309 lines
8.4 KiB
C
309 lines
8.4 KiB
C
/*
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* Copyright 2023 Google LLC
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT analog_axis
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#include <stdlib.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/adc.h>
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#include <zephyr/input/input.h>
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#include <zephyr/input/input_analog_axis.h>
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#include <zephyr/kernel.h>
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#include <zephyr/logging/log.h>
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#include <zephyr/sys/util.h>
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LOG_MODULE_REGISTER(analog_axis, CONFIG_INPUT_LOG_LEVEL);
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struct analog_axis_channel_config {
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struct adc_dt_spec adc;
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int16_t out_min;
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int16_t out_max;
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uint16_t axis;
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bool invert;
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};
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struct analog_axis_channel_data {
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int last_out;
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};
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struct analog_axis_config {
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uint32_t poll_period_ms;
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const struct analog_axis_channel_config *channel_cfg;
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struct analog_axis_channel_data *channel_data;
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struct analog_axis_calibration *calibration;
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const uint8_t num_channels;
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};
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struct analog_axis_data {
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struct k_sem cal_lock;
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analog_axis_raw_data_t raw_data_cb;
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struct k_timer timer;
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struct k_thread thread;
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K_KERNEL_STACK_MEMBER(thread_stack,
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CONFIG_INPUT_ANALOG_AXIS_THREAD_STACK_SIZE);
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};
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int analog_axis_num_axes(const struct device *dev)
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{
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const struct analog_axis_config *cfg = dev->config;
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return cfg->num_channels;
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}
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int analog_axis_calibration_get(const struct device *dev,
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int channel,
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struct analog_axis_calibration *out_cal)
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{
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const struct analog_axis_config *cfg = dev->config;
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struct analog_axis_data *data = dev->data;
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struct analog_axis_calibration *cal = &cfg->calibration[channel];
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if (channel >= cfg->num_channels) {
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return -EINVAL;
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}
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k_sem_take(&data->cal_lock, K_FOREVER);
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memcpy(out_cal, cal, sizeof(struct analog_axis_calibration));
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k_sem_give(&data->cal_lock);
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return 0;
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}
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void analog_axis_set_raw_data_cb(const struct device *dev, analog_axis_raw_data_t cb)
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{
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struct analog_axis_data *data = dev->data;
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k_sem_take(&data->cal_lock, K_FOREVER);
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data->raw_data_cb = cb;
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k_sem_give(&data->cal_lock);
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}
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int analog_axis_calibration_set(const struct device *dev,
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int channel,
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struct analog_axis_calibration *new_cal)
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{
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const struct analog_axis_config *cfg = dev->config;
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struct analog_axis_data *data = dev->data;
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struct analog_axis_calibration *cal = &cfg->calibration[channel];
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if (channel >= cfg->num_channels) {
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return -EINVAL;
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}
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k_sem_take(&data->cal_lock, K_FOREVER);
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memcpy(cal, new_cal, sizeof(struct analog_axis_calibration));
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k_sem_give(&data->cal_lock);
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return 0;
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}
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static int32_t analog_axis_out_deadzone(const struct device *dev,
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int channel,
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int32_t raw_val)
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{
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const struct analog_axis_config *cfg = dev->config;
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const struct analog_axis_channel_config *axis_cfg = &cfg->channel_cfg[channel];
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struct analog_axis_calibration *cal = &cfg->calibration[channel];
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int16_t in_range = cal->in_max - cal->in_min;
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int16_t out_range = axis_cfg->out_max - axis_cfg->out_min;
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int16_t in_mid = DIV_ROUND_CLOSEST(cal->in_min + cal->in_max, 2);
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int16_t in_min = cal->in_min;
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if (abs(raw_val - in_mid) < cal->in_deadzone) {
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return DIV_ROUND_CLOSEST(axis_cfg->out_max + axis_cfg->out_min, 2);
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}
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in_range -= cal->in_deadzone * 2;
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in_min += cal->in_deadzone;
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if (raw_val < in_mid) {
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raw_val += cal->in_deadzone;
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} else {
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raw_val -= cal->in_deadzone;
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}
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return DIV_ROUND_CLOSEST((raw_val - in_min) * out_range, in_range) + axis_cfg->out_min;
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}
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static int32_t analog_axis_out_linear(const struct device *dev,
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int channel,
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int32_t raw_val)
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{
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const struct analog_axis_config *cfg = dev->config;
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const struct analog_axis_channel_config *axis_cfg = &cfg->channel_cfg[channel];
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struct analog_axis_calibration *cal = &cfg->calibration[channel];
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int16_t in_range = cal->in_max - cal->in_min;
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int16_t out_range = axis_cfg->out_max - axis_cfg->out_min;
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return DIV_ROUND_CLOSEST((raw_val - cal->in_min) * out_range, in_range) + axis_cfg->out_min;
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}
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static void analog_axis_loop(const struct device *dev)
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{
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const struct analog_axis_config *cfg = dev->config;
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struct analog_axis_data *data = dev->data;
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int16_t bufs[cfg->num_channels];
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int32_t out;
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struct adc_sequence sequence = {
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.buffer = bufs,
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.buffer_size = sizeof(bufs),
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};
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const struct analog_axis_channel_config *axis_cfg_0 = &cfg->channel_cfg[0];
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int err;
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int i;
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adc_sequence_init_dt(&axis_cfg_0->adc, &sequence);
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for (i = 0; i < cfg->num_channels; i++) {
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const struct analog_axis_channel_config *axis_cfg = &cfg->channel_cfg[i];
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sequence.channels |= BIT(axis_cfg->adc.channel_id);
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}
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err = adc_read(axis_cfg_0->adc.dev, &sequence);
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if (err < 0) {
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LOG_ERR("Could not read (%d)", err);
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return;
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}
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k_sem_take(&data->cal_lock, K_FOREVER);
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for (i = 0; i < cfg->num_channels; i++) {
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const struct analog_axis_channel_config *axis_cfg = &cfg->channel_cfg[i];
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struct analog_axis_channel_data *axis_data = &cfg->channel_data[i];
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struct analog_axis_calibration *cal = &cfg->calibration[i];
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int32_t raw_val = bufs[i];
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if (axis_cfg->invert) {
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raw_val *= -1;
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}
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if (data->raw_data_cb != NULL) {
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data->raw_data_cb(dev, i, raw_val);
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}
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LOG_DBG("%s: ch %d: raw_val: %d", dev->name, i, raw_val);
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if (cal->in_deadzone > 0) {
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out = analog_axis_out_deadzone(dev, i, raw_val);
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} else {
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out = analog_axis_out_linear(dev, i, raw_val);
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}
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out = CLAMP(out, axis_cfg->out_min, axis_cfg->out_max);
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if (axis_data->last_out != out) {
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input_report_abs(dev, axis_cfg->axis, out, true, K_FOREVER);
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}
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axis_data->last_out = out;
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}
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k_sem_give(&data->cal_lock);
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}
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static void analog_axis_thread(void *arg1, void *arg2, void *arg3)
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{
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const struct device *dev = arg1;
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const struct analog_axis_config *cfg = dev->config;
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struct analog_axis_data *data = dev->data;
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int err;
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int i;
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for (i = 0; i < cfg->num_channels; i++) {
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const struct analog_axis_channel_config *axis_cfg = &cfg->channel_cfg[i];
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if (!adc_is_ready_dt(&axis_cfg->adc)) {
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LOG_ERR("ADC controller device not ready");
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return;
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}
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err = adc_channel_setup_dt(&axis_cfg->adc);
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if (err < 0) {
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LOG_ERR("Could not setup channel #%d (%d)", i, err);
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return;
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}
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}
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k_timer_init(&data->timer, NULL, NULL);
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k_timer_start(&data->timer,
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K_MSEC(cfg->poll_period_ms), K_MSEC(cfg->poll_period_ms));
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while (true) {
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analog_axis_loop(dev);
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k_timer_status_sync(&data->timer);
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}
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}
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static int analog_axis_init(const struct device *dev)
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{
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struct analog_axis_data *data = dev->data;
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k_tid_t tid;
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k_sem_init(&data->cal_lock, 1, 1);
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tid = k_thread_create(&data->thread, data->thread_stack,
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K_KERNEL_STACK_SIZEOF(data->thread_stack),
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analog_axis_thread, (void *)dev, NULL, NULL,
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CONFIG_INPUT_ANALOG_AXIS_THREAD_PRIORITY,
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0, K_NO_WAIT);
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if (!tid) {
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LOG_ERR("thread creation failed");
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return -ENODEV;
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}
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k_thread_name_set(&data->thread, dev->name);
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return 0;
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}
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#define ANALOG_AXIS_CHANNEL_CFG_DEF(node_id) \
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{ \
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.adc = ADC_DT_SPEC_GET(node_id), \
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.out_min = (int16_t)DT_PROP(node_id, out_min), \
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.out_max = (int16_t)DT_PROP(node_id, out_max), \
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.axis = DT_PROP(node_id, zephyr_axis), \
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.invert = DT_PROP(node_id, invert), \
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}
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#define ANALOG_AXIS_CHANNEL_CAL_DEF(node_id) \
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{ \
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.in_min = (int16_t)DT_PROP(node_id, in_min), \
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.in_max = (int16_t)DT_PROP(node_id, in_max), \
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.in_deadzone = DT_PROP(node_id, in_deadzone), \
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}
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#define ANALOG_AXIS_INIT(inst) \
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static const struct analog_axis_channel_config analog_axis_channel_cfg_##inst[] = { \
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DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP(inst, ANALOG_AXIS_CHANNEL_CFG_DEF, (,)) \
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}; \
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\
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static struct analog_axis_channel_data \
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analog_axis_channel_data_##inst[ARRAY_SIZE(analog_axis_channel_cfg_##inst)]; \
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\
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static struct analog_axis_calibration \
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analog_axis_calibration_##inst[ARRAY_SIZE(analog_axis_channel_cfg_##inst)] = { \
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DT_INST_FOREACH_CHILD_STATUS_OKAY_SEP( \
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inst, ANALOG_AXIS_CHANNEL_CAL_DEF, (,)) \
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}; \
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\
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static const struct analog_axis_config analog_axis_cfg_##inst = { \
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.poll_period_ms = DT_INST_PROP(inst, poll_period_ms), \
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.channel_cfg = analog_axis_channel_cfg_##inst, \
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.channel_data = analog_axis_channel_data_##inst, \
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.calibration = analog_axis_calibration_##inst, \
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.num_channels = ARRAY_SIZE(analog_axis_channel_cfg_##inst), \
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}; \
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\
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static struct analog_axis_data analog_axis_data_##inst; \
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\
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DEVICE_DT_INST_DEFINE(inst, analog_axis_init, NULL, \
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&analog_axis_data_##inst, &analog_axis_cfg_##inst, \
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POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, NULL);
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DT_INST_FOREACH_STATUS_OKAY(ANALOG_AXIS_INIT)
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