RIOT-OS/RIOT
RIOT-OS/RIOT
1
0
Fork 0
mirror of https://github.com/RIOT-OS/RIOT.git synced 2024-12-29 04:50:03 +01:00
Code Releases Activity

Merge pull request #20170 from miquel-b/lsm6dsxx

Browse Source 
drivers/lsm6dsxx: refactoring Lsm6dsl into common driver Lsm6dsxx
This commit is contained in:
Martine Lenders 2024-01-30 19:07:04 +00:00 committed by GitHub
commit 34fcffe37b
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
27 changed files with 897 additions and 872 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
boards/b-l475e-iot01a/include/board.h
View File

@ -71,8 +71,8 @@ extern "C" {
* @name LSM6DSL accelerometer sensor configuration
* @{
*/
#define LSM6DSL_PARAM_I2C I2C_DEV(1)
#define LSM6DSL_PARAM_ADDR (0x6A)
#define LSM6DSXX_PARAM_I2C I2C_DEV(1)
#define LSM6DSXX_PARAM_ADDR (0x6A)
/** @} */
#ifdef __cplusplus

8
boards/feather-nrf52840-sense/include/board.h
View File

@ -82,6 +82,14 @@ extern "C" {
#define SHT3X_PARAM_I2C_ADDR (SHT3X_I2C_ADDR_1) /**< I2C address */
/** @} */
/**
* @name LSM6DSXX accelerometer sensor configuration
* @{
*/
#define LSM6DSXX_PARAM_I2C I2C_DEV(0)
#define LSM6DSXX_PARAM_ADDR (0x6A)
/** @} */
#ifdef __cplusplus
}
#endif

195
dist/tools/doccheck/exclude_simple vendored
View File

@ -3465,120 +3465,6 @@ warning: Member LSM303DLHC_TEMP_SAMPLE_30HZ (macro definition) of file lsm303dlh
warning: Member LSM303DLHC_TEMP_SAMPLE_3HZ (macro definition) of file lsm303dlhc-internal.h is not documented.
warning: Member LSM303DLHC_TEMP_SAMPLE_75HZ (macro definition) of file lsm303dlhc-internal.h is not documented.
warning: Member LSM303DLHC_TEMP_SAMPLE_7_5HZ (macro definition) of file lsm303dlhc-internal.h is not documented.
warning: Member LSM6DSL_CTRL3_C_BOOT (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_CTRL_FS_MASK (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_CTRL_FS_SHIFT (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_CTRL_ODR_MASK (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_CTRL_ODR_SHIFT (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_PARAM_ACC_FIFO_DEC (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_ACC_FS (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_ACC_ODR (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_ADDR (macro definition) of file board.h is not documented.
warning: Member LSM6DSL_PARAM_ADDR (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_GYRO_FIFO_DEC (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_GYRO_FS (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_GYRO_ODR (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAM_I2C (macro definition) of file board.h is not documented.
warning: Member LSM6DSL_PARAM_I2C (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_PARAMS (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LSM6DSL_REG_CTRL10_C (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL1_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL2_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL3_C (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL4_C (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL5_C (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL6_C (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL7_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL8_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_CTRL9_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_D6D_SRC (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_DRDY_PULSE_CFG_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_CTRL1 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_CTRL2 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_CTRL3 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_CTRL4 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_CTRL5 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_DATA_OUT_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_DATA_OUT_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_STATUS1 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_STATUS2 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_STATUS3 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FIFO_STATUS4 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FREE_FALL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FUNC_CFG_ACCESS (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FUNC_SRC_1 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_FUNC_SRC_2 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_INT1_CTRL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_INT2_CTRL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_INT_DUR2 (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_MASTER_CMD_CODE (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_MASTER_CONFIG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_MD1_CFG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_MD2_CFG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_TEMP_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_TEMP_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTX_H_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTX_H_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTX_L_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTX_L_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTY_H_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTY_H_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTY_L_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTY_L_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTZ_H_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTZ_H_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTZ_L_G (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_OUTZ_L_XL (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB10_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB11_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB12_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB13_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB14_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB15_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB16_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB17_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB18_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB1_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB2_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB3_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB4_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB5_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB6_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB7_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB8_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB9_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSOR_SYC_RES_RATIO (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_SENS_SYNC_SPI_ERR_CODE (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_STATUS_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_STEP_COUNTER_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_STEP_COUNTER_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_STEP_TIMESTAMP_H (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_STEP_TIMESTAMP_L (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TAP_CFG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TAP_SRC (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TAP_THS_6D (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TIMESTAMP0_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TIMESTAMP1_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_TIMESTAMP2_REG (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_WAKE_UP_DUR (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_WAKE_UP_SRC (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_WAKE_UP_THS (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_WHO_AM_I (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_WRIST_TILT_IA (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_X_OFS_USR (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_Y_OFS_USR (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_REG_Z_OFS_USR (macro definition) of file lsm6dsl_internal.h is not documented.
warning: Member LSM6DSL_SAUL_INFO (macro definition) of file lsm6dsl_params.h is not documented.
warning: Member LTC4150_PARAM_FLAGS (macro definition) of file ltc4150_params.h is not documented.
warning: Member LTC4150_PARAM_INT (macro definition) of file ltc4150_params.h is not documented.
warning: Member LTC4150_PARAM_POL (macro definition) of file ltc4150_params.h is not documented.
@ -8456,3 +8342,84 @@ warning: Member SCSI_SENSE_KEY_VENDOR_SPECIFIC (macro definition) of file scsi.h
warning: Member SCSI_SENSE_KEY_ABORTED_COMMAND (macro definition) of file scsi.h is not documented.
warning: Member SCSI_SENSE_KEY_VOLUME_OVERFLOW (macro definition) of file scsi.h is not documented.
warning: Member SCSI_SENSE_KEY_MISCOMPARE (macro definition) of file scsi.h is not documented.
warning: Member LSM6DSXX_PARAM_I2C (macro definition) of file board.h is not documented.
warning: Member LSM6DSXX_PARAM_ADDR (macro definition) of file board.h is not documented.
warning: Member LSM6DSXX_PARAM_I2C (macro definition) of file board.h is not documented.
warning: Member LSM6DSXX_PARAM_ADDR (macro definition) of file board.h is not documented.
warning: Member LSM6DSXX_CTRL_ODR_SHIFT (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_CTRL_ODR_MASK (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_CTRL_FS_SHIFT (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_CTRL_FS_MASK (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_CTRL3_C_BOOT (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_FIFO_CTRL5_CONTINUOUS_MODE (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_FIFO_CTRL5_FIFO_ODR_SHIFT (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_FIFO_CTRL3_GYRO_DEC_SHIFT (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FUNC_CFG_ACCESS (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_CTRL1 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_CTRL2 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_CTRL3 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_CTRL4 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_CTRL5 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_INT1_CTRL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_INT2_CTRL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_WHO_AM_I (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL1_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL2_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL3_C (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL4_C (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL5_C (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL6_C (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL7_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL8_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL9_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_CTRL10_C (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_WAKE_UP_SRC (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TAP_SRC (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_D6D_SRC (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_STATUS_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUT_TEMP_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUT_TEMP_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTX_L_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTX_H_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTY_L_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTY_H_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTZ_L_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTZ_H_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTX_L_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTX_H_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTY_L_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTY_H_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTZ_L_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_OUTZ_H_XL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_STATUS1 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_STATUS2 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_STATUS3 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_STATUS4 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_DATA_OUT_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FIFO_DATA_OUT_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TIMESTAMP0_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TIMESTAMP1_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TIMESTAMP2_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_STEP_TIMESTAMP_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_STEP_TIMESTAMP_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_STEP_COUNTER_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_STEP_COUNTER_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FUNC_SR_1 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TAP_CFG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_TAP_THS_6D (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_INT_DUR2 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_WAKE_UP_THS (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_WAKE_UP_DUR (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_FREE_FALL (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_MD1_CFG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_REG_MD2_CFG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSXX_PARAM_I2C (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_ADDR (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_ACC_ODR (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_GYRO_ODR (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_ACC_FS (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_GYRO_FS (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_ACC_FIFO_DEC (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAM_GYRO_FIFO_DEC (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_PARAMS (macro definition) of file lsm6dsxx_params.h is not documented.
warning: Member LSM6DSXX_SAUL_INFO (macro definition) of file lsm6dsxx_params.h is not documented.

