hw/sensor/Kconfig | 4 + hw/sensor/lsm303dlhc_mag.c | 556 ++++++++++++++++++++++++++++++ hw/sensor/meson.build | 1 + tests/qtest/lsm303dlhc-mag-test.c | 148 ++++++++ tests/qtest/meson.build | 1 + 5 files changed, 710 insertions(+) create mode 100644 hw/sensor/lsm303dlhc_mag.c create mode 100644 tests/qtest/lsm303dlhc-mag-test.c
This commit adds emulation of the magnetometer on the LSM303DLHC.
It allows the magnetometer's X, Y and Z outputs to be set via the
mag-x, mag-y and mag-z properties, as well as the 12-bit
temperature output via the temperature property. Sensor can be
enabled with 'CONFIG_LSM303DLHC_MAG=y'.
Signed-off-by: Kevin Townsend <kevin.townsend@linaro.org>
---
hw/sensor/Kconfig | 4 +
hw/sensor/lsm303dlhc_mag.c | 556 ++++++++++++++++++++++++++++++
hw/sensor/meson.build | 1 +
tests/qtest/lsm303dlhc-mag-test.c | 148 ++++++++
tests/qtest/meson.build | 1 +
5 files changed, 710 insertions(+)
create mode 100644 hw/sensor/lsm303dlhc_mag.c
create mode 100644 tests/qtest/lsm303dlhc-mag-test.c
diff --git a/hw/sensor/Kconfig b/hw/sensor/Kconfig
index 9c8a049b06..b317f91b7b 100644
--- a/hw/sensor/Kconfig
+++ b/hw/sensor/Kconfig
@@ -21,3 +21,7 @@ config ADM1272
config MAX34451
bool
depends on I2C
+
+config LSM303DLHC_MAG
+ bool
+ depends on I2C
diff --git a/hw/sensor/lsm303dlhc_mag.c b/hw/sensor/lsm303dlhc_mag.c
new file mode 100644
index 0000000000..4c98ddbf20
--- /dev/null
+++ b/hw/sensor/lsm303dlhc_mag.c
@@ -0,0 +1,556 @@
+/*
+ * LSM303DLHC I2C magnetometer.
+ *
+ * Copyright (C) 2021 Linaro Ltd.
+ * Written by Kevin Townsend <kevin.townsend@linaro.org>
+ *
+ * Based on: https://www.st.com/resource/en/datasheet/lsm303dlhc.pdf
+ *
+ * SPDX-License-Identifier: GPL-2.0-or-later
+ */
+
+/*
+ * The I2C address associated with this device is set on the command-line when
+ * initialising the machine, but the following address is standard: 0x1E.
+ *
+ * Get and set functions for 'mag-x', 'mag-y' and 'mag-z' assume that
+ * 1 = 0.001 uT. (NOTE the 1 gauss = 100 uT, so setting a value of 100,000
+ * would be equal to 1 gauss or 100 uT.)
+ *
+ * Get and set functions for 'temperature' assume that 1 = 0.001 C, so 23.6 C
+ * would be equal to 23600.
+ */
+
+#include "qemu/osdep.h"
+#include "hw/i2c/i2c.h"
+#include "migration/vmstate.h"
+#include "qapi/error.h"
+#include "qapi/visitor.h"
+#include "qemu/module.h"
+#include "qemu/log.h"
+#include "qemu/bswap.h"
+
+enum LSM303DLHCMagReg {
+ LSM303DLHC_MAG_REG_CRA = 0x00,
+ LSM303DLHC_MAG_REG_CRB = 0x01,
+ LSM303DLHC_MAG_REG_MR = 0x02,
+ LSM303DLHC_MAG_REG_OUT_X_H = 0x03,
+ LSM303DLHC_MAG_REG_OUT_X_L = 0x04,
+ LSM303DLHC_MAG_REG_OUT_Z_H = 0x05,
+ LSM303DLHC_MAG_REG_OUT_Z_L = 0x06,
+ LSM303DLHC_MAG_REG_OUT_Y_H = 0x07,
+ LSM303DLHC_MAG_REG_OUT_Y_L = 0x08,
+ LSM303DLHC_MAG_REG_SR = 0x09,
+ LSM303DLHC_MAG_REG_IRA = 0x0A,
+ LSM303DLHC_MAG_REG_IRB = 0x0B,
+ LSM303DLHC_MAG_REG_IRC = 0x0C,
+ LSM303DLHC_MAG_REG_TEMP_OUT_H = 0x31,
+ LSM303DLHC_MAG_REG_TEMP_OUT_L = 0x32
+};
+
+typedef struct LSM303DLHCMagState {
+ I2CSlave parent_obj;
+ uint8_t cra;
+ uint8_t crb;
+ uint8_t mr;
+ int16_t x;
+ int16_t z;
+ int16_t y;
+ int16_t x_lock;
+ int16_t z_lock;
+ int16_t y_lock;
+ uint8_t sr;
+ uint8_t ira;
+ uint8_t irb;
+ uint8_t irc;
+ int16_t temperature;
+ int16_t temperature_lock;
+ uint8_t len;
+ uint8_t buf;
+ uint8_t pointer;
+} LSM303DLHCMagState;
+
+#define TYPE_LSM303DLHC_MAG "lsm303dlhc_mag"
+OBJECT_DECLARE_SIMPLE_TYPE(LSM303DLHCMagState, LSM303DLHC_MAG)
+
+/*
+ * Conversion factor from Gauss to sensor values for each GN gain setting,
+ * in units "lsb per Gauss" (see data sheet table 3). There is no documented
+ * behaviour if the GN setting in CRB is incorrectly set to 0b000;
+ * we arbitrarily make it the same as 0b001.
+ */
+uint32_t xy_gain[] = { 1100, 1100, 855, 670, 450, 400, 330, 230 };
+uint32_t z_gain[] = { 980, 980, 760, 600, 400, 355, 295, 205 };
+
+static void lsm303dlhc_mag_get_x(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int gm = extract32(s->crb, 5, 3);
+
+ /* Convert to uT where 1000 = 1 uT. Conversion factor depends on gain. */
+ int64_t value = muldiv64(s->x, 100000, xy_gain[gm]);
+ visit_type_int(v, name, &value, errp);
+}
+
+static void lsm303dlhc_mag_get_y(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int gm = extract32(s->crb, 5, 3);
+
+ /* Convert to uT where 1000 = 1 uT. Conversion factor depends on gain. */
+ int64_t value = muldiv64(s->y, 100000, xy_gain[gm]);
+ visit_type_int(v, name, &value, errp);
+}
+
+static void lsm303dlhc_mag_get_z(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int gm = extract32(s->crb, 5, 3);
+
+ /* Convert to uT where 1000 = 1 uT. Conversion factor depends on gain. */
+ int64_t value = muldiv64(s->z, 100000, z_gain[gm]);
+ visit_type_int(v, name, &value, errp);
+}
+
+static void lsm303dlhc_mag_set_x(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int64_t value;
+ int64_t reg;
+ int gm = extract32(s->crb, 5, 3);
+
+ if (!visit_type_int(v, name, &value, errp)) {
+ return;
+ }
+
+ reg = muldiv64(value, xy_gain[gm], 100000);
+
+ /* Make sure we are within a 12-bit limit. */
+ if (reg > 2047 || reg < -2048) {
+ error_setg(errp, "value %" PRId64 " out of register's range", value);
+ return;
+ }
+
+ s->x = (int16_t)reg;
+}
+
+static void lsm303dlhc_mag_set_y(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int64_t value;
+ int64_t reg;
+ int gm = extract32(s->crb, 5, 3);
+
+ if (!visit_type_int(v, name, &value, errp)) {
+ return;
+ }
+
+ reg = muldiv64(value, xy_gain[gm], 100000);
+
+ /* Make sure we are within a 12-bit limit. */
+ if (reg > 2047 || reg < -2048) {
+ error_setg(errp, "value %" PRId64 " out of register's range", value);
+ return;
+ }
+
+ s->y = (int16_t)reg;
+}
+
+static void lsm303dlhc_mag_set_z(Object *obj, Visitor *v, const char *name,
+ void *opaque, Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int64_t value;
+ int64_t reg;
+ int gm = extract32(s->crb, 5, 3);
+
+ if (!visit_type_int(v, name, &value, errp)) {
+ return;
+ }
+
+ reg = muldiv64(value, z_gain[gm], 100000);
+
+ /* Make sure we are within a 12-bit limit. */
+ if (reg > 2047 || reg < -2048) {
+ error_setg(errp, "value %" PRId64 " out of register's range", value);
+ return;
+ }
+
+ s->z = (int16_t)reg;
+}
+
+/*
+ * Get handler for the temperature property.
