michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: sensor: bmm150: Add trigger support for bmm150 magnetometer sensor

Browse source 
Add bmm150 magetometer sensor data ready trigger support.

Signed-off-by: Weiwei Guo <guoweiwei@syriusrobotics.com>
This commit is contained in:
Weiwei Guo 2023-05-17 18:11:30 +08:00 • committed by Carles Cufí
commit 2779dd9d9b
11 changed files with 278 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

1
drivers/sensor/bmm150/CMakeLists.txt
View file

@ -2,3 +2,4 @@
zephyr_library()
zephyr_library_sources(bmm150.c bmm150_i2c.c bmm150_spi.c)
zephyr_library_sources_ifdef(CONFIG_BMM150_TRIGGER bmm150_trigger.c)

39
drivers/sensor/bmm150/Kconfig
View file

@ -33,6 +33,31 @@ config BMM150_PRESET_HIGH_ACCURACY
endchoice
choice BMM150_TRIGGER_MODE
prompt "Trigger mode"
default BMM150_TRIGGER_NONE
help
Specify the type of triggering to be used by the driver.
config BMM150_TRIGGER_NONE
bool "No trigger"
config BMM150_TRIGGER_GLOBAL_THREAD
bool "Use global thread"
select BMM150_TRIGGER
config BMM150_TRIGGER_OWN_THREAD
bool "Use own thread"
select BMM150_TRIGGER
config BMM150_TRIGGER_DIRECT
bool "Use IRQ handler"
select BMM150_TRIGGER
endchoice
config BMM150_TRIGGER
bool
config BMM150_SAMPLING_RATE_RUNTIME
bool "Dynamic sampling rate"
help
@ -48,4 +73,18 @@ config BMM150_SAMPLING_REP_Z
help
Enable alteration of Z oversampling at runtime.
config BMM150_THREAD_PRIORITY
int "Own thread priority"
depends on BMM150_TRIGGER_OWN_THREAD
default 10
help
Priority of the thread used by the driver to handle interrupts.
config BMM150_THREAD_STACK_SIZE
int "Own thread stack size"
depends on BMM150_TRIGGER_OWN_THREAD
default 1024
help
Stack size of thread used by the driver to handle interrupts.
endif # BMM150

19
drivers/sensor/bmm150/bmm150.c
View file

@ -495,6 +495,10 @@ static const struct sensor_driver_api bmm150_api_funcs = {
#endif
.sample_fetch = bmm150_sample_fetch,
.channel_get = bmm150_channel_get,
#ifdef CONFIG_BMM150_TRIGGER
.trigger_set = bmm150_trigger_set,
#endif
};
static int bmm150_full_por(const struct device *dev)
@ -668,6 +672,13 @@ static int bmm150_init(const struct device *dev)
return -EIO;
}
#ifdef CONFIG_BMM150_TRIGGER
if (bmm150_trigger_mode_init(dev) < 0) {
LOG_ERR("Cannot set up trigger mode.");
return -EINVAL;
}
#endif
return 0;
}
@ -686,6 +697,13 @@ static int bmm150_init(const struct device *dev)
(BMM150_CONFIG_I2C(inst)), \
(BMM150_CONFIG_SPI(inst)))
#if defined(CONFIG_BMM150_TRIGGER)
#define BMM150_INT_CFG(inst) \
.drdy_int = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),
#else
#define BMM150_INT_CFG(inst)
#endif
/*
* Main instantiation macro, which selects the correct bus-specific
* instantiation macros for the instance.
@ -694,6 +712,7 @@ static int bmm150_init(const struct device *dev)
static struct bmm150_data bmm150_data_##inst; \
static const struct bmm150_config bmm150_config_##inst = { \
BMM150_BUS_CFG(inst) \
BMM150_INT_CFG(inst) \
}; \
\
PM_DEVICE_DT_INST_DEFINE(inst, pm_action); \

33
drivers/sensor/bmm150/bmm150.h
View file

@ -157,13 +157,38 @@ struct bmm150_trim_regs {
struct bmm150_config {
union bmm150_bus bus;
const struct bmm150_bus_io *bus_io;
#ifdef CONFIG_BMM150_TRIGGER
struct gpio_dt_spec drdy_int;
#endif
};
struct bmm150_data {
struct k_sem sem;
struct bmm150_trim_regs tregs;
int rep_xy, rep_z, odr, max_odr;
int sample_x, sample_y, sample_z;
#if defined(CONFIG_BMM150_TRIGGER)
struct gpio_callback gpio_cb;
#endif
#ifdef CONFIG_BMM150_TRIGGER_OWN_THREAD
struct k_sem sem;
#endif
#ifdef CONFIG_BMM150_TRIGGER_GLOBAL_THREAD
struct k_work work;
#endif
#if defined(CONFIG_BMM150_TRIGGER_GLOBAL_THREAD) || \
defined(CONFIG_BMM150_TRIGGER_DIRECT)
const struct device *dev;
#endif
#ifdef CONFIG_BMM150_TRIGGER
const struct sensor_trigger *drdy_trigger;
sensor_trigger_handler_t drdy_handler;
#endif /* CONFIG_BMM150_TRIGGER */
};
enum bmm150_axis {
@ -198,6 +223,12 @@ enum bmm150_presets {
/* Start-Up Time - from suspend to sleep (Max) */
#define BMM150_START_UP_TIME K_MSEC(3)
int bmm150_trigger_mode_init(const struct device *dev);
int bmm150_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int bmm150_reg_update_byte(const struct device *dev, uint8_t reg,
uint8_t mask, uint8_t value);

175
drivers/sensor/bmm150/bmm150_trigger.c Normal file
View file

@ -0,0 +1,175 @@
/* Bosch BMM150 pressure sensor
*
* Copyright (c) 2020 Facebook, Inc. and its affiliates
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf
*/
#include <zephyr/kernel.h>
#include <zephyr/pm/device.h>
#include <zephyr/logging/log.h>
#include "bmm150.h"
LOG_MODULE_DECLARE(BMM150, CONFIG_SENSOR_LOG_LEVEL);
static void bmm150_handle_interrupts(const void *arg)
{
const struct device *dev = (const struct device *)arg;
struct bmm150_data *data = dev->data;
if (data->drdy_handler) {
data->drdy_handler(dev, data->drdy_trigger);
}
}
#ifdef CONFIG_BMM150_TRIGGER_OWN_THREAD
static K_THREAD_STACK_DEFINE(bmm150_thread_stack,
CONFIG_BMM150_THREAD_STACK_SIZE);
static struct k_thread bmm150_thread;
static void bmm150_thread_main(void *arg1, void *unused1, void *unused2)
{
ARG_UNUSED(unused1);
ARG_UNUSED(unused2);
const struct device *dev = (const struct device *)arg1;
struct bmm150_data *data = dev->data;
while (1) {
k_sem_take(&data->sem, K_FOREVER);
bmm150_handle_interrupts(dev);
}
}
#endif
#ifdef CONFIG_BMM150_TRIGGER_GLOBAL_THREAD
static void bmm150_work_handler(struct k_work *work)
{
struct bmm150_data *data = CONTAINER_OF(work,
struct bmm150_data,
work);
bmm150_handle_interrupts(data->dev);
}
#endif
static void bmm150_gpio_callback(const struct device *port,
struct gpio_callback *cb,
uint32_t pin)
{
struct bmm150_data *data = CONTAINER_OF(cb,
struct bmm150_data,
gpio_cb);
ARG_UNUSED(port);
ARG_UNUSED(pin);
#if defined(CONFIG_BMM150_TRIGGER_OWN_THREAD)
k_sem_give(&data->sem);
#elif defined(CONFIG_BMM150_TRIGGER_GLOBAL_THREAD)
k_work_submit(&data->work);
#elif defined(CONFIG_BMM150_TRIGGER_DIRECT)
bmm150_handle_interrupts(data->dev);
#endif
}
int bmm150_trigger_set(
const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
uint16_t values[BMM150_AXIS_XYZR_MAX];
struct bmm150_data *data = dev->data;
const struct bmm150_config *cfg = dev->config;
#ifdef CONFIG_PM_DEVICE
enum pm_device_state state;
(void)pm_device_state_get(dev, &state);
if (state != PM_DEVICE_STATE_ACTIVE) {
return -EBUSY;
}
#endif
if (trig->type != SENSOR_TRIG_DATA_READY) {
return -ENOTSUP;
}
data->drdy_trigger = trig;
data->drdy_handler = handler;
if (bmm150_reg_update_byte(dev,
BMM150_REG_INT_DRDY,
BMM150_MASK_DRDY_EN,
(handler != NULL) << BMM150_SHIFT_DRDY_EN) < 0) {
LOG_ERR("Failed to enable DRDY interrupt");
return -EIO;
}
/* Clean data registers */
if (cfg->bus_io->read(&cfg->bus, BMM150_REG_X_L, (uint8_t *)values, sizeof(values)) < 0) {
LOG_ERR("failed to read sample");
return -EIO;
}
return 0;
}
int bmm150_trigger_mode_init(const struct device *dev)
{
struct bmm150_data *data = dev->data;
const struct bmm150_config *cfg = dev->config;
int ret;
if (!device_is_ready(cfg->drdy_int.port)) {
LOG_ERR("INT device is not ready");
return -ENODEV;
}
#if defined(CONFIG_BMM150_TRIGGER_OWN_THREAD)
k_sem_init(&data->sem, 0, 1);
k_thread_create(
&bmm150_thread,
bmm150_thread_stack,
CONFIG_BMM150_THREAD_STACK_SIZE,
bmm150_thread_main,
(void *)dev,
NULL,
NULL,
K_PRIO_COOP(CONFIG_BMM150_THREAD_PRIORITY),
0,
K_NO_WAIT);
#elif defined(CONFIG_BMM150_TRIGGER_GLOBAL_THREAD)
k_work_init(&data->work, bmm150_work_handler);
#endif
#if defined(CONFIG_BMM150_TRIGGER_GLOBAL_THREAD) || \
defined(CONFIG_BMM150_TRIGGER_DIRECT)
data->dev = dev;
#endif
ret = gpio_pin_configure_dt(&cfg->drdy_int, GPIO_INPUT);
if (ret < 0) {
return ret;
}
gpio_init_callback(&data->gpio_cb,
bmm150_gpio_callback,
BIT(cfg->drdy_int.pin));
ret = gpio_add_callback(cfg->drdy_int.port, &data->gpio_cb);
if (ret < 0) {
return ret;
}
ret = gpio_pin_interrupt_configure_dt(&cfg->drdy_int,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret < 0) {
return ret;
}
return 0;
}