blob: a044a56b95dc4da711b64959905749732415b4ba [file] [log] [blame]
/*
* Copyright (c) 2016 Freescale Semiconductor, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/drivers/sensor.h>
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#include <zephyr/drivers/spi.h>
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
#include <zephyr/drivers/i2c.h>
#endif
#include <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
#define FXOS8700_BUS_I2C (1<<0)
#define FXOS8700_BUS_SPI (1<<1)
#define FXOS8700_REG_STATUS 0x00
#define FXOS8700_REG_OUTXMSB 0x01
#define FXOS8700_REG_INT_SOURCE 0x0c
#define FXOS8700_REG_WHOAMI 0x0d
#define FXOS8700_REG_XYZ_DATA_CFG 0x0e
#define FXOS8700_REG_FF_MT_CFG 0x15
#define FXOS8700_REG_FF_MT_SRC 0x16
#define FXOS8700_REG_FF_MT_THS 0x17
#define FXOS8700_REG_FF_MT_COUNT 0x18
#define FXOS8700_REG_PULSE_CFG 0x21
#define FXOS8700_REG_PULSE_SRC 0x22
#define FXOS8700_REG_PULSE_THSX 0x23
#define FXOS8700_REG_PULSE_THSY 0x24
#define FXOS8700_REG_PULSE_THSZ 0x25
#define FXOS8700_REG_PULSE_TMLT 0x26
#define FXOS8700_REG_PULSE_LTCY 0x27
#define FXOS8700_REG_PULSE_WIND 0x28
#define FXOS8700_REG_CTRLREG1 0x2a
#define FXOS8700_REG_CTRLREG2 0x2b
#define FXOS8700_REG_CTRLREG3 0x2c
#define FXOS8700_REG_CTRLREG4 0x2d
#define FXOS8700_REG_CTRLREG5 0x2e
#define FXOS8700_REG_M_OUTXMSB 0x33
#define FXOS8700_REG_TEMP 0x51
#define FXOS8700_REG_M_CTRLREG1 0x5b
#define FXOS8700_REG_M_CTRLREG2 0x5c
#define FXOS8700_REG_M_INT_SRC 0x5e
#define FXOS8700_REG_M_VECM_CFG 0x69
#define FXOS8700_REG_M_VECM_THS_MSB 0x6a
#define FXOS8700_REG_M_VECM_THS_LSB 0x6b
/* Devices that are compatible with this driver: */
#define WHOAMI_ID_MMA8451 0x1A
#define WHOAMI_ID_MMA8652 0x4A
#define WHOAMI_ID_MMA8653 0x5A
#define WHOAMI_ID_FXOS8700 0xC7
#define FXOS8700_DRDY_MASK (1 << 0)
#define FXOS8700_MAG_VECM_INT1_MASK (1 << 0)
#define FXOS8700_VECM_MASK (1 << 1)
#define FXOS8700_MOTION_MASK (1 << 2)
#define FXOS8700_PULSE_MASK (1 << 3)
#define FXOS8700_XYZ_DATA_CFG_FS_MASK 0x03
#define FXOS8700_PULSE_SRC_DPE (1 << 3)
#define FXOS8700_CTRLREG1_ACTIVE_MASK 0x01
#define FXOS8700_CTRLREG1_DR_MASK (7 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_800 0
#define FXOS8700_CTRLREG1_DR_RATE_400 (1 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_200 (2 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_100 (3 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_50 (4 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_12_5 (5 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_6_25 (6 << 3)
#define FXOS8700_CTRLREG1_DR_RATE_1_56 (7 << 3)
#define FXOS8700_CTRLREG2_RST_MASK 0x40
#define FXOS8700_CTRLREG2_MODS_MASK 0x03
#define FXOS8700_FF_MT_CFG_ELE BIT(7)
#define FXOS8700_FF_MT_CFG_OAE BIT(6)
#define FXOS8700_FF_MT_CFG_ZEFE BIT(5)
#define FXOS8700_FF_MT_CFG_YEFE BIT(4)
#define FXOS8700_FF_MT_CFG_XEFE BIT(3)
#define FXOS8700_FF_MT_THS_MASK 0x7f
#define FXOS8700_FF_MT_THS_SCALE (SENSOR_G * 63000LL / 1000000LL)
#define FXOS8700_M_CTRLREG1_MODE_MASK 0x03
#define FXOS8700_M_CTRLREG2_AUTOINC_MASK (1 << 5)
#define FXOS8700_NUM_ACCEL_CHANNELS 3
#define FXOS8700_NUM_MAG_CHANNELS 3
#define FXOS8700_NUM_HYBRID_CHANNELS 6
#define FXOS8700_MAX_NUM_CHANNELS 6
#define FXOS8700_BYTES_PER_CHANNEL_NORMAL 2
#define FXOS8700_BYTES_PER_CHANNEL_FAST 1
#define FXOS8700_MAX_NUM_BYTES (FXOS8700_BYTES_PER_CHANNEL_NORMAL * \
FXOS8700_MAX_NUM_CHANNELS)
enum fxos8700_power {
FXOS8700_POWER_STANDBY = 0,
FXOS8700_POWER_ACTIVE,
};
enum fxos8700_mode {
FXOS8700_MODE_ACCEL = 0,
FXOS8700_MODE_MAGN = 1,
FXOS8700_MODE_HYBRID = 3,
};
enum fxos8700_power_mode {
FXOS8700_PM_NORMAL = 0,
FXOS8700_PM_LOW_NOISE_LOW_POWER,
FXOS8700_PM_HIGH_RESOLUTION,
FXOS8700_PM_LOW_POWER,
};
enum fxos8700_channel {
FXOS8700_CHANNEL_ACCEL_X = 0,
FXOS8700_CHANNEL_ACCEL_Y,
FXOS8700_CHANNEL_ACCEL_Z,
FXOS8700_CHANNEL_MAGN_X,
FXOS8700_CHANNEL_MAGN_Y,
FXOS8700_CHANNEL_MAGN_Z,
};
/* FXOS8700 specific triggers */
enum fxos_trigger_type {
FXOS8700_TRIG_M_VECM,
};
struct fxos8700_io_ops {
int (*read)(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
int (*byte_read)(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int (*byte_write)(const struct device *dev,
uint8_t reg,
uint8_t byte);
int (*reg_field_update)(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
};
union fxos8700_bus_cfg {
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
struct spi_dt_spec spi;
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
struct i2c_dt_spec i2c;
#endif
};
struct fxos8700_config {
const union fxos8700_bus_cfg bus_cfg;
const struct fxos8700_io_ops *ops;
#ifdef CONFIG_FXOS8700_TRIGGER
struct gpio_dt_spec int_gpio;
#endif
struct gpio_dt_spec reset_gpio;
enum fxos8700_mode mode;
enum fxos8700_power_mode power_mode;
uint8_t range;
uint8_t start_addr;
uint8_t start_channel;
uint8_t num_channels;
#ifdef CONFIG_FXOS8700_PULSE
uint8_t pulse_cfg;
uint8_t pulse_ths[3];
uint8_t pulse_tmlt;
uint8_t pulse_ltcy;
uint8_t pulse_wind;
#endif
#ifdef CONFIG_FXOS8700_MAG_VECM
uint8_t mag_vecm_cfg;
uint8_t mag_vecm_ths[2];
#endif
uint8_t inst_on_bus;
};
struct fxos8700_data {
struct k_sem sem;
#ifdef CONFIG_FXOS8700_TRIGGER
const struct device *dev;
struct gpio_callback gpio_cb;
sensor_trigger_handler_t drdy_handler;
const struct sensor_trigger *drdy_trig;
#endif
#ifdef CONFIG_FXOS8700_PULSE
sensor_trigger_handler_t tap_handler;
const struct sensor_trigger *tap_trig;
sensor_trigger_handler_t double_tap_handler;
const struct sensor_trigger *double_tap_trig;
#endif
#ifdef CONFIG_FXOS8700_MOTION
sensor_trigger_handler_t motion_handler;
const struct sensor_trigger *motion_trig;
#endif
#ifdef CONFIG_FXOS8700_MAG_VECM
sensor_trigger_handler_t m_vecm_handler;
const struct sensor_trigger *m_vecm_trig;
#endif
#ifdef CONFIG_FXOS8700_TRIGGER_OWN_THREAD
K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_FXOS8700_THREAD_STACK_SIZE);
struct k_thread thread;
struct k_sem trig_sem;
#endif
#ifdef CONFIG_FXOS8700_TRIGGER_GLOBAL_THREAD
struct k_work work;
#endif
int16_t raw[FXOS8700_MAX_NUM_CHANNELS];
#ifdef CONFIG_FXOS8700_TEMP
int8_t temp;
#endif
uint8_t whoami;
};
int fxos8700_get_power(const struct device *dev, enum fxos8700_power *power);
int fxos8700_set_power(const struct device *dev, enum fxos8700_power power);
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
int fxos8700_byte_write_spi(const struct device *dev,
uint8_t reg,
uint8_t byte);
int fxos8700_byte_read_spi(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int fxos8700_reg_field_update_spi(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
int fxos8700_read_spi(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
int fxos8700_byte_write_i2c(const struct device *dev,
uint8_t reg,
uint8_t byte);
int fxos8700_byte_read_i2c(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int fxos8700_reg_field_update_i2c(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
int fxos8700_read_i2c(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
#endif
#if CONFIG_FXOS8700_TRIGGER
int fxos8700_trigger_init(const struct device *dev);
int fxos8700_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
#endif