140 lines
3.6 KiB
C
140 lines
3.6 KiB
C
/* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
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*
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* Copyright (c) 2023 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Datasheet:
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* https://www.st.com/resource/en/datasheet/lsm6dsv16x.pdf
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_LSM6DSV16X_H_
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#define ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_LSM6DSV16X_H_
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/types.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/sys/util.h>
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#include <stmemsc.h>
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#include "lsm6dsv16x_reg.h"
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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#include <zephyr/drivers/spi.h>
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#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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#include <zephyr/drivers/i2c.h>
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#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
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#define LSM6DSV16X_EN_BIT 0x01
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#define LSM6DSV16X_DIS_BIT 0x00
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/* Accel sensor sensitivity grain is 61 ug/LSB */
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#define GAIN_UNIT_XL (61LL)
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/* Gyro sensor sensitivity grain is 4.375 udps/LSB */
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#define GAIN_UNIT_G (4375LL)
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struct lsm6dsv16x_config {
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stmdev_ctx_t ctx;
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union {
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
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const struct i2c_dt_spec i2c;
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#endif
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#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
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const struct spi_dt_spec spi;
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#endif
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} stmemsc_cfg;
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uint8_t accel_pm;
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uint8_t accel_odr;
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uint8_t accel_range;
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uint8_t gyro_pm;
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uint8_t gyro_odr;
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uint8_t gyro_range;
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uint8_t drdy_pulsed;
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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const struct gpio_dt_spec int1_gpio;
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const struct gpio_dt_spec int2_gpio;
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uint8_t drdy_pin;
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bool trig_enabled;
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#endif /* CONFIG_LSM6DSV16X_TRIGGER */
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};
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union samples {
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uint8_t raw[6];
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struct {
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int16_t axis[3];
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};
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} __aligned(2);
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#define LSM6DSV16X_SHUB_MAX_NUM_TARGETS 3
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struct lsm6dsv16x_data {
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const struct device *dev;
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int16_t acc[3];
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uint32_t acc_gain;
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int16_t gyro[3];
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uint32_t gyro_gain;
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#if defined(CONFIG_LSM6DSV16X_ENABLE_TEMP)
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int16_t temp_sample;
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#endif
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#if defined(CONFIG_LSM6DSV16X_SENSORHUB)
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uint8_t ext_data[LSM6DSV16X_SHUB_MAX_NUM_TARGETS][6];
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uint16_t magn_gain;
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struct hts221_data {
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int16_t x0;
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int16_t x1;
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int16_t y0;
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int16_t y1;
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} hts221;
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bool shub_inited;
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uint8_t num_ext_dev;
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uint8_t shub_ext[LSM6DSV16X_SHUB_MAX_NUM_TARGETS];
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#endif /* CONFIG_LSM6DSV16X_SENSORHUB */
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uint8_t accel_freq;
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uint8_t accel_fs;
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uint8_t gyro_freq;
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uint8_t gyro_fs;
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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struct gpio_dt_spec *drdy_gpio;
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struct gpio_callback gpio_cb;
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sensor_trigger_handler_t handler_drdy_acc;
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const struct sensor_trigger *trig_drdy_acc;
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sensor_trigger_handler_t handler_drdy_gyr;
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const struct sensor_trigger *trig_drdy_gyr;
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sensor_trigger_handler_t handler_drdy_temp;
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const struct sensor_trigger *trig_drdy_temp;
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#if defined(CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD)
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K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSV16X_THREAD_STACK_SIZE);
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struct k_thread thread;
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struct k_sem gpio_sem;
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#elif defined(CONFIG_LSM6DSV16X_TRIGGER_GLOBAL_THREAD)
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struct k_work work;
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#endif
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#endif /* CONFIG_LSM6DSV16X_TRIGGER */
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};
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#if defined(CONFIG_LSM6DSV16X_SENSORHUB)
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int lsm6dsv16x_shub_init(const struct device *dev);
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int lsm6dsv16x_shub_fetch_external_devs(const struct device *dev);
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int lsm6dsv16x_shub_get_idx(const struct device *dev, enum sensor_channel type);
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int lsm6dsv16x_shub_config(const struct device *dev, 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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#endif /* CONFIG_LSM6DSV16X_SENSORHUB */
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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int lsm6dsv16x_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int lsm6dsv16x_init_interrupt(const struct device *dev);
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#endif
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#endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSV16X_LSM6DSV16X_H_ */
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