326 lines
7.4 KiB
C
326 lines
7.4 KiB
C
/* ST Microelectronics IIS2DH 3-axis accelerometer driver
|
|
*
|
|
* Copyright (c) 2020 STMicroelectronics
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
* Datasheet:
|
|
* https://www.st.com/resource/en/datasheet/iis2dh.pdf
|
|
*/
|
|
|
|
#define DT_DRV_COMPAT st_iis2dh
|
|
|
|
#include <zephyr/init.h>
|
|
#include <zephyr/sys/__assert.h>
|
|
#include <zephyr/sys/byteorder.h>
|
|
#include <zephyr/sys/util_macro.h>
|
|
#include <zephyr/logging/log.h>
|
|
#include <zephyr/drivers/sensor.h>
|
|
|
|
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
|
|
#include <zephyr/drivers/spi.h>
|
|
#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
|
|
#include <zephyr/drivers/i2c.h>
|
|
#endif
|
|
|
|
#include "iis2dh.h"
|
|
|
|
LOG_MODULE_REGISTER(IIS2DH, CONFIG_SENSOR_LOG_LEVEL);
|
|
|
|
/* gains in uG/LSB */
|
|
static const uint32_t iis2dh_gain[3][4] = {
|
|
{
|
|
/* HR mode */
|
|
980/16, /* 2G */
|
|
1950/16, /* 4G */
|
|
3910/16, /* 8G */
|
|
11720/16, /* 16G */
|
|
},
|
|
{
|
|
/* NM mode */
|
|
3910/64, /* 2G */
|
|
7810/64, /* 4G */
|
|
15630/64, /* 8G */
|
|
46950/64, /* 16G */
|
|
},
|
|
{
|
|
/* LP mode */
|
|
15630/256, /* 2G */
|
|
31250/256, /* 4G */
|
|
62500/256, /* 8G */
|
|
188680/256, /* 16G */
|
|
},
|
|
};
|
|
|
|
static int iis2dh_set_fs_raw(const struct device *dev, uint8_t fs)
|
|
{
|
|
struct iis2dh_data *iis2dh = dev->data;
|
|
int err;
|
|
|
|
err = iis2dh_full_scale_set(iis2dh->ctx, fs);
|
|
|
|
if (!err) {
|
|
/* save internally gain for optimization */
|
|
iis2dh->gain = iis2dh_gain[IIS2DH_HR_12bit][fs];
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
#if (CONFIG_IIS2DH_RANGE == 0)
|
|
/**
|
|
* iis2dh_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 iis2dh_set_range(const struct device *dev, uint16_t range)
|
|
{
|
|
int err;
|
|
uint8_t fs = IIS2DH_FS_TO_REG(range);
|
|
|
|
err = iis2dh_set_fs_raw(dev, fs);
|
|
|
|
return err;
|
|
}
|
|
#endif
|
|
|
|
#if (CONFIG_IIS2DH_ODR == 0)
|
|
/**
|
|
* iis2dh_set_odr - set new sampling frequency
|
|
* @dev: Pointer to instance of struct device (I2C or SPI)
|
|
* @odr: Output data rate
|
|
*/
|
|
static int iis2dh_set_odr(const struct device *dev, uint16_t odr)
|
|
{
|
|
struct iis2dh_data *iis2dh = dev->data;
|
|
const struct iis2dh_device_config *cfg = dev->config;
|
|
iis2dh_odr_t val;
|
|
|
|
val = IIS2DH_ODR_TO_REG_HR(cfg->pm, odr);
|
|
|
|
return iis2dh_data_rate_set(iis2dh->ctx, val);
|
|
}
|
|
#endif
|
|
|
|
static inline void iis2dh_convert(struct sensor_value *val, int raw_val,
|
|
uint32_t 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 iis2dh_channel_get_acc(const struct device *dev,
|
|
enum sensor_channel chan,
|
|
struct sensor_value *val)
|
|
{
|
|
int i;
|
|
uint8_t ofs_start, ofs_stop;
|
|
struct iis2dh_data *iis2dh = 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++) {
|
|
iis2dh_convert(pval++, iis2dh->acc[i], iis2dh->gain);
|
|
}
|
|
}
|
|
|
|
static int iis2dh_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:
|
|
iis2dh_channel_get_acc(dev, chan, val);
|
|
return 0;
|
|
default:
|
|
LOG_DBG("Channel not supported");
|
|
break;
|
|
}
|
|
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
static int iis2dh_config(const struct device *dev, enum sensor_channel chan,
|
|
enum sensor_attribute attr,
|
|
const struct sensor_value *val)
|
|
{
|
|
switch (attr) {
|
|
#if (CONFIG_IIS2DH_RANGE == 0)
|
|
case SENSOR_ATTR_FULL_SCALE:
|
|
return iis2dh_set_range(dev, sensor_ms2_to_g(val));
|
|
#endif
|
|
#if (CONFIG_IIS2DH_ODR == 0)
|
|
case SENSOR_ATTR_SAMPLING_FREQUENCY:
|
|
return iis2dh_set_odr(dev, val->val1);
|
|
#endif
|
|
default:
|
|
LOG_DBG("Acc attribute not supported");
|
|
break;
|
|
}
|
|
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
static int iis2dh_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 iis2dh_config(dev, chan, attr, val);
|
|
default:
|
|
LOG_DBG("Attr not supported on %d channel", chan);
|
|
break;
|
|
}
|
|
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
static int iis2dh_sample_fetch(const struct device *dev,
|
|
enum sensor_channel chan)
|
|
{
|
|
struct iis2dh_data *iis2dh = dev->data;
|
|
int16_t buf[3];
|
|
|
|
/* fetch raw data sample */
|
|
if (iis2dh_acceleration_raw_get(iis2dh->ctx, buf) < 0) {
|
|
LOG_DBG("Failed to fetch raw data sample");
|
|
return -EIO;
|
|
}
|
|
|
|
iis2dh->acc[0] = sys_le16_to_cpu(buf[0]);
|
|
iis2dh->acc[1] = sys_le16_to_cpu(buf[1]);
|
|
iis2dh->acc[2] = sys_le16_to_cpu(buf[2]);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct sensor_driver_api iis2dh_driver_api = {
|
|
.attr_set = iis2dh_attr_set,
|
|
#if CONFIG_IIS2DH_TRIGGER
|
|
.trigger_set = iis2dh_trigger_set,
|
|
#endif /* CONFIG_IIS2DH_TRIGGER */
|
|
.sample_fetch = iis2dh_sample_fetch,
|
|
.channel_get = iis2dh_channel_get,
|
|
};
|
|
|
|
static int iis2dh_init_interface(const struct device *dev)
|
|
{
|
|
int res;
|
|
|
|
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
|
|
res = iis2dh_spi_init(dev);
|
|
if (res) {
|
|
return res;
|
|
}
|
|
#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
|
|
res = iis2dh_i2c_init(dev);
|
|
if (res) {
|
|
return res;
|
|
}
|
|
#else
|
|
#error "BUS MACRO NOT DEFINED IN DTS"
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int iis2dh_init(const struct device *dev)
|
|
{
|
|
struct iis2dh_data *iis2dh = dev->data;
|
|
const struct iis2dh_device_config *cfg = dev->config;
|
|
uint8_t wai;
|
|
|
|
if (iis2dh_init_interface(dev)) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
/* check chip ID */
|
|
if (iis2dh_device_id_get(iis2dh->ctx, &wai) < 0) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (wai != IIS2DH_ID) {
|
|
LOG_ERR("Invalid chip ID: %02x", wai);
|
|
return -EINVAL;
|
|
}
|
|
|
|
if (iis2dh_block_data_update_set(iis2dh->ctx, PROPERTY_ENABLE) < 0) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (iis2dh_operating_mode_set(iis2dh->ctx, cfg->pm)) {
|
|
return -EIO;
|
|
}
|
|
|
|
#if (CONFIG_IIS2DH_ODR != 0)
|
|
/* set default odr and full scale for acc */
|
|
if (iis2dh_data_rate_set(iis2dh->ctx, CONFIG_IIS2DH_ODR) < 0) {
|
|
return -EIO;
|
|
}
|
|
#endif
|
|
|
|
#if (CONFIG_IIS2DH_RANGE != 0)
|
|
iis2dh_set_fs_raw(dev, CONFIG_IIS2DH_RANGE);
|
|
#endif
|
|
|
|
#ifdef CONFIG_IIS2DH_TRIGGER
|
|
if (cfg->int_gpio.port) {
|
|
if (iis2dh_init_interrupt(dev) < 0) {
|
|
LOG_ERR("Failed to initialize interrupts");
|
|
return -EIO;
|
|
}
|
|
}
|
|
#endif /* CONFIG_IIS2DH_TRIGGER */
|
|
|
|
return 0;
|
|
}
|
|
|
|
#define IIS2DH_SPI(inst) \
|
|
(.spi = SPI_DT_SPEC_INST_GET( \
|
|
0, SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8), 0),)
|
|
|
|
#define IIS2DH_I2C(inst) (.i2c = I2C_DT_SPEC_INST_GET(inst),)
|
|
|
|
#define IIS2DH_DEFINE(inst) \
|
|
static struct iis2dh_data iis2dh_data_##inst; \
|
|
\
|
|
static const struct iis2dh_device_config iis2dh_device_config_##inst = { \
|
|
COND_CODE_1(DT_INST_ON_BUS(inst, i2c), IIS2DH_I2C(inst), ()) \
|
|
COND_CODE_1(DT_INST_ON_BUS(inst, spi), IIS2DH_SPI(inst), ()) \
|
|
.pm = CONFIG_IIS2DH_POWER_MODE, \
|
|
IF_ENABLED(CONFIG_IIS2DH_TRIGGER, \
|
|
(.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, drdy_gpios, { 0 }),)) \
|
|
}; \
|
|
\
|
|
SENSOR_DEVICE_DT_INST_DEFINE(inst, iis2dh_init, NULL, \
|
|
&iis2dh_data_##inst, &iis2dh_device_config_##inst, POST_KERNEL, \
|
|
CONFIG_SENSOR_INIT_PRIORITY, &iis2dh_driver_api); \
|
|
|
|
DT_INST_FOREACH_STATUS_OKAY(IIS2DH_DEFINE)
|