1 /* ST Microelectronics LSM6DSO 6-axis IMU sensor driver
5  * SPDX-License-Identifier: Apache-2.0
58 	struct lsm6dso_data *data = dev->data;  in lsm6dso_lis2mdl_init()
61 	data->magn_gain = LIS2MDL_SENSITIVITY;  in lsm6dso_lis2mdl_init()
68 	k_sleep(K_MSEC(10)); /* turn-on time in ms */  in lsm6dso_lis2mdl_init()
94 		return -ENOTSUP;  in lsm6dso_lis2mdl_odr_set()
112 		return lsm6dso_lis2mdl_odr_set(dev, i2c_addr, val->val1);  in lsm6dso_lis2mdl_conf()
115 		return -ENOTSUP;  in lsm6dso_lis2mdl_conf()
139 	struct lsm6dso_data *data = dev->data;  in lsm6dso_hts221_read_conv_data()
141 	struct hts221_data *ht = &data->hts221;  in lsm6dso_hts221_read_conv_data()
144 		unsigned char len = MIN(7, sizeof(buf) - i);  in lsm6dso_hts221_read_conv_data()
151 			return -EIO;  in lsm6dso_hts221_read_conv_data()
155 	ht->y0 = buf[0] / 2;  in lsm6dso_hts221_read_conv_data()
156 	ht->y1 = buf[1] / 2;  in lsm6dso_hts221_read_conv_data()
157 	ht->x0 = buf[6] | (buf[7] << 8);  in lsm6dso_hts221_read_conv_data()
158 	ht->x1 = buf[10] | (buf[11] << 8);  in lsm6dso_hts221_read_conv_data()
190 		return -ENOTSUP;  in lsm6dso_hts221_odr_set()
208 		return lsm6dso_hts221_odr_set(dev, i2c_addr, val->val1);  in lsm6dso_hts221_conf()
211 		return -ENOTSUP;  in lsm6dso_hts221_conf()
240 	k_sleep(K_MSEC(1)); /* turn-on time in ms */  in lsm6dso_lps22hb_init()
274 	k_sleep(K_MSEC(100)); /* turn-on time in ms */  in lsm6dso_lps22hh_init()
303 		return -ENOTSUP;  in lsm6dso_lps22hh_odr_set()
321 		return lsm6dso_lps22hh_odr_set(dev, i2c_addr, val->val1);  in lsm6dso_lps22hh_conf()
324 		return -ENOTSUP;  in lsm6dso_lps22hh_conf()
408 		if (!--tries) {  in lsm6dso_shub_wait_completed()
410 			return -ETIMEDOUT;  in lsm6dso_shub_wait_completed()
421 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_enable()
422 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_enable()
423 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_enable()
426 	if (!data->accel_freq) {  in lsm6dso_shub_enable()
460 		LOG_DBG("shub: error reading embedded reg");  in lsm6dso_shub_check_slv0_nack()
461 		return -EIO;  in lsm6dso_shub_check_slv0_nack()
466 		return -EIO;  in lsm6dso_shub_check_slv0_nack()
479 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_read_target_reg()
480 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_read_target_reg()
496 		return -EIO;  in lsm6dso_shub_read_target_reg()
501 		return -EIO;  in lsm6dso_shub_read_target_reg()
515 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_write_target_reg()
516 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_write_target_reg()
535 			return -EIO;  in lsm6dso_shub_write_target_reg()
555  *  - TARGET 0: used for configuring all target devices
556  *  - TARGET 1: used as data read channel for external target device #1
557  *  - TARGET 2: used as data read channel for external target device #2
558  *  - TARGET 3: used for generic reads while data channel is enabled
562 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_set_data_channel()
563 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_set_data_channel()
564 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_set_data_channel()
570 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dso_shub_set_data_channel()
571 		sp = &lsm6dso_shub_slist[data->shub_ext[n]];  in lsm6dso_shub_set_data_channel()
573 		trgt_cfg.slv_add = sp->ext_i2c_addr;  in lsm6dso_shub_set_data_channel()
574 		trgt_cfg.slv_subadd = sp->out_data_addr;  in lsm6dso_shub_set_data_channel()
575 		trgt_cfg.slv_len = sp->out_data_len;  in lsm6dso_shub_set_data_channel()
579 			return -EIO;  in lsm6dso_shub_set_data_channel()
584 	lsm6dso_aux_sens_on_t aux = LSM6DSO_SLV_0_1_2;  in lsm6dso_shub_set_data_channel()  local
586 	if (lsm6dso_sh_slave_connected_set(ctx, aux) < 0) {  in lsm6dso_shub_set_data_channel()
587 		LOG_DBG("shub: error setting aux sensors");  in lsm6dso_shub_set_data_channel()
588 		return -EIO;  in lsm6dso_shub_set_data_channel()
601 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_get_idx()
604 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dso_shub_get_idx()
605 		sp = &lsm6dso_shub_slist[data->shub_ext[n]];  in lsm6dso_shub_get_idx()
607 		if (sp->type == type) {  in lsm6dso_shub_get_idx()
612 	LOG_ERR("shub: dev %s type %d not supported", dev->name, type);  in lsm6dso_shub_get_idx()
613 	return -ENOTSUP;  in lsm6dso_shub_get_idx()
619 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_fetch_external_devs()
620 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_fetch_external_devs()
621 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_fetch_external_devs()
627 		return -EIO;  in lsm6dso_shub_fetch_external_devs()
630 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dso_shub_fetch_external_devs()
631 		sp = &lsm6dso_shub_slist[data->shub_ext[n]];  in lsm6dso_shub_fetch_external_devs()
633 		if (lsm6dso_read_reg(ctx, sp->sh_out_reg,  in lsm6dso_shub_fetch_external_devs()
634 				     data->ext_data[n], sp->out_data_len) < 0) {  in lsm6dso_shub_fetch_external_devs()
637 			return -EIO;  in lsm6dso_shub_fetch_external_devs()
648 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_config()
652 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dso_shub_config()
653 		sp = &lsm6dso_shub_slist[data->shub_ext[n]];  in lsm6dso_shub_config()
655 		if (sp->type == chan) {  in lsm6dso_shub_config()
660 	if (n == data->num_ext_dev) {  in lsm6dso_shub_config()
661 		LOG_DBG("shub: %s chan %d not supported", dev->name, chan);  in lsm6dso_shub_config()
662 		return -ENOTSUP;  in lsm6dso_shub_config()
665 	if (sp == NULL || sp->dev_conf == NULL) {  in lsm6dso_shub_config()
667 		return -ENOTSUP;  in lsm6dso_shub_config()
670 	return sp->dev_conf(dev, sp->ext_i2c_addr, chan, attr, val);  in lsm6dso_shub_config()
675 	struct lsm6dso_data *data = dev->data;  in lsm6dso_shub_init()
676 	const struct lsm6dso_config *cfg = dev->config;  in lsm6dso_shub_init()
677 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dso_shub_init()
682 	LOG_INF("shub: start sensorhub for %s", dev->name);  in lsm6dso_shub_init()
684 	/* This must be set or lsm6dso_shub_write_target_reg() will repeatedly write the same reg */  in lsm6dso_shub_init()
687 		return -EIO;  in lsm6dso_shub_init()
691 		if (data->num_ext_dev >= LSM6DSO_SHUB_MAX_NUM_TARGETS) {  in lsm6dso_shub_init()
703 		for (i = 0U; i < ARRAY_SIZE(sp->i2c_addr); i++) {  in lsm6dso_shub_init()
705 							sp->i2c_addr[i],  in lsm6dso_shub_init()
706 							sp->wai_addr,  in lsm6dso_shub_init()
711 			if (chip_id == sp->wai_val) {  in lsm6dso_shub_init()
716 		if (i >= ARRAY_SIZE(sp->i2c_addr)) {  in lsm6dso_shub_init()
721 		sp->ext_i2c_addr = sp->i2c_addr[i];  in lsm6dso_shub_init()
723 		data->shub_ext[data->num_ext_dev++] = n;  in lsm6dso_shub_init()
726 	LOG_DBG("shub: dev %s - num_ext_dev %d", dev->name, data->num_ext_dev);  in lsm6dso_shub_init()
727 	if (data->num_ext_dev == 0) {  in lsm6dso_shub_init()
729 		return -EINVAL;  in lsm6dso_shub_init()
733 	for (n = 0, regn = 0; n < data->num_ext_dev; n++) {  in lsm6dso_shub_init()
734 		sp = &lsm6dso_shub_slist[data->shub_ext[n]];  in lsm6dso_shub_init()
735 		sp->sh_out_reg = LSM6DSO_SENSOR_HUB_1 + regn;  in lsm6dso_shub_init()
736 		regn += sp->out_data_len;  in lsm6dso_shub_init()
737 		sp->dev_init(dev, sp->ext_i2c_addr);  in lsm6dso_shub_init()