/* lsm9ds0_gyro.c - Driver for LSM9DS0 gyroscope sensor */
/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sensor.h>
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <misc/byteorder.h>
#include <misc/__assert.h>
#include <gpio.h>
#include <logging/log.h>
#include "lsm9ds0_gyro.h"
#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
LOG_MODULE_REGISTER(LSM9DS0_GYRO);
static inline int lsm9ds0_gyro_power_ctrl(struct device *dev, int power,
int x_en, int y_en, int z_en)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *config = dev->config->config_info;
u8_t state = (power << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_PD) |
(x_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_XEN) |
(y_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_YEN) |
(z_en << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_ZEN);
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_CTRL_REG1_G,
LSM9DS0_GYRO_MASK_CTRL_REG1_G_PD |
LSM9DS0_GYRO_MASK_CTRL_REG1_G_XEN |
LSM9DS0_GYRO_MASK_CTRL_REG1_G_YEN |
LSM9DS0_GYRO_MASK_CTRL_REG1_G_ZEN,
state);
}
static int lsm9ds0_gyro_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_CTRL_REG4_G,
LSM9DS0_GYRO_MASK_CTRL_REG4_G_FS,
fs << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_FS) < 0) {
return -EIO;
}
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
data->fs = fs;
#endif
return 0;
}
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
static const struct {
int fs;
u8_t reg_val;
} lsm9ds0_gyro_fs_table[] = { {245, 0},
{500, 1},
{2000, 2} };
static int lsm9ds0_gyro_set_fs(struct device *dev, int fs)
{
int i;
for (i = 0; i < ARRAY_SIZE(lsm9ds0_gyro_fs_table); ++i) {
if (fs <= lsm9ds0_gyro_fs_table[i].fs) {
return lsm9ds0_gyro_set_fs_raw(dev, lsm9ds0_gyro_fs_table[i].reg_val);
}
}
return -ENOTSUP;
}
#endif
static inline int lsm9ds0_gyro_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *config = dev->config->config_info;
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_CTRL_REG1_G,
LSM9DS0_GYRO_MASK_CTRL_REG1_G_DR,
odr << LSM9DS0_GYRO_SHIFT_CTRL_REG1_G_BW);
}
#if defined(CONFIG_LSM9DS0_GYRO_SAMPLING_RATE_RUNTIME)
static const struct {
int freq;
u8_t reg_val;
} lsm9ds0_gyro_samp_freq_table[] = { {95, 0},
{190, 1},
{380, 2},
{760, 3} };
static int lsm9ds0_gyro_set_odr(struct device *dev, int odr)
{
int i;
for (i = 0; i < ARRAY_SIZE(lsm9ds0_gyro_samp_freq_table); ++i) {
if (odr <= lsm9ds0_gyro_samp_freq_table[i].freq) {
return lsm9ds0_gyro_set_odr_raw(dev,
lsm9ds0_gyro_samp_freq_table[i].
reg_val);
}
}
return -ENOTSUP;
}
#endif
static int lsm9ds0_gyro_sample_fetch(struct device *dev,
enum sensor_channel chan)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *config = dev->config->config_info;
u8_t x_l, x_h, y_l, y_h, z_l, z_h;
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
chan == SENSOR_CHAN_GYRO_XYZ);
if (i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_X_L_G, &x_l) < 0 ||
i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_X_H_G, &x_h) < 0 ||
i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_Y_L_G, &y_l) < 0 ||
i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_Y_H_G, &y_h) < 0 ||
i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_Z_L_G, &z_l) < 0 ||
i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_OUT_Z_H_G, &z_h) < 0) {
LOG_DBG("failed to read sample");
return -EIO;
}
data->sample_x = (s16_t)((u16_t)(x_l) | ((u16_t)(x_h) << 8));
data->sample_y = (s16_t)((u16_t)(y_l) | ((u16_t)(y_h) << 8));
data->sample_z = (s16_t)((u16_t)(z_l) | ((u16_t)(z_h) << 8));
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
data->sample_fs = data->fs;
#endif
return 0;
}
static inline void lsm9ds0_gyro_convert(struct sensor_value *val, int raw_val,
float numerator)
{
double dval;
dval = (double)(raw_val) * numerator / 1000.0 * DEG2RAD;
val->val1 = (s32_t)dval;
val->val2 = ((s32_t)(dval * 1000000)) % 1000000;
}
static inline int lsm9ds0_gyro_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm9ds0_gyro_data *data,
float numerator)
{
switch (chan) {
case SENSOR_CHAN_GYRO_X:
lsm9ds0_gyro_convert(val, data->sample_x, numerator);
break;
case SENSOR_CHAN_GYRO_Y:
lsm9ds0_gyro_convert(val, data->sample_y, numerator);
break;
case SENSOR_CHAN_GYRO_Z:
lsm9ds0_gyro_convert(val, data->sample_z, numerator);
break;
case SENSOR_CHAN_GYRO_XYZ:
lsm9ds0_gyro_convert(val, data->sample_x, numerator);
