drivers/sensor/lis2dw12/lis2dw12.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DW12 3-axis accelerometer driver
  *
  * Copyright (c) 2019 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2dw12.pdf
  */

 #define DT_DRV_COMPAT st_lis2dw12

 #include <zephyr/init.h>
 #include <stdlib.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/sys/byteorder.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 "lis2dw12.h"

 LOG_MODULE_REGISTER(LIS2DW12, CONFIG_SENSOR_LOG_LEVEL);

 /**
  * lis2dw12_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 lis2dw12_set_range(const struct device *dev, uint8_t fs)
 {
 	int err;
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t shift_gain = 0U;

 	err = lis2dw12_full_scale_set(ctx, fs);

 	if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
 		shift_gain = LIS2DW12_SHFT_GAIN_NOLP1;
 	}

 	if (!err) {
 		/* save internally gain for optimization */
 		lis2dw12->gain =
 			LIS2DW12_FS_TO_GAIN(fs, shift_gain);
 	}

 	return err;
 }

 /**
  * lis2dw12_set_odr - set new sampling frequency
  * @dev: Pointer to instance of struct device (I2C or SPI)
  * @odr: Output data rate
  */
 static int lis2dw12_set_odr(const struct device *dev, uint16_t odr)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t val;

 	/* check if power off */
 	if (odr == 0U) {
 		return lis2dw12_data_rate_set(ctx, LIS2DW12_XL_ODR_OFF);
 	}

 	val =  LIS2DW12_ODR_TO_REG(odr);
 	if (val > LIS2DW12_XL_ODR_1k6Hz) {
 		LOG_ERR("ODR too high");
 		return -ENOTSUP;
 	}

 	return lis2dw12_data_rate_set(ctx, val);
 }

 static inline void lis2dw12_convert(struct sensor_value *val, int raw_val,
 				    float 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 lis2dw12_channel_get_acc(const struct device *dev,
 					     enum sensor_channel chan,
 					     struct sensor_value *val)
 {
 	int i;
 	uint8_t ofs_start, ofs_stop;
 	struct lis2dw12_data *lis2dw12 = 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++) {
 		lis2dw12_convert(pval++, lis2dw12->acc[i], lis2dw12->gain);
 	}
 }

 static int lis2dw12_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:
 		lis2dw12_channel_get_acc(dev, chan, val);
 		return 0;
 	default:
 		LOG_DBG("Channel not supported");
 		break;
 	}

 	return -ENOTSUP;
 }

 static int lis2dw12_config(const struct device *dev, enum sensor_channel chan,
 			    enum sensor_attribute attr,
 			    const struct sensor_value *val)
 {
 	switch (attr) {
 	case SENSOR_ATTR_FULL_SCALE:
 		return lis2dw12_set_range(dev,
 				LIS2DW12_FS_TO_REG(sensor_ms2_to_g(val)));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lis2dw12_set_odr(dev, val->val1);
 	default:
 		LOG_DBG("Acc attribute not supported");
 		break;
 	}

 	return -ENOTSUP;
 }


 static inline int32_t sensor_ms2_to_mg(const struct sensor_value *ms2)
 {
 	int64_t nano_ms2 = (ms2->val1 * 1000000LL + ms2->val2) * 1000LL;

 	if (nano_ms2 > 0) {
 		return (nano_ms2 + SENSOR_G / 2) / SENSOR_G;
 	} else {
 		return (nano_ms2 - SENSOR_G / 2) / SENSOR_G;
 	}
 }

 #if CONFIG_LIS2DW12_THRESHOLD

 /* Converts a lis2dw12_fs_t range to its value in milli-g
  * Range can be 2/4/8/16G
  */
 #define FS_RANGE_TO_MG(fs_range)	((2U << fs_range) * 1000U)

 /* Converts a range in mg to the lsb value for the WK_THS register
  * For the reg value: 1 LSB = 1/64 of FS
  * Range can be 2/4/8/16G
  */
 #define MG_TO_WK_THS_LSB(range_mg)	(range_mg / 64)

 /* Calculates the WK_THS reg value
  * from the threshold in mg and the lsb value in mg
  * with correct integer rounding
  */
 #define THRESHOLD_MG_TO_WK_THS_REG(thr_mg, lsb_mg) \
 	((thr_mg + (lsb_mg / 2)) / lsb_mg)

 static int lis2dw12_attr_set_thresh(const struct device *dev,
 					enum sensor_channel chan,
 					enum sensor_attribute attr,
 					const struct sensor_value *val)
 {
 	uint8_t reg;
 	size_t ret;
 	int lsb_mg;
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	LOG_DBG("%s on channel %d", __func__, chan);

