| /* ST Microelectronics IIS328DQ 3-axis accelerometer driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * Copyright (c) 2024 SILA Embedded Solutions GmbH |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis328dq.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis328dq |
| |
| #include <string.h> |
| #include <zephyr/init.h> |
| #include <zephyr/sys/__assert.h> |
| #include <zephyr/sys/byteorder.h> |
| #include <zephyr/logging/log.h> |
| #include <zephyr/drivers/sensor.h> |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| #include <zephyr/drivers/spi.h> |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| #include <zephyr/drivers/i2c.h> |
| #endif |
| |
| #include "iis328dq.h" |
| |
| LOG_MODULE_REGISTER(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL); |
| |
| /** |
| * iis328dq_set_odr - set new Full Scale (in ±g) |
| */ |
| static int iis328dq_set_range(const struct device *dev, uint8_t fs) |
| { |
| int err; |
| struct iis328dq_data *iis328dq = dev->data; |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| iis328dq_fs_t fs_reg; |
| uint8_t gain; |
| |
| if (fs <= 2) { |
| fs_reg = IIS328DQ_2g; |
| gain = 1; |
| } else if (fs <= 4) { |
| fs_reg = IIS328DQ_4g; |
| gain = 2; |
| } else if (fs <= 8) { |
| fs_reg = IIS328DQ_8g; |
| gain = 4; |
| } else { |
| LOG_ERR("FS too high"); |
| return -ENOTSUP; |
| } |
| err = iis328dq_full_scale_set(ctx, fs_reg); |
| |
| if (!err) { |
| iis328dq->gain = gain; |
| } |
| |
| return err; |
| } |
| |
| /** |
| * iis328dq_set_odr - set new Output Data Rate/sampling frequency (in Hz) |
| */ |
| static int iis328dq_set_odr(const struct device *dev, uint16_t odr) |
| { |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| iis328dq_dr_t odr_reg; |
| |
| if (odr == 0U) { |
| odr_reg = IIS328DQ_ODR_OFF; |
| } else if (odr <= 1) { |
| odr_reg = IIS328DQ_ODR_1Hz; |
| } else if (odr <= 2) { |
| /* not sure what "5Hz2" is about, datasheet says PM=0b100 is 2Hz |
| * https://github.com/STMicroelectronics/STMems_Standard_C_drivers/issues/162 |
| */ |
| odr_reg = IIS328DQ_ODR_5Hz2; |
| } else if (odr <= 5) { |
| odr_reg = IIS328DQ_ODR_5Hz; |
| } else if (odr <= 10) { |
| odr_reg = IIS328DQ_ODR_10Hz; |
| } else if (odr <= 50) { |
| odr_reg = IIS328DQ_ODR_50Hz; |
| } else if (odr <= 100) { |
| odr_reg = IIS328DQ_ODR_100Hz; |
| } else if (odr <= 400) { |
| odr_reg = IIS328DQ_ODR_400Hz; |
| } else if (odr <= 1000) { |
| odr_reg = IIS328DQ_ODR_1kHz; |
| } else { |
| LOG_ERR("ODR too high"); |
| return -ENOTSUP; |
| } |
| |
| if (iis328dq_data_rate_set(ctx, odr_reg) != 0) { |
| LOG_ERR("Failed to set ODR"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static inline void iis328dq_convert(struct sensor_value *val, int raw_val, uint8_t gain) |
| { |
| int64_t dval; |
| |
| /* Gain is in mg/LSB */ |
| /* Convert to μm/s^2 */ |
| dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000LL; |
| val->val1 = dval / 1000000LL; |
| val->val2 = dval % 1000000LL; |
| } |
| |
| static inline void iis328dq_channel_get_acc(const struct device *dev, enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| int i; |
| uint8_t ofs_start, ofs_stop; |
| struct iis328dq_data *iis328dq = dev->data; |
| struct sensor_value *pval = val; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| ofs_start = ofs_stop = 0U; |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| ofs_start = ofs_stop = 1U; |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| ofs_start = ofs_stop = 2U; |
| break; |
| default: |
| ofs_start = 0U; |
| ofs_stop = 2U; |
| break; |
| } |
| |
| for (i = ofs_start; i <= ofs_stop; i++) { |
| iis328dq_convert(pval++, iis328dq->acc[i], iis328dq->gain); |
| } |
| } |
| |
| static int iis328dq_channel_get(const struct device *dev, enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| iis328dq_channel_get_acc(dev, chan, val); |
| return 0; |
| default: |
| LOG_DBG("Channel not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| static int iis328dq_set_threshold(const struct device *dev, bool is_lower, |
| const struct sensor_value *val) |
| { |
| int err; |
