156 lines
4.0 KiB
C
156 lines
4.0 KiB
C
/*
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* Copyright (c) 2016 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 asahi_kasei_ak8975
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#include <zephyr/device.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/sys/__assert.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/logging/log.h>
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#include "ak8975.h"
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LOG_MODULE_REGISTER(AK8975, CONFIG_SENSOR_LOG_LEVEL);
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static int ak8975_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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struct ak8975_data *drv_data = dev->data;
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const struct ak8975_config *drv_config = dev->config;
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uint8_t buf[6];
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
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if (i2c_reg_write_byte_dt(&drv_config->i2c, AK8975_REG_CNTL, AK8975_MODE_MEASURE) < 0) {
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LOG_ERR("Failed to start measurement.");
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return -EIO;
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}
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k_busy_wait(AK8975_MEASURE_TIME_US);
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if (i2c_burst_read_dt(&drv_config->i2c, AK8975_REG_DATA_START, buf, 6) < 0) {
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LOG_ERR("Failed to read sample data.");
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return -EIO;
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}
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drv_data->x_sample = sys_le16_to_cpu(buf[0] | (buf[1] << 8));
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drv_data->y_sample = sys_le16_to_cpu(buf[2] | (buf[3] << 8));
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drv_data->z_sample = sys_le16_to_cpu(buf[4] | (buf[5] << 8));
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return 0;
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}
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static void ak8975_convert(struct sensor_value *val, int16_t sample,
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uint8_t adjustment)
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{
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int32_t conv_val;
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conv_val = sample * AK8975_MICRO_GAUSS_PER_BIT *
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((uint16_t)adjustment + 128) / 256;
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val->val1 = conv_val / 1000000;
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val->val2 = conv_val % 1000000;
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}
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static int ak8975_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 ak8975_data *drv_data = dev->data;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_MAGN_XYZ ||
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chan == SENSOR_CHAN_MAGN_X ||
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chan == SENSOR_CHAN_MAGN_Y ||
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chan == SENSOR_CHAN_MAGN_Z);
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if (chan == SENSOR_CHAN_MAGN_XYZ) {
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ak8975_convert(val, drv_data->x_sample, drv_data->x_adj);
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ak8975_convert(val + 1, drv_data->y_sample, drv_data->y_adj);
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ak8975_convert(val + 2, drv_data->z_sample, drv_data->z_adj);
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} else if (chan == SENSOR_CHAN_MAGN_X) {
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ak8975_convert(val, drv_data->x_sample, drv_data->x_adj);
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} else if (chan == SENSOR_CHAN_MAGN_Y) {
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ak8975_convert(val, drv_data->y_sample, drv_data->y_adj);
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} else { /* chan == SENSOR_CHAN_MAGN_Z */
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ak8975_convert(val, drv_data->z_sample, drv_data->z_adj);
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}
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return 0;
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}
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static const struct sensor_driver_api ak8975_driver_api = {
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.sample_fetch = ak8975_sample_fetch,
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.channel_get = ak8975_channel_get,
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};
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static int ak8975_read_adjustment_data(const struct device *dev)
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{
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struct ak8975_data *drv_data = dev->data;
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const struct ak8975_config *drv_config = dev->config;
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uint8_t buf[3];
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if (i2c_reg_write_byte_dt(&drv_config->i2c, AK8975_REG_CNTL, AK8975_MODE_FUSE_ACCESS) < 0) {
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LOG_ERR("Failed to set chip in fuse access mode.");
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return -EIO;
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}
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if (i2c_burst_read_dt(&drv_config->i2c, AK8975_REG_ADJ_DATA_START, buf, 3) < 0) {
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LOG_ERR("Failed to read adjustment data.");
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return -EIO;
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}
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drv_data->x_adj = buf[0];
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drv_data->y_adj = buf[1];
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drv_data->z_adj = buf[2];
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return 0;
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}
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int ak8975_init(const struct device *dev)
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{
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const struct ak8975_config *drv_config = dev->config;
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uint8_t id;
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if (!device_is_ready(drv_config->i2c.bus)) {
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LOG_ERR("I2C bus device not ready");
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return -ENODEV;
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}
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/* check chip ID */
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if (i2c_reg_read_byte_dt(&drv_config->i2c, AK8975_REG_CHIP_ID, &id) < 0) {
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LOG_ERR("Failed to read chip ID.");
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return -EIO;
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}
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if (id != AK8975_CHIP_ID) {
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LOG_ERR("Invalid chip ID.");
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return -EINVAL;
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}
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if (ak8975_read_adjustment_data(dev) < 0) {
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return -EIO;
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}
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return 0;
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}
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#define AK8975_DEFINE(inst) \
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static struct ak8975_data ak8975_data_##inst; \
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\
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static const struct ak8975_config ak8975_config_##inst = { \
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.i2c = I2C_DT_SPEC_INST_GET(inst), \
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}; \
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\
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DEVICE_DT_INST_DEFINE(inst, ak8975_init, NULL, \
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&ak8975_data_##inst, &ak8975_config_##inst, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&ak8975_driver_api); \
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DT_INST_FOREACH_STATUS_OKAY(AK8975_DEFINE)
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