sensors: as5600: added as5600

magnetic angle sensor driver.

Signed-off-by: Felipe Neves <felipe.neves@linaro.org>

drivers/sensor/CMakeLists.txt

@@ -6,6 +6,7 @@ add_subdirectory_ifdef(CONFIG_ADXL362		adxl362)
 add_subdirectory_ifdef(CONFIG_ADXL372		adxl372)
 add_subdirectory_ifdef(CONFIG_AK8975		ak8975)
 add_subdirectory_ifdef(CONFIG_AMG88XX		amg88xx)
+add_subdirectory_ifdef(CONFIG_AMS_AS5600	ams_as5600)
 add_subdirectory_ifdef(CONFIG_AMS_IAQ_CORE	ams_iAQcore)
 add_subdirectory_ifdef(CONFIG_APDS9960		apds9960)
 add_subdirectory_ifdef(CONFIG_BMA280		bma280)

drivers/sensor/Kconfig

@@ -53,6 +53,8 @@ source "drivers/sensor/ak8975/Kconfig"
 
 source "drivers/sensor/amg88xx/Kconfig"
 
+source "drivers/sensor/ams_as5600/Kconfig"
+
 source "drivers/sensor/ams_iAQcore/Kconfig"
 
 source "drivers/sensor/apds9960/Kconfig"

drivers/sensor/ams_as5600/CMakeLists.txt

@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(ams_as5600.c)

drivers/sensor/ams_as5600/Kconfig

@@ -0,0 +1,12 @@
+# AS5600 Angular position sensor configuration option
+
+# Copyright (c) 2022, Felipe Neves.
+# SPDX-License-Identifier: Apache-2.0
+
+config AMS_AS5600
+	bool "AS5600 Angular position sensor"
+	default y
+	depends on DT_HAS_AMS_AS5600_ENABLED
+	select I2C
+	help
+	  Enable driver for AS5600 Angular position sensor.

drivers/sensor/ams_as5600/ams_as5600.c

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) 2022, Felipe Neves
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT ams_as5600
+
+#include <errno.h>
+#include <zephyr/sys/__assert.h>
+#include <zephyr/sys/util.h>
+#include <zephyr/device.h>
+#include <zephyr/init.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(ams_as5600, CONFIG_SENSOR_LOG_LEVEL);
+
+#define AS5600_ANGLE_REGISTER_H 0x0E
+#define AS5600_FULL_ANGLE		360
+#define AS5600_PULSES_PER_REV	4096
+
+struct as5600_dev_cfg {
+	struct i2c_dt_spec i2c_port;
+};
+
+/* Device run time data */
+struct as5600_dev_data {
+	uint16_t position;
+};
+
+static int as5600_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	struct as5600_dev_data *dev_data = dev->data;
+	const struct as5600_dev_cfg *dev_cfg = dev->config;
+
+	uint8_t read_data[2] = {0, 0};
+	uint8_t angle_reg = AS5600_ANGLE_REGISTER_H;
+
+	int err = i2c_write_read_dt(&dev_cfg->i2c_port,
+						&angle_reg,
+						1,
+						&read_data,
+						sizeof(read_data));
+
+	/* invalid readings preserves the last good value */
+	if (!err) {
+		dev_data->position = ((uint16_t)read_data[0] << 8) | read_data[1];
+	}
+
+	return err;
+}
+
+static int as5600_get(const struct device *dev, enum sensor_channel chan,
+			struct sensor_value *val)
+{
+	struct as5600_dev_data *dev_data = dev->data;
+
+	if (chan == SENSOR_CHAN_ROTATION) {
+		val->val1 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) /
+							AS5600_PULSES_PER_REV;
+
+		val->val2 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) -
+					(val->val1 * AS5600_PULSES_PER_REV);
+	} else {
+		return -ENOTSUP;
+	}
+
+	return 0;
+}
+
+static int as5600_initialize(const struct device *dev)
+{
+	struct as5600_dev_data *const dev_data = dev->data;
+
+	dev_data->position = 0;
+
+	LOG_INF("Device %s initialized", dev->name);
+
+	return 0;
+}
+
+static const struct sensor_driver_api as5600_driver_api = {
+	.sample_fetch = as5600_fetch,
+	.channel_get = as5600_get,
+};
+
+#define AS5600_INIT(n)						\
+	static struct as5600_dev_data as5600_data##n;		\
+	static const struct as5600_dev_cfg as5600_cfg##n = {\
+		.i2c_port = I2C_DT_SPEC_INST_GET(n)	\
+	};	\
+									\
+	SENSOR_DEVICE_DT_INST_DEFINE(n, as5600_initialize, NULL,	\
+			    &as5600_data##n, &as5600_cfg##n, \
+			    POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,	\
+			    &as5600_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(AS5600_INIT)

dts/bindings/sensor/ams,as5600.yaml

@@ -0,0 +1,9 @@
+# Copyright (c) 2022, Felipe Neves
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+    AMS (Austria Mikro Systeme) AS5600 Angular position sensor
+
+compatible: "ams,as5600"
+
+include: [sensor-device.yaml, i2c-device.yaml]

tests/drivers/build_all/sensor/i2c.dtsi

@@ -641,3 +641,8 @@ test_i2c_icp10125: icp10125@63 {
 	temperature-measurement-mode = "normal";
 	pressure-measurement-mode = "normal";
 };
+
+test_i2c_as5600: as5600@54 {
+	compatible = "ams,as5600";
+	reg = <0x54>;
+};