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/* 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) \
SENSOR_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)