4  * SPDX-License-Identifier: Apache-2.0
42 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_reboot()
43 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_reboot()
76 		return -EINVAL;  in lsm9ds1_accel_range_to_fs_val()
90 		return -EINVAL;  in lsm9ds1_gyro_range_to_fs_val()
94 static int lsm9ds1_accel_fs_val_to_gain(int fs)  in lsm9ds1_accel_fs_val_to_gain()  argument
96 	return lsm9ds1_accel_fs_sens[fs];  in lsm9ds1_accel_fs_val_to_gain()
109 	return -EINVAL;  in lsm9ds1_accel_freq_to_odr_val()
122 	return -EINVAL;  in lsm9ds1_gyro_freq_to_odr_val()
127 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_accel_set_odr_raw()
128 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_accel_set_odr_raw()
129 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_accel_set_odr_raw()
146 	data->accel_odr = odr;  in lsm9ds1_accel_set_odr_raw()
153 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_gyro_set_odr_raw()
154 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_gyro_set_odr_raw()
155 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_gyro_set_odr_raw()
172 	data->gyro_odr = odr;  in lsm9ds1_gyro_set_odr_raw()
178 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_gyro_odr_set()
184 	if (odr == data->gyro_odr) {  in lsm9ds1_gyro_odr_set()
212 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_accel_odr_set()
213 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_accel_odr_set()
214 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_accel_odr_set()
231 		if (odr == data->gyro_odr) {  in lsm9ds1_accel_odr_set()
254 		if (odr == data->accel_odr) {  in lsm9ds1_accel_odr_set()
273 	int fs;  in lsm9ds1_accel_range_set()  local
274 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_accel_range_set()
275 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_accel_range_set()
276 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_accel_range_set()
279 	fs = lsm9ds1_accel_range_to_fs_val(range);  in lsm9ds1_accel_range_set()
280 	if (fs < 0) {  in lsm9ds1_accel_range_set()
282 		return fs;  in lsm9ds1_accel_range_set()
285 	ret = lsm9ds1_xl_full_scale_set(ctx, fs);  in lsm9ds1_accel_range_set()
287 		LOG_DBG("failed to set accelerometer full-scale");  in lsm9ds1_accel_range_set()
291 	data->acc_gain = lsm9ds1_accel_fs_val_to_gain(fs);  in lsm9ds1_accel_range_set()
297 	int fs;  in lsm9ds1_gyro_range_set()  local
298 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_gyro_range_set()
299 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_gyro_range_set()
300 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_gyro_range_set()
303 	fs = lsm9ds1_gyro_range_to_fs_val(range);  in lsm9ds1_gyro_range_set()
304 	if (fs < 0) {  in lsm9ds1_gyro_range_set()
305 		return fs;  in lsm9ds1_gyro_range_set()
308 	ret = lsm9ds1_gy_full_scale_set(ctx, fs);  in lsm9ds1_gyro_range_set()
310 		LOG_DBG("failed to set gyroscope full-scale");  in lsm9ds1_gyro_range_set()
314 	data->gyro_gain = (lsm9ds1_gyro_fs_sens[fs] * GAIN_UNIT_G);  in lsm9ds1_gyro_range_set()
325 		return lsm9ds1_accel_odr_set(dev, val->val1);  in lsm9ds1_accel_config()
327 		LOG_DBG("Accel attribute not supported.");  in lsm9ds1_accel_config()
328 		return -ENOTSUP;  in lsm9ds1_accel_config()
341 		return lsm9ds1_gyro_odr_set(dev, val->val1);  in lsm9ds1_gyro_config()
344 		return -ENOTSUP;  in lsm9ds1_gyro_config()
360 		return -ENOTSUP;  in lsm9ds1_attr_set()
367 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_sample_fetch_accel()
368 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_sample_fetch_accel()
369 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_sample_fetch_accel()
372 	ret = lsm9ds1_acceleration_raw_get(ctx, data->acc);  in lsm9ds1_sample_fetch_accel()
383 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_sample_fetch_gyro()
384 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_sample_fetch_gyro()
385 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_sample_fetch_gyro()
388 	ret = lsm9ds1_angular_rate_raw_get(ctx, data->gyro);  in lsm9ds1_sample_fetch_gyro()
399 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_sample_fetch_temp()
400 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_sample_fetch_temp()
401 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_sample_fetch_temp()
404 	ret = lsm9ds1_temperature_raw_get(ctx, &data->temp_sample);  in lsm9ds1_sample_fetch_temp()
436 		return -ENOTSUP;  in lsm9ds1_sample_fetch()
456 		lsm9ds1_accel_convert(val, data->acc[0], sensitivity);  in lsm9ds1_accel_get_channel()
459 		lsm9ds1_accel_convert(val, data->acc[1], sensitivity);  in lsm9ds1_accel_get_channel()
462 		lsm9ds1_accel_convert(val, data->acc[2], sensitivity);  in lsm9ds1_accel_get_channel()
466 			lsm9ds1_accel_convert(val++, data->acc[i], sensitivity);  in lsm9ds1_accel_get_channel()
470 		return -ENOTSUP;  in lsm9ds1_accel_get_channel()
479 	return lsm9ds1_accel_get_channel(chan, val, data, data->acc_gain);  in lsm9ds1_accel_channel_get()
496 		lsm9ds1_gyro_convert(val, data->gyro[0], sensitivity);  in lsm9ds1_gyro_get_channel()
499 		lsm9ds1_gyro_convert(val, data->gyro[1], sensitivity);  in lsm9ds1_gyro_get_channel()
502 		lsm9ds1_gyro_convert(val, data->gyro[2], sensitivity);  in lsm9ds1_gyro_get_channel()
506 			lsm9ds1_gyro_convert(val++, data->gyro[i], sensitivity);  in lsm9ds1_gyro_get_channel()
510 		return -ENOTSUP;  in lsm9ds1_gyro_get_channel()
519 	return lsm9ds1_gyro_get_channel(chan, val, data, data->gyro_gain);  in lsm9ds1_gyro_channel_get()
525 	val->val1 = data->temp_sample / TEMP_SENSITIVITY + TEMP_OFFSET;  in lsm9ds1_temp_channel_get()
526 	val->val2 = (data->temp_sample % TEMP_SENSITIVITY) * (1000000 / TEMP_SENSITIVITY);  in lsm9ds1_temp_channel_get()
533 	struct lsm9ds1_data *data = dev->data;  in lsm9ds1_channel_get()
554 		return -ENOTSUP;  in lsm9ds1_channel_get()
568 	const struct lsm9ds1_config *cfg = dev->config;  in lsm9ds1_init()
569 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;  in lsm9ds1_init()
570 	struct lsm9ds1_data *lsm9ds1 = dev->data;  in lsm9ds1_init()
571 	uint8_t chip_id, fs;  in lsm9ds1_init()  local
588 		return -EIO;  in lsm9ds1_init()
592 	LOG_DBG("output data rate is %d\n", cfg->imu_odr);  in lsm9ds1_init()
593 	ret = lsm9ds1_imu_data_rate_set(ctx, cfg->imu_odr);  in lsm9ds1_init()
599 	fs = cfg->accel_range;  in lsm9ds1_init()
600 	LOG_DBG("accel range is %d\n", fs);  in lsm9ds1_init()
601 	ret = lsm9ds1_xl_full_scale_set(ctx, fs);  in lsm9ds1_init()
603 		LOG_ERR("failed to set accelerometer range %d", fs);  in lsm9ds1_init()
607 	lsm9ds1->acc_gain = lsm9ds1_accel_fs_val_to_gain(fs);  in lsm9ds1_init()
609 	fs = cfg->gyro_range;  in lsm9ds1_init()
610 	LOG_DBG("gyro range is %d", fs);  in lsm9ds1_init()
611 	ret = lsm9ds1_gy_full_scale_set(ctx, fs);  in lsm9ds1_init()
613 		LOG_ERR("failed to set gyroscope range %d\n", fs);  in lsm9ds1_init()
616 	lsm9ds1->gyro_gain = (lsm9ds1_gyro_fs_sens[fs] * GAIN_UNIT_G);  in lsm9ds1_init()