drivers: sensor: lsm6dsv16x: support setting and getting wake attributes

Adds support for the SENSOR_ATTR_SLOPE_TH and SENSOR_ATTR_SLOPE_DUR
attributes These set the sensitivity for the SENSOR_TRIG_DELTA trigger
which uses the sensor's wakeup feature.

Signed-off-by: Corey Wharton <xodus7@cwharton.com>

drivers/sensor/st/lsm6dsv16x/lsm6dsv16x.c

@@ -234,6 +234,55 @@ static int lsm6dsv16x_accel_range_set(const struct device *dev, int32_t range)
 	return 0;
 }
 
+#define LSM6DSV16X_WU_INACT_THS_W_MAX 5
+#define LSM6DSV16X_WAKE_UP_THS_MAX    0x3FU
+static const float wu_inact_ths_w_lsb[] = {7.8125f, 15.625f, 31.25f, 62.5f, 125.0f, 250.0f};
+
+static int lsm6dsv16x_accel_wake_threshold_set(const struct device *dev,
+					       const struct sensor_value *val)
+{
+	const struct lsm6dsv16x_config *cfg = dev->config;
+	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
+	lsm6dsv16x_act_thresholds_t thresholds;
+
+	if (lsm6dsv16x_act_thresholds_get(ctx, &thresholds) < 0) {
+		LOG_DBG("failed to get thresholds");
+		return -EIO;
+	}
+
+	float val_mg = sensor_ms2_to_ug(val) / 1000.0f;
+
+	thresholds.inactivity_cfg.wu_inact_ths_w = LSM6DSV16X_WU_INACT_THS_W_MAX;
+	thresholds.threshold = LSM6DSV16X_WAKE_UP_THS_MAX;
+
+	for (uint8_t i = 0; i <= LSM6DSV16X_WU_INACT_THS_W_MAX; i++) {
+		if (val_mg < (wu_inact_ths_w_lsb[i] * (float)LSM6DSV16X_WAKE_UP_THS_MAX)) {
+			thresholds.inactivity_cfg.wu_inact_ths_w = i;
+			thresholds.threshold = (uint8_t)(val_mg / wu_inact_ths_w_lsb[i]);
+			break;
+		}
+	}
+
+	return lsm6dsv16x_act_thresholds_set(ctx, &thresholds);
+}
+
+static int lsm6dsv16x_accel_wake_duration_set(const struct device *dev,
+					      const struct sensor_value *val)
+{
+	const struct lsm6dsv16x_config *cfg = dev->config;
+	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
+	lsm6dsv16x_act_thresholds_t thresholds;
+
+	if (lsm6dsv16x_act_thresholds_get(ctx, &thresholds) < 0) {
+		LOG_DBG("failed to get thresholds");
+		return -EIO;
+	}
+
+	thresholds.duration = MIN(val->val1, 3);
+
+	return lsm6dsv16x_act_thresholds_set(ctx, &thresholds);
+}
+
 static int lsm6dsv16x_accel_config(const struct device *dev,
 				enum sensor_channel chan,
 				enum sensor_attribute attr,
@@ -248,6 +297,10 @@ static int lsm6dsv16x_accel_config(const struct device *dev,
 		return lsm6dsv16x_accel_range_set(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lsm6dsv16x_accel_odr_set(dev, val->val1);
+	case SENSOR_ATTR_SLOPE_TH:
+		return lsm6dsv16x_accel_wake_threshold_set(dev, val);
+	case SENSOR_ATTR_SLOPE_DUR:
+		return lsm6dsv16x_accel_wake_duration_set(dev, val);
 	case SENSOR_ATTR_CONFIGURATION:
 		switch (val->val1) {
 		case 0: /* High Performance */
@@ -402,6 +455,43 @@ static int lsm6dsv16x_attr_set(const struct device *dev,
 	return 0;
 }
 
+static int lsm6dsv16x_accel_wake_threshold_get(const struct device *dev, struct sensor_value *val)
+{
+	const struct lsm6dsv16x_config *cfg = dev->config;
+	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
+	lsm6dsv16x_act_thresholds_t thresholds;
+	float val_mg;
+
+	if (lsm6dsv16x_act_thresholds_get(ctx, &thresholds) < 0) {
+		LOG_DBG("failed to get thresholds");
+		return -EIO;
+	}
+
+	val_mg = wu_inact_ths_w_lsb[thresholds.inactivity_cfg.wu_inact_ths_w];
+	val_mg *= (float)thresholds.threshold;
+
+	sensor_ug_to_ms2(1000.0f * val_mg, val);
+
+	return 0;
+}
+
+static int lsm6dsv16x_accel_wake_duration_get(const struct device *dev, struct sensor_value *val)
+{
+	const struct lsm6dsv16x_config *cfg = dev->config;
+	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
+	lsm6dsv16x_act_thresholds_t thresholds;
+
+	if (lsm6dsv16x_act_thresholds_get(ctx, &thresholds) < 0) {
+		LOG_DBG("failed to get thresholds");
+		return -EIO;
+	}
+
+	val->val1 = thresholds.duration;
+	val->val2 = 0;
+
+	return 0;
+}
+
 static int lsm6dsv16x_accel_get_config(const struct device *dev,
 				       enum sensor_channel chan,
 				       enum sensor_attribute attr,
@@ -429,6 +519,10 @@ static int lsm6dsv16x_accel_get_config(const struct device *dev,
 		val->val2 = 0;
 		break;
 	}
+	case SENSOR_ATTR_SLOPE_TH:
+		return lsm6dsv16x_accel_wake_threshold_get(dev, val);
+	case SENSOR_ATTR_SLOPE_DUR:
+		return lsm6dsv16x_accel_wake_duration_get(dev, val);
 	case SENSOR_ATTR_CONFIGURATION: {
 		lsm6dsv16x_xl_mode_t mode;
 
@@ -529,10 +623,8 @@ static int lsm6dsv16x_gyro_get_config(const struct device *dev,
 	return 0;
 }
 
-static int lsm6dsv16x_attr_get(const struct device *dev,
+static int lsm6dsv16x_attr_get(const struct device *dev, enum sensor_channel chan,
-			       enum sensor_channel chan,
+			       enum sensor_attribute attr, struct sensor_value *val)
-			       enum sensor_attribute attr,
-			       struct sensor_value *val)
 {
 	if (!lsm6dsv16x_is_active(dev)) {
 		return -EBUSY;