driver: sensor: Add support for LIS2MDL Mag sensor

Added support to LIS2MDL Magnetometer sensor provided
with following features:
	- I2C interface
	- Mag data
	- Temperature data
	- ODR configurable by config or at runtime
	- Trigger mode selectable by menuconfig
	- IRQ pin configurable (by dts or Kconfig)
	- Hard Iron offset setting at runtime
	- Include yaml file

Tested on ST MEMS IKS01A2 + NUCLEO STM32F411RE board.
LIS2MDL connected to I2C master interface (SPI 3 wire not
supported yet).
Test run with all ODR {10, 20, 50, 100} Hz in poll and
trigger mode.

GPIO IRQ dts configuration has been tested by adding
to boards/arm/nucleo_f411re/nucleo_f411re.dts file
this patch:

&i2c1 {
        status = "ok";
        clock-frequency = <I2C_BITRATE_FAST>;
+
+       /* ST Microelectronics LIS2MDL mag sensor */
+       lis2mdl-magn@1e {
+               compatible = "st,lis2mdl-magn";
+               reg = <0x1e>;
+               irq-gpios = <&gpioa 4 0>;
+               label = "LIS2MDL";
+               status = "ok";
+       };
};

and adding boards/arm/nucleo_f411re/dts.fixup with following
content:

	ST_STM32_I2C_V1_40005400_ST_LIS2MDL_MAGN_1E_LABEL
	ST_STM32_I2C_V1_40005400_ST_LIS2MDL_MAGN_1E_BASE_ADDRESS
	ST_STM32_I2C_V1_40005400_ST_LIS2MDL_MAGN_1E_BUS_NAME
	ST_STM32_I2C_V1_40005400_ST_LIS2MDL_MAGN_1E_IRQ_GPIOS_CONTROLLER
	ST_STM32_I2C_V1_40005400_ST_LIS2MDL_MAGN_1E_IRQ_GPIOS_PIN

For more info on this LIS2MDL please follow this link:
http://www.st.com/en/mems-and-sensors/lis2mdl.html

Signed-off-by: Mario Tesi <mario.tesi@st.com>
This commit is contained in:
Mario Tesi 2018-03-08 15:34:55 +01:00 committed by Maureen Helm
commit 5d8834bee4
10 changed files with 827 additions and 0 deletions

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@ -20,6 +20,7 @@ add_subdirectory_ifdef(CONFIG_HP206C hp206c)
add_subdirectory_ifdef(CONFIG_HTS221 hts221)
add_subdirectory_ifdef(CONFIG_ISL29035 isl29035)
add_subdirectory_ifdef(CONFIG_LIS2DH lis2dh)
add_subdirectory_ifdef(CONFIG_LIS2MDL lis2mdl)
add_subdirectory_ifdef(CONFIG_LIS3DH lis3dh)
add_subdirectory_ifdef(CONFIG_LIS3MDL lis3mdl)
add_subdirectory_ifdef(CONFIG_LPS22HB lps22hb)

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@ -79,6 +79,8 @@ source "drivers/sensor/isl29035/Kconfig"
source "drivers/sensor/lis2dh/Kconfig"
source "drivers/sensor/lis2mdl/Kconfig"
source "drivers/sensor/lis3dh/Kconfig"
source "drivers/sensor/lis3mdl/Kconfig"

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@ -0,0 +1,9 @@
#
# Copyright (c) 2018 STMicroelectronics
#
# SPDX-License-Identifier: Apache-2.0
#
zephyr_library()
zephyr_library_sources_ifdef(CONFIG_LIS2MDL lis2mdl.c)
zephyr_library_sources_ifdef(CONFIG_LIS2MDL_TRIGGER lis2mdl_trigger.c)

