drivers/sensor/lis2de12/lis2de12.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DE12 3-axis accelerometer sensor driver
  *
  * Copyright (c) 2024 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2de12.pdf
  */

 #define DT_DRV_COMPAT st_lis2de12

 #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 "lis2de12.h"

 LOG_MODULE_REGISTER(LIS2DE12, CONFIG_SENSOR_LOG_LEVEL);

 static const uint16_t lis2de12_odr_map[10] = { 0, 1, 10, 25, 50, 100, 200, 400, 1620, 5376};

 static int lis2de12_freq_to_odr_val(const struct device *dev, uint16_t freq)
 {
 	size_t i;

 	for (i = 0; i < ARRAY_SIZE(lis2de12_odr_map); i++) {
 		if (freq <= lis2de12_odr_map[i]) {
 			return i;
 		}
 	}

 	return -EINVAL;
 }

 typedef struct {
 	uint16_t fs;
 	uint32_t gain; /* Accel sensor sensitivity in ug/LSB */
 } fs_map;

 static const fs_map lis2de12_accel_fs_map[] = {
 				{2, 15600},
 				{4, 31200},
 				{8, 62500},
 				{16, 187500},
 			};

 static int lis2de12_accel_range_to_fs_val(int32_t range)
 {
 	size_t i;

 	for (i = 0; i < ARRAY_SIZE(lis2de12_accel_fs_map); i++) {
 		if (range == lis2de12_accel_fs_map[i].fs) {
 			return i;
 		}
 	}

 	return -EINVAL;
 }

 static int lis2de12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
 {
 	const struct lis2de12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2de12_data *data = dev->data;

 	if (lis2de12_full_scale_set(ctx, fs) < 0) {
 		return -EIO;
 	}

 	data->accel_fs = fs;

 	return 0;
 }

 static int lis2de12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
 {
 	const struct lis2de12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2de12_data *data = dev->data;

 	if (lis2de12_data_rate_set(ctx, odr) < 0) {
 		return -EIO;
 	}

 	data->accel_freq = odr;

 	return 0;
 }

 static int lis2de12_accel_odr_set(const struct device *dev, uint16_t freq)
 {
 	int odr;

 	odr = lis2de12_freq_to_odr_val(dev, freq);
 	if (odr < 0) {
 		return odr;
 	}

 	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
 		LOG_ERR("failed to set accelerometer sampling rate");
 		return -EIO;
 	}

 	return 0;
 }

 static int lis2de12_accel_range_set(const struct device *dev, int32_t range)
 {
 	int fs;
 	struct lis2de12_data *data = dev->data;

 	fs = lis2de12_accel_range_to_fs_val(range);
 	if (fs < 0) {
 		return fs;
 	}

 	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
 		LOG_ERR("failed to set accelerometer full-scale");
 		return -EIO;
 	}

 	data->acc_gain = lis2de12_accel_fs_map[fs].gain;
 	return 0;
 }

 static int lis2de12_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 lis2de12_accel_range_set(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lis2de12_accel_odr_set(dev, val->val1);
 	default:
 		LOG_WRN("Accel attribute %d not supported.", attr);
 		return -ENOTSUP;
 	}
 }

 static int lis2de12_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 lis2de12_accel_config(dev, chan, attr, val);
 	default:
 		LOG_WRN("attribute %d not supported on this channel.", chan);
 		return -ENOTSUP;
 	}
 }

 static int lis2de12_sample_fetch_accel(const struct device *dev)
 {
 	const struct lis2de12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2de12_data *data = dev->data;

 	if (lis2de12_acceleration_raw_get(ctx, data->acc) < 0) {
 		LOG_ERR("Failed to read sample");
 		return -EIO;
 	}

 	return 0;
 }

 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 static int lis2de12_sample_fetch_temp(const struct device *dev)
 {
 	const struct lis2de12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2de12_data *data = dev->data;

 	if (lis2de12_temperature_raw_get(ctx, &data->temp_sample) < 0) {
 		LOG_DBG("Failed to read sample");
 		return -EIO;
 	}

 	return 0;
 }
 #endif

 static int lis2de12_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2de12_sample_fetch_accel(dev);
 		break;
 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 	case SENSOR_CHAN_DIE_TEMP:
 		lis2de12_sample_fetch_temp(dev);
 		break;
 #endif
 	case SENSOR_CHAN_ALL:
 		lis2de12_sample_fetch_accel(dev);
 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 		lis2de12_sample_fetch_temp(dev);
 #endif
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static inline void lis2de12_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 / 256) * sensitivity * SENSOR_G_DOUBLE;
 	val->val1 = (int32_t)(dval / 1000000);
 	val->val2 = (int32_t)(dval % 1000000);

