drivers/sensor/lis2ds12/lis2ds12.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* ST Microelectronics LIS2DS12 3-axis accelerometer driver
  *
  * Copyright (c) 2019 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * https://www.st.com/resource/en/datasheet/lis2ds12.pdf
  */

 #define DT_DRV_COMPAT st_lis2ds12

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

 #include "lis2ds12.h"

 LOG_MODULE_REGISTER(LIS2DS12, CONFIG_SENSOR_LOG_LEVEL);

 static int lis2ds12_set_odr(const struct device *dev, uint8_t odr)
 {
 	const struct lis2ds12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	lis2ds12_odr_t val;

 	/* check if power off */
 	if (odr == 0U) {
 		LOG_DBG("%s: set power-down", dev->name);
 		return lis2ds12_xl_data_rate_set(ctx, LIS2DS12_XL_ODR_OFF);
 	}

 	/*
 	 * odr >= 1600Hz are available in HF mode only
 	 * 12,5Hz <= odr <= 800Hz are available in LP and HR mode only
 	 * odr == 1Hz is available in LP mode only
 	 */
 	if ((odr >= 9 && cfg->pm != 3) || (odr < 9 && cfg->pm == 3) ||
 	    (odr == 1 && cfg->pm != 1)) {
 		LOG_ERR("%s: bad odr and pm combination", dev->name);
 		return -ENOTSUP;
 	}

 	switch (odr) {
 	case 1:
 		val = LIS2DS12_XL_ODR_1Hz_LP;
 		break;
 	case 2:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_12Hz5_LP :
 				       LIS2DS12_XL_ODR_12Hz5_HR;
 		break;
 	case 3:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_25Hz_LP :
 				       LIS2DS12_XL_ODR_25Hz_HR;
 		break;
 	case 4:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_50Hz_LP :
 				       LIS2DS12_XL_ODR_50Hz_HR;
 		break;
 	case 5:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_100Hz_LP :
 				       LIS2DS12_XL_ODR_100Hz_HR;
 		break;
 	case 6:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_200Hz_LP :
 				       LIS2DS12_XL_ODR_200Hz_HR;
 		break;
 	case 7:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_400Hz_LP :
 				       LIS2DS12_XL_ODR_400Hz_HR;
 		break;
 	case 8:
 		val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_800Hz_LP :
 				       LIS2DS12_XL_ODR_800Hz_HR;
 		break;
 	case 9:
 		val = LIS2DS12_XL_ODR_1k6Hz_HF;
 		break;
 	case 10:
 		val = LIS2DS12_XL_ODR_3k2Hz_HF;
 		break;
 	case 11:
 		val = LIS2DS12_XL_ODR_6k4Hz_HF;
 		break;
 	default:
 		LOG_ERR("%s: bad odr %d", dev->name, odr);
 		return -ENOTSUP;
 	}

 	return lis2ds12_xl_data_rate_set(ctx, val);
 }

 static int lis2ds12_set_range(const struct device *dev, uint8_t range)
 {
 	int err;
 	struct lis2ds12_data *data = dev->data;
 	const struct lis2ds12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

 	switch (range) {
 	default:
 	case 2U:
 		err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_2g);
 		data->gain = lis2ds12_from_fs2g_to_mg(1);
 		break;
 	case 4U:
 		err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_4g);
 		data->gain = lis2ds12_from_fs4g_to_mg(1);
 		break;
 	case 8U:
 		err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_8g);
 		data->gain = lis2ds12_from_fs8g_to_mg(1);
 		break;
 	case 16U:
 		err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_16g);
 		data->gain = lis2ds12_from_fs16g_to_mg(1);
 		break;
 	}

 	return err;
 }

 static int lis2ds12_accel_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 lis2ds12_set_range(dev, sensor_ms2_to_g(val));
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1);
 		return lis2ds12_set_odr(dev, LIS2DS12_ODR_TO_REG(val->val1));
 	default:
 		LOG_DBG("Accel attribute not supported.");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2ds12_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_XYZ:
 		return lis2ds12_accel_config(dev, chan, attr, val);
 	default:
 		LOG_WRN("attr_set() not supported on this channel.");
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2ds12_sample_fetch_accel(const struct device *dev)
 {
 	struct lis2ds12_data *data = dev->data;
 	const struct lis2ds12_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	int16_t buf[3];

 	/* fetch raw data sample */
 	if (lis2ds12_acceleration_raw_get(ctx, buf) < 0) {
 		LOG_ERR("Failed to fetch raw data sample");
 		return -EIO;
 	}

 	data->sample_x = sys_le16_to_cpu(buf[0]);
 	data->sample_y = sys_le16_to_cpu(buf[1]);
 	data->sample_z = sys_le16_to_cpu(buf[2]);

 	return 0;
 }

 static int lis2ds12_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2ds12_sample_fetch_accel(dev);
 		break;
 #if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
 	case SENSOR_CHAN_DIE_TEMP:
 		/* ToDo:
 		lis2ds12_sample_fetch_temp(dev)
 		*/
 		break;
 #endif
 	case SENSOR_CHAN_ALL:
 		lis2ds12_sample_fetch_accel(dev);
 #if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
 		/* ToDo:
 		lis2ds12_sample_fetch_temp(dev)
 		*/
 #endif
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static inline void lis2ds12_convert(struct sensor_value *val, int raw_val,
 				    float gain)
 {
 	int64_t dval;

 	/* Gain is in mg/LSB */
 	/* Convert to m/s^2 */
 	dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000;
 	val->val1 = dval / 1000000LL;
 	val->val2 = dval % 1000000LL;
 }

 static inline int lis2ds12_get_channel(enum sensor_channel chan,
 					     struct sensor_value *val,
 					     struct lis2ds12_data *data,
 					     float gain)
 {
 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 		lis2ds12_convert(val, data->sample_x, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		lis2ds12_convert(val, data->sample_y, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		lis2ds12_convert(val, data->sample_z, gain);
 		break;
 	case SENSOR_CHAN_ACCEL_XYZ:
 		lis2ds12_convert(val, data->sample_x, gain);
 		lis2ds12_convert(val + 1, data->sample_y, gain);
 		lis2ds12_convert(val + 2, data->sample_z, gain);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 static int lis2ds12_channel_get(const struct device *dev,
 				enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	struct lis2ds12_data *data = dev->data;

 	return lis2ds12_get_channel(chan, val, data, data->gain);
 }

 static const struct sensor_driver_api lis2ds12_driver_api = {
 	.attr_set = lis2ds12_attr_set,
 #if defined(CONFIG_LIS2DS12_TRIGGER)
 	.trigger_set = lis2ds12_trigger_set,
 #endif
 	.sample_fetch = lis2ds12_sample_fetch,
 	.channel_get = lis2ds12_channel_get,
 };

 static int lis2ds12_init(const struct device *dev)
 {
 	const struct lis2ds12_config * const cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	uint8_t chip_id;
 	int ret;

 	/* check chip ID */
 	ret = lis2ds12_device_id_get(ctx, &chip_id);
 	if (ret < 0) {
 		LOG_ERR("%s: Not able to read dev id", dev->name);
 		return ret;
 	}

 	if (chip_id != LIS2DS12_ID) {
 		LOG_ERR("%s: Invalid chip ID 0x%02x", dev->name, chip_id);
 		return -EINVAL;
 	}

 	/* reset device */
 	ret = lis2ds12_reset_set(ctx, PROPERTY_ENABLE);
 	if (ret < 0) {
 		return ret;
 	}

 	k_busy_wait(100);

 	LOG_DBG("%s: chip id 0x%x", dev->name, chip_id);

 #ifdef CONFIG_LIS2DS12_TRIGGER
 	ret = lis2ds12_trigger_init(dev);
 	if (ret < 0) {
 		LOG_ERR("%s: Failed to initialize triggers", dev->name);
 		return ret;
 	}
 #endif

 	/* set sensor default pm and odr */
 	LOG_DBG("%s: pm: %d, odr: %d", dev->name, cfg->pm, cfg->odr);
 	ret = lis2ds12_set_odr(dev, (cfg->pm == 0) ? 0 : cfg->odr);
 	if (ret < 0) {
 		LOG_ERR("%s: odr init error (12.5 Hz)", dev->name);
 		return ret;
 	}

 	/* set sensor default scale */
 	LOG_DBG("%s: range is %d", dev->name, cfg->range);
 	ret = lis2ds12_set_range(dev, cfg->range);
 	if (ret < 0) {
 		LOG_ERR("%s: range init error %d", dev->name, cfg->range);
 		return ret;
 	}

 	return 0;
 }

 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
 #warning "LIS2DS12 driver enabled without any devices"
 #endif

 /*
  * Device creation macro, shared by LIS2DS12_DEFINE_SPI() and
  * LIS2DS12_DEFINE_I2C().
  */

