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148 lines
3.6 KiB
148 lines
3.6 KiB
/* |
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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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#include <device.h> |
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#include <drivers/i2c.h> |
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#include <sys/util.h> |
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#include <kernel.h> |
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#include <drivers/sensor.h> |
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#include <logging/log.h> |
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#include "mpu6050.h" |
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LOG_MODULE_DECLARE(MPU6050, CONFIG_SENSOR_LOG_LEVEL); |
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int mpu6050_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 mpu6050_data *drv_data = dev->data; |
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const struct mpu6050_config *cfg = dev->config; |
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if (trig->type != SENSOR_TRIG_DATA_READY) { |
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return -ENOTSUP; |
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} |
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gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INT_DISABLE); |
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drv_data->data_ready_handler = handler; |
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if (handler == NULL) { |
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return 0; |
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} |
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drv_data->data_ready_trigger = *trig; |
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gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INT_EDGE_TO_ACTIVE); |
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return 0; |
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} |
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static void mpu6050_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 mpu6050_data *drv_data = |
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CONTAINER_OF(cb, struct mpu6050_data, gpio_cb); |
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const struct mpu6050_config *cfg = drv_data->dev->config; |
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ARG_UNUSED(pins); |
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gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INT_DISABLE); |
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) |
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k_sem_give(&drv_data->gpio_sem); |
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) |
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k_work_submit(&drv_data->work); |
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#endif |
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} |
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static void mpu6050_thread_cb(const struct device *dev) |
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{ |
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struct mpu6050_data *drv_data = dev->data; |
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const struct mpu6050_config *cfg = dev->config; |
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if (drv_data->data_ready_handler != NULL) { |
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drv_data->data_ready_handler(dev, |
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&drv_data->data_ready_trigger); |
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} |
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gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INT_EDGE_TO_ACTIVE); |
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} |
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#ifdef CONFIG_MPU6050_TRIGGER_OWN_THREAD |
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static void mpu6050_thread(struct mpu6050_data *drv_data) |
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{ |
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while (1) { |
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k_sem_take(&drv_data->gpio_sem, K_FOREVER); |
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mpu6050_thread_cb(drv_data->dev); |
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} |
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} |
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#endif |
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#ifdef CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD |
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static void mpu6050_work_cb(struct k_work *work) |
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{ |
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struct mpu6050_data *drv_data = |
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CONTAINER_OF(work, struct mpu6050_data, work); |
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mpu6050_thread_cb(drv_data->dev); |
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} |
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#endif |
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int mpu6050_init_interrupt(const struct device *dev) |
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{ |
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struct mpu6050_data *drv_data = dev->data; |
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const struct mpu6050_config *cfg = dev->config; |
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/* setup data ready gpio interrupt */ |
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drv_data->gpio = device_get_binding(cfg->int_label); |
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if (drv_data->gpio == NULL) { |
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LOG_ERR("Failed to get pointer to %s device", |
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cfg->int_label); |
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return -EINVAL; |
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} |
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drv_data->dev = dev; |
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gpio_pin_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INPUT | cfg->int_flags); |
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gpio_init_callback(&drv_data->gpio_cb, |
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mpu6050_gpio_callback, |
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BIT(cfg->int_pin)); |
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if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) { |
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LOG_ERR("Failed to set gpio callback"); |
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return -EIO; |
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} |
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/* enable data ready interrupt */ |
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if (i2c_reg_write_byte(drv_data->i2c, cfg->i2c_addr, |
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MPU6050_REG_INT_EN, MPU6050_DRDY_EN) < 0) { |
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LOG_ERR("Failed to enable data ready interrupt."); |
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return -EIO; |
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} |
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#if defined(CONFIG_MPU6050_TRIGGER_OWN_THREAD) |
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k_sem_init(&drv_data->gpio_sem, 0, K_SEM_MAX_LIMIT); |
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k_thread_create(&drv_data->thread, drv_data->thread_stack, |
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CONFIG_MPU6050_THREAD_STACK_SIZE, |
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(k_thread_entry_t)mpu6050_thread, drv_data, |
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NULL, NULL, K_PRIO_COOP(CONFIG_MPU6050_THREAD_PRIORITY), |
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0, K_NO_WAIT); |
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#elif defined(CONFIG_MPU6050_TRIGGER_GLOBAL_THREAD) |
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drv_data->work.handler = mpu6050_work_cb; |
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#endif |
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gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin, |
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GPIO_INT_EDGE_TO_ACTIVE); |
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return 0; |
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}
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