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@ -0,0 +1,117 @@
# Copyright (c) 2018 STMicroelectronics
#
# SPDX-License-Identifier: Apache-2.0
#
menuconfig LIS2MDL
bool "LIS2MDL Magnetometer"
depends on I2C
help
Enable driver for LIS2MDL I2C-based magnetometer sensor.
if LIS2MDL
config LIS2MDL_DEV_NAME
string "Driver name"
default "LIS2MDL"
help
Device name with which the LIS2MDL sensor is identified.
if !HAS_DTS_I2C
config LIS2MDL_I2C_ADDR
hex "I2C address"
default 0x1E
help
I2C address of the LIS2MDL sensor.
config LIS2MDL_I2C_MASTER_DEV_NAME
string "I2C master where LIS2MDL is connected"
default "I2C_0"
help
Specify the device name of the I2C master device to which LIS2MDL is
connected.
endif # LIS2MDL_I2C_ADDR
choice
prompt "Trigger mode"
default LIS2MDL_TRIGGER_GLOBAL_THREAD
help
Specify the type of triggering to be used by the driver.
config LIS2MDL_TRIGGER_NONE
bool "No trigger"
config LIS2MDL_TRIGGER_GLOBAL_THREAD
bool "Use global thread"
depends on GPIO
select LIS2MDL_TRIGGER
config LIS2MDL_TRIGGER_OWN_THREAD
bool "Use own thread"
depends on GPIO
select LIS2MDL_TRIGGER
endchoice
config LIS2MDL_TRIGGER
bool
if !HAS_DTS_GPIO
config LIS2MDL_GPIO_DEV_NAME
string "GPIO device"
default "GPIO_0"
depends on LIS2MDL_TRIGGER
help
The device name of the GPIO device to which the LIS2MDL interrupt pins
are connected.
config LIS2MDL_GPIO_PIN_NUM
int "Interrupt GPIO pin number"
default 0
depends on LIS2MDL_TRIGGER
help
The number of the GPIO on which the interrupt signal from the LIS2MDL
chip will be received.
endif # !HAS_DTS_GPIO
config LIS2MDL_THREAD_PRIORITY
int "Thread priority"
depends on LIS2MDL_TRIGGER_OWN_THREAD
default 10
help
Priority of thread used by the driver to handle interrupts.
config LIS2MDL_THREAD_STACK_SIZE
int "Thread stack size"
depends on LIS2MDL_TRIGGER_OWN_THREAD
default 1024
help
Stack size of thread used by the driver to handle interrupts.
choice
prompt "Magnetometer sampling frequency (ODR)"
default LIS2MDL_MAG_ODR_RUNTIME
config LIS2MDL_MAG_ODR_RUNTIME
bool "Set ODR at runtime (default 10 Hz)"
config LIS2MDL_MAG_ODR_10
bool "10 Hz"
config LIS2MDL_MAG_ODR_20
bool "20 Hz"
config LIS2MDL_MAG_ODR_50
bool "50 Hz"
config LIS2MDL_MAG_ODR_100
bool "100 Hz"
endchoice
endif # LIS2MDL

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@ -0,0 +1,375 @@
/*
* Copyright (c) 2018 STMicroelectronics
*
* LIS2MDL mag driver
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <init.h>
#include <misc/__assert.h>
#include <misc/byteorder.h>
#include <sensor.h>
#include <string.h>
#include "lis2mdl.h"
struct lis2mdl_data lis2mdl_device_data;
#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
static const struct {
u16_t odr;
u8_t regval;
} lis2mdl_odr_reg[] = {
{
.odr = 10,
.regval = LIS2MDL_ODR10_HZ,
},
{
.odr = 20,
.regval = LIS2MDL_ODR20_HZ,
},
{
.odr = 50,
.regval = LIS2MDL_ODR50_HZ,
},
{
.odr = 100,
.regval = LIS2MDL_ODR100_HZ,
},
};
static int lis2mdl_freq_to_odr_val(u16_t odr)
{
size_t i;
for (i = 0; i < ARRAY_SIZE(lis2mdl_odr_reg); i++) {
if (odr == lis2mdl_odr_reg[i].odr) {
return i;
}
}
return -EINVAL;
}
static int lis2mdl_set_odr(struct device *dev, u16_t odr)
{
int odr_idx;
struct lis2mdl_data *lis2mdl = dev->driver_data;
/* check if power off */
if (odr == 0) {
/* power off mag */
return i2c_reg_update_byte(lis2mdl->i2c,
lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_MAG_MODE_MASK,
LIS2MDL_MD_IDLE1_MODE);
}
odr_idx = lis2mdl_freq_to_odr_val(odr);
if (odr_idx < 0) {
return odr_idx;
}
return i2c_reg_update_byte(lis2mdl->i2c,
lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_ODR_MASK,
lis2mdl_odr_reg[odr_idx].regval);
}
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
static int lis2mdl_set_hard_iron(struct device *dev, enum sensor_channel chan,
const struct sensor_value *val)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u8_t regs = LIS2MDL_OFFSET_X_REG_L;
u8_t i;
s16_t offs;
int ret;
for (i = 0; i < LIS2MDL_NUM_AXIS; i++) {
offs = sys_cpu_to_le16(val->val1);
ret = i2c_burst_write(lis2mdl->i2c, lis2mdl->i2c_addr,
regs, (u8_t *)&offs, sizeof(offs));
if (ret < 0) {
return ret;
}
regs += sizeof(offs);
val++;
}
return 0;
}
static void lis2mdl_channel_get_mag(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
s32_t cval;
int i;
u8_t ofs_start, ofs_stop;
struct lis2mdl_data *lis2mdl = dev->driver_data;
struct sensor_value *pval = val;
switch (chan) {
case SENSOR_CHAN_MAGN_X:
ofs_start = ofs_stop = 0;
break;
case SENSOR_CHAN_MAGN_Y:
ofs_start = ofs_stop = 1;
break;
case SENSOR_CHAN_MAGN_Z:
ofs_start = ofs_stop = 2;
break;
default:
ofs_start = 0; ofs_stop = 2;
break;
}
for (i = ofs_start; i <= ofs_stop; i++) {
cval = lis2mdl->mag[i] * lis2mdl->mag_fs_sensitivity;
pval->val1 = cval / 1000000;
pval->val2 = cval % 1000000;
pval++;
}
}
/* read internal temperature */
static void lis2mdl_channel_get_temp(struct device *dev,
struct sensor_value *val)
{
struct lis2mdl_data *drv_data = dev->driver_data;
val->val1 = drv_data->temp_sample / 100;
val->val2 = drv_data->temp_sample % 100;
}
static int lis2mdl_channel_get(struct device *dev, enum sensor_channel chan,
struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
lis2mdl_channel_get_mag(dev, chan, val);
break;
case SENSOR_CHAN_DIE_TEMP:
lis2mdl_channel_get_temp(dev, val);
break;
default:
SYS_LOG_DBG("Channel not supported");
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_config(struct device *dev, enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
#ifdef CONFIG_LIS2MDL_MAG_ODR_RUNTIME
case SENSOR_ATTR_SAMPLING_FREQUENCY:
return lis2mdl_set_odr(dev, val->val1);
#endif /* CONFIG_LIS2MDL_MAG_ODR_RUNTIME */
case SENSOR_ATTR_OFFSET:
return lis2mdl_set_hard_iron(dev, chan, val);
default:
SYS_LOG_DBG("Mag attribute not supported");
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_attr_set(struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
return lis2mdl_config(dev, chan, attr, val);
default:
SYS_LOG_DBG("attr_set() not supported on %d channel", chan);
return -ENOTSUP;
}
return 0;
}
static int lis2mdl_sample_fetch_mag(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
union {
u8_t raw[LIS2MDL_OUT_REG_SIZE];
struct {
s16_t m_axis[3];
};
} buf __aligned(2);
/* fetch raw data sample */
if (i2c_burst_read(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_OUT_REG, buf.raw,
sizeof(buf)) < 0) {
SYS_LOG_DBG("Failed to fetch raw mag sample");
return -EIO;
}
lis2mdl->mag[0] = sys_le16_to_cpu(buf.m_axis[0]);
lis2mdl->mag[1] = sys_le16_to_cpu(buf.m_axis[1]);
lis2mdl->mag[2] = sys_le16_to_cpu(buf.m_axis[2]);
return 0;
}
static int lis2mdl_sample_fetch_temp(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u16_t temp_raw;
s32_t temp;
int ret;
/* fetch raw temperature sample */
ret = i2c_burst_read(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_TEMP_OUT_L_REG,
(u8_t *)&temp_raw, sizeof(temp_raw));
if (ret < 0) {
SYS_LOG_DBG("Failed to fetch raw temp sample");
return -EIO;
}
/* formula is temp = 25 + (temp / 8) C */
temp = (sys_le16_to_cpu(temp_raw) & 0x8FFF);
lis2mdl->temp_sample = 2500 + (temp * 100) / 8;
return 0;
}
static int lis2mdl_sample_fetch(struct device *dev, enum sensor_channel chan)
{
switch (chan) {
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:
case SENSOR_CHAN_MAGN_XYZ:
lis2mdl_sample_fetch_mag(dev);
break;
case SENSOR_CHAN_DIE_TEMP:
lis2mdl_sample_fetch_temp(dev);
break;
case SENSOR_CHAN_ALL:
lis2mdl_sample_fetch_mag(dev);
lis2mdl_sample_fetch_temp(dev);
break;
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api lis2mdl_driver_api = {
.attr_set = lis2mdl_attr_set,
#if CONFIG_LIS2MDL_TRIGGER
.trigger_set = lis2mdl_trigger_set,
#endif
.sample_fetch = lis2mdl_sample_fetch,
.channel_get = lis2mdl_channel_get,
};
static int lis2mdl_init_interface(struct device *dev)
{
const struct lis2mdl_device_config *const config =
dev->config->config_info;
struct lis2mdl_data *lis2mdl = dev->driver_data;
lis2mdl->i2c = device_get_binding(config->master_dev_name);
if (!lis2mdl->i2c) {
SYS_LOG_DBG("Could not get pointer to %s device",
config->master_dev_name);
return -EINVAL;
}
lis2mdl->i2c_addr = config->i2c_addr_config;
return 0;
}
static const struct lis2mdl_device_config lis2mdl_dev_config = {
.master_dev_name = CONFIG_LIS2MDL_I2C_MASTER_DEV_NAME,
#ifdef CONFIG_LIS2MDL_TRIGGER
.gpio_name = CONFIG_LIS2MDL_GPIO_DEV_NAME,
.gpio_pin = CONFIG_LIS2MDL_GPIO_PIN_NUM,
#endif /* CONFIG_LIS2MDL_TRIGGER */
.i2c_addr_config = CONFIG_LIS2MDL_I2C_ADDR,
};
static int lis2mdl_init(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u8_t wai;
if (lis2mdl_init_interface(dev)) {
return -EINVAL;
}
/* check chip ID */
if (i2c_reg_read_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_WHO_AM_I_REG, &wai) < 0) {
SYS_LOG_DBG("Failed to read chip ID");
return -EIO;
}
if (wai != LIS2MDL_WHOAMI_VAL) {
SYS_LOG_DBG("Invalid chip ID");
return -EINVAL;
}
/* reset sensor configuration */
if (i2c_reg_write_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A, LIS2MDL_SOFT_RST)) {
return -EIO;
}
k_busy_wait(100);
/* enable BDU */
if (i2c_reg_update_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_C, LIS2MDL_BDU_MASK,
LIS2MDL_BDU_BIT)) {
return -EIO;
}
/* set continuous MODE in default ODR, enable temperature comp. */
if (i2c_reg_write_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_A,
LIS2MDL_MD_CONT_MODE | LIS2MDL_DEFAULT_ODR |
LIS2MDL_COMP_TEMP_MASK)) {
return -EIO;
}
lis2mdl->mag_fs_sensitivity = LIS2MDL_SENSITIVITY;
#ifdef CONFIG_LIS2MDL_TRIGGER
if (lis2mdl_init_interrupt(dev) < 0) {
SYS_LOG_DBG("Failed to initialize interrupts");
return -EIO;
}
#endif
return 0;
}
DEVICE_AND_API_INIT(lis2mdl, CONFIG_LIS2MDL_DEV_NAME, lis2mdl_init,
&lis2mdl_device_data, &lis2mdl_dev_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &lis2mdl_driver_api);

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@ -0,0 +1,141 @@
/*
* Copyright (c) 2018 STMicroelectronics
*
* LIS2MDL mag header file
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef __MAG_LIS2MDL_H
#define __MAG_LIS2MDL_H
#include <gpio.h>
#include <misc/util.h>
#include <i2c.h>
#define SYS_LOG_DOMAIN "LIS2MDL"
#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
#include <logging/sys_log.h>
#define LIS2MDL_EN_BIT 1
#define LIS2MDL_DIS_BIT 0
#define LIS2MDL_I2C_ADDR(__x) (__x << 1)
#define LIS2MDL_AUTO_INCREMENT 0x80
/* Registers */
#define LIS2MDL_WHO_AM_I_REG 0x4f
#define LIS2MDL_WHOAMI_VAL 0x40
#define LIS2MDL_CFG_REG_A 0x60
/* Device supported modes */
#define LIS2MDL_MD_CONT_MODE 0x00
#define LIS2MDL_MD_SINGLE_MODE 0x01
#define LIS2MDL_MD_IDLE1_MODE 0x02
#define LIS2MDL_MD_IDLE2_MODE 0x03
#define LIS2MDL_MAG_MODE_MASK 0x03
/* Device supported ODRs */
#define LIS2MDL_ODR10_HZ 0x00
#define LIS2MDL_ODR20_HZ 0x04
#define LIS2MDL_ODR50_HZ 0x08
#define LIS2MDL_ODR100_HZ 0x0c
#define LIS2MDL_ODR_MASK 0x0c
#if defined(CONFIG_LIS2MDL_MAG_ODR_10) || \
defined(CONFIG_LIS2MDL_MAG_ODR_RUNTIME)
#define LIS2MDL_DEFAULT_ODR LIS2MDL_ODR10_HZ
#elif defined(CONFIG_LIS2MDL_MAG_ODR_20)
#define LIS2MDL_DEFAULT_ODR LIS2MDL_ODR20_HZ
#elif defined(CONFIG_LIS2MDL_MAG_ODR_50)
#define LIS2MDL_DEFAULT_ODR LIS2MDL_ODR50_HZ
#elif defined(CONFIG_LIS2MDL_MAG_ODR_100)
#define LIS2MDL_DEFAULT_ODR LIS2MDL_ODR100_HZ
#endif
/* Sensors registers */
#define LIS2MDL_OFFSET_X_REG_L 0x45
#define LIS2MDL_OFFSET_X_REG_H 0x46
#define LIS2MDL_OFFSET_Y_REG_L 0x47
#define LIS2MDL_OFFSET_Y_REG_H 0x48
#define LIS2MDL_OFFSET_Z_REG_L 0x49
#define LIS2MDL_OFFSET_Z_REG_H 0x4A
#define LIS2MDL_CFG_REG_B 0x61
#define LIS2MDL_CFG_REG_C 0x62
#define LIS2MDL_INT_CTRL_REG 0x63
#define LIS2MDL_STATUS_REG 0x67
#define LIS2MDL_OUT_REG 0x68
#define LIS2MDL_TEMP_OUT_L_REG 0x6E
#define LIS2MDL_TEMP_OUT_H_REG 0x6F
/* Registers bitmask */
#define LIS2MDL_STS_MDA_UP 0x08
#define LIS2MDL_REBOOT 0x40
#define LIS2MDL_SOFT_RST 0x20
#define LIS2MDL_BDU_MASK 0x10
#define LIS2MDL_BDU_BIT 0x10
#define LIS2MDL_INT_MAG_PIN 0x40
#define LIS2MDL_INT_MAG_PIN_MASK 0x40
#define LIS2MDL_INT_MAG 0x01
#define LIS2MDL_INT_MAG_MASK 0x01
#define LIS2MDL_MODE_MASK 0x03
#define LIS2MDL_LP_MASK 0x10
#define LIS2MDL_IEA 0x04
#define LIS2MDL_IEL 0x02
#define LIS2MDL_IEN 0x01
#define LIS2MDL_COMP_TEMP_MASK 0x80
/* Output data size */
#define LIS2MDL_OUT_REG_SIZE 6
#define LIS2MDL_NUM_AXIS 3
/* Define ODR supported range */
#define LIS2MDL_MAX_ODR 100
#define LIS2MDL_MIN_ODR 10
/* Sensor sensitivity in uGa/LSB */
#define LIS2MDL_SENSITIVITY 1500
struct lis2mdl_device_config {
char *master_dev_name;
#ifdef CONFIG_LIS2MDL_TRIGGER
char *gpio_name;
u32_t gpio_pin;
#endif /* CONFIG_LIS2MDL_TRIGGER */
u16_t i2c_addr_config;
};
/* Sensor data */
struct lis2mdl_data {
struct device *i2c;
u16_t i2c_addr;
s16_t mag[3];
s32_t temp_sample;
/* save sensitivity */
u16_t mag_fs_sensitivity;
#ifdef CONFIG_LIS2MDL_TRIGGER
struct device *gpio;
struct gpio_callback gpio_cb;
sensor_trigger_handler_t handler_drdy;
#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
K_THREAD_STACK_MEMBER(thread_stack, CONFIG_LIS2MDL_THREAD_STACK_SIZE);
struct k_thread thread;
struct k_sem gpio_sem;
#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
struct k_work work;
struct device *dev;
#endif /* CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD */
#endif /* CONFIG_LIS2MDL_TRIGGER */
};
#ifdef CONFIG_LIS2MDL_TRIGGER
int lis2mdl_init_interrupt(struct device *dev);
int lis2mdl_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
#endif /* CONFIG_LIS2MDL_TRIGGER */
#endif /* __MAG_LIS2MDL_H */

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@ -0,0 +1,154 @@
/*
* Copyright (c) 2018 STMicroelectronics
*
* LIS2MDL mag interrupt configuration and management
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <kernel.h>
#include <sensor.h>
#include <gpio.h>
#include "lis2mdl.h"
static int lis2mdl_enable_int(struct device *dev, int enable)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
/* set interrupt on mag */
return i2c_reg_update_byte(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_CFG_REG_C,
LIS2MDL_INT_MAG_MASK,
enable ? LIS2MDL_INT_MAG : 0);
}
/* link external trigger to event data ready */
int lis2mdl_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
u8_t raw[LIS2MDL_OUT_REG_SIZE];
if (trig->chan == SENSOR_CHAN_MAGN_XYZ) {
lis2mdl->handler_drdy = handler;
if (handler) {
/* fetch raw data sample: re-trigger lost interrupt */
i2c_burst_read(lis2mdl->i2c, lis2mdl->i2c_addr,
LIS2MDL_OUT_REG,
raw, sizeof(raw));
return lis2mdl_enable_int(dev, 1);
} else {
return lis2mdl_enable_int(dev, 0);
}
}
return -ENOTSUP;
}
/* handle the drdy event: read data and call handler if registered any */
static void lis2mdl_handle_interrupt(void *arg)
{
struct device *dev = arg;
struct lis2mdl_data *lis2mdl = dev->driver_data;
const struct lis2mdl_device_config *const config =
dev->config->config_info;
struct sensor_trigger drdy_trigger = {
.type = SENSOR_TRIG_DATA_READY,
};
if (lis2mdl->handler_drdy != NULL) {
lis2mdl->handler_drdy(dev, &drdy_trigger);
}
gpio_pin_enable_callback(lis2mdl->gpio, config->gpio_pin);
}
static void lis2mdl_gpio_callback(struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct lis2mdl_data *lis2mdl =
CONTAINER_OF(cb, struct lis2mdl_data, gpio_cb);
const struct lis2mdl_device_config *const config =
dev->config->config_info;
ARG_UNUSED(pins);
gpio_pin_disable_callback(dev, config->gpio_pin);
#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
k_sem_give(&lis2mdl->gpio_sem);
#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
k_work_submit(&lis2mdl->work);
#endif
}
#ifdef CONFIG_LIS2MDL_TRIGGER_OWN_THREAD
static void lis2mdl_thread(int dev_ptr, int unused)
{
struct device *dev = INT_TO_POINTER(dev_ptr);
struct lis2mdl_data *lis2mdl = dev->driver_data;
ARG_UNUSED(unused);
while (1) {
k_sem_take(&lis2mdl->gpio_sem, K_FOREVER);
lis2mdl_handle_interrupt(dev);
}
}
#endif
#ifdef CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD
static void lis2mdl_work_cb(struct k_work *work)
{
struct lis2mdl_data *lis2mdl =
CONTAINER_OF(work, struct lis2mdl_data, work);
lis2mdl_handle_interrupt(lis2mdl->dev);
}
#endif
int lis2mdl_init_interrupt(struct device *dev)
{
struct lis2mdl_data *lis2mdl = dev->driver_data;
const struct lis2mdl_device_config *const config =
dev->config->config_info;
/* setup data ready gpio interrupt */
lis2mdl->gpio = device_get_binding(config->gpio_name);
if (lis2mdl->gpio == NULL) {
SYS_LOG_DBG("Cannot get pointer to %s device",
config->gpio_name);
return -EINVAL;
}
gpio_pin_configure(lis2mdl->gpio, config->gpio_pin,
GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
GPIO_INT_ACTIVE_HIGH | GPIO_INT_DEBOUNCE);
gpio_init_callback(&lis2mdl->gpio_cb,
lis2mdl_gpio_callback,
BIT(config->gpio_pin));
if (gpio_add_callback(lis2mdl->gpio, &lis2mdl->gpio_cb) < 0) {
SYS_LOG_DBG("Could not set gpio callback");
return -EIO;
}
#if defined(CONFIG_LIS2MDL_TRIGGER_OWN_THREAD)
k_sem_init(&lis2mdl->gpio_sem, 0, UINT_MAX);
k_thread_create(&lis2mdl->thread, lis2mdl->thread_stack,
CONFIG_LIS2MDL_THREAD_STACK_SIZE,
(k_thread_entry_t)lis2mdl_thread, dev,
0, NULL, K_PRIO_COOP(CONFIG_LIS2MDL_THREAD_PRIORITY),
0, 0);
#elif defined(CONFIG_LIS2MDL_TRIGGER_GLOBAL_THREAD)
lis2mdl->work.handler = lis2mdl_work_cb;
lis2mdl->dev = dev;
#endif
gpio_pin_enable_callback(lis2mdl->gpio, config->gpio_pin);
return 0;
}

