driver/sensor: add IIS3DHHC accelerometer sensor

Add support to STM IIS3DHHC the ultra-low noise, high-stability
three-axis linear accelerometer.

Signed-off-by: Armando Visconti <armando.visconti@st.com>

drivers/sensor/CMakeLists.txt

@@ -24,6 +24,7 @@ add_subdirectory_ifdef(CONFIG_TI_HDC		ti_hdc)
 add_subdirectory_ifdef(CONFIG_HMC5883L		hmc5883l)
 add_subdirectory_ifdef(CONFIG_HP206C		hp206c)
 add_subdirectory_ifdef(CONFIG_HTS221		hts221)
+add_subdirectory_ifdef(CONFIG_IIS3DHHC		iis3dhhc)
 add_subdirectory_ifdef(CONFIG_ISL29035		isl29035)
 add_subdirectory_ifdef(CONFIG_LIS2DH		lis2dh)
 add_subdirectory_ifdef(CONFIG_LIS2DS12		lis2ds12)

drivers/sensor/Kconfig

@@ -73,6 +73,8 @@ source "drivers/sensor/hp206c/Kconfig"
 
 source "drivers/sensor/hts221/Kconfig"
 
+source "drivers/sensor/iis3dhhc/Kconfig"
+
 source "drivers/sensor/isl29035/Kconfig"
 
 source "drivers/sensor/lis2dh/Kconfig"

drivers/sensor/iis3dhhc/CMakeLists.txt

@@ -0,0 +1,11 @@
+# ST Microelectronics IIS3DHHC accelerometer sensor
+#
+# Copyright (c) 2019 STMicroelectronics
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+zephyr_library()
+
+zephyr_library_sources_ifdef(CONFIG_IIS3DHHC            iis3dhhc.c)
+zephyr_library_sources_ifdef(CONFIG_IIS3DHHC            iis3dhhc_spi.c)
+zephyr_library_sources_ifdef(CONFIG_IIS3DHHC_TRIGGER    iis3dhhc_trigger.c)

drivers/sensor/iis3dhhc/Kconfig

@@ -0,0 +1,72 @@
+# ST Microelectronics IIS3DHHC accelerometer sensor
+#
+# Copyright (c) 2019 STMicroelectronics
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+menuconfig IIS3DHHC
+	bool "IIS3DHHC accelerometer sensor"
+	depends on SPI
+	select HAS_STMEMSC
+	select USE_STDC_IIS3DHHC
+	help
+	  Enable driver for IIS3DHHC SPI-based accelerometer sensor.
+
+if IIS3DHHC
+
+choice IIS3DHHC_TRIGGER_MODE
+	prompt "Trigger mode"
+	default IIS3DHHC_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config IIS3DHHC_TRIGGER_NONE
+	bool "No trigger"
+
+config IIS3DHHC_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	select IIS3DHHC_TRIGGER
+
+config IIS3DHHC_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	select IIS3DHHC_TRIGGER
+
+endchoice # IIS3DHHC_TRIGGER_MODE
+
+config IIS3DHHC_TRIGGER
+	bool
+
+config IIS3DHHC_THREAD_PRIORITY
+	int "Thread priority"
+	depends on IIS3DHHC_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  Priority of thread used by the driver to handle interrupts.
+
+config IIS3DHHC_THREAD_STACK_SIZE
+	int "Thread stack size"
+	depends on IIS3DHHC_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  Stack size of thread used by the driver to handle interrupts.
+
+menu "Attributes"
+
+config IIS3DHHC_NORM_MODE
+	bool "Enable Sensor at 1KHz"
+	default y
+
+config IIS3DHHC_DRDY_INT1
+	bool "Data ready interrupt to INT1 pin"
+	depends on IIS3DHHC_TRIGGER
+	default y
+	help
+	  Say Y to route data ready interrupt to INT1 pin. Say N to route to
+	  INT2 pin.
+
+endmenu
+
+endif # IIS3DHHC

drivers/sensor/iis3dhhc/iis3dhhc.c

@@ -0,0 +1,257 @@
+/* ST Microelectronics IIS3DHHC accelerometer senor
+ *
+ * Copyright (c) 2019 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Datasheet:
+ * https://www.st.com/resource/en/datasheet/iis3dhhc.pdf
+ */
+
+#include <kernel.h>
+#include <device.h>
+#include <init.h>
+#include <sys/byteorder.h>
+#include <sys/__assert.h>
+#include <logging/log.h>
+
+#include "iis3dhhc.h"
+
+#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
+LOG_MODULE_REGISTER(IIS3DHHC);
+
+static int iis3dhhc_sample_fetch(struct device *dev,
+				 enum sensor_channel chan)
+{
+	struct iis3dhhc_data *data = dev->driver_data;
+	axis3bit16_t raw_accel;
+
+	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
+
+	iis3dhhc_acceleration_raw_get(data->ctx, raw_accel.u8bit);
+	data->acc[0] = sys_le16_to_cpu(raw_accel.i16bit[0]);
+	data->acc[1] = sys_le16_to_cpu(raw_accel.i16bit[1]);
+	data->acc[2] = sys_le16_to_cpu(raw_accel.i16bit[2]);
+
+	return 0;
+}
+
+#define IIS3DHHC_FROM_LSB_TO_ums2(lsb)	\
+		((IIS3DHHC_FROM_LSB_TO_mg((s64_t)lsb) * SENSOR_G) / 1000LL)
+
+static inline void iis3dhhc_convert(struct sensor_value *val,
+					s16_t raw_val)
+{
+	s64_t micro_ms2;
+
+	/* Convert to m/s^2 */
+	micro_ms2 = IIS3DHHC_FROM_LSB_TO_ums2((s64_t)raw_val);
+	val->val1 = micro_ms2 / 1000000LL;
+	val->val2 = micro_ms2 % 1000000LL;
+}
+
+static inline void iis3dhhc_channel_get_acc(struct device *dev,
+					     enum sensor_channel chan,
+					     struct sensor_value *val)
+{
+	int i;
+	u8_t ofs_start, ofs_stop;
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+	struct sensor_value *pval = val;
+
+	switch (chan) {
+	case SENSOR_CHAN_ACCEL_X:
+		ofs_start = ofs_stop = 0U;
+		break;
+	case SENSOR_CHAN_ACCEL_Y:
+		ofs_start = ofs_stop = 1U;
+		break;
+	case SENSOR_CHAN_ACCEL_Z:
+		ofs_start = ofs_stop = 2U;
+		break;
+	default:
+		ofs_start = 0U; ofs_stop = 2U;
+		break;
+	}
+
+	for (i = ofs_start; i <= ofs_stop ; i++) {
+		iis3dhhc_convert(pval++, iis3dhhc->acc[i]);
+	}
+}
+
+static int iis3dhhc_channel_get(struct device *dev,
+				enum sensor_channel chan,
+				struct sensor_value *val)
+{
+	switch (chan) {
+	case SENSOR_CHAN_ACCEL_X:
+	case SENSOR_CHAN_ACCEL_Y:
+	case SENSOR_CHAN_ACCEL_Z:
+	case SENSOR_CHAN_ACCEL_XYZ:
+		iis3dhhc_channel_get_acc(dev, chan, val);
+		return 0;
+	default:
+		LOG_DBG("Channel not supported");
+		break;
+	}
+
+	return -ENOTSUP;
+}
+
+static int iis3dhhc_odr_set(struct device *dev,
+			   const struct sensor_value *val)
+{
+	struct iis3dhhc_data *data = dev->driver_data;
+	iis3dhhc_norm_mod_en_t en;
+
+	switch (val->val1) {
+	case 0:
+		en = IIS3DHHC_POWER_DOWN;
+		break;
+	case 1000:
+		en = IIS3DHHC_1kHz1;
+		break;
+	default:
+		return -EIO;
+	}
+
+	if (iis3dhhc_data_rate_set(data->ctx, en)) {
+		LOG_DBG("failed to set sampling rate");
+		return -EIO;
+	}
+
+	return 0;
+}
+
+static int iis3dhhc_attr_set(struct device *dev, enum sensor_channel chan,
+			    enum sensor_attribute attr,
+			    const struct sensor_value *val)
+{
+	if (chan != SENSOR_CHAN_ALL) {
+		LOG_WRN("attr_set() not supported on this channel.");
+		return -ENOTSUP;
+	}
+
+	switch (attr) {
+	case SENSOR_ATTR_SAMPLING_FREQUENCY:
+		return iis3dhhc_odr_set(dev, val);
+	default:
+		LOG_DBG("operation not supported.");
+		return -ENOTSUP;
+	}
+
+	return 0;
+}
+
+static const struct sensor_driver_api iis3dhhc_api_funcs = {
+	.attr_set = iis3dhhc_attr_set,
+	.sample_fetch = iis3dhhc_sample_fetch,
+	.channel_get = iis3dhhc_channel_get,
+#if CONFIG_IIS3DHHC_TRIGGER
+	.trigger_set = iis3dhhc_trigger_set,
+#endif
+};
+
+static int iis3dhhc_init_chip(struct device *dev)
+{
+	struct iis3dhhc_data *data = dev->driver_data;
+	u8_t chip_id, rst;
+
+	if (iis3dhhc_device_id_get(data->ctx, &chip_id) < 0) {
+		LOG_DBG("Failed reading chip id");
+		return -EIO;
+	}
+
+	if (chip_id != IIS3DHHC_ID) {
+		LOG_DBG("Invalid chip id 0x%x", chip_id);
+		return -EIO;
+	}
+
+	/*
+	 *  Restore default configuration
+	 */
+	iis3dhhc_reset_set(data->ctx, PROPERTY_ENABLE);
+	do {
+		iis3dhhc_reset_get(data->ctx, &rst);
+	} while (rst);
+
+	/* Enable Block Data Update */
+	iis3dhhc_block_data_update_set(data->ctx, PROPERTY_ENABLE);
+
+	/* Set Output Data Rate */
+#ifdef CONFIG_IIS3DHHC_NORM_MODE
+	iis3dhhc_data_rate_set(data->ctx, 1);
+#else
+	iis3dhhc_data_rate_set(data->ctx, 0);
+#endif
+
+	/* Enable temperature compensation */
+	iis3dhhc_offset_temp_comp_set(data->ctx, PROPERTY_ENABLE);
+
+	return 0;
+}
+
+static int iis3dhhc_init(struct device *dev)
+{
+	const struct iis3dhhc_config * const config = dev->config->config_info;
+	struct iis3dhhc_data *data = dev->driver_data;
+
+	data->bus = device_get_binding(config->master_dev_name);
+	if (!data->bus) {
+		LOG_DBG("bus master not found: %s", config->master_dev_name);
+		return -EINVAL;
+	}
+
+	config->bus_init(dev);
+
+	if (iis3dhhc_init_chip(dev) < 0) {
+		LOG_DBG("Failed to initialize chip");
+		return -EIO;
+	}
+
+#ifdef CONFIG_IIS3DHHC_TRIGGER
+	if (iis3dhhc_init_interrupt(dev) < 0) {
+		LOG_ERR("Failed to initialize interrupt.");
+		return -EIO;
+	}
+#endif
+
+	return 0;
+}
+
+static struct iis3dhhc_data iis3dhhc_data;
+
+static const struct iis3dhhc_config iis3dhhc_config = {
+	.master_dev_name = DT_INST_0_ST_IIS3DHHC_BUS_NAME,
+#ifdef CONFIG_IIS3DHHC_TRIGGER
+#ifdef CONFIG_IIS3DHHC_DRDY_INT1
+	.int_port	= DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_CONTROLLER_0,
+	.int_pin	= DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_PIN_0,
+#else
+	.int_port	= DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_CONTROLLER_1,
+	.int_pin	= DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_PIN_1,
+#endif /* CONFIG_IIS3DHHC_DRDY_INT1 */
+#endif /* CONFIG_IIS3DHHC_TRIGGER */
+#if defined(DT_ST_IIS3DHHC_BUS_SPI)
+	.bus_init = iis3dhhc_spi_init,
+	.spi_conf.frequency = DT_INST_0_ST_IIS3DHHC_SPI_MAX_FREQUENCY,
+	.spi_conf.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL |
+			       SPI_MODE_CPHA | SPI_WORD_SET(8) |
+			       SPI_LINES_SINGLE),
+	.spi_conf.slave     = DT_INST_0_ST_IIS3DHHC_BASE_ADDRESS,
+#if defined(DT_INST_0_ST_IIS3DHHC_CS_GPIO_CONTROLLER)
+	.gpio_cs_port	    = DT_INST_0_ST_IIS3DHHC_CS_GPIOS_CONTROLLER,
+	.cs_gpio	    = DT_INST_0_ST_IIS3DHHC_CS_GPIOS_PIN,
+
+	.spi_conf.cs        =  &iis3dhhc_data.cs_ctrl,
+#else
+	.spi_conf.cs        = NULL,
+#endif
+#else
+#error "BUS MACRO NOT DEFINED IN DTS"
+#endif
+};
+
+DEVICE_AND_API_INIT(iis3dhhc, DT_INST_0_ST_IIS3DHHC_LABEL, iis3dhhc_init,
+		    &iis3dhhc_data, &iis3dhhc_config, POST_KERNEL,
+		    CONFIG_SENSOR_INIT_PRIORITY, &iis3dhhc_api_funcs);

