| /* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver |
| * |
| * Copyright (c) 2020 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Datasheet: |
| * https://www.st.com/resource/en/datasheet/ism330dhcx.pdf |
| */ |
| |
| #define DT_DRV_COMPAT st_ism330dhcx |
| |
| #include <string.h> |
| #include "ism330dhcx.h" |
| #include <logging/log.h> |
| |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| |
| #define ISM330DHCX_SPI_READ (1 << 7) |
| |
| LOG_MODULE_DECLARE(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL); |
| |
| static int ism330dhcx_spi_read(struct ism330dhcx_data *data, uint8_t reg_addr, |
| uint8_t *value, uint8_t len) |
| { |
| const struct ism330dhcx_config *cfg = data->dev->config; |
| const struct spi_config *spi_cfg = &cfg->spi_conf; |
| uint8_t buffer_tx[2] = { reg_addr | ISM330DHCX_SPI_READ, 0 }; |
| const struct spi_buf tx_buf = { |
| .buf = buffer_tx, |
| .len = 2, |
| }; |
| const struct spi_buf_set tx = { |
| .buffers = &tx_buf, |
| .count = 1 |
| }; |
| const struct spi_buf rx_buf[2] = { |
| { |
| .buf = NULL, |
| .len = 1, |
| }, |
| { |
| .buf = value, |
| .len = len, |
| } |
| }; |
| const struct spi_buf_set rx = { |
| .buffers = rx_buf, |
| .count = 2 |
| }; |
| |
| |
| if (len > 64) { |
| return -EIO; |
| } |
| |
| if (spi_transceive(data->bus, spi_cfg, &tx, &rx)) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static int ism330dhcx_spi_write(struct ism330dhcx_data *data, uint8_t reg_addr, |
| uint8_t *value, uint8_t len) |
| { |
| const struct ism330dhcx_config *cfg = data->dev->config; |
| const struct spi_config *spi_cfg = &cfg->spi_conf; |
| uint8_t buffer_tx[1] = { reg_addr & ~ISM330DHCX_SPI_READ }; |
| const struct spi_buf tx_buf[2] = { |
| { |
| .buf = buffer_tx, |
| .len = 1, |
| }, |
| { |
| .buf = value, |
| .len = len, |
| } |
| }; |
| const struct spi_buf_set tx = { |
| .buffers = tx_buf, |
| .count = 2 |
| }; |
| |
| |
| if (len > 64) { |
| return -EIO; |
| } |
| |
| if (spi_write(data->bus, spi_cfg, &tx)) { |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| int ism330dhcx_spi_init(const struct device *dev) |
| { |
| struct ism330dhcx_data *data = dev->data; |
| |
| data->ctx_spi.read_reg = (stmdev_read_ptr) ism330dhcx_spi_read, |
| data->ctx_spi.write_reg = (stmdev_write_ptr) ism330dhcx_spi_write, |
| |
| data->ctx = &data->ctx_spi; |
| data->ctx->handle = data; |
| |
| #if DT_INST_SPI_DEV_HAS_CS_GPIOS(0) |
| const struct ism330dhcx_config *cfg = dev->config; |
| |
| /* handle SPI CS thru GPIO if it is the case */ |
| data->cs_ctrl.gpio_dev = device_get_binding(cfg->gpio_cs_port); |
| if (!data->cs_ctrl.gpio_dev) { |
| LOG_ERR("Unable to get GPIO SPI CS device"); |
| return -ENODEV; |
| } |
| |
| data->cs_ctrl.gpio_pin = cfg->cs_gpio; |
| data->cs_ctrl.gpio_dt_flags = cfg->cs_gpio_flags; |
| data->cs_ctrl.delay = 0; |
| |
| LOG_DBG("SPI GPIO CS configured on %s:%u", |
| cfg->gpio_cs_port, cfg->cs_gpio); |
| #endif |
| |
| return 0; |
| } |
| #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */ |