404 lines
9.3 KiB
C
404 lines
9.3 KiB
C
/*
|
|
* Copyright (c) 2016 Freescale Semiconductor, Inc.
|
|
* Copyright (c) 2018 Phytec Messtechnik GmbH
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include "fxos8700.h"
|
|
#include <logging/log.h>
|
|
|
|
LOG_MODULE_DECLARE(FXOS8700, CONFIG_SENSOR_LOG_LEVEL);
|
|
|
|
static void fxos8700_gpio_callback(struct device *dev,
|
|
struct gpio_callback *cb,
|
|
u32_t pin_mask)
|
|
{
|
|
struct fxos8700_data *data =
|
|
CONTAINER_OF(cb, struct fxos8700_data, gpio_cb);
|
|
|
|
if ((pin_mask & BIT(data->gpio_pin)) == 0U) {
|
|
return;
|
|
}
|
|
|
|
gpio_pin_interrupt_configure(data->gpio, data->gpio_pin,
|
|
GPIO_INT_DISABLE);
|
|
|
|
#if defined(CONFIG_FXOS8700_TRIGGER_OWN_THREAD)
|
|
k_sem_give(&data->trig_sem);
|
|
#elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
|
|
k_work_submit(&data->work);
|
|
#endif
|
|
}
|
|
|
|
static int fxos8700_handle_drdy_int(struct device *dev)
|
|
{
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
|
|
struct sensor_trigger drdy_trig = {
|
|
.type = SENSOR_TRIG_DATA_READY,
|
|
.chan = SENSOR_CHAN_ALL,
|
|
};
|
|
|
|
if (data->drdy_handler) {
|
|
data->drdy_handler(dev, &drdy_trig);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#ifdef CONFIG_FXOS8700_PULSE
|
|
static int fxos8700_handle_pulse_int(struct device *dev)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
sensor_trigger_handler_t handler = NULL;
|
|
u8_t pulse_source;
|
|
|
|
struct sensor_trigger pulse_trig = {
|
|
.chan = SENSOR_CHAN_ALL,
|
|
};
|
|
|
|
k_sem_take(&data->sem, K_FOREVER);
|
|
|
|
if (i2c_reg_read_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_SRC,
|
|
&pulse_source)) {
|
|
LOG_ERR("Could not read pulse source");
|
|
}
|
|
|
|
k_sem_give(&data->sem);
|
|
|
|
if (pulse_source & FXOS8700_PULSE_SRC_DPE) {
|
|
pulse_trig.type = SENSOR_TRIG_DOUBLE_TAP;
|
|
handler = data->double_tap_handler;
|
|
} else {
|
|
pulse_trig.type = SENSOR_TRIG_TAP;
|
|
handler = data->tap_handler;
|
|
}
|
|
|
|
if (handler) {
|
|
handler(dev, &pulse_trig);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_FXOS8700_MOTION
|
|
static int fxos8700_handle_motion_int(struct device *dev)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
sensor_trigger_handler_t handler = data->motion_handler;
|
|
u8_t motion_source;
|
|
|
|
struct sensor_trigger motion_trig = {
|
|
.chan = SENSOR_CHAN_ALL,
|
|
};
|
|
|
|
k_sem_take(&data->sem, K_FOREVER);
|
|
|
|
if (i2c_reg_read_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_FF_MT_SRC,
|
|
&motion_source)) {
|
|
LOG_ERR("Could not read pulse source");
|
|
}
|
|
|
|
k_sem_give(&data->sem);
|
|
|
|
if (handler) {
|
|
LOG_DBG("FF_MT_SRC 0x%x", motion_source);
|
|