drivers/sensor/iis3dhhc/iis3dhhc.h

@@ -0,0 +1,80 @@
+/* ST Microelectronics IIS3DHHC accelerometer sensor
+ *
+ * Copyright (c) 2019 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Datasheet:
+ * https://www.st.com/resource/en/datasheet/iis3dhhc.pdf
+ */
+
+#ifndef ZEPHYR_DRIVERS_SENSOR_IIS3DHHC_IIS3DHHC_H_
+#define ZEPHYR_DRIVERS_SENSOR_IIS3DHHC_IIS3DHHC_H_
+
+#include <stdint.h>
+#include <drivers/spi.h>
+#include <drivers/gpio.h>
+#include <drivers/sensor.h>
+#include <zephyr/types.h>
+#include <sys/util.h>
+#include "iis3dhhc_reg.h"
+
+struct iis3dhhc_config {
+	char *master_dev_name;
+	int (*bus_init)(struct device *dev);
+#ifdef CONFIG_IIS3DHHC_TRIGGER
+	const char *int_port;
+	u8_t int_pin;
+#endif
+#ifdef DT_ST_IIS3DHHC_BUS_SPI
+	struct spi_config spi_conf;
+#if defined(DT_INST_0_ST_IIS3DHHC_CS_GPIO_CONTROLLER)
+	const char *gpio_cs_port;
+	u8_t cs_gpio;
+#endif
+#endif
+};
+
+struct iis3dhhc_data {
+	struct device *bus;
+	s16_t acc[3];
+
+	iis3dhhc_ctx_t *ctx;
+
+#ifdef DT_ST_IIS3DHHC_BUS_SPI
+	iis3dhhc_ctx_t ctx_spi;
+#endif
+
+#ifdef CONFIG_IIS3DHHC_TRIGGER
+	struct device *gpio;
+	u32_t pin;
+	struct gpio_callback gpio_cb;
+
+	sensor_trigger_handler_t handler_drdy;
+
+#if defined(CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD)
+	K_THREAD_STACK_MEMBER(thread_stack, CONFIG_IIS3DHHC_THREAD_STACK_SIZE);
+	struct k_thread thread;
+	struct k_sem gpio_sem;
+#elif defined(CONFIG_IIS3DHHC_TRIGGER_GLOBAL_THREAD)
+	struct k_work work;
+	struct device *dev;
+#endif
+
+#endif /* CONFIG_IIS3DHHC_TRIGGER */
+#if defined(DT_INST_0_ST_IIS3DHHC_CS_GPIO_CONTROLLER)
+	struct spi_cs_control cs_ctrl;
+#endif
+};
+
+int iis3dhhc_spi_init(struct device *dev);
+
+#ifdef CONFIG_IIS3DHHC_TRIGGER
+int iis3dhhc_trigger_set(struct device *dev,
+			const struct sensor_trigger *trig,
+			sensor_trigger_handler_t handler);
+
+int iis3dhhc_init_interrupt(struct device *dev);
+#endif
+
+#endif /* ZEPHYR_DRIVERS_SENSOR_IIS3DHHC_IIS3DHHC_H_ */