 }

 static inline int lis2de12_accel_get_channel(enum sensor_channel chan,
 					     struct sensor_value *val,
 					     struct lis2de12_data *data,
 					     uint32_t sensitivity)
 {
 	uint8_t i;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 		lis2de12_accel_convert(val, data->acc[0], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		lis2de12_accel_convert(val, data->acc[1], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		lis2de12_accel_convert(val, data->acc[2], sensitivity);
 		break;
 	case SENSOR_CHAN_ACCEL_XYZ:
 		for (i = 0; i < 3; i++) {
 			lis2de12_accel_convert(val++, data->acc[i], sensitivity);
 		}
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2de12_accel_channel_get(enum sensor_channel chan,
 				      struct sensor_value *val,
 				      struct lis2de12_data *data)
 {
 	return lis2de12_accel_get_channel(chan, val, data, data->acc_gain);
 }

 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 static void lis2de12_temp_channel_get(struct sensor_value *val, struct lis2de12_data *data)
 {
 	int64_t micro_c;

 	/* convert units to micro Celsius. Raw temperature samples are
 	 * expressed in 256 LSB/deg_C units. And LSB output is 0 at 25 C.
 	 */
 	micro_c = ((int64_t)data->temp_sample * 1000000) / 256;

 	val->val1 = micro_c / 1000000 + 25;
 	val->val2 = micro_c % 1000000;
 }
 #endif

 static int lis2de12_channel_get(const struct device *dev,
 				enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	struct lis2de12_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:
 		lis2de12_accel_channel_get(chan, val, data);
 		break;
 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 	case SENSOR_CHAN_DIE_TEMP:
 		lis2de12_temp_channel_get(val, data);
 		break;
 #endif
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static const struct sensor_driver_api lis2de12_driver_api = {
 	.attr_set = lis2de12_attr_set,
 #if CONFIG_LIS2DE12_TRIGGER
 	.trigger_set = lis2de12_trigger_set,
 #endif
 	.sample_fetch = lis2de12_sample_fetch,
 	.channel_get = lis2de12_channel_get,
 };

 static int lis2de12_init_chip(const struct device *dev)
 {
 	const struct lis2de12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lis2de12_data *lis2de12 = dev->data;
 	uint8_t chip_id;
 	uint8_t odr, fs;

 	if (lis2de12_device_id_get(ctx, &chip_id) < 0) {
 		LOG_ERR("Failed reading chip id");
 		return -EIO;
 	}

 	if (chip_id != LIS2DE12_ID) {
 		LOG_ERR("Invalid chip id 0x%x", chip_id);
 		return -EIO;
 	}

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

 	if (lis2de12_block_data_update_set(ctx, 1) < 0) {
 		LOG_ERR("failed to set BDU");
 		return -EIO;
 	}

 	/* set FS from DT */
 	fs = cfg->accel_range;
 	LOG_DBG("accel range is %d", fs);
 	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
 		LOG_ERR("failed to set accelerometer range %d", fs);
 		return -EIO;
 	}
 	lis2de12->acc_gain = lis2de12_accel_fs_map[fs].gain;

 	/* set odr from DT (the only way to go in high performance) */
 	odr = cfg->accel_odr;
 	LOG_DBG("accel odr is %d", odr);
 	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
 		LOG_ERR("failed to set accelerometer odr %d", odr);
 		return -EIO;
 	}

