drivers/sensor: add support to LIS2DU12 accelerometer
The LIS2DU12 is a linear 3-axis accelerometer with advanced digital functions whose MEMS and ASIC have been expressly designed to build an outstanding ultralow-power architecture in which the anti-aliasing filter operates with a current consumption among the lowest in the market. This driver is based on stmemsc HAL i/f v2.3 https://www.st.com/en/datasheet/lis2du12.pdf Signed-off-by: Armando Visconti <armando.visconti@st.com>
This commit is contained in:
Armando Visconti
Carles Cufí
parent
858007dc93
commit
1badec4bfd
18 changed files with 997 additions and 1 deletions
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@ -68,6 +68,7 @@ add_subdirectory_ifdef(CONFIG_ISM330DHCX ism330dhcx)
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add_subdirectory_ifdef(CONFIG_ITDS wsen_itds)
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add_subdirectory_ifdef(CONFIG_LIS2DH lis2dh)
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add_subdirectory_ifdef(CONFIG_LIS2DS12 lis2ds12)
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add_subdirectory_ifdef(CONFIG_LIS2DU12 lis2du12)
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add_subdirectory_ifdef(CONFIG_LIS2DW12 lis2dw12)
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add_subdirectory_ifdef(CONFIG_LIS2MDL lis2mdl)
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add_subdirectory_ifdef(CONFIG_LIS3MDL lis3mdl)
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@ -140,6 +140,7 @@ source "drivers/sensor/ite_tach_it8xxx2/Kconfig"
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source "drivers/sensor/ite_vcmp_it8xxx2/Kconfig"
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source "drivers/sensor/lis2dh/Kconfig"
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source "drivers/sensor/lis2ds12/Kconfig"
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source "drivers/sensor/lis2du12/Kconfig"
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source "drivers/sensor/lis2dw12/Kconfig"
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source "drivers/sensor/lis2mdl/Kconfig"
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source "drivers/sensor/lis3mdl/Kconfig"
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12
drivers/sensor/lis2du12/CMakeLists.txt
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12
drivers/sensor/lis2du12/CMakeLists.txt
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@ -0,0 +1,12 @@
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# ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
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#
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# Copyright (c) 2023 STMicroelectronics
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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zephyr_library()
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zephyr_library_sources(lis2du12.c)
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zephyr_library_sources_ifdef(CONFIG_LIS2DU12_TRIGGER lis2du12_trigger.c)
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zephyr_library_include_directories(../stmemsc)
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24
drivers/sensor/lis2du12/Kconfig
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24
drivers/sensor/lis2du12/Kconfig
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@ -0,0 +1,24 @@
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# ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
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# Copyright (c) 2023 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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menuconfig LIS2DU12
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bool "LIS2DU12 I2C/SPI smartxl Chip"
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default y
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depends on DT_HAS_ST_LIS2DU12_ENABLED
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select I2C if $(dt_compat_on_bus,$(DT_COMPAT_ST_LIS2DU12),i2c)
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select SPI if $(dt_compat_on_bus,$(DT_COMPAT_ST_LIS2DU12),spi)
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select HAS_STMEMSC
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select USE_STDC_LIS2DU12
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help
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Enable driver for LIS2DU12 smartxl sensor.
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if LIS2DU12
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module = LIS2DU12
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thread_priority = 10
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thread_stack_size = 1024
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source "drivers/sensor/Kconfig.trigger_template"
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endif # LIS2DU12
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471
drivers/sensor/lis2du12/lis2du12.c
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471
drivers/sensor/lis2du12/lis2du12.c
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@ -0,0 +1,471 @@
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/* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
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*
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* Copyright (c) 2023 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Datasheet:
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* https://www.st.com/resource/en/datasheet/lis2du12.pdf
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*/
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#define DT_DRV_COMPAT st_lis2du12
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/init.h>
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#include <string.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/sys/__assert.h>
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#include <zephyr/logging/log.h>
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#include "lis2du12.h"
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LOG_MODULE_REGISTER(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL);
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static const float lis2du12_odr_map[14] = {
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0.0f, 1.6f, 3.0f, 6.0f, 6.0f, 12.5f, 25.0f,
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50.0f, 100.0f, 200.0f, 400.0f, 800.0f, 0.0f, 0.0f};
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static int lis2du12_freq_to_odr_val(const struct device *dev, uint16_t freq)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(lis2du12_odr_map); i++) {
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if (freq <= lis2du12_odr_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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static const uint16_t lis2du12_accel_fs_map[] = {2, 4, 8, 16};
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static int lis2du12_accel_range_to_fs_val(int32_t range)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(lis2du12_accel_fs_map); i++) {
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if (range == lis2du12_accel_fs_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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static inline int lis2du12_reboot(const struct device *dev)
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{
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const struct lis2du12_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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lis2du12_status_t status;
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uint8_t tries = 10;
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if (lis2du12_init_set(ctx, LIS2DU12_RESET) < 0) {
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return -EIO;
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}
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do {
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if (!--tries) {
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LOG_ERR("sw reset timed out");
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return -ETIMEDOUT;
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}
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k_usleep(50);
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if (lis2du12_status_get(ctx, &status) < 0) {
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return -EIO;
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}
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} while (status.sw_reset != 0);
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if (lis2du12_init_set(ctx, LIS2DU12_DRV_RDY) < 0) {
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return -EIO;
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}
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return 0;
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}
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static int lis2du12_accel_set_fs_raw(const struct device *dev, uint8_t fs)
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{
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const struct lis2du12_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct lis2du12_data *data = dev->data;
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lis2du12_md_t mode;
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if (lis2du12_mode_get(ctx, &mode) < 0) {
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return -EIO;
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}
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mode.fs = fs;
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if (lis2du12_mode_set(ctx, &mode) < 0) {
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return -EIO;
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}
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data->accel_fs = fs;
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return 0;
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}
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static int lis2du12_accel_set_odr_raw(const struct device *dev, uint8_t odr)
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{
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const struct lis2du12_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct lis2du12_data *data = dev->data;
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lis2du12_md_t mode;
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if (lis2du12_mode_get(ctx, &mode) < 0) {
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return -EIO;
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}
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mode.odr = odr;
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if (lis2du12_mode_set(ctx, &mode) < 0) {
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return -EIO;
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}
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data->accel_freq = odr;
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return 0;
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}
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static int lis2du12_accel_odr_set(const struct device *dev, uint16_t freq)
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{
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int odr;
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odr = lis2du12_freq_to_odr_val(dev, freq);
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if (odr < 0) {
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return odr;
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}
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if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
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LOG_ERR("failed to set accelerometer sampling rate");
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return -EIO;
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}
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return 0;
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}
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static int lis2du12_accel_range_set(const struct device *dev, int32_t range)
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{
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int fs;
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struct lis2du12_data *data = dev->data;
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fs = lis2du12_accel_range_to_fs_val(range);
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if (fs < 0) {
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return fs;
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}
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if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
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LOG_ERR("failed to set accelerometer full-scale");
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return -EIO;
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}
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data->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
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return 0;
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}
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static int lis2du12_accel_config(const struct device *dev,
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enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (attr) {
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case SENSOR_ATTR_FULL_SCALE:
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return lis2du12_accel_range_set(dev, sensor_ms2_to_g(val));
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return lis2du12_accel_odr_set(dev, val->val1);
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default:
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LOG_WRN("Accel attribute %d not supported.", attr);
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return -ENOTSUP;
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}
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return 0;
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}
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static int lis2du12_attr_set(const struct device *dev,
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enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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return lis2du12_accel_config(dev, chan, attr, val);
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default:
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LOG_WRN("attribute %d not supported on this channel.", chan);
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return -ENOTSUP;
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}
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return 0;
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}
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static int lis2du12_sample_fetch_accel(const struct device *dev)
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{
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const struct lis2du12_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct lis2du12_data *data = dev->data;
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lis2du12_data_t xl_data;
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lis2du12_md_t md;
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md.fs = cfg->accel_range;
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if (lis2du12_data_get(ctx, &md, &xl_data) < 0) {
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LOG_ERR("Failed to read sample");
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return -EIO;
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}
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data->acc[0] = xl_data.xl.raw[0];
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data->acc[1] = xl_data.xl.raw[1];
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data->acc[2] = xl_data.xl.raw[2];
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return 0;
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}
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static int lis2du12_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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lis2du12_sample_fetch_accel(dev);
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break;
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case SENSOR_CHAN_ALL:
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lis2du12_sample_fetch_accel(dev);
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static inline void lis2du12_accel_convert(struct sensor_value *val, int raw_val,
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uint32_t sensitivity)
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{
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int64_t dval;
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/* Sensitivity is exposed in ug/LSB */
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/* Convert to m/s^2 */
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dval = (int64_t)(raw_val) * sensitivity * SENSOR_G_DOUBLE;
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val->val1 = (int32_t)(dval / 1000000);
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val->val2 = (int32_t)(dval % 1000000);
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}
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static inline int lis2du12_accel_get_channel(enum sensor_channel chan,
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struct sensor_value *val,
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struct lis2du12_data *data,
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uint32_t sensitivity)
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{
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uint8_t i;
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switch (chan) {
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case SENSOR_CHAN_ACCEL_X:
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lis2du12_accel_convert(val, data->acc[0], sensitivity);
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break;
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case SENSOR_CHAN_ACCEL_Y:
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lis2du12_accel_convert(val, data->acc[1], sensitivity);
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break;
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case SENSOR_CHAN_ACCEL_Z:
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lis2du12_accel_convert(val, data->acc[2], sensitivity);
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break;
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case SENSOR_CHAN_ACCEL_XYZ:
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for (i = 0; i < 3; i++) {
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lis2du12_accel_convert(val++, data->acc[i], sensitivity);
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}
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static int lis2du12_accel_channel_get(enum sensor_channel chan,
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struct sensor_value *val,
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struct lis2du12_data *data)
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{
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return lis2du12_accel_get_channel(chan, val, data, data->acc_gain);
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}
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static int lis2du12_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct lis2du12_data *data = dev->data;
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switch (chan) {
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case SENSOR_CHAN_ACCEL_X:
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case SENSOR_CHAN_ACCEL_Y:
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case SENSOR_CHAN_ACCEL_Z:
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case SENSOR_CHAN_ACCEL_XYZ:
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lis2du12_accel_channel_get(chan, val, data);
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api lis2du12_driver_api = {
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.attr_set = lis2du12_attr_set,
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#if CONFIG_LIS2DU12_TRIGGER
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.trigger_set = lis2du12_trigger_set,
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#endif
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.sample_fetch = lis2du12_sample_fetch,
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.channel_get = lis2du12_channel_get,
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};
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static int lis2du12_init_chip(const struct device *dev)
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{
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const struct lis2du12_config *cfg = dev->config;
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stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
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struct lis2du12_data *lis2du12 = dev->data;
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lis2du12_id_t chip_id;
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uint8_t odr, fs;
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if (lis2du12_id_get(ctx, &chip_id) < 0) {
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LOG_ERR("Failed reading chip id");
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return -EIO;
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}
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LOG_INF("chip id 0x%x", chip_id.whoami);
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if (chip_id.whoami != LIS2DU12_ID) {
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LOG_ERR("Invalid chip id 0x%x", chip_id.whoami);
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return -EIO;
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}
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/* reboot device */
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if (lis2du12_reboot(dev) < 0) {
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return -EIO;
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}
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/* set FS from DT */
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fs = cfg->accel_range;
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LOG_DBG("accel range is %d", fs);
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if (lis2du12_accel_set_fs_raw(dev, fs) < 0) {
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LOG_ERR("failed to set accelerometer range %d", fs);
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return -EIO;
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}
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lis2du12->acc_gain = lis2du12_accel_fs_map[fs] * GAIN_UNIT_XL / 2;
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/* set odr from DT (the only way to go in high performance) */
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odr = cfg->accel_odr;
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LOG_DBG("accel odr is %d", odr);
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if (lis2du12_accel_set_odr_raw(dev, odr) < 0) {
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LOG_ERR("failed to set accelerometer odr %d", odr);
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return -EIO;
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}
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return 0;
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}
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static int lis2du12_init(const struct device *dev)
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{
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#ifdef CONFIG_LIS2DU12_TRIGGER
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const struct lis2du12_config *cfg = dev->config;
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#endif
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struct lis2du12_data *data = dev->data;
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LOG_INF("Initialize device %s", dev->name);
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data->dev = dev;
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if (lis2du12_init_chip(dev) < 0) {
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LOG_ERR("failed to initialize chip");
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return -EIO;
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}
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#ifdef CONFIG_LIS2DU12_TRIGGER
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if (cfg->trig_enabled) {
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if (lis2du12_init_interrupt(dev) < 0) {
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LOG_ERR("Failed to initialize interrupt.");
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return -EIO;
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}
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}
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#endif
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return 0;
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}
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/*
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* Device creation macro, shared by LIS2DU12_DEFINE_SPI() and
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* LIS2DU12_DEFINE_I2C().
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*/
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#define LIS2DU12_DEVICE_INIT(inst) \
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SENSOR_DEVICE_DT_INST_DEFINE(inst, \
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lis2du12_init, \
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NULL, \
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&lis2du12_data_##inst, \
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&lis2du12_config_##inst, \
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POST_KERNEL, \
|
||||
CONFIG_SENSOR_INIT_PRIORITY, \
|
||||
&lis2du12_driver_api);
|
||||
|
||||
/*
|
||||
* Instantiation macros used when a device is on a SPI bus.
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER
|
||||
#define LIS2DU12_CFG_IRQ(inst) \
|
||||
.trig_enabled = true, \
|
||||
.int1_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int1_gpios, { 0 }), \
|
||||
.int2_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int2_gpios, { 0 }), \
|
||||
.drdy_pulsed = DT_INST_PROP(inst, drdy_pulsed), \
|
||||
.drdy_pin = DT_INST_PROP(inst, drdy_pin)
|
||||
#else
|
||||
#define LIS2DU12_CFG_IRQ(inst)
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER */
|
||||
|
||||
#define LIS2DU12_SPI_OP (SPI_WORD_SET(8) | \
|
||||
SPI_OP_MODE_MASTER | \
|
||||
SPI_MODE_CPOL | \
|
||||
SPI_MODE_CPHA) \
|
||||
|
||||
#define LIS2DU12_CONFIG_COMMON(inst) \
|
||||
.accel_odr = DT_INST_PROP(inst, accel_odr), \
|
||||
.accel_range = DT_INST_PROP(inst, accel_range), \
|
||||
IF_ENABLED(UTIL_OR(DT_INST_NODE_HAS_PROP(inst, int1_gpios), \
|
||||
DT_INST_NODE_HAS_PROP(inst, int2_gpios)), \
|
||||
(LIS2DU12_CFG_IRQ(inst)))
|
||||
|
||||
/*
|
||||
* Instantiation macros used when a device is on a SPI bus.
|
||||
*/
|
||||
|
||||
#define LIS2DU12_CONFIG_SPI(inst) \
|
||||
{ \
|
||||
STMEMSC_CTX_SPI(&lis2du12_config_##inst.stmemsc_cfg), \
|
||||
.stmemsc_cfg = { \
|
||||
.spi = SPI_DT_SPEC_INST_GET(inst, \
|
||||
LIS2DU12_SPI_OP, \
|
||||
0), \
|
||||
}, \
|
||||
LIS2DU12_CONFIG_COMMON(inst) \
|
||||
}
|
||||
|
||||
/*
|
||||
* Instantiation macros used when a device is on an I2C bus.
|
||||
*/
|
||||
|
||||
#define LIS2DU12_CONFIG_I2C(inst) \
|
||||
{ \
|
||||
STMEMSC_CTX_I2C(&lis2du12_config_##inst.stmemsc_cfg), \
|
||||
.stmemsc_cfg = { \
|
||||
.i2c = I2C_DT_SPEC_INST_GET(inst), \
|
||||
}, \
|
||||
LIS2DU12_CONFIG_COMMON(inst) \
|
||||
}
|
||||
|
||||
/*
|
||||
* Main instantiation macro. Use of COND_CODE_1() selects the right
|
||||
* bus-specific macro at preprocessor time.
|
||||
*/
|
||||
|
||||
#define LIS2DU12_DEFINE(inst) \
|
||||
static struct lis2du12_data lis2du12_data_##inst; \
|
||||
static const struct lis2du12_config lis2du12_config_##inst = \
|
||||
COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
|
||||
(LIS2DU12_CONFIG_SPI(inst)), \
|
||||
(LIS2DU12_CONFIG_I2C(inst))); \
|
||||
LIS2DU12_DEVICE_INIT(inst)
|
||||
|
||||
DT_INST_FOREACH_STATUS_OKAY(LIS2DU12_DEFINE)
|
||||
98
drivers/sensor/lis2du12/lis2du12.h
Normal file
98
drivers/sensor/lis2du12/lis2du12.h
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
/* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Datasheet:
|
||||
* https://www.st.com/resource/en/datasheet/lis2du12.pdf
|
||||
*/
|
||||
|
||||
#ifndef ZEPHYR_DRIVERS_SENSOR_LIS2DU12_LIS2DU12_H_
|
||||
#define ZEPHYR_DRIVERS_SENSOR_LIS2DU12_LIS2DU12_H_
|
||||
|
||||
#include <zephyr/drivers/sensor.h>
|
||||
#include <zephyr/types.h>
|
||||
#include <zephyr/drivers/gpio.h>
|
||||
#include <zephyr/sys/util.h>
|
||||
#include <stmemsc.h>
|
||||
#include "lis2du12_reg.h"
|
||||
|
||||
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
|
||||
#include <zephyr/drivers/spi.h>
|
||||
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
|
||||
|
||||
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
|
||||
#include <zephyr/drivers/i2c.h>
|
||||
#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
|
||||
|
||||
#define LIS2DU12_EN_BIT 0x01
|
||||
#define LIS2DU12_DIS_BIT 0x00
|
||||
|
||||
/* Accel sensor sensitivity grain is 61 ug/LSB */
|
||||
#define GAIN_UNIT_XL (61LL)
|
||||
|
||||
#define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0)
|
||||
|
||||
struct lis2du12_config {
|
||||
stmdev_ctx_t ctx;
|
||||
union {
|
||||
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
|
||||
const struct i2c_dt_spec i2c;
|
||||
#endif
|
||||
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
|
||||
const struct spi_dt_spec spi;
|
||||
#endif
|
||||
} stmemsc_cfg;
|
||||
uint8_t accel_pm;
|
||||
uint8_t accel_odr;
|
||||
uint8_t accel_range;
|
||||
uint8_t drdy_pulsed;
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER
|
||||
const struct gpio_dt_spec int1_gpio;
|
||||
const struct gpio_dt_spec int2_gpio;
|
||||
uint8_t drdy_pin;
|
||||
bool trig_enabled;
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER */
|
||||
};
|
||||
|
||||
union samples {
|
||||
uint8_t raw[6];
|
||||
struct {
|
||||
int16_t axis[3];
|
||||
};
|
||||
} __aligned(2);
|
||||
|
||||
struct lis2du12_data {
|
||||
const struct device *dev;
|
||||
int16_t acc[3];
|
||||
uint32_t acc_gain;
|
||||
uint16_t accel_freq;
|
||||
uint8_t accel_fs;
|
||||
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER
|
||||
struct gpio_dt_spec *drdy_gpio;
|
||||
|
||||
struct gpio_callback gpio_cb;
|
||||
sensor_trigger_handler_t handler_drdy_acc;
|
||||
const struct sensor_trigger *trig_drdy_acc;
|
||||
|
||||
#if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD)
|
||||
K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LIS2DU12_THREAD_STACK_SIZE);
|
||||
struct k_thread thread;
|
||||
struct k_sem gpio_sem;
|
||||
#elif defined(CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD)
|
||||
struct k_work work;
|
||||
#endif
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER */
|
||||
};
|
||||
