drivers: sensor: lsm303dlhc accel driver (0453b2e0) · Commits · Wenxi XU / zephyr

drivers/sensor/CMakeLists.txt

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		@@ -25,6 +25,7 @@ add_subdirectory_ifdef(CONFIG_LIS3DH lis3dh)
		add_subdirectory_ifdef(CONFIG_LIS3MDL lis3mdl)
		add_subdirectory_ifdef(CONFIG_LPS22HB lps22hb)
		add_subdirectory_ifdef(CONFIG_LPS25HB lps25hb)
		add_subdirectory_ifdef(CONFIG_LSM303DLHC_ACCEL lsm303dlhc_accel)
		add_subdirectory_ifdef(CONFIG_LSM6DS0 lsm6ds0)
		add_subdirectory_ifdef(CONFIG_LSM6DSL lsm6dsl)
		add_subdirectory_ifdef(CONFIG_LSM9DS0_GYRO lsm9ds0_gyro)

drivers/sensor/Kconfig

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		@@ -89,6 +89,8 @@ source "drivers/sensor/lps22hb/Kconfig"

		source "drivers/sensor/lps25hb/Kconfig"

		source "drivers/sensor/lsm303dlhc_accel/Kconfig"

		source "drivers/sensor/lsm6ds0/Kconfig"

		source "drivers/sensor/lsm6dsl/Kconfig"

drivers/sensor/lsm303dlhc_accel/CMakeLists.txt

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		#
		# Copyright (c) 2018 Philémon Jaermann
		#
		# SPDX-License-Identifier: Apache-2.0
		#

		zephyr_sources_ifdef(CONFIG_LSM303DLHC_ACCEL lsm303dlhc_accel.c)

drivers/sensor/lsm303dlhc_accel/Kconfig

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		# Kconfig - LSM303DLHC Three Axis Accelerometer configuration options

		#
		# Copyright (c) 2018 Philémon Jaermann
		#
		# SPDX-License-Identifier: Apache-2.0
		#

		menuconfig LSM303DLHC_ACCEL
		bool "LSM303DLHC Three Axis Accelerometer"
		depends on I2C
		help
		Enable driver for LSM303DLHC I2C-based triaxial accelerometer sensor.

		config LSM303DLHC_ACCEL_RANGE
		int "Acceleration measurement range"
		depends on LSM303DLHC_ACCEL
		range 0 3
		default 0
		help
		Selects the acceleration output data rate
		0: +/-2g
		1: +/-4g
		2: +/-8g
		3: +/-16g

		config LSM303DLHC_ACCEL_POWER_MODE
		int "Power mode"
		depends on LSM303DLHC_ACCEL
		range 0 1
		default 0
		help
		Choose between normal or low power operation mode for chip.
		0: Normal mode
		1: Low power mode

		config LSM303DLHC_ACCEL_ODR
		int "Data rate frequency"
		depends on LSM303DLHC_ACCEL
		range 1 9
		default 1
		help
		Selects the acceleration output data rate
		1: 1Hz
		2: 10Hz
		3: 25Hz
		4: 50Hz
		5: 100Hz
		6: 200Hz
		7: 400Hz
		8: 1.62KHz in low power mode only
		9: 1.344KHz in normal power mode, 5.376 KHz in low power mode

drivers/sensor/lsm303dlhc_accel/lsm303dlhc_accel.c

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		/*
		* Copyright (c) 2018 Philémon Jaermann
		*
		* SPDX-License-Identifier: Apache-2.0
		*/

		#include <i2c.h>
		#include <init.h>
		#include <sensor.h>
		#include <logging/sys_log.h>

