613 lines
14 KiB
C
613 lines
14 KiB
C
/* bmm150.c - Driver for Bosch BMM150 Geomagnetic Sensor */
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/*
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* Copyright (c) 2017 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT bosch_bmm150
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#include <logging/log.h>
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#include "bmm150.h"
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LOG_MODULE_REGISTER(BMM150, CONFIG_SENSOR_LOG_LEVEL);
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static const struct {
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int freq;
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uint8_t reg_val;
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} bmm150_samp_freq_table[] = { { 2, 0x01 },
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{ 6, 0x02 },
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{ 8, 0x03 },
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{ 10, 0x00 },
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{ 15, 0x04 },
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{ 20, 0x05 },
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{ 25, 0x06 },
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{ 30, 0x07 } };
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static const struct bmm150_preset {
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uint8_t rep_xy;
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uint8_t rep_z;
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uint8_t odr;
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} bmm150_presets_table[] = {
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[BMM150_LOW_POWER_PRESET] = { 3, 3, 10 },
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[BMM150_REGULAR_PRESET] = { 9, 15, 10 },
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[BMM150_ENHANCED_REGULAR_PRESET] = { 15, 27, 10 },
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[BMM150_HIGH_ACCURACY_PRESET] = { 47, 83, 20 }
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};
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static int bmm150_set_power_mode(const struct device *dev,
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enum bmm150_power_modes mode,
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int state)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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switch (mode) {
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case BMM150_POWER_MODE_SUSPEND:
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if (i2c_reg_update_byte(data->i2c,
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config->i2c_slave_addr,
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BMM150_REG_POWER,
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BMM150_MASK_POWER_CTL,
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!state) < 0) {
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return -EIO;
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}
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k_busy_wait(USEC_PER_MSEC * 5U);
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return 0;
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case BMM150_POWER_MODE_SLEEP:
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return i2c_reg_update_byte(data->i2c,
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config->i2c_slave_addr,
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BMM150_REG_OPMODE_ODR,
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BMM150_MASK_OPMODE,
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BMM150_MODE_SLEEP <<
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BMM150_SHIFT_OPMODE);
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break;
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case BMM150_POWER_MODE_NORMAL:
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return i2c_reg_update_byte(data->i2c,
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config->i2c_slave_addr,
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BMM150_REG_OPMODE_ODR,
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BMM150_MASK_OPMODE,
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BMM150_MODE_NORMAL <<
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BMM150_SHIFT_OPMODE);
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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 bmm150_set_odr(const struct device *dev, uint8_t val)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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uint8_t i;
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for (i = 0U; i < ARRAY_SIZE(bmm150_samp_freq_table); ++i) {
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if (val <= bmm150_samp_freq_table[i].freq) {
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return i2c_reg_update_byte(data->i2c,
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config->i2c_slave_addr,
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BMM150_REG_OPMODE_ODR,
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BMM150_MASK_ODR,
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(bmm150_samp_freq_table[i].
