287 lines
7.2 KiB
C
287 lines
7.2 KiB
C
/* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
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*
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* Copyright (c) 2023 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/lsm6dsv16x.pdf
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*/
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#define DT_DRV_COMPAT st_lsm6dsv16x
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/logging/log.h>
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#include "lsm6dsv16x.h"
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LOG_MODULE_DECLARE(LSM6DSV16X, CONFIG_SENSOR_LOG_LEVEL);
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/**
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* lsm6dsv16x_enable_xl_int - XL enable selected int pin to generate interrupt
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*/
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static int lsm6dsv16x_enable_xl_int(const struct device *dev, int enable)
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{
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const struct lsm6dsv16x_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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if (enable) {
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int16_t buf[3];
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/* dummy read: re-trigger interrupt */
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lsm6dsv16x_acceleration_raw_get(ctx, buf);
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}
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/* set interrupt */
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if (cfg->drdy_pin == 1) {
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lsm6dsv16x_pin_int_route_t val;
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ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int1_route_get error");
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return ret;
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}
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val.drdy_xl = 1;
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ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
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} else {
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lsm6dsv16x_pin_int_route_t val;
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ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int2_route_get error");
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return ret;
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}
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val.drdy_xl = 1;
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ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
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}
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return ret;
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}
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/**
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* lsm6dsv16x_enable_g_int - Gyro enable selected int pin to generate interrupt
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*/
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static int lsm6dsv16x_enable_g_int(const struct device *dev, int enable)
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{
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const struct lsm6dsv16x_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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if (enable) {
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int16_t buf[3];
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/* dummy read: re-trigger interrupt */
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lsm6dsv16x_angular_rate_raw_get(ctx, buf);
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}
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/* set interrupt */
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if (cfg->drdy_pin == 1) {
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lsm6dsv16x_pin_int_route_t val;
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ret = lsm6dsv16x_pin_int1_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int1_route_get error");
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return ret;
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}
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val.drdy_g = 1;
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ret = lsm6dsv16x_pin_int1_route_set(ctx, &val);
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} else {
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lsm6dsv16x_pin_int_route_t val;
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ret = lsm6dsv16x_pin_int2_route_get(ctx, &val);
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if (ret < 0) {
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LOG_ERR("pint_int2_route_get error");
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return ret;
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}
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val.drdy_g = 1;
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ret = lsm6dsv16x_pin_int2_route_set(ctx, &val);
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}
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return ret;
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}
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/**
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* lsm6dsv16x_trigger_set - link external trigger to event data ready
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*/
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int lsm6dsv16x_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 lsm6dsv16x_config *cfg = dev->config;
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struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
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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_ACCEL_XYZ) {
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lsm6dsv16x->handler_drdy_acc = handler;
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lsm6dsv16x->trig_drdy_acc = trig;
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if (handler) {
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return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_EN_BIT);
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} else {
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return lsm6dsv16x_enable_xl_int(dev, LSM6DSV16X_DIS_BIT);
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}
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} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
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lsm6dsv16x->handler_drdy_gyr = handler;
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lsm6dsv16x->trig_drdy_gyr = trig;
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if (handler) {
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return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_EN_BIT);
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} else {
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return lsm6dsv16x_enable_g_int(dev, LSM6DSV16X_DIS_BIT);
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}
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}
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return -ENOTSUP;
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}
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/**
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* lsm6dsv16x_handle_interrupt - handle the drdy event
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* read data and call handler if registered any
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*/
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static void lsm6dsv16x_handle_interrupt(const struct device *dev)
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{
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struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
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const struct lsm6dsv16x_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lsm6dsv16x_data_ready_t status;
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while (1) {
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if (lsm6dsv16x_flag_data_ready_get(ctx, &status) < 0) {
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LOG_DBG("failed reading status reg");
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return;
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}
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if ((status.drdy_xl == 0) && (status.drdy_gy == 0)) {
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break;
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}
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if ((status.drdy_xl) && (lsm6dsv16x->handler_drdy_acc != NULL)) {
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lsm6dsv16x->handler_drdy_acc(dev, lsm6dsv16x->trig_drdy_acc);
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}
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if ((status.drdy_gy) && (lsm6dsv16x->handler_drdy_gyr != NULL)) {
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lsm6dsv16x->handler_drdy_gyr(dev, lsm6dsv16x->trig_drdy_gyr);
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}
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}
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gpio_pin_interrupt_configure_dt(lsm6dsv16x->drdy_gpio,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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static void lsm6dsv16x_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 lsm6dsv16x_data *lsm6dsv16x =
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CONTAINER_OF(cb, struct lsm6dsv16x_data, gpio_cb);
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ARG_UNUSED(pins);
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gpio_pin_interrupt_configure_dt(lsm6dsv16x->drdy_gpio, GPIO_INT_DISABLE);
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#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
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k_sem_give(&lsm6dsv16x->gpio_sem);
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#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&lsm6dsv16x->work);
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#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
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}
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#ifdef CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD
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static void lsm6dsv16x_thread(void *p1, void *p2, void *p3)
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{
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ARG_UNUSED(p2);
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ARG_UNUSED(p3);
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struct lsm6dsv16x_data *lsm6dsv16x = p1;
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while (1) {
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k_sem_take(&lsm6dsv16x->gpio_sem, K_FOREVER);
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lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
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}
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}
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#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
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#ifdef CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD
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static void lsm6dsv16x_work_cb(struct k_work *work)
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{
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struct lsm6dsv16x_data *lsm6dsv16x =
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CONTAINER_OF(work, struct lsm6dsv16x_data, work);
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lsm6dsv16x_handle_interrupt(lsm6dsv16x->dev);
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}
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#endif /* CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD */
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int lsm6dsv16x_init_interrupt(const struct device *dev)
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{
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struct lsm6dsv16x_data *lsm6dsv16x = dev->data;
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const struct lsm6dsv16x_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret;
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lsm6dsv16x->drdy_gpio = (cfg->drdy_pin == 1) ?
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(struct gpio_dt_spec *)&cfg->int1_gpio :
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(struct gpio_dt_spec *)&cfg->int2_gpio;
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/* setup data ready gpio interrupt (INT1 or INT2) */
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if (!gpio_is_ready_dt(lsm6dsv16x->drdy_gpio)) {
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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_LSM6DSV16X_TRIGGER_OWN_THREAD)
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k_sem_init(&lsm6dsv16x->gpio_sem, 0, K_SEM_MAX_LIMIT);
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k_thread_create(&lsm6dsv16x->thread, lsm6dsv16x->thread_stack,
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CONFIG_LSM6DSV16X_THREAD_STACK_SIZE,
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lsm6dsv16x_thread, lsm6dsv16x,
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NULL, NULL, K_PRIO_COOP(CONFIG_LSM6DSV16X_THREAD_PRIORITY),
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0, K_NO_WAIT);
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k_thread_name_set(&lsm6dsv16x->thread, "lsm6dsv16x");
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#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
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lsm6dsv16x->work.handler = lsm6dsv16x_work_cb;
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#endif /* CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD */
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ret = gpio_pin_configure_dt(lsm6dsv16x->drdy_gpio, GPIO_INPUT);
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if (ret < 0) {
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LOG_DBG("Could not configure gpio");
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return ret;
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}
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gpio_init_callback(&lsm6dsv16x->gpio_cb,
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lsm6dsv16x_gpio_callback,
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BIT(lsm6dsv16x->drdy_gpio->pin));
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if (gpio_add_callback(lsm6dsv16x->drdy_gpio->port, &lsm6dsv16x->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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/* set data ready mode on int1/int2 */
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LOG_DBG("drdy_pulsed is %d", (int)cfg->drdy_pulsed);
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lsm6dsv16x_data_ready_mode_t mode = cfg->drdy_pulsed ? LSM6DSV16X_DRDY_PULSED :
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LSM6DSV16X_DRDY_LATCHED;
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ret = lsm6dsv16x_data_ready_mode_set(ctx, mode);
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if (ret < 0) {
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LOG_ERR("drdy_pulsed config error %d", (int)cfg->drdy_pulsed);
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return ret;
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}
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return gpio_pin_interrupt_configure_dt(lsm6dsv16x->drdy_gpio,
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GPIO_INT_EDGE_TO_ACTIVE);
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}
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