+ */
+static void lsm303dlhc_mag_get_temperature(Object *obj, Visitor *v,
+ const char *name, void *opaque,
+ Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int64_t value;
+
+ /* Convert to 1 lsb = 0.125 C to 1 = 0.001 C for 'temperature' property. */
+ value = s->temperature * 125;
+
+ visit_type_int(v, name, &value, errp);
+}
+
+/*
+ * Set handler for the temperature property.
+ */
+static void lsm303dlhc_mag_set_temperature(Object *obj, Visitor *v,
+ const char *name, void *opaque,
+ Error **errp)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
+ int64_t value;
+
+ if (!visit_type_int(v, name, &value, errp)) {
+ return;
+ }
+
+ /* Input temperature is in 0.001 C units. Convert to 1 lsb = 0.125 C. */
+ value /= 125;
+
+ if (value > 2047 || value < -2048) {
+ error_setg(errp, "value %" PRId64 " lsb is out of range", value);
+ return;
+ }
+
+ s->temperature = (int16_t)value;
+}
+
+/*
+ * Callback handler whenever a 'I2C_START_RECV' (read) event is received.
+ */
+static void lsm303dlhc_mag_read(LSM303DLHCMagState *s)
+{
+ /*
+ * Set the LOCK bit whenever a new read attempt is made. This will be
+ * cleared in I2C_FINISH. Note that DRDY is always set to 1 in this driver.
+ */
+ s->sr = 0x3;
+
+ /*
+ * Copy the current X/Y/Z and temp. values into the locked registers so
+ * that 'mag-x', 'mag-y', 'mag-z' and 'temperature' can continue to be
+ * updated via QOM, etc., without corrupting the current read event.
+ */
+ s->x_lock = s->x;
+ s->z_lock = s->z;
+ s->y_lock = s->y;
+ s->temperature_lock = s->temperature;
+}
+
+/*
+ * Callback handler whenever a 'I2C_FINISH' event is received.
+ */
+static void lsm303dlhc_mag_finish(LSM303DLHCMagState *s)
+{
+ /*
+ * Clear the LOCK bit when the read attempt terminates.
+ * This bit is initially set in the I2C_START_RECV handler.
+ */
+ s->sr = 0x1;
+}
+
+/*
+ * Callback handler when a device attempts to write to a register.
+ */
+static void lsm303dlhc_mag_write(LSM303DLHCMagState *s)
+{
+ switch (s->pointer) {
+ case LSM303DLHC_MAG_REG_CRA:
+ s->cra = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_CRB:
+ /* Make sure gain is at least 1, falling back to 1 on an error. */
+ if (s->buf >> 5 == 0) {
+ s->buf = 1 << 5;
+ }
+ s->crb = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_MR:
+ s->mr = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_SR:
+ s->sr = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_IRA:
+ s->ira = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_IRB:
+ s->irb = s->buf;
+ break;
+ case LSM303DLHC_MAG_REG_IRC:
+ s->irc = s->buf;
+ break;
+ default:
+ qemu_log_mask(LOG_GUEST_ERROR, "reg is read-only: 0x%02X", s->buf);
+ break;
+ }
+}
+
+/*
+ * Low-level master-to-slave transaction handler.
+ */
+static int lsm303dlhc_mag_send(I2CSlave *i2c, uint8_t data)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(i2c);
+
+ if (s->len == 0) {
+ /* First byte is the reg pointer */
+ s->pointer = data;
+ s->len++;
+ } else if (s->len == 1) {
+ /* Second byte is the new register value. */
+ s->buf = data;
+ lsm303dlhc_mag_write(s);
+ } else {
+ g_assert_not_reached();
+ }
+
+ return 0;
+}
+
+/*
+ * Low-level slave-to-master transaction handler (read attempts).
