144 lines
3.8 KiB
C
144 lines
3.8 KiB
C
/* ST Microelectronics IIS2MDC 3-axis magnetometer sensor
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*
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* Copyright (c) 2020 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/iis2mdc.pdf
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*/
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#define DT_DRV_COMPAT st_iis2mdc
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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 "iis2mdc.h"
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LOG_MODULE_DECLARE(IIS2MDC, CONFIG_SENSOR_LOG_LEVEL);
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static int iis2mdc_enable_int(const struct device *dev, int enable)
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{
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struct iis2mdc_data *iis2mdc = dev->data;
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/* set interrupt on mag */
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return iis2mdc_drdy_on_pin_set(iis2mdc->ctx, enable);
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}
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/* link external trigger to event data ready */
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int iis2mdc_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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struct iis2mdc_data *iis2mdc = dev->data;
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int16_t raw[3];
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if (trig->chan == SENSOR_CHAN_MAGN_XYZ) {
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iis2mdc->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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iis2mdc_magnetic_raw_get(iis2mdc->ctx, raw);
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return iis2mdc_enable_int(dev, 1);
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} else {
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return iis2mdc_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 iis2mdc_handle_interrupt(const struct device *dev)
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{
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struct iis2mdc_data *iis2mdc = dev->data;
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const struct iis2mdc_dev_config *const config = 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 (iis2mdc->handler_drdy != NULL) {
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iis2mdc->handler_drdy(dev, &drdy_trigger);
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}
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gpio_pin_interrupt_configure(config->gpio_drdy.port, config->gpio_drdy.pin,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void iis2mdc_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 iis2mdc_data *iis2mdc =
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CONTAINER_OF(cb, struct iis2mdc_data, gpio_cb);
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const struct iis2mdc_dev_config *const config = iis2mdc->dev->config;
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure(dev, config->gpio_drdy.pin, GPIO_INT_DISABLE);
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#if defined(CONFIG_IIS2MDC_TRIGGER_OWN_THREAD)
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k_sem_give(&iis2mdc->gpio_sem);
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#elif defined(CONFIG_IIS2MDC_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&iis2mdc->work);
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#endif
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}
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#ifdef CONFIG_IIS2MDC_TRIGGER_OWN_THREAD
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static void iis2mdc_thread(struct iis2mdc_data *iis2mdc)
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{
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while (1) {
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k_sem_take(&iis2mdc->gpio_sem, K_FOREVER);
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iis2mdc_handle_interrupt(iis2mdc->dev);
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}
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}
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#endif
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#ifdef CONFIG_IIS2MDC_TRIGGER_GLOBAL_THREAD
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static void iis2mdc_work_cb(struct k_work *work)
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{
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struct iis2mdc_data *iis2mdc =
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CONTAINER_OF(work, struct iis2mdc_data, work);
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iis2mdc_handle_interrupt(iis2mdc->dev);
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}
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#endif
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int iis2mdc_init_interrupt(const struct device *dev)
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{
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struct iis2mdc_data *iis2mdc = dev->data;
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const struct iis2mdc_dev_config *const config = dev->config;
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/* setup data ready gpio interrupt */
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if (!device_is_ready(config->gpio_drdy.port)) {
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LOG_ERR("Cannot get pointer to drdy_gpio device");
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return -ENODEV;
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}
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#if defined(CONFIG_IIS2MDC_TRIGGER_OWN_THREAD)
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k_sem_init(&iis2mdc->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&iis2mdc->thread, iis2mdc->thread_stack,
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CONFIG_IIS2MDC_THREAD_STACK_SIZE,
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(k_thread_entry_t)iis2mdc_thread, iis2mdc,
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NULL, NULL, K_PRIO_COOP(CONFIG_IIS2MDC_THREAD_PRIORITY),
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0, K_NO_WAIT);
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#elif defined(CONFIG_IIS2MDC_TRIGGER_GLOBAL_THREAD)
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iis2mdc->work.handler = iis2mdc_work_cb;
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#endif
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gpio_pin_configure(config->gpio_drdy.port, config->gpio_drdy.pin,
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GPIO_INPUT | config->gpio_drdy.dt_flags);
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gpio_init_callback(&iis2mdc->gpio_cb,
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iis2mdc_gpio_callback,
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BIT(config->gpio_drdy.pin));
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if (gpio_add_callback(config->gpio_drdy.port, &iis2mdc->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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return gpio_pin_interrupt_configure(config->gpio_drdy.port, config->gpio_drdy.pin,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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