lsm9ds0_gyro_convert(val + 1, data->sample_y, numerator);
lsm9ds0_gyro_convert(val + 2, data->sample_z, numerator);
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm9ds0_gyro_channel_get(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
switch (data->sample_fs) {
case 0:
return lsm9ds0_gyro_get_channel(chan, val, data, 8.75f);
case 1:
return lsm9ds0_gyro_get_channel(chan, val, data, 17.50f);
default:
return lsm9ds0_gyro_get_channel(chan, val, data, 70.0f);
}
#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_245)
return lsm9ds0_gyro_get_channel(chan, val, data, 8.75f);
#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_500)
return lsm9ds0_gyro_get_channel(chan, val, data, 17.50f);
#elif defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_2000)
return lsm9ds0_gyro_get_channel(chan, val, data, 70.0f);
#endif
return 0;
}
#if defined(LSM9DS0_GYRO_SET_ATTR)
static int lsm9ds0_gyro_attr_set(struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
case SENSOR_ATTR_FULL_SCALE:
if (lsm9ds0_gyro_set_fs(dev, sensor_rad_to_degrees(val)) < 0) {
LOG_DBG("full-scale value not supported");
return -EIO;
}
break;
#endif
#if defined(CONFIG_LSM9DS0_GYRO_SAMPLING_RATE_RUNTIME)
case SENSOR_ATTR_SAMPLING_FREQUENCY:
if (lsm9ds0_gyro_set_odr(dev, val->val1) < 0) {
LOG_DBG("sampling frequency value not supported");
return -EIO;
}
break;
#endif
default:
return -ENOTSUP;
}
return 0;
}
#endif
static const struct sensor_driver_api lsm9ds0_gyro_api_funcs = {
.sample_fetch = lsm9ds0_gyro_sample_fetch,
.channel_get = lsm9ds0_gyro_channel_get,
#if defined(LSM9DS0_GYRO_SET_ATTR)
.attr_set = lsm9ds0_gyro_attr_set,
#endif
#if defined(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY)
.trigger_set = lsm9ds0_gyro_trigger_set,
#endif
};
static int lsm9ds0_gyro_init_chip(struct device *dev)
{
struct lsm9ds0_gyro_data *data = dev->driver_data;
const struct lsm9ds0_gyro_config *config = dev->config->config_info;
u8_t chip_id;
if (lsm9ds0_gyro_power_ctrl(dev, 0, 0, 0, 0) < 0) {
LOG_DBG("failed to power off device");
return -EIO;
}
if (lsm9ds0_gyro_power_ctrl(dev, 1, 1, 1, 1) < 0) {
LOG_DBG("failed to power on device");
return -EIO;
}
if (i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_WHO_AM_I_G, &chip_id) < 0) {
LOG_DBG("failed reading chip id");
goto err_poweroff;
}
if (chip_id != LSM9DS0_GYRO_VAL_WHO_AM_I_G) {
LOG_DBG("invalid chip id 0x%x", chip_id);
goto err_poweroff;
}
LOG_DBG("chip id 0x%x", chip_id);
if (lsm9ds0_gyro_set_fs_raw(dev, LSM9DS0_GYRO_DEFAULT_FULLSCALE) < 0) {
LOG_DBG("failed to set full-scale");
goto err_poweroff;
}
if (lsm9ds0_gyro_set_odr_raw(dev, LSM9DS0_GYRO_DEFAULT_SAMPLING_RATE)
< 0) {
LOG_DBG("failed to set sampling rate");
goto err_poweroff;
}
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM9DS0_GYRO_REG_CTRL_REG4_G,
LSM9DS0_GYRO_MASK_CTRL_REG4_G_BDU |
LSM9DS0_GYRO_MASK_CTRL_REG4_G_BLE,
(1 << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_BDU) |
(0 << LSM9DS0_GYRO_SHIFT_CTRL_REG4_G_BLE))
< 0) {
LOG_DBG("failed to set BDU and BLE");
goto err_poweroff;
}
return 0;
err_poweroff:
lsm9ds0_gyro_power_ctrl(dev, 0, 0, 0, 0);
return -EIO;
}
static int lsm9ds0_gyro_init(struct device *dev)
{
const struct lsm9ds0_gyro_config * const config =
dev->config->config_info;
struct lsm9ds0_gyro_data *data = dev->driver_data;
data->i2c_master = device_get_binding(config->i2c_master_dev_name);
if (!data->i2c_master) {
LOG_DBG("i2c master not found: %s",
config->i2c_master_dev_name);
return -EINVAL;
}
if (lsm9ds0_gyro_init_chip(dev) < 0) {
LOG_DBG("failed to initialize chip");
return -EIO;
}
#if defined(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY)
if (lsm9ds0_gyro_init_interrupt(dev) < 0) {
LOG_DBG("failed to initialize interrupts");
return -EIO;
}
data->dev = dev;
#endif
return 0;
}
static const struct lsm9ds0_gyro_config lsm9ds0_gyro_config = {
.i2c_master_dev_name = DT_LSM9DS0_GYRO_I2C_MASTER_DEV_NAME,
.i2c_slave_addr = DT_LSM9DS0_GYRO_I2C_ADDRESS,
#if defined(CONFIG_LSM9DS0_GYRO_TRIGGER_DRDY)
.gpio_drdy_dev_name = DT_LSM9DS0_GYRO_INT_GPIO_DEV_NAME,
.gpio_drdy_int_pin = DT_LSM9DS0_GYRO_INT_GPIO_PIN,
#endif
};
static struct lsm9ds0_gyro_data lsm9ds0_gyro_data;
DEVICE_AND_API_INIT(lsm9ds0_gyro, DT_LSM9DS0_GYRO_DEV_NAME,
lsm9ds0_gyro_init, &lsm9ds0_gyro_data, &lsm9ds0_gyro_config,
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
&lsm9ds0_gyro_api_funcs);