2
drivers/Kconfig
View File

@ -105,7 +105,7 @@ rsource "lis3mdl/Kconfig"
rsource "lm75/Kconfig"
rsource "lpd8808/Kconfig"
rsource "lpsxxx/Kconfig"
rsource "lsm6dsl/Kconfig"
rsource "lsm6dsxx/Kconfig"
rsource "lsm303dlhc/Kconfig"
rsource "lsm303agr/Kconfig"
rsource "ltc4150/Kconfig"

4
drivers/Makefile.dep
View File

@ -96,6 +96,10 @@ ifneq (,$(filter lps331ap lps2%,$(USEMODULE)))
USEMODULE += lpsxxx
endif
ifneq (,$(filter lsm6ds%,$(USEMODULE)))
USEMODULE += lsm6dsxx
endif
ifneq (,$(filter ltc4150_%,$(USEMODULE)))
USEMODULE += ltc4150
endif

126
drivers/include/lsm6dsl.h → drivers/include/lsm6dsxx.h
View File

@ -8,24 +8,24 @@
*/
/**
* @defgroup drivers_lsm6dsl LSM6DSL 3D accelerometer/gyroscope
* @defgroup drivers_lsm6dsxx LSM6DSXX 3D accelerometer/gyroscope
* @ingroup drivers_sensors
* @ingroup drivers_saul
* @brief Device driver for the LSM6DSL 3D accelerometer/gyroscope
* @brief Device driver for the LSM6DSXX 3D accelerometer/gyroscope
*
* This driver provides @ref drivers_saul capabilities.
* @{
*
* @file
* @brief Device driver interface for the LSM6DSL 3D accelerometer/gyroscope.
* @brief Device driver interface for the LSM6DSXX 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
*
*/
#ifndef LSM6DSL_H
#define LSM6DSL_H
#ifndef LSM6DSXX_H
#define LSM6DSXX_H
#ifdef __cplusplus
extern "C" {
@ -37,58 +37,58 @@ extern "C" {
* @brief Data rate settings
*/
enum {
LSM6DSL_DATA_RATE_POWER_DOWN = 0x0,
LSM6DSL_DATA_RATE_1_6HZ = 0xB,
LSM6DSL_DATA_RATE_12_5HZ = 0x1,
LSM6DSL_DATA_RATE_26HZ = 0x2,
LSM6DSL_DATA_RATE_52HZ = 0x3,
LSM6DSL_DATA_RATE_104HZ = 0x4,
LSM6DSL_DATA_RATE_208HZ = 0x5,
LSM6DSL_DATA_RATE_416HZ = 0x6,
LSM6DSL_DATA_RATE_833HZ = 0x7,
LSM6DSL_DATA_RATE_1_66KHZ = 0x8,
LSM6DSL_DATA_RATE_3_33KHZ = 0x9,
LSM6DSL_DATA_RATE_6_66KHZ = 0xa,
LSM6DSXX_DATA_RATE_POWER_DOWN = 0x0,
LSM6DSXX_DATA_RATE_1_6HZ = 0xB,
LSM6DSXX_DATA_RATE_12_5HZ = 0x1,
LSM6DSXX_DATA_RATE_26HZ = 0x2,
LSM6DSXX_DATA_RATE_52HZ = 0x3,
LSM6DSXX_DATA_RATE_104HZ = 0x4,
LSM6DSXX_DATA_RATE_208HZ = 0x5,
LSM6DSXX_DATA_RATE_416HZ = 0x6,
LSM6DSXX_DATA_RATE_833HZ = 0x7,
LSM6DSXX_DATA_RATE_1_66KHZ = 0x8,
LSM6DSXX_DATA_RATE_3_33KHZ = 0x9,
LSM6DSXX_DATA_RATE_6_66KHZ = 0xa,
};
/**
* @brief Decimation settings
*/
enum {
LSM6DSL_DECIMATION_NOT_IN_FIFO = 0,
LSM6DSL_DECIMATION_NO,
LSM6DSL_DECIMATION_2,
LSM6DSL_DECIMATION_3,
LSM6DSL_DECIMATION_4,
LSM6DSL_DECIMATION_8,
LSM6DSL_DECIMATION_16,
LSM6DSL_DECIMATION_32,
LSM6DSXX_DECIMATION_NOT_IN_FIFO = 0,
LSM6DSXX_DECIMATION_NO,
LSM6DSXX_DECIMATION_2,
LSM6DSXX_DECIMATION_3,
LSM6DSXX_DECIMATION_4,
LSM6DSXX_DECIMATION_8,
LSM6DSXX_DECIMATION_16,
LSM6DSXX_DECIMATION_32,
};
/**
* @brief Accelerometer full scale
*/
enum {
LSM6DSL_ACC_FS_2G = 0,
LSM6DSL_ACC_FS_16G,
LSM6DSL_ACC_FS_4G,
LSM6DSL_ACC_FS_8G,
LSM6DSL_ACC_FS_MAX,
LSM6DSXX_ACC_FS_2G = 0,
LSM6DSXX_ACC_FS_16G,
LSM6DSXX_ACC_FS_4G,
LSM6DSXX_ACC_FS_8G,
LSM6DSXX_ACC_FS_MAX,
};
/**
* @brief Gyroscope full scale
*/
enum {
LSM6DSL_GYRO_FS_245DPS = 0,
LSM6DSL_GYRO_FS_500DPS,
LSM6DSL_GYRO_FS_1000DPS,
LSM6DSL_GYRO_FS_2000DPS,
LSM6DSL_GYRO_FS_MAX,
LSM6DSXX_GYRO_FS_245DPS = 0,
LSM6DSXX_GYRO_FS_500DPS,
LSM6DSXX_GYRO_FS_1000DPS,
LSM6DSXX_GYRO_FS_2000DPS,
LSM6DSXX_GYRO_FS_MAX,
};
/**
* @brief LSM6DSL driver parameters
* @brief LSM6DSXX driver parameters
*/
typedef struct {
i2c_t i2c; /**< i2c bus */
@ -99,14 +99,14 @@ typedef struct {
uint8_t gyro_fs; /**< gyroscope full scale */
uint8_t acc_decimation; /**< accelerometer decimation */
uint8_t gyro_decimation; /**< gyroscope decimation */
} lsm6dsl_params_t;
} lsm6dsxx_params_t;
/**
* @brief LSM6DSL device descriptor
* @brief LSM6DSXX device descriptor
*/
typedef struct {
lsm6dsl_params_t params; /**< driver parameters */
} lsm6dsl_t;
lsm6dsxx_params_t params; /**< driver parameters */
} lsm6dsxx_t;
/**
* @brief 3D output data
@ -115,28 +115,28 @@ typedef struct {
int16_t x; /**< X axis */
int16_t y; /**< Y axis */
int16_t z; /**< Z axis */
} lsm6dsl_3d_data_t;
} lsm6dsxx_3d_data_t;
/**
* @brief Named return values
*/
enum {
LSM6DSL_OK = 0, /**< all good */
LSM6DSL_ERROR_BUS, /**< I2C bus error */
LSM6DSL_ERROR_CNF, /**< Config error */
LSM6DSL_ERROR_DEV, /**< device error */
LSM6DSXX_OK = 0, /**< all good */
LSM6DSXX_ERROR_BUS, /**< I2C bus error */
LSM6DSXX_ERROR_CNF, /**< Config error */
LSM6DSXX_ERROR_DEV, /**< device error */
};
/**
* @brief Initialize a LSM6DSL device
* @brief Initialize a LSM6DSXX device
*
* @param[out] dev device to initialize
* @param[in] params driver parameters
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params);
int lsm6dsxx_init(lsm6dsxx_t *dev, const lsm6dsxx_params_t *params);
/**
* @brief Read accelerometer data
@ -144,10 +144,10 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params);
* @param[in] dev device to read
* @param[out] data accelerometer values
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
int lsm6dsxx_read_acc(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data);
/**
* @brief Read gyroscope data
@ -155,10 +155,10 @@ int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
* @param[in] dev device to read
* @param[out] data gyroscope values
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
int lsm6dsxx_read_gyro(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data);
/**
* @brief Read temperature data
@ -170,54 +170,54 @@ int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
* @param[in] dev device to read
* @param[out] data temperature value, in °C x 100
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_temp(const lsm6dsl_t *dev, int16_t *data);
int lsm6dsxx_read_temp(const lsm6dsxx_t *dev, int16_t *data);
/**
* @brief Power down accelerometer
*
* @param[in] dev device to power down
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_acc_power_down(const lsm6dsl_t *dev);
int lsm6dsxx_acc_power_down(const lsm6dsxx_t *dev);
/**
* @brief Power down gyroscope
*
* @param[in] dev device to power down
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_gyro_power_down(const lsm6dsl_t *dev);
int lsm6dsxx_gyro_power_down(const lsm6dsxx_t *dev);
/**
* @brief Power up accelerometer
*
* @param[in] dev device to power up
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_acc_power_up(const lsm6dsl_t *dev);
int lsm6dsxx_acc_power_up(const lsm6dsxx_t *dev);
/**
* @brief Power up gyroscope
*
* @param[in] dev device to power up
*
* @return LSM6DSL_OK on success
* @return LSM6DSXX_OK on success
* @return < 0 on error
*/
int lsm6dsl_gyro_power_up(const lsm6dsl_t *dev);
int lsm6dsxx_gyro_power_up(const lsm6dsxx_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* LSM6DSL_H */
#endif /* LSM6DSXX_H */
/** @} */

