drivers: sensor: st: lis2du12: add SENSOR_TRIG_DELTA support

Extend the LIS2DU12 accelerometer driver with SENSOR_TRIG_DELTA
support. The detection is based on the slope between successive
channel readings. Support for setting SENSOR_ATTR_SLOPE_TH and
SENSOR_ATTR_SLOPE_DUR is added as well. In line with other sensors,
SENSOR_ATTR_SLOPE_TH is configured in SI units (m/s^2) and
SENSOR_ATTR_SLOPE_DUR in samples relative to the ODR. The new trigger
can be mapped either to the same GPIO as the data-ready interrupt or
to a dedicated one.

Signed-off-by: Jan Kablitz <[email protected]>

Author: kabeljan

drivers/sensor/st/lis2du12/lis2du12.c

@@ -1,6 +1,7 @@
 /* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
  *
  * Copyright (c) 2023 STMicroelectronics
+ * Copyright (c) 2025 8tronix GmbH
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -59,7 +60,6 @@ static int lis2du12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
 {
 	const struct lis2du12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
-	struct lis2du12_data *data = dev->data;
 	lis2du12_md_t mode;
 
 	if (lis2du12_mode_get(ctx, &mode) < 0) {
@@ -71,16 +71,13 @@ static int lis2du12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
 		return -EIO;
 	}
 
-	data->accel_fs = fs;
-
 	return 0;
 }
 
 static int lis2du12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
 {
 	const struct lis2du12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
-	struct lis2du12_data *data = dev->data;
 	lis2du12_md_t mode;
 
 	if (lis2du12_mode_get(ctx, &mode) < 0) {
@@ -92,8 +89,6 @@ static int lis2du12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
 		return -EIO;
 	}
 
-	data->accel_freq = odr;
-
 	return 0;
 }
 
@@ -129,6 +124,7 @@ static int lis2du12_accel_range_set(const struct device *dev, int32_t range)
 		return -EIO;
 	}
 
+	data->accel_fs = lis2du12_accel_fs_map[fs];
 	data->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
 	return 0;
 }
@@ -143,6 +139,12 @@ static int lis2du12_accel_config(const struct device *dev,
 		return lis2du12_accel_range_set(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lis2du12_accel_odr_set(dev, val->val1);
+#if defined(CONFIG_LIS2DU12_TRIGGER)
+	case SENSOR_ATTR_SLOPE_TH:
+		return lis2du12_accel_set_wake_th(dev, val);
+	case SENSOR_ATTR_SLOPE_DUR:
+		return lis2du12_accel_set_wake_dur(dev, val);
+#endif
 	default:
 		LOG_WRN("Accel attribute %d not supported.", attr);
 		return -ENOTSUP;
@@ -349,6 +351,7 @@ static int lis2du12_init_chip(const struct device *dev)
 		LOG_ERR("failed to set accelerometer range %d", fs);
 		return -EIO;
 	}
+	lis2du12->accel_fs = lis2du12_accel_fs_map[fs];
 	lis2du12->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
 
 	/* set odr from DT (the only way to go in high performance) */
@@ -414,7 +417,8 @@ static int lis2du12_init(const struct device *dev)
 	.int1_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, { 0 }), \
 	.int2_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, { 0 }), \
 	.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed),			\
-	.drdy_pin = DT_INST_PROP(inst, drdy_pin)
+	.drdy_pin = DT_INST_PROP(inst, drdy_pin),			\
+	.delta_pin = DT_INST_PROP(inst, delta_pin),
 #else
 #define LIS2DU12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DU12_TRIGGER */

drivers/sensor/st/lis2du12/lis2du12.h

@@ -1,6 +1,7 @@
 /* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
  *
  * Copyright (c) 2023 STMicroelectronics
+ * Copyright (c) 2025 8tronix GmbH
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -32,6 +33,9 @@
 /* Accel sensor sensitivity grain is 61 ug/LSB */
 #define GAIN_UNIT_XL	(61LL)
 
+/* Wake-up duration raw grain is ODR_times (sample periods) */
+#define LIS2DU12_WAKUP_DUR_SAMPLES_MAX 15
+
 #define SENSOR_G_DOUBLE	(SENSOR_G / 1000000.0)
 
 struct lis2du12_config {
@@ -52,6 +56,7 @@ struct lis2du12_config {
 	const struct gpio_dt_spec int1_gpio;
 	const struct gpio_dt_spec int2_gpio;
 	uint8_t drdy_pin;
+	uint8_t delta_pin;
 	bool trig_enabled;
 #endif /* CONFIG_LIS2DU12_TRIGGER */
 };
@@ -66,16 +71,17 @@ union samples {
 struct lis2du12_data {
 	const struct device *dev;
 	int16_t acc[3];
-	uint32_t acc_gain;
-	uint16_t accel_freq;
-	uint8_t accel_fs;
+	uint32_t acc_gain; /* in ug/LSB */
+	uint8_t accel_fs; /* in g */
 
 #ifdef CONFIG_LIS2DU12_TRIGGER
-	struct gpio_dt_spec *drdy_gpio;
+	atomic_t trig_flags;
 
-	struct gpio_callback gpio_cb;
+	struct gpio_callback gpio_cb[2];
 	sensor_trigger_handler_t handler_drdy_acc;
 	const struct sensor_trigger *trig_drdy_acc;
+	sensor_trigger_handler_t handler_delta_xyz_acc;
+	const struct sensor_trigger *trig_delta_xyz_acc;
 
 #if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD)
 	K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LIS2DU12_THREAD_STACK_SIZE);
@@ -93,6 +99,10 @@ int lis2du12_trigger_set(const struct device *dev,
 			sensor_trigger_handler_t handler);
 
 int lis2du12_init_interrupt(const struct device *dev);
+
+int lis2du12_accel_set_wake_th(const struct device *dev, const struct sensor_value *val);
+
+int lis2du12_accel_set_wake_dur(const struct device *dev, const struct sensor_value *val);
 #endif
 
 #endif /* ZEPHYR_DRIVERS_SENSOR_LIS2DU12_LIS2DU12_H_ */