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reg_val <<
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BMM150_SHIFT_ODR));
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}
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}
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return -ENOTSUP;
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}
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#if defined(BMM150_SET_ATTR)
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static int bmm150_read_rep_xy(const struct device *dev)
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{
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struct bmm150_data *data = dev->driver->data;
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const struct bmm150_config *config = dev->config;
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uint8_t reg_val;
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if (i2c_reg_read_byte(data->i2c, config->i2c_slave_addr,
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BMM150_REG_REP_XY, ®_val) < 0) {
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return -EIO;
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}
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data->rep_xy = BMM150_REGVAL_TO_REPXY((uint8_t)(reg_val));
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return 0;
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}
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static int bmm150_read_rep_z(const struct device *dev)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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uint8_t reg_val;
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if (i2c_reg_read_byte(data->i2c, config->i2c_slave_addr,
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BMM150_REG_REP_Z, ®_val) < 0) {
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return -EIO;
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}
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data->rep_z = BMM150_REGVAL_TO_REPZ((int)(reg_val));
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return 0;
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}
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static int bmm150_compute_max_odr(const struct device *dev, int rep_xy,
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int rep_z, int *max_odr)
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{
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struct bmm150_data *data = dev->data;
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if (rep_xy == 0) {
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if (data->rep_xy <= 0) {
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if (bmm150_read_rep_xy(dev) < 0) {
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return -EIO;
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}
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}
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rep_xy = data->rep_xy;
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}
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if (rep_z == 0) {
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if (data->rep_z <= 0) {
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if (bmm150_read_rep_z(dev) < 0) {
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return -EIO;
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}
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}
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rep_z = data->rep_z;
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}
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/* Equation reference Datasheet 4.2.4 */
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*max_odr = 1000000 / (145 * rep_xy + 500 * rep_z + 980);
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return 0;
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}
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#endif
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#if defined(BMM150_SET_ATTR_REP)
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static int bmm150_read_odr(const struct device *dev)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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uint8_t i, odr_val, reg_val;
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if (i2c_reg_read_byte(data->i2c, config->i2c_slave_addr,
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BMM150_REG_OPMODE_ODR, ®_val) < 0) {
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return -EIO;
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}
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odr_val = (reg_val & BMM150_MASK_ODR) >> BMM150_SHIFT_ODR;
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for (i = 0U; i < ARRAY_SIZE(bmm150_samp_freq_table); ++i) {
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if (bmm150_samp_freq_table[i].reg_val == odr_val) {
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data->odr = bmm150_samp_freq_table[i].freq;
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return 0;
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}
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}
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return -ENOTSUP;
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}
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#endif
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#if defined(CONFIG_BMM150_SAMPLING_REP_XY)
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static int bmm150_write_rep_xy(const struct device *dev, int val)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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if (i2c_reg_update_byte(data->i2c, config->i2c_slave_addr,
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BMM150_REG_REP_XY,
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BMM150_REG_REP_DATAMASK,
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BMM150_REPXY_TO_REGVAL(val)) < 0) {
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return -EIO;
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}
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data->rep_xy = val;
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return 0;
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}
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#endif
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#if defined(CONFIG_BMM150_SAMPLING_REP_Z)
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static int bmm150_write_rep_z(const struct device *dev, int val)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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if (i2c_reg_update_byte(data->i2c, config->i2c_slave_addr,
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BMM150_REG_REP_Z,
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BMM150_REG_REP_DATAMASK,
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BMM150_REPZ_TO_REGVAL(val)) < 0) {
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return -EIO;
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}
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data->rep_z = val;
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return 0;
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}
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#endif
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/* Reference Datasheet 4.3.2 */
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static int32_t bmm150_compensate_xy(struct bmm150_trim_regs *tregs,
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int16_t xy, uint16_t rhall, bool is_x)
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{
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int8_t txy1, txy2;
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int16_t val;
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uint16_t prevalue;
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int32_t temp1, temp2, temp3;
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if (xy == BMM150_XY_OVERFLOW_VAL) {
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return INT32_MIN;
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}
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if (!rhall) {
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rhall = tregs->xyz1;
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}
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if (is_x) {
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txy1 = tregs->x1;
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txy2 = tregs->x2;
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} else {
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txy1 = tregs->y1;
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txy2 = tregs->y2;
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}
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prevalue = (uint16_t)((((int32_t)tregs->xyz1) << 14) / rhall);
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val = (int16_t)((prevalue) - ((uint16_t)0x4000));
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temp1 = (((int32_t)tregs->xy2) * ((((int32_t)val) * ((int32_t)val)) >> 7));
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temp2 = ((int32_t)val) * ((int32_t)(((int16_t)tregs->xy1) << 7));
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temp3 = (((((temp1 + temp2) >> 9) +
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((int32_t)0x100000)) * ((int32_t)(((int16_t)txy2) +
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((int16_t)0xA0)))) >> 12);
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val = ((int16_t)((((int32_t)xy) * temp3) >> 13)) + (((int16_t)txy1) << 3);
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return (int32_t)val;
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}
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static int32_t bmm150_compensate_z(struct bmm150_trim_regs *tregs,
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int16_t z, uint16_t rhall)
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{
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int32_t val, temp1, temp2;
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int16_t temp3;
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if (z == BMM150_Z_OVERFLOW_VAL) {
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return INT32_MIN;
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}
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temp1 = (((int32_t)(z - tregs->z4)) << 15);
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temp2 = ((((int32_t)tregs->z3) *
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((int32_t)(((int16_t)rhall) - ((int16_t)tregs->xyz1)))) >> 2);
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temp3 = ((int16_t)(((((int32_t)tregs->z1) *
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((((int16_t)rhall) << 1))) + (1 << 15)) >> 16));
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val = ((temp1 - temp2) / (tregs->z2 + temp3));
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return val;
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}
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static int bmm150_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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struct bmm150_data *drv_data = dev->data;
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const struct bmm150_config *config = dev->config;
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uint16_t values[BMM150_AXIS_XYZR_MAX];
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int16_t raw_x, raw_y, raw_z;
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uint16_t rhall;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
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chan == SENSOR_CHAN_MAGN_XYZ);
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if (i2c_burst_read(drv_data->i2c, config->i2c_slave_addr,
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BMM150_REG_X_L, (uint8_t *)values,
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sizeof(values)) < 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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raw_x = (int16_t)sys_le16_to_cpu(values[BMM150_AXIS_X]) >>
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BMM150_SHIFT_XY_L;
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raw_y = (int16_t)sys_le16_to_cpu(values[BMM150_AXIS_Y]) >>
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BMM150_SHIFT_XY_L;
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raw_z = (int16_t)sys_le16_to_cpu(values[BMM150_AXIS_Z]) >>
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BMM150_SHIFT_Z_L;
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rhall = sys_le16_to_cpu(values[BMM150_RHALL]) >>
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BMM150_SHIFT_RHALL_L;
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drv_data->sample_x = bmm150_compensate_xy(&drv_data->tregs,
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raw_x, rhall, true);
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drv_data->sample_y = bmm150_compensate_xy(&drv_data->tregs,
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raw_y, rhall, false);
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drv_data->sample_z = bmm150_compensate_z(&drv_data->tregs,
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raw_z, rhall);
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return 0;
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}
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/*
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* Datasheet specify raw units are 16 LSB/uT and this function converts it to
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* Gauss
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*/
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static void bmm150_convert(struct sensor_value *val, int raw_val)
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{
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/* val = raw_val / 1600 */
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val->val1 = raw_val / 1600;
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val->val2 = ((int32_t)raw_val * (1000000 / 1600)) % 1000000;
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}
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static int bmm150_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 bmm150_data *drv_data = dev->data;
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switch (chan) {
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case SENSOR_CHAN_MAGN_X:
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bmm150_convert(val, drv_data->sample_x);
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break;
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case SENSOR_CHAN_MAGN_Y:
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bmm150_convert(val, drv_data->sample_y);
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break;
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case SENSOR_CHAN_MAGN_Z:
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bmm150_convert(val, drv_data->sample_x);
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break;
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case SENSOR_CHAN_MAGN_XYZ:
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bmm150_convert(val, drv_data->sample_x);
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bmm150_convert(val + 1, drv_data->sample_y);
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bmm150_convert(val + 2, drv_data->sample_z);
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break;
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default:
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return -EINVAL;
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}
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return 0;
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}
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#if defined(BMM150_SET_ATTR_REP)
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static inline int bmm150_attr_set_rep(const struct device *dev,
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enum sensor_channel chan,
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const struct sensor_value *val)
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{
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struct bmm150_data *data = dev->data;
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int max_odr;
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switch (chan) {
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#if defined(CONFIG_BMM150_SAMPLING_REP_XY)
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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if (val->val1 < 1 || val->val1 > 511) {
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return -EINVAL;
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}
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if (bmm150_compute_max_odr(dev, val->val1, 0,
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&max_odr) < 0) {
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return -EIO;
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}
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if (data->odr <= 0) {
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if (bmm150_read_odr(dev) < 0) {
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return -EIO;
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}
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}
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if (data->odr > max_odr) {
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return -EINVAL;
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}
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if (bmm150_write_rep_xy(dev, val->val1) < 0) {
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return -EIO;
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}
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break;
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#endif
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#if defined(CONFIG_BMM150_SAMPLING_REP_Z)
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case SENSOR_CHAN_MAGN_Z:
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if (val->val1 < 1 || val->val1 > 256) {
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return -EINVAL;
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}
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if (bmm150_compute_max_odr(dev, 0, val->val1,
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&max_odr) < 0) {
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return -EIO;
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}
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if (data->odr <= 0) {
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if (bmm150_read_odr(dev) < 0) {
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return -EIO;
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}
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}
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if (data->odr > max_odr) {
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return -EINVAL;
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}
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if (bmm150_write_rep_z(dev, val->val1) < 0) {
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return -EIO;
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}
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break;
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#endif
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default:
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return -EINVAL;
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}
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return 0;
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}
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#endif
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#if defined(BMM150_SET_ATTR)
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static int bmm150_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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struct bmm150_magn_data *data = dev->data;
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switch (attr) {
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#if defined(CONFIG_BMM150_SAMPLING_RATE_RUNTIME)
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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if (data->max_odr <= 0) {
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if (bmm150_compute_max_odr(dev, 0, 0,
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&data->max_odr) < 0) {
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return -EIO;
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}
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}
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if (data->max_odr < val->val1) {
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LOG_ERR("not supported with current oversampling");
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return -ENOTSUP;
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}
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if (bmm150_set_odr(dev, (uint8_t)(val->val1)) < 0) {
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return -EIO;
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}
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break;
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#endif
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#if defined(BMM150_SET_ATTR_REP)
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case SENSOR_ATTR_OVERSAMPLING:
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bmm150_attr_set_rep(dev, chan, val);
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break;
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#endif
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default:
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return -EINVAL;
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}
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return 0;
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}
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#endif
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static const struct sensor_driver_api bmm150_api_funcs = {
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#if defined(BMM150_SET_ATTR)
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.attr_set = bmm150_attr_set,
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#endif
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.sample_fetch = bmm150_sample_fetch,
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.channel_get = bmm150_channel_get,
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};
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static int bmm150_init_chip(const struct device *dev)
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{
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struct bmm150_data *data = dev->data;
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const struct bmm150_config *config = dev->config;
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uint8_t chip_id;
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struct bmm150_preset preset;
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if (bmm150_set_power_mode(dev, BMM150_POWER_MODE_NORMAL, 0) < 0) {
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LOG_ERR("failed to bring up device from normal mode");
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return -EIO;
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}
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if (bmm150_set_power_mode(dev, BMM150_POWER_MODE_SUSPEND, 1) < 0) {
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LOG_ERR("failed to bring up device in suspend mode");
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return -EIO;
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}
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if (bmm150_set_power_mode(dev, BMM150_POWER_MODE_SUSPEND, 0)
|
|
< 0) {
|
|
LOG_ERR("failed to bring up device from suspend mode");
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_reg_read_byte(data->i2c, config->i2c_slave_addr,
|
|
BMM150_REG_CHIP_ID, &chip_id) < 0) {
|
|
LOG_ERR("failed reading chip id");
|
|
goto err_poweroff;
|
|
}
|
|
|
|
if (chip_id != BMM150_CHIP_ID_VAL) {
|
|
LOG_ERR("invalid chip id 0x%x", chip_id);
|
|
goto err_poweroff;
|
|
}
|
|
|
|
preset = bmm150_presets_table[BMM150_DEFAULT_PRESET];
|
|
if (bmm150_set_odr(dev, preset.odr) < 0) {
|
|
LOG_ERR("failed to set ODR to %d",
|
|
preset.odr);
|
|
goto err_poweroff;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_slave_addr,
|
|
BMM150_REG_REP_XY,
|
|
BMM150_REPXY_TO_REGVAL(preset.rep_xy))
|
|
< 0) {
|
|
LOG_ERR("failed to set REP XY to %d",
|
|
preset.rep_xy);
|
|
goto err_poweroff;
|
|
}
|
|
|
|
if (i2c_reg_write_byte(data->i2c, config->i2c_slave_addr,
|
|
BMM150_REG_REP_Z,
|
|
BMM150_REPZ_TO_REGVAL(preset.rep_z)) < 0) {
|
|
LOG_ERR("failed to set REP Z to %d",
|
|
preset.rep_z);
|
|
goto err_poweroff;
|
|
}
|
|
|
|
if (bmm150_set_power_mode(dev, BMM150_POWER_MODE_NORMAL, 1)
|
|
< 0) {
|
|
LOG_ERR("failed to power on device");
|
|
}
|
|
|
|
if (i2c_burst_read(data->i2c, config->i2c_slave_addr,
|
|
BMM150_REG_TRIM_START, (uint8_t *)&data->tregs,
|
|
sizeof(data->tregs)) < 0) {
|
|
LOG_ERR("failed to read trim regs");
|
|
goto err_poweroff;
|
|
}
|
|
|
|
data->rep_xy = 0;
|
|
data->rep_z = 0;
|
|
data->odr = 0;
|
|
data->max_odr = 0;
|
|
data->sample_x = 0;
|
|
data->sample_y = 0;
|
|
data->sample_z = 0;
|
|
|
|
data->tregs.xyz1 = sys_le16_to_cpu(data->tregs.xyz1);
|
|
data->tregs.z1 = sys_le16_to_cpu(data->tregs.z1);
|
|
data->tregs.z2 = sys_le16_to_cpu(data->tregs.z2);
|
|
data->tregs.z3 = sys_le16_to_cpu(data->tregs.z3);
|
|
data->tregs.z4 = sys_le16_to_cpu(data->tregs.z4);
|
|
|
|
return 0;
|
|
|
|
err_poweroff:
|
|
bmm150_set_power_mode(dev, BMM150_POWER_MODE_NORMAL, 0);
|
|
bmm150_set_power_mode(dev, BMM150_POWER_MODE_SUSPEND, 1);
|
|
return -EIO;
|
|
}
|
|
|
|
static int bmm150_init(const struct device *dev)
|
|
{
|
|
const struct bmm150_config *const config =
|
|
dev->config;
|
|
struct bmm150_data *data = dev->data;
|
|
|
|
data->i2c = device_get_binding(config->i2c_master_dev_name);
|
|
if (!data->i2c) {
|
|
LOG_ERR("i2c master not found: %s",
|
|
config->i2c_master_dev_name);
|
|
return -EINVAL;
|
|
}
|
|
|
|
if (bmm150_init_chip(dev) < 0) {
|
|
LOG_ERR("failed to initialize chip");
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct bmm150_config bmm150_config = {
|
|
.i2c_master_dev_name = DT_INST_BUS_LABEL(0),
|
|
.i2c_slave_addr = BMM150_I2C_ADDR,
|
|
};
|
|
|
|
static struct bmm150_data bmm150_data;
|
|
|
|
DEVICE_DT_INST_DEFINE(0, bmm150_init, device_pm_control_nop,
|
|
&bmm150_data, &bmm150_config, POST_KERNEL,
|
|
CONFIG_SENSOR_INIT_PRIORITY, &bmm150_api_funcs);
|