/* 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 #include "ism330dhcx.h" #include #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(const struct device *dev, uint8_t reg_addr, uint8_t *value, uint8_t len) { const struct ism330dhcx_config *cfg = dev->config; 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_dt(&cfg->spi, &tx, &rx)) { return -EIO; } return 0; } static int ism330dhcx_spi_write(const struct device *dev, uint8_t reg_addr, uint8_t *value, uint8_t len) { const struct ism330dhcx_config *cfg = dev->config; 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_dt(&cfg->spi, &tx)) { return -EIO; } return 0; } int ism330dhcx_spi_init(const struct device *dev) { struct ism330dhcx_data *data = dev->data; const struct ism330dhcx_config *cfg = dev->config; if (!spi_is_ready(&cfg->spi)) { LOG_ERR("SPI bus is not ready"); return -ENODEV; }; 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; return 0; } #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */