303 lines
8.6 KiB
C
303 lines
8.6 KiB
C
/* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver
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*
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* Copyright (c) 2020 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/ism330dhcx.pdf
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*/
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#define DT_DRV_COMPAT st_ism330dhcx
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include <drivers/gpio.h>
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#include <logging/log.h>
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#include "ism330dhcx.h"
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LOG_MODULE_DECLARE(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL);
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#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
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/**
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* ism330dhcx_enable_t_int - TEMP enable selected int pin to generate interrupt
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*/
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static int ism330dhcx_enable_t_int(struct device *dev, int enable)
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{
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const struct ism330dhcx_config *cfg = dev->config_info;
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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ism330dhcx_pin_int2_route_t int2_route;
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if (enable) {
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union axis1bit16_t buf;
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/* dummy read: re-trigger interrupt */
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ism330dhcx_temperature_raw_get(ism330dhcx->ctx, buf.u8bit);
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}
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/* set interrupt (TEMP DRDY interrupt is only on INT2) */
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if (cfg->int_pin == 1)
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return -EIO;
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ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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int2_route.int2_ctrl.int2_drdy_temp = enable;
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return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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}
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#endif
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/**
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* ism330dhcx_enable_xl_int - XL enable selected int pin to generate interrupt
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*/
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static int ism330dhcx_enable_xl_int(struct device *dev, int enable)
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{
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const struct ism330dhcx_config *cfg = dev->config_info;
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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if (enable) {
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union axis3bit16_t buf;
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/* dummy read: re-trigger interrupt */
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ism330dhcx_acceleration_raw_get(ism330dhcx->ctx, buf.u8bit);
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}
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/* set interrupt */
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if (cfg->int_pin == 1) {
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ism330dhcx_pin_int1_route_t int1_route;
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ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
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(uint8_t *)&int1_route.int1_ctrl, 1);
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int1_route.int1_ctrl.int1_drdy_xl = enable;
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return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
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(uint8_t *)&int1_route.int1_ctrl, 1);
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} else {
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ism330dhcx_pin_int2_route_t int2_route;
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ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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int2_route.int2_ctrl.int2_drdy_xl = enable;
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return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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}
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}
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/**
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* ism330dhcx_enable_g_int - Gyro enable selected int pin to generate interrupt
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*/
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static int ism330dhcx_enable_g_int(struct device *dev, int enable)
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{
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const struct ism330dhcx_config *cfg = dev->config_info;
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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if (enable) {
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union axis3bit16_t buf;
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/* dummy read: re-trigger interrupt */
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ism330dhcx_angular_rate_raw_get(ism330dhcx->ctx, buf.u8bit);
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}
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/* set interrupt */
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if (cfg->int_pin == 1) {
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ism330dhcx_pin_int1_route_t int1_route;
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ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
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(uint8_t *)&int1_route.int1_ctrl, 1);
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int1_route.int1_ctrl.int1_drdy_g = enable;
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return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT1_CTRL,
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(uint8_t *)&int1_route.int1_ctrl, 1);
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} else {
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ism330dhcx_pin_int2_route_t int2_route;
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ism330dhcx_read_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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int2_route.int2_ctrl.int2_drdy_g = enable;
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return ism330dhcx_write_reg(ism330dhcx->ctx, ISM330DHCX_INT2_CTRL,
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(uint8_t *)&int2_route.int2_ctrl, 1);
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}
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}
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/**
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* ism330dhcx_trigger_set - link external trigger to event data ready
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*/
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int ism330dhcx_trigger_set(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 ism330dhcx_data *ism330dhcx = dev->driver_data;
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if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
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ism330dhcx->handler_drdy_acc = handler;
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if (handler) {
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return ism330dhcx_enable_xl_int(dev, ISM330DHCX_EN_BIT);
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} else {
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return ism330dhcx_enable_xl_int(dev, ISM330DHCX_DIS_BIT);
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}
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} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
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ism330dhcx->handler_drdy_gyr = handler;
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if (handler) {
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return ism330dhcx_enable_g_int(dev, ISM330DHCX_EN_BIT);
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} else {
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return ism330dhcx_enable_g_int(dev, ISM330DHCX_DIS_BIT);
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}
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}
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#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
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else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
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ism330dhcx->handler_drdy_temp = handler;
