368 lines
8.5 KiB
C
368 lines
8.5 KiB
C
/* ST Microelectronics LIS2MDL 3-axis magnetometer sensor
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*
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* Copyright (c) 2018-2019 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/lis2mdl.pdf
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*/
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#define DT_DRV_COMPAT st_lis2mdl
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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 <drivers/sensor.h>
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#include <string.h>
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#include <logging/log.h>
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#include "lis2mdl.h"
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struct lis2mdl_data lis2mdl_data;
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LOG_MODULE_REGISTER(LIS2MDL, CONFIG_SENSOR_LOG_LEVEL);
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#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
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static int lis2mdl_set_odr(struct device *dev, const struct sensor_value *val)
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{
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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lis2mdl_odr_t odr;
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switch (val->val1) {
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case 10:
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odr = LIS2MDL_ODR_10Hz;
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break;
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case 20:
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odr = LIS2MDL_ODR_20Hz;
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break;
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case 50:
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odr = LIS2MDL_ODR_50Hz;
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break;
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case 100:
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odr = LIS2MDL_ODR_100Hz;
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break;
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default:
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return -EINVAL;
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}
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if (lis2mdl_data_rate_set(lis2mdl->ctx, odr)) {
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return -EIO;
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}
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return 0;
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}
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#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
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static int lis2mdl_set_hard_iron(struct device *dev, enum sensor_channel chan,
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const struct sensor_value *val)
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{
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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uint8_t i;
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union axis3bit16_t offset;
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for (i = 0U; i < 3; i++) {
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offset.i16bit[i] = sys_cpu_to_le16(val->val1);
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val++;
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}
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return lis2mdl_mag_user_offset_set(lis2mdl->ctx, offset.u8bit);
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}
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static void lis2mdl_channel_get_mag(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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int32_t cval;
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int i;
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uint8_t ofs_start, ofs_stop;
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struct lis2mdl_data *lis2mdl = 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_MAGN_X:
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ofs_start = ofs_stop = 0U;
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break;
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case SENSOR_CHAN_MAGN_Y:
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ofs_start = ofs_stop = 1U;
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break;
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case SENSOR_CHAN_MAGN_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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cval = lis2mdl->mag[i] * 1500;
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pval->val1 = cval / 1000000;
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pval->val2 = cval % 1000000;
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pval++;
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}
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}
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/* read internal temperature */
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static void lis2mdl_channel_get_temp(struct device *dev,
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struct sensor_value *val)
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{
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struct lis2mdl_data *drv_data = dev->driver_data;
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val->val1 = drv_data->temp_sample / 100;
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val->val2 = (drv_data->temp_sample % 100) * 10000;
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}
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static int lis2mdl_channel_get(struct device *dev, 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_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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case SENSOR_CHAN_MAGN_XYZ:
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lis2mdl_channel_get_mag(dev, chan, val);
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break;
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case SENSOR_CHAN_DIE_TEMP:
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lis2mdl_channel_get_temp(dev, val);
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break;
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default:
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LOG_DBG("Channel not supported");
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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 lis2mdl_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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#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return lis2mdl_set_odr(dev, val);
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#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
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case SENSOR_ATTR_OFFSET:
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return lis2mdl_set_hard_iron(dev, chan, val);
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default:
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LOG_DBG("Mag attribute not supported");
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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 lis2mdl_attr_set(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 (chan) {
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case SENSOR_CHAN_ALL:
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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case SENSOR_CHAN_MAGN_XYZ:
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return lis2mdl_config(dev, chan, attr, val);
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default:
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LOG_DBG("attr_set() not supported on %d channel", chan);
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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 lis2mdl_sample_fetch_mag(struct device *dev)
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{
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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union axis3bit16_t raw_mag;
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/* fetch raw data sample */
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if (lis2mdl_magnetic_raw_get(lis2mdl->ctx, raw_mag.u8bit) < 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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lis2mdl->mag[0] = sys_le16_to_cpu(raw_mag.i16bit[0]);
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lis2mdl->mag[1] = sys_le16_to_cpu(raw_mag.i16bit[1]);
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lis2mdl->mag[2] = sys_le16_to_cpu(raw_mag.i16bit[2]);
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return 0;
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}
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static int lis2mdl_sample_fetch_temp(struct device *dev)
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{
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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union axis1bit16_t raw_temp;
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int32_t temp;
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/* fetch raw temperature sample */
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if (lis2mdl_temperature_raw_get(lis2mdl->ctx, raw_temp.u8bit) < 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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/* formula is temp = 25 + (temp / 8) C */
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temp = (sys_le16_to_cpu(raw_temp.i16bit) & 0x8FFF);
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lis2mdl->temp_sample = 2500 + (temp * 100) / 8;
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return 0;
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}
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static int lis2mdl_sample_fetch(struct device *dev, enum sensor_channel chan)
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{
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switch (chan) {
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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case SENSOR_CHAN_MAGN_XYZ:
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lis2mdl_sample_fetch_mag(dev);
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break;
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case SENSOR_CHAN_DIE_TEMP:
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lis2mdl_sample_fetch_temp(dev);
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break;
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case SENSOR_CHAN_ALL:
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lis2mdl_sample_fetch_mag(dev);
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lis2mdl_sample_fetch_temp(dev);
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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 const struct sensor_driver_api lis2mdl_driver_api = {
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.attr_set = lis2mdl_attr_set,
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#if CONFIG_LIS2MDL_TRIGGER
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.trigger_set = lis2mdl_trigger_set,
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#endif
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.sample_fetch = lis2mdl_sample_fetch,
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.channel_get = lis2mdl_channel_get,
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};
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static int lis2mdl_init_interface(struct device *dev)
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{
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const struct lis2mdl_config *const config =
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dev->config_info;
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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lis2mdl->bus = device_get_binding(config->master_dev_name);
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if (!lis2mdl->bus) {
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LOG_DBG("Could not get pointer to %s device",
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config->master_dev_name);
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return -EINVAL;
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}
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return config->bus_init(dev);
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}
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static const struct lis2mdl_config lis2mdl_dev_config = {
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.master_dev_name = DT_INST_BUS_LABEL(0),
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#ifdef CONFIG_LIS2MDL_TRIGGER
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.gpio_name = DT_INST_GPIO_LABEL(0, irq_gpios),
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.gpio_pin = DT_INST_GPIO_PIN(0, irq_gpios),
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.gpio_flags = DT_INST_GPIO_FLAGS(0, irq_gpios),
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#endif /* CONFIG_LIS2MDL_TRIGGER */
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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.bus_init = lis2mdl_spi_init,
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.spi_conf.frequency = DT_INST_PROP(0, spi_max_frequency),
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.spi_conf.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL |
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SPI_MODE_CPHA | SPI_WORD_SET(8) |
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SPI_LINES_SINGLE),
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.spi_conf.slave = DT_INST_REG_ADDR(0),
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#if DT_INST_SPI_DEV_HAS_CS_GPIOS(0)
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.gpio_cs_port = DT_INST_SPI_DEV_CS_GPIOS_LABEL(0),
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.cs_gpio = DT_INST_SPI_DEV_CS_GPIOS_PIN(0),
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.cs_gpio_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(0),
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.spi_conf.cs = &lis2mdl_data.cs_ctrl,
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#else
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.spi_conf.cs = NULL,
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#endif
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#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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.bus_init = lis2mdl_i2c_init,
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.i2c_slv_addr = DT_INST_REG_ADDR(0),
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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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};
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static int lis2mdl_init(struct device *dev)
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{
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struct lis2mdl_data *lis2mdl = dev->driver_data;
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uint8_t wai;
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if (lis2mdl_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 (lis2mdl_device_id_get(lis2mdl->ctx, &wai) < 0) {
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return -EIO;
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}
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if (wai != LIS2MDL_ID) {
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LOG_DBG("Invalid chip ID: %02x\n", wai);
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return -EINVAL;
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}
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/* reset sensor configuration */
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if (lis2mdl_reset_set(lis2mdl->ctx, PROPERTY_ENABLE) < 0) {
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LOG_DBG("s/w reset failed\n");
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return -EIO;
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}
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k_busy_wait(100);
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#if CONFIG_LIS2MDL_SPI_FULL_DUPLEX
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/* After s/w reset set SPI 4wires again if the case */
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if (lis2mdl_spi_mode_set(lis2mdl->ctx, LIS2MDL_SPI_4_WIRE) < 0) {
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return -EIO;
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}
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#endif
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/* enable BDU */
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if (lis2mdl_block_data_update_set(lis2mdl->ctx, PROPERTY_ENABLE) < 0) {
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LOG_DBG("setting bdu failed\n");
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return -EIO;
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}
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/* Set Output Data Rate */
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if (lis2mdl_data_rate_set(lis2mdl->ctx, LIS2MDL_ODR_10Hz)) {
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LOG_DBG("set odr failed\n");
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return -EIO;
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}
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/* Set / Reset sensor mode */
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if (lis2mdl_set_rst_mode_set(lis2mdl->ctx,
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LIS2MDL_SENS_OFF_CANC_EVERY_ODR)) {
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LOG_DBG("reset sensor mode failed\n");
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return -EIO;
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}
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/* Enable temperature compensation */
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if (lis2mdl_offset_temp_comp_set(lis2mdl->ctx, PROPERTY_ENABLE)) {
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LOG_DBG("enable temp compensation failed\n");
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return -EIO;
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}
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/* Set device in continuous mode */
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if (lis2mdl_operating_mode_set(lis2mdl->ctx, LIS2MDL_CONTINUOUS_MODE)) {
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LOG_DBG("set continuos mode failed\n");
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return -EIO;
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}
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#ifdef CONFIG_LIS2MDL_TRIGGER
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if (lis2mdl_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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#endif
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return 0;
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}
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DEVICE_AND_API_INIT(lis2mdl, DT_INST_LABEL(0), lis2mdl_init,
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&lis2mdl_data, &lis2mdl_dev_config, POST_KERNEL,
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CONFIG_SENSOR_INIT_PRIORITY, &lis2mdl_driver_api);
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