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lis2dtw12.c
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lis2dtw12.c
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/* ST Microelectronics LIS2DTW12 3-axis accelerometer driver
*
* Copyright (c) 2019 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*
* Datasheet:
* https://www.st.com/resource/en/datasheet/lis2dtw12.pdf
*/
#define DT_DRV_COMPAT st_lis2dtw12
#include <init.h>
#include <sys/__assert.h>
#include <sys/byteorder.h>
#include <logging/log.h>
#include <drivers/sensor.h>
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#include <drivers/spi.h>
#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
#include <drivers/i2c.h>
#endif
#include "lis2dtw12.h"
LOG_MODULE_REGISTER(LIS2DTW12, CONFIG_SENSOR_LOG_LEVEL);
/**
* lis2dtw12_set_range - set full scale range for acc
* @dev: Pointer to instance of struct device (I2C or SPI)
* @range: Full scale range (2, 4, 8 and 16 G)
*/
static int lis2dtw12_set_range(const struct device *dev, uint16_t range)
{
int err;
struct lis2dtw12_data *lis2dtw12 = dev->data;
const struct lis2dtw12_device_config *cfg = dev->config;
uint8_t shift_gain = 0U;
uint8_t fs = LIS2DTW12_FS_TO_REG(range);
err = lis2dtw12_full_scale_set(lis2dtw12->ctx, fs);
if (cfg->pm == LIS2DTW12_CONT_LOW_PWR_12bit) {
shift_gain = LIS2DTW12_SHFT_GAIN_NOLP1;
}
if (!err) {
/* save internally gain for optimization */
lis2dtw12->gain =
LIS2DTW12_FS_TO_GAIN(LIS2DTW12_FS_TO_REG(range),
shift_gain);
LOG_INF("fs %d gain %d", fs, lis2dtw12->gain);
}
return err;
}
/**
* lis2dtw12_set_odr - set new sampling frequency
* @dev: Pointer to instance of struct device (I2C or SPI)
* @odr: Output data rate
*/
static int lis2dtw12_set_odr(const struct device *dev, uint16_t odr)
{
struct lis2dtw12_data *lis2dtw12 = dev->data;
uint8_t val;
/* check if power off */
if (odr == 0U) {
return lis2dtw12_data_rate_set(lis2dtw12->ctx,
LIS2DTW12_XL_ODR_OFF);
}
val = LIS2DTW12_ODR_TO_REG(odr);
if (val > LIS2DTW12_XL_ODR_1k6Hz) {
LOG_ERR("ODR too high");
return -ENOTSUP;
}
return lis2dtw12_data_rate_set(lis2dtw12->ctx, val);
}
static inline void lis2dtw12_convert(struct sensor_value *val, int raw_val,
float gain)
{
int64_t dval;
/* Gain is in ug/LSB */
/* Convert to m/s^2 */
dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000000LL;
val->val1 = dval / 1000000LL;
val->val2 = dval % 1000000LL;
}
static inline void lis2dtw12_channel_get_acc(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
int i;
uint8_t ofs_start, ofs_stop;
struct lis2dtw12_data *lis2dtw12 = dev->data;
struct sensor_value *pval = val;
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
ofs_start = ofs_stop = 0U;
break;
case SENSOR_CHAN_ACCEL_Y:
ofs_start = ofs_stop = 1U;
break;
case SENSOR_CHAN_ACCEL_Z:
ofs_start = ofs_stop = 2U;
break;
default:
ofs_start = 0U; ofs_stop = 2U;
break;
}
for (i = ofs_start; i <= ofs_stop ; i++) {
lis2dtw12_convert(pval++, lis2dtw12->acc[i], lis2dtw12->gain);
}
}
static inline void lis2dtw12_channel_get_temp(const struct device *dev, struct sensor_value *val)
{
struct lis2dtw12_data *lis2dtw12 = dev->data;
float temperature = lis2dtw12_from_lsb_to_celsius(lis2dtw12->temp);
val->val1 = temperature;
val->val2 = (temperature - val->val1) * 1000000;
}
static int lis2dtw12_channel_get(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
lis2dtw12_channel_get_acc(dev, chan, val);
return 0;
case SENSOR_CHAN_AMBIENT_TEMP:
lis2dtw12_channel_get_temp(dev, val);
return 0;
default:
LOG_DBG("Channel not supported");
break;
}
return -ENOTSUP;
}
static int lis2dtw12_config(const struct device *dev, enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
case SENSOR_ATTR_FULL_SCALE:
return lis2dtw12_set_range(dev, sensor_ms2_to_g(val));
case SENSOR_ATTR_SAMPLING_FREQUENCY:
return lis2dtw12_set_odr(dev, val->val1);
default:
LOG_DBG("Acc attribute not supported");
break;
}
return -ENOTSUP;
}
static int lis2dtw12_attr_set(const struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
return lis2dtw12_config(dev, chan, attr, val);
default:
LOG_DBG("Attr not supported on %d channel", chan);
break;
}
return -ENOTSUP;
}
static int lis2dtw12_sample_fetch(const struct device *dev,
enum sensor_channel chan)
{
struct lis2dtw12_data *lis2dtw12 = dev->data;
const struct lis2dtw12_device_config *cfg = dev->config;
uint8_t shift;
int16_t buf[3];
//uint8_t reg;
//lis2dtw12_flag_data_ready_get(lis2dtw12->ctx, ®);
//if (reg) {
/* fetch raw data sample */
if (lis2dtw12_acceleration_raw_get(lis2dtw12->ctx, buf) < 0) {
LOG_DBG("Failed to fetch raw acc sample");
return -EIO;
}
/* adjust to resolution */
if (cfg->pm == LIS2DTW12_CONT_LOW_PWR_12bit) {
shift = LIS2DTW12_SHIFT_PM1;
} else {
shift = LIS2DTW12_SHIFT_PMOTHER;
}
lis2dtw12->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
lis2dtw12->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
lis2dtw12->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;
int16_t temp;
if (lis2dtw12_temperature_raw_get(lis2dtw12->ctx, &temp) < 0) {
return -EIO;
}
lis2dtw12->temp = temp;
//}
return 0;
}
static const struct sensor_driver_api lis2dtw12_driver_api = {
.attr_set = lis2dtw12_attr_set,
#if CONFIG_LIS2DTW12_TRIGGER
.trigger_set = lis2dtw12_trigger_set,
#endif /* CONFIG_LIS2DTW12_TRIGGER */
.sample_fetch = lis2dtw12_sample_fetch,
.channel_get = lis2dtw12_channel_get,
};
static int lis2dtw12_init_interface(const struct device *dev)
{
struct lis2dtw12_data *lis2dtw12 = dev->data;
const struct lis2dtw12_device_config *cfg = dev->config;
lis2dtw12->bus = device_get_binding(cfg->bus_name);
if (!lis2dtw12->bus) {
LOG_DBG("master bus not found: %s", cfg->bus_name);
return -EINVAL;
}
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
lis2dtw12_spi_init(dev);
#elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
lis2dtw12_i2c_init(dev);
#else
#error "BUS MACRO NOT DEFINED IN DTS"
#endif
return 0;
}
static int lis2dtw12_set_power_mode(struct lis2dtw12_data *lis2dtw12,
lis2dtw12_mode_t pm)
{
uint8_t regval = LIS2DTW12_CONT_LOW_PWR_12bit;
switch (pm) {
case LIS2DTW12_CONT_LOW_PWR_2:
case LIS2DTW12_CONT_LOW_PWR_3:
case LIS2DTW12_CONT_LOW_PWR_4:
case LIS2DTW12_HIGH_PERFORMANCE:
regval = pm;
break;
default:
LOG_DBG("Apply default Power Mode");
break;
}
return lis2dtw12_write_reg(lis2dtw12->ctx, LIS2DTW12_CTRL1, ®val, 1);
}
static int lis2dtw12_init(const struct device *dev)
{
struct lis2dtw12_data *lis2dtw12 = dev->data;
const struct lis2dtw12_device_config *cfg = dev->config;
uint8_t wai;
if (lis2dtw12_init_interface(dev)) {
return -EINVAL;
}
/* check chip ID */
if (lis2dtw12_device_id_get(lis2dtw12->ctx, &wai) < 0) {
return -EIO;
}
if (wai != LIS2DTW12_ID) {
LOG_ERR("Invalid chip ID");
return -EINVAL;
}
/* reset device */
if (lis2dtw12_reset_set(lis2dtw12->ctx, PROPERTY_ENABLE) < 0) {
return -EIO;
}
k_busy_wait(100);
if (lis2dtw12_block_data_update_set(lis2dtw12->ctx,
PROPERTY_ENABLE) < 0) {
return -EIO;
}
/* set power mode */
if (lis2dtw12_set_power_mode(lis2dtw12, CONFIG_LIS2DTW12_POWER_MODE)) {
return -EIO;
}
/* set default odr and full scale for acc */
if (lis2dtw12_data_rate_set(lis2dtw12->ctx, LIS2DTW12_DEFAULT_ODR) < 0) {
return -EIO;
}
if (lis2dtw12_full_scale_set(lis2dtw12->ctx, LIS2DTW12_ACC_FS) < 0) {
return -EIO;
}
lis2dtw12->gain =
LIS2DTW12_FS_TO_GAIN(LIS2DTW12_ACC_FS,
cfg->pm == LIS2DTW12_CONT_LOW_PWR_12bit ?
LIS2DTW12_SHFT_GAIN_NOLP1 : 0);
#ifdef CONFIG_LIS2DTW12_TRIGGER
if (lis2dtw12_init_interrupt(dev) < 0) {
LOG_ERR("Failed to initialize interrupts");
return -EIO;
}
#ifdef CONFIG_LIS2DTW12_PULSE
if (lis2dtw12_tap_mode_set(lis2dtw12->ctx, cfg->pulse_trigger) < 0) {
LOG_ERR("Failed to select pulse trigger mode");
return -EIO;
}
if (lis2dtw12_tap_threshold_x_set(lis2dtw12->ctx,
cfg->pulse_ths[0]) < 0) {
LOG_ERR("Failed to set tap X axis threshold");
return -EIO;
}
if (lis2dtw12_tap_threshold_y_set(lis2dtw12->ctx,
cfg->pulse_ths[1]) < 0) {
LOG_ERR("Failed to set tap Y axis threshold");
return -EIO;
}
if (lis2dtw12_tap_threshold_z_set(lis2dtw12->ctx,
cfg->pulse_ths[2]) < 0) {
LOG_ERR("Failed to set tap Z axis threshold");
return -EIO;
}
if (lis2dtw12_tap_detection_on_x_set(lis2dtw12->ctx,
CONFIG_LIS2DTW12_PULSE_X) < 0) {
LOG_ERR("Failed to set tap detection on X axis");
return -EIO;
}
if (lis2dtw12_tap_detection_on_y_set(lis2dtw12->ctx,
CONFIG_LIS2DTW12_PULSE_Y) < 0) {
LOG_ERR("Failed to set tap detection on Y axis");
return -EIO;
}
if (lis2dtw12_tap_detection_on_z_set(lis2dtw12->ctx,
CONFIG_LIS2DTW12_PULSE_Z) < 0) {
LOG_ERR("Failed to set tap detection on Z axis");
return -EIO;
}
if (lis2dtw12_tap_shock_set(lis2dtw12->ctx, cfg->pulse_shock) < 0) {
LOG_ERR("Failed to set tap shock duration");
return -EIO;
}
if (lis2dtw12_tap_dur_set(lis2dtw12->ctx, cfg->pulse_ltncy) < 0) {
LOG_ERR("Failed to set tap latency");
return -EIO;
}
if (lis2dtw12_tap_quiet_set(lis2dtw12->ctx, cfg->pulse_quiet) < 0) {
LOG_ERR("Failed to set tap quiet time");
return -EIO;
}
#endif /* CONFIG_LIS2DTW12_PULSE */
#endif /* CONFIG_LIS2DTW12_TRIGGER */
return 0;
}
const struct lis2dtw12_device_config lis2dtw12_cfg = {
.bus_name = DT_INST_BUS_LABEL(0),
.pm = CONFIG_LIS2DTW12_POWER_MODE,
#ifdef CONFIG_LIS2DTW12_TRIGGER
.int_gpio_port = DT_INST_GPIO_LABEL(0, irq_gpios),
.int_gpio_pin = DT_INST_GPIO_PIN(0, irq_gpios),
.int_gpio_flags = DT_INST_GPIO_FLAGS(0, irq_gpios),
#if defined(CONFIG_LIS2DTW12_INT_PIN_1)
.int_pin = 1,
#elif defined(CONFIG_LIS2DTW12_INT_PIN_2)
.int_pin = 2,
#endif /* CONFIG_LIS2DTW12_INT_PIN */
#ifdef CONFIG_LIS2DTW12_PULSE
#if defined(CONFIG_LIS2DTW12_ONLY_SINGLE)
.pulse_trigger = LIS2DTW12_ONLY_SINGLE,
#elif defined(CONFIG_LIS2DTW12_SINGLE_DOUBLE)
.pulse_trigger = LIS2DTW12_BOTH_SINGLE_DOUBLE,
#endif
.pulse_ths[0] = CONFIG_LIS2DTW12_PULSE_THSX,
.pulse_ths[1] = CONFIG_LIS2DTW12_PULSE_THSY,
.pulse_ths[2] = CONFIG_LIS2DTW12_PULSE_THSZ,
.pulse_shock = CONFIG_LIS2DTW12_PULSE_SHOCK,
.pulse_ltncy = CONFIG_LIS2DTW12_PULSE_LTNCY,
.pulse_quiet = CONFIG_LIS2DTW12_PULSE_QUIET,
#endif /* CONFIG_LIS2DTW12_PULSE */
#endif /* CONFIG_LIS2DTW12_TRIGGER */
};
struct lis2dtw12_data lis2dtw12_data;
DEVICE_DT_INST_DEFINE(0, lis2dtw12_init, device_pm_control_nop,
&lis2dtw12_data, &lis2dtw12_cfg, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &lis2dtw12_driver_api);