717 lines
17 KiB
C
717 lines
17 KiB
C
/* ST Microelectronics IIS2ICLX 2-axis accelerometer sensor driver
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*
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* Copyright (c) 2020 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/iis2iclx.pdf
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*/
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#define DT_DRV_COMPAT st_iis2iclx
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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 <string.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 "iis2iclx.h"
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LOG_MODULE_REGISTER(IIS2ICLX, CONFIG_SENSOR_LOG_LEVEL);
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static const uint16_t iis2iclx_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833,
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1660, 3330, 6660};
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static int iis2iclx_freq_to_odr_val(uint16_t freq)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(iis2iclx_odr_map); i++) {
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if (freq == iis2iclx_odr_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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static int iis2iclx_odr_to_freq_val(uint16_t odr)
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{
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/* for valid index, return value from map */
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if (odr < ARRAY_SIZE(iis2iclx_odr_map)) {
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return iis2iclx_odr_map[odr];
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}
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/* invalid index, return last entry */
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return iis2iclx_odr_map[ARRAY_SIZE(iis2iclx_odr_map) - 1];
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}
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static const uint16_t iis2iclx_accel_fs_map[] = {500, 3000, 1000, 2000};
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static const uint16_t iis2iclx_accel_fs_sens[] = {1, 8, 2, 4};
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static int iis2iclx_accel_range_to_fs_val(int32_t range)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(iis2iclx_accel_fs_map); i++) {
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if (range == iis2iclx_accel_fs_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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static inline int iis2iclx_reboot(const struct device *dev)
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{
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const struct iis2iclx_config *cfg = dev->config;
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if (iis2iclx_boot_set((stmdev_ctx_t *)&cfg->ctx, 1) < 0) {
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return -EIO;
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}
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/* Wait sensor turn-on time as per datasheet */
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k_msleep(35);
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return 0;
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}
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static int iis2iclx_accel_set_fs_raw(const struct device *dev, uint8_t fs)
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{
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const struct iis2iclx_config *cfg = dev->config;
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struct iis2iclx_data *data = dev->data;
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if (iis2iclx_xl_full_scale_set((stmdev_ctx_t *)&cfg->ctx, fs) < 0) {
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return -EIO;
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}
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data->accel_fs = fs;
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return 0;
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}
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static int iis2iclx_accel_set_odr_raw(const struct device *dev, uint8_t odr)
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{
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const struct iis2iclx_config *cfg = dev->config;
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struct iis2iclx_data *data = dev->data;
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if (iis2iclx_xl_data_rate_set((stmdev_ctx_t *)&cfg->ctx, odr) < 0) {
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return -EIO;
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}
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data->accel_freq = iis2iclx_odr_to_freq_val(odr);
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return 0;
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}
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static int iis2iclx_accel_odr_set(const struct device *dev, uint16_t freq)
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{
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int odr;
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odr = iis2iclx_freq_to_odr_val(freq);
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if (odr < 0) {
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return odr;
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}
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if (iis2iclx_accel_set_odr_raw(dev, odr) < 0) {
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LOG_ERR("failed to set accelerometer sampling rate");
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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 iis2iclx_accel_range_set(const struct device *dev, int32_t range)
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{
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int fs;
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struct iis2iclx_data *data = dev->data;
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fs = iis2iclx_accel_range_to_fs_val(range);
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if (fs < 0) {
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return fs;
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}
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if (iis2iclx_accel_set_fs_raw(dev, fs) < 0) {
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LOG_ERR("failed to set accelerometer full-scale");
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return -EIO;
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}
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data->acc_gain = (iis2iclx_accel_fs_sens[fs] * GAIN_UNIT_XL);
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return 0;
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}
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static int iis2iclx_accel_config(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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case SENSOR_ATTR_FULL_SCALE:
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return iis2iclx_accel_range_set(dev, sensor_ms2_to_g(val));
