| /* ST Microelectronics IIS2DH 3-axis accelerometer driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis2dh.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis2dh |
| |
| #include <zephyr/init.h> |
| #include <zephyr/sys/__assert.h> |
| #include <zephyr/sys/byteorder.h> |
| #include <zephyr/sys/util_macro.h> |
| #include <zephyr/logging/log.h> |
| #include <zephyr/drivers/sensor.h> |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| #include <zephyr/drivers/spi.h> |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| #include <zephyr/drivers/i2c.h> |
| #endif |
| |
| #include "iis2dh.h" |
| |
| LOG_MODULE_REGISTER(IIS2DH, CONFIG_SENSOR_LOG_LEVEL); |
| |
| /* gains in uG/LSB */ |
| static const uint32_t iis2dh_gain[3][4] = { |
| { |
| /* HR mode */ |
| 980/16, /* 2G */ |
| 1950/16, /* 4G */ |
| 3910/16, /* 8G */ |
| 11720/16, /* 16G */ |
| }, |
| { |
| /* NM mode */ |
| 3910/64, /* 2G */ |
| 7810/64, /* 4G */ |
| 15630/64, /* 8G */ |
| 46950/64, /* 16G */ |
| }, |
| { |
| /* LP mode */ |
| 15630/256, /* 2G */ |
| 31250/256, /* 4G */ |
| 62500/256, /* 8G */ |
| 188680/256, /* 16G */ |
| }, |
| }; |
| |
| static int iis2dh_set_fs_raw(const struct device *dev, uint8_t fs) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| int err; |
| |
| err = iis2dh_full_scale_set(iis2dh->ctx, fs); |
| |
| if (!err) { |
| /* save internally gain for optimization */ |
| iis2dh->gain = iis2dh_gain[IIS2DH_HR_12bit][fs]; |
| } |
| |
| return err; |
| } |
| |
| #if (CONFIG_IIS2DH_RANGE == 0) |
| /** |
| * iis2dh_set_range - set full scale range for acc |
| * @dev: Pointer to instance of struct device (I2C or SPI) |
| * @range: Full scale range (2, 4, 8 and 16 G) |
| */ |
| static int iis2dh_set_range(const struct device *dev, uint16_t range) |
| { |
| int err; |
| uint8_t fs = IIS2DH_FS_TO_REG(range); |
| |
| err = iis2dh_set_fs_raw(dev, fs); |
| |
| return err; |
| } |
| #endif |
| |
| #if (CONFIG_IIS2DH_ODR == 0) |
| /** |
| * iis2dh_set_odr - set new sampling frequency |
| * @dev: Pointer to instance of struct device (I2C or SPI) |
| * @odr: Output data rate |
| */ |
| static int iis2dh_set_odr(const struct device *dev, uint16_t odr) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| const struct iis2dh_device_config *cfg = dev->config; |
| iis2dh_odr_t val; |
| |
| val = IIS2DH_ODR_TO_REG_HR(cfg->pm, odr); |
| |
| return iis2dh_data_rate_set(iis2dh->ctx, val); |
| } |
| #endif |
| |
| static inline void iis2dh_convert(struct sensor_value *val, int raw_val, |
| uint32_t gain) |
| { |
| int64_t dval; |
| |
| /* Gain is in ug/LSB */ |
| /* Convert to m/s^2 */ |
| dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000000LL; |
| val->val1 = dval / 1000000LL; |
| val->val2 = dval % 1000000LL; |
| } |
| |
| static inline void iis2dh_channel_get_acc(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| int i; |
| uint8_t ofs_start, ofs_stop; |
| struct iis2dh_data *iis2dh = dev->data; |
| struct sensor_value *pval = val; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| ofs_start = ofs_stop = 0U; |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| ofs_start = ofs_stop = 1U; |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| ofs_start = ofs_stop = 2U; |
| break; |
| default: |
| ofs_start = 0U; ofs_stop = 2U; |
| break; |
| } |
| |
| for (i = ofs_start; i <= ofs_stop ; i++) { |
| iis2dh_convert(pval++, iis2dh->acc[i], iis2dh->gain); |
| } |
| } |
| |
| static int iis2dh_channel_get(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| iis2dh_channel_get_acc(dev, chan, val); |
| return 0; |
| default: |
| LOG_DBG("Channel not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dh_config(const struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #if (CONFIG_IIS2DH_RANGE == 0) |
| case SENSOR_ATTR_FULL_SCALE: |
| return iis2dh_set_range(dev, sensor_ms2_to_g(val)); |
| #endif |
| #if (CONFIG_IIS2DH_ODR == 0) |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return iis2dh_set_odr(dev, val->val1); |
| #endif |
| default: |
| LOG_DBG("Acc attribute not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dh_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_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| return iis2dh_config(dev, chan, attr, val); |
| default: |
| LOG_DBG("Attr not supported on %d channel", chan); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dh_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| int16_t buf[3]; |
| |
| /* fetch raw data sample */ |
| if (iis2dh_acceleration_raw_get(iis2dh->ctx, buf) < 0) { |
| LOG_DBG("Failed to fetch raw data sample"); |
| return -EIO; |
| } |
| |
| iis2dh->acc[0] = sys_le16_to_cpu(buf[0]); |
| iis2dh->acc[1] = sys_le16_to_cpu(buf[1]); |
| iis2dh->acc[2] = sys_le16_to_cpu(buf[2]); |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api iis2dh_driver_api = { |
| .attr_set = iis2dh_attr_set, |
| #if CONFIG_IIS2DH_TRIGGER |
| .trigger_set = iis2dh_trigger_set, |
| #endif /* CONFIG_IIS2DH_TRIGGER */ |
| .sample_fetch = iis2dh_sample_fetch, |
| .channel_get = iis2dh_channel_get, |
| }; |
| |
| static int iis2dh_init_interface(const struct device *dev) |
| { |
| int res; |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| res = iis2dh_spi_init(dev); |
| if (res) { |
| return res; |
| } |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| res = iis2dh_i2c_init(dev); |
| if (res) { |
| return res; |
| } |
| #else |
| #error "BUS MACRO NOT DEFINED IN DTS" |
| #endif |
| |
| return 0; |
| } |
| |
| static int iis2dh_init(const struct device *dev) |
| { |
| struct iis2dh_data *iis2dh = dev->data; |
| const struct iis2dh_device_config *cfg = dev->config; |
| uint8_t wai; |
| |
| if (iis2dh_init_interface(dev)) { |
| return -EINVAL; |
| } |
| |
| /* check chip ID */ |
| if (iis2dh_device_id_get(iis2dh->ctx, &wai) < 0) { |
| return -EIO; |
| } |
| |
| if (wai != IIS2DH_ID) { |
| LOG_ERR("Invalid chip ID: %02x", wai); |
| return -EINVAL; |
| } |
| |
| if (iis2dh_block_data_update_set(iis2dh->ctx, PROPERTY_ENABLE) < 0) { |
| return -EIO; |
| } |
| |
| if (iis2dh_operating_mode_set(iis2dh->ctx, cfg->pm)) { |
| return -EIO; |
| } |
| |
| #if (CONFIG_IIS2DH_ODR != 0) |
| /* set default odr and full scale for acc */ |
| if (iis2dh_data_rate_set(iis2dh->ctx, CONFIG_IIS2DH_ODR) < 0) { |
| return -EIO; |
| } |
| #endif |
| |
| #if (CONFIG_IIS2DH_RANGE != 0) |
| iis2dh_set_fs_raw(dev, CONFIG_IIS2DH_RANGE); |
| #endif |
| |
| #ifdef CONFIG_IIS2DH_TRIGGER |
| if (cfg->int_gpio.port) { |
| if (iis2dh_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupts"); |
| return -EIO; |
| } |
| } |
| #endif /* CONFIG_IIS2DH_TRIGGER */ |
| |
| return 0; |
| } |
| |
| #define IIS2DH_SPI(inst) \ |
| (.spi = SPI_DT_SPEC_INST_GET( \ |
| 0, SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8), 0),) |
| |
| #define IIS2DH_I2C(inst) (.i2c = I2C_DT_SPEC_INST_GET(inst),) |
| |
| #define IIS2DH_DEFINE(inst) \ |
| static struct iis2dh_data iis2dh_data_##inst; \ |
| \ |
| static const struct iis2dh_device_config iis2dh_device_config_##inst = { \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, i2c), IIS2DH_I2C(inst), ()) \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), IIS2DH_SPI(inst), ()) \ |
| .pm = CONFIG_IIS2DH_POWER_MODE, \ |
| IF_ENABLED(CONFIG_IIS2DH_TRIGGER, \ |
| (.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, drdy_gpios, { 0 }),)) \ |
| }; \ |
| \ |
| SENSOR_DEVICE_DT_INST_DEFINE(inst, iis2dh_init, NULL, \ |
| &iis2dh_data_##inst, &iis2dh_device_config_##inst, POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, &iis2dh_driver_api); \ |
| |
| DT_INST_FOREACH_STATUS_OKAY(IIS2DH_DEFINE) |