261 lines
7.0 KiB
C
261 lines
7.0 KiB
C
/*
|
|
* Copyright (c) 2016 Intel Corporation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#include <device.h>
|
|
#include <gpio.h>
|
|
#include <misc/util.h>
|
|
#include <nanokernel.h>
|
|
#include <sensor.h>
|
|
|
|
#include "sensor_bma280.h"
|
|
|
|
extern struct bma280_data bma280_driver;
|
|
|
|
int bma280_attr_set(struct device *dev,
|
|
enum sensor_channel chan,
|
|
enum sensor_attribute attr,
|
|
const struct sensor_value *val)
|
|
{
|
|
struct bma280_data *drv_data = dev->driver_data;
|
|
uint64_t slope_th;
|
|
int rc;
|
|
|
|
if (chan != SENSOR_CHAN_ACCEL_ANY) {
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
if (attr == SENSOR_ATTR_SLOPE_TH) {
|
|
/* slope_th = val * 10^12 / BMA280_SLOPE_TH_SCALE */
|
|
slope_th = (uint64_t)val->val1 * 1000000 + (uint64_t)val->val2;
|
|
slope_th = (slope_th * 1000000) / BMA280_SLOPE_TH_SCALE;
|
|
rc = bma280_reg_write(drv_data, BMA280_REG_SLOPE_TH,
|
|
(uint8_t)slope_th);
|
|
if (rc != 0) {
|
|
DBG("Could not set slope threshold\n");
|
|
return -EIO;
|
|
}
|
|
} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_5,
|
|
BMA280_SLOPE_DUR_MASK,
|
|
val->val1 << BMA280_SLOPE_DUR_SHIFT);
|
|
if (rc != 0) {
|
|
DBG("Could not set slope duration\n");
|
|
return -EIO;
|
|
}
|
|
} else {
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static void bma280_gpio_callback(struct device *dev, uint32_t pin)
|
|
{
|
|
gpio_pin_disable_callback(dev, pin);
|
|
|
|
#if defined(CONFIG_BMA280_TRIGGER_OWN_FIBER)
|
|
nano_sem_give(&bma280_driver.gpio_sem);
|
|
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_FIBER)
|
|
nano_isr_fifo_put(sensor_get_work_fifo(), &bma280_driver.work);
|
|
#endif
|
|
}
|
|
|
|
static void bma280_fiber_cb(void *arg)
|
|
{
|
|
struct device *dev = arg;
|
|
struct bma280_data *drv_data = dev->driver_data;
|
|
uint8_t status = 0;
|
|
|
|
/* check for data ready */
|
|
bma280_reg_read(drv_data, BMA280_REG_INT_STATUS_1, &status);
|
|
if (status & BMA280_BIT_DATA_INT_STATUS &&
|
|
drv_data->data_ready_handler != NULL) {
|
|
drv_data->data_ready_handler(dev,
|
|
&drv_data->data_ready_trigger);
|
|
}
|
|
|
|
/* check for any motion */
|
|
bma280_reg_read(drv_data, BMA280_REG_INT_STATUS_0, &status);
|
|
if (status & BMA280_BIT_SLOPE_INT_STATUS &&
|
|
drv_data->any_motion_handler != NULL) {
|
|
drv_data->any_motion_handler(dev,
|
|
&drv_data->data_ready_trigger);
|
|
|
|
/* clear latched interrupt */
|
|
bma280_reg_update(drv_data, BMA280_REG_INT_RST_LATCH,
|
|
BMA280_BIT_INT_LATCH_RESET,
|
|
BMA280_BIT_INT_LATCH_RESET);
|
|
}
|
|
|
|
gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM);
|
|
}
|
|
|
|
#ifdef CONFIG_BMA280_TRIGGER_OWN_FIBER
|
|
static void bma280_fiber(int dev_ptr, int unused)
|
|
{
|
|
struct device *dev = INT_TO_POINTER(dev_ptr);
|
|
struct bma280_data *drv_data = dev->driver_data;
|
|
|
|
ARG_UNUSED(unused);
|
|
|
|
while (1) {
|
|
nano_fiber_sem_take(&drv_data->gpio_sem, TICKS_UNLIMITED);
|
|
bma280_fiber_cb(dev);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
int bma280_trigger_set(struct device *dev,
|
|
const struct sensor_trigger *trig,
|
|
sensor_trigger_handler_t handler)
|
|
{
|
|
struct bma280_data *drv_data = dev->driver_data;
|
|
int rc;
|
|
|
|
if (trig->type == SENSOR_TRIG_DATA_READY) {
|
|
/* disable data ready interrupt while changing trigger params */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_1,
|
|
BMA280_BIT_DATA_EN, 0);
|
|
if (rc != 0) {
|
|
DBG("Could not disable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
|
|
