137 lines
3.4 KiB
C
137 lines
3.4 KiB
C
/*
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* Copyright (c) 2016 TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/logging/log.h>
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#include "icm42605.h"
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#include "icm42605_setup.h"
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LOG_MODULE_DECLARE(ICM42605, CONFIG_SENSOR_LOG_LEVEL);
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int icm42605_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler)
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{
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struct icm42605_data *drv_data = dev->data;
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const struct icm42605_config *cfg = dev->config;
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if (trig->type != SENSOR_TRIG_DATA_READY
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&& trig->type != SENSOR_TRIG_TAP
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&& trig->type != SENSOR_TRIG_DOUBLE_TAP) {
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return -ENOTSUP;
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}
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gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);
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if (handler == NULL) {
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icm42605_turn_off_sensor(dev);
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return 0;
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}
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if (trig->type == SENSOR_TRIG_DATA_READY) {
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drv_data->data_ready_handler = handler;
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drv_data->data_ready_trigger = *trig;
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} else if (trig->type == SENSOR_TRIG_TAP) {
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drv_data->tap_handler = handler;
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drv_data->tap_trigger = *trig;
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drv_data->tap_en = true;
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} else if (trig->type == SENSOR_TRIG_DOUBLE_TAP) {
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drv_data->double_tap_handler = handler;
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drv_data->double_tap_trigger = *trig;
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drv_data->tap_en = true;
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} else {
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return -ENOTSUP;
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}
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gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE);
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icm42605_turn_on_sensor(dev);
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return 0;
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}
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static void icm42605_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 icm42605_data *drv_data =
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CONTAINER_OF(cb, struct icm42605_data, gpio_cb);
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const struct icm42605_config *cfg = drv_data->dev->config;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_DISABLE);
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k_sem_give(&drv_data->gpio_sem);
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}
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static void icm42605_thread_cb(const struct device *dev)
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{
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struct icm42605_data *drv_data = dev->data;
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const struct icm42605_config *cfg = dev->config;
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if (drv_data->data_ready_handler != NULL) {
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drv_data->data_ready_handler(dev,
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&drv_data->data_ready_trigger);
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}
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if (drv_data->tap_handler != NULL ||
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drv_data->double_tap_handler != NULL) {
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icm42605_tap_fetch(dev);
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}
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gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void icm42605_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 icm42605_data *drv_data = p1;
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while (1) {
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k_sem_take(&drv_data->gpio_sem, K_FOREVER);
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icm42605_thread_cb(drv_data->dev);
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}
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}
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int icm42605_init_interrupt(const struct device *dev)
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{
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struct icm42605_data *drv_data = dev->data;
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const struct icm42605_config *cfg = dev->config;
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int result = 0;
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if (!device_is_ready(cfg->gpio_int.port)) {
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LOG_ERR("gpio_int gpio not ready");
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return -ENODEV;
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}
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drv_data->dev = dev;
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gpio_pin_configure_dt(&cfg->gpio_int, GPIO_INPUT);
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gpio_init_callback(&drv_data->gpio_cb, icm42605_gpio_callback, BIT(cfg->gpio_int.pin));
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result = gpio_add_callback(cfg->gpio_int.port, &drv_data->gpio_cb);
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if (result < 0) {
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LOG_ERR("Failed to set gpio callback");
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return result;
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}
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k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&drv_data->thread, drv_data->thread_stack,
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CONFIG_ICM42605_THREAD_STACK_SIZE, icm42605_thread, drv_data, NULL, NULL,
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K_PRIO_COOP(CONFIG_ICM42605_THREAD_PRIORITY), 0, K_NO_WAIT);
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gpio_pin_interrupt_configure_dt(&cfg->gpio_int, GPIO_INT_EDGE_TO_INACTIVE);
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return 0;
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}
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