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drivers: sensor: lsm6dso: improvements on tilt and tap triggers

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Improvements include: check error codes, log level adjustments,
removed unreachable code, disable tilt when not used, call optimized
interrupt handler when tilt and tap are not used.

Signed-off-by: Ivan Wagner <ivan.wagner@tecinvent.ch>
This commit is contained in:
Ivan Wagner 2025-06-03 09:29:23 +02:00 • committed by David Leach
commit 4aa4ee1256
1 changed files with 54 additions and 6 deletions
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60
drivers/sensor/st/lsm6dso/lsm6dso_trigger.c
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@ -57,7 +57,7 @@ static int lsm6dso_enable_tilt_int(const struct device *dev, int enable)
int ret = 0;
lsm6dso_emb_sens_t sens;
sens.tilt = PROPERTY_ENABLE;
sens.tilt = enable;
ret += lsm6dso_embedded_sens_set(ctx, &sens);
if (ret < 0) {
@ -115,13 +115,13 @@ static int lsm6dso_enable_tap(const struct device *dev, int enable)
LOG_WRN("Minimum recommended accelerometer ODR is 417Hz for tap mode");
}
LOG_INF("TAP: tap mode is %d", cfg->tap_mode);
LOG_DBG("TAP: tap mode is %d", cfg->tap_mode);
if (lsm6dso_tap_mode_set(ctx, cfg->tap_mode) < 0) {
LOG_ERR("Failed to select tap trigger mode");
return -EIO;
}
LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]);
LOG_DBG("TAP: ths_x is %02x", cfg->tap_threshold[0]);
if (lsm6dso_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
LOG_ERR("Failed to set tap X axis threshold");
return -EIO;
@ -207,7 +207,6 @@ static int lsm6dso_enable_single_tap_int(const struct device *dev, int enable)
return lsm6dso_pin_int2_route_set(ctx, NULL, route);
}
return 0;
}
static int lsm6dso_enable_double_tap_int(const struct device *dev, int enable)
@ -374,7 +373,11 @@ int lsm6dso_trigger_set(const struct device *dev,
#if defined(CONFIG_LSM6DSO_TAP)
else if (trig->type == SENSOR_TRIG_TAP || trig->type == SENSOR_TRIG_DOUBLE_TAP) {
lsm6dso_enable_tap(dev, handler ? LSM6DSO_EN_BIT : LSM6DSO_DIS_BIT);
int ret = lsm6dso_enable_tap(dev, handler ? LSM6DSO_EN_BIT : LSM6DSO_DIS_BIT);
if (ret < 0) {
return ret;
}
/* Set interrupt */
if (trig->type == SENSOR_TRIG_TAP) {
@ -407,6 +410,8 @@ int lsm6dso_trigger_set(const struct device *dev,
* lsm6dso_handle_interrupt - handle the drdy event
* read data and call handler if registered any
*/
#if defined(CONFIG_LSM6DSO_TILT) || defined(CONFIG_LSM6DSO_TAP)
static void lsm6dso_handle_interrupt(const struct device *dev)
{
struct lsm6dso_data *lsm6dso = dev->data;
@ -425,7 +430,7 @@ static void lsm6dso_handle_interrupt(const struct device *dev)
if ((sources.drdy_xl && lsm6dso->handler_drdy_acc != NULL) ||
(sources.drdy_g && lsm6dso->handler_drdy_gyr != NULL)
#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
|| (sources.drdy_temp && lsm6dso->handler_drdy_temp != NULL)
|| (sources.drdy_temp && lsm6dso->handler_drdy_temp != NULL)
#endif
) {
pending_status = true;
@ -473,6 +478,49 @@ static void lsm6dso_handle_interrupt(const struct device *dev)
GPIO_INT_EDGE_TO_ACTIVE);
}
#else
static void lsm6dso_handle_interrupt(const struct device *dev)
{
struct lsm6dso_data *lsm6dso = dev->data;
const struct lsm6dso_config *cfg = dev->config;
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
lsm6dso_status_reg_t status;
while (1) {
if (lsm6dso_status_reg_get(ctx, &status) < 0) {
LOG_DBG("failed reading status reg");
return;
}
if ((status.xlda == 0) && (status.gda == 0)
#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
&& (status.tda == 0)
#endif
) {
break;
}
if ((status.xlda) && (lsm6dso->handler_drdy_acc != NULL)) {
lsm6dso->handler_drdy_acc(dev, lsm6dso->trig_drdy_acc);
}
if ((status.gda) && (lsm6dso->handler_drdy_gyr != NULL)) {
lsm6dso->handler_drdy_gyr(dev, lsm6dso->trig_drdy_gyr);
}
#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
if ((status.tda) && (lsm6dso->handler_drdy_temp != NULL)) {
lsm6dso->handler_drdy_temp(dev, lsm6dso->trig_drdy_temp);
}
#endif
}
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy, GPIO_INT_EDGE_TO_ACTIVE);
}
#endif
static void lsm6dso_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{