208 lines
5.7 KiB
C
208 lines
5.7 KiB
C
/* ST Microelectronics LSM6DSO 6-axis IMU sensor 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/lsm6dso.pdf
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_
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#define ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_
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#include <drivers/sensor.h>
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#include <zephyr/types.h>
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#include <drivers/gpio.h>
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#include <drivers/spi.h>
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#include <sys/util.h>
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#include <stmemsc.h>
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#include "lsm6dso_reg.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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#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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#include <drivers/i2c.h>
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#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
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union axis3bit16_t {
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int16_t i16bit[3];
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uint8_t u8bit[6];
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};
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union axis1bit16_t {
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int16_t i16bit;
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uint8_t u8bit[2];
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};
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#define LSM6DSO_EN_BIT 0x01
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#define LSM6DSO_DIS_BIT 0x00
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/* Accel sensor sensitivity grain is 61 ug/LSB */
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#define GAIN_UNIT_XL (61LL)
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/* Gyro sensor sensitivity grain is 4.375 udps/LSB */
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#define GAIN_UNIT_G (4375LL)
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#define SENSOR_PI_DOUBLE (SENSOR_PI / 1000000.0)
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#define SENSOR_DEG2RAD_DOUBLE (SENSOR_PI_DOUBLE / 180)
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#define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0)
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#if CONFIG_LSM6DSO_ACCEL_FS == 0
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#define LSM6DSO_ACCEL_FS_RUNTIME 1
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#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 0
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#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY GAIN_UNIT_XL
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#elif CONFIG_LSM6DSO_ACCEL_FS == 2
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#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 0
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#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY GAIN_UNIT_XL
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#elif CONFIG_LSM6DSO_ACCEL_FS == 4
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#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 2
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#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (2.0 * GAIN_UNIT_XL)
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#elif CONFIG_LSM6DSO_ACCEL_FS == 8
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#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 3
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#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (4.0 * GAIN_UNIT_XL)
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#elif CONFIG_LSM6DSO_ACCEL_FS == 16
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#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE 1
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#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY (8.0 * GAIN_UNIT_XL)
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#endif
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#if (CONFIG_LSM6DSO_ACCEL_ODR == 0)
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#define LSM6DSO_ACCEL_ODR_RUNTIME 1
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#endif
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#define GYRO_FULLSCALE_125 4
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#if CONFIG_LSM6DSO_GYRO_FS == 0
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#define LSM6DSO_GYRO_FS_RUNTIME 1
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 4
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY GAIN_UNIT_G
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#elif CONFIG_LSM6DSO_GYRO_FS == 125
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 4
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY GAIN_UNIT_G
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#elif CONFIG_LSM6DSO_GYRO_FS == 250
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 0
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (2.0 * GAIN_UNIT_G)
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#elif CONFIG_LSM6DSO_GYRO_FS == 500
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 1
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (4.0 * GAIN_UNIT_G)
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#elif CONFIG_LSM6DSO_GYRO_FS == 1000
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 2
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (8.0 * GAIN_UNIT_G)
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#elif CONFIG_LSM6DSO_GYRO_FS == 2000
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#define LSM6DSO_DEFAULT_GYRO_FULLSCALE 3
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#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY (16.0 * GAIN_UNIT_G)
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#endif
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#if (CONFIG_LSM6DSO_GYRO_ODR == 0)
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#define LSM6DSO_GYRO_ODR_RUNTIME 1
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#endif
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struct lsm6dso_config {
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union {
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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const struct stmemsc_cfg_i2c i2c;
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#endif
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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const struct stmemsc_cfg_spi spi;
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#endif
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} stmemsc_cfg;
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int (*bus_init)(const struct device *dev);
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#ifdef CONFIG_LSM6DSO_TRIGGER
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const struct gpio_dt_spec gpio_drdy;
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uint8_t int_pin;
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#endif /* CONFIG_LSM6DSO_TRIGGER */
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};
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union samples {
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uint8_t raw[6];
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struct {
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int16_t axis[3];
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};
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} __aligned(2);
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/* sensor data forward declaration (member definition is below) */
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struct lsm6dso_data;
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struct lsm6dso_tf {
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int (*read_data)(struct lsm6dso_data *data, uint8_t reg_addr,
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uint8_t *value, uint8_t len);
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int (*write_data)(struct lsm6dso_data *data, uint8_t reg_addr,
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uint8_t *value, uint8_t len);
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int (*read_reg)(struct lsm6dso_data *data, uint8_t reg_addr,
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uint8_t *value);
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int (*write_reg)(struct lsm6dso_data *data, uint8_t reg_addr,
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uint8_t value);
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int (*update_reg)(struct lsm6dso_data *data, uint8_t reg_addr,
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uint8_t mask, uint8_t value);
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};
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#define LSM6DSO_SHUB_MAX_NUM_SLVS 2
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struct lsm6dso_data {
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const struct device *dev;
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int16_t acc[3];
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uint32_t acc_gain;
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int16_t gyro[3];
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uint32_t gyro_gain;
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#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
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int temp_sample;
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#endif
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#if defined(CONFIG_LSM6DSO_SENSORHUB)
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uint8_t ext_data[2][6];
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uint16_t magn_gain;
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struct hts221_data {
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int16_t x0;
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int16_t x1;
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int16_t y0;
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int16_t y1;
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} hts221;
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#endif /* CONFIG_LSM6DSO_SENSORHUB */
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stmdev_ctx_t ctx;
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uint16_t accel_freq;
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uint8_t accel_fs;
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uint16_t gyro_freq;
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uint8_t gyro_fs;
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#ifdef CONFIG_LSM6DSO_TRIGGER
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struct gpio_callback gpio_cb;
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sensor_trigger_handler_t handler_drdy_acc;
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sensor_trigger_handler_t handler_drdy_gyr;
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sensor_trigger_handler_t handler_drdy_temp;
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#if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD)
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE);
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struct k_thread thread;
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struct k_sem gpio_sem;
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#elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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#endif
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#endif /* CONFIG_LSM6DSO_TRIGGER */
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};
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int lsm6dso_spi_init(const struct device *dev);
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int lsm6dso_i2c_init(const struct device *dev);
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#if defined(CONFIG_LSM6DSO_SENSORHUB)
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int lsm6dso_shub_init(const struct device *dev);
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int lsm6dso_shub_fetch_external_devs(const struct device *dev);
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int lsm6dso_shub_get_idx(enum sensor_channel type);
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int lsm6dso_shub_config(const 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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#endif /* CONFIG_LSM6DSO_SENSORHUB */
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#ifdef CONFIG_LSM6DSO_TRIGGER
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int lsm6dso_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int lsm6dso_init_interrupt(const struct device *dev);
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#endif
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#endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ */
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