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