st/lis2de12/lis2de12.c

/* ST Microelectronics LIS2DE12 3-axis accelerometer sensor driver
 *
 * Copyright (c) 2024 STMicroelectronics
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Datasheet:
 * https://www.st.com/resource/en/datasheet/lis2de12.pdf
 */

#define DT_DRV_COMPAT st_lis2de12

#include <zephyr/drivers/sensor.h>
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/init.h>
#include <string.h>
#include <zephyr/sys/byteorder.h>
#include <zephyr/sys/__assert.h>
#include <zephyr/logging/log.h>

#include "lis2de12.h"

LOG_MODULE_REGISTER(LIS2DE12, CONFIG_SENSOR_LOG_LEVEL);

static const uint16_t lis2de12_odr_map[10] = { 0, 1, 10, 25, 50, 100, 200, 400, 1620, 5376};

static int lis2de12_freq_to_odr_val(const struct device *dev, uint16_t freq)
{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2de12_odr_map); i++) {
		if (freq <= lis2de12_odr_map[i]) {
			return i;
		}
	}

	return -EINVAL;
}

typedef struct {
	uint16_t fs;
	uint32_t gain; /* Accel sensor sensitivity in ug/LSB */
} fs_map;

static const fs_map lis2de12_accel_fs_map[] = {
				{2, 15600},
				{4, 31200},
				{8, 62500},
				{16, 187500},
			};

static int lis2de12_accel_range_to_fs_val(int32_t range)
{
	size_t i;

	for (i = 0; i < ARRAY_SIZE(lis2de12_accel_fs_map); i++) {
		if (range == lis2de12_accel_fs_map[i].fs) {
			return i;
		}
	}

	return -EINVAL;
}

static int lis2de12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_full_scale_set(ctx, fs) < 0) {
		return -EIO;
	}

	data->accel_fs = fs;

	return 0;
}

static int lis2de12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_data_rate_set(ctx, odr) < 0) {
		return -EIO;
	}

	data->accel_freq = odr;

	return 0;
}

static int lis2de12_accel_odr_set(const struct device *dev, uint16_t freq)
{
	int odr;

	odr = lis2de12_freq_to_odr_val(dev, freq);
	if (odr < 0) {
		return odr;
	}

	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
		LOG_ERR("failed to set accelerometer sampling rate");
		return -EIO;
	}

	return 0;
}

static int lis2de12_accel_range_set(const struct device *dev, int32_t range)
{
	int fs;
	struct lis2de12_data *data = dev->data;

	fs = lis2de12_accel_range_to_fs_val(range);
	if (fs < 0) {
		return fs;
	}

	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
		LOG_ERR("failed to set accelerometer full-scale");
		return -EIO;
	}

	data->acc_gain = lis2de12_accel_fs_map[fs].gain;
	return 0;
}

static int lis2de12_accel_config(const struct device *dev,
				 enum sensor_channel chan,
				 enum sensor_attribute attr,
				 const struct sensor_value *val)
{
	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
		return lis2de12_accel_range_set(dev, sensor_ms2_to_g(val));
	case SENSOR_ATTR_SAMPLING_FREQUENCY:
		return lis2de12_accel_odr_set(dev, val->val1);
	default:
		LOG_WRN("Accel attribute %d not supported.", attr);
		return -ENOTSUP;
	}
}

static int lis2de12_attr_set(const struct device *dev,
			     enum sensor_channel chan,
			     enum sensor_attribute attr,
			     const struct sensor_value *val)
{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
		return lis2de12_accel_config(dev, chan, attr, val);
	default:
		LOG_WRN("attribute %d not supported on this channel.", chan);
		return -ENOTSUP;
	}
}

static int lis2de12_sample_fetch_accel(const struct device *dev)
{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_acceleration_raw_get(ctx, data->acc) < 0) {
		LOG_ERR("Failed to read sample");
		return -EIO;
	}

	return 0;
}

#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
static int lis2de12_sample_fetch_temp(const struct device *dev)
{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	struct lis2de12_data *data = dev->data;

	if (lis2de12_temperature_raw_get(ctx, &data->temp_sample) < 0) {
		LOG_DBG("Failed to read sample");
		return -EIO;
	}

	return 0;
}
#endif

static int lis2de12_sample_fetch(const struct device *dev,
				 enum sensor_channel chan)
{
	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
		lis2de12_sample_fetch_accel(dev);
		break;
#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
		lis2de12_sample_fetch_temp(dev);
		break;
#endif
	case SENSOR_CHAN_ALL:
		lis2de12_sample_fetch_accel(dev);
#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
		lis2de12_sample_fetch_temp(dev);
#endif
		break;
	default:
		return -ENOTSUP;
	}

	return 0;
}

static inline void lis2de12_accel_convert(struct sensor_value *val, int raw_val,
					  uint32_t sensitivity)
{
	int64_t dval;

	/* Sensitivity is exposed in ug/LSB */
	/* Convert to m/s^2 */
	dval = (int64_t)(raw_val / 256) * sensitivity * SENSOR_G_DOUBLE;
	val->val1 = (int32_t)(dval / 1000000);
	val->val2 = (int32_t)(dval % 1000000);

}

static inline int lis2de12_accel_get_channel(enum sensor_channel chan,
					     struct sensor_value *val,
					     struct lis2de12_data *data,
					     uint32_t sensitivity)
{
	uint8_t i;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
		lis2de12_accel_convert(val, data->acc[0], sensitivity);
		break;
	case SENSOR_CHAN_ACCEL_Y:
		lis2de12_accel_convert(val, data->acc[1], sensitivity);
		break;
	case SENSOR_CHAN_ACCEL_Z:
		lis2de12_accel_convert(val, data->acc[2], sensitivity);
		break;
	case SENSOR_CHAN_ACCEL_XYZ:
		for (i = 0; i < 3; i++) {
			lis2de12_accel_convert(val++, data->acc[i], sensitivity);
		}
		break;
	default:
		return -ENOTSUP;
	}

	return 0;
}

static int lis2de12_accel_channel_get(enum sensor_channel chan,
				      struct sensor_value *val,
				      struct lis2de12_data *data)
{
	return lis2de12_accel_get_channel(chan, val, data, data->acc_gain);
}

#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
static void lis2de12_temp_channel_get(struct sensor_value *val, struct lis2de12_data *data)
{
	int64_t micro_c;

	/* convert units to micro Celsius. Raw temperature samples are
	 * expressed in 256 LSB/deg_C units. And LSB output is 0 at 25 C.
	 */
	micro_c = ((int64_t)data->temp_sample * 1000000) / 256;

	val->val1 = micro_c / 1000000 + 25;
	val->val2 = micro_c % 1000000;
}
#endif

static int lis2de12_channel_get(const struct device *dev,
				enum sensor_channel chan,
				struct sensor_value *val)
{
	struct lis2de12_data *data = dev->data;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
		lis2de12_accel_channel_get(chan, val, data);
		break;
#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	case SENSOR_CHAN_DIE_TEMP:
		lis2de12_temp_channel_get(val, data);
		break;
#endif
	default:
		return -ENOTSUP;
	}

	return 0;
}

static const struct sensor_driver_api lis2de12_driver_api = {
	.attr_set = lis2de12_attr_set,
#if CONFIG_LIS2DE12_TRIGGER
	.trigger_set = lis2de12_trigger_set,
#endif
	.sample_fetch = lis2de12_sample_fetch,
	.channel_get = lis2de12_channel_get,
};

static int lis2de12_init_chip(const struct device *dev)
{
	const struct lis2de12_config *cfg = dev->config;
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
	struct lis2de12_data *lis2de12 = dev->data;
	uint8_t chip_id;
	uint8_t odr, fs;

	if (lis2de12_device_id_get(ctx, &chip_id) < 0) {
		LOG_ERR("Failed reading chip id");
		return -EIO;
	}

	if (chip_id != LIS2DE12_ID) {
		LOG_ERR("Invalid chip id 0x%x", chip_id);
		return -EIO;
	}

	LOG_INF("chip id 0x%x", chip_id);

	if (lis2de12_block_data_update_set(ctx, 1) < 0) {
		LOG_ERR("failed to set BDU");
		return -EIO;
	}

	/* set FS from DT */
	fs = cfg->accel_range;
	LOG_DBG("accel range is %d", fs);
	if (lis2de12_accel_set_fs_raw(dev, fs) < 0) {
		LOG_ERR("failed to set accelerometer range %d", fs);
		return -EIO;
	}
	lis2de12->acc_gain = lis2de12_accel_fs_map[fs].gain;

	/* set odr from DT (the only way to go in high performance) */
	odr = cfg->accel_odr;
	LOG_DBG("accel odr is %d", odr);
	if (lis2de12_accel_set_odr_raw(dev, odr) < 0) {
		LOG_ERR("failed to set accelerometer odr %d", odr);
		return -EIO;
	}

#if defined(CONFIG_LIS2DE12_ENABLE_TEMP)
	lis2de12_temperature_meas_set(ctx, LIS2DE12_TEMP_ENABLE);
#endif

	return 0;
}

static int lis2de12_init(const struct device *dev)
{
#ifdef CONFIG_LIS2DE12_TRIGGER
	const struct lis2de12_config *cfg = dev->config;
#endif
	struct lis2de12_data *data = dev->data;

	LOG_INF("Initialize device %s", dev->name);
	data->dev = dev;

	if (lis2de12_init_chip(dev) < 0) {
		LOG_ERR("failed to initialize chip");
		return -EIO;
	}

#ifdef CONFIG_LIS2DE12_TRIGGER
	if (cfg->trig_enabled) {
		if (lis2de12_init_interrupt(dev) < 0) {
			LOG_ERR("Failed to initialize interrupt.");
			return -EIO;
		}
	}
#endif

	return 0;
}

/*
 * Device creation macro, shared by LIS2DE12_DEFINE_SPI() and
 * LIS2DE12_DEFINE_I2C().
 */

#define LIS2DE12_DEVICE_INIT(inst)					\
	SENSOR_DEVICE_DT_INST_DEFINE(inst,				\
			    lis2de12_init,				\
			    NULL,					\
			    &lis2de12_data_##inst,			\
			    &lis2de12_config_##inst,			\
			    POST_KERNEL,				\
			    CONFIG_SENSOR_INIT_PRIORITY,		\
			    &lis2de12_driver_api);

/*
 * Instantiation macros used when a device is on a SPI bus.
 */

#ifdef CONFIG_LIS2DE12_TRIGGER
#define LIS2DE12_CFG_IRQ(inst)						\
	.trig_enabled = true,						\
	.int1_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, { 0 }), \
	.int2_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, { 0 }), \
	.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed)
#else
#define LIS2DE12_CFG_IRQ(inst)
#endif /* CONFIG_LIS2DE12_TRIGGER */

#define LIS2DE12_SPI_OP  (SPI_WORD_SET(8) |				\
			 SPI_OP_MODE_MASTER |				\
			 SPI_MODE_CPOL |				\
			 SPI_MODE_CPHA)					\

#define LIS2DE12_CONFIG_COMMON(inst)					\
	.accel_odr = DT_INST_PROP(inst, accel_odr),			\
	.accel_range = DT_INST_PROP(inst, accel_range),			\
	IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios),	\
			   DT_INST_NODE_HAS_PROP(inst, int2_gpios)),	\
		   (LIS2DE12_CFG_IRQ(inst)))

/*
 * Instantiation macros used when a device is on a SPI bus.
 */

#define LIS2DE12_CONFIG_SPI(inst)						\
	{									\
		STMEMSC_CTX_SPI(&lis2de12_config_##inst.stmemsc_cfg),		\
		.stmemsc_cfg = {						\
			.spi = SPI_DT_SPEC_INST_GET(inst, LIS2DE12_SPI_OP, 0),	\
		},								\
		LIS2DE12_CONFIG_COMMON(inst)					\
	}

/*
 * Instantiation macros used when a device is on an I2C bus.
 */

#define LIS2DE12_CONFIG_I2C(inst)						\
	{									\
		STMEMSC_CTX_I2C_INCR(&lis2de12_config_##inst.stmemsc_cfg),	\
		.stmemsc_cfg = {						\
			.i2c = I2C_DT_SPEC_INST_GET(inst),			\
		},								\
		LIS2DE12_CONFIG_COMMON(inst)					\
	}

/*
 * Main instantiation macro. Use of COND_CODE_1() selects the right
 * bus-specific macro at preprocessor time.
 */

#define LIS2DE12_DEFINE(inst)						\
	static struct lis2de12_data lis2de12_data_##inst;			\
	static const struct lis2de12_config lis2de12_config_##inst =	\
		COND_CODE_1(DT_INST_ON_BUS(inst, spi),			\
			(LIS2DE12_CONFIG_SPI(inst)),			\
			(LIS2DE12_CONFIG_I2C(inst)));			\
	LIS2DE12_DEVICE_INIT(inst)

DT_INST_FOREACH_STATUS_OKAY(LIS2DE12_DEFINE)