145 lines
3.7 KiB
C
145 lines
3.7 KiB
C
/*
|
|
* Copyright (c) 2018 Philémon Jaermann
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include <i2c.h>
|
|
#include <init.h>
|
|
#include <sensor.h>
|
|
|
|
#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
|
|
#include <logging/log.h>
|
|
LOG_MODULE_REGISTER(lsm303dlhc_magn);
|
|
|
|
#include "lsm303dlhc_magn.h"
|
|
|
|
static int lsm303dlhc_sample_fetch(struct device *dev,
|
|
enum sensor_channel chan)
|
|
{
|
|
const struct lsm303dlhc_magn_config *config = dev->config->config_info;
|
|
struct lsm303dlhc_magn_data *drv_data = dev->driver_data;
|
|
u8_t magn_buf[6];
|
|
u8_t status;
|
|
|
|
/* Check data ready flag */
|
|
if (i2c_reg_read_byte(drv_data->i2c,
|
|
config->i2c_address,
|
|
LSM303DLHC_SR_REG_M,
|
|
&status) < 0) {
|
|
LOG_ERR("Failed to read status register.");
|
|
return -EIO;
|
|
}
|
|
|
|
if (!(status & LSM303DLHC_MAGN_DRDY)) {
|
|
LOG_ERR("Sensor data not available.");
|
|
return -EIO;
|
|
}
|
|
|
|
if (i2c_burst_read(drv_data->i2c,
|
|
config->i2c_address,
|
|
LSM303DLHC_REG_MAGN_X_LSB,
|
|
magn_buf, 6) < 0) {
|
|
LOG_ERR("Could not read magn axis data.");
|
|
return -EIO;
|
|
}
|
|
|
|
drv_data->magn_x = (magn_buf[0] << 8) | magn_buf[1];
|
|
drv_data->magn_y = (magn_buf[4] << 8) | magn_buf[5];
|
|
drv_data->magn_z = (magn_buf[2] << 8) | magn_buf[3];
|
|
|
|
return 0;
|
|
}
|
|
|
|
static void lsm303dlhc_convert(struct sensor_value *val,
|
|
s64_t raw_val)
|
|
{
|
|
val->val1 = raw_val / LSM303DLHC_MAGN_LSB_GAUSS;
|
|
val->val2 = (1000000 * raw_val / LSM303DLHC_MAGN_LSB_GAUSS) % 1000000;
|
|
}
|
|
|
|
static int lsm303dlhc_channel_get(struct device *dev,
|
|
enum sensor_channel chan,
|
|
struct sensor_value *val)
|
|
{
|
|
struct lsm303dlhc_magn_data *drv_data = dev->driver_data;
|
|
|
|
switch (chan) {
|
|
case SENSOR_CHAN_MAGN_X:
|
|
lsm303dlhc_convert(val, drv_data->magn_x);
|
|
break;
|
|
case SENSOR_CHAN_MAGN_Y:
|
|
lsm303dlhc_convert(val, drv_data->magn_y);
|
|
break;
|
|
case SENSOR_CHAN_MAGN_Z:
|
|
lsm303dlhc_convert(val, drv_data->magn_z);
|
|
break;
|
|
case SENSOR_CHAN_MAGN_XYZ:
|
|
lsm303dlhc_convert(val, drv_data->magn_x);
|
|
lsm303dlhc_convert(val + 1, drv_data->magn_y);
|
|
lsm303dlhc_convert(val + 2, drv_data->magn_z);
|
|
break;
|
|
default:
|
|
return -ENOTSUP;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static const struct sensor_driver_api lsm303dlhc_magn_driver_api = {
|
|
.sample_fetch = lsm303dlhc_sample_fetch,
|
|
.channel_get = lsm303dlhc_channel_get,
|
|
};
|
|
|
|
static int lsm303dlhc_magn_init(struct device *dev)
|
|
{
|
|
const struct lsm303dlhc_magn_config *config = dev->config->config_info;
|
|
struct lsm303dlhc_magn_data *drv_data = dev->driver_data;
|
|
|
|
drv_data->i2c = device_get_binding(config->i2c_name);
|
|
if (drv_data->i2c == NULL) {
|
|
LOG_ERR("Could not get pointer to %s device",
|
|
config->i2c_name);
|
|
return -ENODEV;
|
|
}
|
|
|
|
/* Set magnetometer output data rate */
|
|
if (i2c_reg_write_byte(drv_data->i2c,
|
|
config->i2c_address,
|
|
LSM303DLHC_CRA_REG_M,
|
|
LSM303DLHC_MAGN_ODR_BITS) < 0) {
|
|
LOG_ERR("Failed to configure chip.");
|
|
return -EIO;
|
|
}
|
|
|
|
/* Set magnetometer full scale range */
|
|
if (i2c_reg_write_byte(drv_data->i2c,
|
|
config->i2c_address,
|
|
LSM303DLHC_CRB_REG_M,
|
|
LSM303DLHC_MAGN_FS_BITS) < 0) {
|
|
LOG_ERR("Failed to set magnetometer full scale range.");
|
|
return -EIO;
|
|
}
|
|
|
|
/* Continuous update */
|
|
if (i2c_reg_write_byte(drv_data->i2c,
|
|
config->i2c_address,
|
|
LSM303DLHC_MR_REG_M,
|
|
LSM303DLHC_MAGN_CONT_UPDATE) < 0) {
|
|
LOG_ERR("Failed to enable continuous data update.");
|
|
return -EIO;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static const struct lsm303dlhc_magn_config lsm303dlhc_magn_config = {
|
|
.i2c_name = DT_LSM303DLHC_MAGN_I2C_MASTER_DEV,
|
|
.i2c_address = DT_LSM303DLHC_MAGN_I2C_ADDR,
|
|
};
|
|
|
|
static struct lsm303dlhc_magn_data lsm303dlhc_magn_driver;
|
|
|
|
DEVICE_AND_API_INIT(lsm303dlhc_magn, DT_LSM303DLHC_MAGN_NAME,
|
|
lsm303dlhc_magn_init, &lsm303dlhc_magn_driver,
|
|
&lsm303dlhc_magn_config, POST_KERNEL,
|
|
CONFIG_SENSOR_INIT_PRIORITY, &lsm303dlhc_magn_driver_api);
|