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drivers: fxas21002 enablement for SPI and I2C

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Added support for fxas21002 sensor over SPI and I2C.
Made the fxas driver APIs generic for I2C and SPI.
Tested with fxas21002 sensor on RDDRONE.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Sumit Batra <sumit.batra@nxp.com>
This commit is contained in:
Benjamin Perseghetti 2022-10-28 12:36:43 -04:00 • committed by Maureen Helm
commit 3906860a8f
4 changed files with 298 additions and 40 deletions
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3
drivers/sensor/fxas21002/Kconfig
View file

@ -7,7 +7,8 @@ menuconfig FXAS21002
bool "FXAS21002 gyroscope driver"
default y
depends on DT_HAS_NXP_FXAS21002_ENABLED
select I2C
select I2C if $(dt_compat_on_bus,$(DT_COMPAT_NXP_FXAS21002),i2c)
select SPI if $(dt_compat_on_bus,$(DT_COMPAT_NXP_FXAS21002),spi)
help
Enable driver for the FXAS21002 gyroscope

244
drivers/sensor/fxas21002/fxas21002.c
View file

@ -18,6 +18,133 @@ static const uint32_t sample_period[] = {
1250, 2500, 5000, 10000, 20000, 40000, 80000, 80000
};
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#define DIR_READ(a) ((a) | BIT(7))
#define DIR_WRITE(a) ((a) & 0x7f)
static int fxas21002_transceive(const struct device *dev,
void *data, size_t length)
{
const struct fxas21002_config *cfg = dev->config;
const struct spi_buf buf = { .buf = data, .len = length };
const struct spi_buf_set s = { .buffers = &buf, .count = 1 };
return spi_transceive_dt(&cfg->bus_cfg.spi, &s, &s);
}
int fxas21002_read_spi(const struct device *dev,
uint8_t reg,
void *data,
size_t length)
{
const struct fxas21002_config *cfg = dev->config;
/* Reads must clock out a dummy byte after sending the address. */
uint8_t reg_buf[2] = { DIR_READ(reg), 0 };
const struct spi_buf buf[2] = {
{ .buf = reg_buf, .len = 3 },
{ .buf = data, .len = length }
};
const struct spi_buf_set tx = { .buffers = buf, .count = 1 };
const struct spi_buf_set rx = { .buffers = buf, .count = 2 };
return spi_transceive_dt(&cfg->bus_cfg.spi, &tx, &rx);
}
int fxas21002_byte_read_spi(const struct device *dev,
uint8_t reg,
uint8_t *byte)
{
/* Reads must clock out a dummy byte after sending the address. */
uint8_t data[] = { DIR_READ(reg), 0};
int ret;
ret = fxas21002_transceive(dev, data, sizeof(data));
*byte = data[1];
return ret;
}
int fxas21002_byte_write_spi(const struct device *dev,
uint8_t reg,
uint8_t byte)
{
uint8_t data[] = { DIR_WRITE(reg), byte };
return fxas21002_transceive(dev, data, sizeof(data));
}
int fxas21002_reg_field_update_spi(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val)
{
uint8_t old_val;
int rc = 0;
rc = fxas21002_byte_read_spi(dev, reg, &old_val);
if (rc != 0) {
return rc;
}
return fxas21002_byte_write_spi(dev, reg, (old_val & ~mask) | (val & mask));
}
static const struct fxas21002_io_ops fxas21002_spi_ops = {
.read = fxas21002_read_spi,
.byte_read = fxas21002_byte_read_spi,
.byte_write = fxas21002_byte_write_spi,
.reg_field_update = fxas21002_reg_field_update_spi,
};
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
int fxas21002_read_i2c(const struct device *dev,
uint8_t reg,
void *data,
size_t length)
{
const struct fxas21002_config *config = dev->config;
return i2c_burst_read_dt(&config->bus_cfg.i2c, reg, data, length);
}
int fxas21002_byte_read_i2c(const struct device *dev,
uint8_t reg,
uint8_t *byte)
{
const struct fxas21002_config *config = dev->config;