 #define LIS2DS12_DEVICE_INIT(inst)					\
 	DEVICE_DT_INST_DEFINE(inst,					\
 			    lis2ds12_init,				\
 			    NULL,					\
 			    &lis2ds12_data_##inst,			\
 			    &lis2ds12_config_##inst,			\
 			    POST_KERNEL,				\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &lis2ds12_driver_api);

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

 #ifdef CONFIG_LIS2DS12_TRIGGER
 #define LIS2DS12_CFG_IRQ(inst) \
 	.gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios),
 #else
 #define LIS2DS12_CFG_IRQ(inst)
 #endif /* CONFIG_LIS2DS12_TRIGGER */

 #define LIS2DS12_SPI_OPERATION (SPI_WORD_SET(8) |			\
 				SPI_OP_MODE_MASTER |			\
 				SPI_MODE_CPOL |				\
 				SPI_MODE_CPHA)				\

 #define LIS2DS12_CONFIG_SPI(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_spi_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_spi_write,	\
 			.handle =					\
 			   (void *)&lis2ds12_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.spi = SPI_DT_SPEC_INST_GET(inst,		\
 					   LIS2DS12_SPI_OPERATION,	\
 					   0),				\
 		},							\
 		.range = DT_INST_PROP(inst, range),			\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.odr = DT_INST_PROP(inst, odr),				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2DS12_CFG_IRQ(inst)), ())			\
 	}

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

 #define LIS2DS12_CONFIG_I2C(inst)					\
 	{								\
 		.ctx = {						\
 			.read_reg =					\
 			   (stmdev_read_ptr) stmemsc_i2c_read,		\
 			.write_reg =					\
 			   (stmdev_write_ptr) stmemsc_i2c_write,	\
 			.handle =					\
 			   (void *)&lis2ds12_config_##inst.stmemsc_cfg,	\
 		},							\
 		.stmemsc_cfg = {					\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),		\
 		},							\
 		.range = DT_INST_PROP(inst, range),			\
 		.pm = DT_INST_PROP(inst, power_mode),			\
 		.odr = DT_INST_PROP(inst, odr),				\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LIS2DS12_CFG_IRQ(inst)), ())			\
 	}

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

 #define LIS2DS12_DEFINE(inst)						\
 	static struct lis2ds12_data lis2ds12_data_##inst;		\
 	static const struct lis2ds12_config lis2ds12_config_##inst =	\
 	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
 		    (LIS2DS12_CONFIG_SPI(inst)),			\
 		    (LIS2DS12_CONFIG_I2C(inst)));			\
 	LIS2DS12_DEVICE_INIT(inst)

 DT_INST_FOREACH_STATUS_OKAY(LIS2DS12_DEFINE)
	/* ST Microelectronics LIS2DS12 3-axis accelerometer driver
	*
	* Copyright (c) 2019 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* https://www.st.com/resource/en/datasheet/lis2ds12.pdf
	*/

	#define DT_DRV_COMPAT st_lis2ds12

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

	#include "lis2ds12.h"

	LOG_MODULE_REGISTER(LIS2DS12, CONFIG_SENSOR_LOG_LEVEL);

	static int lis2ds12_set_odr(const struct device *dev, uint8_t odr)
	{
	const struct lis2ds12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	lis2ds12_odr_t val;

	/* check if power off */
	if (odr == 0U) {
	LOG_DBG("%s: set power-down", dev->name);
	return lis2ds12_xl_data_rate_set(ctx, LIS2DS12_XL_ODR_OFF);
	}

	/*
	* odr >= 1600Hz are available in HF mode only
	* 12,5Hz <= odr <= 800Hz are available in LP and HR mode only
	* odr == 1Hz is available in LP mode only
	*/
	if ((odr >= 9 && cfg->pm != 3) \|\| (odr < 9 && cfg->pm == 3) \|\|
	(odr == 1 && cfg->pm != 1)) {
	LOG_ERR("%s: bad odr and pm combination", dev->name);
	return -ENOTSUP;
	}

