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