drivers/sensor/st/lis2dux12/lis2dux12.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DUX12 3-axis accelerometer driver
  *
  * Copyright (c) 2024 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2dux12.pdf
  */

 #include <zephyr/drivers/sensor.h>
 #include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/init.h>
 #include <string.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/sys/util_macro.h>
 #include <zephyr/logging/log.h>

 #include "lis2dux12.h"
 #include "lis2dux12_decoder.h"
 #include "lis2dux12_rtio.h"

 #if DT_HAS_COMPAT_STATUS_OKAY(st_lis2dux12)
 #include "lis2dux12_api.h"
 #endif

 #if DT_HAS_COMPAT_STATUS_OKAY(st_lis2duxs12)
 #include "lis2duxs12_api.h"
 #endif

 LOG_MODULE_REGISTER(LIS2DUX12, CONFIG_SENSOR_LOG_LEVEL);

 #define FOREACH_ODR_ENUM(ODR_VAL)			\
 	ODR_VAL(LIS2DUX12_DT_ODR_OFF, 0.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_1Hz_ULP, 1.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_3Hz_ULP, 3.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_25Hz_ULP, 25.0f)	\
 	ODR_VAL(LIS2DUX12_DT_ODR_6Hz, 6.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_12Hz5, 12.50f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_25Hz, 25.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_50Hz, 50.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_100Hz, 100.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_200Hz, 200.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_400Hz, 400.0f)		\
 	ODR_VAL(LIS2DUX12_DT_ODR_800Hz, 800.0f)

 #define GENERATE_VAL(ENUM, VAL) VAL,

 static const float lis2dux12_odr_map[LIS2DUX12_DT_ODR_END] = {FOREACH_ODR_ENUM(GENERATE_VAL)};

 static int lis2dux12_freq_to_odr_val(const struct device *dev, uint16_t freq)
 {
 	const struct lis2dux12_config *cfg = dev->config;
 	int odr;

 	for (odr = LIS2DUX12_DT_ODR_OFF; odr < LIS2DUX12_DT_ODR_END; odr++) {
 		/*
 		 * In case power-mode is HP, skip the ULP odrs in order to
 		 * avoid to erroneously break the loop sooner than expected.
 		 * In HP mode the correct ODRs must be found from
 		 * LIS2DUX12_DT_ODR_6Hz on.
 		 */
 		if ((cfg->pm == LIS2DUX12_OPER_MODE_HIGH_PERFORMANCE) &&
 		    ((odr == LIS2DUX12_DT_ODR_1Hz_ULP) ||
 		     (odr == LIS2DUX12_DT_ODR_3Hz_ULP) ||
 		     (odr == LIS2DUX12_DT_ODR_25Hz_ULP))) {
 			continue;
 		}

 		if (freq <= lis2dux12_odr_map[odr]) {
 			break;
 		}
 	}

 	if (unlikely(odr == LIS2DUX12_DT_ODR_END)) {
 		/* no valid odr found */
 		return -EINVAL;
 	}

 	if (unlikely(odr == LIS2DUX12_DT_ODR_OFF)) {
 		return LIS2DUX12_DT_ODR_OFF;
 	}

 	return odr;
 }

 static int lis2dux12_set_fs(const struct device *dev, int16_t fs)
 {
 	int ret;
 	uint8_t range;
 	const struct lis2dux12_config *const cfg = dev->config;
 	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;

 	switch (fs) {
 	case 2:
 		range = LIS2DUX12_DT_FS_2G;
 		break;
 	case 4:
 		range = LIS2DUX12_DT_FS_4G;
 		break;
 	case 8:
 		range = LIS2DUX12_DT_FS_8G;
 		break;
 	case 16:
 		range = LIS2DUX12_DT_FS_16G;
 		break;
 	default:
 		LOG_ERR("fs [%d] not supported.", fs);
 		return -EINVAL;
 	}

 	ret = chip_api->set_range(dev, range);
 	if (ret < 0) {
 		LOG_ERR("%s: range init error %d", dev->name, range);
 		return ret;
 	}

