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zephyr/drivers/sensor/lsm6ds0/lsm6ds0.c
Armando Visconti 87d6c50e47 sensors: Add separation between ambient and die temperature 
Some device include a temperature sensor, usually used as a
companion for helping in drift compensation, that measure the
die temperature. This temperature IS NOT related to the the
ambient temperature, hence a clean separation between the two
is required.

This commit introduces a clean separation between the two
types of temperature leaving the old deprecated definition
still there.

The list of current drivers that read the die (and not the ambient)
temperature is the following:

 - adxl362
 - bma280
 - bmg160
 - bmi160
 - fxos8700
 - lis3mdl
 - lsm6ds0
 - lsm6dsl
 - lsm9ds0
 - mpu6050

Signed-off-by: Armando Visconti <armando.visconti@st.com>
2018-04-03 22:29:11 -04:00

508 lines
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/* lsm6ds0.c - Driver for LSM6DS0 accelerometer, gyroscope and
* temperature sensor
*/
/*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sensor.h>
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <misc/byteorder.h>
#include <misc/__assert.h>
#include "lsm6ds0.h"
static inline int lsm6ds0_reboot(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG8,
LSM6DS0_MASK_CTRL_REG8_BOOT,
1 << LSM6DS0_SHIFT_CTRL_REG8_BOOT) < 0) {
return -EIO;
}
k_busy_wait(50 * USEC_PER_MSEC);
return 0;
}
static inline int lsm6ds0_accel_axis_ctrl(struct device *dev, int x_en,
int y_en, int z_en)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG5_XL_XEN_XL) |
(y_en << LSM6DS0_SHIFT_CTRL_REG5_XL_YEN_XL) |
(z_en << LSM6DS0_SHIFT_CTRL_REG5_XL_ZEN_XL);
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG5_XL,
LSM6DS0_MASK_CTRL_REG5_XL_XEN_XL |
LSM6DS0_MASK_CTRL_REG5_XL_YEN_XL |
LSM6DS0_MASK_CTRL_REG5_XL_ZEN_XL,
state);
}
static int lsm6ds0_accel_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG6_XL,
LSM6DS0_MASK_CTRL_REG6_XL_FS_XL,
fs << LSM6DS0_SHIFT_CTRL_REG6_XL_FS_XL) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_accel_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG6_XL,
LSM6DS0_MASK_CTRL_REG6_XL_ODR_XL,
odr << LSM6DS0_SHIFT_CTRL_REG6_XL_ODR_XL) < 0) {
return -EIO;
}
return 0;
}
static inline int lsm6ds0_gyro_axis_ctrl(struct device *dev, int x_en, int y_en,
int z_en)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t state = (x_en << LSM6DS0_SHIFT_CTRL_REG4_XEN_G) |
(y_en << LSM6DS0_SHIFT_CTRL_REG4_YEN_G) |
(z_en << LSM6DS0_SHIFT_CTRL_REG4_ZEN_G);
return i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG4,
LSM6DS0_MASK_CTRL_REG4_XEN_G |
LSM6DS0_MASK_CTRL_REG4_YEN_G |
LSM6DS0_MASK_CTRL_REG4_ZEN_G,
state);
}
static int lsm6ds0_gyro_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG1_G,
LSM6DS0_MASK_CTRL_REG1_G_FS_G,
fs << LSM6DS0_SHIFT_CTRL_REG1_G_FS_G) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_gyro_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG1_G,
LSM6DS0_MASK_CTRL_REG1_G_ODR_G,
odr << LSM6DS0_SHIFT_CTRL_REG1_G_ODR_G) < 0) {
return -EIO;
}
return 0;
}
static int lsm6ds0_sample_fetch_accel(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_X_L_XL, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
data->accel_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
data->accel_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
data->accel_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
#endif
return 0;
}
static int lsm6ds0_sample_fetch_gyro(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_X_L_G, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
data->gyro_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
data->gyro_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
data->gyro_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
#endif
return 0;
}
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
static int lsm6ds0_sample_fetch_temp(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t buf[2];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_OUT_TEMP_L, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
data->temp_sample = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
return 0;
}
#endif
static int lsm6ds0_sample_fetch(struct device *dev, enum sensor_channel chan)
{
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL ||
chan == SENSOR_CHAN_ACCEL_XYZ ||
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
chan == SENSOR_CHAN_DIE_TEMP ||
#endif
chan == SENSOR_CHAN_GYRO_XYZ);
switch (chan) {
case SENSOR_CHAN_ACCEL_XYZ:
lsm6ds0_sample_fetch_accel(dev);
break;
case SENSOR_CHAN_GYRO_XYZ:
lsm6ds0_sample_fetch_gyro(dev);
break;
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
case SENSOR_CHAN_DIE_TEMP:
lsm6ds0_sample_fetch_temp(dev);
break;
#endif
case SENSOR_CHAN_ALL:
lsm6ds0_sample_fetch_accel(dev);
lsm6ds0_sample_fetch_gyro(dev);
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
lsm6ds0_sample_fetch_temp(dev);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static inline void lsm6ds0_accel_convert(struct sensor_value *val, int raw_val,
float scale)
{
double dval;
dval = (double)(raw_val) * scale / 32767.0;
val->val1 = (s32_t)dval;
val->val2 = ((s32_t)(dval * 1000000)) % 1000000;
}
static inline int lsm6ds0_accel_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data,
float scale)
{
switch (chan) {
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
case SENSOR_CHAN_ACCEL_X:
lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
break;
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
case SENSOR_CHAN_ACCEL_Y:
lsm6ds0_accel_convert(val, data->accel_sample_y, scale);
break;
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
case SENSOR_CHAN_ACCEL_Z:
lsm6ds0_accel_convert(val, data->accel_sample_z, scale);
break;
#endif
case SENSOR_CHAN_ACCEL_XYZ:
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS)
lsm6ds0_accel_convert(val, data->accel_sample_x, scale);
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS)
lsm6ds0_accel_convert(val + 1, data->accel_sample_y, scale);
#endif
#if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS)
lsm6ds0_accel_convert(val + 2, data->accel_sample_z, scale);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6ds0_accel_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data)
{
return lsm6ds0_accel_get_channel(chan, val, data,
LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR);
}
static inline void lsm6ds0_gyro_convert(struct sensor_value *val, int raw_val,
float numerator)
{
double dval;
dval = (double)(raw_val) * numerator / 1000.0 * SENSOR_DEG2RAD_DOUBLE;
val->val1 = (s32_t)dval;
val->val2 = ((s32_t)(dval * 1000000)) % 1000000;
}
static inline int lsm6ds0_gyro_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data,
float numerator)
{
switch (chan) {
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
case SENSOR_CHAN_GYRO_X:
lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
break;
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
case SENSOR_CHAN_GYRO_Y:
lsm6ds0_gyro_convert(val, data->gyro_sample_y, numerator);
break;
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
case SENSOR_CHAN_GYRO_Z:
lsm6ds0_gyro_convert(val, data->gyro_sample_z, numerator);
break;
#endif
case SENSOR_CHAN_GYRO_XYZ:
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS)
lsm6ds0_gyro_convert(val, data->gyro_sample_x, numerator);
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS)
lsm6ds0_gyro_convert(val + 1, data->gyro_sample_y, numerator);
#endif
#if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS)
