drivers/sensor/iis2dlpc/iis2dlpc.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics IIS2DLPC 3-axis accelerometer driver
  *
  * Copyright (c) 2020 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/iis2dlpc.pdf
  */

 #define DT_DRV_COMPAT st_iis2dlpc

 #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 "iis2dlpc.h"

 LOG_MODULE_REGISTER(IIS2DLPC, CONFIG_SENSOR_LOG_LEVEL);

 /**
  * iis2dlpc_set_range - set full scale range for acc
  * @dev: Pointer to instance of struct device (I2C or SPI)
  * @range: Full scale range (2, 4, 8 and 16 G)
  */
 static int iis2dlpc_set_range(const struct device *dev, uint8_t fs)
 {
 	int err;
 	struct iis2dlpc_data *iis2dlpc = dev->data;
 	const struct iis2dlpc_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t shift_gain = 0U;

 	err = iis2dlpc_full_scale_set(ctx, fs);

 	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
 		shift_gain = IIS2DLPC_SHFT_GAIN_NOLP1;
 	}

 	if (!err) {
 		/* save internally gain for optimization */
 		iis2dlpc->gain = IIS2DLPC_FS_TO_GAIN(fs, shift_gain);
 	}

 	return err;
 }

 /**
  * iis2dlpc_set_odr - set new sampling frequency
  * @dev: Pointer to instance of struct device (I2C or SPI)
  * @odr: Output data rate
  */
 static int iis2dlpc_set_odr(const struct device *dev, uint16_t odr)
 {
 	const struct iis2dlpc_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t val;

 	/* check if power off */
 	if (odr == 0U) {
 		return iis2dlpc_data_rate_set(ctx, IIS2DLPC_XL_ODR_OFF);
 	}

 	val =  IIS2DLPC_ODR_TO_REG(odr);
 	if (val > IIS2DLPC_XL_ODR_1k6Hz) {
 		LOG_ERR("ODR too high");
 		return -ENOTSUP;
 	}

 	return iis2dlpc_data_rate_set(ctx, val);
 }

 static inline void iis2dlpc_convert(struct sensor_value *val, int raw_val,
 				    float gain)
 {
 	int64_t dval;

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

 static inline void iis2dlpc_channel_get_acc(const struct device *dev,
 					     enum sensor_channel chan,
 					     struct sensor_value *val)
 {
 	int i;
 	uint8_t ofs_start, ofs_stop;
 	struct iis2dlpc_data *iis2dlpc = 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++) {
 		iis2dlpc_convert(pval++, iis2dlpc->acc[i], iis2dlpc->gain);
 	}
 }

 static int iis2dlpc_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:
 		iis2dlpc_channel_get_acc(dev, chan, val);
 		return 0;
 	default:
 		LOG_DBG("Channel not supported");
 		break;
 	}

 	return -ENOTSUP;
 }

 static int iis2dlpc_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 iis2dlpc_set_range(dev,
 				IIS2DLPC_FS_TO_REG(sensor_ms2_to_g(val)));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return iis2dlpc_set_odr(dev, val->val1);
 	default:
 		LOG_DBG("Acc attribute not supported");
 		break;
 	}

 	return -ENOTSUP;
 }

 static int iis2dlpc_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:
 		return iis2dlpc_dev_config(dev, chan, attr, val);
 	default:
 		LOG_DBG("Attr not supported on %d channel", chan);
 		break;
 	}

 	return -ENOTSUP;
 }

 static int iis2dlpc_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	struct iis2dlpc_data *iis2dlpc = dev->data;
 	const struct iis2dlpc_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t shift;
 	int16_t buf[3];

 	/* fetch raw data sample */
 	if (iis2dlpc_acceleration_raw_get(ctx, buf) < 0) {
 		LOG_DBG("Failed to fetch raw data sample");
 		return -EIO;
 	}

 	/* adjust to resolution */
 	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
 		shift = IIS2DLPC_SHIFT_PM1;
 	} else {
 		shift = IIS2DLPC_SHIFT_PMOTHER;
 	}

 	iis2dlpc->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
 	iis2dlpc->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
 	iis2dlpc->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;

 	return 0;
 }

 static const struct sensor_driver_api iis2dlpc_driver_api = {
 	.attr_set = iis2dlpc_attr_set,
 #if CONFIG_IIS2DLPC_TRIGGER
 	.trigger_set = iis2dlpc_trigger_set,
 #endif /* CONFIG_IIS2DLPC_TRIGGER */
 	.sample_fetch = iis2dlpc_sample_fetch,
 	.channel_get = iis2dlpc_channel_get,
 };

 static int iis2dlpc_set_power_mode(stmdev_ctx_t *ctx, iis2dlpc_mode_t pm)
 {
 	uint8_t regval = IIS2DLPC_CONT_LOW_PWR_12bit;

 	switch (pm) {
 	case IIS2DLPC_CONT_LOW_PWR_2:
 	case IIS2DLPC_CONT_LOW_PWR_3:
 	case IIS2DLPC_CONT_LOW_PWR_4:
 	case IIS2DLPC_HIGH_PERFORMANCE:
 		regval = pm;
 		break;
 	default:
 		LOG_DBG("Apply default Power Mode");
 		break;
 	}

 	return iis2dlpc_write_reg(ctx, IIS2DLPC_CTRL1, &regval, 1);
 }

 static int iis2dlpc_init(const struct device *dev)
 {
 	struct iis2dlpc_data *iis2dlpc = dev->data;
 	const struct iis2dlpc_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t wai;

 	iis2dlpc->dev = dev;

 	/* check chip ID */
 	if (iis2dlpc_device_id_get(ctx, &wai) < 0) {
 		return -EIO;
 	}

 	if (wai != IIS2DLPC_ID) {
 		LOG_ERR("Invalid chip ID");
 		return -EINVAL;
 	}

 	/* reset device */
 	if (iis2dlpc_reset_set(ctx, PROPERTY_ENABLE) < 0) {
 		return -EIO;
 	}

 	k_busy_wait(100);

 	if (iis2dlpc_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
 		return -EIO;
 	}

 	/* set power mode */
 	LOG_INF("power-mode is %d", cfg->pm);
 	if (iis2dlpc_set_power_mode(ctx, cfg->pm)) {
 		return -EIO;
 	}

 	/* set default odr to 12.5Hz acc */
 	if (iis2dlpc_set_odr(dev, 12) < 0) {
 		LOG_ERR("odr init error (12.5 Hz)");
 		return -EIO;
 	}

 	LOG_INF("range is %d", cfg->range);
 	if (iis2dlpc_set_range(dev, IIS2DLPC_FS_TO_REG(cfg->range)) < 0) {
 		LOG_ERR("range init error %d", cfg->range);
 		return -EIO;
 	}

 #ifdef CONFIG_IIS2DLPC_TRIGGER
 	if (iis2dlpc_init_interrupt(dev) < 0) {
 		LOG_ERR("Failed to initialize interrupts");
 		return -EIO;
 	}

 #ifdef CONFIG_IIS2DLPC_TAP
 	LOG_INF("TAP: tap mode is %d", cfg->tap_mode);
 	if (iis2dlpc_tap_mode_set(ctx, cfg->tap_mode) < 0) {
 		LOG_ERR("Failed to select tap trigger mode");
 		return -EIO;
 	}

 	LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]);
 	if (iis2dlpc_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
 		LOG_ERR("Failed to set tap X axis threshold");
 		return -EIO;
 	}

 	LOG_INF("TAP: ths_y is %02x", cfg->tap_threshold[1]);
 	if (iis2dlpc_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
 		LOG_ERR("Failed to set tap Y axis threshold");
 		return -EIO;
 	}

 	LOG_INF("TAP: ths_z is %02x", cfg->tap_threshold[2]);
 	if (iis2dlpc_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
 		LOG_ERR("Failed to set tap Z axis threshold");
 		return -EIO;
 	}

 	if (cfg->tap_threshold[0] > 0) {
 		LOG_INF("TAP: tap_x enabled");
 		if (iis2dlpc_tap_detection_on_x_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on X axis");
 			return -EIO;
 		}
 	}

 	if (cfg->tap_threshold[1] > 0) {
 		LOG_INF("TAP: tap_y enabled");
 		if (iis2dlpc_tap_detection_on_y_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on Y axis");
 			return -EIO;
 		}
 	}

 	if (cfg->tap_threshold[2] > 0) {
 		LOG_INF("TAP: tap_z enabled");
 		if (iis2dlpc_tap_detection_on_z_set(ctx, 1) < 0) {
 			LOG_ERR("Failed to set tap detection on Z axis");
 			return -EIO;
 		}
 	}