 	LOG_DBG("%s: set fs to %d g", dev->name, fs);
 	return ret;
 }

 static int lis2dux12_accel_config(const struct device *dev, enum sensor_channel chan,
 				  enum sensor_attribute attr, const struct sensor_value *val)
 {
 	int odr_val;
 	const struct lis2dux12_config *const cfg = dev->config;
 	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;

 	switch (attr) {
 	case SENSOR_ATTR_FULL_SCALE:
 		return lis2dux12_set_fs(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		odr_val = lis2dux12_freq_to_odr_val(dev, val->val1);
 		if (odr_val < 0) {
 			LOG_ERR("%d Hz not supported or wrong operating mode.", val->val1);
 			return odr_val;
 		}

 		LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1);

 		return chip_api->set_odr_raw(dev, odr_val);
 	default:
 		LOG_ERR("Accel attribute not supported.");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2dux12_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 lis2dux12_accel_config(dev, chan, attr, val);
 	default:
 		LOG_ERR("attr_set() not supported on this channel.");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2dux12_sample_fetch(const struct device *dev, enum sensor_channel chan)
 {
 	const struct lis2dux12_config *const cfg = dev->config;
 	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;
 	int ret;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		ret = chip_api->sample_fetch_accel(dev);
 		break;
 #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
 	case SENSOR_CHAN_DIE_TEMP:
 		ret = chip_api->sample_fetch_temp(dev);
 		break;
 #endif
 	case SENSOR_CHAN_ALL:
 		ret = chip_api->sample_fetch_accel(dev);
 		if (ret != 0) {
 			break;
 		}
 #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
 		ret = chip_api->sample_fetch_temp(dev);
 #endif
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return ret;
 }

 static inline void lis2dux12_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 lis2dux12_get_channel(enum sensor_channel chan, struct sensor_value *val,
 					struct lis2dux12_data *data, float gain)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 		lis2dux12_convert(val, data->sample_x, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		lis2dux12_convert(val, data->sample_y, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		lis2dux12_convert(val, data->sample_z, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2dux12_convert(val, data->sample_x, gain);
 		lis2dux12_convert(val + 1, data->sample_y, gain);
 		lis2dux12_convert(val + 2, data->sample_z, gain);
 		break;
 #if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
 	case SENSOR_CHAN_DIE_TEMP:
 		sensor_value_from_float(val, data->sample_temp);
 		break;
 #endif
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2dux12_channel_get(const struct device *dev, enum sensor_channel chan,
 				 struct sensor_value *val)
 {
 	struct lis2dux12_data *data = dev->data;

 	return lis2dux12_get_channel(chan, val, data, data->gain);
 }

 static DEVICE_API(sensor, lis2dux12_driver_api) = {
 	.attr_set = lis2dux12_attr_set,
 #if defined(CONFIG_LIS2DUX12_TRIGGER)
 	.trigger_set = lis2dux12_trigger_set,
 #endif
 	.sample_fetch = lis2dux12_sample_fetch,
 	.channel_get = lis2dux12_channel_get,
 #ifdef CONFIG_SENSOR_ASYNC_API
 	.get_decoder = lis2dux12_get_decoder,
 	.submit = lis2dux12_submit,
 #endif
 };

 /*
  * Device creation macro, shared by LIS2DUX12_DEFINE_SPI() and
  * LIS2DUX12_DEFINE_I2C().
  */

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

 #ifdef CONFIG_LIS2DUX12_TRIGGER
 #define LIS2DUX12_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_pin = DT_INST_PROP(inst, drdy_pin),
 #else
 #define LIS2DUX12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DUX12_TRIGGER */

 #define LIS2DUX12_CONFIG_COMMON(inst, name)						\
 	.chip_api = &name##_chip_api,							\
 	.range = DT_INST_PROP(inst, range),						\
 	.pm = DT_INST_PROP(inst, power_mode),						\
 	.odr = DT_INST_PROP(inst, odr),							\
 	IF_ENABLED(CONFIG_LIS2DUX12_STREAM,						\
 		   (.fifo_wtm = DT_INST_PROP(inst, fifo_watermark),			\
 		    .fifo_mode_sel = DT_INST_PROP(inst, fifo_mode_sel),			\
 		    .accel_batch  = DT_INST_PROP(inst, accel_fifo_batch_rate),		\
 		    .ts_batch  = DT_INST_PROP(inst, timestamp_fifo_batch_rate),))	\
 	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios),			\
 			   DT_INST_NODE_HAS_PROP(inst, int2_gpios)),			\
 		   (LIS2DUX12_CFG_IRQ(inst)))						\

