static int fxos8700_init(struct device *dev)
{
const struct fxos8700_config *config = dev->config->config_info;
struct fxos8700_data *data = dev->driver_data;
struct sensor_value odr = {.val1 = 6, .val2 = 250000};
/* Get the I2C device */
data->i2c = device_get_binding(config->i2c_name);
if (data->i2c == NULL) {
LOG_ERR("Could not find I2C device");
return -EINVAL;
}
/*
* Read the WHOAMI register to make sure we are talking to FXOS8700 or
* compatible device and not some other type of device that happens to
* have the same I2C address.
*/
if (i2c_reg_read_byte(data->i2c, config->i2c_address,
FXOS8700_REG_WHOAMI, &data->whoami)) {
LOG_ERR("Could not get WHOAMI value");
return -EIO;
}
switch (data->whoami) {
case WHOAMI_ID_MMA8451:
case WHOAMI_ID_MMA8652:
case WHOAMI_ID_MMA8653:
if (config->mode != FXOS8700_MODE_ACCEL) {
LOG_ERR("Device 0x%x supports only "
"accelerometer mode",
data->whoami);
return -EIO;
}
case WHOAMI_ID_FXOS8700:
LOG_DBG("Device ID 0x%x", data->whoami);
break;
default:
LOG_ERR("Unknown Device ID 0x%x", data->whoami);
return -EIO;
}
/* Reset the sensor. Upon issuing a software reset command over the I2C
* interface, the sensor immediately resets and does not send any
* acknowledgment (ACK) of the written byte to the master. Therefore,
* do not check the return code of the I2C transaction.
*/
i2c_reg_write_byte(data->i2c, config->i2c_address,
FXOS8700_REG_CTRLREG2, FXOS8700_CTRLREG2_RST_MASK);
/* The sensor requires us to wait 1 ms after a software reset before
* attempting further communications.
*/
k_busy_wait(USEC_PER_MSEC);
if (fxos8700_set_odr(dev, &odr)) {
LOG_ERR("Could not set default data rate");
return -EIO;
}
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_CTRLREG2,
FXOS8700_CTRLREG2_MODS_MASK,
config->power_mode)) {
LOG_ERR("Could not set power scheme");
return -EIO;
}
/* Set the mode (accel-only, mag-only, or hybrid) */
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_M_CTRLREG1,
FXOS8700_M_CTRLREG1_MODE_MASK,
config->mode)) {
LOG_ERR("Could not set mode");
return -EIO;
}
/* Set hybrid autoincrement so we can read accel and mag channels in
* one I2C transaction.
*/
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_M_CTRLREG2,
FXOS8700_M_CTRLREG2_AUTOINC_MASK,
FXOS8700_M_CTRLREG2_AUTOINC_MASK)) {
LOG_ERR("Could not set hybrid autoincrement");
return -EIO;
}
/* Set the full-scale range */
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_XYZ_DATA_CFG,
FXOS8700_XYZ_DATA_CFG_FS_MASK,
config->range)) {
LOG_ERR("Could not set range");
return -EIO;
}
k_sem_init(&data->sem, 0, UINT_MAX);
#if CONFIG_FXOS8700_TRIGGER
if (fxos8700_trigger_init(dev)) {
LOG_ERR("Could not initialize interrupts");
return -EIO;
}
#endif
/* Set active */
if (fxos8700_set_power(dev, FXOS8700_POWER_ACTIVE)) {
LOG_ERR("Could not set active");
return -EIO;
}
k_sem_give(&data->sem);
LOG_DBG("Init complete");
return 0;
}
static const struct sensor_driver_api fxos8700_driver_api = {
.sample_fetch = fxos8700_sample_fetch,
.channel_get = fxos8700_channel_get,
.attr_set = fxos8700_attr_set,
#if CONFIG_FXOS8700_TRIGGER
.trigger_set = fxos8700_trigger_set,
#endif
};
static const struct fxos8700_config fxos8700_config = {
.i2c_name = CONFIG_FXOS8700_I2C_NAME,
.i2c_address = CONFIG_FXOS8700_I2C_ADDRESS,
#ifdef CONFIG_FXOS8700_MODE_ACCEL
.mode = FXOS8700_MODE_ACCEL,
.start_addr = FXOS8700_REG_OUTXMSB,
.start_channel = FXOS8700_CHANNEL_ACCEL_X,
.num_channels = FXOS8700_NUM_ACCEL_CHANNELS,
#elif CONFIG_FXOS8700_MODE_MAGN
.mode = FXOS8700_MODE_MAGN,
.start_addr = FXOS8700_REG_M_OUTXMSB,
.start_channel = FXOS8700_CHANNEL_MAGN_X,
.num_channels = FXOS8700_NUM_MAG_CHANNELS,
