text: /*
   * Copyright (c) 2016 Intel Corporation
   *
   * SPDX-License-Identifier: Apache-2.0
   */
  
  #include <device.h>
  #include <i2c.h>
  #include <misc/__assert.h>
  #include <misc/util.h>
  #include <kernel.h>
  #include <sensor.h>
  
  #include "lis3mdl.h"
  
  #define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
  #include <logging/log.h>
  LOG_MODULE_DECLARE(LIS3MDL);
  
  int lis3mdl_trigger_set(struct device *dev,
  			const struct sensor_trigger *trig,
  			sensor_trigger_handler_t handler)
  {
  	struct lis3mdl_data *drv_data = dev->driver_data;
  
  	__ASSERT_NO_MSG(trig->type == SENSOR_TRIG_DATA_READY);
  
  	gpio_pin_disable_callback(drv_data->gpio, CONFIG_LIS3MDL_GPIO_PIN_NUM);
  
  	drv_data->data_ready_handler = handler;
  	if (handler == NULL) {
  		return 0;
  	}
  
  	drv_data->data_ready_trigger = *trig;
  
  	gpio_pin_enable_callback(drv_data->gpio, CONFIG_LIS3MDL_GPIO_PIN_NUM);
  
  	return 0;
  }
  
  static void lis3mdl_gpio_callback(struct device *dev,
  				  struct gpio_callback *cb, u32_t pins)
  {
  	struct lis3mdl_data *drv_data =
  		CONTAINER_OF(cb, struct lis3mdl_data, gpio_cb);
  
  	ARG_UNUSED(pins);
  
  	gpio_pin_disable_callback(dev, CONFIG_LIS3MDL_GPIO_PIN_NUM);
  
  #if defined(CONFIG_LIS3MDL_TRIGGER_OWN_THREAD)
  	k_sem_give(&drv_data->gpio_sem);
  #elif defined(CONFIG_LIS3MDL_TRIGGER_GLOBAL_THREAD)
  	k_work_submit(&drv_data->work);
  #endif
  }
  
  static void lis3mdl_thread_cb(void *arg)
  {
  	struct device *dev = arg;
  	struct lis3mdl_data *drv_data = dev->driver_data;
  
  	if (drv_data->data_ready_handler != NULL) {
  		drv_data->data_ready_handler(dev,
  					     &drv_data->data_ready_trigger);
  	}
  
  	gpio_pin_enable_callback(drv_data->gpio, CONFIG_LIS3MDL_GPIO_PIN_NUM);
  }
  
  #ifdef CONFIG_LIS3MDL_TRIGGER_OWN_THREAD
  static void lis3mdl_thread(int dev_ptr, int unused)
  {
  	struct device *dev = INT_TO_POINTER(dev_ptr);
  	struct lis3mdl_data *drv_data = dev->driver_data;
  
  	ARG_UNUSED(unused);
  
  	while (1) {
  		k_sem_take(&drv_data->gpio_sem, K_FOREVER);
  		lis3mdl_thread_cb(dev);
  	}
  }
  #endif
  
  #ifdef CONFIG_LIS3MDL_TRIGGER_GLOBAL_THREAD
  static void lis3mdl_work_cb(struct k_work *work)
  {
  	struct lis3mdl_data *drv_data =
  		CONTAINER_OF(work, struct lis3mdl_data, work);
  
  	lis3mdl_thread_cb(drv_data->dev);
  }
  #endif
  
  int lis3mdl_init_interrupt(struct device *dev)
  {
  	struct lis3mdl_data *drv_data = dev->driver_data;
  
  	/* setup data ready gpio interrupt */
  	drv_data->gpio = device_get_binding(CONFIG_LIS3MDL_GPIO_DEV_NAME);
  	if (drv_data->gpio == NULL) {
  		LOG_DBG("Cannot get pointer to %s device.",
  			    CONFIG_LIS3MDL_GPIO_DEV_NAME);
  		return -EINVAL;
  	}
  
  	gpio_pin_configure(drv_data->gpio, CONFIG_LIS3MDL_GPIO_PIN_NUM,
  			   GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
  			   GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE);
  
  	gpio_init_callback(&drv_data->gpio_cb,
  			   lis3mdl_gpio_callback,
  			   BIT(CONFIG_LIS3MDL_GPIO_PIN_NUM));
  
  	if (gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb) < 0) {
  		LOG_DBG("Could not set gpio callback.");
  		return -EIO;
  	}
  
  	/* clear data ready interrupt line by reading sample data */
  	if (lis3mdl_sample_fetch(dev, SENSOR_CHAN_ALL) < 0) {
  		LOG_DBG("Could not clear data ready interrupt line.");
  		return -EIO;
  	}
  
  	/* enable interrupt */
  	if (i2c_reg_write_byte(drv_data->i2c, DT_LIS3MDL_I2C_ADDR,
  			       LIS3MDL_REG_INT_CFG, LIS3MDL_INT_XYZ_EN) < 0) {
  		LOG_DBG("Could not enable interrupt.");
  		return -EIO;
  	}
  
  #if defined(CONFIG_LIS3MDL_TRIGGER_OWN_THREAD)
  	k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
  
  	k_thread_create(&drv_data->thread, drv_data->thread_stack,
  			CONFIG_LIS3MDL_THREAD_STACK_SIZE,
  			(k_thread_entry_t)lis3mdl_thread, POINTER_TO_INT(dev),
  			0, NULL, K_PRIO_COOP(CONFIG_LIS3MDL_THREAD_PRIORITY),
  			0, 0);
  #elif defined(CONFIG_LIS3MDL_TRIGGER_GLOBAL_THREAD)
  	drv_data->work.handler = lis3mdl_work_cb;
  	drv_data->dev = dev;
  #endif
  
  	gpio_pin_enable_callback(drv_data->gpio, CONFIG_LIS3MDL_GPIO_PIN_NUM);
  
  	return 0;
  }
  