return i2c_reg_read_byte_dt(&config->bus_cfg.i2c, reg, byte);
}
int fxas21002_byte_write_i2c(const struct device *dev,
uint8_t reg,
uint8_t byte)
{
const struct fxas21002_config *config = dev->config;
return i2c_reg_write_byte_dt(&config->bus_cfg.i2c, reg, byte);
}
int fxas21002_reg_field_update_i2c(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val)
{
const struct fxas21002_config *config = dev->config;
return i2c_reg_update_byte_dt(&config->bus_cfg.i2c, reg, mask, val);
}
static const struct fxas21002_io_ops fxas21002_i2c_ops = {
.read = fxas21002_read_i2c,
.byte_read = fxas21002_byte_read_i2c,
.byte_write = fxas21002_byte_write_i2c,
.reg_field_update = fxas21002_reg_field_update_i2c,
};
#endif
static int fxas21002_sample_fetch(const struct device *dev,
enum sensor_channel chan)
{
@ -36,7 +163,7 @@ static int fxas21002_sample_fetch(const struct device *dev,
k_sem_take(&data->sem, K_FOREVER);
/* Read all the channels in one I2C transaction. */
if (i2c_burst_read_dt(&config->i2c, FXAS21002_REG_OUTXMSB, buffer,
if (config->ops->read(dev, FXAS21002_REG_OUTXMSB, buffer,
sizeof(buffer))) {
LOG_ERR("Could not fetch sample");
ret = -EIO;
@ -139,7 +266,7 @@ int fxas21002_get_power(const struct device *dev, enum fxas21002_power *power)
const struct fxas21002_config *config = dev->config;
uint8_t val = *power;
if (i2c_reg_read_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG1, &val)) {
if (config->ops->byte_read(dev, FXAS21002_REG_CTRLREG1, &val)) {
LOG_ERR("Could not get power setting");
return -EIO;
}
@ -153,8 +280,8 @@ int fxas21002_set_power(const struct device *dev, enum fxas21002_power power)
{
const struct fxas21002_config *config = dev->config;
return i2c_reg_update_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_POWER_MASK, power);
return config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_POWER_MASK, power);
}
uint32_t fxas21002_get_transition_time(enum fxas21002_power start,
@ -188,18 +315,53 @@ static int fxas21002_init(const struct device *dev)
struct fxas21002_data *data = dev->data;
uint32_t transition_time;
uint8_t whoami;
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
uint8_t ctrlreg1;
if (!device_is_ready(config->i2c.bus)) {
LOG_ERR("I2C bus device not ready");
return -ENODEV;
if (config->inst_on_bus == FXAS21002_BUS_I2C) {
if (!device_is_ready(config->bus_cfg.i2c.bus)) {
LOG_ERR("I2C bus device not ready");
return -ENODEV;
}
}
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
if (config->inst_on_bus == FXAS21002_BUS_SPI) {
if (!device_is_ready(config->bus_cfg.spi.bus)) {
LOG_ERR("SPI bus device not ready");
return -ENODEV;
}
if (config->reset_gpio.port) {
/* Pulse RST pin high to perform a hardware reset of
* the sensor.
*/
if (!device_is_ready(config->reset_gpio.port)) {
LOG_ERR("GPIO device not ready");
return -ENODEV;
}
gpio_pin_configure_dt(&config->reset_gpio, GPIO_OUTPUT_INACTIVE);
gpio_pin_set_dt(&config->reset_gpio, 1);
/* The datasheet does not mention how long to pulse
* the RST pin high in order to reset. Stay on the
* safe side and pulse for 1 millisecond.
*/
k_busy_wait(USEC_PER_MSEC);
gpio_pin_set_dt(&config->reset_gpio, 0);
k_busy_wait(USEC_PER_MSEC);
}
}
#endif
/* Read the WHOAMI register to make sure we are talking to FXAS21002
* and not some other type of device that happens to have the same I2C
* address.
*/
if (i2c_reg_read_byte_dt(&config->i2c, FXAS21002_REG_WHOAMI, &whoami)) {
if (config->ops->byte_read(dev, FXAS21002_REG_WHOAMI, &whoami)) {
LOG_ERR("Could not get WHOAMI value");
return -EIO;
}
@ -210,34 +372,38 @@ static int fxas21002_init(const struct device *dev)
return -EIO;
}
/* Reset the sensor. Upon issuing a software reset command over the I2C
* interface, the sensor immediately resets and does not send any
* acknowledgment (ACK) of the written byte to the master. Therefore,
* do not check the return code of the I2C transaction.
*/
i2c_reg_write_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_RST_MASK);
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
if (config->inst_on_bus == FXAS21002_BUS_I2C) {
/* Reset the sensor. Upon issuing a software reset command over the I2C
* interface, the sensor immediately resets and does not send any
* acknowledgment (ACK) of the written byte to the master. Therefore,
* do not check the return code of the I2C transaction.
*/
config->ops->byte_write(dev, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_RST_MASK);
/* Wait for the reset sequence to complete */
do {
if (i2c_reg_read_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG1,
&ctrlreg1)) {
LOG_ERR("Could not get ctrlreg1 value");
return -EIO;
}
} while (ctrlreg1 & FXAS21002_CTRLREG1_RST_MASK);
/* Wait for the reset sequence to complete */
do {
if (config->ops->byte_read(dev, FXAS21002_REG_CTRLREG1,
&ctrlreg1)) {
LOG_ERR("Could not get ctrlreg1 value");
return -EIO;
}
} while (ctrlreg1 & FXAS21002_CTRLREG1_RST_MASK);
}
#endif
/* Set the full-scale range */
if (i2c_reg_update_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG0,
FXAS21002_CTRLREG0_FS_MASK, config->range)) {
if (config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG0,
FXAS21002_CTRLREG0_FS_MASK, config->range)) {
LOG_ERR("Could not set range");
return -EIO;
}
/* Set the output data rate */
if (i2c_reg_update_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_DR_MASK,
config->dr << FXAS21002_CTRLREG1_DR_SHIFT)) {
if (config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG1,
FXAS21002_CTRLREG1_DR_MASK,
config->dr << FXAS21002_CTRLREG1_DR_SHIFT)) {
LOG_ERR("Could not set output data rate");
return -EIO;
}
@ -279,11 +445,25 @@ static const struct sensor_driver_api fxas21002_driver_api = {
#endif
};
#define FXAS21002_CONFIG_I2C(inst) \
.bus_cfg = { .i2c = I2C_DT_SPEC_INST_GET(inst) }, \
.ops = &fxas21002_i2c_ops, \
.inst_on_bus = FXAS21002_BUS_I2C, \
#define FXAS21002_CONFIG_SPI(inst) \
.bus_cfg = {.spi = SPI_DT_SPEC_INST_GET(inst, \
SPI_OP_MODE_MASTER | SPI_WORD_SET(8), 0) }, \
.ops = &fxas21002_spi_ops, \
.reset_gpio = GPIO_DT_SPEC_INST_GET(inst, reset_gpios), \
.inst_on_bus = FXAS21002_BUS_SPI, \
#define FXAS21002_DEFINE(inst) \
static struct fxas21002_data fxas21002_data_##inst; \
\
static const struct fxas21002_config fxas21002_config_##inst = { \
.i2c = I2C_DT_SPEC_INST_GET(inst), \
COND_CODE_1(DT_INST_ON_BUS(inst, spi), \
(FXAS21002_CONFIG_SPI(inst)), \
(FXAS21002_CONFIG_I2C(inst))) \
.whoami = CONFIG_FXAS21002_WHOAMI, \
.range = CONFIG_FXAS21002_RANGE, \
.dr = CONFIG_FXAS21002_DR, \
@ -296,8 +476,8 @@ static const struct sensor_driver_api fxas21002_driver_api = {
}; \
\
SENSOR_DEVICE_DT_INST_DEFINE(inst, fxas21002_init, NULL, \
&fxas21002_data_##inst, &fxas21002_config_##inst, \
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
&fxas21002_driver_api); \
&fxas21002_data_##inst, &fxas21002_config_##inst, \
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
&fxas21002_driver_api); \
DT_INST_FOREACH_STATUS_OKAY(FXAS21002_DEFINE)

77
drivers/sensor/fxas21002/fxas21002.h
View file

@ -5,10 +5,17 @@
*/
#include <zephyr/drivers/sensor.h>
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
#include <zephyr/drivers/i2c.h>
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#include <zephyr/drivers/spi.h>
#endif
#include <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
#define FXAS21002_BUS_I2C (1<<0)
#define FXAS21002_BUS_SPI (1<<1)
#define FXAS21002_REG_STATUS 0x00
#define FXAS21002_REG_OUTXMSB 0x01
#define FXAS21002_REG_INT_SOURCE 0x0b
@ -57,14 +64,44 @@ enum fxas21002_channel {
FXAS21002_CHANNEL_GYRO_Z,
};
struct fxas21002_config {
struct fxas21002_io_ops {
int (*read)(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
int (*byte_read)(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int (*byte_write)(const struct device *dev,
uint8_t reg,
uint8_t byte);
int (*reg_field_update)(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
};
union fxas21002_bus_cfg {
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
struct spi_dt_spec spi;
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
struct i2c_dt_spec i2c;
#endif
};
struct fxas21002_config {
const union fxas21002_bus_cfg bus_cfg;
const struct fxas21002_io_ops *ops;
#ifdef CONFIG_FXAS21002_TRIGGER
struct gpio_dt_spec int_gpio;
#endif
struct gpio_dt_spec reset_gpio;
uint8_t whoami;
enum fxas21002_range range;
uint8_t dr;
uint8_t inst_on_bus;
};
struct fxas21002_data {
@ -92,6 +129,44 @@ uint32_t fxas21002_get_transition_time(enum fxas21002_power start,
enum fxas21002_power end,
uint8_t dr);
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
int fxas21002_byte_write_spi(const struct device *dev,
uint8_t reg,
uint8_t byte);
int fxas21002_byte_read_spi(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int fxas21002_reg_field_update_spi(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
int fxas21002_read_spi(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
#endif
#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
int fxas21002_byte_write_i2c(const struct device *dev,
uint8_t reg,
uint8_t byte);
int fxas21002_byte_read_i2c(const struct device *dev,
uint8_t reg,
uint8_t *byte);
int fxas21002_reg_field_update_i2c(const struct device *dev,
uint8_t reg,
uint8_t mask,
uint8_t val);
int fxas21002_read_i2c(const struct device *dev,
uint8_t reg,
void *data,
size_t length);
#endif
#if CONFIG_FXAS21002_TRIGGER
int fxas21002_trigger_init(const struct device *dev);
int fxas21002_trigger_set(const struct device *dev,

14
drivers/sensor/fxas21002/fxas21002_trigger.c
View file

@ -4,6 +4,8 @@
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT nxp_fxas21002
#include <zephyr/logging/log.h>
#include "fxas21002.h"
@ -55,8 +57,8 @@ static void fxas21002_handle_int(const struct device *dev)
k_sem_take(&data->sem, K_FOREVER);
if (i2c_reg_read_byte_dt(&config->i2c, FXAS21002_REG_INT_SOURCE,
&int_source)) {
if (config->ops->byte_read(dev, FXAS21002_REG_INT_SOURCE,
&int_source)) {
LOG_ERR("Could not read interrupt source");
int_source = 0U;
}
@ -136,8 +138,8 @@ int fxas21002_trigger_set(const struct device *dev,
}
/* Configure the sensor interrupt */
if (i2c_reg_update_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG2, mask,
handler ? mask : 0)) {
if (config->ops->reg_field_update(dev, FXAS21002_REG_CTRLREG2, mask,
handler ? mask : 0)) {
LOG_ERR("Could not configure interrupt");
ret = -EIO;
goto exit;
@ -188,8 +190,8 @@ int fxas21002_trigger_init(const struct device *dev)
ctrl_reg2 |= FXAS21002_CTRLREG2_CFG_DRDY_MASK;
#endif
if (i2c_reg_write_byte_dt(&config->i2c, FXAS21002_REG_CTRLREG2,
ctrl_reg2)) {
if (config->ops->byte_write(dev, FXAS21002_REG_CTRLREG2,
ctrl_reg2)) {
LOG_ERR("Could not configure interrupt pin routing");
return -EIO;
}