drivers: sensor: LIS3MDL: support SPI

The LIS3MDL sensor driver does not support SPI.
This commit adds support for usage through SPI.

Signed-off-by: De Murlot <demurlotpierre@gmail.com>

drivers/sensor/st/lis3mdl/CMakeLists.txt

@@ -3,4 +3,6 @@
 zephyr_library()
 
 zephyr_library_sources(lis3mdl.c)
+zephyr_library_sources(lis3mdl_i2c.c)
+zephyr_library_sources(lis3mdl_spi.c)
 zephyr_library_sources_ifdef(CONFIG_LIS3MDL_TRIGGER lis3mdl_trigger.c)

drivers/sensor/st/lis3mdl/Kconfig

@@ -5,9 +5,10 @@ menuconfig LIS3MDL
 	bool "LIS3MDL magnetometer"
 	default y
 	depends on DT_HAS_ST_LIS3MDL_MAGN_ENABLED
-	select I2C
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_ST_LIS3MDL_MAGN),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_ST_LIS3MDL_MAGN),spi)
 	help
-	  Enable driver for LIS3MDL I2C-based magnetometer.
+	  Enable driver for LIS3MDL magnetometer.
 
 if LIS3MDL
 

drivers/sensor/st/lis3mdl/lis3mdl.c

@@ -6,7 +6,6 @@
 
 #define DT_DRV_COMPAT st_lis3mdl_magn
 
-#include <zephyr/drivers/i2c.h>
 #include <zephyr/init.h>
 #include <zephyr/sys/__assert.h>
 #include <zephyr/sys/byteorder.h>
@@ -74,7 +73,7 @@ int lis3mdl_sample_fetch(const struct device *dev, enum sensor_channel chan)
 	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL);
 
 	/* fetch magnetometer sample */
-	if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START,
+	if (drv_data->hw_tf->read_data(dev, LIS3MDL_REG_SAMPLE_START,
 			      (uint8_t *)buf, 6) < 0) {
 		LOG_DBG("Failed to fetch magnetometer sample.");
 		return -EIO;
@@ -86,7 +85,7 @@ int lis3mdl_sample_fetch(const struct device *dev, enum sensor_channel chan)
 	 * the same read as magnetometer data, so do another
 	 * burst read to fetch the temperature sample
 	 */
-	if (i2c_burst_read_dt(&config->i2c, LIS3MDL_REG_SAMPLE_START + 6,
+	if (drv_data->hw_tf->read_data(dev, LIS3MDL_REG_SAMPLE_START + 6,
 			      (uint8_t *)(buf + 3), 2) < 0) {
 		LOG_DBG("Failed to fetch temperature sample.");
 		return -EIO;
@@ -112,16 +111,20 @@ static const struct sensor_driver_api lis3mdl_driver_api = {
 int lis3mdl_init(const struct device *dev)
 {
 	const struct lis3mdl_config *config = dev->config;
-	uint8_t chip_cfg[6];
+	const struct lis3mdl_data *data = dev->data;
+	uint8_t chip_cfg[5];
 	uint8_t id, idx;
 
-	if (!device_is_ready(config->i2c.bus)) {
-		LOG_ERR("I2C bus device not ready");
+	int ret;
+
+	ret = config->bus_init(dev);
+	if (ret < 0) {
+		LOG_ERR("bus device not ready");
 		return -ENODEV;
 	}
 
 	/* check chip ID */
-	if (i2c_reg_read_byte_dt(&config->i2c, LIS3MDL_REG_WHO_AM_I, &id) < 0) {
+	if (data->hw_tf->read_reg(dev, LIS3MDL_REG_WHO_AM_I, &id) < 0) {
 		LOG_ERR("Failed to read chip ID.");
 		return -EIO;
 	}
@@ -144,18 +147,17 @@ int lis3mdl_init(const struct device *dev)
 	}
 
 	/* Configure sensor */
-	chip_cfg[0] = LIS3MDL_REG_CTRL1;
-	chip_cfg[1] = lis3mdl_odr_bits[idx];
+	chip_cfg[0] = lis3mdl_odr_bits[idx];
 	#ifdef CONFIG_LIS3MDL_DIE_TEMP_EN
-	chip_cfg[1] |= LIS3MDL_TEMP_EN_MASK;
+	chip_cfg[0] |= LIS3MDL_TEMP_EN_MASK;
 	#endif /*LIS3MDL_DIE_TEMP_EN*/
-	chip_cfg[2] = LIS3MDL_FS_IDX << LIS3MDL_FS_SHIFT;
-	chip_cfg[3] = LIS3MDL_MD_CONTINUOUS;
-	chip_cfg[4] = ((lis3mdl_odr_bits[idx] & LIS3MDL_OM_MASK) >>
+	chip_cfg[1] = LIS3MDL_FS_IDX << LIS3MDL_FS_SHIFT;
+	chip_cfg[2] = LIS3MDL_MD_CONTINUOUS;
+	chip_cfg[3] = ((lis3mdl_odr_bits[idx] & LIS3MDL_OM_MASK) >>
 		       LIS3MDL_OM_SHIFT) << LIS3MDL_OMZ_SHIFT;
-	chip_cfg[5] = LIS3MDL_BDU_EN;
+	chip_cfg[4] = LIS3MDL_BDU_EN;
 
-	if (i2c_write_dt(&config->i2c, chip_cfg, 6) < 0) {
+	if (data->hw_tf->write_data(dev, LIS3MDL_REG_CTRL1, chip_cfg, 5) < 0) {
 		LOG_DBG("Failed to configure chip.");
 		return -EIO;
 	}
@@ -172,17 +174,64 @@ int lis3mdl_init(const struct device *dev)
 	return 0;
 }
 
-#define LIS3MDL_DEFINE(inst)									\
-	static struct lis3mdl_data lis3mdl_data_##inst;						\
-												\
-	static struct lis3mdl_config lis3mdl_config_##inst = {					\
-		.i2c = I2C_DT_SPEC_INST_GET(inst),						\
-		IF_ENABLED(CONFIG_LIS3MDL_TRIGGER,						\
-			   (.irq_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, irq_gpios, { 0 }),))	\
-	};											\
-												\
-	SENSOR_DEVICE_DT_INST_DEFINE(inst, lis3mdl_init, NULL,					\
-			      &lis3mdl_data_##inst, &lis3mdl_config_##inst, POST_KERNEL,	\
-			      CONFIG_SENSOR_INIT_PRIORITY, &lis3mdl_driver_api);		\
+
+
+/*
+ * Device creation macro, shared by LIS3MDL_DEFINE_SPI() and
+ * LIS3MDL_DEFINE_I2C().
+ */
+
+#define LIS3MDL_DEVICE_INIT(inst)					\
+		\
+	SENSOR_DEVICE_DT_INST_DEFINE(inst,				\
+			    lis3mdl_init,				\
+			    NULL,		\
+			    &lis3mdl_data_##inst,			\
+			    &lis3mdl_config_##inst,			\
+			    POST_KERNEL,				\
+			    CONFIG_SENSOR_INIT_PRIORITY,		\
+			    &lis3mdl_driver_api);
+
+#ifdef CONFIG_LIS3MDL_TRIGGER
+#define LIS3MDL_CFG_IRQ(inst) \
+		.irq_gpio = GPIO_DT_SPEC_INST_GET(inst, irq_gpios, { 0 }),
+#else
+#define LIS3MDL_CFG_IRQ(inst)
+#endif /* CONFIG_LIS3MDL_TRIGGER */
+
+/*
+ * config macro used when a device is on a SPI bus.
+ */
+
+#define LIS3MDL_CONFIG_SPI(inst)						\
+	{													\
+		.bus_init = lis3mdl_spi_init,					\
+		.bus_cfg.spi = SPI_DT_SPEC_INST_GET(inst, SPI_WORD_SET(8) |	\
+				      SPI_OP_MODE_MASTER |				\
+				      SPI_MODE_CPOL |					\
+				      SPI_MODE_CPHA, 0),				\
+		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),		\
+		(LIS3MDL_CFG_IRQ(inst)), ())					\
+	}
+
+/*
+ * config macro used when a device is on an I2C bus.
+ */
+
+#define LIS3MDL_CONFIG_I2C(inst)					\
+	{								\
+		.bus_init = lis3mdl_i2c_init,				\
+		.bus_cfg.i2c = I2C_DT_SPEC_INST_GET(inst),		\
+		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
+		(LIS3MDL_CFG_IRQ(inst)), ())				\
+	}
+
+#define LIS3MDL_DEFINE(inst)						\
+	static struct lis3mdl_data lis3mdl_data_##inst;			\
+	static struct lis3mdl_config lis3mdl_config_##inst =	\
+	COND_CODE_1(DT_INST_ON_BUS(inst, spi),				\
+		(LIS3MDL_CONFIG_SPI(inst)),				\
+		(LIS3MDL_CONFIG_I2C(inst)))				\
+	LIS3MDL_DEVICE_INIT(inst)
 
 DT_INST_FOREACH_STATUS_OKAY(LIS3MDL_DEFINE)

drivers/sensor/st/lis3mdl/lis3mdl.h

@@ -10,10 +10,17 @@
 #include <zephyr/device.h>
 #include <zephyr/sys/util.h>
 #include <zephyr/types.h>
-#include <zephyr/drivers/i2c.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/kernel.h>
 
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+#include <zephyr/drivers/spi.h>
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+#include <zephyr/drivers/i2c.h>
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
+
 #define LIS3MDL_REG_WHO_AM_I            0x0F
 #define LIS3MDL_CHIP_ID                 0x3D
 
@@ -109,6 +116,35 @@ static const uint16_t lis3mdl_magn_gain[] = {
 	6842, 3421, 2281, 1711
 };
 
+union lis3mdl_bus_cfg {
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+	struct i2c_dt_spec i2c;
+#endif
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+	struct spi_dt_spec spi;
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
+};
+
+struct lis3mdl_transfer_function {
+	int (*read_data)(const struct device *dev, uint8_t reg_addr,
+			 uint8_t *value, uint8_t len);
+	int (*write_data)(const struct device *dev, uint8_t reg_addr,
+			  uint8_t *value, uint8_t len);
+	int (*read_reg)(const struct device *dev, uint8_t reg_addr,
+			uint8_t *value);
+	int (*update_reg)(const struct device *dev, uint8_t reg_addr,
+			  uint8_t mask, uint8_t value);
+};
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+int lis3mdl_i2c_init(const struct device *dev);
+#endif /*DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)*/
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+int lis3mdl_spi_init(const struct device *dev);
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
+
 struct lis3mdl_data {
 	int16_t x_sample;
 	int16_t y_sample;
@@ -117,6 +153,7 @@ struct lis3mdl_data {
 	int16_t temp_sample;
 #endif /*CONFIG_LIS3MDL_DIE_TEMP_EN*/
 
+	const struct lis3mdl_transfer_function *hw_tf;
 #ifdef CONFIG_LIS3MDL_TRIGGER
 	const struct device *dev;
 	struct gpio_callback gpio_cb;
@@ -136,7 +173,8 @@ struct lis3mdl_data {
 };
 
 struct lis3mdl_config {
-	struct i2c_dt_spec i2c;
+	int (*bus_init)(const struct device *dev);
+	const union lis3mdl_bus_cfg bus_cfg;
 #ifdef CONFIG_LIS3MDL_TRIGGER
 	struct gpio_dt_spec irq_gpio;
 #endif /*CONFIG_LIS3MDL_TRIGGER*/

drivers/sensor/st/lis3mdl/lis3mdl_i2c.c

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2018 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/* adapted from lsm6dsl_i2c.c - I2C routines for LSM6DSL driver
+ */
+#define DT_DRV_COMPAT st_lis3mdl_magn
+
+#include <string.h>
+#include <zephyr/logging/log.h>
+
+#include "lis3mdl.h"
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+
+LOG_MODULE_DECLARE(LIS3MDL, CONFIG_SENSOR_LOG_LEVEL);
+
+static int lis3mdl_i2c_read_data(const struct device *dev, uint8_t reg_addr,
+				 uint8_t *value, uint8_t len)
+{
+	const struct lis3mld_config *cfg = dev->config;
+
+	return i2c_burst_read_dt(&cfg->bus_cfg.i2c, reg_addr, value, len);
+}
+
+static int lis3mdl_i2c_write_data(const struct device *dev, uint8_t reg_addr,
+				  uint8_t *value, uint8_t len)
+{
+	const struct lis3mdl_config *cfg = dev->config;
+
+	return i2c_burst_write_dt(&cfg->bus_cfg.i2c, reg_addr, value, len);
+}
+
+static int lis3mdl_i2c_read_reg(const struct device *dev, uint8_t reg_addr,
+				uint8_t *value)
+{
+	const struct lis3mdl_config *cfg = dev->config;
+
+	return i2c_reg_read_byte_dt(&cfg->bus_cfg.i2c, reg_addr, value);
+}
+
+static int lis3mdl_i2c_update_reg(const struct device *dev, uint8_t reg_addr,
+				uint8_t mask, uint8_t value)
+{
+	const struct lis3mdl_config *cfg = dev->config;
+
+	return i2c_reg_update_byte_dt(&cfg->bus_cfg.i2c, reg_addr, mask, value);
+}
+
+
+static const struct lis3mdl_transfer_function lis3mdl_i2c_transfer_fn = {
+	.read_data = lis3mdl_i2c_read_data,
+	.write_data = lis3mdl_i2c_write_data,
+	.read_reg  = lis3mdl_i2c_read_reg,
+	.update_reg = lis3mdl_i2c_update_reg,
+};
+
+int lis3mdl_i2c_init(const struct device *dev)
+{
+	struct lis3mdl_data *data = dev->data;
+	const struct lis3mdl_config *cfg = dev->config;
+
+	data->hw_tf = &lis3mdl_i2c_transfer_fn;
+
+	if (!device_is_ready(cfg->bus_cfg.i2c.bus)) {
+		return -ENODEV;
+	}
+
+	return 0;
+}
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */