| /* ST Microelectronics LIS2DUX12 3-axis accelerometer driver |
| * |
| * Copyright (c) 2024 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2dux12.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2dux12 |
| |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/kernel.h> |
| #include <zephyr/device.h> |
| #include <zephyr/init.h> |
| #include <string.h> |
| #include <zephyr/sys/byteorder.h> |
| #include <zephyr/sys/__assert.h> |
| #include <zephyr/sys/util_macro.h> |
| #include <zephyr/logging/log.h> |
| #include <zephyr/dt-bindings/sensor/lis2dux12.h> |
| |
| #include "lis2dux12.h" |
| |
| LOG_MODULE_REGISTER(LIS2DUX12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static int lis2dux12_set_odr(const struct device *dev, uint8_t odr) |
| { |
| const struct lis2dux12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| lis2dux12_md_t mode = {.odr = odr}; |
| |
| return lis2dux12_mode_set(ctx, &mode); |
| } |
| |
| static int lis2dux12_set_range(const struct device *dev, uint8_t range) |
| { |
| int err; |
| struct lis2dux12_data *data = dev->data; |
| const struct lis2dux12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| lis2dux12_md_t val = { .odr = cfg->odr, .fs = range }; |
| |
| err = lis2dux12_mode_set(ctx, &val); |
| |
| if (err) { |
| return err; |
| } |
| |
| switch (range) { |
| default: |
| LOG_ERR("range [%d] not supported.", range); |
| return -EINVAL; |
| case LIS2DUX12_DT_FS_2G: |
| data->gain = lis2dux12_from_fs2g_to_mg(1); |
| break; |
| case LIS2DUX12_DT_FS_4G: |
| data->gain = lis2dux12_from_fs4g_to_mg(1); |
| break; |
| case LIS2DUX12_DT_FS_8G: |
| data->gain = lis2dux12_from_fs8g_to_mg(1); |
| break; |
| case LIS2DUX12_DT_FS_16G: |
| data->gain = lis2dux12_from_fs16g_to_mg(1); |
| break; |
| } |
| |
| return 0; |
| } |
| |
| #define FOREACH_ODR_ENUM(ODR_VAL) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_OFF, 0.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_1Hz_ULP, 1.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_3Hz_ULP, 3.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_25Hz_ULP, 25.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_6Hz, 6.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_12Hz5, 12.50f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_25Hz, 25.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_50Hz, 50.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_100Hz, 100.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_200Hz, 200.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_400Hz, 400.0f) \ |
| ODR_VAL(LIS2DUX12_DT_ODR_800Hz, 800.0f) |
| |
| #define GENERATE_VAL(ENUM, VAL) VAL, |
| |
| static const float lis2dux12_odr_map[LIS2DUX12_DT_ODR_END] = {FOREACH_ODR_ENUM(GENERATE_VAL)}; |
| |
| static int lis2dux12_freq_to_odr_val(const struct device *dev, uint16_t freq) |
| { |
| const struct lis2dux12_config *cfg = dev->config; |
| |
| /* constrain loop to prevent erroneous power mode/odr combinations */ |
| size_t i = (cfg->pm != LIS2DUX12_OPER_MODE_LOW_POWER) ? LIS2DUX12_DT_ODR_6Hz |
| : LIS2DUX12_DT_ODR_1Hz_ULP; |
| size_t len = (cfg->pm != LIS2DUX12_OPER_MODE_LOW_POWER) ? LIS2DUX12_DT_ODR_END |
| : LIS2DUX12_DT_ODR_6Hz; |
| |
| while (i < len) { |
| if (freq <= lis2dux12_odr_map[i]) { |
| return i; |
| } |
| ++i; |
| } |
| |
| return -EINVAL; |
| } |
| |
| static int lis2dux12_accel_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, const struct sensor_value *val) |
| { |
| int odr_val; |
| |
| switch (attr) { |
| case SENSOR_ATTR_FULL_SCALE: |
| return lis2dux12_set_range(dev, sensor_ms2_to_g(val)); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| odr_val = lis2dux12_freq_to_odr_val(dev, val->val1); |
| if (odr_val < 0) { |
| LOG_ERR("%d Hz not supported or wrong operating mode.", val->val1); |
| return odr_val; |
| } |
| |
| LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1); |
| |
| return lis2dux12_set_odr(dev, odr_val); |
| default: |
| LOG_ERR("Accel attribute not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2dux12_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_XYZ: |
| return lis2dux12_accel_config(dev, chan, attr, val); |
| default: |
| LOG_ERR("attr_set() not supported on this channel."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2dux12_sample_fetch_accel(const struct device *dev) |
| { |
| struct lis2dux12_data *data = dev->data; |
| const struct lis2dux12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| /* fetch raw data sample */ |
| lis2dux12_md_t mode = {.fs = cfg->range}; |
| lis2dux12_xl_data_t xzy_data = {0}; |
| |
| if (lis2dux12_xl_data_get(ctx, &mode, &xzy_data) < 0) { |
| LOG_ERR("Failed to fetch raw data sample"); |
| return -EIO; |
| } |
| |
| data->sample_x = sys_le16_to_cpu(xzy_data.raw[0]); |
| data->sample_y = sys_le16_to_cpu(xzy_data.raw[1]); |
| data->sample_z = sys_le16_to_cpu(xzy_data.raw[2]); |
| |
| return 0; |
| } |
| |
| #ifdef CONFIG_LIS2DUX12_ENABLE_TEMP |
| static int lis2dux12_sample_fetch_temp(const struct device *dev) |
| { |
| struct lis2dux12_data *data = dev->data; |
| const struct lis2dux12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| /* fetch raw data sample */ |
| lis2dux12_md_t mode; |
| lis2dux12_outt_data_t temp_data = {0}; |
| |
| if (lis2dux12_outt_data_get(ctx, &mode, &temp_data) < 0) { |
| LOG_ERR("Failed to fetch raw temperature data sample"); |
| return -EIO; |
| } |
| |
| data->sample_temp = sys_le16_to_cpu(temp_data.heat.raw); |
| |
| return 0; |
| } |
| #endif |
| |
| static int lis2dux12_sample_fetch(const struct device *dev, enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2dux12_sample_fetch_accel(dev); |
| break; |
| #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| lis2dux12_sample_fetch_temp(dev); |
| break; |
| #endif |
| case SENSOR_CHAN_ALL: |
| lis2dux12_sample_fetch_accel(dev); |
| #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP) |
| lis2dux12_sample_fetch_temp(dev); |
| #endif |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lis2dux12_convert(struct sensor_value *val, int raw_val, float gain) |
| { |
| int64_t dval; |
| |
| /* Gain is in mg/LSB */ |
| /* Convert to m/s^2 */ |
| dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000; |
| val->val1 = dval / 1000000LL; |
| val->val2 = dval % 1000000LL; |
| } |
| |
| static inline int lis2dux12_get_channel(enum sensor_channel chan, struct sensor_value *val, |
| struct lis2dux12_data *data, float gain) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| lis2dux12_convert(val, data->sample_x, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| lis2dux12_convert(val, data->sample_y, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| lis2dux12_convert(val, data->sample_z, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2dux12_convert(val, data->sample_x, gain); |
| lis2dux12_convert(val + 1, data->sample_y, gain); |
| lis2dux12_convert(val + 2, data->sample_z, gain); |
| break; |
| #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| sensor_value_from_double(val, data->sample_temp); |
| break; |
| #endif |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2dux12_channel_get(const struct device *dev, enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lis2dux12_data *data = dev->data; |
| |
| return lis2dux12_get_channel(chan, val, data, data->gain); |
| } |
| |
| static const struct sensor_driver_api lis2dux12_driver_api = { |
| .attr_set = lis2dux12_attr_set, |
| #if defined(CONFIG_LIS2DUX12_TRIGGER) |
| .trigger_set = lis2dux12_trigger_set, |
| #endif |
| .sample_fetch = lis2dux12_sample_fetch, |
| .channel_get = lis2dux12_channel_get, |
| }; |
| |
| static int lis2dux12_init(const struct device *dev) |
| { |
| const struct lis2dux12_config *const cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| uint8_t chip_id; |
| int ret; |
| |
| lis2dux12_exit_deep_power_down(ctx); |
| k_busy_wait(25000); |
| |
| /* check chip ID */ |
| ret = lis2dux12_device_id_get(ctx, &chip_id); |
| if (ret < 0) { |
| LOG_ERR("%s: Not able to read dev id", dev->name); |
| return ret; |
| } |
| |
| if (chip_id != LIS2DUX12_ID) { |
| LOG_ERR("%s: Invalid chip ID 0x%02x", dev->name, chip_id); |
| return -EINVAL; |
| } |
| |
| /* reset device */ |
| ret = lis2dux12_init_set(ctx, LIS2DUX12_RESET); |
| if (ret < 0) { |
| return ret; |
| } |
| |
| k_busy_wait(100); |
| |
| LOG_INF("%s: chip id 0x%x", dev->name, chip_id); |
| |
| /* Set bdu and if_inc recommended for driver usage */ |
| lis2dux12_init_set(ctx, LIS2DUX12_SENSOR_ONLY_ON); |
| |
| lis2dux12_timestamp_set(ctx, PROPERTY_ENABLE); |
| |
| #ifdef CONFIG_LIS2DUX12_TRIGGER |
| if (cfg->trig_enabled) { |
| ret = lis2dux12_trigger_init(dev); |
| if (ret < 0) { |
| LOG_ERR("%s: Failed to initialize triggers", dev->name); |
| return ret; |
| } |
| } |
| #endif |
| |
| /* set sensor default pm and odr */ |
| LOG_DBG("%s: pm: %d, odr: %d", dev->name, cfg->pm, cfg->odr); |
| lis2dux12_md_t mode = { |
| .odr = cfg->odr, |
| .fs = cfg->range, |
| }; |
| ret = lis2dux12_mode_set(ctx, &mode); |
| if (ret < 0) { |
| LOG_ERR("%s: odr init error (12.5 Hz)", dev->name); |
| return ret; |
| } |
| |
| /* set sensor default scale (used to convert sample values) */ |
| LOG_DBG("%s: range is %d", dev->name, cfg->range); |
| ret = lis2dux12_set_range(dev, cfg->range); |
| if (ret < 0) { |
| LOG_ERR("%s: range init error %d", dev->name, cfg->range); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| /* |
| * Device creation macro, shared by LIS2DUX12_DEFINE_SPI() and |
| * LIS2DUX12_DEFINE_I2C(). |
| */ |
| |
| #define LIS2DUX12_DEVICE_INIT(inst) \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, lis2dux12_init, NULL, &lis2dux12_data_##inst, \ |
| &lis2dux12_config_##inst, POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, &lis2dux12_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #ifdef CONFIG_LIS2DUX12_TRIGGER |
| #define LIS2DUX12_CFG_IRQ(inst) \ |
| .trig_enabled = true, \ |
| .int1_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, {0}), \ |
| .int2_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, {0}), \ |
| .drdy_pin = DT_INST_PROP(inst, drdy_pin), |
| #else |
| #define LIS2DUX12_CFG_IRQ(inst) |
| #endif /* CONFIG_LIS2DUX12_TRIGGER */ |
| |
| #define LIS2DUX12_SPI_OPERATION \ |
| (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA) |
| |
| #define LIS2DUX12_CONFIG_SPI(inst) \ |
| { \ |
| STMEMSC_CTX_SPI(&lis2dux12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, LIS2DUX12_SPI_OPERATION, 0), \ |
| }, \ |
| .range = DT_INST_PROP(inst, range), \ |
| .pm = DT_INST_PROP(inst, power_mode), \ |
| .odr = DT_INST_PROP(inst, odr), \ |
| IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \ |
| DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \ |
| (LIS2DUX12_CFG_IRQ(inst))) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define LIS2DUX12_CONFIG_I2C(inst) \ |
| { \ |
| STMEMSC_CTX_I2C(&lis2dux12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| }, \ |
| .range = DT_INST_PROP(inst, range), \ |
| .pm = DT_INST_PROP(inst, power_mode), \ |
| .odr = DT_INST_PROP(inst, odr), \ |
| IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \ |
| DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \ |
| (LIS2DUX12_CFG_IRQ(inst))) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define LIS2DUX12_DEFINE(inst) \ |
| static struct lis2dux12_data lis2dux12_data_##inst; \ |
| static const struct lis2dux12_config lis2dux12_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), (LIS2DUX12_CONFIG_SPI(inst)), \ |
| (LIS2DUX12_CONFIG_I2C(inst))); \ |
| LIS2DUX12_DEVICE_INIT(inst) |
| |
| DT_INST_FOREACH_STATUS_OKAY(LIS2DUX12_DEFINE) |