#else
.mode = FXOS8700_MODE_HYBRID,
.start_addr = FXOS8700_REG_OUTXMSB,
.start_channel = FXOS8700_CHANNEL_ACCEL_X,
.num_channels = FXOS8700_NUM_HYBRID_CHANNELS,
#endif
#if CONFIG_FXOS8700_PM_NORMAL
.power_mode = FXOS8700_PM_NORMAL,
#elif CONFIG_FXOS8700_PM_LOW_NOISE_LOW_POWER
.power_mode = FXOS8700_PM_LOW_NOISE_LOW_POWER,
#elif CONFIG_FXOS8700_PM_HIGH_RESOLUTION
.power_mode = FXOS8700_PM_HIGH_RESOLUTION,
#else
.power_mode = FXOS8700_PM_LOW_POWER,
#endif
#if CONFIG_FXOS8700_RANGE_8G
.range = FXOS8700_RANGE_8G,
#elif CONFIG_FXOS8700_RANGE_4G
.range = FXOS8700_RANGE_4G,
#else
.range = FXOS8700_RANGE_2G,
#endif
#ifdef CONFIG_FXOS8700_TRIGGER
.gpio_name = CONFIG_FXOS8700_GPIO_NAME,
.gpio_pin = CONFIG_FXOS8700_GPIO_PIN,
#endif
#ifdef CONFIG_FXOS8700_PULSE
.pulse_cfg = CONFIG_FXOS8700_PULSE_CFG,
.pulse_ths[0] = CONFIG_FXOS8700_PULSE_THSX,
.pulse_ths[1] = CONFIG_FXOS8700_PULSE_THSY,
.pulse_ths[2] = CONFIG_FXOS8700_PULSE_THSZ,
.pulse_tmlt = CONFIG_FXOS8700_PULSE_TMLT,
.pulse_ltcy = CONFIG_FXOS8700_PULSE_LTCY,
.pulse_wind = CONFIG_FXOS8700_PULSE_WIND,
#endif
};
static struct fxos8700_data fxos8700_data;
DEVICE_AND_API_INIT(fxos8700, CONFIG_FXOS8700_NAME, fxos8700_init,
&fxos8700_data, &fxos8700_config,
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
&fxos8700_driver_api);
static int fxos8700_init(struct device *dev)
{
const struct fxos8700_config *config = dev->config->config_info;
struct fxos8700_data *data = dev->driver_data;
u8_t whoami;
/* Get the I2C device */
data->i2c = device_get_binding(config->i2c_name);
if (data->i2c == NULL) {
SYS_LOG_ERR("Could not find I2C device");
return -EINVAL;
}
/* Read the WHOAMI register to make sure we are talking to FXOS8700 and
* not some other type of device that happens to have the same I2C
* address.
*/
if (i2c_reg_read_byte(data->i2c, config->i2c_address,
FXOS8700_REG_WHOAMI, &whoami)) {
SYS_LOG_ERR("Could not get WHOAMI value");
return -EIO;
}
if (whoami != config->whoami) {
SYS_LOG_ERR("WHOAMI value received 0x%x, expected 0x%x",
whoami, FXOS8700_REG_WHOAMI);
return -EIO;
}
/* Reset the sensor. Upon issuing a software reset command over the I2C
* interface, the sensor immediately resets and does not send any
* acknowledgment (ACK) of the written byte to the master. Therefore,
* do not check the return code of the I2C transaction.
*/
i2c_reg_write_byte(data->i2c, config->i2c_address,
FXOS8700_REG_CTRLREG2, FXOS8700_CTRLREG2_RST_MASK);
/* The sensor requires us to wait 1 ms after a software reset before
* attempting further communications.
*/
k_busy_wait(USEC_PER_MSEC);
/* Set the mode (accel-only, mag-only, or hybrid) */
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_M_CTRLREG1,
FXOS8700_M_CTRLREG1_MODE_MASK,
config->mode)) {
SYS_LOG_ERR("Could not set mode");
return -EIO;
}
/* Set hybrid autoincrement so we can read accel and mag channels in
* one I2C transaction.
*/
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_M_CTRLREG2,
FXOS8700_M_CTRLREG2_AUTOINC_MASK,
FXOS8700_M_CTRLREG2_AUTOINC_MASK)) {
SYS_LOG_ERR("Could not set hybrid autoincrement");
return -EIO;
}
/* Set the full-scale range */
if (i2c_reg_update_byte(data->i2c, config->i2c_address,
FXOS8700_REG_XYZ_DATA_CFG,
FXOS8700_XYZ_DATA_CFG_FS_MASK,
config->range)) {
SYS_LOG_ERR("Could not set range");
return -EIO;
}
#if CONFIG_FXOS8700_TRIGGER
if (fxos8700_trigger_init(dev)) {
SYS_LOG_ERR("Could not initialize interrupts");
return -EIO;
}
#endif
/* Set active */
if (fxos8700_set_power(dev, FXOS8700_POWER_ACTIVE)) {
SYS_LOG_ERR("Could not set active");
return -EIO;
}
k_sem_init(&data->sem, 1, UINT_MAX);
SYS_LOG_DBG("Init complete");
return 0;
}