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER
|
||||
int lis2du12_trigger_set(const struct device *dev,
|
||||
const struct sensor_trigger *trig,
|
||||
sensor_trigger_handler_t handler);
|
||||
|
||||
int lis2du12_init_interrupt(const struct device *dev);
|
||||
#endif
|
||||
|
||||
#endif /* ZEPHYR_DRIVERS_SENSOR_LIS2DU12_LIS2DU12_H_ */
|
||||
215
drivers/sensor/lis2du12/lis2du12_trigger.c
Normal file
215
drivers/sensor/lis2du12/lis2du12_trigger.c
Normal file
|
|
@ -0,0 +1,215 @@
|
|||
/* ST Microelectronics LIS2DU12 3-axis accelerometer sensor driver
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Datasheet:
|
||||
* https://www.st.com/resource/en/datasheet/lis2du12.pdf
|
||||
*/
|
||||
|
||||
#define DT_DRV_COMPAT st_lis2du12
|
||||
|
||||
#include <zephyr/kernel.h>
|
||||
#include <zephyr/drivers/sensor.h>
|
||||
#include <zephyr/drivers/gpio.h>
|
||||
#include <zephyr/logging/log.h>
|
||||
|
||||
#include "lis2du12.h"
|
||||
|
||||
LOG_MODULE_DECLARE(LIS2DU12, CONFIG_SENSOR_LOG_LEVEL);
|
||||
|
||||
/**
|
||||
* lis2du12_enable_xl_int - XL enable selected int pin to generate interrupt
|
||||
*/
|
||||
static int lis2du12_enable_xl_int(const struct device *dev, int enable)
|
||||
{
|
||||
const struct lis2du12_config *cfg = dev->config;
|
||||
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
|
||||
int ret;
|
||||
|
||||
if (enable) {
|
||||
lis2du12_md_t md;
|
||||
lis2du12_data_t xl_data;
|
||||
|
||||
/* dummy read: re-trigger interrupt */
|
||||
md.fs = cfg->accel_range;
|
||||
lis2du12_data_get(ctx, &md, &xl_data);
|
||||
}
|
||||
|
||||
/* set interrupt */
|
||||
if (cfg->drdy_pin == 1) {
|
||||
lis2du12_pin_int_route_t val;
|
||||
|
||||
ret = lis2du12_pin_int1_route_get(ctx, &val);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("pint_int1_route_get error");
|
||||
return ret;
|
||||
}
|
||||
|
||||
val.drdy_xl = 1;
|
||||
|
||||
ret = lis2du12_pin_int1_route_set(ctx, &val);
|
||||
} else {
|
||||
lis2du12_pin_int_route_t val;
|
||||
|
||||
ret = lis2du12_pin_int2_route_get(ctx, &val);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("pint_int2_route_get error");
|
||||
return ret;
|
||||
}
|
||||
|
||||
val.drdy_xl = 1;
|
||||
|
||||
ret = lis2du12_pin_int2_route_set(ctx, &val);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* lis2du12_trigger_set - link external trigger to event data ready
|
||||
*/
|
||||
int lis2du12_trigger_set(const struct device *dev,
|
||||
const struct sensor_trigger *trig,
|
||||
sensor_trigger_handler_t handler)
|
||||
{
|
||||
const struct lis2du12_config *cfg = dev->config;
|
||||
struct lis2du12_data *lis2du12 = dev->data;
|
||||
|
||||
if (!cfg->trig_enabled) {
|
||||
LOG_ERR("trigger_set op not supported");
|
||||
return -ENOTSUP;
|
||||
}
|
||||
|
||||
switch (trig->chan) {
|
||||
case SENSOR_CHAN_ACCEL_XYZ:
|
||||
lis2du12->handler_drdy_acc = handler;
|
||||
lis2du12->trig_drdy_acc = trig;
|
||||
if (handler) {
|
||||
return lis2du12_enable_xl_int(dev, LIS2DU12_EN_BIT);
|
||||
}
|
||||
|
||||
return lis2du12_enable_xl_int(dev, LIS2DU12_DIS_BIT);
|
||||
|
||||
default:
|
||||
return -ENOTSUP;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* lis2du12_handle_interrupt - handle the drdy event
|
||||
* read data and call handler if registered any
|
||||
*/
|
||||
static void lis2du12_handle_interrupt(const struct device *dev)
|
||||
{
|
||||
struct lis2du12_data *lis2du12 = dev->data;
|
||||
const struct lis2du12_config *cfg = dev->config;
|
||||
stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
|
||||
lis2du12_status_t status;
|
||||
|
||||
while (1) {
|
||||
if (lis2du12_status_get(ctx, &status) < 0) {
|
||||
LOG_ERR("failed reading status reg");
|
||||
return;
|
||||
}
|
||||
|
||||
if (status.drdy_xl == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
if ((status.drdy_xl) && (lis2du12->handler_drdy_acc != NULL)) {
|
||||
lis2du12->handler_drdy_acc(dev, lis2du12->trig_drdy_acc);
|
||||
}
|
||||
}
|
||||
|
||||
gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio,
|
||||
GPIO_INT_EDGE_TO_ACTIVE);
|
||||
}
|
||||
|
||||
static void lis2du12_gpio_callback(const struct device *dev,
