mirror of
https://github.com/zephyrproject-rtos/zephyr
synced 2025-09-06 17:41:57 +00:00
c0f7a1ac6f
The ISM330DHCX is a ultra-low power IMU with a 3D digital accelerometer and 3D digital gyroscope tailored for Industry 4.0 applications, which can be interfaced through either I2C or SPI bus. https://www.st.com/resource/en/datasheet/ism330dhcx.pdf This driver is based on stmemsc i/f v1.02. Signed-off-by: Armando Visconti <armando.visconti@st.com>
127 lines
2.6 KiB
C
127 lines
2.6 KiB
C
/* ST Microelectronics ISM330DHCX 6-axis IMU sensor driver
|
|
*
|
|
* Copyright (c) 2020 STMicroelectronics
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
* Datasheet:
|
|
* https://www.st.com/resource/en/datasheet/ism330dhcx.pdf
|
|
*/
|
|
|
|
#include <string.h>
|
|
#include "ism330dhcx.h"
|
|
#include <logging/log.h>
|
|
|
|
#ifdef DT_ST_ISM330DHCX_BUS_SPI
|
|
|
|
#define ISM330DHCX_SPI_READ (1 << 7)
|
|
|
|
LOG_MODULE_DECLARE(ISM330DHCX, CONFIG_SENSOR_LOG_LEVEL);
|
|
|
|
static int ism330dhcx_spi_read(struct device *dev, u8_t reg_addr,
|
|
u8_t *value, u8_t len)
|
|
{
|
|
struct ism330dhcx_data *data = dev->driver_data;
|
|
const struct ism330dhcx_config *cfg = dev->config->config_info;
|
|
const struct spi_config *spi_cfg = &cfg->spi_conf;
|
|
u8_t buffer_tx[2] = { reg_addr | ISM330DHCX_SPI_READ, 0 };
|
|
const struct spi_buf tx_buf = {
|
|
.buf = buffer_tx,
|
|
.len = 2,
|
|
};
|
|
const struct spi_buf_set tx = {
|
|
.buffers = &tx_buf,
|
|
.count = 1
|
|
};
|
|
const struct spi_buf rx_buf[2] = {
|
|
{
|
|
.buf = NULL,
|
|
.len = 1,
|
|
},
|
|
{
|
|
.buf = value,
|
|
.len = len,
|
|
}
|
|
};
|
|
const struct spi_buf_set rx = {
|
|
.buffers = rx_buf,
|
|
.count = 2
|
|
};
|
|
|
|
|
|
if (len > 64) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (spi_transceive(data->bus, spi_cfg, &tx, &rx)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int ism330dhcx_spi_write(struct device *dev, u8_t reg_addr,
|
|
u8_t *value, u8_t len)
|
|
{
|
|
struct ism330dhcx_data *data = dev->driver_data;
|
|
const struct ism330dhcx_config *cfg = dev->config->config_info;
|
|
const struct spi_config *spi_cfg = &cfg->spi_conf;
|
|
u8_t buffer_tx[1] = { reg_addr & ~ISM330DHCX_SPI_READ };
|
|
const struct spi_buf tx_buf[2] = {
|
|
{
|
|
.buf = buffer_tx,
|
|
.len = 1,
|
|
},
|
|
{
|
|
.buf = value,
|
|
.len = len,
|
|
}
|
|
};
|
|
const struct spi_buf_set tx = {
|
|
.buffers = tx_buf,
|
|
.count = 2
|
|
};
|
|
|
|
|
|
if (len > 64) {
|
|
return -EIO;
|
|
}
|
|
|
|
if (spi_write(data->bus, spi_cfg, &tx)) {
|
|
return -EIO;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int ism330dhcx_spi_init(struct device *dev)
|
|
{
|
|
struct ism330dhcx_data *data = dev->driver_data;
|
|
|
|
data->ctx_spi.read_reg = (stmdev_read_ptr) ism330dhcx_spi_read,
|
|
data->ctx_spi.write_reg = (stmdev_write_ptr) ism330dhcx_spi_write,
|
|
|
|
data->ctx = &data->ctx_spi;
|
|
data->ctx->handle = dev;
|
|
|
|
#if defined(DT_INST_0_ST_ISM330DHCX_CS_GPIOS_CONTROLLER)
|
|
const struct ism330dhcx_config *cfg = dev->config->config_info;
|
|
|
|
/* handle SPI CS thru GPIO if it is the case */
|
|
data->cs_ctrl.gpio_dev = device_get_binding(cfg->gpio_cs_port);
|
|
if (!data->cs_ctrl.gpio_dev) {
|
|
LOG_ERR("Unable to get GPIO SPI CS device");
|
|
return -ENODEV;
|
|
}
|
|
|
|
data->cs_ctrl.gpio_pin = cfg->cs_gpio;
|
|
data->cs_ctrl.delay = 0;
|
|
|
|
LOG_DBG("SPI GPIO CS configured on %s:%u",
|
|
cfg->gpio_cs_port, cfg->cs_gpio);
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
#endif /* DT_ST_ISM330DHCX_BUS_SPI */
|