| /* ST Microelectronics LSM6DSO 6-axis IMU sensor driver |
| * |
| * Copyright (c) 2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lsm6dso.pdf |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ |
| #define ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ |
| |
| #include <drivers/sensor.h> |
| #include <zephyr/types.h> |
| #include <drivers/gpio.h> |
| #include <drivers/spi.h> |
| #include <sys/util.h> |
| #include "lsm6dso_reg.h" |
| |
| union axis3bit16_t { |
| s16_t i16bit[3]; |
| u8_t u8bit[6]; |
| }; |
| |
| union axis1bit16_t { |
| s16_t i16bit; |
| u8_t u8bit[2]; |
| }; |
| |
| #define LSM6DSO_EN_BIT 0x01 |
| #define LSM6DSO_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) |
| |
| #if CONFIG_LSM6DSO_ACCEL_FS == 0 |
| #define LSM6DSO_ACCEL_FS_RUNTIME 1 |
| #define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 0 |
| #define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY GAIN_UNIT_XL |
| #elif CONFIG_LSM6DSO_ACCEL_FS == 2 |
| #define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 0 |
| #define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY GAIN_UNIT_XL |
| #elif CONFIG_LSM6DSO_ACCEL_FS == 4 |
| #define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 2 |
| #define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (2.0 * GAIN_UNIT_XL) |
| #elif CONFIG_LSM6DSO_ACCEL_FS == 8 |
| #define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 3 |
| #define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (4.0 * GAIN_UNIT_XL) |
| #elif CONFIG_LSM6DSO_ACCEL_FS == 16 |
| #define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 1 |
| #define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (8.0 * GAIN_UNIT_XL) |
| #endif |
| |
| #if (CONFIG_LSM6DSO_ACCEL_ODR == 0) |
| #define LSM6DSO_ACCEL_ODR_RUNTIME 1 |
| #endif |
| |
| #define GYRO_FULLSCALE_125 4 |
| |
| #if CONFIG_LSM6DSO_GYRO_FS == 0 |
| #define LSM6DSO_GYRO_FS_RUNTIME 1 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 4 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY GAIN_UNIT_G |
| #elif CONFIG_LSM6DSO_GYRO_FS == 125 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 4 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY GAIN_UNIT_G |
| #elif CONFIG_LSM6DSO_GYRO_FS == 250 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 0 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (2.0 * GAIN_UNIT_G) |
| #elif CONFIG_LSM6DSO_GYRO_FS == 500 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 1 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (4.0 * GAIN_UNIT_G) |
| #elif CONFIG_LSM6DSO_GYRO_FS == 1000 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 2 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (8.0 * GAIN_UNIT_G) |
| #elif CONFIG_LSM6DSO_GYRO_FS == 2000 |
| #define LSM6DSO_DEFAULT_GYRO_FULLSCALE 3 |
| #define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (16.0 * GAIN_UNIT_G) |
| #endif |
| |
| |
| #if (CONFIG_LSM6DSO_GYRO_ODR == 0) |
| #define LSM6DSO_GYRO_ODR_RUNTIME 1 |
| #endif |
| |
| struct lsm6dso_config { |
| char *bus_name; |
| int (*bus_init)(struct device *dev); |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| const char *int_gpio_port; |
| u8_t int_gpio_pin; |
| u8_t int_gpio_flags; |
| u8_t int_pin; |
| #endif /* CONFIG_LSM6DSO_TRIGGER */ |
| #ifdef DT_ST_LSM6DSO_BUS_I2C |
| u16_t i2c_slv_addr; |
| #elif DT_ST_LSM6DSO_BUS_SPI |
| struct spi_config spi_conf; |
| #if defined(DT_INST_0_ST_LSM6DSO_CS_GPIOS_CONTROLLER) |
| const char *gpio_cs_port; |
| u8_t cs_gpio; |
| #endif /* DT_INST_0_ST_LSM6DSO_CS_GPIOS_CONTROLLER */ |
| #endif /* DT_ST_LSM6DSO_BUS_I2C */ |
| }; |
| |
| union samples { |
| u8_t raw[6]; |
| struct { |
| s16_t axis[3]; |
| }; |
| } __aligned(2); |
| |
| /* sensor data forward declaration (member definition is below) */ |
| struct lsm6dso_data; |
| |
| struct lsm6dso_tf { |
| int (*read_data)(struct lsm6dso_data *data, u8_t reg_addr, |
| u8_t *value, u8_t len); |
| int (*write_data)(struct lsm6dso_data *data, u8_t reg_addr, |
| u8_t *value, u8_t len); |
| int (*read_reg)(struct lsm6dso_data *data, u8_t reg_addr, |
| u8_t *value); |
| int (*write_reg)(struct lsm6dso_data *data, u8_t reg_addr, |
| u8_t value); |
| int (*update_reg)(struct lsm6dso_data *data, u8_t reg_addr, |
| u8_t mask, u8_t value); |
| }; |
| |
| #define LSM6DSO_SHUB_MAX_NUM_SLVS 2 |
| |
| struct lsm6dso_data { |
| struct device *bus; |
| s16_t acc[3]; |
| u32_t acc_gain; |
| s16_t gyro[3]; |
| u32_t gyro_gain; |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| int temp_sample; |
| #endif |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| u8_t ext_data[2][6]; |
| u16_t magn_gain; |
| |
| struct hts221_data { |
| s16_t x0; |
| s16_t x1; |
| s16_t y0; |
| s16_t y1; |
| } hts221; |
| #endif /* CONFIG_LSM6DSO_SENSORHUB */ |
| |
| stmdev_ctx_t *ctx; |
| |
| #ifdef DT_ST_LSM6DSO_BUS_I2C |
| stmdev_ctx_t ctx_i2c; |
| #elif DT_ST_LSM6DSO_BUS_SPI |
| stmdev_ctx_t ctx_spi; |
| #endif |
| |
| u16_t accel_freq; |
| u8_t accel_fs; |
| u16_t gyro_freq; |
| u8_t gyro_fs; |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| struct device *gpio; |
| 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_LSM6DSO_TRIGGER_OWN_THREAD) |
| K_THREAD_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE); |
| struct k_thread thread; |
| struct k_sem gpio_sem; |
| #elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD) |
| struct k_work work; |
| struct device *dev; |
| #endif |
| #endif /* CONFIG_LSM6DSO_TRIGGER */ |
| |
| #if defined(DT_INST_0_ST_LSM6DSO_CS_GPIOS_CONTROLLER) |
| struct spi_cs_control cs_ctrl; |
| #endif |
| }; |
| |
| int lsm6dso_spi_init(struct device *dev); |
| int lsm6dso_i2c_init(struct device *dev); |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| int lsm6dso_shub_init(struct device *dev); |
| int lsm6dso_shub_fetch_external_devs(struct device *dev); |
| int lsm6dso_shub_get_idx(enum sensor_channel type); |
| int lsm6dso_shub_config(struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val); |
| #endif /* CONFIG_LSM6DSO_SENSORHUB */ |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| int lsm6dso_trigger_set(struct device *dev, |
| const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler); |
| |
| int lsm6dso_init_interrupt(struct device *dev); |
| #endif |
| |
| #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ */ |