1 /* ST Microelectronics LSM6DSV16X 6-axis IMU sensor driver
5  * SPDX-License-Identifier: Apache-2.0
59 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_lis2mdl_init()
62 	data->magn_gain = LIS2MDL_SENSITIVITY;  in lsm6dsv16x_lis2mdl_init()
69 	k_sleep(K_MSEC(10)); /* turn-on time in ms */  in lsm6dsv16x_lis2mdl_init()
95 		return -ENOTSUP;  in lsm6dsv16x_lis2mdl_odr_set()
113 		return lsm6dsv16x_lis2mdl_odr_set(dev, i2c_addr, val->val1);  in lsm6dsv16x_lis2mdl_conf()
116 		return -ENOTSUP;  in lsm6dsv16x_lis2mdl_conf()
140 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_hts221_read_conv_data()
142 	struct hts221_data *ht = &data->hts221;  in lsm6dsv16x_hts221_read_conv_data()
145 		unsigned char len = MIN(7, sizeof(buf) - i);  in lsm6dsv16x_hts221_read_conv_data()
152 			return -EIO;  in lsm6dsv16x_hts221_read_conv_data()
156 	ht->y0 = buf[0] / 2;  in lsm6dsv16x_hts221_read_conv_data()
157 	ht->y1 = buf[1] / 2;  in lsm6dsv16x_hts221_read_conv_data()
158 	ht->x0 = buf[6] | (buf[7] << 8);  in lsm6dsv16x_hts221_read_conv_data()
159 	ht->x1 = buf[10] | (buf[11] << 8);  in lsm6dsv16x_hts221_read_conv_data()
191 		return -ENOTSUP;  in lsm6dsv16x_hts221_odr_set()
209 		return lsm6dsv16x_hts221_odr_set(dev, i2c_addr, val->val1);  in lsm6dsv16x_hts221_conf()
212 		return -ENOTSUP;  in lsm6dsv16x_hts221_conf()
241 	k_sleep(K_MSEC(1)); /* turn-on time in ms */  in lsm6dsv16x_lps22hb_init()
275 	k_sleep(K_MSEC(100)); /* turn-on time in ms */  in lsm6dsv16x_lps22hh_init()
304 		return -ENOTSUP;  in lsm6dsv16x_lps22hh_odr_set()
322 		return lsm6dsv16x_lps22hh_odr_set(dev, i2c_addr, val->val1);  in lsm6dsv16x_lps22hh_conf()
325 		return -ENOTSUP;  in lsm6dsv16x_lps22hh_conf()
355 	k_busy_wait(50); /* turn-on time in us */  in lsm6dsv16x_lps22df_init()
384 		return -ENOTSUP;  in lsm6dsv16x_lps22df_odr_set()
402 		return lsm6dsv16x_lps22df_odr_set(dev, i2c_addr, val->val1);  in lsm6dsv16x_lps22df_conf()
405 		return -ENOTSUP;  in lsm6dsv16x_lps22df_conf()
503 		if (!--tries) {  in lsm6dsv16x_shub_wait_completed()
505 			return -ETIMEDOUT;  in lsm6dsv16x_shub_wait_completed()
516 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_enable()
517 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_enable()
518 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_enable()
521 	if (!data->accel_freq) {  in lsm6dsv16x_shub_enable()
555 		LOG_DBG("shub: error reading embedded reg");  in lsm6dsv16x_shub_check_slv0_nack()
556 		return -EIO;  in lsm6dsv16x_shub_check_slv0_nack()
561 		return -EIO;  in lsm6dsv16x_shub_check_slv0_nack()
574 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_read_target_reg()
575 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_read_target_reg()
591 		return -EIO;  in lsm6dsv16x_shub_read_target_reg()
596 		return -EIO;  in lsm6dsv16x_shub_read_target_reg()
610 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_write_target_reg()
611 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_write_target_reg()
630 			return -EIO;  in lsm6dsv16x_shub_write_target_reg()
650  *  - TARGET 0: used for configuring all target devices
651  *  - TARGET 1: used as data read channel for external target device #1
652  *  - TARGET 2: used as data read channel for external target device #2
653  *  - TARGET 3: used for generic reads while data channel is enabled
657 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_set_data_channel()
658 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_set_data_channel()
659 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_set_data_channel()
665 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dsv16x_shub_set_data_channel()
666 		sp = &lsm6dsv16x_shub_slist[data->shub_ext[n]];  in lsm6dsv16x_shub_set_data_channel()
668 		trgt_cfg.slv_add = sp->ext_i2c_addr;  in lsm6dsv16x_shub_set_data_channel()
669 		trgt_cfg.slv_subadd = sp->out_data_addr;  in lsm6dsv16x_shub_set_data_channel()
670 		trgt_cfg.slv_len = sp->out_data_len;  in lsm6dsv16x_shub_set_data_channel()
674 			return -EIO;  in lsm6dsv16x_shub_set_data_channel()
679 	lsm6dsv16x_sh_slave_connected_t aux = LSM6DSV16X_SLV_0_1_2;  in lsm6dsv16x_shub_set_data_channel()  local
681 	if (lsm6dsv16x_sh_slave_connected_set(ctx, aux) < 0) {  in lsm6dsv16x_shub_set_data_channel()
682 		LOG_DBG("shub: error setting aux sensors");  in lsm6dsv16x_shub_set_data_channel()
683 		return -EIO;  in lsm6dsv16x_shub_set_data_channel()
696 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_get_idx()
699 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dsv16x_shub_get_idx()
700 		sp = &lsm6dsv16x_shub_slist[data->shub_ext[n]];  in lsm6dsv16x_shub_get_idx()
702 		if (sp->type == type) {  in lsm6dsv16x_shub_get_idx()
707 	LOG_ERR("shub: dev %s type %d not supported", dev->name, type);  in lsm6dsv16x_shub_get_idx()
708 	return -ENOTSUP;  in lsm6dsv16x_shub_get_idx()
714 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_fetch_external_devs()
715 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_fetch_external_devs()
716 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_fetch_external_devs()
722 		return -EIO;  in lsm6dsv16x_shub_fetch_external_devs()
725 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dsv16x_shub_fetch_external_devs()
726 		sp = &lsm6dsv16x_shub_slist[data->shub_ext[n]];  in lsm6dsv16x_shub_fetch_external_devs()
728 		if (lsm6dsv16x_read_reg(ctx, sp->sh_out_reg,  in lsm6dsv16x_shub_fetch_external_devs()
729 				     data->ext_data[n], sp->out_data_len) < 0) {  in lsm6dsv16x_shub_fetch_external_devs()
732 			return -EIO;  in lsm6dsv16x_shub_fetch_external_devs()
743 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_config()
747 	for (n = 0; n < data->num_ext_dev; n++) {  in lsm6dsv16x_shub_config()
748 		sp = &lsm6dsv16x_shub_slist[data->shub_ext[n]];  in lsm6dsv16x_shub_config()
750 		if (sp->type == chan) {  in lsm6dsv16x_shub_config()
755 	if (n == data->num_ext_dev) {  in lsm6dsv16x_shub_config()
756 		LOG_DBG("shub: %s chan %d not supported", dev->name, chan);  in lsm6dsv16x_shub_config()
757 		return -ENOTSUP;  in lsm6dsv16x_shub_config()
760 	if (sp == NULL || sp->dev_conf == NULL) {  in lsm6dsv16x_shub_config()
762 		return -ENOTSUP;  in lsm6dsv16x_shub_config()
765 	return sp->dev_conf(dev, sp->ext_i2c_addr, chan, attr, val);  in lsm6dsv16x_shub_config()
770 	struct lsm6dsv16x_data *data = dev->data;  in lsm6dsv16x_shub_init()
771 	const struct lsm6dsv16x_config *cfg = dev->config;  in lsm6dsv16x_shub_init()
772 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm6dsv16x_shub_init()
777 	LOG_INF("shub: start sensorhub for %s", dev->name);  in lsm6dsv16x_shub_init()
785 		return -EIO;  in lsm6dsv16x_shub_init()
789 		if (data->num_ext_dev >= LSM6DSV16X_SHUB_MAX_NUM_TARGETS) {  in lsm6dsv16x_shub_init()
801 		for (i = 0U; i < ARRAY_SIZE(sp->i2c_addr); i++) {  in lsm6dsv16x_shub_init()
803 							    sp->i2c_addr[i],  in lsm6dsv16x_shub_init()
804 							    sp->wai_addr,  in lsm6dsv16x_shub_init()
809 			if (chip_id == sp->wai_val) {  in lsm6dsv16x_shub_init()
814 		if (i >= ARRAY_SIZE(sp->i2c_addr)) {  in lsm6dsv16x_shub_init()
819 		sp->ext_i2c_addr = sp->i2c_addr[i];  in lsm6dsv16x_shub_init()
821 		data->shub_ext[data->num_ext_dev++] = n;  in lsm6dsv16x_shub_init()
824 	LOG_DBG("shub: dev %s - num_ext_dev %d", dev->name, data->num_ext_dev);  in lsm6dsv16x_shub_init()
825 	if (data->num_ext_dev == 0) {  in lsm6dsv16x_shub_init()
827 		return -EINVAL;  in lsm6dsv16x_shub_init()
831 	for (n = 0, regn = 0; n < data->num_ext_dev; n++) {  in lsm6dsv16x_shub_init()
832 		sp = &lsm6dsv16x_shub_slist[data->shub_ext[n]];  in lsm6dsv16x_shub_init()
833 		sp->sh_out_reg = LSM6DSV16X_SENSOR_HUB_1 + regn;  in lsm6dsv16x_shub_init()
834 		regn += sp->out_data_len;  in lsm6dsv16x_shub_init()
835 		sp->dev_init(dev, sp->ext_i2c_addr);  in lsm6dsv16x_shub_init()