Merge pull request #59 from petejohanson/sensors/en11-encoder-sensor
Initial low level EC11 sensor driver
This commit is contained in:
Pete Johanson
GitHub
commit
54f1ddc1f5
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@ -58,6 +58,24 @@ RC(2,0) RC(2,1) RC(2,2) RC(2,3) RC(2,4) RC(2,5) RC(2,6) RC(2,7) RC(2,8) RC(2,9)
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};
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left_encoder: encoder_left {
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compatible = "alps,ec11";
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label = "LEFT_ENCODER";
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a-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
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b-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
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resolution = <4>;
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status = "disabled";
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};
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right_encoder: encoder_right {
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compatible = "alps,ec11";
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label = "RIGHT_ENCODER";
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a-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
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b-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
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resolution = <4>;
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status = "disabled";
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};
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// TODO: Encoder node(s)
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// TODO: OLED node
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// TODO: RGB node(s)
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@ -19,3 +19,6 @@
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;
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};
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&left_encoder {
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status = "okay";
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};
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@ -23,3 +23,7 @@
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;
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};
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&right_encoder {
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status = "okay";
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};
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@ -6,4 +6,7 @@ if(CONFIG_ZMK_KSCAN_GPIO_DRIVER)
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kscan_gpio_matrix.c
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kscan_gpio_direct.c
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)
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zephyr_library_sources_ifdef(CONFIG_EC11 ec11.c)
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zephyr_library_sources_ifdef(CONFIG_EC11_TRIGGER ec11_trigger.c)
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endif()
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@ -17,3 +17,50 @@ config ZMK_KSCAN_INIT_PRIORITY
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help
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Keyboard scan device driver initialization priority.
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menuconfig EC11
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bool "EC11 Incremental Encoder Sensor"
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depends on GPIO
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help
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Enable driver for EC11 incremental encoder sensors.
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if EC11
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choice
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prompt "Trigger mode"
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default EC11_TRIGGER_NONE
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help
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Specify the type of triggering to be used by the driver.
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config EC11_TRIGGER_NONE
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bool "No trigger"
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config EC11_TRIGGER_GLOBAL_THREAD
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bool "Use global thread"
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depends on GPIO
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select EC11_TRIGGER
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config EC11_TRIGGER_OWN_THREAD
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bool "Use own thread"
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depends on GPIO
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select EC11_TRIGGER
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endchoice
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config EC11_TRIGGER
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bool
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config EC11_THREAD_PRIORITY
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int "Thread priority"
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depends on EC11_TRIGGER_OWN_THREAD
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default 10
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help
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Priority of thread used by the driver to handle interrupts.
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config EC11_THREAD_STACK_SIZE
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int "Thread stack size"
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depends on EC11_TRIGGER_OWN_THREAD
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default 1024
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help
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Stack size of thread used by the driver to handle interrupts.
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endif # EC11
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@ -0,0 +1,21 @@
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description: |
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Sensor driver for the Alps EC11 rotary encoder
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compatible: "alps,ec11"
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properties:
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label:
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type: string
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required: true
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a-gpios:
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type: phandle-array
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required: true
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description: A pin for the encoder
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b-gpios:
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type: phandle-array
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required: true
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description: A pin for the encoder
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resolution:
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type: int
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description: Number of pulses per tick
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required: false
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@ -0,0 +1,153 @@
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/*
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* Copyright (c) 2020 Peter Johanson
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*
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* SPDX-License-Identifier: MIT
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*/
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#define DT_DRV_COMPAT alps_ec11
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#include <device.h>
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#include <drivers/gpio.h>
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#include <sys/util.h>
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include <sys/__assert.h>
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#include <logging/log.h>
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#include "ec11.h"
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LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL);
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static int ec11_get_ab_state(struct device *dev)
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{
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struct ec11_data *drv_data = dev->driver_data;
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const struct ec11_config *drv_cfg = dev->config_info;
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return (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin);
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}
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static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
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{
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struct ec11_data *drv_data = dev->driver_data;
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const struct ec11_config *drv_cfg = dev->config_info;
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u8_t val;
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s8_t delta;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION);
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val = ec11_get_ab_state(dev);
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LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val);
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switch(val | (drv_data->ab_state << 2)) {
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case 0b0010: case 0b0100: case 0b1101: case 0b1011:
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delta = -1;
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break;
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case 0b0001: case 0b0111: case 0b1110: case 0b1000:
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delta = 1;
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break;
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default:
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delta = 0;
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break;
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}
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LOG_DBG("Delta: %d", delta);
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drv_data->pulses += delta;
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drv_data->ab_state = val;
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drv_data->ticks = drv_data->pulses / drv_cfg->resolution;
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drv_data->delta = delta;
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drv_data->pulses %= drv_cfg->resolution;
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return 0;
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}
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static int ec11_channel_get(struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct ec11_data *drv_data = dev->driver_data;
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if (chan != SENSOR_CHAN_ROTATION) {
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return -ENOTSUP;
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}
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val->val1 = drv_data->ticks;
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val->val2 = drv_data->delta;
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return 0;
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}
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static const struct sensor_driver_api ec11_driver_api = {
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#ifdef CONFIG_EC11_TRIGGER
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.trigger_set = ec11_trigger_set,
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#endif
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.sample_fetch = ec11_sample_fetch,
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.channel_get = ec11_channel_get,
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};
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int ec11_init(struct device *dev)
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{
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struct ec11_data *drv_data = dev->driver_data;
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const struct ec11_config *drv_cfg = dev->config_info;
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LOG_DBG("A: %s %d B: %s %d resolution %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin, drv_cfg->resolution);
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drv_data->a = device_get_binding(drv_cfg->a_label);
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if (drv_data->a == NULL) {
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LOG_ERR("Failed to get pointer to A GPIO device");
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return -EINVAL;
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}
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drv_data->b = device_get_binding(drv_cfg->b_label);
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if (drv_data->b == NULL) {
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LOG_ERR("Failed to get pointer to B GPIO device");
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return -EINVAL;
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}
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if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
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drv_cfg->a_flags
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| GPIO_INPUT)) {
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LOG_DBG("Failed to configure A pin");
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return -EIO;
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}
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if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
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drv_cfg->b_flags
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| GPIO_INPUT)) {
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LOG_DBG("Failed to configure B pin");
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return -EIO;
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}
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#ifdef CONFIG_EC11_TRIGGER
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if (ec11_init_interrupt(dev) < 0) {
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LOG_DBG("Failed to initialize interrupt!");
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return -EIO;
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}
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#endif
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drv_data->ab_state = ec11_get_ab_state(dev);
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return 0;
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}
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#define EC11_INST(n) \
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struct ec11_data ec11_data_##n; \
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const struct ec11_config ec11_cfg_##n = { \
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.a_label = DT_INST_GPIO_LABEL(n, a_gpios), \
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.a_pin = DT_INST_GPIO_PIN(n, a_gpios), \
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.a_flags = DT_INST_GPIO_FLAGS(n, a_gpios), \
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.b_label = DT_INST_GPIO_LABEL(n, b_gpios), \
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.b_pin = DT_INST_GPIO_PIN(n, b_gpios), \
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.b_flags = DT_INST_GPIO_FLAGS(n, b_gpios), \
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COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \
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}; \
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DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(n), ec11_init, \
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&ec11_data_##n, \
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&ec11_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&ec11_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(EC11_INST)
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@ -0,0 +1,59 @@
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/*
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* Copyright (c) 2020 Peter Johanson
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*
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* SPDX-License-Identifier: MIT
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*/
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#pragma once
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#include <device.h>
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#include <drivers/gpio.h>
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#include <sys/util.h>
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struct ec11_config {
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const char *a_label;
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const u8_t a_pin;
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const u8_t a_flags;
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const char *b_label;
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const u8_t b_pin;
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const u8_t b_flags;
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const u8_t resolution;
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};
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struct ec11_data {
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struct device *a;
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struct device *b;
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u8_t ab_state;
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s8_t pulses;
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s8_t ticks;
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s8_t delta;
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#ifdef CONFIG_EC11_TRIGGER
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struct gpio_callback a_gpio_cb;
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struct gpio_callback b_gpio_cb;
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struct device *dev;
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sensor_trigger_handler_t handler;
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struct sensor_trigger trigger;
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#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
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K_THREAD_STACK_MEMBER(thread_stack, CONFIG_EC11_THREAD_STACK_SIZE);
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struct k_sem gpio_sem;
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struct k_thread thread;
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#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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#endif
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#endif /* CONFIG_EC11_TRIGGER */
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};
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#ifdef CONFIG_EC11_TRIGGER
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int ec11_trigger_set(struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int ec11_init_interrupt(struct device *dev);
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#endif
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@ -0,0 +1,176 @@
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/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT alps_ec11
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#include <device.h>
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#include <drivers/gpio.h>
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#include <sys/util.h>
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include "ec11.h"
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extern struct ec11_data ec11_driver;
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#include <logging/log.h>
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LOG_MODULE_DECLARE(EC11, CONFIG_SENSOR_LOG_LEVEL);
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static inline void setup_int(struct device *dev,
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bool enable)
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{
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struct ec11_data *data = dev->driver_data;
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const struct ec11_config *cfg = dev->config_info;
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LOG_DBG("enabled %s", (enable ? "true" : "false"));
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if (gpio_pin_interrupt_configure(data->a,
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cfg->a_pin,
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enable
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? GPIO_INT_EDGE_BOTH
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: GPIO_INT_DISABLE)) {
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LOG_WRN("Unable to set A pin GPIO interrupt");
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}
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if (gpio_pin_interrupt_configure(data->b,
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cfg->b_pin,
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enable
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? GPIO_INT_EDGE_BOTH
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: GPIO_INT_DISABLE)) {
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LOG_WRN("Unable to set A pin GPIO interrupt");
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}
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}
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static void ec11_a_gpio_callback(struct device *dev,
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struct gpio_callback *cb, u32_t pins)
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{
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struct ec11_data *drv_data =
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CONTAINER_OF(cb, struct ec11_data, a_gpio_cb);
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LOG_DBG("");
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setup_int(drv_data->dev, false);
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#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
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k_sem_give(&drv_data->gpio_sem);
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#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&drv_data->work);
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#endif
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}
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static void ec11_b_gpio_callback(struct device *dev,
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struct gpio_callback *cb, u32_t pins)
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{
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struct ec11_data *drv_data =
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CONTAINER_OF(cb, struct ec11_data, b_gpio_cb);
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LOG_DBG("");
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setup_int(drv_data->dev, false);
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#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
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k_sem_give(&drv_data->gpio_sem);
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#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
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k_work_submit(&drv_data->work);
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#endif
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}
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static void ec11_thread_cb(void *arg)
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{
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struct device *dev = arg;
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struct ec11_data *drv_data = dev->driver_data;
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drv_data->handler(dev, &drv_data->trigger);
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setup_int(dev, true);
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}
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#ifdef CONFIG_EC11_TRIGGER_OWN_THREAD
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static void ec11_thread(int dev_ptr, int unused)
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{
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struct device *dev = INT_TO_POINTER(dev_ptr);
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struct ec11_data *drv_data = dev->driver_data;
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ARG_UNUSED(unused);
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while (1) {
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k_sem_take(&drv_data->gpio_sem, K_FOREVER);
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ec11_thread_cb(dev);
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}
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}
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#endif
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#ifdef CONFIG_EC11_TRIGGER_GLOBAL_THREAD
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static void ec11_work_cb(struct k_work *work)
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{
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struct ec11_data *drv_data =
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CONTAINER_OF(work, struct ec11_data, work);
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LOG_DBG("");
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ec11_thread_cb(drv_data->dev);
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}
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#endif
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int ec11_trigger_set(struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler)
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{
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struct ec11_data *drv_data = dev->driver_data;
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setup_int(dev, false);
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k_msleep(5);
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drv_data->trigger = *trig;
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drv_data->handler = handler;
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setup_int(dev, true);
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return 0;
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}
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int ec11_init_interrupt(struct device *dev)
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{
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struct ec11_data *drv_data = dev->driver_data;
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const struct ec11_config *drv_cfg = dev->config_info;
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drv_data->dev = dev;
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/* setup gpio interrupt */
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gpio_init_callback(&drv_data->a_gpio_cb,
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ec11_a_gpio_callback,
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BIT(drv_cfg->a_pin));
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if (gpio_add_callback(drv_data->a, &drv_data->a_gpio_cb) < 0) {
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LOG_DBG("Failed to set A callback!");
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return -EIO;
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}
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gpio_init_callback(&drv_data->b_gpio_cb,
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ec11_b_gpio_callback,
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BIT(drv_cfg->b_pin));
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if (gpio_add_callback(drv_data->b, &drv_data->b_gpio_cb) < 0) {
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LOG_DBG("Failed to set B callback!");
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return -EIO;
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}
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#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
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k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
|
||||
|
||||
k_thread_create(&drv_data->thread, drv_data->thread_stack,
|
||||
CONFIG_EC11_THREAD_STACK_SIZE,
|
||||
(k_thread_entry_t)ec11_thread, dev,
|
||||
0, NULL, K_PRIO_COOP(CONFIG_EC11_THREAD_PRIORITY),
|
||||
0, K_NO_WAIT);
|
||||
#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
|
||||
k_work_init(&drv_data->work, ec11_work_cb);
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue