1 /* ST Microelectronics LSM6DSO 6-axis IMU sensor 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/lsm6dso.pdf 9 */ 10 11 #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ 12 #define ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_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/sys/util.h> 19 #include <stmemsc.h> 20 #include "lsm6dso_reg.h" 21 22 #if DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso, spi) || \ 23 DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso32, spi) 24 #include <zephyr/drivers/spi.h> 25 #endif 26 27 #if DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso, i2c) || \ 28 DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso32, i2c) 29 #include <zephyr/drivers/i2c.h> 30 #endif 31 32 #define LSM6DSO_EN_BIT 0x01 33 #define LSM6DSO_DIS_BIT 0x00 34 35 /* Accel sensor sensitivity grain is 61 ug/LSB */ 36 #define GAIN_UNIT_XL (61LL) 37 38 /* Gyro sensor sensitivity grain is 4.375 udps/LSB */ 39 #define GAIN_UNIT_G (4375LL) 40 41 struct lsm6dso_config { 42 stmdev_ctx_t ctx; 43 union { 44 #if DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso, i2c) || \ 45 DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso32, i2c) 46 const struct i2c_dt_spec i2c; 47 #endif 48 #if DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso, spi) || \ 49 DT_HAS_COMPAT_ON_BUS_STATUS_OKAY(st_lsm6dso32, spi) 50 const struct spi_dt_spec spi; 51 #endif 52 } stmemsc_cfg; 53 uint8_t accel_pm; 54 uint8_t accel_odr; 55 #define ACCEL_RANGE_DOUBLE BIT(7) 56 #define ACCEL_RANGE_MASK BIT_MASK(6) 57 uint8_t accel_range; 58 uint8_t gyro_pm; 59 uint8_t gyro_odr; 60 uint8_t gyro_range; 61 uint8_t drdy_pulsed; 62 #ifdef CONFIG_LSM6DSO_TRIGGER 63 const struct gpio_dt_spec gpio_drdy; 64 uint8_t int_pin; 65 bool trig_enabled; 66 #endif /* CONFIG_LSM6DSO_TRIGGER */ 67 }; 68 69 #define LSM6DSO_SHUB_MAX_NUM_TARGETS 3 70 71 struct lsm6dso_data { 72 const struct device *dev; 73 int16_t acc[3]; 74 uint32_t acc_gain; 75 int16_t gyro[3]; 76 uint32_t gyro_gain; 77 #if defined(CONFIG_LSM6DSO_ENABLE_TEMP) 78 int16_t temp_sample; 79 #endif 80 #if defined(CONFIG_LSM6DSO_SENSORHUB) 81 uint8_t ext_data[LSM6DSO_SHUB_MAX_NUM_TARGETS][6]; 82 uint16_t magn_gain; 83 84 struct hts221_data { 85 int16_t x0; 86 int16_t x1; 87 int16_t y0; 88 int16_t y1; 89 } hts221; 90 bool shub_inited; 91 uint8_t num_ext_dev; 92 uint8_t shub_ext[LSM6DSO_SHUB_MAX_NUM_TARGETS]; 93 #endif /* CONFIG_LSM6DSO_SENSORHUB */ 94 95 uint16_t accel_freq; 96 uint8_t accel_fs; 97 uint16_t gyro_freq; 98 uint8_t gyro_fs; 99 100 #ifdef CONFIG_LSM6DSO_TRIGGER 101 struct gpio_callback gpio_cb; 102 sensor_trigger_handler_t handler_drdy_acc; 103 const struct sensor_trigger *trig_drdy_acc; 104 sensor_trigger_handler_t handler_drdy_gyr; 105 const struct sensor_trigger *trig_drdy_gyr; 106 sensor_trigger_handler_t handler_drdy_temp; 107 const struct sensor_trigger *trig_drdy_temp; 108 109 #if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD) 110 K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE); 111 struct k_thread thread; 112 struct k_sem gpio_sem; 113 #elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD) 114 struct k_work work; 115 #endif 116 #endif /* CONFIG_LSM6DSO_TRIGGER */ 117 }; 118 119 #if defined(CONFIG_LSM6DSO_SENSORHUB) 120 int lsm6dso_shub_init(const struct device *dev); 121 int lsm6dso_shub_fetch_external_devs(const struct device *dev); 122 int lsm6dso_shub_get_idx(const struct device *dev, enum sensor_channel type); 123 int lsm6dso_shub_config(const struct device *dev, enum sensor_channel chan, 124 enum sensor_attribute attr, 125 const struct sensor_value *val); 126 #endif /* CONFIG_LSM6DSO_SENSORHUB */ 127 128 #ifdef CONFIG_LSM6DSO_TRIGGER 129 int lsm6dso_trigger_set(const struct device *dev, 130 const struct sensor_trigger *trig, 131 sensor_trigger_handler_t handler); 132 133 int lsm6dso_init_interrupt(const struct device *dev); 134 #endif 135 136 #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ */ 137