 #if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
 	lis2de12_temperature_meas_set(ctx, LIS2DE12_TEMP_ENABLE);
 #endif

 	return 0;
 }

 static int lis2de12_init(const struct device *dev)
 {
 #ifdef CONFIG_LIS2DE12_TRIGGER
 	const struct lis2de12_config *cfg = dev->config;
 #endif
 	struct lis2de12_data *data = dev->data;

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

 	if (lis2de12_init_chip(dev) < 0) {
 		LOG_ERR("failed to initialize chip");
 		return -EIO;
 	}

 #ifdef CONFIG_LIS2DE12_TRIGGER
 	if (cfg->trig_enabled) {
 		if (lis2de12_init_interrupt(dev) < 0) {
 			LOG_ERR("Failed to initialize interrupt.");
 			return -EIO;
 		}
 	}
 #endif

 	return 0;
 }

 /*
  * Device creation macro, shared by LIS2DE12_DEFINE_SPI() and
  * LIS2DE12_DEFINE_I2C().
  */

 #define LIS2DE12_DEVICE_INIT(inst)					\
 	SENSOR_DEVICE_DT_INST_DEFINE(inst,				\
 			    lis2de12_init,				\
 			    NULL,					\
 			    &lis2de12_data_##inst,			\
 			    &lis2de12_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &lis2de12_driver_api);

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

 #ifdef CONFIG_LIS2DE12_TRIGGER
 #define LIS2DE12_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)
 #else
 #define LIS2DE12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DE12_TRIGGER */

 #define LIS2DE12_SPI_OP  (SPI_WORD_SET(8) |				\
 			 SPI_OP_MODE_MASTER |				\
 			 SPI_MODE_CPOL |				\
 			 SPI_MODE_CPHA)					\

 #define LIS2DE12_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)),	\
 		   (LIS2DE12_CFG_IRQ(inst)))

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

 #define LIS2DE12_CONFIG_SPI(inst)						\
 	{									\
 		STMEMSC_CTX_SPI(&lis2de12_config_##inst.stmemsc_cfg),		\
 		.stmemsc_cfg = {						\
 			.spi = SPI_DT_SPEC_INST_GET(inst, LIS2DE12_SPI_OP, 0),	\
 		},								\
 		LIS2DE12_CONFIG_COMMON(inst)					\
 	}

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

 #define LIS2DE12_CONFIG_I2C(inst)						\
 	{									\
 		STMEMSC_CTX_I2C_INCR(&lis2de12_config_##inst.stmemsc_cfg),	\
 		.stmemsc_cfg = {						\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),			\
 		},								\
 		LIS2DE12_CONFIG_COMMON(inst)					\
 	}

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

 #define LIS2DE12_DEFINE(inst)						\
 	static struct lis2de12_data lis2de12_data_##inst;			\
 	static const struct lis2de12_config lis2de12_config_##inst =	\
 		COND_CODE_1(DT_INST_ON_BUS(inst, spi),			\
 			(LIS2DE12_CONFIG_SPI(inst)),			\
 			(LIS2DE12_CONFIG_I2C(inst)));			\
 	LIS2DE12_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(LIS2DE12_DEFINE)
	/* ST Microelectronics LIS2DE12 3-axis accelerometer sensor driver
	*
	* Copyright (c) 2024 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2de12.pdf
	*/

	#define DT_DRV_COMPAT st_lis2de12

	#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 "lis2de12.h"

	LOG_MODULE_REGISTER(LIS2DE12, CONFIG_SENSOR_LOG_LEVEL);

	static const uint16_t lis2de12_odr_map[10] = { 0, 1, 10, 25, 50, 100, 200, 400, 1620, 5376};

	static int lis2de12_freq_to_odr_val(const struct device *dev, uint16_t freq)
	{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2de12_odr_map); i++) {
	if (freq <= lis2de12_odr_map[i]) {
	return i;
	}
	}

	return -EINVAL;
	}

	typedef struct {
	uint16_t fs;
	uint32_t gain; /* Accel sensor sensitivity in ug/LSB */
	} fs_map;

	static const fs_map lis2de12_accel_fs_map[] = {
	{2, 15600},
	{4, 31200},
	{8, 62500},
	{16, 187500},
	};

