text: /* ST Microelectronics LSM6DSO 6-axis IMU sensor driver
   *
   * Copyright (c) 2019 STMicroelectronics
   *
   * SPDX-License-Identifier: Apache-2.0
   *
   * Datasheet:
   * https://www.st.com/resource/en/datasheet/lsm6dso.pdf
   */
  
  #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_
  #define ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_
  
  #include <drivers/sensor.h>
  #include <zephyr/types.h>
  #include <drivers/gpio.h>
  #include <drivers/spi.h>
  #include <sys/util.h>
  #include <stmemsc.h>
  #include "lsm6dso_reg.h"
  
  #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
  #include <drivers/spi.h>
  #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
  
  #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
  #include <drivers/i2c.h>
  #endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
  
  #define LSM6DSO_EN_BIT					0x01
  #define LSM6DSO_DIS_BIT					0x00
  
  /* Accel sensor sensitivity grain is 61 ug/LSB */
  #define GAIN_UNIT_XL				(61LL)
  
  /* Gyro sensor sensitivity grain is 4.375 udps/LSB */
  #define GAIN_UNIT_G				(4375LL)
  
  #define SENSOR_PI_DOUBLE			(SENSOR_PI / 1000000.0)
  #define SENSOR_DEG2RAD_DOUBLE			(SENSOR_PI_DOUBLE / 180)
  #define SENSOR_G_DOUBLE				(SENSOR_G / 1000000.0)
  
  #if CONFIG_LSM6DSO_ACCEL_FS == 0
  	#define LSM6DSO_ACCEL_FS_RUNTIME 1
  	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0
  	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL
  #elif CONFIG_LSM6DSO_ACCEL_FS == 2
  	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0
  	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL
  #elif CONFIG_LSM6DSO_ACCEL_FS == 4
  	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		2
  	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(2.0 * GAIN_UNIT_XL)
  #elif CONFIG_LSM6DSO_ACCEL_FS == 8
  	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		3
  	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(4.0 * GAIN_UNIT_XL)
  #elif CONFIG_LSM6DSO_ACCEL_FS == 16
  	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		1
  	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(8.0 * GAIN_UNIT_XL)
  #endif
  
  #if (CONFIG_LSM6DSO_ACCEL_ODR == 0)
  #define LSM6DSO_ACCEL_ODR_RUNTIME 1
  #endif
  
  #define GYRO_FULLSCALE_125 4
  
  #if CONFIG_LSM6DSO_GYRO_FS == 0
  	#define LSM6DSO_GYRO_FS_RUNTIME 1
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G
  #elif CONFIG_LSM6DSO_GYRO_FS == 125
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G
  #elif CONFIG_LSM6DSO_GYRO_FS == 250
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		0
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(2.0 * GAIN_UNIT_G)
  #elif CONFIG_LSM6DSO_GYRO_FS == 500
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		1
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(4.0 * GAIN_UNIT_G)
  #elif CONFIG_LSM6DSO_GYRO_FS == 1000
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		2
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(8.0 * GAIN_UNIT_G)
  #elif CONFIG_LSM6DSO_GYRO_FS == 2000
  	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		3
  	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(16.0 * GAIN_UNIT_G)
  #endif
  
  
  #if (CONFIG_LSM6DSO_GYRO_ODR == 0)
  #define LSM6DSO_GYRO_ODR_RUNTIME 1
  #endif
  
  struct lsm6dso_config {
  	stmdev_ctx_t ctx;
  	union {
  #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
  		const struct i2c_dt_spec i2c;
  #endif
  #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
  		const struct spi_dt_spec spi;
  #endif
  	} stmemsc_cfg;
  #ifdef CONFIG_LSM6DSO_TRIGGER
  	const struct gpio_dt_spec gpio_drdy;
  	uint8_t int_pin;
  	bool trig_enabled;
  #endif /* CONFIG_LSM6DSO_TRIGGER */
  };
  
  union samples {
  	uint8_t raw[6];
  	struct {
  		int16_t axis[3];
  	};
  } __aligned(2);
  
  #define LSM6DSO_SHUB_MAX_NUM_SLVS			2
  
  struct lsm6dso_data {
  	const struct device *dev;
  	int16_t acc[3];
  	uint32_t acc_gain;
  	int16_t gyro[3];
  	uint32_t gyro_gain;
  #if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
  	int temp_sample;
  #endif
  #if defined(CONFIG_LSM6DSO_SENSORHUB)
  	uint8_t ext_data[2][6];
  	uint16_t magn_gain;
  
  	struct hts221_data {
  		int16_t x0;
  		int16_t x1;
  		int16_t y0;
  		int16_t y1;
  	} hts221;
  	bool shub_inited;
  	uint8_t num_ext_dev;
  	uint8_t shub_ext[LSM6DSO_SHUB_MAX_NUM_SLVS];
  #endif /* CONFIG_LSM6DSO_SENSORHUB */
  
  	uint16_t accel_freq;
  	uint8_t accel_fs;
  	uint16_t gyro_freq;
  	uint8_t gyro_fs;
  
  #ifdef CONFIG_LSM6DSO_TRIGGER
  	struct gpio_callback gpio_cb;
  	sensor_trigger_handler_t handler_drdy_acc;
  	sensor_trigger_handler_t handler_drdy_gyr;
  	sensor_trigger_handler_t handler_drdy_temp;
  
  #if defined(CONFIG_LSM6DSO_TRIGGER_OWN_THREAD)
  	K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_LSM6DSO_THREAD_STACK_SIZE);
  	struct k_thread thread;
  	struct k_sem gpio_sem;
  #elif defined(CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD)
  	struct k_work work;
  #endif
  #endif /* CONFIG_LSM6DSO_TRIGGER */
  };
  
  #if defined(CONFIG_LSM6DSO_SENSORHUB)
  int lsm6dso_shub_init(const struct device *dev);
  int lsm6dso_shub_fetch_external_devs(const struct device *dev);
  int lsm6dso_shub_get_idx(const struct device *dev, enum sensor_channel type);
  int lsm6dso_shub_config(const struct device *dev, enum sensor_channel chan,
  			enum sensor_attribute attr,
  			const struct sensor_value *val);
  #endif /* CONFIG_LSM6DSO_SENSORHUB */
  
  #ifdef CONFIG_LSM6DSO_TRIGGER
  int lsm6dso_trigger_set(const struct device *dev,
  			const struct sensor_trigger *trig,
  			sensor_trigger_handler_t handler);
  
  int lsm6dso_init_interrupt(const struct device *dev);
  #endif
  
  #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DSO_LSM6DSO_H_ */
  