 	LOG_INF("TAP: shock is %02x", cfg->tap_shock);
 	if (iis2dlpc_tap_shock_set(ctx, cfg->tap_shock) < 0) {
 		LOG_ERR("Failed to set tap shock duration");
 		return -EIO;
 	}

 	LOG_INF("TAP: latency is %02x", cfg->tap_latency);
 	if (iis2dlpc_tap_dur_set(ctx, cfg->tap_latency) < 0) {
 		LOG_ERR("Failed to set tap latency");
 		return -EIO;
 	}

 	LOG_INF("TAP: quiet time is %02x", cfg->tap_quiet);
 	if (iis2dlpc_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
 		LOG_ERR("Failed to set tap quiet time");
 		return -EIO;
 	}
 #endif /* CONFIG_IIS2DLPC_TAP */
 #endif /* CONFIG_IIS2DLPC_TRIGGER */

 	return 0;
 }

 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
 #warning "IIS2DLPC driver enabled without any devices"
 #endif

 /*
  * Device creation macro, shared by IIS2DLPC_DEFINE_SPI() and
  * IIS2DLPC_DEFINE_I2C().
  */

 #define IIS2DLPC_DEVICE_INIT(inst)					\
 	DEVICE_DT_INST_DEFINE(inst,					\
 			    iis2dlpc_init,				\
 			    NULL,					\
 			    &iis2dlpc_data_##inst,			\
 			    &iis2dlpc_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &iis2dlpc_driver_api);

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

 #ifdef CONFIG_IIS2DLPC_TAP
 #define IIS2DLPC_CONFIG_TAP(inst)					\
 	.tap_mode = DT_INST_PROP(inst, tap_mode),			\
 	.tap_threshold = DT_INST_PROP(inst, tap_threshold),		\
 	.tap_shock = DT_INST_PROP(inst, tap_shock),			\
 	.tap_latency = DT_INST_PROP(inst, tap_latency),			\
 	.tap_quiet = DT_INST_PROP(inst, tap_quiet),
 #else
 #define IIS2DLPC_CONFIG_TAP(inst)
 #endif /* CONFIG_IIS2DLPC_TAP */

 #ifdef CONFIG_IIS2DLPC_TRIGGER
 #define IIS2DLPC_CFG_IRQ(inst) \
 	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),		\
 	.drdy_int = DT_INST_PROP(inst, drdy_int),
 #else
 #define IIS2DLPC_CFG_IRQ(inst)
 #endif /* CONFIG_IIS2DLPC_TRIGGER */

 #define IIS2DLPC_SPI_OPERATION (SPI_WORD_SET(8) |			\
 				SPI_OP_MODE_MASTER |			\
 				SPI_MODE_CPOL |				\
 				SPI_MODE_CPHA)				\

 #define IIS2DLPC_CONFIG_SPI(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_spi_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_spi_write,	\
 			.handle =					\
 			   (void *)&iis2dlpc_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.spi = SPI_DT_SPEC_INST_GET(inst,		\
 					   IIS2DLPC_SPI_OPERATION,	\
 					   0),				\
 		},							\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.range = DT_INST_PROP(inst, range),			\
 		IIS2DLPC_CONFIG_TAP(inst)				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
 			(IIS2DLPC_CFG_IRQ(inst)), ())			\
 	}

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

 #define IIS2DLPC_CONFIG_I2C(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_i2c_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_i2c_write,	\
 			.handle =					\
 			   (void *)&iis2dlpc_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),		\
 		},							\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.range = DT_INST_PROP(inst, range),			\
 		IIS2DLPC_CONFIG_TAP(inst)				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
 			(IIS2DLPC_CFG_IRQ(inst)), ())			\
 	}

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

 #define IIS2DLPC_DEFINE(inst)						\
 	static struct iis2dlpc_data iis2dlpc_data_##inst;		\
 	static const struct iis2dlpc_config iis2dlpc_config_##inst =	\
 	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
 		    (IIS2DLPC_CONFIG_SPI(inst)),			\
 		    (IIS2DLPC_CONFIG_I2C(inst)));			\
 	IIS2DLPC_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(IIS2DLPC_DEFINE)
	/* ST Microelectronics IIS2DLPC 3-axis accelerometer driver
	*
	* Copyright (c) 2020 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/iis2dlpc.pdf
	*/

	#define DT_DRV_COMPAT st_iis2dlpc

	#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 "iis2dlpc.h"

	LOG_MODULE_REGISTER(IIS2DLPC, CONFIG_SENSOR_LOG_LEVEL);

	/**
	* iis2dlpc_set_range - set full scale range for acc
	* @dev: Pointer to instance of struct device (I2C or SPI)
	* @range: Full scale range (2, 4, 8 and 16 G)
	*/
	static int iis2dlpc_set_range(const struct device *dev, uint8_t fs)
	{
	int err;
	struct iis2dlpc_data *iis2dlpc = dev->data;
	const struct iis2dlpc_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t shift_gain = 0U;

	err = iis2dlpc_full_scale_set(ctx, fs);

	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
	shift_gain = IIS2DLPC_SHFT_GAIN_NOLP1;
	}

	if (!err) {
	/* save internally gain for optimization */
	iis2dlpc->gain = IIS2DLPC_FS_TO_GAIN(fs, shift_gain);
	}

	return err;
	}

	/**
	* iis2dlpc_set_odr - set new sampling frequency
	* @dev: Pointer to instance of struct device (I2C or SPI)
	* @odr: Output data rate
	*/
	static int iis2dlpc_set_odr(const struct device *dev, uint16_t odr)
	{
	const struct iis2dlpc_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t val;

	/* check if power off */
	if (odr == 0U) {
	return iis2dlpc_data_rate_set(ctx, IIS2DLPC_XL_ODR_OFF);
	}

	val = IIS2DLPC_ODR_TO_REG(odr);
	if (val > IIS2DLPC_XL_ODR_1k6Hz) {
	LOG_ERR("ODR too high");
	return -ENOTSUP;
	}

	return iis2dlpc_data_rate_set(ctx, val);
	}

	static inline void iis2dlpc_convert(struct sensor_value *val, int raw_val,
	float gain)
	{
	int64_t dval;

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

	static inline void iis2dlpc_channel_get_acc(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	int i;
	uint8_t ofs_start, ofs_stop;
	struct iis2dlpc_data *iis2dlpc = 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++) {
	iis2dlpc_convert(pval++, iis2dlpc->acc[i], iis2dlpc->gain);
	}
	}

	static int iis2dlpc_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:
	iis2dlpc_channel_get_acc(dev, chan, val);
	return 0;
	default:
	LOG_DBG("Channel not supported");
	break;
	}

	return -ENOTSUP;
	}

	static int iis2dlpc_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 iis2dlpc_set_range(dev,
	IIS2DLPC_FS_TO_REG(sensor_ms2_to_g(val)));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return iis2dlpc_set_odr(dev, val->val1);
	default:
	LOG_DBG("Acc attribute not supported");
	break;
	}

	return -ENOTSUP;
	}

	static int iis2dlpc_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:
	return iis2dlpc_dev_config(dev, chan, attr, val);
	default:
	LOG_DBG("Attr not supported on %d channel", chan);
	break;
	}

	return -ENOTSUP;
	}

	static int iis2dlpc_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	struct iis2dlpc_data *iis2dlpc = dev->data;
	const struct iis2dlpc_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t shift;
	int16_t buf[3];

	/* fetch raw data sample */
	if (iis2dlpc_acceleration_raw_get(ctx, buf) < 0) {
	LOG_DBG("Failed to fetch raw data sample");
	return -EIO;
	}

	/* adjust to resolution */
	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
	shift = IIS2DLPC_SHIFT_PM1;
	} else {
	shift = IIS2DLPC_SHIFT_PMOTHER;
	}

	iis2dlpc->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
	iis2dlpc->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
	iis2dlpc->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;

	return 0;
	}

	static const struct sensor_driver_api iis2dlpc_driver_api = {
	.attr_set = iis2dlpc_attr_set,
	#if CONFIG_IIS2DLPC_TRIGGER
	.trigger_set = iis2dlpc_trigger_set,
	#endif /* CONFIG_IIS2DLPC_TRIGGER */
	.sample_fetch = iis2dlpc_sample_fetch,
	.channel_get = iis2dlpc_channel_get,
	};

	static int iis2dlpc_set_power_mode(stmdev_ctx_t *ctx, iis2dlpc_mode_t pm)
	{
	uint8_t regval = IIS2DLPC_CONT_LOW_PWR_12bit;

	switch (pm) {
	case IIS2DLPC_CONT_LOW_PWR_2:
	case IIS2DLPC_CONT_LOW_PWR_3:
	case IIS2DLPC_CONT_LOW_PWR_4:
	case IIS2DLPC_HIGH_PERFORMANCE:
	regval = pm;
	break;
	default:
	LOG_DBG("Apply default Power Mode");
	break;
	}

	return iis2dlpc_write_reg(ctx, IIS2DLPC_CTRL1, &regval, 1);
	}

	static int iis2dlpc_init(const struct device *dev)
	{
	struct iis2dlpc_data *iis2dlpc = dev->data;
	const struct iis2dlpc_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t wai;

	iis2dlpc->dev = dev;

	/* check chip ID */
	if (iis2dlpc_device_id_get(ctx, &wai) < 0) {
	return -EIO;
	}

	if (wai != IIS2DLPC_ID) {
	LOG_ERR("Invalid chip ID");
	return -EINVAL;
	}

	/* reset device */
	if (iis2dlpc_reset_set(ctx, PROPERTY_ENABLE) < 0) {
	return -EIO;
	}

	k_busy_wait(100);

	if (iis2dlpc_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
	return -EIO;
	}

	/* set power mode */
	LOG_INF("power-mode is %d", cfg->pm);
	if (iis2dlpc_set_power_mode(ctx, cfg->pm)) {
	return -EIO;
	}

	/* set default odr to 12.5Hz acc */
	if (iis2dlpc_set_odr(dev, 12) < 0) {
	LOG_ERR("odr init error (12.5 Hz)");
	return -EIO;
	}

	LOG_INF("range is %d", cfg->range);
	if (iis2dlpc_set_range(dev, IIS2DLPC_FS_TO_REG(cfg->range)) < 0) {
	LOG_ERR("range init error %d", cfg->range);
	return -EIO;
	}

	#ifdef CONFIG_IIS2DLPC_TRIGGER
	if (iis2dlpc_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupts");
	return -EIO;
	}

	#ifdef CONFIG_IIS2DLPC_TAP
	LOG_INF("TAP: tap mode is %d", cfg->tap_mode);
	if (iis2dlpc_tap_mode_set(ctx, cfg->tap_mode) < 0) {
	LOG_ERR("Failed to select tap trigger mode");
	return -EIO;
	}

	LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]);
	if (iis2dlpc_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
	LOG_ERR("Failed to set tap X axis threshold");
	return -EIO;
	}

	LOG_INF("TAP: ths_y is %02x", cfg->tap_threshold[1]);
	if (iis2dlpc_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
	LOG_ERR("Failed to set tap Y axis threshold");
	return -EIO;
	}

	LOG_INF("TAP: ths_z is %02x", cfg->tap_threshold[2]);
	if (iis2dlpc_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
	LOG_ERR("Failed to set tap Z axis threshold");
	return -EIO;
	}

	if (cfg->tap_threshold[0] > 0) {
	LOG_INF("TAP: tap_x enabled");
	if (iis2dlpc_tap_detection_on_x_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on X axis");
	return -EIO;
	}
	}

	if (cfg->tap_threshold[1] > 0) {
	LOG_INF("TAP: tap_y enabled");
	if (iis2dlpc_tap_detection_on_y_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on Y axis");
	return -EIO;
	}
	}

	if (cfg->tap_threshold[2] > 0) {
	LOG_INF("TAP: tap_z enabled");
	if (iis2dlpc_tap_detection_on_z_set(ctx, 1) < 0) {
	LOG_ERR("Failed to set tap detection on Z axis");
	return -EIO;
	}
	}

	LOG_INF("TAP: shock is %02x", cfg->tap_shock);
	if (iis2dlpc_tap_shock_set(ctx, cfg->tap_shock) < 0) {
	LOG_ERR("Failed to set tap shock duration");
	return -EIO;
	}

	LOG_INF("TAP: latency is %02x", cfg->tap_latency);
	if (iis2dlpc_tap_dur_set(ctx, cfg->tap_latency) < 0) {
	LOG_ERR("Failed to set tap latency");
	return -EIO;
	}

	LOG_INF("TAP: quiet time is %02x", cfg->tap_quiet);
	if (iis2dlpc_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
	LOG_ERR("Failed to set tap quiet time");
	return -EIO;
	}
	#endif /* CONFIG_IIS2DLPC_TAP */
	#endif /* CONFIG_IIS2DLPC_TRIGGER */

	return 0;
	}

	#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
	#warning "IIS2DLPC driver enabled without any devices"
	#endif

	/*
	* Device creation macro, shared by IIS2DLPC_DEFINE_SPI() and
	* IIS2DLPC_DEFINE_I2C().
	*/

	#define IIS2DLPC_DEVICE_INIT(inst) \
	DEVICE_DT_INST_DEFINE(inst, \
	iis2dlpc_init, \
	NULL, \
	&iis2dlpc_data_##inst, \
	&iis2dlpc_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&iis2dlpc_driver_api);

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

	#ifdef CONFIG_IIS2DLPC_TAP
	#define IIS2DLPC_CONFIG_TAP(inst) \
	.tap_mode = DT_INST_PROP(inst, tap_mode), \
	.tap_threshold = DT_INST_PROP(inst, tap_threshold), \
	.tap_shock = DT_INST_PROP(inst, tap_shock), \
	.tap_latency = DT_INST_PROP(inst, tap_latency), \
	.tap_quiet = DT_INST_PROP(inst, tap_quiet),
	#else
	#define IIS2DLPC_CONFIG_TAP(inst)
	#endif /* CONFIG_IIS2DLPC_TAP */

	#ifdef CONFIG_IIS2DLPC_TRIGGER
	#define IIS2DLPC_CFG_IRQ(inst) \
	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios), \
	.drdy_int = DT_INST_PROP(inst, drdy_int),
	#else
	#define IIS2DLPC_CFG_IRQ(inst)
	#endif /* CONFIG_IIS2DLPC_TRIGGER */

	#define IIS2DLPC_SPI_OPERATION (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define IIS2DLPC_CONFIG_SPI(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_spi_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_spi_write, \
	.handle = \
	(void *)&iis2dlpc_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, \
	IIS2DLPC_SPI_OPERATION, \
	0), \
	}, \
	.pm = DT_INST_PROP(inst, power_mode), \
	.range = DT_INST_PROP(inst, range), \
	IIS2DLPC_CONFIG_TAP(inst) \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
	(IIS2DLPC_CFG_IRQ(inst)), ()) \
	}

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

	#define IIS2DLPC_CONFIG_I2C(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_i2c_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_i2c_write, \
	.handle = \
	(void *)&iis2dlpc_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	.pm = DT_INST_PROP(inst, power_mode), \
	.range = DT_INST_PROP(inst, range), \
	IIS2DLPC_CONFIG_TAP(inst) \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
	(IIS2DLPC_CFG_IRQ(inst)), ()) \
	}

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

	#define IIS2DLPC_DEFINE(inst) \
	static struct iis2dlpc_data iis2dlpc_data_##inst; \
	static const struct iis2dlpc_config iis2dlpc_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(IIS2DLPC_CONFIG_SPI(inst)), \
	(IIS2DLPC_CONFIG_I2C(inst))); \
	IIS2DLPC_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(IIS2DLPC_DEFINE)