text: /* ST Microelectronics IIS2DLPC 3-axis accelerometer driver
   *
   * Copyright (c) 2020 STMicroelectronics
   *
   * SPDX-License-Identifier: Apache-2.0
   *
   * Datasheet:
   * https://www.st.com/resource/en/datasheet/iis2dlpc.pdf
   */
  
  #define DT_DRV_COMPAT st_iis2dlpc
  
  #include <init.h>
  #include <sys/__assert.h>
  #include <sys/byteorder.h>
  #include <logging/log.h>
  #include <drivers/sensor.h>
  
  #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
  #include <drivers/spi.h>
  #elif DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
  #include <drivers/i2c.h>
  #endif
  
  #include "iis2dlpc.h"
  
  LOG_MODULE_REGISTER(IIS2DLPC, CONFIG_SENSOR_LOG_LEVEL);
  
  /**
   * iis2dlpc_set_range - set full scale range for acc
   * @dev: Pointer to instance of struct device (I2C or SPI)
   * @range: Full scale range (2, 4, 8 and 16 G)
   */
  static int iis2dlpc_set_range(const struct device *dev, uint8_t fs)
  {
  	int err;
  	struct iis2dlpc_data *iis2dlpc = dev->data;
  	const struct iis2dlpc_config *cfg = dev->config;
  	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
  	uint8_t shift_gain = 0U;
  
  	err = iis2dlpc_full_scale_set(ctx, fs);
  
  	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
  		shift_gain = IIS2DLPC_SHFT_GAIN_NOLP1;
  	}
  
  	if (!err) {
  		/* save internally gain for optimization */
  		iis2dlpc->gain = IIS2DLPC_FS_TO_GAIN(fs, shift_gain);
  	}
  
  	return err;
  }
  
  /**
   * iis2dlpc_set_odr - set new sampling frequency
   * @dev: Pointer to instance of struct device (I2C or SPI)
   * @odr: Output data rate
   */
  static int iis2dlpc_set_odr(const struct device *dev, uint16_t odr)
  {
  	const struct iis2dlpc_config *cfg = dev->config;
  	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
  	uint8_t val;
  
  	/* check if power off */
  	if (odr == 0U) {
  		return iis2dlpc_data_rate_set(ctx, IIS2DLPC_XL_ODR_OFF);
  	}
  
  	val =  IIS2DLPC_ODR_TO_REG(odr);
  	if (val > IIS2DLPC_XL_ODR_1k6Hz) {
  		LOG_ERR("ODR too high");
  		return -ENOTSUP;
  	}
  
  	return iis2dlpc_data_rate_set(ctx, val);
  }
  
  static inline void iis2dlpc_convert(struct sensor_value *val, int raw_val,
  				    float gain)
  {
  	int64_t dval;
  
  	/* Gain is in ug/LSB */
  	/* Convert to m/s^2 */
  	dval = ((int64_t)raw_val * gain * SENSOR_G) / 1000000LL;
  	val->val1 = dval / 1000000LL;
  	val->val2 = dval % 1000000LL;
  }
  
  static inline void iis2dlpc_channel_get_acc(const struct device *dev,
  					     enum sensor_channel chan,
  					     struct sensor_value *val)
  {
  	int i;
  	uint8_t ofs_start, ofs_stop;
  	struct iis2dlpc_data *iis2dlpc = dev->data;
  	struct sensor_value *pval = val;
  
  	switch (chan) {
  	case SENSOR_CHAN_ACCEL_X:
  		ofs_start = ofs_stop = 0U;
  		break;
  	case SENSOR_CHAN_ACCEL_Y:
  		ofs_start = ofs_stop = 1U;
  		break;
  	case SENSOR_CHAN_ACCEL_Z:
  		ofs_start = ofs_stop = 2U;
  		break;
  	default:
  		ofs_start = 0U; ofs_stop = 2U;
  		break;
  	}
  
  	for (i = ofs_start; i <= ofs_stop ; i++) {
  		iis2dlpc_convert(pval++, iis2dlpc->acc[i], iis2dlpc->gain);
  	}
  }
  
  static int iis2dlpc_channel_get(const struct device *dev,
  				 enum sensor_channel chan,
  				 struct sensor_value *val)
  {
  	switch (chan) {
  	case SENSOR_CHAN_ACCEL_X:
  	case SENSOR_CHAN_ACCEL_Y:
  	case SENSOR_CHAN_ACCEL_Z:
  	case SENSOR_CHAN_ACCEL_XYZ:
  		iis2dlpc_channel_get_acc(dev, chan, val);
  		return 0;
  	default:
  		LOG_DBG("Channel not supported");
  		break;
  	}
  
  	return -ENOTSUP;
  }
  
  static int iis2dlpc_dev_config(const struct device *dev,
  			       enum sensor_channel chan,
  			       enum sensor_attribute attr,
  			       const struct sensor_value *val)
  {
  	switch (attr) {
  	case SENSOR_ATTR_FULL_SCALE:
  		return iis2dlpc_set_range(dev,
  				IIS2DLPC_FS_TO_REG(sensor_ms2_to_g(val)));
  	case SENSOR_ATTR_SAMPLING_FREQUENCY:
  		return iis2dlpc_set_odr(dev, val->val1);
  	default:
  		LOG_DBG("Acc attribute not supported");
  		break;
  	}
  
  	return -ENOTSUP;
  }
  
  static int iis2dlpc_attr_set(const struct device *dev,
  			      enum sensor_channel chan,
  			      enum sensor_attribute attr,
  			      const struct sensor_value *val)
  {
  	switch (chan) {
  	case SENSOR_CHAN_ACCEL_X:
  	case SENSOR_CHAN_ACCEL_Y:
  	case SENSOR_CHAN_ACCEL_Z:
  	case SENSOR_CHAN_ACCEL_XYZ:
  		return iis2dlpc_dev_config(dev, chan, attr, val);
  	default:
  		LOG_DBG("Attr not supported on %d channel", chan);
  		break;
  	}
  
  	return -ENOTSUP;
  }
  
  static int iis2dlpc_sample_fetch(const struct device *dev,
  				 enum sensor_channel chan)
  {
  	struct iis2dlpc_data *iis2dlpc = dev->data;
  	const struct iis2dlpc_config *cfg = dev->config;
  	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
  	uint8_t shift;
  	int16_t buf[3];
  
  	/* fetch raw data sample */
  	if (iis2dlpc_acceleration_raw_get(ctx, buf) < 0) {
  		LOG_DBG("Failed to fetch raw data sample");
  		return -EIO;
  	}
  
  	/* adjust to resolution */
  	if (cfg->pm == IIS2DLPC_CONT_LOW_PWR_12bit) {
  		shift = IIS2DLPC_SHIFT_PM1;
  	} else {
  		shift = IIS2DLPC_SHIFT_PMOTHER;
  	}
  
  	iis2dlpc->acc[0] = sys_le16_to_cpu(buf[0]) >> shift;
  	iis2dlpc->acc[1] = sys_le16_to_cpu(buf[1]) >> shift;
  	iis2dlpc->acc[2] = sys_le16_to_cpu(buf[2]) >> shift;
  
  	return 0;
  }
  
  static const struct sensor_driver_api iis2dlpc_driver_api = {
  	.attr_set = iis2dlpc_attr_set,
  #if CONFIG_IIS2DLPC_TRIGGER
  	.trigger_set = iis2dlpc_trigger_set,
  #endif /* CONFIG_IIS2DLPC_TRIGGER */
  	.sample_fetch = iis2dlpc_sample_fetch,
  	.channel_get = iis2dlpc_channel_get,
  };
  
  static int iis2dlpc_set_power_mode(stmdev_ctx_t *ctx, iis2dlpc_mode_t pm)
  {
  	uint8_t regval = IIS2DLPC_CONT_LOW_PWR_12bit;
  
  	switch (pm) {
  	case IIS2DLPC_CONT_LOW_PWR_2:
  	case IIS2DLPC_CONT_LOW_PWR_3:
  	case IIS2DLPC_CONT_LOW_PWR_4:
  	case IIS2DLPC_HIGH_PERFORMANCE:
  		regval = pm;
  		break;
  	default:
  		LOG_DBG("Apply default Power Mode");
  		break;
  	}
  
  	return iis2dlpc_write_reg(ctx, IIS2DLPC_CTRL1, &regval, 1);
  }
  
  static int iis2dlpc_init(const struct device *dev)
  {
  	struct iis2dlpc_data *iis2dlpc = dev->data;
  	const struct iis2dlpc_config *cfg = dev->config;
  	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
  	uint8_t wai;
  
  	iis2dlpc->dev = dev;
  
  	/* check chip ID */
  	if (iis2dlpc_device_id_get(ctx, &wai) < 0) {
  		return -EIO;
  	}
  
  	if (wai != IIS2DLPC_ID) {
  		LOG_ERR("Invalid chip ID");
  		return -EINVAL;
  	}
  
  	/* reset device */
  	if (iis2dlpc_reset_set(ctx, PROPERTY_ENABLE) < 0) {
  		return -EIO;
  	}
  
  	k_busy_wait(100);
  
  	if (iis2dlpc_block_data_update_set(ctx, PROPERTY_ENABLE) < 0) {
  		return -EIO;
  	}
  
  	/* set power mode */
  	LOG_INF("power-mode is %d", cfg->pm);
  	if (iis2dlpc_set_power_mode(ctx, cfg->pm)) {
  		return -EIO;
  	}
  
  	/* set default odr to 12.5Hz acc */
  	if (iis2dlpc_set_odr(dev, 12) < 0) {
  		LOG_ERR("odr init error (12.5 Hz)");
  		return -EIO;
  	}
  
  	LOG_INF("range is %d", cfg->range);
  	if (iis2dlpc_set_range(dev, IIS2DLPC_FS_TO_REG(cfg->range)) < 0) {
  		LOG_ERR("range init error %d", cfg->range);
  		return -EIO;
  	}
  
  #ifdef CONFIG_IIS2DLPC_TRIGGER
  	if (iis2dlpc_init_interrupt(dev) < 0) {
  		LOG_ERR("Failed to initialize interrupts");
  		return -EIO;
  	}
  
  #ifdef CONFIG_IIS2DLPC_TAP
  	LOG_INF("TAP: tap mode is %d", cfg->tap_mode);
  	if (iis2dlpc_tap_mode_set(ctx, cfg->tap_mode) < 0) {
  		LOG_ERR("Failed to select tap trigger mode");
  		return -EIO;
  	}
  
  	LOG_INF("TAP: ths_x is %02x", cfg->tap_threshold[0]);
  	if (iis2dlpc_tap_threshold_x_set(ctx, cfg->tap_threshold[0]) < 0) {
  		LOG_ERR("Failed to set tap X axis threshold");
  		return -EIO;
  	}
  
  	LOG_INF("TAP: ths_y is %02x", cfg->tap_threshold[1]);
  	if (iis2dlpc_tap_threshold_y_set(ctx, cfg->tap_threshold[1]) < 0) {
  		LOG_ERR("Failed to set tap Y axis threshold");
  		return -EIO;
  	}
  
  	LOG_INF("TAP: ths_z is %02x", cfg->tap_threshold[2]);
  	if (iis2dlpc_tap_threshold_z_set(ctx, cfg->tap_threshold[2]) < 0) {
  		LOG_ERR("Failed to set tap Z axis threshold");
  		return -EIO;
  	}
  
  	if (cfg->tap_threshold[0] > 0) {
  		LOG_INF("TAP: tap_x enabled");
  		if (iis2dlpc_tap_detection_on_x_set(ctx, 1) < 0) {
  			LOG_ERR("Failed to set tap detection on X axis");
  			return -EIO;
  		}
  	}
  
  	if (cfg->tap_threshold[1] > 0) {
  		LOG_INF("TAP: tap_y enabled");
  		if (iis2dlpc_tap_detection_on_y_set(ctx, 1) < 0) {
  			LOG_ERR("Failed to set tap detection on Y axis");
  			return -EIO;
  		}
  	}
  
  	if (cfg->tap_threshold[2] > 0) {
  		LOG_INF("TAP: tap_z enabled");
  		if (iis2dlpc_tap_detection_on_z_set(ctx, 1) < 0) {
  			LOG_ERR("Failed to set tap detection on Z axis");
  			return -EIO;
  		}
  	}
  
  	LOG_INF("TAP: shock is %02x", cfg->tap_shock);
  	if (iis2dlpc_tap_shock_set(ctx, cfg->tap_shock) < 0) {
  		LOG_ERR("Failed to set tap shock duration");
  		return -EIO;
  	}
  
  	LOG_INF("TAP: latency is %02x", cfg->tap_latency);
  	if (iis2dlpc_tap_dur_set(ctx, cfg->tap_latency) < 0) {
  		LOG_ERR("Failed to set tap latency");
  		return -EIO;
  	}
  
  	LOG_INF("TAP: quiet time is %02x", cfg->tap_quiet);
  	if (iis2dlpc_tap_quiet_set(ctx, cfg->tap_quiet) < 0) {
  		LOG_ERR("Failed to set tap quiet time");
  		return -EIO;
  	}
  #endif /* CONFIG_IIS2DLPC_TAP */
  #endif /* CONFIG_IIS2DLPC_TRIGGER */
  
  	return 0;
  }
  
  #if DT_NUM_INST_STATUS_OKAY(DT_DRV_COMPAT) == 0
  #warning "IIS2DLPC driver enabled without any devices"
  #endif
  
  /*
   * Device creation macro, shared by IIS2DLPC_DEFINE_SPI() and
   * IIS2DLPC_DEFINE_I2C().
   */
  
  #define IIS2DLPC_DEVICE_INIT(inst)					\
  	DEVICE_DT_INST_DEFINE(inst,					\
  			    iis2dlpc_init,				\
  			    NULL,					\
  			    &iis2dlpc_data_##inst,			\
  			    &iis2dlpc_config_##inst,			\
  			    POST_KERNEL,				\
  			    CONFIG_SENSOR_INIT_PRIORITY,		\
  			    &iis2dlpc_driver_api);
  
  /*
   * Instantiation macros used when a device is on a SPI bus.
   */
  
  #ifdef CONFIG_IIS2DLPC_TAP
  #define IIS2DLPC_CONFIG_TAP(inst)					\
  	.tap_mode = DT_INST_PROP(inst, tap_mode),			\
  	.tap_threshold = DT_INST_PROP(inst, tap_threshold),		\
  	.tap_shock = DT_INST_PROP(inst, tap_shock),			\
  	.tap_latency = DT_INST_PROP(inst, tap_latency),			\
  	.tap_quiet = DT_INST_PROP(inst, tap_quiet),
  #else
  #define IIS2DLPC_CONFIG_TAP(inst)
  #endif /* CONFIG_IIS2DLPC_TAP */
  
  #ifdef CONFIG_IIS2DLPC_TRIGGER
  #define IIS2DLPC_CFG_IRQ(inst) \
  	.gpio_drdy = GPIO_DT_SPEC_INST_GET(inst, drdy_gpios),		\
  	.drdy_int = DT_INST_PROP(inst, drdy_int),
  #else
  #define IIS2DLPC_CFG_IRQ(inst)
  #endif /* CONFIG_IIS2DLPC_TRIGGER */
  
  #define IIS2DLPC_SPI_OPERATION (SPI_WORD_SET(8) |			\
  				SPI_OP_MODE_MASTER |			\
  				SPI_MODE_CPOL |				\
  				SPI_MODE_CPHA)				\
  
  #define IIS2DLPC_CONFIG_SPI(inst)					\
  	{								\
  		.ctx = {						\
  			.read_reg =					\
  			   (stmdev_read_ptr) stmemsc_spi_read,		\
  			.write_reg =					\
  			   (stmdev_write_ptr) stmemsc_spi_write,	\
  			.handle =					\
  			   (void *)&iis2dlpc_config_##inst.stmemsc_cfg,	\
  		},							\
  		.stmemsc_cfg.spi = {					\
  			.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),	\
  			.spi_cfg = SPI_CONFIG_DT_INST(inst,		\
  					   IIS2DLPC_SPI_OPERATION,	\
  					   0),				\
  		},							\
  		.pm = DT_INST_PROP(inst, power_mode),			\
  		.range = DT_INST_PROP(inst, range),			\
  		IIS2DLPC_CONFIG_TAP(inst)				\
  		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
  			(IIS2DLPC_CFG_IRQ(inst)), ())			\
  	}
  
  /*
   * Instantiation macros used when a device is on an I2C bus.
   */
  
  #define IIS2DLPC_CONFIG_I2C(inst)					\
  	{								\
  		.ctx = {						\
  			.read_reg =					\
  			   (stmdev_read_ptr) stmemsc_i2c_read,		\
  			.write_reg =					\
  			   (stmdev_write_ptr) stmemsc_i2c_write,	\
  			.handle =					\
  			   (void *)&iis2dlpc_config_##inst.stmemsc_cfg,	\
  		},							\
  		.stmemsc_cfg.i2c = {					\
  			.bus = DEVICE_DT_GET(DT_INST_BUS(inst)),	\
  			.i2c_slv_addr = DT_INST_REG_ADDR(inst),		\
  		},							\
  		.pm = DT_INST_PROP(inst, power_mode),			\
  		.range = DT_INST_PROP(inst, range),			\
  		IIS2DLPC_CONFIG_TAP(inst)				\
  		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, drdy_gpios),	\
  			(IIS2DLPC_CFG_IRQ(inst)), ())			\
  	}
  
  /*
   * Main instantiation macro. Use of COND_CODE_1() selects the right
   * bus-specific macro at preprocessor time.
   */
  
  #define IIS2DLPC_DEFINE(inst)						\
  	static struct iis2dlpc_data iis2dlpc_data_##inst;		\
  	static const struct iis2dlpc_config iis2dlpc_config_##inst =	\
  	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
  		    (IIS2DLPC_CONFIG_SPI(inst)),			\
  		    (IIS2DLPC_CONFIG_I2C(inst)));			\
  	IIS2DLPC_DEVICE_INIT(inst)
  
  DT_INST_FOREACH_STATUS_OKAY(IIS2DLPC_DEFINE)
  