drivers/sensor/lis2mdl/lis2mdl.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
  *
  * Copyright (c) 2018-2019 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2mdl.pdf
  */

 #define DT_DRV_COMPAT st_lis2mdl

 #include <zephyr/init.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/pm/device.h>
 #include <string.h>
 #include <zephyr/logging/log.h>
 #include "lis2mdl.h"

 /* Based on the data sheet, the maximum turn-on time is ("9.4 ms + 1/ODR") when
  * offset cancellation is on. But in the single mode the ODR is not dependent on
  * the configured value in Reg A. It is dependent on the frequency of the I2C
  * signal. The slowest value we could measure by I2C frequency of 100000HZ was
  * 13 ms. So we chose 20 ms.
  */
 #define SAMPLE_FETCH_TIMEOUT_MS 20

 struct lis2mdl_data lis2mdl_data;

 LOG_MODULE_REGISTER(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);

 #ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
 static int lis2mdl_set_odr(const struct device *dev,
 			   const struct sensor_value *val)
 {
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2mdl_odr_t odr;

 	switch (val->val1) {
 	case 10:
 		odr = LIS2MDL_ODR_10Hz;
 		break;
 	case 20:
 		odr = LIS2MDL_ODR_20Hz;
 		break;
 	case 50:
 		odr = LIS2MDL_ODR_50Hz;
 		break;
 	case 100:
 		odr = LIS2MDL_ODR_100Hz;
 		break;
 	default:
 		return -EINVAL;
 	}

 	if (lis2mdl_data_rate_set(ctx, odr)) {
 		return -EIO;
 	}

 	return 0;
 }
 #endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */

 static int lis2mdl_set_hard_iron(const struct device *dev,
 				   enum sensor_channel chan,
 				   const struct sensor_value *val)
 {
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t i;
 	int16_t offset[3];

 	for (i = 0U; i < 3; i++) {
 		offset[i] = sys_cpu_to_le16(val->val1);
 		val++;
 	}

 	return lis2mdl_mag_user_offset_set(ctx, offset);
 }

 static void lis2mdl_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 lis2mdl_data *lis2mdl = 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 = lis2mdl->mag[i] * 1500;
 		pval->val1 = cval / 1000000;
 		pval->val2 = cval % 1000000;
 		pval++;
 	}
 }

 /* read internal temperature */
 static void lis2mdl_channel_get_temp(const struct device *dev,
 				       struct sensor_value *val)
 {
 	struct lis2mdl_data *drv_data = dev->data;

 	/* formula is temp = 25 + (temp / 8) C */
 	val->val1 = 25  + drv_data->temp_sample / 8;
 	val->val2 = (drv_data->temp_sample % 8) * 1000000 / 8;
 }

 static int lis2mdl_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:
 		lis2mdl_channel_get_mag(dev, chan, val);
 		break;
 	case SENSOR_CHAN_DIE_TEMP:
 		lis2mdl_channel_get_temp(dev, val);
 		break;
 	default:
 		LOG_ERR("Channel not supported");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2mdl_config(const struct device *dev, enum sensor_channel chan,
 			    enum sensor_attribute attr,
 			    const struct sensor_value *val)
 {
 	switch (attr) {
 #ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lis2mdl_set_odr(dev, val);
 #endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
 	case SENSOR_ATTR_OFFSET:
 		return lis2mdl_set_hard_iron(dev, chan, val);
 	default:
 		LOG_ERR("Mag attribute not supported");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2mdl_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 lis2mdl_config(dev, chan, attr, val);
 	default:
 		LOG_ERR("attr_set() not supported on %d channel", chan);
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int get_single_mode_raw_data(const struct device *dev,
 				    int16_t *raw_mag)
 {
 	struct lis2mdl_data *lis2mdl = dev->data;
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int rc = 0;

 	rc = lis2mdl_operating_mode_set(ctx, LIS2MDL_SINGLE_TRIGGER);
 	if (rc) {
 		LOG_ERR("set single mode failed");
 		return rc;
 	}

 	if (k_sem_take(&lis2mdl->fetch_sem, K_MSEC(SAMPLE_FETCH_TIMEOUT_MS))) {
 		LOG_ERR("Magnetometer data not ready within %d ms",
 			SAMPLE_FETCH_TIMEOUT_MS);
 		return -EIO;
 	}

 	/* fetch raw data sample */
 	rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
 	if (rc) {
 		LOG_ERR("Failed to read sample");
 		return rc;
 	}
 	return 0;
 }

 static int lis2mdl_sample_fetch_mag(const struct device *dev)
 {
 	struct lis2mdl_data *lis2mdl = dev->data;
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int16_t raw_mag[3];
 	int rc = 0;

 	if (cfg->single_mode) {
 		rc = get_single_mode_raw_data(dev, raw_mag);
 		if (rc) {
 			LOG_ERR("Failed to read raw data");
 			return rc;
 		}
 		lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
 		lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
 		lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);

 		if (cfg->cancel_offset) {
 			/* The second measurement is needed when offset
 			 * cancellation is enabled in the single mode. Then the
 			 * average of the first measurement done above and this
 			 * one would be the final value. This process is not
 			 * needed in continuous mode since it has been taken
 			 * care by lis2mdl itself automatically. Please refer
 			 * to the application note for more details.
 			 */
 			rc = get_single_mode_raw_data(dev, raw_mag);
 			if (rc) {
 				LOG_ERR("Failed to read raw data");
 				return rc;
 			}
 			lis2mdl->mag[0] += sys_le16_to_cpu(raw_mag[0]);
 			lis2mdl->mag[1] += sys_le16_to_cpu(raw_mag[1]);
 			lis2mdl->mag[2] += sys_le16_to_cpu(raw_mag[2]);
 			lis2mdl->mag[0] /= 2;
 			lis2mdl->mag[1] /= 2;
 			lis2mdl->mag[2] /= 2;
 		}

 	} else {
 		/* fetch raw data sample */
 		rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
 		if (rc) {
 			LOG_ERR("Failed to read sample");
 			return rc;
 		}
 		lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
 		lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
 		lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);
 	}
 	return 0;
 }

 static int lis2mdl_sample_fetch_temp(const struct device *dev)
 {
 	struct lis2mdl_data *lis2mdl = dev->data;
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int16_t raw_temp;

 	/* fetch raw temperature sample */
 	if (lis2mdl_temperature_raw_get(ctx, &raw_temp) < 0) {
 		LOG_ERR("Failed to read sample");
 		return -EIO;
 	}

 	lis2mdl->temp_sample = (sys_le16_to_cpu(raw_temp));

 	return 0;
 }

 static int lis2mdl_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:
 		lis2mdl_sample_fetch_mag(dev);
 		break;
 	case SENSOR_CHAN_DIE_TEMP:
 		lis2mdl_sample_fetch_temp(dev);
 		break;
 	case SENSOR_CHAN_ALL:
 		lis2mdl_sample_fetch_mag(dev);
 		lis2mdl_sample_fetch_temp(dev);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static const struct sensor_driver_api lis2mdl_driver_api = {
 	.attr_set = lis2mdl_attr_set,
 #if CONFIG_LIS2MDL_TRIGGER
 	.trigger_set = lis2mdl_trigger_set,
 #endif
 	.sample_fetch = lis2mdl_sample_fetch,
 	.channel_get = lis2mdl_channel_get,
 };

 static int lis2mdl_init(const struct device *dev)
 {
 	struct lis2mdl_data *lis2mdl = dev->data;
 	const struct lis2mdl_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t wai;
 	int rc = 0;

 	lis2mdl->dev = dev;

 	if (cfg->spi_4wires) {
 		/* Set SPI 4wires if it's the case */
 		if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
 			return -EIO;
 		}
 	}

 	/* check chip ID */
 	if (lis2mdl_device_id_get(ctx, &wai) < 0) {
 		return -EIO;
 	}

 	if (wai != LIS2MDL_ID) {
 		LOG_ERR("Invalid chip ID: %02x", wai);
 		return -EINVAL;
 	}

 	/* reset sensor configuration */
 	if (lis2mdl_reset_set(ctx, PROPERTY_ENABLE) < 0) {
 		LOG_ERR("s/w reset failed");
 		return -EIO;
 	}

 	k_busy_wait(100);

 	if (cfg->spi_4wires) {
 		/* After s/w reset set SPI 4wires again if the case */
 		if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
 			return -EIO;
 		}
 	}

 	/* enable BDU */
 	if (lis2mdl_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
 		LOG_ERR("setting bdu failed");
 		return -EIO;
 	}

 	/* Set Output Data Rate */
 	if (lis2mdl_data_rate_set(ctx, LIS2MDL_ODR_10Hz)) {
 		LOG_ERR("set odr failed");
 		return -EIO;
 	}

 	if (cfg->cancel_offset) {
 		/* Set offset cancellation, common for both single and
 		 * and continuous mode.
 		 */
 		if (lis2mdl_set_rst_mode_set(ctx,
 					LIS2MDL_SENS_OFF_CANC_EVERY_ODR)) {
 			LOG_ERR("reset sensor mode failed");
 			return -EIO;
 		}
 	}

 	/* Enable temperature compensation */
 	if (lis2mdl_offset_temp_comp_set(ctx, PROPERTY_ENABLE)) {
 		LOG_ERR("enable temp compensation failed");
 		return -EIO;
 	}

 	if (cfg->cancel_offset && cfg->single_mode) {
 		/* Set OFF_CANC_ONE_SHOT bit. This setting is only needed in
 		 * the single-mode when offset cancellation is enabled.
 		 */
 		rc = lis2mdl_set_rst_sensor_single_set(ctx,
 							PROPERTY_ENABLE);
 		if (rc) {
 			LOG_ERR("Set offset cancellation failed");
 			return rc;
 		}
 	}

 	if (cfg->single_mode) {
 		/* Set drdy on pin 7 */
 		rc = lis2mdl_drdy_on_pin_set(ctx, 1);
 		if (rc) {
 			LOG_ERR("set drdy on pin failed!");
 			return rc;
 		}

 		/* Reboot sensor after setting the configuration registers */
 		rc = lis2mdl_boot_set(ctx, 1);
 		if (rc) {
 			LOG_ERR("Reboot failed.");
 			return rc;
 		}

 		k_sem_init(&lis2mdl->fetch_sem, 0, 1);

 	} else {
 		/* Set device in continuous mode */
 		rc = lis2mdl_operating_mode_set(ctx,
 						LIS2MDL_CONTINUOUS_MODE);
 		if (rc) {
 			LOG_ERR("set continuous mode failed");
 			return rc;
 		}
 	}

 #ifdef CONFIG_LIS2MDL_TRIGGER
 	if (cfg->trig_enabled) {
 		if (lis2mdl_init_interrupt(dev) < 0) {
 			LOG_ERR("Failed to initialize interrupts");
 			return -EIO;
 		}
 	}
 #endif

 	return 0;
 }

 #ifdef CONFIG_PM_DEVICE
 static int lis2mdl_pm_action(const struct device *dev,
 			     enum pm_device_action action)
 {
 	const struct lis2mdl_config *config = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&config->ctx;
 	int status = 0;

 	switch (action) {
 	case PM_DEVICE_ACTION_RESUME:
 		if (config->single_mode) {
 			status = lis2mdl_operating_mode_set(ctx,
 						LIS2MDL_SINGLE_TRIGGER);
 		} else {
 			status = lis2mdl_operating_mode_set(ctx,
 						LIS2MDL_CONTINUOUS_MODE);
 		}
 		if (status) {
 			LOG_ERR("Power up failed");
 		}
 		LOG_DBG("State changed to active");
 		break;
 	case PM_DEVICE_ACTION_SUSPEND:
 		status = lis2mdl_operating_mode_set(ctx, LIS2MDL_POWER_DOWN);
 		if (status) {
 			LOG_ERR("Power down failed");
 		}
 		LOG_DBG("State changed to inactive");
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return status;
 }
 #endif /* CONFIG_PM_DEVICE */

 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
 #warning "LIS2MDL driver enabled without any devices"
 #endif

 /*
  * Device creation macro, shared by LIS2MDL_DEFINE_SPI() and
  * LIS2MDL_DEFINE_I2C().
  */

 #define LIS2MDL_DEVICE_INIT(inst)					\
 	PM_DEVICE_DT_INST_DEFINE(inst, lis2mdl_pm_action);		\
 									\
 	DEVICE_DT_INST_DEFINE(inst,					\
 			    lis2mdl_init,				\
 			    PM_DEVICE_DT_INST_GET(inst),		\
 			    &lis2mdl_data_##inst,			\
 			    &lis2mdl_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &lis2mdl_driver_api);

 /*
  * Instantiation macros used when a device is on a SPI bus.
  */

 #ifdef CONFIG_LIS2MDL_TRIGGER
 #define LIS2MDL_CFG_IRQ(inst) \
 	.trig_enabled = true,						\
 	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, irq_gpios)
 #else
 #define LIS2MDL_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2MDL_TRIGGER */

 #define LIS2MDL_SPI_OPERATION (SPI_WORD_SET(8) |			\
 				SPI_OP_MODE_MASTER |			\
 				SPI_MODE_CPOL |				\
 				SPI_MODE_CPHA)				\

 #define LIS2MDL_CONFIG_SPI(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_spi_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_spi_write,	\
 			.handle =					\
 			   (void *)&lis2mdl_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.spi = SPI_DT_SPEC_INST_GET(inst,		\
 					   LIS2MDL_SPI_OPERATION,	\
 					   0),				\
 		},							\
 		.cancel_offset = DT_INST_PROP(inst, cancel_offset),	\
 		.single_mode = DT_INST_PROP(inst, single_mode),		\
 		.spi_4wires = DT_INST_PROP(inst, spi_full_duplex),	\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2MDL_CFG_IRQ(inst)), ())			\
 	}

 /*
  * Instantiation macros used when a device is on an I2C bus.
  */

 #define LIS2MDL_CONFIG_I2C(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_i2c_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_i2c_write,	\
 			.handle =					\
 			   (void *)&lis2mdl_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),		\
 		},							\
 		.cancel_offset = DT_INST_PROP(inst, cancel_offset),	\
 		.single_mode = DT_INST_PROP(inst, single_mode),		\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2MDL_CFG_IRQ(inst)), ())			\
 	}

 /*
  * Main instantiation macro. Use of COND_CODE_1() selects the right
  * bus-specific macro at preprocessor time.
  */

 #define LIS2MDL_DEFINE(inst)						\
 	static struct lis2mdl_data lis2mdl_data_##inst;		\
 	static const struct lis2mdl_config lis2mdl_config_##inst =	\
 	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
 		    (LIS2MDL_CONFIG_SPI(inst)),			\
 		    (LIS2MDL_CONFIG_I2C(inst)));			\
 	LIS2MDL_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(LIS2MDL_DEFINE)
	/* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
	*
	* Copyright (c) 2018-2019 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2mdl.pdf
	*/

	#define DT_DRV_COMPAT st_lis2mdl

	#include <zephyr/init.h>
	#include <zephyr/sys/__assert.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/drivers/sensor.h>
	#include <zephyr/pm/device.h>
	#include <string.h>
	#include <zephyr/logging/log.h>
	#include "lis2mdl.h"

	/* Based on the data sheet, the maximum turn-on time is ("9.4 ms + 1/ODR") when
	* offset cancellation is on. But in the single mode the ODR is not dependent on
	* the configured value in Reg A. It is dependent on the frequency of the I2C
	* signal. The slowest value we could measure by I2C frequency of 100000HZ was
	* 13 ms. So we chose 20 ms.
	*/
	#define SAMPLE_FETCH_TIMEOUT_MS 20

	struct lis2mdl_data lis2mdl_data;

	LOG_MODULE_REGISTER(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);

	#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
	static int lis2mdl_set_odr(const struct device *dev,
	const struct sensor_value *val)
	{
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2mdl_odr_t odr;

	switch (val->val1) {
	case 10:
	odr = LIS2MDL_ODR_10Hz;
	break;
	case 20:
	odr = LIS2MDL_ODR_20Hz;
	break;
	case 50:
	odr = LIS2MDL_ODR_50Hz;
	break;
	case 100:
	odr = LIS2MDL_ODR_100Hz;
	break;
	default:
	return -EINVAL;
	}

	if (lis2mdl_data_rate_set(ctx, odr)) {
	return -EIO;
	}

	return 0;
	}
	#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */

	static int lis2mdl_set_hard_iron(const struct device *dev,
	enum sensor_channel chan,
	const struct sensor_value *val)
	{
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t i;
	int16_t offset[3];

	for (i = 0U; i < 3; i++) {
	offset[i] = sys_cpu_to_le16(val->val1);
	val++;
	}

	return lis2mdl_mag_user_offset_set(ctx, offset);
	}

	static void lis2mdl_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 lis2mdl_data *lis2mdl = 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 = lis2mdl->mag[i] * 1500;
	pval->val1 = cval / 1000000;
	pval->val2 = cval % 1000000;
	pval++;
	}
	}

	/* read internal temperature */
	static void lis2mdl_channel_get_temp(const struct device *dev,
	struct sensor_value *val)
	{
	struct lis2mdl_data *drv_data = dev->data;

	/* formula is temp = 25 + (temp / 8) C */
	val->val1 = 25 + drv_data->temp_sample / 8;
	val->val2 = (drv_data->temp_sample % 8) * 1000000 / 8;
	}

	static int lis2mdl_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:
	lis2mdl_channel_get_mag(dev, chan, val);
	break;
	case SENSOR_CHAN_DIE_TEMP:
	lis2mdl_channel_get_temp(dev, val);
	break;
	default:
	LOG_ERR("Channel not supported");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2mdl_config(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (attr) {
	#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return lis2mdl_set_odr(dev, val);
	#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
	case SENSOR_ATTR_OFFSET:
	return lis2mdl_set_hard_iron(dev, chan, val);
	default:
	LOG_ERR("Mag attribute not supported");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2mdl_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 lis2mdl_config(dev, chan, attr, val);
	default:
	LOG_ERR("attr_set() not supported on %d channel", chan);
	return -ENOTSUP;
	}

	return 0;
	}

	static int get_single_mode_raw_data(const struct device *dev,
	int16_t *raw_mag)
	{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int rc = 0;

	rc = lis2mdl_operating_mode_set(ctx, LIS2MDL_SINGLE_TRIGGER);
	if (rc) {
	LOG_ERR("set single mode failed");
	return rc;
	}

	if (k_sem_take(&lis2mdl->fetch_sem, K_MSEC(SAMPLE_FETCH_TIMEOUT_MS))) {
	LOG_ERR("Magnetometer data not ready within %d ms",
	SAMPLE_FETCH_TIMEOUT_MS);
	return -EIO;
	}

	/* fetch raw data sample */
	rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
	if (rc) {
	LOG_ERR("Failed to read sample");
	return rc;
	}
	return 0;
	}

	static int lis2mdl_sample_fetch_mag(const struct device *dev)
	{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int16_t raw_mag[3];
	int rc = 0;

	if (cfg->single_mode) {
	rc = get_single_mode_raw_data(dev, raw_mag);
	if (rc) {
	LOG_ERR("Failed to read raw data");
	return rc;
	}
	lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
	lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
	lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);

	if (cfg->cancel_offset) {
	/* The second measurement is needed when offset
	* cancellation is enabled in the single mode. Then the
	* average of the first measurement done above and this
	* one would be the final value. This process is not
	* needed in continuous mode since it has been taken
	* care by lis2mdl itself automatically. Please refer
	* to the application note for more details.
	*/
	rc = get_single_mode_raw_data(dev, raw_mag);
	if (rc) {
	LOG_ERR("Failed to read raw data");
	return rc;
	}
	lis2mdl->mag[0] += sys_le16_to_cpu(raw_mag[0]);
	lis2mdl->mag[1] += sys_le16_to_cpu(raw_mag[1]);
	lis2mdl->mag[2] += sys_le16_to_cpu(raw_mag[2]);
	lis2mdl->mag[0] /= 2;
	lis2mdl->mag[1] /= 2;
	lis2mdl->mag[2] /= 2;
	}

	} else {
	/* fetch raw data sample */
	rc = lis2mdl_magnetic_raw_get(ctx, raw_mag);
	if (rc) {
	LOG_ERR("Failed to read sample");
	return rc;
	}
	lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]);
	lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]);
	lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]);
	}
	return 0;
	}

	static int lis2mdl_sample_fetch_temp(const struct device *dev)
	{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int16_t raw_temp;

	/* fetch raw temperature sample */
	if (lis2mdl_temperature_raw_get(ctx, &raw_temp) < 0) {
	LOG_ERR("Failed to read sample");
	return -EIO;
	}

	lis2mdl->temp_sample = (sys_le16_to_cpu(raw_temp));

	return 0;
	}

	static int lis2mdl_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:
	lis2mdl_sample_fetch_mag(dev);
	break;
	case SENSOR_CHAN_DIE_TEMP:
	lis2mdl_sample_fetch_temp(dev);
	break;
	case SENSOR_CHAN_ALL:
	lis2mdl_sample_fetch_mag(dev);
	lis2mdl_sample_fetch_temp(dev);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static const struct sensor_driver_api lis2mdl_driver_api = {
	.attr_set = lis2mdl_attr_set,
	#if CONFIG_LIS2MDL_TRIGGER
	.trigger_set = lis2mdl_trigger_set,
	#endif
	.sample_fetch = lis2mdl_sample_fetch,
	.channel_get = lis2mdl_channel_get,
	};

	static int lis2mdl_init(const struct device *dev)
	{
	struct lis2mdl_data *lis2mdl = dev->data;
	const struct lis2mdl_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t wai;
	int rc = 0;

	lis2mdl->dev = dev;

	if (cfg->spi_4wires) {
	/* Set SPI 4wires if it's the case */
	if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
	return -EIO;
	}
	}

	/* check chip ID */
	if (lis2mdl_device_id_get(ctx, &wai) < 0) {
	return -EIO;
	}

	if (wai != LIS2MDL_ID) {
	LOG_ERR("Invalid chip ID: %02x", wai);
	return -EINVAL;
	}

	/* reset sensor configuration */
	if (lis2mdl_reset_set(ctx, PROPERTY_ENABLE) < 0) {
	LOG_ERR("s/w reset failed");
	return -EIO;
	}

	k_busy_wait(100);

	if (cfg->spi_4wires) {
	/* After s/w reset set SPI 4wires again if the case */
	if (lis2mdl_spi_mode_set(ctx, LIS2MDL_SPI_4_WIRE) < 0) {
	return -EIO;
	}
	}

	/* enable BDU */
	if (lis2mdl_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
	LOG_ERR("setting bdu failed");
	return -EIO;
	}

	/* Set Output Data Rate */
	if (lis2mdl_data_rate_set(ctx, LIS2MDL_ODR_10Hz)) {
	LOG_ERR("set odr failed");
	return -EIO;
	}

	if (cfg->cancel_offset) {
	/* Set offset cancellation, common for both single and
	* and continuous mode.
	*/
	if (lis2mdl_set_rst_mode_set(ctx,
	LIS2MDL_SENS_OFF_CANC_EVERY_ODR)) {
	LOG_ERR("reset sensor mode failed");
	return -EIO;
	}
	}

	/* Enable temperature compensation */
	if (lis2mdl_offset_temp_comp_set(ctx, PROPERTY_ENABLE)) {
	LOG_ERR("enable temp compensation failed");
	return -EIO;
	}

	if (cfg->cancel_offset && cfg->single_mode) {
	/* Set OFF_CANC_ONE_SHOT bit. This setting is only needed in
	* the single-mode when offset cancellation is enabled.
	*/
	rc = lis2mdl_set_rst_sensor_single_set(ctx,
	PROPERTY_ENABLE);
	if (rc) {
	LOG_ERR("Set offset cancellation failed");
	return rc;
	}
	}

	if (cfg->single_mode) {
	/* Set drdy on pin 7 */
	rc = lis2mdl_drdy_on_pin_set(ctx, 1);
	if (rc) {
	LOG_ERR("set drdy on pin failed!");
	return rc;
	}

	/* Reboot sensor after setting the configuration registers */
	rc = lis2mdl_boot_set(ctx, 1);
	if (rc) {
	LOG_ERR("Reboot failed.");
	return rc;
	}

	k_sem_init(&lis2mdl->fetch_sem, 0, 1);

	} else {
	/* Set device in continuous mode */
	rc = lis2mdl_operating_mode_set(ctx,
	LIS2MDL_CONTINUOUS_MODE);
	if (rc) {
	LOG_ERR("set continuous mode failed");
	return rc;
	}
	}

	#ifdef CONFIG_LIS2MDL_TRIGGER
	if (cfg->trig_enabled) {
	if (lis2mdl_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupts");
	return -EIO;
	}
	}
	#endif

	return 0;
	}

	#ifdef CONFIG_PM_DEVICE
	static int lis2mdl_pm_action(const struct device *dev,
	enum pm_device_action action)
	{
	const struct lis2mdl_config *config = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&config->ctx;
	int status = 0;

	switch (action) {
	case PM_DEVICE_ACTION_RESUME:
	if (config->single_mode) {
	status = lis2mdl_operating_mode_set(ctx,
	LIS2MDL_SINGLE_TRIGGER);
	} else {
	status = lis2mdl_operating_mode_set(ctx,
	LIS2MDL_CONTINUOUS_MODE);
	}
	if (status) {
	LOG_ERR("Power up failed");
	}
	LOG_DBG("State changed to active");
	break;
	case PM_DEVICE_ACTION_SUSPEND:
	status = lis2mdl_operating_mode_set(ctx, LIS2MDL_POWER_DOWN);
	if (status) {
	LOG_ERR("Power down failed");
	}
	LOG_DBG("State changed to inactive");
	break;
	default:
	return -ENOTSUP;
	}

	return status;
	}
	#endif /* CONFIG_PM_DEVICE */

	#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
	#warning "LIS2MDL driver enabled without any devices"
	#endif

	/*
	* Device creation macro, shared by LIS2MDL_DEFINE_SPI() and
	* LIS2MDL_DEFINE_I2C().
	*/

	#define LIS2MDL_DEVICE_INIT(inst) \
	PM_DEVICE_DT_INST_DEFINE(inst, lis2mdl_pm_action); \
	\
	DEVICE_DT_INST_DEFINE(inst, \
	lis2mdl_init, \
	PM_DEVICE_DT_INST_GET(inst), \
	&lis2mdl_data_##inst, \
	&lis2mdl_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2mdl_driver_api);

	/*
	* Instantiation macros used when a device is on a SPI bus.
	*/

	#ifdef CONFIG_LIS2MDL_TRIGGER
	#define LIS2MDL_CFG_IRQ(inst) \
	.trig_enabled = true, \
	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, irq_gpios)
	#else
	#define LIS2MDL_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2MDL_TRIGGER */

	#define LIS2MDL_SPI_OPERATION (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define LIS2MDL_CONFIG_SPI(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_spi_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_spi_write, \
	.handle = \
	(void *)&lis2mdl_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, \
	LIS2MDL_SPI_OPERATION, \
	0), \
	}, \
	.cancel_offset = DT_INST_PROP(inst, cancel_offset), \
	.single_mode = DT_INST_PROP(inst, single_mode), \
	.spi_4wires = DT_INST_PROP(inst, spi_full_duplex), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2MDL_CFG_IRQ(inst)), ()) \
	}

	/*
	* Instantiation macros used when a device is on an I2C bus.
	*/

	#define LIS2MDL_CONFIG_I2C(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_i2c_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_i2c_write, \
	.handle = \
	(void *)&lis2mdl_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	.cancel_offset = DT_INST_PROP(inst, cancel_offset), \
	.single_mode = DT_INST_PROP(inst, single_mode), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2MDL_CFG_IRQ(inst)), ()) \
	}

	/*
	* Main instantiation macro. Use of COND_CODE_1() selects the right
	* bus-specific macro at preprocessor time.
	*/

	#define LIS2MDL_DEFINE(inst) \
	static struct lis2mdl_data lis2mdl_data_##inst; \
	static const struct lis2mdl_config lis2mdl_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2MDL_CONFIG_SPI(inst)), \
	(LIS2MDL_CONFIG_I2C(inst))); \
	LIS2MDL_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(LIS2MDL_DEFINE)