	static int lis2de12_accel_range_to_fs_val(int32_t range)
	{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2de12_accel_fs_map); i++) {
	if (range == lis2de12_accel_fs_map[i].fs) {
	return i;
	}
	}

	return -EINVAL;
	}

	static int lis2de12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
	{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_full_scale_set(ctx, fs) < 0) {
	return -EIO;
	}

	data->accel_fs = fs;

	return 0;
	}

	static int lis2de12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
	{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_data_rate_set(ctx, odr) < 0) {
	return -EIO;
	}

	data->accel_freq = odr;

	return 0;
	}

	static int lis2de12_accel_odr_set(const struct device *dev, uint16_t freq)
	{
	int odr;

	odr = lis2de12_freq_to_odr_val(dev, freq);
	if (odr < 0) {
	return odr;
	}

	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
	LOG_ERR("failed to set accelerometer sampling rate");
	return -EIO;
	}

	return 0;
	}

	static int lis2de12_accel_range_set(const struct device *dev, int32_t range)
	{
	int fs;
	struct lis2de12_data *data = dev->data;

	fs = lis2de12_accel_range_to_fs_val(range);
	if (fs < 0) {
	return fs;
	}

	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
	LOG_ERR("failed to set accelerometer full-scale");
	return -EIO;
	}

	data->acc_gain = lis2de12_accel_fs_map[fs].gain;
	return 0;
	}

	static int lis2de12_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 lis2de12_accel_range_set(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return lis2de12_accel_odr_set(dev, val->val1);
	default:
	LOG_WRN("Accel attribute %d not supported.", attr);
	return -ENOTSUP;
	}
	}

	static int lis2de12_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 lis2de12_accel_config(dev, chan, attr, val);
	default:
	LOG_WRN("attribute %d not supported on this channel.", chan);
	return -ENOTSUP;
	}
	}

	static int lis2de12_sample_fetch_accel(const struct device *dev)
	{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_acceleration_raw_get(ctx, data->acc) < 0) {
	LOG_ERR("Failed to read sample");
	return -EIO;
	}

	return 0;
	}

	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	static int lis2de12_sample_fetch_temp(const struct device *dev)
	{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_temperature_raw_get(ctx, &data->temp_sample) < 0) {
	LOG_DBG("Failed to read sample");
	return -EIO;
	}

	return 0;
	}
	#endif

	static int lis2de12_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2de12_sample_fetch_accel(dev);
	break;
	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
	lis2de12_sample_fetch_temp(dev);
	break;
	#endif
	case SENSOR_CHAN_ALL:
	lis2de12_sample_fetch_accel(dev);
	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	lis2de12_sample_fetch_temp(dev);
	#endif
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static inline void lis2de12_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 / 256) * sensitivity * SENSOR_G_DOUBLE;
	val->val1 = (int32_t)(dval / 1000000);
	val->val2 = (int32_t)(dval % 1000000);

	}

	static inline int lis2de12_accel_get_channel(enum sensor_channel chan,
	struct sensor_value *val,
	struct lis2de12_data *data,
	uint32_t sensitivity)
	{
	uint8_t i;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	lis2de12_accel_convert(val, data->acc[0], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	lis2de12_accel_convert(val, data->acc[1], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	lis2de12_accel_convert(val, data->acc[2], sensitivity);
	break;
	case SENSOR_CHAN_ACCEL_XYZ:
	for (i = 0; i < 3; i++) {
	lis2de12_accel_convert(val++, data->acc[i], sensitivity);
	}
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2de12_accel_channel_get(enum sensor_channel chan,
	struct sensor_value *val,
	struct lis2de12_data *data)
	{
	return lis2de12_accel_get_channel(chan, val, data, data->acc_gain);
	}

	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	static void lis2de12_temp_channel_get(struct sensor_value val, struct lis2de12_data data)
	{
	int64_t micro_c;

