335 lines
9.0 KiB
C
335 lines
9.0 KiB
C
/* ST Microelectronics IIS328DQ 3-axis accelerometer driver
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*
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* Copyright (c) 2020 STMicroelectronics
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* Copyright (c) 2024 SILA Embedded Solutions GmbH
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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/iis328dq.pdf
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*/
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#define DT_DRV_COMPAT st_iis328dq
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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 "iis328dq.h"
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LOG_MODULE_DECLARE(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL);
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static int iis328dq_set_int_pad_state(const struct device *dev, uint8_t pad, bool enable)
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{
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const struct iis328dq_config *cfg = dev->config;
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int state = enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE;
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if (pad == 1) {
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return gpio_pin_interrupt_configure_dt(&cfg->gpio_int1, state);
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} else if (pad == 2) {
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return gpio_pin_interrupt_configure_dt(&cfg->gpio_int2, state);
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} else {
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return -EINVAL;
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}
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}
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/**
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* iis328dq_enable_int - enable selected int pin to generate interrupt
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*/
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static int iis328dq_enable_int(const struct device *dev, const struct sensor_trigger *trig,
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int enable)
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{
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const struct iis328dq_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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switch (trig->type) {
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case SENSOR_TRIG_DATA_READY:
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if (cfg->drdy_pad == 1) {
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/* route DRDY to PAD1 */
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if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_DRDY) != 0) {
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return -EIO;
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}
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} else if (cfg->drdy_pad == 2) {
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/* route DRDY to PAD2 */
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if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_DRDY) != 0) {
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return -EIO;
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}
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} else {
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LOG_ERR("No interrupt pin configured for DRDY in devicetree");
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return -ENOTSUP;
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}
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return iis328dq_set_int_pad_state(dev, cfg->drdy_pad, enable);
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#ifdef CONFIG_IIS328DQ_THRESHOLD
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case SENSOR_TRIG_THRESHOLD: {
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/* set up internal INT1 for lower thresholds */
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int1_on_th_conf_t int1_conf = {0};
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switch (trig->chan) {
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case SENSOR_CHAN_ACCEL_X:
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int1_conf.int1_xlie = 1;
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break;
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case SENSOR_CHAN_ACCEL_Y:
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int1_conf.int1_ylie = 1;
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break;
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case SENSOR_CHAN_ACCEL_Z:
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int1_conf.int1_zlie = 1;
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break;
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case SENSOR_CHAN_ACCEL_XYZ:
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int1_conf.int1_xlie = 1;
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int1_conf.int1_ylie = 1;
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int1_conf.int1_zlie = 1;
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break;
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default:
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LOG_ERR("Invalid sensor channel %d", trig->chan);
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return -EINVAL;
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}
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if (iis328dq_int1_on_threshold_conf_set(ctx, int1_conf) != 0) {
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return -EIO;
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}
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/* set up internal INT2 for uppper thresholds */
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int2_on_th_conf_t int2_conf = {0};
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int2_conf.int2_xhie = int1_conf.int1_xlie;
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int2_conf.int2_yhie = int1_conf.int1_ylie;
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int2_conf.int2_zhie = int1_conf.int1_zlie;
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if (iis328dq_int2_on_threshold_conf_set(ctx, int2_conf) != 0) {
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return -EIO;
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}
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if (cfg->threshold_pad == 1) {
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/* route both internal interrupts to PAD1 */
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if (iis328dq_pin_int1_route_set(ctx, IIS328DQ_PAD1_INT1_OR_INT2_SRC) != 0) {
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return -EIO;
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}
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} else if (cfg->threshold_pad == 2) {
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/* route both internal interrupts to PAD2 */
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if (iis328dq_pin_int2_route_set(ctx, IIS328DQ_PAD2_INT1_OR_INT2_SRC) != 0) {
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return -EIO;
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}
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} else {
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LOG_ERR("No interrupt pin configured for DRDY in devicetree");
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return -ENOTSUP;
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}
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return iis328dq_set_int_pad_state(dev, cfg->threshold_pad, enable);
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}
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#endif /* CONFIG_IIS328DQ_THRESHOLD */
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default:
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LOG_ERR("Unsupported trigger interrupt route %d", trig->type);
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return -ENOTSUP;
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}
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return 0;
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}
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/**
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* iis328dq_trigger_set - link external trigger to event data ready
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*/
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int iis328dq_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler)
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{
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const struct iis328dq_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct iis328dq_data *iis328dq = dev->data;
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int16_t raw[3];
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int state = (handler != NULL) ? PROPERTY_ENABLE : PROPERTY_DISABLE;
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if (!cfg->gpio_int1.port && !cfg->gpio_int2.port) {
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/* no interrupts configured */
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return -ENOTSUP;
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}
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switch (trig->type) {
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case SENSOR_TRIG_DATA_READY:
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iis328dq->drdy_handler = handler;
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iis328dq->drdy_trig = trig;
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if (state) {
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/* dummy read: re-trigger interrupt */
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iis328dq_acceleration_raw_get(ctx, raw);
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}
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break;
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#ifdef CONFIG_IIS328DQ_THRESHOLD
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case SENSOR_TRIG_THRESHOLD:
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iis328dq->threshold_handler = handler;
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iis328dq->threshold_trig = trig;
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break;
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#endif /* CONFIG_IIS328DQ_THRESHOLD */
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default:
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LOG_ERR("Unsupported sensor trigger");
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return -ENOTSUP;
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}
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return iis328dq_enable_int(dev, trig, state);
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}
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/**
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* iis328dq_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 iis328dq_handle_interrupt(const struct device *dev)
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{
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const struct iis328dq_config *cfg = dev->config;
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struct iis328dq_data *data = dev->data;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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iis328dq_status_reg_t status;
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#ifdef CONFIG_IIS328DQ_THRESHOLD
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iis328dq_int1_src_t sources1;
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iis328dq_int2_src_t sources2;
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#endif
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iis328dq_status_reg_get(ctx, &status);
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if (status.zyxda) {
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if (data->drdy_handler) {
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data->drdy_handler(dev, data->drdy_trig);
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}
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iis328dq_set_int_pad_state(dev, cfg->drdy_pad, true);
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}
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#ifdef CONFIG_IIS328DQ_THRESHOLD
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iis328dq_int1_src_get(ctx, &sources1);
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iis328dq_int2_src_get(ctx, &sources2);
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if (sources1.ia || sources2.ia) {
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if (data->threshold_handler) {
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data->threshold_handler(dev, data->threshold_trig);
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}
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iis328dq_set_int_pad_state(dev, cfg->threshold_pad, true);
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}
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#endif /* CONFIG_IIS328DQ_THRESHOLD */
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}
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static void iis328dq_int1_gpio_callback(const struct device *dev, struct gpio_callback *cb,
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uint32_t pins)
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{
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struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int1_cb);
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ARG_UNUSED(pins);
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iis328dq_set_int_pad_state(iis328dq->dev, 1, true);
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#if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
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k_sem_give(&iis328dq->gpio_sem);
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#elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&iis328dq->work);
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#endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
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}
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static void iis328dq_int2_gpio_callback(const struct device *dev, struct gpio_callback *cb,
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uint32_t pins)
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{
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struct iis328dq_data *iis328dq = CONTAINER_OF(cb, struct iis328dq_data, int2_cb);
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ARG_UNUSED(pins);
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iis328dq_set_int_pad_state(iis328dq->dev, 2, true);
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#if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
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k_sem_give(&iis328dq->gpio_sem);
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#elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&iis328dq->work);
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#endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
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}
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#ifdef CONFIG_IIS328DQ_TRIGGER_OWN_THREAD
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static void iis328dq_thread(void *p1, void *p2, void *p3)
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{
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ARG_UNUSED(p2);
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ARG_UNUSED(p3);
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struct iis328dq_data *iis328dq = p1;
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while (1) {
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k_sem_take(&iis328dq->gpio_sem, K_FOREVER);
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iis328dq_handle_interrupt(iis328dq->dev);
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}
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}
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#endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
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#ifdef CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD
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static void iis328dq_work_cb(struct k_work *work)
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{
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struct iis328dq_data *iis328dq = CONTAINER_OF(work, struct iis328dq_data, work);
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iis328dq_handle_interrupt(iis328dq->dev);
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}
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#endif /* CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD */
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int iis328dq_init_interrupt(const struct device *dev)
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{
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struct iis328dq_data *iis328dq = dev->data;
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const struct iis328dq_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 (!cfg->gpio_int1.port && !cfg->gpio_int2.port) {
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/* no interrupts configured, nothing to do */
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return 0;
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}
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/* setup data ready gpio interrupt (INT1 and INT2) */
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if (cfg->gpio_int1.port) {
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if (!gpio_is_ready_dt(&cfg->gpio_int1)) {
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LOG_ERR("INT_1 pin is not ready");
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return -EINVAL;
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}
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}
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if (cfg->gpio_int2.port) {
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if (!gpio_is_ready_dt(&cfg->gpio_int2)) {
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LOG_ERR("INT_2 pin is not ready");
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return -EINVAL;
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}
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}
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#if defined(CONFIG_IIS328DQ_TRIGGER_OWN_THREAD)
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k_sem_init(&iis328dq->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&iis328dq->thread, iis328dq->thread_stack,
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CONFIG_IIS328DQ_THREAD_STACK_SIZE, iis328dq_thread, iis328dq, NULL, NULL,
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K_PRIO_COOP(CONFIG_IIS328DQ_THREAD_PRIORITY), 0, K_NO_WAIT);
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#elif defined(CONFIG_IIS328DQ_TRIGGER_GLOBAL_THREAD)
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iis328dq->work.handler = iis328dq_work_cb;
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#endif /* CONFIG_IIS328DQ_TRIGGER_OWN_THREAD */
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if (cfg->gpio_int1.port) {
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ret = gpio_pin_configure_dt(&cfg->gpio_int1, GPIO_INPUT);
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if (ret < 0) {
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LOG_ERR("Could not configure INT_1 gpio");
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return ret;
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}
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gpio_init_callback(&iis328dq->int1_cb, iis328dq_int1_gpio_callback,
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BIT(cfg->gpio_int1.pin));
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if (gpio_add_callback(cfg->gpio_int1.port, &iis328dq->int1_cb) < 0) {
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LOG_ERR("Could not set INT1 callback");
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return -EIO;
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}
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}
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if (cfg->gpio_int2.port) {
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ret = gpio_pin_configure_dt(&cfg->gpio_int2, GPIO_INPUT);
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if (ret < 0) {
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LOG_ERR("Could not configure INT_2 gpio");
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return ret;
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}
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gpio_init_callback(&iis328dq->int2_cb, iis328dq_int2_gpio_callback,
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BIT(cfg->gpio_int2.pin));
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if (gpio_add_callback(cfg->gpio_int2.port, &iis328dq->int2_cb) < 0) {
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LOG_ERR("Could not set INT2 callback");
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return -EIO;
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}
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}
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if (iis328dq_int1_notification_set(ctx, IIS328DQ_INT1_PULSED) != 0) {
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return -EIO;
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}
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if (iis328dq_int2_notification_set(ctx, IIS328DQ_INT2_PULSED) != 0) {
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return -EIO;
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}
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return 0;
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}
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