| /* ST Microelectronics IIS2DLPC 3-axis accelerometer driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/iis2dlpc.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_iis2dlpc |
| |
| #include <init.h> |
| #include <sys/__assert.h> |
| #include <sys/byteorder.h> |
| #include <logging/log.h> |
| #include <drivers/sensor.h> |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| #include <drivers/spi.h> |
| #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| #include <drivers/i2c.h> |
| #endif |
| |
| #include "iis2dlpc.h" |
| |
| LOG_MODULE_REGISTER(IIS2DLPC, CONFIG_SENSOR_LOG_LEVEL); |
| |
| /** |
| * iis2dlpc_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 iis2dlpc_set_range(const struct device *dev, uint8_t fs) |
| { |
| int err; |
| struct iis2dlpc_data *iis2dlpc = dev->data; |
| const struct iis2dlpc_dev_config *cfg = dev->config; |
| uint8_t shift_gain = 0U; |
| |
| err = iis2dlpc_full_scale_set(iis2dlpc->ctx, fs); |
| |
| if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) { |
| shift_gain = IIS2DLPC_SHFT_GAIN_NOLP1; |
| } |
| |
| if (!err) { |
| /* save internally gain for optimization */ |
| iis2dlpc->gain = |
| IIS2DLPC_FS_TO_GAIN(fs, shift_gain); |
| } |
| |
| return err; |
| } |
| |
| /** |
| * iis2dlpc_set_odr - set new sampling frequency |
| * @dev: Pointer to instance of struct device (I2C or SPI) |
| * @odr: Output data rate |
| */ |
| static int iis2dlpc_set_odr(const struct device *dev, uint16_t odr) |
| { |
| struct iis2dlpc_data *iis2dlpc = dev->data; |
| uint8_t val; |
| |
| /* check if power off */ |
| if (odr == 0U) { |
| return iis2dlpc_data_rate_set(iis2dlpc->ctx, |
| IIS2DLPC_XL_ODR_OFF); |
| } |
| |
| val = IIS2DLPC_ODR_TO_REG(odr); |
| if (val > IIS2DLPC_XL_ODR_1k6Hz) { |
| LOG_ERR("ODR too high"); |
| return -ENOTSUP; |
| } |
| |
| return iis2dlpc_data_rate_set(iis2dlpc->ctx, val); |
| } |
| |
| static inline void iis2dlpc_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 iis2dlpc_channel_get_acc(const struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| int i; |
| uint8_t ofs_start, ofs_stop; |
| struct iis2dlpc_data *iis2dlpc = 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++) { |
| iis2dlpc_convert(pval++, iis2dlpc->acc[i], iis2dlpc->gain); |
| } |
| } |
| |
| static int iis2dlpc_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: |
| iis2dlpc_channel_get_acc(dev, chan, val); |
| return 0; |
| default: |
| LOG_DBG("Channel not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dlpc_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 iis2dlpc_set_range(dev, |
| IIS2DLPC_FS_TO_REG(sensor_ms2_to_g(val))); |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return iis2dlpc_set_odr(dev, val->val1); |
| default: |
| LOG_DBG("Acc attribute not supported"); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dlpc_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 iis2dlpc_config(dev, chan, attr, val); |
| default: |
| LOG_DBG("Attr not supported on %d channel", chan); |
| break; |
| } |
| |
| return -ENOTSUP; |
| } |
| |
| static int iis2dlpc_sample_fetch(const struct device *dev, |
| enum sensor_channel chan) |
| { |
| struct iis2dlpc_data *iis2dlpc = dev->data; |
| const struct iis2dlpc_dev_config *cfg = dev->config; |
| uint8_t shift; |
| int16_t buf[3]; |
| |
| /* fetch raw data sample */ |
| if (iis2dlpc_acceleration_raw_get(iis2dlpc->ctx, buf) < 0) { |
| LOG_DBG("Failed to fetch raw data sample"); |
| return -EIO; |
| } |
| |
| /* adjust to resolution */ |
| if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) { |
| shift = IIS2DLPC_SHIFT_PM1; |
| } else { |
| shift = IIS2DLPC_SHIFT_PMOTHER; |
| } |
| |
| iis2dlpc->acc[0] = sys_le16_to_cpu(buf[0]) >> shift; |
| iis2dlpc->acc[1] = sys_le16_to_cpu(buf[1]) >> shift; |
| iis2dlpc->acc[2] = sys_le16_to_cpu(buf[2]) >> shift; |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api iis2dlpc_driver_api = { |
| .attr_set = iis2dlpc_attr_set, |
| #if CONFIG_IIS2DLPC_TRIGGER |
| .trigger_set = iis2dlpc_trigger_set, |
| #endif /* CONFIG_IIS2DLPC_TRIGGER */ |
| .sample_fetch = iis2dlpc_sample_fetch, |
| .channel_get = iis2dlpc_channel_get, |
| }; |
| |
| static int iis2dlpc_init_interface(const struct device *dev) |
| { |
| struct iis2dlpc_data *iis2dlpc = dev->data; |
| const struct iis2dlpc_dev_config *cfg = dev->config; |
| |
| LOG_INF("bus name %s", cfg->bus_name); |
| iis2dlpc->bus = device_get_binding(cfg->bus_name); |
| if (!iis2dlpc->bus) { |
| LOG_DBG("master bus not found: %s", cfg->bus_name); |
| return -EINVAL; |
| } |
| |
| return cfg->bus_init(dev); |
| } |
| |
| static int iis2dlpc_set_power_mode(struct iis2dlpc_data *iis2dlpc, |
| iis2dlpc_mode_t pm) |
| { |
| uint8_t regval = IIS2DLPC_CONT_LOW_PWR_12bit; |
| |
| switch (pm) { |
| case IIS2DLPC_CONT_LOW_PWR_2: |
| case IIS2DLPC_CONT_LOW_PWR_3: |
| case IIS2DLPC_CONT_LOW_PWR_4: |
| case IIS2DLPC_HIGH_PERFORMANCE: |
| regval = pm; |
| break; |
| default: |
| LOG_DBG("Apply default Power Mode"); |
| break; |
| } |
| |
| return iis2dlpc_write_reg(iis2dlpc->ctx, IIS2DLPC_CTRL1, ®val, 1); |
| } |
| |
| static int iis2dlpc_init(const struct device *dev) |
| { |
| struct iis2dlpc_data *iis2dlpc = dev->data; |
| const struct iis2dlpc_dev_config *cfg = dev->config; |
| uint8_t wai; |
| |
| iis2dlpc->dev = dev; |
| |
| if (iis2dlpc_init_interface(dev)) { |
| return -EINVAL; |
| } |
| |
| /* check chip ID */ |
| if (iis2dlpc_device_id_get(iis2dlpc->ctx, &wai) < 0) { |
| return -EIO; |
| } |
| |
| if (wai != IIS2DLPC_ID) { |
| LOG_ERR("Invalid chip ID"); |
| return -EINVAL; |
| } |
| |
| /* reset device */ |
| if (iis2dlpc_reset_set(iis2dlpc->ctx, PROPERTY_ENABLE) < 0) { |
| return -EIO; |
| } |
| |
| k_busy_wait(100); |
| |
| if (iis2dlpc_block_data_update_set(iis2dlpc->ctx, |
| PROPERTY_ENABLE) < 0) { |
| return -EIO; |
| } |
| |
| /* set power mode */ |
| LOG_INF("power-mode is %d", cfg->pm); |
| if (iis2dlpc_set_power_mode(iis2dlpc, cfg->pm)) { |
| return -EIO; |
| } |
| |
| /* set default odr to 12.5Hz acc */ |
| if (iis2dlpc_set_odr(dev, 12) < 0) { |
| LOG_ERR("odr init error (12.5 Hz)"); |
| return -EIO; |
| } |
| |
| LOG_INF("range is %d", cfg->range); |
| if (iis2dlpc_set_range(dev, IIS2DLPC_FS_TO_REG(cfg->range)) < 0) { |
| LOG_ERR("range init error %d", cfg->range); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_IIS2DLPC_TRIGGER |
| if (iis2dlpc_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupts"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_IIS2DLPC_TAP |
| LOG_INF("TAP: tap mode is %d", cfg->tap_mode); |
| if (iis2dlpc_tap_mode_set(iis2dlpc->ctx, cfg->tap_mode) < 0) { |
| LOG_ERR("Failed to select tap trigger mode"); |
| return -EIO; |
| } |
| |
| LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]); |
| if (iis2dlpc_tap_threshold_x_set(iis2dlpc->ctx, |
| cfg->tap_threshold[0]) < 0) { |
| LOG_ERR("Failed to set tap X axis threshold"); |
| return -EIO; |
| } |
| |
| LOG_INF("TAP: ths_y is %02x", cfg->tap_threshold[1]); |
| if (iis2dlpc_tap_threshold_y_set(iis2dlpc->ctx, |
| cfg->tap_threshold[1]) < 0) { |
| LOG_ERR("Failed to set tap Y axis threshold"); |
| return -EIO; |
| } |
| |
| LOG_INF("TAP: ths_z is %02x", cfg->tap_threshold[2]); |
| if (iis2dlpc_tap_threshold_z_set(iis2dlpc->ctx, |
| cfg->tap_threshold[2]) < 0) { |
| LOG_ERR("Failed to set tap Z axis threshold"); |
| return -EIO; |
| } |
| |
| if (cfg->tap_threshold[0] > 0) { |
| LOG_INF("TAP: tap_x enabled"); |
| if (iis2dlpc_tap_detection_on_x_set(iis2dlpc->ctx, 1) < 0) { |
| LOG_ERR("Failed to set tap detection on X axis"); |
| return -EIO; |
| } |
| } |
| |
| if (cfg->tap_threshold[1] > 0) { |
| LOG_INF("TAP: tap_y enabled"); |
| if (iis2dlpc_tap_detection_on_y_set(iis2dlpc->ctx, 1) < 0) { |
| LOG_ERR("Failed to set tap detection on Y axis"); |
| return -EIO; |
| } |
| } |
| |
| if (cfg->tap_threshold[2] > 0) { |
| LOG_INF("TAP: tap_z enabled"); |
| if (iis2dlpc_tap_detection_on_z_set(iis2dlpc->ctx, 1) < 0) { |
| LOG_ERR("Failed to set tap detection on Z axis"); |
| return -EIO; |
| } |
| } |
| |
| LOG_INF("TAP: shock is %02x", cfg->tap_shock); |
| if (iis2dlpc_tap_shock_set(iis2dlpc->ctx, cfg->tap_shock) < 0) { |
| LOG_ERR("Failed to set tap shock duration"); |
| return -EIO; |
| } |
| |
| LOG_INF("TAP: latency is %02x", cfg->tap_latency); |
| if (iis2dlpc_tap_dur_set(iis2dlpc->ctx, cfg->tap_latency) < 0) { |
| LOG_ERR("Failed to set tap latency"); |
| return -EIO; |
| } |
| |
| LOG_INF("TAP: quiet time is %02x", cfg->tap_quiet); |
| if (iis2dlpc_tap_quiet_set(iis2dlpc->ctx, cfg->tap_quiet) < 0) { |
| LOG_ERR("Failed to set tap quiet time"); |
| return -EIO; |
| } |
| #endif /* CONFIG_IIS2DLPC_TAP */ |
| #endif /* CONFIG_IIS2DLPC_TRIGGER */ |
| |
| return 0; |
| } |
| |
| #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0 |
| #warning "IIS2DLPC driver enabled without any devices" |
| #endif |
| |
| /* |
| * Device creation macro, shared by IIS2DLPC_DEFINE_SPI() and |
| * IIS2DLPC_DEFINE_I2C(). |
| */ |
| |
| #define IIS2DLPC_DEVICE_INIT(inst) \ |
| DEVICE_DT_INST_DEFINE(inst, \ |
| iis2dlpc_init, \ |
| device_pm_control_nop, \ |
| &iis2dlpc_data_##inst, \ |
| &iis2dlpc_config_##inst, \ |
| POST_KERNEL, \ |
| CONFIG_SENSOR_INIT_PRIORITY, \ |
| &iis2dlpc_driver_api); |
| |
| /* |
| * Instantiation macros used when a device is on a SPI bus. |
| */ |
| |
| #define IIS2DLPC_HAS_CS(inst) DT_INST_SPI_DEV_HAS_CS_GPIOS(inst) |
| |
| #define IIS2DLPC_DATA_SPI_CS(inst) \ |
| { .cs_ctrl = { \ |
| .gpio_pin = DT_INST_SPI_DEV_CS_GPIOS_PIN(inst), \ |
| .gpio_dt_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(inst), \ |
| }, \ |
| } |
| |
| #define IIS2DLPC_DATA_SPI(inst) \ |
| COND_CODE_1(IIS2DLPC_HAS_CS(inst), \ |
| (IIS2DLPC_DATA_SPI_CS(inst)), \ |
| ({})) |
| |
| #define IIS2DLPC_SPI_CS_PTR(inst) \ |
| COND_CODE_1(IIS2DLPC_HAS_CS(inst), \ |
| (&(iis2dlpc_data_##inst.cs_ctrl)), \ |
| (NULL)) |
| |
| #define IIS2DLPC_SPI_CS_LABEL(inst) \ |
| COND_CODE_1(IIS2DLPC_HAS_CS(inst), \ |
| (DT_INST_SPI_DEV_CS_GPIOS_LABEL(inst)), (NULL)) |
| |
| #define IIS2DLPC_SPI_CFG(inst) \ |
| (&(struct iis2dlpc_spi_cfg) { \ |
| .spi_conf = { \ |
| .frequency = \ |
| DT_INST_PROP(inst, spi_max_frequency), \ |
| .operation = (SPI_WORD_SET(8) | \ |
| SPI_OP_MODE_MASTER | \ |
| SPI_LINES_SINGLE | \ |
| SPI_MODE_CPOL | \ |
| SPI_MODE_CPHA), \ |
| .slave = DT_INST_REG_ADDR(inst), \ |
| .cs = IIS2DLPC_SPI_CS_PTR(inst), \ |
| }, \ |
| .cs_gpios_label = IIS2DLPC_SPI_CS_LABEL(inst), \ |
| }) |
| |
| #ifdef CONFIG_IIS2DLPC_TAP |
| #define IIS2DLPC_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 IIS2DLPC_CONFIG_TAP(inst) |
| #endif /* CONFIG_IIS2DLPC_TAP */ |
| |
| #ifdef CONFIG_IIS2DLPC_TRIGGER |
| #define IIS2DLPC_CFG_IRQ(inst) \ |
| .irq_dev_name = DT_INST_GPIO_LABEL(inst, drdy_gpios), \ |
| .irq_pin = DT_INST_GPIO_PIN(inst, drdy_gpios), \ |
| .irq_flags = DT_INST_GPIO_FLAGS(inst, drdy_gpios), \ |
| .drdy_int = DT_INST_PROP(inst, drdy_int), |
| #else |
| #define IIS2DLPC_CFG_IRQ(inst) |
| #endif /* CONFIG_IIS2DLPC_TRIGGER */ |
| |
| #define IIS2DLPC_CONFIG_SPI(inst) \ |
| { \ |
| .pm = DT_INST_PROP(inst, power_mode), \ |
| .range = DT_INST_PROP(inst, range), \ |
| .bus_name = DT_INST_BUS_LABEL(inst), \ |
| .bus_init = iis2dlpc_spi_init, \ |
| .bus_cfg = { .spi_cfg = IIS2DLPC_SPI_CFG(inst) }, \ |
| IIS2DLPC_CONFIG_TAP(inst) \ |
| COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \ |
| (IIS2DLPC_CFG_IRQ(inst)), ()) \ |
| } |
| |
| #define IIS2DLPC_DEFINE_SPI(inst) \ |
| static struct iis2dlpc_data iis2dlpc_data_##inst = \ |
| IIS2DLPC_DATA_SPI(inst); \ |
| static const struct iis2dlpc_dev_config iis2dlpc_config_##inst =\ |
| IIS2DLPC_CONFIG_SPI(inst); \ |
| IIS2DLPC_DEVICE_INIT(inst) |
| |
| /* |
| * Instantiation macros used when a device is on an I2C bus. |
| */ |
| |
| #define IIS2DLPC_CONFIG_I2C(inst) \ |
| { \ |
| .pm = DT_INST_PROP(inst, power_mode), \ |
| .range = DT_INST_PROP(inst, range), \ |
| .bus_name = DT_INST_BUS_LABEL(inst), \ |
| .bus_init = iis2dlpc_i2c_init, \ |
| .bus_cfg = { .i2c_slv_addr = DT_INST_REG_ADDR(inst), }, \ |
| IIS2DLPC_CONFIG_TAP(inst) \ |
| COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \ |
| (IIS2DLPC_CFG_IRQ(inst)), ()) \ |
| } |
| |
| #define IIS2DLPC_DEFINE_I2C(inst) \ |
| static struct iis2dlpc_data iis2dlpc_data_##inst; \ |
| static const struct iis2dlpc_dev_config iis2dlpc_config_##inst =\ |
| IIS2DLPC_CONFIG_I2C(inst); \ |
| IIS2DLPC_DEVICE_INIT(inst) |
| /* |
| * Main instantiation macro. Use of COND_CODE_1() selects the right |
| * bus-specific macro at preprocessor time. |
| */ |
| |
| #define IIS2DLPC_DEFINE(inst) \ |
| COND_CODE_1(DT_INST_ON_BUS(inst, spi), \ |
| (IIS2DLPC_DEFINE_SPI(inst)), \ |
| (IIS2DLPC_DEFINE_I2C(inst))) |
| |
| DT_INST_FOREACH_STATUS_OKAY(IIS2DLPC_DEFINE) |