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

Add bmm150 magetometer sensor data ready trigger support.

Signed-off-by: Weiwei Guo <guoweiwei@syriusrobotics.com>

drivers/sensor/bmm150/CMakeLists.txt

@@ -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)

drivers/sensor/bmm150/Kconfig

@@ -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

drivers/sensor/bmm150/bmm150.c

@@ -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);			\

drivers/sensor/bmm150/bmm150.h

@@ -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);
 

drivers/sensor/bmm150/bmm150_trigger.c

@@ -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;
+}

dts/bindings/sensor/bosch,bmm150.yaml

@@ -4,3 +4,10 @@
 # Common fields for BMM150
 
 include: sensor-device.yaml
+
+properties:
+  drdy-gpios:
+    type: phandle-array
+    description: |
+      This property specifies the connection for data ready pin.
+      The polarity default is active high when sensor data is ready.

tests/drivers/build_all/sensor/i2c.dtsi

@@ -88,6 +88,7 @@ test_i2c_bmg160: bmg160@c {
 test_i2c_bmm150: bmm150@d {
 	compatible = "bosch,bmm150";
 	reg = <0xd>;
+	drdy-gpios = <&test_gpio 0 0>;
 };
 
 test_i2c_hmc5883l: hmc5883l@e {

tests/drivers/build_all/sensor/sensors_trigger_global.conf

@@ -10,6 +10,7 @@ CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMI160_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMI270_TRIGGER_GLOBAL_THREAD=y
+CONFIG_BMM150_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMP388_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BQ274XX_TRIGGER_GLOBAL_THREAD=y
 CONFIG_CCS811_TRIGGER_GLOBAL_THREAD=y

tests/drivers/build_all/sensor/sensors_trigger_none.conf

@@ -10,6 +10,7 @@ CONFIG_BMI08X_ACCEL_TRIGGER_NONE=y
 CONFIG_BMI08X_GYRO_TRIGGER_NONE=y
 CONFIG_BMI160_TRIGGER_NONE=y
 CONFIG_BMI270_TRIGGER_NONE=y
+CONFIG_BMM150_TRIGGER_NONE=y
 CONFIG_BMP388_TRIGGER_NONE=y
 CONFIG_BQ274XX_TRIGGER_NONE=y
 CONFIG_CCS811_TRIGGER_NONE=y

tests/drivers/build_all/sensor/sensors_trigger_own.conf

@@ -9,6 +9,7 @@ CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD=y
 CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD=y
 CONFIG_BMI160_TRIGGER_OWN_THREAD=y
 CONFIG_BMI270_TRIGGER_OWN_THREAD=y
+CONFIG_BMM150_TRIGGER_OWN_THREAD=y
 CONFIG_BMP388_TRIGGER_OWN_THREAD=y
 CONFIG_BQ274XX_TRIGGER_OWN_THREAD=y
 CONFIG_CCS811_TRIGGER_OWN_THREAD=y

tests/drivers/build_all/sensor/spi.dtsi

@@ -225,6 +225,7 @@ test_spi_bmm150: bmm150@1d {
 	compatible = "bosch,bmm150";
 	reg = <0x1d>;
 	spi-max-frequency = <0>;
+	drdy-gpios = <&test_gpio 0 0>;
 };
 
 test_spi_hts221: hts221@1e {