sensor: fxas21002: Add gyroscope driver
Adds sensor driver support for the NXP FXAS21002 3-axis gyroscope. Includes statically configurable range and output data rate, as well as the sensor data ready trigger. Datasheet: http://www.nxp.com/assets/documents/data/en/data-sheets/FXAS21002.pdf Jira: ZEP-1392 Change-Id: I84587c4d5e76863245e9d045c6abb10b21b2615a Signed-off-by: Maureen Helm <maureen.helm@nxp.com>
This commit is contained in:
Maureen Helm
Anas Nashif
parent
bb9c8df891
commit
f38ea1636a
7 changed files with 751 additions and 0 deletions
301
drivers/sensor/fxas21002/fxas21002.c
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301
drivers/sensor/fxas21002/fxas21002.c
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/*
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* Copyright (c) 2017, NXP
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <fxas21002.h>
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#include <misc/util.h>
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#include <misc/__assert.h>
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/* Sample period in microseconds, indexed by output data rate encoding (DR) */
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static const uint32_t sample_period[] = {
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1250, 2500, 5000, 10000, 20000, 40000, 80000, 80000
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};
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static int fxas21002_sample_fetch(struct device *dev, enum sensor_channel chan)
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{
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const struct fxas21002_config *config = dev->config->config_info;
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struct fxas21002_data *data = dev->driver_data;
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uint8_t buffer[FXAS21002_MAX_NUM_BYTES];
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int16_t *raw;
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int ret = 0;
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int i;
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if (chan != SENSOR_CHAN_ALL) {
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SYS_LOG_ERR("Unsupported sensor channel");
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return -ENOTSUP;
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}
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k_sem_take(&data->sem, K_FOREVER);
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/* Read all the channels in one I2C transaction. */
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if (i2c_burst_read(data->i2c, config->i2c_address,
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FXAS21002_REG_OUTXMSB, buffer, sizeof(buffer))) {
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SYS_LOG_ERR("Could not fetch sample");
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ret = -EIO;
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goto exit;
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}
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/* Parse the buffer into raw channel data (16-bit integers). To save
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* RAM, store the data in raw format and wait to convert to the
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* normalized sensor_value type until later.
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*/
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raw = &data->raw[0];
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for (i = 0; i < sizeof(buffer); i += 2) {
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*raw++ = (buffer[i] << 8) | (buffer[i+1]);
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}
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exit:
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k_sem_give(&data->sem);
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return ret;
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}
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static void fxas21002_convert(struct sensor_value *val, int16_t raw,
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enum fxas21002_range range)
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{
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int32_t micro_rad;
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/* Convert units to micro radians per second.*/
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micro_rad = (raw * 62500) >> range;
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val->val1 = micro_rad / 1000000;
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val->val2 = micro_rad % 1000000;
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}
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static int fxas21002_channel_get(struct device *dev, enum sensor_channel chan,
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struct sensor_value *val)
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{
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const struct fxas21002_config *config = dev->config->config_info;
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struct fxas21002_data *data = dev->driver_data;
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int start_channel;
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int num_channels;
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int16_t *raw;
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int ret;
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int i;
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k_sem_take(&data->sem, K_FOREVER);
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/* Start with an error return code by default, then clear it if we find
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* a supported sensor channel.
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*/
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ret = -ENOTSUP;
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/* Convert raw gyroscope data to the normalized sensor_value type. */
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switch (chan) {
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case SENSOR_CHAN_GYRO_X:
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start_channel = FXAS21002_CHANNEL_GYRO_X;
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num_channels = 1;
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break;
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case SENSOR_CHAN_GYRO_Y:
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start_channel = FXAS21002_CHANNEL_GYRO_Y;
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num_channels = 1;
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break;
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case SENSOR_CHAN_GYRO_Z:
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start_channel = FXAS21002_CHANNEL_GYRO_Z;
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num_channels = 1;
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break;
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case SENSOR_CHAN_GYRO_XYZ:
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start_channel = FXAS21002_CHANNEL_GYRO_X;
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num_channels = 3;
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break;
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default:
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start_channel = 0;
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num_channels = 0;
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break;
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}
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raw = &data->raw[start_channel];
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for (i = 0; i < num_channels; i++) {
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fxas21002_convert(val++, *raw++, config->range);
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}
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if (num_channels > 0) {
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ret = 0;
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}
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if (ret != 0) {
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SYS_LOG_ERR("Unsupported sensor channel");
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}
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k_sem_give(&data->sem);
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return ret;
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}
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int fxas21002_get_power(struct device *dev, enum fxas21002_power *power)
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{
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const struct fxas21002_config *config = dev->config->config_info;
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struct fxas21002_data *data = dev->driver_data;
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uint8_t val = *power;
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if (i2c_reg_read_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG1,
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&val)) {
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SYS_LOG_ERR("Could not get power setting");
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return -EIO;
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}
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val &= FXAS21002_CTRLREG1_POWER_MASK;
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*power = val;
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return 0;
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}
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int fxas21002_set_power(struct device *dev, enum fxas21002_power power)
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{
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const struct fxas21002_config *config = dev->config->config_info;
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struct fxas21002_data *data = dev->driver_data;
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return i2c_reg_update_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG1,
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FXAS21002_CTRLREG1_POWER_MASK,
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power);
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}
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uint32_t fxas21002_get_transition_time(enum fxas21002_power start,
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enum fxas21002_power end,
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uint8_t dr)
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{
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uint32_t transition_time;
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/* If not transitioning to active mode, then don't need to wait */
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if (end != FXAS21002_POWER_ACTIVE) {
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return 0;
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}
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/* Otherwise, the transition time depends on which state we're
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* transitioning from. These times are defined by the datasheet.
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*/
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transition_time = sample_period[dr];
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if (start == FXAS21002_POWER_READY) {
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transition_time += 5000;
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} else {
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transition_time += 60000;
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}
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return transition_time;
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}
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static int fxas21002_init(struct device *dev)
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{
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const struct fxas21002_config *config = dev->config->config_info;
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struct fxas21002_data *data = dev->driver_data;
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uint32_t transition_time;
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uint8_t whoami;
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uint8_t ctrlreg1;
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/* Get the I2C device */
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data->i2c = device_get_binding(config->i2c_name);
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if (data->i2c == NULL) {
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SYS_LOG_ERR("Could not find I2C device");
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return -EINVAL;
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}
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/* Read the WHOAMI register to make sure we are talking to FXAS21002
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* and not some other type of device that happens to have the same I2C
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* address.
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*/
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if (i2c_reg_read_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_WHOAMI, &whoami)) {
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SYS_LOG_ERR("Could not get WHOAMI value");
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return -EIO;
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}
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if (whoami != config->whoami) {
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SYS_LOG_ERR("WHOAMI value received 0x%x, expected 0x%x",
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whoami, config->whoami);
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return -EIO;
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}
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/* Reset the sensor. Upon issuing a software reset command over the I2C
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* interface, the sensor immediately resets and does not send any
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* acknowledgment (ACK) of the written byte to the master. Therefore,
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* do not check the return code of the I2C transaction.
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*/
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i2c_reg_write_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG1, FXAS21002_CTRLREG1_RST_MASK);
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/* Wait for the reset sequence to complete */
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do {
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if (i2c_reg_read_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG1, &ctrlreg1)) {
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SYS_LOG_ERR("Could not get ctrlreg1 value");
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return -EIO;
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}
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} while (ctrlreg1 & FXAS21002_CTRLREG1_RST_MASK);
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/* Set the full-scale range */
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if (i2c_reg_update_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG0,
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FXAS21002_CTRLREG0_FS_MASK,
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config->range)) {
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SYS_LOG_ERR("Could not set range");
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return -EIO;
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}
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/* Set the output data rate */
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if (i2c_reg_update_byte(data->i2c, config->i2c_address,
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FXAS21002_REG_CTRLREG1,
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FXAS21002_CTRLREG1_DR_MASK,
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config->dr << FXAS21002_CTRLREG1_DR_SHIFT)) {
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SYS_LOG_ERR("Could not set output data rate");
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return -EIO;
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}
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#if CONFIG_FXAS21002_TRIGGER
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if (fxas21002_trigger_init(dev)) {
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SYS_LOG_ERR("Could not initialize interrupts");
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return -EIO;
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}
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#endif
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/* Set active */
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if (fxas21002_set_power(dev, FXAS21002_POWER_ACTIVE)) {
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SYS_LOG_ERR("Could not set active");
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return -EIO;
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}
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/* Wait the transition time from standby to active mode */
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transition_time = fxas21002_get_transition_time(FXAS21002_POWER_STANDBY,
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FXAS21002_POWER_ACTIVE,
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config->dr);
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k_busy_wait(transition_time);
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k_sem_init(&data->sem, 0, UINT_MAX);
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k_sem_give(&data->sem);
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SYS_LOG_DBG("Init complete");
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return 0;
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}
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static const struct sensor_driver_api fxas21002_driver_api = {
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.sample_fetch = fxas21002_sample_fetch,
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.channel_get = fxas21002_channel_get,
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#if CONFIG_FXAS21002_TRIGGER
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.trigger_set = fxas21002_trigger_set,
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#endif
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};
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static const struct fxas21002_config fxas21002_config = {
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.i2c_name = CONFIG_FXAS21002_I2C_NAME,
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.i2c_address = CONFIG_FXAS21002_I2C_ADDRESS,
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.whoami = CONFIG_FXAS21002_WHOAMI,
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.range = CONFIG_FXAS21002_RANGE,
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.dr = CONFIG_FXAS21002_DR,
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#ifdef CONFIG_FXAS21002_TRIGGER
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.gpio_name = CONFIG_FXAS21002_GPIO_NAME,
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.gpio_pin = CONFIG_FXAS21002_GPIO_PIN,
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#endif
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};
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static struct fxas21002_data fxas21002_data;
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DEVICE_AND_API_INIT(fxas21002, CONFIG_FXAS21002_NAME, fxas21002_init,
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&fxas21002_data, &fxas21002_config,
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
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&fxas21002_driver_api);
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