handler(dev, &motion_trig);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
static void fxos8700_handle_int(void *arg)
|
|
{
|
|
struct device *dev = (struct device *)arg;
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
u8_t int_source;
|
|
|
|
k_sem_take(&data->sem, K_FOREVER);
|
|
|
|
if (i2c_reg_read_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_INT_SOURCE,
|
|
&int_source)) {
|
|
LOG_ERR("Could not read interrupt source");
|
|
int_source = 0U;
|
|
}
|
|
|
|
k_sem_give(&data->sem);
|
|
|
|
if (int_source & FXOS8700_DRDY_MASK) {
|
|
fxos8700_handle_drdy_int(dev);
|
|
}
|
|
#ifdef CONFIG_FXOS8700_PULSE
|
|
if (int_source & FXOS8700_PULSE_MASK) {
|
|
fxos8700_handle_pulse_int(dev);
|
|
}
|
|
#endif
|
|
#ifdef CONFIG_FXOS8700_MOTION
|
|
if (int_source & FXOS8700_MOTION_MASK) {
|
|
fxos8700_handle_motion_int(dev);
|
|
}
|
|
#endif
|
|
|
|
gpio_pin_interrupt_configure(data->gpio, config->gpio_pin,
|
|
GPIO_INT_EDGE_TO_ACTIVE);
|
|
}
|
|
|
|
#ifdef CONFIG_FXOS8700_TRIGGER_OWN_THREAD
|
|
static void fxos8700_thread_main(void *arg1, void *unused1, void *unused2)
|
|
{
|
|
struct device *dev = (struct device *)arg1;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
|
|
ARG_UNUSED(unused1);
|
|
ARG_UNUSED(unused2);
|
|
|
|
while (true) {
|
|
k_sem_take(&data->trig_sem, K_FOREVER);
|
|
fxos8700_handle_int(dev);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD
|
|
static void fxos8700_work_handler(struct k_work *work)
|
|
{
|
|
struct fxos8700_data *data =
|
|
CONTAINER_OF(work, struct fxos8700_data, work);
|
|
|
|
fxos8700_handle_int(data->dev);
|
|
}
|
|
#endif
|
|
|
|
int fxos8700_trigger_set(struct device *dev,
|
|
const struct sensor_trigger *trig,
|
|
sensor_trigger_handler_t handler)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
enum fxos8700_power power = FXOS8700_POWER_STANDBY;
|
|
u8_t mask;
|
|
int ret = 0;
|
|
|
|
k_sem_take(&data->sem, K_FOREVER);
|
|
|
|
switch (trig->type) {
|
|
case SENSOR_TRIG_DATA_READY:
|
|
mask = FXOS8700_DRDY_MASK;
|
|
data->drdy_handler = handler;
|
|
break;
|
|
#ifdef CONFIG_FXOS8700_PULSE
|
|
case SENSOR_TRIG_TAP:
|
|
mask = FXOS8700_PULSE_MASK;
|
|
data->tap_handler = handler;
|
|
break;
|
|
case SENSOR_TRIG_DOUBLE_TAP:
|
|
mask = FXOS8700_PULSE_MASK;
|
|
data->double_tap_handler = handler;
|
|
break;
|
|
#endif
|
|
#ifdef CONFIG_FXOS8700_MOTION
|
|
case SENSOR_TRIG_DELTA:
|
|
mask = FXOS8700_MOTION_MASK;
|
|
data->motion_handler = handler;
|
|
break;
|
|
#endif
|
|
default:
|
|
LOG_ERR("Unsupported sensor trigger");
|
|
ret = -ENOTSUP;
|
|
goto exit;
|
|
}
|
|
|
|
/* The sensor must be in standby mode when writing the configuration
|
|
* registers, therefore get the current power mode so we can restore it
|
|
* later.
