drivers/sensor/lis2du12/lis2du12.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
  *
  * Copyright (c) 2023 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2du12.pdf
  */

 #define DT_DRV_COMPAT st_lis2du12

 #include <zephyr/drivers/sensor.h>
 #include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/init.h>
 #include <string.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/logging/log.h>

 #include "lis2du12.h"

 LOG_MODULE_REGISTER(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL);

 static const float lis2du12_odr_map[14] = {
 			0.0f, 1.6f, 3.0f, 6.0f, 6.0f, 12.5f, 25.0f,
 			50.0f, 100.0f, 200.0f, 400.0f, 800.0f, 0.0f, 0.0f};

 static int lis2du12_freq_to_odr_val(const struct device *dev, uint16_t freq)
 {
 	size_t i;

 	for (i = 0; i < ARRAY_SIZE(lis2du12_odr_map); i++) {
 		if (freq <= lis2du12_odr_map[i]) {
 			return i;
 		}
 	}

 	return -EINVAL;
 }

 static const uint16_t lis2du12_accel_fs_map[] = {2, 4, 8, 16};

 static int lis2du12_accel_range_to_fs_val(int32_t range)
 {
 	size_t i;

 	for (i = 0; i < ARRAY_SIZE(lis2du12_accel_fs_map); i++) {
 		if (range == lis2du12_accel_fs_map[i]) {
 			return i;
 		}
 	}

 	return -EINVAL;
 }

 static inline int lis2du12_reboot(const struct device *dev)
 {
 	const struct lis2du12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2du12_status_t status;
 	uint8_t tries = 10;

 	if (lis2du12_init_set(ctx, LIS2DU12_RESET) < 0) {
 		return -EIO;
 	}

 	do {
 		if (!--tries) {
 			LOG_ERR("sw reset timed out");
 			return -ETIMEDOUT;
 		}
 		k_usleep(50);

 		if (lis2du12_status_get(ctx, &status) < 0) {
 			return -EIO;
 		}
 	} while (status.sw_reset != 0);

 	if (lis2du12_init_set(ctx, LIS2DU12_DRV_RDY) < 0) {
 		return -EIO;
 	}

 	return 0;
 }

 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) {
 		return -EIO;
 	}

 	mode.fs = fs;
 	if (lis2du12_mode_set(ctx, &mode) < 0) {
 		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) {
 		return -EIO;
 	}

 	mode.odr = odr;
 	if (lis2du12_mode_set(ctx, &mode) < 0) {
 		return -EIO;
 	}

 	data->accel_freq = odr;

 	return 0;
 }

 static int lis2du12_accel_odr_set(const struct device *dev, uint16_t freq)
 {
 	int odr;

 	odr = lis2du12_freq_to_odr_val(dev, freq);
 	if (odr < 0) {
 		return odr;
 	}

 	if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
 		LOG_ERR("failed to set accelerometer sampling rate");
 		return -EIO;
 	}

 	return 0;
 }

 static int lis2du12_accel_range_set(const struct device *dev, int32_t range)
 {
 	int fs;
 	struct lis2du12_data *data = dev->data;

 	fs = lis2du12_accel_range_to_fs_val(range);
 	if (fs < 0) {
 		return fs;
 	}

 	if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
 		LOG_ERR("failed to set accelerometer full-scale");
 		return -EIO;
 	}

 	data->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
 	return 0;
 }

 static int lis2du12_accel_config(const struct device *dev,
 				 enum sensor_channel chan,
 				 enum sensor_attribute attr,
 				 const struct sensor_value *val)
 {
 	switch (attr) {
 	case SENSOR_ATTR_FULL_SCALE:
 		return lis2du12_accel_range_set(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lis2du12_accel_odr_set(dev, val->val1);
 	default:
 		LOG_WRN("Accel attribute %d not supported.", attr);
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2du12_attr_set(const struct device *dev,
 			     enum sensor_channel chan,
 			     enum sensor_attribute attr,
 			     const struct sensor_value *val)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		return lis2du12_accel_config(dev, chan, attr, val);
 	default:
 		LOG_WRN("attribute %d not supported on this channel.", chan);
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2du12_sample_fetch_accel(const struct device *dev)
 {
 	const struct lis2du12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2du12_data *data = dev->data;
 	lis2du12_data_t xl_data;
 	lis2du12_md_t md;

 	md.fs = cfg->accel_range;
 	if (lis2du12_data_get(ctx, &md, &xl_data) < 0) {
 		LOG_ERR("Failed to read sample");
 		return -EIO;
 	}

 	data->acc[0] = xl_data.xl.raw[0];
 	data->acc[1] = xl_data.xl.raw[1];
 	data->acc[2] = xl_data.xl.raw[2];

 	return 0;
 }

 static int lis2du12_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2du12_sample_fetch_accel(dev);
 		break;
 	case SENSOR_CHAN_ALL:
 		lis2du12_sample_fetch_accel(dev);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static inline void lis2du12_accel_convert(struct sensor_value *val, int raw_val,
 					  uint32_t sensitivity)
 {
 	int64_t dval;

 	/* Sensitivity is exposed in ug/LSB */
 	/* Convert to m/s^2 */
 	dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE;
 	val->val1 = (int32_t)(dval / 1000000);
 	val->val2 = (int32_t)(dval % 1000000);

 }

 static inline int lis2du12_accel_get_channel(enum sensor_channel chan,
 					     struct sensor_value *val,
 					     struct lis2du12_data *data,
 					     uint32_t sensitivity)
 {
 	uint8_t i;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 		lis2du12_accel_convert(val, data->acc[0], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		lis2du12_accel_convert(val, data->acc[1], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		lis2du12_accel_convert(val, data->acc[2], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_XYZ:
 		for (i = 0; i < 3; i++) {
 			lis2du12_accel_convert(val++, data->acc[i], sensitivity);
 		}
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2du12_accel_channel_get(enum sensor_channel chan,
 				      struct sensor_value *val,
 				      struct lis2du12_data *data)
 {
 	return lis2du12_accel_get_channel(chan, val, data, data->acc_gain);
 }

 static int lis2du12_channel_get(const struct device *dev,
 				enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	struct lis2du12_data *data = dev->data;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2du12_accel_channel_get(chan, val, data);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static const struct sensor_driver_api lis2du12_driver_api = {
 	.attr_set = lis2du12_attr_set,
 #if CONFIG_LIS2DU12_TRIGGER
 	.trigger_set = lis2du12_trigger_set,
 #endif
 	.sample_fetch = lis2du12_sample_fetch,
 	.channel_get = lis2du12_channel_get,
 };

 static int lis2du12_init_chip(const struct device *dev)
 {
 	const struct lis2du12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2du12_data *lis2du12 = dev->data;
 	lis2du12_id_t chip_id;
 	uint8_t odr, fs;

 	if (lis2du12_id_get(ctx, &chip_id) < 0) {
 		LOG_ERR("Failed reading chip id");
 		return -EIO;
 	}

 	LOG_INF("chip id 0x%x", chip_id.whoami);

 	if (chip_id.whoami != LIS2DU12_ID) {
 		LOG_ERR("Invalid chip id 0x%x", chip_id.whoami);
 		return -EIO;
 	}

 	/* reboot device */
 	if (lis2du12_reboot(dev) < 0) {
 		return -EIO;
 	}

 	/* set FS from DT */
 	fs = cfg->accel_range;
 	LOG_DBG("accel range is %d", fs);
 	if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
 		LOG_ERR("failed to set accelerometer range %d", fs);
 		return -EIO;
 	}
 	lis2du12->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;

 	/* set odr from DT (the only way to go in high performance) */
 	odr = cfg->accel_odr;
 	LOG_DBG("accel odr is %d", odr);
 	if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
 		LOG_ERR("failed to set accelerometer odr %d", odr);
 		return -EIO;
 	}

 	return 0;
 }

 static int lis2du12_init(const struct device *dev)
 {
 #ifdef CONFIG_LIS2DU12_TRIGGER
 	const struct lis2du12_config *cfg = dev->config;
 #endif
 	struct lis2du12_data *data = dev->data;

 	LOG_INF("Initialize device %s", dev->name);
 	data->dev = dev;

 	if (lis2du12_init_chip(dev) < 0) {
 		LOG_ERR("failed to initialize chip");
 		return -EIO;
 	}

 #ifdef CONFIG_LIS2DU12_TRIGGER
 	if (cfg->trig_enabled) {
 		if (lis2du12_init_interrupt(dev) < 0) {
 			LOG_ERR("Failed to initialize interrupt.");
 			return -EIO;
 		}
 	}
 #endif

 	return 0;
 }

 /*
  * Device creation macro, shared by LIS2DU12_DEFINE_SPI() and
  * LIS2DU12_DEFINE_I2C().
  */

 #define LIS2DU12_DEVICE_INIT(inst)					\
 	SENSOR_DEVICE_DT_INST_DEFINE(inst,				\
 			    lis2du12_init,				\
 			    NULL,					\
 			    &lis2du12_data_##inst,			\
 			    &lis2du12_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &lis2du12_driver_api);

 /*
  * Instantiation macros used when a device is on a SPI bus.
  */

 #ifdef CONFIG_LIS2DU12_TRIGGER
 #define LIS2DU12_CFG_IRQ(inst)						\
 	.trig_enabled = true,						\
 	.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)
 #else
 #define LIS2DU12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DU12_TRIGGER */

 #define LIS2DU12_SPI_OP  (SPI_WORD_SET(8) |				\
 			 SPI_OP_MODE_MASTER |				\
 			 SPI_MODE_CPOL |				\
 			 SPI_MODE_CPHA)					\

 #define LIS2DU12_CONFIG_COMMON(inst)					\
 	.accel_odr = DT_INST_PROP(inst, accel_odr),			\
 	.accel_range = DT_INST_PROP(inst, accel_range),			\
 	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios),	\
 			   DT_INST_NODE_HAS_PROP(inst, int2_gpios)),	\
 		   (LIS2DU12_CFG_IRQ(inst)))

 /*
  * Instantiation macros used when a device is on a SPI bus.
  */

 #define LIS2DU12_CONFIG_SPI(inst)						\
 	{									\
 		STMEMSC_CTX_SPI(&lis2du12_config_##inst.stmemsc_cfg),		\
 		.stmemsc_cfg = {						\
 			.spi = SPI_DT_SPEC_INST_GET(inst,			\
 					   LIS2DU12_SPI_OP,			\
 					   0),					\
 		},								\
 		LIS2DU12_CONFIG_COMMON(inst)					\
 	}

 /*
  * Instantiation macros used when a device is on an I2C bus.
  */

 #define LIS2DU12_CONFIG_I2C(inst)						\
 	{									\
 		STMEMSC_CTX_I2C(&lis2du12_config_##inst.stmemsc_cfg),	\
 		.stmemsc_cfg = {						\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),			\
 		},								\
 		LIS2DU12_CONFIG_COMMON(inst)					\
 	}

 /*
  * Main instantiation macro. Use of COND_CODE_1() selects the right
  * bus-specific macro at preprocessor time.
  */

 #define LIS2DU12_DEFINE(inst)						\
 	static struct lis2du12_data lis2du12_data_##inst;			\
 	static const struct lis2du12_config lis2du12_config_##inst =	\
 		COND_CODE_1(DT_INST_ON_BUS(inst, spi),			\
 			(LIS2DU12_CONFIG_SPI(inst)),			\
 			(LIS2DU12_CONFIG_I2C(inst)));			\
 	LIS2DU12_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(LIS2DU12_DEFINE)
	/* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
	*
	* Copyright (c) 2023 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2du12.pdf
	*/

	#define DT_DRV_COMPAT st_lis2du12

	#include <zephyr/drivers/sensor.h>
	#include <zephyr/kernel.h>
	#include <zephyr/device.h>
	#include <zephyr/init.h>
	#include <string.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/sys/__assert.h>
	#include <zephyr/logging/log.h>

	#include "lis2du12.h"

	LOG_MODULE_REGISTER(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL);

	static const float lis2du12_odr_map[14] = {
	0.0f, 1.6f, 3.0f, 6.0f, 6.0f, 12.5f, 25.0f,
	50.0f, 100.0f, 200.0f, 400.0f, 800.0f, 0.0f, 0.0f};

	static int lis2du12_freq_to_odr_val(const struct device *dev, uint16_t freq)
	{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2du12_odr_map); i++) {
	if (freq <= lis2du12_odr_map[i]) {
	return i;
	}
	}

	return -EINVAL;
	}

	static const uint16_t lis2du12_accel_fs_map[] = {2, 4, 8, 16};

	static int lis2du12_accel_range_to_fs_val(int32_t range)
	{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2du12_accel_fs_map); i++) {
	if (range == lis2du12_accel_fs_map[i]) {
	return i;
	}
	}

	return -EINVAL;
	}

	static inline int lis2du12_reboot(const struct device *dev)
	{
	const struct lis2du12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2du12_status_t status;
	uint8_t tries = 10;

	if (lis2du12_init_set(ctx, LIS2DU12_RESET) < 0) {
	return -EIO;
	}

	do {
	if (!--tries) {
	LOG_ERR("sw reset timed out");
	return -ETIMEDOUT;
	}
	k_usleep(50);

	if (lis2du12_status_get(ctx, &status) < 0) {
	return -EIO;
	}
	} while (status.sw_reset != 0);

	if (lis2du12_init_set(ctx, LIS2DU12_DRV_RDY) < 0) {
	return -EIO;
	}

	return 0;
	}

	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) {
	return -EIO;
	}

	mode.fs = fs;
	if (lis2du12_mode_set(ctx, &mode) < 0) {
	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) {
	return -EIO;
	}

	mode.odr = odr;
	if (lis2du12_mode_set(ctx, &mode) < 0) {
	return -EIO;
	}

	data->accel_freq = odr;

	return 0;
	}

	static int lis2du12_accel_odr_set(const struct device *dev, uint16_t freq)
	{
	int odr;

	odr = lis2du12_freq_to_odr_val(dev, freq);
	if (odr < 0) {
	return odr;
	}

	if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
	LOG_ERR("failed to set accelerometer sampling rate");
	return -EIO;
	}

	return 0;
	}

	static int lis2du12_accel_range_set(const struct device *dev, int32_t range)
	{
	int fs;
	struct lis2du12_data *data = dev->data;

	fs = lis2du12_accel_range_to_fs_val(range);
	if (fs < 0) {
	return fs;
	}

	if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
	LOG_ERR("failed to set accelerometer full-scale");
	return -EIO;
	}

	data->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
	return 0;
	}

	static int lis2du12_accel_config(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
	return lis2du12_accel_range_set(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return lis2du12_accel_odr_set(dev, val->val1);
	default:
	LOG_WRN("Accel attribute %d not supported.", attr);
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2du12_attr_set(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	return lis2du12_accel_config(dev, chan, attr, val);
	default:
	LOG_WRN("attribute %d not supported on this channel.", chan);
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2du12_sample_fetch_accel(const struct device *dev)
	{
	const struct lis2du12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2du12_data *data = dev->data;
	lis2du12_data_t xl_data;
	lis2du12_md_t md;

	md.fs = cfg->accel_range;
	if (lis2du12_data_get(ctx, &md, &xl_data) < 0) {
	LOG_ERR("Failed to read sample");
	return -EIO;
	}

	data->acc[0] = xl_data.xl.raw[0];
	data->acc[1] = xl_data.xl.raw[1];
	data->acc[2] = xl_data.xl.raw[2];

	return 0;
	}

	static int lis2du12_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2du12_sample_fetch_accel(dev);
	break;
	case SENSOR_CHAN_ALL:
	lis2du12_sample_fetch_accel(dev);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static inline void lis2du12_accel_convert(struct sensor_value *val, int raw_val,
	uint32_t sensitivity)
	{
	int64_t dval;

	/* Sensitivity is exposed in ug/LSB */
	/* Convert to m/s^2 */
	dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE;
	val->val1 = (int32_t)(dval / 1000000);
	val->val2 = (int32_t)(dval % 1000000);

	}

	static inline int lis2du12_accel_get_channel(enum sensor_channel chan,
	struct sensor_value *val,
	struct lis2du12_data *data,
	uint32_t sensitivity)
	{
	uint8_t i;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	lis2du12_accel_convert(val, data->acc[0], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	lis2du12_accel_convert(val, data->acc[1], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	lis2du12_accel_convert(val, data->acc[2], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_XYZ:
	for (i = 0; i < 3; i++) {
	lis2du12_accel_convert(val++, data->acc[i], sensitivity);
	}
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2du12_accel_channel_get(enum sensor_channel chan,
	struct sensor_value *val,
	struct lis2du12_data *data)
	{
	return lis2du12_accel_get_channel(chan, val, data, data->acc_gain);
	}

	static int lis2du12_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct lis2du12_data *data = dev->data;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2du12_accel_channel_get(chan, val, data);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static const struct sensor_driver_api lis2du12_driver_api = {
	.attr_set = lis2du12_attr_set,
	#if CONFIG_LIS2DU12_TRIGGER
	.trigger_set = lis2du12_trigger_set,
	#endif
	.sample_fetch = lis2du12_sample_fetch,
	.channel_get = lis2du12_channel_get,
	};

	static int lis2du12_init_chip(const struct device *dev)
	{
	const struct lis2du12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2du12_data *lis2du12 = dev->data;
	lis2du12_id_t chip_id;
	uint8_t odr, fs;

	if (lis2du12_id_get(ctx, &chip_id) < 0) {
	LOG_ERR("Failed reading chip id");
	return -EIO;
	}

	LOG_INF("chip id 0x%x", chip_id.whoami);

	if (chip_id.whoami != LIS2DU12_ID) {
	LOG_ERR("Invalid chip id 0x%x", chip_id.whoami);
	return -EIO;
	}

	/* reboot device */
	if (lis2du12_reboot(dev) < 0) {
	return -EIO;
	}

	/* set FS from DT */
	fs = cfg->accel_range;
	LOG_DBG("accel range is %d", fs);
	if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
	LOG_ERR("failed to set accelerometer range %d", fs);
	return -EIO;
	}
	lis2du12->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;

	/* set odr from DT (the only way to go in high performance) */
	odr = cfg->accel_odr;
	LOG_DBG("accel odr is %d", odr);
	if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
	LOG_ERR("failed to set accelerometer odr %d", odr);
	return -EIO;
	}

	return 0;
	}

	static int lis2du12_init(const struct device *dev)
	{
	#ifdef CONFIG_LIS2DU12_TRIGGER
	const struct lis2du12_config *cfg = dev->config;
	#endif
	struct lis2du12_data *data = dev->data;

	LOG_INF("Initialize device %s", dev->name);
	data->dev = dev;

	if (lis2du12_init_chip(dev) < 0) {
	LOG_ERR("failed to initialize chip");
	return -EIO;
	}

	#ifdef CONFIG_LIS2DU12_TRIGGER
	if (cfg->trig_enabled) {
	if (lis2du12_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupt.");
	return -EIO;
	}
	}
	#endif

	return 0;
	}

	/*
	* Device creation macro, shared by LIS2DU12_DEFINE_SPI() and
	* LIS2DU12_DEFINE_I2C().
	*/

	#define LIS2DU12_DEVICE_INIT(inst) \
	SENSOR_DEVICE_DT_INST_DEFINE(inst, \
	lis2du12_init, \
	NULL, \
	&lis2du12_data_##inst, \
	&lis2du12_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2du12_driver_api);

	/*
	* Instantiation macros used when a device is on a SPI bus.
	*/

	#ifdef CONFIG_LIS2DU12_TRIGGER
	#define LIS2DU12_CFG_IRQ(inst) \
	.trig_enabled = true, \
	.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)
	#else
	#define LIS2DU12_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2DU12_TRIGGER */

	#define LIS2DU12_SPI_OP (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define LIS2DU12_CONFIG_COMMON(inst) \
	.accel_odr = DT_INST_PROP(inst, accel_odr), \
	.accel_range = DT_INST_PROP(inst, accel_range), \
	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \
	DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \
	(LIS2DU12_CFG_IRQ(inst)))

	/*
	* Instantiation macros used when a device is on a SPI bus.
	*/

	#define LIS2DU12_CONFIG_SPI(inst) \
	{ \
	STMEMSC_CTX_SPI(&lis2du12_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, \
	LIS2DU12_SPI_OP, \
	0), \
	}, \
	LIS2DU12_CONFIG_COMMON(inst) \
	}

	/*
	* Instantiation macros used when a device is on an I2C bus.
	*/

	#define LIS2DU12_CONFIG_I2C(inst) \
	{ \
	STMEMSC_CTX_I2C(&lis2du12_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	LIS2DU12_CONFIG_COMMON(inst) \
	}

	/*
	* Main instantiation macro. Use of COND_CODE_1() selects the right
	* bus-specific macro at preprocessor time.
	*/

	#define LIS2DU12_DEFINE(inst) \
	static struct lis2du12_data lis2du12_data_##inst; \
	static const struct lis2du12_config lis2du12_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2DU12_CONFIG_SPI(inst)), \
	(LIS2DU12_CONFIG_I2C(inst))); \
	LIS2DU12_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(LIS2DU12_DEFINE)