/*
* Copyright (c) 2021, Nordic Semiconductor ASA
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/sys/util.h>
#include <zephyr/logging/log.h>
#include "mpu9250.h"
LOG_MODULE_DECLARE(MPU9250, CONFIG_SENSOR_LOG_LEVEL);
#define MPU9250_REG_INT_EN 0x38
#define MPU9250_DRDY_EN BIT(0)
int mpu9250_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct mpu9250_data *drv_data = dev->data;
const struct mpu9250_config *cfg = dev->config;
int ret;
if (trig->type != SENSOR_TRIG_DATA_READY) {
return -ENOTSUP;
}
ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);
if (ret < 0) {
LOG_ERR("Failed to disable gpio interrupt.");
return ret;
}
drv_data->data_ready_handler = handler;
if (handler == NULL) {
return 0;
}
drv_data->data_ready_trigger = *trig;
ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret < 0) {
LOG_ERR("Failed to enable gpio interrupt.");
return ret;
}
return 0;
}
static void mpu9250_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct mpu9250_data *drv_data =
CONTAINER_OF(cb, struct mpu9250_data, gpio_cb);
const struct mpu9250_config *cfg = drv_data->dev->config;
int ret;
ARG_UNUSED(pins);
ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin, GPIO_INT_DISABLE);
if (ret < 0) {
LOG_ERR("Disabling gpio interrupt failed with err: %d", ret);
return;
}
#if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD)
k_sem_give(&drv_data->gpio_sem);
#elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD)
k_work_submit(&drv_data->work);
#endif
}
static void mpu9250_thread_cb(const struct device *dev)
{
struct mpu9250_data *drv_data = dev->data;
const struct mpu9250_config *cfg = dev->config;
int ret;
if (drv_data->data_ready_handler != NULL) {
drv_data->data_ready_handler(dev,
&drv_data->data_ready_trigger);
}
ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret < 0) {
LOG_ERR("Enabling gpio interrupt failed with err: %d", ret);
}
}
#ifdef CONFIG_MPU9250_TRIGGER_OWN_THREAD
static void mpu9250_thread(struct mpu9250_data *drv_data)
{
while (1) {
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
mpu9250_thread_cb(drv_data->dev);
}
}
#endif
#ifdef CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD
static void mpu9250_work_cb(struct k_work *work)
{
struct mpu9250_data *drv_data =
CONTAINER_OF(work, struct mpu9250_data, work);
mpu9250_thread_cb(drv_data->dev);
}
#endif
int mpu9250_init_interrupt(const struct device *dev)
{
struct mpu9250_data *drv_data = dev->data;
const struct mpu9250_config *cfg = dev->config;
int ret;
/* setup data ready gpio interrupt */
if (!device_is_ready(cfg->int_pin.port)) {
LOG_ERR("Interrupt pin is not ready.");
return -EIO;
}
drv_data->dev = dev;
ret = gpio_pin_configure_dt(&cfg->int_pin, GPIO_INPUT);
if (ret < 0) {
LOG_ERR("Failed to configure interrupt pin.");
return ret;
}
gpio_init_callback(&drv_data->gpio_cb,
mpu9250_gpio_callback,
BIT(cfg->int_pin.pin));
ret = gpio_add_callback(cfg->int_pin.port, &drv_data->gpio_cb);
if (ret < 0) {
LOG_ERR("Failed to set gpio callback.");
return ret;
}
/* enable data ready interrupt */
ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_INT_EN,
MPU9250_DRDY_EN);
if (ret < 0) {
LOG_ERR("Failed to enable data ready interrupt.");
return ret;
}
#if defined(CONFIG_MPU9250_TRIGGER_OWN_THREAD)
ret = k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
if (ret < 0) {
LOG_ERR("Failed to enable semaphore");
return ret;
}
k_thread_create(&drv_data->thread, drv_data->thread_stack,
CONFIG_MPU9250_THREAD_STACK_SIZE,
(k_thread_entry_t)mpu9250_thread, drv_data,
NULL, NULL, K_PRIO_COOP(CONFIG_MPU9250_THREAD_PRIORITY),
0, K_NO_WAIT);
#elif defined(CONFIG_MPU9250_TRIGGER_GLOBAL_THREAD)
drv_data->work.handler = mpu9250_work_cb;
#endif
ret = gpio_pin_interrupt_configure_dt(&cfg->int_pin,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret < 0) {
LOG_ERR("Failed to enable interrupt");
return ret;
}
return 0;
}