drivers/sensor/fxos8700/fxos8700.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2016 Freescale Semiconductor, Inc.
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <fxos8700.h>
 #include <misc/util.h>
 #include <misc/__assert.h>

 static int fxos8700_sample_fetch(struct device *dev, enum sensor_channel chan)
 {
 	const struct fxos8700_config *config = dev->config->config_info;
 	struct fxos8700_data *data = dev->driver_data;
 	u8_t buffer[FXOS8700_MAX_NUM_BYTES];
 	u8_t num_bytes;
 	s16_t *raw;
 	int ret = 0;
 	int i;

 	if (chan != SENSOR_CHAN_ALL) {
 		SYS_LOG_ERR("Unsupported sensor channel");
 		return -ENOTSUP;
 	}

 	k_sem_take(&data->sem, K_FOREVER);

 	/* Read all the channels in one I2C transaction. The number of bytes to
 	 * read and the starting register address depend on the mode
 	 * configuration (accel-only, mag-only, or hybrid).
 	 */
 	num_bytes = config->num_channels * FXOS8700_BYTES_PER_CHANNEL_NORMAL;

 	__ASSERT(num_bytes <= sizeof(buffer), "Too many bytes to read");

 	if (i2c_burst_read(data->i2c, config->i2c_address, config->start_addr,
 			   buffer, num_bytes)) {
 		SYS_LOG_ERR("Could not fetch sample");
 		ret = -EIO;
 		goto exit;
 	}

 	/* Parse the buffer into raw channel data (16-bit integers). To save
 	 * RAM, store the data in raw format and wait to convert to the
 	 * normalized sensor_value type until later.
 	 */
 	__ASSERT(config->start_channel + config->num_channels
 			<= ARRAY_SIZE(data->raw),
 			"Too many channels");

 	raw = &data->raw[config->start_channel];

 	for (i = 0; i < num_bytes; i += 2) {
 		*raw++ = (buffer[i] << 8) | (buffer[i+1]);
 	}

 #ifdef CONFIG_FXOS8700_TEMP
 	if (i2c_reg_read_byte(data->i2c, config->i2c_address, FXOS8700_REG_TEMP,
 			      &data->temp)) {
 		SYS_LOG_ERR("Could not fetch temperature");
 		ret = -EIO;
 		goto exit;
 	}
 #endif

 exit:
 	k_sem_give(&data->sem);

 	return ret;
 }

 static void fxos8700_accel_convert(struct sensor_value *val, s16_t raw,
 				   enum fxos8700_range range)
 {
 	u8_t frac_bits;
 	s64_t micro_ms2;

 	/* The range encoding is convenient to compute the number of fractional
 	 * bits:
 	 * - 2g mode (range = 0) has 14 fractional bits
 	 * - 4g mode (range = 1) has 13 fractional bits
 	 * - 8g mode (range = 2) has 12 fractional bits
 	 */
 	frac_bits = 14 - range;

 	/* Convert units to micro m/s^2. Intermediate results before the shift
 	 * are 40 bits wide.
 	 */
 	micro_ms2 = (raw * SENSOR_G) >> frac_bits;

 	/* The maximum possible value is 8g, which in units of micro m/s^2
 	 * always fits into 32-bits. Cast down to s32_t so we can use a
 	 * faster divide.
 	 */
 	val->val1 = (s32_t) micro_ms2 / 1000000;
 	val->val2 = (s32_t) micro_ms2 % 1000000;
 }

 static void fxos8700_magn_convert(struct sensor_value *val, s16_t raw)
 {
 	s32_t micro_g;

 	/* Convert units to micro Gauss. Raw magnetic data always has a
 	 * resolution of 0.1 uT/LSB, which is equivalent to 0.001 G/LSB.
 	 */
 	micro_g = raw * 1000;

 	val->val1 = micro_g / 1000000;
 	val->val2 = micro_g % 1000000;
 }

 #ifdef CONFIG_FXOS8700_TEMP
 static void fxos8700_temp_convert(struct sensor_value *val, s8_t raw)
 {
 	s32_t micro_c;

 	/* Convert units to micro Celsius. Raw temperature data always has a
 	 * resolution of 0.96 deg C/LSB.
 	 */
 	micro_c = raw * 960 * 1000;

 	val->val1 = micro_c / 1000000;
 	val->val2 = micro_c % 1000000;
 }
 #endif

 static int fxos8700_channel_get(struct device *dev, enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	const struct fxos8700_config *config = dev->config->config_info;
 	struct fxos8700_data *data = dev->driver_data;
 	int start_channel;
 	int num_channels;
 	s16_t *raw;
 	int ret;
 	int i;

 	k_sem_take(&data->sem, K_FOREVER);

 	/* Start with an error return code by default, then clear it if we find
 	 * a supported sensor channel.
 	 */
 	ret = -ENOTSUP;

 	/* If we're in an accelerometer-enabled mode (accel-only or hybrid),
 	 * then convert raw accelerometer data to the normalized sensor_value
 	 * type.
 	 */
 	if (config->mode != FXOS8700_MODE_MAGN) {
 		switch (chan) {
 		case SENSOR_CHAN_ACCEL_X:
 			start_channel = FXOS8700_CHANNEL_ACCEL_X;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_ACCEL_Y:
 			start_channel = FXOS8700_CHANNEL_ACCEL_Y;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_ACCEL_Z:
 			start_channel = FXOS8700_CHANNEL_ACCEL_Z;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_ACCEL_XYZ:
 			start_channel = FXOS8700_CHANNEL_ACCEL_X;
 			num_channels = 3;
 			break;
 		default:
 			start_channel = 0;
 			num_channels = 0;
 			break;
 		}

 		raw = &data->raw[start_channel];
 		for (i = 0; i < num_channels; i++) {
 			fxos8700_accel_convert(val++, *raw++, config->range);
 		}

 		if (num_channels > 0) {
 			ret = 0;
 		}
 	}

 	/* If we're in an magnetometer-enabled mode (mag-only or hybrid), then
 	 * convert raw magnetometer data to the normalized sensor_value type.
 	 */
 	if (config->mode != FXOS8700_MODE_ACCEL) {
 		switch (chan) {
 		case SENSOR_CHAN_MAGN_X:
 			start_channel = FXOS8700_CHANNEL_MAGN_X;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_MAGN_Y:
 			start_channel = FXOS8700_CHANNEL_MAGN_Y;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_MAGN_Z:
 			start_channel = FXOS8700_CHANNEL_MAGN_Z;
 			num_channels = 1;
 			break;
 		case SENSOR_CHAN_MAGN_XYZ:
 			start_channel = FXOS8700_CHANNEL_MAGN_X;
 			num_channels = 3;
 			break;
 		default:
 			start_channel = 0;
 			num_channels = 0;
 			break;
 		}

 		raw = &data->raw[start_channel];
 		for (i = 0; i < num_channels; i++) {
 			fxos8700_magn_convert(val++, *raw++);
 		}

 		if (num_channels > 0) {
 			ret = 0;
 		}
 #ifdef CONFIG_FXOS8700_TEMP
 		if (chan == SENSOR_CHAN_TEMP) {
 			fxos8700_temp_convert(val, data->temp);
 			ret = 0;
 		}
 #endif
 	}

 	if (ret != 0) {
 		SYS_LOG_ERR("Unsupported sensor channel");
 	}

 	k_sem_give(&data->sem);

 	return ret;
 }

 int fxos8700_get_power(struct device *dev, enum fxos8700_power *power)
 {
 	const struct fxos8700_config *config = dev->config->config_info;
 	struct fxos8700_data *data = dev->driver_data;
 	u8_t val = *power;

 	if (i2c_reg_read_byte(data->i2c, config->i2c_address,
 			      FXOS8700_REG_CTRLREG1,
 			      &val)) {
 		SYS_LOG_ERR("Could not get power setting");
 		return -EIO;
 	}
 	val &= FXOS8700_M_CTRLREG1_MODE_MASK;
 	*power = val;

 	return 0;
 }

 int fxos8700_set_power(struct device *dev, enum fxos8700_power power)
 {
 	const struct fxos8700_config *config = dev->config->config_info;
 	struct fxos8700_data *data = dev->driver_data;

 	return i2c_reg_update_byte(data->i2c, config->i2c_address,
 				   FXOS8700_REG_CTRLREG1,
 				   FXOS8700_CTRLREG1_ACTIVE_MASK,
 				   power);
 }

 static int fxos8700_init(struct device *dev)
 {
 	const struct fxos8700_config *config = dev->config->config_info;
 	struct fxos8700_data *data = dev->driver_data;
 	u8_t whoami;

 	/* Get the I2C device */
 	data->i2c = device_get_binding(config->i2c_name);
 	if (data->i2c == NULL) {
 		SYS_LOG_ERR("Could not find I2C device");
 		return -EINVAL;
 	}

 	/* Read the WHOAMI register to make sure we are talking to FXOS8700 and
 	 * not some other type of device that happens to have the same I2C
 	 * address.
 	*/
 	if (i2c_reg_read_byte(data->i2c, config->i2c_address,
 			      FXOS8700_REG_WHOAMI, &whoami)) {
 		SYS_LOG_ERR("Could not get WHOAMI value");
 		return -EIO;
 	}

 	if (whoami != config->whoami) {
 		SYS_LOG_ERR("WHOAMI value received 0x%x, expected 0x%x",
 			    whoami, FXOS8700_REG_WHOAMI);
 		return -EIO;
 	}

 	/* Reset the sensor. Upon issuing a software reset command over the I2C
 	 * interface, the sensor immediately resets and does not send any
 	 * acknowledgment (ACK) of the written byte to the master. Therefore,
 	 * do not check the return code of the I2C transaction.
 	 */
 	i2c_reg_write_byte(data->i2c, config->i2c_address,
 			   FXOS8700_REG_CTRLREG2, FXOS8700_CTRLREG2_RST_MASK);

 	/* The sensor requires us to wait 1 ms after a software reset before
 	 * attempting further communications.
 	 */
 	k_busy_wait(USEC_PER_MSEC);

 	/* Set the mode (accel-only, mag-only, or hybrid) */
 	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
 				FXOS8700_REG_M_CTRLREG1,
 				FXOS8700_M_CTRLREG1_MODE_MASK,
 				config->mode)) {
 		SYS_LOG_ERR("Could not set mode");
 		return -EIO;
 	}

 	/* Set hybrid autoincrement so we can read accel and mag channels in
 	 * one I2C transaction.
 	 */
 	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
 				FXOS8700_REG_M_CTRLREG2,
 				FXOS8700_M_CTRLREG2_AUTOINC_MASK,
 				FXOS8700_M_CTRLREG2_AUTOINC_MASK)) {
 		SYS_LOG_ERR("Could not set hybrid autoincrement");
 		return -EIO;
 	}

 	/* Set the full-scale range */
 	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
 				FXOS8700_REG_XYZ_DATA_CFG,
 				FXOS8700_XYZ_DATA_CFG_FS_MASK,
 				config->range)) {
 		SYS_LOG_ERR("Could not set range");
 		return -EIO;
 	}

 #if CONFIG_FXOS8700_TRIGGER
 	if (fxos8700_trigger_init(dev)) {
 		SYS_LOG_ERR("Could not initialize interrupts");
 		return -EIO;
 	}
 #endif

 	/* Set active */
 	if (fxos8700_set_power(dev, FXOS8700_POWER_ACTIVE)) {
 		SYS_LOG_ERR("Could not set active");
 		return -EIO;
 	}

 	k_sem_init(&data->sem, 0, UINT_MAX);
 	k_sem_give(&data->sem);

 	SYS_LOG_DBG("Init complete");

 	return 0;
 }

 static const struct sensor_driver_api fxos8700_driver_api = {
 	.sample_fetch = fxos8700_sample_fetch,
 	.channel_get = fxos8700_channel_get,
 #if CONFIG_FXOS8700_TRIGGER
 	.trigger_set = fxos8700_trigger_set,
 #endif
 };

 static const struct fxos8700_config fxos8700_config = {
 	.i2c_name = CONFIG_FXOS8700_I2C_NAME,
 	.i2c_address = CONFIG_FXOS8700_I2C_ADDRESS,
 	.whoami = CONFIG_FXOS8700_WHOAMI,
 #ifdef CONFIG_FXOS8700_MODE_ACCEL
 	.mode = FXOS8700_MODE_ACCEL,
 	.start_addr = FXOS8700_REG_OUTXMSB,
 	.start_channel = FXOS8700_CHANNEL_ACCEL_X,
 	.num_channels = FXOS8700_NUM_ACCEL_CHANNELS,
 #elif CONFIG_FXOS8700_MODE_MAGN
 	.mode = FXOS8700_MODE_MAGN,
 	.start_addr = FXOS8700_REG_M_OUTXMSB,
 	.start_channel = FXOS8700_CHANNEL_MAGN_X,
 	.num_channels = FXOS8700_NUM_MAG_CHANNELS,
 #else
 	.mode = FXOS8700_MODE_HYBRID,
 	.start_addr = FXOS8700_REG_OUTXMSB,
 	.start_channel = FXOS8700_CHANNEL_ACCEL_X,
 	.num_channels = FXOS8700_NUM_HYBRID_CHANNELS,
 #endif
 #if CONFIG_FXOS8700_RANGE_8G
 	.range = FXOS8700_RANGE_8G,
 #elif CONFIG_FXOS8700_RANGE_4G
 	.range = FXOS8700_RANGE_4G,
 #else
 	.range = FXOS8700_RANGE_2G,
 #endif
 #ifdef CONFIG_FXOS8700_TRIGGER
 	.gpio_name = CONFIG_FXOS8700_GPIO_NAME,
 	.gpio_pin = CONFIG_FXOS8700_GPIO_PIN,
 #endif
 #ifdef CONFIG_FXOS8700_PULSE
 	.pulse_cfg = CONFIG_FXOS8700_PULSE_CFG,
 	.pulse_ths[0] = CONFIG_FXOS8700_PULSE_THSX,
 	.pulse_ths[1] = CONFIG_FXOS8700_PULSE_THSY,
 	.pulse_ths[2] = CONFIG_FXOS8700_PULSE_THSZ,
 	.pulse_tmlt = CONFIG_FXOS8700_PULSE_TMLT,
 	.pulse_ltcy = CONFIG_FXOS8700_PULSE_LTCY,
 	.pulse_wind = CONFIG_FXOS8700_PULSE_WIND,
 #endif
 };

 static struct fxos8700_data fxos8700_data;

 DEVICE_AND_API_INIT(fxos8700, CONFIG_FXOS8700_NAME, fxos8700_init,
 		    &fxos8700_data, &fxos8700_config,
 		    POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
 		    &fxos8700_driver_api);
	/*
	* Copyright (c) 2016 Freescale Semiconductor, Inc.
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <fxos8700.h>
	#include <misc/util.h>
	#include <misc/__assert.h>

	static int fxos8700_sample_fetch(struct device *dev, enum sensor_channel chan)
	{
	const struct fxos8700_config *config = dev->config->config_info;
	struct fxos8700_data *data = dev->driver_data;
	u8_t buffer[FXOS8700_MAX_NUM_BYTES];
	u8_t num_bytes;
	s16_t *raw;
	int ret = 0;
	int i;

	if (chan != SENSOR_CHAN_ALL) {
	SYS_LOG_ERR("Unsupported sensor channel");
	return -ENOTSUP;
	}

	k_sem_take(&data->sem, K_FOREVER);

	/* Read all the channels in one I2C transaction. The number of bytes to
	* read and the starting register address depend on the mode
	* configuration (accel-only, mag-only, or hybrid).
	*/
	num_bytes = config->num_channels * FXOS8700_BYTES_PER_CHANNEL_NORMAL;

	__ASSERT(num_bytes <= sizeof(buffer), "Too many bytes to read");

	if (i2c_burst_read(data->i2c, config->i2c_address, config->start_addr,
	buffer, num_bytes)) {
	SYS_LOG_ERR("Could not fetch sample");
	ret = -EIO;
	goto exit;
	}

	/* Parse the buffer into raw channel data (16-bit integers). To save
	* RAM, store the data in raw format and wait to convert to the
	* normalized sensor_value type until later.
	*/
	__ASSERT(config->start_channel + config->num_channels
	<= ARRAY_SIZE(data->raw),
	"Too many channels");

	raw = &data->raw[config->start_channel];

	for (i = 0; i < num_bytes; i += 2) {
	*raw++ = (buffer[i] << 8) \| (buffer[i+1]);
	}

	#ifdef CONFIG_FXOS8700_TEMP
	if (i2c_reg_read_byte(data->i2c, config->i2c_address, FXOS8700_REG_TEMP,
	&data->temp)) {
	SYS_LOG_ERR("Could not fetch temperature");
	ret = -EIO;
	goto exit;
	}
	#endif

	exit:
	k_sem_give(&data->sem);

	return ret;
	}

	static void fxos8700_accel_convert(struct sensor_value *val, s16_t raw,
	enum fxos8700_range range)
	{
	u8_t frac_bits;
	s64_t micro_ms2;

	/* The range encoding is convenient to compute the number of fractional
	* bits:
	* - 2g mode (range = 0) has 14 fractional bits
	* - 4g mode (range = 1) has 13 fractional bits
	* - 8g mode (range = 2) has 12 fractional bits
	*/
	frac_bits = 14 - range;

	/* Convert units to micro m/s^2. Intermediate results before the shift
	* are 40 bits wide.
	*/
	micro_ms2 = (raw * SENSOR_G) >> frac_bits;

	/* The maximum possible value is 8g, which in units of micro m/s^2
	* always fits into 32-bits. Cast down to s32_t so we can use a
	* faster divide.
	*/
	val->val1 = (s32_t) micro_ms2 / 1000000;
	val->val2 = (s32_t) micro_ms2 % 1000000;
	}

	static void fxos8700_magn_convert(struct sensor_value *val, s16_t raw)
	{
	s32_t micro_g;

	/* Convert units to micro Gauss. Raw magnetic data always has a
	* resolution of 0.1 uT/LSB, which is equivalent to 0.001 G/LSB.
	*/
	micro_g = raw * 1000;

	val->val1 = micro_g / 1000000;
	val->val2 = micro_g % 1000000;
	}

	#ifdef CONFIG_FXOS8700_TEMP
	static void fxos8700_temp_convert(struct sensor_value *val, s8_t raw)
	{
	s32_t micro_c;

	/* Convert units to micro Celsius. Raw temperature data always has a
	* resolution of 0.96 deg C/LSB.
	*/
	micro_c = raw * 960 * 1000;

	val->val1 = micro_c / 1000000;
	val->val2 = micro_c % 1000000;
	}
	#endif

	static int fxos8700_channel_get(struct device *dev, enum sensor_channel chan,
	struct sensor_value *val)
	{
	const struct fxos8700_config *config = dev->config->config_info;
	struct fxos8700_data *data = dev->driver_data;
	int start_channel;
	int num_channels;
	s16_t *raw;
	int ret;
	int i;

	k_sem_take(&data->sem, K_FOREVER);

	/* Start with an error return code by default, then clear it if we find
	* a supported sensor channel.
	*/
	ret = -ENOTSUP;

	/* If we're in an accelerometer-enabled mode (accel-only or hybrid),
	* then convert raw accelerometer data to the normalized sensor_value
	* type.
	*/
	if (config->mode != FXOS8700_MODE_MAGN) {
	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	start_channel = FXOS8700_CHANNEL_ACCEL_X;
	num_channels = 1;
	break;
	case SENSOR_CHAN_ACCEL_Y:
	start_channel = FXOS8700_CHANNEL_ACCEL_Y;
	num_channels = 1;
	break;
	case SENSOR_CHAN_ACCEL_Z:
	start_channel = FXOS8700_CHANNEL_ACCEL_Z;
	num_channels = 1;
	break;
	case SENSOR_CHAN_ACCEL_XYZ:
	start_channel = FXOS8700_CHANNEL_ACCEL_X;
	num_channels = 3;
	break;
	default:
	start_channel = 0;
	num_channels = 0;
	break;
	}

	raw = &data->raw[start_channel];
	for (i = 0; i < num_channels; i++) {
	fxos8700_accel_convert(val++, *raw++, config->range);
	}

	if (num_channels > 0) {
	ret = 0;
	}
	}

	/* If we're in an magnetometer-enabled mode (mag-only or hybrid), then
	* convert raw magnetometer data to the normalized sensor_value type.
	*/
	if (config->mode != FXOS8700_MODE_ACCEL) {
	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	start_channel = FXOS8700_CHANNEL_MAGN_X;
	num_channels = 1;
	break;
	case SENSOR_CHAN_MAGN_Y:
	start_channel = FXOS8700_CHANNEL_MAGN_Y;
	num_channels = 1;
	break;
	case SENSOR_CHAN_MAGN_Z:
	start_channel = FXOS8700_CHANNEL_MAGN_Z;
	num_channels = 1;
	break;
	case SENSOR_CHAN_MAGN_XYZ:
	start_channel = FXOS8700_CHANNEL_MAGN_X;
	num_channels = 3;
	break;
	default:
	start_channel = 0;
	num_channels = 0;
	break;
	}

	raw = &data->raw[start_channel];
	for (i = 0; i < num_channels; i++) {
	fxos8700_magn_convert(val++, *raw++);
	}

	if (num_channels > 0) {
	ret = 0;
	}
	#ifdef CONFIG_FXOS8700_TEMP
	if (chan == SENSOR_CHAN_TEMP) {
	fxos8700_temp_convert(val, data->temp);
	ret = 0;
	}
	#endif
	}

	if (ret != 0) {
	SYS_LOG_ERR("Unsupported sensor channel");
	}

	k_sem_give(&data->sem);

	return ret;
	}

	int fxos8700_get_power(struct device dev, enum fxos8700_power power)
	{
	const struct fxos8700_config *config = dev->config->config_info;
	struct fxos8700_data *data = dev->driver_data;
	u8_t val = *power;

	if (i2c_reg_read_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_CTRLREG1,
	&val)) {
	SYS_LOG_ERR("Could not get power setting");
	return -EIO;
	}
	val &= FXOS8700_M_CTRLREG1_MODE_MASK;
	*power = val;

	return 0;
	}

	int fxos8700_set_power(struct device *dev, enum fxos8700_power power)
	{
	const struct fxos8700_config *config = dev->config->config_info;
	struct fxos8700_data *data = dev->driver_data;

	return i2c_reg_update_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_CTRLREG1,
	FXOS8700_CTRLREG1_ACTIVE_MASK,
	power);
	}

	static int fxos8700_init(struct device *dev)
	{
	const struct fxos8700_config *config = dev->config->config_info;
	struct fxos8700_data *data = dev->driver_data;
	u8_t whoami;

	/* Get the I2C device */
	data->i2c = device_get_binding(config->i2c_name);
	if (data->i2c == NULL) {
	SYS_LOG_ERR("Could not find I2C device");
	return -EINVAL;
	}

	/* Read the WHOAMI register to make sure we are talking to FXOS8700 and
	* not some other type of device that happens to have the same I2C
	* address.
	*/
	if (i2c_reg_read_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_WHOAMI, &whoami)) {
	SYS_LOG_ERR("Could not get WHOAMI value");
	return -EIO;
	}

	if (whoami != config->whoami) {
	SYS_LOG_ERR("WHOAMI value received 0x%x, expected 0x%x",
	whoami, FXOS8700_REG_WHOAMI);
	return -EIO;
	}

	/* Reset the sensor. Upon issuing a software reset command over the I2C
	* interface, the sensor immediately resets and does not send any
	* acknowledgment (ACK) of the written byte to the master. Therefore,
	* do not check the return code of the I2C transaction.
	*/
	i2c_reg_write_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_CTRLREG2, FXOS8700_CTRLREG2_RST_MASK);

	/* The sensor requires us to wait 1 ms after a software reset before
	* attempting further communications.
	*/
	k_busy_wait(USEC_PER_MSEC);

	/* Set the mode (accel-only, mag-only, or hybrid) */
	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_M_CTRLREG1,
	FXOS8700_M_CTRLREG1_MODE_MASK,
	config->mode)) {
	SYS_LOG_ERR("Could not set mode");
	return -EIO;
	}

	/* Set hybrid autoincrement so we can read accel and mag channels in
	* one I2C transaction.
	*/
	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_M_CTRLREG2,
	FXOS8700_M_CTRLREG2_AUTOINC_MASK,
	FXOS8700_M_CTRLREG2_AUTOINC_MASK)) {
	SYS_LOG_ERR("Could not set hybrid autoincrement");
	return -EIO;
	}

	/* Set the full-scale range */
	if (i2c_reg_update_byte(data->i2c, config->i2c_address,
	FXOS8700_REG_XYZ_DATA_CFG,
	FXOS8700_XYZ_DATA_CFG_FS_MASK,
	config->range)) {
	SYS_LOG_ERR("Could not set range");
	return -EIO;
	}

	#if CONFIG_FXOS8700_TRIGGER
	if (fxos8700_trigger_init(dev)) {
	SYS_LOG_ERR("Could not initialize interrupts");
	return -EIO;
	}
	#endif

	/* Set active */
	if (fxos8700_set_power(dev, FXOS8700_POWER_ACTIVE)) {
	SYS_LOG_ERR("Could not set active");
	return -EIO;
	}

	k_sem_init(&data->sem, 0, UINT_MAX);
	k_sem_give(&data->sem);

	SYS_LOG_DBG("Init complete");

	return 0;
	}

	static const struct sensor_driver_api fxos8700_driver_api = {
	.sample_fetch = fxos8700_sample_fetch,
	.channel_get = fxos8700_channel_get,
	#if CONFIG_FXOS8700_TRIGGER
	.trigger_set = fxos8700_trigger_set,
	#endif
	};

	static const struct fxos8700_config fxos8700_config = {
	.i2c_name = CONFIG_FXOS8700_I2C_NAME,
	.i2c_address = CONFIG_FXOS8700_I2C_ADDRESS,
	.whoami = CONFIG_FXOS8700_WHOAMI,
	#ifdef CONFIG_FXOS8700_MODE_ACCEL
	.mode = FXOS8700_MODE_ACCEL,
	.start_addr = FXOS8700_REG_OUTXMSB,
	.start_channel = FXOS8700_CHANNEL_ACCEL_X,
	.num_channels = FXOS8700_NUM_ACCEL_CHANNELS,
	#elif CONFIG_FXOS8700_MODE_MAGN
	.mode = FXOS8700_MODE_MAGN,
	.start_addr = FXOS8700_REG_M_OUTXMSB,
	.start_channel = FXOS8700_CHANNEL_MAGN_X,
	.num_channels = FXOS8700_NUM_MAG_CHANNELS,
	#else
	.mode = FXOS8700_MODE_HYBRID,
	.start_addr = FXOS8700_REG_OUTXMSB,
	.start_channel = FXOS8700_CHANNEL_ACCEL_X,
	.num_channels = FXOS8700_NUM_HYBRID_CHANNELS,
	#endif
	#if CONFIG_FXOS8700_RANGE_8G
	.range = FXOS8700_RANGE_8G,
	#elif CONFIG_FXOS8700_RANGE_4G
	.range = FXOS8700_RANGE_4G,
	#else
	.range = FXOS8700_RANGE_2G,
	#endif
	#ifdef CONFIG_FXOS8700_TRIGGER
	.gpio_name = CONFIG_FXOS8700_GPIO_NAME,
	.gpio_pin = CONFIG_FXOS8700_GPIO_PIN,
	#endif
	#ifdef CONFIG_FXOS8700_PULSE
	.pulse_cfg = CONFIG_FXOS8700_PULSE_CFG,
	.pulse_ths[0] = CONFIG_FXOS8700_PULSE_THSX,
	.pulse_ths[1] = CONFIG_FXOS8700_PULSE_THSY,
	.pulse_ths[2] = CONFIG_FXOS8700_PULSE_THSZ,
	.pulse_tmlt = CONFIG_FXOS8700_PULSE_TMLT,
	.pulse_ltcy = CONFIG_FXOS8700_PULSE_LTCY,
	.pulse_wind = CONFIG_FXOS8700_PULSE_WIND,
	#endif
	};

	static struct fxos8700_data fxos8700_data;

	DEVICE_AND_API_INIT(fxos8700, CONFIG_FXOS8700_NAME, fxos8700_init,
	&fxos8700_data, &fxos8700_config,
	POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
	&fxos8700_driver_api);