| /* ST Microelectronics LSM6DSO 6-axis IMU sensor driver |
| * |
| * Copyright (c) 2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/lsm6dso.pdf |
| */ |
| |
| #include <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 "lsm6dso.h" |
| |
| LOG_MODULE_REGISTER(LSM6DSO, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static const u16_t lsm6dso_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833, |
| 1660, 3330, 6660}; |
| |
| #if defined(LSM6DSO_ACCEL_ODR_RUNTIME) || defined(LSM6DSO_GYRO_ODR_RUNTIME) |
| static int lsm6dso_freq_to_odr_val(u16_t freq) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lsm6dso_odr_map); i++) { |
| if (freq == lsm6dso_odr_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| #endif |
| |
| static int lsm6dso_odr_to_freq_val(u16_t odr) |
| { |
| /* for valid index, return value from map */ |
| if (odr < ARRAY_SIZE(lsm6dso_odr_map)) { |
| return lsm6dso_odr_map[odr]; |
| } |
| |
| /* invalid index, return last entry */ |
| return lsm6dso_odr_map[ARRAY_SIZE(lsm6dso_odr_map) - 1]; |
| } |
| |
| #ifdef LSM6DSO_ACCEL_FS_RUNTIME |
| static const u16_t lsm6dso_accel_fs_map[] = {2, 16, 4, 8}; |
| static const u16_t lsm6dso_accel_fs_sens[] = {1, 8, 2, 4}; |
| |
| static int lsm6dso_accel_range_to_fs_val(s32_t range) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lsm6dso_accel_fs_map); i++) { |
| if (range == lsm6dso_accel_fs_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| #endif |
| |
| #ifdef LSM6DSO_GYRO_FS_RUNTIME |
| static const u16_t lsm6dso_gyro_fs_map[] = {250, 500, 1000, 2000, 125}; |
| static const u16_t lsm6dso_gyro_fs_sens[] = {2, 4, 8, 16, 1}; |
| |
| static int lsm6dso_gyro_range_to_fs_val(s32_t range) |
| { |
| size_t i; |
| |
| for (i = 0; i < ARRAY_SIZE(lsm6dso_gyro_fs_map); i++) { |
| if (range == lsm6dso_gyro_fs_map[i]) { |
| return i; |
| } |
| } |
| |
| return -EINVAL; |
| } |
| #endif |
| |
| static inline int lsm6dso_reboot(struct device *dev) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| if (lsm6dso_boot_set(data->ctx, 1) < 0) { |
| return -EIO; |
| } |
| |
| /* Wait sensor turn-on time as per datasheet */ |
| k_busy_wait(35 * USEC_PER_MSEC); |
| |
| return 0; |
| } |
| |
| static int lsm6dso_accel_set_fs_raw(struct device *dev, u8_t fs) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| if (lsm6dso_xl_full_scale_set(data->ctx, fs) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_fs = fs; |
| |
| return 0; |
| } |
| |
| static int lsm6dso_accel_set_odr_raw(struct device *dev, u8_t odr) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| if (lsm6dso_xl_data_rate_set(data->ctx, odr) < 0) { |
| return -EIO; |
| } |
| |
| data->accel_freq = lsm6dso_odr_to_freq_val(odr); |
| |
| return 0; |
| } |
| |
| static int lsm6dso_gyro_set_fs_raw(struct device *dev, u8_t fs) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| if (lsm6dso_gy_full_scale_set(data->ctx, fs) < 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int lsm6dso_gyro_set_odr_raw(struct device *dev, u8_t odr) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| if (lsm6dso_gy_data_rate_set(data->ctx, odr) < 0) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| #ifdef LSM6DSO_ACCEL_ODR_RUNTIME |
| static int lsm6dso_accel_odr_set(struct device *dev, u16_t freq) |
| { |
| int odr; |
| |
| odr = lsm6dso_freq_to_odr_val(freq); |
| if (odr < 0) { |
| return odr; |
| } |
| |
| if (lsm6dso_accel_set_odr_raw(dev, odr) < 0) { |
| LOG_DBG("failed to set accelerometer sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| #ifdef LSM6DSO_ACCEL_FS_RUNTIME |
| static int lsm6dso_accel_range_set(struct device *dev, s32_t range) |
| { |
| int fs; |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| fs = lsm6dso_accel_range_to_fs_val(range); |
| if (fs < 0) { |
| return fs; |
| } |
| |
| if (lsm6dso_accel_set_fs_raw(dev, fs) < 0) { |
| LOG_DBG("failed to set accelerometer full-scale"); |
| return -EIO; |
| } |
| |
| data->acc_gain = (lsm6dso_accel_fs_sens[fs] * GAIN_UNIT_XL); |
| return 0; |
| } |
| #endif |
| |
| static int lsm6dso_accel_config(struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #ifdef LSM6DSO_ACCEL_FS_RUNTIME |
| case SENSOR_ATTR_FULL_SCALE: |
| return lsm6dso_accel_range_set(dev, sensor_ms2_to_g(val)); |
| #endif |
| #ifdef LSM6DSO_ACCEL_ODR_RUNTIME |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lsm6dso_accel_odr_set(dev, val->val1); |
| #endif |
| default: |
| LOG_DBG("Accel attribute not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| #ifdef LSM6DSO_GYRO_ODR_RUNTIME |
| static int lsm6dso_gyro_odr_set(struct device *dev, u16_t freq) |
| { |
| int odr; |
| |
| odr = lsm6dso_freq_to_odr_val(freq); |
| if (odr < 0) { |
| return odr; |
| } |
| |
| if (lsm6dso_gyro_set_odr_raw(dev, odr) < 0) { |
| LOG_DBG("failed to set gyroscope sampling rate"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif |
| |
| #ifdef LSM6DSO_GYRO_FS_RUNTIME |
| static int lsm6dso_gyro_range_set(struct device *dev, s32_t range) |
| { |
| int fs; |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| fs = lsm6dso_gyro_range_to_fs_val(range); |
| if (fs < 0) { |
| return fs; |
| } |
| |
| if (lsm6dso_gyro_set_fs_raw(dev, fs) < 0) { |
| LOG_DBG("failed to set gyroscope full-scale"); |
| return -EIO; |
| } |
| |
| data->gyro_gain = (lsm6dso_gyro_fs_sens[fs] * GAIN_UNIT_G); |
| return 0; |
| } |
| #endif |
| |
| static int lsm6dso_gyro_config(struct device *dev, enum sensor_channel chan, |
| enum sensor_attribute attr, |
| const struct sensor_value *val) |
| { |
| switch (attr) { |
| #ifdef LSM6DSO_GYRO_FS_RUNTIME |
| case SENSOR_ATTR_FULL_SCALE: |
| return lsm6dso_gyro_range_set(dev, sensor_rad_to_degrees(val)); |
| #endif |
| #ifdef LSM6DSO_GYRO_ODR_RUNTIME |
| case SENSOR_ATTR_SAMPLING_FREQUENCY: |
| return lsm6dso_gyro_odr_set(dev, val->val1); |
| #endif |
| default: |
| LOG_DBG("Gyro attribute not supported."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lsm6dso_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 lsm6dso_accel_config(dev, chan, attr, val); |
| case SENSOR_CHAN_GYRO_XYZ: |
| return lsm6dso_gyro_config(dev, chan, attr, val); |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| case SENSOR_CHAN_MAGN_XYZ: |
| case SENSOR_CHAN_PRESS: |
| case SENSOR_CHAN_HUMIDITY: |
| return lsm6dso_shub_config(dev, chan, attr, val); |
| #endif /* CONFIG_LSM6DSO_SENSORHUB */ |
| default: |
| LOG_WRN("attr_set() not supported on this channel."); |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lsm6dso_sample_fetch_accel(struct device *dev) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| union axis3bit16_t buf; |
| |
| if (lsm6dso_acceleration_raw_get(data->ctx, buf.u8bit) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| data->acc[0] = sys_le16_to_cpu(buf.i16bit[0]); |
| data->acc[1] = sys_le16_to_cpu(buf.i16bit[1]); |
| data->acc[2] = sys_le16_to_cpu(buf.i16bit[2]); |
| |
| return 0; |
| } |
| |
| static int lsm6dso_sample_fetch_gyro(struct device *dev) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| union axis3bit16_t buf; |
| |
| if (lsm6dso_angular_rate_raw_get(data->ctx, buf.u8bit) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| data->gyro[0] = sys_le16_to_cpu(buf.i16bit[0]); |
| data->gyro[1] = sys_le16_to_cpu(buf.i16bit[1]); |
| data->gyro[2] = sys_le16_to_cpu(buf.i16bit[2]); |
| |
| return 0; |
| } |
| |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| static int lsm6dso_sample_fetch_temp(struct device *dev) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| union axis1bit16_t buf; |
| |
| if (lsm6dso_temperature_raw_get(data->ctx, buf.u8bit) < 0) { |
| LOG_DBG("Failed to read sample"); |
| return -EIO; |
| } |
| |
| data->temp_sample = sys_le16_to_cpu(buf.i16bit); |
| |
| return 0; |
| } |
| #endif |
| |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| static int lsm6dso_sample_fetch_shub(struct device *dev) |
| { |
| if (lsm6dso_shub_fetch_external_devs(dev) < 0) { |
| LOG_DBG("failed to read ext shub devices"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| #endif /* CONFIG_LSM6DSO_SENSORHUB */ |
| |
| static int lsm6dso_sample_fetch(struct device *dev, enum sensor_channel chan) |
| { |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lsm6dso_sample_fetch_accel(dev); |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| lsm6dso_sample_fetch_shub(dev); |
| #endif |
| break; |
| case SENSOR_CHAN_GYRO_XYZ: |
| lsm6dso_sample_fetch_gyro(dev); |
| break; |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| lsm6dso_sample_fetch_temp(dev); |
| break; |
| #endif |
| case SENSOR_CHAN_ALL: |
| lsm6dso_sample_fetch_accel(dev); |
| lsm6dso_sample_fetch_gyro(dev); |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| lsm6dso_sample_fetch_temp(dev); |
| #endif |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| lsm6dso_sample_fetch_shub(dev); |
| #endif |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lsm6dso_accel_convert(struct sensor_value *val, int raw_val, |
| u32_t sensitivity) |
| { |
| s64_t dval; |
| |
| /* Sensitivity is exposed in ug/LSB */ |
| /* Convert to m/s^2 */ |
| dval = (s64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE; |
| val->val1 = (s32_t)(dval / 1000000); |
| val->val2 = (s32_t)(dval % 1000000); |
| |
| } |
| |
| static inline int lsm6dso_accel_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lsm6dso_data *data, |
| u32_t sensitivity) |
| { |
| u8_t i; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| lsm6dso_accel_convert(val, data->acc[0], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Y: |
| lsm6dso_accel_convert(val, data->acc[1], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_Z: |
| lsm6dso_accel_convert(val, data->acc[2], sensitivity); |
| break; |
| case SENSOR_CHAN_ACCEL_XYZ: |
| for (i = 0; i < 3; i++) { |
| lsm6dso_accel_convert(val++, data->acc[i], sensitivity); |
| } |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lsm6dso_accel_channel_get(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| return lsm6dso_accel_get_channel(chan, val, data, data->acc_gain); |
| } |
| |
| static inline void lsm6dso_gyro_convert(struct sensor_value *val, int raw_val, |
| u32_t sensitivity) |
| { |
| s64_t dval; |
| |
| /* Sensitivity is exposed in udps/LSB */ |
| /* Convert to rad/s */ |
| dval = (s64_t)(raw_val) * sensitivity * SENSOR_DEG2RAD_DOUBLE; |
| val->val1 = (s32_t)(dval / 1000000); |
| val->val2 = (s32_t)(dval % 1000000); |
| } |
| |
| static inline int lsm6dso_gyro_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lsm6dso_data *data, |
| u32_t sensitivity) |
| { |
| u8_t i; |
| |
| switch (chan) { |
| case SENSOR_CHAN_GYRO_X: |
| lsm6dso_gyro_convert(val, data->gyro[0], sensitivity); |
| break; |
| case SENSOR_CHAN_GYRO_Y: |
| lsm6dso_gyro_convert(val, data->gyro[1], sensitivity); |
| break; |
| case SENSOR_CHAN_GYRO_Z: |
| lsm6dso_gyro_convert(val, data->gyro[2], sensitivity); |
| break; |
| case SENSOR_CHAN_GYRO_XYZ: |
| for (i = 0; i < 3; i++) { |
| lsm6dso_gyro_convert(val++, data->gyro[i], sensitivity); |
| } |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static int lsm6dso_gyro_channel_get(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| return lsm6dso_gyro_get_channel(chan, val, data, |
| LSM6DSO_DEFAULT_GYRO_SENSITIVITY); |
| } |
| |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| static void lsm6dso_gyro_channel_get_temp(struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| /* val = temp_sample / 256 + 25 */ |
| val->val1 = data->temp_sample / 256 + 25; |
| val->val2 = (data->temp_sample % 256) * (1000000 / 256); |
| } |
| #endif |
| |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| static inline void lsm6dso_magn_convert(struct sensor_value *val, int raw_val, |
| u16_t sensitivity) |
| { |
| double dval; |
| |
| /* Sensitivity is exposed in mgauss/LSB */ |
| dval = (double)(raw_val * sensitivity); |
| val->val1 = (s32_t)dval / 1000000; |
| val->val2 = (s32_t)dval % 1000000; |
| } |
| |
| static inline int lsm6dso_magn_get_channel(enum sensor_channel chan, |
| struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| s16_t sample[3]; |
| int idx; |
| |
| idx = lsm6dso_shub_get_idx(SENSOR_CHAN_MAGN_XYZ); |
| if (idx < 0) { |
| LOG_DBG("external magn not supported"); |
| return -ENOTSUP; |
| } |
| |
| |
| sample[0] = sys_le16_to_cpu((s16_t)(data->ext_data[idx][0] | |
| (data->ext_data[idx][1] << 8))); |
| sample[1] = sys_le16_to_cpu((s16_t)(data->ext_data[idx][2] | |
| (data->ext_data[idx][3] << 8))); |
| sample[2] = sys_le16_to_cpu((s16_t)(data->ext_data[idx][4] | |
| (data->ext_data[idx][5] << 8))); |
| |
| switch (chan) { |
| case SENSOR_CHAN_MAGN_X: |
| lsm6dso_magn_convert(val, sample[0], data->magn_gain); |
| break; |
| case SENSOR_CHAN_MAGN_Y: |
| lsm6dso_magn_convert(val, sample[1], data->magn_gain); |
| break; |
| case SENSOR_CHAN_MAGN_Z: |
| lsm6dso_magn_convert(val, sample[2], data->magn_gain); |
| break; |
| case SENSOR_CHAN_MAGN_XYZ: |
| lsm6dso_magn_convert(val, sample[0], data->magn_gain); |
| lsm6dso_magn_convert(val + 1, sample[1], data->magn_gain); |
| lsm6dso_magn_convert(val + 2, sample[2], data->magn_gain); |
| break; |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static inline void lsm6dso_hum_convert(struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| float rh; |
| s16_t raw_val; |
| struct hts221_data *ht = &data->hts221; |
| int idx; |
| |
| idx = lsm6dso_shub_get_idx(SENSOR_CHAN_HUMIDITY); |
| if (idx < 0) { |
| LOG_DBG("external press/temp not supported"); |
| return; |
| } |
| |
| raw_val = sys_le16_to_cpu((s16_t)(data->ext_data[idx][0] | |
| (data->ext_data[idx][1] << 8))); |
| |
| /* find relative humidty by linear interpolation */ |
| rh = (ht->y1 - ht->y0) * raw_val + ht->x1 * ht->y0 - ht->x0 * ht->y1; |
| rh /= (ht->x1 - ht->x0); |
| |
