| /* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver |
| * |
| * Copyright (c) 2023 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2du12.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2du12 |
| |
| #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/logging/log.h> |
| |
| #include "lis2du12.h" |
| |
| LOG_MODULE_REGISTER(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static const float lis2du12_odr_map[14] = { |
| 0.0f, 1.6f, 3.0f, 6.0f, 6.0f, 12.5f, 25.0f, |
| 50.0f, 100.0f, 200.0f, 400.0f, 800.0f, 0.0f, 0.0f}; |
| |
| static int lis2du12_freq_to_odr_val(const struct device *dev, uint16_t freq) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2du12_odr_map); i++) { |
| if (freq <= lis2du12_odr_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| static const uint16_t lis2du12_accel_fs_map[] = {2, 4, 8, 16}; |
| |
| static int lis2du12_accel_range_to_fs_val(int32_t range) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2du12_accel_fs_map); i++) { |
| if (range == lis2du12_accel_fs_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| static inline int lis2du12_reboot(const struct device *dev) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| lis2du12_status_t status; |
| uint8_t tries = 10; |
| |
| if (lis2du12_init_set(ctx, LIS2DU12_RESET) < 0) { |
| return -EIO; |
| } |
| |
| do { |
| if (!--tries) { |
| LOG_ERR("sw reset timed out"); |
| return -ETIMEDOUT; |
| } |
| k_usleep(50); |
| |
| if (lis2du12_status_get(ctx, &status) < 0) { |
| return -EIO; |
| } |
| } while (status.sw_reset != 0); |
| |
| if (lis2du12_init_set(ctx, LIS2DU12_DRV_RDY) < 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_accel_set_fs_raw(const struct device *dev, uint8_t fs) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2du12_data *data = dev->data; |
| lis2du12_md_t mode; |
| |
| if (lis2du12_mode_get(ctx, &mode) < 0) { |
| return -EIO; |
| } |
| |
| mode.fs = fs; |
| if (lis2du12_mode_set(ctx, &mode) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_fs = fs; |
| |
| return 0; |
| } |
| |
| static int lis2du12_accel_set_odr_raw(const struct device *dev, uint8_t odr) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2du12_data *data = dev->data; |
| lis2du12_md_t mode; |
| |
| if (lis2du12_mode_get(ctx, &mode) < 0) { |
| return -EIO; |
| } |
| |
| mode.odr = odr; |
| if (lis2du12_mode_set(ctx, &mode) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_freq = odr; |
| |
| return 0; |
| } |
| |
| static int lis2du12_accel_odr_set(const struct device *dev, uint16_t freq) |
| { |
| int odr; |
| |
| odr = lis2du12_freq_to_odr_val(dev, freq); |
| if (odr < 0) { |
| return odr; |
| } |
| |
| if (lis2du12_accel_set_odr_raw(dev, odr) < 0) { |
| LOG_ERR("failed to set accelerometer sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_accel_range_set(const struct device *dev, int32_t range) |
| { |
| int fs; |
| struct lis2du12_data *data = dev->data; |
| |
| fs = lis2du12_accel_range_to_fs_val(range); |
| if (fs < 0) { |
| return fs; |
| } |
| |
| if (lis2du12_accel_set_fs_raw(dev, fs) < 0) { |
| LOG_ERR("failed to set accelerometer full-scale"); |
| return -EIO; |
| } |
| |
| data->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2; |
| return 0; |
| } |
| |
| static int lis2du12_accel_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 lis2du12_accel_range_set(dev, sensor_ms2_to_g(val)); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lis2du12_accel_odr_set(dev, val->val1); |
| default: |
| LOG_WRN("Accel attribute %d not supported.", attr); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_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 lis2du12_accel_config(dev, chan, attr, val); |
| default: |
| LOG_WRN("attribute %d not supported on this channel.", chan); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_sample_fetch_accel(const struct device *dev) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2du12_data *data = dev->data; |
| lis2du12_data_t xl_data; |
| lis2du12_md_t md; |
| |
| md.fs = cfg->accel_range; |
| if (lis2du12_data_get(ctx, &md, &xl_data) < 0) { |
| LOG_ERR("Failed to read sample"); |
| return -EIO; |
| } |
| |
| data->acc[0] = xl_data.xl.raw[0]; |
| data->acc[1] = xl_data.xl.raw[1]; |
| data->acc[2] = xl_data.xl.raw[2]; |
| |
| return 0; |
| } |
| |
| static int lis2du12_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2du12_sample_fetch_accel(dev); |
| break; |
| case SENSOR_CHAN_ALL: |
| lis2du12_sample_fetch_accel(dev); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lis2du12_accel_convert(struct sensor_value *val, int raw_val, |
| uint32_t sensitivity) |
| { |
| int64_t dval; |
| |
| /* Sensitivity is exposed in ug/LSB */ |
| /* Convert to m/s^2 */ |
| dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE; |
| val->val1 = (int32_t)(dval / 1000000); |
| val->val2 = (int32_t)(dval % 1000000); |
| |
| } |
| |
| static inline int lis2du12_accel_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lis2du12_data *data, |
| uint32_t sensitivity) |
| { |
| uint8_t i; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| lis2du12_accel_convert(val, data->acc[0], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| lis2du12_accel_convert(val, data->acc[1], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| lis2du12_accel_convert(val, data->acc[2], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| for (i = 0; i < 3; i++) { |
| lis2du12_accel_convert(val++, data->acc[i], sensitivity); |
| } |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_accel_channel_get(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lis2du12_data *data) |
| { |
| return lis2du12_accel_get_channel(chan, val, data, data->acc_gain); |
| } |
| |
| static int lis2du12_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lis2du12_data *data = dev->data; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2du12_accel_channel_get(chan, val, data); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api lis2du12_driver_api = { |
| .attr_set = lis2du12_attr_set, |
| #if CONFIG_LIS2DU12_TRIGGER |
| .trigger_set = lis2du12_trigger_set, |
| #endif |
| .sample_fetch = lis2du12_sample_fetch, |
| .channel_get = lis2du12_channel_get, |
| }; |
| |
| static int lis2du12_init_chip(const struct device *dev) |
| { |
| const struct lis2du12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2du12_data *lis2du12 = dev->data; |
| lis2du12_id_t chip_id; |
| uint8_t odr, fs; |
| |
| if (lis2du12_id_get(ctx, &chip_id) < 0) { |
| LOG_ERR("Failed reading chip id"); |
| return -EIO; |
| } |
| |
| LOG_INF("chip id 0x%x", chip_id.whoami); |
| |
| if (chip_id.whoami != LIS2DU12_ID) { |
| LOG_ERR("Invalid chip id 0x%x", chip_id.whoami); |
| return -EIO; |
| } |
| |
| /* reboot device */ |
| if (lis2du12_reboot(dev) < 0) { |
| return -EIO; |
| } |
| |
| /* set FS from DT */ |
| fs = cfg->accel_range; |
| LOG_DBG("accel range is %d", fs); |
| if (lis2du12_accel_set_fs_raw(dev, fs) < 0) { |
| LOG_ERR("failed to set accelerometer range %d", fs); |
| return -EIO; |
| } |
| lis2du12->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2; |
| |
| /* set odr from DT (the only way to go in high performance) */ |
| odr = cfg->accel_odr; |
| LOG_DBG("accel odr is %d", odr); |
| if (lis2du12_accel_set_odr_raw(dev, odr) < 0) { |
| LOG_ERR("failed to set accelerometer odr %d", odr); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2du12_init(const struct device *dev) |
| { |
| #ifdef CONFIG_LIS2DU12_TRIGGER |
| const struct lis2du12_config *cfg = dev->config; |
| #endif |
| struct lis2du12_data *data = dev->data; |
| |
| LOG_INF("Initialize device %s", dev->name); |
| data->dev = dev; |
| |
| if (lis2du12_init_chip(dev) < 0) { |
| LOG_ERR("failed to initialize chip"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_LIS2DU12_TRIGGER |
| if (cfg->trig_enabled) { |
| if (lis2du12_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupt."); |
| return -EIO; |
| } |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| /* |
| * Device creation macro, shared by LIS2DU12_DEFINE_SPI() and |
| * LIS2DU12_DEFINE_I2C(). |
| */ |
| |
| #define LIS2DU12_DEVICE_INIT(inst) \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, \ |
| lis2du12_init, \ |
| NULL, \ |
| &lis2du12_data_##inst, \ |
| &lis2du12_config_##inst, \ |
| POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, \ |
| &lis2du12_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #ifdef CONFIG_LIS2DU12_TRIGGER |
| #define LIS2DU12_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_pulsed = DT_INST_PROP(inst, drdy_pulsed), \ |
| .drdy_pin = DT_INST_PROP(inst, drdy_pin) |
| #else |
| #define LIS2DU12_CFG_IRQ(inst) |
| #endif /* CONFIG_LIS2DU12_TRIGGER */ |
| |
| #define LIS2DU12_SPI_OP (SPI_WORD_SET(8) | \ |
| SPI_OP_MODE_MASTER | \ |
| SPI_MODE_CPOL | \ |
| SPI_MODE_CPHA) \ |
| |
| #define LIS2DU12_CONFIG_COMMON(inst) \ |
| .accel_odr = DT_INST_PROP(inst, accel_odr), \ |
| .accel_range = DT_INST_PROP(inst, accel_range), \ |
| IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \ |
| DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \ |
| (LIS2DU12_CFG_IRQ(inst))) |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #define LIS2DU12_CONFIG_SPI(inst) \ |
| { \ |
| STMEMSC_CTX_SPI(&lis2du12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, \ |
| LIS2DU12_SPI_OP, \ |
| 0), \ |
| }, \ |
| LIS2DU12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define LIS2DU12_CONFIG_I2C(inst) \ |
| { \ |
| STMEMSC_CTX_I2C(&lis2du12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| }, \ |
| LIS2DU12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define LIS2DU12_DEFINE(inst) \ |
| static struct lis2du12_data lis2du12_data_##inst; \ |
| static const struct lis2du12_config lis2du12_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), \ |
| (LIS2DU12_CONFIG_SPI(inst)), \ |
| (LIS2DU12_CONFIG_I2C(inst))); \ |
| LIS2DU12_DEVICE_INIT(inst) |
| |
| DT_INST_FOREACH_STATUS_OKAY(LIS2DU12_DEFINE) |