drivers/sensor/mpu9250/mpu9250.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2021, Nordic Semiconductor ASA
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT invensense_mpu9250

 #include <zephyr/sys/byteorder.h>
 #include <zephyr/logging/log.h>
 #include <zephyr/devicetree.h>

 #include "mpu9250.h"

 #ifdef CONFIG_MPU9250_MAGN_EN
 #include "ak8963.h"
 #endif

 LOG_MODULE_REGISTER(MPU9250, CONFIG_SENSOR_LOG_LEVEL);


 #define MPU9250_REG_CHIP_ID		0x75
 #define MPU9250_CHIP_ID			0x71

 #define MPU9250_REG_SR_DIV		0x19

 #define MPU9250_REG_CONFIG		0x1A
 #define MPU9250_GYRO_DLPF_MAX		7

 #define MPU9250_REG_GYRO_CFG		0x1B
 #define MPU9250_GYRO_FS_SHIFT		3
 #define MPU9250_GYRO_FS_MAX		3

 #define MPU9250_REG_ACCEL_CFG		0x1C
 #define MPU9250_ACCEL_FS_SHIFT		3
 #define MPU9250_ACCEL_FS_MAX		3

 #define MPU9250_REG_ACCEL_CFG2		0x1D
 #define MPU9250_ACCEL_DLPF_MAX		7

 #define MPU9250_REG_DATA_START		0x3B

 #define MPU0259_TEMP_SENSITIVITY	334
 #define MPU9250_TEMP_OFFSET		21

 #define MPU9250_REG_PWR_MGMT1		0x6B
 #define MPU9250_SLEEP_EN		BIT(6)


 #ifdef CONFIG_MPU9250_MAGN_EN
 #define MPU9250_READ_BUF_SIZE 11
 #else
 #define MPU9250_READ_BUF_SIZE 7
 #endif


 /* see "Accelerometer Measurements" section from register map description */
 static void mpu9250_convert_accel(struct sensor_value *val, int16_t raw_val,
 				  uint16_t sensitivity_shift)
 {
 	int64_t conv_val;

 	conv_val = ((int64_t)raw_val * SENSOR_G) >> sensitivity_shift;
 	val->val1 = conv_val / 1000000;
 	val->val2 = conv_val % 1000000;
 }

 /* see "Gyroscope Measurements" section from register map description */
 static void mpu9250_convert_gyro(struct sensor_value *val, int16_t raw_val,
 				 uint16_t sensitivity_x10)
 {
 	int64_t conv_val;

 	conv_val = ((int64_t)raw_val * SENSOR_PI * 10) /
 		   (sensitivity_x10 * 180U);
 	val->val1 = conv_val / 1000000;
 	val->val2 = conv_val % 1000000;
 }

 /* see "Temperature Measurement" section from register map description */
 static inline void mpu9250_convert_temp(struct sensor_value *val,
 					int16_t raw_val)
 {
 	/* Temp[*C] = (raw / sensitivity) + offset */
 	val->val1 = (raw_val / MPU0259_TEMP_SENSITIVITY) + MPU9250_TEMP_OFFSET;
 	val->val2 = (((int64_t)(raw_val % MPU0259_TEMP_SENSITIVITY) * 1000000)
 				/ MPU0259_TEMP_SENSITIVITY);

 	if (val->val2 < 0) {
 		val->val1--;
 		val->val2 += 1000000;
 	} else if (val->val2 >= 1000000) {
 		val->val1++;
 		val->val2 -= 1000000;
 	}
 }

 static int mpu9250_channel_get(const struct device *dev,
 			       enum sensor_channel chan,
 			       struct sensor_value *val)
 {
 	struct mpu9250_data *drv_data = dev->data;
 #ifdef CONFIG_MPU9250_MAGN_EN
 	int ret;
 #endif

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		mpu9250_convert_accel(val, drv_data->accel_x,
 				      drv_data->accel_sensitivity_shift);
 		mpu9250_convert_accel(val + 1, drv_data->accel_y,
 				      drv_data->accel_sensitivity_shift);
 		mpu9250_convert_accel(val + 2, drv_data->accel_z,
 				      drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_X:
 		mpu9250_convert_accel(val, drv_data->accel_x,
 				      drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		mpu9250_convert_accel(val, drv_data->accel_y,
 				      drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		mpu9250_convert_accel(val, drv_data->accel_z,
 				      drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_GYRO_XYZ:
 		mpu9250_convert_gyro(val, drv_data->gyro_x,
 				     drv_data->gyro_sensitivity_x10);
 		mpu9250_convert_gyro(val + 1, drv_data->gyro_y,
 				     drv_data->gyro_sensitivity_x10);
 		mpu9250_convert_gyro(val + 2, drv_data->gyro_z,
 				     drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_X:
 		mpu9250_convert_gyro(val, drv_data->gyro_x,
 				     drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_Y:
 		mpu9250_convert_gyro(val, drv_data->gyro_y,
 				     drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_Z:
 		mpu9250_convert_gyro(val, drv_data->gyro_z,
 				     drv_data->gyro_sensitivity_x10);
 		break;
 #ifdef CONFIG_MPU9250_MAGN_EN
 	case SENSOR_CHAN_MAGN_XYZ:
 		ret = ak8963_convert_magn(val, drv_data->magn_x,
 					  drv_data->magn_scale_x,
 					  drv_data->magn_st2);
 		if (ret < 0) {
 			return ret;
 		}
 		ret = ak8963_convert_magn(val + 1, drv_data->magn_y,
 					  drv_data->magn_scale_y,
 					  drv_data->magn_st2);
 		if (ret < 0) {
 			return ret;
 		}
 		ret = ak8963_convert_magn(val + 2, drv_data->magn_z,
 					  drv_data->magn_scale_z,
 					  drv_data->magn_st2);
 		return ret;
 	case SENSOR_CHAN_MAGN_X:
 		return ak8963_convert_magn(val, drv_data->magn_x,
 				    drv_data->magn_scale_x,
 				    drv_data->magn_st2);
 	case SENSOR_CHAN_MAGN_Y:
 		return ak8963_convert_magn(val, drv_data->magn_y,
 				    drv_data->magn_scale_y,
 				    drv_data->magn_st2);
 	case SENSOR_CHAN_MAGN_Z:
 		return ak8963_convert_magn(val, drv_data->magn_z,
 				    drv_data->magn_scale_z,
 				    drv_data->magn_st2);
 	case SENSOR_CHAN_DIE_TEMP:
 		mpu9250_convert_temp(val, drv_data->temp);
 		break;
 #endif
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int mpu9250_sample_fetch(const struct device *dev,
 				enum sensor_channel chan)
 {
 	struct mpu9250_data *drv_data = dev->data;
 	const struct mpu9250_config *cfg = dev->config;
 	int16_t buf[MPU9250_READ_BUF_SIZE];
 	int ret;

 	ret = i2c_burst_read_dt(&cfg->i2c,
 				MPU9250_REG_DATA_START, (uint8_t *)buf,
 				sizeof(buf));
 	if (ret < 0) {
 		LOG_ERR("Failed to read data sample.");
 		return ret;
 	}

 	drv_data->accel_x = sys_be16_to_cpu(buf[0]);
 	drv_data->accel_y = sys_be16_to_cpu(buf[1]);
 	drv_data->accel_z = sys_be16_to_cpu(buf[2]);
 	drv_data->temp = sys_be16_to_cpu(buf[3]);
 	drv_data->gyro_x = sys_be16_to_cpu(buf[4]);
 	drv_data->gyro_y = sys_be16_to_cpu(buf[5]);
 	drv_data->gyro_z = sys_be16_to_cpu(buf[6]);
 #ifdef CONFIG_MPU9250_MAGN_EN
 	drv_data->magn_x = sys_le16_to_cpu(buf[7]);
 	drv_data->magn_y = sys_le16_to_cpu(buf[8]);
 	drv_data->magn_z = sys_le16_to_cpu(buf[9]);
 	drv_data->magn_st2 = ((uint8_t *)buf)[20];
 	LOG_DBG("magn_st2: %u", drv_data->magn_st2);
 #endif

 	return 0;
 }

 static const struct sensor_driver_api mpu9250_driver_api = {
 #if CONFIG_MPU9250_TRIGGER
 	.trigger_set = mpu9250_trigger_set,
 #endif
 	.sample_fetch = mpu9250_sample_fetch,
 	.channel_get = mpu9250_channel_get,
 };

 /* measured in degrees/sec x10 to avoid floating point */
 static const uint16_t mpu9250_gyro_sensitivity_x10[] = {
 	1310, 655, 328, 164
 };

 static int mpu9250_init(const struct device *dev)
 {
 	struct mpu9250_data *drv_data = dev->data;
 	const struct mpu9250_config *cfg = dev->config;
 	uint8_t id;
 	int ret;

 	if (!device_is_ready(cfg->i2c.bus)) {
 		LOG_ERR("I2C dev %s not ready", cfg->i2c.bus->name);
 		return -ENODEV;
 	}

 	/* check chip ID */
 	ret = i2c_reg_read_byte_dt(&cfg->i2c, MPU9250_REG_CHIP_ID, &id);
 	if (ret < 0) {
 		LOG_ERR("Failed to read chip ID.");
 		return ret;
 	}

 	if (id != MPU9250_CHIP_ID) {
 		LOG_ERR("Invalid chip ID.");
 		return -ENOTSUP;
 	}

 	/* wake up chip */
 	ret = i2c_reg_update_byte_dt(&cfg->i2c,
 				     MPU9250_REG_PWR_MGMT1,
 				     MPU9250_SLEEP_EN, 0);
 	if (ret < 0) {
 		LOG_ERR("Failed to wake up chip.");
 		return ret;
 	}

 	if (cfg->accel_fs > MPU9250_ACCEL_FS_MAX) {
 		LOG_ERR("Accel FS is too big: %d", cfg->accel_fs);
 		return -EINVAL;
 	}

 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_ACCEL_CFG,
 				    cfg->accel_fs << MPU9250_ACCEL_FS_SHIFT);
 	if (ret < 0) {
 		LOG_ERR("Failed to write accel full-scale range.");
 		return ret;
 	}
 	drv_data->accel_sensitivity_shift = 14 - cfg->accel_fs;

 	if (cfg->gyro_fs > MPU9250_GYRO_FS_MAX) {
 		LOG_ERR("Gyro FS is too big: %d", cfg->accel_fs);
 		return -EINVAL;
 	}

 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_GYRO_CFG,
 				    cfg->gyro_fs << MPU9250_GYRO_FS_SHIFT);
 	if (ret < 0) {
 		LOG_ERR("Failed to write gyro full-scale range.");
 		return ret;
 	}

 	if (cfg->gyro_dlpf > MPU9250_GYRO_DLPF_MAX) {
 		LOG_ERR("Gyro DLPF is too big: %d", cfg->gyro_dlpf);
 		return -EINVAL;
 	}

 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_CONFIG,
 				    cfg->gyro_dlpf);
 	if (ret < 0) {
 		LOG_ERR("Failed to write gyro digital LPF settings.");
 		return ret;
 	}

 	if (cfg->accel_dlpf > MPU9250_ACCEL_DLPF_MAX) {
 		LOG_ERR("Accel DLPF is too big: %d", cfg->accel_dlpf);
 		return -EINVAL;
 	}

 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_ACCEL_CFG2,
 				    cfg->accel_dlpf);
 	if (ret < 0) {
 		LOG_ERR("Failed to write accel digital LPF settings.");
 		return ret;
 	}

 	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_SR_DIV,
 				    cfg->gyro_sr_div);
 	if (ret < 0) {
 		LOG_ERR("Failed to write gyro ODR divider.");
 		return ret;
 	}

 	drv_data->gyro_sensitivity_x10 =
 				mpu9250_gyro_sensitivity_x10[cfg->gyro_fs];

 #ifdef CONFIG_MPU9250_MAGN_EN
 	ret = ak8963_init(dev);
 	if (ret < 0) {
 		LOG_ERR("Failed to initialize AK8963.");
 		return ret;
 	}
 #endif

 #ifdef CONFIG_MPU9250_TRIGGER
 	ret = mpu9250_init_interrupt(dev);
 	if (ret < 0) {
 		LOG_ERR("Failed to initialize interrupts.");
 		return ret;
 	}
 #endif

 	return 0;
 }


 #define INIT_MPU9250_INST(inst)						\
 	static struct mpu9250_data mpu9250_data_##inst;			\
 	static const struct mpu9250_config mpu9250_cfg_##inst = {	\
 	.i2c = I2C_DT_SPEC_INST_GET(inst),				\
 	.gyro_sr_div = DT_INST_PROP(inst, gyro_sr_div),			\
 	.gyro_dlpf = DT_INST_ENUM_IDX(inst, gyro_dlpf),			\
 	.gyro_fs = DT_INST_ENUM_IDX(inst, gyro_fs),			\
 	.accel_fs = DT_INST_ENUM_IDX(inst, accel_fs),			\
 	.accel_dlpf = DT_INST_ENUM_IDX(inst, accel_dlpf),		\
 	IF_ENABLED(CONFIG_MPU9250_TRIGGER,				\
 		  (.int_pin = GPIO_DT_SPEC_INST_GET(inst, irq_gpios)))	\
 	};								\
 									\
 	SENSOR_DEVICE_DT_INST_DEFINE(inst, mpu9250_init, NULL,		\
 			      &mpu9250_data_##inst, &mpu9250_cfg_##inst,\
 			      POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,	\
 			      &mpu9250_driver_api);

 DT_INST_FOREACH_STATUS_OKAY(INIT_MPU9250_INST)
	/*
	* Copyright (c) 2021, Nordic Semiconductor ASA
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT invensense_mpu9250

	#include <zephyr/sys/byteorder.h>
	#include <zephyr/logging/log.h>
	#include <zephyr/devicetree.h>

	#include "mpu9250.h"

	#ifdef CONFIG_MPU9250_MAGN_EN
	#include "ak8963.h"
	#endif

	LOG_MODULE_REGISTER(MPU9250, CONFIG_SENSOR_LOG_LEVEL);


	#define MPU9250_REG_CHIP_ID 0x75
	#define MPU9250_CHIP_ID 0x71

	#define MPU9250_REG_SR_DIV 0x19

	#define MPU9250_REG_CONFIG 0x1A
	#define MPU9250_GYRO_DLPF_MAX 7

	#define MPU9250_REG_GYRO_CFG 0x1B
	#define MPU9250_GYRO_FS_SHIFT 3
	#define MPU9250_GYRO_FS_MAX 3

	#define MPU9250_REG_ACCEL_CFG 0x1C
	#define MPU9250_ACCEL_FS_SHIFT 3
	#define MPU9250_ACCEL_FS_MAX 3

	#define MPU9250_REG_ACCEL_CFG2 0x1D
	#define MPU9250_ACCEL_DLPF_MAX 7

	#define MPU9250_REG_DATA_START 0x3B

	#define MPU0259_TEMP_SENSITIVITY 334
	#define MPU9250_TEMP_OFFSET 21

	#define MPU9250_REG_PWR_MGMT1 0x6B
	#define MPU9250_SLEEP_EN BIT(6)


	#ifdef CONFIG_MPU9250_MAGN_EN
	#define MPU9250_READ_BUF_SIZE 11
	#else
	#define MPU9250_READ_BUF_SIZE 7
	#endif


	/* see "Accelerometer Measurements" section from register map description */
	static void mpu9250_convert_accel(struct sensor_value *val, int16_t raw_val,
	uint16_t sensitivity_shift)
	{
	int64_t conv_val;

	conv_val = ((int64_t)raw_val * SENSOR_G) >> sensitivity_shift;
	val->val1 = conv_val / 1000000;
	val->val2 = conv_val % 1000000;
	}

	/* see "Gyroscope Measurements" section from register map description */
	static void mpu9250_convert_gyro(struct sensor_value *val, int16_t raw_val,
	uint16_t sensitivity_x10)
	{
	int64_t conv_val;

	conv_val = ((int64_t)raw_val * SENSOR_PI * 10) /
	(sensitivity_x10 * 180U);
	val->val1 = conv_val / 1000000;
	val->val2 = conv_val % 1000000;
	}

	/* see "Temperature Measurement" section from register map description */
	static inline void mpu9250_convert_temp(struct sensor_value *val,
	int16_t raw_val)
	{
	/* Temp[C] = (raw / sensitivity) + offset /
	val->val1 = (raw_val / MPU0259_TEMP_SENSITIVITY) + MPU9250_TEMP_OFFSET;
	val->val2 = (((int64_t)(raw_val % MPU0259_TEMP_SENSITIVITY) * 1000000)
	/ MPU0259_TEMP_SENSITIVITY);

	if (val->val2 < 0) {
	val->val1--;
	val->val2 += 1000000;
	} else if (val->val2 >= 1000000) {
	val->val1++;
	val->val2 -= 1000000;
	}
	}

	static int mpu9250_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct mpu9250_data *drv_data = dev->data;
	#ifdef CONFIG_MPU9250_MAGN_EN
	int ret;
	#endif

	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	mpu9250_convert_accel(val, drv_data->accel_x,
	drv_data->accel_sensitivity_shift);
	mpu9250_convert_accel(val + 1, drv_data->accel_y,
	drv_data->accel_sensitivity_shift);
	mpu9250_convert_accel(val + 2, drv_data->accel_z,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_X:
	mpu9250_convert_accel(val, drv_data->accel_x,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	mpu9250_convert_accel(val, drv_data->accel_y,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	mpu9250_convert_accel(val, drv_data->accel_z,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_GYRO_XYZ:
	mpu9250_convert_gyro(val, drv_data->gyro_x,
	drv_data->gyro_sensitivity_x10);
	mpu9250_convert_gyro(val + 1, drv_data->gyro_y,
	drv_data->gyro_sensitivity_x10);
	mpu9250_convert_gyro(val + 2, drv_data->gyro_z,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_X:
	mpu9250_convert_gyro(val, drv_data->gyro_x,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_Y:
	mpu9250_convert_gyro(val, drv_data->gyro_y,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_Z:
	mpu9250_convert_gyro(val, drv_data->gyro_z,
	drv_data->gyro_sensitivity_x10);
	break;
	#ifdef CONFIG_MPU9250_MAGN_EN
	case SENSOR_CHAN_MAGN_XYZ:
	ret = ak8963_convert_magn(val, drv_data->magn_x,
	drv_data->magn_scale_x,
	drv_data->magn_st2);
	if (ret < 0) {
	return ret;
	}
	ret = ak8963_convert_magn(val + 1, drv_data->magn_y,
	drv_data->magn_scale_y,
	drv_data->magn_st2);
	if (ret < 0) {
	return ret;
	}
	ret = ak8963_convert_magn(val + 2, drv_data->magn_z,
	drv_data->magn_scale_z,
	drv_data->magn_st2);
	return ret;
	case SENSOR_CHAN_MAGN_X:
	return ak8963_convert_magn(val, drv_data->magn_x,
	drv_data->magn_scale_x,
	drv_data->magn_st2);
	case SENSOR_CHAN_MAGN_Y:
	return ak8963_convert_magn(val, drv_data->magn_y,
	drv_data->magn_scale_y,
	drv_data->magn_st2);
	case SENSOR_CHAN_MAGN_Z:
	return ak8963_convert_magn(val, drv_data->magn_z,
	drv_data->magn_scale_z,
	drv_data->magn_st2);
	case SENSOR_CHAN_DIE_TEMP:
	mpu9250_convert_temp(val, drv_data->temp);
	break;
	#endif
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static int mpu9250_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	struct mpu9250_data *drv_data = dev->data;
	const struct mpu9250_config *cfg = dev->config;
	int16_t buf[MPU9250_READ_BUF_SIZE];
	int ret;

	ret = i2c_burst_read_dt(&cfg->i2c,
	MPU9250_REG_DATA_START, (uint8_t *)buf,
	sizeof(buf));
	if (ret < 0) {
	LOG_ERR("Failed to read data sample.");
	return ret;
	}

	drv_data->accel_x = sys_be16_to_cpu(buf[0]);
	drv_data->accel_y = sys_be16_to_cpu(buf[1]);
	drv_data->accel_z = sys_be16_to_cpu(buf[2]);
	drv_data->temp = sys_be16_to_cpu(buf[3]);
	drv_data->gyro_x = sys_be16_to_cpu(buf[4]);
	drv_data->gyro_y = sys_be16_to_cpu(buf[5]);
	drv_data->gyro_z = sys_be16_to_cpu(buf[6]);
	#ifdef CONFIG_MPU9250_MAGN_EN
	drv_data->magn_x = sys_le16_to_cpu(buf[7]);
	drv_data->magn_y = sys_le16_to_cpu(buf[8]);
	drv_data->magn_z = sys_le16_to_cpu(buf[9]);
	drv_data->magn_st2 = ((uint8_t *)buf)[20];
	LOG_DBG("magn_st2: %u", drv_data->magn_st2);
	#endif

	return 0;
	}

	static const struct sensor_driver_api mpu9250_driver_api = {
	#if CONFIG_MPU9250_TRIGGER
	.trigger_set = mpu9250_trigger_set,
	#endif
	.sample_fetch = mpu9250_sample_fetch,
	.channel_get = mpu9250_channel_get,
	};

	/* measured in degrees/sec x10 to avoid floating point */
	static const uint16_t mpu9250_gyro_sensitivity_x10[] = {
	1310, 655, 328, 164
	};

	static int mpu9250_init(const struct device *dev)
	{
	struct mpu9250_data *drv_data = dev->data;
	const struct mpu9250_config *cfg = dev->config;
	uint8_t id;
	int ret;

	if (!device_is_ready(cfg->i2c.bus)) {
	LOG_ERR("I2C dev %s not ready", cfg->i2c.bus->name);
	return -ENODEV;
	}

	/* check chip ID */
	ret = i2c_reg_read_byte_dt(&cfg->i2c, MPU9250_REG_CHIP_ID, &id);
	if (ret < 0) {
	LOG_ERR("Failed to read chip ID.");
	return ret;
	}

	if (id != MPU9250_CHIP_ID) {
	LOG_ERR("Invalid chip ID.");
	return -ENOTSUP;
	}

	/* wake up chip */
	ret = i2c_reg_update_byte_dt(&cfg->i2c,
	MPU9250_REG_PWR_MGMT1,
	MPU9250_SLEEP_EN, 0);
	if (ret < 0) {
	LOG_ERR("Failed to wake up chip.");
	return ret;
	}

	if (cfg->accel_fs > MPU9250_ACCEL_FS_MAX) {
	LOG_ERR("Accel FS is too big: %d", cfg->accel_fs);
	return -EINVAL;
	}

	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_ACCEL_CFG,
	cfg->accel_fs << MPU9250_ACCEL_FS_SHIFT);
	if (ret < 0) {
	LOG_ERR("Failed to write accel full-scale range.");
	return ret;
	}
	drv_data->accel_sensitivity_shift = 14 - cfg->accel_fs;

	if (cfg->gyro_fs > MPU9250_GYRO_FS_MAX) {
	LOG_ERR("Gyro FS is too big: %d", cfg->accel_fs);
	return -EINVAL;
	}

	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_GYRO_CFG,
	cfg->gyro_fs << MPU9250_GYRO_FS_SHIFT);
	if (ret < 0) {
	LOG_ERR("Failed to write gyro full-scale range.");
	return ret;
	}

	if (cfg->gyro_dlpf > MPU9250_GYRO_DLPF_MAX) {
	LOG_ERR("Gyro DLPF is too big: %d", cfg->gyro_dlpf);
	return -EINVAL;
	}

	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_CONFIG,
	cfg->gyro_dlpf);
	if (ret < 0) {
	LOG_ERR("Failed to write gyro digital LPF settings.");
	return ret;
	}

	if (cfg->accel_dlpf > MPU9250_ACCEL_DLPF_MAX) {
	LOG_ERR("Accel DLPF is too big: %d", cfg->accel_dlpf);
	return -EINVAL;
	}

	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_ACCEL_CFG2,
	cfg->accel_dlpf);
	if (ret < 0) {
	LOG_ERR("Failed to write accel digital LPF settings.");
	return ret;
	}

	ret = i2c_reg_write_byte_dt(&cfg->i2c, MPU9250_REG_SR_DIV,
	cfg->gyro_sr_div);
	if (ret < 0) {
	LOG_ERR("Failed to write gyro ODR divider.");
	return ret;
	}

	drv_data->gyro_sensitivity_x10 =
	mpu9250_gyro_sensitivity_x10[cfg->gyro_fs];

	#ifdef CONFIG_MPU9250_MAGN_EN
	ret = ak8963_init(dev);
	if (ret < 0) {
	LOG_ERR("Failed to initialize AK8963.");
	return ret;
	}
	#endif

	#ifdef CONFIG_MPU9250_TRIGGER
	ret = mpu9250_init_interrupt(dev);
	if (ret < 0) {
	LOG_ERR("Failed to initialize interrupts.");
	return ret;
	}
	#endif

	return 0;
	}


	#define INIT_MPU9250_INST(inst) \
	static struct mpu9250_data mpu9250_data_##inst; \
	static const struct mpu9250_config mpu9250_cfg_##inst = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	.gyro_sr_div = DT_INST_PROP(inst, gyro_sr_div), \
	.gyro_dlpf = DT_INST_ENUM_IDX(inst, gyro_dlpf), \
	.gyro_fs = DT_INST_ENUM_IDX(inst, gyro_fs), \
	.accel_fs = DT_INST_ENUM_IDX(inst, accel_fs), \
	.accel_dlpf = DT_INST_ENUM_IDX(inst, accel_dlpf), \
	IF_ENABLED(CONFIG_MPU9250_TRIGGER, \
	(.int_pin = GPIO_DT_SPEC_INST_GET(inst, irq_gpios))) \
	}; \
	\
	SENSOR_DEVICE_DT_INST_DEFINE(inst, mpu9250_init, NULL, \
	&mpu9250_data_##inst, &mpu9250_cfg_##inst,\
	POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
	&mpu9250_driver_api);

	DT_INST_FOREACH_STATUS_OKAY(INIT_MPU9250_INST)