| /* ST Microelectronics IIS2MDC 3-axis magnetometer sensor |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis2mdc.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis2mdc |
| |
| #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 "iis2mdc.h" |
| |
| struct iis2mdc_data iis2mdc_data; |
| |
| LOG_MODULE_REGISTER(IIS2MDC, CONFIG_SENSOR_LOG_LEVEL); |
| |
| #ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME |
| static int iis2mdc_set_odr(const struct device *dev, |
| const struct sensor_value *val) |
| { |
| struct iis2mdc_data *iis2mdc = dev->data; |
| iis2mdc_odr_t odr; |
| |
| switch (val->val1) { |
| case 10: |
| odr = IIS2MDC_ODR_10Hz; |
| break; |
| case 20: |
| odr = IIS2MDC_ODR_20Hz; |
| break; |
| case 50: |
| odr = IIS2MDC_ODR_50Hz; |
| break; |
| case 100: |
| odr = IIS2MDC_ODR_100Hz; |
| break; |
| default: |
| return -EINVAL; |
| } |
| |
| if (iis2mdc_data_rate_set(iis2mdc->ctx, odr)) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */ |
| |
| static int iis2mdc_set_hard_iron(const struct device *dev, |
| enum sensor_channel chan, |
| const struct sensor_value *val) |
| { |
| struct iis2mdc_data *iis2mdc = dev->data; |
| uint8_t i; |
| int16_t offset[3]; |
| |
| for (i = 0U; i < 3; i++) { |
| offset[i] = sys_cpu_to_le16(val->val1); |
| val++; |
| } |
| |
| return iis2mdc_mag_user_offset_set(iis2mdc->ctx, offset); |
| } |
| |
| static void iis2mdc_channel_get_mag(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| int32_t cval; |
| int i; |
| uint8_t ofs_start, ofs_stop; |
| struct iis2mdc_data *iis2mdc = dev->data; |
| struct sensor_value *pval = val; |
| |
| switch (chan) { |
| case SENSOR_CHAN_MAGN_X: |
| ofs_start = ofs_stop = 0U; |
| break; |
| case SENSOR_CHAN_MAGN_Y: |
| ofs_start = ofs_stop = 1U; |
| break; |
| case SENSOR_CHAN_MAGN_Z: |
| ofs_start = ofs_stop = 2U; |
| break; |
| default: |
| ofs_start = 0U; ofs_stop = 2U; |
| break; |
| } |
| |
| for (i = ofs_start; i <= ofs_stop; i++) { |
| cval = iis2mdc->mag[i] * 1500; |
| pval->val1 = cval / 1000000; |
| pval->val2 = cval % 1000000; |
| pval++; |
| } |
| } |
| |
| /* read internal temperature */ |
| static void iis2mdc_channel_get_temp(const struct device *dev, |
| struct sensor_value *val) |
| { |
| struct iis2mdc_data *drv_data = dev->data; |
| |
| val->val1 = drv_data->temp_sample / 100; |
| val->val2 = (drv_data->temp_sample % 100) * 10000; |
| } |
| |
| static int iis2mdc_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_MAGN_X: |
| case SENSOR_CHAN_MAGN_Y: |
| case SENSOR_CHAN_MAGN_Z: |
| case SENSOR_CHAN_MAGN_XYZ: |
| iis2mdc_channel_get_mag(dev, chan, val); |
| break; |
| case SENSOR_CHAN_DIE_TEMP: |
| iis2mdc_channel_get_temp(dev, val); |
| break; |
| default: |
| LOG_DBG("Channel not supported"); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int iis2mdc_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return iis2mdc_set_odr(dev, val); |
| #endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */ |
| case SENSOR_ATTR_OFFSET: |
| return iis2mdc_set_hard_iron(dev, chan, val); |
| default: |
| LOG_DBG("Mag attribute not supported"); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int iis2mdc_attr_set(const struct device *dev, |
| enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ALL: |
| case SENSOR_CHAN_MAGN_X: |
| case SENSOR_CHAN_MAGN_Y: |
| case SENSOR_CHAN_MAGN_Z: |
| case SENSOR_CHAN_MAGN_XYZ: |
| return iis2mdc_config(dev, chan, attr, val); |
| default: |
| LOG_DBG("attr_set() not supported on %d channel", chan); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int iis2mdc_sample_fetch_mag(const struct device *dev) |
| { |
| struct iis2mdc_data *iis2mdc = dev->data; |
| int16_t raw_mag[3]; |
| |
| /* fetch raw data sample */ |
| if (iis2mdc_magnetic_raw_get(iis2mdc->ctx, raw_mag) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| iis2mdc->mag[0] = sys_le16_to_cpu(raw_mag[0]); |
| iis2mdc->mag[1] = sys_le16_to_cpu(raw_mag[1]); |
| iis2mdc->mag[2] = sys_le16_to_cpu(raw_mag[2]); |
| |
| return 0; |
| } |
| |
| static int iis2mdc_sample_fetch_temp(const struct device *dev) |
| { |
| struct iis2mdc_data *iis2mdc = dev->data; |
| int16_t raw_temp; |
| int32_t temp; |
| |
| /* fetch raw temperature sample */ |
| if (iis2mdc_temperature_raw_get(iis2mdc->ctx, &raw_temp) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| /* formula is temp = 25 + (temp / 8) C */ |
| temp = sys_le16_to_cpu(raw_temp); |
| iis2mdc->temp_sample = 2500 + (temp * 100) / 8; |
| |
| return 0; |
| } |
| |
| static int iis2mdc_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_MAGN_X: |
| case SENSOR_CHAN_MAGN_Y: |
| case SENSOR_CHAN_MAGN_Z: |
| case SENSOR_CHAN_MAGN_XYZ: |
| iis2mdc_sample_fetch_mag(dev); |
| break; |
| case SENSOR_CHAN_DIE_TEMP: |
| iis2mdc_sample_fetch_temp(dev); |
| break; |
| case SENSOR_CHAN_ALL: |
| iis2mdc_sample_fetch_mag(dev); |
| iis2mdc_sample_fetch_temp(dev); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api iis2mdc_driver_api = { |
| .attr_set = iis2mdc_attr_set, |
| #if CONFIG_IIS2MDC_TRIGGER |
| .trigger_set = iis2mdc_trigger_set, |
| #endif |
| .sample_fetch = iis2mdc_sample_fetch, |
| .channel_get = iis2mdc_channel_get, |
| }; |
| |
| static int iis2mdc_init(const struct device *dev) |
| { |
| const struct iis2mdc_dev_config *const cfg = dev->config; |
| struct iis2mdc_data *iis2mdc = dev->data; |
| uint8_t wai; |
| |
| iis2mdc->dev = dev; |
| |
| if (cfg->bus_init(dev) < 0) { |
| return -EINVAL; |
| } |
| |
| /* check chip ID */ |
| if (iis2mdc_device_id_get(iis2mdc->ctx, &wai) < 0) { |
| return -EIO; |
| } |
| |
| if (wai != IIS2MDC_ID) { |
| LOG_DBG("Invalid chip ID: %02x\n", wai); |
| return -EINVAL; |
| } |
| |
| /* reset sensor configuration */ |
| if (iis2mdc_reset_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) { |
| LOG_DBG("s/w reset failed\n"); |
| return -EIO; |
| } |
| |
| k_busy_wait(100); |
| |
| /* enable BDU */ |
| if (iis2mdc_block_data_update_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) { |
| LOG_DBG("setting bdu failed\n"); |
| return -EIO; |
| } |
| |
| /* Set Output Data Rate */ |
| if (iis2mdc_data_rate_set(iis2mdc->ctx, IIS2MDC_ODR_10Hz)) { |
| LOG_DBG("set odr failed\n"); |
| return -EIO; |
| } |
| |
| /* Set / Reset sensor mode */ |
| if (iis2mdc_set_rst_mode_set(iis2mdc->ctx, |
| IIS2MDC_SENS_OFF_CANC_EVERY_ODR)) { |
| LOG_DBG("reset sensor mode failed\n"); |
| return -EIO; |
| } |
| |
| /* Enable temperature compensation */ |
| if (iis2mdc_offset_temp_comp_set(iis2mdc->ctx, PROPERTY_ENABLE)) { |
| LOG_DBG("enable temp compensation failed\n"); |
| return -EIO; |
| } |
| |
| /* Set device in continuous mode */ |
| if (iis2mdc_operating_mode_set(iis2mdc->ctx, IIS2MDC_CONTINUOUS_MODE)) { |
| LOG_DBG("set continuous mode failed\n"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_IIS2MDC_TRIGGER |
| if (iis2mdc_init_interrupt(dev) < 0) { |
| LOG_DBG("Failed to initialize interrupts"); |
| return -EIO; |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0 |
| #warning "IIS2MDC driver enabled without any devices" |
| #endif |
| |
| /* |
| * Device creation macro, shared by IIS2MDC_DEFINE_SPI() and |
| * IIS2MDC_DEFINE_I2C(). |
| */ |
| |
| #define IIS2MDC_DEVICE_INIT(inst) \ |
| DEVICE_DT_INST_DEFINE(inst, \ |
| iis2mdc_init, \ |
| NULL, \ |
| &iis2mdc_data_##inst, \ |
| &iis2mdc_config_##inst, \ |
| POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, \ |
| &iis2mdc_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #ifdef CONFIG_IIS2MDC_TRIGGER |
| #define IIS2MDC_CFG_IRQ(inst) \ |
| .gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios), |
| #else |
| #define IIS2MDC_CFG_IRQ(inst) |
| #endif /* CONFIG_IIS2MDC_TRIGGER */ |
| |
| #define IIS2MDC_SPI_OP (SPI_WORD_SET(8) | \ |
| SPI_OP_MODE_MASTER | \ |
| SPI_MODE_CPOL | \ |
| SPI_MODE_CPHA) \ |
| |
| #define IIS2MDC_CONFIG_SPI(inst) \ |
| { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, IIS2MDC_SPI_OP, 0), \ |
| .bus_init = iis2mdc_spi_init, \ |
| COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \ |
| (IIS2MDC_CFG_IRQ(inst)), ()) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define IIS2MDC_CONFIG_I2C(inst) \ |
| { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| .bus_init = iis2mdc_i2c_init, \ |
| COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \ |
| (IIS2MDC_CFG_IRQ(inst)), ()) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define IIS2MDC_DEFINE(inst) \ |
| static struct iis2mdc_data iis2mdc_data_##inst; \ |
| static const struct iis2mdc_dev_config iis2mdc_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), \ |
| (IIS2MDC_CONFIG_SPI(inst)), \ |
| (IIS2MDC_CONFIG_I2C(inst))); \ |
| IIS2MDC_DEVICE_INIT(inst) |
| |
| DT_INST_FOREACH_STATUS_OKAY(IIS2MDC_DEFINE) |