 	/* can only be set for all directions at once */
 	if (chan != SENSOR_CHAN_ACCEL_XYZ) {
 		return -EINVAL;
 	}

 	/* Configure wakeup threshold threshold. */
 	lis2dw12_fs_t range;
 	int err = lis2dw12_full_scale_get(ctx, &range);

 	if (err) {
 		return err;
 	}

 	uint32_t thr_mg = abs(sensor_ms2_to_mg(val));

 	/* Check maximum value: depends on current FS value */
 	if (thr_mg >= FS_RANGE_TO_MG(range)) {
 		return -EINVAL;
 	}

 	/* The threshold is applied to both positive and negative data:
 	 * for a wake-up interrupt generation at least one of the three axes must be
 	 * bigger than the threshold.
 	 */
 	lsb_mg = MG_TO_WK_THS_LSB(FS_RANGE_TO_MG(range));
 	reg = THRESHOLD_MG_TO_WK_THS_REG(thr_mg, lsb_mg);

 	LOG_DBG("Threshold %d mg -> fs: %u mg -> reg = %d LSBs",
 			thr_mg, FS_RANGE_TO_MG(range), reg);
 	ret = 0;

 	return lis2dw12_wkup_threshold_set(ctx, reg);
 }
 #endif

 static int lis2dw12_attr_set(const struct device *dev,
 			      enum sensor_channel chan,
 			      enum sensor_attribute attr,
 			      const struct sensor_value *val)
 {
 #if CONFIG_LIS2DW12_THRESHOLD
 	switch (attr) {
 	case SENSOR_ATTR_UPPER_THRESH:
 	case SENSOR_ATTR_LOWER_THRESH:
 		return lis2dw12_attr_set_thresh(dev, chan, attr, val);
 	default:
 		/* Do nothing */
 		break;
 	}
 #endif

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 		return lis2dw12_config(dev, chan, attr, val);
 	default:
 		LOG_DBG("Attr not supported on %d channel", chan);
 		break;
 	}

 	return -ENOTSUP;
 }

 static int lis2dw12_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	struct lis2dw12_data *lis2dw12 = dev->data;
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t shift;
 	int16_t buf[3];

 	/* fetch raw data sample */
 	if (lis2dw12_acceleration_raw_get(ctx, buf) < 0) {
 		LOG_DBG("Failed to fetch raw data sample");
 		return -EIO;
 	}

 	/* adjust to resolution */
 	if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
 		shift = LIS2DW12_SHIFT_PM1;
 	} else {
 		shift = LIS2DW12_SHIFT_PMOTHER;
 	}

 	lis2dw12->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
 	lis2dw12->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
 	lis2dw12->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;

 	return 0;
 }

 static const struct sensor_driver_api lis2dw12_driver_api = {
 	.attr_set = lis2dw12_attr_set,
 #if CONFIG_LIS2DW12_TRIGGER
 	.trigger_set = lis2dw12_trigger_set,
 #endif /* CONFIG_LIS2DW12_TRIGGER */
 	.sample_fetch = lis2dw12_sample_fetch,
 	.channel_get = lis2dw12_channel_get,
 };

 static int lis2dw12_set_power_mode(const struct device *dev,
 				    lis2dw12_mode_t pm)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t regval = LIS2DW12_CONT_LOW_PWR_12bit;

 	switch (pm) {
 	case LIS2DW12_CONT_LOW_PWR_2:
 	case LIS2DW12_CONT_LOW_PWR_3:
 	case LIS2DW12_CONT_LOW_PWR_4:
 	case LIS2DW12_HIGH_PERFORMANCE:
 		regval = pm;
 		break;
 	default:
 		LOG_DBG("Apply default Power Mode");
 		break;
 	}

 	return lis2dw12_write_reg(ctx, LIS2DW12_CTRL1, &regval, 1);
 }

 static int lis2dw12_set_low_noise(const struct device *dev,
 				  bool low_noise)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2dw12_ctrl6_t ctrl6;
 	int ret;

 	ret = lis2dw12_read_reg(ctx, LIS2DW12_CTRL6, (uint8_t *)&ctrl6, 1);
 	if (ret < 0) {
 		return ret;
 	}
 	ctrl6.low_noise = low_noise;
 	return lis2dw12_write_reg(ctx, LIS2DW12_CTRL6, (uint8_t *)&ctrl6, 1);
 }

 static int lis2dw12_init(const struct device *dev)
 {
 	const struct lis2dw12_device_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t wai;
 	int ret;

