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zephyr/drivers/sensor/lsm6ds0/lsm6ds0.c

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/* lsm6ds0.c - Driver for LSM6DS0 accelerometer, gyroscope and
* temperature sensor
*/
/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sensor.h>
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <misc/byteorder.h>
#include <misc/__assert.h>
#include "lsm6ds0.h"
static inline int lsm6ds0_reboot(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG8,
LSM6DS0_MASK_CTRL_REG8_BOOT,
1 << LSM6DS0_SHIFT_CTRL_REG8_BOOT) < 0) {
return -EIO;
}
k_busy_wait(50 * USEC_PER_MSEC);
return 0;
}
static inline int lsm6ds0_accel_axis_ctrl(struct device *dev, int x_en,
int y_en, int z_en)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG5_XL_XEN_XL) |
(y_en << LSM6DS0_SHIFT_CTRL_REG5_XL_YEN_XL) |
(z_en << LSM6DS0_SHIFT_CTRL_REG5_XL_ZEN_XL);
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG5_XL,
LSM6DS0_MASK_CTRL_REG5_XL_XEN_XL |
LSM6DS0_MASK_CTRL_REG5_XL_YEN_XL |
LSM6DS0_MASK_CTRL_REG5_XL_ZEN_XL,
state);
}
static int lsm6ds0_accel_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG6_XL,
LSM6DS0_MASK_CTRL_REG6_XL_FS_XL,
fs << LSM6DS0_SHIFT_CTRL_REG6_XL_FS_XL) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_accel_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG6_XL,
LSM6DS0_MASK_CTRL_REG6_XL_ODR_XL,
odr << LSM6DS0_SHIFT_CTRL_REG6_XL_ODR_XL) < 0) {
return -EIO;
}
return 0;
}
static inline int lsm6ds0_gyro_axis_ctrl(struct device *dev, int x_en, int y_en,
int z_en)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG4_XEN_G) |
(y_en << LSM6DS0_SHIFT_CTRL_REG4_YEN_G) |
(z_en << LSM6DS0_SHIFT_CTRL_REG4_ZEN_G);
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG4,
LSM6DS0_MASK_CTRL_REG4_XEN_G |
LSM6DS0_MASK_CTRL_REG4_YEN_G |
LSM6DS0_MASK_CTRL_REG4_ZEN_G,
state);
}
static int lsm6ds0_gyro_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG1_G,
LSM6DS0_MASK_CTRL_REG1_G_FS_G,
fs << LSM6DS0_SHIFT_CTRL_REG1_G_FS_G) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_gyro_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG1_G,
LSM6DS0_MASK_CTRL_REG1_G_ODR_G,
odr << LSM6DS0_SHIFT_CTRL_REG1_G_ODR_G) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_sample_fetch_accel(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_X_L_XL, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
data->accel_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
data->accel_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
data->accel_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
#endif
return 0;
}
static int lsm6ds0_sample_fetch_gyro(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_X_L_G, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
data->gyro_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
data->gyro_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
data->gyro_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
#endif
return 0;
}
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
static int lsm6ds0_sample_fetch_temp(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[2];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_TEMP_L, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
data->temp_sample = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
return 0;
}
#endif
static int lsm6ds0_sample_fetch(struct device *dev, enum sensor_channel chan)
{
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
chan == SENSOR_CHAN_GYRO_XYZ);
switch (chan) {
case SENSOR_CHAN_ACCEL_XYZ:
lsm6ds0_sample_fetch_accel(dev);
break;
case SENSOR_CHAN_GYRO_XYZ:
lsm6ds0_sample_fetch_gyro(dev);
break;
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
case SENSOR_CHAN_TEMP:
lsm6ds0_sample_fetch_temp(dev);
break;
#endif
case SENSOR_CHAN_ALL:
lsm6ds0_sample_fetch_accel(dev);
lsm6ds0_sample_fetch_gyro(dev);
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
lsm6ds0_sample_fetch_temp(dev);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static inline void lsm6ds0_accel_convert(struct sensor_value *val, int raw_val,
float scale)
{
double dval;
dval = (double)(raw_val) * scale / 32767.0;
val->val1 = (s32_t)dval;
val->val2 = ((s32_t)(dval * 1000000)) % 1000000;
}
static inline int lsm6ds0_accel_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data,
float scale)
{
switch (chan) {
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
case SENSOR_CHAN_ACCEL_X:
lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
break;
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
case SENSOR_CHAN_ACCEL_Y:
lsm6ds0_accel_convert(val, data->accel_sample_y, scale);
break;
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
case SENSOR_CHAN_ACCEL_Z:
lsm6ds0_accel_convert(val, data->accel_sample_z, scale);
break;
#endif
case SENSOR_CHAN_ACCEL_XYZ:
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
lsm6ds0_accel_convert(val + 1, data->accel_sample_y, scale);
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
