drivers/sensor/iis2mdc/iis2mdc.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics IIS2MDC 3-axis magnetometer sensor
  *
  * Copyright (c) 2020 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/iis2mdc.pdf
  */

 #define DT_DRV_COMPAT st_iis2mdc

 #include <zephyr/init.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/drivers/sensor.h>
 #include <string.h>
 #include <zephyr/logging/log.h>
 #include "iis2mdc.h"

 struct iis2mdc_data iis2mdc_data;

 LOG_MODULE_REGISTER(IIS2MDC, CONFIG_SENSOR_LOG_LEVEL);

 #ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
 static int iis2mdc_set_odr(const struct device *dev,
 			   const struct sensor_value *val)
 {
 	struct iis2mdc_data *iis2mdc = dev->data;
 	iis2mdc_odr_t odr;

 	switch (val->val1) {
 	case 10:
 		odr = IIS2MDC_ODR_10Hz;
 		break;
 	case 20:
 		odr = IIS2MDC_ODR_20Hz;
 		break;
 	case 50:
 		odr = IIS2MDC_ODR_50Hz;
 		break;
 	case 100:
 		odr = IIS2MDC_ODR_100Hz;
 		break;
 	default:
 		return -EINVAL;
 	}

 	if (iis2mdc_data_rate_set(iis2mdc->ctx, odr)) {
 		return -EIO;
 	}

 	return 0;
 }
 #endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */

 static int iis2mdc_set_hard_iron(const struct device *dev,
 				   enum sensor_channel chan,
 				   const struct sensor_value *val)
 {
 	struct iis2mdc_data *iis2mdc = dev->data;
 	uint8_t i;
 	int16_t offset[3];

 	for (i = 0U; i < 3; i++) {
 		offset[i] = sys_cpu_to_le16(val->val1);
 		val++;
 	}

 	return iis2mdc_mag_user_offset_set(iis2mdc->ctx, offset);
 }

 static void iis2mdc_channel_get_mag(const struct device *dev,
 				      enum sensor_channel chan,
 				      struct sensor_value *val)
 {
 	int32_t cval;
 	int i;
 	uint8_t ofs_start, ofs_stop;
 	struct iis2mdc_data *iis2mdc = dev->data;
 	struct sensor_value *pval = val;

 	switch (chan) {
 	case SENSOR_CHAN_MAGN_X:
 		ofs_start = ofs_stop = 0U;
 		break;
 	case SENSOR_CHAN_MAGN_Y:
 		ofs_start = ofs_stop = 1U;
 		break;
 	case SENSOR_CHAN_MAGN_Z:
 		ofs_start = ofs_stop = 2U;
 		break;
 	default:
 		ofs_start = 0U; ofs_stop = 2U;
 		break;
 	}

 	for (i = ofs_start; i <= ofs_stop; i++) {
 		cval = iis2mdc->mag[i] * 1500;
 		pval->val1 = cval / 1000000;
 		pval->val2 = cval % 1000000;
 		pval++;
 	}
 }

 /* read internal temperature */
 static void iis2mdc_channel_get_temp(const struct device *dev,
 				       struct sensor_value *val)
 {
 	struct iis2mdc_data *drv_data = dev->data;

 	val->val1 = drv_data->temp_sample / 100;
 	val->val2 = (drv_data->temp_sample % 100) * 10000;
 }

 static int iis2mdc_channel_get(const struct device *dev,
 				 enum sensor_channel chan,
 				 struct sensor_value *val)
 {
 	switch (chan) {
 	case SENSOR_CHAN_MAGN_X:
 	case SENSOR_CHAN_MAGN_Y:
 	case SENSOR_CHAN_MAGN_Z:
 	case SENSOR_CHAN_MAGN_XYZ:
 		iis2mdc_channel_get_mag(dev, chan, val);
 		break;
 	case SENSOR_CHAN_DIE_TEMP:
 		iis2mdc_channel_get_temp(dev, val);
 		break;
 	default:
 		LOG_DBG("Channel not supported");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int iis2mdc_config(const struct device *dev, enum sensor_channel chan,
 			    enum sensor_attribute attr,
 			    const struct sensor_value *val)
 {
 	switch (attr) {
 #ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return iis2mdc_set_odr(dev, val);
 #endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */
 	case SENSOR_ATTR_OFFSET:
 		return iis2mdc_set_hard_iron(dev, chan, val);
 	default:
 		LOG_DBG("Mag attribute not supported");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int iis2mdc_attr_set(const struct device *dev,
 			      enum sensor_channel chan,
 			      enum sensor_attribute attr,
 			      const struct sensor_value *val)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ALL:
 	case SENSOR_CHAN_MAGN_X:
 	case SENSOR_CHAN_MAGN_Y:
 	case SENSOR_CHAN_MAGN_Z:
 	case SENSOR_CHAN_MAGN_XYZ:
 		return iis2mdc_config(dev, chan, attr, val);
 	default:
 		LOG_DBG("attr_set() not supported on %d channel", chan);
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int iis2mdc_sample_fetch_mag(const struct device *dev)
 {
 	struct iis2mdc_data *iis2mdc = dev->data;
 	int16_t raw_mag[3];

 	/* fetch raw data sample */
 	if (iis2mdc_magnetic_raw_get(iis2mdc->ctx, raw_mag) < 0) {
 		LOG_DBG("Failed to read sample");
 		return -EIO;
 	}

 	iis2mdc->mag[0] = sys_le16_to_cpu(raw_mag[0]);
 	iis2mdc->mag[1] = sys_le16_to_cpu(raw_mag[1]);
 	iis2mdc->mag[2] = sys_le16_to_cpu(raw_mag[2]);

 	return 0;
 }

 static int iis2mdc_sample_fetch_temp(const struct device *dev)
 {
 	struct iis2mdc_data *iis2mdc = dev->data;
 	int16_t raw_temp;
 	int32_t temp;

 	/* fetch raw temperature sample */
 	if (iis2mdc_temperature_raw_get(iis2mdc->ctx, &raw_temp) < 0) {
 		LOG_DBG("Failed to read sample");
 		return -EIO;
 	}

 	/* formula is temp = 25 + (temp / 8) C */
 	temp = sys_le16_to_cpu(raw_temp);
 	iis2mdc->temp_sample = 2500 + (temp * 100) / 8;

 	return 0;
 }

 static int iis2mdc_sample_fetch(const struct device *dev,
 				enum sensor_channel chan)
 {
 	switch (chan) {
 	case SENSOR_CHAN_MAGN_X:
 	case SENSOR_CHAN_MAGN_Y:
 	case SENSOR_CHAN_MAGN_Z:
 	case SENSOR_CHAN_MAGN_XYZ:
 		iis2mdc_sample_fetch_mag(dev);
 		break;
 	case SENSOR_CHAN_DIE_TEMP:
 		iis2mdc_sample_fetch_temp(dev);
 		break;
 	case SENSOR_CHAN_ALL:
 		iis2mdc_sample_fetch_mag(dev);
 		iis2mdc_sample_fetch_temp(dev);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static const struct sensor_driver_api iis2mdc_driver_api = {
 	.attr_set = iis2mdc_attr_set,
 #if CONFIG_IIS2MDC_TRIGGER
 	.trigger_set = iis2mdc_trigger_set,
 #endif
 	.sample_fetch = iis2mdc_sample_fetch,
 	.channel_get = iis2mdc_channel_get,
 };

 static int iis2mdc_init(const struct device *dev)
 {
 	const struct iis2mdc_dev_config *const cfg = dev->config;
 	struct iis2mdc_data *iis2mdc = dev->data;
 	uint8_t wai;

 	iis2mdc->dev = dev;

 	if (!device_is_ready(cfg->bus)) {
 		LOG_ERR("Cannot get pointer to bus device");
 		return -ENODEV;
 	}

 	if (cfg->bus_init(dev) < 0) {
 		return -EINVAL;
 	}

 	/* check chip ID */
 	if (iis2mdc_device_id_get(iis2mdc->ctx, &wai) < 0) {
 		return -EIO;
 	}

 	if (wai != IIS2MDC_ID) {
 		LOG_DBG("Invalid chip ID: %02x\n", wai);
 		return -EINVAL;
 	}

 	/* reset sensor configuration */
 	if (iis2mdc_reset_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
 		LOG_DBG("s/w reset failed\n");
 		return -EIO;
 	}

 	k_busy_wait(100);

 	/* enable BDU */
 	if (iis2mdc_block_data_update_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
 		LOG_DBG("setting bdu failed\n");
 		return -EIO;
 	}

 	/* Set Output Data Rate */
 	if (iis2mdc_data_rate_set(iis2mdc->ctx, IIS2MDC_ODR_10Hz)) {
 		LOG_DBG("set odr failed\n");
 		return -EIO;
 	}

 	/* Set / Reset sensor mode */
 	if (iis2mdc_set_rst_mode_set(iis2mdc->ctx,
 				     IIS2MDC_SENS_OFF_CANC_EVERY_ODR)) {
 		LOG_DBG("reset sensor mode failed\n");
 		return -EIO;
 	}

 	/* Enable temperature compensation */
 	if (iis2mdc_offset_temp_comp_set(iis2mdc->ctx, PROPERTY_ENABLE)) {
 		LOG_DBG("enable temp compensation failed\n");
 		return -EIO;
 	}

 	/* Set device in continuous mode */
 	if (iis2mdc_operating_mode_set(iis2mdc->ctx, IIS2MDC_CONTINUOUS_MODE)) {
 		LOG_DBG("set continuous mode failed\n");
 		return -EIO;
 	}

 #ifdef CONFIG_IIS2MDC_TRIGGER
 	if (iis2mdc_init_interrupt(dev) < 0) {
 		LOG_DBG("Failed to initialize interrupts");
 		return -EIO;
 	}
 #endif

 	return 0;
 }

 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
 #warning "IIS2MDC driver enabled without any devices"
 #endif

 /*
  * Device creation macro, shared by IIS2MDC_DEFINE_SPI() and
  * IIS2MDC_DEFINE_I2C().
  */

 #define IIS2MDC_DEVICE_INIT(inst)					\
 	DEVICE_DT_INST_DEFINE(inst,					\
 			    iis2mdc_init,				\
 			    NULL,					\
 			    &iis2mdc_data_##inst,			\
 			    &iis2mdc_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &iis2mdc_driver_api);

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

 #ifdef CONFIG_IIS2MDC_TRIGGER
 #define IIS2MDC_CFG_IRQ(inst) \
 	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),
 #else
 #define IIS2MDC_CFG_IRQ(inst)
 #endif /* CONFIG_IIS2MDC_TRIGGER */

 #define IIS2MDC_SPI_OP  (SPI_WORD_SET(8) |				\
 			 SPI_OP_MODE_MASTER |				\
 			 SPI_MODE_CPOL |				\
 			 SPI_MODE_CPHA)					\

 #define IIS2MDC_CONFIG_SPI(inst)					\
 	{								\
 		.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),		\
 		.bus_init = iis2mdc_spi_init,				\
 		.bus_cfg.spi_cfg =					\
 			SPI_CONFIG_DT_INST(inst,			\
 					   IIS2MDC_SPI_OP,		\
 					   0),				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
 			(IIS2MDC_CFG_IRQ(inst)), ())			\
 	}

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

 #define IIS2MDC_CONFIG_I2C(inst)					\
 	{								\
 		.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),		\
 		.bus_init = iis2mdc_i2c_init,				\
 		.bus_cfg.i2c_slv_addr = DT_INST_REG_ADDR(inst),		\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
 			(IIS2MDC_CFG_IRQ(inst)), ())			\
 	}

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

 #define IIS2MDC_DEFINE(inst)						\
 	static struct iis2mdc_data iis2mdc_data_##inst;			\
 	static const struct iis2mdc_dev_config iis2mdc_config_##inst =	\
 		COND_CODE_1(DT_INST_ON_BUS(inst, spi),			\
 			(IIS2MDC_CONFIG_SPI(inst)),			\
 			(IIS2MDC_CONFIG_I2C(inst)));			\
 	IIS2MDC_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(IIS2MDC_DEFINE)
	/* ST Microelectronics IIS2MDC 3-axis magnetometer sensor
	*
	* Copyright (c) 2020 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/iis2mdc.pdf
	*/

	#define DT_DRV_COMPAT st_iis2mdc

	#include <zephyr/init.h>
	#include <zephyr/sys/__assert.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/drivers/sensor.h>
	#include <string.h>
	#include <zephyr/logging/log.h>
	#include "iis2mdc.h"

	struct iis2mdc_data iis2mdc_data;

	LOG_MODULE_REGISTER(IIS2MDC, CONFIG_SENSOR_LOG_LEVEL);

	#ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
	static int iis2mdc_set_odr(const struct device *dev,
	const struct sensor_value *val)
	{
	struct iis2mdc_data *iis2mdc = dev->data;
	iis2mdc_odr_t odr;

	switch (val->val1) {
	case 10:
	odr = IIS2MDC_ODR_10Hz;
	break;
	case 20:
	odr = IIS2MDC_ODR_20Hz;
	break;
	case 50:
	odr = IIS2MDC_ODR_50Hz;
	break;
	case 100:
	odr = IIS2MDC_ODR_100Hz;
	break;
	default:
	return -EINVAL;
	}

	if (iis2mdc_data_rate_set(iis2mdc->ctx, odr)) {
	return -EIO;
	}

	return 0;
	}
	#endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */

	static int iis2mdc_set_hard_iron(const struct device *dev,
	enum sensor_channel chan,
	const struct sensor_value *val)
	{
	struct iis2mdc_data *iis2mdc = dev->data;
	uint8_t i;
	int16_t offset[3];

	for (i = 0U; i < 3; i++) {
	offset[i] = sys_cpu_to_le16(val->val1);
	val++;
	}

	return iis2mdc_mag_user_offset_set(iis2mdc->ctx, offset);
	}

	static void iis2mdc_channel_get_mag(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	int32_t cval;
	int i;
	uint8_t ofs_start, ofs_stop;
	struct iis2mdc_data *iis2mdc = dev->data;
	struct sensor_value *pval = val;

	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	ofs_start = ofs_stop = 0U;
	break;
	case SENSOR_CHAN_MAGN_Y:
	ofs_start = ofs_stop = 1U;
	break;
	case SENSOR_CHAN_MAGN_Z:
	ofs_start = ofs_stop = 2U;
	break;
	default:
	ofs_start = 0U; ofs_stop = 2U;
	break;
	}

	for (i = ofs_start; i <= ofs_stop; i++) {
	cval = iis2mdc->mag[i] * 1500;
	pval->val1 = cval / 1000000;
	pval->val2 = cval % 1000000;
	pval++;
	}
	}

	/* read internal temperature */
	static void iis2mdc_channel_get_temp(const struct device *dev,
	struct sensor_value *val)
	{
	struct iis2mdc_data *drv_data = dev->data;

	val->val1 = drv_data->temp_sample / 100;
	val->val2 = (drv_data->temp_sample % 100) * 10000;
	}

	static int iis2mdc_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
	iis2mdc_channel_get_mag(dev, chan, val);
	break;
	case SENSOR_CHAN_DIE_TEMP:
	iis2mdc_channel_get_temp(dev, val);
	break;
	default:
	LOG_DBG("Channel not supported");
	return -ENOTSUP;
	}

	return 0;
	}

	static int iis2mdc_config(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (attr) {
	#ifdef CONFIG_IIS2MDC_MAG_ODR_RUNTIME
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	return iis2mdc_set_odr(dev, val);
	#endif /* CONFIG_IIS2MDC_MAG_ODR_RUNTIME */
	case SENSOR_ATTR_OFFSET:
	return iis2mdc_set_hard_iron(dev, chan, val);
	default:
	LOG_DBG("Mag attribute not supported");
	return -ENOTSUP;
	}

	return 0;
	}

	static int iis2mdc_attr_set(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	switch (chan) {
	case SENSOR_CHAN_ALL:
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
	return iis2mdc_config(dev, chan, attr, val);
	default:
	LOG_DBG("attr_set() not supported on %d channel", chan);
	return -ENOTSUP;
	}

	return 0;
	}

	static int iis2mdc_sample_fetch_mag(const struct device *dev)
	{
	struct iis2mdc_data *iis2mdc = dev->data;
	int16_t raw_mag[3];

	/* fetch raw data sample */
	if (iis2mdc_magnetic_raw_get(iis2mdc->ctx, raw_mag) < 0) {
	LOG_DBG("Failed to read sample");
	return -EIO;
	}

	iis2mdc->mag[0] = sys_le16_to_cpu(raw_mag[0]);
	iis2mdc->mag[1] = sys_le16_to_cpu(raw_mag[1]);
	iis2mdc->mag[2] = sys_le16_to_cpu(raw_mag[2]);

	return 0;
	}

	static int iis2mdc_sample_fetch_temp(const struct device *dev)
	{
	struct iis2mdc_data *iis2mdc = dev->data;
	int16_t raw_temp;
	int32_t temp;

	/* fetch raw temperature sample */
	if (iis2mdc_temperature_raw_get(iis2mdc->ctx, &raw_temp) < 0) {
	LOG_DBG("Failed to read sample");
	return -EIO;
	}

	/* formula is temp = 25 + (temp / 8) C */
	temp = sys_le16_to_cpu(raw_temp);
	iis2mdc->temp_sample = 2500 + (temp * 100) / 8;

	return 0;
	}

	static int iis2mdc_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	switch (chan) {
	case SENSOR_CHAN_MAGN_X:
	case SENSOR_CHAN_MAGN_Y:
	case SENSOR_CHAN_MAGN_Z:
	case SENSOR_CHAN_MAGN_XYZ:
	iis2mdc_sample_fetch_mag(dev);
	break;
	case SENSOR_CHAN_DIE_TEMP:
	iis2mdc_sample_fetch_temp(dev);
	break;
	case SENSOR_CHAN_ALL:
	iis2mdc_sample_fetch_mag(dev);
	iis2mdc_sample_fetch_temp(dev);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static const struct sensor_driver_api iis2mdc_driver_api = {
	.attr_set = iis2mdc_attr_set,
	#if CONFIG_IIS2MDC_TRIGGER
	.trigger_set = iis2mdc_trigger_set,
	#endif
	.sample_fetch = iis2mdc_sample_fetch,
	.channel_get = iis2mdc_channel_get,
	};

	static int iis2mdc_init(const struct device *dev)
	{
	const struct iis2mdc_dev_config *const cfg = dev->config;
	struct iis2mdc_data *iis2mdc = dev->data;
	uint8_t wai;

	iis2mdc->dev = dev;

	if (!device_is_ready(cfg->bus)) {
	LOG_ERR("Cannot get pointer to bus device");
	return -ENODEV;
	}

	if (cfg->bus_init(dev) < 0) {
	return -EINVAL;
	}

	/* check chip ID */
	if (iis2mdc_device_id_get(iis2mdc->ctx, &wai) < 0) {
	return -EIO;
	}

	if (wai != IIS2MDC_ID) {
	LOG_DBG("Invalid chip ID: %02x\n", wai);
	return -EINVAL;
	}

	/* reset sensor configuration */
	if (iis2mdc_reset_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
	LOG_DBG("s/w reset failed\n");
	return -EIO;
	}

	k_busy_wait(100);

	/* enable BDU */
	if (iis2mdc_block_data_update_set(iis2mdc->ctx, PROPERTY_ENABLE) < 0) {
	LOG_DBG("setting bdu failed\n");
	return -EIO;
	}

	/* Set Output Data Rate */
	if (iis2mdc_data_rate_set(iis2mdc->ctx, IIS2MDC_ODR_10Hz)) {
	LOG_DBG("set odr failed\n");
	return -EIO;
	}

	/* Set / Reset sensor mode */
	if (iis2mdc_set_rst_mode_set(iis2mdc->ctx,
	IIS2MDC_SENS_OFF_CANC_EVERY_ODR)) {
	LOG_DBG("reset sensor mode failed\n");
	return -EIO;
	}

	/* Enable temperature compensation */
	if (iis2mdc_offset_temp_comp_set(iis2mdc->ctx, PROPERTY_ENABLE)) {
	LOG_DBG("enable temp compensation failed\n");
	return -EIO;
	}

	/* Set device in continuous mode */
	if (iis2mdc_operating_mode_set(iis2mdc->ctx, IIS2MDC_CONTINUOUS_MODE)) {
	LOG_DBG("set continuous mode failed\n");
	return -EIO;
	}

	#ifdef CONFIG_IIS2MDC_TRIGGER
	if (iis2mdc_init_interrupt(dev) < 0) {
	LOG_DBG("Failed to initialize interrupts");
	return -EIO;
	}
	#endif

	return 0;
	}

	#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
	#warning "IIS2MDC driver enabled without any devices"
	#endif

	/*
	* Device creation macro, shared by IIS2MDC_DEFINE_SPI() and
	* IIS2MDC_DEFINE_I2C().
	*/

	#define IIS2MDC_DEVICE_INIT(inst) \
	DEVICE_DT_INST_DEFINE(inst, \
	iis2mdc_init, \
	NULL, \
	&iis2mdc_data_##inst, \
	&iis2mdc_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&iis2mdc_driver_api);

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

	#ifdef CONFIG_IIS2MDC_TRIGGER
	#define IIS2MDC_CFG_IRQ(inst) \
	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),
	#else
	#define IIS2MDC_CFG_IRQ(inst)
	#endif /* CONFIG_IIS2MDC_TRIGGER */

	#define IIS2MDC_SPI_OP (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define IIS2MDC_CONFIG_SPI(inst) \
	{ \
	.bus = DEVICE_DT_GET(DT_INST_BUS(inst)), \
	.bus_init = iis2mdc_spi_init, \
	.bus_cfg.spi_cfg = \
	SPI_CONFIG_DT_INST(inst, \
	IIS2MDC_SPI_OP, \
	0), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
	(IIS2MDC_CFG_IRQ(inst)), ()) \
	}

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

	#define IIS2MDC_CONFIG_I2C(inst) \
	{ \
	.bus = DEVICE_DT_GET(DT_INST_BUS(inst)), \
	.bus_init = iis2mdc_i2c_init, \
	.bus_cfg.i2c_slv_addr = DT_INST_REG_ADDR(inst), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
	(IIS2MDC_CFG_IRQ(inst)), ()) \
	}

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

	#define IIS2MDC_DEFINE(inst) \
	static struct iis2mdc_data iis2mdc_data_##inst; \
	static const struct iis2mdc_dev_config iis2mdc_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(IIS2MDC_CONFIG_SPI(inst)), \
	(IIS2MDC_CONFIG_I2C(inst))); \
	IIS2MDC_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(IIS2MDC_DEFINE)