drivers/sensor/iis3dhhc/iis3dhhc_spi.c

@@ -0,0 +1,126 @@
+/* ST Microelectronics IIS3DHHC accelerometer sensor
+ *
+ * Copyright (c) 2019 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Datasheet:
+ * https://www.st.com/resource/en/datasheet/iis3dhhc.pdf
+ */
+
+#include <string.h>
+#include "iis3dhhc.h"
+#include <logging/log.h>
+
+#ifdef DT_ST_IIS3DHHC_BUS_SPI
+
+#define IIS3DHHC_SPI_READ		(1 << 7)
+
+#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
+LOG_MODULE_DECLARE(IIS3DHHC);
+
+static struct spi_config iis3dhhc_spi_conf = {
+	.frequency = DT_INST_0_ST_IIS3DHHC_SPI_MAX_FREQUENCY,
+	.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL |
+		      SPI_MODE_CPHA | SPI_WORD_SET(8) | SPI_LINES_SINGLE),
+	.slave     = DT_INST_0_ST_IIS3DHHC_BASE_ADDRESS,
+	.cs        = NULL,
+};
+
+static int iis3dhhc_spi_read(struct iis3dhhc_data *ctx, u8_t reg,
+			    u8_t *data, u16_t len)
+{
+	struct spi_config *spi_cfg = &iis3dhhc_spi_conf;
+	u8_t buffer_tx[2] = { reg | IIS3DHHC_SPI_READ, 0 };
+	const struct spi_buf tx_buf = {
+			.buf = buffer_tx,
+			.len = 2,
+	};
+	const struct spi_buf_set tx = {
+		.buffers = &tx_buf,
+		.count = 1
+	};
+	const struct spi_buf rx_buf[2] = {
+		{
+			.buf = NULL,
+			.len = 1,
+		},
+		{
+			.buf = data,
+			.len = len,
+		}
+	};
+	const struct spi_buf_set rx = {
+		.buffers = rx_buf,
+		.count = 2
+	};
+
+	if (spi_transceive(ctx->bus, spi_cfg, &tx, &rx)) {
+		return -EIO;
+	}
+
+	return 0;
+}
+
+static int iis3dhhc_spi_write(struct iis3dhhc_data *ctx, u8_t reg,
+			     u8_t *data, u16_t len)
+{
+	struct spi_config *spi_cfg = &iis3dhhc_spi_conf;
+	u8_t buffer_tx[1] = { reg & ~IIS3DHHC_SPI_READ };
+	const struct spi_buf tx_buf[2] = {
+		{
+			.buf = buffer_tx,
+			.len = 1,
+		},
+		{
+			.buf = data,
+			.len = len,
+		}
+	};
+	const struct spi_buf_set tx = {
+		.buffers = tx_buf,
+		.count = 2
+	};
+
+
+	if (spi_write(ctx->bus, spi_cfg, &tx)) {
+		return -EIO;
+	}
+
+	return 0;
+}
+
+iis3dhhc_ctx_t iis3dhhc_spi_ctx = {
+	.read_reg = (iis3dhhc_read_ptr) iis3dhhc_spi_read,
+	.write_reg = (iis3dhhc_write_ptr) iis3dhhc_spi_write,
+};
+
+int iis3dhhc_spi_init(struct device *dev)
+{
+	struct iis3dhhc_data *data = dev->driver_data;
+
+	data->ctx = &iis3dhhc_spi_ctx;
+	data->ctx->handle = data;
+
+#if defined(DT_INST_0_ST_IIS3DHHC_CS_GPIOS_CONTROLLER)
+	/* handle SPI CS thru GPIO if it is the case */
+	data->cs_ctrl.gpio_dev = device_get_binding(
+		DT_INST_0_ST_IIS3DHHC_CS_GPIOS_CONTROLLER);
+	if (!data->cs_ctrl.gpio_dev) {
+		LOG_ERR("Unable to get GPIO SPI CS device");
+		return -ENODEV;
+	}
+
+	data->cs_ctrl.gpio_pin = DT_INST_0_ST_IIS3DHHC_CS_GPIOS_PIN;
+	data->cs_ctrl.delay = 0U;
+
+	iis3dhhc_spi_conf.cs = &data->cs_ctrl;
+
+	LOG_DBG("SPI GPIO CS configured on %s:%u",
+		    DT_INST_0_ST_IIS3DHHC_CS_GPIOS_CONTROLLER,
+		    DT_INST_0_ST_IIS3DHHC_CS_GPIOS_PIN);
+#endif
+
+	return 0;
+}
+#endif /* DT_ST_IIS3DHHC_BUS_SPI */

