1 /* ST Microelectronics ISM330DHCX 6-axis IMU sensor 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/ism330dhcx.pdf
9 */
10
11 #define DT_DRV_COMPAT st_ism330dhcx
12
13 #include <string.h>
14 #include "ism330dhcx.h"
15 #include <zephyr/logging/log.h>
16
17 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
18
19 #define ISM330DHCX_SPI_READ (1 << 7)
20
21 LOG_MODULE_DECLARE(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL);
22
ism330dhcx_spi_read(const struct device * dev,uint8_t reg_addr,uint8_t * value,uint8_t len)23 static int ism330dhcx_spi_read(const struct device *dev, uint8_t reg_addr, uint8_t *value,
24 uint8_t len)
25 {
26 const struct ism330dhcx_config *cfg = dev->config;
27 uint8_t buffer_tx[2] = { reg_addr | ISM330DHCX_SPI_READ, 0 };
28 const struct spi_buf tx_buf = {
29 .buf = buffer_tx,
30 .len = 2,
31 };
32 const struct spi_buf_set tx = {
33 .buffers = &tx_buf,
34 .count = 1
35 };
36 const struct spi_buf rx_buf[2] = {
37 {
38 .buf = NULL,
39 .len = 1,
40 },
41 {
42 .buf = value,
43 .len = len,
44 }
45 };
46 const struct spi_buf_set rx = {
47 .buffers = rx_buf,
48 .count = 2
49 };
50
51
52 if (len > 64) {
53 return -EIO;
54 }
55
56 if (spi_transceive_dt(&cfg->spi, &tx, &rx)) {
57 return -EIO;
58 }
59
60 return 0;
61 }
62
ism330dhcx_spi_write(const struct device * dev,uint8_t reg_addr,uint8_t * value,uint8_t len)63 static int ism330dhcx_spi_write(const struct device *dev, uint8_t reg_addr, uint8_t *value,
64 uint8_t len)
65 {
66 const struct ism330dhcx_config *cfg = dev->config;
67 uint8_t buffer_tx[1] = { reg_addr & ~ISM330DHCX_SPI_READ };
68 const struct spi_buf tx_buf[2] = {
69 {
70 .buf = buffer_tx,
71 .len = 1,
72 },
73 {
74 .buf = value,
75 .len = len,
76 }
77 };
78 const struct spi_buf_set tx = {
79 .buffers = tx_buf,
80 .count = 2
81 };
82
83
84 if (len > 64) {
85 return -EIO;
86 }
87
88 if (spi_write_dt(&cfg->spi, &tx)) {
89 return -EIO;
90 }
91
92 return 0;
93 }
94
ism330dhcx_spi_init(const struct device * dev)95 int ism330dhcx_spi_init(const struct device *dev)
96 {
97 struct ism330dhcx_data *data = dev->data;
98 const struct ism330dhcx_config *cfg = dev->config;
99
100 if (!spi_is_ready_dt(&cfg->spi)) {
101 LOG_ERR("SPI bus is not ready");
102 return -ENODEV;
103 };
104
105 data->ctx_spi.read_reg = (stmdev_read_ptr) ism330dhcx_spi_read;
106 data->ctx_spi.write_reg = (stmdev_write_ptr) ism330dhcx_spi_write;
107 data->ctx_spi.mdelay = (stmdev_mdelay_ptr) stmemsc_mdelay;
108
109 data->ctx = &data->ctx_spi;
110 data->ctx->handle = (void *)dev;
111
112 return 0;
113 }
114 #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
115