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Sensor: ADXL345: Add ADXL345 driver

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Add support for Analog Devices ADXL345 3-axis I2C accelerometer.

Signed-off-by: Kamil Rakoczy <krakoczy@antmicro.com>
This commit is contained in:
Kamil Rakoczy 2020-03-13 11:32:14 +01:00 • committed by Maureen Helm
commit 687d1040ac
9 changed files with 287 additions and 0 deletions
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1
drivers/sensor/CMakeLists.txt
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@ -1,6 +1,7 @@
# SPDX-License-Identifier: Apache-2.0
add_subdirectory_ifdef(CONFIG_ADT7420 adt7420)
add_subdirectory_ifdef(CONFIG_ADXL345 adxl345)
add_subdirectory_ifdef(CONFIG_ADXL362 adxl362)
add_subdirectory_ifdef(CONFIG_ADXL372 adxl372)
add_subdirectory_ifdef(CONFIG_AK8975 ak8975)

2
drivers/sensor/Kconfig
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@ -31,6 +31,8 @@ comment "Device Drivers"
source "drivers/sensor/adt7420/Kconfig"
source "drivers/sensor/adxl345/Kconfig"
source "drivers/sensor/adxl362/Kconfig"
source "drivers/sensor/adxl372/Kconfig"

8
drivers/sensor/adxl345/CMakeLists.txt Normal file
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@ -0,0 +1,8 @@
#
# Copyright (c) 2020 Antmicro <www.antmicro.com>
#
# SPDX-License-Identifier: Apache-2.0
#
zephyr_library()
zephyr_library_sources_ifdef(CONFIG_ADXL345 adxl345.c)

10
drivers/sensor/adxl345/Kconfig Normal file
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@ -0,0 +1,10 @@
# ADXL345, 3-Axis, +/-16g Digital Accelerometer
# Copyright (c) 2020 Antmicro <www.antmicro.com>
# SPDX-License-Identifier: Apache-2.0
config ADXL345
bool "ADXL345 Three Axis I2C accelerometer"
depends on I2C
help
Enable driver for ADXL345 Three-Axis Digital Accelerometer.

192
drivers/sensor/adxl345/adxl345.c Normal file
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@ -0,0 +1,192 @@
/*
* Copyright (c) 2020 Antmicro <www.antmicro.com>
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <drivers/sensor.h>
#include <init.h>
#include <drivers/gpio.h>
#include <drivers/i2c.h>
#include <logging/log.h>
#include <sys/__assert.h>
#include "adxl345.h"
LOG_MODULE_REGISTER(ADXL345, CONFIG_SENSOR_LOG_LEVEL);
static int adxl345_read_sample(struct device *dev,
struct adxl345_sample *sample)
{
struct adxl345_dev_data *data = dev->driver_data;
s16_t raw_x, raw_y, raw_z;
u8_t axis_data[6];
int rc = i2c_burst_read(data->i2c_master,
data->i2c_addr,
ADXL345_X_AXIS_DATA_0_REG,
axis_data,
6);
if (rc < 0) {
LOG_ERR("Samples read failed with rc=%d\n", rc);
return rc;
}
raw_x = axis_data[0] | (axis_data[1] << 8);
raw_y = axis_data[2] | (axis_data[3] << 8);
raw_z = axis_data[4] | (axis_data[5] << 8);
sample->x = raw_x;
sample->y = raw_y;
sample->z = raw_z;
return 0;
}
static void adxl345_accel_convert(struct sensor_value *val, unsigned int sample)
{
if (sample & BIT(9)) {
sample |= ADXL345_COMPLEMENT;
}
val->val1 = (sample * 1000) / 32;
val->val2 = 0;
}
static int adxl345_sample_fetch(struct device *dev, enum sensor_channel chan)
{
struct adxl345_dev_data *data = dev->driver_data;
struct adxl345_sample sample;
u8_t samples_count;
int rc;
data->sample_number = 0;
rc = i2c_reg_read_byte(dev, data->i2c_addr, ADXL345_FIFO_STATUS_REG,
&samples_count);
if (rc < 0) {
LOG_ERR("Failed to read FIFO status rc = %d\n", rc);
return rc;
}
__ASSERT_NO_MSG(samples_count < ADXL345_MAX_FIFO_SIZE);
for (u8_t s = 0; s < samples_count; s++) {
rc = adxl345_read_sample(dev, &sample);
if (rc < 0) {
LOG_ERR("Failed to fetch sample rc=%d\n", rc);
return rc;
}
data->bufx[s] = sample.x;
data->bufy[s] = sample.y;
data->bufz[s] = sample.z;
}
return samples_count;
}
static int adxl345_channel_get(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct adxl345_dev_data *data = dev->driver_data;
if (data->sample_number > 32) {
data->sample_number = 0;
}
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
adxl345_accel_convert(val, data->bufx[data->sample_number]);
data->sample_number++;
break;
case SENSOR_CHAN_ACCEL_Y:
adxl345_accel_convert(val, data->bufy[data->sample_number]);
data->sample_number++;
break;
case SENSOR_CHAN_ACCEL_Z:
adxl345_accel_convert(val, data->bufz[data->sample_number]);
data->sample_number++;
break;
case SENSOR_CHAN_ACCEL_XYZ:
adxl345_accel_convert(val++, data->bufx[data->sample_number]);
adxl345_accel_convert(val++, data->bufy[data->sample_number]);
adxl345_accel_convert(val, data->bufz[data->sample_number]);
data->sample_number++;
break;
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api adxl345_api_funcs = {
.sample_fetch = adxl345_sample_fetch,
.channel_get = adxl345_channel_get,
};
static int adxl345_init(struct device *dev)
{
int rc;
struct adxl345_dev_data *data = dev->driver_data;
const struct adxl345_dev_config *cfg = dev->config->config_info;
u8_t dev_id;
data->sample_number = 0;
data->i2c_master = device_get_binding(cfg->i2c_master_name);
data->i2c_addr = cfg->i2c_addr;
if (!data->i2c_master) {
LOG_ERR("Failed to get I2C master\n");
return -ENODEV;
}
rc = i2c_reg_read_byte(dev, data->i2c_addr, ADXL345_DEVICE_ID_REG,
&dev_id);
if (rc < 0 || dev_id != ADXL345_PART_ID) {
LOG_ERR("Read PART ID failed: 0x%x\n", rc);
return -ENODEV;
}
rc = i2c_reg_write_byte(dev, data->i2c_addr, ADXL345_FIFO_CTL_REG,
ADXL345_FIFO_STREAM_MODE);
if (rc < 0) {
LOG_ERR("FIFO enable failed\n");
return -EIO;
}
rc = i2c_reg_write_byte(dev, data->i2c_addr, ADXL345_DATA_FORMAT_REG,
ADXL345_RANGE_16G);
if (rc < 0) {
LOG_ERR("Data format set failed\n");
return -EIO;
}
rc = i2c_reg_write_byte(dev, data->i2c_addr, ADXL345_RATE_REG,
ADXL345_RATE_25HZ);
if (rc < 0) {
LOG_ERR("Rate setting failed\n");
return -EIO;
}
rc = i2c_reg_write_byte(dev, data->i2c_addr, ADXL345_POWER_CTL_REG,
ADXL345_ENABLE_MEASURE_BIT);
if (rc < 0) {
LOG_ERR("Enable measure bit failed\n");
return -EIO;
}
return 0;
}
static struct adxl345_dev_data adxl345_data;
static const struct adxl345_dev_config adxl345_config = {
.i2c_master_name = DT_INST_0_ADI_ADXL345_BUS_NAME,
.i2c_addr = DT_INST_0_ADI_ADXL345_BASE_ADDRESS,
};
DEVICE_AND_API_INIT(adxl345, DT_INST_0_ADI_ADXL345_LABEL, adxl345_init,
&adxl345_data, &adxl345_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &adxl345_api_funcs);

59
drivers/sensor/adxl345/adxl345.h Normal file
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@ -0,0 +1,59 @@
/*
* Copyright (c) 2020 Antmicro <www.antmicro.com>
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_DRIVERS_SENSOR_ADX345_ADX345_H_
#define ZEPHYR_DRIVERS_SENSOR_ADX345_ADX345_H_
#include <zephyr/types.h>
#include <device.h>
#include <drivers/gpio.h>
#include <drivers/i2c.h>
#include <sys/util.h>
#define ADXL345_DEVICE_ID_REG 0x00
#define ADXL345_RATE_REG 0x2c
#define ADXL345_POWER_CTL_REG 0x2d
#define ADXL345_DATA_FORMAT_REG 0x31
#define ADXL345_X_AXIS_DATA_0_REG 0x32
#define ADXL345_FIFO_CTL_REG 0x38
#define ADXL345_FIFO_STATUS_REG 0x39
#define ADXL345_PART_ID 0xe5
#define ADXL345_RANGE_2G 0x0
#define ADXL345_RANGE_4G 0x1
#define ADXL345_RANGE_8G 0x2
#define ADXL345_RANGE_16G 0x3
#define ADXL345_RATE_25HZ 0x8
#define ADXL345_ENABLE_MEASURE_BIT (1 << 3)
#define ADXL345_FIFO_STREAM_MODE (1 << 7)
#define ADXL345_FIFO_COUNT_MASK 0x3f
#define ADXL345_COMPLEMENT 0xfc00
#define ADXL345_MAX_FIFO_SIZE 32
struct adxl345_dev_data {
unsigned int sample_number;
struct device *i2c_master;
u8_t i2c_addr;
s16_t bufx[ADXL345_MAX_FIFO_SIZE];
s16_t bufy[ADXL345_MAX_FIFO_SIZE];
s16_t bufz[ADXL345_MAX_FIFO_SIZE];
};
struct adxl345_sample {
s16_t x;
s16_t y;
s16_t z;
};
struct adxl345_dev_config {
const char *i2c_master_name;
u16_t i2c_addr;
};
#endif /* ZEPHYR_DRIVERS_SENSOR_ADX345_ADX345_H_ */

8
dts/bindings/sensor/adi,adxl345.yaml Normal file
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@ -0,0 +1,8 @@
# Copyright (c) 2020 Antmicro <www.antmicro.com>
# SPDX-License-Identifier: Apache-2.0
description: ADXL345 3-axis I2C accelerometer
compatible: "adi,adxl345"
include: i2c-device.yaml

6
tests/drivers/build_all/dts_fixup.h
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@ -460,6 +460,12 @@
#define DT_INST_0_ASAHI_KASEI_AK8975_BUS_NAME ""
#endif
#ifndef DT_INST_0_ADI_ADXL345_LABEL
#define DT_INST_0_ADI_ADXL345_LABEL ""
#define DT_INST_0_ADI_ADXL345_BUS_NAME ""
#define DT_INST_0_ADI_ADXL345_BASE_ADDRESS 0
#endif
#endif /* CONFIG_HAS_DTS_I2C */
#ifndef DT_ADXL372_DEV_NAME

1
tests/drivers/build_all/sensors_a_h.conf
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@ -28,3 +28,4 @@ CONFIG_FXOS8700=y
CONFIG_HMC5883L=y
CONFIG_HP206C=y
CONFIG_HTS221=y
CONFIG_ADXL345=y