352 lines
9.4 KiB
C
352 lines
9.4 KiB
C
/* lsm9ds0_gyro.c - Driver for LSM9DS0 gyroscope sensor */
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/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT st_lsm9ds0_gyro
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/init.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/sys/__assert.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/logging/log.h>
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#include "lsm9ds0_gyro.h"
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LOG_MODULE_REGISTER(LSM9DS0_GYRO, CONFIG_SENSOR_LOG_LEVEL);
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static inline int lsm9ds0_gyro_power_ctrl(const struct device *dev, int power,
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int x_en, int y_en, int z_en)
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{
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const struct lsm9ds0_gyro_config *config = dev->config;
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uint8_t state = (power << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_PD) |
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(x_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_XEN) |
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(y_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_YEN) |
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(z_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_ZEN);
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return i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG1_G,
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LSM9DS0_GYRO_MASK_CTRL_REG1_G_PD |
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LSM9DS0_GYRO_MASK_CTRL_REG1_G_XEN |
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LSM9DS0_GYRO_MASK_CTRL_REG1_G_YEN |
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LSM9DS0_GYRO_MASK_CTRL_REG1_G_ZEN,
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state);
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}
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static int lsm9ds0_gyro_set_fs_raw(const struct device *dev, uint8_t fs)
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{
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const struct lsm9ds0_gyro_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG4_G,
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LSM9DS0_GYRO_MASK_CTRL_REG4_G_FS,
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fs << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_FS) < 0) {
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return -EIO;
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}
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#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
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data->fs = fs;
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#endif
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return 0;
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}
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#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
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static const struct {
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int fs;
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uint8_t reg_val;
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} lsm9ds0_gyro_fs_table[] = { {245, 0},
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{500, 1},
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{2000, 2} };
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static int lsm9ds0_gyro_set_fs(const struct device *dev, int fs)
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{
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int i;
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for (i = 0; i < ARRAY_SIZE(lsm9ds0_gyro_fs_table); ++i) {
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if (fs <= lsm9ds0_gyro_fs_table[i].fs) {
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return lsm9ds0_gyro_set_fs_raw(dev, lsm9ds0_gyro_fs_table[i].reg_val);
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}
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}
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return -ENOTSUP;
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}
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#endif
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static inline int lsm9ds0_gyro_set_odr_raw(const struct device *dev,
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uint8_t odr)
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{
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const struct lsm9ds0_gyro_config *config = dev->config;
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return i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG1_G,
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LSM9DS0_GYRO_MASK_CTRL_REG1_G_DR,
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odr << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_BW);
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}
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#if defined(CONFIG_LSM9DS0_GYRO_SAMPLING_RATE_RUNTIME)
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static const struct {
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int freq;
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uint8_t reg_val;
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} lsm9ds0_gyro_samp_freq_table[] = { {95, 0},
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{190, 1},
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{380, 2},
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{760, 3} };
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static int lsm9ds0_gyro_set_odr(const struct device *dev, int odr)
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{
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int i;
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for (i = 0; i < ARRAY_SIZE(lsm9ds0_gyro_samp_freq_table); ++i) {
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if (odr <= lsm9ds0_gyro_samp_freq_table[i].freq) {
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return lsm9ds0_gyro_set_odr_raw(dev,
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lsm9ds0_gyro_samp_freq_table[i].
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reg_val);
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}
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}
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return -ENOTSUP;
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}
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#endif
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static int lsm9ds0_gyro_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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struct lsm9ds0_gyro_data *data = dev->data;
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const struct lsm9ds0_gyro_config *config = dev->config;
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uint8_t x_l, x_h, y_l, y_h, z_l, z_h;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
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chan == SENSOR_CHAN_GYRO_XYZ);
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if (i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_X_L_G,
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&x_l) < 0 ||
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i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_X_H_G,
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&x_h) < 0 ||
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i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_Y_L_G,
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&y_l) < 0 ||
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i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_Y_H_G,
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&y_h) < 0 ||
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i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_Z_L_G,
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&z_l) < 0 ||
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i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_OUT_Z_H_G,
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&z_h) < 0) {
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LOG_DBG("failed to read sample");
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return -EIO;
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}
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data->sample_x = (int16_t)((uint16_t)(x_l) | ((uint16_t)(x_h) << 8));
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data->sample_y = (int16_t)((uint16_t)(y_l) | ((uint16_t)(y_h) << 8));
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data->sample_z = (int16_t)((uint16_t)(z_l) | ((uint16_t)(z_h) << 8));
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#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
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data->sample_fs = data->fs;
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#endif
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return 0;
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}
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static inline void lsm9ds0_gyro_convert(struct sensor_value *val, int raw_val,
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float numerator)
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{
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double dval;
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dval = (double)(raw_val) * (double)numerator / 1000.0 * DEG2RAD;
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val->val1 = (int32_t)dval;
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val->val2 = ((int32_t)(dval * 1000000)) % 1000000;
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}
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static inline int lsm9ds0_gyro_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct lsm9ds0_gyro_data *data,
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float numerator)
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{
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switch (chan) {
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case SENSOR_CHAN_GYRO_X:
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lsm9ds0_gyro_convert(val, data->sample_x, numerator);
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break;
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case SENSOR_CHAN_GYRO_Y:
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lsm9ds0_gyro_convert(val, data->sample_y, numerator);
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break;
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case SENSOR_CHAN_GYRO_Z:
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lsm9ds0_gyro_convert(val, data->sample_z, numerator);
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break;
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case SENSOR_CHAN_GYRO_XYZ:
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lsm9ds0_gyro_convert(val, data->sample_x, numerator);
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lsm9ds0_gyro_convert(val + 1, data->sample_y, numerator);
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lsm9ds0_gyro_convert(val + 2, data->sample_z, numerator);
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static int lsm9ds0_gyro_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct lsm9ds0_gyro_data *data = dev->data;
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#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
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switch (data->sample_fs) {
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case 0:
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return lsm9ds0_gyro_get_channel(chan, val, data, 8.75f);
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case 1:
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return lsm9ds0_gyro_get_channel(chan, val, data, 17.50f);
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default:
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return lsm9ds0_gyro_get_channel(chan, val, data, 70.0f);
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}
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#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_245)
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return lsm9ds0_gyro_get_channel(chan, val, data, 8.75f);
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#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_500)
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return lsm9ds0_gyro_get_channel(chan, val, data, 17.50f);
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#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_2000)
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return lsm9ds0_gyro_get_channel(chan, val, data, 70.0f);
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#endif
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return 0;
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}
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#if defined(LSM9DS0_GYRO_SET_ATTR)
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static int lsm9ds0_gyro_attr_set(const struct device *dev,
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enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (attr) {
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#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
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case SENSOR_ATTR_FULL_SCALE:
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if (lsm9ds0_gyro_set_fs(dev, sensor_rad_to_degrees(val)) < 0) {
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LOG_DBG("full-scale value not supported");
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return -EIO;
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}
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break;
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#endif
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#if defined(CONFIG_LSM9DS0_GYRO_SAMPLING_RATE_RUNTIME)
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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if (lsm9ds0_gyro_set_odr(dev, val->val1) < 0) {
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LOG_DBG("sampling frequency value not supported");
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return -EIO;
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}
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break;
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#endif
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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#endif
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static const struct sensor_driver_api lsm9ds0_gyro_api_funcs = {
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.sample_fetch = lsm9ds0_gyro_sample_fetch,
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.channel_get = lsm9ds0_gyro_channel_get,
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#if defined(LSM9DS0_GYRO_SET_ATTR)
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.attr_set = lsm9ds0_gyro_attr_set,
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#endif
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#if defined(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY)
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.trigger_set = lsm9ds0_gyro_trigger_set,
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#endif
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};
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static int lsm9ds0_gyro_init_chip(const struct device *dev)
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{
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const struct lsm9ds0_gyro_config *config = dev->config;
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uint8_t chip_id;
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if (lsm9ds0_gyro_power_ctrl(dev, 0, 0, 0, 0) < 0) {
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LOG_DBG("failed to power off device");
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return -EIO;
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}
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if (lsm9ds0_gyro_power_ctrl(dev, 1, 1, 1, 1) < 0) {
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LOG_DBG("failed to power on device");
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return -EIO;
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}
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if (i2c_reg_read_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_WHO_AM_I_G,
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&chip_id) < 0) {
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LOG_DBG("failed reading chip id");
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goto err_poweroff;
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}
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if (chip_id != LSM9DS0_GYRO_VAL_WHO_AM_I_G) {
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LOG_DBG("invalid chip id 0x%x", chip_id);
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goto err_poweroff;
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}
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LOG_DBG("chip id 0x%x", chip_id);
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if (lsm9ds0_gyro_set_fs_raw(dev, LSM9DS0_GYRO_DEFAULT_FULLSCALE) < 0) {
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LOG_DBG("failed to set full-scale");
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goto err_poweroff;
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}
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if (lsm9ds0_gyro_set_odr_raw(dev, LSM9DS0_GYRO_DEFAULT_SAMPLING_RATE)
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< 0) {
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LOG_DBG("failed to set sampling rate");
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goto err_poweroff;
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}
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if (i2c_reg_update_byte_dt(&config->i2c, LSM9DS0_GYRO_REG_CTRL_REG4_G,
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LSM9DS0_GYRO_MASK_CTRL_REG4_G_BDU |
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LSM9DS0_GYRO_MASK_CTRL_REG4_G_BLE,
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(1 << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_BDU) |
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(0 << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_BLE))
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< 0) {
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LOG_DBG("failed to set BDU and BLE");
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goto err_poweroff;
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}
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return 0;
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err_poweroff:
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lsm9ds0_gyro_power_ctrl(dev, 0, 0, 0, 0);
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return -EIO;
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}
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static int lsm9ds0_gyro_init(const struct device *dev)
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{
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const struct lsm9ds0_gyro_config * const config = dev->config;
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if (!device_is_ready(config->i2c.bus)) {
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LOG_ERR("I2C bus device not ready");
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return -ENODEV;
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}
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if (lsm9ds0_gyro_init_chip(dev) < 0) {
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LOG_DBG("failed to initialize chip");
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return -EIO;
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}
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#if defined(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY)
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if (config->int_gpio.port) {
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if (lsm9ds0_gyro_init_interrupt(dev) < 0) {
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LOG_DBG("failed to initialize interrupts");
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return -EIO;
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}
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}
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#endif
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return 0;
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}
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#define LSM9DS0_GYRO_DEFINE(inst) \
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static struct lsm9ds0_gyro_data lsm9ds0_gyro_data_##inst; \
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\
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static const struct lsm9ds0_gyro_config lsm9ds0_gyro_config_##inst = { \
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.i2c = I2C_DT_SPEC_INST_GET(inst), \
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IF_ENABLED(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY, \
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(.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, irq_gpios, { 0 }),)) \
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}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(inst, lsm9ds0_gyro_init, NULL, \
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&lsm9ds0_gyro_data_##inst, &lsm9ds0_gyro_config_##inst, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&lsm9ds0_gyro_api_funcs); \
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DT_INST_FOREACH_STATUS_OKAY(LSM9DS0_GYRO_DEFINE)
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