+ */
+static uint8_t lsm303dlhc_mag_recv(I2CSlave *i2c)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(i2c);
+ uint8_t resp;
+
+ switch (s->pointer) {
+ case LSM303DLHC_MAG_REG_CRA:
+ resp = s->cra;
+ break;
+ case LSM303DLHC_MAG_REG_CRB:
+ resp = s->crb;
+ break;
+ case LSM303DLHC_MAG_REG_MR:
+ resp = s->mr;
+ break;
+ case LSM303DLHC_MAG_REG_OUT_X_H:
+ resp = (uint8_t)(s->x_lock >> 8);
+ break;
+ case LSM303DLHC_MAG_REG_OUT_X_L:
+ resp = (uint8_t)(s->x_lock);
+ break;
+ case LSM303DLHC_MAG_REG_OUT_Z_H:
+ resp = (uint8_t)(s->z_lock >> 8);
+ break;
+ case LSM303DLHC_MAG_REG_OUT_Z_L:
+ resp = (uint8_t)(s->z_lock);
+ break;
+ case LSM303DLHC_MAG_REG_OUT_Y_H:
+ resp = (uint8_t)(s->y_lock >> 8);
+ break;
+ case LSM303DLHC_MAG_REG_OUT_Y_L:
+ resp = (uint8_t)(s->y_lock);
+ break;
+ case LSM303DLHC_MAG_REG_SR:
+ resp = s->sr;
+ break;
+ case LSM303DLHC_MAG_REG_IRA:
+ resp = s->ira;
+ break;
+ case LSM303DLHC_MAG_REG_IRB:
+ resp = s->irb;
+ break;
+ case LSM303DLHC_MAG_REG_IRC:
+ resp = s->irc;
+ break;
+ case LSM303DLHC_MAG_REG_TEMP_OUT_H:
+ /* Check if the temperature sensor is enabled or not (CRA & 0x80). */
+ if (s->cra & 0x80) {
+ resp = (uint8_t)(s->temperature_lock >> 8);
+ } else {
+ resp = 0;
+ }
+ break;
+ case LSM303DLHC_MAG_REG_TEMP_OUT_L:
+ if (s->cra & 0x80) {
+ resp = (uint8_t)(s->temperature_lock & 0xff);
+ } else {
+ resp = 0;
+ }
+ break;
+ default:
+ resp = 0;
+ break;
+ }
+
+ /*
+ * The address pointer on the LSM303DLHC auto-increments whenever a byte
+ * is read, without the master device having to request the next address.
+ *
+ * The auto-increment process has the following logic:
+ *
+ * - if (s->pointer == 8) then s->pointer = 3
+ * - else: if (s->pointer == 12) then s->pointer = 0
+ * - else: s->pointer += 1
+ *
+ * Reading an invalid address return 0.
+ */
+ if (s->pointer == LSM303DLHC_MAG_REG_OUT_Y_L) {
+ s->pointer = LSM303DLHC_MAG_REG_OUT_X_H;
+ } else if (s->pointer == LSM303DLHC_MAG_REG_IRC) {
+ s->pointer = LSM303DLHC_MAG_REG_CRA;
+ } else {
+ s->pointer++;
+ }
+
+ return resp;
+}
+
+/*
+ * Bus state change handler.
+ */
+static int lsm303dlhc_mag_event(I2CSlave *i2c, enum i2c_event event)
+{
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(i2c);
+
+ switch (event) {
+ case I2C_START_SEND:
+ break;
+ case I2C_START_RECV:
+ lsm303dlhc_mag_read(s);
+ break;
+ case I2C_FINISH:
+ lsm303dlhc_mag_finish(s);
+ break;
+ case I2C_NACK:
+ break;
+ }
+
+ s->len = 0;
+ return 0;
+}
+
+/*
+ * Device data description using VMSTATE macros.
+ */
+static const VMStateDescription vmstate_lsm303dlhc_mag = {
+ .name = "LSM303DLHC_MAG",
+ .version_id = 0,
+ .minimum_version_id = 0,
+ .fields = (VMStateField[]) {
+
+ VMSTATE_I2C_SLAVE(parent_obj, LSM303DLHCMagState),
+ VMSTATE_UINT8(len, LSM303DLHCMagState),
+ VMSTATE_UINT8(buf, LSM303DLHCMagState),
+ VMSTATE_UINT8(pointer, LSM303DLHCMagState),
+ VMSTATE_UINT8(cra, LSM303DLHCMagState),
+ VMSTATE_UINT8(crb, LSM303DLHCMagState),
+ VMSTATE_UINT8(mr, LSM303DLHCMagState),
+ VMSTATE_INT16(x, LSM303DLHCMagState),
+ VMSTATE_INT16(z, LSM303DLHCMagState),
+ VMSTATE_INT16(y, LSM303DLHCMagState),
+ VMSTATE_INT16(x_lock, LSM303DLHCMagState),
+ VMSTATE_INT16(z_lock, LSM303DLHCMagState),
+ VMSTATE_INT16(y_lock, LSM303DLHCMagState),
+ VMSTATE_UINT8(sr, LSM303DLHCMagState),
+ VMSTATE_UINT8(ira, LSM303DLHCMagState),
+ VMSTATE_UINT8(irb, LSM303DLHCMagState),
+ VMSTATE_UINT8(irc, LSM303DLHCMagState),
+ VMSTATE_INT16(temperature, LSM303DLHCMagState),
+ VMSTATE_INT16(temperature_lock, LSM303DLHCMagState),
+ VMSTATE_END_OF_LIST()
+ }
+};
+
+/*
+ * Put the device into post-reset default state.
+ */
+static void lsm303dlhc_mag_default_cfg(LSM303DLHCMagState *s)
+{
+ /* Set the device into is default reset state. */
+ s->len = 0;
+ s->pointer = 0; /* Current register. */
+ s->buf = 0; /* Shared buffer. */
+ s->cra = 0x10; /* Temp Enabled = 0, Data Rate = 15.0 Hz. */
+ s->crb = 0x20; /* Gain = +/- 1.3 Gauss. */
+ s->mr = 0x3; /* Operating Mode = Sleep. */
+ s->x = 0;
+ s->z = 0;
+ s->y = 0;
+ s->x_lock = 0;
+ s->z_lock = 0;
+ s->y_lock = 0;
+ s->sr = 0x1; /* DRDY = 1. */
+ s->ira = 0x48;
+ s->irb = 0x34;
+ s->irc = 0x33;
+ s->temperature = 0; /* Default to 0 degrees C (0/8 lsb = 0 C). */
+ s->temperature_lock = 0;
+}
+
+/*
+ * Callback handler when DeviceState 'reset' is set to true.
+ */
+static void lsm303dlhc_mag_reset(DeviceState *dev)
+{
+ I2CSlave *i2c = I2C_SLAVE(dev);
+ LSM303DLHCMagState *s = LSM303DLHC_MAG(i2c);
+
+ /* Set the device into its default reset state. */
+ lsm303dlhc_mag_default_cfg(s);
+}
+
+/*
+ * Initialisation of any public properties.
+ */
+static void lsm303dlhc_mag_initfn(Object *obj)
+{
+ object_property_add(obj, "mag-x", "int",
+ lsm303dlhc_mag_get_x,
+ lsm303dlhc_mag_set_x, NULL, NULL);
+
+ object_property_add(obj, "mag-y", "int",
+ lsm303dlhc_mag_get_y,
+ lsm303dlhc_mag_set_y, NULL, NULL);
+
+ object_property_add(obj, "mag-z", "int",
+ lsm303dlhc_mag_get_z,
+ lsm303dlhc_mag_set_z, NULL, NULL);
+
+ object_property_add(obj, "temperature", "int",
+ lsm303dlhc_mag_get_temperature,
+ lsm303dlhc_mag_set_temperature, NULL, NULL);
+}
+
+/*
+ * Set the virtual method pointers (bus state change, tx/rx, etc.).
+ */
+static void lsm303dlhc_mag_class_init(ObjectClass *klass, void *data)
+{
+ DeviceClass *dc = DEVICE_CLASS(klass);
+ I2CSlaveClass *k = I2C_SLAVE_CLASS(klass);
+
+ dc->reset = lsm303dlhc_mag_reset;
+ dc->vmsd = &vmstate_lsm303dlhc_mag;
+ k->event = lsm303dlhc_mag_event;
+ k->recv = lsm303dlhc_mag_recv;
+ k->send = lsm303dlhc_mag_send;
+}
+
+static const TypeInfo lsm303dlhc_mag_info = {
+ .name = TYPE_LSM303DLHC_MAG,
+ .parent = TYPE_I2C_SLAVE,
+ .instance_size = sizeof(LSM303DLHCMagState),
+ .instance_init = lsm303dlhc_mag_initfn,
+ .class_init = lsm303dlhc_mag_class_init,
+};
+
+static void lsm303dlhc_mag_register_types(void)
+{
+ type_register_static(&lsm303dlhc_mag_info);
+}
+
+type_init(lsm303dlhc_mag_register_types)
diff --git a/hw/sensor/meson.build b/hw/sensor/meson.build
index 059c4ca935..d1bba290da 100644
--- a/hw/sensor/meson.build
+++ b/hw/sensor/meson.build
@@ -4,3 +4,4 @@ softmmu_ss.add(when: 'CONFIG_DPS310', if_true: files('dps310.c'))
softmmu_ss.add(when: 'CONFIG_EMC141X', if_true: files('emc141x.c'))
softmmu_ss.add(when: 'CONFIG_ADM1272', if_true: files('adm1272.c'))
softmmu_ss.add(when: 'CONFIG_MAX34451', if_true: files('max34451.c'))
+softmmu_ss.add(when: 'CONFIG_LSM303DLHC_MAG', if_true: files('lsm303dlhc_mag.c'))
diff --git a/tests/qtest/lsm303dlhc-mag-test.c b/tests/qtest/lsm303dlhc-mag-test.c
new file mode 100644
index 0000000000..0f64e7fc67
--- /dev/null
+++ b/tests/qtest/lsm303dlhc-mag-test.c
@@ -0,0 +1,148 @@
+/*
+ * QTest testcase for the LSM303DLHC I2C magnetometer
+ *
+ * Copyright (C) 2021 Linaro Ltd.