| /* convert humidity to integer and fractional part */ |
| val->val1 = rh; |
| val->val2 = rh * 1000000; |
| } |
| |
| static inline void lsm6dso_press_convert(struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| s32_t raw_val; |
| int idx; |
| |
| idx = lsm6dso_shub_get_idx(SENSOR_CHAN_PRESS); |
| if (idx < 0) { |
| LOG_DBG("external press/temp not supported"); |
| return; |
| } |
| |
| raw_val = sys_le32_to_cpu((s32_t)(data->ext_data[idx][0] | |
| (data->ext_data[idx][1] << 8) | |
| (data->ext_data[idx][2] << 16))); |
| |
| /* Pressure sensitivity is 4096 LSB/hPa */ |
| /* Convert raw_val to val in kPa */ |
| val->val1 = (raw_val >> 12) / 10; |
| val->val2 = (raw_val >> 12) % 10 * 100000 + |
| (((s32_t)((raw_val) & 0x0FFF) * 100000L) >> 12); |
| } |
| |
| static inline void lsm6dso_temp_convert(struct sensor_value *val, |
| struct lsm6dso_data *data) |
| { |
| s16_t raw_val; |
| int idx; |
| |
| idx = lsm6dso_shub_get_idx(SENSOR_CHAN_PRESS); |
| if (idx < 0) { |
| LOG_DBG("external press/temp not supported"); |
| return; |
| } |
| |
| raw_val = sys_le16_to_cpu((s16_t)(data->ext_data[idx][3] | |
| (data->ext_data[idx][4] << 8))); |
| |
| /* Temperature sensitivity is 100 LSB/deg C */ |
| val->val1 = raw_val / 100; |
| val->val2 = (s32_t)raw_val % 100 * (10000); |
| } |
| #endif |
| |
| static int lsm6dso_channel_get(struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| switch (chan) { |
| case SENSOR_CHAN_ACCEL_X: |
| case SENSOR_CHAN_ACCEL_Y: |
| case SENSOR_CHAN_ACCEL_Z: |
| case SENSOR_CHAN_ACCEL_XYZ: |
| lsm6dso_accel_channel_get(chan, val, data); |
| break; |
| case SENSOR_CHAN_GYRO_X: |
| case SENSOR_CHAN_GYRO_Y: |
| case SENSOR_CHAN_GYRO_Z: |
| case SENSOR_CHAN_GYRO_XYZ: |
| lsm6dso_gyro_channel_get(chan, val, data); |
| break; |
| #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) |
| case SENSOR_CHAN_DIE_TEMP: |
| lsm6dso_gyro_channel_get_temp(val, data); |
| break; |
| #endif |
| #if defined(CONFIG_LSM6DSO_SENSORHUB) |
| case SENSOR_CHAN_MAGN_X: |
| case SENSOR_CHAN_MAGN_Y: |
| case SENSOR_CHAN_MAGN_Z: |
| case SENSOR_CHAN_MAGN_XYZ: |
| lsm6dso_magn_get_channel(chan, val, data); |
| break; |
| |
| case SENSOR_CHAN_HUMIDITY: |
| lsm6dso_hum_convert(val, data); |
| break; |
| |
| case SENSOR_CHAN_PRESS: |
| lsm6dso_press_convert(val, data); |
| break; |
| |
| case SENSOR_CHAN_AMBIENT_TEMP: |
| lsm6dso_temp_convert(val, data); |
| break; |
| #endif |
| default: |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api lsm6dso_api_funcs = { |
| .attr_set = lsm6dso_attr_set, |
| #if CONFIG_LSM6DSO_TRIGGER |
| .trigger_set = lsm6dso_trigger_set, |
| #endif |
| .sample_fetch = lsm6dso_sample_fetch, |
| .channel_get = lsm6dso_channel_get, |
| }; |
| |
| static int lsm6dso_init_chip(struct device *dev) |
| { |
| struct lsm6dso_data *lsm6dso = dev->driver_data; |
| u8_t chip_id; |
| |
| if (lsm6dso_device_id_get(lsm6dso->ctx, &chip_id) < 0) { |
| LOG_DBG("Failed reading chip id"); |
| return -EIO; |
| } |
| |
| LOG_INF("chip id 0x%x", chip_id); |
| |
| if (chip_id != LSM6DSO_ID) { |
| LOG_DBG("Invalid chip id 0x%x", chip_id); |
| return -EIO; |
| } |
| |
| /* reset device */ |
| if (lsm6dso_reset_set(lsm6dso->ctx, 1) < 0) { |
| return -EIO; |
| } |
| |
| k_busy_wait(100); |
| |
| if (lsm6dso_accel_set_fs_raw(dev, |
| LSM6DSO_DEFAULT_ACCEL_FULLSCALE) < 0) { |
| LOG_DBG("failed to set accelerometer full-scale"); |
| return -EIO; |
| } |
| lsm6dso->acc_gain = LSM6DSO_DEFAULT_ACCEL_SENSITIVITY; |
| |
| lsm6dso->accel_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_ACCEL_ODR); |
| if (lsm6dso_accel_set_odr_raw(dev, CONFIG_LSM6DSO_ACCEL_ODR) < 0) { |
| LOG_DBG("failed to set accelerometer sampling rate"); |
| return -EIO; |
| } |
| |
| if (lsm6dso_gyro_set_fs_raw(dev, LSM6DSO_DEFAULT_GYRO_FULLSCALE) < 0) { |
| LOG_DBG("failed to set gyroscope full-scale"); |
| return -EIO; |
| } |
| lsm6dso->gyro_gain = LSM6DSO_DEFAULT_GYRO_SENSITIVITY; |
| |
| lsm6dso->gyro_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_GYRO_ODR); |
| if (lsm6dso_gyro_set_odr_raw(dev, CONFIG_LSM6DSO_GYRO_ODR) < 0) { |
| LOG_DBG("failed to set gyroscope sampling rate"); |
| return -EIO; |
| } |
| |
| /* Set FIFO bypass mode */ |
| if (lsm6dso_fifo_mode_set(lsm6dso->ctx, LSM6DSO_BYPASS_MODE) < 0) { |
| LOG_DBG("failed to set FIFO mode"); |
| return -EIO; |
| } |
| |
| if (lsm6dso_block_data_update_set(lsm6dso->ctx, 1) < 0) { |
| LOG_DBG("failed to set BDU mode"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static struct lsm6dso_data lsm6dso_data; |
| |
| static const struct lsm6dso_config lsm6dso_config = { |
| .bus_name = DT_INST_0_ST_LSM6DSO_BUS_NAME, |
| #if defined(DT_ST_LSM6DSO_BUS_SPI) |
| .bus_init = lsm6dso_spi_init, |
| .spi_conf.frequency = DT_INST_0_ST_LSM6DSO_SPI_MAX_FREQUENCY, |
| .spi_conf.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL | |
| SPI_MODE_CPHA | SPI_WORD_SET(8) | |
| SPI_LINES_SINGLE), |
| .spi_conf.slave = DT_INST_0_ST_LSM6DSO_BASE_ADDRESS, |
| #if defined(DT_INST_0_ST_LSM6DSO_CS_GPIOS_CONTROLLER) |
| .gpio_cs_port = DT_INST_0_ST_LSM6DSO_CS_GPIOS_CONTROLLER, |
| .cs_gpio = DT_INST_0_ST_LSM6DSO_CS_GPIOS_PIN, |
| |
| .spi_conf.cs = &lsm6dso_data.cs_ctrl, |
| #else |
| .spi_conf.cs = NULL, |
| #endif |
| #elif defined(DT_ST_LSM6DSO_BUS_I2C) |
| .bus_init = lsm6dso_i2c_init, |
| .i2c_slv_addr = DT_INST_0_ST_LSM6DSO_BASE_ADDRESS, |
| #else |
| #error "BUS MACRO NOT DEFINED IN DTS" |
| #endif |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| .int_gpio_port = DT_INST_0_ST_LSM6DSO_IRQ_GPIOS_CONTROLLER, |
| .int_gpio_pin = DT_INST_0_ST_LSM6DSO_IRQ_GPIOS_PIN, |
| #if defined(CONFIG_LSM6DSO_INT_PIN_1) |
| .int_pin = 1, |
| #elif defined(CONFIG_LSM6DSO_INT_PIN_2) |
| .int_pin = 2, |
| #endif /* CONFIG_LSM6DSO_INT_PIN */ |
| |
| #endif /* CONFIG_LSM6DSO_TRIGGER */ |
| }; |
| |
| static int lsm6dso_init(struct device *dev) |
| { |
| const struct lsm6dso_config * const config = dev->config->config_info; |
| struct lsm6dso_data *data = dev->driver_data; |
| |
| data->bus = device_get_binding(config->bus_name); |
| if (!data->bus) { |
| LOG_DBG("master not found: %s", |
| config->bus_name); |
| return -EINVAL; |
| } |
| |
| config->bus_init(dev); |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| if (lsm6dso_init_interrupt(dev) < 0) { |
| LOG_ERR("Failed to initialize interrupt."); |
| return -EIO; |
| } |
| #endif |
| |
| if (lsm6dso_init_chip(dev) < 0) { |
| LOG_DBG("failed to initialize chip"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_LSM6DSO_SENSORHUB |
| if (lsm6dso_shub_init(dev) < 0) { |
| LOG_DBG("failed to initialize external chip"); |
| return -EIO; |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| |
| static struct lsm6dso_data lsm6dso_data; |
| |
| DEVICE_AND_API_INIT(lsm6dso, DT_INST_0_ST_LSM6DSO_LABEL, lsm6dso_init, |
| &lsm6dso_data, &lsm6dso_config, POST_KERNEL, |
| CONFIG_SENSOR_INIT_PRIORITY, &lsm6dso_api_funcs); |