lis2dw12: add Single/Double Tap triggers

drivers/sensor/lis2dw12/Kconfig

@@ -52,6 +52,11 @@ config LIS2DW12_THREAD_STACK_SIZE
 	help
 	  Stack size of thread used by the driver to handle interrupts.
 
+config LIS2DW12_TAP
+	bool "Single/Double Tap recognition"
+	help
+	  Enable Single/Double Tap recognition
+
 choice
 	prompt "Sensor INT pin number"
 	default LIS2DW12_INT_PIN_1

drivers/sensor/lis2dw12/lis2dw12.c

@@ -50,6 +50,10 @@ static int lis2dw12_set_range(struct device *dev, u16_t range)
 		lis2dw12->gain =
 			LIS2DW12_FS_TO_GAIN(LIS2DW12_FS_TO_REG(range),
 					    shift_gain);
+#ifdef CONFIG_LIS2DW12_TAP
+		lis2dw12->tap_ths =
+			LIS2DW12_FS_TO_TAP_THS(LIS2DW12_FS_TO_REG(range));
+#endif /* CONFIG_LIS2DW12_TAP */
 	}
 
 	return err;
@@ -63,6 +67,7 @@ static int lis2dw12_set_range(struct device *dev, u16_t range)
 static int lis2dw12_set_odr(struct device *dev, u16_t odr)
 {
 	struct lis2dw12_data *lis2dw12 = dev->driver_data;
+	const struct lis2dw12_device_config *cfg = dev->config->config_info;
 
 	/* check if power off */
 	if (odr == 0) {
@@ -72,7 +77,8 @@ static int lis2dw12_set_odr(struct device *dev, u16_t odr)
 						   LIS2DW12_ODR_POWER_OFF_VAL);
 	}
 
-	if (odr > LIS2DW12_MAX_ODR) {
+	if (odr > LIS2DW12_MAX_ODR ||
+	   (odr > 200 && cfg->pm != LIS2DW12_HIGH_PERF)) {
 		LOG_ERR("ODR too high");
 		return -ENOTSUP;
 	}
@@ -194,7 +200,7 @@ static int lis2dw12_sample_fetch(struct device *dev, enum sensor_channel chan)
 		return -EIO;
 	}
 
-	if (!(tmp & LIS2DW12_STS_XLDA_UP)) {
+	if (!(tmp & LIS2DW12_STS_DRDY)) {
 		return -EAGAIN;
 	}
 
@@ -335,6 +341,10 @@ static int lis2dw12_init(struct device *dev)
 				    cfg->pm == LIS2DW12_LOW_POWER_M1 ?
 				    LIS2DW12_SHFT_GAIN_NOLP1 : 0);
 
+#ifdef CONFIG_LIS2DW12_TAP
+	lis2dw12->tap_ths = LIS2DW12_FS_TO_TAP_THS(LIS2DW12_ACC_FS);
+#endif /* CONFIG_LIS2DW12_TAP */
+
 #ifdef CONFIG_LIS2DW12_TRIGGER
 	if (lis2dw12_init_interrupt(dev) < 0) {
 		LOG_ERR("Failed to initialize interrupts");

drivers/sensor/lis2dw12/lis2dw12.h

@@ -94,13 +94,16 @@ enum lis2dh_odr {
 #define LIS2DW12_LIR_MASK		BIT(4)
 
 #define LIS2DW12_CTRL4_ADDR		0x23
+#define LIS2DW12_INT1_STAP		BIT(6)
+#define LIS2DW12_INT1_DTAP		BIT(3)
 #define LIS2DW12_INT1_DRDY		BIT(0)
 
 #define LIS2DW12_CTRL5_ADDR		0x24
 #define LIS2DW12_INT2_DRDY		BIT(0)
 
 #define LIS2DW12_CTRL6_ADDR		0x25
-#define LIS2DW12_FS_MASK		0x30
+#define LIS2DW12_FS_MASK		(BIT(5) | BIT(4))
+#define LIS2DW12_LOW_NOISE_MASK		BIT(2)
 
 enum lis2dh_fs {
 	LIS2DW12_FS_2G_VAL,
@@ -126,7 +129,9 @@ enum lis2dh_fs {
 #define LIS2DW12_OUT_T_REG		0x26
 
 #define LIS2DW12_STATUS_REG		0x27
-#define LIS2DW12_STS_XLDA_UP		0x01
+#define LIS2DW12_STS_DTAP		BIT(4)
+#define LIS2DW12_STS_STAP		BIT(3)
+#define LIS2DW12_STS_DRDY		BIT(0)
 
 #define LIS2DW12_OUT_X_L_ADDR		0x28
 
@@ -145,6 +150,37 @@ enum lis2dh_fs {
 #define LIS2DW12_SHIFT_PM1		4
 #define LIS2DW12_SHIFT_PMOTHER		2
 
+#define LIS2DW12_TAP_THS_X		0x30
+#define LIS2DW12_TAP_THS_Y		0x31
+#define LIS2DW12_TAP_THS_Z		0x32
+/* in TAP_THS_Y register */
+#define LIS2DW12_TAP_PRI_MASK		(BIT(7) | BIT(6) | BIT(5))
+/* in TAP_THS_Z register */
+#define LIS2DW12_TAP_EN_MASK		(BIT(7) | BIT(6) | BIT(5))
+/* in TAP_THS_X/Y/Z registers */
+#define LIS2DW12_TAP_THS_MASK		(BIT(4) | BIT(3) | BIT(2) | \
+					BIT(1) | BIT(0))
+
+#define LIS2DW12_FS_2G_THS		9
+#define LIS2DW12_FS_TO_TAP_THS(_fs)	(LIS2DW12_FS_2G_THS >> ((_fs)))
+
+#define LIS2DW12_INT_DUR		0x33
+#define LIS2DW12_LATENCY_MASK		(BIT(7) | BIT(6) | \
+					BIT(5) | BIT(4))
+#define LIS2DW12_LATENCY_SHIFT		4
+#define LIS2DW12_QUIET_MASK		(BIT(3) | BIT(2))
+#define LIS2DW12_QUIET_SHIFT		2
+#define LIS2DW12_SHOCK_MASK		(BIT(1) | BIT(0))
+#define LIS2DW12_SHOCK_SHIFT		0
+
+#define LIS2DW12_WAKE_UP_THS		0x34
+#define LIS2DW12_DTAP_MASK		BIT(7)
+
+#define LIS2DW12_TAP_SRC		0x39
+
+#define LIS2DW12_CTRL7_ADDR		0x3F
+#define LIS2DW12_INTS_ENABLED		BIT(5)
+
 /**
  * struct lis2dw12_device_config - lis2dw12 hw configuration
  * @bus_name: Pointer to bus master identifier.
@@ -193,6 +229,7 @@ struct lis2dw12_data {
 	struct device *gpio;
 	struct gpio_callback gpio_cb;
 	sensor_trigger_handler_t handler_drdy;
+	sensor_trigger_handler_t handler_tap;
 
 #if defined(CONFIG_LIS2DW12_TRIGGER_OWN_THREAD)
 	K_THREAD_STACK_MEMBER(thread_stack, CONFIG_LIS2DW12_THREAD_STACK_SIZE);
@@ -202,6 +239,11 @@ struct lis2dw12_data {
 	struct k_work work;
 	struct device *dev;
 #endif /* CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD */
+
+#ifdef CONFIG_LIS2DW12_TAP
+	u8_t tap_ths;
+#endif /* CONFIG_LIS2DW12_TAP */
+
 #endif /* CONFIG_LIS2DW12_TRIGGER */
 #if defined(DT_ST_LIS2DW12_0_CS_GPIO_CONTROLLER)
 	struct spi_cs_control cs_ctrl;

drivers/sensor/lis2dw12/lis2dw12_trigger.c

@@ -19,9 +19,9 @@
 LOG_MODULE_DECLARE(LIS2DW12);
 
 /**
- * lis2dw12_enable_int - enable selected int pin to generate interrupt
+ * lis2dw12_enable_drdy - enable selected int pin to generate DRDY interrupt
  */
-static int lis2dw12_enable_int(struct device *dev, int enable)
+static int lis2dw12_enable_drdy(struct device *dev, int enable)
 {
 	const struct lis2dw12_device_config *cfg = dev->config->config_info;
 	struct lis2dw12_data *lis2dw12 = dev->driver_data;
@@ -39,6 +39,85 @@ static int lis2dw12_enable_int(struct device *dev, int enable)
 		 enable);
 }
 
+#ifdef CONFIG_LIS2DW12_TAP
+/*
+ * lis2dw12_enable_tap - enable single or double tap event
+ * (odr >= 400Hz)
+ */
+static int lis2dw12_enable_tap(struct device *dev, u8_t dtap, u8_t enable)
+{
+	u8_t tmp;
+	u8_t int_dur, tap_int;
+	struct lis2dw12_data *lis2dw12 = dev->driver_data;
+
+	if (dtap) {
+		int_dur = 0x7f; /* latency = 7, shock = 3, quiet = 3 */
+		tap_int = LIS2DW12_INT1_DTAP;
+	} else {
+		int_dur = 0x06; /* latency = 0, shock = 2, quiet = 1 */
+		tap_int = LIS2DW12_INT1_STAP;
+	}
+
+	/* enable LOW noise */
+	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_CTRL6_ADDR,
+				    LIS2DW12_LOW_NOISE_MASK, 1)) {
+		LOG_ERR("enable low noise error");
+		return -EIO;
+	}
+
+	/* Set tap threshold for X axis. */
+	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_TAP_THS_X,
+					LIS2DW12_TAP_THS_MASK,
+					lis2dw12->tap_ths)) {
+		LOG_ERR("set x-threshold error");
+		return -EIO;
+	}
+
+	/* Set tap threshold for Y axis and TAP priority Z-Y-X. */
+	tmp = (0xE0 | ((lis2dw12->tap_ths) & (LIS2DW12_TAP_THS_MASK)));
+	if (lis2dw12->hw_tf->write_reg(lis2dw12, LIS2DW12_TAP_THS_Y, tmp)) {
+		LOG_ERR("set y-threshold error");
+		return -EIO;
+	}
+
+	/* Set tap threshold for Z axis and tap detection on X, Y, Z-axis */
+	tmp = (0xE0 | ((lis2dw12->tap_ths) & (LIS2DW12_TAP_THS_MASK)));
+	if (lis2dw12->hw_tf->write_reg(lis2dw12, LIS2DW12_TAP_THS_Z, tmp)) {
+		LOG_ERR("set z-threshold error");
+		return -EIO;
+	}
+
+	/* Set interrupt duration params (latency/quiet/shock time windows */
+	if (lis2dw12->hw_tf->write_reg(lis2dw12, LIS2DW12_INT_DUR, int_dur)) {
+		LOG_ERR("set int duration error");
+		return -EIO;
+	}
+
+	/* Enable single-tap or double-tap event */
+	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_WAKE_UP_THS,
+					LIS2DW12_DTAP_MASK, dtap)) {
+		LOG_ERR("enable single/double tap event error");
+		return -EIO;
+	}
+
+	/* Enable single-tap or double-tap interrupt */
+	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_CTRL4_ADDR,
+					tap_int, enable)) {
+		LOG_ERR("enable single/double tap int error");
+		return -EIO;
+	}
+
+	/* Enable algo interrupts */
+	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_CTRL7_ADDR,
+					LIS2DW12_INTS_ENABLED, enable)) {
+		LOG_ERR("enable algo int error");
+		return -EIO;
+	}
+
+	return 0;
+}
+#endif /* CONFIG_LIS2DW12_TAP */
+
 /**
  * lis2dw12_trigger_set - link external trigger to event data ready
  */
@@ -49,18 +128,29 @@ int lis2dw12_trigger_set(struct device *dev,
 	struct lis2dw12_data *lis2dw12 = dev->driver_data;
 	u8_t raw[6];
 
-	if (trig->chan == SENSOR_CHAN_ACCEL_XYZ) {
+	if (trig->type == SENSOR_TRIG_DATA_READY) {
 		lis2dw12->handler_drdy = handler;
 		if (handler) {
 			/* dummy read: re-trigger interrupt */
 			lis2dw12->hw_tf->read_data(lis2dw12,
 					    LIS2DW12_OUT_X_L_ADDR, raw,
 					    sizeof(raw));
-			return lis2dw12_enable_int(dev, LIS2DW12_EN_BIT);
+			return lis2dw12_enable_drdy(dev, LIS2DW12_EN_BIT);
 		} else {
-			return lis2dw12_enable_int(dev, LIS2DW12_DIS_BIT);
+			return lis2dw12_enable_drdy(dev, LIS2DW12_DIS_BIT);
 		}
 	}
+#ifdef CONFIG_LIS2DW12_TAP
+	else if (trig->type == SENSOR_TRIG_TAP) {
+		lis2dw12->handler_tap = handler;
+
+		return lis2dw12_enable_tap(dev, 0, (handler) ? 1 : 0);
+	} else if (trig->type == SENSOR_TRIG_DOUBLE_TAP) {
+		lis2dw12->handler_tap = handler;
+
+		return lis2dw12_enable_tap(dev, 1, (handler) ? 1 : 0);
+	}
+#endif /* CONFIG_LIS2DW12_TAP */
 
 	return -ENOTSUP;
 }
@@ -71,15 +161,36 @@ int lis2dw12_trigger_set(struct device *dev,
  */
 static void lis2dw12_handle_interrupt(void *arg)
 {
+	u8_t status;
 	struct device *dev = arg;
 	struct lis2dw12_data *lis2dw12 = dev->driver_data;
-	struct sensor_trigger drdy_trigger = {
-		.type = SENSOR_TRIG_DATA_READY,
-	};
 	const struct lis2dw12_device_config *cfg = dev->config->config_info;
+	struct sensor_trigger trigger;
+
+	if (lis2dw12->hw_tf->read_reg(lis2dw12,
+				      LIS2DW12_STATUS_REG,
+				      &status) < 0) {
+		LOG_ERR("status reading error");
+	}
+
+	if ((status & LIS2DW12_STS_DRDY) &&
+	    (lis2dw12->handler_drdy != NULL)) {
+		trigger.type = SENSOR_TRIG_DATA_READY;
+		lis2dw12->handler_drdy(dev, &trigger);
+	}
+
+	if ((status & LIS2DW12_STS_STAP) &&
+	    (lis2dw12->handler_tap != NULL)) {
+		trigger.type = SENSOR_TRIG_TAP;
+		lis2dw12->hw_tf->read_reg(lis2dw12, LIS2DW12_TAP_SRC, &status);
+		lis2dw12->handler_tap(dev, &trigger);
+	}
 
-	if (lis2dw12->handler_drdy != NULL) {
-		lis2dw12->handler_drdy(dev, &drdy_trigger);
+	if ((status & LIS2DW12_STS_DTAP) &&
+	    (lis2dw12->handler_tap != NULL)) {
+		trigger.type = SENSOR_TRIG_DOUBLE_TAP;
+		lis2dw12->hw_tf->read_reg(lis2dw12, LIS2DW12_TAP_SRC, &status);
+		lis2dw12->handler_tap(dev, &trigger);
 	}
 
 	gpio_pin_enable_callback(lis2dw12->gpio, cfg->int_gpio_pin);
@@ -172,9 +283,9 @@ int lis2dw12_init_interrupt(struct device *dev)
 		return -EIO;
 	}
 
-	/* enable interrupt on int1/int2 in pulse mode */
+	/* enable interrupt on int1/int2 in lir mode */
 	if (lis2dw12->hw_tf->update_reg(lis2dw12, LIS2DW12_CTRL3_ADDR,
-					LIS2DW12_LIR_MASK, LIS2DW12_DIS_BIT)) {
+					LIS2DW12_LIR_MASK, 1)) {
 		return -EIO;
 	}