drv_data->data_ready_handler = handler;
|
|
if (handler == NULL) {
|
|
return 0;
|
|
}
|
|
drv_data->data_ready_trigger = *trig;
|
|
|
|
/* enable data ready interrupt */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_1,
|
|
BMA280_BIT_DATA_EN, BMA280_BIT_DATA_EN);
|
|
if (rc != 0) {
|
|
DBG("Could not enable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
} else if (trig->type == SENSOR_TRIG_DELTA) {
|
|
/* disable any-motion interrupt while changing trigger params */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_0,
|
|
BMA280_SLOPE_EN_XYZ, 0);
|
|
if (rc != 0) {
|
|
DBG("Could not disable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
|
|
drv_data->any_motion_handler = handler;
|
|
if (handler == NULL) {
|
|
return 0;
|
|
}
|
|
drv_data->any_motion_trigger = *trig;
|
|
|
|
/* enable any-motion interrupt */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_0,
|
|
BMA280_SLOPE_EN_XYZ,
|
|
BMA280_SLOPE_EN_XYZ);
|
|
if (rc != 0) {
|
|
DBG("Could not enable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
} else {
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int bma280_init_interrupt(struct device *dev)
|
|
{
|
|
struct bma280_data *drv_data = dev->driver_data;
|
|
int rc;
|
|
|
|
/* set latched interrupts */
|
|
rc = bma280_reg_write(drv_data, BMA280_REG_INT_RST_LATCH,
|
|
BMA280_BIT_INT_LATCH_RESET |
|
|
BMA280_INT_MODE_LATCH);
|
|
if (rc != 0) {
|
|
DBG("Could not set latched interrupts\n");
|
|
return -EIO;
|
|
}
|
|
|
|
/* setup data ready gpio interrupt */
|
|
drv_data->gpio = device_get_binding(CONFIG_BMA280_GPIO_DEV_NAME);
|
|
if (drv_data->gpio == NULL) {
|
|
DBG("Cannot get pointer to %s device\n",
|
|
CONFIG_BMA280_GPIO_DEV_NAME);
|
|
return -EINVAL;
|
|
}
|
|
|
|
gpio_pin_configure(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM,
|
|
GPIO_DIR_IN | GPIO_INT | GPIO_INT_LEVEL |
|
|
GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE);
|
|
|
|
rc = gpio_set_callback(drv_data->gpio, bma280_gpio_callback);
|
|
if (rc != 0) {
|
|
DBG("Could not set gpio callback\n");
|
|
return -EIO;
|
|
}
|
|
|
|
/* map data ready interrupt to INT1 */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_MAP_1,
|
|
BMA280_INT_MAP_1_BIT_DATA,
|
|
BMA280_INT_MAP_1_BIT_DATA);
|
|
if (rc != 0) {
|
|
DBG("Could not map data ready interrupt pin\n");
|
|
return -EIO;
|
|
}
|
|
|
|
/* map any-motion interrupt to INT1 */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_MAP_0,
|
|
BMA280_INT_MAP_0_BIT_SLOPE,
|
|
BMA280_INT_MAP_0_BIT_SLOPE);
|
|
if (rc != 0) {
|
|
DBG("Could not map any-motion interrupt pin\n");
|
|
return -EIO;
|
|
}
|
|
|
|
/* disable data ready interrupt */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_1,
|
|
BMA280_BIT_DATA_EN, 0);
|
|
if (rc != 0) {
|
|
DBG("Could not disable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
|
|
/* disable any-motion interrupt */
|
|
rc = bma280_reg_update(drv_data, BMA280_REG_INT_EN_0,
|
|
BMA280_SLOPE_EN_XYZ, 0);
|
|
if (rc != 0) {
|
|
DBG("Could not disable data ready interrupt\n");
|
|
return -EIO;
|
|
}
|
|
|
|
#if defined(CONFIG_BMA280_TRIGGER_OWN_FIBER)
|
|
nano_sem_init(&drv_data->gpio_sem);
|
|
|
|
fiber_start(drv_data->fiber_stack, CONFIG_BMA280_FIBER_STACK_SIZE,
|
|
(nano_fiber_entry_t)bma280_fiber, POINTER_TO_INT(dev),
|
|
0, CONFIG_BMA280_FIBER_PRIORITY, 0);
|
|
#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_FIBER)
|
|
drv_data->work.handler = bma280_fiber_cb;
|
|
drv_data->work.arg = dev;
|
|
#endif
|
|
|
|
gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM);
|
|
|
|
return 0;
|
|
}
|