/*
* Copyright (c) 2018 STMicroelectronics
*
* LIS2MDL mag driver
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <init.h>
#include <misc/__assert.h>
#include <misc/byteorder.h>
#include <sensor.h>
#include <string.h>
#include "lis2mdl.h"
struct lis2mdl_data lis2mdl_device_data;
#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
#include <logging/log.h>
LOG_MODULE_REGISTER(LIS2MDL);
#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
static const struct {
u16_t odr;
u8_t regval;
} lis2mdl_odr_reg[] = {
{
.odr = 10,
.regval = LIS2MDL_ODR10_HZ,
},
{
.odr = 20,
.regval = LIS2MDL_ODR20_HZ,
},
{
.odr = 50,
.regval = LIS2MDL_ODR50_HZ,
},
{
.odr = 100,
.regval = LIS2MDL_ODR100_HZ,
},
};
static int lis2mdl_freq_to_odr_val(u16_t odr)
{
size_t i;
for (i = 0; i < ARRAY_SIZE(lis2mdl_odr_reg); i++) {
if (odr == lis2mdl_odr_reg[i].odr) {
return i;
}
}
return -EINVAL;
}
static int lis2mdl_set_odr(struct device *dev, u16_t odr)
{
int odr_idx;
struct lis2mdl_data *lis2mdl = dev->driver_data;
/* check if power off */
if (odr == 0U) {
/* power off mag */
return i2c_reg_update_byte(lis2mdl->i2c,
lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_MAG_MODE_MASK,
LIS2MDL_MD_IDLE1_MODE);
}
odr_idx = lis2mdl_freq_to_odr_val(odr);
if (odr_idx < 0) {
return odr_idx;
}
return i2c_reg_update_byte(lis2mdl->i2c,
lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_ODR_MASK,
lis2mdl_odr_reg[odr_idx].regval);
}
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
static int lis2mdl_set_hard_iron(struct device *dev, enum sensor_channel chan,
const struct sensor_value *val)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u8_t regs = LIS2MDL_OFFSET_X_REG_L;
u8_t i;
s16_t offs;
int ret;
for (i = 0U; i < LIS2MDL_NUM_AXIS; i++) {
offs = sys_cpu_to_le16(val->val1);
ret = i2c_burst_write(lis2mdl->i2c, lis2mdl->i2c_addr,
regs, (u8_t *)&offs, sizeof(offs));
if (ret < 0) {
return ret;
}
regs += sizeof(offs);
val++;
}
return 0;
}
static void lis2mdl_channel_get_mag(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
s32_t cval;
int i;
u8_t ofs_start, ofs_stop;
struct lis2mdl_data *lis2mdl = dev->driver_data;
struct sensor_value *pval = val;
switch (chan) {
case SENSOR_CHAN_MAGN_X:
ofs_start = ofs_stop = 0U;
break;
case SENSOR_CHAN_MAGN_Y:
ofs_start = ofs_stop = 1U;
break;
case SENSOR_CHAN_MAGN_Z:
ofs_start = ofs_stop = 2U;
break;
default:
ofs_start = 0U; ofs_stop = 2U;
break;
}
for (i = ofs_start; i <= ofs_stop; i++) {
cval = lis2mdl->mag[i] * lis2mdl->mag_fs_sensitivity;
pval->val1 = cval / 1000000;
pval->val2 = cval % 1000000;
pval++;
}
}
/* read internal temperature */
static void lis2mdl_channel_get_temp(struct device *dev,
struct sensor_value *val)
{
struct lis2mdl_data *drv_data = dev->driver_data;
val->val1 = drv_data->temp_sample / 100;
val->val2 = drv_data->temp_sample % 100;
}
static int lis2mdl_channel_get(struct device *dev, enum sensor_channel chan,
struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
lis2mdl_channel_get_mag(dev, chan, val);
break;
case SENSOR_CHAN_DIE_TEMP:
lis2mdl_channel_get_temp(dev, val);
break;
default:
LOG_DBG("Channel not supported");
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_config(struct device *dev, enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
case SENSOR_ATTR_SAMPLING_FREQUENCY:
return lis2mdl_set_odr(dev, val->val1);
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
case SENSOR_ATTR_OFFSET:
return lis2mdl_set_hard_iron(dev, chan, val);
default:
LOG_DBG("Mag attribute not supported");
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_attr_set(struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
return lis2mdl_config(dev, chan, attr, val);
default:
LOG_DBG("attr_set() not supported on %d channel", chan);
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_sample_fetch_mag(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
union {
u8_t raw[LIS2MDL_OUT_REG_SIZE];
struct {
s16_t m_axis[3];
};
} buf __aligned(2);
/* fetch raw data sample */
if (i2c_burst_read(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_OUT_REG, buf.raw,
sizeof(buf)) < 0) {
LOG_DBG("Failed to fetch raw mag sample");
return -EIO;
}
lis2mdl->mag[0] = sys_le16_to_cpu(buf.m_axis[0]);
lis2mdl->mag[1] = sys_le16_to_cpu(buf.m_axis[1]);
lis2mdl->mag[2] = sys_le16_to_cpu(buf.m_axis[2]);
return 0;
}
static int lis2mdl_sample_fetch_temp(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u16_t temp_raw;
s32_t temp;
int ret;
/* fetch raw temperature sample */
ret = i2c_burst_read(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_TEMP_OUT_L_REG,
(u8_t *)&temp_raw, sizeof(temp_raw));
if (ret < 0) {
LOG_DBG("Failed to fetch raw temp sample");
return -EIO;
}
/* formula is temp = 25 + (temp / 8) C */
temp = (sys_le16_to_cpu(temp_raw) & 0x8FFF);
lis2mdl->temp_sample = 2500 + (temp * 100) / 8;
return 0;
}
static int lis2mdl_sample_fetch(struct device *dev, enum sensor_channel chan)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
lis2mdl_sample_fetch_mag(dev);
break;
case SENSOR_CHAN_DIE_TEMP:
lis2mdl_sample_fetch_temp(dev);
break;
case SENSOR_CHAN_ALL:
lis2mdl_sample_fetch_mag(dev);
lis2mdl_sample_fetch_temp(dev);
break;
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api lis2mdl_driver_api = {
.attr_set = lis2mdl_attr_set,
#if CONFIG_LIS2MDL_TRIGGER
.trigger_set = lis2mdl_trigger_set,
#endif
.sample_fetch = lis2mdl_sample_fetch,
.channel_get = lis2mdl_channel_get,
};
static int lis2mdl_init_interface(struct device *dev)
{
const struct lis2mdl_device_config *const config =
dev->config->config_info;
struct lis2mdl_data *lis2mdl = dev->driver_data;
lis2mdl->i2c = device_get_binding(config->master_dev_name);
if (!lis2mdl->i2c) {
LOG_DBG("Could not get pointer to %s device",
config->master_dev_name);
return -EINVAL;
}
lis2mdl->i2c_addr = config->i2c_addr_config;
return 0;
}
static const struct lis2mdl_device_config lis2mdl_dev_config = {
.master_dev_name = DT_ST_LIS2MDL_MAGN_0_BUS_NAME,
#ifdef CONFIG_LIS2MDL_TRIGGER
.gpio_name = DT_ST_LIS2MDL_MAGN_0_IRQ_GPIOS_CONTROLLER,
.gpio_pin = DT_ST_LIS2MDL_MAGN_0_IRQ_GPIOS_PIN,
#endif /* CONFIG_LIS2MDL_TRIGGER */
.i2c_addr_config = DT_ST_LIS2MDL_MAGN_0_BASE_ADDRESS,
};
static int lis2mdl_init(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u8_t wai;
if (lis2mdl_init_interface(dev)) {
return -EINVAL;
}
/* check chip ID */
if (i2c_reg_read_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_WHO_AM_I_REG, &wai) < 0) {
LOG_DBG("Failed to read chip ID");
return -EIO;
}
if (wai != LIS2MDL_WHOAMI_VAL) {
LOG_DBG("Invalid chip ID");
return -EINVAL;
}
/* reset sensor configuration */
if (i2c_reg_write_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A, LIS2MDL_SOFT_RST)) {
return -EIO;
}
k_busy_wait(100);
/* enable BDU */
if (i2c_reg_update_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_C, LIS2MDL_BDU_MASK,
LIS2MDL_BDU_BIT)) {
return -EIO;
}
/* set continuous MODE in default ODR, enable temperature comp. */
if (i2c_reg_write_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_MD_CONT_MODE | LIS2MDL_DEFAULT_ODR |
LIS2MDL_COMP_TEMP_MASK)) {
return -EIO;
}
lis2mdl->mag_fs_sensitivity = LIS2MDL_SENSITIVITY;
#ifdef CONFIG_LIS2MDL_TRIGGER
if (lis2mdl_init_interrupt(dev) < 0) {
LOG_DBG("Failed to initialize interrupts");
return -EIO;
}
#endif
return 0;
}
DEVICE_AND_API_INIT(lis2mdl, DT_ST_LIS2MDL_MAGN_0_LABEL, lis2mdl_init,
&lis2mdl_device_data, &lis2mdl_dev_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &lis2mdl_driver_api);