| /* ST Microelectronics LIS2DE12 3-axis accelerometer sensor driver |
| * |
| * Copyright (c) 2024 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lis2de12.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_lis2de12 |
| |
| #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 "lis2de12.h" |
| |
| LOG_MODULE_REGISTER(LIS2DE12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static const uint16_t lis2de12_odr_map[10] = { 0, 1, 10, 25, 50, 100, 200, 400, 1620, 5376}; |
| |
| static int lis2de12_freq_to_odr_val(const struct device *dev, uint16_t freq) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2de12_odr_map); i++) { |
| if (freq <= lis2de12_odr_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| typedef struct { |
| uint16_t fs; |
| uint32_t gain; /* Accel sensor sensitivity in ug/LSB */ |
| } fs_map; |
| |
| static const fs_map lis2de12_accel_fs_map[] = { |
| {2, 15600}, |
| {4, 31200}, |
| {8, 62500}, |
| {16, 187500}, |
| }; |
| |
| static int lis2de12_accel_range_to_fs_val(int32_t range) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2de12_accel_fs_map); i++) { |
| if (range == lis2de12_accel_fs_map[i].fs) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| static int lis2de12_accel_set_fs_raw(const struct device *dev, uint8_t fs) |
| { |
| const struct lis2de12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2de12_data *data = dev->data; |
| |
| if (lis2de12_full_scale_set(ctx, fs) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_fs = fs; |
| |
| return 0; |
| } |
| |
| static int lis2de12_accel_set_odr_raw(const struct device *dev, uint8_t odr) |
| { |
| const struct lis2de12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2de12_data *data = dev->data; |
| |
| if (lis2de12_data_rate_set(ctx, odr) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_freq = odr; |
| |
| return 0; |
| } |
| |
| static int lis2de12_accel_odr_set(const struct device *dev, uint16_t freq) |
| { |
| int odr; |
| |
| odr = lis2de12_freq_to_odr_val(dev, freq); |
| if (odr < 0) { |
| return odr; |
| } |
| |
| if (lis2de12_accel_set_odr_raw(dev, odr) < 0) { |
| LOG_ERR("failed to set accelerometer sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2de12_accel_range_set(const struct device *dev, int32_t range) |
| { |
| int fs; |
| struct lis2de12_data *data = dev->data; |
| |
| fs = lis2de12_accel_range_to_fs_val(range); |
| if (fs < 0) { |
| return fs; |
| } |
| |
| if (lis2de12_accel_set_fs_raw(dev, fs) < 0) { |
| LOG_ERR("failed to set accelerometer full-scale"); |
| return -EIO; |
| } |
| |
| data->acc_gain = lis2de12_accel_fs_map[fs].gain; |
| return 0; |
| } |
| |
| static int lis2de12_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 lis2de12_accel_range_set(dev, sensor_ms2_to_g(val)); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lis2de12_accel_odr_set(dev, val->val1); |
| default: |
| LOG_WRN("Accel attribute %d not supported.", attr); |
| return -ENOTSUP; |
| } |
| } |
| |
| static int lis2de12_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 lis2de12_accel_config(dev, chan, attr, val); |
| default: |
| LOG_WRN("attribute %d not supported on this channel.", chan); |
| return -ENOTSUP; |
| } |
| } |
| |
| static int lis2de12_sample_fetch_accel(const struct device *dev) |
| { |
| const struct lis2de12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2de12_data *data = dev->data; |
| |
| if (lis2de12_acceleration_raw_get(ctx, data->acc) < 0) { |
| LOG_ERR("Failed to read sample"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| static int lis2de12_sample_fetch_temp(const struct device *dev) |
| { |
| const struct lis2de12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2de12_data *data = dev->data; |
| |
| if (lis2de12_temperature_raw_get(ctx, &data->temp_sample) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| static int lis2de12_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lis2de12_sample_fetch_accel(dev); |
| break; |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| lis2de12_sample_fetch_temp(dev); |
| break; |
| #endif |
| case SENSOR_CHAN_ALL: |
| lis2de12_sample_fetch_accel(dev); |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| lis2de12_sample_fetch_temp(dev); |
| #endif |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lis2de12_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 / 256) * sensitivity * SENSOR_G_DOUBLE; |
| val->val1 = (int32_t)(dval / 1000000); |
| val->val2 = (int32_t)(dval % 1000000); |
| |
| } |
| |
| static inline int lis2de12_accel_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lis2de12_data *data, |
| uint32_t sensitivity) |
| { |
| uint8_t i; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| lis2de12_accel_convert(val, data->acc[0], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| lis2de12_accel_convert(val, data->acc[1], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| lis2de12_accel_convert(val, data->acc[2], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| for (i = 0; i < 3; i++) { |
| lis2de12_accel_convert(val++, data->acc[i], sensitivity); |
| } |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2de12_accel_channel_get(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lis2de12_data *data) |
| { |
| return lis2de12_accel_get_channel(chan, val, data, data->acc_gain); |
| } |
| |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| static void lis2de12_temp_channel_get(struct sensor_value *val, struct lis2de12_data *data) |
| { |
| int64_t micro_c; |
| |
| /* convert units to micro Celsius. Raw temperature samples are |
| * expressed in 256 LSB/deg_C units. And LSB output is 0 at 25 C. |
| */ |
| micro_c = ((int64_t)data->temp_sample * 1000000) / 256; |
| |
| val->val1 = micro_c / 1000000 + 25; |
| val->val2 = micro_c % 1000000; |
| } |
| #endif |
| |
| static int lis2de12_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lis2de12_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: |
| lis2de12_accel_channel_get(chan, val, data); |
| break; |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| lis2de12_temp_channel_get(val, data); |
| break; |
| #endif |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api lis2de12_driver_api = { |
| .attr_set = lis2de12_attr_set, |
| #if CONFIG_LIS2DE12_TRIGGER |
| .trigger_set = lis2de12_trigger_set, |
| #endif |
| .sample_fetch = lis2de12_sample_fetch, |
| .channel_get = lis2de12_channel_get, |
| }; |
| |
| static int lis2de12_init_chip(const struct device *dev) |
| { |
| const struct lis2de12_config *cfg = dev->config; |
| stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx; |
| struct lis2de12_data *lis2de12 = dev->data; |
| uint8_t chip_id; |
| uint8_t odr, fs; |
| |
| if (lis2de12_device_id_get(ctx, &chip_id) < 0) { |
| LOG_ERR("Failed reading chip id"); |
| return -EIO; |
| } |
| |
| if (chip_id != LIS2DE12_ID) { |
| LOG_ERR("Invalid chip id 0x%x", chip_id); |
| return -EIO; |
| } |
| |
| LOG_INF("chip id 0x%x", chip_id); |
| |
| if (lis2de12_block_data_update_set(ctx, 1) < 0) { |
| LOG_ERR("failed to set BDU"); |
| return -EIO; |
| } |
| |
| /* set FS from DT */ |
| fs = cfg->accel_range; |
| LOG_DBG("accel range is %d", fs); |
| if (lis2de12_accel_set_fs_raw(dev, fs) < 0) { |
| LOG_ERR("failed to set accelerometer range %d", fs); |
| return -EIO; |
| } |
| lis2de12->acc_gain = lis2de12_accel_fs_map[fs].gain; |
| |
| /* set odr from DT (the only way to go in high performance) */ |
| odr = cfg->accel_odr; |
| LOG_DBG("accel odr is %d", odr); |
| if (lis2de12_accel_set_odr_raw(dev, odr) < 0) { |
| LOG_ERR("failed to set accelerometer odr %d", odr); |
| return -EIO; |
| } |
| |
| #if defined(CONFIG_LIS2DE12_ENABLE_TEMP) |
| lis2de12_temperature_meas_set(ctx, LIS2DE12_TEMP_ENABLE); |
| #endif |
| |
| return 0; |
| } |
| |
| static int lis2de12_init(const struct device *dev) |
| { |
| #ifdef CONFIG_LIS2DE12_TRIGGER |
| const struct lis2de12_config *cfg = dev->config; |
| #endif |
| struct lis2de12_data *data = dev->data; |
| |
| LOG_INF("Initialize device %s", dev->name); |
| data->dev = dev; |
| |
| if (lis2de12_init_chip(dev) < 0) { |
| LOG_ERR("failed to initialize chip"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_LIS2DE12_TRIGGER |
| if (cfg->trig_enabled) { |
| if (lis2de12_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupt."); |
| return -EIO; |
| } |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| /* |
| * Device creation macro, shared by LIS2DE12_DEFINE_SPI() and |
| * LIS2DE12_DEFINE_I2C(). |
| */ |
| |
| #define LIS2DE12_DEVICE_INIT(inst) \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, \ |
| lis2de12_init, \ |
| NULL, \ |
| &lis2de12_data_##inst, \ |
| &lis2de12_config_##inst, \ |
| POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, \ |
| &lis2de12_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #ifdef CONFIG_LIS2DE12_TRIGGER |
| #define LIS2DE12_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) |
| #else |
| #define LIS2DE12_CFG_IRQ(inst) |
| #endif /* CONFIG_LIS2DE12_TRIGGER */ |
| |
| #define LIS2DE12_SPI_OP (SPI_WORD_SET(8) | \ |
| SPI_OP_MODE_MASTER | \ |
| SPI_MODE_CPOL | \ |
| SPI_MODE_CPHA) \ |
| |
| #define LIS2DE12_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)), \ |
| (LIS2DE12_CFG_IRQ(inst))) |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #define LIS2DE12_CONFIG_SPI(inst) \ |
| { \ |
| STMEMSC_CTX_SPI(&lis2de12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .spi = SPI_DT_SPEC_INST_GET(inst, LIS2DE12_SPI_OP, 0), \ |
| }, \ |
| LIS2DE12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define LIS2DE12_CONFIG_I2C(inst) \ |
| { \ |
| STMEMSC_CTX_I2C_INCR(&lis2de12_config_##inst.stmemsc_cfg), \ |
| .stmemsc_cfg = { \ |
| .i2c = I2C_DT_SPEC_INST_GET(inst), \ |
| }, \ |
| LIS2DE12_CONFIG_COMMON(inst) \ |
| } |
| |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define LIS2DE12_DEFINE(inst) \ |
| static struct lis2de12_data lis2de12_data_##inst; \ |
| static const struct lis2de12_config lis2de12_config_##inst = \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), \ |
| (LIS2DE12_CONFIG_SPI(inst)), \ |
| (LIS2DE12_CONFIG_I2C(inst))); \ |
| LIS2DE12_DEVICE_INIT(inst) |
| |
| DT_INST_FOREACH_STATUS_OKAY(LIS2DE12_DEFINE) |