359 lines
9.0 KiB
C
359 lines
9.0 KiB
C
/* Bosch BMI160 inertial measurement unit driver, trigger implementation
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*
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* Copyright (c) 2016 Intel Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <nanokernel.h>
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#include <sensor.h>
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#ifdef CONFIG_BMI160_TRIGGER_SOURCE_GPIO
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#include <gpio.h>
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#else
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#include <ipm.h>
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#include <ipm/ipm_quark_se.h>
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#endif
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#include "sensor_bmi160.h"
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static void bmi160_handle_anymotion(struct device *dev)
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{
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struct bmi160_device_data *bmi160 = dev->driver_data;
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struct sensor_trigger anym_trigger = {
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.type = SENSOR_TRIG_DELTA,
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.chan = SENSOR_CHAN_ACCEL_ANY,
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};
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if (bmi160->handler_anymotion) {
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bmi160->handler_anymotion(dev, &anym_trigger);
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}
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}
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static void bmi160_handle_drdy(struct device *dev, uint8_t status)
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{
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struct bmi160_device_data *bmi160 = 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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#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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if (bmi160->handler_drdy_acc && (status & BMI160_STATUS_ACC_DRDY)) {
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drdy_trigger.chan = SENSOR_CHAN_ACCEL_ANY;
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bmi160->handler_drdy_acc(dev, &drdy_trigger);
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}
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#endif
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#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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if (bmi160->handler_drdy_gyr && (status & BMI160_STATUS_GYR_DRDY)) {
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drdy_trigger.chan = SENSOR_CHAN_GYRO_ANY;
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bmi160->handler_drdy_gyr(dev, &drdy_trigger);
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}
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#endif
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}
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static void bmi160_handle_interrupts(void *arg)
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{
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struct device *dev = (struct device *)arg;
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union {
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uint8_t raw[6];
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struct {
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uint8_t dummy; /* spi related dummy byte */
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uint8_t status;
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uint8_t int_status[4];
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};
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} buf;
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if (bmi160_read(dev, BMI160_REG_STATUS, buf.raw, sizeof(buf)) < 0) {
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return;
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}
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if ((buf.int_status[0] & BMI160_INT_STATUS0_ANYM) &&
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(buf.int_status[2] & (BMI160_INT_STATUS2_ANYM_FIRST_X |
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BMI160_INT_STATUS2_ANYM_FIRST_Y |
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BMI160_INT_STATUS2_ANYM_FIRST_Z))) {
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bmi160_handle_anymotion(dev);
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}
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if (buf.int_status[1] & BMI160_INT_STATUS1_DRDY) {
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bmi160_handle_drdy(dev, buf.status);
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}
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}
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#ifdef CONFIG_BMI160_TRIGGER_OWN_FIBER
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static char __stack bmi160_fiber_stack[CONFIG_BMI160_FIBER_STACK_SIZE];
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static void bmi160_fiber_main(int arg1, int unused)
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{
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struct device *dev = (struct device *)arg1;
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struct bmi160_device_data *bmi160 = dev->driver_data;
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while (1) {
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nano_fiber_sem_take(&bmi160->sem, TICKS_UNLIMITED);
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bmi160_handle_interrupts(dev);
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}
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}
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#endif
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#ifdef CONFIG_BMI160_TRIGGER_GLOBAL_FIBER
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static void bmi160_work_handler(struct nano_work *work)
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{
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struct bmi160_device_data *bmi160 =
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CONTAINER_OF(work, struct bmi160_device_data, work);
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bmi160_handle_interrupts(bmi160->dev);
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}
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#endif
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extern struct bmi160_device_data bmi160_data;
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#ifdef CONFIG_BMI160_TRIGGER_SOURCE_GPIO
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static void bmi160_gpio_callback(struct device *port,
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struct gpio_callback *cb, uint32_t pin)
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{
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struct bmi160_device_data *bmi160 =
