1 /* ST Microelectronics IIS2DH 3-axis accelerometer driver
2 *
3 * Copyright (c) 2020 STMicroelectronics
4 *
5 * SPDX-License-Identifier: Apache-2.0
6 *
7 * Datasheet:
8 * https://www.st.com/resource/en/datasheet/iis2dh.pdf
9 */
10
11 #define DT_DRV_COMPAT st_iis2dh
12
13 #include <zephyr/init.h>
14 #include <zephyr/sys/__assert.h>
15 #include <zephyr/sys/byteorder.h>
16 #include <zephyr/sys/util_macro.h>
17 #include <zephyr/logging/log.h>
18 #include <zephyr/drivers/sensor.h>
19
20 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
21 #include <zephyr/drivers/spi.h>
22 #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
23 #include <zephyr/drivers/i2c.h>
24 #endif
25
26 #include "iis2dh.h"
27
28 LOG_MODULE_REGISTER(IIS2DH, CONFIG_SENSOR_LOG_LEVEL);
29
30 /* gains in uG/LSB */
31 static const uint32_t iis2dh_gain[3][4] = {
32 {
33 /* HR mode */
34 980/16, /* 2G */
35 1950/16, /* 4G */
36 3910/16, /* 8G */
37 11720/16, /* 16G */
38 },
39 {
40 /* NM mode */
41 3910/64, /* 2G */
42 7810/64, /* 4G */
43 15630/64, /* 8G */
44 46950/64, /* 16G */
45 },
46 {
47 /* LP mode */
48 15630/256, /* 2G */
49 31250/256, /* 4G */
50 62500/256, /* 8G */
51 188680/256, /* 16G */
52 },
53 };
54
iis2dh_set_fs_raw(const struct device * dev,uint8_t fs)55 static int iis2dh_set_fs_raw(const struct device *dev, uint8_t fs)
56 {
57 struct iis2dh_data *iis2dh = dev->data;
58 int err;
59
60 err = iis2dh_full_scale_set(iis2dh->ctx, fs);
61
62 if (!err) {
63 /* save internally gain for optimization */
64 iis2dh->gain = iis2dh_gain[IIS2DH_HR_12bit][fs];
65 }
66
67 return err;
68 }
69
70 #if (CONFIG_IIS2DH_RANGE == 0)
71 /**
72 * iis2dh_set_range - set full scale range for acc
73 * @dev: Pointer to instance of struct device (I2C or SPI)
74 * @range: Full scale range (2, 4, 8 and 16 G)
75 */
iis2dh_set_range(const struct device * dev,uint16_t range)76 static int iis2dh_set_range(const struct device *dev, uint16_t range)
77 {
78 int err;
79 uint8_t fs = IIS2DH_FS_TO_REG(range);
80
81 err = iis2dh_set_fs_raw(dev, fs);
82
83 return err;
84 }
85 #endif
86
87 #if (CONFIG_IIS2DH_ODR == 0)
88 /**
89 * iis2dh_set_odr - set new sampling frequency
90 * @dev: Pointer to instance of struct device (I2C or SPI)
91 * @odr: Output data rate
92 */
iis2dh_set_odr(const struct device * dev,uint16_t odr)93 static int iis2dh_set_odr(const struct device *dev, uint16_t odr)
94 {
95 struct iis2dh_data *iis2dh = dev->data;
96 const struct iis2dh_device_config *cfg = dev->config;
97 iis2dh_odr_t val;
98
99 val = IIS2DH_ODR_TO_REG_HR(cfg->pm, odr);
100
101 return iis2dh_data_rate_set(iis2dh->ctx, val);
102 }
103 #endif
104
iis2dh_convert(struct sensor_value * val,int raw_val,uint32_t gain)105 static inline void iis2dh_convert(struct sensor_value *val, int raw_val,
106 uint32_t gain)
107 {
108 int64_t dval;
109
110 /* Gain is in ug/LSB */
111 /* Convert to m/s^2 */
112 dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000000LL;
113 val->val1 = dval / 1000000LL;
114 val->val2 = dval % 1000000LL;
115 }
116
iis2dh_channel_get_acc(const struct device * dev,enum sensor_channel chan,struct sensor_value * val)117 static inline void iis2dh_channel_get_acc(const struct device *dev,
118 enum sensor_channel chan,
119 struct sensor_value *val)
120 {
121 int i;
122 uint8_t ofs_start, ofs_stop;
123 struct iis2dh_data *iis2dh = dev->data;
124 struct sensor_value *pval = val;
125
126 switch (chan) {
127 case SENSOR_CHAN_ACCEL_X:
128 ofs_start = ofs_stop = 0U;
129 break;
130 case SENSOR_CHAN_ACCEL_Y:
131 ofs_start = ofs_stop = 1U;
132 break;
133 case SENSOR_CHAN_ACCEL_Z:
134 ofs_start = ofs_stop = 2U;
135 break;
136 default:
137 ofs_start = 0U; ofs_stop = 2U;
138 break;
139 }
140
141 for (i = ofs_start; i <= ofs_stop ; i++) {
142 iis2dh_convert(pval++, iis2dh->acc[i], iis2dh->gain);
143 }
144 }
145
iis2dh_channel_get(const struct device * dev,enum sensor_channel chan,struct sensor_value * val)146 static int iis2dh_channel_get(const struct device *dev,
147 enum sensor_channel chan,
148 struct sensor_value *val)
149 {
150 switch (chan) {
151 case SENSOR_CHAN_ACCEL_X:
152 case SENSOR_CHAN_ACCEL_Y:
153 case SENSOR_CHAN_ACCEL_Z:
154 case SENSOR_CHAN_ACCEL_XYZ:
155 iis2dh_channel_get_acc(dev, chan, val);
156 return 0;
157 default:
158 LOG_DBG("Channel not supported");
159 break;
160 }
161
162 return -ENOTSUP;
163 }
164
iis2dh_config(const struct device * dev,enum sensor_channel chan,enum sensor_attribute attr,const struct sensor_value * val)165 static int iis2dh_config(const struct device *dev, enum sensor_channel chan,
166 enum sensor_attribute attr,
167 const struct sensor_value *val)
168 {
169 switch (attr) {
170 #if (CONFIG_IIS2DH_RANGE == 0)
171 case SENSOR_ATTR_FULL_SCALE:
172 return iis2dh_set_range(dev, sensor_ms2_to_g(val));
173 #endif
174 #if (CONFIG_IIS2DH_ODR == 0)
175 case SENSOR_ATTR_SAMPLING_FREQUENCY:
176 return iis2dh_set_odr(dev, val->val1);
177 #endif
178 default:
179 LOG_DBG("Acc attribute not supported");
180 break;
181 }
182
183 return -ENOTSUP;
184 }
185
iis2dh_attr_set(const struct device * dev,enum sensor_channel chan,enum sensor_attribute attr,const struct sensor_value * val)186 static int iis2dh_attr_set(const struct device *dev, enum sensor_channel chan,
187 enum sensor_attribute attr,
188 const struct sensor_value *val)
189 {
190 switch (chan) {
191 case SENSOR_CHAN_ACCEL_X:
192 case SENSOR_CHAN_ACCEL_Y:
193 case SENSOR_CHAN_ACCEL_Z:
194 case SENSOR_CHAN_ACCEL_XYZ:
195 return iis2dh_config(dev, chan, attr, val);
196 default:
197 LOG_DBG("Attr not supported on %d channel", chan);
198 break;
199 }
200
201 return -ENOTSUP;
202 }
203
iis2dh_sample_fetch(const struct device * dev,enum sensor_channel chan)204 static int iis2dh_sample_fetch(const struct device *dev,
205 enum sensor_channel chan)
206 {
207 struct iis2dh_data *iis2dh = dev->data;
208 int16_t buf[3];
209
210 /* fetch raw data sample */
211 if (iis2dh_acceleration_raw_get(iis2dh->ctx, buf) < 0) {
212 LOG_DBG("Failed to fetch raw data sample");
213 return -EIO;
214 }
215
216 iis2dh->acc[0] = sys_le16_to_cpu(buf[0]);
217 iis2dh->acc[1] = sys_le16_to_cpu(buf[1]);
218 iis2dh->acc[2] = sys_le16_to_cpu(buf[2]);
219
220 return 0;
221 }
222
223 static const struct sensor_driver_api iis2dh_driver_api = {
224 .attr_set = iis2dh_attr_set,
225 #if CONFIG_IIS2DH_TRIGGER
226 .trigger_set = iis2dh_trigger_set,
227 #endif /* CONFIG_IIS2DH_TRIGGER */
228 .sample_fetch = iis2dh_sample_fetch,
229 .channel_get = iis2dh_channel_get,
230 };
231
iis2dh_init_interface(const struct device * dev)232 static int iis2dh_init_interface(const struct device *dev)
233 {
234 int res;
235
236 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
237 res = iis2dh_spi_init(dev);
238 if (res) {
239 return res;
240 }
241 #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
242 res = iis2dh_i2c_init(dev);
243 if (res) {
244 return res;
245 }
246 #else
247 #error "BUS MACRO NOT DEFINED IN DTS"
248 #endif
249
250 return 0;
251 }
252
iis2dh_init(const struct device * dev)253 static int iis2dh_init(const struct device *dev)
254 {
255 struct iis2dh_data *iis2dh = dev->data;
256 const struct iis2dh_device_config *cfg = dev->config;
257 uint8_t wai;
258
259 if (iis2dh_init_interface(dev)) {
260 return -EINVAL;
261 }
262
263 /* check chip ID */
264 if (iis2dh_device_id_get(iis2dh->ctx, &wai) < 0) {
265 return -EIO;
266 }
267
268 if (wai != IIS2DH_ID) {
269 LOG_ERR("Invalid chip ID: %02x", wai);
270 return -EINVAL;
271 }
272
273 if (iis2dh_block_data_update_set(iis2dh->ctx, PROPERTY_ENABLE) < 0) {
274 return -EIO;
275 }
276
277 if (iis2dh_operating_mode_set(iis2dh->ctx, cfg->pm)) {
278 return -EIO;
279 }
280
281 #if (CONFIG_IIS2DH_ODR != 0)
282 /* set default odr and full scale for acc */
283 if (iis2dh_data_rate_set(iis2dh->ctx, CONFIG_IIS2DH_ODR) < 0) {
284 return -EIO;
285 }
286 #endif
287
288 #if (CONFIG_IIS2DH_RANGE != 0)
289 iis2dh_set_fs_raw(dev, CONFIG_IIS2DH_RANGE);
290 #endif
291
292 #ifdef CONFIG_IIS2DH_TRIGGER
293 if (cfg->int_gpio.port) {
294 if (iis2dh_init_interrupt(dev) < 0) {
295 LOG_ERR("Failed to initialize interrupts");
296 return -EIO;
297 }
298 }
299 #endif /* CONFIG_IIS2DH_TRIGGER */
300
301 return 0;
302 }
303
304 #define IIS2DH_SPI(inst) \
305 (.spi = SPI_DT_SPEC_INST_GET( \
306 0, SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8), 0),)
307
308 #define IIS2DH_I2C(inst) (.i2c = I2C_DT_SPEC_INST_GET(inst),)
309
310 #define IIS2DH_DEFINE(inst) \
311 static struct iis2dh_data iis2dh_data_##inst; \
312 \
313 static const struct iis2dh_device_config iis2dh_device_config_##inst = { \
314 COND_CODE_1(DT_INST_ON_BUS(inst, i2c), IIS2DH_I2C(inst), ()) \
315 COND_CODE_1(DT_INST_ON_BUS(inst, spi), IIS2DH_SPI(inst), ()) \
316 .pm = CONFIG_IIS2DH_POWER_MODE, \
317 IF_ENABLED(CONFIG_IIS2DH_TRIGGER, \
318 (.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, drdy_gpios, { 0 }),)) \
319 }; \
320 \
321 SENSOR_DEVICE_DT_INST_DEFINE(inst, iis2dh_init, NULL, \
322 &iis2dh_data_##inst, &iis2dh_device_config_##inst, POST_KERNEL, \
323 CONFIG_SENSOR_INIT_PRIORITY, &iis2dh_driver_api); \
324
325 DT_INST_FOREACH_STATUS_OKAY(IIS2DH_DEFINE)
326
