269 lines
6.6 KiB
C
269 lines
6.6 KiB
C
/* Bosch BMG160 gyro driver, trigger implementation
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*
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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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* Datasheet:
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* http://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMG160-DS000-09.pdf
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*/
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include "bmg160.h"
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extern struct bmg160_device_data bmg160_data;
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#include <logging/log.h>
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LOG_MODULE_DECLARE(BMG160, CONFIG_SENSOR_LOG_LEVEL);
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static inline void setup_int(struct device *dev,
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bool enable)
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{
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struct bmg160_device_data *data = dev->driver_data;
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const struct bmg160_device_config *const cfg =
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dev->config_info;
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gpio_pin_interrupt_configure(data->gpio,
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cfg->int_pin,
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enable
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? GPIO_INT_EDGE_TO_ACTIVE
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: GPIO_INT_DISABLE);
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}
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static void bmg160_gpio_callback(struct device *port, struct gpio_callback *cb,
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u32_t pin)
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{
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struct bmg160_device_data *bmg160 =
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CONTAINER_OF(cb, struct bmg160_device_data, gpio_cb);
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ARG_UNUSED(port);
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ARG_UNUSED(pin);
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#if defined(CONFIG_BMG160_TRIGGER_OWN_THREAD)
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k_sem_give(&bmg160->trig_sem);
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#elif defined(CONFIG_BMG160_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&bmg160->work);
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#endif
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}
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static int bmg160_anymotion_set(struct device *dev,
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sensor_trigger_handler_t handler)
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{
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struct bmg160_device_data *bmg160 = dev->driver_data;
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u8_t anymotion_en = 0U;
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if (handler) {
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anymotion_en = BMG160_ANY_EN_X |
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BMG160_ANY_EN_Y |
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BMG160_ANY_EN_Z;
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}
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if (bmg160_update_byte(dev, BMG160_REG_ANY_EN,
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BMG160_ANY_EN_MASK, anymotion_en) < 0) {
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return -EIO;
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}
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bmg160->anymotion_handler = handler;
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return 0;
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}
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static int bmg160_drdy_set(struct device *dev, sensor_trigger_handler_t handler)
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{
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struct bmg160_device_data *bmg160 = dev->driver_data;
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if (bmg160_update_byte(dev, BMG160_REG_INT_EN0,
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BMG160_DATA_EN,
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handler ? BMG160_DATA_EN : 0) < 0) {
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return -EIO;
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}
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bmg160->drdy_handler = handler;
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return 0;
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}
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int bmg160_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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struct bmg160_device_data *bmg160 = dev->driver_data;
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if (attr == SENSOR_ATTR_SLOPE_TH) {
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u16_t any_th_dps, range_dps;
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u8_t any_th_reg_val;
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any_th_dps = sensor_rad_to_degrees(val);
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range_dps = BMG160_SCALE_TO_RANGE(bmg160->scale);
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any_th_reg_val = any_th_dps * 2000U / range_dps;
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/* the maximum slope depends on selected range */
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if (any_th_dps > range_dps / 16U) {
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return -ENOTSUP;
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}
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return bmg160_write_byte(dev, BMG160_REG_THRES,
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any_th_dps & BMG160_THRES_MASK);
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} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
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/* slope duration can be 4, 8, 12 or 16 samples */
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if (val->val1 != 4 && val->val1 != 8 &&
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val->val1 != 12 && val->val1 != 16) {
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return -ENOTSUP;
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}
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return bmg160_write_byte(dev, BMG160_REG_ANY_EN,
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(val->val1 << BMG160_ANY_DURSAMPLE_POS) &
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BMG160_ANY_DURSAMPLE_MASK);
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}
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return -ENOTSUP;
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}
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int bmg160_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 (trig->type == SENSOR_TRIG_DELTA) {
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return bmg160_anymotion_set(dev, handler);
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} else if (trig->type == SENSOR_TRIG_DATA_READY) {
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return bmg160_drdy_set(dev, handler);
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}
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return -ENOTSUP;
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}
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static int bmg160_handle_anymotion_int(struct device *dev)
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{
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struct bmg160_device_data *bmg160 = dev->driver_data;
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struct sensor_trigger any_trig = {
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.type = SENSOR_TRIG_DELTA,
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.chan = SENSOR_CHAN_GYRO_XYZ,
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};
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if (bmg160->anymotion_handler) {
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bmg160->anymotion_handler(dev, &any_trig);
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}
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return 0;
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}
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static int bmg160_handle_dataready_int(struct device *dev)
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{
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struct bmg160_device_data *bmg160 = dev->driver_data;
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struct sensor_trigger drdy_trig = {
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.type = SENSOR_TRIG_DATA_READY,
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.chan = SENSOR_CHAN_GYRO_XYZ,
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};
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if (bmg160->drdy_handler) {
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bmg160->drdy_handler(dev, &drdy_trig);
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}
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return 0;
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}
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static void bmg160_handle_int(void *arg)
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{
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struct device *dev = (struct device *)arg;
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u8_t status_int[4];
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if (bmg160_read(dev, BMG160_REG_INT_STATUS0, status_int, 4) < 0) {
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return;
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}
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if (status_int[0] & BMG160_ANY_INT) {
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bmg160_handle_anymotion_int(dev);
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} else {
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bmg160_handle_dataready_int(dev);
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}
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}
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#ifdef CONFIG_BMG160_TRIGGER_OWN_THREAD
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static K_THREAD_STACK_DEFINE(bmg160_thread_stack, CONFIG_BMG160_THREAD_STACK_SIZE);
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static struct k_thread bmg160_thread;
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static void bmg160_thread_main(void *arg1, void *arg2, void *arg3)
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{
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struct device *dev = (struct device *)arg1;
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struct bmg160_device_data *bmg160 = dev->driver_data;
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while (true) {
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k_sem_take(&bmg160->trig_sem, K_FOREVER);
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bmg160_handle_int(dev);
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}
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}
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#endif
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#ifdef CONFIG_BMG160_TRIGGER_GLOBAL_THREAD
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static void bmg160_work_cb(struct k_work *work)
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{
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struct bmg160_device_data *bmg160 =
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CONTAINER_OF(work, struct bmg160_device_data, work);
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bmg160_handle_int(bmg160->dev);
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}
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#endif
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int bmg160_trigger_init(struct device *dev)
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{
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const struct bmg160_device_config *cfg = dev->config_info;
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struct bmg160_device_data *bmg160 = dev->driver_data;
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/* set INT1 pin to: push-pull, active low */
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if (bmg160_write_byte(dev, BMG160_REG_INT_EN1, 0) < 0) {
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LOG_DBG("Failed to select interrupt pins type.");
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return -EIO;
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}
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/* set interrupt mode to non-latched */
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if (bmg160_write_byte(dev, BMG160_REG_INT_RST_LATCH, 0) < 0) {
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LOG_DBG("Failed to set the interrupt mode.");
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return -EIO;
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}
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/* map anymotion and high rate interrupts to INT1 pin */
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if (bmg160_write_byte(dev, BMG160_REG_INT_MAP0,
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BMG160_INT1_ANY | BMG160_INT1_HIGH) < 0) {
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LOG_DBG("Unable to map interrupts.");
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return -EIO;
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}
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/* map data ready, FIFO and FastOffset interrupts to INT1 pin */
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if (bmg160_write_byte(dev, BMG160_REG_INT_MAP1,
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BMG160_INT1_DATA | BMG160_INT1_FIFO |
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BMG160_INT1_FAST_OFFSET) < 0) {
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LOG_DBG("Unable to map interrupts.");
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return -EIO;
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}
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bmg160->gpio = device_get_binding((char *)cfg->gpio_port);
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if (!bmg160->gpio) {
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LOG_DBG("Gpio controller %s not found", cfg->gpio_port);
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return -EINVAL;
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}
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#if defined(CONFIG_BMG160_TRIGGER_OWN_THREAD)
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k_sem_init(&bmg160->trig_sem, 0, UINT_MAX);
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k_thread_create(&bmg160_thread, bmg160_thread_stack,
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CONFIG_BMG160_THREAD_STACK_SIZE, bmg160_thread_main,
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dev, NULL, NULL,
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K_PRIO_COOP(CONFIG_BMG160_THREAD_PRIORITY), 0,
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K_NO_WAIT);
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#elif defined(CONFIG_BMG160_TRIGGER_GLOBAL_THREAD)
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bmg160->work.handler = bmg160_work_cb;
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bmg160->dev = dev;
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#endif
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gpio_pin_configure(bmg160->gpio, cfg->int_pin,
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cfg->int_flags | GPIO_INT_EDGE_TO_ACTIVE);
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gpio_init_callback(&bmg160->gpio_cb, bmg160_gpio_callback,
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BIT(cfg->int_pin));
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gpio_add_callback(bmg160->gpio, &bmg160->gpio_cb);
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setup_int(dev, true);
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return 0;
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}
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