1 /*
2 * Copyright (c) 2016 Intel Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #define DT_DRV_COMPAT bosch_bma280
8
9 #include <zephyr/drivers/i2c.h>
10 #include <zephyr/init.h>
11 #include <zephyr/drivers/sensor.h>
12 #include <zephyr/sys/__assert.h>
13 #include <zephyr/logging/log.h>
14
15 #include "bma280.h"
16
17 LOG_MODULE_REGISTER(BMA280, CONFIG_SENSOR_LOG_LEVEL);
18
bma280_sample_fetch(const struct device * dev,enum sensor_channel chan)19 static int bma280_sample_fetch(const struct device *dev,
20 enum sensor_channel chan)
21 {
22 struct bma280_data *drv_data = dev->data;
23 const struct bma280_config *config = dev->config;
24 uint8_t buf[6];
25 uint8_t lsb;
26
27 __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
28
29 /*
30 * since all accel data register addresses are consecutive,
31 * a burst read can be used to read all the samples
32 */
33 if (i2c_burst_read_dt(&config->i2c,
34 BMA280_REG_ACCEL_X_LSB, buf, 6) < 0) {
35 LOG_DBG("Could not read accel axis data");
36 return -EIO;
37 }
38
39 lsb = (buf[0] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT;
40 drv_data->x_sample = (((int8_t)buf[1]) << BMA280_ACCEL_LSB_BITS) | lsb;
41
42 lsb = (buf[2] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT;
43 drv_data->y_sample = (((int8_t)buf[3]) << BMA280_ACCEL_LSB_BITS) | lsb;
44
45 lsb = (buf[4] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT;
46 drv_data->z_sample = (((int8_t)buf[5]) << BMA280_ACCEL_LSB_BITS) | lsb;
47
48 if (i2c_reg_read_byte_dt(&config->i2c,
49 BMA280_REG_TEMP,
50 (uint8_t *)&drv_data->temp_sample) < 0) {
51 LOG_DBG("Could not read temperature data");
52 return -EIO;
53 }
54
55 return 0;
56 }
57
bma280_channel_accel_convert(struct sensor_value * val,int64_t raw_val)58 static void bma280_channel_accel_convert(struct sensor_value *val,
59 int64_t raw_val)
60 {
61 /*
62 * accel_val = (sample * BMA280_PMU_FULL_RAGE) /
63 * (2^data_width * 10^6)
64 */
65 raw_val = (raw_val * BMA280_PMU_FULL_RANGE) /
66 (1 << (8 + BMA280_ACCEL_LSB_BITS));
67 val->val1 = raw_val / 1000000;
68 val->val2 = raw_val % 1000000;
69
70 /* normalize val to make sure val->val2 is positive */
71 if (val->val2 < 0) {
72 val->val1 -= 1;
73 val->val2 += 1000000;
74 }
75 }
76
bma280_channel_get(const struct device * dev,enum sensor_channel chan,struct sensor_value * val)77 static int bma280_channel_get(const struct device *dev,
78 enum sensor_channel chan,
79 struct sensor_value *val)
80 {
81 struct bma280_data *drv_data = dev->data;
82
83 /*
84 * See datasheet "Sensor data" section for
85 * more details on processing sample data.
86 */
87 if (chan == SENSOR_CHAN_ACCEL_X) {
88 bma280_channel_accel_convert(val, drv_data->x_sample);
89 } else if (chan == SENSOR_CHAN_ACCEL_Y) {
90 bma280_channel_accel_convert(val, drv_data->y_sample);
91 } else if (chan == SENSOR_CHAN_ACCEL_Z) {
92 bma280_channel_accel_convert(val, drv_data->z_sample);
93 } else if (chan == SENSOR_CHAN_ACCEL_XYZ) {
94 bma280_channel_accel_convert(val, drv_data->x_sample);
95 bma280_channel_accel_convert(val + 1, drv_data->y_sample);
96 bma280_channel_accel_convert(val + 2, drv_data->z_sample);
97 } else if (chan == SENSOR_CHAN_DIE_TEMP) {
98 /* temperature_val = 23 + sample / 2 */
99 val->val1 = (drv_data->temp_sample >> 1) + 23;
100 val->val2 = 500000 * (drv_data->temp_sample & 1);
101 return 0;
102 } else {
103 return -ENOTSUP;
104 }
105
106 return 0;
107 }
108
109 static DEVICE_API(sensor, bma280_driver_api) = {
110 #if CONFIG_BMA280_TRIGGER
111 .attr_set = bma280_attr_set,
112 .trigger_set = bma280_trigger_set,
113 #endif
114 .sample_fetch = bma280_sample_fetch,
115 .channel_get = bma280_channel_get,
116 };
117
bma280_init(const struct device * dev)118 int bma280_init(const struct device *dev)
119 {
120 const struct bma280_config *config = dev->config;
121 uint8_t id = 0U;
122
123 if (!device_is_ready(config->i2c.bus)) {
124 LOG_ERR("I2C bus device not ready");
125 return -ENODEV;
126 }
127
128 /* read device ID */
129 if (i2c_reg_read_byte_dt(&config->i2c,
130 BMA280_REG_CHIP_ID, &id) < 0) {
131 LOG_DBG("Could not read chip id");
132 return -EIO;
133 }
134
135 if (id != BMA280_CHIP_ID) {
136 LOG_DBG("Unexpected chip id (%x)", id);
137 return -EIO;
138 }
139
140 if (i2c_reg_write_byte_dt(&config->i2c,
141 BMA280_REG_PMU_BW, BMA280_PMU_BW) < 0) {
142 LOG_DBG("Could not set data filter bandwidth");
143 return -EIO;
144 }
145
146 /* set g-range */
147 if (i2c_reg_write_byte_dt(&config->i2c,
148 BMA280_REG_PMU_RANGE, BMA280_PMU_RANGE) < 0) {
149 LOG_DBG("Could not set data g-range");
150 return -EIO;
151 }
152
153 #ifdef CONFIG_BMA280_TRIGGER
154 if (config->int1_gpio.port) {
155 if (bma280_init_interrupt(dev) < 0) {
156 LOG_DBG("Could not initialize interrupts");
157 return -EIO;
158 }
159 }
160 #endif
161
162 return 0;
163 }
164
165 #define BMA280_DEFINE(inst) \
166 static struct bma280_data bma280_data_##inst; \
167 \
168 static const struct bma280_config bma280_config##inst = { \
169 .i2c = I2C_DT_SPEC_INST_GET(inst), \
170 IF_ENABLED(CONFIG_BMA280_TRIGGER, \
171 (.int1_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, { 0 }),)) \
172 }; \
173 \
174 SENSOR_DEVICE_DT_INST_DEFINE(inst, bma280_init, NULL, &bma280_data_##inst, \
175 &bma280_config##inst, POST_KERNEL, \
176 CONFIG_SENSOR_INIT_PRIORITY, &bma280_driver_api); \
177
178 DT_INST_FOREACH_STATUS_OKAY(BMA280_DEFINE)
179
