1 /*
2 * Copyright (c) 2016 Intel Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #define DT_DRV_COMPAT st_lis3mdl_magn
8
9 #include <zephyr/drivers/i2c.h>
10 #include <zephyr/init.h>
11 #include <zephyr/sys/__assert.h>
12 #include <zephyr/sys/byteorder.h>
13 #include <zephyr/drivers/sensor.h>
14 #include <zephyr/pm/device.h>
15 #include <string.h>
16 #include <zephyr/logging/log.h>
17
18 #include "lis3mdl.h"
19
20 LOG_MODULE_REGISTER(LIS3MDL, CONFIG_SENSOR_LOG_LEVEL);
21
lis3mdl_convert(struct sensor_value * val,int16_t raw_val,uint16_t divider)22 static void lis3mdl_convert(struct sensor_value *val, int16_t raw_val,
23 uint16_t divider)
24 {
25 /* val = raw_val / divider */
26 val->val1 = raw_val / divider;
27 val->val2 = (((int64_t)raw_val % divider) * 1000000L) / divider;
28 }
29
lis3mdl_channel_get(const struct device * dev,enum sensor_channel chan,struct sensor_value * val)30 static int lis3mdl_channel_get(const struct device *dev,
31 enum sensor_channel chan,
32 struct sensor_value *val)
33 {
34 struct lis3mdl_data *drv_data = dev->data;
35
36 if (chan == SENSOR_CHAN_MAGN_XYZ) {
37 /* magn_val = sample / magn_gain */
38 lis3mdl_convert(val, drv_data->x_sample,
39 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
40 lis3mdl_convert(val + 1, drv_data->y_sample,
41 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
42 lis3mdl_convert(val + 2, drv_data->z_sample,
43 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
44 } else if (chan == SENSOR_CHAN_MAGN_X) {
45 lis3mdl_convert(val, drv_data->x_sample,
46 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
47 } else if (chan == SENSOR_CHAN_MAGN_Y) {
48 lis3mdl_convert(val, drv_data->y_sample,
49 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
50 } else if (chan == SENSOR_CHAN_MAGN_Z) {
51 lis3mdl_convert(val, drv_data->z_sample,
52 lis3mdl_magn_gain[LIS3MDL_FS_IDX]);
53 } else if (chan == SENSOR_CHAN_DIE_TEMP) {
54 /* temp_val = 25 + sample / 8 */
55 lis3mdl_convert(val, drv_data->temp_sample, 8);
56 val->val1 += 25;
57 } else {
58 return -ENOTSUP;
59 }
60
61 return 0;
62 }
63
lis3mdl_sample_fetch(const struct device * dev,enum sensor_channel chan)64 int lis3mdl_sample_fetch(const struct device *dev, enum sensor_channel chan)
65 {
66 struct lis3mdl_data *drv_data = dev->data;
67 const struct lis3mdl_config *config = dev->config;
68 int16_t buf[4];
69
70 __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_MAGN_XYZ);
71
72 /* fetch magnetometer sample */
73 if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START,
74 (uint8_t *)buf, 8) < 0) {
75 LOG_DBG("Failed to fetch magnetometer sample.");
76 return -EIO;
77 }
78
79 /*
80 * the chip doesn't allow fetching temperature data in
81 * the same read as magnetometer data, so do another
82 * burst read to fetch the temperature sample
83 */
84 if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START + 6,
85 (uint8_t *)(buf + 3), 2) < 0) {
86 LOG_DBG("Failed to fetch temperature sample.");
87 return -EIO;
88 }
89
90 drv_data->x_sample = sys_le16_to_cpu(buf[0]);
91 drv_data->y_sample = sys_le16_to_cpu(buf[1]);
92 drv_data->z_sample = sys_le16_to_cpu(buf[2]);
93 drv_data->temp_sample = sys_le16_to_cpu(buf[3]);
94
95 return 0;
96 }
97
98 static DEVICE_API(sensor, lis3mdl_driver_api) = {
99 #if CONFIG_LIS3MDL_TRIGGER
100 .trigger_set = lis3mdl_trigger_set,
101 #endif
102 .sample_fetch = lis3mdl_sample_fetch,
103 .channel_get = lis3mdl_channel_get,
104 };
105
lis3mdl_init(const struct device * dev)106 int lis3mdl_init(const struct device *dev)
107 {
108 const struct lis3mdl_config *config = dev->config;
109 uint8_t chip_cfg[6];
110 uint8_t id, idx;
111
112 if (!device_is_ready(config->i2c.bus)) {
113 LOG_ERR("I2C bus device not ready");
114 return -ENODEV;
115 }
116
117 /* check chip ID */
118 if (i2c_reg_read_byte_dt(&config->i2c, LIS3MDL_REG_WHO_AM_I, &id) < 0) {
119 LOG_ERR("Failed to read chip ID.");
120 return -EIO;
121 }
122
123 if (id != LIS3MDL_CHIP_ID) {
124 LOG_ERR("Invalid chip ID.");
125 return -EINVAL;
126 }
127
128 /* check if CONFIG_LIS3MDL_ODR is valid */
129 for (idx = 0U; idx < ARRAY_SIZE(lis3mdl_odr_strings); idx++) {
130 if (!strcmp(lis3mdl_odr_strings[idx], CONFIG_LIS3MDL_ODR)) {
131 break;
132 }
133 }
134
135 if (idx == ARRAY_SIZE(lis3mdl_odr_strings)) {
136 LOG_ERR("Invalid ODR value.");
137 return -EINVAL;
138 }
139
140 /* Configure sensor */
141 chip_cfg[0] = LIS3MDL_REG_CTRL1;
142 chip_cfg[1] = LIS3MDL_TEMP_EN_MASK | lis3mdl_odr_bits[idx];
143 chip_cfg[2] = LIS3MDL_FS_IDX << LIS3MDL_FS_SHIFT;
144 chip_cfg[3] = LIS3MDL_MD_CONTINUOUS;
145 chip_cfg[4] = ((lis3mdl_odr_bits[idx] & LIS3MDL_OM_MASK) >>
146 LIS3MDL_OM_SHIFT) << LIS3MDL_OMZ_SHIFT;
147 chip_cfg[5] = LIS3MDL_BDU_EN;
148
149 if (i2c_write_dt(&config->i2c, chip_cfg, 6) < 0) {
150 LOG_DBG("Failed to configure chip.");
151 return -EIO;
152 }
153
154 #ifdef CONFIG_LIS3MDL_TRIGGER
155 if (config->irq_gpio.port) {
156 if (lis3mdl_init_interrupt(dev) < 0) {
157 LOG_DBG("Failed to initialize interrupts.");
158 return -EIO;
159 }
160 }
161 #endif
162
163 return 0;
164 }
165
166 #ifdef CONFIG_PM_DEVICE
lis3mdl_pm_action(const struct device * dev,enum pm_device_action action)167 static int lis3mdl_pm_action(const struct device *dev, enum pm_device_action action)
168 {
169 const struct lis3mdl_config *config = dev->config;
170 uint8_t ctrl_reg3;
171
172 switch (action) {
173 case PM_DEVICE_ACTION_RESUME:
174 ctrl_reg3 = LIS3MDL_MD_CONTINUOUS;
175
176 if (i2c_reg_write_byte_dt(&config->i2c, LIS3MDL_REG_CTRL3, ctrl_reg3) < 0) {
177 LOG_DBG("Failed to configure chip.");
178 return -EIO;
179 }
180
181 LOG_DBG("State changed to active");
182 break;
183 case PM_DEVICE_ACTION_SUSPEND:
184 ctrl_reg3 = LIS3MDL_MD_POWER_DOWN;
185
186 if (i2c_reg_write_byte_dt(&config->i2c, LIS3MDL_REG_CTRL3, ctrl_reg3) < 0) {
187 LOG_DBG("Failed to configure chip.");
188 return -EIO;
189 }
190
191 LOG_DBG("State changed to inactive");
192 break;
193 default:
194 return -ENOTSUP;
195 }
196
197 return 0;
198 }
199 #endif
200
201 #define LIS3MDL_DEFINE(inst) \
202 static struct lis3mdl_data lis3mdl_data_##inst; \
203 \
204 static struct lis3mdl_config lis3mdl_config_##inst = { \
205 .i2c = I2C_DT_SPEC_INST_GET(inst), \
206 IF_ENABLED(CONFIG_LIS3MDL_TRIGGER, \
207 (.irq_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, irq_gpios, { 0 }),)) \
208 }; \
209 \
210 PM_DEVICE_DT_INST_DEFINE(inst, lis3mdl_pm_action); \
211 \
212 SENSOR_DEVICE_DT_INST_DEFINE(inst, lis3mdl_init, \
213 PM_DEVICE_DT_INST_GET(inst), \
214 &lis3mdl_data_##inst, &lis3mdl_config_##inst, POST_KERNEL, \
215 CONFIG_SENSOR_INIT_PRIORITY, &lis3mdl_driver_api); \
216
217 DT_INST_FOREACH_STATUS_OKAY(LIS3MDL_DEFINE)
218
