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*
* Copyright (c) 2019 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.st.com/resource/en/datasheet/iis3dhhc.pdf
*/
#define DT_DRV_COMPAT st_iis3dhhc
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <sys/byteorder.h>
#include <sys/__assert.h>
#include <logging/log.h>
#include "iis3dhhc.h"
LOG_MODULE_REGISTER(IIS3DHHC, CONFIG_SENSOR_LOG_LEVEL);
static int iis3dhhc_sample_fetch(const struct device *dev,
enum sensor_channel chan)
{
struct iis3dhhc_data *data = dev->data;
union axis3bit16_t raw_accel;
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
iis3dhhc_acceleration_raw_get(data->ctx, raw_accel.u8bit);
data->acc[0] = sys_le16_to_cpu(raw_accel.i16bit[0]);
data->acc[1] = sys_le16_to_cpu(raw_accel.i16bit[1]);
data->acc[2] = sys_le16_to_cpu(raw_accel.i16bit[2]);
return 0;
}
static inline void iis3dhhc_convert(struct sensor_value *val,
int16_t raw_val)
{
int64_t micro_ms2;
/* Convert to m/s^2 */
micro_ms2 = ((iis3dhhc_from_lsb_to_mg(raw_val) * SENSOR_G) / 1000LL);
val->val1 = micro_ms2 / 1000000LL;
val->val2 = micro_ms2 % 1000000LL;
}
static inline void iis3dhhc_channel_get_acc(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
int i;
uint8_t ofs_start, ofs_stop;
struct iis3dhhc_data *iis3dhhc = dev->data;
struct sensor_value *pval = val;
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
ofs_start = ofs_stop = 0U;
break;
case SENSOR_CHAN_ACCEL_Y:
ofs_start = ofs_stop = 1U;
break;
case SENSOR_CHAN_ACCEL_Z:
ofs_start = ofs_stop = 2U;
break;
default:
ofs_start = 0U; ofs_stop = 2U;
break;
}
for (i = ofs_start; i <= ofs_stop ; i++) {
iis3dhhc_convert(pval++, iis3dhhc->acc[i]);
}
}
static int iis3dhhc_channel_get(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
iis3dhhc_channel_get_acc(dev, chan, val);
return 0;
default:
LOG_DBG("Channel not supported");
break;
}
return -ENOTSUP;
}
static int iis3dhhc_odr_set(const struct device *dev,
const struct sensor_value *val)
{
struct iis3dhhc_data *data = dev->data;
iis3dhhc_norm_mod_en_t en;
switch (val->val1) {
case 0:
en = IIS3DHHC_POWER_DOWN;
break;
case 1000:
en = IIS3DHHC_1kHz1;
break;
default:
return -EIO;
}
if (iis3dhhc_data_rate_set(data->ctx, en)) {
LOG_DBG("failed to set sampling rate");
return -EIO;
}
return 0;
}
static int iis3dhhc_attr_set(const struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
if (chan != SENSOR_CHAN_ALL) {
LOG_WRN("attr_set() not supported on this channel.");
return -ENOTSUP;
}
switch (attr) {
case SENSOR_ATTR_SAMPLING_FREQUENCY:
return iis3dhhc_odr_set(dev, val);
default:
LOG_DBG("operation not supported.");
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api iis3dhhc_api_funcs = {
.attr_set = iis3dhhc_attr_set,
.sample_fetch = iis3dhhc_sample_fetch,
.channel_get = iis3dhhc_channel_get,
#if CONFIG_IIS3DHHC_TRIGGER
.trigger_set = iis3dhhc_trigger_set,
#endif
};
static int iis3dhhc_init_chip(const struct device *dev)
{
struct iis3dhhc_data *data = dev->data;
uint8_t chip_id, rst;
if (iis3dhhc_device_id_get(data->ctx, &chip_id) < 0) {
LOG_DBG("Failed reading chip id");
return -EIO;
}
if (chip_id != IIS3DHHC_ID) {
LOG_DBG("Invalid chip id 0x%x", chip_id);
return -EIO;
}
/*
* Restore default configuration
*/
iis3dhhc_reset_set(data->ctx, PROPERTY_ENABLE);
do {
iis3dhhc_reset_get(data->ctx, &rst);
} while (rst);
/* Enable Block Data Update */
iis3dhhc_block_data_update_set(data->ctx, PROPERTY_ENABLE);
/* Set Output Data Rate */
#ifdef CONFIG_IIS3DHHC_NORM_MODE
iis3dhhc_data_rate_set(data->ctx, 1);
#else
iis3dhhc_data_rate_set(data->ctx, 0);
#endif
/* Enable temperature compensation */
iis3dhhc_offset_temp_comp_set(data->ctx, PROPERTY_ENABLE);
return 0;
}
static int iis3dhhc_init(const struct device *dev)
{
const struct iis3dhhc_config * const config = dev->config;
struct iis3dhhc_data *data = dev->data;
data->bus = device_get_binding(config->master_dev_name);
if (!data->bus) {
LOG_DBG("bus master not found: %s", config->master_dev_name);
return -EINVAL;
}
config->bus_init(dev);
if (iis3dhhc_init_chip(dev) < 0) {
LOG_DBG("Failed to initialize chip");
return -EIO;
}
#ifdef CONFIG_IIS3DHHC_TRIGGER
if (iis3dhhc_init_interrupt(dev) < 0) {
LOG_ERR("Failed to initialize interrupt.");
return -EIO;
}
#endif
return 0;
}
static struct iis3dhhc_data iis3dhhc_data;
static const struct iis3dhhc_config iis3dhhc_config = {
.master_dev_name = DT_INST_BUS_LABEL(0),
#ifdef CONFIG_IIS3DHHC_TRIGGER
#ifdef CONFIG_IIS3DHHC_DRDY_INT1
.int_port = DT_INST_GPIO_LABEL_BY_IDX(0, irq_gpios, 0),
.int_pin = DT_INST_GPIO_PIN_BY_IDX(0, irq_gpios, 0),
.int_flags = DT_INST_GPIO_FLAGS_BY_IDX(0, irq_gpios, 0),
#else
.int_port = DT_INST_GPIO_LABEL_BY_IDX(0, irq_gpios, 1),
.int_pin = DT_INST_GPIO_PIN_BY_IDX(0, irq_gpios, 1),
.int_flags = DT_INST_GPIO_FLAGS_BY_IDX(0, irq_gpios, 1),
#endif /* CONFIG_IIS3DHHC_DRDY_INT1 */
#endif /* CONFIG_IIS3DHHC_TRIGGER */
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
.bus_init = iis3dhhc_spi_init,
.spi_conf.frequency = DT_INST_PROP(0, spi_max_frequency),
.spi_conf.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL |
SPI_MODE_CPHA | SPI_WORD_SET(8) |
SPI_LINES_SINGLE),
.spi_conf.slave = DT_INST_REG_ADDR(0),
#if DT_INST_SPI_DEV_HAS_CS_GPIOS(0)
.gpio_cs_port = DT_INST_SPI_DEV_CS_GPIOS_LABEL(0),
.cs_gpio = DT_INST_SPI_DEV_CS_GPIOS_PIN(0),
.spi_conf.cs = &iis3dhhc_data.cs_ctrl,
#else
.spi_conf.cs = NULL,
#endif
#else
#error "BUS MACRO NOT DEFINED IN DTS"
#endif
};
DEVICE_AND_API_INIT(iis3dhhc, DT_INST_LABEL(0), iis3dhhc_init,
&iis3dhhc_data, &iis3dhhc_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &iis3dhhc_api_funcs);
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