| /* ST Microelectronics IIS3DHHC accelerometer senor |
| * |
| * Copyright (c) 2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis3dhhc.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis3dhhc |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/device.h> |
| #include <zephyr/init.h> |
| #include <zephyr/sys/byteorder.h> |
| #include <zephyr/sys/__assert.h> |
| #include <zephyr/logging/log.h> |
| |
| #include "iis3dhhc.h" |
| |
| LOG_MODULE_REGISTER(IIS3DHHC, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static int iis3dhhc_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| struct iis3dhhc_data *data = dev->data; |
| int16_t raw_accel[3]; |
| |
| __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL); |
| |
| iis3dhhc_acceleration_raw_get(data->ctx, raw_accel); |
| data->acc[0] = sys_le16_to_cpu(raw_accel[0]); |
| data->acc[1] = sys_le16_to_cpu(raw_accel[1]); |
| data->acc[2] = sys_le16_to_cpu(raw_accel[2]); |
| |
| return 0; |
| } |
| |
| static inline void iis3dhhc_convert(struct sensor_value *val, |
| int16_t raw_val) |
| { |
| int64_t micro_ms2; |
| |
| /* Convert to m/s^2 */ |
| micro_ms2 = ((iis3dhhc_from_lsb_to_mg(raw_val) * SENSOR_G) / 1000LL); |
| val->val1 = micro_ms2 / 1000000LL; |
| val->val2 = micro_ms2 % 1000000LL; |
| } |
| |
| static inline void iis3dhhc_channel_get_acc(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| int i; |
| uint8_t ofs_start, ofs_stop; |
| struct iis3dhhc_data *iis3dhhc = 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++) { |
| iis3dhhc_convert(pval++, iis3dhhc->acc[i]); |
| } |
| } |
| |
| static int iis3dhhc_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: |
| iis3dhhc_channel_get_acc(dev, chan, val); |
| return 0; |
| default: |
| LOG_DBG("Channel not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis3dhhc_odr_set(const struct device *dev, |
| const struct sensor_value *val) |
| { |
| struct iis3dhhc_data *data = dev->data; |
| iis3dhhc_norm_mod_en_t en; |
| |
| switch (val->val1) { |
| case 0: |
| en = IIS3DHHC_POWER_DOWN; |
| break; |
| case 1000: |
| en = IIS3DHHC_1kHz1; |
| break; |
| default: |
| return -EIO; |
| } |
| |
| if (iis3dhhc_data_rate_set(data->ctx, en)) { |
| LOG_DBG("failed to set sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int iis3dhhc_attr_set(const struct device *dev, |
| enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| if (chan != SENSOR_CHAN_ALL) { |
| LOG_WRN("attr_set() not supported on this channel."); |
| return -ENOTSUP; |
| } |
| |
| switch (attr) { |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return iis3dhhc_odr_set(dev, val); |
| default: |
| LOG_DBG("operation not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api iis3dhhc_api_funcs = { |
| .attr_set = iis3dhhc_attr_set, |
| .sample_fetch = iis3dhhc_sample_fetch, |
| .channel_get = iis3dhhc_channel_get, |
| #if CONFIG_IIS3DHHC_TRIGGER |
| .trigger_set = iis3dhhc_trigger_set, |
| #endif |
| }; |
| |
| static int iis3dhhc_init_chip(const struct device *dev) |
| { |
| struct iis3dhhc_data *data = dev->data; |
| uint8_t chip_id, rst; |
| |
| if (iis3dhhc_device_id_get(data->ctx, &chip_id) < 0) { |
| LOG_DBG("Failed reading chip id"); |
| return -EIO; |
| } |
| |
| if (chip_id != IIS3DHHC_ID) { |
| LOG_DBG("Invalid chip id 0x%x", chip_id); |
| return -EIO; |
| } |
| |
| /* |
| * Restore default configuration |
| */ |
| iis3dhhc_reset_set(data->ctx, PROPERTY_ENABLE); |
| do { |
| iis3dhhc_reset_get(data->ctx, &rst); |
| } while (rst); |
| |
| /* Enable Block Data Update */ |
| iis3dhhc_block_data_update_set(data->ctx, PROPERTY_ENABLE); |
| |
| /* Set Output Data Rate */ |
| #ifdef CONFIG_IIS3DHHC_NORM_MODE |
| iis3dhhc_data_rate_set(data->ctx, 1); |
| #else |
| iis3dhhc_data_rate_set(data->ctx, 0); |
| #endif |
| |
| /* Enable temperature compensation */ |
| iis3dhhc_offset_temp_comp_set(data->ctx, PROPERTY_ENABLE); |
| |
| return 0; |
| } |
| |
| static int iis3dhhc_init(const struct device *dev) |
| { |
| const struct iis3dhhc_config * const config = dev->config; |
| |
| if (!spi_is_ready(&config->spi)) { |
| LOG_ERR("SPI bus is not ready"); |
| return -ENODEV; |
| } |
| |
| config->bus_init(dev); |
| |
| if (iis3dhhc_init_chip(dev) < 0) { |
| LOG_DBG("Failed to initialize chip"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_IIS3DHHC_TRIGGER |
| if (iis3dhhc_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupt."); |
| return -EIO; |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| static struct iis3dhhc_data iis3dhhc_data; |
| |
| static const struct iis3dhhc_config iis3dhhc_config = { |
| #ifdef CONFIG_IIS3DHHC_TRIGGER |
| #ifdef CONFIG_IIS3DHHC_DRDY_INT1 |
| .int_gpio = GPIO_DT_SPEC_INST_GET_BY_IDX(0, irq_gpios, 0), |
| #else |
| .int_gpio = GPIO_DT_SPEC_INST_GET_BY_IDX(0, irq_gpios, 1), |
| #endif /* CONFIG_IIS3DHHC_DRDY_INT1 */ |
| #endif /* CONFIG_IIS3DHHC_TRIGGER */ |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| .bus_init = iis3dhhc_spi_init, |
| .spi = SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_MODE_CPOL | |
| SPI_MODE_CPHA | SPI_WORD_SET(8), 0U), |
| #else |
| #error "BUS MACRO NOT DEFINED IN DTS" |
| #endif |
| }; |
| |
| DEVICE_DT_INST_DEFINE(0, iis3dhhc_init, NULL, |
| &iis3dhhc_data, &iis3dhhc_config, POST_KERNEL, |
| CONFIG_SENSOR_INIT_PRIORITY, &iis3dhhc_api_funcs); |