| /* ST Microelectronics LIS2DS12 3-axis accelerometer driver |
| * |
| * Copyright (c) 2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2ds12.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2ds12 |
| |
| #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 "lis2ds12.h" |
| |
| LOG_MODULE_REGISTER(LIS2DS12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static int lis2ds12_set_odr(const struct device *dev, uint8_t odr) |
| { |
| const struct lis2ds12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| lis2ds12_odr_t val; |
| |
| /* check if power off */ |
| if (odr == 0U) { |
| LOG_DBG("%s: set power-down", dev->name); |
| return lis2ds12_xl_data_rate_set(ctx, LIS2DS12_XL_ODR_OFF); |
| } |
| |
| /* |
| * odr >= 1600Hz are available in HF mode only |
| * 12,5Hz <= odr <= 800Hz are available in LP and HR mode only |
| * odr == 1Hz is available in LP mode only |
| */ |
| if ((odr >= 9 && cfg->pm != 3) || (odr < 9 && cfg->pm == 3) || |
| (odr == 1 && cfg->pm != 1)) { |
| LOG_ERR("%s: bad odr and pm combination", dev->name); |
| return -ENOTSUP; |
| } |
| |
| switch (odr) { |
| case 1: |
| val = LIS2DS12_XL_ODR_1Hz_LP; |
| break; |
| case 2: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_12Hz5_LP : |
| LIS2DS12_XL_ODR_12Hz5_HR; |
| break; |
| case 3: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_25Hz_LP : |
| LIS2DS12_XL_ODR_25Hz_HR; |
| break; |
| case 4: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_50Hz_LP : |
| LIS2DS12_XL_ODR_50Hz_HR; |
| break; |
| case 5: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_100Hz_LP : |
| LIS2DS12_XL_ODR_100Hz_HR; |
| break; |
| case 6: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_200Hz_LP : |
| LIS2DS12_XL_ODR_200Hz_HR; |
| break; |
| case 7: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_400Hz_LP : |
| LIS2DS12_XL_ODR_400Hz_HR; |
| break; |
| case 8: |
| val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_800Hz_LP : |
| LIS2DS12_XL_ODR_800Hz_HR; |
| break; |
| case 9: |
| val = LIS2DS12_XL_ODR_1k6Hz_HF; |
| break; |
| case 10: |
| val = LIS2DS12_XL_ODR_3k2Hz_HF; |
| break; |
| case 11: |
| val = LIS2DS12_XL_ODR_6k4Hz_HF; |
| break; |
| default: |
| LOG_ERR("%s: bad odr %d", dev->name, odr); |
| return -ENOTSUP; |
| } |
| |
| return lis2ds12_xl_data_rate_set(ctx, val); |
| } |
| |
| static int lis2ds12_set_range(const struct device *dev, uint8_t range) |
| { |
| int err; |
| struct lis2ds12_data *data = dev->data; |
| const struct lis2ds12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| |
| switch (range) { |
| default: |
| case 2U: |
| err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_2g); |
| data->gain = lis2ds12_from_fs2g_to_mg(1); |
| break; |
| case 4U: |
| err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_4g); |
| data->gain = lis2ds12_from_fs4g_to_mg(1); |
| break; |
| case 8U: |
| err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_8g); |
| data->gain = lis2ds12_from_fs8g_to_mg(1); |
| break; |
| case 16U: |
| err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_16g); |
| data->gain = lis2ds12_from_fs16g_to_mg(1); |
| break; |
| } |
| |
| return err; |
| } |
| |
| static int lis2ds12_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 lis2ds12_set_range(dev, sensor_ms2_to_g(val)); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1); |
| return lis2ds12_set_odr(dev, LIS2DS12_ODR_TO_REG(val->val1)); |
| default: |
| LOG_DBG("Accel attribute not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2ds12_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 lis2ds12_accel_config(dev, chan, attr, val); |
| default: |
| LOG_WRN("attr_set() not supported on this channel."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2ds12_sample_fetch_accel(const struct device *dev) |
| { |
| struct lis2ds12_data *data = dev->data; |
| const struct lis2ds12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| int16_t buf[3]; |
| |
| /* fetch raw data sample */ |
| if (lis2ds12_acceleration_raw_get(ctx, buf) < 0) { |
| LOG_ERR("Failed to fetch raw data sample"); |
| return -EIO; |
| } |
| |
| data->sample_x = sys_le16_to_cpu(buf[0]); |
| data->sample_y = sys_le16_to_cpu(buf[1]); |
| data->sample_z = sys_le16_to_cpu(buf[2]); |
| |
| return 0; |
| } |
| |
| static int lis2ds12_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2ds12_sample_fetch_accel(dev); |
| break; |
| #if defined(CONFIG_LIS2DS12_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| /* ToDo: |
| lis2ds12_sample_fetch_temp(dev) |
| */ |
| break; |
| #endif |
| case SENSOR_CHAN_ALL: |
| lis2ds12_sample_fetch_accel(dev); |
| #if defined(CONFIG_LIS2DS12_ENABLE_TEMP) |
| /* ToDo: |
| lis2ds12_sample_fetch_temp(dev) |
| */ |
| #endif |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lis2ds12_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 lis2ds12_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lis2ds12_data *data, |
| float gain) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| lis2ds12_convert(val, data->sample_x, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| lis2ds12_convert(val, data->sample_y, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| lis2ds12_convert(val, data->sample_z, gain); |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2ds12_convert(val, data->sample_x, gain); |
| lis2ds12_convert(val + 1, data->sample_y, gain); |
| lis2ds12_convert(val + 2, data->sample_z, gain); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2ds12_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lis2ds12_data *data = dev->data; |
| |
| return lis2ds12_get_channel(chan, val, data, data->gain); |
| } |
| |
| static const struct sensor_driver_api lis2ds12_driver_api = { |
| .attr_set = lis2ds12_attr_set, |
| #if defined(CONFIG_LIS2DS12_TRIGGER) |
| .trigger_set = lis2ds12_trigger_set, |
| #endif |
| .sample_fetch = lis2ds12_sample_fetch, |
| .channel_get = lis2ds12_channel_get, |
| }; |
| |
| static int lis2ds12_init(const struct device *dev) |
| { |
| const struct lis2ds12_config * const cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| uint8_t chip_id; |
| int ret; |
| |
| /* check chip ID */ |
| ret = lis2ds12_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 != LIS2DS12_ID) { |
| LOG_ERR("%s: Invalid chip ID 0x%02x", dev->name, chip_id); |
| return -EINVAL; |
| } |
| |
| /* reset device */ |
| ret = lis2ds12_reset_set(ctx, PROPERTY_ENABLE); |
| if (ret < 0) { |
| return ret; |
| } |
| |
| k_busy_wait(100); |
| |
| LOG_DBG("%s: chip id 0x%x", dev->name, chip_id); |
| |
| #ifdef CONFIG_LIS2DS12_TRIGGER |
| ret = lis2ds12_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); |
| ret = lis2ds12_set_odr(dev, (cfg->pm == 0) ? 0 : cfg->odr); |
| if (ret < 0) { |
| LOG_ERR("%s: odr init error (12.5 Hz)", dev->name); |
| return ret; |
| } |
| |
| /* set sensor default scale */ |
| LOG_DBG("%s: range is %d", dev->name, cfg->range); |
| ret = lis2ds12_set_range(dev, cfg->range); |
| if (ret < 0) { |
| LOG_ERR("%s: range init error %d", dev->name, cfg->range); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0 |
| #warning "LIS2DS12 driver enabled without any devices" |
| #endif |
| |
| /* |
| * Device creation macro, shared by LIS2DS12_DEFINE_SPI() and |
| * LIS2DS12_DEFINE_I2C(). |
| */ |
| |
| #define LIS2DS12_DEVICE_INIT(inst) \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, \ |
| lis2ds12_init, \ |
| NULL, \ |
| &lis2ds12_data_##inst, \ |
| &lis2ds12_config_##inst, \ |
| POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, \ |
| &lis2ds12_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #ifdef CONFIG_LIS2DS12_TRIGGER |
| #define LIS2DS12_CFG_IRQ(inst) \ |
| .gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios), |
| #else |
| #define LIS2DS12_CFG_IRQ(inst) |
| #endif /* CONFIG_LIS2DS12_TRIGGER */ |
| |
| #define LIS2DS12_CONFIG_COMMON(inst) \ |
| .range = DT_INST_PROP(inst, range), \ |
| .pm = DT_INST_PROP(inst, power_mode), \ |
| .odr = DT_INST_PROP(inst, odr), \ |
| COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \ |
| (LIS2DS12_CFG_IRQ(inst)), ()) |
| |
| #define LIS2DS12_SPI_OPERATION (SPI_WORD_SET(8) | \ |
| SPI_OP_MODE_MASTER | \ |
| SPI_MODE_CPOL | \ |
| SPI_MODE_CPHA) \ |
| |
| #define LIS2DS12_CONFIG_SPI(inst) \ |
| { \ |
| STMEMSC_CTX_SPI(&lis2ds12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, \ |
| LIS2DS12_SPI_OPERATION, \ |
| 0), \ |
| }, \ |
| LIS2DS12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define LIS2DS12_CONFIG_I2C(inst) \ |
| { \ |
| STMEMSC_CTX_I2C(&lis2ds12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| }, \ |
| LIS2DS12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define LIS2DS12_DEFINE(inst) \ |
| static struct lis2ds12_data lis2ds12_data_##inst; \ |
| static const struct lis2ds12_config lis2ds12_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), \ |
| (LIS2DS12_CONFIG_SPI(inst)), \ |
| (LIS2DS12_CONFIG_I2C(inst))); \ |
| LIS2DS12_DEVICE_INIT(inst) |
| |
| DT_INST_FOREACH_STATUS_OKAY(LIS2DS12_DEFINE) |