409 lines
9.9 KiB
C
409 lines
9.9 KiB
C
/* ST Microelectronics LIS2DW12 3-axis accelerometer driver
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*
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* Copyright (c) 2019 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Datasheet:
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* https://www.st.com/resource/en/datasheet/lis2dw12.pdf
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*/
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#define DT_DRV_COMPAT st_lis2dw12
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#include <init.h>
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#include <sys/__assert.h>
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#include <sys/byteorder.h>
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#include <logging/log.h>
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#include <drivers/sensor.h>
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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#include <drivers/spi.h>
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#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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#include <drivers/i2c.h>
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#endif
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#include "lis2dw12.h"
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LOG_MODULE_REGISTER(LIS2DW12, CONFIG_SENSOR_LOG_LEVEL);
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/**
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* lis2dw12_set_range - set full scale range for acc
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* @dev: Pointer to instance of struct device (I2C or SPI)
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* @range: Full scale range (2, 4, 8 and 16 G)
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*/
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static int lis2dw12_set_range(struct device *dev, uint16_t range)
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{
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int err;
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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const struct lis2dw12_device_config *cfg = dev->config_info;
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uint8_t shift_gain = 0U;
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uint8_t fs = LIS2DW12_FS_TO_REG(range);
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err = lis2dw12_full_scale_set(lis2dw12->ctx, fs);
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if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
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shift_gain = LIS2DW12_SHFT_GAIN_NOLP1;
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}
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if (!err) {
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/* save internally gain for optimization */
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lis2dw12->gain =
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LIS2DW12_FS_TO_GAIN(LIS2DW12_FS_TO_REG(range),
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shift_gain);
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}
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return err;
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}
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/**
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* lis2dw12_set_odr - set new sampling frequency
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* @dev: Pointer to instance of struct device (I2C or SPI)
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* @odr: Output data rate
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*/
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static int lis2dw12_set_odr(struct device *dev, uint16_t odr)
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{
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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uint8_t val;
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/* check if power off */
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if (odr == 0U) {
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return lis2dw12_data_rate_set(lis2dw12->ctx,
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LIS2DW12_XL_ODR_OFF);
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}
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val = LIS2DW12_ODR_TO_REG(odr);
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if (val > LIS2DW12_XL_ODR_1k6Hz) {
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LOG_ERR("ODR too high");
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return -ENOTSUP;
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}
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return lis2dw12_data_rate_set(lis2dw12->ctx, val);
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}
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static inline void lis2dw12_convert(struct sensor_value *val, int raw_val,
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float gain)
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{
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int64_t dval;
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/* Gain is in ug/LSB */
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/* Convert to m/s^2 */
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dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000000LL;
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val->val1 = dval / 1000000LL;
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val->val2 = dval % 1000000LL;
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}
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static inline void lis2dw12_channel_get_acc(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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int i;
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uint8_t ofs_start, ofs_stop;
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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struct sensor_value *pval = val;
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switch (chan) {
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case SENSOR_CHAN_ACCEL_X:
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ofs_start = ofs_stop = 0U;
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break;
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case SENSOR_CHAN_ACCEL_Y:
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ofs_start = ofs_stop = 1U;
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break;
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case SENSOR_CHAN_ACCEL_Z:
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ofs_start = ofs_stop = 2U;
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break;
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default:
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ofs_start = 0U; ofs_stop = 2U;
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break;
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}
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for (i = ofs_start; i <= ofs_stop ; i++) {
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lis2dw12_convert(pval++, lis2dw12->acc[i], lis2dw12->gain);
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}
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}
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static int lis2dw12_channel_get(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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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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lis2dw12_channel_get_acc(dev, chan, val);
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return 0;
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default:
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LOG_DBG("Channel not supported");
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break;
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}
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return -ENOTSUP;
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}
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static int lis2dw12_config(struct device *dev, 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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case SENSOR_ATTR_FULL_SCALE:
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return lis2dw12_set_range(dev, sensor_ms2_to_g(val));
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return lis2dw12_set_odr(dev, val->val1);
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default:
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LOG_DBG("Acc attribute not supported");
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break;
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}
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return -ENOTSUP;
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}
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static int lis2dw12_attr_set(struct device *dev, 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 (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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return lis2dw12_config(dev, chan, attr, val);
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default:
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LOG_DBG("Attr not supported on %d channel", chan);
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break;
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}
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return -ENOTSUP;
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}
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static int lis2dw12_sample_fetch(struct device *dev, enum sensor_channel chan)
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{
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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const struct lis2dw12_device_config *cfg = dev->config_info;
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uint8_t shift;
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union axis3bit16_t buf;
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/* fetch raw data sample */
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if (lis2dw12_acceleration_raw_get(lis2dw12->ctx, buf.u8bit) < 0) {
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LOG_DBG("Failed to fetch raw data sample");
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return -EIO;
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}
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/* adjust to resolution */
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if (cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit) {
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shift = LIS2DW12_SHIFT_PM1;
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} else {
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shift = LIS2DW12_SHIFT_PMOTHER;
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}
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lis2dw12->acc[0] = sys_le16_to_cpu(buf.i16bit[0]) >> shift;
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lis2dw12->acc[1] = sys_le16_to_cpu(buf.i16bit[1]) >> shift;
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lis2dw12->acc[2] = sys_le16_to_cpu(buf.i16bit[2]) >> shift;
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return 0;
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}
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static const struct sensor_driver_api lis2dw12_driver_api = {
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.attr_set = lis2dw12_attr_set,
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#if CONFIG_LIS2DW12_TRIGGER
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.trigger_set = lis2dw12_trigger_set,
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#endif /* CONFIG_LIS2DW12_TRIGGER */
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.sample_fetch = lis2dw12_sample_fetch,
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.channel_get = lis2dw12_channel_get,
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};
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static int lis2dw12_init_interface(struct device *dev)
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{
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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const struct lis2dw12_device_config *cfg = dev->config_info;
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lis2dw12->bus = device_get_binding(cfg->bus_name);
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if (!lis2dw12->bus) {
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LOG_DBG("master bus not found: %s", cfg->bus_name);
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return -EINVAL;
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}
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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lis2dw12_spi_init(dev);
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#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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lis2dw12_i2c_init(dev);
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#else
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#error "BUS MACRO NOT DEFINED IN DTS"
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#endif
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return 0;
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}
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static int lis2dw12_set_power_mode(struct lis2dw12_data *lis2dw12,
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lis2dw12_mode_t pm)
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{
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uint8_t regval = LIS2DW12_CONT_LOW_PWR_12bit;
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switch (pm) {
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case LIS2DW12_CONT_LOW_PWR_2:
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case LIS2DW12_CONT_LOW_PWR_3:
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case LIS2DW12_CONT_LOW_PWR_4:
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case LIS2DW12_HIGH_PERFORMANCE:
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regval = pm;
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break;
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default:
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LOG_DBG("Apply default Power Mode");
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break;
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}
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return lis2dw12_write_reg(lis2dw12->ctx, LIS2DW12_CTRL1, ®val, 1);
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}
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static int lis2dw12_init(struct device *dev)
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{
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struct lis2dw12_data *lis2dw12 = dev->driver_data;
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const struct lis2dw12_device_config *cfg = dev->config_info;
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uint8_t wai;
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if (lis2dw12_init_interface(dev)) {
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return -EINVAL;
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}
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/* check chip ID */
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if (lis2dw12_device_id_get(lis2dw12->ctx, &wai) < 0) {
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return -EIO;
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}
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if (wai != LIS2DW12_ID) {
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LOG_ERR("Invalid chip ID");
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return -EINVAL;
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}
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/* reset device */
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if (lis2dw12_reset_set(lis2dw12->ctx, PROPERTY_ENABLE) < 0) {
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return -EIO;
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}
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k_busy_wait(100);
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if (lis2dw12_block_data_update_set(lis2dw12->ctx,
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PROPERTY_ENABLE) < 0) {
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return -EIO;
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}
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/* set power mode */
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if (lis2dw12_set_power_mode(lis2dw12, CONFIG_LIS2DW12_POWER_MODE)) {
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return -EIO;
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}
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/* set default odr and full scale for acc */
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if (lis2dw12_data_rate_set(lis2dw12->ctx, LIS2DW12_DEFAULT_ODR) < 0) {
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return -EIO;
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}
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if (lis2dw12_full_scale_set(lis2dw12->ctx, LIS2DW12_ACC_FS) < 0) {
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return -EIO;
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}
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lis2dw12->gain =
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LIS2DW12_FS_TO_GAIN(LIS2DW12_ACC_FS,
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cfg->pm == LIS2DW12_CONT_LOW_PWR_12bit ?
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LIS2DW12_SHFT_GAIN_NOLP1 : 0);
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#ifdef CONFIG_LIS2DW12_TRIGGER
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if (lis2dw12_init_interrupt(dev) < 0) {
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LOG_ERR("Failed to initialize interrupts");
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return -EIO;
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}
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#ifdef CONFIG_LIS2DW12_PULSE
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if (lis2dw12_tap_mode_set(lis2dw12->ctx, cfg->pulse_trigger) < 0) {
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LOG_ERR("Failed to select pulse trigger mode");
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return -EIO;
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}
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if (lis2dw12_tap_threshold_x_set(lis2dw12->ctx,
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cfg->pulse_ths[0]) < 0) {
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LOG_ERR("Failed to set tap X axis threshold");
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return -EIO;
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}
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if (lis2dw12_tap_threshold_y_set(lis2dw12->ctx,
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cfg->pulse_ths[1]) < 0) {
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LOG_ERR("Failed to set tap Y axis threshold");
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return -EIO;
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}
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if (lis2dw12_tap_threshold_z_set(lis2dw12->ctx,
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cfg->pulse_ths[2]) < 0) {
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LOG_ERR("Failed to set tap Z axis threshold");
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return -EIO;
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}
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if (lis2dw12_tap_detection_on_x_set(lis2dw12->ctx,
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CONFIG_LIS2DW12_PULSE_X) < 0) {
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LOG_ERR("Failed to set tap detection on X axis");
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return -EIO;
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}
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if (lis2dw12_tap_detection_on_y_set(lis2dw12->ctx,
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CONFIG_LIS2DW12_PULSE_Y) < 0) {
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LOG_ERR("Failed to set tap detection on Y axis");
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return -EIO;
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}
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if (lis2dw12_tap_detection_on_z_set(lis2dw12->ctx,
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CONFIG_LIS2DW12_PULSE_Z) < 0) {
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LOG_ERR("Failed to set tap detection on Z axis");
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return -EIO;
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}
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if (lis2dw12_tap_shock_set(lis2dw12->ctx, cfg->pulse_shock) < 0) {
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LOG_ERR("Failed to set tap shock duration");
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return -EIO;
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}
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if (lis2dw12_tap_dur_set(lis2dw12->ctx, cfg->pulse_ltncy) < 0) {
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LOG_ERR("Failed to set tap latency");
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return -EIO;
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}
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if (lis2dw12_tap_quiet_set(lis2dw12->ctx, cfg->pulse_quiet) < 0) {
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LOG_ERR("Failed to set tap quiet time");
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return -EIO;
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}
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#endif /* CONFIG_LIS2DW12_PULSE */
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#endif /* CONFIG_LIS2DW12_TRIGGER */
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return 0;
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}
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const struct lis2dw12_device_config lis2dw12_cfg = {
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.bus_name = DT_INST_BUS_LABEL(0),
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.pm = CONFIG_LIS2DW12_POWER_MODE,
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#ifdef CONFIG_LIS2DW12_TRIGGER
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.int_gpio_port = DT_INST_GPIO_LABEL(0, irq_gpios),
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.int_gpio_pin = DT_INST_GPIO_PIN(0, irq_gpios),
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.int_gpio_flags = DT_INST_GPIO_FLAGS(0, irq_gpios),
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#if defined(CONFIG_LIS2DW12_INT_PIN_1)
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.int_pin = 1,
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#elif defined(CONFIG_LIS2DW12_INT_PIN_2)
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.int_pin = 2,
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#endif /* CONFIG_LIS2DW12_INT_PIN */
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#ifdef CONFIG_LIS2DW12_PULSE
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#if defined(CONFIG_LIS2DW12_ONLY_SINGLE)
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.pulse_trigger = LIS2DW12_ONLY_SINGLE,
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#elif defined(CONFIG_LIS2DW12_SINGLE_DOUBLE)
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.pulse_trigger = LIS2DW12_BOTH_SINGLE_DOUBLE,
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#endif
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.pulse_ths[0] = CONFIG_LIS2DW12_PULSE_THSX,
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.pulse_ths[1] = CONFIG_LIS2DW12_PULSE_THSY,
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.pulse_ths[2] = CONFIG_LIS2DW12_PULSE_THSZ,
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.pulse_shock = CONFIG_LIS2DW12_PULSE_SHOCK,
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.pulse_ltncy = CONFIG_LIS2DW12_PULSE_LTNCY,
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.pulse_quiet = CONFIG_LIS2DW12_PULSE_QUIET,
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#endif /* CONFIG_LIS2DW12_PULSE */
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#endif /* CONFIG_LIS2DW12_TRIGGER */
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};
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struct lis2dw12_data lis2dw12_data;
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DEVICE_AND_API_INIT(lis2dw12, DT_INST_LABEL(0), lis2dw12_init,
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&lis2dw12_data, &lis2dw12_cfg, POST_KERNEL,
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CONFIG_SENSOR_INIT_PRIORITY, &lis2dw12_driver_api);
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