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 #ifndef ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ 12 #define ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ 13 14 #include <zephyr/drivers/sensor.h> 15 #include <zephyr/types.h> 16 #include <zephyr/drivers/gpio.h> 17 #include <zephyr/drivers/spi.h> 18 #include <zephyr/drivers/i2c.h> 19 #include <zephyr/kernel.h> 20 #include <zephyr/sys/util.h> 21 #include <stmemsc.h> 22 #include "ism330dhcx_reg.h" 23 24 #define ISM330DHCX_EN_BIT 0x01 25 #define ISM330DHCX_DIS_BIT 0x00 26 27 /* Accel sensor sensitivity grain is 61 ug/LSB */ 28 #define GAIN_UNIT_XL (61LL) 29 30 /* Gyro sensor sensitivity grain is 4.375 udps/LSB */ 31 #define GAIN_UNIT_G (4375LL) 32 33 struct ism330dhcx_config { 34 int (*bus_init)(const struct device *dev); 35 uint8_t accel_odr; 36 uint16_t gyro_odr; 37 uint8_t accel_range; 38 uint16_t gyro_range; 39 #ifdef CONFIG_ISM330DHCX_TRIGGER 40 uint8_t int_pin; 41 struct gpio_dt_spec drdy_gpio; 42 #endif /* CONFIG_ISM330DHCX_TRIGGER */ 43 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) 44 struct i2c_dt_spec i2c; 45 #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) 46 struct spi_dt_spec spi; 47 #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */ 48 }; 49 50 union samples { 51 uint8_t raw[6]; 52 struct { 53 int16_t axis[3]; 54 }; 55 } __aligned(2); 56 57 #define ISM330DHCX_SHUB_MAX_NUM_SLVS 2 58 59 struct ism330dhcx_data { 60 const struct device *dev; 61 int16_t acc[3]; 62 uint32_t acc_gain; 63 int16_t gyro[3]; 64 uint32_t gyro_gain; 65 #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) 66 int temp_sample; 67 #endif 68 #if defined(CONFIG_ISM330DHCX_SENSORHUB) 69 uint8_t ext_data[2][6]; 70 uint16_t magn_gain; 71 72 struct hts221_data { 73 int16_t x0; 74 int16_t x1; 75 int16_t y0; 76 int16_t y1; 77 } hts221; 78 #endif /* CONFIG_ISM330DHCX_SENSORHUB */ 79 80 stmdev_ctx_t *ctx; 81 82 #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) 83 stmdev_ctx_t ctx_i2c; 84 #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) 85 stmdev_ctx_t ctx_spi; 86 #endif 87 88 uint16_t accel_freq; 89 uint8_t accel_fs; 90 uint16_t gyro_freq; 91 uint8_t gyro_fs; 92 93 #ifdef CONFIG_ISM330DHCX_TRIGGER 94 struct gpio_callback gpio_cb; 95 sensor_trigger_handler_t handler_drdy_acc; 96 const struct sensor_trigger *trig_drdy_acc; 97 sensor_trigger_handler_t handler_drdy_gyr; 98 const struct sensor_trigger *trig_drdy_gyr; 99 sensor_trigger_handler_t handler_drdy_temp; 100 const struct sensor_trigger *trig_drdy_temp; 101 102 #if defined(CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD) 103 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_ISM330DHCX_THREAD_STACK_SIZE); 104 struct k_thread thread; 105 struct k_sem gpio_sem; 106 #elif defined(CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD) 107 struct k_work work; 108 #endif 109 #endif /* CONFIG_ISM330DHCX_TRIGGER */ 110 }; 111 112 int ism330dhcx_spi_init(const struct device *dev); 113 int ism330dhcx_i2c_init(const struct device *dev); 114 #if defined(CONFIG_ISM330DHCX_SENSORHUB) 115 int ism330dhcx_shub_init(const struct device *dev); 116 int ism330dhcx_shub_fetch_external_devs(const struct device *dev); 117 int ism330dhcx_shub_get_idx(enum sensor_channel type); 118 int ism330dhcx_shub_config(const struct device *dev, enum sensor_channel chan, 119 enum sensor_attribute attr, 120 const struct sensor_value *val); 121 #endif /* CONFIG_ISM330DHCX_SENSORHUB */ 122 123 #ifdef CONFIG_ISM330DHCX_TRIGGER 124 int ism330dhcx_trigger_set(const struct device *dev, 125 const struct sensor_trigger *trig, 126 sensor_trigger_handler_t handler); 127 128 int ism330dhcx_init_interrupt(const struct device *dev); 129 #endif 130 131 #endif /* ZEPHYR_DRIVERS_SENSOR_ISM330DHCX_ISM330DHCX_H_ */ 132
