blob: 926ca4f4911a4c7477cda9cf763bb3bac2f68af4 [file] [log] [blame]
/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT st_lis3mdl_magn
#include <zephyr/drivers/i2c.h>
#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 "lis3mdl.h"
LOG_MODULE_REGISTER(LIS3MDL, CONFIG_SENSOR_LOG_LEVEL);
static void lis3mdl_convert(struct sensor_value *val, int16_t raw_val,
uint16_t divider)
{
/* val = raw_val / divider */
val->val1 = raw_val / divider;
val->val2 = (((int64_t)raw_val % divider) * 1000000L) / divider;
}
static int lis3mdl_channel_get(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct lis3mdl_data *drv_data = dev->data;
if (chan == SENSOR_CHAN_MAGN_XYZ) {
/* magn_val = sample / magn_gain */
lis3mdl_convert(val, drv_data->x_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
lis3mdl_convert(val + 1, drv_data->y_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
lis3mdl_convert(val + 2, drv_data->z_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
} else if (chan == SENSOR_CHAN_MAGN_X) {
lis3mdl_convert(val, drv_data->x_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
} else if (chan == SENSOR_CHAN_MAGN_Y) {
lis3mdl_convert(val, drv_data->y_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
} else if (chan == SENSOR_CHAN_MAGN_Z) {
lis3mdl_convert(val, drv_data->z_sample,
lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
} else if (chan == SENSOR_CHAN_DIE_TEMP) {
/* temp_val = 25 + sample / 8 */
lis3mdl_convert(val, drv_data->temp_sample, 8);
val->val1 += 25;
} else {
return -ENOTSUP;
}
return 0;
}
int lis3mdl_sample_fetch(const struct device *dev, enum sensor_channel chan)
{
struct lis3mdl_data *drv_data = dev->data;
const struct lis3mdl_config *config = dev->config;
int16_t buf[4];
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
/* fetch magnetometer sample */
if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START,
(uint8_t *)buf, 8) < 0) {
LOG_DBG("Failed to fetch magnetometer sample.");
return -EIO;
}
/*
* the chip doesn't allow fetching temperature data in
* the same read as magnetometer data, so do another
* burst read to fetch the temperature sample
*/
if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START + 6,
(uint8_t *)(buf + 3), 2) < 0) {
LOG_DBG("Failed to fetch temperature sample.");
return -EIO;
}
drv_data->x_sample = sys_le16_to_cpu(buf[0]);
drv_data->y_sample = sys_le16_to_cpu(buf[1]);
drv_data->z_sample = sys_le16_to_cpu(buf[2]);
drv_data->temp_sample = sys_le16_to_cpu(buf[3]);
return 0;
}
static const struct sensor_driver_api lis3mdl_driver_api = {
#if CONFIG_LIS3MDL_TRIGGER
.trigger_set = lis3mdl_trigger_set,
#endif
.sample_fetch = lis3mdl_sample_fetch,
.channel_get = lis3mdl_channel_get,
};
int lis3mdl_init(const struct device *dev)
{
const struct lis3mdl_config *config = dev->config;
uint8_t chip_cfg[6];
uint8_t id, idx;
if (!device_is_ready(config->i2c.bus)) {
LOG_ERR("I2C bus device not ready");
return -ENODEV;
}
/* check chip ID */
if (i2c_reg_read_byte_dt(&config->i2c, LIS3MDL_REG_WHO_AM_I, &id) < 0) {
LOG_ERR("Failed to read chip ID.");
return -EIO;
}
if (id != LIS3MDL_CHIP_ID) {
LOG_ERR("Invalid chip ID.");
return -EINVAL;
}
/* check if CONFIG_LIS3MDL_ODR is valid */
for (idx = 0U; idx < ARRAY_SIZE(lis3mdl_odr_strings); idx++) {
if (!strcmp(lis3mdl_odr_strings[idx], CONFIG_LIS3MDL_ODR)) {
break;
}
}
if (idx == ARRAY_SIZE(lis3mdl_odr_strings)) {
LOG_ERR("Invalid ODR value.");
return -EINVAL;
}
/* Configure sensor */
chip_cfg[0] = LIS3MDL_REG_CTRL1;
chip_cfg[1] = LIS3MDL_TEMP_EN_MASK | lis3mdl_odr_bits[idx];
chip_cfg[2] = LIS3MDL_FS_IDX << LIS3MDL_FS_SHIFT;
chip_cfg[3] = lis3mdl_odr_bits[idx] & LIS3MDL_FAST_ODR_MASK ?
LIS3MDL_MD_SINGLE : LIS3MDL_MD_CONTINUOUS;
chip_cfg[4] = ((lis3mdl_odr_bits[idx] & LIS3MDL_OM_MASK) >>
LIS3MDL_OM_SHIFT) << LIS3MDL_OMZ_SHIFT;
chip_cfg[5] = LIS3MDL_BDU_EN;
if (i2c_write_dt(&config->i2c, chip_cfg, 6) < 0) {
LOG_DBG("Failed to configure chip.");
return -EIO;
}
#ifdef CONFIG_LIS3MDL_TRIGGER
if (config->irq_gpio.port) {
if (lis3mdl_init_interrupt(dev) < 0) {
LOG_DBG("Failed to initialize interrupts.");
return -EIO;
}
}
#endif
return 0;
}
#define LIS3MDL_DEFINE(inst) \
static struct lis3mdl_data lis3mdl_data_##inst; \
\
static struct lis3mdl_config lis3mdl_config_##inst = { \
.i2c = I2C_DT_SPEC_INST_GET(inst), \
IF_ENABLED(CONFIG_LIS3MDL_TRIGGER, \
(.irq_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, irq_gpios, { 0 }),)) \
}; \
\
SENSOR_DEVICE_DT_INST_DEFINE(inst, lis3mdl_init, NULL, \
&lis3mdl_data_##inst, &lis3mdl_config_##inst, POST_KERNEL, \
CONFIG_SENSOR_INIT_PRIORITY, &lis3mdl_driver_api); \
DT_INST_FOREACH_STATUS_OKAY(LIS3MDL_DEFINE)