drivers/sensor/st/iis328dq/iis328dq.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics IIS328DQ 3-axis accelerometer driver
  *
  * Copyright (c) 2020 STMicroelectronics
  * Copyright (c) 2024 SILA Embedded Solutions GmbH
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/iis328dq.pdf
  */

 #define DT_DRV_COMPAT st_iis328dq

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

 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
 #include <zephyr/drivers/spi.h>
 #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
 #include <zephyr/drivers/i2c.h>
 #endif

 #include "iis328dq.h"

 LOG_MODULE_REGISTER(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL);

 /**
  * iis328dq_set_odr - set new Full Scale (in ±g)
  */
 static int iis328dq_set_range(const struct device *dev, uint8_t fs)
 {
 	int err;
 	struct iis328dq_data *iis328dq = dev->data;
 	const struct iis328dq_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	iis328dq_fs_t fs_reg;
 	uint8_t gain;

 	if (fs <= 2) {
 		fs_reg = IIS328DQ_2g;
 		gain = 1;
 	} else if (fs <= 4) {
 		fs_reg = IIS328DQ_4g;
 		gain = 2;
 	} else if (fs <= 8) {
 		fs_reg = IIS328DQ_8g;
 		gain = 4;
 	} else {
 		LOG_ERR("FS too high");
 		return -ENOTSUP;
 	}
 	err = iis328dq_full_scale_set(ctx, fs_reg);

 	if (!err) {
 		iis328dq->gain = gain;
 	}

 	return err;
 }

 /**
  * iis328dq_set_odr - set new Output Data Rate/sampling frequency (in Hz)
  */
 static int iis328dq_set_odr(const struct device *dev, uint16_t odr)
 {
 	const struct iis328dq_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	iis328dq_dr_t odr_reg;

 	if (odr == 0U) {
 		odr_reg = IIS328DQ_ODR_OFF;
 	} else if (odr <= 1) {
 		odr_reg = IIS328DQ_ODR_1Hz;
 	} else if (odr <= 2) {
 		/* not sure what "5Hz2" is about, datasheet says PM=0b100 is 2Hz
 		 * https://github.com/STMicroelectronics/STMems_Standard_C_drivers/issues/162
 		 */
 		odr_reg = IIS328DQ_ODR_5Hz2;
 	} else if (odr <= 5) {
 		odr_reg = IIS328DQ_ODR_5Hz;
 	} else if (odr <= 10) {
 		odr_reg = IIS328DQ_ODR_10Hz;
 	} else if (odr <= 50) {
 		odr_reg = IIS328DQ_ODR_50Hz;
 	} else if (odr <= 100) {
 		odr_reg = IIS328DQ_ODR_100Hz;
 	} else if (odr <= 400) {
 		odr_reg = IIS328DQ_ODR_400Hz;
 	} else if (odr <= 1000) {
 		odr_reg = IIS328DQ_ODR_1kHz;
 	} else {
 		LOG_ERR("ODR too high");
 		return -ENOTSUP;
 	}

 	if (iis328dq_data_rate_set(ctx, odr_reg) != 0) {
 		LOG_ERR("Failed to set ODR");
 		return -EIO;
 	}

 	return 0;
 }

 static inline void iis328dq_convert(struct sensor_value *val, int raw_val, uint8_t gain)
 {
 	int64_t dval;

 	/* Gain is in mg/LSB */
 	/* Convert to μm/s^2 */
 	dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000LL;
 	val->val1 = dval / 1000000LL;
 	val->val2 = dval % 1000000LL;
 }

 static inline void iis328dq_channel_get_acc(const struct device *dev, enum sensor_channel chan,
 					    struct sensor_value *val)
 {
 	int i;
 	uint8_t ofs_start, ofs_stop;
 	struct iis328dq_data *iis328dq = dev->data;
 	struct sensor_value *pval = val;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 		ofs_start = ofs_stop = 0U;
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		ofs_start = ofs_stop = 1U;
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		ofs_start = ofs_stop = 2U;
 		break;
 	default:
 		ofs_start = 0U;
 		ofs_stop = 2U;
 		break;
 	}

 	for (i = ofs_start; i <= ofs_stop; i++) {
 		iis328dq_convert(pval++, iis328dq->acc[i], iis328dq->gain);
 	}
 }

 static int iis328dq_channel_get(const struct device *dev, enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 		iis328dq_channel_get_acc(dev, chan, val);
 		return 0;
 	default:
 		LOG_DBG("Channel not supported");
 		break;
 	}

 	return -ENOTSUP;
 }

 #ifdef CONFIG_IIS328DQ_THRESHOLD
 static int iis328dq_set_threshold(const struct device *dev, bool is_lower,
 				  const struct sensor_value *val)
 {
 	int err;
 	const struct iis328dq_config *cfg = dev->config;
 	struct iis328dq_data *iis328dq = dev->data;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	if (val->val1 < 0 || val->val2 < 0) {
 		/* thresholds are absolute */
 		return -EINVAL;
 	}
 	int64_t micro_ms2 = (val->val1 * INT64_C(1000000)) + val->val2;
 	/* factor guessed from similar-looking LIS2DH12 datasheet */
 	uint8_t mg_per_digit = iis328dq->gain * 16;

 	int16_t val_raw = (micro_ms2 * 1000LL) / SENSOR_G / mg_per_digit;

 	if (is_lower) {
 		/* internal INT1 handles lower threshold */
 		err = iis328dq_int1_treshold_set(ctx, val_raw);
 		if (err) {
 			LOG_ERR("Could not set INT1_THS to 0x%02X, error %d", val_raw, err);
 			return err;
 		}
 	} else {
 		/* internal INT2 handles lower threshold */
 		err = iis328dq_int2_treshold_set(ctx, val_raw);
 		if (err) {
 			LOG_ERR("Could not set INT2_THS to 0x%02X, error %d", val_raw, err);
 			return err;
 		}
 	}
 	return 0;
 }

 static int iis328dq_set_duration(const struct device *dev, uint16_t dur)
 {
 	int err;
 	const struct iis328dq_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	if (dur > 0x7F) {
 		LOG_WRN("Duration value %u too large", dur);
 		return -EINVAL;
 	}

 	err = iis328dq_int1_dur_set(ctx, dur);
 	if (err) {
 		LOG_ERR("Could not set INT1_DUR to 0x%02X, error %d", dur, err);
 		return err;
 	}
 	err = iis328dq_int2_dur_set(ctx, dur);
 	if (err) {
 		LOG_ERR("Could not set INT2_DUR to 0x%02X, error %d", dur, err);
 		return err;
 	}
 	return 0;
 }
 #endif /* CONFIG_IIS328DQ_THRESHOLD */
 #define IIS328DQ_ATTR_DURATION SENSOR_ATTR_PRIV_START

 static int iis328dq_dev_config(const struct device *dev, enum sensor_channel chan,
 			       enum sensor_attribute attr, const struct sensor_value *val)
 {
 	switch (attr) {
 	case SENSOR_ATTR_FULL_SCALE:
 		return iis328dq_set_range(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return iis328dq_set_odr(dev, val->val1);
 #ifdef CONFIG_IIS328DQ_THRESHOLD
 	case SENSOR_ATTR_LOWER_THRESH:
 	case SENSOR_ATTR_UPPER_THRESH:
 		if (chan != SENSOR_CHAN_ACCEL_XYZ) {
 			LOG_ERR("Threshold cannot be set per-channel");
 			return -ENOTSUP;
 		}
 		return iis328dq_set_threshold(dev, attr == SENSOR_ATTR_LOWER_THRESH, val);
 	case IIS328DQ_ATTR_DURATION:
 		if (chan != SENSOR_CHAN_ACCEL_XYZ) {
 			LOG_ERR("Duration cannot be set per-channel");
 			return -ENOTSUP;
 		}
 		return iis328dq_set_duration(dev, val->val1);
 #endif /* CONFIG_IIS328DQ_THRESHOLD */
 	default:
 		LOG_DBG("Acc attribute not supported");
 		break;
 	}

 	return -ENOTSUP;
 }

 static int iis328dq_attr_set(const struct device *dev, enum sensor_channel chan,
 			     enum sensor_attribute attr, const struct sensor_value *val)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 	case SENSOR_CHAN_ALL:
 		return iis328dq_dev_config(dev, chan, attr, val);
 	default:
 		LOG_DBG("Attr not supported on %d channel", chan);
 		break;
 	}

 	return -ENOTSUP;
 }

 static int iis328dq_sample_fetch(const struct device *dev, enum sensor_channel chan)
 {
 	struct iis328dq_data *iis328dq = dev->data;
 	const struct iis328dq_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int16_t buf[3];

 	/* fetch raw data sample */
 	if (iis328dq_acceleration_raw_get(ctx, buf) < 0) {
 		LOG_DBG("Failed to fetch raw data sample");
 		return -EIO;
 	}

 	iis328dq->acc[0] = buf[0] >> 4;
 	iis328dq->acc[1] = buf[1] >> 4;
 	iis328dq->acc[2] = buf[2] >> 4;

 	return 0;
 }

 static const struct sensor_driver_api iis328dq_driver_api = {
 	.attr_set = iis328dq_attr_set,
 #if CONFIG_IIS328DQ_TRIGGER
 	.trigger_set = iis328dq_trigger_set,
 #endif /* CONFIG_IIS328DQ_TRIGGER */
 	.sample_fetch = iis328dq_sample_fetch,
 	.channel_get = iis328dq_channel_get,
 };

 static int iis328dq_init(const struct device *dev)
 {
 	struct iis328dq_data *iis328dq = dev->data;
 	const struct iis328dq_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t reg_value;

 	iis328dq->dev = dev;

 	/* check chip ID */
 	if (iis328dq_device_id_get(ctx, &reg_value) < 0) {
 		return -EIO;
 	}

 	if (reg_value != IIS328DQ_ID) {
 		LOG_ERR("Invalid chip ID");
 		return -EINVAL;
 	}

 	/* reset device */
 	if (iis328dq_boot_set(ctx, PROPERTY_ENABLE) < 0) {
 		return -EIO;
 	}

 	k_sleep(K_MSEC(100));

 	if (iis328dq_boot_get(ctx, &reg_value) < 0) {
 		return -EIO;
 	}
 	if (reg_value != PROPERTY_DISABLE) {
 		LOG_ERR("BOOT did not deassert");
 		return -EIO;
 	}

 	if (iis328dq_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
 		return -EIO;
 	}

 	/* set default odr to 12.5Hz acc */
 	if (iis328dq_set_odr(dev, 12) < 0) {
 		LOG_ERR("odr init error (12.5 Hz)");
 		return -EIO;
 	}

 	if (iis328dq_set_range(dev, cfg->range) < 0) {
 		LOG_ERR("range init error %d", cfg->range);
 		return -EIO;
 	}

 #ifdef CONFIG_IIS328DQ_TRIGGER
 	if (iis328dq_init_interrupt(dev) < 0) {
 		LOG_ERR("Failed to initialize interrupts");
 		return -EIO;
 	}
 #endif /* CONFIG_IIS328DQ_TRIGGER */

 	return 0;
 }

 /*
  * Device creation macro, shared by IIS328DQ_DEFINE_SPI() and
  * IIS328DQ_DEFINE_I2C().
  */

 #define IIS328DQ_DEVICE_INIT(inst)                                                                 \
 	SENSOR_DEVICE_DT_INST_DEFINE(inst, iis328dq_init, NULL, &iis328dq_data_##inst,             \
 				     &iis328dq_config_##inst, POST_KERNEL,                         \
 				     CONFIG_SENSOR_INIT_PRIORITY, &iis328dq_driver_api);

 #ifdef CONFIG_IIS328DQ_TRIGGER
 #ifdef CONFIG_IIS328DQ_THRESHOLD
 #define IIS328DQ_CFG_IRQ_THRESHOLD(inst)                                                           \
 	.threshold_pad = DT_INST_PROP_OR(inst, threshold_int_pad, -1),
 #else
 #define IIS328DQ_CFG_IRQ_THRESHOLD(inst)
 #endif /* CONFIG_IIS328DQ_THRESHOLD */

 #define IIS328DQ_CFG_IRQ(inst)                                                                     \
 	.gpio_int1 = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, {0}),                              \
 	.gpio_int2 = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, {0}),                              \
 	.drdy_pad = DT_INST_PROP_OR(inst, drdy_int_pad, -1), IIS328DQ_CFG_IRQ_THRESHOLD(inst)
 #else
 #define IIS328DQ_CFG_IRQ(inst)
 #endif /* CONFIG_IIS328DQ_TRIGGER */

 #define IIS328DQ_CONFIG_COMMON(inst)                                                               \
 	.range = DT_INST_PROP(inst, range),                                                        \
 	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios),                                \
 			   DT_INST_NODE_HAS_PROP(inst, int2_gpios)),                               \
 		   (IIS328DQ_CFG_IRQ(inst)))

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

 #define IIS328DQ_SPI_OPERATION                                                                     \
 	(SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA)

 #define IIS328DQ_CONFIG_SPI(inst)                                                                  \
 	{                                                                                          \
 		STMEMSC_CTX_SPI_INCR(&iis328dq_config_##inst.stmemsc_cfg),                         \
 			.stmemsc_cfg =                                                             \
 				{                                                                  \
 					.spi = SPI_DT_SPEC_INST_GET(inst, IIS328DQ_SPI_OPERATION,  \
 								    0),                            \
 				},                                                                 \
 			IIS328DQ_CONFIG_COMMON(inst)                                               \
 	}

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

 #define IIS328DQ_CONFIG_I2C(inst)                                                                  \
 	{                                                                                          \
 		STMEMSC_CTX_I2C_INCR(&iis328dq_config_##inst.stmemsc_cfg),                         \
 			.stmemsc_cfg =                                                             \
 				{                                                                  \
 					.i2c = I2C_DT_SPEC_INST_GET(inst),                         \
 				},                                                                 \
 			IIS328DQ_CONFIG_COMMON(inst)                                               \
 	}

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

 #define IIS328DQ_DEFINE(inst)                                                                      \
 	static struct iis328dq_data iis328dq_data_##inst;                                          \
 	static const struct iis328dq_config iis328dq_config_##inst =                               \
 		COND_CODE_1(DT_INST_ON_BUS(inst, spi), (IIS328DQ_CONFIG_SPI(inst)),                \
 			    (IIS328DQ_CONFIG_I2C(inst)));                                          \
 	IIS328DQ_DEVICE_INIT(inst)                                                                 \
 	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad),                                      \
 		   (BUILD_ASSERT(                                                                  \
 			    DT_INST_NODE_HAS_PROP(                                                 \
 				    inst, CONCAT(int, DT_INST_PROP(inst, drdy_int_pad), _gpios)),  \
 			    "No GPIO pin defined for IIS328DQ DRDY interrupt");))                  \
 	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, threshold_int_pad),                                 \
 		   (BUILD_ASSERT(DT_INST_NODE_HAS_PROP(                                            \
 					 inst, CONCAT(int, DT_INST_PROP(inst, threshold_int_pad),  \
 						      _gpios)),                                    \
 				 "No GPIO pin defined for IIS328DQ threshold interrupt");))        \
 	IF_ENABLED(                                                                                \
 		UTIL_AND(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad),                                \
 			 DT_INST_NODE_HAS_PROP(inst, threshold_int_pad)),                          \
 		(BUILD_ASSERT(                                                                     \
 			 DT_INST_PROP(inst, drdy_int_pad) !=                                       \
 				 DT_INST_PROP(inst, threshold_int_pad),                            \
 			 "IIS328DQ DRDY interrupt and threshold interrupt cannot share a pin");))

 DT_INST_FOREACH_STATUS_OKAY(IIS328DQ_DEFINE)
	/* ST Microelectronics IIS328DQ 3-axis accelerometer driver
	*
	* Copyright (c) 2020 STMicroelectronics
	* Copyright (c) 2024 SILA Embedded Solutions GmbH
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/iis328dq.pdf
	*/

	#define DT_DRV_COMPAT st_iis328dq

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

	#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
	#include <zephyr/drivers/spi.h>
	#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
	#include <zephyr/drivers/i2c.h>
	#endif

	#include "iis328dq.h"

	LOG_MODULE_REGISTER(IIS328DQ, CONFIG_SENSOR_LOG_LEVEL);

	/**
	* iis328dq_set_odr - set new Full Scale (in ±g)
	*/
	static int iis328dq_set_range(const struct device *dev, uint8_t fs)
	{
	int err;
	struct iis328dq_data *iis328dq = dev->data;
	const struct iis328dq_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	iis328dq_fs_t fs_reg;
	uint8_t gain;

	if (fs <= 2) {
	fs_reg = IIS328DQ_2g;
	gain = 1;
	} else if (fs <= 4) {
	fs_reg = IIS328DQ_4g;
	gain = 2;
	} else if (fs <= 8) {
	fs_reg = IIS328DQ_8g;
	gain = 4;
	} else {
	LOG_ERR("FS too high");
	return -ENOTSUP;
	}
	err = iis328dq_full_scale_set(ctx, fs_reg);

	if (!err) {
	iis328dq->gain = gain;
	}

	return err;
	}

	/**
	* iis328dq_set_odr - set new Output Data Rate/sampling frequency (in Hz)
	*/
	static int iis328dq_set_odr(const struct device *dev, uint16_t odr)
	{
	const struct iis328dq_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	iis328dq_dr_t odr_reg;

	if (odr == 0U) {
	odr_reg = IIS328DQ_ODR_OFF;
	} else if (odr <= 1) {
	odr_reg = IIS328DQ_ODR_1Hz;
	} else if (odr <= 2) {
	/* not sure what "5Hz2" is about, datasheet says PM=0b100 is 2Hz
	* https://github.com/STMicroelectronics/STMems_Standard_C_drivers/issues/162
	*/
	odr_reg = IIS328DQ_ODR_5Hz2;
	} else if (odr <= 5) {
	odr_reg = IIS328DQ_ODR_5Hz;
	} else if (odr <= 10) {
	odr_reg = IIS328DQ_ODR_10Hz;
	} else if (odr <= 50) {
	odr_reg = IIS328DQ_ODR_50Hz;
	} else if (odr <= 100) {
	odr_reg = IIS328DQ_ODR_100Hz;
	} else if (odr <= 400) {
	odr_reg = IIS328DQ_ODR_400Hz;
	} else if (odr <= 1000) {
	odr_reg = IIS328DQ_ODR_1kHz;
	} else {
	LOG_ERR("ODR too high");
	return -ENOTSUP;
	}

	if (iis328dq_data_rate_set(ctx, odr_reg) != 0) {
	LOG_ERR("Failed to set ODR");
	return -EIO;
	}

	return 0;
	}

	static inline void iis328dq_convert(struct sensor_value *val, int raw_val, uint8_t gain)
	{
	int64_t dval;

	/* Gain is in mg/LSB */
	/* Convert to μm/s^2 */
	dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000LL;
	val->val1 = dval / 1000000LL;
	val->val2 = dval % 1000000LL;
	}

	static inline void iis328dq_channel_get_acc(const struct device *dev, enum sensor_channel chan,
	struct sensor_value *val)
	{
	int i;
	uint8_t ofs_start, ofs_stop;
	struct iis328dq_data *iis328dq = dev->data;
	struct sensor_value *pval = val;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	ofs_start = ofs_stop = 0U;
	break;
	case SENSOR_CHAN_ACCEL_Y:
	ofs_start = ofs_stop = 1U;
	break;
	case SENSOR_CHAN_ACCEL_Z:
	ofs_start = ofs_stop = 2U;
	break;
	default:
	ofs_start = 0U;
	ofs_stop = 2U;
	break;
	}

	for (i = ofs_start; i <= ofs_stop; i++) {
	iis328dq_convert(pval++, iis328dq->acc[i], iis328dq->gain);
	}
	}

	static int iis328dq_channel_get(const struct device *dev, enum sensor_channel chan,
	struct sensor_value *val)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	iis328dq_channel_get_acc(dev, chan, val);
	return 0;
	default:
	LOG_DBG("Channel not supported");
	break;
	}

	return -ENOTSUP;
	}

	#ifdef CONFIG_IIS328DQ_THRESHOLD
	static int iis328dq_set_threshold(const struct device *dev, bool is_lower,
	const struct sensor_value *val)
	{
	int err;
	const struct iis328dq_config *cfg = dev->config;
	struct iis328dq_data *iis328dq = dev->data;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	if (val->val1 < 0 \|\| val->val2 < 0) {
	/* thresholds are absolute */
	return -EINVAL;
	}
	int64_t micro_ms2 = (val->val1 * INT64_C(1000000)) + val->val2;
	/* factor guessed from similar-looking LIS2DH12 datasheet */
	uint8_t mg_per_digit = iis328dq->gain * 16;

	int16_t val_raw = (micro_ms2 * 1000LL) / SENSOR_G / mg_per_digit;

	if (is_lower) {
	/* internal INT1 handles lower threshold */
	err = iis328dq_int1_treshold_set(ctx, val_raw);
	if (err) {
	LOG_ERR("Could not set INT1_THS to 0x%02X, error %d", val_raw, err);
	return err;
	}
	} else {
	/* internal INT2 handles lower threshold */
	err = iis328dq_int2_treshold_set(ctx, val_raw);
	if (err) {
	LOG_ERR("Could not set INT2_THS to 0x%02X, error %d", val_raw, err);
	return err;
	}
	}
	return 0;
	}

	static int iis328dq_set_duration(const struct device *dev, uint16_t dur)
	{
	int err;
	const struct iis328dq_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	if (dur > 0x7F) {
	LOG_WRN("Duration value %u too large", dur);
	return -EINVAL;
	}

	err = iis328dq_int1_dur_set(ctx, dur);
	if (err) {
	LOG_ERR("Could not set INT1_DUR to 0x%02X, error %d", dur, err);
	return err;
	}
	err = iis328dq_int2_dur_set(ctx, dur);
	if (err) {
	LOG_ERR("Could not set INT2_DUR to 0x%02X, error %d", dur, err);
	return err;
	}
	return 0;
	}
	#endif /* CONFIG_IIS328DQ_THRESHOLD */
	#define IIS328DQ_ATTR_DURATION SENSOR_ATTR_PRIV_START

	static int iis328dq_dev_config(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr, const struct sensor_value *val)
	{
	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
	return iis328dq_set_range(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return iis328dq_set_odr(dev, val->val1);
	#ifdef CONFIG_IIS328DQ_THRESHOLD
	case SENSOR_ATTR_LOWER_THRESH:
	case SENSOR_ATTR_UPPER_THRESH:
	if (chan != SENSOR_CHAN_ACCEL_XYZ) {
	LOG_ERR("Threshold cannot be set per-channel");
	return -ENOTSUP;
	}
	return iis328dq_set_threshold(dev, attr == SENSOR_ATTR_LOWER_THRESH, val);
	case IIS328DQ_ATTR_DURATION:
	if (chan != SENSOR_CHAN_ACCEL_XYZ) {
	LOG_ERR("Duration cannot be set per-channel");
	return -ENOTSUP;
	}
	return iis328dq_set_duration(dev, val->val1);
	#endif /* CONFIG_IIS328DQ_THRESHOLD */
	default:
	LOG_DBG("Acc attribute not supported");
	break;
	}

	return -ENOTSUP;
	}

	static int iis328dq_attr_set(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr, const struct sensor_value *val)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	case SENSOR_CHAN_ALL:
	return iis328dq_dev_config(dev, chan, attr, val);
	default:
	LOG_DBG("Attr not supported on %d channel", chan);
	break;
	}

	return -ENOTSUP;
	}

	static int iis328dq_sample_fetch(const struct device *dev, enum sensor_channel chan)
	{
	struct iis328dq_data *iis328dq = dev->data;
	const struct iis328dq_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int16_t buf[3];

	/* fetch raw data sample */
	if (iis328dq_acceleration_raw_get(ctx, buf) < 0) {
	LOG_DBG("Failed to fetch raw data sample");
	return -EIO;
	}

	iis328dq->acc[0] = buf[0] >> 4;
	iis328dq->acc[1] = buf[1] >> 4;
	iis328dq->acc[2] = buf[2] >> 4;

	return 0;
	}

	static const struct sensor_driver_api iis328dq_driver_api = {
	.attr_set = iis328dq_attr_set,
	#if CONFIG_IIS328DQ_TRIGGER
	.trigger_set = iis328dq_trigger_set,
	#endif /* CONFIG_IIS328DQ_TRIGGER */
	.sample_fetch = iis328dq_sample_fetch,
	.channel_get = iis328dq_channel_get,
	};

	static int iis328dq_init(const struct device *dev)
	{
	struct iis328dq_data *iis328dq = dev->data;
	const struct iis328dq_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t reg_value;

	iis328dq->dev = dev;

	/* check chip ID */
	if (iis328dq_device_id_get(ctx, &reg_value) < 0) {
	return -EIO;
	}

	if (reg_value != IIS328DQ_ID) {
	LOG_ERR("Invalid chip ID");
	return -EINVAL;
	}

	/* reset device */
	if (iis328dq_boot_set(ctx, PROPERTY_ENABLE) < 0) {
	return -EIO;
	}

	k_sleep(K_MSEC(100));

	if (iis328dq_boot_get(ctx, &reg_value) < 0) {
	return -EIO;
	}
	if (reg_value != PROPERTY_DISABLE) {
	LOG_ERR("BOOT did not deassert");
	return -EIO;
	}

	if (iis328dq_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
	return -EIO;
	}

	/* set default odr to 12.5Hz acc */
	if (iis328dq_set_odr(dev, 12) < 0) {
	LOG_ERR("odr init error (12.5 Hz)");
	return -EIO;
	}

	if (iis328dq_set_range(dev, cfg->range) < 0) {
	LOG_ERR("range init error %d", cfg->range);
	return -EIO;
	}

	#ifdef CONFIG_IIS328DQ_TRIGGER
	if (iis328dq_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupts");
	return -EIO;
	}
	#endif /* CONFIG_IIS328DQ_TRIGGER */

	return 0;
	}

	/*
	* Device creation macro, shared by IIS328DQ_DEFINE_SPI() and
	* IIS328DQ_DEFINE_I2C().
	*/

	#define IIS328DQ_DEVICE_INIT(inst) \
	SENSOR_DEVICE_DT_INST_DEFINE(inst, iis328dq_init, NULL, &iis328dq_data_##inst, \
	&iis328dq_config_##inst, POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, &iis328dq_driver_api);

	#ifdef CONFIG_IIS328DQ_TRIGGER
	#ifdef CONFIG_IIS328DQ_THRESHOLD
	#define IIS328DQ_CFG_IRQ_THRESHOLD(inst) \
	.threshold_pad = DT_INST_PROP_OR(inst, threshold_int_pad, -1),
	#else
	#define IIS328DQ_CFG_IRQ_THRESHOLD(inst)
	#endif /* CONFIG_IIS328DQ_THRESHOLD */

	#define IIS328DQ_CFG_IRQ(inst) \
	.gpio_int1 = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, {0}), \
	.gpio_int2 = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, {0}), \
	.drdy_pad = DT_INST_PROP_OR(inst, drdy_int_pad, -1), IIS328DQ_CFG_IRQ_THRESHOLD(inst)
	#else
	#define IIS328DQ_CFG_IRQ(inst)
	#endif /* CONFIG_IIS328DQ_TRIGGER */

	#define IIS328DQ_CONFIG_COMMON(inst) \
	.range = DT_INST_PROP(inst, range), \
	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \
	DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \
	(IIS328DQ_CFG_IRQ(inst)))

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

	#define IIS328DQ_SPI_OPERATION \
	(SPI_WORD_SET(8) \| SPI_OP_MODE_MASTER \| SPI_MODE_CPOL \| SPI_MODE_CPHA)

	#define IIS328DQ_CONFIG_SPI(inst) \
	{ \
	STMEMSC_CTX_SPI_INCR(&iis328dq_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = \
	{ \
	.spi = SPI_DT_SPEC_INST_GET(inst, IIS328DQ_SPI_OPERATION, \
	0), \
	}, \
	IIS328DQ_CONFIG_COMMON(inst) \
	}

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

	#define IIS328DQ_CONFIG_I2C(inst) \
	{ \
	STMEMSC_CTX_I2C_INCR(&iis328dq_config_##inst.stmemsc_cfg), \
	.stmemsc_cfg = \
	{ \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	IIS328DQ_CONFIG_COMMON(inst) \
	}

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

	#define IIS328DQ_DEFINE(inst) \
	static struct iis328dq_data iis328dq_data_##inst; \
	static const struct iis328dq_config iis328dq_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), (IIS328DQ_CONFIG_SPI(inst)), \
	(IIS328DQ_CONFIG_I2C(inst))); \
	IIS328DQ_DEVICE_INIT(inst) \
	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad), \
	(BUILD_ASSERT( \
	DT_INST_NODE_HAS_PROP( \
	inst, CONCAT(int, DT_INST_PROP(inst, drdy_int_pad), _gpios)), \
	"No GPIO pin defined for IIS328DQ DRDY interrupt");)) \
	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, threshold_int_pad), \
	(BUILD_ASSERT(DT_INST_NODE_HAS_PROP( \
	inst, CONCAT(int, DT_INST_PROP(inst, threshold_int_pad), \
	_gpios)), \
	"No GPIO pin defined for IIS328DQ threshold interrupt");)) \
	IF_ENABLED( \
	UTIL_AND(DT_INST_NODE_HAS_PROP(inst, drdy_int_pad), \
	DT_INST_NODE_HAS_PROP(inst, threshold_int_pad)), \
	(BUILD_ASSERT( \
	DT_INST_PROP(inst, drdy_int_pad) != \
	DT_INST_PROP(inst, threshold_int_pad), \
	"IIS328DQ DRDY interrupt and threshold interrupt cannot share a pin");))

	DT_INST_FOREACH_STATUS_OKAY(IIS328DQ_DEFINE)