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drivers: sensor: lsm6dsl: Added support for lis3mdl as a external sensor

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Added code to support lis3mdl to be used as an external sensor for
lsm6dsl in sensorhub mode

Signed-off-by: Jackie Yang <jackie@jackieyang.me>
This commit is contained in:
Jackie Yang 2023-04-10 23:18:23 -05:00 • committed by Carles Cufí
commit c8c67feab0
4 changed files with 103 additions and 6 deletions
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3
drivers/sensor/lsm6dsl/Kconfig
View file

@ -72,6 +72,9 @@ choice LSM6DSL_EXTERNAL_SENSOR_0
config LSM6DSL_EXT0_LIS2MDL
bool "LIS2MDL"
config LSM6DSL_EXT0_LIS3MDL
bool "LIS3MDL"
config LSM6DSL_EXT0_LPS22HB
bool "LPS22HB"

10
drivers/sensor/lsm6dsl/lsm6dsl.c
View file

@ -378,7 +378,7 @@ static int lsm6dsl_sample_fetch_temp(const struct device *dev)
}
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
static int lsm6dsl_sample_fetch_magn(const struct device *dev)
{
struct lsm6dsl_data *data = dev->data;
@ -435,7 +435,7 @@ static int lsm6dsl_sample_fetch(const struct device *dev,
lsm6dsl_sample_fetch_temp(dev);
break;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
case SENSOR_CHAN_MAGN_XYZ:
lsm6dsl_sample_fetch_magn(dev);
break;
@ -452,7 +452,7 @@ static int lsm6dsl_sample_fetch(const struct device *dev,
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
lsm6dsl_sample_fetch_temp(dev);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
lsm6dsl_sample_fetch_magn(dev);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
@ -573,7 +573,7 @@ static void lsm6dsl_gyro_channel_get_temp(struct sensor_value *val,
}
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
static inline void lsm6dsl_magn_convert(struct sensor_value *val, int raw_val,
float sensitivity)
{
@ -675,7 +675,7 @@ static int lsm6dsl_channel_get(const struct device *dev,
lsm6dsl_gyro_channel_get_temp(val, data);
break;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
case SENSOR_CHAN_MAGN_X:
case SENSOR_CHAN_MAGN_Y:
case SENSOR_CHAN_MAGN_Z:

2
drivers/sensor/lsm6dsl/lsm6dsl.h
View file

@ -655,7 +655,7 @@ struct lsm6dsl_data {
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
int temp_sample;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) || defined(CONFIG_LSM6DSL_EXT0_LIS3MDL)
int magn_sample_x;
int magn_sample_y;
int magn_sample_z;

94
drivers/sensor/lsm6dsl/lsm6dsl_shub.c
View file

@ -77,6 +77,88 @@ static int lsm6dsl_lis2mdl_init(const struct device *dev, uint8_t i2c_addr)
}
#endif /* CONFIG_LSM6DSL_EXT0_LIS2MDL */
/*
* LIS3MDL magn device specific part
*/
#ifdef CONFIG_LSM6DSL_EXT0_LIS3MDL
#define LIS3MDL_REG_CTRL1 0x20
#define LIS3MDL_REG_CTRL2 0x21
#define LIS3MDL_REG_CTRL3 0x22
#define LIS3MDL_REG_CTRL4 0x23
#define LIS3MDL_REG_CTRL5 0x24
#define LIS3MDL_REG_SAMPLE_START 0x28
#define LIS3MDL_REG_INT_CFG 0x30
#define LIS3MDL_INT_X_EN BIT(7)
#define LIS3MDL_INT_Y_EN BIT(6)
#define LIS3MDL_INT_Z_EN BIT(5)
#define LIS3MDL_INT_XYZ_EN \
(LIS3MDL_INT_X_EN | LIS3MDL_INT_Y_EN | LIS3MDL_INT_Z_EN)
#define LIS3MDL_STATUS_REG 0x27
/* REG_CTRL2 */
#define LIS3MDL_REBOOT_MASK BIT(3)
#define LIS3MDL_SOFT_RST_MASK BIT(2)
/* REG_CTRL1 */
#define LIS3MDL_OM_SHIFT 5
#define LIS3MDL_DO_SHIFT 2
#define LIS3MDL_FAST_ODR_SHIFT 1
#define LIS3MDL_ODR_BITS(om_bits, do_bits, fast_odr) \
(((om_bits) << LIS3MDL_OM_SHIFT) | \
((do_bits) << LIS3MDL_DO_SHIFT) | \
((fast_odr) << LIS3MDL_FAST_ODR_SHIFT))
static const uint8_t lis3mdl_odr_bits[] = {
LIS3MDL_ODR_BITS(0, 0, 0), /* 0.625 Hz */
LIS3MDL_ODR_BITS(0, 1, 0), /* 1.25 Hz */
LIS3MDL_ODR_BITS(0, 2, 0), /* 2.5 Hz */
LIS3MDL_ODR_BITS(0, 3, 0), /* 5 Hz */
LIS3MDL_ODR_BITS(0, 4, 0), /* 10 Hz */
LIS3MDL_ODR_BITS(0, 5, 0), /* 20 Hz */
LIS3MDL_ODR_BITS(0, 6, 0), /* 40 Hz */
LIS3MDL_ODR_BITS(0, 7, 0), /* 80 Hz */
LIS3MDL_ODR_BITS(3, 0, 1), /* 155 Hz */
LIS3MDL_ODR_BITS(2, 0, 1), /* 300 Hz */
LIS3MDL_ODR_BITS(1, 0, 1), /* 560 Hz */
LIS3MDL_ODR_BITS(0, 0, 1) /* 1000 Hz */
};
#define LIS3MDL_ODR lis3mdl_odr_bits[4]
/* REG_CTRL3 */
#define LIS3MDL_MD_CONTINUOUS 0x00
/* Others */
#define LIS3MDL_SENSITIVITY 6842
static int lsm6dsl_lis3mdl_init(const struct device *dev, uint8_t i2c_addr)
{
struct lsm6dsl_data *data = dev->data;
uint8_t mag_cfg[2];
data->magn_sensitivity = LIS3MDL_SENSITIVITY;
/* sw reset device */
mag_cfg[0] = LIS3MDL_REBOOT_MASK | LIS3MDL_SOFT_RST_MASK;
lsm6dsl_shub_write_slave_reg(dev, i2c_addr,
LIS3MDL_REG_CTRL2, mag_cfg, 1);
k_sleep(K_MSEC(10)); /* turn-on time in ms */
/* configure mag */
mag_cfg[0] = LIS3MDL_ODR;
lsm6dsl_shub_write_slave_reg(dev, i2c_addr,
LIS3MDL_REG_CTRL1, mag_cfg, 1);
mag_cfg[0] = LIS3MDL_MD_CONTINUOUS;
lsm6dsl_shub_write_slave_reg(dev, i2c_addr,
LIS3MDL_REG_CTRL3, mag_cfg, 1);
return 0;
}
#endif /* CONFIG_LSM6DSL_EXT0_LIS3MDL */
/*
* LPS22HB baro/temp device specific part
*/
@ -131,6 +213,18 @@ static struct lsm6dsl_shub_sens_list {
},
#endif /* CONFIG_LSM6DSL_EXT0_LIS2MDL */
#ifdef CONFIG_LSM6DSL_EXT0_LIS3MDL
{
/* LIS3MDL */
.i2c_addr = {0x1C, 0x1E},
.wai_addr = 0x0F,
.wai_val = 0x3D,
.out_data_addr = 0x28,
.out_data_len = 0x06,
.dev_init = (lsm6dsl_lis3mdl_init),
},
#endif /* CONFIG_LSM6DSL_EXT0_LIS3MDL */
#ifdef CONFIG_LSM6DSL_EXT0_LPS22HB
{
/* LPS22HB */