		#include "lsm303dlhc_accel.h"

		static int lsm303dlhc_sample_fetch(struct device *dev,
		enum sensor_channel chan)
		{
		const struct lsm303dlhc_accel_config *config = dev->config->config_info;
		struct lsm303dlhc_accel_data *drv_data = dev->driver_data;
		u8_t accel_buf[6];

		if (i2c_burst_read(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_REG_ACCEL_X_LSB,
		accel_buf, 6) < 0) {
		SYS_LOG_ERR("Could not read accel axis data.");
		return -EIO;
		}

		drv_data->accel_x = (accel_buf[1] << 8) \| accel_buf[0];
		drv_data->accel_y = (accel_buf[3] << 8) \| accel_buf[2];
		drv_data->accel_z = (accel_buf[5] << 8) \| accel_buf[4];

		return 0;
		}

		static void lsm303dlhc_convert(struct sensor_value *val,
		s64_t raw_val)
		{
		s64_t val_mg = LSM303DLHC_ACCEL_SCALE * (raw_val >> 4);

		val->val1 = ((val_mg * SENSOR_G) / 1000) / 1000000LL;
		val->val2 = ((val_mg * SENSOR_G) / 1000) % 1000000LL;
		}

		static int lsm303dlhc_channel_get(struct device *dev,
		enum sensor_channel chan,
		struct sensor_value *val)
		{
		struct lsm303dlhc_accel_data *drv_data = dev->driver_data;

		switch (chan) {
		case SENSOR_CHAN_ACCEL_X:
		lsm303dlhc_convert(val, drv_data->accel_x);
		break;
		case SENSOR_CHAN_ACCEL_Y:
		lsm303dlhc_convert(val, drv_data->accel_y);
		break;
		case SENSOR_CHAN_ACCEL_Z:
		lsm303dlhc_convert(val, drv_data->accel_z);
		break;
		case SENSOR_CHAN_ACCEL_XYZ:
		lsm303dlhc_convert(val, drv_data->accel_x);
		lsm303dlhc_convert(val + 1, drv_data->accel_y);
		lsm303dlhc_convert(val + 2, drv_data->accel_z);
		break;
		default:
		return -ENOTSUP;
		}
		return 0;
		}

		static const struct sensor_driver_api lsm303dlhc_accel_driver_api = {
		.sample_fetch = lsm303dlhc_sample_fetch,
		.channel_get = lsm303dlhc_channel_get,
		};

		static int lsm303dlhc_accel_init(struct device *dev)
		{
		const struct lsm303dlhc_accel_config *config = dev->config->config_info;
		struct lsm303dlhc_accel_data *drv_data = dev->driver_data;

		drv_data->i2c = device_get_binding(config->i2c_name);
		if (drv_data->i2c == NULL) {
		SYS_LOG_ERR("Could not get pointer to %s device",
		config->i2c_name);
		return -ENODEV;
		}

		/* Enable accel measurement and set power mode and data rate */
		if (i2c_reg_write_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_REG_CTRL_1,
		LSM303DLHC_ACCEL_EN_BITS \|
		LSM303DLHC_LP_EN_BIT \|
		LSM303DLHC_ACCEL_ODR_BITS) < 0) {
		SYS_LOG_ERR("Failed to configure chip.");
		return -EIO;
		}

		/* Set accelerometer full scale range */
		if (i2c_reg_write_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_REG_CTRL_4,
		LSM303DLHC_ACCEL_FS_BITS) < 0) {
		SYS_LOG_ERR("Failed to set accelerometer full scale range.");
		return -EIO;
		}

		return 0;
		}

		static const struct lsm303dlhc_accel_config lsm303dlhc_accel_config = {
		.i2c_name = CONFIG_LSM303DLHC_ACCEL_I2C_MASTER_DEV,
		.i2c_address = CONFIG_LSM303DLHC_ACCEL_I2C_ADDR,
		};

		static struct lsm303dlhc_accel_data lsm303dlhc_accel_driver;

		DEVICE_AND_API_INIT(lsm303dlhc_accel, CONFIG_LSM303DLHC_ACCEL_NAME,
		lsm303dlhc_accel_init, &lsm303dlhc_accel_driver,
		&lsm303dlhc_accel_config, POST_KERNEL,
		CONFIG_SENSOR_INIT_PRIORITY, &lsm303dlhc_accel_driver_api);

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