	/* convert units to micro Celsius. Raw temperature samples are
	* expressed in 256 LSB/deg_C units. And LSB output is 0 at 25 C.
	*/
	micro_c = ((int64_t)data->temp_sample * 1000000) / 256;

	val->val1 = micro_c / 1000000 + 25;
	val->val2 = micro_c % 1000000;
	}
	#endif

	static int lis2de12_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct lis2de12_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:
	lis2de12_accel_channel_get(chan, val, data);
	break;
	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
	lis2de12_temp_channel_get(val, data);
	break;
	#endif
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static const struct sensor_driver_api lis2de12_driver_api = {
	.attr_set = lis2de12_attr_set,
	#if CONFIG_LIS2DE12_TRIGGER
	.trigger_set = lis2de12_trigger_set,
	#endif
	.sample_fetch = lis2de12_sample_fetch,
	.channel_get = lis2de12_channel_get,
	};

	static int lis2de12_init_chip(const struct device *dev)
	{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	struct lis2de12_data *lis2de12 = dev->data;
	uint8_t chip_id;
	uint8_t odr, fs;

	if (lis2de12_device_id_get(ctx, &chip_id) < 0) {
	LOG_ERR("Failed reading chip id");
	return -EIO;
	}

	if (chip_id != LIS2DE12_ID) {
	LOG_ERR("Invalid chip id 0x%x", chip_id);
	return -EIO;
	}

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

	if (lis2de12_block_data_update_set(ctx, 1) < 0) {
	LOG_ERR("failed to set BDU");
	return -EIO;
	}

	/* set FS from DT */
	fs = cfg->accel_range;
	LOG_DBG("accel range is %d", fs);
	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
	LOG_ERR("failed to set accelerometer range %d", fs);
	return -EIO;
	}
	lis2de12->acc_gain = lis2de12_accel_fs_map[fs].gain;

	/* set odr from DT (the only way to go in high performance) */
	odr = cfg->accel_odr;
	LOG_DBG("accel odr is %d", odr);
	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
	LOG_ERR("failed to set accelerometer odr %d", odr);
	return -EIO;
	}

	#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	lis2de12_temperature_meas_set(ctx, LIS2DE12_TEMP_ENABLE);
	#endif

	return 0;
	}

	static int lis2de12_init(const struct device *dev)
	{
	#ifdef CONFIG_LIS2DE12_TRIGGER
	const struct lis2de12_config *cfg = dev->config;
	#endif
	struct lis2de12_data *data = dev->data;

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

	if (lis2de12_init_chip(dev) < 0) {
	LOG_ERR("failed to initialize chip");
	return -EIO;
	}

	#ifdef CONFIG_LIS2DE12_TRIGGER
	if (cfg->trig_enabled) {
	if (lis2de12_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupt.");
	return -EIO;
	}
	}
	#endif

	return 0;
	}

	/*
	* Device creation macro, shared by LIS2DE12_DEFINE_SPI() and
	* LIS2DE12_DEFINE_I2C().
	*/

	#define LIS2DE12_DEVICE_INIT(inst) \
	SENSOR_DEVICE_DT_INST_DEFINE(inst, \
	lis2de12_init, \
	NULL, \
	&lis2de12_data_##inst, \
	&lis2de12_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2de12_driver_api);

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

	#ifdef CONFIG_LIS2DE12_TRIGGER
	#define LIS2DE12_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)
	#else
	#define LIS2DE12_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2DE12_TRIGGER */

	#define LIS2DE12_SPI_OP (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define LIS2DE12_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)), \
	(LIS2DE12_CFG_IRQ(inst)))

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

	#define LIS2DE12_CONFIG_SPI(inst) \
	{ \
	STMEMSC_CTX_SPI(&lis2de12_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, LIS2DE12_SPI_OP, 0), \
	}, \
	LIS2DE12_CONFIG_COMMON(inst) \
	}

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

	#define LIS2DE12_CONFIG_I2C(inst) \
	{ \
	STMEMSC_CTX_I2C_INCR(&lis2de12_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	LIS2DE12_CONFIG_COMMON(inst) \
	}

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

	#define LIS2DE12_DEFINE(inst) \
	static struct lis2de12_data lis2de12_data_##inst; \
	static const struct lis2de12_config lis2de12_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2DE12_CONFIG_SPI(inst)), \
	(LIS2DE12_CONFIG_I2C(inst))); \
	LIS2DE12_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(LIS2DE12_DEFINE)