drivers/sensors: Add drvier for the LIS3MDL 3 axis magnetometer

drivers/sensors/Kconfig

@@ -173,6 +173,13 @@ config I2C_LM75
 	bool
 	default y if LM75
 
+config LIS3MDL
+	bool "STMicro LIS3MDL 3-Axis magnetometer support"
+	default n
+	select SPI
+	---help---
+		Enable driver support for the ST LIS3MDL 3-axis magnetometer.
+
 config LM75
 	bool "STMicro LM-75 Temperature Sensor support"
 	default n

drivers/sensors/Make.defs

@@ -113,6 +113,11 @@ endif
 ifeq ($(CONFIG_MPL115A),y)
   CSRCS += mpl115a.c
 endif
+
+ifeq ($(CONFIG_LIS3MDL),y)
+  CSRCS += lis3mdl.c
+endif
+
 endif # CONFIG_SPI
 
 # Quadrature encoder upper half

include/nuttx/sensors/lis3mdl.h

+/****************************************************************************
+ * include/nuttx/sensors/lis3mdl.h
+ *
+ *   Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
+ *   Author: Alexander Entinger <a.entinger@ds-automotion.com>
+ *
+ * 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_LIS3MDL_H_
+#define NUTTX_INCLUDE_NUTTX_SENSORS_LIS3MDL_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_LIS3MDL)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* LIS3MDL Register Definitions *********************************************/
+
+#define LIS3MDL_WHO_AM_I_REG    (0x0F)
+#define LIS3MDL_CTRL_REG_1      (0x20)
+#define LIS3MDL_CTRL_REG_2      (0x21)
+#define LIS3MDL_CTRL_REG_3      (0x22)
+#define LIS3MDL_CTRL_REG_4      (0x23)
+#define LIS3MDL_CTRL_REG_5      (0x24)
+#define LIS3MDL_STATUS_REG      (0x27)
+#define LIS3MDL_OUT_X_L_REG     (0x28)
+#define LIS3MDL_OUT_X_H_REG     (0x29)
+#define LIS3MDL_OUT_Y_L_REG     (0x2A)
+#define LIS3MDL_OUT_Y_H_REG     (0x2B)
+#define LIS3MDL_OUT_Z_L_REG     (0x2C)
+#define LIS3MDL_OUT_Z_H_REG     (0x2D)
+#define LIS3MDL_TEMP_OUT_L_REG  (0x2E)
+#define LIS3MDL_TEMP_OUT_H_REG  (0x2F)
+#define LIS3MDL_INT_CFG_REG     (0x30)
+#define LIS3MDL_INT_SRC_REG     (0x31)
+#define LIS3MDL_INT_THS_L_REG   (0x32)
+#define LIS3MDL_INT_THS_H_REG   (0x33)
+
+/* LIS3MDL CTRL_REG_1 Bit Definitions ***************************************/
+
+#define LIS3MDL_CTRL_REG_1_TEMP_EN_bm      (1<<7)   /* Enable the temperature sensor */
+#define LIS3MDL_CTRL_REG_1_OM_1_bm         (1<<6)   /* Select the operating mode of X and Y axis bit 1 */
+#define LIS3MDL_CTRL_REG_1_OM_0_bm         (1<<5)   /* Select the operating mode of X and Y axis bit 0 */
+#define LIS3MDL_CTRL_REG_1_DO2_bm          (1<<4)   /* Output data rate selection bit 2 */
+#define LIS3MDL_CTRL_REG_1_DO1_bm          (1<<3)   /* Output data rate selection bit 1 */
+#define LIS3MDL_CTRL_REG_1_DO0_bm          (1<<2)   /* Output data rate selection bit 2 */
+#define LIS3MDL_CTRL_REG_1_FAST_ODR_bm     (1<<1)   /* Enable higher output data rates */
+
+/* LIS3MDL CTRL_REG_2 Bit Definitions ***************************************/
+
+#define LIS3MDL_CTRL_REG_2_FS_1_bm         (1<<6)   /* Full scale selection bit 1 */
+#define LIS3MDL_CTRL_REG_2_FS_0_bm         (1<<5)   /* Full scale selection bit 0 */
+#define LIS3MDL_CTRL_REG_2_REBOOT_bm       (1<<3)   /* Reboot Memory Content */
+#define LIS3MDL_CTRL_REG_2_SOFT_RST_bm     (1<<2)   /* Soft Reset */
+
+/* LIS3MDL CTRL_REG_4 Bit Definitions ***************************************/
+
+#define LIS3MDL_CTRL_REG_4_OMZ_1_bm        (1<<3)   /* Select the operating mode of Z axis bit 1 */
+#define LIS3MDL_CTRL_REG_4_OMZ_0_bm        (1<<2)   /* Select the operating mode of Z axis bit 0 */
+
+/* LIS3MDL CTRL_REG_5 Bit Definitions ***************************************/
+
+#define LIS3MDL_CTRL_REG_5_BDU_bm          (1<<6)   /* Enable block data update for magnetic data (prevent race conditions while reading) */
+
+/* SPI BUS PARAMETERS *******************************************************/
+
+#define LIS3MDL_SPI_FREQUENCY    (1000000)        /* 1 MHz */
+#define LIS3MDL_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 LIS3MDL
+ * 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 lis3mdl_config_s
+{
+  /* Since multiple LIS3MDL 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 LIS3MDL chip via their chip select inputs.
+   */
+
+  int spi_devid;
+
+  /* The IRQ number must be provided for each so LIS3MDL device so that
+   * their interrupts can be distinguished.
+   */
+
+  int irq;
+
+  /* Attach the LIS3MDL interrupt handler to the GPIO interrupt of the
+   * concrete LIS3MDL instance.
+   */
+
+  int (*attach)(FAR struct lis3mdl_config_s *, xcpt_t);
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: lis3mdl_register
+ *
+ * Description:
+ *   Register the LIS3MDL character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/mag0"
+ *   spi - An instance of the SPI interface to use to communicate with LIS3MDL
+ *   config - configuration for the LIS3MDL driver. For details see description above.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lis3mdl_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+                     FAR struct lis3mdl_config_s const *config);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SPI && CONFIG_LIS3MDL */
+#endif /* NUTTX_INCLUDE_NUTTX_SENSORS_LIS3MDL_H_ */