drivers: sensor: lsm6dso: add support for tilt and tap triggers
Tilt or Tap can be selected via config and further tap parameters can be configured via DT. Signed-off-by: Ivan Wagner <ivan.wagner@tecinvent.ch>
This commit is contained in:
Ivan Wagner
David Leach
parent
d7006195ac
commit
b9cd08b2ea
7 changed files with 411 additions and 34 deletions
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@ -60,6 +60,16 @@ config LSM6DSO_THREAD_STACK_SIZE
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help
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Stack size of thread used by the driver to handle interrupts.
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config LSM6DSO_TILT
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bool "Tilt detection"
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help
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Enable tilt detection
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config LSM6DSO_TAP
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bool "Tap and Tap-Tap detection"
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help
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Enable tap (single/double) detection
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endif # LSM6DSO_TRIGGER
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config LSM6DSO_ENABLE_TEMP
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@ -869,6 +869,17 @@ static int lsm6dso_init(const struct device *dev)
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* Instantiation macros used when a device is on a SPI bus.
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*/
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#ifdef CONFIG_LSM6DSO_TAP
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#define LSM6DSO_CONFIG_TAP(inst) \
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.tap_mode = DT_INST_PROP(inst, tap_mode), \
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.tap_threshold = DT_INST_PROP(inst, tap_threshold), \
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.tap_shock = DT_INST_PROP(inst, tap_shock), \
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.tap_latency = DT_INST_PROP(inst, tap_latency), \
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.tap_quiet = DT_INST_PROP(inst, tap_quiet),
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#else
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#define LSM6DSO_CONFIG_TAP(inst)
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#endif /* CONFIG_LSM6DSO_TAP */
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#ifdef CONFIG_LSM6DSO_TRIGGER
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#define LSM6DSO_CFG_IRQ(inst) \
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.trig_enabled = true, \
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@ -892,7 +903,8 @@ static int lsm6dso_init(const struct device *dev)
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.gyro_pm = DT_INST_PROP(inst, gyro_pm), \
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.gyro_odr = DT_INST_PROP(inst, gyro_odr), \
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.gyro_range = DT_INST_PROP(inst, gyro_range), \
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.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed), \
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.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed), \
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LSM6DSO_CONFIG_TAP(inst) \
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COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
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(LSM6DSO_CFG_IRQ(inst)), ())
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@ -63,6 +63,13 @@ struct lsm6dso_config {
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const struct gpio_dt_spec gpio_drdy;
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uint8_t int_pin;
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bool trig_enabled;
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#ifdef CONFIG_LSM6DSO_TAP
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uint8_t tap_mode;
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uint8_t tap_threshold[3];
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uint8_t tap_shock;
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uint8_t tap_latency;
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uint8_t tap_quiet;
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#endif /* CONFIG_LSM6DSO_TAP */
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#endif /* CONFIG_LSM6DSO_TRIGGER */
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};
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@ -106,6 +113,18 @@ struct lsm6dso_data {
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sensor_trigger_handler_t handler_drdy_temp;
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const struct sensor_trigger *trig_drdy_temp;
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#ifdef CONFIG_LSM6DSO_TILT
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sensor_trigger_handler_t handler_tilt;
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const struct sensor_trigger *trig_tilt;
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#endif /* CONFIG_LSM6DSO_TILT */
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#ifdef CONFIG_LSM6DSO_TAP
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sensor_trigger_handler_t handler_tap;
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const struct sensor_trigger *trig_tap;
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sensor_trigger_handler_t handler_double_tap;
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const struct sensor_trigger *trig_double_tap;
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#endif /* CONFIG_LSM6DSO_TAP */
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#if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD)
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE);
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struct k_thread thread;
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@ -48,6 +48,193 @@ static int lsm6dso_enable_t_int(const struct device *dev, int enable)
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}
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#endif
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#if defined(CONFIG_LSM6DSO_TILT)
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static int lsm6dso_enable_tilt_int(const struct device *dev, int enable)
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{
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const struct lsm6dso_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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int ret = 0;
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lsm6dso_emb_sens_t sens;
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sens.tilt = PROPERTY_ENABLE;
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ret += lsm6dso_embedded_sens_set(ctx, &sens);
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if (ret < 0) {
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LOG_ERR("Failed to enable tilt");
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return -EIO;
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}
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if (cfg->int_pin == 1) {
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lsm6dso_pin_int1_route_t route;
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lsm6dso_pin_int1_route_get(ctx, &route);
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route.tilt = enable;
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ret += lsm6dso_pin_int1_route_set(ctx, route);
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if (ret < 0) {
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LOG_ERR("Failed to set int1 route");
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return -EIO;
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}
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} else {
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lsm6dso_pin_int2_route_t route;
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lsm6dso_pin_int2_route_get(ctx, NULL, &route);
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route.tilt = enable;
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ret += lsm6dso_pin_int2_route_set(ctx, NULL, route);
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if (ret < 0) {
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LOG_ERR("Failed to set int2 route");
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return -EIO;
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}
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}
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return 0;
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}
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#endif
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#if defined(CONFIG_LSM6DSO_TAP)
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static int lsm6dso_enable_tap(const struct device *dev, int enable)
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{
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const struct lsm6dso_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lsm6dso_odr_xl_t odr;
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if (lsm6dso_xl_data_rate_get(ctx, &odr) < 0) {
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LOG_ERR("Unable to read accelerometer ODR");
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return -EIO;
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}
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if (odr < LSM6DSO_XL_ODR_417Hz) {
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LOG_WRN("Minimum recommended accelerometer ODR is 417Hz for tap mode");
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}
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LOG_INF("TAP: tap mode is %d", cfg->tap_mode);
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if (lsm6dso_tap_mode_set(ctx, cfg->tap_mode) < 0) {
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LOG_ERR("Failed to select tap trigger mode");
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return -EIO;
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}
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LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]);
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if (lsm6dso_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
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LOG_ERR("Failed to set tap X axis threshold");
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return -EIO;
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}
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LOG_DBG("TAP: ths_y is %02x", cfg->tap_threshold[1]);
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if (lsm6dso_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
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LOG_ERR("Failed to set tap Y axis threshold");
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return -EIO;
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}
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LOG_DBG("TAP: ths_z is %02x", cfg->tap_threshold[2]);
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if (lsm6dso_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
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LOG_ERR("Failed to set tap Z axis threshold");
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return -EIO;
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}
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if (cfg->tap_threshold[0] > 0) {
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LOG_DBG("TAP: tap_x enabled");
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if (lsm6dso_tap_detection_on_x_set(ctx, enable) < 0) {
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LOG_ERR("Failed to set tap detection on X axis");
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return -EIO;
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}
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}
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if (cfg->tap_threshold[1] > 0) {
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LOG_DBG("TAP: tap_y enabled");
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if (lsm6dso_tap_detection_on_y_set(ctx, enable) < 0) {
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LOG_ERR("Failed to set tap detection on Y axis");
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return -EIO;
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}
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}
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if (cfg->tap_threshold[2] > 0) {
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LOG_DBG("TAP: tap_z enabled");
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if (lsm6dso_tap_detection_on_z_set(ctx, enable) < 0) {
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LOG_ERR("Failed to set tap detection on Z axis");
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return -EIO;
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}
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}
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LOG_DBG("TAP: shock is %02x", cfg->tap_shock);
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if (lsm6dso_tap_shock_set(ctx, cfg->tap_shock) < 0) {
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LOG_ERR("Failed to set tap shock duration");
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return -EIO;
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}
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LOG_DBG("TAP: latency is %02x", cfg->tap_latency);
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if (lsm6dso_tap_dur_set(ctx, cfg->tap_latency) < 0) {
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LOG_ERR("Failed to set tap latency");
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return -EIO;
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}
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/* Set tap quiet */
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LOG_DBG("TAP: quiet time is %02x", cfg->tap_quiet);
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if (lsm6dso_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
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LOG_ERR("Failed to set tap quiet time");
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return -EIO;
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}
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return 0;
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}
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static int lsm6dso_enable_single_tap_int(const struct device *dev, int enable)
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{
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const struct lsm6dso_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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if (cfg->int_pin == 1) {
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lsm6dso_pin_int1_route_t route;
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lsm6dso_pin_int1_route_get(ctx, &route);
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route.single_tap = enable;
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return lsm6dso_pin_int1_route_set(ctx, route);
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} else {
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lsm6dso_pin_int2_route_t route;
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lsm6dso_pin_int2_route_get(ctx, NULL, &route);
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route.single_tap = enable;
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return lsm6dso_pin_int2_route_set(ctx, NULL, route);
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}
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return 0;
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}
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static int lsm6dso_enable_double_tap_int(const struct device *dev, int enable)
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{
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const struct lsm6dso_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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if (cfg->int_pin == 1) {
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lsm6dso_pin_int1_route_t route;
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lsm6dso_pin_int1_route_get(ctx, &route);
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route.double_tap = enable;
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return lsm6dso_pin_int1_route_set(ctx, route);
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} else {
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lsm6dso_pin_int2_route_t route;
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lsm6dso_pin_int2_route_get(ctx, NULL, &route);
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route.double_tap = enable;
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return lsm6dso_pin_int2_route_set(ctx, NULL, route);
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}
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}
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#endif /* CONFIG_LSM6DSO_TAP */
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/**
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* lsm6dso_enable_xl_int - XL enable selected int pin to generate interrupt
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*/
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@ -134,36 +321,86 @@ int lsm6dso_trigger_set(const struct device *dev,
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return -ENOTSUP;
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}
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if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
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lsm6dso->handler_drdy_acc = handler;
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lsm6dso->trig_drdy_acc = trig;
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if (handler) {
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return lsm6dso_enable_xl_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_xl_int(dev, LSM6DSO_DIS_BIT);
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if (trig->type == SENSOR_TRIG_DATA_READY) {
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if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
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lsm6dso->handler_drdy_acc = handler;
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lsm6dso->trig_drdy_acc = trig;
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if (handler) {
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return lsm6dso_enable_xl_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_xl_int(dev, LSM6DSO_DIS_BIT);
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}
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} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
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lsm6dso->handler_drdy_gyr = handler;
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lsm6dso->trig_drdy_gyr = trig;
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if (handler) {
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return lsm6dso_enable_g_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_g_int(dev, LSM6DSO_DIS_BIT);
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}
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}
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} else if (trig->chan == SENSOR_CHAN_GYRO_XYZ) {
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lsm6dso->handler_drdy_gyr = handler;
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lsm6dso->trig_drdy_gyr = trig;
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if (handler) {
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return lsm6dso_enable_g_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_g_int(dev, LSM6DSO_DIS_BIT);
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}
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}
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#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
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else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
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lsm6dso->handler_drdy_temp = handler;
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lsm6dso->trig_drdy_temp = trig;
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if (handler) {
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return lsm6dso_enable_t_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_t_int(dev, LSM6DSO_DIS_BIT);
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else if (trig->chan == SENSOR_CHAN_DIE_TEMP) {
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lsm6dso->handler_drdy_temp = handler;
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lsm6dso->trig_drdy_temp = trig;
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if (handler) {
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return lsm6dso_enable_t_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_t_int(dev, LSM6DSO_DIS_BIT);
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}
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}
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#endif
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else {
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return -ENOTSUP;
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}
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}
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#if defined(CONFIG_LSM6DSO_TILT)
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else if (trig->type == SENSOR_TRIG_TILT) {
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lsm6dso->handler_tilt = handler;
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lsm6dso->trig_tilt = trig;
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if (handler) {
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return lsm6dso_enable_tilt_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_tilt_int(dev, LSM6DSO_DIS_BIT);
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}
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}
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#endif
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#if defined(CONFIG_LSM6DSO_TAP)
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else if (trig->type == SENSOR_TRIG_TAP || trig->type == SENSOR_TRIG_DOUBLE_TAP) {
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lsm6dso_enable_tap(dev, handler ? LSM6DSO_EN_BIT : LSM6DSO_DIS_BIT);
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/* Set interrupt */
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if (trig->type == SENSOR_TRIG_TAP) {
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lsm6dso->handler_tap = handler;
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lsm6dso->trig_tap = trig;
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if (handler) {
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return lsm6dso_enable_single_tap_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_single_tap_int(dev, LSM6DSO_DIS_BIT);
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}
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} else if (trig->type == SENSOR_TRIG_DOUBLE_TAP) {
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lsm6dso->handler_double_tap = handler;
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lsm6dso->trig_double_tap = trig;
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if (handler) {
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return lsm6dso_enable_double_tap_int(dev, LSM6DSO_EN_BIT);
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} else {
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return lsm6dso_enable_double_tap_int(dev, LSM6DSO_DIS_BIT);
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}
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}
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}
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#endif /* CONFIG_LSM6DSO_TAP */
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return -ENOTSUP;
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}
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/**
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@ -175,37 +412,63 @@ static void lsm6dso_handle_interrupt(const struct device *dev)
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struct lsm6dso_data *lsm6dso = dev->data;
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const struct lsm6dso_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lsm6dso_status_reg_t status;
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lsm6dso_all_sources_t sources;
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bool pending_status = false;
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while (1) {
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if (lsm6dso_status_reg_get(ctx, &status) < 0) {
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LOG_DBG("failed reading status reg");
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if (lsm6dso_all_sources_get(ctx, &sources) < 0) {
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LOG_ERR("failed reading all sources");
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return;
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}
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if ((status.xlda == 0) && (status.gda == 0)
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if ((sources.drdy_xl && lsm6dso->handler_drdy_acc != NULL) ||
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(sources.drdy_g && lsm6dso->handler_drdy_gyr != NULL)
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#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
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&& (status.tda == 0)
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|| (sources.drdy_temp && lsm6dso->handler_drdy_temp != NULL)
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#endif
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) {
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break;
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) {
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pending_status = true;
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} else {
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pending_status = false;
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}
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if ((status.xlda) && (lsm6dso->handler_drdy_acc != NULL)) {
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if ((sources.drdy_xl) && (lsm6dso->handler_drdy_acc != NULL)) {
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lsm6dso->handler_drdy_acc(dev, lsm6dso->trig_drdy_acc);
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}
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if ((status.gda) && (lsm6dso->handler_drdy_gyr != NULL)) {
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if ((sources.drdy_g) && (lsm6dso->handler_drdy_gyr != NULL)) {
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lsm6dso->handler_drdy_gyr(dev, lsm6dso->trig_drdy_gyr);
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}
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#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
|
||||
if ((status.tda) && (lsm6dso->handler_drdy_temp != NULL)) {
|
||||
if ((sources.drdy_temp) && (lsm6dso->handler_drdy_temp != NULL)) {
|
||||
lsm6dso->handler_drdy_temp(dev, lsm6dso->trig_drdy_temp);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!pending_status) {
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#if defined(CONFIG_LSM6DSO_TILT)
|
||||
if (sources.tilt && (lsm6dso->handler_tilt != NULL)) {
|
||||
lsm6dso->handler_tilt(dev, lsm6dso->trig_tilt);
|
||||
}
|
||||
#endif /* CONFIG_LSM6DSO_TILT */
|
||||
#if defined(CONFIG_LSM6DSO_TAP)
|
||||
|
||||
if (sources.single_tap && lsm6dso->handler_tap != NULL) {
|
||||
lsm6dso->handler_tap(dev, lsm6dso->trig_tap);
|
||||
}
|
||||
|
||||
if (sources.double_tap && lsm6dso->handler_double_tap != NULL) {
|
||||
lsm6dso->handler_double_tap(dev, lsm6dso->trig_double_tap);
|
||||
}
|
||||
#endif /* CONFIG_LSM6DSO_TAP */
|
||||
|
||||
gpio_pin_interrupt_configure_dt(&cfg->gpio_drdy,
|
||||
GPIO_INT_EDGE_TO_ACTIVE);
|
||||
}
|
||||
|
|
@ -285,6 +548,7 @@ int lsm6dso_init_interrupt(const struct device *dev)
|
|||
return ret;
|
||||
}
|
||||
|
||||
|
||||
gpio_init_callback(&lsm6dso->gpio_cb,
|
||||
lsm6dso_gpio_callback,
|
||||
BIT(cfg->gpio_drdy.pin));
|
||||
|
|
|
|||
|
|
@ -146,3 +146,67 @@ properties:
|
|||
description: |
|
||||
Selects the pulsed mode for data-ready interrupt when enabled,
|
||||
and the latched mode when disabled.
|
||||
|
||||
# tap and tap-tap configuration section
|
||||
# All default values are selected to match the power-up values.
|
||||
# tap and tap-tap events can be generated on INT1 only.
|
||||
|
||||
tap-mode:
|
||||
type: int
|
||||
default: 0
|
||||
description: |
|
||||
Tap mode. Default is power-up configuration.
|
||||
|
||||
- 0 # LSM6DSO_DT_SINGLE_TAP
|
||||
- 1 # LSM6DSO_DT_SINGLE_DOUBLE_TAP
|
||||
|
||||
enum: [0, 1]
|
||||
|
||||
tap-threshold:
|
||||
type: array
|
||||
default: [0, 0, 0]
|
||||
description: |
|
||||
Tap X/Y/Z axes threshold. Default is power-up configuration.
|
||||
(X/Y/Z values range from 0x00 to 0x1F)
|
||||
|
||||
Thresholds to start the tap-event detection procedure on the X/Y/Z axes.
|
||||
Threshold values for each axis are unsigned 5-bit corresponding
|
||||
to a 2g acceleration full-scale range. A threshold value equal to zero
|
||||
corresponds to disable the tap detection on that axis.
|
||||
|
||||
For example, if you want to set the threshold for X to 12, for Z to 14
|
||||
and want to disable tap detection on Y, you should specify in Device Tree
|
||||
|
||||
tap-threshold = <12>, <0>, <14>
|
||||
|
||||
which is equivalent to X = 12 * 2g/32 = 750mg and Z = 14 * 2g/32 = 875mg.
|
||||
|
||||
tap-shock:
|
||||
type: int
|
||||
default: 0x0
|
||||
description: |
|
||||
Tap shock value. Default is power-up configuration.
|
||||
(values range from 0x0 to 0x3)
|
||||
This register represents the maximum time of an over-threshold signal
|
||||
detection to be recognized as a tap event. Where 0 equals 4*1/ODR and
|
||||
1LSB = 8*1/ODR.
|
||||
|
||||
tap-latency:
|
||||
type: int
|
||||
default: 0x0
|
||||
description: |
|
||||
Tap latency. Default is power-up configuration.
|
||||
(values range from 0x0 to 0xF)
|
||||
When double-tap recognition is enabled, this register expresses the
|
||||
maximum time between two successive detected taps to determine a
|
||||
double-tap event. Where 0 equals 16*1/ODR and 1LSB = 32*1/ODR.
|
||||
|
||||
tap-quiet:
|
||||
type: int
|
||||
default: 0x0
|
||||
description: |
|
||||
Expected quiet time after a tap detection. Default is power-up configuration.
|
||||
(values range from 0x0 to 0x3)
|
||||
This register represents the time after the first detected tap in which
|
||||
there must not be any overthreshold event. Where 0 equals 2*1/ODR
|
||||
and 1LSB = 4*1/ODR.
|
||||
|
|
|
|||
|
|
@ -272,6 +272,10 @@ enum sensor_trigger_type {
|
|||
|
||||
/** Trigger fires when the FIFO becomes full. */
|
||||
SENSOR_TRIG_FIFO_FULL,
|
||||
|
||||
/** Trigger fires when a tilt is detected. */
|
||||
SENSOR_TRIG_TILT,
|
||||
|
||||
/**
|
||||
* Number of all common sensor triggers.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -42,4 +42,8 @@
|
|||
#define LSM6DSO_DT_ODR_6667Hz 0xa
|
||||
#define LSM6DSO_DT_ODR_1Hz6 0xb
|
||||
|
||||
/* Tap mode */
|
||||
#define LSM6DSO_DT_SINGLE_TAP 0
|
||||
#define LSM6DSO_DT_SINGLE_DOUBLE_TAP 1
|
||||
|
||||
#endif /* ZEPHYR_INCLUDE_DT_BINDINGS_ST_LSM6DSO_H_ */
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue