161 lines
4.1 KiB
C
161 lines
4.1 KiB
C
/* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
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*
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* Copyright (c) 2018-2019 STMicroelectronics
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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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* https://www.st.com/resource/en/datasheet/lis2mdl.pdf
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*/
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#define DT_DRV_COMPAT st_lis2mdl
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include <drivers/gpio.h>
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#include <logging/log.h>
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#include "lis2mdl.h"
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LOG_MODULE_DECLARE(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);
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static int lis2mdl_enable_int(const struct device *dev, int enable)
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{
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const struct lis2mdl_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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LOG_DBG("Set int with %d", enable);
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/* set interrupt on mag */
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return lis2mdl_drdy_on_pin_set(ctx, enable);
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}
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/* link external trigger to event data ready */
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int lis2mdl_trigger_set(const 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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const struct lis2mdl_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct lis2mdl_data *lis2mdl = dev->data;
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int16_t raw[3];
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if (!cfg->trig_enabled) {
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LOG_ERR("trigger_set op not supported");
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return -ENOTSUP;
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}
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if (trig->chan == SENSOR_CHAN_MAGN_XYZ) {
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lis2mdl->handler_drdy = handler;
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if (handler) {
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/* fetch raw data sample: re-trigger lost interrupt */
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lis2mdl_magnetic_raw_get(ctx, raw);
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return lis2mdl_enable_int(dev, 1);
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} else {
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return lis2mdl_enable_int(dev, 0);
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}
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}
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return -ENOTSUP;
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}
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/* handle the drdy event: read data and call handler if registered any */
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static void lis2mdl_handle_interrupt(const struct device *dev)
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{
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struct lis2mdl_data *lis2mdl = dev->data;
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const struct lis2mdl_config *const cfg = dev->config;
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struct sensor_trigger drdy_trigger = {
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.type = SENSOR_TRIG_DATA_READY,
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};
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if (lis2mdl->handler_drdy != NULL) {
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lis2mdl->handler_drdy(dev, &drdy_trigger);
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}
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if (cfg->single_mode) {
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k_sem_give(&lis2mdl->fetch_sem);
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}
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gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void lis2mdl_gpio_callback(const struct device *dev,
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struct gpio_callback *cb, uint32_t pins)
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{
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struct lis2mdl_data *lis2mdl =
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CONTAINER_OF(cb, struct lis2mdl_data, gpio_cb);
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const struct lis2mdl_config *const cfg = lis2mdl->dev->config;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_DISABLE);
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#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
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k_sem_give(&lis2mdl->gpio_sem);
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#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&lis2mdl->work);
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#endif
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}
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#ifdef CONFIG_LIS2MDL_TRIGGER_OWN_THREAD
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static void lis2mdl_thread(struct lis2mdl_data *lis2mdl)
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{
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while (1) {
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k_sem_take(&lis2mdl->gpio_sem, K_FOREVER);
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lis2mdl_handle_interrupt(lis2mdl->dev);
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}
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}
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#endif
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#ifdef CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD
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static void lis2mdl_work_cb(struct k_work *work)
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{
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struct lis2mdl_data *lis2mdl =
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CONTAINER_OF(work, struct lis2mdl_data, work);
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lis2mdl_handle_interrupt(lis2mdl->dev);
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}
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#endif
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int lis2mdl_init_interrupt(const struct device *dev)
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{
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struct lis2mdl_data *lis2mdl = dev->data;
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const struct lis2mdl_config *const cfg = dev->config;
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int ret;
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/* setup data ready gpio interrupt */
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if (!device_is_ready(cfg->gpio_drdy.port)) {
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LOG_ERR("Cannot get pointer to drdy_gpio device");
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return -EINVAL;
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}
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#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
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k_sem_init(&lis2mdl->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&lis2mdl->thread, lis2mdl->thread_stack,
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CONFIG_LIS2MDL_THREAD_STACK_SIZE,
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(k_thread_entry_t)lis2mdl_thread, lis2mdl,
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NULL, NULL, K_PRIO_COOP(CONFIG_LIS2MDL_THREAD_PRIORITY),
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0, K_NO_WAIT);
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#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
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lis2mdl->work.handler = lis2mdl_work_cb;
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#endif
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ret = gpio_pin_configure_dt(&cfg->gpio_drdy, GPIO_INPUT);
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if (ret < 0) {
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LOG_ERR("Could not configure gpio");
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return ret;
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}
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gpio_init_callback(&lis2mdl->gpio_cb,
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lis2mdl_gpio_callback,
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BIT(cfg->gpio_drdy.pin));
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if (gpio_add_callback(cfg->gpio_drdy.port, &lis2mdl->gpio_cb) < 0) {
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LOG_ERR("Could not set gpio callback");
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return -EIO;
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}
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return gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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