 	/* check chip ID */
 	ret = lis2dw12_device_id_get(ctx, &wai);
 	if (ret < 0) {
 		LOG_ERR("Not able to read dev id");
 		return ret;
 	}

 	if (wai != LIS2DW12_ID) {
 		LOG_ERR("Invalid chip ID");
 		return -EINVAL;
 	}

 	/* reset device */
 	ret = lis2dw12_reset_set(ctx, PROPERTY_ENABLE);
 	if (ret < 0) {
 		return ret;
 	}

 	k_busy_wait(100);

 	ret = lis2dw12_block_data_update_set(ctx, PROPERTY_ENABLE);
 	if (ret < 0) {
 		LOG_ERR("Not able to set BDU");
 		return ret;
 	}

 	/* set power mode */
 	LOG_DBG("power-mode is %d", cfg->pm);
 	ret = lis2dw12_set_power_mode(dev, cfg->pm);
 	if (ret < 0) {
 		return ret;
 	}

 	LOG_DBG("low noise is %d", cfg->low_noise);
 	ret = lis2dw12_set_low_noise(dev, cfg->low_noise);
 	if (ret < 0) {
 		LOG_ERR("Failed to configure low_noise");
 		return ret;
 	}

 	/* set default odr to 12.5Hz acc */
 	ret = lis2dw12_set_odr(dev, 12);
 	if (ret < 0) {
 		LOG_ERR("odr init error (12.5 Hz)");
 		return ret;
 	}

 	LOG_DBG("range is %d", cfg->range);
 	ret = lis2dw12_set_range(dev, LIS2DW12_FS_TO_REG(cfg->range));
 	if (ret < 0) {
 		LOG_ERR("range init error %d", cfg->range);
 		return ret;
 	}

 	LOG_DBG("bandwidth filter is %u", (int)cfg->bw_filt);
 	lis2dw12_filter_bandwidth_set(ctx, cfg->bw_filt);

 #ifdef CONFIG_LIS2DW12_TRIGGER
 	ret = lis2dw12_init_interrupt(dev);
 	if (ret < 0) {
 		LOG_ERR("Failed to initialize interrupts");
 		return ret;
 	}
 #endif /* CONFIG_LIS2DW12_TRIGGER */

 	LOG_DBG("high pass reference mode is %d", (int)cfg->hp_ref_mode);
 	ret = lis2dw12_reference_mode_set(ctx, cfg->hp_ref_mode);
 	if (ret < 0) {
 		LOG_ERR("high pass reference mode config error %d", (int)cfg->hp_ref_mode);
 		return ret;
 	}

 	LOG_DBG("high pass filter path is %d", (int)cfg->hp_filter_path);
 	lis2dw12_fds_t fds = cfg->hp_filter_path ?
 		LIS2DW12_HIGH_PASS_ON_OUT : LIS2DW12_LPF_ON_OUT;
 	ret = lis2dw12_filter_path_set(ctx, fds);
 	if (ret < 0) {
 		LOG_ERR("filter path config error %d", (int)cfg->hp_filter_path);
 		return ret;
 	}

 	return 0;
 }

 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
 #warning "LIS2DW12 driver enabled without any devices"
 #endif

 /*
  * Device creation macro, shared by LIS2DW12_DEFINE_SPI() and
  * LIS2DW12_DEFINE_I2C().
  */

 #define LIS2DW12_DEVICE_INIT(inst)					\
 	DEVICE_DT_INST_DEFINE(inst,					\
 			    lis2dw12_init,				\
 			    NULL,					\
 			    &lis2dw12_data_##inst,			\
 			    &lis2dw12_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &lis2dw12_driver_api);

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

 #ifdef CONFIG_LIS2DW12_TAP
 #define LIS2DW12_CONFIG_TAP(inst)					\
 	.tap_mode = DT_INST_PROP(inst, tap_mode),			\
 	.tap_threshold = DT_INST_PROP(inst, tap_threshold),		\
 	.tap_shock = DT_INST_PROP(inst, tap_shock),			\
 	.tap_latency = DT_INST_PROP(inst, tap_latency),			\
 	.tap_quiet = DT_INST_PROP(inst, tap_quiet),
 #else
 #define LIS2DW12_CONFIG_TAP(inst)
 #endif /* CONFIG_LIS2DW12_TAP */

 #ifdef CONFIG_LIS2DW12_TRIGGER
 #define LIS2DW12_CFG_IRQ(inst) \
 	.gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios),		\
 	.int_pin = DT_INST_PROP(inst, int_pin),
 #else
 #define LIS2DW12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DW12_TRIGGER */

 #define LIS2DW12_SPI_OPERATION (SPI_WORD_SET(8) |			\
 				SPI_OP_MODE_MASTER |			\
 				SPI_MODE_CPOL |				\
 				SPI_MODE_CPHA)				\

 #define LIS2DW12_CONFIG_SPI(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_spi_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_spi_write,	\
 			.handle =					\
 			   (void *)&lis2dw12_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.spi = SPI_DT_SPEC_INST_GET(inst,		\
 					   LIS2DW12_SPI_OPERATION,	\
 					   0),				\
 		},							\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.range = DT_INST_PROP(inst, range),			\
 		.bw_filt = DT_INST_PROP(inst, bw_filt),      \
 		.low_noise = DT_INST_PROP(inst, low_noise),      \
 		.hp_filter_path = DT_INST_PROP(inst, hp_filter_path),      \
 		.hp_ref_mode = DT_INST_PROP(inst, hp_ref_mode), \
 		.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed),      \
 		LIS2DW12_CONFIG_TAP(inst)				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2DW12_CFG_IRQ(inst)), ())			\
 	}

 /*
  * Instantiation macros used when a device is on an I2C bus.
  */

 #define LIS2DW12_CONFIG_I2C(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_i2c_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_i2c_write,	\
 			.handle =					\
 			   (void *)&lis2dw12_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),		\
 		},							\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.range = DT_INST_PROP(inst, range),			\
 		.bw_filt = DT_INST_PROP(inst, bw_filt),      \
 		.low_noise = DT_INST_PROP(inst, low_noise),      \
 		.hp_filter_path = DT_INST_PROP(inst, hp_filter_path),      \
 		.hp_ref_mode = DT_INST_PROP(inst, hp_ref_mode), \
 		.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed),      \
 		LIS2DW12_CONFIG_TAP(inst)				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2DW12_CFG_IRQ(inst)), ())			\
 	}

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

 #define LIS2DW12_DEFINE(inst)						\
 	static struct lis2dw12_data lis2dw12_data_##inst;		\
 	static const struct lis2dw12_device_config lis2dw12_config_##inst =	\
 	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
 		    (LIS2DW12_CONFIG_SPI(inst)),			\
 		    (LIS2DW12_CONFIG_I2C(inst)));			\
 	LIS2DW12_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(LIS2DW12_DEFINE)
	/* ST Microelectronics LIS2DW12 3-axis accelerometer driver
	*
	* Copyright (c) 2019 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2dw12.pdf
	*/

	#define DT_DRV_COMPAT st_lis2dw12

	#include <zephyr/init.h>
	#include <stdlib.h>
	#include <zephyr/sys/__assert.h>
	#include <zephyr/sys/byteorder.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 "lis2dw12.h"

	LOG_MODULE_REGISTER(LIS2DW12, CONFIG_SENSOR_LOG_LEVEL);

	/**
	* lis2dw12_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 lis2dw12_set_range(const struct device *dev, uint8_t fs)
	{
	int err;
	struct lis2dw12_data *lis2dw12 = dev->data;
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t shift_gain = 0U;

	err = lis2dw12_full_scale_set(ctx, fs);

	if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
	shift_gain = LIS2DW12_SHFT_GAIN_NOLP1;
	}

	if (!err) {
	/* save internally gain for optimization */
	lis2dw12->gain =
	LIS2DW12_FS_TO_GAIN(fs, shift_gain);
	}

	return err;
	}

	/**
	* lis2dw12_set_odr - set new sampling frequency
	* @dev: Pointer to instance of struct device (I2C or SPI)
	* @odr: Output data rate
	*/
	static int lis2dw12_set_odr(const struct device *dev, uint16_t odr)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t val;

	/* check if power off */
	if (odr == 0U) {
	return lis2dw12_data_rate_set(ctx, LIS2DW12_XL_ODR_OFF);
	}

	val = LIS2DW12_ODR_TO_REG(odr);
	if (val > LIS2DW12_XL_ODR_1k6Hz) {
	LOG_ERR("ODR too high");
	return -ENOTSUP;
	}

	return lis2dw12_data_rate_set(ctx, val);
	}

	static inline void lis2dw12_convert(struct sensor_value *val, int raw_val,
	float 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 lis2dw12_channel_get_acc(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	int i;
	uint8_t ofs_start, ofs_stop;
	struct lis2dw12_data *lis2dw12 = 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++) {
	lis2dw12_convert(pval++, lis2dw12->acc[i], lis2dw12->gain);
	}
	}

	static int lis2dw12_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:
	lis2dw12_channel_get_acc(dev, chan, val);
	return 0;
	default:
	LOG_DBG("Channel not supported");
	break;
	}

	return -ENOTSUP;
	}

	static int lis2dw12_config(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
	return lis2dw12_set_range(dev,
	LIS2DW12_FS_TO_REG(sensor_ms2_to_g(val)));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return lis2dw12_set_odr(dev, val->val1);
	default:
	LOG_DBG("Acc attribute not supported");
	break;
	}

	return -ENOTSUP;
	}


	static inline int32_t sensor_ms2_to_mg(const struct sensor_value *ms2)
	{
	int64_t nano_ms2 = (ms2->val1 * 1000000LL + ms2->val2) * 1000LL;

	if (nano_ms2 > 0) {
	return (nano_ms2 + SENSOR_G / 2) / SENSOR_G;
	} else {
	return (nano_ms2 - SENSOR_G / 2) / SENSOR_G;
	}
	}

	#if CONFIG_LIS2DW12_THRESHOLD

	/* Converts a lis2dw12_fs_t range to its value in milli-g
	* Range can be 2/4/8/16G
	*/
	#define FS_RANGE_TO_MG(fs_range) ((2U << fs_range) * 1000U)

	/* Converts a range in mg to the lsb value for the WK_THS register
	* For the reg value: 1 LSB = 1/64 of FS
	* Range can be 2/4/8/16G
	*/
	#define MG_TO_WK_THS_LSB(range_mg) (range_mg / 64)

	/* Calculates the WK_THS reg value
	* from the threshold in mg and the lsb value in mg
	* with correct integer rounding
	*/
	#define THRESHOLD_MG_TO_WK_THS_REG(thr_mg, lsb_mg) \
	((thr_mg + (lsb_mg / 2)) / lsb_mg)

	static int lis2dw12_attr_set_thresh(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	uint8_t reg;
	size_t ret;
	int lsb_mg;
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	LOG_DBG("%s on channel %d", __func__, chan);

	/* can only be set for all directions at once */
	if (chan != SENSOR_CHAN_ACCEL_XYZ) {
	return -EINVAL;
	}

	/* Configure wakeup threshold threshold. */
	lis2dw12_fs_t range;
	int err = lis2dw12_full_scale_get(ctx, &range);

	if (err) {
	return err;
	}

	uint32_t thr_mg = abs(sensor_ms2_to_mg(val));

	/* Check maximum value: depends on current FS value */
	if (thr_mg >= FS_RANGE_TO_MG(range)) {
	return -EINVAL;
	}

	/* The threshold is applied to both positive and negative data:
	* for a wake-up interrupt generation at least one of the three axes must be
	* bigger than the threshold.
	*/
	lsb_mg = MG_TO_WK_THS_LSB(FS_RANGE_TO_MG(range));
	reg = THRESHOLD_MG_TO_WK_THS_REG(thr_mg, lsb_mg);

	LOG_DBG("Threshold %d mg -> fs: %u mg -> reg = %d LSBs",
	thr_mg, FS_RANGE_TO_MG(range), reg);
	ret = 0;

	return lis2dw12_wkup_threshold_set(ctx, reg);
	}
	#endif

	static int lis2dw12_attr_set(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	#if CONFIG_LIS2DW12_THRESHOLD
	switch (attr) {
	case SENSOR_ATTR_UPPER_THRESH:
	case SENSOR_ATTR_LOWER_THRESH:
	return lis2dw12_attr_set_thresh(dev, chan, attr, val);
	default:
	/* Do nothing */
	break;
	}
	#endif

