334 lines
8.5 KiB
C
334 lines
8.5 KiB
C
/* ST Microelectronics LSM6DSO16IS 6-axis IMU sensor driver
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*
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* Copyright (c) 2023 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Datasheet:
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* https://www.st.com/resource/en/datasheet/lsm6dso16is.pdf
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*/
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#define DT_DRV_COMPAT st_lsm6dso16is
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/logging/log.h>
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#include "lsm6dso16is.h"
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LOG_MODULE_DECLARE(LSM6DSO16IS, CONFIG_SENSOR_LOG_LEVEL);
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#if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
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/**
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* lsm6dso16is_enable_t_int - TEMP enable selected int pin to generate interrupt
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*/
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static int lsm6dso16is_enable_t_int(const struct device *dev, int enable)
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{
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const struct lsm6dso16is_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lsm6dso16is_pin_int2_route_t val;
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int ret;
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if (enable) {
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int16_t buf;
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/* dummy read: re-trigger interrupt */
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lsm6dso16is_temperature_raw_get(ctx, &buf);
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}
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/* set interrupt (TEMP DRDY interrupt is only on INT2) */
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if (cfg->drdy_pin == 1) {
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return -EIO;
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}
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ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int2_route_get error");
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return ret;
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}
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val.drdy_temp = 1;
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return lsm6dso16is_pin_int2_route_set(ctx, val);
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}
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#endif
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/**
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* lsm6dso16is_enable_xl_int - XL enable selected int pin to generate interrupt
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*/
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static int lsm6dso16is_enable_xl_int(const struct device *dev, int enable)
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{
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const struct lsm6dso16is_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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if (enable) {
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int16_t buf[3];
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/* dummy read: re-trigger interrupt */
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lsm6dso16is_acceleration_raw_get(ctx, buf);
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}
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/* set interrupt */
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if (cfg->drdy_pin == 1) {
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lsm6dso16is_pin_int1_route_t val;
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ret = lsm6dso16is_pin_int1_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int1_route_get error");
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return ret;
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}
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val.drdy_xl = 1;
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ret = lsm6dso16is_pin_int1_route_set(ctx, val);
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} else {
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lsm6dso16is_pin_int2_route_t val;
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ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int2_route_get error");
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return ret;
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}
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val.drdy_xl = 1;
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ret = lsm6dso16is_pin_int2_route_set(ctx, val);
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}
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return ret;
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}
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/**
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* lsm6dso16is_enable_g_int - Gyro enable selected int pin to generate interrupt
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*/
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static int lsm6dso16is_enable_g_int(const struct device *dev, int enable)
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{
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const struct lsm6dso16is_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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if (enable) {
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int16_t buf[3];
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/* dummy read: re-trigger interrupt */
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lsm6dso16is_angular_rate_raw_get(ctx, buf);
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}
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/* set interrupt */
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if (cfg->drdy_pin == 1) {
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lsm6dso16is_pin_int1_route_t val;
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ret = lsm6dso16is_pin_int1_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int1_route_get error");
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return ret;
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}
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val.drdy_gy = 1;
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ret = lsm6dso16is_pin_int1_route_set(ctx, val);
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} else {
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lsm6dso16is_pin_int2_route_t val;
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ret = lsm6dso16is_pin_int2_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int2_route_get error");
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return ret;
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}
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val.drdy_gy = 1;
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ret = lsm6dso16is_pin_int2_route_set(ctx, val);
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}
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return ret;
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}
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/**
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* lsm6dso16is_trigger_set - link external trigger to event data ready
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*/
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int lsm6dso16is_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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const struct lsm6dso16is_config *cfg = dev->config;
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struct lsm6dso16is_data *lsm6dso16is = dev->data;
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if (!cfg->trig_enabled) {
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LOG_ERR("trigger_set op not supported");
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return -ENOTSUP;
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}
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if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
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lsm6dso16is->handler_drdy_acc = handler;
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lsm6dso16is->trig_drdy_acc = trig;
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if (handler) {
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return lsm6dso16is_enable_xl_int(dev, LSM6DSO16IS_EN_BIT);
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} else {
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return lsm6dso16is_enable_xl_int(dev, LSM6DSO16IS_DIS_BIT);
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}
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} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
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lsm6dso16is->handler_drdy_gyr = handler;
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lsm6dso16is->trig_drdy_gyr = trig;
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if (handler) {
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return lsm6dso16is_enable_g_int(dev, LSM6DSO16IS_EN_BIT);
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} else {
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return lsm6dso16is_enable_g_int(dev, LSM6DSO16IS_DIS_BIT);
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}
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}
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#if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
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else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
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lsm6dso16is->handler_drdy_temp = handler;
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lsm6dso16is->trig_drdy_temp = trig;
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if (handler) {
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return lsm6dso16is_enable_t_int(dev, LSM6DSO16IS_EN_BIT);
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} else {
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return lsm6dso16is_enable_t_int(dev, LSM6DSO16IS_DIS_BIT);
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}
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}
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#endif
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return -ENOTSUP;
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}
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/**
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* lsm6dso16is_handle_interrupt - handle the drdy event
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* read data and call handler if registered any
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*/
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static void lsm6dso16is_handle_interrupt(const struct device *dev)
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{
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struct lsm6dso16is_data *lsm6dso16is = dev->data;
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const struct lsm6dso16is_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lsm6dso16is_status_reg_t status;
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while (1) {
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if (lsm6dso16is_status_reg_get(ctx, &status) < 0) {
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LOG_DBG("failed reading status reg");
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return;
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}
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if ((status.xlda == 0) && (status.gda == 0)
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#if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
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&& (status.tda == 0)
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#endif
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) {
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break;
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}
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if ((status.xlda) && (lsm6dso16is->handler_drdy_acc != NULL)) {
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lsm6dso16is->handler_drdy_acc(dev, lsm6dso16is->trig_drdy_acc);
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}
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if ((status.gda) && (lsm6dso16is->handler_drdy_gyr != NULL)) {
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lsm6dso16is->handler_drdy_gyr(dev, lsm6dso16is->trig_drdy_gyr);
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}
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#if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP)
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if ((status.tda) && (lsm6dso16is->handler_drdy_temp != NULL)) {
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lsm6dso16is->handler_drdy_temp(dev, lsm6dso16is->trig_drdy_temp);
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}
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#endif
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}
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gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void lsm6dso16is_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 lsm6dso16is_data *lsm6dso16is =
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CONTAINER_OF(cb, struct lsm6dso16is_data, gpio_cb);
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const struct lsm6dso16is_config *cfg = lsm6dso16is->dev->config;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);
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#if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD)
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k_sem_give(&lsm6dso16is->gpio_sem);
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#elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&lsm6dso16is->work);
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#endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
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}
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#ifdef CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD
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static void lsm6dso16is_thread(struct lsm6dso16is_data *lsm6dso16is)
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{
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while (1) {
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k_sem_take(&lsm6dso16is->gpio_sem, K_FOREVER);
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lsm6dso16is_handle_interrupt(lsm6dso16is->dev);
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}
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}
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#endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
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#ifdef CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD
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static void lsm6dso16is_work_cb(struct k_work *work)
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{
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struct lsm6dso16is_data *lsm6dso16is =
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CONTAINER_OF(work, struct lsm6dso16is_data, work);
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lsm6dso16is_handle_interrupt(lsm6dso16is->dev);
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}
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#endif /* CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD */
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int lsm6dso16is_init_interrupt(const struct device *dev)
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{
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struct lsm6dso16is_data *lsm6dso16is = dev->data;
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const struct lsm6dso16is_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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/* setup data ready gpio interrupt (INT1 or INT2) */
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if (!gpio_is_ready_dt(&cfg->gpio_drdy)) {
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LOG_ERR("Cannot get pointer to drdy_gpio device");
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return -EINVAL;
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}
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#if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD)
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k_sem_init(&lsm6dso16is->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&lsm6dso16is->thread, lsm6dso16is->thread_stack,
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CONFIG_LSM6DSO16IS_THREAD_STACK_SIZE,
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(k_thread_entry_t)lsm6dso16is_thread, lsm6dso16is,
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NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSO16IS_THREAD_PRIORITY),
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0, K_NO_WAIT);
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k_thread_name_set(&lsm6dso16is->thread, "lsm6dso16is");
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#elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD)
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lsm6dso16is->work.handler = lsm6dso16is_work_cb;
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#endif /* CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD */
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ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
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if (ret < 0) {
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LOG_DBG("Could not configure gpio");
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return ret;
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}
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gpio_init_callback(&lsm6dso16is->gpio_cb,
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lsm6dso16is_gpio_callback,
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BIT(cfg->gpio_drdy.pin));
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if (gpio_add_callback(cfg->gpio_drdy.port, &lsm6dso16is->gpio_cb) < 0) {
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LOG_DBG("Could not set gpio callback");
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return -EIO;
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}
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/* set data ready mode on int1/int2 */
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LOG_DBG("drdy_pulsed is %d", (int)cfg->drdy_pulsed);
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lsm6dso16is_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSO16IS_DRDY_PULSED :
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LSM6DSO16IS_DRDY_LATCHED;
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ret = lsm6dso16is_data_ready_mode_set(ctx, mode);
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if (ret < 0) {
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LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
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return ret;
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}
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return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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