View file

@ -0,0 +1,25 @@
#
# Copyright (c) 2018 STMicroelectronics
#
# SPDX-License-Identifier: Apache-2.0
#
---
title: STMicroelectronics MEMS sensors LIS2MDL
id: st,lis2mdl-magn
version: 0.1
description: >
This binding gives a base representation of LIS2MDL magnetometer
inherits:
!include i2c-device.yaml
properties:
compatible:
constraint: "st,lis2mdl-magn"
irq-gpios:
type: compound
category: required
generation: define, use-prop-name
...

View file

@ -8,6 +8,7 @@ CONFIG_SYS_LOG_SENSOR_LEVEL=4
CONFIG_ISL29035=y
CONFIG_LIS2DH=y
CONFIG_LIS2MDL=y
CONFIG_LIS3DH=y
CONFIG_LIS3MDL=y
CONFIG_LPS22HB=y

View file

@ -8,6 +8,8 @@ CONFIG_ISL29035=y
CONFIG_ISL29035_TRIGGER_OWN_THREAD=y
CONFIG_LIS2DH=y
CONFIG_LIS2DH_TRIGGER_OWN_THREAD=y
CONFIG_LIS2MDL=y
CONFIG_LIS2MDL_TRIGGER_OWN_THREAD=y
CONFIG_LIS3DH=y
CONFIG_LIS3DH_TRIGGER_OWN_THREAD=y
CONFIG_LSM6DSL=y