4  * SPDX-License-Identifier: Apache-2.0
7 #include <zephyr/drivers/i2c.h>
72 	/* The sensor device returns 10^-9 Teslas after scaling.  in ak8963_convert_magn()
80 		return -EOVERFLOW;  in ak8963_convert_magn()
85 	val->val1 = scaled_val / 1000000;  in ak8963_convert_magn()
86 	val->val2 = scaled_val % 1000000;  in ak8963_convert_magn()
93 	/* Instruct the MPU9250 to access over its external i2c bus  in ak8963_execute_rw()
96 	const struct mpu9250_config *cfg = dev->config;  in ak8963_execute_rw()
105 	/* Set target i2c address */  in ak8963_execute_rw()
106 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_execute_rw()
110 		LOG_ERR("Failed to write i2c target slave address.");  in ak8963_execute_rw()
114 	/* Set target i2c register */  in ak8963_execute_rw()
115 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_execute_rw()
119 		LOG_ERR("Failed to write i2c target slave register.");  in ak8963_execute_rw()
124 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_execute_rw()
128 		LOG_ERR("Failed to initiate i2c slave transfer.");  in ak8963_execute_rw()
134 		ret = i2c_reg_read_byte_dt(&cfg->i2c,  in ak8963_execute_rw()
147 	const struct mpu9250_config *cfg = dev->config;  in ak8963_read_reg()
158 	ret = i2c_reg_read_byte_dt(&cfg->i2c,  in ak8963_read_reg()
170 	const struct mpu9250_config *cfg = dev->config;  in ak8963_write_reg()
174 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_write_reg()
192 static int ak8963_set_mode(const struct device *dev, uint8_t mode)  in ak8963_set_mode()  argument
196 	ret = ak8963_write_reg(dev, AK8963_REG_CNTL1, mode);  in ak8963_set_mode()
198 		LOG_ERR("Failed to set AK8963 mode.");  in ak8963_set_mode()
202 	/* Wait for mode to change */  in ak8963_set_mode()
215 	 *  -> 0.1499 * 10^4 = 1499  in ak8963_calc_adj()
218 	 *  Calculation from MPU-9250 Register Map and Descriptions  in ak8963_calc_adj()
219 	 *  adj = (((val-128)*0.5)/128)+1  in ak8963_calc_adj()
221 	return ((AK9863_SCALE_TO_UG * (val - 128)) / 256) + AK9863_SCALE_TO_UG;  in ak8963_calc_adj()
227 	struct mpu9250_data *drv_data = dev->data;  in ak8963_fetch_adj()
231 	/* Change to FUSE access mode to access adjustment registers */  in ak8963_fetch_adj()
234 		LOG_ERR("Failed to set chip in fuse access mode.");  in ak8963_fetch_adj()
243 	drv_data->magn_scale_x = ak8963_calc_adj(buf);  in ak8963_fetch_adj()
250 	drv_data->magn_scale_y = ak8963_calc_adj(buf);  in ak8963_fetch_adj()
257 	drv_data->magn_scale_z = ak8963_calc_adj(buf);  in ak8963_fetch_adj()
259 	/* Change back to the powerdown mode */  in ak8963_fetch_adj()
262 		LOG_ERR("Failed to set chip in power down mode.");  in ak8963_fetch_adj()
266 	LOG_DBG("Adjustment values %d %d %d", drv_data->magn_scale_x,  in ak8963_fetch_adj()
267 		drv_data->magn_scale_y, drv_data->magn_scale_z);  in ak8963_fetch_adj()
276 	/* Reset the chip -> reset all settings. */  in ak8963_reset()
292 	const struct mpu9250_config *cfg = dev->config;  in ak8963_init_master()
295 	/* Instruct MPU9250 to use its external I2C bus as master */  in ak8963_init_master()
296 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_init_master()
300 		LOG_ERR("Failed to set MPU9250 master i2c mode.");  in ak8963_init_master()
304 	/* Set MPU9250 I2C bus as 400kHz and issue interrupt at data ready. */  in ak8963_init_master()
305 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_init_master()
309 		LOG_ERR("Failed to set MPU9250 master i2c speed.");  in ak8963_init_master()
318 	const struct mpu9250_config *cfg = dev->config;  in ak8963_init_readout()
321 	/* Set target i2c address */  in ak8963_init_readout()
322 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_init_readout()
331 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_init_readout()
339 	ret = i2c_reg_write_byte_dt(&cfg->i2c,  in ak8963_init_readout()
357 		LOG_ERR("Initializing MPU9250 master mode failed.");  in ak8963_init()
376 		return -ENOTSUP;  in ak8963_init()