|
||||
struct gpio_callback *cb, uint32_t pins)
|
||||
{
|
||||
struct lis2du12_data *lis2du12 =
|
||||
CONTAINER_OF(cb, struct lis2du12_data, gpio_cb);
|
||||
|
||||
ARG_UNUSED(pins);
|
||||
|
||||
gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio, GPIO_INT_DISABLE);
|
||||
|
||||
#if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD)
|
||||
k_sem_give(&lis2du12->gpio_sem);
|
||||
#elif defined(CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD)
|
||||
k_work_submit(&lis2du12->work);
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */
|
||||
}
|
||||
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER_OWN_THREAD
|
||||
static void lis2du12_thread(struct lis2du12_data *lis2du12)
|
||||
{
|
||||
while (1) {
|
||||
k_sem_take(&lis2du12->gpio_sem, K_FOREVER);
|
||||
lis2du12_handle_interrupt(lis2du12->dev);
|
||||
}
|
||||
}
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */
|
||||
|
||||
#ifdef CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD
|
||||
static void lis2du12_work_cb(struct k_work *work)
|
||||
{
|
||||
struct lis2du12_data *lis2du12 =
|
||||
CONTAINER_OF(work, struct lis2du12_data, work);
|
||||
|
||||
lis2du12_handle_interrupt(lis2du12->dev);
|
||||
}
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD */
|
||||
|
||||
int lis2du12_init_interrupt(const struct device *dev)
|
||||
{
|
||||
struct lis2du12_data *lis2du12 = dev->data;
|
||||
const struct lis2du12_config *cfg = dev->config;
|
||||
int ret;
|
||||
|
||||
lis2du12->drdy_gpio = (cfg->drdy_pin == 1) ?
|
||||
(struct gpio_dt_spec *)&cfg->int1_gpio :
|
||||
(struct gpio_dt_spec *)&cfg->int2_gpio;
|
||||
|
||||
/* setup data ready gpio interrupt (INT1 or INT2) */
|
||||
if (!gpio_is_ready_dt(lis2du12->drdy_gpio)) {
|
||||
LOG_ERR("Cannot get pointer to drdy_gpio device (%p)",
|
||||
lis2du12->drdy_gpio);
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
#if defined(CONFIG_LIS2DU12_TRIGGER_OWN_THREAD)
|
||||
k_sem_init(&lis2du12->gpio_sem, 0, K_SEM_MAX_LIMIT);
|
||||
|
||||
k_thread_create(&lis2du12->thread, lis2du12->thread_stack,
|
||||
CONFIG_LIS2DU12_THREAD_STACK_SIZE,
|
||||
(k_thread_entry_t)lis2du12_thread, lis2du12,
|
||||
NULL, NULL, K_PRIO_COOP(CONFIG_LIS2DU12_THREAD_PRIORITY),
|
||||
0, K_NO_WAIT);
|
||||
k_thread_name_set(&lis2du12->thread, dev->name);
|
||||
#elif defined(CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD)
|
||||
lis2du12->work.handler = lis2du12_work_cb;
|
||||
#endif /* CONFIG_LIS2DU12_TRIGGER_OWN_THREAD */
|
||||
|
||||
ret = gpio_pin_configure_dt(lis2du12->drdy_gpio, GPIO_INPUT);
|
||||
if (ret < 0) {
|
||||
LOG_ERR("Could not configure gpio: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
gpio_init_callback(&lis2du12->gpio_cb,
|
||||
lis2du12_gpio_callback,
|
||||
BIT(lis2du12->drdy_gpio->pin));
|
||||
|
||||
if (gpio_add_callback(lis2du12->drdy_gpio->port, &lis2du12->gpio_cb) < 0) {
|
||||
LOG_ERR("Could not set gpio callback");
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return gpio_pin_interrupt_configure_dt(lis2du12->drdy_gpio,
|
||||
GPIO_INT_EDGE_TO_ACTIVE);
|
||||
}
|
||||
97
dts/bindings/sensor/st,lis2du12-common.yaml
Normal file
97
dts/bindings/sensor/st,lis2du12-common.yaml
Normal file
|
|
@ -0,0 +1,97 @@
|
|||
# Copyright (c) 2023 STMicroelectronics
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
description: |
|
||||
When setting the accel-range, accel-odr, properties in a .dts or .dtsi
|
||||
file you may include lis2du12.h and use the macros defined there.
|
||||
|
||||
Example:
|
||||
#include <zephyr/dt-bindings/sensor/lis2du12.h>
|
||||
|
||||
lis2du12: lis2du12@0 {
|
||||
...
|
||||
|
||||
accel-range = <LSM6DSV16X_DT_FS_8G>;
|
||||
accel-odr = <LSM6DSV16X_DT_ODR_AT_60Hz>;
|
||||
};
|
||||
|
||||
include: sensor-device.yaml
|
||||
|
||||
properties:
|
||||
int1-gpios:
|
||||
type: phandle-array
|
||||
description: |
|
||||
INT1 pin
|
||||
|
||||
This pin defaults to active high when produced by the sensor.
|
||||
The property value should ensure the flags properly describe
|
||||
the signal that is presented to the driver.
|
||||
|
||||
int2-gpios:
|
||||
type: phandle-array
|
||||
description: |
|
||||
INT2 pin
|
||||
|
||||
This pin defaults to active high when produced by the sensor.
|
||||
The property value should ensure the flags properly describe
|
||||
the signal that is presented to the driver.
|
||||
|
||||
drdy-pin:
|
||||
type: int
|
||||
default: 1
|
||||
description: |
|
||||
Select DRDY pin number (1 or 2).
|
||||
|
||||
1 = drdy is generated from INT1
|
||||
2 = drdy is generated from INT2
|
||||
|
||||
This number represents which of the two interrupt pins
|
||||
(INT1 or INT2) the drdy line is attached to. This property is not
|
||||
mandatory and if not present it defaults to 1 which is the
|
||||
configuration at power-up.
|
||||
enum: [1, 2]
|
||||
|
||||
accel-range:
|
||||
type: int
|
||||
default: 0
|
||||
description: |
|
||||
Range in g. Default is power-up configuration.
|
||||
|
||||
0 # LIS2DU12_DT_FS_2G (0.061 mg/LSB)
|
||||
1 # LIS2DU12_DT_FS_4G (0.122 mg/LSB)
|
||||
2 # LIS2DU12_DT_FS_8G (0.244 mg/LSB)
|
||||
3 # LIS2DU12_DT_FS_16G (0.488 mg/LSB)
|
||||
|
||||
enum: [0, 1, 2, 3]
|
||||
|
||||
accel-odr:
|
||||
type: int
|
||||
default: 0x0
|
||||
description: |
|
||||
Specify the default accelerometer output data rate expressed in samples per second (Hz).
|
||||
The values are taken in accordance to lis2du12_md_t enumerative in hal/st
|
||||
module. Please note that this values will also enable/disable High performance mode.
|
||||
Default is power-up configuration.
|
||||
|
||||
0x00 # LIS2DU12_DT_ODR_OFF
|
||||
0x01 # 1Hz6 (ultra low power)
|
||||
0x02 # 3Hz (ultra low power)
|
||||
0x03 # 25Hz (ultra low power)
|
||||
0x04 # 6Hz (low power)
|
||||
0x05 # 12Hz5 (low power)
|
||||
0x06 # 25Hz (low power)
|
||||
0x07 # 50Hz (low power)
|
||||
0x08 # 100Hz (low power)
|
||||
0x09 # 200Hz (low power)
|
||||
0x0a # 400Hz (low power)
|
||||
0x0b # 800Hz (low power)
|
||||
0x0e # Single-shot high latency by INT2
|
||||
0x0f # Single-shot high latency by IF
|
||||
|
||||
enum: [0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0e, 0x0f]
|
||||
|
||||
drdy-pulsed:
|
||||
type: boolean
|
||||
description: |
|
||||
Selects the pulsed mode for data-ready interrupt when enabled,
|
||||
and the latched mode when disabled.
|
||||
10
dts/bindings/sensor/st,lis2du12-i2c.yaml
Normal file
10
dts/bindings/sensor/st,lis2du12-i2c.yaml
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
# Copyright (c) 2023 STMicroelectronics
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
description: |
|
||||
STMicroelectronics LIS2DU12 3-axis ultra-low power accelerometer sensor
|
||||
accessed through I2C bus
|
||||
|
||||
compatible: "st,lis2du12"
|
||||
|
||||
include: ["i2c-device.yaml", "st,lis2du12-common.yaml"]
|
||||
10
dts/bindings/sensor/st,lis2du12-spi.yaml
Normal file
10
dts/bindings/sensor/st,lis2du12-spi.yaml
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
# Copyright (c) 2023 STMicroelectronics
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
description: |
|
||||
STMicroelectronics LIS2DU12 3-axis ultra-low power accelerometer sensor
|
||||
accessed through SPI bus
|
||||
|
||||
compatible: "st,lis2du12"
|
||||
|
||||
include: ["spi-device.yaml", "st,lis2du12-common.yaml"]
|
||||
31
include/zephyr/dt-bindings/sensor/lis2du12.h
Normal file
31
include/zephyr/dt-bindings/sensor/lis2du12.h
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* Copyright (c) 2023 STMicroelectronics
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
#ifndef ZEPHYR_INCLUDE_DT_BINDINGS_ST_LIS2DU12_H_
|
||||
#define ZEPHYR_INCLUDE_DT_BINDINGS_ST_LIS2DU12_H_
|
||||
|
||||
/* Accel range */
|
||||
#define LIS2DU12_DT_FS_2G 0
|
||||
#define LIS2DU12_DT_FS_4G 1
|
||||
#define LIS2DU12_DT_FS_8G 2
|
||||
#define LIS2DU12_DT_FS_16G 3
|
||||
|
||||
/* Accel rates */
|
||||
#define LIS2DU12_DT_ODR_OFF 0x00 /* Power-Down */
|
||||
#define LIS2DU12_DT_ODR_AT_1Hz6_ULP 0x01 /* 1Hz6 (ultra low power) */
