler) { return lsm6dso_enable_xl_int(dev, LSM6DSO_EN_BIT); } else { return lsm6dso_enable_xl_int(dev, LSM6DSO_DIS_BIT); } } else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) { lsm6dso->handler_drdy_gyr = handler; if (handler) { return lsm6dso_enable_g_int(dev, LSM6DSO_EN_BIT); } else { return lsm6dso_enable_g_int(dev, LSM6DSO_DIS_BIT); } } #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) else if (trig->chan == SENSOR_CHAN_DIE_TEMP) { lsm6dso->handler_drdy_temp = handler; if (handler) { return lsm6dso_enable_t_int(dev, LSM6DSO_EN_BIT); } else { return lsm6dso_enable_t_int(dev, LSM6DSO_DIS_BIT); } } #endif return -ENOTSUP; } /** * lsm6dso_handle_interrupt - handle the drdy event * read data and call handler if registered any */ static void lsm6dso_handle_interrupt(void *arg) { struct device *dev = arg; struct lsm6dso_data *lsm6dso = dev->driver_data; struct sensor_trigger drdy_trigger = { .type = SENSOR_TRIG_DATA_READY, }; const struct lsm6dso_config *cfg = dev->config->config_info; lsm6dso_status_reg_t status; while (1) { if (lsm6dso_status_reg_get(lsm6dso->ctx, &status) < 0) { LOG_DBG("failed reading status reg"); return; } if ((status.xlda == 0) && (status.gda == 0) #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) && (status.tda == 0) #endif ) { break; } if ((status.xlda) && (lsm6dso->handler_drdy_acc != NULL)) { lsm6dso->handler_drdy_acc(dev, &drdy_trigger); } if ((status.gda) && (lsm6dso->handler_drdy_gyr != NULL)) { lsm6dso->handler_drdy_gyr(dev, &drdy_trigger); } #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) if ((status.tda) && (lsm6dso->handler_drdy_temp != NULL)) { lsm6dso->handler_drdy_temp(dev, &drdy_trigger); } #endif } gpio_pin_interrupt_configure(lsm6dso->gpio, cfg->int_gpio_pin, GPIO_INT_EDGE_TO_ACTIVE); } static void lsm6dso_gpio_callback(struct device *dev, struct gpio_callback *cb, u32_t pins) { struct lsm6dso_data *lsm6dso = CONTAINER_OF(cb, struct lsm6dso_data, gpio_cb); const struct lsm6dso_config *cfg = dev->config->config_info; ARG_UNUSED(pins); gpio_pin_interrupt_configure(lsm6dso->gpio, cfg->int_gpio_pin, GPIO_INT_DISABLE); #if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD) k_sem_give(&lsm6dso->gpio_sem); #elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD) k_work_submit(&lsm6dso->work); #endif /* CONFIG_LSM6DSO_TRIGGER_OWN_THREAD */ } #ifdef CONFIG_LSM6DSO_TRIGGER_OWN_THREAD static void lsm6dso_thread(int dev_ptr, int unused) { struct device *dev = INT_TO_POINTER(dev_ptr); struct lsm6dso_data *lsm6dso = dev->driver_data; ARG_UNUSED(unused); while (1) { k_sem_take(&lsm6dso->gpio_sem, K_FOREVER); lsm6dso_handle_interrupt(dev); } } #endif /* CONFIG_LSM6DSO_TRIGGER_OWN_THREAD */ #ifdef CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD static void lsm6dso_work_cb(struct k_work *work) { struct lsm6dso_data *lsm6dso = CONTAINER_OF(work, struct lsm6dso_data, work); lsm6dso_handle_interrupt(lsm6dso->dev); } #endif /* CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD */ int lsm6dso_init_interrupt(struct device *dev) { struct lsm6dso_data *lsm6dso = dev->driver_data; const struct lsm6dso_config *cfg = dev->config->config_info; int ret; /* setup data ready gpio interrupt (INT1 or INT2) */ lsm6dso->gpio = device_get_binding(cfg->int_gpio_port); if (lsm6dso->gpio == NULL) { LOG_DBG("Cannot get pointer to %s device", cfg->int_gpio_port); return -EINVAL; } #if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD) k_sem_init(&lsm6dso->gpio_sem, 0, UINT_MAX); k_thread_create(&lsm6dso->thread, lsm6dso->thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE, (k_thread_entry_t)lsm6dso_thread, dev, 0, NULL, K_PRIO_COOP(CONFIG_LSM6DSO_THREAD_PRIORITY), 0, K_NO_WAIT); #elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD) lsm6dso->work.handler = lsm6dso_work_cb; lsm6dso->dev = dev; #endif /* CONFIG_LSM6DSO_TRIGGER_OWN_THREAD */ ret = gpio_pin_configure(lsm6dso->gpio, cfg->int_gpio_pin, GPIO_INPUT | cfg->int_gpio_flags); if (ret < 0) { LOG_DBG("Could not configure gpio"); return ret; } gpio_init_callback(&lsm6dso->gpio_cb, lsm6dso_gpio_callback, BIT(cfg->int_gpio_pin)); if (gpio_add_callback(lsm6dso->gpio, &lsm6dso->gpio_cb) < 0) { LOG_DBG("Could not set gpio callback"); return -EIO; } /* enable interrupt on int1/int2 in pulse mode */ if (lsm6dso_int_notification_set(lsm6dso->ctx, LSM6DSO_ALL_INT_PULSED) < 0) { LOG_DBG("Could not set pulse mode"); return -EIO; } return gpio_pin_interrupt_configure(lsm6dso->gpio, cfg->int_gpio_pin, GPIO_INT_EDGE_TO_ACTIVE); } |