drivers/sensors: Add driver for the LIS3DSH 3 axis accelerometer.

drivers/sensors/Kconfig

@@ -38,6 +38,13 @@ config SENSOR_KXTJ9_I2C_BUS_SPEED
 
 endif # SENSOR_KXTJ9
 
+config LIS3DSH
+	bool "STMicro LIS3DSH 3-Axis acclerometer support"
+	default n
+	select SPI
+	---help---
+		Enable driver support for the STMicro LIS3DSH 3-Axis acclerometer.
+
 config LIS331DL
 	bool "ST LIS331DL device support"
 	default n

drivers/sensors/Make.defs

@@ -53,6 +53,10 @@ ifeq ($(CONFIG_SENSOR_KXTJ9),y)
   CSRCS += kxjt9.c
 endif
 
+ifeq ($(CONFIG_LIS3DSH),y)
+  CSRCS += lis3dsh.c
+endif
+
 ifeq ($(CONFIG_LIS331DL),y)
   CSRCS += lis331dl.c
 endif

drivers/sensors/lis3dsh.c

+/****************************************************************************
+ * drivers/sensors/lis3dsh.c
+ * Character driver for the LIS3DSH 3-Axis acclerometer.
+ *
+ *   Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
+ *   Author:  Alexander Entinger <a.entinger@ds-automotion.com>
+ *            Thomas Ilk
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <string.h>
+#include <semaphore.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/wqueue.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/sensors/lis3dsh.h>
+
+#if defined(CONFIG_SPI) && defined(CONFIG_LIS3DSH)
+
+/****************************************************************************
+ * Private
+ ****************************************************************************/
+
+struct lis3dsh_sensor_data_s
+{
+  int16_t x_acc;              /* Measurement result for x axis */
+  int16_t y_acc;              /* Measurement result for y axis */
+  int16_t z_acc;              /* Measurement result for z axis */
+};
+
+struct lis3dsh_dev_s
+{
+  FAR struct lis3dsh_dev_s *flink;     /* Supports a singly linked list of
+                                        * drivers */
+  FAR struct spi_dev_s *spi;           /* Pointer to the SPI instance */
+  FAR struct lis3dsh_config_s *config; /* Pointer to the configuration
+                                        * of the LIS3DSH sensor */
+  sem_t datasem;                       /* Manages exclusive access to this
+                                        * structure */
+  struct lis3dsh_sensor_data_s data;   /* The data as measured by the sensor */
+  struct work_s work;                  /* The work queue is responsible for
+                                        * retrieving the data from the
+                                        * sensor after the arrival of new
+                                        * data was signalled in an interrupt */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void lis3dsh_read_register(FAR struct lis3dsh_dev_s *dev,
+                                  uint8_t const reg_addr, uint8_t *reg_data);
+static void lis3dsh_write_register(FAR struct lis3dsh_dev_s *dev,
+                                   uint8_t const reg_addr,
+                                   uint8_t const reg_data);
+static void lis3dsh_reset(FAR struct lis3dsh_dev_s *dev);
+static void lis3dsh_read_measurement_data(FAR struct lis3dsh_dev_s *dev);
+static void lis3dsh_read_acclerometer_data(FAR struct lis3dsh_dev_s *dev,
+                                           uint16_t *x_acc, uint16_t *y_acc,
+                                           uint16_t *z_acc);
+static int lis3dsh_interrupt_handler(int irq, FAR void *context);
+static void lis3dsh_worker(FAR void *arg);
+
+static int lis3dsh_open(FAR struct file *filep);
+static int lis3dsh_close(FAR struct file *filep);
+static ssize_t lis3dsh_read(FAR struct file *, FAR char *buffer,
+                            size_t buflen);
+static ssize_t lis3dsh_write(FAR struct file *filep, FAR const char *buffer,
+                             size_t buflen);
+static int lis3dsh_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct file_operations g_lis3dsh_fops =
+{
+  lis3dsh_open,
+  lis3dsh_close,
+  lis3dsh_read,
+  lis3dsh_write,
+  NULL,
+  lis3dsh_ioctl
+#ifndef CONFIG_DISABLE_POLL
+  , NULL
+#endif
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+  , NULL
+#endif
+};
+
+/* Single linked list to store instances of drivers */
+
+static struct lis3dsh_dev_s *g_lis3dsh_list = NULL;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: lis3dsh_read_register
+ ****************************************************************************/
+
+static void lis3dsh_read_register(FAR struct lis3dsh_dev_s *dev,
+                                  uint8_t const reg_addr, uint8_t * reg_data)
+{
+  /* Lock the SPI bus so that only one device can access it at the same time */
+
+  SPI_LOCK(dev->spi, true);
+
+  /* Set CS to low which selects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+  /* Transmit the register address from where we want to read - the MSB needs
+   * to be set to indicate the read indication.
+   */
+
+  SPI_SEND(dev->spi, reg_addr | 0x80);
+
+  /* Write an idle byte while receiving the required data */
+
+  *reg_data = (uint8_t) (SPI_SEND(dev->spi, 0));
+
+  /* Set CS to high which deselects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+  /* Unlock the SPI bus */
+
+  SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_write_register
+ ****************************************************************************/
+
+static void lis3dsh_write_register(FAR struct lis3dsh_dev_s *dev,
+                                   uint8_t const reg_addr,
+                                   uint8_t const reg_data)
+{
+  /* Lock the SPI bus so that only one device can access it at the same time */
+
+  SPI_LOCK(dev->spi, true);
+
+  /* Set CS to low which selects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+  /* Transmit the register address from where we want to read */
+
+  SPI_SEND(dev->spi, reg_addr);
+
+  /* Transmit the content which should be written in the register */
+
+  SPI_SEND(dev->spi, reg_data);
+
+  /* Set CS to high which deselects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+  /* Unlock the SPI bus */
+
+  SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_reset
+ ****************************************************************************/
+
+static void lis3dsh_reset(FAR struct lis3dsh_dev_s *dev)
+{
+  lis3dsh_write_register(dev, LIS3DSH_CTRL_REG_6, LIS3DSH_CTRL_REG_6_BOOT_bm);
+
+  up_mdelay(100);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_read_measurement_data
+ ****************************************************************************/
+
+static void lis3dsh_read_measurement_data(FAR struct lis3dsh_dev_s *dev)
+{
+  uint16_t x_acc = 0;
+  uint16_t y_acc = 0;
+  uint16_t z_acc = 0;
+  int ret;
+
+  /* Read acclerometer data */
+
+  lis3dsh_read_acclerometer_data(dev, &x_acc, &y_acc, &z_acc);
+
+  /* Aquire the semaphore before the data is copied */
+
+  ret = sem_wait(&dev->datasem);
+  if (ret != OK)
+    {
+      snerr("Could not aquire dev->datasem: %d\n", ret);
+      return;
+    }
+
+  /* Copy retrieve data to internal data structure */
+
+  dev->data.x_acc = (int16_t)x_acc;
+  dev->data.y_acc = (int16_t)y_acc;
+  dev->data.z_acc = (int16_t)z_acc;
+
+  /* Give back the semaphore */
+
+  sem_post(&dev->datasem);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_read_acclerometer_data
+ ****************************************************************************/
+
+static void lis3dsh_read_acclerometer_data(FAR struct lis3dsh_dev_s *dev,
+                                           uint16_t * x_acc, uint16_t * y_acc,
+                                           uint16_t * z_acc)
+{
+  /* Lock the SPI bus so that only one device can access it at the same time */
+
+  SPI_LOCK(dev->spi, true);
+
+  /* Set CS to low which selects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+  /* Transmit the register address from where we want to start reading 0x80 ->
+   * MSB is set -> Read Indication.
+   */
+
+  SPI_SEND(dev->spi, (LIS3DSH_OUT_X_L_REG | 0x80));
+
+  /* RX */
+
+  *x_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0);   /* LSB */
+  *x_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8);  /* MSB */
+
+  *y_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0);   /* LSB */
+  *y_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8);  /* MSB */
+
+  *z_acc = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0);   /* LSB */
+  *z_acc |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8);  /* MSB */
+
+  /* Set CS to high which deselects the LIS3DSH */
+
+  SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+  /* Unlock the SPI bus */
+
+  SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_interrupt_handler
+ ****************************************************************************/
+
+static int lis3dsh_interrupt_handler(int irq, FAR void *context)
+{
+  /* This function should be called upon a rising edge on the LIS3DSH new data
+   * interrupt pin since it signals that new data has been measured.
+   */
+
+  FAR struct lis3dsh_dev_s *priv = NULL;
+  int ret;
+
+  /* Find out which device caused the interrupt */
+
+  for (priv = g_lis3dsh_list; priv && priv->config->irq != irq;
+       priv = priv->flink);
+  DEBUGASSERT(priv != NULL);
+
+  /* Task the worker with retrieving the latest sensor data. We should not do
+   * this in a interrupt since it might take too long. Also we cannot lock the
+   * SPI bus from within an interrupt.
+   */
+
+  DEBUGASSERT(priv->work.worker == NULL);
+  ret = work_queue(HPWORK, &priv->work, lis3dsh_worker, priv, 0);
+  if (ret < 0)
+    {
+      snerr("Failed to queue work: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: lis3dsh_worker
+ ****************************************************************************/
+
+static void lis3dsh_worker(FAR void *arg)
+{
+  FAR struct lis3dsh_dev_s *priv = (FAR struct lis3dsh_dev_s *)(arg);
+  DEBUGASSERT(priv != NULL);
+
+  /* Read out the latest sensor data */
+
+  lis3dsh_read_measurement_data(priv);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_open
+ ****************************************************************************/
+
+static int lis3dsh_open(FAR struct file *filep)
+{
+  FAR struct inode *inode = filep->f_inode;
+  FAR struct lis3dsh_dev_s *priv = inode->i_private;
+
+  DEBUGASSERT(priv != NULL);
+
+  /* Perform a reset */
+
+  lis3dsh_reset(priv);
+
+  /* Enable - the full scale range (FS = +/- 16 g) */
+
+  lis3dsh_write_register(priv,
+                         LIS3DSH_CTRL_REG_5, LIS3DSH_CTRL_REG_5_FSCALE_2_bm);
+
+  /* Enable - Auto increment of address when reading multiple bytes */
+
+  lis3dsh_write_register(priv,
+                         LIS3DSH_CTRL_REG_6, LIS3DSH_CTRL_REG_6_ADD_INC_bm);
+
+  /* Enable - Measurement of X-, Y-, and Z-axis - Block data update for
+   * accelerating data This should prevent race conditions when reading sensor
+   * data - fastest output data rate (ODR = 1600 Hz) */
+
+  lis3dsh_write_register(priv,
+                         LIS3DSH_CTRL_REG_4,
+                         LIS3DSH_CTRL_REG_4_XEN_bm | LIS3DSH_CTRL_REG_4_YEN_bm |
+                         LIS3DSH_CTRL_REG_4_ZEN_bm | LIS3DSH_CTRL_REG_4_BDU_bm |
+                         LIS3DSH_CTRL_REG_4_ODR_3_bm | LIS3DSH_CTRL_REG_4_ODR_0_bm);
+
+  /* Enable - DRDY signal enable to INT 1 */
+
+  lis3dsh_write_register(priv,
+                         LIS3DSH_CTRL_REG_3,
+                         LIS3DSH_CTRL_REG_3_DR_EN_bm | LIS3DSH_CTRL_REG_3_IEA_bm |
+                         LIS3DSH_CTRL_REG_3_IEL_bm | LIS3DSH_CTRL_REG_3_INT1_EN_bm);
+
+  /* Read back the content of all control registers for debug purposes */
+
+  {
+    uint8_t reg_content = 0;
+
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_1, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_1 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_2, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_2 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_3, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_3 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_4, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_4 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_5, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_5 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_CTRL_REG_6, &reg_content);
+    snerr("LIS3DSH_CTRL_REG_6 = %04x\n", reg_content);
+    lis3dsh_read_register(priv, LIS3DSH_STATUS_REG, &reg_content);
+    snerr("STATUS_REG = %04x\n", reg_content);
+  }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: lis3dsh_close
+ ****************************************************************************/
+
+static int lis3dsh_close(FAR struct file *filep)
+{
+  FAR struct inode *inode = filep->f_inode;
+  FAR struct lis3dsh_dev_s *priv = inode->i_private;
+
+  DEBUGASSERT(priv != NULL);
+
+  /* Perform a reset */
+
+  lis3dsh_reset(priv);
+
+  return OK;
+}
+
+/****************************************************************************
+ * Name: lis3dsh_read
+ ****************************************************************************/
+
+static ssize_t lis3dsh_read(FAR struct file *filep, FAR char *buffer,
+                            size_t buflen)
+{
+  FAR struct inode *inode = filep->f_inode;
+  FAR struct lis3dsh_dev_s *priv = inode->i_private;
+  FAR struct lis3dsh_sensor_data_s *data;
+  int ret;
+
+  DEBUGASSERT(priv != NULL);
+
+  /* Check if enough memory was provided for the read call */
+
+  if (buflen < sizeof(FAR struct lis3dsh_sensor_data_s))
+    {
+      snerr("Not enough memory for reading out a sensor data sample\n");
+      return -ENOSYS;
+    }
+
+  /* Aquire the semaphore before the data is copied */
+
+  ret = sem_wait(&priv->datasem);
+  if (ret != OK)
+    {
+      snerr("Could not aquire priv->datasem: %d\n", ret);
+      return ERROR;
+    }
+
+  /* Copy the sensor data into the buffer */
+
+  data = (FAR struct lis3dsh_sensor_data_s *)buffer;
+  memset(data, 0, sizeof(FAR struct lis3dsh_sensor_data_s));
+
+  data->x_acc = priv->data.x_acc;
+  data->y_acc = priv->data.y_acc;
+  data->z_acc = priv->data.z_acc;
+
+  /* Give back the semaphore */
+
+  sem_post(&priv->datasem);
+
+  return sizeof(FAR struct lis3dsh_sensor_data_s);
+}
+
+/****************************************************************************
+ * Name: lis3dsh_write
+ ****************************************************************************/
+
+static ssize_t lis3dsh_write(FAR struct file *filep, FAR const char *buffer,
+                             size_t buflen)
+{
+  return -ENOSYS;
+}
+
+/****************************************************************************
+ * Name: lis3dsh_ioctl
+ ****************************************************************************/
+
+static int lis3dsh_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+{
+  int ret = OK;
+
+  switch (cmd)
+    {
+      /* Command was not recognized */
+
+    default:
+      snerr("Unrecognized cmd: %d\n", cmd);
+      ret = -ENOTTY;
+      break;
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: lis3dsh_register
+ *
+ * Description:
+ *   Register the LIS3DSH character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/acc0"
+ *   spi     - An instance of the SPI interface to use to communicate with
+ *             LIS3DSH
+ *   config  - configuration for the LIS3DSH driver.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lis3dsh_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+                     FAR struct lis3dsh_config_s *config)
+{
+  FAR struct lis3dsh_dev_s *priv;
+  int ret;
+
+  /* Sanity check */
+
+  DEBUGASSERT(spi != NULL);
+  DEBUGASSERT(config != NULL);
+
+  /* Initialize the LIS3DSH device structure */
+
+  priv = (FAR struct lis3dsh_dev_s *)kmm_malloc(sizeof(struct lis3dsh_dev_s));
+  if (priv == NULL)
+    {
+      snerr("Failed to allocate instance\n");
+      return -ENOMEM;
+    }
+
+  priv->spi         = spi;
+  priv->config      = config;
+  priv->work.worker = NULL;
+
+  sem_init(&priv->datasem, 0, 1);       /* Initialize sensor data access
+                                         * semaphore */
+
+  /* Setup SPI frequency and mode */
+
+  SPI_SETFREQUENCY(spi, LIS3DSH_SPI_FREQUENCY);
+  SPI_SETMODE(spi, LIS3DSH_SPI_MODE);
+
+  /* Register the character driver */
+
+  ret = register_driver(devpath, &g_lis3dsh_fops, 0666, priv);
+  if (ret < 0)
+    {
+      snerr("Failed to register driver: %d\n", ret);
+      kmm_free(priv);
+      sem_destroy(&priv->datasem);
+      return -ENODEV;
+    }
+
+  /* Since we support multiple LIS3DSH devices, we will need to add this new
+   * instance to a list of device instances so that it can be found by the
+   * interrupt handler based on the received IRQ number.
+   */
+
+  priv->flink = g_lis3dsh_list;
+  g_lis3dsh_list = priv;
+
+  /* Attach the interrupt handler */
+
+  ret = priv->config->attach(priv->config, &lis3dsh_interrupt_handler);
+  if (ret < 0)
+    {
+      snerr("Failed to attach interrupt\n");
+      return -ENODEV;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_SPI && CONFIG_LIS3DSH */

include/nuttx/sensors/lis3dsh.h

+/****************************************************************************
+ * include/nuttx/sensors/lis3dsh.h
+ *
+ *   Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
+ *   Author:  Alexander Entinger <a.entinger@ds-automotion.com>
+ *            Thomas Ilk
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef NUTTX_INCLUDE_NUTTX_SENSORS_LIS3DSH_H_
+#define NUTTX_INCLUDE_NUTTX_SENSORS_LIS3DSH_H_
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/irq.h>
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi/spi.h>
+
+#if defined(CONFIG_SPI) && defined(CONFIG_LIS3DSH)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* LIS3DSH Register Definitions **********************************************/
+
+#define LIS3DSH_INFO_REG_1    (0x0D)
+#define LIS3DSH_INFO_REG_2    (0x0E)
+#define LIS3DSH_WHO_AM_I_REG  (0x0F)
+#define LIS3DSH_CTRL_REG_1    (0x21)
+#define LIS3DSH_CTRL_REG_2    (0x22)
+#define LIS3DSH_CTRL_REG_3    (0x23)
+#define LIS3DSH_CTRL_REG_4    (0x20)
+#define LIS3DSH_CTRL_REG_5    (0x24)
+#define LIS3DSH_CTRL_REG_6    (0x25)
+#define LIS3DSH_STATUS_REG    (0x27)
+#define LIS3DSH_OUT_T_REG     (0x0C)
+#define LIS3DSH_OFF_X_REG     (0x10)
+#define LIS3DSH_OFF_Y_REG     (0x11)
+#define LIS3DSH_OFF_Z_REG     (0x12)
+#define LIS3DSH_CS_X_REG      (0x13)
+#define LIS3DSH_CS_Y_REG      (0x14)
+#define LIS3DSH_CS_Z_REG      (0x15)
+#define LIS3DSH_LC_L_REG      (0x16)
+#define LIS3DSH_LC_H_REG      (0x17)
+#define LIS3DSH_STAT_REG      (0x18)
+#define LIS3DSH_PEAK1_REG     (0x19)
+#define LIS3DSH_PEAK2_REG     (0x1A)
+#define LIS3DSH_VFC_REG_1     (0x1B)
+#define LIS3DSH_VFC_REG_2     (0x1C)
+#define LIS3DSH_VFC_REG_3     (0x1D)
+#define LIS3DSH_VFC_REG_4     (0x1E)
+#define LIS3DSH_THRS3_REG     (0x1F)
+#define LIS3DSH_OUT_X_L_REG   (0x28)
+#define LIS3DSH_OUT_X_H_REG   (0x29)
+#define LIS3DSH_OUT_Y_L_REG   (0x2A)
+#define LIS3DSH_OUT_Y_H_REG   (0x2B)
+#define LIS3DSH_OUT_Z_L_REG   (0x2C)
+#define LIS3DSH_OUT_Z_H_REG   (0x2D)
+#define LIS3DSH_FIFO_CTRL_REG (0x2E)
+#define LIS3DSH_FIFO_SRC_REG  (0x2F)
+#define LIS3DSH_FIFO_CTRL_REG (0x2E)
+#define LIS3DSH_ST1_REG_1     (0x40)
+#define LIS3DSH_ST1_REG_2     (0x41)
+#define LIS3DSH_ST1_REG_3     (0x42)
+#define LIS3DSH_ST1_REG_4     (0x43)
+#define LIS3DSH_ST1_REG_5     (0x44)
+#define LIS3DSH_ST1_REG_6     (0x45)
+#define LIS3DSH_ST1_REG_7     (0x46)
+#define LIS3DSH_ST1_REG_8     (0x47)
+#define LIS3DSH_ST1_REG_9     (0x48)
+#define LIS3DSH_ST1_REG_10    (0x49)
+#define LIS3DSH_ST1_REG_11    (0x4A)
+#define LIS3DSH_ST1_REG_12    (0x4B)
+#define LIS3DSH_ST1_REG_13    (0x4C)
+#define LIS3DSH_ST1_REG_14    (0x4D)
+#define LIS3DSH_ST1_REG_15    (0x4E)
+#define LIS3DSH_ST1_REG_16    (0x4F)
+#define LIS3DSH_TIM4_1_REG    (0x50)
+#define LIS3DSH_TIM3_1_REG    (0x51)
+#define LIS3DSH_TIM2_1_REG_1  (0x52)
+#define LIS3DSH_TIM2_1_REG_2  (0x53)
+#define LIS3DSH_TIM1_1_REG_1  (0x54)
+#define LIS3DSH_TIM1_1_REG_5  (0x55)
+#define LIS3DSH_THRS2_1_REG   (0x56)
+#define LIS3DSH_THRS1_1_REG   (0x57)
+#define LIS3DSH_MASK1_B_REG   (0x59)
+#define LIS3DSH_MASK1_A_REG   (0x5A)
+#define LIS3DSH_SETT1_REG     (0x5B)
+#define LIS3DSH_PR1_REG       (0x5C)
+#define LIS3DSH_TC1_REG_1     (0x5D)
+#define LIS3DSH_TC1_REG_2     (0x5E)
+#define LIS3DSH_OUTS1_REG     (0x5F)
+#define LIS3DSH_ST2_REG_1     (0x60)
+#define LIS3DSH_ST2_REG_2     (0x61)
+#define LIS3DSH_ST2_REG_3     (0x62)
+#define LIS3DSH_ST2_REG_4     (0x63)
+#define LIS3DSH_ST2_REG_5     (0x64)
+#define LIS3DSH_ST2_REG_6     (0x65)
+#define LIS3DSH_ST2_REG_7     (0x66)
+#define LIS3DSH_ST2_REG_8     (0x67)
+#define LIS3DSH_ST2_REG_9     (0x68)
+#define LIS3DSH_ST2_REG_10    (0x69)
+#define LIS3DSH_ST2_REG_11    (0x6A)
+#define LIS3DSH_ST2_REG_12    (0x6B)
+#define LIS3DSH_ST2_REG_13    (0x6C)
+#define LIS3DSH_ST2_REG_14    (0x6D)
+#define LIS3DSH_ST2_REG_15    (0x6E)
+#define LIS3DSH_ST2_REG_16    (0x6F)
+#define LIS3DSH_TIM4_2_REG    (0x70)
+#define LIS3DSH_TIM3_2_REG    (0x71)
+#define LIS3DSH_TIM2_2_REG_1  (0x72)
+#define LIS3DSH_TIM2_2_REG_2  (0x73)
+#define LIS3DSH_TIM1_2_REG_1  (0x74)
+#define LIS3DSH_TIM1_2_REG_5  (0x75)
+#define LIS3DSH_THRS2_2_REG   (0x76)
+#define LIS3DSH_THRS1_2_REG   (0x77)
+#define LIS3DSH_DES2_REG      (0x78)
+#define LIS3DSH_MASK2_B_REG   (0x79)
+#define LIS3DSH_MASK2_A_REG   (0x7A)
+#define LIS3DSH_SETT2_REG     (0x7B)
+#define LIS3DSH_PR2_REG       (0x7C)
+#define LIS3DSH_TC2_REG_1     (0x7D)
+#define LIS3DSH_TC2_REG_2     (0x7E)
+
+/* LIS3DSH CTRL_REG_3 Definitions **********************************************/
+
+#define LIS3DSH_CTRL_REG_3_DR_EN_bm       (1<<7)  /* DRDY signal enable to INT 1 */
+#define LIS3DSH_CTRL_REG_3_IEA_bm         (1<<6)  /* Interrupt signal polarity */
+#define LIS3DSH_CTRL_REG_3_IEL_bm         (1<<5)  /* Interrupt signal latching */
+#define LIS3DSH_CTRL_REG_3_INT2_EN_bm     (1<<4)  /* Interrupt 2 enable / disable */
+#define LIS3DSH_CTRL_REG_3_INT1_EN_bm     (1<<3)  /* Interrupt 1 enable / disable */
+#define LIS3DSH_CTRL_REG_3_VFILT_bm       (1<<2)  /* Vector filter enable / disable */
+#define LIS3DSH_CTRL_REG_3_STRT_bm        (1<<0)  /* Enable soft reset */
+
+/* LIS3DSH CTRL_REG_4 Definitions **********************************************/
+
+#define LIS3DSH_CTRL_REG_4_ODR_3_bm       (1<<7)  /* Output data rate and power mode selection bit 3 */
+#define LIS3DSH_CTRL_REG_4_ODR_2_bm       (1<<6)  /* Output data rate and power mode selection bit 2 */
+#define LIS3DSH_CTRL_REG_4_ODR_1_bm       (1<<5)  /* Output data rate and power mode selection bit 1 */
+#define LIS3DSH_CTRL_REG_4_ODR_0_bm       (1<<4)  /* Output data rate and power mode selection bit 0 */
+#define LIS3DSH_CTRL_REG_4_BDU_bm         (1<<3)  /* Enable block data update for accelerating data */
+#define LIS3DSH_CTRL_REG_4_ZEN_bm         (1<<2)  /* Enable Z-axis */
+#define LIS3DSH_CTRL_REG_4_YEN_bm         (1<<1)  /* Enable Y-axis */
+#define LIS3DSH_CTRL_REG_4_XEN_bm         (1<<0)  /* Enable X-axis */
+
+/* LIS3DSH CTRL_REG_5 Definitions **********************************************/
+
+#define LIS3DSH_CTRL_REG_5_BW_2_bm        (1<<7)  /* Anti-aliasing filter bandwidth bit 2 */
+#define LIS3DSH_CTRL_REG_5_BW_1_bm        (1<<6)  /* Anti-aliasing filter bandwidth bit 1 */
+#define LIS3DSH_CTRL_REG_5_FSCALE_2_bm    (1<<5)  /* Full-scale selection bit 2 */
+#define LIS3DSH_CTRL_REG_5_FSCALE_1_bm    (1<<4)  /* Full-scale selection bit 1 */
+#define LIS3DSH_CTRL_REG_5_FSCALE_0_bm    (1<<3)  /* Full-scale selection bit 0 */
+#define LIS3DSH_CTRL_REG_5_ST_2_bm        (1<<2)  /* Enable self-test bit 2 */
+#define LIS3DSH_CTRL_REG_5_ST_1_bm        (1<<1)  /* Enable self-test bit 1 */
+#define LIS3DSH_CTRL_REG_5_SIM_bm         (1<<0)  /* Enable SPI 4-wire interface */
+
+/* LIS3DSH CTRL_REG_6 Definitions **********************************************/
+
+#define LIS3DSH_CTRL_REG_6_BOOT_bm        (1<<7)  /* Force reboot, cleared as soon as the reboot is finished. Active high */
+#define LIS3DSH_CTRL_REG_6_FIFO_EN_bm     (1<<6)  /* Enable FIFO */
+#define LIS3DSH_CTRL_REG_6_WTM_EN_bm      (1<<5)  /* Enable FIFO watermark level use */
+#define LIS3DSH_CTRL_REG_6_ADD_INC_bm     (1<<4)  /* Register address automatically incremented during a multiple byte access with a serial interface */
+#define LIS3DSH_CTRL_REG_6_P1_EMPTY_bm    (1<<3)  /* Enable FIFO empty indication on Int1 */
+#define LIS3DSH_CTRL_REG_6_P1_WTM_bm      (1<<2)  /* FIFO watermark interrupt Int1 */
+#define LIS3DSH_CTRL_REG_6_P1_OVERRUN_bm  (1<<1)  /* FIFO overrrun interrupt on Int1 */
+#define LIS3DSH_CTRL_REG_6_P2_BOOT_bm     (1<<0)  /* BOOT interrupt on Int2 */
+
+/* SPI BUS PARAMETERS *******************************************************/
+
+#define LIS3DSH_SPI_FREQUENCY    (5000000)        /* 5 MHz */
+#define LIS3DSH_SPI_MODE         (SPIDEV_MODE3)   /* Device uses SPI Mode 3: CPOL=1, CPHA=1 */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* A reference to a structure of this type must be passed to the LIS3DSH
+ * driver. This structure provides information about the configuration
+ * of the sensor and provides some board-specific hooks.
+ *
+ * Memory for this structure is provided by the caller.  It is not copied
+ * by the driver and is presumed to persist while the driver is active.
+ */
+
+struct lis3dsh_config_s
+{
+  /* Since multiple sensors can be connected to the same SPI bus we need
+   * to use multiple spi device ids which are employed by NuttX to select/
+   * deselect the desired LIS3DSH chip via their chip select inputs.
+   */
+
+  int spi_devid;
+
+  /* The IRQ number must be provided for each LIS3DSH device so that
+   * their interrupts can be distinguished.
+   */
+
+  int irq;
+
+  /* Attach the LIS3DSH interrupt handler to the GPIO interrupt of the
+   * concrete LIS3DSH instance.
+   */
+
+  int (*attach)(FAR struct lis3dsh_config_s *, xcpt_t);
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: lis3dsh_register
+ *
+ * Description:
+ *   Register the LIS3DSH character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/acc0"
+ *   spi     - An instance of the SPI interface to use to communicate with
+ *             LIS3DSH
+ *   config  - configuration for the LIS3DSH driver. For details see
+ *             description above.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lis3dsh_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+                     FAR struct lis3dsh_config_s *config);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SPI && CONFIG_LIS3DSH */
+#endif /* NUTTX_INCLUDE_NUTTX_SENSORS_LIS3DSH_H_ */