	switch (odr) {
	case 1:
	val = LIS2DS12_XL_ODR_1Hz_LP;
	break;
	case 2:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_12Hz5_LP :
	LIS2DS12_XL_ODR_12Hz5_HR;
	break;
	case 3:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_25Hz_LP :
	LIS2DS12_XL_ODR_25Hz_HR;
	break;
	case 4:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_50Hz_LP :
	LIS2DS12_XL_ODR_50Hz_HR;
	break;
	case 5:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_100Hz_LP :
	LIS2DS12_XL_ODR_100Hz_HR;
	break;
	case 6:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_200Hz_LP :
	LIS2DS12_XL_ODR_200Hz_HR;
	break;
	case 7:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_400Hz_LP :
	LIS2DS12_XL_ODR_400Hz_HR;
	break;
	case 8:
	val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_800Hz_LP :
	LIS2DS12_XL_ODR_800Hz_HR;
	break;
	case 9:
	val = LIS2DS12_XL_ODR_1k6Hz_HF;
	break;
	case 10:
	val = LIS2DS12_XL_ODR_3k2Hz_HF;
	break;
	case 11:
	val = LIS2DS12_XL_ODR_6k4Hz_HF;
	break;
	default:
	LOG_ERR("%s: bad odr %d", dev->name, odr);
	return -ENOTSUP;
	}

	return lis2ds12_xl_data_rate_set(ctx, val);
	}

	static int lis2ds12_set_range(const struct device *dev, uint8_t range)
	{
	int err;
	struct lis2ds12_data *data = dev->data;
	const struct lis2ds12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;

	switch (range) {
	default:
	case 2U:
	err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_2g);
	data->gain = lis2ds12_from_fs2g_to_mg(1);
	break;
	case 4U:
	err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_4g);
	data->gain = lis2ds12_from_fs4g_to_mg(1);
	break;
	case 8U:
	err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_8g);
	data->gain = lis2ds12_from_fs8g_to_mg(1);
	break;
	case 16U:
	err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_16g);
	data->gain = lis2ds12_from_fs16g_to_mg(1);
	break;
	}

	return err;
	}

	static int lis2ds12_accel_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 lis2ds12_set_range(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1);
	return lis2ds12_set_odr(dev, LIS2DS12_ODR_TO_REG(val->val1));
	default:
	LOG_DBG("Accel attribute not supported.");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2ds12_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_XYZ:
	return lis2ds12_accel_config(dev, chan, attr, val);
	default:
	LOG_WRN("attr_set() not supported on this channel.");
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2ds12_sample_fetch_accel(const struct device *dev)
	{
	struct lis2ds12_data *data = dev->data;
	const struct lis2ds12_config *cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	int16_t buf[3];

	/* fetch raw data sample */
	if (lis2ds12_acceleration_raw_get(ctx, buf) < 0) {
	LOG_ERR("Failed to fetch raw data sample");
	return -EIO;
	}

	data->sample_x = sys_le16_to_cpu(buf[0]);
	data->sample_y = sys_le16_to_cpu(buf[1]);
	data->sample_z = sys_le16_to_cpu(buf[2]);

	return 0;
	}

	static int lis2ds12_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2ds12_sample_fetch_accel(dev);
	break;
	#if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
	/* ToDo:
	lis2ds12_sample_fetch_temp(dev)
	*/
	break;
	#endif
	case SENSOR_CHAN_ALL:
	lis2ds12_sample_fetch_accel(dev);
	#if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
	/* ToDo:
	lis2ds12_sample_fetch_temp(dev)
	*/
	#endif
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static inline void lis2ds12_convert(struct sensor_value *val, int raw_val,
	float gain)
	{
	int64_t dval;

	/* Gain is in mg/LSB */
	/* Convert to m/s^2 */
	dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000;
	val->val1 = dval / 1000000LL;
	val->val2 = dval % 1000000LL;
	}

	static inline int lis2ds12_get_channel(enum sensor_channel chan,
	struct sensor_value *val,
	struct lis2ds12_data *data,
	float gain)
	{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	lis2ds12_convert(val, data->sample_x, gain);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	lis2ds12_convert(val, data->sample_y, gain);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	lis2ds12_convert(val, data->sample_z, gain);
	break;
	case SENSOR_CHAN_ACCEL_XYZ:
	lis2ds12_convert(val, data->sample_x, gain);
	lis2ds12_convert(val + 1, data->sample_y, gain);
	lis2ds12_convert(val + 2, data->sample_z, gain);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	static int lis2ds12_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct lis2ds12_data *data = dev->data;

	return lis2ds12_get_channel(chan, val, data, data->gain);
	}

	static const struct sensor_driver_api lis2ds12_driver_api = {
	.attr_set = lis2ds12_attr_set,
	#if defined(CONFIG_LIS2DS12_TRIGGER)
	.trigger_set = lis2ds12_trigger_set,
	#endif
	.sample_fetch = lis2ds12_sample_fetch,
	.channel_get = lis2ds12_channel_get,
	};

	static int lis2ds12_init(const struct device *dev)
	{
	const struct lis2ds12_config * const cfg = dev->config;
	stmdev_ctx_t ctx = (stmdev_ctx_t )&cfg->ctx;
	uint8_t chip_id;
	int ret;

	/* check chip ID */
	ret = lis2ds12_device_id_get(ctx, &chip_id);
	if (ret < 0) {
	LOG_ERR("%s: Not able to read dev id", dev->name);
	return ret;
	}

	if (chip_id != LIS2DS12_ID) {
	LOG_ERR("%s: Invalid chip ID 0x%02x", dev->name, chip_id);
	return -EINVAL;
	}

	/* reset device */
	ret = lis2ds12_reset_set(ctx, PROPERTY_ENABLE);
	if (ret < 0) {
	return ret;
	}

	k_busy_wait(100);

	LOG_DBG("%s: chip id 0x%x", dev->name, chip_id);

	#ifdef CONFIG_LIS2DS12_TRIGGER
	ret = lis2ds12_trigger_init(dev);
	if (ret < 0) {
	LOG_ERR("%s: Failed to initialize triggers", dev->name);
	return ret;
	}
	#endif

	/* set sensor default pm and odr */
	LOG_DBG("%s: pm: %d, odr: %d", dev->name, cfg->pm, cfg->odr);
	ret = lis2ds12_set_odr(dev, (cfg->pm == 0) ? 0 : cfg->odr);
	if (ret < 0) {
	LOG_ERR("%s: odr init error (12.5 Hz)", dev->name);
	return ret;
	}

	/* set sensor default scale */
	LOG_DBG("%s: range is %d", dev->name, cfg->range);
	ret = lis2ds12_set_range(dev, cfg->range);
	if (ret < 0) {
	LOG_ERR("%s: range init error %d", dev->name, cfg->range);
	return ret;
	}

	return 0;
	}

	#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
	#warning "LIS2DS12 driver enabled without any devices"
	#endif

	/*
	* Device creation macro, shared by LIS2DS12_DEFINE_SPI() and
	* LIS2DS12_DEFINE_I2C().
	*/

	#define LIS2DS12_DEVICE_INIT(inst) \
	DEVICE_DT_INST_DEFINE(inst, \
	lis2ds12_init, \
	NULL, \
	&lis2ds12_data_##inst, \
	&lis2ds12_config_##inst, \
	POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&lis2ds12_driver_api);

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

	#ifdef CONFIG_LIS2DS12_TRIGGER
	#define LIS2DS12_CFG_IRQ(inst) \
	.gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios),
	#else
	#define LIS2DS12_CFG_IRQ(inst)
	#endif /* CONFIG_LIS2DS12_TRIGGER */

	#define LIS2DS12_SPI_OPERATION (SPI_WORD_SET(8) \| \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA) \

	#define LIS2DS12_CONFIG_SPI(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_spi_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_spi_write, \
	.handle = \
	(void *)&lis2ds12_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.spi = SPI_DT_SPEC_INST_GET(inst, \
	LIS2DS12_SPI_OPERATION, \
	0), \
	}, \
	.range = DT_INST_PROP(inst, range), \
	.pm = DT_INST_PROP(inst, power_mode), \
	.odr = DT_INST_PROP(inst, odr), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2DS12_CFG_IRQ(inst)), ()) \
	}

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

	#define LIS2DS12_CONFIG_I2C(inst) \
	{ \
	.ctx = { \
	.read_reg = \
	(stmdev_read_ptr) stmemsc_i2c_read, \
	.write_reg = \
	(stmdev_write_ptr) stmemsc_i2c_write, \
	.handle = \
	(void *)&lis2ds12_config_##inst.stmemsc_cfg, \
	}, \
	.stmemsc_cfg = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	}, \
	.range = DT_INST_PROP(inst, range), \
	.pm = DT_INST_PROP(inst, power_mode), \
	.odr = DT_INST_PROP(inst, odr), \
	COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
	(LIS2DS12_CFG_IRQ(inst)), ()) \
	}

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

	#define LIS2DS12_DEFINE(inst) \
	static struct lis2ds12_data lis2ds12_data_##inst; \
	static const struct lis2ds12_config lis2ds12_config_##inst = \
	COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
	(LIS2DS12_CONFIG_SPI(inst)), \
	(LIS2DS12_CONFIG_I2C(inst))); \
	LIS2DS12_DEVICE_INIT(inst)

	DT_INST_FOREACH_STATUS_OKAY(LIS2DS12_DEFINE)