| /* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/ism330dhcx.pdf |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ |
| #define ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ |
| |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/types.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/drivers/spi.h> |
| #include <zephyr/drivers/i2c.h> |
| #include <zephyr/kernel.h> |
| #include <zephyr/sys/util.h> |
| #include "ism330dhcx_reg.h" |
| |
| #define ISM330DHCX_EN_BIT 0x01 |
| #define ISM330DHCX_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 ism330dhcx_config { |
| int (*bus_init)(const struct device *dev); |
| uint8_t accel_odr; |
| uint16_t gyro_odr; |
| uint8_t accel_range; |
| uint16_t gyro_range; |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| uint8_t int_pin; |
| struct gpio_dt_spec drdy_gpio; |
| #endif /* CONFIG_ISM330DHCX_TRIGGER */ |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| struct i2c_dt_spec i2c; |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| struct spi_dt_spec spi; |
| #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */ |
| }; |
| |
| union samples { |
| uint8_t raw[6]; |
| struct { |
| int16_t axis[3]; |
| }; |
| } __aligned(2); |
| |
| #define ISM330DHCX_SHUB_MAX_NUM_SLVS 2 |
| |
| struct ism330dhcx_data { |
| const struct device *dev; |
| int16_t acc[3]; |
| uint32_t acc_gain; |
| int16_t gyro[3]; |
| uint32_t gyro_gain; |
| #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) |
| int temp_sample; |
| #endif |
| #if defined(CONFIG_ISM330DHCX_SENSORHUB) |
| uint8_t ext_data[2][6]; |
| uint16_t magn_gain; |
| |
| struct hts221_data { |
| int16_t x0; |
| int16_t x1; |
| int16_t y0; |
| int16_t y1; |
| } hts221; |
| #endif /* CONFIG_ISM330DHCX_SENSORHUB */ |
| |
| stmdev_ctx_t *ctx; |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| stmdev_ctx_t ctx_i2c; |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| stmdev_ctx_t ctx_spi; |
| #endif |
| |
| uint16_t accel_freq; |
| uint8_t accel_fs; |
| uint16_t gyro_freq; |
| uint8_t gyro_fs; |
| |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| struct gpio_callback gpio_cb; |
| sensor_trigger_handler_t handler_drdy_acc; |
| sensor_trigger_handler_t handler_drdy_gyr; |
| sensor_trigger_handler_t handler_drdy_temp; |
| |
| #if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD) |
| K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_ISM330DHCX_THREAD_STACK_SIZE); |
| struct k_thread thread; |
| struct k_sem gpio_sem; |
| #elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD) |
| struct k_work work; |
| #endif |
| #endif /* CONFIG_ISM330DHCX_TRIGGER */ |
| }; |
| |
| int ism330dhcx_spi_init(const struct device *dev); |
| int ism330dhcx_i2c_init(const struct device *dev); |
| #if defined(CONFIG_ISM330DHCX_SENSORHUB) |
| int ism330dhcx_shub_init(const struct device *dev); |
| int ism330dhcx_shub_fetch_external_devs(const struct device *dev); |
| int ism330dhcx_shub_get_idx(enum sensor_channel type); |
| int ism330dhcx_shub_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val); |
| #endif /* CONFIG_ISM330DHCX_SENSORHUB */ |
| |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| int ism330dhcx_trigger_set(const struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler); |
| |
| int ism330dhcx_init_interrupt(const struct device *dev); |
| #endif |
| |
| #endif /* ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ */ |