drivers: adc: Includes MagnTek MT6701

CODEOWNERS

@@ -318,6 +318,7 @@
 /drivers/sensor/lps*/                     @avisconti
 /drivers/sensor/lsm*/                     @avisconti
 /drivers/sensor/mpr/                      @sven-hm
+/drivers/sensor/magntek/mt6701/magntek_mt6701.c   @viniciusmiguel
 /drivers/sensor/qdec_stm32/               @valeriosetti
 /drivers/sensor/rpi_pico_temp/            @soburi
 /drivers/sensor/st*/                      @avisconti
@@ -487,3 +488,4 @@
 /dts/bindings/gpio/*ads114s0x*            @benediktibk
 /dts/bindings/pwm/*max31790*              @benediktibk
 /dts/bindings/dac/*ad56*                  @benediktibk
+/dts/bindings/sensor/magntek,mt6701.yaml  @viniciusmiguel

drivers/sensor/CMakeLists.txt

@@ -11,6 +11,7 @@ add_subdirectory(honeywell)
 add_subdirectory(infineon)
 add_subdirectory(ite)
 add_subdirectory(jedec)
+add_subdirectory(magntek)
 add_subdirectory(maxim)
 add_subdirectory(meas)
 add_subdirectory(microchip)

drivers/sensor/Kconfig

@@ -95,6 +95,7 @@ source "drivers/sensor/honeywell/Kconfig"
 source "drivers/sensor/infineon/Kconfig"
 source "drivers/sensor/ite/Kconfig"
 source "drivers/sensor/jedec/Kconfig"
+source "drivers/sensor/magntek/Kconfig"
 source "drivers/sensor/maxim/Kconfig"
 source "drivers/sensor/meas/Kconfig"
 source "drivers/sensor/microchip/Kconfig"

drivers/sensor/magntek/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Vinicius Miguel
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+add_subdirectory_ifdef(CONFIG_MAGNTEK_MT6701    magntek_mt6701)
+# zephyr-keep-sorted-stop

drivers/sensor/magntek/Kconfig

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Vinicius Miguel
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+source "drivers/sensor/magntek/magntek_mt6701/Kconfig"
+# zephyr-keep-sorted-stop

drivers/sensor/magntek/magntek_mt6701/CMakeLists.txt

@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(magntek_mt6701.c)

drivers/sensor/magntek/magntek_mt6701/Kconfig

@@ -0,0 +1,12 @@
+# MT6701 Angular position sensor configuration option
+
+# Copyright (c) 2024, Vinicius Miguel
+# SPDX-License-Identifier: Apache-2.0
+
+config MAGNTEK_MT6701
+	bool "MT6701 Angular position sensor"
+	default y
+	depends on DT_HAS_MAGNTEK_MT6701_ENABLED
+	select SPI
+	help
+	  Enable driver for MT6701 Angular position sensor.

drivers/sensor/magntek/magntek_mt6701/magntek_mt6701.c

@@ -0,0 +1,169 @@
+/*
+ * Copyright (c) 2024, Vinicius Miguel
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT magntek_mt6701
+
+#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/spi.h>
+#include <zephyr/logging/log.h>
+#include <math.h>
+#include <zephyr/drivers/sensor/magntek_mt6701.h>
+
+LOG_MODULE_REGISTER(magntek_mt6701, CONFIG_SENSOR_LOG_LEVEL);
+
+#define MT6701_SPI_CONFIG     SPI_OP_MODE_MASTER | SPI_MODE_CPHA | SPI_WORD_SET(8)
+#define MT6701_FULL_ANGLE     360
+#define MT6701_PULSES_PER_REV 4096
+#define MT6701_MILLION_UNIT   1000000
+
+struct mt6701_dev_cfg {
+	struct spi_dt_spec spi_port;
+};
+
+struct mt6701_dev_data {
+	uint32_t position;
+	uint8_t field_status;
+	int8_t push_status;
+	uint8_t loss_status;
+};
+
+static uint8_t table_crc[64] = {0x00, 0x03, 0x06, 0x05, 0x0C, 0x0F, 0x0A, 0x09, 0x18, 0x1B, 0x1E,
+				0x1D, 0x14, 0x17, 0x12, 0x11, 0x30, 0x33, 0x36, 0x35, 0x3C, 0x3F,
+				0x3A, 0x39, 0x28, 0x2B, 0x2E, 0x2D, 0x24, 0x27, 0x22, 0x21, 0x23,
+				0x20, 0x25, 0x26, 0x2F, 0x2C, 0x29, 0x2A, 0x3B, 0x38, 0x3D, 0x3E,
+				0x37, 0x34, 0x31, 0x32, 0x13, 0x10, 0x15, 0x16, 0x1F, 0x1C, 0x19,
+				0x1A, 0x0B, 0x08, 0x0D, 0x0E, 0x07, 0x04, 0x01, 0x02};
+
+static uint8_t mt6701_crc_check(uint32_t input)
+{
+	uint8_t index = 0;
+	uint8_t crc = 0;
+
+	index = (uint8_t)(((uint32_t)input >> 12u) & 0x0000003Fu);
+
+	crc = (uint8_t)(((uint32_t)input >> 6u) & 0x0000003Fu);
+	index = crc ^ table_crc[index];
+
+	crc = (uint8_t)((uint32_t)input & 0x0000003Fu);
+	index = crc ^ table_crc[index];
+
+	crc = table_crc[index];
+
+	return crc;
+}
+
+static int mt6701_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	struct mt6701_dev_data *dev_data = dev->data;
+	const struct mt6701_dev_cfg *dev_cfg = dev->config;
+
+	uint32_t spi_32 = 0;
+	uint32_t angle_spi = 0;
+	uint8_t received_crc = 0;
+
+	uint8_t read_data[3] = {0, 0, 0};
+
+	const struct spi_buf rx_buf[] = {{
+		.buf = read_data,
+		.len = ARRAY_SIZE(read_data),
+	}};
+
+	const struct spi_buf_set rx = {
+		.buffers = rx_buf,
+		.count = ARRAY_SIZE(read_data),
+	};
+
+	int err = spi_read_dt(&dev_cfg->spi_port, &rx);
+
+	/* an invalid reading preserves the last good value */
+	if (!err) {
+
+		/*
+		 * [0:13] Angle data
+		 * [14:17] Magnetic field status
+		 * [18:23] CRC
+		 */
+
+		spi_32 = (read_data[0] << 16) | (read_data[1] << 8) | read_data[2];
+		angle_spi = spi_32 >> 10;
+		received_crc = spi_32 & 0x3F;
+
+		if (received_crc == mt6701_crc_check(spi_32 >> 6)) {
+			dev_data->field_status = (spi_32 >> 6) & 0x3;
+			dev_data->push_status = (spi_32 >> 8) & 0x1;
+			dev_data->loss_status = (spi_32 >> 9) & 0x1;
+			dev_data->position = angle_spi;
+		} else {
+			err = -EILSEQ;
+		}
+	}
+
+	return err;
+}
+
+static int mt6701_get(const struct device *dev, enum sensor_channel chan, struct sensor_value *val)
+{
+	struct mt6701_dev_data *dev_data = dev->data;
+	float new_angle = 0;
+	double integer = 0;
+
+	switch ((int16_t)chan) {
+	case SENSOR_CHAN_ROTATION:
+		new_angle = ((float)dev_data->position / MT6701_PULSES_PER_REV) * MT6701_FULL_ANGLE;
+		val->val2 = (int32_t)(modf(new_angle, &integer) * MT6701_MILLION_UNIT);
+		val->val1 = (int32_t)integer;
+		break;
+	case SENSOR_CHAN_FIELD_STATUS:
+		val->val1 = dev_data->field_status;
+		val->val2 = 0;
+		break;
+	case SENSOR_CHAN_PUSH_STATUS:
+		val->val1 = dev_data->push_status;
+		val->val2 = 0;
+		break;
+	case SENSOR_CHAN_LOSS_STATUS:
+		val->val1 = dev_data->loss_status;
+		val->val2 = 0;
+		break;
+	default:
+		return -ENOTSUP;
+	}
+
+	return 0;
+}
+
+static int mt6701_initialize(const struct device *dev)
+{
+	struct mt6701_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 mt6701_driver_api = {
+	.sample_fetch = mt6701_fetch,
+	.channel_get = mt6701_get,
+};
+
+#define MT6701_INIT(n)                                                                             \
+	static struct mt6701_dev_data mt6701_data##n;                                              \
+	static const struct mt6701_dev_cfg mt6701_cfg##n = {                                       \
+		.spi_port = SPI_DT_SPEC_INST_GET(n, MT6701_SPI_CONFIG, 0),                         \
+	};                                                                                         \
+                                                                                                   \
+	SENSOR_DEVICE_DT_INST_DEFINE(n, mt6701_initialize, NULL, &mt6701_data##n, &mt6701_cfg##n,  \
+				     POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,                     \
+				     &mt6701_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(MT6701_INIT)

dts/bindings/sensor/magntek,mt6701.yaml

@@ -0,0 +1,9 @@
+# Copyright (c) 2024, Vinicius Miguel
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+    MagnTek MT6701 Angular position sensor
+
+compatible: "magntek,mt6701"
+
+include: [sensor-device.yaml, spi-device.yaml]

dts/bindings/vendor-prefixes.txt

@@ -393,6 +393,7 @@ lxa	Linux Automation GmbH
 m5stack	M5Stack
 macnica	Macnica Americas
 madmachine	Shenzhen FeiKaiTe Technology Co., Ltd.
+magntek	Shanghai MagnTek Microelectronics Inc.
 makerdiary	Shenzhen Zaowubang Technology Co., Ltd.
 mantix	Mantix Display Technology Co.,Ltd.
 mapleboard	Mapleboard.org

include/zephyr/drivers/sensor/magntek_mt6701.h

@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2024 Vinicius Miguel
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_DRIVERS_SENSOR_MAGNTEK_MT6701_H_
+#define ZEPHYR_INCLUDE_DRIVERS_SENSOR_MAGNTEK_MT6701_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <zephyr/drivers/sensor.h>
+
+enum sensor_channel_mt6701 {
+	SENSOR_CHAN_FIELD_STATUS = SENSOR_CHAN_PRIV_START,
+	SENSOR_CHAN_PUSH_STATUS,
+	SENSOR_CHAN_LOSS_STATUS
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

tests/drivers/build_all/sensor/spi.dtsi

@@ -379,3 +379,10 @@ test_spi_tle9104: tle9104@2e {
 		#sensor-cells = <0>;
 	};
 };
+
+test_spi_mt6701: mt6701@2f {
+	compatible = "magntek,mt6701";
+	reg = <0x2f>;
+	spi-max-frequency = <0>;
+	status = "okay";
+};