 /*
  * Instantiation macros used when a device is on a SPI bus.
  */
 #define LIS2DUX12_SPI_OPERATION								\
 	(SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA)

 #define LIS2DUX12_SPI_RTIO_DEFINE(inst, name)				\
 	SPI_DT_IODEV_DEFINE(lis2dux12_iodev_##name##_##inst,		\
 		DT_DRV_INST(inst), LIS2DUX12_SPI_OPERATION);		\
 	RTIO_DEFINE(lis2dux12_rtio_ctx_##name##_##inst, 4, 4);

 #define LIS2DUX12_CONFIG_SPI(inst, name)						\
 	{										\
 		STMEMSC_CTX_SPI(&lis2dux12_config_##name##_##inst.stmemsc_cfg),		\
 		.stmemsc_cfg = {							\
 			.spi = SPI_DT_SPEC_INST_GET(inst, LIS2DUX12_SPI_OPERATION),	\
 		},									\
 		LIS2DUX12_CONFIG_COMMON(inst, name)					\
 	}

 #define LIS2DUX12_DEFINE_SPI(inst, name)				\
 	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM,			\
 			    CONFIG_SPI_RTIO),				\
 		   (LIS2DUX12_SPI_RTIO_DEFINE(inst, name)));		\
 	static struct lis2dux12_data lis2dux12_data_##name##_##inst = {	\
 		IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM,		\
 				    CONFIG_SPI_RTIO),			\
 			(.rtio_ctx = &lis2dux12_rtio_ctx_##name##_##inst,	\
 			 .iodev = &lis2dux12_iodev_##name##_##inst,		\
 			 .bus_type = BUS_SPI,))				\
 	};								\
 	static const struct lis2dux12_config lis2dux12_config_##name##_##inst =	\
 		LIS2DUX12_CONFIG_SPI(inst, name);

 /*
  * Instantiation macros used when a device is on an I2C bus.
  */
 #define LIS2DUX12_I2C_RTIO_DEFINE(inst, name)				\
 	I2C_DT_IODEV_DEFINE(lis2dux12_iodev_##name##_##inst, DT_DRV_INST(inst));	\
 	RTIO_DEFINE(lis2dux12_rtio_ctx_##name##_##inst, 4, 4);

 #define LIS2DUX12_CONFIG_I2C(inst, name)						\
 	{										\
 		STMEMSC_CTX_I2C(&lis2dux12_config_##name##_##inst.stmemsc_cfg),		\
 		.stmemsc_cfg = {							\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),				\
 		},									\
 		LIS2DUX12_CONFIG_COMMON(inst, name)					\
 	}

 #define LIS2DUX12_DEFINE_I2C(inst, name)				\
 	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM,			\
 			    CONFIG_I2C_RTIO),				\
 		   (LIS2DUX12_I2C_RTIO_DEFINE(inst, name)));		\
 	static struct lis2dux12_data lis2dux12_data_##name##_##inst = {	\
 		IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM,		\
 				    CONFIG_I2C_RTIO),			\
 			(.rtio_ctx = &lis2dux12_rtio_ctx_##name##_##inst,	\
 			 .iodev = &lis2dux12_iodev_##name##_##inst,		\
 			 .bus_type = BUS_I2C,))				\
 	};								\
 	static const struct lis2dux12_config lis2dux12_config_##name##_##inst =	\
 		LIS2DUX12_CONFIG_I2C(inst, name);

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

 #define LIS2DUX12_DEFINE(inst, name)							\
 		COND_CODE_1(DT_INST_ON_BUS(inst, spi),					\
 			    (LIS2DUX12_DEFINE_SPI(inst, name)),				\
 			    (LIS2DUX12_DEFINE_I2C(inst, name)));			\
 											\
 	SENSOR_DEVICE_DT_INST_DEFINE(inst, name##_init, NULL,				\
 				     &lis2dux12_data_##name##_##inst,			\
 				     &lis2dux12_config_##name##_##inst, POST_KERNEL,	\
 				     CONFIG_SENSOR_INIT_PRIORITY,			\
 				     &lis2dux12_driver_api);


 #define DT_DRV_COMPAT st_lis2dux12
 DT_INST_FOREACH_STATUS_OKAY_VARGS(LIS2DUX12_DEFINE, DT_DRV_COMPAT)
 #undef DT_DRV_COMPAT

 #define DT_DRV_COMPAT st_lis2duxs12
 DT_INST_FOREACH_STATUS_OKAY_VARGS(LIS2DUX12_DEFINE, DT_DRV_COMPAT)
 #undef DT_DRV_COMPAT
	/* ST Microelectronics LIS2DUX12 3-axis accelerometer driver
	*
	* Copyright (c) 2024 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2dux12.pdf
	*/

	#include <zephyr/drivers/sensor.h>
	#include <zephyr/kernel.h>
	#include <zephyr/device.h>
	#include <zephyr/init.h>
	#include <string.h>
	#include <zephyr/sys/__assert.h>
	#include <zephyr/sys/util_macro.h>
	#include <zephyr/logging/log.h>

	#include "lis2dux12.h"
	#include "lis2dux12_decoder.h"
	#include "lis2dux12_rtio.h"

	#if DT_HAS_COMPAT_STATUS_OKAY(st_lis2dux12)
	#include "lis2dux12_api.h"
	#endif

	#if DT_HAS_COMPAT_STATUS_OKAY(st_lis2duxs12)
	#include "lis2duxs12_api.h"
	#endif

	LOG_MODULE_REGISTER(LIS2DUX12, CONFIG_SENSOR_LOG_LEVEL);

	#define FOREACH_ODR_ENUM(ODR_VAL) \
	ODR_VAL(LIS2DUX12_DT_ODR_OFF, 0.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_1Hz_ULP, 1.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_3Hz_ULP, 3.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_25Hz_ULP, 25.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_6Hz, 6.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_12Hz5, 12.50f) \
	ODR_VAL(LIS2DUX12_DT_ODR_25Hz, 25.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_50Hz, 50.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_100Hz, 100.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_200Hz, 200.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_400Hz, 400.0f) \
	ODR_VAL(LIS2DUX12_DT_ODR_800Hz, 800.0f)

	#define GENERATE_VAL(ENUM, VAL) VAL,

	static const float lis2dux12_odr_map[LIS2DUX12_DT_ODR_END] = {FOREACH_ODR_ENUM(GENERATE_VAL)};

	static int lis2dux12_freq_to_odr_val(const struct device *dev, uint16_t freq)
	{
	const struct lis2dux12_config *cfg = dev->config;
	int odr;

	for (odr = LIS2DUX12_DT_ODR_OFF; odr < LIS2DUX12_DT_ODR_END; odr++) {
	/*
	* In case power-mode is HP, skip the ULP odrs in order to
	* avoid to erroneously break the loop sooner than expected.
	* In HP mode the correct ODRs must be found from
	* LIS2DUX12_DT_ODR_6Hz on.
	*/
	if ((cfg->pm == LIS2DUX12_OPER_MODE_HIGH_PERFORMANCE) &&
	((odr == LIS2DUX12_DT_ODR_1Hz_ULP) \|\|
	(odr == LIS2DUX12_DT_ODR_3Hz_ULP) \|\|
	(odr == LIS2DUX12_DT_ODR_25Hz_ULP))) {
	continue;
	}

	if (freq <= lis2dux12_odr_map[odr]) {
	break;
	}
	}

	if (unlikely(odr == LIS2DUX12_DT_ODR_END)) {
	/* no valid odr found */
	return -EINVAL;
	}

	if (unlikely(odr == LIS2DUX12_DT_ODR_OFF)) {
	return LIS2DUX12_DT_ODR_OFF;
	}

	return odr;
	}

	static int lis2dux12_set_fs(const struct device *dev, int16_t fs)
	{
	int ret;
	uint8_t range;
	const struct lis2dux12_config *const cfg = dev->config;
	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;

	switch (fs) {
	case 2:
	range = LIS2DUX12_DT_FS_2G;
	break;
	case 4:
	range = LIS2DUX12_DT_FS_4G;
	break;
	case 8:
	range = LIS2DUX12_DT_FS_8G;
	break;
	case 16:
	range = LIS2DUX12_DT_FS_16G;
	break;
	default:
	LOG_ERR("fs [%d] not supported.", fs);
	return -EINVAL;
	}

	ret = chip_api->set_range(dev, range);
	if (ret < 0) {
	LOG_ERR("%s: range init error %d", dev->name, range);
	return ret;
	}

	LOG_DBG("%s: set fs to %d g", dev->name, fs);
	return ret;
	}

	static int lis2dux12_accel_config(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr, const struct sensor_value *val)
	{
	int odr_val;
	const struct lis2dux12_config *const cfg = dev->config;
	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;

	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
	return lis2dux12_set_fs(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	odr_val = lis2dux12_freq_to_odr_val(dev, val->val1);
	if (odr_val < 0) {
	LOG_ERR("%d Hz not supported or wrong operating mode.", val->val1);
	return odr_val;
	}

	LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1);

	return chip_api->set_odr_raw(dev, odr_val);
	default:
	LOG_ERR("Accel attribute not supported.");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2dux12_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 lis2dux12_accel_config(dev, chan, attr, val);
	default:
	LOG_ERR("attr_set() not supported on this channel.");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2dux12_sample_fetch(const struct device *dev, enum sensor_channel chan)
	{
	const struct lis2dux12_config *const cfg = dev->config;
	const struct lis2dux12_chip_api *chip_api = cfg->chip_api;
	int ret;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	ret = chip_api->sample_fetch_accel(dev);
	break;
	#if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
	ret = chip_api->sample_fetch_temp(dev);
	break;
	#endif
	case SENSOR_CHAN_ALL:
	ret = chip_api->sample_fetch_accel(dev);
	if (ret != 0) {
	break;
	}
	#if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
	ret = chip_api->sample_fetch_temp(dev);
	#endif
	break;
	default:
	return -ENOTSUP;
	}

	return ret;
	}

	static inline void lis2dux12_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 lis2dux12_get_channel(enum sensor_channel chan, struct sensor_value *val,
	struct lis2dux12_data *data, float gain)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	lis2dux12_convert(val, data->sample_x, gain);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	lis2dux12_convert(val, data->sample_y, gain);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	lis2dux12_convert(val, data->sample_z, gain);
	break;
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2dux12_convert(val, data->sample_x, gain);
	lis2dux12_convert(val + 1, data->sample_y, gain);
	lis2dux12_convert(val + 2, data->sample_z, gain);
	break;
	#if defined(CONFIG_LIS2DUX12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
	sensor_value_from_float(val, data->sample_temp);
	break;
	#endif
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2dux12_channel_get(const struct device *dev, enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct lis2dux12_data *data = dev->data;

	return lis2dux12_get_channel(chan, val, data, data->gain);
	}

	static DEVICE_API(sensor, lis2dux12_driver_api) = {
	.attr_set = lis2dux12_attr_set,
	#if defined(CONFIG_LIS2DUX12_TRIGGER)
	.trigger_set = lis2dux12_trigger_set,
	#endif
	.sample_fetch = lis2dux12_sample_fetch,
	.channel_get = lis2dux12_channel_get,
	#ifdef CONFIG_SENSOR_ASYNC_API
	.get_decoder = lis2dux12_get_decoder,
	.submit = lis2dux12_submit,
	#endif
	};

	/*
	* Device creation macro, shared by LIS2DUX12_DEFINE_SPI() and
	* LIS2DUX12_DEFINE_I2C().
	*/

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

	#ifdef CONFIG_LIS2DUX12_TRIGGER
	#define LIS2DUX12_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_pin = DT_INST_PROP(inst, drdy_pin),
	#else
	#define LIS2DUX12_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2DUX12_TRIGGER */

	#define LIS2DUX12_CONFIG_COMMON(inst, name) \
	.chip_api = &name##_chip_api, \
	.range = DT_INST_PROP(inst, range), \
	.pm = DT_INST_PROP(inst, power_mode), \
	.odr = DT_INST_PROP(inst, odr), \
	IF_ENABLED(CONFIG_LIS2DUX12_STREAM, \
	(.fifo_wtm = DT_INST_PROP(inst, fifo_watermark), \
	.fifo_mode_sel = DT_INST_PROP(inst, fifo_mode_sel), \
	.accel_batch = DT_INST_PROP(inst, accel_fifo_batch_rate), \
	.ts_batch = DT_INST_PROP(inst, timestamp_fifo_batch_rate),)) \
	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \
	DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \
	(LIS2DUX12_CFG_IRQ(inst))) \

	/*
	* Instantiation macros used when a device is on a SPI bus.
	*/
	#define LIS2DUX12_SPI_OPERATION \
	(SPI_WORD_SET(8) \| SPI_OP_MODE_MASTER \| SPI_MODE_CPOL \| SPI_MODE_CPHA)

	#define LIS2DUX12_SPI_RTIO_DEFINE(inst, name) \
	SPI_DT_IODEV_DEFINE(lis2dux12_iodev_##name##_##inst, \
	DT_DRV_INST(inst), LIS2DUX12_SPI_OPERATION); \
	RTIO_DEFINE(lis2dux12_rtio_ctx_##name##_##inst, 4, 4);

	#define LIS2DUX12_CONFIG_SPI(inst, name) \
	{ \
	STMEMSC_CTX_SPI(&lis2dux12_config_##name##_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, LIS2DUX12_SPI_OPERATION), \
	}, \
	LIS2DUX12_CONFIG_COMMON(inst, name) \
	}

	#define LIS2DUX12_DEFINE_SPI(inst, name) \
	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM, \
	CONFIG_SPI_RTIO), \
	(LIS2DUX12_SPI_RTIO_DEFINE(inst, name))); \
	static struct lis2dux12_data lis2dux12_data_##name##_##inst = { \
	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM, \
	CONFIG_SPI_RTIO), \
	(.rtio_ctx = &lis2dux12_rtio_ctx_##name##_##inst, \
	.iodev = &lis2dux12_iodev_##name##_##inst, \
	.bus_type = BUS_SPI,)) \
	}; \
	static const struct lis2dux12_config lis2dux12_config_##name##_##inst = \
	LIS2DUX12_CONFIG_SPI(inst, name);

	/*
	* Instantiation macros used when a device is on an I2C bus.
	*/
	#define LIS2DUX12_I2C_RTIO_DEFINE(inst, name) \
	I2C_DT_IODEV_DEFINE(lis2dux12_iodev_##name##_##inst, DT_DRV_INST(inst)); \
	RTIO_DEFINE(lis2dux12_rtio_ctx_##name##_##inst, 4, 4);

	#define LIS2DUX12_CONFIG_I2C(inst, name) \
	{ \
	STMEMSC_CTX_I2C(&lis2dux12_config_##name##_##inst.stmemsc_cfg), \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	LIS2DUX12_CONFIG_COMMON(inst, name) \
	}

	#define LIS2DUX12_DEFINE_I2C(inst, name) \
	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM, \
	CONFIG_I2C_RTIO), \
	(LIS2DUX12_I2C_RTIO_DEFINE(inst, name))); \
	static struct lis2dux12_data lis2dux12_data_##name##_##inst = { \
	IF_ENABLED(UTIL_AND(CONFIG_LIS2DUX12_STREAM, \
	CONFIG_I2C_RTIO), \
	(.rtio_ctx = &lis2dux12_rtio_ctx_##name##_##inst, \
	.iodev = &lis2dux12_iodev_##name##_##inst, \
	.bus_type = BUS_I2C,)) \
	}; \
	static const struct lis2dux12_config lis2dux12_config_##name##_##inst = \
	LIS2DUX12_CONFIG_I2C(inst, name);

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

	#define LIS2DUX12_DEFINE(inst, name) \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2DUX12_DEFINE_SPI(inst, name)), \
	(LIS2DUX12_DEFINE_I2C(inst, name))); \
	\
	SENSOR_DEVICE_DT_INST_DEFINE(inst, name##_init, NULL, \
	&lis2dux12_data_##name##_##inst, \
	&lis2dux12_config_##name##_##inst, POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2dux12_driver_api);


	#define DT_DRV_COMPAT st_lis2dux12
	DT_INST_FOREACH_STATUS_OKAY_VARGS(LIS2DUX12_DEFINE, DT_DRV_COMPAT)
	#undef DT_DRV_COMPAT

	#define DT_DRV_COMPAT st_lis2duxs12
	DT_INST_FOREACH_STATUS_OKAY_VARGS(LIS2DUX12_DEFINE, DT_DRV_COMPAT)
	#undef DT_DRV_COMPAT