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return iis2iclx_accel_odr_set(dev, val->val1);
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default:
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LOG_ERR("Accel 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 iis2iclx_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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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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struct iis2iclx_data *data = dev->data;
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#endif /* CONFIG_IIS2ICLX_SENSORHUB */
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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return iis2iclx_accel_config(dev, chan, attr, val);
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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case SENSOR_CHAN_MAGN_XYZ:
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case SENSOR_CHAN_PRESS:
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case SENSOR_CHAN_HUMIDITY:
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if (!data->shub_inited) {
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LOG_ERR("shub not inited.");
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return -ENOTSUP;
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}
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return iis2iclx_shub_config(dev, chan, attr, val);
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#endif /* CONFIG_IIS2ICLX_SENSORHUB */
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default:
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LOG_ERR("attr_set() not supported on this channel.");
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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 iis2iclx_sample_fetch_accel(const struct device *dev)
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{
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const struct iis2iclx_config *cfg = dev->config;
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struct iis2iclx_data *data = dev->data;
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int16_t buf[2];
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if (iis2iclx_acceleration_raw_get((stmdev_ctx_t *)&cfg->ctx, buf) < 0) {
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LOG_ERR("Failed to read sample");
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return -EIO;
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}
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data->acc[0] = sys_le16_to_cpu(buf[0]);
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data->acc[1] = sys_le16_to_cpu(buf[1]);
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return 0;
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}
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#if defined(CONFIG_IIS2ICLX_ENABLE_TEMP)
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static int iis2iclx_sample_fetch_temp(const struct device *dev)
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{
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struct iis2iclx_data *data = dev->data;
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int16_t buf;
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if (iis2iclx_temperature_raw_get(&data->ctx, &buf) < 0) {
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LOG_ERR("Failed to read sample");
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return -EIO;
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}
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data->temp_sample = sys_le16_to_cpu(buf);
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return 0;
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}
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#endif
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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static int iis2iclx_sample_fetch_shub(const struct device *dev)
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{
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if (iis2iclx_shub_fetch_external_devs(dev) < 0) {
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LOG_ERR("failed to read ext shub devices");
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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_IIS2ICLX_SENSORHUB */
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static int iis2iclx_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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struct iis2iclx_data *data = dev->data;
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#endif /* CONFIG_IIS2ICLX_SENSORHUB */
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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iis2iclx_sample_fetch_accel(dev);
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break;
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#if defined(CONFIG_IIS2ICLX_ENABLE_TEMP)
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case SENSOR_CHAN_DIE_TEMP:
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iis2iclx_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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iis2iclx_sample_fetch_accel(dev);
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#if defined(CONFIG_IIS2ICLX_ENABLE_TEMP)
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iis2iclx_sample_fetch_temp(dev);
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#endif
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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if (data->shub_inited) {
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iis2iclx_sample_fetch_shub(dev);
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}
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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 iis2iclx_accel_convert(struct sensor_value *val, int raw_val,
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uint32_t sensitivity)
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{
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int64_t dval;
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/* Sensitivity is exposed in ug/LSB */
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/* Convert to m/s^2 */
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dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE;
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val->val1 = (int32_t)(dval / 1000000);
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val->val2 = (int32_t)(dval % 1000000);
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}
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static inline int iis2iclx_accel_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct iis2iclx_data *data,
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uint32_t sensitivity)
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{
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uint8_t i;
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switch (chan) {
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case SENSOR_CHAN_ACCEL_X:
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iis2iclx_accel_convert(val, data->acc[0], sensitivity);
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break;
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case SENSOR_CHAN_ACCEL_Y:
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iis2iclx_accel_convert(val, data->acc[1], sensitivity);
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break;
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case SENSOR_CHAN_ACCEL_XYZ:
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for (i = 0; i < 2; i++) {
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iis2iclx_accel_convert(val++, data->acc[i], sensitivity);
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}
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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 iis2iclx_accel_channel_get(enum sensor_channel chan,
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struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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return iis2iclx_accel_get_channel(chan, val, data, data->acc_gain);
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}
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#if defined(CONFIG_IIS2ICLX_ENABLE_TEMP)
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static void iis2iclx_temp_channel_get(struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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/* val = temp_sample / 256 + 25 */
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val->val1 = data->temp_sample / 256 + 25;
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val->val2 = (data->temp_sample % 256) * (1000000 / 256);
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}
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#endif
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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static inline void iis2iclx_magn_convert(struct sensor_value *val, int raw_val,
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uint16_t sensitivity)
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{
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double dval;
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/* Sensitivity is exposed in mgauss/LSB */
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dval = (double)(raw_val * sensitivity);
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val->val1 = (int32_t)dval / 1000000;
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val->val2 = (int32_t)dval % 1000000;
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}
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static inline int iis2iclx_magn_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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int16_t sample[3];
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int idx;
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idx = iis2iclx_shub_get_idx(data->dev, SENSOR_CHAN_MAGN_XYZ);
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if (idx < 0) {
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LOG_ERR("external magn not supported");
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return -ENOTSUP;
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}
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sample[0] = (int16_t)(data->ext_data[idx][0] |
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(data->ext_data[idx][1] << 8));
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sample[1] = (int16_t)(data->ext_data[idx][2] |
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(data->ext_data[idx][3] << 8));
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sample[2] = (int16_t)(data->ext_data[idx][4] |
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(data->ext_data[idx][5] << 8));
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switch (chan) {
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case SENSOR_CHAN_MAGN_X:
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iis2iclx_magn_convert(val, sample[0], data->magn_gain);
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break;
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case SENSOR_CHAN_MAGN_Y:
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iis2iclx_magn_convert(val, sample[1], data->magn_gain);
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break;
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case SENSOR_CHAN_MAGN_Z:
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iis2iclx_magn_convert(val, sample[2], data->magn_gain);
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break;
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case SENSOR_CHAN_MAGN_XYZ:
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iis2iclx_magn_convert(val, sample[0], data->magn_gain);
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iis2iclx_magn_convert(val + 1, sample[1], data->magn_gain);
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iis2iclx_magn_convert(val + 2, sample[2], data->magn_gain);
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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 iis2iclx_hum_convert(struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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float rh;
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int16_t raw_val;
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struct hts221_data *ht = &data->hts221;
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int idx;
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idx = iis2iclx_shub_get_idx(data->dev, SENSOR_CHAN_HUMIDITY);
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if (idx < 0) {
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LOG_DBG("external press/temp not supported");
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return;
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}
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raw_val = ((int16_t)(data->ext_data[idx][0] |
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(data->ext_data[idx][1] << 8)));
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/* find relative humidty by linear interpolation */
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rh = (ht->y1 - ht->y0) * raw_val + ht->x1 * ht->y0 - ht->x0 * ht->y1;
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rh /= (ht->x1 - ht->x0);
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/* convert humidity to integer and fractional part */
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val->val1 = rh;
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val->val2 = rh * 1000000;
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}
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static inline void iis2iclx_press_convert(struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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int32_t raw_val;
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int idx;
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idx = iis2iclx_shub_get_idx(data->dev, SENSOR_CHAN_PRESS);
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if (idx < 0) {
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LOG_DBG("external press/temp not supported");
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return;
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}
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raw_val = (int32_t)(data->ext_data[idx][0] |
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(data->ext_data[idx][1] << 8) |
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(data->ext_data[idx][2] << 16));
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/* Pressure sensitivity is 4096 LSB/hPa */
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/* Convert raw_val to val in kPa */
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val->val1 = (raw_val >> 12) / 10;
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val->val2 = (raw_val >> 12) % 10 * 100000 +
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(((int32_t)((raw_val) & 0x0FFF) * 100000L) >> 12);
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}
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static inline void iis2iclx_temp_convert(struct sensor_value *val,
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struct iis2iclx_data *data)
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{
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int16_t raw_val;
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int idx;
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idx = iis2iclx_shub_get_idx(data->dev, SENSOR_CHAN_PRESS);
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if (idx < 0) {
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LOG_DBG("external press/temp not supported");
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return;
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}
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raw_val = (int16_t)(data->ext_data[idx][3] |
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(data->ext_data[idx][4] << 8));
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/* Temperature sensitivity is 100 LSB/deg C */
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val->val1 = raw_val / 100;
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val->val2 = (int32_t)raw_val % 100 * (10000);
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}
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#endif
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static int iis2iclx_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 iis2iclx_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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iis2iclx_accel_channel_get(chan, val, data);
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break;
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#if defined(CONFIG_IIS2ICLX_ENABLE_TEMP)
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case SENSOR_CHAN_DIE_TEMP:
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iis2iclx_temp_channel_get(val, data);
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break;
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#endif
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#if defined(CONFIG_IIS2ICLX_SENSORHUB)
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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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if (!data->shub_inited) {
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LOG_ERR("attr_set() shub not inited.");
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return -ENOTSUP;
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}
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iis2iclx_magn_get_channel(chan, val, data);
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break;
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case SENSOR_CHAN_HUMIDITY:
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if (!data->shub_inited) {
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LOG_ERR("attr_set() shub not inited.");
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return -ENOTSUP;
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}
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iis2iclx_hum_convert(val, data);
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break;
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case SENSOR_CHAN_PRESS:
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if (!data->shub_inited) {
|
|
LOG_ERR("attr_set() shub not inited.");
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
iis2iclx_press_convert(val, data);
|
|
break;
|
|
|
|
case SENSOR_CHAN_AMBIENT_TEMP:
|
|
if (!data->shub_inited) {
|
|
LOG_ERR("attr_set() shub not inited.");
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
iis2iclx_temp_convert(val, data);
|
|
break;
|
|
#endif
|
|
default:
|
|
return -ENOTSUP;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct sensor_driver_api iis2iclx_driver_api = {
|
|
.attr_set = iis2iclx_attr_set,
|
|
#if CONFIG_IIS2ICLX_TRIGGER
|
|
.trigger_set = iis2iclx_trigger_set,
|
|
#endif
|
|
.sample_fetch = iis2iclx_sample_fetch,
|
|
.channel_get = iis2iclx_channel_get,
|
|
};
|
|
|
|
static int iis2iclx_init_chip(const struct device *dev)
|
|
{
|
|
const struct iis2iclx_config * const cfg = dev->config;
|
|
struct iis2iclx_data *iis2iclx = dev->data;
|
|
uint8_t chip_id;
|
|
uint8_t odr = cfg->odr;
|
|
uint8_t fs = cfg->range;
|
|
|
|
iis2iclx->dev = dev;
|
|
|
|
if (iis2iclx_device_id_get((stmdev_ctx_t *)&cfg->ctx, &chip_id) < 0) {
|
|
LOG_ERR("Failed reading chip id");
|
|
return -EIO;
|
|
}
|
|
|
|
LOG_INF("chip id 0x%x", chip_id);
|
|
|
|
if (chip_id != IIS2ICLX_ID) {
|
|
LOG_ERR("Invalid chip id 0x%x", chip_id);
|
|
return -EIO;
|
|
}
|
|
|
|
/* reset device */
|
|
if (iis2iclx_reset_set((stmdev_ctx_t *)&cfg->ctx, 1) < 0) {
|
|
return -EIO;
|
|
}
|
|
|
|
k_usleep(100);
|
|
|
|
LOG_DBG("range is %d", fs);
|
|
if (iis2iclx_accel_set_fs_raw(dev, fs) < 0) {
|
|
LOG_ERR("failed to set accelerometer full-scale");
|
|
return -EIO;
|
|
}
|
|
iis2iclx->acc_gain = (iis2iclx_accel_fs_sens[fs] * GAIN_UNIT_XL);
|
|
|
|
LOG_DBG("odr is %d", odr);
|
|
if (iis2iclx_accel_set_odr_raw(dev, odr) < 0) {
|
|
LOG_ERR("failed to set accelerometer sampling rate");
|
|
return -EIO;
|
|
}
|
|
|
|
/* Set FIFO bypass mode */
|
|
if (iis2iclx_fifo_mode_set((stmdev_ctx_t *)&cfg->ctx,
|
|
IIS2ICLX_BYPASS_MODE) < 0) {
|
|
LOG_ERR("failed to set FIFO mode");
|
|
return -EIO;
|
|
}
|
|
|
|
if (iis2iclx_block_data_update_set((stmdev_ctx_t *)&cfg->ctx, 1) < 0) {
|
|
LOG_ERR("failed to set BDU mode");
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int iis2iclx_init(const struct device *dev)
|
|
{
|
|
#ifdef CONFIG_IIS2ICLX_TRIGGER
|
|
const struct iis2iclx_config *cfg = dev->config;
|
|
#endif
|
|
struct iis2iclx_data *data = dev->data;
|
|
|
|
LOG_INF("Initialize device %s", dev->name);
|
|
data->dev = dev;
|
|
if (iis2iclx_init_chip(dev) < 0) {
|
|
LOG_ERR("failed to initialize chip");
|
|
return -EIO;
|
|
}
|
|
|
|
#ifdef CONFIG_IIS2ICLX_TRIGGER
|
|
if (cfg->trig_enabled) {
|
|
if (iis2iclx_init_interrupt(dev) < 0) {
|
|
LOG_ERR("Failed to initialize interrupt.");
|
|
return -EIO;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_IIS2ICLX_SENSORHUB
|
|
data->shub_inited = true;
|
|
if (iis2iclx_shub_init(dev) < 0) {
|
|
LOG_INF("shub: no external chips found");
|
|
data->shub_inited = false;
|
|
}
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
|
|
#if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
|
|
#warning "IIS2ICLX driver enabled without any devices"
|
|
#endif
|
|
|
|
/*
|
|
* Device creation macro, shared by IIS2ICLX_DEFINE_SPI() and
|
|
* IIS2ICLX_DEFINE_I2C().
|
|
*/
|
|
|
|
#define IIS2ICLX_DEVICE_INIT(inst) \
|
|
DEVICE_DT_INST_DEFINE(inst, \
|
|
iis2iclx_init, \
|
|
NULL, \
|
|
&iis2iclx_data_##inst, \
|
|
&iis2iclx_config_##inst, \
|
|
POST_KERNEL, \
|
|
CONFIG_SENSOR_INIT_PRIORITY, \
|
|
&iis2iclx_driver_api);
|
|
|
|
/*
|
|
* Instantiation macros used when a device is on a SPI bus.
|
|
*/
|
|
|
|
#ifdef CONFIG_IIS2ICLX_TRIGGER
|
|
#define IIS2ICLX_CFG_IRQ(inst) \
|
|
.trig_enabled = true, \
|
|
.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios), \
|
|
.int_pin = DT_INST_PROP(inst, int_pin)
|
|
#else
|
|
#define IIS2ICLX_CFG_IRQ(inst)
|
|
#endif /* CONFIG_IIS2ICLX_TRIGGER */
|
|
|
|
#define IIS2ICLX_SPI_OPERATION (SPI_WORD_SET(8) | \
|
|
SPI_OP_MODE_MASTER | \
|
|
SPI_MODE_CPOL | \
|
|
SPI_MODE_CPHA) \
|
|
|
|
#define IIS2ICLX_CONFIG_SPI(inst) \
|
|
{ \
|
|
.ctx = { \
|
|
.read_reg = \
|
|
(stmdev_read_ptr) stmemsc_spi_read, \
|
|
.write_reg = \
|
|
(stmdev_write_ptr) stmemsc_spi_write, \
|
|
.handle = \
|
|
(void *)&iis2iclx_config_##inst.stmemsc_cfg, \
|
|
}, \
|
|
.stmemsc_cfg = { \
|
|
.spi = SPI_DT_SPEC_INST_GET(inst, \
|
|
IIS2ICLX_SPI_OPERATION, \
|
|
0), \
|
|
}, \
|
|
.odr = DT_INST_PROP(inst, odr), \
|
|
.range = DT_INST_PROP(inst, range), \
|
|
COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
|
|
(IIS2ICLX_CFG_IRQ(inst)), ()) \
|
|
}
|
|
|
|
/*
|
|
* Instantiation macros used when a device is on an I2C bus.
|
|
*/
|
|
|
|
#define IIS2ICLX_CONFIG_I2C(inst) \
|
|
{ \
|
|
.ctx = { \
|
|
.read_reg = \
|
|
(stmdev_read_ptr) stmemsc_i2c_read, \
|
|
.write_reg = \
|
|
(stmdev_write_ptr) stmemsc_i2c_write, \
|
|
.handle = \
|
|
(void *)&iis2iclx_config_##inst.stmemsc_cfg, \
|
|
}, \
|
|
.stmemsc_cfg = { \
|
|
.i2c = I2C_DT_SPEC_INST_GET(inst), \
|
|
}, \
|
|
.odr = DT_INST_PROP(inst, odr), \
|
|
.range = DT_INST_PROP(inst, range), \
|
|
COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios), \
|
|
(IIS2ICLX_CFG_IRQ(inst)), ()) \
|
|
}
|
|
|
|
/*
|
|
* Main instantiation macro. Use of COND_CODE_1() selects the right
|
|
* bus-specific macro at preprocessor time.
|
|
*/
|
|
|
|
#define IIS2ICLX_DEFINE(inst) \
|
|
static struct iis2iclx_data iis2iclx_data_##inst; \
|
|
static const struct iis2iclx_config iis2iclx_config_##inst = \
|
|
COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
|
|
(IIS2ICLX_CONFIG_SPI(inst)), \
|
|
(IIS2ICLX_CONFIG_I2C(inst))); \
|
|
IIS2ICLX_DEVICE_INIT(inst)
|
|
|
|
DT_INST_FOREACH_STATUS_OKAY(IIS2ICLX_DEFINE)
|