lsm6ds0_accel_convert(val + 2, data->accel_sample_z, scale);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6ds0_accel_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data)
{
return lsm6ds0_accel_get_channel(chan, val, data,
LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR);
}
static inline void lsm6ds0_gyro_convert(struct sensor_value *val, int raw_val,
float numerator)
{
double dval;
dval = (double)(raw_val) * numerator / 1000.0 * SENSOR_DEG2RAD_DOUBLE;
val->val1 = (s32_t)dval;
val->val2 = ((s32_t)(dval * 1000000)) % 1000000;
}
static inline int lsm6ds0_gyro_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data,
float numerator)
{
switch (chan) {
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
case SENSOR_CHAN_GYRO_X:
lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
break;
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
case SENSOR_CHAN_GYRO_Y:
lsm6ds0_gyro_convert(val, data->gyro_sample_y, numerator);
break;
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
case SENSOR_CHAN_GYRO_Z:
lsm6ds0_gyro_convert(val, data->gyro_sample_z, numerator);
break;
#endif
case SENSOR_CHAN_GYRO_XYZ:
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
lsm6ds0_gyro_convert(val + 1, data->gyro_sample_y, numerator);
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
lsm6ds0_gyro_convert(val + 2, data->gyro_sample_z, numerator);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6ds0_gyro_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data)
{
return lsm6ds0_gyro_get_channel(chan, val, data,
LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR);
}
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
static void lsm6ds0_gyro_channel_get_temp(struct sensor_value *val,
struct lsm6ds0_data *data)
{
/* val = temp_sample / 16 + 25 */
val->val1 = data->temp_sample / 16 + 25;
val->val2 = (data->temp_sample % 16) * (1000000 / 16);
}
#endif
static int lsm6ds0_channel_get(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct lsm6ds0_data *data = dev->driver_data;
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
lsm6ds0_accel_channel_get(chan, val, data);
break;
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
lsm6ds0_gyro_channel_get(chan, val, data);
break;
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
case SENSOR_CHAN_TEMP:
lsm6ds0_gyro_channel_get_temp(val, data);
break;
#endif
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api lsm6ds0_api_funcs = {
.sample_fetch = lsm6ds0_sample_fetch,
.channel_get = lsm6ds0_channel_get,
};
static int lsm6ds0_init_chip(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t chip_id;
if (lsm6ds0_reboot(dev) < 0) {
SYS_LOG_DBG("failed to reboot device");
return -EIO;
}
if (i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_WHO_AM_I, &chip_id) < 0) {
SYS_LOG_DBG("failed reading chip id");
return -EIO;
}
if (chip_id != LSM6DS0_VAL_WHO_AM_I) {
SYS_LOG_DBG("invalid chip id 0x%x", chip_id);
return -EIO;
}
SYS_LOG_DBG("chip id 0x%x", chip_id);
if (lsm6ds0_accel_axis_ctrl(dev, LSM6DS0_ACCEL_ENABLE_X_AXIS,
LSM6DS0_ACCEL_ENABLE_Y_AXIS,
LSM6DS0_ACCEL_ENABLE_Z_AXIS) < 0) {
SYS_LOG_DBG("failed to set accelerometer axis");
return -EIO;
}
if (lsm6ds0_accel_set_fs_raw(dev, LSM6DS0_DEFAULT_ACCEL_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer full-scale");
return -EIO;
}
if (lsm6ds0_accel_set_odr_raw(dev, LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer sampling rate");
return -EIO;
}
if (lsm6ds0_gyro_axis_ctrl(dev, LSM6DS0_GYRO_ENABLE_X_AXIS,
LSM6DS0_GYRO_ENABLE_Y_AXIS,
LSM6DS0_GYRO_ENABLE_Z_AXIS) < 0) {
SYS_LOG_DBG("failed to set gyroscope axis");
return -EIO;
}
if (lsm6ds0_gyro_set_fs_raw(dev, LSM6DS0_DEFAULT_GYRO_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope full-scale");
return -EIO;
}
if (lsm6ds0_gyro_set_odr_raw(dev, LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope sampling rate");
return -EIO;
}
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG8,
LSM6DS0_MASK_CTRL_REG8_BDU |
LSM6DS0_MASK_CTRL_REG8_BLE |
LSM6DS0_MASK_CTRL_REG8_IF_ADD_INC,
(1 << LSM6DS0_SHIFT_CTRL_REG8_BDU) |
(0 << LSM6DS0_SHIFT_CTRL_REG8_BLE) |
(1 << LSM6DS0_SHIFT_CTRL_REG8_IF_ADD_INC))
< 0) {
SYS_LOG_DBG("failed to set BDU, BLE and burst");
return -EIO;
}
return 0;
}
static int lsm6ds0_init(struct device *dev)
{
const struct lsm6ds0_config * const config = dev->config->config_info;
struct lsm6ds0_data *data = dev->driver_data;
data->i2c_master = device_get_binding(config->i2c_master_dev_name);
if (!data->i2c_master) {
SYS_LOG_DBG("i2c master not found: %s",
config->i2c_master_dev_name);
return -EINVAL;
}
if (lsm6ds0_init_chip(dev) < 0) {
SYS_LOG_DBG("failed to initialize chip");
return -EIO;
}
dev->driver_api = &lsm6ds0_api_funcs;
return 0;
}
static const struct lsm6ds0_config lsm6ds0_config = {
.i2c_master_dev_name = CONFIG_LSM6DS0_I2C_MASTER_DEV_NAME,
.i2c_slave_addr = CONFIG_LSM6DS0_I2C_ADDR,
};
static struct lsm6ds0_data lsm6ds0_data;
DEVICE_INIT(lsm6ds0, CONFIG_LSM6DS0_DEV_NAME, lsm6ds0_init,
&lsm6ds0_data, &lsm6ds0_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY);
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