283 lines
7.3 KiB
C
283 lines
7.3 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <device.h>
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#include <i2c.h>
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#include <misc/util.h>
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#include <kernel.h>
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#include <sensor.h>
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#include "bma280.h"
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#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
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#include <logging/log.h>
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LOG_MODULE_DECLARE(BMA280);
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int bma280_attr_set(struct device *dev,
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enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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struct bma280_data *drv_data = dev->driver_data;
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u64_t slope_th;
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if (chan != SENSOR_CHAN_ACCEL_XYZ) {
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return -ENOTSUP;
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}
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if (attr == SENSOR_ATTR_SLOPE_TH) {
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/* slope_th = (val * 10^6 * 2^10) / BMA280_PMU_FULL_RAGE */
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slope_th = (u64_t)val->val1 * 1000000 + (u64_t)val->val2;
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slope_th = (slope_th * (1 << 10)) / BMA280_PMU_FULL_RANGE;
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if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_SLOPE_TH, (u8_t)slope_th)
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< 0) {
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LOG_DBG("Could not set slope threshold");
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return -EIO;
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}
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} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_5,
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BMA280_SLOPE_DUR_MASK,
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val->val1 << BMA280_SLOPE_DUR_SHIFT)
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< 0) {
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LOG_DBG("Could not set slope duration");
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return -EIO;
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}
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} else {
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return -ENOTSUP;
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}
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return 0;
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}
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static void bma280_gpio_callback(struct device *dev,
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struct gpio_callback *cb, u32_t pins)
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{
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struct bma280_data *drv_data =
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CONTAINER_OF(cb, struct bma280_data, gpio_cb);
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ARG_UNUSED(pins);
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gpio_pin_disable_callback(dev, CONFIG_BMA280_GPIO_PIN_NUM);
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#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
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k_sem_give(&drv_data->gpio_sem);
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#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&drv_data->work);
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#endif
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}
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static void bma280_thread_cb(void *arg)
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{
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struct device *dev = arg;
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struct bma280_data *drv_data = dev->driver_data;
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u8_t status = 0;
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int err = 0;
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/* check for data ready */
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err = i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_STATUS_1, &status);
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if (status & BMA280_BIT_DATA_INT_STATUS &&
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drv_data->data_ready_handler != NULL &&
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err == 0) {
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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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/* check for any motion */
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err = i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_STATUS_0, &status);
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if (status & BMA280_BIT_SLOPE_INT_STATUS &&
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drv_data->any_motion_handler != NULL &&
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err == 0) {
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drv_data->any_motion_handler(dev,
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&drv_data->data_ready_trigger);
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/* clear latched interrupt */
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err = i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_RST_LATCH,
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BMA280_BIT_INT_LATCH_RESET,
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BMA280_BIT_INT_LATCH_RESET);
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if (err < 0) {
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LOG_DBG("Could not update clear the interrupt");
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return;
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}
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}
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gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM);
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}
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#ifdef CONFIG_BMA280_TRIGGER_OWN_THREAD
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static void bma280_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 bma280_data *drv_data = dev->driver_data;
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ARG_UNUSED(unused);
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while (1) {
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k_sem_take(&drv_data->gpio_sem, K_FOREVER);
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bma280_thread_cb(dev);
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}
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}
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#endif
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#ifdef CONFIG_BMA280_TRIGGER_GLOBAL_THREAD
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static void bma280_work_cb(struct k_work *work)
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{
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struct bma280_data *drv_data =
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CONTAINER_OF(work, struct bma280_data, work);
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bma280_thread_cb(drv_data->dev);
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}
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#endif
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int bma280_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 bma280_data *drv_data = dev->driver_data;
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if (trig->type == SENSOR_TRIG_DATA_READY) {
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/* disable data ready interrupt while changing trigger params */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_1,
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BMA280_BIT_DATA_EN, 0) < 0) {
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LOG_DBG("Could not disable data ready interrupt");
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return -EIO;
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}
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drv_data->data_ready_handler = handler;
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if (handler == NULL) {
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return 0;
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}
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drv_data->data_ready_trigger = *trig;
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/* enable data ready interrupt */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_1,
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BMA280_BIT_DATA_EN,
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BMA280_BIT_DATA_EN) < 0) {
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LOG_DBG("Could not enable data ready interrupt");
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return -EIO;
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}
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} else if (trig->type == SENSOR_TRIG_DELTA) {
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/* disable any-motion interrupt while changing trigger params */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_0,
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BMA280_SLOPE_EN_XYZ, 0) < 0) {
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LOG_DBG("Could not disable data ready interrupt");
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return -EIO;
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}
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drv_data->any_motion_handler = handler;
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if (handler == NULL) {
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return 0;
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}
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drv_data->any_motion_trigger = *trig;
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/* enable any-motion interrupt */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_0,
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BMA280_SLOPE_EN_XYZ,
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BMA280_SLOPE_EN_XYZ) < 0) {
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LOG_DBG("Could not enable data ready interrupt");
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return -EIO;
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}
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} else {
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return -ENOTSUP;
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}
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return 0;
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}
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int bma280_init_interrupt(struct device *dev)
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{
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struct bma280_data *drv_data = dev->driver_data;
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/* set latched interrupts */
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if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_RST_LATCH,
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BMA280_BIT_INT_LATCH_RESET |
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BMA280_INT_MODE_LATCH) < 0) {
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LOG_DBG("Could not set latched interrupts");
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return -EIO;
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}
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/* setup data ready gpio interrupt */
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drv_data->gpio = device_get_binding(CONFIG_BMA280_GPIO_DEV_NAME);
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if (drv_data->gpio == NULL) {
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LOG_DBG("Cannot get pointer to %s device",
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CONFIG_BMA280_GPIO_DEV_NAME);
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return -EINVAL;
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}
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gpio_pin_configure(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM,
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GPIO_DIR_IN | GPIO_INT | GPIO_INT_LEVEL |
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GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE);
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gpio_init_callback(&drv_data->gpio_cb,
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bma280_gpio_callback,
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BIT(CONFIG_BMA280_GPIO_PIN_NUM));
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if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) {
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LOG_DBG("Could not set gpio callback");
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return -EIO;
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}
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/* map data ready interrupt to INT1 */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_MAP_1,
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BMA280_INT_MAP_1_BIT_DATA,
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BMA280_INT_MAP_1_BIT_DATA) < 0) {
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LOG_DBG("Could not map data ready interrupt pin");
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return -EIO;
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}
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/* map any-motion interrupt to INT1 */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_MAP_0,
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BMA280_INT_MAP_0_BIT_SLOPE,
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BMA280_INT_MAP_0_BIT_SLOPE) < 0) {
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LOG_DBG("Could not map any-motion interrupt pin");
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return -EIO;
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}
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_1,
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BMA280_BIT_DATA_EN, 0) < 0) {
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LOG_DBG("Could not disable data ready interrupt");
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return -EIO;
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}
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/* disable any-motion interrupt */
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if (i2c_reg_update_byte(drv_data->i2c, BMA280_I2C_ADDRESS,
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BMA280_REG_INT_EN_0,
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BMA280_SLOPE_EN_XYZ, 0) < 0) {
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LOG_DBG("Could not disable data ready interrupt");
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return -EIO;
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}
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#if defined(CONFIG_BMA280_TRIGGER_OWN_THREAD)
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k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
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k_thread_create(&drv_data->thread, drv_data->thread_stack,
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CONFIG_BMA280_THREAD_STACK_SIZE,
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(k_thread_entry_t)bma280_thread, dev,
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0, NULL, K_PRIO_COOP(CONFIG_BMA280_THREAD_PRIORITY),
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0, 0);
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#elif defined(CONFIG_BMA280_TRIGGER_GLOBAL_THREAD)
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drv_data->work.handler = bma280_work_cb;
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drv_data->dev = dev;
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#endif
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gpio_pin_enable_callback(drv_data->gpio, CONFIG_BMA280_GPIO_PIN_NUM);
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return 0;
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}
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