1 /* ST Microelectronics LSM6DSO16IS 6-axis IMU sensor driver 2 * 3 * Copyright (c) 2023 STMicroelectronics 4 * 5 * SPDX-License-Identifier: Apache-2.0 6 * 7 * Datasheet: 8 * https://www.st.com/resource/en/datasheet/lsm6dso16is.pdf 9 */ 10 11 #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ 12 #define ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ 13 14 #include <zephyr/drivers/sensor.h> 15 #include <zephyr/types.h> 16 #include <zephyr/drivers/gpio.h> 17 #include <zephyr/sys/util.h> 18 #include <stmemsc.h> 19 #include "lsm6dso16is_reg.h" 20 21 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) 22 #include <zephyr/drivers/spi.h> 23 #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */ 24 25 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) 26 #include <zephyr/drivers/i2c.h> 27 #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */ 28 29 #define LSM6DSO16IS_EN_BIT 0x01 30 #define LSM6DSO16IS_DIS_BIT 0x00 31 32 /* Accel sensor sensitivity grain is 61 ug/LSB */ 33 #define GAIN_UNIT_XL (61LL) 34 35 /* Gyro sensor sensitivity grain is 4.375 udps/LSB */ 36 #define GAIN_UNIT_G (4375LL) 37 38 struct lsm6dso16is_config { 39 stmdev_ctx_t ctx; 40 union { 41 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) 42 const struct i2c_dt_spec i2c; 43 #endif 44 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) 45 const struct spi_dt_spec spi; 46 #endif 47 } stmemsc_cfg; 48 uint8_t accel_pm; 49 uint8_t accel_odr; 50 uint8_t accel_range; 51 uint8_t gyro_pm; 52 uint8_t gyro_odr; 53 uint8_t gyro_range; 54 uint8_t drdy_pulsed; 55 #ifdef CONFIG_LSM6DSO16IS_TRIGGER 56 const struct gpio_dt_spec gpio_drdy; 57 uint8_t drdy_pin; 58 bool trig_enabled; 59 #endif /* CONFIG_LSM6DSO16IS_TRIGGER */ 60 }; 61 62 union samples { 63 uint8_t raw[6]; 64 struct { 65 int16_t axis[3]; 66 }; 67 } __aligned(2); 68 69 #define LSM6DSO16IS_SHUB_MAX_NUM_TARGETS 3 70 71 struct lsm6dso16is_data { 72 const struct device *dev; 73 int16_t acc[3]; 74 uint32_t acc_gain; 75 int16_t gyro[3]; 76 uint32_t gyro_gain; 77 #if defined(CONFIG_LSM6DSO16IS_ENABLE_TEMP) 78 int16_t temp_sample; 79 #endif 80 #if defined(CONFIG_LSM6DSO16IS_SENSORHUB) 81 uint8_t ext_data[LSM6DSO16IS_SHUB_MAX_NUM_TARGETS][6]; 82 uint16_t magn_gain; 83 84 struct hts221_data { 85 int16_t x0; 86 int16_t x1; 87 int16_t y0; 88 int16_t y1; 89 } hts221; 90 bool shub_inited; 91 uint8_t num_ext_dev; 92 uint8_t shub_ext[LSM6DSO16IS_SHUB_MAX_NUM_TARGETS]; 93 #endif /* CONFIG_LSM6DSO16IS_SENSORHUB */ 94 95 uint16_t accel_freq; 96 uint8_t accel_fs; 97 uint16_t gyro_freq; 98 uint8_t gyro_fs; 99 100 #ifdef CONFIG_LSM6DSO16IS_TRIGGER 101 struct gpio_callback gpio_cb; 102 sensor_trigger_handler_t handler_drdy_acc; 103 const struct sensor_trigger *trig_drdy_acc; 104 sensor_trigger_handler_t handler_drdy_gyr; 105 const struct sensor_trigger *trig_drdy_gyr; 106 sensor_trigger_handler_t handler_drdy_temp; 107 const struct sensor_trigger *trig_drdy_temp; 108 109 #if defined(CONFIG_LSM6DSO16IS_TRIGGER_OWN_THREAD) 110 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO16IS_THREAD_STACK_SIZE); 111 struct k_thread thread; 112 struct k_sem gpio_sem; 113 #elif defined(CONFIG_LSM6DSO16IS_TRIGGER_GLOBAL_THREAD) 114 struct k_work work; 115 #endif 116 #endif /* CONFIG_LSM6DSO16IS_TRIGGER */ 117 }; 118 119 #if defined(CONFIG_LSM6DSO16IS_SENSORHUB) 120 int lsm6dso16is_shub_init(const struct device *dev); 121 int lsm6dso16is_shub_fetch_external_devs(const struct device *dev); 122 int lsm6dso16is_shub_get_idx(const struct device *dev, enum sensor_channel type); 123 int lsm6dso16is_shub_config(const struct device *dev, enum sensor_channel chan, 124 enum sensor_attribute attr, 125 const struct sensor_value *val); 126 #endif /* CONFIG_LSM6DSO16IS_SENSORHUB */ 127 128 #ifdef CONFIG_LSM6DSO16IS_TRIGGER 129 int lsm6dso16is_trigger_set(const struct device *dev, 130 const struct sensor_trigger *trig, 131 sensor_trigger_handler_t handler); 132 133 int lsm6dso16is_init_interrupt(const struct device *dev); 134 #endif 135 136 #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO16IS_LSM6DSO16IS_H_ */ 137
