/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <drivers/sensor.h>
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <drivers/i2c.h>
#include <sys/byteorder.h>
#include <sys/__assert.h>
#include <logging/log.h>
#include <drivers/gpio.h>
#include "lsm9ds0_gyro.h"
extern struct lsm9ds0_gyro_data lsm9ds0_gyro_data;
LOG_MODULE_DECLARE(LSM9DS0_GYRO, CONFIG_SENSOR_LOG_LEVEL);
static inline void setup_drdy(struct device *dev,
bool enable)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *cfg = dev->config->config_info;
gpio_pin_interrupt_configure(data->gpio_drdy,
cfg->gpio_drdy_int_pin,
enable
? GPIO_INT_EDGE_TO_ACTIVE
: GPIO_INT_DISABLE);
}
int lsm9ds0_gyro_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config * const config =
dev->config->config_info;
u8_t state;
if (trig->type == SENSOR_TRIG_DATA_READY) {
setup_drdy(dev, false);
state = 0U;
if (handler) {
state = 1U;
}
data->handler_drdy = handler;
data->trigger_drdy = *trig;
if (i2c_reg_update_byte(data->i2c_master,
config->i2c_slave_addr,
LSM9DS0_GYRO_REG_CTRL_REG3_G,
LSM9DS0_GYRO_MASK_CTRL_REG3_G_I2_DRDY,
state << LSM9DS0_GYRO_SHIFT_CTRL_REG3_G_I2_DRDY)
< 0) {
LOG_DBG("failed to set DRDY interrupt");
return -EIO;
}
setup_drdy(dev, true);
return 0;
}
return -ENOTSUP;
}
static void lsm9ds0_gyro_gpio_drdy_callback(struct device *dev,
struct gpio_callback *cb, u32_t pins)
{
struct lsm9ds0_gyro_data *data =
CONTAINER_OF(cb, struct lsm9ds0_gyro_data, gpio_cb);
setup_drdy(data->dev, false);
k_sem_give(&data->sem);
}
static void lsm9ds0_gyro_thread_main(void *arg1, void *arg2, void *arg3)
{
struct device *dev = (struct device *) arg1;
struct lsm9ds0_gyro_data *data = dev->driver_data;
while (1) {
k_sem_take(&data->sem, K_FOREVER);
if (data->handler_drdy) {
data->handler_drdy(dev, &data->trigger_drdy);
}
setup_drdy(dev, true);
}
}
int lsm9ds0_gyro_init_interrupt(struct device *dev)
{
const struct lsm9ds0_gyro_config * const config =
dev->config->config_info;
struct lsm9ds0_gyro_data *data = dev->driver_data;
k_sem_init(&data->sem, 0, UINT_MAX);
k_thread_create(&data->thread, data->thread_stack,
CONFIG_LSM9DS0_GYRO_THREAD_STACK_SIZE,
lsm9ds0_gyro_thread_main, dev, NULL, NULL,
K_PRIO_COOP(10), 0, K_NO_WAIT);
data->gpio_drdy = device_get_binding(config->gpio_drdy_dev_name);
if (!data->gpio_drdy) {
LOG_DBG("gpio controller %s not found",
config->gpio_drdy_dev_name);
return -EINVAL;
}
gpio_pin_configure(data->gpio_drdy, config->gpio_drdy_int_pin,
GPIO_INPUT | config->gpio_drdy_int_flags);
gpio_init_callback(&data->gpio_cb,
lsm9ds0_gyro_gpio_drdy_callback,
BIT(config->gpio_drdy_int_pin));
if (gpio_add_callback(data->gpio_drdy, &data->gpio_cb) < 0) {
LOG_DBG("failed to set gpio callback");
return -EINVAL;
}
return 0;
}