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fix dr?

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This commit is contained in:
crides 2023-03-16 20:45:19 -05:00
parent 9edbced5b7
commit d76df014aa
2 changed files with 31 additions and 7 deletions
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35
app/drivers/sensor/pinnacle/pinnacle.c
View file

@ -95,15 +95,31 @@ static int pinnacle_channel_get(const struct device *dev, enum sensor_channel ch
static int pinnacle_sample_fetch(const struct device *dev, enum sensor_channel chan) {
uint8_t packet[3];
int res = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
if (res < 0) {
LOG_ERR("res: %d", res);
return res;
int ret;
ret = pinnacle_seq_read(dev, PINNACLE_STATUS1, packet, 0);
if (ret < 0) {
LOG_ERR("read status: %d", ret);
return ret;
}
if (!(packet[0] & PINNACLE_STATUS1_SW_DR)) {
return -EAGAIN;
}
ret = pinnacle_seq_read(dev, PINNACLE_2_2_PACKET0, packet, 3);
if (ret < 0) {
LOG_ERR("read packet: %d", ret);
return ret;
}
struct pinnacle_data *data = dev->data;
data->btn = packet[0] & PINNACLE_PACKET0_BTN_PRIM;
data->dx = (int16_t) (int8_t) packet[1];
data->dy = (int16_t) (int8_t) packet[2];
if (!data->in_int) {
ret = pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear SW_DR
if (ret < 0) {
LOG_ERR("clear dr: %d", ret);
return ret;
}
}
return 0;
}
@ -133,6 +149,11 @@ static void pinnacle_int_cb(const struct device *dev) {
struct pinnacle_data *data = dev->data;
data->data_ready_handler(dev, data->data_ready_trigger);
set_int(dev, true);
int ret = pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear SW_DR
if (ret < 0) {
LOG_ERR("clear dr: %d", ret);
}
data->in_int = false;
}
#ifdef CONFIG_PINNACLE_TRIGGER_OWN_THREAD
@ -143,19 +164,18 @@ static void pinnacle_thread(void *arg) {
while (1) {
k_sem_take(&data->gpio_sem, K_FOREVER);
pinnacle_int_cb(dev);
pinnacle_write(dev, PINNACLE_STATUS1, 0); // Clear SW_DR
}
}
#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
static void pinnacle_work_cb(struct k_work *work) {
struct pinnacle_data *data = CONTAINER_OF(work, struct pinnacle_data, work);
pinnacle_int_cb(data->dev);
pinnacle_write(data->dev, PINNACLE_STATUS1, 0); // Clear SW_DR
}
#endif
static void pinnacle_gpio_cb(const struct device *port, struct gpio_callback *cb, uint32_t pins) {
struct pinnacle_data *data = CONTAINER_OF(cb, struct pinnacle_data, gpio_cb);
data->in_int = true;
#if defined(CONFIG_PINNACLE_TRIGGER_OWN_THREAD)
k_sem_give(&data->gpio_sem);
#elif defined(CONFIG_PINNACLE_TRIGGER_GLOBAL_THREAD)
@ -169,8 +189,9 @@ static int pinnacle_init(const struct device *dev) {
const struct pinnacle_config *config = dev->config;
LOG_WRN("pinnacle start");
data->in_int = false;
int ret;
ret = pinnacle_write(dev, PINNACLE_STATUS1, PINNACLE_SYS_CFG_RESET);
ret = pinnacle_write(dev, PINNACLE_SYS_CFG, PINNACLE_SYS_CFG_RESET);
if (ret < 0) {
LOG_ERR("can't reset %d", ret);
return ret;

3
app/drivers/sensor/pinnacle/pinnacle.h
View file

@ -14,6 +14,8 @@
#define PINNACLE_FW_ID 0x00 // ASIC ID.
#define PINNACLE_FW_VER 0x01 // Firmware Version Firmware revision number.
#define PINNACLE_STATUS1 0x02 // Contains status flags about the state of Pinnacle.
#define PINNACLE_STATUS1_SW_DR BIT(2)
#define PINNACLE_STATUS1_SW_CC BIT(3)
#define PINNACLE_SYS_CFG 0x03 // Contains system operation and configuration bits.
#define PINNACLE_SYS_CFG_EN_SLEEP BIT(2)
#define PINNACLE_SYS_CFG_SHUTDOWN BIT(1)
@ -54,6 +56,7 @@
struct pinnacle_data {
int16_t dx, dy;
uint8_t btn;
bool in_int;
#ifdef CONFIG_PINNACLE_TRIGGER
const struct device *dev;
const struct sensor_trigger *data_ready_trigger;