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	return lis2dw12_config(dev, chan, attr, val);
	default:
	LOG_DBG("Attr not supported on %d channel", chan);
	break;
	}

	return -ENOTSUP;
	}

	static int lis2dw12_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	struct lis2dw12_data *lis2dw12 = dev->data;
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t shift;
	int16_t buf[3];

	/* fetch raw data sample */
	if (lis2dw12_acceleration_raw_get(ctx, buf) < 0) {
	LOG_DBG("Failed to fetch raw data sample");
	return -EIO;
	}

	/* adjust to resolution */
	if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
	shift = LIS2DW12_SHIFT_PM1;
	} else {
	shift = LIS2DW12_SHIFT_PMOTHER;
	}

	lis2dw12->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
	lis2dw12->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
	lis2dw12->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;

	return 0;
	}

	static const struct sensor_driver_api lis2dw12_driver_api = {
	.attr_set = lis2dw12_attr_set,
	#if CONFIG_LIS2DW12_TRIGGER
	.trigger_set = lis2dw12_trigger_set,
	#endif /* CONFIG_LIS2DW12_TRIGGER */
	.sample_fetch = lis2dw12_sample_fetch,
	.channel_get = lis2dw12_channel_get,
	};

	static int lis2dw12_set_power_mode(const struct device *dev,
	lis2dw12_mode_t pm)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t regval = LIS2DW12_CONT_LOW_PWR_12bit;

	switch (pm) {
	case LIS2DW12_CONT_LOW_PWR_2:
	case LIS2DW12_CONT_LOW_PWR_3:
	case LIS2DW12_CONT_LOW_PWR_4:
	case LIS2DW12_HIGH_PERFORMANCE:
	regval = pm;
	break;
	default:
	LOG_DBG("Apply default Power Mode");
	break;
	}

	return lis2dw12_write_reg(ctx, LIS2DW12_CTRL1, &regval, 1);
	}

	static int lis2dw12_set_low_noise(const struct device *dev,
	bool low_noise)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2dw12_ctrl6_t ctrl6;
	int ret;

	ret = lis2dw12_read_reg(ctx, LIS2DW12_CTRL6, (uint8_t *)&ctrl6, 1);
	if (ret < 0) {
	return ret;
	}
	ctrl6.low_noise = low_noise;
	return lis2dw12_write_reg(ctx, LIS2DW12_CTRL6, (uint8_t *)&ctrl6, 1);
	}

	static int lis2dw12_init(const struct device *dev)
	{
	const struct lis2dw12_device_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t wai;
	int ret;

	/* check chip ID */
	ret = lis2dw12_device_id_get(ctx, &wai);
	if (ret < 0) {
	LOG_ERR("Not able to read dev id");
	return ret;
	}

	if (wai != LIS2DW12_ID) {
	LOG_ERR("Invalid chip ID");
	return -EINVAL;
	}

	/* reset device */
	ret = lis2dw12_reset_set(ctx, PROPERTY_ENABLE);
	if (ret < 0) {
	return ret;
	}

	k_busy_wait(100);

	ret = lis2dw12_block_data_update_set(ctx, PROPERTY_ENABLE);
	if (ret < 0) {
	LOG_ERR("Not able to set BDU");
	return ret;
	}

	/* set power mode */
	LOG_DBG("power-mode is %d", cfg->pm);
	ret = lis2dw12_set_power_mode(dev, cfg->pm);
	if (ret < 0) {
	return ret;
	}

	LOG_DBG("low noise is %d", cfg->low_noise);
	ret = lis2dw12_set_low_noise(dev, cfg->low_noise);
	if (ret < 0) {
	LOG_ERR("Failed to configure low_noise");
	return ret;
	}

	/* set default odr to 12.5Hz acc */
	ret = lis2dw12_set_odr(dev, 12);
	if (ret < 0) {
	LOG_ERR("odr init error (12.5 Hz)");
	return ret;
	}

	LOG_DBG("range is %d", cfg->range);
	ret = lis2dw12_set_range(dev, LIS2DW12_FS_TO_REG(cfg->range));
	if (ret < 0) {
	LOG_ERR("range init error %d", cfg->range);
	return ret;
	}

	LOG_DBG("bandwidth filter is %u", (int)cfg->bw_filt);
	lis2dw12_filter_bandwidth_set(ctx, cfg->bw_filt);

	#ifdef CONFIG_LIS2DW12_TRIGGER
	ret = lis2dw12_init_interrupt(dev);
	if (ret < 0) {
	LOG_ERR("Failed to initialize interrupts");
	return ret;
	}
	#endif /* CONFIG_LIS2DW12_TRIGGER */

