142 lines
3.8 KiB
C
142 lines
3.8 KiB
C
/*
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* Copyright (c) 2018 Philémon Jaermann
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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 st_lsm303dlhc_magn
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/init.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(lsm303dlhc_magn, CONFIG_SENSOR_LOG_LEVEL);
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#include "lsm303dlhc_magn.h"
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static int lsm303dlhc_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct lsm303dlhc_magn_config *config = dev->config;
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struct lsm303dlhc_magn_data *drv_data = dev->data;
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uint8_t magn_buf[6];
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uint8_t status;
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/* Check data ready flag */
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if (i2c_reg_read_byte_dt(&config->i2c, LSM303DLHC_SR_REG_M,
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&status) < 0) {
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LOG_ERR("Failed to read status register.");
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return -EIO;
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}
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if (!(status & LSM303DLHC_MAGN_DRDY)) {
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LOG_ERR("Sensor data not available.");
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return -EIO;
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}
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if (i2c_burst_read_dt(&config->i2c, LSM303DLHC_REG_MAGN_X_LSB,
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magn_buf, 6) < 0) {
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LOG_ERR("Could not read magn axis data.");
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return -EIO;
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}
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drv_data->magn_x = (magn_buf[0] << 8) | magn_buf[1];
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drv_data->magn_y = (magn_buf[4] << 8) | magn_buf[5];
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drv_data->magn_z = (magn_buf[2] << 8) | magn_buf[3];
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return 0;
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}
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static void lsm303dlhc_convert_xy(struct sensor_value *val,
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int64_t raw_val)
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{
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val->val1 = raw_val / LSM303DLHC_MAGN_LSB_GAUSS_XY;
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val->val2 = (1000000 * raw_val / LSM303DLHC_MAGN_LSB_GAUSS_XY) % 1000000;
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}
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static void lsm303dlhc_convert_z(struct sensor_value *val,
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int64_t raw_val)
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{
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val->val1 = raw_val / LSM303DLHC_MAGN_LSB_GAUSS_Z;
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val->val2 = (1000000 * raw_val / LSM303DLHC_MAGN_LSB_GAUSS_Z) % 1000000;
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}
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static int lsm303dlhc_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 lsm303dlhc_magn_data *drv_data = dev->data;
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switch (chan) {
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case SENSOR_CHAN_MAGN_X:
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lsm303dlhc_convert_xy(val, drv_data->magn_x);
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break;
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case SENSOR_CHAN_MAGN_Y:
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lsm303dlhc_convert_xy(val, drv_data->magn_y);
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break;
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case SENSOR_CHAN_MAGN_Z:
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lsm303dlhc_convert_z(val, drv_data->magn_z);
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break;
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case SENSOR_CHAN_MAGN_XYZ:
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lsm303dlhc_convert_xy(val, drv_data->magn_x);
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lsm303dlhc_convert_xy(val + 1, drv_data->magn_y);
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lsm303dlhc_convert_z(val + 2, drv_data->magn_z);
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api lsm303dlhc_magn_driver_api = {
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.sample_fetch = lsm303dlhc_sample_fetch,
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.channel_get = lsm303dlhc_channel_get,
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};
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static int lsm303dlhc_magn_init(const struct device *dev)
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{
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const struct lsm303dlhc_magn_config *config = dev->config;
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if (!device_is_ready(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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/* Set magnetometer output data rate */
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if (i2c_reg_write_byte_dt(&config->i2c, LSM303DLHC_CRA_REG_M,
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LSM303DLHC_MAGN_ODR_BITS) < 0) {
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LOG_ERR("Failed to configure chip.");
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return -EIO;
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}
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/* Set magnetometer full scale range */
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if (i2c_reg_write_byte_dt(&config->i2c, LSM303DLHC_CRB_REG_M,
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LSM303DLHC_MAGN_FS_BITS) < 0) {
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LOG_ERR("Failed to set magnetometer full scale range.");
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return -EIO;
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}
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/* Continuous update */
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if (i2c_reg_write_byte_dt(&config->i2c, LSM303DLHC_MR_REG_M,
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LSM303DLHC_MAGN_CONT_UPDATE) < 0) {
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LOG_ERR("Failed to enable continuous data update.");
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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 LSM303DLHC_MAGN_DEFINE(inst) \
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static struct lsm303dlhc_magn_data lsm303dlhc_magn_data_##inst; \
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\
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static const struct lsm303dlhc_magn_config lsm303dlhc_magn_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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SENSOR_DEVICE_DT_INST_DEFINE(inst, lsm303dlhc_magn_init, NULL, \
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&lsm303dlhc_magn_data_##inst, &lsm303dlhc_magn_config_##inst, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&lsm303dlhc_magn_driver_api); \
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DT_INST_FOREACH_STATUS_OKAY(LSM303DLHC_MAGN_DEFINE)
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