| /* ST Microelectronics LSM6DSO16IS 6-axis IMU sensor driver |
| * |
| * Copyright (c) 2023 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lsm6dso16is.pdf |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ |
| #define ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ |
| |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/types.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/sys/util.h> |
| #include <stmemsc.h> |
| #include "lsm6dso16is_reg.h" |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| #include <zephyr/drivers/spi.h> |
| #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */ |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| #include <zephyr/drivers/i2c.h> |
| #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */ |
| |
| #define LSM6DSO16IS_EN_BIT 0x01 |
| #define LSM6DSO16IS_DIS_BIT 0x00 |
| |
| /* Accel sensor sensitivity grain is 61 ug/LSB */ |
| #define GAIN_UNIT_XL (61LL) |
| |
| /* Gyro sensor sensitivity grain is 4.375 udps/LSB */ |
| #define GAIN_UNIT_G (4375LL) |
| |
| #define SENSOR_PI_DOUBLE (SENSOR_PI / 1000000.0) |
| #define SENSOR_DEG2RAD_DOUBLE (SENSOR_PI_DOUBLE / 180) |
| #define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0) |
| |
| struct lsm6dso16is_config { |
| stmdev_ctx_t ctx; |
| union { |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| const struct i2c_dt_spec i2c; |
| #endif |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| const struct spi_dt_spec spi; |
| #endif |
| } stmemsc_cfg; |
| uint8_t accel_pm; |
| uint8_t accel_odr; |
| uint8_t accel_range; |
| uint8_t gyro_pm; |
| uint8_t gyro_odr; |
| uint8_t gyro_range; |
| uint8_t drdy_pulsed; |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| const struct gpio_dt_spec gpio_drdy; |
| uint8_t drdy_pin; |
| bool trig_enabled; |
| #endif /* CONFIG_LSM6DSO16IS_TRIGGER */ |
| }; |
| |
| union samples { |
| uint8_t raw[6]; |
| struct { |
| int16_t axis[3]; |
| }; |
| } __aligned(2); |
| |
| #define LSM6DSO16IS_SHUB_MAX_NUM_TARGETS 3 |
| |
| struct lsm6dso16is_data { |
| const struct device *dev; |
| int16_t acc[3]; |
| uint32_t acc_gain; |
| int16_t gyro[3]; |
| uint32_t gyro_gain; |
| #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP) |
| int16_t temp_sample; |
| #endif |
| #if defined(CONFIG_LSM6DSO16IS_SENSORHUB) |
| uint8_t ext_data[LSM6DSO16IS_SHUB_MAX_NUM_TARGETS][6]; |
| uint16_t magn_gain; |
| |
| struct hts221_data { |
| int16_t x0; |
| int16_t x1; |
| int16_t y0; |
| int16_t y1; |
| } hts221; |
| bool shub_inited; |
| uint8_t num_ext_dev; |
| uint8_t shub_ext[LSM6DSO16IS_SHUB_MAX_NUM_TARGETS]; |
| #endif /* CONFIG_LSM6DSO16IS_SENSORHUB */ |
| |
| uint16_t accel_freq; |
| uint8_t accel_fs; |
| uint16_t gyro_freq; |
| uint8_t gyro_fs; |
| |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| struct gpio_callback gpio_cb; |
| sensor_trigger_handler_t handler_drdy_acc; |
| const struct sensor_trigger *trig_drdy_acc; |
| sensor_trigger_handler_t handler_drdy_gyr; |
| const struct sensor_trigger *trig_drdy_gyr; |
| sensor_trigger_handler_t handler_drdy_temp; |
| const struct sensor_trigger *trig_drdy_temp; |
| |
| #if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD) |
| K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO16IS_THREAD_STACK_SIZE); |
| struct k_thread thread; |
| struct k_sem gpio_sem; |
| #elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD) |
| struct k_work work; |
| #endif |
| #endif /* CONFIG_LSM6DSO16IS_TRIGGER */ |
| }; |
| |
| #if defined(CONFIG_LSM6DSO16IS_SENSORHUB) |
| int lsm6dso16is_shub_init(const struct device *dev); |
| int lsm6dso16is_shub_fetch_external_devs(const struct device *dev); |
| int lsm6dso16is_shub_get_idx(const struct device *dev, enum sensor_channel type); |
| int lsm6dso16is_shub_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val); |
| #endif /* CONFIG_LSM6DSO16IS_SENSORHUB */ |
| |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| int lsm6dso16is_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler); |
| |
| int lsm6dso16is_init_interrupt(const struct device *dev); |
| #endif |
| |
| #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ */ |