| /* |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #define DT_DRV_COMPAT honeywell_hmc5883l |
| |
| #include <zephyr/drivers/i2c.h> |
| #include <zephyr/init.h> |
| #include <zephyr/sys/__assert.h> |
| #include <zephyr/sys/byteorder.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <string.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "hmc5883l.h" |
| |
| LOG_MODULE_REGISTER(HMC5883L, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static void hmc5883l_convert(struct sensor_value *val, int16_t raw_val, |
| uint16_t divider) |
| { |
| /* val = raw_val / divider */ |
| val->val1 = raw_val / divider; |
| val->val2 = (((int64_t)raw_val % divider) * 1000000L) / divider; |
| } |
| |
| static int hmc5883l_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct hmc5883l_data *drv_data = dev->data; |
| |
| if (chan == SENSOR_CHAN_MAGN_X) { |
| hmc5883l_convert(val, drv_data->x_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| } else if (chan == SENSOR_CHAN_MAGN_Y) { |
| hmc5883l_convert(val, drv_data->y_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| } else if (chan == SENSOR_CHAN_MAGN_Z) { |
| hmc5883l_convert(val, drv_data->z_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| } else { /* chan == SENSOR_CHAN_MAGN_XYZ */ |
| hmc5883l_convert(val, drv_data->x_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| hmc5883l_convert(val + 1, drv_data->y_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| hmc5883l_convert(val + 2, drv_data->z_sample, |
| hmc5883l_gain[drv_data->gain_idx]); |
| } |
| |
| return 0; |
| } |
| |
| static int hmc5883l_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| struct hmc5883l_data *drv_data = dev->data; |
| const struct hmc5883l_config *config = dev->config; |
| int16_t buf[3]; |
| |
| __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL); |
| |
| /* fetch magnetometer sample */ |
| if (i2c_burst_read_dt(&config->i2c, HMC5883L_REG_DATA_START, |
| (uint8_t *)buf, 6) < 0) { |
| LOG_ERR("Failed to fetch magnetometer sample."); |
| return -EIO; |
| } |
| |
| drv_data->x_sample = sys_be16_to_cpu(buf[0]); |
| drv_data->z_sample = sys_be16_to_cpu(buf[1]); |
| drv_data->y_sample = sys_be16_to_cpu(buf[2]); |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api hmc5883l_driver_api = { |
| #if CONFIG_HMC5883L_TRIGGER |
| .trigger_set = hmc5883l_trigger_set, |
| #endif |
| .sample_fetch = hmc5883l_sample_fetch, |
| .channel_get = hmc5883l_channel_get, |
| }; |
| |
| int hmc5883l_init(const struct device *dev) |
| { |
| struct hmc5883l_data *drv_data = dev->data; |
| const struct hmc5883l_config *config = dev->config; |
| uint8_t chip_cfg[3], id[3], idx; |
| |
| if (!device_is_ready(config->i2c.bus)) { |
| LOG_ERR("I2C bus device not ready"); |
| return -ENODEV; |
| } |
| |
| /* check chip ID */ |
| if (i2c_burst_read_dt(&config->i2c, HMC5883L_REG_CHIP_ID, id, 3) < 0) { |
| LOG_ERR("Failed to read chip ID."); |
| return -EIO; |
| } |
| |
| if (id[0] != HMC5883L_CHIP_ID_A || id[1] != HMC5883L_CHIP_ID_B || |
| id[2] != HMC5883L_CHIP_ID_C) { |
| LOG_ERR("Invalid chip ID."); |
| return -EINVAL; |
| } |
| |
| /* check if CONFIG_HMC5883L_FS is valid */ |
| for (idx = 0U; idx < ARRAY_SIZE(hmc5883l_fs_strings); idx++) { |
| if (!strcmp(hmc5883l_fs_strings[idx], CONFIG_HMC5883L_FS)) { |
| break; |
| } |
| } |
| |
| if (idx == ARRAY_SIZE(hmc5883l_fs_strings)) { |
| LOG_ERR("Invalid full-scale range value."); |
| return -EINVAL; |
| } |
| |
| drv_data->gain_idx = idx; |
| |
| /* check if CONFIG_HMC5883L_ODR is valid */ |
| for (idx = 0U; idx < ARRAY_SIZE(hmc5883l_odr_strings); idx++) { |
| if (!strcmp(hmc5883l_odr_strings[idx], CONFIG_HMC5883L_ODR)) { |
| break; |
| } |
| } |
| |
| if (idx == ARRAY_SIZE(hmc5883l_odr_strings)) { |
| LOG_ERR("Invalid ODR value."); |
| return -EINVAL; |
| } |
| |
| /* configure device */ |
| chip_cfg[0] = idx << HMC5883L_ODR_SHIFT; |
| chip_cfg[1] = drv_data->gain_idx << HMC5883L_GAIN_SHIFT; |
| chip_cfg[2] = HMC5883L_MODE_CONTINUOUS; |
| |
| if (i2c_burst_write_dt(&config->i2c, HMC5883L_REG_CONFIG_A, |
| chip_cfg, 3) < 0) { |
| LOG_ERR("Failed to configure chip."); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_HMC5883L_TRIGGER |
| if (config->int_gpio.port) { |
| if (hmc5883l_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupts."); |
| return -EIO; |
| } |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| #define HMC5883L_DEFINE(inst) \ |
| static struct hmc5883l_data hmc5883l_data_##inst; \ |
| \ |
| static const struct hmc5883l_config hmc5883l_config_##inst = { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| IF_ENABLED(CONFIG_HMC5883L_TRIGGER, \ |
| (.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, { 0 }),)) \ |
| }; \ |
| \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, hmc5883l_init, NULL, \ |
| &hmc5883l_data_##inst, &hmc5883l_config_##inst, POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, &hmc5883l_driver_api); \ |
| |
| DT_INST_FOREACH_STATUS_OKAY(HMC5883L_DEFINE) |