drivers: sensor: lsm303dlhc magnetometer driver (43bc39e1) · Commits · Wenxi XU / zephyr

drivers/sensor/CMakeLists.txt

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		@@ -26,6 +26,7 @@ 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_LSM303DLHC_MAGN lsm303dlhc_magn)
		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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		@@ -91,6 +91,8 @@ source "drivers/sensor/lps25hb/Kconfig"

		source "drivers/sensor/lsm303dlhc_accel/Kconfig"

		source "drivers/sensor/lsm303dlhc_magn/Kconfig"

		source "drivers/sensor/lsm6ds0/Kconfig"

		source "drivers/sensor/lsm6dsl/Kconfig"

drivers/sensor/lsm303dlhc_magn/CMakeLists.txt

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

		zephyr_sources_ifdef(CONFIG_LSM303DLHC_MAGN lsm303dlhc_magn.c)

drivers/sensor/lsm303dlhc_magn/Kconfig

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		# Kconfig - LSM303DLHC Three Axis Magnetometer configuration options

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

		menuconfig LSM303DLHC_MAGN
		bool "LSM303DLHC Three Axis Magnetometer"
		depends on I2C
		help
		Enable driver for LSM303DLHC I2C-based triaxial magnetometer sensor.

		config LSM303DLHC_MAGN_RANGE
		int "Magnetometer measurement range"
		depends on LSM303DLHC_MAGN
		range 1 7
		default 1
		help
		1: +/-1.3 gauss
		2: +/-1.9 gauss
		3: +/-2.5 gauss
		4: +/-4 gauss
		5: +/-4.7 gauss
		6: +/-5.6 gauss
		7: +/-8.1 gauss

		config LSM303DLHC_MAGN_ODR
		int "Data rate frequency"
		depends on LSM303DLHC_MAGN
		range 0 7
		default 0
		help
		0: 0.75Hz
		1: 1.5 Hz
		2: 3Hz
		3: 7.5Hz
		4: 15Hz
		5: 30Hz
		6: 75Hz
		7: 220Hz

drivers/sensor/lsm303dlhc_magn/lsm303dlhc_magn.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_magn.h"

		static int lsm303dlhc_sample_fetch(struct device *dev,
		enum sensor_channel chan)
		{
		const struct lsm303dlhc_magn_config *config = dev->config->config_info;
		struct lsm303dlhc_magn_data *drv_data = dev->driver_data;
		u8_t magn_buf[6];
		u8_t status;

		/* Check data ready flag */
		if (i2c_reg_read_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_SR_REG_M,
		&status) < 0) {
		SYS_LOG_ERR("Failed to read status register.");
		return -EIO;
		}

		if (!(status & LSM303DLHC_MAGN_DRDY)) {
		SYS_LOG_ERR("Sensor data not available.");
		return -EIO;
		}

		if (i2c_burst_read(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_REG_MAGN_X_LSB,
		magn_buf, 6) < 0) {
		SYS_LOG_ERR("Could not read magn axis data.");
		return -EIO;
		}

		drv_data->magn_x = (magn_buf[0] << 8) \| magn_buf[1];
		drv_data->magn_y = (magn_buf[4] << 8) \| magn_buf[5];
		drv_data->magn_z = (magn_buf[2] << 8) \| magn_buf[3];

		return 0;
		}

		static void lsm303dlhc_convert(struct sensor_value *val,
		s64_t raw_val)
		{
		val->val1 = raw_val / LSM303DLHC_MAGN_LSB_GAUSS;
		val->val2 = (1000000 * raw_val / LSM303DLHC_MAGN_LSB_GAUSS) % 1000000;
		}

		static int lsm303dlhc_channel_get(struct device *dev,
		enum sensor_channel chan,
		struct sensor_value *val)
		{
		struct lsm303dlhc_magn_data *drv_data = dev->driver_data;

		switch (chan) {
		case SENSOR_CHAN_MAGN_X:
		lsm303dlhc_convert(val, drv_data->magn_x);
		break;
		case SENSOR_CHAN_MAGN_Y:
		lsm303dlhc_convert(val, drv_data->magn_y);
		break;
		case SENSOR_CHAN_MAGN_Z:
		lsm303dlhc_convert(val, drv_data->magn_z);
		break;
		case SENSOR_CHAN_MAGN_XYZ:
		lsm303dlhc_convert(val, drv_data->magn_x);
		lsm303dlhc_convert(val + 1, drv_data->magn_y);
		lsm303dlhc_convert(val + 2, drv_data->magn_z);
		break;
		default:
		return -ENOTSUP;
		}
		return 0;
		}

		static const struct sensor_driver_api lsm303dlhc_magn_driver_api = {
		.sample_fetch = lsm303dlhc_sample_fetch,
		.channel_get = lsm303dlhc_channel_get,
		};

		static int lsm303dlhc_magn_init(struct device *dev)
		{
		const struct lsm303dlhc_magn_config *config = dev->config->config_info;
		struct lsm303dlhc_magn_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;
		}

		/* Set magnetometer output data rate */
		if (i2c_reg_write_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_CRA_REG_M,
		LSM303DLHC_MAGN_ODR_BITS) < 0) {
		SYS_LOG_ERR("Failed to configure chip.");
		return -EIO;
		}

		/* Set magnetometer full scale range */
		if (i2c_reg_write_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_CRB_REG_M,
		LSM303DLHC_MAGN_FS_BITS) < 0) {
		SYS_LOG_ERR("Failed to set magnetometer full scale range.");
		return -EIO;
		}

		/* Continuous update */
		if (i2c_reg_write_byte(drv_data->i2c,
		config->i2c_address,
		LSM303DLHC_MR_REG_M,
		LSM303DLHC_MAGN_CONT_UPDATE) < 0) {
		SYS_LOG_ERR("Failed to enable continuous data update.");
		return -EIO;
		}
		return 0;
		}

		static const struct lsm303dlhc_magn_config lsm303dlhc_magn_config = {
		.i2c_name = CONFIG_LSM303DLHC_MAGN_I2C_MASTER_DEV,
		.i2c_address = CONFIG_LSM303DLHC_MAGN_I2C_ADDR,
		};

		static struct lsm303dlhc_magn_data lsm303dlhc_magn_driver;

		DEVICE_AND_API_INIT(lsm303dlhc_magn, CONFIG_LSM303DLHC_MAGN_NAME,
		lsm303dlhc_magn_init, &lsm303dlhc_magn_driver,
		&lsm303dlhc_magn_config, POST_KERNEL,
		CONFIG_SENSOR_INIT_PRIORITY, &lsm303dlhc_magn_driver_api);

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