+ * Written by Kevin Townsend <kevin.townsend@linaro.org>
+ *
+ * Based on: https://www.st.com/resource/en/datasheet/lsm303dlhc.pdf
+ *
+ * SPDX-License-Identifier: GPL-2.0-or-later
+ */
+
+#include "qemu/osdep.h"
+#include "libqtest-single.h"
+#include "libqos/qgraph.h"
+#include "libqos/i2c.h"
+#include "qapi/qmp/qdict.h"
+
+#define LSM303DLHC_MAG_TEST_ID "lsm303dlhc_mag-test"
+#define LSM303DLHC_MAG_REG_CRA 0x00
+#define LSM303DLHC_MAG_REG_CRB 0x01
+#define LSM303DLHC_MAG_REG_OUT_X_H 0x03
+#define LSM303DLHC_MAG_REG_OUT_Z_H 0x05
+#define LSM303DLHC_MAG_REG_OUT_Y_H 0x07
+#define LSM303DLHC_MAG_REG_IRC 0x0C
+#define LSM303DLHC_MAG_REG_TEMP_OUT_H 0x31
+
+static int qmp_lsm303dlhc_mag_get_property(const char *id, const char *prop)
+{
+ QDict *response;
+ int ret;
+
+ response = qmp("{ 'execute': 'qom-get', 'arguments': { 'path': %s, "
+ "'property': %s } }", id, prop);
+ g_assert(qdict_haskey(response, "return"));
+ ret = qdict_get_int(response, "return");
+ qobject_unref(response);
+ return ret;
+}
+
+static void qmp_lsm303dlhc_mag_set_property(const char *id, const char *prop,
+ int value)
+{
+ QDict *response;
+
+ response = qmp("{ 'execute': 'qom-set', 'arguments': { 'path': %s, "
+ "'property': %s, 'value': %d } }", id, prop, value);
+ g_assert(qdict_haskey(response, "return"));
+ qobject_unref(response);
+}
+
+static void send_and_receive(void *obj, void *data, QGuestAllocator *alloc)
+{
+ int64_t value;
+ QI2CDevice *i2cdev = (QI2CDevice *)obj;
+
+ /* Check default value for CRB */
+ g_assert_cmphex(i2c_get8(i2cdev, LSM303DLHC_MAG_REG_CRB), ==, 0x20);
+
+ /* Set x to 1.0 gauss and verify the value */
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID, "mag-x", 100000);
+ value = qmp_lsm303dlhc_mag_get_property(
+ LSM303DLHC_MAG_TEST_ID, "mag-x");
+ g_assert_cmpint(value, ==, 100000);
+
+ /* Set y to 1.5 gauss and verify the value */
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID, "mag-y", 150000);
+ value = qmp_lsm303dlhc_mag_get_property(
+ LSM303DLHC_MAG_TEST_ID, "mag-y");
+ g_assert_cmpint(value, ==, 150000);
+
+ /* Set z to 0.5 gauss and verify the value */
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID, "mag-z", 50000);
+ value = qmp_lsm303dlhc_mag_get_property(
+ LSM303DLHC_MAG_TEST_ID, "mag-z");
+ g_assert_cmpint(value, ==, 50000);
+
+ /* Set temperature to 23.6 C and verify the value */
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID,
+ "temperature", 23600);
+ value = qmp_lsm303dlhc_mag_get_property(
+ LSM303DLHC_MAG_TEST_ID, "temperature");
+ /* Should return 23.5 C due to 0.125°C steps. */
+ g_assert_cmpint(value, ==, 23500);
+
+ /* Read raw x axis registers (1 gauss = 1100 at +/-1.3 g gain) */
+ value = i2c_get16(i2cdev, LSM303DLHC_MAG_REG_OUT_X_H);
+ g_assert_cmphex(value, ==, 1100);
+
+ /* Read raw y axis registers (1.5 gauss = 1650 at +/- 1.3 g gain = ) */
+ value = i2c_get16(i2cdev, LSM303DLHC_MAG_REG_OUT_Y_H);
+ g_assert_cmphex(value, ==, 1650);
+
+ /* Read raw z axis registers (0.5 gauss = 490 at +/- 1.3 g gain = ) */