	LOG_DBG("high pass reference mode is %d", (int)cfg->hp_ref_mode);
	ret = lis2dw12_reference_mode_set(ctx, cfg->hp_ref_mode);
	if (ret < 0) {
	LOG_ERR("high pass reference mode config error %d", (int)cfg->hp_ref_mode);
	return ret;
	}

	LOG_DBG("high pass filter path is %d", (int)cfg->hp_filter_path);
	lis2dw12_fds_t fds = cfg->hp_filter_path ?
	LIS2DW12_HIGH_PASS_ON_OUT : LIS2DW12_LPF_ON_OUT;
	ret = lis2dw12_filter_path_set(ctx, fds);
	if (ret < 0) {
	LOG_ERR("filter path config error %d", (int)cfg->hp_filter_path);
	return ret;
	}

	return 0;
	}

	#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
	#warning "LIS2DW12 driver enabled without any devices"
	#endif

	/*
	* Device creation macro, shared by LIS2DW12_DEFINE_SPI() and
	* LIS2DW12_DEFINE_I2C().
	*/

	#define LIS2DW12_DEVICE_INIT(inst) \
	DEVICE_DT_INST_DEFINE(inst, \
	lis2dw12_init, \
	NULL, \
	&lis2dw12_data_##inst, \
	&lis2dw12_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2dw12_driver_api);

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

	#ifdef CONFIG_LIS2DW12_TAP
	#define LIS2DW12_CONFIG_TAP(inst) \
	.tap_mode = DT_INST_PROP(inst, tap_mode), \
	.tap_threshold = DT_INST_PROP(inst, tap_threshold), \
	.tap_shock = DT_INST_PROP(inst, tap_shock), \
	.tap_latency = DT_INST_PROP(inst, tap_latency), \
	.tap_quiet = DT_INST_PROP(inst, tap_quiet),
	#else
	#define LIS2DW12_CONFIG_TAP(inst)
	#endif /* CONFIG_LIS2DW12_TAP */

	#ifdef CONFIG_LIS2DW12_TRIGGER
	#define LIS2DW12_CFG_IRQ(inst) \
	.gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios), \
	.int_pin = DT_INST_PROP(inst, int_pin),
	#else
	#define LIS2DW12_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2DW12_TRIGGER */

	#define LIS2DW12_SPI_OPERATION (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define LIS2DW12_CONFIG_SPI(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_spi_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_spi_write, \
	.handle = \
	(void *)&lis2dw12_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, \
	LIS2DW12_SPI_OPERATION, \
	0), \
	}, \
	.pm = DT_INST_PROP(inst, power_mode), \
	.range = DT_INST_PROP(inst, range), \
	.bw_filt = DT_INST_PROP(inst, bw_filt), \
	.low_noise = DT_INST_PROP(inst, low_noise), \
	.hp_filter_path = DT_INST_PROP(inst, hp_filter_path), \
	.hp_ref_mode = DT_INST_PROP(inst, hp_ref_mode), \
	.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed), \
	LIS2DW12_CONFIG_TAP(inst) \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2DW12_CFG_IRQ(inst)), ()) \
	}

	/*
	* Instantiation macros used when a device is on an I2C bus.
	*/

	#define LIS2DW12_CONFIG_I2C(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_i2c_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_i2c_write, \
	.handle = \
	(void *)&lis2dw12_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	.pm = DT_INST_PROP(inst, power_mode), \
	.range = DT_INST_PROP(inst, range), \
	.bw_filt = DT_INST_PROP(inst, bw_filt), \
	.low_noise = DT_INST_PROP(inst, low_noise), \
	.hp_filter_path = DT_INST_PROP(inst, hp_filter_path), \
	.hp_ref_mode = DT_INST_PROP(inst, hp_ref_mode), \
	.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed), \
	LIS2DW12_CONFIG_TAP(inst) \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2DW12_CFG_IRQ(inst)), ()) \
	}

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

	#define LIS2DW12_DEFINE(inst) \
	static struct lis2dw12_data lis2dw12_data_##inst; \
	static const struct lis2dw12_device_config lis2dw12_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2DW12_CONFIG_SPI(inst)), \
	(LIS2DW12_CONFIG_I2C(inst))); \
	LIS2DW12_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(LIS2DW12_DEFINE)