| const struct iis328dq_config *cfg = dev->config; |
| struct iis328dq_data *iis328dq = dev->data; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| if (val->val1 < 0 || val->val2 < 0) { |
| /* thresholds are absolute */ |
| return -EINVAL; |
| } |
| int64_t micro_ms2 = (val->val1 * INT64_C(1000000)) + val->val2; |
| /* factor guessed from similar-looking LIS2DH12 datasheet */ |
| uint8_t mg_per_digit = iis328dq->gain * 16; |
| |
| int16_t val_raw = (micro_ms2 * 1000LL) / SENSOR_G / mg_per_digit; |
| |
| if (is_lower) { |
| /* internal INT1 handles lower threshold */ |
| err = iis328dq_int1_treshold_set(ctx, val_raw); |
| if (err) { |
| LOG_ERR("Could not set INT1_THS to 0x%02X, error %d", val_raw, err); |
| return err; |
| } |
| } else { |
| /* internal INT2 handles lower threshold */ |
| err = iis328dq_int2_treshold_set(ctx, val_raw); |
| if (err) { |
| LOG_ERR("Could not set INT2_THS to 0x%02X, error %d", val_raw, err); |
| return err; |
| } |
| } |
| return 0; |
| } |
| |
| static int iis328dq_set_duration(const struct device *dev, uint16_t dur) |
| { |
| int err; |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| if (dur > 0x7F) { |
| LOG_WRN("Duration value %u too large", dur); |
| return -EINVAL; |
| } |
| |
| err = iis328dq_int1_dur_set(ctx, dur); |
| if (err) { |
| LOG_ERR("Could not set INT1_DUR to 0x%02X, error %d", dur, err); |
| return err; |
| } |
| err = iis328dq_int2_dur_set(ctx, dur); |
| if (err) { |
| LOG_ERR("Could not set INT2_DUR to 0x%02X, error %d", dur, err); |
| return err; |
| } |
| return 0; |
| } |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| #define IIS328DQ_ATTR_DURATION SENSOR_ATTR_PRIV_START |
| |
| static int iis328dq_dev_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 iis328dq_set_range(dev, sensor_ms2_to_g(val)); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return iis328dq_set_odr(dev, val->val1); |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| case SENSOR_ATTR_LOWER_THRESH: |
| case SENSOR_ATTR_UPPER_THRESH: |
| if (chan != SENSOR_CHAN_ACCEL_XYZ) { |
| LOG_ERR("Threshold cannot be set per-channel"); |
| return -ENOTSUP; |
| } |
| return iis328dq_set_threshold(dev, attr == SENSOR_ATTR_LOWER_THRESH, val); |
| case IIS328DQ_ATTR_DURATION: |
| if (chan != SENSOR_CHAN_ACCEL_XYZ) { |
| LOG_ERR("Duration cannot be set per-channel"); |
| return -ENOTSUP; |
| } |
| return iis328dq_set_duration(dev, val->val1); |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| default: |
| LOG_DBG("Acc attribute not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis328dq_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_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| case SENSOR_CHAN_ALL: |
| return iis328dq_dev_config(dev, chan, attr, val); |
| default: |
| LOG_DBG("Attr not supported on %d channel", chan); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis328dq_sample_fetch(const struct device *dev, enum sensor_channel chan) |
| { |
| struct iis328dq_data *iis328dq = dev->data; |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| int16_t buf[3]; |
| |
| /* fetch raw data sample */ |
| if (iis328dq_acceleration_raw_get(ctx, buf) < 0) { |
| LOG_DBG("Failed to fetch raw data sample"); |
| return -EIO; |
| } |
| |
| iis328dq->acc[0] = buf[0] >> 4; |
| iis328dq->acc[1] = buf[1] >> 4; |
| iis328dq->acc[2] = buf[2] >> 4; |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api iis328dq_driver_api = { |
| .attr_set = iis328dq_attr_set, |
| #if CONFIG_IIS328DQ_TRIGGER |
| .trigger_set = iis328dq_trigger_set, |
| #endif /* CONFIG_IIS328DQ_TRIGGER */ |
| .sample_fetch = iis328dq_sample_fetch, |
| .channel_get = iis328dq_channel_get, |
| }; |
| |
| static int iis328dq_init(const struct device *dev) |
| { |
| struct iis328dq_data *iis328dq = dev->data; |
| const struct iis328dq_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| uint8_t reg_value; |
| |
| iis328dq->dev = dev; |
| |
| /* check chip ID */ |
| if (iis328dq_device_id_get(ctx, ®_value) < 0) { |
| return -EIO; |
| } |
| |
| if (reg_value != IIS328DQ_ID) { |
| LOG_ERR("Invalid chip ID"); |
| return -EINVAL; |
| } |
| |
| /* reset device */ |
| if (iis328dq_boot_set(ctx, PROPERTY_ENABLE) < 0) { |
| return -EIO; |
| } |
| |
| k_sleep(K_MSEC(100)); |
| |
| if (iis328dq_boot_get(ctx, ®_value) < 0) { |
| return -EIO; |
| } |
| if (reg_value != PROPERTY_DISABLE) { |
| LOG_ERR("BOOT did not deassert"); |
| return -EIO; |
| } |
| |
| if (iis328dq_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) { |
| return -EIO; |
| } |
| |
| /* set default odr to 12.5Hz acc */ |
| if (iis328dq_set_odr(dev, 12) < 0) { |
| LOG_ERR("odr init error (12.5 Hz)"); |
| return -EIO; |
| } |
| |
| if (iis328dq_set_range(dev, cfg->range) < 0) { |
| LOG_ERR("range init error %d", cfg->range); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_IIS328DQ_TRIGGER |
| if (iis328dq_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupts"); |
| return -EIO; |
| } |
| #endif /* CONFIG_IIS328DQ_TRIGGER */ |
| |
| return 0; |
| } |
| |
| /* |
| * Device creation macro, shared by IIS328DQ_DEFINE_SPI() and |
| * IIS328DQ_DEFINE_I2C(). |
| */ |
| |
| #define IIS328DQ_DEVICE_INIT(inst) \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, iis328dq_init, NULL, &iis328dq_data_##inst, \ |
| &iis328dq_config_##inst, POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, &iis328dq_driver_api); |
| |
| #ifdef CONFIG_IIS328DQ_TRIGGER |
| #ifdef CONFIG_IIS328DQ_THRESHOLD |
| #define IIS328DQ_CFG_IRQ_THRESHOLD(inst) \ |
| .threshold_pad = DT_INST_PROP_OR(inst, threshold_int_pad, -1), |
| #else |
| #define IIS328DQ_CFG_IRQ_THRESHOLD(inst) |
| #endif /* CONFIG_IIS328DQ_THRESHOLD */ |
| |
| #define IIS328DQ_CFG_IRQ(inst) \ |
| .gpio_int1 = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, {0}), \ |
| .gpio_int2 = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, {0}), \ |
| .drdy_pad = DT_INST_PROP_OR(inst, drdy_int_pad, -1), IIS328DQ_CFG_IRQ_THRESHOLD(inst) |
| #else |
| #define IIS328DQ_CFG_IRQ(inst) |
| #endif /* CONFIG_IIS328DQ_TRIGGER */ |
| |
| #define IIS328DQ_CONFIG_COMMON(inst) \ |
| .range = DT_INST_PROP(inst, range), \ |
| IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \ |
| DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \ |
| (IIS328DQ_CFG_IRQ(inst))) |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #define IIS328DQ_SPI_OPERATION \ |
| (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA) |
| |
| #define IIS328DQ_CONFIG_SPI(inst) \ |
| { \ |
| STMEMSC_CTX_SPI_INCR(&iis328dq_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = \ |
| { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, IIS328DQ_SPI_OPERATION, \ |
| 0), \ |
| }, \ |
| IIS328DQ_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define IIS328DQ_CONFIG_I2C(inst) \ |
| { \ |
| STMEMSC_CTX_I2C_INCR(&iis328dq_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = \ |
| { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| }, \ |
| IIS328DQ_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define IIS328DQ_DEFINE(inst) \ |
| static struct iis328dq_data iis328dq_data_##inst; \ |
| static const struct iis328dq_config iis328dq_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), (IIS328DQ_CONFIG_SPI(inst)), \ |
| (IIS328DQ_CONFIG_I2C(inst))); \ |
| IIS328DQ_DEVICE_INIT(inst) \ |
| IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad), \ |
| (BUILD_ASSERT( \ |
| DT_INST_NODE_HAS_PROP( \ |
| inst, CONCAT(int, DT_INST_PROP(inst, drdy_int_pad), _gpios)), \ |
| "No GPIO pin defined for IIS328DQ DRDY interrupt");)) \ |
| IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, threshold_int_pad), \ |
| (BUILD_ASSERT(DT_INST_NODE_HAS_PROP( \ |
| inst, CONCAT(int, DT_INST_PROP(inst, threshold_int_pad), \ |
| _gpios)), \ |
| "No GPIO pin defined for IIS328DQ threshold interrupt");)) \ |
| IF_ENABLED( \ |
| UTIL_AND(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad), \ |
| DT_INST_NODE_HAS_PROP(inst, threshold_int_pad)), \ |
| (BUILD_ASSERT( \ |
| DT_INST_PROP(inst, drdy_int_pad) != \ |
| DT_INST_PROP(inst, threshold_int_pad), \ |
| "IIS328DQ DRDY interrupt and threshold interrupt cannot share a pin");)) |
| |
| DT_INST_FOREACH_STATUS_OKAY(IIS328DQ_DEFINE) |