lsm6ds0_gyro_convert(val + 2, data->gyro_sample_z, numerator);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6ds0_gyro_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6ds0_data *data)
{
return lsm6ds0_gyro_get_channel(chan, val, data,
LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR);
}
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
static void lsm6ds0_gyro_channel_get_temp(struct sensor_value *val,
struct lsm6ds0_data *data)
{
/* val = temp_sample / 16 + 25 */
val->val1 = data->temp_sample / 16 + 25;
val->val2 = (data->temp_sample % 16) * (1000000 / 16);
}
#endif
static int lsm6ds0_channel_get(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct lsm6ds0_data *data = dev->driver_data;
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
lsm6ds0_accel_channel_get(chan, val, data);
break;
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
lsm6ds0_gyro_channel_get(chan, val, data);
break;
#if defined(CONFIG_LSM6DS0_ENABLE_TEMP)
case SENSOR_CHAN_DIE_TEMP:
lsm6ds0_gyro_channel_get_temp(val, data);
break;
#endif
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api lsm6ds0_api_funcs = {
.sample_fetch = lsm6ds0_sample_fetch,
.channel_get = lsm6ds0_channel_get,
};
static int lsm6ds0_init_chip(struct device *dev)
{
struct lsm6ds0_data *data = dev->driver_data;
const struct lsm6ds0_config *config = dev->config->config_info;
u8_t chip_id;
if (lsm6ds0_reboot(dev) < 0) {
SYS_LOG_DBG("failed to reboot device");
return -EIO;
}
if (i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_WHO_AM_I, &chip_id) < 0) {
SYS_LOG_DBG("failed reading chip id");
return -EIO;
}
if (chip_id != LSM6DS0_VAL_WHO_AM_I) {
SYS_LOG_DBG("invalid chip id 0x%x", chip_id);
return -EIO;
}
SYS_LOG_DBG("chip id 0x%x", chip_id);
if (lsm6ds0_accel_axis_ctrl(dev, LSM6DS0_ACCEL_ENABLE_X_AXIS,
LSM6DS0_ACCEL_ENABLE_Y_AXIS,
LSM6DS0_ACCEL_ENABLE_Z_AXIS) < 0) {
SYS_LOG_DBG("failed to set accelerometer axis");
return -EIO;
}
if (lsm6ds0_accel_set_fs_raw(dev, LSM6DS0_DEFAULT_ACCEL_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer full-scale");
return -EIO;
}
if (lsm6ds0_accel_set_odr_raw(dev, LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer sampling rate");
return -EIO;
}
if (lsm6ds0_gyro_axis_ctrl(dev, LSM6DS0_GYRO_ENABLE_X_AXIS,
LSM6DS0_GYRO_ENABLE_Y_AXIS,
LSM6DS0_GYRO_ENABLE_Z_AXIS) < 0) {
SYS_LOG_DBG("failed to set gyroscope axis");
return -EIO;
}
if (lsm6ds0_gyro_set_fs_raw(dev, LSM6DS0_DEFAULT_GYRO_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope full-scale");
return -EIO;
}
if (lsm6ds0_gyro_set_odr_raw(dev, LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope sampling rate");
return -EIO;
}
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DS0_REG_CTRL_REG8,
LSM6DS0_MASK_CTRL_REG8_BDU |
LSM6DS0_MASK_CTRL_REG8_BLE |
LSM6DS0_MASK_CTRL_REG8_IF_ADD_INC,
(1 << LSM6DS0_SHIFT_CTRL_REG8_BDU) |
(0 << LSM6DS0_SHIFT_CTRL_REG8_BLE) |
(1 << LSM6DS0_SHIFT_CTRL_REG8_IF_ADD_INC))
< 0) {
SYS_LOG_DBG("failed to set BDU, BLE and burst");
return -EIO;
}
return 0;
}
static int lsm6ds0_init(struct device *dev)
{
const struct lsm6ds0_config * const config = dev->config->config_info;
struct lsm6ds0_data *data = dev->driver_data;
data->i2c_master = device_get_binding(config->i2c_master_dev_name);
if (!data->i2c_master) {
SYS_LOG_DBG("i2c master not found: %s",
config->i2c_master_dev_name);
return -EINVAL;
}
if (lsm6ds0_init_chip(dev) < 0) {
SYS_LOG_DBG("failed to initialize chip");
return -EIO;
}
return 0;
}
static const struct lsm6ds0_config lsm6ds0_config = {
.i2c_master_dev_name = CONFIG_LSM6DS0_I2C_MASTER_DEV_NAME,
.i2c_slave_addr = CONFIG_LSM6DS0_I2C_ADDR,
};
static struct lsm6ds0_data lsm6ds0_data;
DEVICE_AND_API_INIT(lsm6ds0, CONFIG_LSM6DS0_DEV_NAME, lsm6ds0_init,
&lsm6ds0_data, &lsm6ds0_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &lsm6ds0_api_funcs);
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