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/*
* Copyright (c) 2017 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_DRIVERS_SENSOR_LIS2DH_LIS2DH_H_
#define ZEPHYR_DRIVERS_SENSOR_LIS2DH_LIS2DH_H_
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/sys/util.h>
#include <stdint.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/sensor.h>
#include <string.h>
#define LIS2DH_REG_WAI 0x0f
#define LIS2DH_CHIP_ID 0x33
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#include <zephyr/drivers/spi.h>
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
#include <zephyr/drivers/i2c.h>
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
#define LIS2DH_AUTOINCREMENT_ADDR BIT(7)
#define LIS2DH_REG_CTRL0 0x1e
#define LIS2DH_SDO_PU_DISC_SHIFT 7
#define LIS2DH_SDO_PU_DISC_MASK BIT(LIS2DH_SDO_PU_DISC_SHIFT)
#define LIS2DH_REG_CTRL1 0x20
#define LIS2DH_ACCEL_XYZ_SHIFT 0
#define LIS2DH_ACCEL_X_EN_BIT BIT(0)
#define LIS2DH_ACCEL_Y_EN_BIT BIT(1)
#define LIS2DH_ACCEL_Z_EN_BIT BIT(2)
#define LIS2DH_ACCEL_EN_BITS (LIS2DH_ACCEL_X_EN_BIT | \
LIS2DH_ACCEL_Y_EN_BIT | \
LIS2DH_ACCEL_Z_EN_BIT)
#define LIS2DH_ACCEL_XYZ_MASK BIT_MASK(3)
#define LIS2DH_LP_EN_BIT_MASK BIT(3)
#if defined(CONFIG_LIS2DH_OPER_MODE_LOW_POWER)
#define LIS2DH_LP_EN_BIT BIT(3)
#else
#define LIS2DH_LP_EN_BIT 0
#endif
#define LIS2DH_SUSPEND 0
#define LIS2DH_ODR_1 1
#define LIS2DH_ODR_2 2
#define LIS2DH_ODR_3 3
#define LIS2DH_ODR_4 4
#define LIS2DH_ODR_5 5
#define LIS2DH_ODR_6 6
#define LIS2DH_ODR_7 7
#define LIS2DH_ODR_8 8
#define LIS2DH_ODR_9 9
#if defined(CONFIG_LIS2DH_ODR_1)
#define LIS2DH_ODR_IDX LIS2DH_ODR_1
#elif defined(CONFIG_LIS2DH_ODR_2)
#define LIS2DH_ODR_IDX LIS2DH_ODR_2
#elif defined(CONFIG_LIS2DH_ODR_3)
#define LIS2DH_ODR_IDX LIS2DH_ODR_3
#elif defined(CONFIG_LIS2DH_ODR_4) || defined(CONFIG_LIS2DH_ODR_RUNTIME)
#define LIS2DH_ODR_IDX LIS2DH_ODR_4
#elif defined(CONFIG_LIS2DH_ODR_5)
#define LIS2DH_ODR_IDX LIS2DH_ODR_5
#elif defined(CONFIG_LIS2DH_ODR_6)
#define LIS2DH_ODR_IDX LIS2DH_ODR_6
#elif defined(CONFIG_LIS2DH_ODR_7)
#define LIS2DH_ODR_IDX LIS2DH_ODR_7
#elif defined(CONFIG_LIS2DH_ODR_8)
#define LIS2DH_ODR_IDX LIS2DH_ODR_8
#elif defined(CONFIG_LIS2DH_ODR_9_NORMAL) || defined(CONFIG_LIS2DH_ODR_9_LOW)
#define LIS2DH_ODR_IDX LIS2DH_ODR_9
#endif
#define LIS2DH_ODR_SHIFT 4
#define LIS2DH_ODR_RATE(r) ((r) << LIS2DH_ODR_SHIFT)
#define LIS2DH_ODR_BITS (LIS2DH_ODR_RATE(LIS2DH_ODR_IDX))
#define LIS2DH_ODR_MASK (BIT_MASK(4) << LIS2DH_ODR_SHIFT)
#define LIS2DH_REG_CTRL2 0x21
#define LIS2DH_HPIS1_EN_BIT BIT(0)
#define LIS2DH_HPIS2_EN_BIT BIT(1)
#define LIS2DH_FDS_EN_BIT BIT(3)
#define LIS2DH_HPIS_EN_SHIFT 0
#define LIS2DH_HPIS_EN_MASK BIT_MASK(2) << LIS2DH_HPIS_EN_SHIFT
#define LIS2DH_REG_CTRL3 0x22
#define LIS2DH_EN_DRDY1_INT1_SHIFT 4
#define LIS2DH_EN_DRDY1_INT1 BIT(LIS2DH_EN_DRDY1_INT1_SHIFT)
#define LIS2DH_REG_CTRL4 0x23
#define LIS2DH_FS_SHIFT 4
#define LIS2DH_FS_MASK (BIT_MASK(2) << LIS2DH_FS_SHIFT)
#if defined(CONFIG_LIS2DH_ACCEL_RANGE_2G) ||\
defined(CONFIG_LIS2DH_ACCEL_RANGE_RUNTIME)
#define LIS2DH_FS_IDX 0
#elif defined(CONFIG_LIS2DH_ACCEL_RANGE_4G)
#define LIS2DH_FS_IDX 1
#elif defined(CONFIG_LIS2DH_ACCEL_RANGE_8G)
#define LIS2DH_FS_IDX 2
#elif defined(CONFIG_LIS2DH_ACCEL_RANGE_16G)
#define LIS2DH_FS_IDX 3
#endif
#define LIS2DH_FS_SELECT(fs) ((fs) << LIS2DH_FS_SHIFT)
#define LIS2DH_FS_BITS (LIS2DH_FS_SELECT(LIS2DH_FS_IDX))
#if defined(CONFIG_LIS2DH_OPER_MODE_HIGH_RES)
#define LIS2DH_HR_BIT BIT(3)
#else
#define LIS2DH_HR_BIT 0
#endif
#define LIS2DH_REG_CTRL5 0x24
#define LIS2DH_LIR_INT2_SHIFT 1
#define LIS2DH_LIR_INT1_SHIFT 3
#define LIS2DH_EN_LIR_INT2 BIT(LIS2DH_LIR_INT2_SHIFT)
#define LIS2DH_EN_LIR_INT1 BIT(LIS2DH_LIR_INT1_SHIFT)
#define LIS2DH_REG_CTRL6 0x25
#define LIS2DH_EN_INT2_INT2_SHIFT 5
#define LIS2DH_EN_INT2_INT2 BIT(LIS2DH_EN_INT2_INT2_SHIFT)
#define LIS2DH_EN_INT1_INT1_SHIFT 6
#define LIS2DH_EN_INT1_INT1 BIT(LIS2DH_EN_INT1_INT1_SHIFT)
#define LIS2DH_REG_REFERENCE 0x26
#define LIS2DH_REG_STATUS 0x27
#define LIS2DH_STATUS_ZYZ_OVR BIT(7)
#define LIS2DH_STATUS_Z_OVR BIT(6)
#define LIS2DH_STATUS_Y_OVR BIT(5)
#define LIS2DH_STATUS_X_OVR BIT(4)
#define LIS2DH_STATUS_OVR_MASK (BIT_MASK(4) << 4)
#define LIS2DH_STATUS_ZYX_DRDY BIT(3)
#define LIS2DH_STATUS_Z_DRDY BIT(2)
#define LIS2DH_STATUS_Y_DRDY BIT(1)
#define LIS2DH_STATUS_X_DRDY BIT(0)
#define LIS2DH_STATUS_DRDY_MASK BIT_MASK(4)
#define LIS2DH_REG_ACCEL_X_LSB 0x28
#define LIS2DH_REG_ACCEL_Y_LSB 0x2A
#define LIS2DH_REG_ACCEL_Z_LSB 0x2C
#define LIS2DH_REG_ACCEL_X_MSB 0x29
#define LIS2DH_REG_ACCEL_Y_MSB 0x2B
#define LIS2DH_REG_ACCEL_Z_MSB 0x2D
#define LIS2DH_REG_INT1_CFG 0x30
#define LIS2DH_REG_INT1_SRC 0x31
#define LIS2DH_REG_INT1_THS 0x32
#define LIS2DH_REG_INT1_DUR 0x33
#define LIS2DH_REG_INT2_CFG 0x34
#define LIS2DH_REG_INT2_SRC 0x35
#define LIS2DH_REG_INT2_THS 0x36
#define LIS2DH_REG_INT2_DUR 0x37
#define LIS2DH_INT_CFG_MODE_SHIFT 6
#define LIS2DH_INT_CFG_AOI_CFG BIT(LIS2DH_INT_CFG_MODE_SHIFT + 1)
#define LIS2DH_INT_CFG_6D_CFG BIT(LIS2DH_INT_CFG_MODE_SHIFT)
#define LIS2DH_INT_CFG_ZHIE_ZUPE BIT(5)
#define LIS2DH_INT_CFG_ZLIE_ZDOWNE BIT(4)
#define LIS2DH_INT_CFG_YHIE_YUPE BIT(3)
#define LIS2DH_INT_CFG_YLIE_YDOWNE BIT(2)
#define LIS2DH_INT_CFG_XHIE_XUPE BIT(1)
#define LIS2DH_INT_CFG_XLIE_XDOWNE BIT(0)
/* sample buffer size includes status register */
#define LIS2DH_BUF_SZ 7
#define LIS2DH_CTRL4_BDU_BIT BIT(7)
union lis2dh_sample {
uint8_t raw[LIS2DH_BUF_SZ];
struct {
uint8_t status;
int16_t xyz[3];
} __packed;
};
union lis2dh_bus_cfg {
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
struct i2c_dt_spec i2c;
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
struct spi_dt_spec spi;
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
};
struct temperature {
uint8_t cfg_addr;
uint8_t enable_mask;
uint8_t dout_addr;
uint8_t fractional_bits;
};
struct lis2dh_config {
int (*bus_init)(const struct device *dev);
const union lis2dh_bus_cfg bus_cfg;
#ifdef CONFIG_LIS2DH_TRIGGER
const struct gpio_dt_spec gpio_drdy;
const struct gpio_dt_spec gpio_int;
#endif /* CONFIG_LIS2DH_TRIGGER */
struct {
bool is_lsm303agr_dev : 1;
bool disc_pull_up : 1;
bool anym_on_int1 : 1;
bool anym_latch : 1;
uint8_t anym_mode : 2;
} hw;
#ifdef CONFIG_LIS2DH_MEASURE_TEMPERATURE
const struct temperature temperature;
#endif
};
struct lis2dh_transfer_function {
int (*read_data)(const struct device *dev, uint8_t reg_addr,
uint8_t *value, uint8_t len);
int (*write_data)(const struct device *dev, uint8_t reg_addr,
uint8_t *value, uint8_t len);
int (*read_reg)(const struct device *dev, uint8_t reg_addr,
uint8_t *value);
int (*write_reg)(const struct device *dev, uint8_t reg_addr,
uint8_t value);
int (*update_reg)(const struct device *dev, uint8_t reg_addr,
uint8_t mask, uint8_t value);
};
struct lis2dh_data {
const struct device *bus;
const struct lis2dh_transfer_function *hw_tf;
union lis2dh_sample sample;
/* current scaling factor, in micro m/s^2 / lsb */
uint32_t scale;
#ifdef CONFIG_LIS2DH_MEASURE_TEMPERATURE
struct sensor_value temperature;
#endif
#ifdef CONFIG_PM_DEVICE
uint8_t reg_ctrl1_active_val;
#endif
#ifdef CONFIG_LIS2DH_TRIGGER
const struct device *dev;
struct gpio_callback gpio_int1_cb;
struct gpio_callback gpio_int2_cb;
sensor_trigger_handler_t handler_drdy;
const struct sensor_trigger *trig_drdy;
sensor_trigger_handler_t handler_anymotion;
const struct sensor_trigger *trig_anymotion;
atomic_t trig_flags;
enum sensor_channel chan_drdy;
#if defined(CONFIG_LIS2DH_TRIGGER_OWN_THREAD)
K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LIS2DH_THREAD_STACK_SIZE);
struct k_thread thread;
struct k_sem gpio_sem;
#elif defined(CONFIG_LIS2DH_TRIGGER_GLOBAL_THREAD)
struct k_work work;
#endif
#endif /* CONFIG_LIS2DH_TRIGGER */
};
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
int lis2dh_spi_access(struct lis2dh_data *ctx, uint8_t cmd,
void *data, size_t length);
#endif
#ifdef CONFIG_LIS2DH_TRIGGER
int lis2dh_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int lis2dh_init_interrupt(const struct device *dev);
int lis2dh_acc_slope_config(const struct device *dev,
enum sensor_attribute attr,
const struct sensor_value *val);
#endif
#ifdef CONFIG_LIS2DH_ACCEL_HP_FILTERS
int lis2dh_acc_hp_filter_set(const struct device *dev,
int32_t val);
#endif
int lis2dh_spi_init(const struct device *dev);
int lis2dh_i2c_init(const struct device *dev);
#endif /* __SENSOR_LIS2DH__ */