+ value = i2c_get16(i2cdev, LSM303DLHC_MAG_REG_OUT_Z_H);
+ g_assert_cmphex(value, ==, 490);
+
+ /* Read raw temperature registers with temp disabled (CRA = 0x10) */
+ value = i2c_get16(i2cdev, LSM303DLHC_MAG_REG_TEMP_OUT_H);
+ g_assert_cmphex(value, ==, 0);
+
+ /* Enable temperature reads (CRA = 0x90) */
+ i2c_set8(i2cdev, LSM303DLHC_MAG_REG_CRA, 0x90);
+
+ /* Read raw temp registers (23.5 C = 188 at 1 lsb = 0.125 C) */
+ value = i2c_get16(i2cdev, LSM303DLHC_MAG_REG_TEMP_OUT_H);
+ g_assert_cmphex(value, ==, 188);
+}
+
+static void reg_wraparound(void *obj, void *data, QGuestAllocator *alloc)
+{
+ uint8_t value[4];
+ QI2CDevice *i2cdev = (QI2CDevice *)obj;
+
+ /* Set x to 1.0 gauss, and y to 1.5 gauss for known test values */
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID, "mag-x", 100000);
+ qmp_lsm303dlhc_mag_set_property(LSM303DLHC_MAG_TEST_ID, "mag-y", 150000);
+
+ /* Check that requesting 4 bytes starting at Y_H wraps around to X_L */
+ i2c_read_block(i2cdev, LSM303DLHC_MAG_REG_OUT_Y_H, value, 4);
+ /* 1.5 gauss = 1650 lsb = 0x672 */
+ g_assert_cmphex(value[0], ==, 0x06);
+ g_assert_cmphex(value[1], ==, 0x72);
+ /* 1.0 gauss = 1100 lsb = 0x44C */
+ g_assert_cmphex(value[2], ==, 0x04);
+ g_assert_cmphex(value[3], ==, 0x4C);
+
+ /* Check that requesting LSM303DLHC_MAG_REG_IRC wraps around to CRA */
+ i2c_read_block(i2cdev, LSM303DLHC_MAG_REG_IRC, value, 2);
+ /* Default value for IRC = 0x33 */
+ g_assert_cmphex(value[0], ==, 0x33);
+ /* Default value for CRA = 0x10 */
+ g_assert_cmphex(value[1], ==, 0x10);
+}
+
+static void lsm303dlhc_mag_register_nodes(void)
+{
+ QOSGraphEdgeOptions opts = {
+ .extra_device_opts = "id=" LSM303DLHC_MAG_TEST_ID ",address=0x1e"
+ };
+ add_qi2c_address(&opts, &(QI2CAddress) { 0x1E });
+
+ qos_node_create_driver("lsm303dlhc_mag", i2c_device_create);
+ qos_node_consumes("lsm303dlhc_mag", "i2c-bus", &opts);
+
+ qos_add_test("tx-rx", "lsm303dlhc_mag", send_and_receive, NULL);
+ qos_add_test("regwrap", "lsm303dlhc_mag", reg_wraparound, NULL);
+}
+libqos_init(lsm303dlhc_mag_register_nodes);
diff --git a/tests/qtest/meson.build b/tests/qtest/meson.build
index 26937deb6d..bf39cf043f 100644
--- a/tests/qtest/meson.build
+++ b/tests/qtest/meson.build
@@ -242,6 +242,7 @@ qos_test_ss.add(
'eepro100-test.c',
'es1370-test.c',
'ipoctal232-test.c',
+ 'lsm303dlhc-mag-test.c',
'max34451-test.c',
'megasas-test.c',
'ne2000-test.c',
--
2.34.1
On Sun, 30 Jan 2022 at 09:53, Kevin Townsend <kevin.townsend@linaro.org> wrote: > > This commit adds emulation of the magnetometer on the LSM303DLHC. > It allows the magnetometer's X, Y and Z outputs to be set via the > mag-x, mag-y and mag-z properties, as well as the 12-bit > temperature output via the temperature property. Sensor can be > enabled with 'CONFIG_LSM303DLHC_MAG=y'. > > Signed-off-by: Kevin Townsend <kevin.townsend@linaro.org> Applied to target-arm.next, thanks. -- PMM
Hi Kevin,
On 30/1/22 10:50, Kevin Townsend wrote:
> This commit adds emulation of the magnetometer on the LSM303DLHC.
