1 /* ST Microelectronics LIS2DS12 3-axis accelerometer driver
2 *
3 * Copyright (c) 2019 STMicroelectronics
4 *
5 * SPDX-License-Identifier: Apache-2.0
6 *
7 * Datasheet:
8 * https://www.st.com/resource/en/datasheet/lis2ds12.pdf
9 */
10
11 #define DT_DRV_COMPAT st_lis2ds12
12
13 #include <zephyr/drivers/sensor.h>
14 #include <zephyr/kernel.h>
15 #include <zephyr/device.h>
16 #include <zephyr/init.h>
17 #include <string.h>
18 #include <zephyr/sys/__assert.h>
19 #include <zephyr/logging/log.h>
20 #include <zephyr/dt-bindings/sensor/lis2ds12.h>
21
22 #include "lis2ds12.h"
23
24 LOG_MODULE_REGISTER(LIS2DS12, CONFIG_SENSOR_LOG_LEVEL);
25
lis2ds12_set_odr(const struct device * dev,uint8_t odr)26 static int lis2ds12_set_odr(const struct device *dev, uint8_t odr)
27 {
28 const struct lis2ds12_config *cfg = dev->config;
29 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
30 lis2ds12_odr_t val;
31
32 /* check if power off */
33 if (odr == 0U) {
34 LOG_DBG("%s: set power-down", dev->name);
35 return lis2ds12_xl_data_rate_set(ctx, LIS2DS12_XL_ODR_OFF);
36 }
37
38 /*
39 * odr >= 1600Hz are available in HF mode only
40 * 12,5Hz <= odr <= 800Hz are available in LP and HR mode only
41 * odr == 1Hz is available in LP mode only
42 */
43 if ((odr >= LIS2DS12_DT_ODR_1600Hz && cfg->pm != LIS2DS12_DT_HIGH_FREQUENCY) ||
44 (odr < LIS2DS12_DT_ODR_1600Hz && cfg->pm == LIS2DS12_DT_HIGH_FREQUENCY) ||
45 (odr == LIS2DS12_DT_ODR_1Hz_LP && cfg->pm != LIS2DS12_DT_LOW_POWER)) {
46 LOG_ERR("%s: bad odr and pm combination", dev->name);
47 return -ENOTSUP;
48 }
49
50 switch (odr) {
51 case 1:
52 val = LIS2DS12_XL_ODR_1Hz_LP;
53 break;
54 case 2:
55 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_12Hz5_LP :
56 LIS2DS12_XL_ODR_12Hz5_HR;
57 break;
58 case 3:
59 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_25Hz_LP :
60 LIS2DS12_XL_ODR_25Hz_HR;
61 break;
62 case 4:
63 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_50Hz_LP :
64 LIS2DS12_XL_ODR_50Hz_HR;
65 break;
66 case 5:
67 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_100Hz_LP :
68 LIS2DS12_XL_ODR_100Hz_HR;
69 break;
70 case 6:
71 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_200Hz_LP :
72 LIS2DS12_XL_ODR_200Hz_HR;
73 break;
74 case 7:
75 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_400Hz_LP :
76 LIS2DS12_XL_ODR_400Hz_HR;
77 break;
78 case 8:
79 val = (cfg->pm == 1) ? LIS2DS12_XL_ODR_800Hz_LP :
80 LIS2DS12_XL_ODR_800Hz_HR;
81 break;
82 case 9:
83 val = LIS2DS12_XL_ODR_1k6Hz_HF;
84 break;
85 case 10:
86 val = LIS2DS12_XL_ODR_3k2Hz_HF;
87 break;
88 case 11:
89 val = LIS2DS12_XL_ODR_6k4Hz_HF;
90 break;
91 default:
92 LOG_ERR("%s: bad odr %d", dev->name, odr);
93 return -ENOTSUP;
94 }
95
96 return lis2ds12_xl_data_rate_set(ctx, val);
97 }
98
lis2ds12_set_range(const struct device * dev,uint8_t range)99 static int lis2ds12_set_range(const struct device *dev, uint8_t range)
100 {
101 int err;
102 struct lis2ds12_data *data = dev->data;
103 const struct lis2ds12_config *cfg = dev->config;
104 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
105
106 switch (range) {
107 default:
108 case 2U:
109 err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_2g);
110 data->gain = lis2ds12_from_fs2g_to_mg(1);
111 break;
112 case 4U:
113 err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_4g);
114 data->gain = lis2ds12_from_fs4g_to_mg(1);
115 break;
116 case 8U:
117 err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_8g);
118 data->gain = lis2ds12_from_fs8g_to_mg(1);
119 break;
120 case 16U:
121 err = lis2ds12_xl_full_scale_set(ctx, LIS2DS12_16g);
122 data->gain = lis2ds12_from_fs16g_to_mg(1);
123 break;
124 }
125
126 return err;
127 }
128
lis2ds12_accel_config(const struct device * dev,enum sensor_channel chan,enum sensor_attribute attr,const struct sensor_value * val)129 static int lis2ds12_accel_config(const struct device *dev,
130 enum sensor_channel chan,
131 enum sensor_attribute attr,
132 const struct sensor_value *val)
133 {
134 switch (attr) {
135 case SENSOR_ATTR_FULL_SCALE:
136 return lis2ds12_set_range(dev, sensor_ms2_to_g(val));
137 case SENSOR_ATTR_SAMPLING_FREQUENCY:
138 LOG_DBG("%s: set odr to %d Hz", dev->name, val->val1);
139 return lis2ds12_set_odr(dev, LIS2DS12_ODR_TO_REG(val->val1));
140 default:
141 LOG_DBG("Accel attribute not supported.");
142 return -ENOTSUP;
143 }
144
145 return 0;
146 }
147
lis2ds12_attr_set(const struct device * dev,enum sensor_channel chan,enum sensor_attribute attr,const struct sensor_value * val)148 static int lis2ds12_attr_set(const struct device *dev,
149 enum sensor_channel chan,
150 enum sensor_attribute attr,
151 const struct sensor_value *val)
152 {
153 switch (chan) {
154 case SENSOR_CHAN_ACCEL_XYZ:
155 return lis2ds12_accel_config(dev, chan, attr, val);
156 default:
157 LOG_WRN("attr_set() not supported on this channel.");
158 return -ENOTSUP;
159 }
160
161 return 0;
162 }
163
lis2ds12_sample_fetch_accel(const struct device * dev)164 static int lis2ds12_sample_fetch_accel(const struct device *dev)
165 {
166 struct lis2ds12_data *data = dev->data;
167 const struct lis2ds12_config *cfg = dev->config;
168 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
169 int16_t buf[3];
170
171 /* fetch raw data sample */
172 if (lis2ds12_acceleration_raw_get(ctx, buf) < 0) {
173 LOG_ERR("Failed to fetch raw data sample");
174 return -EIO;
175 }
176
177 data->sample_x = buf[0];
178 data->sample_y = buf[1];
179 data->sample_z = buf[2];
180
181 return 0;
182 }
183
lis2ds12_sample_fetch(const struct device * dev,enum sensor_channel chan)184 static int lis2ds12_sample_fetch(const struct device *dev,
185 enum sensor_channel chan)
186 {
187 switch (chan) {
188 case SENSOR_CHAN_ACCEL_XYZ:
189 lis2ds12_sample_fetch_accel(dev);
190 break;
191 #if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
192 case SENSOR_CHAN_DIE_TEMP:
193 /* ToDo:
194 lis2ds12_sample_fetch_temp(dev)
195 */
196 break;
197 #endif
198 case SENSOR_CHAN_ALL:
199 lis2ds12_sample_fetch_accel(dev);
200 #if defined(CONFIG_LIS2DS12_ENABLE_TEMP)
201 /* ToDo:
202 lis2ds12_sample_fetch_temp(dev)
203 */
204 #endif
205 break;
206 default:
207 return -ENOTSUP;
208 }
209
210 return 0;
211 }
212
lis2ds12_convert(struct sensor_value * val,int raw_val,float gain)213 static inline void lis2ds12_convert(struct sensor_value *val, int raw_val,
214 float gain)
215 {
216 int64_t dval;
217
218 /* Gain is in mg/LSB */
219 /* Convert to m/s^2 */
220 dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000;
221 val->val1 = dval / 1000000LL;
222 val->val2 = dval % 1000000LL;
223 }
224
lis2ds12_get_channel(enum sensor_channel chan,struct sensor_value * val,struct lis2ds12_data * data,float gain)225 static inline int lis2ds12_get_channel(enum sensor_channel chan,
226 struct sensor_value *val,
227 struct lis2ds12_data *data,
228 float gain)
229 {
230 switch (chan) {
231 case SENSOR_CHAN_ACCEL_X:
232 lis2ds12_convert(val, data->sample_x, gain);
233 break;
234 case SENSOR_CHAN_ACCEL_Y:
235 lis2ds12_convert(val, data->sample_y, gain);
236 break;
237 case SENSOR_CHAN_ACCEL_Z:
238 lis2ds12_convert(val, data->sample_z, gain);
239 break;
240 case SENSOR_CHAN_ACCEL_XYZ:
241 lis2ds12_convert(val, data->sample_x, gain);
242 lis2ds12_convert(val + 1, data->sample_y, gain);
243 lis2ds12_convert(val + 2, data->sample_z, gain);
244 break;
245 default:
246 return -ENOTSUP;
247 }
248
249 return 0;
250 }
251
lis2ds12_channel_get(const struct device * dev,enum sensor_channel chan,struct sensor_value * val)252 static int lis2ds12_channel_get(const struct device *dev,
253 enum sensor_channel chan,
254 struct sensor_value *val)
255 {
256 struct lis2ds12_data *data = dev->data;
257
258 return lis2ds12_get_channel(chan, val, data, data->gain);
259 }
260
261 static DEVICE_API(sensor, lis2ds12_driver_api) = {
262 .attr_set = lis2ds12_attr_set,
263 #if defined(CONFIG_LIS2DS12_TRIGGER)
264 .trigger_set = lis2ds12_trigger_set,
265 #endif
266 .sample_fetch = lis2ds12_sample_fetch,
267 .channel_get = lis2ds12_channel_get,
268 };
269
lis2ds12_init(const struct device * dev)270 static int lis2ds12_init(const struct device *dev)
271 {
272 const struct lis2ds12_config * const cfg = dev->config;
273 stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
274 uint8_t chip_id;
275 int ret;
276
277 /* check chip ID */
278 ret = lis2ds12_device_id_get(ctx, &chip_id);
279 if (ret < 0) {
280 LOG_ERR("%s: Not able to read dev id", dev->name);
281 return ret;
282 }
283
284 if (chip_id != LIS2DS12_ID) {
285 LOG_ERR("%s: Invalid chip ID 0x%02x", dev->name, chip_id);
286 return -EINVAL;
287 }
288
289 /* reset device */
290 ret = lis2ds12_reset_set(ctx, PROPERTY_ENABLE);
291 if (ret < 0) {
292 return ret;
293 }
294
295 k_busy_wait(100);
296
297 LOG_DBG("%s: chip id 0x%x", dev->name, chip_id);
298
299 #ifdef CONFIG_LIS2DS12_TRIGGER
300 ret = lis2ds12_trigger_init(dev);
301 if (ret < 0) {
302 LOG_ERR("%s: Failed to initialize triggers", dev->name);
303 return ret;
304 }
305 #endif
306
307 /* set sensor default pm and odr */
308 LOG_DBG("%s: pm: %d, odr: %d", dev->name, cfg->pm, cfg->odr);
309 ret = lis2ds12_set_odr(dev, (cfg->pm == 0) ? 0 : cfg->odr);
310 if (ret < 0) {
311 LOG_ERR("%s: odr init error (12.5 Hz)", dev->name);
312 return ret;
313 }
314
315 /* set sensor default scale */
316 LOG_DBG("%s: range is %d", dev->name, cfg->range);
317 ret = lis2ds12_set_range(dev, cfg->range);
318 if (ret < 0) {
319 LOG_ERR("%s: range init error %d", dev->name, cfg->range);
320 return ret;
321 }
322
323 return 0;
324 }
325
326 #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
327 #warning "LIS2DS12 driver enabled without any devices"
328 #endif
329
330 /*
331 * Device creation macro, shared by LIS2DS12_DEFINE_SPI() and
332 * LIS2DS12_DEFINE_I2C().
333 */
334
335 #define LIS2DS12_DEVICE_INIT(inst) \
336 SENSOR_DEVICE_DT_INST_DEFINE(inst, \
337 lis2ds12_init, \
338 NULL, \
339 &lis2ds12_data_##inst, \
340 &lis2ds12_config_##inst, \
341 POST_KERNEL, \
342 CONFIG_SENSOR_INIT_PRIORITY, \
343 &lis2ds12_driver_api);
344
345 /*
346 * Instantiation macros used when a device is on a SPI bus.
347 */
348
349 #ifdef CONFIG_LIS2DS12_TRIGGER
350 #define LIS2DS12_CFG_IRQ(inst) \
351 .gpio_int = GPIO_DT_SPEC_INST_GET(inst, irq_gpios),
352 #else
353 #define LIS2DS12_CFG_IRQ(inst)
354 #endif /* CONFIG_LIS2DS12_TRIGGER */
355
356 #define LIS2DS12_CONFIG_COMMON(inst) \
357 .range = DT_INST_PROP(inst, range), \
358 .pm = DT_INST_PROP(inst, power_mode), \
359 .odr = DT_INST_PROP(inst, odr), \
360 COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios), \
361 (LIS2DS12_CFG_IRQ(inst)), ())
362
363 #define LIS2DS12_SPI_OPERATION (SPI_WORD_SET(8) | \
364 SPI_OP_MODE_MASTER | \
365 SPI_MODE_CPOL | \
366 SPI_MODE_CPHA) \
367
368 #define LIS2DS12_CONFIG_SPI(inst) \
369 { \
370 STMEMSC_CTX_SPI(&lis2ds12_config_##inst.stmemsc_cfg), \
371 .stmemsc_cfg = { \
372 .spi = SPI_DT_SPEC_INST_GET(inst, \
373 LIS2DS12_SPI_OPERATION, \
374 0), \
375 }, \
376 LIS2DS12_CONFIG_COMMON(inst) \
377 }
378
379 /*
380 * Instantiation macros used when a device is on an I2C bus.
381 */
382
383 #define LIS2DS12_CONFIG_I2C(inst) \
384 { \
385 STMEMSC_CTX_I2C(&lis2ds12_config_##inst.stmemsc_cfg), \
386 .stmemsc_cfg = { \
387 .i2c = I2C_DT_SPEC_INST_GET(inst), \
388 }, \
389 LIS2DS12_CONFIG_COMMON(inst) \
390 }
391
392 /*
393 * Main instantiation macro. Use of COND_CODE_1() selects the right
394 * bus-specific macro at preprocessor time.
395 */
396
397 #define LIS2DS12_DEFINE(inst) \
398 static struct lis2ds12_data lis2ds12_data_##inst; \
399 static const struct lis2ds12_config lis2ds12_config_##inst = \
400 COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
401 (LIS2DS12_CONFIG_SPI(inst)), \
402 (LIS2DS12_CONFIG_I2C(inst))); \
403 LIS2DS12_DEVICE_INIT(inst)
404
405 DT_INST_FOREACH_STATUS_OKAY(LIS2DS12_DEFINE)
406