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if (handler) {
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return ism330dhcx_enable_t_int(dev, ISM330DHCX_EN_BIT);
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} else {
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return ism330dhcx_enable_t_int(dev, ISM330DHCX_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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* ism330dhcx_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 ism330dhcx_handle_interrupt(void *arg)
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{
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struct device *dev = arg;
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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struct sensor_trigger drdy_trigger = {
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.type = SENSOR_TRIG_DATA_READY,
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};
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const struct ism330dhcx_config *cfg = dev->config_info;
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ism330dhcx_status_reg_t status;
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while (1) {
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if (ism330dhcx_status_reg_get(ism330dhcx->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_ISM330DHCX_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) && (ism330dhcx->handler_drdy_acc != NULL)) {
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ism330dhcx->handler_drdy_acc(dev, &drdy_trigger);
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}
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if ((status.gda) && (ism330dhcx->handler_drdy_gyr != NULL)) {
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ism330dhcx->handler_drdy_gyr(dev, &drdy_trigger);
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}
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#if defined(CONFIG_ISM330DHCX_ENABLE_TEMP)
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if ((status.tda) && (ism330dhcx->handler_drdy_temp != NULL)) {
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ism330dhcx->handler_drdy_temp(dev, &drdy_trigger);
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}
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#endif
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}
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gpio_pin_interrupt_configure(ism330dhcx->gpio, cfg->int_gpio_pin,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void ism330dhcx_gpio_callback(struct device *dev,
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struct gpio_callback *cb, uint32_t pins)
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{
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struct ism330dhcx_data *ism330dhcx =
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CONTAINER_OF(cb, struct ism330dhcx_data, gpio_cb);
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const struct ism330dhcx_config *cfg = ism330dhcx->dev->config_info;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure(ism330dhcx->gpio, cfg->int_gpio_pin,
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GPIO_INT_DISABLE);
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#if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD)
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k_sem_give(&ism330dhcx->gpio_sem);
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#elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&ism330dhcx->work);
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#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
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}
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#ifdef CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD
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static void ism330dhcx_thread(int dev_ptr, int unused)
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{
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struct device *dev = INT_TO_POINTER(dev_ptr);
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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ARG_UNUSED(unused);
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while (1) {
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k_sem_take(&ism330dhcx->gpio_sem, K_FOREVER);
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ism330dhcx_handle_interrupt(dev);
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}
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}
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#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
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#ifdef CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD
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static void ism330dhcx_work_cb(struct k_work *work)
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{
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struct ism330dhcx_data *ism330dhcx =
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CONTAINER_OF(work, struct ism330dhcx_data, work);
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ism330dhcx_handle_interrupt(ism330dhcx->dev);
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}
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#endif /* CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD */
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int ism330dhcx_init_interrupt(struct device *dev)
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{
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struct ism330dhcx_data *ism330dhcx = dev->driver_data;
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const struct ism330dhcx_config *cfg = dev->config_info;
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int ret;
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/* setup data ready gpio interrupt (INT1 or INT2) */
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ism330dhcx->gpio = device_get_binding(cfg->int_gpio_port);
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if (ism330dhcx->gpio == NULL) {
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LOG_ERR("Cannot get pointer to %s device", cfg->int_gpio_port);
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return -EINVAL;
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}
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ism330dhcx->dev = dev;
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#if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD)
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k_sem_init(&ism330dhcx->gpio_sem, 0, UINT_MAX);
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k_thread_create(&ism330dhcx->thread, ism330dhcx->thread_stack,
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CONFIG_ISM330DHCX_THREAD_STACK_SIZE,
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(k_thread_entry_t)ism330dhcx_thread, dev,
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0, NULL, K_PRIO_COOP(CONFIG_ISM330DHCX_THREAD_PRIORITY),
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0, K_NO_WAIT);
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#elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD)
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ism330dhcx->work.handler = ism330dhcx_work_cb;
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#endif /* CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD */
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ret = gpio_pin_configure(ism330dhcx->gpio, cfg->int_gpio_pin,
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GPIO_INPUT | cfg->int_gpio_flags);
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if (ret < 0) {
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LOG_ERR("Could not configure gpio");
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return ret;
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}
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gpio_init_callback(&ism330dhcx->gpio_cb,
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ism330dhcx_gpio_callback,
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BIT(cfg->int_gpio_pin));
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if (gpio_add_callback(ism330dhcx->gpio, &ism330dhcx->gpio_cb) < 0) {
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LOG_ERR("Could not set gpio callback");
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return -EIO;
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}
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/* enable interrupt on int1/int2 in pulse mode */
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if (ism330dhcx_int_notification_set(ism330dhcx->ctx,
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ISM330DHCX_ALL_INT_PULSED) < 0) {
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LOG_ERR("Could not set pulse mode");
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return -EIO;
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}
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return gpio_pin_interrupt_configure(ism330dhcx->gpio, cfg->int_gpio_pin,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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