> It allows the magnetometer's X, Y and Z outputs to be set via the
> mag-x, mag-y and mag-z properties, as well as the 12-bit
> temperature output via the temperature property. Sensor can be
> enabled with 'CONFIG_LSM303DLHC_MAG=y'.
>
> Signed-off-by: Kevin Townsend <kevin.townsend@linaro.org>
> ---
> hw/sensor/Kconfig | 4 +
> hw/sensor/lsm303dlhc_mag.c | 556 ++++++++++++++++++++++++++++++
> hw/sensor/meson.build | 1 +
> tests/qtest/lsm303dlhc-mag-test.c | 148 ++++++++
> tests/qtest/meson.build | 1 +
> 5 files changed, 710 insertions(+)
> create mode 100644 hw/sensor/lsm303dlhc_mag.c
> create mode 100644 tests/qtest/lsm303dlhc-mag-test.c
> +static void lsm303dlhc_mag_set_z(Object *obj, Visitor *v, const char *name,
> + void *opaque, Error **errp)
> +{
> + LSM303DLHCMagState *s = LSM303DLHC_MAG(obj);
> + int64_t value;
> + int64_t reg;
> + int gm = extract32(s->crb, 5, 3);
Is it worth using qemu_log_mask(GUEST_ERROR) if gm == 0 here?
> + if (!visit_type_int(v, name, &value, errp)) {
> + return;
> + }
> +
> + reg = muldiv64(value, z_gain[gm], 100000);
> +
> + /* Make sure we are within a 12-bit limit. */
> + if (reg > 2047 || reg < -2048) {
> + error_setg(errp, "value %" PRId64 " out of register's range", value);
> + return;
> + }
> +
> + s->z = (int16_t)reg;
> +}
...
> +/*
> + * Put the device into post-reset default state.
> + */
> +static void lsm303dlhc_mag_default_cfg(LSM303DLHCMagState *s)
> +{
> + /* Set the device into is default reset state. */
> + s->len = 0;
> + s->pointer = 0; /* Current register. */
> + s->buf = 0; /* Shared buffer. */
> + s->cra = 0x10; /* Temp Enabled = 0, Data Rate = 15.0 Hz. */
> + s->crb = 0x20; /* Gain = +/- 1.3 Gauss. */
> + s->mr = 0x3; /* Operating Mode = Sleep. */
> + s->x = 0;
> + s->z = 0;
> + s->y = 0;
> + s->x_lock = 0;
> + s->z_lock = 0;
> + s->y_lock = 0;
> + s->sr = 0x1; /* DRDY = 1. */
> + s->ira = 0x48;
> + s->irb = 0x34;
> + s->irc = 0x33;
> + s->temperature = 0; /* Default to 0 degrees C (0/8 lsb = 0 C). */
> + s->temperature_lock = 0;
> +}
> +
> +/*
> + * Callback handler when DeviceState 'reset' is set to true.
> + */
> +static void lsm303dlhc_mag_reset(DeviceState *dev)
> +{
> + I2CSlave *i2c = I2C_SLAVE(dev);
> + LSM303DLHCMagState *s = LSM303DLHC_MAG(i2c);
> +
> + /* Set the device into its default reset state. */
> + lsm303dlhc_mag_default_cfg(s);
This follow what other I2C devices do, so OK. Now I2C devices often
are on the same machine board, but their nRESET line aren't always
wired to the CPU & co. logic. IOW the I2C chipsets are reset at board
cold power-on, but not at CPU hot reset; and a CPU soft reset could
check the device is in coherent state and keep reading sampled data.
Anyhow, just thinking loudly.
For this patch:
Reviewed-by: Philippe Mathieu-Daudé <f4bug@amsat.org>
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