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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 | /* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver * * Copyright (c) 2020 STMicroelectronics * * SPDX-License-Identifier: Apache-2.0 * * Datasheet: * https://www.st.com/resource/en/datasheet/ism330dhcx.pdf */ #define DT_DRV_COMPAT st_ism330dhcx #include <zephyr/drivers/sensor.h> #include <zephyr/kernel.h> #include <zephyr/device.h> #include <zephyr/init.h> #include <string.h> #include <zephyr/sys/byteorder.h> #include <zephyr/sys/__assert.h> #include <zephyr/logging/log.h> #include "ism330dhcx.h" LOG_MODULE_REGISTER(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL); static const uint16_t ism330dhcx_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833, 1660, 3330, 6660}; static int ism330dhcx_freq_to_odr_val(uint16_t freq) { size_t i; for (i = 0; i < ARRAY_SIZE(ism330dhcx_odr_map); i++) { if (freq == ism330dhcx_odr_map[i]) { return i; } } return -EINVAL; } static int ism330dhcx_odr_to_freq_val(uint16_t odr) { /* for valid index, return value from map */ if (odr < ARRAY_SIZE(ism330dhcx_odr_map)) { return ism330dhcx_odr_map[odr]; } /* invalid index, return last entry */ return ism330dhcx_odr_map[ARRAY_SIZE(ism330dhcx_odr_map) - 1]; } static const uint16_t ism330dhcx_accel_fs_map[] = {2, 16, 4, 8}; static const uint16_t ism330dhcx_accel_fs_sens[] = {1, 8, 2, 4}; static int ism330dhcx_accel_range_to_fs_val(int32_t range) { size_t i; for (i = 0; i < ARRAY_SIZE(ism330dhcx_accel_fs_map); i++) { if (range == ism330dhcx_accel_fs_map[i]) { return i; } } return -EINVAL; } static const uint16_t ism330dhcx_gyro_fs_map[] = {250, 500, 1000, 2000, 125}; static const uint16_t ism330dhcx_gyro_fs_sens[] = {2, 4, 8, 16, 1}; static int ism330dhcx_gyro_range_to_fs_val(int32_t range) { size_t i; for (i = 0; i < ARRAY_SIZE(ism330dhcx_gyro_fs_map); i++) { if (range == ism330dhcx_gyro_fs_map[i]) { return i; } } return -EINVAL; } static inline int ism330dhcx_reboot(const struct device *dev) { struct ism330dhcx_data *data = dev->data; if (ism330dhcx_boot_set(data->ctx, 1) < 0) { return -EIO; } /* Wait sensor turn-on time as per datasheet */ k_busy_wait(35 * USEC_PER_MSEC); return 0; } static int ism330dhcx_accel_set_fs_raw(const struct device *dev, uint8_t fs) { struct ism330dhcx_data *data = dev->data; if (ism330dhcx_xl_full_scale_set(data->ctx, fs) < 0) { return -EIO; } data->accel_fs = fs; return 0; } static int ism330dhcx_accel_set_odr_raw(const struct device *dev, uint8_t odr) { struct ism330dhcx_data *data = dev->data; if (ism330dhcx_xl_data_rate_set(data->ctx, odr) < 0) { return -EIO; } data->accel_freq = ism330dhcx_odr_to_freq_val(odr); return 0; } static int ism330dhcx_gyro_set_fs_raw(const struct device *dev, uint8_t fs) { struct ism330dhcx_data *data = dev->data; if (ism330dhcx_gy_full_scale_set(data->ctx, fs) < 0) { return -EIO; } return 0; } static int ism330dhcx_gyro_set_odr_raw(const struct device *dev, uint8_t odr) { struct ism330dhcx_data *data = dev->data; if (ism330dhcx_gy_data_rate_set(data->ctx, odr) < 0) { return -EIO; } return 0; } static int ism330dhcx_accel_odr_set(const struct device *dev, uint16_t freq) { int odr; odr = ism330dhcx_freq_to_odr_val(freq); if (odr < 0) { return odr; } if (ism330dhcx_accel_set_odr_raw(dev, odr) < 0) { LOG_DBG("failed to set accelerometer sampling rate"); return -EIO; } return 0; } static int ism330dhcx_accel_range_set(const struct device *dev, int32_t range) { int fs; struct ism330dhcx_data *data = dev->data; fs = ism330dhcx_accel_range_to_fs_val(range); if (fs < 0) { return fs; } if (ism330dhcx_accel_set_fs_raw(dev, fs) < 0) { LOG_DBG("failed to set accelerometer full-scale"); return -EIO; } data->acc_gain = (ism330dhcx_accel_fs_sens[fs] * GAIN_UNIT_XL); return 0; } static int ism330dhcx_accel_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 ism330dhcx_accel_range_set(dev, sensor_ms2_to_g(val)); case SENSOR_ATTR_SAMPLING_FREQUENCY: return ism330dhcx_accel_odr_set(dev, val->val1); default: LOG_DBG("Accel attribute not supported."); return -ENOTSUP; } return 0; } static int ism330dhcx_gyro_odr_set(const struct device *dev, uint16_t freq) { int odr; odr = ism330dhcx_freq_to_odr_val(freq); if (odr < 0) { return odr; } if (ism330dhcx_gyro_set_odr_raw(dev, odr) < 0) { LOG_DBG("failed to set gyroscope sampling rate"); return -EIO; } return 0; } static int ism330dhcx_gyro_range_set(const struct device *dev, int32_t range) { int fs; struct ism330dhcx_data *data = dev->data; fs = ism330dhcx_gyro_range_to_fs_val(range); if (fs < 0) { return fs; } if (ism330dhcx_gyro_set_fs_raw(dev, fs) < 0) { LOG_DBG("failed to set gyroscope full-scale"); return -EIO; } data->gyro_gain = (ism330dhcx_gyro_fs_sens[fs] * GAIN_UNIT_G); return 0; } static int ism330dhcx_gyro_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 ism330dhcx_gyro_range_set(dev, sensor_rad_to_degrees(val)); case SENSOR_ATTR_SAMPLING_FREQUENCY: return ism330dhcx_gyro_odr_set(dev, val->val1); default: LOG_DBG("Gyro attribute not supported."); return -ENOTSUP; } return 0; } static int ism330dhcx_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_XYZ: return ism330dhcx_accel_config(dev, chan, attr, val); case SENSOR_CHAN_GYRO_XYZ: return ism330dhcx_gyro_config(dev, chan, attr, val); #if defined(CONFIG_ISM330DHCX_SENSORHUB) case SENSOR_CHAN_MAGN_XYZ: case SENSOR_CHAN_PRESS: case SENSOR_CHAN_HUMIDITY: return ism330dhcx_shub_config(dev, chan, attr, val); #endif /* CONFIG_ISM330DHCX_SENSORHUB */ default: LOG_WRN("attr_set() not supported on this channel."); return -ENOTSUP; } return 0; } static int ism330dhcx_sample_fetch_accel(const struct device *dev) { struct ism330dhcx_data *data = dev->data; int16_t buf[3]; if (ism330dhcx_acceleration_raw_get(data->ctx, buf) < 0) { LOG_DBG("Failed to read sample"); return -EIO; } data->acc[0] = sys_le16_to_cpu(buf[0]); data->acc[1] = sys_le16_to_cpu(buf[1]); data->acc[2] = sys_le16_to_cpu(buf[2]); return 0; } static int ism330dhcx_sample_fetch_gyro(const struct device *dev) { struct ism330dhcx_data *data = dev->data; int16_t buf[3]; if (ism330dhcx_angular_rate_raw_get(data->ctx, buf) < 0) { LOG_DBG("Failed to read sample"); return -EIO; } data->gyro[0] = sys_le16_to_cpu(buf[0]); data->gyro[1] = sys_le16_to_cpu(buf[1]); data->gyro[2] = sys_le16_to_cpu(buf[2]); return 0; } #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) static int ism330dhcx_sample_fetch_temp(const struct device *dev) { struct ism330dhcx_data *data = dev->data; int16_t buf; if (ism330dhcx_temperature_raw_get(data->ctx, &buf) < 0) { LOG_DBG("Failed to read sample"); return -EIO; } data->temp_sample = sys_le16_to_cpu(buf); return 0; } #endif #if defined(CONFIG_ISM330DHCX_SENSORHUB) static int ism330dhcx_sample_fetch_shub(const struct device *dev) { if (ism330dhcx_shub_fetch_external_devs(dev) < 0) { LOG_DBG("failed to read ext shub devices"); return -EIO; } return 0; } #endif /* CONFIG_ISM330DHCX_SENSORHUB */ static int ism330dhcx_sample_fetch(const struct device *dev, enum sensor_channel chan) { switch (chan) { case SENSOR_CHAN_ACCEL_XYZ: ism330dhcx_sample_fetch_accel(dev); #if defined(CONFIG_ISM330DHCX_SENSORHUB) ism330dhcx_sample_fetch_shub(dev); #endif break; case SENSOR_CHAN_GYRO_XYZ: ism330dhcx_sample_fetch_gyro(dev); break; #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) case SENSOR_CHAN_DIE_TEMP: ism330dhcx_sample_fetch_temp(dev); break; #endif case SENSOR_CHAN_ALL: ism330dhcx_sample_fetch_accel(dev); ism330dhcx_sample_fetch_gyro(dev); #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) ism330dhcx_sample_fetch_temp(dev); #endif #if defined(CONFIG_ISM330DHCX_SENSORHUB) ism330dhcx_sample_fetch_shub(dev); #endif break; default: return -ENOTSUP; } return 0; } static inline void ism330dhcx_accel_convert(struct sensor_value *val, int raw_val, uint32_t sensitivity) { int64_t dval; /* Sensitivity is exposed in ug/LSB */ /* Convert to m/s^2 */ dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE; val->val1 = (int32_t)(dval / 1000000); val->val2 = (int32_t)(dval % 1000000); } static inline int ism330dhcx_accel_get_channel(enum sensor_channel chan, struct sensor_value *val, struct ism330dhcx_data *data, uint32_t sensitivity) { uint8_t i; switch (chan) { case SENSOR_CHAN_ACCEL_X: ism330dhcx_accel_convert(val, data->acc[0], sensitivity); break; case SENSOR_CHAN_ACCEL_Y: ism330dhcx_accel_convert(val, data->acc[1], sensitivity); break; case SENSOR_CHAN_ACCEL_Z: ism330dhcx_accel_convert(val, data->acc[2], sensitivity); break; case SENSOR_CHAN_ACCEL_XYZ: for (i = 0; i < 3; i++) { ism330dhcx_accel_convert(val++, data->acc[i], sensitivity); } break; default: return -ENOTSUP; } return 0; } static int ism330dhcx_accel_channel_get(enum sensor_channel chan, struct sensor_value *val, struct ism330dhcx_data *data) { return ism330dhcx_accel_get_channel(chan, val, data, data->acc_gain); } static inline void ism330dhcx_gyro_convert(struct sensor_value *val, int raw_val, uint32_t sensitivity) { int64_t dval; /* Sensitivity is exposed in udps/LSB */ /* Convert to rad/s */ dval = (int64_t)(raw_val) * sensitivity * SENSOR_DEG2RAD_DOUBLE; val->val1 = (int32_t)(dval / 1000000); val->val2 = (int32_t)(dval % 1000000); } static inline int ism330dhcx_gyro_get_channel(enum sensor_channel chan, struct sensor_value *val, struct ism330dhcx_data *data, uint32_t sensitivity) { uint8_t i; switch (chan) { case SENSOR_CHAN_GYRO_X: ism330dhcx_gyro_convert(val, data->gyro[0], sensitivity); break; case SENSOR_CHAN_GYRO_Y: ism330dhcx_gyro_convert(val, data->gyro[1], sensitivity); break; case SENSOR_CHAN_GYRO_Z: ism330dhcx_gyro_convert(val, data->gyro[2], sensitivity); break; case SENSOR_CHAN_GYRO_XYZ: for (i = 0; i < 3; i++) { ism330dhcx_gyro_convert(val++, data->gyro[i], sensitivity); } break; default: return -ENOTSUP; } return 0; } static int ism330dhcx_gyro_channel_get(enum sensor_channel chan, struct sensor_value *val, struct ism330dhcx_data *data) { return ism330dhcx_gyro_get_channel(chan, val, data, data->gyro_gain); } #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) static void ism330dhcx_gyro_channel_get_temp(struct sensor_value *val, struct ism330dhcx_data *data) { /* val = temp_sample / 256 + 25 */ val->val1 = data->temp_sample / 256 + 25; val->val2 = (data->temp_sample % 256) * (1000000 / 256); } #endif #if defined(CONFIG_ISM330DHCX_SENSORHUB) static inline void ism330dhcx_magn_convert(struct sensor_value *val, int raw_val, uint16_t sensitivity) { double dval; /* Sensitivity is exposed in mgauss/LSB */ dval = (double)(raw_val * sensitivity); val->val1 = (int32_t)dval / 1000000; val->val2 = (int32_t)dval % 1000000; } static inline int ism330dhcx_magn_get_channel(enum sensor_channel chan, struct sensor_value *val, struct ism330dhcx_data *data) { int16_t sample[3]; int idx; idx = ism330dhcx_shub_get_idx(SENSOR_CHAN_MAGN_XYZ); if (idx < 0) { LOG_DBG("external magn not supported"); return -ENOTSUP; } sample[0] = (int16_t)(data->ext_data[idx][0] | (data->ext_data[idx][1] << 8)); sample[1] = (int16_t)(data->ext_data[idx][2] | (data->ext_data[idx][3] << 8)); sample[2] = (int16_t)(data->ext_data[idx][4] | (data->ext_data[idx][5] << 8)); switch (chan) { case SENSOR_CHAN_MAGN_X: ism330dhcx_magn_convert(val, sample[0], data->magn_gain); break; case SENSOR_CHAN_MAGN_Y: ism330dhcx_magn_convert(val, sample[1], data->magn_gain); break; case SENSOR_CHAN_MAGN_Z: ism330dhcx_magn_convert(val, sample[2], data->magn_gain); break; case SENSOR_CHAN_MAGN_XYZ: ism330dhcx_magn_convert(val, sample[0], data->magn_gain); ism330dhcx_magn_convert(val + 1, sample[1], data->magn_gain); ism330dhcx_magn_convert(val + 2, sample[2], data->magn_gain); break; default: return -ENOTSUP; } return 0; } static inline void ism330dhcx_hum_convert(struct sensor_value *val, struct ism330dhcx_data *data) { float rh; int16_t raw_val; struct hts221_data *ht = &data->hts221; int idx; idx = ism330dhcx_shub_get_idx(SENSOR_CHAN_HUMIDITY); if (idx < 0) { LOG_DBG("external press/temp not supported"); return; } raw_val = ((int16_t)(data->ext_data[idx][0] | (data->ext_data[idx][1] << 8))); /* find relative humidty by linear interpolation */ rh = (ht->y1 - ht->y0) * raw_val + ht->x1 * ht->y0 - ht->x0 * ht->y1; rh /= (ht->x1 - ht->x0); /* convert humidity to integer and fractional part */ val->val1 = rh; val->val2 = rh * 1000000; } static inline void ism330dhcx_press_convert(struct sensor_value *val, struct ism330dhcx_data *data) { int32_t raw_val; int idx; idx = ism330dhcx_shub_get_idx(SENSOR_CHAN_PRESS); if (idx < 0) { LOG_DBG("external press/temp not supported"); return; } raw_val = (int32_t)(data->ext_data[idx][0] | (data->ext_data[idx][1] << 8) | (data->ext_data[idx][2] << 16)); /* Pressure sensitivity is 4096 LSB/hPa */ /* Convert raw_val to val in kPa */ val->val1 = (raw_val >> 12) / 10; val->val2 = (raw_val >> 12) % 10 * 100000 + (((int32_t)((raw_val) & 0x0FFF) * 100000L) >> 12); } static inline void ism330dhcx_temp_convert(struct sensor_value *val, struct ism330dhcx_data *data) { int16_t raw_val; int idx; idx = ism330dhcx_shub_get_idx(SENSOR_CHAN_PRESS); if (idx < 0) { LOG_DBG("external press/temp not supported"); return; } raw_val = (int16_t)(data->ext_data[idx][3] | (data->ext_data[idx][4] << 8)); /* Temperature sensitivity is 100 LSB/deg C */ val->val1 = raw_val / 100; val->val2 = (int32_t)raw_val % 100 * (10000); } #endif static int ism330dhcx_channel_get(const struct device *dev, enum sensor_channel chan, struct sensor_value *val) { struct ism330dhcx_data *data = dev->data; switch (chan) { case SENSOR_CHAN_ACCEL_X: case SENSOR_CHAN_ACCEL_Y: case SENSOR_CHAN_ACCEL_Z: case SENSOR_CHAN_ACCEL_XYZ: ism330dhcx_accel_channel_get(chan, val, data); break; case SENSOR_CHAN_GYRO_X: case SENSOR_CHAN_GYRO_Y: case SENSOR_CHAN_GYRO_Z: case SENSOR_CHAN_GYRO_XYZ: ism330dhcx_gyro_channel_get(chan, val, data); break; #if defined(CONFIG_ISM330DHCX_ENABLE_TEMP) case SENSOR_CHAN_DIE_TEMP: ism330dhcx_gyro_channel_get_temp(val, data); break; #endif #if defined(CONFIG_ISM330DHCX_SENSORHUB) case SENSOR_CHAN_MAGN_X: case SENSOR_CHAN_MAGN_Y: case SENSOR_CHAN_MAGN_Z: case SENSOR_CHAN_MAGN_XYZ: ism330dhcx_magn_get_channel(chan, val, data); break; case SENSOR_CHAN_HUMIDITY: ism330dhcx_hum_convert(val, data); break; case SENSOR_CHAN_PRESS: ism330dhcx_press_convert(val, data); break; case SENSOR_CHAN_AMBIENT_TEMP: ism330dhcx_temp_convert(val, data); break; #endif default: return -ENOTSUP; } return 0; } static const struct sensor_driver_api ism330dhcx_api_funcs = { .attr_set = ism330dhcx_attr_set, #if CONFIG_ISM330DHCX_TRIGGER .trigger_set = ism330dhcx_trigger_set, #endif .sample_fetch = ism330dhcx_sample_fetch, .channel_get = ism330dhcx_channel_get, }; static int ism330dhcx_init_chip(const struct device *dev) { const struct ism330dhcx_config * const cfg = dev->config; struct ism330dhcx_data *ism330dhcx = dev->data; uint8_t chip_id; ism330dhcx->dev = dev; if (ism330dhcx_device_id_get(ism330dhcx->ctx, &chip_id) < 0) { LOG_DBG("Failed reading chip id"); return -EIO; } LOG_INF("chip id 0x%x", chip_id); if (chip_id != ISM330DHCX_ID) { LOG_DBG("Invalid chip id 0x%x", chip_id); return -EIO; } /* reset device */ if (ism330dhcx_reset_set(ism330dhcx->ctx, 1) < 0) { return -EIO; } k_busy_wait(100); LOG_DBG("accel range is %d", cfg->accel_range); if (ism330dhcx_accel_range_set(dev, cfg->accel_range) < 0) { LOG_DBG("failed to set accelerometer full-scale"); return -EIO; } LOG_DBG("accel odr is %d", cfg->accel_odr); if (ism330dhcx_accel_set_odr_raw(dev, cfg->accel_odr) < 0) { LOG_DBG("failed to set accelerometer sampling rate"); return -EIO; } LOG_DBG("gyro range is %d", cfg->gyro_range); if (ism330dhcx_gyro_range_set(dev, cfg->gyro_range) < 0) { LOG_DBG("failed to set gyroscope full-scale"); return -EIO; } LOG_DBG("gyro odr is %d", cfg->gyro_odr); ism330dhcx->gyro_freq = ism330dhcx_odr_to_freq_val(cfg->gyro_odr); if (ism330dhcx_gyro_set_odr_raw(dev, cfg->gyro_odr) < 0) { LOG_DBG("failed to set gyroscope sampling rate"); return -EIO; } /* Set FIFO bypass mode */ if (ism330dhcx_fifo_mode_set(ism330dhcx->ctx, ISM330DHCX_BYPASS_MODE) < 0) { LOG_DBG("failed to set FIFO mode"); return -EIO; } if (ism330dhcx_block_data_update_set(ism330dhcx->ctx, 1) < 0) { LOG_DBG("failed to set BDU mode"); return -EIO; } return 0; } static struct ism330dhcx_data ism330dhcx_data; static const struct ism330dhcx_config ism330dhcx_config = { .bus_name = DT_INST_BUS_LABEL(0), .accel_odr = DT_INST_PROP(0, accel_odr), .accel_range = DT_INST_PROP(0, accel_range), .gyro_odr = DT_INST_PROP(0, gyro_odr), .gyro_range = DT_INST_PROP(0, gyro_range), #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) .bus_init = ism330dhcx_spi_init, .spi = SPI_DT_SPEC_INST_GET(0, SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8), 0), #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) .bus_init = ism330dhcx_i2c_init, .i2c_slv_addr = DT_INST_REG_ADDR(0), #else #error "BUS MACRO NOT DEFINED IN DTS" #endif #ifdef CONFIG_ISM330DHCX_TRIGGER /* One gpio pin declared in DTS */ .int_gpio_port = DT_INST_GPIO_LABEL(0, drdy_gpios), .int_gpio_pin = DT_INST_GPIO_PIN(0, drdy_gpios), .int_gpio_flags = DT_INST_GPIO_FLAGS(0, drdy_gpios), .int_pin = DT_INST_PROP(0, int_pin), #endif /* CONFIG_ISM330DHCX_TRIGGER */ }; static int ism330dhcx_init(const struct device *dev) { const struct ism330dhcx_config * const config = dev->config; struct ism330dhcx_data *data = dev->data; data->bus = device_get_binding(config->bus_name); if (!data->bus) { LOG_DBG("master not found: %s", config->bus_name); return -EINVAL; } config->bus_init(dev); if (ism330dhcx_init_chip(dev) < 0) { LOG_DBG("failed to initialize chip"); return -EIO; } #ifdef CONFIG_ISM330DHCX_TRIGGER if (ism330dhcx_init_interrupt(dev) < 0) { LOG_ERR("Failed to initialize interrupt."); return -EIO; } #endif #ifdef CONFIG_ISM330DHCX_SENSORHUB if (ism330dhcx_shub_init(dev) < 0) { LOG_DBG("failed to initialize external chip"); return -EIO; } #endif return 0; } static struct ism330dhcx_data ism330dhcx_data; DEVICE_DT_INST_DEFINE(0, ism330dhcx_init, NULL, &ism330dhcx_data, &ism330dhcx_config, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &ism330dhcx_api_funcs); |