drivers/sensor/iis3dhhc/iis3dhhc_trigger.c

@@ -0,0 +1,172 @@
+/* ST Microelectronics IIS3DHHC accelerometer sensor
+ *
+ * Copyright (c) 2019 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Datasheet:
+ * https://www.st.com/resource/en/datasheet/iis3dhhc.pdf
+ */
+
+#include <kernel.h>
+#include <drivers/sensor.h>
+#include <drivers/gpio.h>
+#include <logging/log.h>
+
+#include "iis3dhhc.h"
+
+#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
+LOG_MODULE_DECLARE(IIS3DHHC);
+
+/**
+ * iis3dhhc_enable_int - enable selected int pin to generate interrupt
+ */
+static int iis3dhhc_enable_int(struct device *dev, int enable)
+{
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+
+	/* set interrupt */
+#ifdef CONFIG_IIS3DHHC_DRDY_INT1
+	return iis3dhhc_drdy_on_int1_set(iis3dhhc->ctx, enable);
+#else
+	return iis3dhhc_drdy_on_int2_set(iis3dhhc->ctx, enable);
+#endif
+}
+
+/**
+ * iis3dhhc_trigger_set - link external trigger to event data ready
+ */
+int iis3dhhc_trigger_set(struct device *dev,
+			 const struct sensor_trigger *trig,
+			 sensor_trigger_handler_t handler)
+{
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+	axis3bit16_t raw;
+
+	if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
+		iis3dhhc->handler_drdy = handler;
+		if (handler) {
+			/* dummy read: re-trigger interrupt */
+			iis3dhhc_acceleration_raw_get(iis3dhhc->ctx, raw.u8bit);
+			return iis3dhhc_enable_int(dev, PROPERTY_ENABLE);
+		} else {
+			return iis3dhhc_enable_int(dev, PROPERTY_DISABLE);
+		}
+	}
+
+	return -ENOTSUP;
+}
+
+/**
+ * iis3dhhc_handle_interrupt - handle the drdy event
+ * read data and call handler if registered any
+ */
+static void iis3dhhc_handle_interrupt(void *arg)
+{
+	struct device *dev = arg;
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+	struct sensor_trigger drdy_trigger = {
+		.type = SENSOR_TRIG_DATA_READY,
+	};
+	const struct iis3dhhc_config *cfg = dev->config->config_info;
+
+	if (iis3dhhc->handler_drdy != NULL) {
+		iis3dhhc->handler_drdy(dev, &drdy_trigger);
+	}
+
+	gpio_pin_enable_callback(iis3dhhc->gpio, cfg->int_pin);
+}
+
+static void iis3dhhc_gpio_callback(struct device *dev,
+				    struct gpio_callback *cb, u32_t pins)
+{
+	struct iis3dhhc_data *iis3dhhc =
+		CONTAINER_OF(cb, struct iis3dhhc_data, gpio_cb);
+	const struct iis3dhhc_config *cfg = dev->config->config_info;
+
+	ARG_UNUSED(pins);
+
+	gpio_pin_disable_callback(dev, cfg->int_pin);
+
+#if defined(CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD)
+	k_sem_give(&iis3dhhc->gpio_sem);
+#elif defined(CONFIG_IIS3DHHC_TRIGGER_GLOBAL_THREAD)
+	k_work_submit(&iis3dhhc->work);
+#endif /* CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD */
+}
+
+#ifdef CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD
+static void iis3dhhc_thread(int dev_ptr, int unused)
+{
+	struct device *dev = INT_TO_POINTER(dev_ptr);
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+
+	ARG_UNUSED(unused);
+
+	while (1) {
+		k_sem_take(&iis3dhhc->gpio_sem, K_FOREVER);
+		iis3dhhc_handle_interrupt(dev);
+	}
+}
+#endif /* CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD */
+
+#ifdef CONFIG_IIS3DHHC_TRIGGER_GLOBAL_THREAD
+static void iis3dhhc_work_cb(struct k_work *work)
+{
+	struct iis3dhhc_data *iis3dhhc =
+		CONTAINER_OF(work, struct iis3dhhc_data, work);
+
+	iis3dhhc_handle_interrupt(iis3dhhc->dev);
+}
+#endif /* CONFIG_IIS3DHHC_TRIGGER_GLOBAL_THREAD */
+
+int iis3dhhc_init_interrupt(struct device *dev)
+{
+	struct iis3dhhc_data *iis3dhhc = dev->driver_data;
+	const struct iis3dhhc_config *cfg = dev->config->config_info;
+	int ret;
+
+	/* setup data ready gpio interrupt (INT1 or INT2) */
+	iis3dhhc->gpio = device_get_binding(cfg->int_port);
+	if (iis3dhhc->gpio == NULL) {
+		LOG_DBG("Cannot get pointer to %s device", cfg->int_port);
+		return -EINVAL;
+	}
+
+#if defined(CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD)
+	k_sem_init(&iis3dhhc->gpio_sem, 0, UINT_MAX);
+
+	k_thread_create(&iis3dhhc->thread, iis3dhhc->thread_stack,
+		       CONFIG_IIS3DHHC_THREAD_STACK_SIZE,
+		       (k_thread_entry_t)iis3dhhc_thread, dev,
+		       0, NULL, K_PRIO_COOP(CONFIG_IIS3DHHC_THREAD_PRIORITY),
+		       0, 0);
+#elif defined(CONFIG_IIS3DHHC_TRIGGER_GLOBAL_THREAD)
+	iis3dhhc->work.handler = iis3dhhc_work_cb;
+	iis3dhhc->dev = dev;
+#endif /* CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD */
+
+	ret = gpio_pin_configure(iis3dhhc->gpio, cfg->int_pin,
+			   GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
+			   GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE);
+	if (ret < 0) {
+		LOG_DBG("Could not configure gpio");
+		return ret;
+	}
+
+	gpio_init_callback(&iis3dhhc->gpio_cb,
+			   iis3dhhc_gpio_callback,
+			   BIT(cfg->int_pin));
+
+	if (gpio_add_callback(iis3dhhc->gpio, &iis3dhhc->gpio_cb) < 0) {
+		LOG_DBG("Could not set gpio callback");
+		return -EIO;
+	}
+
+	/* enable interrupt on int1/int2 in pulse mode */
+	if (iis3dhhc_drdy_notification_mode_set(iis3dhhc->ctx, IIS3DHHC_PULSED)) {
+		return -EIO;
+	}
+
+	return gpio_pin_enable_callback(iis3dhhc->gpio, cfg->int_pin);
+}