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CONTAINER_OF(cb, struct bmi160_device_data, gpio_cb);
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#if defined(CONFIG_BMI160_TRIGGER_OWN_FIBER)
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nano_sem_give(&bmi160->sem);
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#elif defined(CONFIG_BMI160_TRIGGER_GLOBAL_FIBER)
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nano_work_submit(&bmi160->work);
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#endif
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}
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#else
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QUARK_SE_IPM_DEFINE(bmi160_ipm, 0, QUARK_SE_IPM_INBOUND);
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static void bmi160_ipm_callback(void *context, uint32_t id, volatile void *data)
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{
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struct bmi160_device_data *bmi160 = context;
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#if defined(CONFIG_BMI160_TRIGGER_OWN_FIBER)
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nano_sem_give(&bmi160->sem);
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#elif defined(CONFIG_BMI160_TRIGGER_GLOBAL_FIBER)
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nano_work_submit(&bmi160->work);
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#endif
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}
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#endif
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static int bmi160_trigger_drdy_set(struct device *dev,
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enum sensor_channel chan,
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sensor_trigger_handler_t handler)
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{
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struct bmi160_device_data *bmi160 = dev->driver_data;
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uint8_t drdy_en = 0;
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#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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if (chan == SENSOR_CHAN_ACCEL_ANY) {
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bmi160->handler_drdy_acc = handler;
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}
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if (bmi160->handler_drdy_acc) {
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drdy_en = BMI160_INT_DRDY_EN;
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}
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#endif
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#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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if (chan == SENSOR_CHAN_GYRO_ANY) {
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bmi160->handler_drdy_gyr = handler;
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}
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if (bmi160->handler_drdy_gyr) {
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drdy_en = BMI160_INT_DRDY_EN;
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}
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#endif
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if (bmi160_reg_update(dev, BMI160_REG_INT_EN1,
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BMI160_INT_DRDY_EN, drdy_en) < 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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#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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static int bmi160_trigger_anym_set(struct device *dev,
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sensor_trigger_handler_t handler)
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{
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struct bmi160_device_data *bmi160 = dev->driver_data;
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uint8_t anym_en = 0;
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bmi160->handler_anymotion = handler;
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if (handler) {
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anym_en = BMI160_INT_ANYM_X_EN |
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BMI160_INT_ANYM_Y_EN |
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BMI160_INT_ANYM_Z_EN;
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}
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if (bmi160_reg_update(dev, BMI160_REG_INT_EN0,
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BMI160_INT_ANYM_MASK, anym_en) < 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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static int bmi160_trigger_set_acc(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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if (trig->type == SENSOR_TRIG_DATA_READY) {
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return bmi160_trigger_drdy_set(dev, trig->chan, handler);
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} else if (trig->type == SENSOR_TRIG_DELTA) {
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return bmi160_trigger_anym_set(dev, handler);
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}
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return -ENOTSUP;
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}
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int bmi160_acc_slope_config(struct device *dev, enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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uint8_t acc_range_g, reg_val;
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uint32_t slope_th_ums2;
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if (attr == SENSOR_ATTR_SLOPE_TH) {
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if (val->type != SENSOR_VALUE_TYPE_INT_PLUS_MICRO) {
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return -EINVAL;
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}
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if (bmi160_byte_read(dev, BMI160_REG_ACC_RANGE, ®_val) < 0) {
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return -EIO;
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}
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acc_range_g = bmi160_acc_reg_val_to_range(reg_val);
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slope_th_ums2 = val->val1 * 1000000 + val->val2;
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/* make sure the provided threshold does not exceed range / 2 */
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if (slope_th_ums2 > (acc_range_g / 2 * SENSOR_G)) {
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return -EINVAL;
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}
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reg_val = 512 * (slope_th_ums2 - 1) / (acc_range_g * SENSOR_G);
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if (bmi160_byte_write(dev, BMI160_REG_INT_MOTION1,
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reg_val) < 0) {
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return -EIO;
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}
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} else { /* SENSOR_ATTR_SLOPE_DUR */
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if (val->type != SENSOR_VALUE_TYPE_INT) {
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return -EINVAL;
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}
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/* slope duration is measured in number of samples */
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if (val->val1 < 1 || val->val1 > 4) {
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return -ENOTSUP;
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}
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if (bmi160_reg_field_update(dev, BMI160_REG_INT_MOTION0,
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BMI160_ANYM_DUR_POS,
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BMI160_ANYM_DUR_MASK,
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val->val1) < 0) {
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return -EIO;
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}
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}
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return 0;
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}
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#endif
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#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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static int bmi160_trigger_set_gyr(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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if (trig->type == SENSOR_TRIG_DATA_READY) {
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return bmi160_trigger_drdy_set(dev, trig->chan, handler);
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}
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return -ENOTSUP;
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}
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#endif
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int bmi160_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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#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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if (trig->chan == SENSOR_CHAN_ACCEL_ANY) {
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return bmi160_trigger_set_acc(dev, trig, handler);
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}
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#endif
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#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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if (trig->chan == SENSOR_CHAN_GYRO_ANY) {
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return bmi160_trigger_set_gyr(dev, trig, handler);
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}
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#endif
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return -ENOTSUP;
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}
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int bmi160_trigger_mode_init(struct device *dev)
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{
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struct bmi160_device_data *bmi160 = dev->driver_data;
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#ifdef CONFIG_BMI160_TRIGGER_SOURCE_GPIO
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struct bmi160_device_config *cfg = dev->config->config_info;
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bmi160->gpio = device_get_binding((char *)cfg->gpio_port);
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if (!bmi160->gpio) {
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SYS_LOG_DBG("Gpio controller %s not found.", cfg->gpio_port);
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return -EINVAL;
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}
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#else /* CONFIG_BMI160_TRIGGER_SOURCE_IPM */
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bmi160->ipm = device_get_binding("bmi160_ipm");
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if (!bmi160->ipm) {
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SYS_LOG_DBG("Ipm device bmi160_ipm not found.");
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return -EINVAL;
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}
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#endif
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#if defined(CONFIG_BMI160_TRIGGER_OWN_FIBER)
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nano_sem_init(&bmi160->sem);
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fiber_start(bmi160_fiber_stack, CONFIG_BMI160_FIBER_STACK_SIZE,
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bmi160_fiber_main, (int)dev, 0,
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CONFIG_BMI160_FIBER_PRIORITY, 0);
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#elif defined(CONFIG_BMI160_TRIGGER_GLOBAL_FIBER)
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bmi160->work.handler = bmi160_work_handler;
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bmi160->dev = dev;
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#endif
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/* map all interrupts to INT1 pin */
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if (bmi160_word_write(dev, BMI160_REG_INT_MAP0, 0xf0ff) < 0) {
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SYS_LOG_DBG("Failed to map interrupts.");
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return -EIO;
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}
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#if defined(CONFIG_BMI160_TRIGGER_SOURCE_GPIO)
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gpio_pin_configure(bmi160->gpio, cfg->int_pin,
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GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
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GPIO_INT_ACTIVE_LOW | GPIO_INT_DEBOUNCE);
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gpio_init_callback(&bmi160->gpio_cb,
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bmi160_gpio_callback,
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BIT(cfg->int_pin));
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gpio_add_callback(bmi160->gpio, &bmi160->gpio_cb);
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gpio_pin_enable_callback(bmi160->gpio, cfg->int_pin);
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#elif defined(CONFIG_BMI160_TRIGGER_SOURCE_IPM)
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ipm_register_callback(bmi160->ipm, bmi160_ipm_callback, bmi160);
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ipm_set_enabled(bmi160->ipm, 1);
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#endif
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return bmi160_byte_write(dev, BMI160_REG_INT_OUT_CTRL,
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BMI160_INT1_OUT_EN | BMI160_INT1_EDGE_CTRL);
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}
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