|
|
*/
|
|
if (fxos8700_get_power(dev, &power)) {
|
|
LOG_ERR("Could not get power mode");
|
|
ret = -EIO;
|
|
goto exit;
|
|
}
|
|
|
|
/* Put the sensor in standby mode */
|
|
if (fxos8700_set_power(dev, FXOS8700_POWER_STANDBY)) {
|
|
LOG_ERR("Could not set standby mode");
|
|
ret = -EIO;
|
|
goto exit;
|
|
}
|
|
|
|
/* Configure the sensor interrupt */
|
|
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_CTRLREG4,
|
|
mask,
|
|
handler ? mask : 0)) {
|
|
LOG_ERR("Could not configure interrupt");
|
|
ret = -EIO;
|
|
goto exit;
|
|
}
|
|
|
|
/* Restore the previous power mode */
|
|
if (fxos8700_set_power(dev, power)) {
|
|
LOG_ERR("Could not restore power mode");
|
|
ret = -EIO;
|
|
goto exit;
|
|
}
|
|
|
|
exit:
|
|
k_sem_give(&data->sem);
|
|
|
|
return ret;
|
|
}
|
|
|
|
#ifdef CONFIG_FXOS8700_PULSE
|
|
static int fxos8700_pulse_init(struct device *dev)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_CFG, config->pulse_cfg)) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_THSX, config->pulse_ths[0])) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_THSY, config->pulse_ths[1])) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_THSZ, config->pulse_ths[2])) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_TMLT, config->pulse_tmlt)) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_LTCY, config->pulse_ltcy)) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_PULSE_WIND, config->pulse_wind)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_FXOS8700_MOTION
|
|
static int fxos8700_motion_init(struct device *dev)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
|
|
/* Set Mode 4, Motion detection with ELE = 1, OAE = 1 */
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_FF_MT_CFG,
|
|
FXOS8700_FF_MT_CFG_ELE |
|
|
FXOS8700_FF_MT_CFG_OAE |
|
|
FXOS8700_FF_MT_CFG_ZEFE |
|
|
FXOS8700_FF_MT_CFG_YEFE |
|
|
FXOS8700_FF_MT_CFG_XEFE)) {
|
|
return -EIO;
|
|
}
|
|
|
|
/* Set motion threshold to maximimum */
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_FF_MT_THS,
|
|
FXOS8700_REG_FF_MT_THS)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
|
|
int fxos8700_trigger_init(struct device *dev)
|
|
{
|
|
const struct fxos8700_config *config = dev->config_info;
|
|
struct fxos8700_data *data = dev->driver_data;
|
|
u8_t ctrl_reg5;
|
|
|
|
#if defined(CONFIG_FXOS8700_TRIGGER_OWN_THREAD)
|
|
k_sem_init(&data->trig_sem, 0, UINT_MAX);
|
|
k_thread_create(&data->thread, data->thread_stack,
|
|
CONFIG_FXOS8700_THREAD_STACK_SIZE,
|
|
fxos8700_thread_main, dev, 0, NULL,
|
|
K_PRIO_COOP(CONFIG_FXOS8700_THREAD_PRIORITY), 0, K_NO_WAIT);
|
|
#elif defined(CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD)
|
|
data->work.handler = fxos8700_work_handler;
|
|
data->dev = dev;
|
|
#endif
|
|
|
|
/* Route the interrupts to INT1/INT2 pins */
|
|
ctrl_reg5 = 0U;
|
|
#if CONFIG_FXOS8700_DRDY_INT1
|
|
ctrl_reg5 |= FXOS8700_DRDY_MASK;
|
|
#endif
|
|
#if CONFIG_FXOS8700_PULSE_INT1
|
|
ctrl_reg5 |= FXOS8700_PULSE_MASK;
|
|
#endif
|
|
#if CONFIG_FXOS8700_MOTION_INT1
|
|
ctrl_reg5 |= FXOS8700_MOTION_MASK;
|
|
#endif
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_address,
|
|
FXOS8700_REG_CTRLREG5, ctrl_reg5)) {
|
|
LOG_ERR("Could not configure interrupt pin routing");
|
|
return -EIO;
|
|
}
|
|
|
|
#ifdef CONFIG_FXOS8700_PULSE
|
|
if (fxos8700_pulse_init(dev)) {
|
|
LOG_ERR("Could not configure pulse");
|
|
return -EIO;
|
|
}
|
|
#endif
|
|
#ifdef CONFIG_FXOS8700_MOTION
|
|
if (fxos8700_motion_init(dev)) {
|
|
LOG_ERR("Could not configure motion");
|
|
return -EIO;
|
|
}
|
|
#endif
|
|
|
|
/* Get the GPIO device */
|
|
data->gpio = device_get_binding(config->gpio_name);
|
|
if (data->gpio == NULL) {
|
|
LOG_ERR("Could not find GPIO device");
|
|
return -EINVAL;
|
|
}
|
|
|
|
data->gpio_pin = config->gpio_pin;
|
|
|
|
gpio_pin_configure(data->gpio, config->gpio_pin,
|
|
GPIO_INPUT | config->gpio_flags);
|
|
|
|
gpio_init_callback(&data->gpio_cb, fxos8700_gpio_callback,
|
|
BIT(config->gpio_pin));
|
|
|
|
gpio_add_callback(data->gpio, &data->gpio_cb);
|
|
|
|
gpio_pin_interrupt_configure(data->gpio, config->gpio_pin,
|
|
GPIO_INT_EDGE_TO_ACTIVE);
|
|
|
|
return 0;
|
|
}
|