/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/device.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/sys/util.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/logging/log.h>
#include "mpu6050.h"
LOG_MODULE_DECLARE(MPU6050, CONFIG_SENSOR_LOG_LEVEL);
int mpu6050_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct mpu6050_data *drv_data = dev->data;
const struct mpu6050_config *cfg = dev->config;
if (trig->type != SENSOR_TRIG_DATA_READY) {
return -ENOTSUP;
}
gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
GPIO_INT_DISABLE);
drv_data->data_ready_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->data_ready_trigger = *trig;
gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
return 0;
}
static void mpu6050_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct mpu6050_data *drv_data =
CONTAINER_OF(cb, struct mpu6050_data, gpio_cb);
const struct mpu6050_config *cfg = drv_data->dev->config;
ARG_UNUSED(pins);
gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
GPIO_INT_DISABLE);
#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
k_work_submit(&drv_data->work);
#endif
}
static void mpu6050_thread_cb(const struct device *dev)
{
struct mpu6050_data *drv_data = dev->data;
const struct mpu6050_config *cfg = dev->config;
if (drv_data->data_ready_handler != NULL) {
drv_data->data_ready_handler(dev,
&drv_data->data_ready_trigger);
}
gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
}
#ifdef CONFIG_MPU6050_TRIGGER_OWN_THREAD
static void mpu6050_thread(struct mpu6050_data *drv_data)
{
while (1) {
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
mpu6050_thread_cb(drv_data->dev);
}
}
#endif
#ifdef CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD
static void mpu6050_work_cb(struct k_work *work)
{
struct mpu6050_data *drv_data =
CONTAINER_OF(work, struct mpu6050_data, work);
mpu6050_thread_cb(drv_data->dev);
}
#endif
int mpu6050_init_interrupt(const struct device *dev)
{
struct mpu6050_data *drv_data = dev->data;
const struct mpu6050_config *cfg = dev->config;
/* setup data ready gpio interrupt */
drv_data->gpio = device_get_binding(cfg->int_label);
if (drv_data->gpio == NULL) {
LOG_ERR("Failed to get pointer to %s device",
cfg->int_label);
return -EINVAL;
}
drv_data->dev = dev;
gpio_pin_configure(drv_data->gpio, cfg->int_pin,
GPIO_INPUT | cfg->int_flags);
gpio_init_callback(&drv_data->gpio_cb,
mpu6050_gpio_callback,
BIT(cfg->int_pin));
if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) {
LOG_ERR("Failed to set gpio callback");
return -EIO;
}
/* enable data ready interrupt */
if (i2c_reg_write_byte(drv_data->i2c, cfg->i2c_addr,
MPU6050_REG_INT_EN, MPU6050_DRDY_EN) < 0) {
LOG_ERR("Failed to enable data ready interrupt.");
return -EIO;
}
#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
k_thread_create(&drv_data->thread, drv_data->thread_stack,
CONFIG_MPU6050_THREAD_STACK_SIZE,
(k_thread_entry_t)mpu6050_thread, drv_data,
NULL, NULL, K_PRIO_COOP(CONFIG_MPU6050_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
drv_data->work.handler = mpu6050_work_cb;
#endif
gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
return 0;
}