146 lines
3.5 KiB
C
146 lines
3.5 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/logging/log.h>
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#include "mpu6050.h"
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LOG_MODULE_DECLARE(MPU6050, CONFIG_SENSOR_LOG_LEVEL);
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int mpu6050_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler)
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{
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struct mpu6050_data *drv_data = dev->data;
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const struct mpu6050_config *cfg = dev->config;
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if (!cfg->int_gpio.port) {
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return -ENOTSUP;
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}
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if (trig->type != SENSOR_TRIG_DATA_READY) {
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return -ENOTSUP;
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}
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gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE);
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drv_data->data_ready_handler = handler;
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if (handler == NULL) {
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return 0;
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}
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drv_data->data_ready_trigger = trig;
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gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
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GPIO_INT_EDGE_TO_ACTIVE);
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return 0;
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}
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static void mpu6050_gpio_callback(const struct device *dev,
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struct gpio_callback *cb, uint32_t pins)
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{
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struct mpu6050_data *drv_data =
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CONTAINER_OF(cb, struct mpu6050_data, gpio_cb);
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const struct mpu6050_config *cfg = drv_data->dev->config;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE);
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
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k_sem_give(&drv_data->gpio_sem);
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&drv_data->work);
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#endif
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}
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static void mpu6050_thread_cb(const struct device *dev)
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{
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struct mpu6050_data *drv_data = dev->data;
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const struct mpu6050_config *cfg = dev->config;
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if (drv_data->data_ready_handler != NULL) {
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drv_data->data_ready_handler(dev,
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drv_data->data_ready_trigger);
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}
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gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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#ifdef CONFIG_MPU6050_TRIGGER_OWN_THREAD
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static void mpu6050_thread(struct mpu6050_data *drv_data)
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{
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while (1) {
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k_sem_take(&drv_data->gpio_sem, K_FOREVER);
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mpu6050_thread_cb(drv_data->dev);
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}
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}
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#endif
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#ifdef CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD
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static void mpu6050_work_cb(struct k_work *work)
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{
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struct mpu6050_data *drv_data =
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CONTAINER_OF(work, struct mpu6050_data, work);
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mpu6050_thread_cb(drv_data->dev);
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}
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#endif
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int mpu6050_init_interrupt(const struct device *dev)
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{
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struct mpu6050_data *drv_data = dev->data;
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const struct mpu6050_config *cfg = dev->config;
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if (!gpio_is_ready_dt(&cfg->int_gpio)) {
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LOG_ERR("GPIO device not ready");
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return -ENODEV;
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}
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drv_data->dev = dev;
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gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT);
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gpio_init_callback(&drv_data->gpio_cb,
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mpu6050_gpio_callback,
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BIT(cfg->int_gpio.pin));
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if (gpio_add_callback(cfg->int_gpio.port, &drv_data->gpio_cb) < 0) {
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LOG_ERR("Failed to set gpio callback");
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return -EIO;
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}
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/* enable data ready interrupt */
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if (i2c_reg_write_byte_dt(&cfg->i2c, MPU6050_REG_INT_EN,
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MPU6050_DRDY_EN) < 0) {
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LOG_ERR("Failed to enable data ready interrupt.");
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return -EIO;
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}
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD)
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k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&drv_data->thread, drv_data->thread_stack,
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CONFIG_MPU6050_THREAD_STACK_SIZE,
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(k_thread_entry_t)mpu6050_thread, drv_data,
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NULL, NULL, K_PRIO_COOP(CONFIG_MPU6050_THREAD_PRIORITY),
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0, K_NO_WAIT);
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD)
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drv_data->work.handler = mpu6050_work_cb;
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#endif
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gpio_pin_interrupt_configure_dt(&cfg->int_gpio,
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GPIO_INT_EDGE_TO_ACTIVE);
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return 0;
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}
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