dts/bindings/sensor/st,iis3dhhc-spi.yaml

@@ -0,0 +1,18 @@
+# Copyright (c) 2019 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+title: STMicroelectronics MEMS sensors IIS3DHHC SPI
+
+description: >
+    This binding gives a base representation of IIS3DHHC 3-axis accelerometer
+    accessed through SPI bus
+
+compatible: "st,iis3dhhc"
+
+include: spi-device.yaml
+
+properties:
+    irq-gpios:
+      type: phandle-array
+      required: false
+      description: DRDY pin

tests/drivers/build_all/dts_fixup.h

@@ -266,6 +266,18 @@
 #define DT_INST_0_BOSCH_BMI160_SPI_MAX_FREQUENCY	6400000
 #endif
 
+#ifndef DT_INST_0_ST_IIS3DHHC_LABEL
+#define DT_INST_0_ST_IIS3DHHC_LABEL ""
+#define DT_INST_0_ST_IIS3DHHC_BASE_ADDRESS		0
+#define DT_INST_0_ST_IIS3DHHC_BUS_NAME	""
+#define DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_CONTROLLER_0	""
+#define DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_PIN_0	0
+#define DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_CONTROLLER_1	""
+#define DT_INST_0_ST_IIS3DHHC_IRQ_GPIOS_PIN_1	0
+#define DT_INST_0_ST_IIS3DHHC_SPI_MAX_FREQUENCY	6400000
+#define DT_ST_IIS3DHHC_BUS_SPI 1
+#endif
+
 #ifndef DT_INST_0_ST_LIS2DH_LABEL
 #define DT_INST_0_ST_LIS2DH_LABEL ""
 #define DT_INST_0_ST_LIS2DH_BASE_ADDRESS		0

tests/drivers/build_all/sensors_i_z.conf

@@ -6,6 +6,7 @@ CONFIG_SENSOR=y
 CONFIG_SPI=y
 CONFIG_LOG=y
 CONFIG_SENSOR_LOG_LEVEL_DBG=y
+CONFIG_IIS3DHHC=y
 CONFIG_ISL29035=y
 CONFIG_LIS2DH=y
 CONFIG_LIS2DS12=y

tests/drivers/build_all/sensors_trigger_i_z.conf

@@ -5,6 +5,8 @@ CONFIG_ADC=y
 CONFIG_GPIO=y
 CONFIG_SPI=y
 CONFIG_SENSOR=y
+CONFIG_IIS3DHHC=y
+CONFIG_IIS3DHHC_TRIGGER_OWN_THREAD=y
 CONFIG_ISL29035=y
 CONFIG_ISL29035_TRIGGER_OWN_THREAD=y
 CONFIG_LIS2DH=y