| /* 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 |
| */ |
| |
| #include <drivers/sensor.h> |
| #include <kernel.h> |
| #include <device.h> |
| #include <init.h> |
| #include <string.h> |
| #include <sys/byteorder.h> |
| #include <sys/__assert.h> |
| #include <logging/log.h> |
| |
| #include "lis2ds12.h" |
| |
| LOG_MODULE_REGISTER(LIS2DS12, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static struct lis2ds12_data lis2ds12_data; |
| |
| static struct lis2ds12_config lis2ds12_config = { |
| .comm_master_dev_name = DT_INST_0_ST_LIS2DS12_BUS_NAME, |
| #if defined(DT_ST_LIS2DS12_BUS_SPI) |
| .bus_init = lis2ds12_spi_init, |
| #elif defined(DT_ST_LIS2DS12_BUS_I2C) |
| .bus_init = lis2ds12_i2c_init, |
| #else |
| #error "BUS MACRO NOT DEFINED IN DTS" |
| #endif |
| }; |
| |
| #if defined(LIS2DS12_ODR_RUNTIME) |
| static const u16_t lis2ds12_hr_odr_map[] = {0, 12, 25, 50, 100, 200, 400, 800}; |
| |
| static int lis2ds12_freq_to_odr_val(u16_t freq) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2ds12_hr_odr_map); i++) { |
| if (freq == lis2ds12_hr_odr_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| static int lis2ds12_accel_odr_set(struct device *dev, u16_t freq) |
| { |
| struct lis2ds12_data *data = dev->driver_data; |
| int odr; |
| |
| odr = lis2ds12_freq_to_odr_val(freq); |
| if (odr < 0) { |
| return odr; |
| } |
| |
| if (data->hw_tf->update_reg(data, |
| LIS2DS12_REG_CTRL1, |
| LIS2DS12_MASK_CTRL1_ODR, |
| odr << LIS2DS12_SHIFT_CTRL1_ODR) < 0) { |
| LOG_DBG("failed to set accelerometer sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| #ifdef LIS2DS12_FS_RUNTIME |
| static const u16_t lis2ds12_accel_fs_map[] = {2, 16, 4, 8}; |
| static const u16_t lis2ds12_accel_fs_sens[] = {1, 8, 2, 4}; |
| |
| static int lis2ds12_accel_range_to_fs_val(s32_t range) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lis2ds12_accel_fs_map); i++) { |
| if (range == lis2ds12_accel_fs_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| |
| static int lis2ds12_accel_range_set(struct device *dev, s32_t range) |
| { |
| int fs; |
| struct lis2ds12_data *data = dev->driver_data; |
| |
| fs = lis2ds12_accel_range_to_fs_val(range); |
| if (fs < 0) { |
| return fs; |
| } |
| |
| if (data->hw_tf->update_reg(data, |
| LIS2DS12_REG_CTRL1, |
| LIS2DS12_MASK_CTRL1_FS, |
| fs << LIS2DS12_SHIFT_CTRL1_FS) < 0) { |
| LOG_DBG("failed to set accelerometer full-scale"); |
| return -EIO; |
| } |
| |
| data->gain = (float)(lis2ds12_accel_fs_sens[fs] * GAIN_XL); |
| return 0; |
| } |
| #endif |
| |
| static int lis2ds12_accel_config(struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #ifdef LIS2DS12_FS_RUNTIME |
| case SENSOR_ATTR_FULL_SCALE: |
| return lis2ds12_accel_range_set(dev, sensor_ms2_to_g(val)); |
| #endif |
| #ifdef LIS2DS12_ODR_RUNTIME |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lis2ds12_accel_odr_set(dev, val->val1); |
| #endif |
| default: |
| LOG_DBG("Accel attribute not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lis2ds12_attr_set(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(struct device *dev) |
| { |
| struct lis2ds12_data *data = dev->driver_data; |
| u8_t buf[6]; |
| |
| if (data->hw_tf->read_data(data, LIS2DS12_REG_OUTX_L, |
| buf, sizeof(buf)) < 0) { |
| LOG_DBG("failed to read sample"); |
| return -EIO; |
| } |
| |
| data->sample_x = (s16_t)((u16_t)(buf[0]) | ((u16_t)(buf[1]) << 8)); |
| data->sample_y = (s16_t)((u16_t)(buf[2]) | ((u16_t)(buf[3]) << 8)); |
| data->sample_z = (s16_t)((u16_t)(buf[4]) | ((u16_t)(buf[5]) << 8)); |
| |
| return 0; |
| } |
| |
| static int lis2ds12_sample_fetch(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: |
| lis2ds12_sample_fetch_temp(dev); |
| break; |
| #endif |
| case SENSOR_CHAN_ALL: |
| lis2ds12_sample_fetch_accel(dev); |
| #if defined(CONFIG_LIS2DS12_ENABLE_TEMP) |
| 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) |
| { |
| s64_t dval; |
| |
| /* Gain is in mg/LSB */ |
| /* Convert to m/s^2 */ |
| dval = ((s64_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(struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lis2ds12_data *data = dev->driver_data; |
| |
| return lis2ds12_get_channel(chan, val, data, data->gain); |
| } |
| |
| static const struct sensor_driver_api lis2ds12_api_funcs = { |
| .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(struct device *dev) |
| { |
| const struct lis2ds12_config * const config = dev->config->config_info; |
| struct lis2ds12_data *data = dev->driver_data; |
| u8_t chip_id; |
| |
| data->comm_master = device_get_binding(config->comm_master_dev_name); |
| if (!data->comm_master) { |
| LOG_DBG("master not found: %s", |
| config->comm_master_dev_name); |
| return -EINVAL; |
| } |
| |
| config->bus_init(dev); |
| |
| /* s/w reset the sensor */ |
| if (data->hw_tf->write_reg(data, |
| LIS2DS12_REG_CTRL2, |
| LIS2DS12_SOFT_RESET) < 0) { |
| LOG_DBG("s/w reset fail"); |
| return -EIO; |
| } |
| |
| if (data->hw_tf->read_reg(data, LIS2DS12_REG_WHO_AM_I, &chip_id) < 0) { |
| LOG_DBG("failed reading chip id"); |
| return -EIO; |
| } |
| |
| if (chip_id != LIS2DS12_VAL_WHO_AM_I) { |
| LOG_DBG("invalid chip id 0x%x", chip_id); |
| return -EIO; |
| } |
| |
| LOG_DBG("chip id 0x%x", chip_id); |
| |
| #ifdef CONFIG_LIS2DS12_TRIGGER |
| if (lis2ds12_trigger_init(dev) < 0) { |
| LOG_ERR("Failed to initialize triggers."); |
| return -EIO; |
| } |
| #endif |
| |
| /* set sensor default odr */ |
| if (data->hw_tf->update_reg(data, |
| LIS2DS12_REG_CTRL1, |
| LIS2DS12_MASK_CTRL1_ODR, |
| LIS2DS12_DEFAULT_ODR) < 0) { |
| LOG_DBG("failed setting odr"); |
| return -EIO; |
| } |
| |
| /* set sensor default scale */ |
| if (data->hw_tf->update_reg(data, |
| LIS2DS12_REG_CTRL1, |
| LIS2DS12_MASK_CTRL1_FS, |
| LIS2DS12_DEFAULT_FS) < 0) { |
| LOG_DBG("failed setting scale"); |
| return -EIO; |
| } |
| data->gain = LIS2DS12_DEFAULT_GAIN; |
| |
| return 0; |
| } |
| |
| DEVICE_AND_API_INIT(lis2ds12, DT_INST_0_ST_LIS2DS12_LABEL, lis2ds12_init, |
| &lis2ds12_data, &lis2ds12_config, POST_KERNEL, |
| CONFIG_SENSOR_INIT_PRIORITY, &lis2ds12_api_funcs); |