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/* 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 <stmemsc.h>
#include "lsm6dso_reg.h"
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#include <drivers/spi.h>
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
#include <drivers/i2c.h>
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
#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 {
stmdev_ctx_t ctx;
union {
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
const struct stmemsc_cfg_i2c i2c;
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
const struct stmemsc_cfg_spi spi;
#endif
} stmemsc_cfg;
#ifdef CONFIG_LSM6DSO_TRIGGER
const struct gpio_dt_spec gpio_drdy;
uint8_t int_pin;
bool trig_enabled;
#endif /* CONFIG_LSM6DSO_TRIGGER */
};
union samples {
uint8_t raw[6];
struct {
int16_t axis[3];
};
} __aligned(2);
#define LSM6DSO_SHUB_MAX_NUM_SLVS 2
struct lsm6dso_data {
const struct device *dev;
int16_t acc[3];
uint32_t acc_gain;
int16_t gyro[3];
uint32_t gyro_gain;
#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
int temp_sample;
#endif
#if defined(CONFIG_LSM6DSO_SENSORHUB)
uint8_t ext_data[2][6];
uint16_t magn_gain;
struct hts221_data {
int16_t x0;
int16_t x1;
int16_t y0;
int16_t y1;
} hts221;
bool shub_inited;
uint8_t num_ext_dev;
uint8_t shub_ext[LSM6DSO_SHUB_MAX_NUM_SLVS];
#endif /* CONFIG_LSM6DSO_SENSORHUB */
uint16_t accel_freq;
uint8_t accel_fs;
uint16_t gyro_freq;
uint8_t gyro_fs;
#ifdef CONFIG_LSM6DSO_TRIGGER
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_KERNEL_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;
#endif
#endif /* CONFIG_LSM6DSO_TRIGGER */
};
#if defined(CONFIG_LSM6DSO_SENSORHUB)
int lsm6dso_shub_init(const struct device *dev);
int lsm6dso_shub_fetch_external_devs(const struct device *dev);
int lsm6dso_shub_get_idx(const struct device *dev, enum sensor_channel type);
int lsm6dso_shub_config(const 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(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int lsm6dso_init_interrupt(const struct device *dev);
#endif
#endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ */