| /* ST Microelectronics LIS2MDL 3-axis magnetometer sensor |
| * |
| * Copyright (c) 2018-2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2mdl.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2mdl |
| |
| #include <init.h> |
| #include <sys/__assert.h> |
| #include <sys/byteorder.h> |
| #include <drivers/sensor.h> |
| #include <string.h> |
| #include <logging/log.h> |
| #include "lis2mdl.h" |
| |
| /* Based on the data sheet, the maximum turn-on time is ("9.4 ms + 1/ODR") when |
| * offset cancellation is on. But in the single mode the ODR is not dependent on |
| * the configured value in Reg A. It is dependent on the frequency of the I2C |
| * signal. The slowest value we could measure by I2C frequency of 100000HZ was |
| * 13 ms. So we chose 20 ms. |
| */ |
| #define SAMPLE_FETCH_TIMEOUT_MS 20 |
| |
| struct lis2mdl_data lis2mdl_data; |
| |
| LOG_MODULE_REGISTER(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL); |
| |
| #ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME |
| static int lis2mdl_set_odr(const struct device *dev, |
| const struct sensor_value *val) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| lis2mdl_odr_t odr; |
| |
| switch (val->val1) { |
| case 10: |
| odr = LIS2MDL_ODR_10Hz; |
| break; |
| case 20: |
| odr = LIS2MDL_ODR_20Hz; |
| break; |
| case 50: |
| odr = LIS2MDL_ODR_50Hz; |
| break; |
| case 100: |
| odr = LIS2MDL_ODR_100Hz; |
| break; |
| default: |
| return -EINVAL; |
| } |
| |
| if (lis2mdl_data_rate_set(lis2mdl->ctx, odr)) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */ |
| |
| static int lis2mdl_set_hard_iron(const struct device *dev, |
| enum sensor_channel chan, |
| const struct sensor_value *val) |
| { |
| struct lis2mdl_data *lis2mdl = 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 lis2mdl_mag_user_offset_set(lis2mdl->ctx, offset); |
| } |
| |
| static void lis2mdl_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 lis2mdl_data *lis2mdl = 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 = lis2mdl->mag[i] * 1500; |
| pval->val1 = cval / 1000000; |
| pval->val2 = cval % 1000000; |
| pval++; |
| } |
| } |
| |
| /* read internal temperature */ |
| static void lis2mdl_channel_get_temp(const struct device *dev, |
| struct sensor_value *val) |
| { |
| struct lis2mdl_data *drv_data = dev->data; |
| |
| val->val1 = drv_data->temp_sample / 100; |
| val->val2 = (drv_data->temp_sample % 100) * 10000; |
| } |
| |
| static int lis2mdl_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: |
| lis2mdl_channel_get_mag(dev, chan, val); |
| break; |
| case SENSOR_CHAN_DIE_TEMP: |
| lis2mdl_channel_get_temp(dev, val); |
| break; |
| default: |
| LOG_ERR("Channel not supported"); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2mdl_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lis2mdl_set_odr(dev, val); |
| #endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */ |
| case SENSOR_ATTR_OFFSET: |
| return lis2mdl_set_hard_iron(dev, chan, val); |
| default: |
| LOG_ERR("Mag attribute not supported"); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2mdl_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 lis2mdl_config(dev, chan, attr, val); |
| default: |
| LOG_ERR("attr_set() not supported on %d channel", chan); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int get_single_mode_raw_data(const struct device *dev, |
| int16_t *raw_mag) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| int rc = 0; |
| |
| rc = lis2mdl_operating_mode_set(lis2mdl->ctx, LIS2MDL_SINGLE_TRIGGER); |
| if (rc) { |
| LOG_ERR("set single mode failed"); |
| return rc; |
| } |
| |
| if (k_sem_take(&lis2mdl->fetch_sem, K_MSEC(SAMPLE_FETCH_TIMEOUT_MS))) { |
| LOG_ERR("Magnetometer data not ready within %d ms", |
| SAMPLE_FETCH_TIMEOUT_MS); |
| return -EIO; |
| } |
| |
| /* fetch raw data sample */ |
| rc = lis2mdl_magnetic_raw_get(lis2mdl->ctx, raw_mag); |
| if (rc) { |
| LOG_ERR("Failed to read sample"); |
| return rc; |
| } |
| return 0; |
| } |
| |
| static int lis2mdl_sample_fetch_mag(const struct device *dev) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| const struct lis2mdl_config *const config = dev->config; |
| int16_t raw_mag[3]; |
| int rc = 0; |
| |
| if (config->single_mode) { |
| rc = get_single_mode_raw_data(dev, raw_mag); |
| if (rc) { |
| LOG_ERR("Failed to read raw data"); |
| return rc; |
| } |
| lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]); |
| lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]); |
| lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]); |
| |
| if (config->cancel_offset) { |
| /* The second measurement is needed when offset |
| * cancellation is enabled in the single mode. Then the |
| * average of the first measurement done above and this |
| * one would be the final value. This process is not |
| * needed in continuous mode since it has beed taken |
| * care by lis2mdl itself automatically. Please refer |
| * to the application note for more details. |
| */ |
| rc = get_single_mode_raw_data(dev, raw_mag); |
| if (rc) { |
| LOG_ERR("Failed to read raw data"); |
| return rc; |
| } |
| lis2mdl->mag[0] += sys_le16_to_cpu(raw_mag[0]); |
| lis2mdl->mag[1] += sys_le16_to_cpu(raw_mag[1]); |
| lis2mdl->mag[2] += sys_le16_to_cpu(raw_mag[2]); |
| lis2mdl->mag[0] /= 2; |
| lis2mdl->mag[1] /= 2; |
| lis2mdl->mag[2] /= 2; |
| } |
| |
| } else { |
| /* fetch raw data sample */ |
| rc = lis2mdl_magnetic_raw_get(lis2mdl->ctx, raw_mag); |
| if (rc) { |
| LOG_ERR("Failed to read sample"); |
| return rc; |
| } |
| lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag[0]); |
| lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag[1]); |
| lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag[2]); |
| } |
| return 0; |
| } |
| |
| static int lis2mdl_sample_fetch_temp(const struct device *dev) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| int16_t raw_temp; |
| int32_t temp; |
| |
| /* fetch raw temperature sample */ |
| if (lis2mdl_temperature_raw_get(lis2mdl->ctx, &raw_temp) < 0) { |
| LOG_ERR("Failed to read sample"); |
| return -EIO; |
| } |
| |
| /* formula is temp = 25 + (temp / 8) C */ |
| temp = (sys_le16_to_cpu(raw_temp) & 0x8FFF); |
| lis2mdl->temp_sample = 2500 + (temp * 100) / 8; |
| |
| return 0; |
| } |
| |
| static int lis2mdl_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: |
| lis2mdl_sample_fetch_mag(dev); |
| break; |
| case SENSOR_CHAN_DIE_TEMP: |
| lis2mdl_sample_fetch_temp(dev); |
| break; |
| case SENSOR_CHAN_ALL: |
| lis2mdl_sample_fetch_mag(dev); |
| lis2mdl_sample_fetch_temp(dev); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api lis2mdl_driver_api = { |
| .attr_set = lis2mdl_attr_set, |
| #if CONFIG_LIS2MDL_TRIGGER |
| .trigger_set = lis2mdl_trigger_set, |
| #endif |
| .sample_fetch = lis2mdl_sample_fetch, |
| .channel_get = lis2mdl_channel_get, |
| }; |
| |
| static int lis2mdl_init_interface(const struct device *dev) |
| { |
| const struct lis2mdl_config *const config = dev->config; |
| struct lis2mdl_data *lis2mdl = dev->data; |
| |
| lis2mdl->bus = device_get_binding(config->master_dev_name); |
| if (!lis2mdl->bus) { |
| LOG_ERR("Could not get pointer to %s device", |
| config->master_dev_name); |
| return -EINVAL; |
| } |
| |
| return config->bus_init(dev); |
| } |
| |
| static const struct lis2mdl_config lis2mdl_dev_config = { |
| .master_dev_name = DT_INST_BUS_LABEL(0), |
| .single_mode = DT_INST_PROP(0, single_mode), |
| .cancel_offset = DT_INST_PROP(0, cancel_offset), |
| |
| #ifdef CONFIG_LIS2MDL_TRIGGER |
| .gpio_name = DT_INST_GPIO_LABEL(0, irq_gpios), |
| .gpio_pin = DT_INST_GPIO_PIN(0, irq_gpios), |
| .gpio_flags = DT_INST_GPIO_FLAGS(0, irq_gpios), |
| #endif /* CONFIG_LIS2MDL_TRIGGER */ |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| .bus_init = lis2mdl_spi_init, |
| .spi_conf.frequency = DT_INST_PROP(0, spi_max_frequency), |
| .spi_conf.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL | |
| SPI_MODE_CPHA | SPI_WORD_SET(8) | |
| SPI_LINES_SINGLE), |
| .spi_conf.slave = DT_INST_REG_ADDR(0), |
| #if DT_INST_SPI_DEV_HAS_CS_GPIOS(0) |
| .gpio_cs_port = DT_INST_SPI_DEV_CS_GPIOS_LABEL(0), |
| .cs_gpio = DT_INST_SPI_DEV_CS_GPIOS_PIN(0), |
| .cs_gpio_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(0), |
| |
| .spi_conf.cs = &lis2mdl_data.cs_ctrl, |
| #else |
| .spi_conf.cs = NULL, |
| #endif |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| .bus_init = lis2mdl_i2c_init, |
| .i2c_slv_addr = DT_INST_REG_ADDR(0), |
| #else |
| #error "BUS MACRO NOT DEFINED IN DTS" |
| #endif |
| }; |
| |
| static int lis2mdl_init(const struct device *dev) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| const struct lis2mdl_config *const config = dev->config; |
| uint8_t wai; |
| int rc = 0; |
| |
| lis2mdl->dev = dev; |
| |
| if (lis2mdl_init_interface(dev)) { |
| return -EINVAL; |
| } |
| |
| /* check chip ID */ |
| if (lis2mdl_device_id_get(lis2mdl->ctx, &wai) < 0) { |
| return -EIO; |
| } |
| |
| if (wai != LIS2MDL_ID) { |
| LOG_ERR("Invalid chip ID: %02x", wai); |
| return -EINVAL; |
| } |
| |
| /* reset sensor configuration */ |
| if (lis2mdl_reset_set(lis2mdl->ctx, PROPERTY_ENABLE) < 0) { |
| LOG_ERR("s/w reset failed"); |
| return -EIO; |
| } |
| |
| k_busy_wait(100); |
| |
| #if CONFIG_LIS2MDL_SPI_FULL_DUPLEX |
| /* After s/w reset set SPI 4wires again if the case */ |
| if (lis2mdl_spi_mode_set(lis2mdl->ctx, LIS2MDL_SPI_4_WIRE) < 0) { |
| return -EIO; |
| } |
| #endif |
| |
| /* enable BDU */ |
| if (lis2mdl_block_data_update_set(lis2mdl->ctx, PROPERTY_ENABLE) < 0) { |
| LOG_ERR("setting bdu failed"); |
| return -EIO; |
| } |
| |
| /* Set Output Data Rate */ |
| if (lis2mdl_data_rate_set(lis2mdl->ctx, LIS2MDL_ODR_10Hz)) { |
| LOG_ERR("set odr failed"); |
| return -EIO; |
| } |
| |
| if (config->cancel_offset) { |
| /* Set offset cancellation, common for both single and |
| * and continuous mode. |
| */ |
| if (lis2mdl_set_rst_mode_set(lis2mdl->ctx, |
| LIS2MDL_SENS_OFF_CANC_EVERY_ODR)) { |
| LOG_ERR("reset sensor mode failed"); |
| return -EIO; |
| } |
| } |
| |
| /* Enable temperature compensation */ |
| if (lis2mdl_offset_temp_comp_set(lis2mdl->ctx, PROPERTY_ENABLE)) { |
| LOG_ERR("enable temp compensation failed"); |
| return -EIO; |
| } |
| |
| if (config->cancel_offset && config->single_mode) { |
| /* Set OFF_CANC_ONE_SHOT bit. This setting is only needed in |
| * the single-mode when offset cancellation is enabled. |
| */ |
| rc = lis2mdl_set_rst_sensor_single_set(lis2mdl->ctx, |
| PROPERTY_ENABLE); |
| if (rc) { |
| LOG_ERR("Set offset cancelaltion failed"); |
| return rc; |
| } |
| } |
| |
| if (config->single_mode) { |
| /* Set drdy on pin 7 */ |
| rc = lis2mdl_drdy_on_pin_set(lis2mdl->ctx, 1); |
| if (rc) { |
| LOG_ERR("set drdy on pin failed!"); |
| return rc; |
| } |
| |
| /* Reboot sensor after setting the configuration registers */ |
| rc = lis2mdl_boot_set(lis2mdl->ctx, 1); |
| if (rc) { |
| LOG_ERR("Reboot failed."); |
| return rc; |
| } |
| |
| k_sem_init(&lis2mdl->fetch_sem, 0, 1); |
| |
| } else { |
| /* Set device in continuous mode */ |
| rc = lis2mdl_operating_mode_set(lis2mdl->ctx, |
| LIS2MDL_CONTINUOUS_MODE); |
| if (rc) { |
| LOG_ERR("set continuos mode failed"); |
| return rc; |
| } |
| } |
| |
| #ifdef CONFIG_PM_DEVICE |
| lis2mdl->power_state = PM_DEVICE_STATE_ACTIVE; |
| #endif |
| |
| #ifdef CONFIG_LIS2MDL_TRIGGER |
| if (lis2mdl_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupts"); |
| return -EIO; |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| #ifdef CONFIG_PM_DEVICE |
| static int lis2mdl_set_power_state(struct lis2mdl_data *lis2mdl, |
| const struct lis2mdl_config *const config, |
| uint32_t new_state) |
| { |
| int status = 0; |
| |
| if (new_state == PM_DEVICE_STATE_ACTIVE) { |
| if (config->single_mode) { |
| status = lis2mdl_operating_mode_set(lis2mdl->ctx, |
| LIS2MDL_SINGLE_TRIGGER); |
| } else { |
| status = lis2mdl_operating_mode_set(lis2mdl->ctx, |
| LIS2MDL_CONTINUOUS_MODE); |
| } |
| if (status) { |
| LOG_ERR("Power up failed"); |
| } |
| lis2mdl->power_state = PM_DEVICE_STATE_ACTIVE; |
| LOG_DBG("State changed to active"); |
| } else { |
| __ASSERT_NO_MSG(new_state == PM_DEVICE_STATE_LOW_POWER || |
| new_state == PM_DEVICE_STATE_SUSPEND || |
| new_state == PM_DEVICE_STATE_OFF); |
| status = lis2mdl_operating_mode_set(lis2mdl->ctx, |
| LIS2MDL_POWER_DOWN); |
| if (status) { |
| LOG_ERR("Power down failed"); |
| } |
| lis2mdl->power_state = new_state; |
| LOG_DBG("State changed to inactive"); |
| } |
| |
| return status; |
| } |
| |
| static int lis2mdl_pm_control(const struct device *dev, uint32_t ctrl_command, |
| uint32_t *state, pm_device_cb cb, void *arg) |
| { |
| struct lis2mdl_data *lis2mdl = dev->data; |
| const struct lis2mdl_config *const config = dev->config; |
| uint32_t current_state = lis2mdl->power_state; |
| int status = 0; |
| uint32_t new_state; |
| |
| switch (ctrl_command) { |
| case PM_DEVICE_STATE_SET: |
| new_state = *state; |
| if (new_state != current_state) { |
| status = lis2mdl_set_power_state(lis2mdl, config, |
| new_state); |
| } |
| break; |
| case PM_DEVICE_STATE_GET: |
| *state = current_state; |
| break; |
| default: |
| LOG_ERR("Got unknown power management control command"); |
| status = -EINVAL; |
| } |
| |
| if (cb) { |
| cb(dev, status, state, arg); |
| } |
| |
| return status; |
| } |
| #endif /* CONFIG_PM_DEVICE */ |
| |
| DEVICE_DT_INST_DEFINE(0, lis2mdl_init, |
| lis2mdl_pm_control, &lis2mdl_data, &lis2mdl_dev_config, |
| POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &lis2mdl_driver_api); |