|
||||
#define LIS2DU12_DT_ODR_AT_3Hz_ULP 0x02 /* 3Hz (ultra low power) */
|
||||
#define LIS2DU12_DT_ODR_AT_6Hz_ULP 0x03 /* 6Hz (ultra low power) */
|
||||
#define LIS2DU12_DT_ODR_AT_6Hz 0x04 /* 6Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_12Hz 0x05 /* 12Hz5 (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_25Hz 0x06 /* 25Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_50Hz 0x07 /* 50Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_100Hz 0x08 /* 100Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_200Hz 0x09 /* 200Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_400Hz 0x0a /* 400Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_AT_800Hz 0x0b /* 800Hz (normal) */
|
||||
#define LIS2DU12_DT_ODR_TRIG_PIN 0x0e /* Single-shot high latency by INT2 */
|
||||
#define LIS2DU12_DT_ODR_TRIG_SW 0x0f /* Single-shot high latency by IF */
|
||||
|
||||
#endif /* ZEPHYR_INCLUDE_DT_BINDINGS_ST_LIS2DU12_H_ */
|
||||
|
|
@ -88,6 +88,9 @@ config USE_STDC_LIS2DS12
|
|||
config USE_STDC_LIS2DTW12
|
||||
bool
|
||||
|
||||
config USE_STDC_LIS2DU12
|
||||
bool
|
||||
|
||||
config USE_STDC_LIS2DW12
|
||||
bool
|
||||
|
||||
|
|
|
|||
|
|
@ -122,7 +122,8 @@
|
|||
<&test_gpio 0 0>,
|
||||
<&test_gpio 0 0>, /* 0x25 */
|
||||
<&test_gpio 0 0>, /* 0x26 */
|
||||
<&test_gpio 0 0>; /* 0x27 */
|
||||
<&test_gpio 0 0>, /* 0x27 */
|
||||
<&test_gpio 0 0>; /* 0x28 */
|
||||
|
||||
#include "spi.dtsi"
|
||||
};
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
#include <zephyr/dt-bindings/sensor/iis2dlpc.h>
|
||||
#include <zephyr/dt-bindings/sensor/lis2dh.h>
|
||||
#include <zephyr/dt-bindings/sensor/iis2iclx.h>
|
||||
#include <zephyr/dt-bindings/sensor/lis2du12.h>
|
||||
|
||||
/****************************************
|
||||
* PLEASE KEEP REG ADDRESSES SEQUENTIAL *
|
||||
|
|
@ -869,3 +870,12 @@ test_i2c_lps28dfw: lps28dfw@7b {
|
|||
avg = <LPS2xDF_DT_AVG_128_SAMPLES>;
|
||||
fs = <LPS28DFW_DT_FS_MODE_1_1260>;
|
||||
};
|
||||
|
||||
test_i2c_lis2du12: lis2du12@7c {
|
||||
compatible = "st,lis2du12";
|
||||
reg = <0x7c>;
|
||||
int1-gpios = <&test_gpio 0 0>;
|
||||
int2-gpios = <&test_gpio 0 0>;
|
||||
accel-range = <LIS2DU12_DT_FS_16G>;
|
||||
accel-odr = <LIS2DU12_DT_ODR_AT_800Hz>;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@ CONFIG_ISL29035_TRIGGER_GLOBAL_THREAD=y
|
|||
CONFIG_ISM330DHCX_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS2DH_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS2DS12_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS2DU12_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS2DW12_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD=y
|
||||
CONFIG_LIS3MDL_TRIGGER_GLOBAL_THREAD=y
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@ CONFIG_ISL29035_TRIGGER_NONE=y
|
|||
CONFIG_ISM330DHCX_TRIGGER_NONE=y
|
||||
CONFIG_LIS2DH_TRIGGER_NONE=y
|
||||
CONFIG_LIS2DS12_TRIGGER_NONE=y
|
||||
CONFIG_LIS2DU12_TRIGGER_NONE=y
|
||||
CONFIG_LIS2DW12_TRIGGER_NONE=y
|
||||
CONFIG_LIS2MDL_TRIGGER_NONE=y
|
||||
CONFIG_LIS3MDL_TRIGGER_NONE=y
|
||||
|
|
|
|||
|
|
@ -31,6 +31,7 @@ CONFIG_ISL29035_TRIGGER_OWN_THREAD=y
|
|||
CONFIG_ISM330DHCX_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS2DH_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS2DS12_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS2DU12_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS2DW12_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS2MDL_TRIGGER_OWN_THREAD=y
|
||||
CONFIG_LIS3MDL_TRIGGER_OWN_THREAD=y
|
||||
|
|
|
|||
|
|
@ -312,3 +312,12 @@ test_spi_lps22df: lps22df@27 {
|
|||
drdy-gpios = <&test_gpio 0 0>;
|
||||
status = "okay";
|
||||
};
|
||||
|
||||
test_spi_lis2du12: lis2du12@28 {
|
||||
compatible = "st,lis2du12";
|
||||
reg = <0x28>;
|
||||
spi-max-frequency = <0>;
|
||||
int1-gpios = <&test_gpio 0 0>;
|
||||
int2-gpios = <&test_gpio 0 0>;
|
||||
status = "okay";
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in a new issue