494 lines
13 KiB
C
494 lines
13 KiB
C
/* lsm6ds0.c - Driver for LSM6DS0 accelerometer, gyroscope and
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* temperature sensor
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*/
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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_lsm6ds0
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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/logging/log.h>
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#include "lsm6ds0.h"
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LOG_MODULE_REGISTER(LSM6DS0, CONFIG_SENSOR_LOG_LEVEL);
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static inline int lsm6ds0_reboot(const struct device *dev)
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{
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const struct lsm6ds0_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG8,
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LSM6DS0_MASK_CTRL_REG8_BOOT,
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1 << LSM6DS0_SHIFT_CTRL_REG8_BOOT) < 0) {
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return -EIO;
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}
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k_busy_wait(USEC_PER_MSEC * 50U);
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return 0;
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}
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static inline int lsm6ds0_accel_axis_ctrl(const struct device *dev, int x_en,
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int y_en, int z_en)
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{
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const struct lsm6ds0_config *config = dev->config;
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uint8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG5_XL_XEN_XL) |
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(y_en << LSM6DS0_SHIFT_CTRL_REG5_XL_YEN_XL) |
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(z_en << LSM6DS0_SHIFT_CTRL_REG5_XL_ZEN_XL);
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return i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG5_XL,
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LSM6DS0_MASK_CTRL_REG5_XL_XEN_XL |
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LSM6DS0_MASK_CTRL_REG5_XL_YEN_XL |
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LSM6DS0_MASK_CTRL_REG5_XL_ZEN_XL,
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state);
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}
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static int lsm6ds0_accel_set_fs_raw(const struct device *dev, uint8_t fs)
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{
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const struct lsm6ds0_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG6_XL,
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LSM6DS0_MASK_CTRL_REG6_XL_FS_XL,
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fs << LSM6DS0_SHIFT_CTRL_REG6_XL_FS_XL) < 0) {
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return -EIO;
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}
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return 0;
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}
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static int lsm6ds0_accel_set_odr_raw(const struct device *dev, uint8_t odr)
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{
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const struct lsm6ds0_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG6_XL,
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LSM6DS0_MASK_CTRL_REG6_XL_ODR_XL,
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odr << LSM6DS0_SHIFT_CTRL_REG6_XL_ODR_XL) < 0) {
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return -EIO;
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}
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return 0;
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}
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static inline int lsm6ds0_gyro_axis_ctrl(const struct device *dev, int x_en,
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int y_en,
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int z_en)
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{
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const struct lsm6ds0_config *config = dev->config;
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uint8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG4_XEN_G) |
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(y_en << LSM6DS0_SHIFT_CTRL_REG4_YEN_G) |
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(z_en << LSM6DS0_SHIFT_CTRL_REG4_ZEN_G);
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return i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG4,
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LSM6DS0_MASK_CTRL_REG4_XEN_G |
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LSM6DS0_MASK_CTRL_REG4_YEN_G |
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LSM6DS0_MASK_CTRL_REG4_ZEN_G,
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state);
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}
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static int lsm6ds0_gyro_set_fs_raw(const struct device *dev, uint8_t fs)
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{
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const struct lsm6ds0_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG1_G,
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LSM6DS0_MASK_CTRL_REG1_G_FS_G,
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fs << LSM6DS0_SHIFT_CTRL_REG1_G_FS_G) < 0) {
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return -EIO;
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}
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return 0;
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}
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static int lsm6ds0_gyro_set_odr_raw(const struct device *dev, uint8_t odr)
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{
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const struct lsm6ds0_config *config = dev->config;
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG1_G,
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LSM6DS0_MASK_CTRL_REG1_G_ODR_G,
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odr << LSM6DS0_SHIFT_CTRL_REG1_G_ODR_G) < 0) {
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return -EIO;
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}
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return 0;
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}
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static int lsm6ds0_sample_fetch_accel(const struct device *dev)
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{
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struct lsm6ds0_data *data = dev->data;
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const struct lsm6ds0_config *config = dev->config;
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uint8_t buf[6];
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if (i2c_burst_read_dt(&config->i2c, LSM6DS0_REG_OUT_X_L_XL, buf, sizeof(buf)) < 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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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
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data->accel_sample_x = (int16_t)((uint16_t)(buf[0]) |
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((uint16_t)(buf[1]) << 8));
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
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data->accel_sample_y = (int16_t)((uint16_t)(buf[2]) |
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((uint16_t)(buf[3]) << 8));
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
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data->accel_sample_z = (int16_t)((uint16_t)(buf[4]) |
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((uint16_t)(buf[5]) << 8));
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#endif
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return 0;
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}
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static int lsm6ds0_sample_fetch_gyro(const struct device *dev)
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{
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struct lsm6ds0_data *data = dev->data;
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const struct lsm6ds0_config *config = dev->config;
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uint8_t buf[6];
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if (i2c_burst_read_dt(&config->i2c, LSM6DS0_REG_OUT_X_L_G, buf, sizeof(buf)) < 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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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
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data->gyro_sample_x = (int16_t)((uint16_t)(buf[0]) |
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((uint16_t)(buf[1]) << 8));
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
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data->gyro_sample_y = (int16_t)((uint16_t)(buf[2]) |
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((uint16_t)(buf[3]) << 8));
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
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data->gyro_sample_z = (int16_t)((uint16_t)(buf[4]) |
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((uint16_t)(buf[5]) << 8));
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#endif
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return 0;
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}
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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static int lsm6ds0_sample_fetch_temp(const struct device *dev)
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{
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struct lsm6ds0_data *data = dev->data;
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const struct lsm6ds0_config *config = dev->config;
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uint8_t buf[2];
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if (i2c_burst_read_dt(&config->i2c, LSM6DS0_REG_OUT_TEMP_L, buf, sizeof(buf)) < 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->temp_sample = (int16_t)((uint16_t)(buf[0]) |
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((uint16_t)(buf[1]) << 8));
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return 0;
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}
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#endif
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static int lsm6ds0_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
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chan == SENSOR_CHAN_ACCEL_XYZ ||
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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chan == SENSOR_CHAN_DIE_TEMP ||
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#endif
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chan == SENSOR_CHAN_GYRO_XYZ);
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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lsm6ds0_sample_fetch_accel(dev);
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break;
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case SENSOR_CHAN_GYRO_XYZ:
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lsm6ds0_sample_fetch_gyro(dev);
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break;
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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case SENSOR_CHAN_DIE_TEMP:
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lsm6ds0_sample_fetch_temp(dev);
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break;
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#endif
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case SENSOR_CHAN_ALL:
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lsm6ds0_sample_fetch_accel(dev);
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lsm6ds0_sample_fetch_gyro(dev);
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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lsm6ds0_sample_fetch_temp(dev);
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#endif
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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 inline void lsm6ds0_accel_convert(struct sensor_value *val, int raw_val,
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float scale)
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{
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double dval;
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dval = (double)(raw_val) * (double)scale / 32767.0;
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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 lsm6ds0_accel_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct lsm6ds0_data *data,
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float scale)
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{
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switch (chan) {
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
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case SENSOR_CHAN_ACCEL_X:
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lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
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break;
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
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case SENSOR_CHAN_ACCEL_Y:
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lsm6ds0_accel_convert(val, data->accel_sample_y, scale);
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break;
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
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case SENSOR_CHAN_ACCEL_Z:
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lsm6ds0_accel_convert(val, data->accel_sample_z, scale);
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break;
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#endif
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case SENSOR_CHAN_ACCEL_XYZ:
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
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lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
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lsm6ds0_accel_convert(val + 1, data->accel_sample_y, scale);
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#endif
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#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
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lsm6ds0_accel_convert(val + 2, data->accel_sample_z, scale);
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#endif
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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 lsm6ds0_accel_channel_get(enum sensor_channel chan,
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struct sensor_value *val,
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struct lsm6ds0_data *data)
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{
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return lsm6ds0_accel_get_channel(chan, val, data,
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LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR);
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}
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static inline void lsm6ds0_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 * SENSOR_DEG2RAD_DOUBLE;
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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 lsm6ds0_gyro_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct lsm6ds0_data *data,
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float numerator)
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{
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switch (chan) {
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
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case SENSOR_CHAN_GYRO_X:
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lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
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break;
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
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case SENSOR_CHAN_GYRO_Y:
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lsm6ds0_gyro_convert(val, data->gyro_sample_y, numerator);
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break;
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
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case SENSOR_CHAN_GYRO_Z:
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lsm6ds0_gyro_convert(val, data->gyro_sample_z, numerator);
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break;
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#endif
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case SENSOR_CHAN_GYRO_XYZ:
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
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lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
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lsm6ds0_gyro_convert(val + 1, data->gyro_sample_y, numerator);
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#endif
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#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
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lsm6ds0_gyro_convert(val + 2, data->gyro_sample_z, numerator);
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#endif
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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 lsm6ds0_gyro_channel_get(enum sensor_channel chan,
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struct sensor_value *val,
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struct lsm6ds0_data *data)
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{
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return lsm6ds0_gyro_get_channel(chan, val, data,
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LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR);
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}
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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static void lsm6ds0_gyro_channel_get_temp(struct sensor_value *val,
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struct lsm6ds0_data *data)
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{
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/* val = temp_sample / 16 + 25 */
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val->val1 = data->temp_sample / 16 + 25;
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val->val2 = (data->temp_sample % 16) * (1000000 / 16);
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}
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#endif
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static int lsm6ds0_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 lsm6ds0_data *data = dev->data;
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switch (chan) {
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case SENSOR_CHAN_ACCEL_X:
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case SENSOR_CHAN_ACCEL_Y:
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case SENSOR_CHAN_ACCEL_Z:
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case SENSOR_CHAN_ACCEL_XYZ:
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lsm6ds0_accel_channel_get(chan, val, data);
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break;
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case SENSOR_CHAN_GYRO_X:
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case SENSOR_CHAN_GYRO_Y:
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case SENSOR_CHAN_GYRO_Z:
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case SENSOR_CHAN_GYRO_XYZ:
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lsm6ds0_gyro_channel_get(chan, val, data);
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break;
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#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
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case SENSOR_CHAN_DIE_TEMP:
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lsm6ds0_gyro_channel_get_temp(val, data);
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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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static const struct sensor_driver_api lsm6ds0_api_funcs = {
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.sample_fetch = lsm6ds0_sample_fetch,
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.channel_get = lsm6ds0_channel_get,
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};
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static int lsm6ds0_init_chip(const struct device *dev)
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{
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const struct lsm6ds0_config *config = dev->config;
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uint8_t chip_id;
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if (lsm6ds0_reboot(dev) < 0) {
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LOG_DBG("failed to reboot device");
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return -EIO;
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}
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if (i2c_reg_read_byte_dt(&config->i2c, LSM6DS0_REG_WHO_AM_I, &chip_id) < 0) {
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LOG_DBG("failed reading chip id");
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return -EIO;
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}
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if (chip_id != LSM6DS0_VAL_WHO_AM_I) {
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LOG_DBG("invalid chip id 0x%x", chip_id);
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return -EIO;
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}
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LOG_DBG("chip id 0x%x", chip_id);
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if (lsm6ds0_accel_axis_ctrl(dev, LSM6DS0_ACCEL_ENABLE_X_AXIS,
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LSM6DS0_ACCEL_ENABLE_Y_AXIS,
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LSM6DS0_ACCEL_ENABLE_Z_AXIS) < 0) {
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LOG_DBG("failed to set accelerometer axis");
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return -EIO;
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}
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if (lsm6ds0_accel_set_fs_raw(dev, LSM6DS0_DEFAULT_ACCEL_FULLSCALE)
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< 0) {
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LOG_DBG("failed to set accelerometer full-scale");
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return -EIO;
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}
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if (lsm6ds0_accel_set_odr_raw(dev, LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE)
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< 0) {
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LOG_DBG("failed to set accelerometer sampling rate");
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return -EIO;
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}
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if (lsm6ds0_gyro_axis_ctrl(dev, LSM6DS0_GYRO_ENABLE_X_AXIS,
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LSM6DS0_GYRO_ENABLE_Y_AXIS,
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LSM6DS0_GYRO_ENABLE_Z_AXIS) < 0) {
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LOG_DBG("failed to set gyroscope axis");
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return -EIO;
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}
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if (lsm6ds0_gyro_set_fs_raw(dev, LSM6DS0_DEFAULT_GYRO_FULLSCALE)
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< 0) {
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LOG_DBG("failed to set gyroscope full-scale");
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return -EIO;
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}
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if (lsm6ds0_gyro_set_odr_raw(dev, LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE)
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< 0) {
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LOG_DBG("failed to set gyroscope sampling rate");
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return -EIO;
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}
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if (i2c_reg_update_byte_dt(&config->i2c, LSM6DS0_REG_CTRL_REG8,
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LSM6DS0_MASK_CTRL_REG8_BDU |
|
|
LSM6DS0_MASK_CTRL_REG8_BLE |
|
|
LSM6DS0_MASK_CTRL_REG8_IF_ADD_INC,
|
|
(1 << LSM6DS0_SHIFT_CTRL_REG8_BDU) |
|
|
(0 << LSM6DS0_SHIFT_CTRL_REG8_BLE) |
|
|
(1 << LSM6DS0_SHIFT_CTRL_REG8_IF_ADD_INC))
|
|
< 0) {
|
|
LOG_DBG("failed to set BDU, BLE and burst");
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int lsm6ds0_init(const struct device *dev)
|
|
{
|
|
const struct lsm6ds0_config * const config = dev->config;
|
|
|
|
if (!device_is_ready(config->i2c.bus)) {
|
|
LOG_ERR("I2C bus device not ready");
|
|
return -ENODEV;
|
|
}
|
|
|
|
if (lsm6ds0_init_chip(dev) < 0) {
|
|
LOG_DBG("failed to initialize chip");
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#define LSM6DS0_DEFINE(inst) \
|
|
static struct lsm6ds0_data lsm6ds0_data_##inst; \
|
|
\
|
|
static const struct lsm6ds0_config lsm6ds0_config_##inst = { \
|
|
.i2c = I2C_DT_SPEC_INST_GET(inst), \
|
|
}; \
|
|
\
|
|
SENSOR_DEVICE_DT_INST_DEFINE(inst, lsm6ds0_init, NULL, \
|
|
&lsm6ds0_data_##inst, &lsm6ds0_config_##inst, POST_KERNEL,\
|
|
CONFIG_SENSOR_INIT_PRIORITY, &lsm6ds0_api_funcs); \
|
|
|
|
DT_INST_FOREACH_STATUS_OKAY(LSM6DS0_DEFINE)
|