2
drivers/lsm6dsl/Makefile.include
View File

@ -1,2 +0,0 @@
USEMODULE_INCLUDES_lsm6dsl := $(LAST_MAKEFILEDIR)/include
USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_lsm6dsl)

169
drivers/lsm6dsl/include/lsm6dsl_internal.h
View File

@ -1,169 +0,0 @@
/*
* Copyright (C) 2017 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsl
* @{
*
* @file
* @brief Internal configuration for LSM6DSL devices
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
*
*/
#ifndef LSM6DSL_INTERNAL_H
#define LSM6DSL_INTERNAL_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name LSM6DSL registers
* @{
*/
#define LSM6DSL_REG_FUNC_CFG_ACCESS (0x01)
#define LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (0x04)
#define LSM6DSL_REG_SENSOR_SYC_RES_RATIO (0x05)
#define LSM6DSL_REG_FIFO_CTRL1 (0x06)
#define LSM6DSL_REG_FIFO_CTRL2 (0x07)
#define LSM6DSL_REG_FIFO_CTRL3 (0x08)
#define LSM6DSL_REG_FIFO_CTRL4 (0x09)
#define LSM6DSL_REG_FIFO_CTRL5 (0x0A)
#define LSM6DSL_REG_DRDY_PULSE_CFG_G (0x0B)
#define LSM6DSL_REG_INT1_CTRL (0x0D)
#define LSM6DSL_REG_INT2_CTRL (0x0E)
#define LSM6DSL_REG_WHO_AM_I (0x0F)
#define LSM6DSL_REG_CTRL1_XL (0x10)
#define LSM6DSL_REG_CTRL2_G (0x11)
#define LSM6DSL_REG_CTRL3_C (0x12)
#define LSM6DSL_REG_CTRL4_C (0x13)
#define LSM6DSL_REG_CTRL5_C (0x14)
#define LSM6DSL_REG_CTRL6_C (0x15)
#define LSM6DSL_REG_CTRL7_G (0x16)
#define LSM6DSL_REG_CTRL8_XL (0x17)
#define LSM6DSL_REG_CTRL9_XL (0x18)
#define LSM6DSL_REG_CTRL10_C (0x19)
#define LSM6DSL_REG_MASTER_CONFIG (0x1A)
#define LSM6DSL_REG_WAKE_UP_SRC (0x1B)
#define LSM6DSL_REG_TAP_SRC (0x1C)
#define LSM6DSL_REG_D6D_SRC (0x1D)
#define LSM6DSL_REG_STATUS_REG (0x1E)
#define LSM6DSL_REG_OUT_TEMP_L (0x20)
#define LSM6DSL_REG_OUT_TEMP_H (0x21)
#define LSM6DSL_REG_OUTX_L_G (0x22)
#define LSM6DSL_REG_OUTX_H_G (0x23)
#define LSM6DSL_REG_OUTY_L_G (0x24)
#define LSM6DSL_REG_OUTY_H_G (0x25)
#define LSM6DSL_REG_OUTZ_L_G (0x26)
#define LSM6DSL_REG_OUTZ_H_G (0x27)
#define LSM6DSL_REG_OUTX_L_XL (0x28)
#define LSM6DSL_REG_OUTX_H_XL (0x29)
#define LSM6DSL_REG_OUTY_L_XL (0x2A)
#define LSM6DSL_REG_OUTY_H_XL (0x2B)
#define LSM6DSL_REG_OUTZ_L_XL (0x2C)
#define LSM6DSL_REG_OUTZ_H_XL (0x2D)
#define LSM6DSL_REG_SENSORHUB1_REG (0x2E)
#define LSM6DSL_REG_SENSORHUB2_REG (0x2F)
#define LSM6DSL_REG_SENSORHUB3_REG (0x30)
#define LSM6DSL_REG_SENSORHUB4_REG (0x31)
#define LSM6DSL_REG_SENSORHUB5_REG (0x32)
#define LSM6DSL_REG_SENSORHUB6_REG (0x33)
#define LSM6DSL_REG_SENSORHUB7_REG (0x34)
#define LSM6DSL_REG_SENSORHUB8_REG (0x35)
#define LSM6DSL_REG_SENSORHUB9_REG (0x36)
#define LSM6DSL_REG_SENSORHUB10_REG (0x37)
#define LSM6DSL_REG_SENSORHUB11_REG (0x38)
#define LSM6DSL_REG_SENSORHUB12_REG (0x39)
#define LSM6DSL_REG_FIFO_STATUS1 (0x3A)
#define LSM6DSL_REG_FIFO_STATUS2 (0x3B)
#define LSM6DSL_REG_FIFO_STATUS3 (0x3C)
#define LSM6DSL_REG_FIFO_STATUS4 (0x3D)
#define LSM6DSL_REG_FIFO_DATA_OUT_L (0x3E)
#define LSM6DSL_REG_FIFO_DATA_OUT_H (0x3F)
#define LSM6DSL_REG_TIMESTAMP0_REG (0x40)
#define LSM6DSL_REG_TIMESTAMP1_REG (0x41)
#define LSM6DSL_REG_TIMESTAMP2_REG (0x42)
#define LSM6DSL_REG_STEP_TIMESTAMP_L (0x49)
#define LSM6DSL_REG_STEP_TIMESTAMP_H (0x4A)
#define LSM6DSL_REG_STEP_COUNTER_L (0x4B)
#define LSM6DSL_REG_STEP_COUNTER_H (0x4C)
#define LSM6DSL_REG_SENSORHUB13_REG (0x4D)
#define LSM6DSL_REG_SENSORHUB14_REG (0x4E)
#define LSM6DSL_REG_SENSORHUB15_REG (0x4F)
#define LSM6DSL_REG_SENSORHUB16_REG (0x50)
#define LSM6DSL_REG_SENSORHUB17_REG (0x51)
#define LSM6DSL_REG_SENSORHUB18_REG (0x52)
#define LSM6DSL_REG_FUNC_SRC_1 (0x53)
#define LSM6DSL_REG_FUNC_SRC_2 (0x54)
#define LSM6DSL_REG_WRIST_TILT_IA (0x55)
#define LSM6DSL_REG_TAP_CFG (0x58)
#define LSM6DSL_REG_TAP_THS_6D (0x59)
#define LSM6DSL_REG_INT_DUR2 (0x5A)
#define LSM6DSL_REG_WAKE_UP_THS (0x5B)
#define LSM6DSL_REG_WAKE_UP_DUR (0x5C)
#define LSM6DSL_REG_FREE_FALL (0x5D)
#define LSM6DSL_REG_MD1_CFG (0x5E)
#define LSM6DSL_REG_MD2_CFG (0x5F)
#define LSM6DSL_REG_MASTER_CMD_CODE (0x60)
#define LSM6DSL_REG_SENS_SYNC_SPI_ERR_CODE (0x61)
#define LSM6DSL_REG_OUT_MAG_RAW_X_L (0x66)
#define LSM6DSL_REG_OUT_MAG_RAW_X_H (0x67)
#define LSM6DSL_REG_OUT_MAG_RAW_Y_L (0x68)
#define LSM6DSL_REG_OUT_MAG_RAW_Y_H (0x69)
#define LSM6DSL_REG_OUT_MAG_RAW_Z_L (0x6A)
#define LSM6DSL_REG_OUT_MAG_RAW_Z_H (0x6B)
#define LSM6DSL_REG_X_OFS_USR (0x73)
#define LSM6DSL_REG_Y_OFS_USR (0x74)
#define LSM6DSL_REG_Z_OFS_USR (0x75)
/** @} */
/** WHO_AM_I value */
#define LSM6DSL_WHO_AM_I (0b01101010)
/**
* @name CTRL_x registers
* @{
*/
#define LSM6DSL_CTRL_ODR_SHIFT (4)
#define LSM6DSL_CTRL_ODR_MASK (0xF0)
#define LSM6DSL_CTRL_FS_SHIFT (2)
#define LSM6DSL_CTRL_FS_MASK (0x0C)
#define LSM6DSL_CTRL3_C_BOOT (0x80)
/** @} */
/**
* @name FIFO_CTRL_x registers
* @{
*/
#define LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE (0x6)
#define LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT (3)
#define LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT (3)
/** @} */
/**
* @brief Offset for temperature calculation
*/
#define LSM6DSL_TEMP_OFFSET (0x1900)
/**
* @brief Reboot wait interval in ms (15ms)
*/
#define LSM6DSL_BOOT_WAIT_MS (15)
#ifdef __cplusplus
}
#endif
#endif /* LSM6DSL_INTERNAL_H */
/** @} */

97
drivers/lsm6dsl/include/lsm6dsl_params.h
View File

@ -1,97 +0,0 @@
/*
* Copyright (C) 2017 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsl
* @{
*
* @file
* @brief Default configuration for LSM6DSL devices
*
* @author Vincent Dupont <vincent@otakeys.com>
*
*/
#ifndef LSM6DSL_PARAMS_H
#define LSM6DSL_PARAMS_H
#include "board.h"
#include "lsm6dsl.h"
#include "saul_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Set default configuration parameters
* @{
*/
#ifndef LSM6DSL_PARAM_I2C
#define LSM6DSL_PARAM_I2C I2C_DEV(0)
#endif
#ifndef LSM6DSL_PARAM_ADDR
#define LSM6DSL_PARAM_ADDR (0x6B) /* (0x6A) */
#endif
#ifndef LSM6DSL_PARAM_ACC_ODR
#define LSM6DSL_PARAM_ACC_ODR (LSM6DSL_DATA_RATE_52HZ)
#endif
#ifndef LSM6DSL_PARAM_GYRO_ODR
#define LSM6DSL_PARAM_GYRO_ODR (LSM6DSL_DATA_RATE_52HZ)
#endif
#ifndef LSM6DSL_PARAM_ACC_FS
#define LSM6DSL_PARAM_ACC_FS (LSM6DSL_ACC_FS_2G)
#endif
#ifndef LSM6DSL_PARAM_GYRO_FS
#define LSM6DSL_PARAM_GYRO_FS (LSM6DSL_GYRO_FS_245DPS)
#endif
#ifndef LSM6DSL_PARAM_ACC_FIFO_DEC
#define LSM6DSL_PARAM_ACC_FIFO_DEC (LSM6DSL_DECIMATION_NO)
#endif
#ifndef LSM6DSL_PARAM_GYRO_FIFO_DEC
#define LSM6DSL_PARAM_GYRO_FIFO_DEC (LSM6DSL_DECIMATION_NO)
#endif
#ifndef LSM6DSL_PARAMS
#define LSM6DSL_PARAMS { .i2c = LSM6DSL_PARAM_I2C, \
.addr = LSM6DSL_PARAM_ADDR, \
.acc_odr = LSM6DSL_PARAM_ACC_ODR, \
.gyro_odr = LSM6DSL_PARAM_GYRO_ODR, \
.acc_fs = LSM6DSL_PARAM_ACC_FS, \
.gyro_fs = LSM6DSL_PARAM_GYRO_FS, \
.acc_decimation = LSM6DSL_PARAM_ACC_FIFO_DEC, \
.gyro_decimation = LSM6DSL_PARAM_GYRO_FIFO_DEC }
#endif
#ifndef LSM6DSL_SAUL_INFO
#define LSM6DSL_SAUL_INFO { .name = "lsm6dsl" }
#endif
/** @} */
/**
* @brief Allocate some memory to store the actual configuration
*/
static const lsm6dsl_params_t lsm6dsl_params[] =
{
LSM6DSL_PARAMS
};
/**
* @brief Additional meta information to keep in the SAUL registry
*/
static const saul_reg_info_t lsm6dsl_saul_info[] =
{
LSM6DSL_SAUL_INFO
};
#ifdef __cplusplus
}
#endif
#endif /* LSM6DSL_PARAMS_H */
/** @} */

303
drivers/lsm6dsl/lsm6dsl.c
View File

@ -1,303 +0,0 @@
/*
* Copyright (C) 2017 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsl
* @{
*
* @file
* @brief Device driver implementation for the LSM6DSL 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
*
* @}
*/
#include <assert.h>
#include "ztimer.h"
#include "macros/utils.h"
#include "lsm6dsl.h"
#include "lsm6dsl_internal.h"
#define ENABLE_DEBUG 0
#include "debug.h"
#define BUS (dev->params.i2c)
#define ADDR (dev->params.addr)
/**
* order in array [0, 1, 2, 3] is
* LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_FS_16G, LSM6DSL_ACC_FS_4G, LSM6DSL_ACC_FS_8G
*/
static const int16_t range_acc[] = { 2000, 16000, 4000, 8000 };
/**
* order in array [0, 1, 2, 3] is
* LSM6DSL_GYRO_FS_245DPS, LSM6DSL_GYRO_FS_500DPS,
* LSM6DSL_GYRO_FS_1000DPS, LSM6DSL_GYRO_FS_2000DPS
*/
static const int16_t range_gyro[] = { 2450, 5000, 10000, 20000 };
int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
{
uint8_t tmp;
int res;
assert(dev && params);
dev->params = *params;
i2c_acquire(BUS);
/* Reboot */
i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT, 0);
ztimer_sleep(ZTIMER_MSEC, LSM6DSL_BOOT_WAIT_MS);
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_WHO_AM_I, &tmp, 0) < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_init: i2c_read_reg LSM6DSL_REG_WHO_AM_I!\n");
return -LSM6DSL_ERROR_BUS;
}
if (tmp != LSM6DSL_WHO_AM_I) {
DEBUG("[ERROR] lsm6dsl_init: WHO_AM_I\n");
return -LSM6DSL_ERROR_DEV;
}
/* Set acc odr / full scale */
tmp = (dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT) |
(dev->params.acc_fs << LSM6DSL_CTRL_FS_SHIFT);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
/* Set gyro odr / full scale */
tmp = (dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT) |
(dev->params.gyro_fs << LSM6DSL_CTRL_FS_SHIFT);
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
/* Set continuous mode */
uint8_t fifo_odr = MAX(dev->params.acc_odr, dev->params.gyro_odr);
tmp = (fifo_odr << LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT) |
LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE;
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL5, tmp, 0);
tmp = (dev->params.gyro_decimation << LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT) |
dev->params.acc_decimation;
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL3, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_init: config\n");
return -LSM6DSL_ERROR_CNF;
}
return LSM6DSL_OK;
}
int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsl status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_XL, &tmp, 0);
data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_XL, &tmp, 0);
data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_XL, &tmp, 0);
data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_XL, &tmp, 0);
data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_XL, &tmp, 0);
data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_XL, &tmp, 0);
data->z |= tmp << 8;
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_read_acc\n");
return -LSM6DSL_ERROR_BUS;
}
assert(dev->params.acc_fs < LSM6DSL_ACC_FS_MAX);
data->x = ((int32_t)data->x * range_acc[dev->params.acc_fs]) / INT16_MAX;
data->y = ((int32_t)data->y * range_acc[dev->params.acc_fs]) / INT16_MAX;
data->z = ((int32_t)data->z * range_acc[dev->params.acc_fs]) / INT16_MAX;
return LSM6DSL_OK;
}
int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsl status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_G, &tmp, 0);
data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_G, &tmp, 0);
data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_G, &tmp, 0);
data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_G, &tmp, 0);
data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_G, &tmp, 0);
data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_G, &tmp, 0);
data->z |= tmp << 8;
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_read_gyro\n");
return -LSM6DSL_ERROR_BUS;
}
assert(dev->params.gyro_fs < LSM6DSL_GYRO_FS_MAX);
data->x = ((int32_t)data->x * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
data->y = ((int32_t)data->y * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
data->z = ((int32_t)data->z * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
return LSM6DSL_OK;
}
int lsm6dsl_read_temp(const lsm6dsl_t *dev, int16_t *data)
{
uint8_t tmp;
uint16_t traw;
/* read raw temperature */
i2c_acquire(BUS);
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_L, &tmp, 0) < 0) {
i2c_release(BUS);
return -LSM6DSL_ERROR_BUS;
}
traw = tmp;
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_H, &tmp, 0) < 0) {
i2c_release(BUS);
return -LSM6DSL_ERROR_BUS;
}
traw |= (uint16_t)tmp << 8;
i2c_release(BUS);
/* convert temperature to degC x 100 */
traw += LSM6DSL_TEMP_OFFSET;
*data = (int16_t)(((int32_t)traw * 100) / 256);
return LSM6DSL_OK;
}
int lsm6dsl_acc_power_down(const lsm6dsl_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_acc_power_down\n");
return -LSM6DSL_ERROR_BUS;
}
tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_acc_power_down\n");
return -LSM6DSL_ERROR_BUS;
}
return LSM6DSL_OK;
}
int lsm6dsl_gyro_power_down(const lsm6dsl_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_gyro_power_down\n");
return -LSM6DSL_ERROR_BUS;
}
tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_gyro_power_down\n");
return -LSM6DSL_ERROR_BUS;
}
return LSM6DSL_OK;
}
int lsm6dsl_acc_power_up(const lsm6dsl_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_acc_power_up\n");
return -LSM6DSL_ERROR_BUS;
}
tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
tmp |= dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_acc_power_up\n");
return -LSM6DSL_ERROR_BUS;
}
return LSM6DSL_OK;
}
int lsm6dsl_gyro_power_up(const lsm6dsl_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_gyro_power_up\n");
return -LSM6DSL_ERROR_BUS;
}
tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
tmp |= dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsl_gyro_power_up\n");
return -LSM6DSL_ERROR_BUS;
}
return LSM6DSL_OK;
}

10
drivers/lsm6dsl/Kconfig → drivers/lsm6dsxx/Kconfig
View File

@ -5,17 +5,17 @@
# directory for more details.
#
config MODULE_LSM6DSL
config MODULE_LSM6DSXX
bool
prompt "LSM6DSL 3D accelerometer/gyroscope" if !(MODULE_SAUL_DEFAULT && HAVE_LSM6DSL)
default y if (MODULE_SAUL_DEFAULT && HAVE_LSM6DSL)
prompt "LSM6DSXX 3D accelerometer/gyroscope" if !(MODULE_SAUL_DEFAULT && HAVE_LSM6DSXX)
default y if (MODULE_SAUL_DEFAULT && HAVE_LSM6DSXX)
depends on HAS_PERIPH_I2C
depends on TEST_KCONFIG
select MODULE_PERIPH_I2C
select MODULE_ZTIMER
select MODULE_ZTIMER_MSEC
config HAVE_LSM6DSL
config HAVE_LSM6DSXX
bool
help
Indicates that a lsm6dsl sensor is present.
Indicates that a lsm6dsxx sensor is present.

0
drivers/lsm6dsl/Makefile → drivers/lsm6dsxx/Makefile
View File

0
drivers/lsm6dsl/Makefile.dep → drivers/lsm6dsxx/Makefile.dep
View File

6
drivers/lsm6dsxx/Makefile.include Normal file
View File

@ -0,0 +1,6 @@
#include variants of lsm6dsxx drivers as pseudo modules
PSEUDOMODULES += lsm6dsl
PSEUDOMODULES += lsm6ds33
USEMODULE_INCLUDES_lsm6dsxx := $(LAST_MAKEFILEDIR)/include
USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_lsm6dsxx)

198
drivers/lsm6dsxx/include/lsm6dsxx_internal.h Normal file
View File

@ -0,0 +1,198 @@
/*
* Copyright (C) 2017 OTA keys S.A.
* Copyright (C) 2024 HAW Hamburg.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsxx
* @{
*
* @file
* @brief Internal configuration for LSM6DSXX devices
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
* @author Miquel Borrell <miquel.borrell@haw-hamburg.de>
*
*/
#ifndef LSM6DSXX_INTERNAL_H
#define LSM6DSXX_INTERNAL_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name LSM6DSXX registers
* @{
*/
#define LSM6DSXX_REG_FUNC_CFG_ACCESS (0x01)
#define LSM6DSXX_REG_FIFO_CTRL1 (0x06)
#define LSM6DSXX_REG_FIFO_CTRL2 (0x07)
#define LSM6DSXX_REG_FIFO_CTRL3 (0x08)
#define LSM6DSXX_REG_FIFO_CTRL4 (0x09)
#define LSM6DSXX_REG_FIFO_CTRL5 (0x0A)
#define LSM6DSXX_REG_INT1_CTRL (0x0D)
#define LSM6DSXX_REG_INT2_CTRL (0x0E)
#define LSM6DSXX_REG_WHO_AM_I (0x0F)
#define LSM6DSXX_REG_CTRL1_XL (0x10)
#define LSM6DSXX_REG_CTRL2_G (0x11)
#define LSM6DSXX_REG_CTRL3_C (0x12)
#define LSM6DSXX_REG_CTRL4_C (0x13)
#define LSM6DSXX_REG_CTRL5_C (0x14)
#define LSM6DSXX_REG_CTRL6_C (0x15)
#define LSM6DSXX_REG_CTRL7_G (0x16)
#define LSM6DSXX_REG_CTRL8_XL (0x17)
#define LSM6DSXX_REG_CTRL9_XL (0x18)
#define LSM6DSXX_REG_CTRL10_C (0x19)
#define LSM6DSXX_REG_WAKE_UP_SRC (0x1B)
#define LSM6DSXX_REG_TAP_SRC (0x1C)
#define LSM6DSXX_REG_D6D_SRC (0x1D)
#define LSM6DSXX_REG_STATUS_REG (0x1E)
#define LSM6DSXX_REG_OUT_TEMP_L (0x20)
#define LSM6DSXX_REG_OUT_TEMP_H (0x21)
#define LSM6DSXX_REG_OUTX_L_G (0x22)
#define LSM6DSXX_REG_OUTX_H_G (0x23)
#define LSM6DSXX_REG_OUTY_L_G (0x24)
#define LSM6DSXX_REG_OUTY_H_G (0x25)
#define LSM6DSXX_REG_OUTZ_L_G (0x26)
#define LSM6DSXX_REG_OUTZ_H_G (0x27)
#define LSM6DSXX_REG_OUTX_L_XL (0x28)
#define LSM6DSXX_REG_OUTX_H_XL (0x29)
#define LSM6DSXX_REG_OUTY_L_XL (0x2A)
#define LSM6DSXX_REG_OUTY_H_XL (0x2B)
#define LSM6DSXX_REG_OUTZ_L_XL (0x2C)
#define LSM6DSXX_REG_OUTZ_H_XL (0x2D)
#define LSM6DSXX_REG_FIFO_STATUS1 (0x3A)
#define LSM6DSXX_REG_FIFO_STATUS2 (0x3B)
#define LSM6DSXX_REG_FIFO_STATUS3 (0x3C)
#define LSM6DSXX_REG_FIFO_STATUS4 (0x3D)
#define LSM6DSXX_REG_FIFO_DATA_OUT_L (0x3E)
#define LSM6DSXX_REG_FIFO_DATA_OUT_H (0x3F)
#define LSM6DSXX_REG_TIMESTAMP0_REG (0x40)
#define LSM6DSXX_REG_TIMESTAMP1_REG (0x41)
#define LSM6DSXX_REG_TIMESTAMP2_REG (0x42)
#define LSM6DSXX_REG_STEP_TIMESTAMP_L (0x49)
#define LSM6DSXX_REG_STEP_TIMESTAMP_H (0x4A)
#define LSM6DSXX_REG_STEP_COUNTER_L (0x4B)
#define LSM6DSXX_REG_STEP_COUNTER_H (0x4C)
#define LSM6DSXX_REG_FUNC_SR_1 (0x53)
#define LSM6DSXX_REG_TAP_CFG (0x58)
#define LSM6DSXX_REG_TAP_THS_6D (0x59)
#define LSM6DSXX_REG_INT_DUR2 (0x5A)
#define LSM6DSXX_REG_WAKE_UP_THS (0x5B)
#define LSM6DSXX_REG_WAKE_UP_DUR (0x5C)
#define LSM6DSXX_REG_FREE_FALL (0x5D)
#define LSM6DSXX_REG_MD1_CFG (0x5E)
#define LSM6DSXX_REG_MD2_CFG (0x5F)
/** @} */
#if MODULE_LSM6DSL
/**
* @name LSM6DSL specific registers not used in implemnetation
* @{
*/
#define LSM6DSXX_REG_SENSOR_SYNC_TIME_FRAME (0x04)
#define LSM6DSXX_REG_SENSOR_SYC_RES_RATIO (0x05)
#define LSM6DSXX_REG_DRDY_PULSE_CFG_G (0x0B)
#define LSM6DSXX_REG_MASTER_CONFIG (0x1A)
#define LSM6DSXX_REG_SENSORHUB1_REG (0x2E)
#define LSM6DSXX_REG_SENSORHUB2_REG (0x2F)
#define LSM6DSXX_REG_SENSORHUB3_REG (0x30)
#define LSM6DSXX_REG_SENSORHUB4_REG (0x31)
#define LSM6DSXX_REG_SENSORHUB5_REG (0x32)
#define LSM6DSXX_REG_SENSORHUB6_REG (0x33)
#define LSM6DSXX_REG_SENSORHUB7_REG (0x34)
#define LSM6DSXX_REG_SENSORHUB8_REG (0x35)
#define LSM6DSXX_REG_SENSORHUB9_REG (0x36)
#define LSM6DSXX_REG_SENSORHUB10_REG (0x37)
#define LSM6DSXX_REG_SENSORHUB11_REG (0x38)
#define LSM6DSXX_REG_SENSORHUB12_REG (0x39)
#define LSM6DSXX_REG_SENSORHUB13_REG (0x4D)
#define LSM6DSXX_REG_SENSORHUB14_REG (0x4E)
#define LSM6DSXX_REG_SENSORHUB15_REG (0x4F)
#define LSM6DSXX_REG_SENSORHUB16_REG (0x50)
#define LSM6DSXX_REG_SENSORHUB17_REG (0x51)
#define LSM6DSXX_REG_SENSORHUB18_REG (0x52)
#define LSM6DSXX_REG_FUNC_SRC_2 (0x54)
#define LSM6DSXX_REG_WRIST_TILT_IA (0x55)
#define LSM6DSXX_REG_MASTER_CMD_CODE (0x60)
#define LSM6DSXX_REG_SENS_SYNC_SPI_ERR_CODE (0x61)
#define LSM6DSXX_REG_OUT_MAG_RAW_X_L (0x66)
#define LSM6DSXX_REG_OUT_MAG_RAW_X_H (0x67)
#define LSM6DSXX_REG_OUT_MAG_RAW_Y_L (0x68)
#define LSM6DSXX_REG_OUT_MAG_RAW_Y_H (0x69)
#define LSM6DSXX_REG_OUT_MAG_RAW_Z_L (0x6A)
#define LSM6DSXX_REG_OUT_MAG_RAW_Z_H (0x6B)
#define LSM6DSXX_REG_X_OFS_USR (0x73)
#define LSM6DSXX_REG_Y_OFS_USR (0x74)
#define LSM6DSXX_REG_Z_OFS_USR (0x75)
/** @} */
/**
* @brief WHO_AM_I value for the LSM6DSL
*/
#define LSM6DSXX_WHO_AM_I (0b01101010)
#elif MODULE_LSM6DS33
/**
* @name LSM6DS33 specific registers not used in implementation
* @{
*/
#define LSM6DSXX_REG_ORIENT_CFG_G (0x0B)
/** @} */
/**
* @brief WHO_AM_I value for the LSM6DS33
*/
#define LSM6DSXX_WHO_AM_I (0b01101001)
#endif
/**
* @name CTRL_x registers
* @{
*/
#define LSM6DSXX_CTRL_ODR_SHIFT (4)
#define LSM6DSXX_CTRL_ODR_MASK (0xF0)
#define LSM6DSXX_CTRL_FS_SHIFT (2)
#define LSM6DSXX_CTRL_FS_MASK (0x0C)
#define LSM6DSXX_CTRL3_C_BOOT (0x80)
/** @} */
/**
* @name FIFO_CTRL_x registers
* @{
*/
#define LSM6DSXX_FIFO_CTRL5_CONTINUOUS_MODE (0x6)
#define LSM6DSXX_FIFO_CTRL5_FIFO_ODR_SHIFT (3)
#define LSM6DSXX_FIFO_CTRL3_GYRO_DEC_SHIFT (3)
/** @} */
/**
* @brief Offset for temperature calculation
*/
#define LSM6DSXX_TEMP_OFFSET (0x1900)
/**
* @brief Reboot wait interval in ms (15ms)
*/
#define LSM6DSXX_BOOT_WAIT_MS (15)
#ifdef __cplusplus
}
#endif
#endif /* LSM6DSXX_INTERNAL_H */
/** @} */

99
drivers/lsm6dsxx/include/lsm6dsxx_params.h Normal file
View File

@ -0,0 +1,99 @@
/*
* Copyright (C) 2017 OTA keys S.A.
* Copyright (C) 2024 HAW Hamburg.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsxx
* @{
*
* @file
* @brief Default configuration for LSM6DSXX devices
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Miquel Borrell <miquel.borrell@haw-hamburg.de>
*
*/
#ifndef LSM6DSXX_PARAMS_H
#define LSM6DSXX_PARAMS_H
#include "board.h"
#include "lsm6dsxx.h"
#include "saul_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Set default configuration parameters
* @{
*/
#ifndef LSM6DSXX_PARAM_I2C
#define LSM6DSXX_PARAM_I2C I2C_DEV(0)
#endif
#ifndef LSM6DSXX_PARAM_ADDR
#define LSM6DSXX_PARAM_ADDR (0x6B) /* (0x6A) */
#endif
#ifndef LSM6DSXX_PARAM_ACC_ODR
#define LSM6DSXX_PARAM_ACC_ODR (LSM6DSXX_DATA_RATE_52HZ)
#endif
#ifndef LSM6DSXX_PARAM_GYRO_ODR
#define LSM6DSXX_PARAM_GYRO_ODR (LSM6DSXX_DATA_RATE_52HZ)
#endif
#ifndef LSM6DSXX_PARAM_ACC_FS
#define LSM6DSXX_PARAM_ACC_FS (LSM6DSXX_ACC_FS_2G)
#endif
#ifndef LSM6DSXX_PARAM_GYRO_FS
#define LSM6DSXX_PARAM_GYRO_FS (LSM6DSXX_GYRO_FS_245DPS)
#endif
#ifndef LSM6DSXX_PARAM_ACC_FIFO_DEC
#define LSM6DSXX_PARAM_ACC_FIFO_DEC (LSM6DSXX_DECIMATION_NO)
#endif
#ifndef LSM6DSXX_PARAM_GYRO_FIFO_DEC
#define LSM6DSXX_PARAM_GYRO_FIFO_DEC (LSM6DSXX_DECIMATION_NO)
#endif
#ifndef LSM6DSXX_PARAMS
#define LSM6DSXX_PARAMS { .i2c = LSM6DSXX_PARAM_I2C, \
.addr = LSM6DSXX_PARAM_ADDR, \
.acc_odr = LSM6DSXX_PARAM_ACC_ODR, \
.gyro_odr = LSM6DSXX_PARAM_GYRO_ODR, \
.acc_fs = LSM6DSXX_PARAM_ACC_FS, \
.gyro_fs = LSM6DSXX_PARAM_GYRO_FS, \
.acc_decimation = LSM6DSXX_PARAM_ACC_FIFO_DEC, \
.gyro_decimation = LSM6DSXX_PARAM_GYRO_FIFO_DEC }
#endif
#ifndef LSM6DSXX_SAUL_INFO
#define LSM6DSXX_SAUL_INFO { .name = "lsm6dsxx" }
#endif
/** @} */
/**
* @brief Allocate some memory to store the actual configuration
*/
static const lsm6dsxx_params_t lsm6dsxx_params[] =
{
LSM6DSXX_PARAMS
};
/**
* @brief Additional meta information to keep in the SAUL registry
*/
static const saul_reg_info_t lsm6dsxx_saul_info[] =
{
LSM6DSXX_SAUL_INFO
};
#ifdef __cplusplus
}
#endif
#endif /* LSM6DSXX_PARAMS_H */
/** @} */

305
drivers/lsm6dsxx/lsm6dsxx.c Normal file
View File

@ -0,0 +1,305 @@
/*
* Copyright (C) 2017 OTA keys S.A.
* Copyright (C) 2024 HAW Hamburg.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_lsm6dsxx
* @{
*
* @file
* @brief Device driver implementation for the LSM6DSXX 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
* @author Miquel Borrell <miquel.borrell@haw-hamburg.de>
*
* @}
*/
#include <assert.h>
#include "ztimer.h"
#include "macros/utils.h"
#include "lsm6dsxx.h"
#include "lsm6dsxx_internal.h"
#define ENABLE_DEBUG 0
#include "debug.h"
#define BUS (dev->params.i2c)
#define ADDR (dev->params.addr)
/**
* order in array [0, 1, 2, 3] is
* LSM6DSXX_ACC_FS_2G, LSM6DSXX_ACC_FS_16G, LSM6DSXX_ACC_FS_4G, LSM6DSXX_ACC_FS_8G
*/
static const int16_t range_acc[] = { 2000, 16000, 4000, 8000 };
/**
* order in array [0, 1, 2, 3] is
* LSM6DSXX_GYRO_FS_245DPS, LSM6DSXX_GYRO_FS_500DPS,
* LSM6DSXX_GYRO_FS_1000DPS, LSM6DSXX_GYRO_FS_2000DPS
*/
static const int16_t range_gyro[] = { 2450, 5000, 10000, 20000 };
int lsm6dsxx_init(lsm6dsxx_t *dev, const lsm6dsxx_params_t *params)
{
uint8_t tmp;
int res;
assert(dev && params);
dev->params = *params;
i2c_acquire(BUS);
/* Reboot */
i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL3_C, LSM6DSXX_CTRL3_C_BOOT, 0);
ztimer_sleep(ZTIMER_MSEC, LSM6DSXX_BOOT_WAIT_MS);
if (i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_WHO_AM_I, &tmp, 0) < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsxx_init: i2c_read_reg LSM6DSXX_REG_WHO_AM_I!\n");
return -LSM6DSXX_ERROR_BUS;
}
if (tmp != LSM6DSXX_WHO_AM_I) {
DEBUG("[ERROR] lsm6dsxx_init: WHO_AM_I\n");
return -LSM6DSXX_ERROR_DEV;
}
/* Set acc odr / full scale */
tmp = (dev->params.acc_odr << LSM6DSXX_CTRL_ODR_SHIFT) |
(dev->params.acc_fs << LSM6DSXX_CTRL_FS_SHIFT);
res = i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL1_XL, tmp, 0);
/* Set gyro odr / full scale */
tmp = (dev->params.gyro_odr << LSM6DSXX_CTRL_ODR_SHIFT) |
(dev->params.gyro_fs << LSM6DSXX_CTRL_FS_SHIFT);
res += i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL2_G, tmp, 0);
/* Set continuous mode */
uint8_t fifo_odr = MAX(dev->params.acc_odr, dev->params.gyro_odr);
tmp = (fifo_odr << LSM6DSXX_FIFO_CTRL5_FIFO_ODR_SHIFT) |
LSM6DSXX_FIFO_CTRL5_CONTINUOUS_MODE;
res += i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_FIFO_CTRL5, tmp, 0);
tmp = (dev->params.gyro_decimation << LSM6DSXX_FIFO_CTRL3_GYRO_DEC_SHIFT) |
dev->params.acc_decimation;
res += i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_FIFO_CTRL3, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_init: config\n");
return -LSM6DSXX_ERROR_CNF;
}
return LSM6DSXX_OK;
}
int lsm6dsxx_read_acc(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsxx status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTX_L_XL, &tmp, 0);
data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTX_H_XL, &tmp, 0);
data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTY_L_XL, &tmp, 0);
data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTY_H_XL, &tmp, 0);
data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTZ_L_XL, &tmp, 0);
data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTZ_H_XL, &tmp, 0);
data->z |= tmp << 8;
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_read_acc\n");
return -LSM6DSXX_ERROR_BUS;
}
assert(dev->params.acc_fs < LSM6DSXX_ACC_FS_MAX);
data->x = ((int32_t)data->x * range_acc[dev->params.acc_fs]) / INT16_MAX;
data->y = ((int32_t)data->y * range_acc[dev->params.acc_fs]) / INT16_MAX;
data->z = ((int32_t)data->z * range_acc[dev->params.acc_fs]) / INT16_MAX;
return LSM6DSXX_OK;
}
int lsm6dsxx_read_gyro(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsxx status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTX_L_G, &tmp, 0);
data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTX_H_G, &tmp, 0);
data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTY_L_G, &tmp, 0);
data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTY_H_G, &tmp, 0);
data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTZ_L_G, &tmp, 0);
data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUTZ_H_G, &tmp, 0);
data->z |= tmp << 8;
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_read_gyro\n");
return -LSM6DSXX_ERROR_BUS;
}
assert(dev->params.gyro_fs < LSM6DSXX_GYRO_FS_MAX);
data->x = ((int32_t)data->x * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
data->y = ((int32_t)data->y * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
data->z = ((int32_t)data->z * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
return LSM6DSXX_OK;
}
int lsm6dsxx_read_temp(const lsm6dsxx_t *dev, int16_t *data)
{
uint8_t tmp;
uint16_t traw;
/* read raw temperature */
i2c_acquire(BUS);
if (i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUT_TEMP_L, &tmp, 0) < 0) {
i2c_release(BUS);
return -LSM6DSXX_ERROR_BUS;
}
traw = tmp;
if (i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_OUT_TEMP_H, &tmp, 0) < 0) {
i2c_release(BUS);
return -LSM6DSXX_ERROR_BUS;
}
traw |= (uint16_t)tmp << 8;
i2c_release(BUS);
/* convert temperature to degC x 100 */
traw += LSM6DSXX_TEMP_OFFSET;
*data = (int16_t)(((int32_t)traw * 100) / 256);
return LSM6DSXX_OK;
}
int lsm6dsxx_acc_power_down(const lsm6dsxx_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_CTRL1_XL, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsxx_acc_power_down\n");
return -LSM6DSXX_ERROR_BUS;
}
tmp &= ~(LSM6DSXX_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_acc_power_down\n");
return -LSM6DSXX_ERROR_BUS;
}
return LSM6DSXX_OK;
}
int lsm6dsxx_gyro_power_down(const lsm6dsxx_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_CTRL2_G, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsxx_gyro_power_down\n");
return -LSM6DSXX_ERROR_BUS;
}
tmp &= ~(LSM6DSXX_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL2_G, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_gyro_power_down\n");
return -LSM6DSXX_ERROR_BUS;
}
return LSM6DSXX_OK;
}
int lsm6dsxx_acc_power_up(const lsm6dsxx_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_CTRL1_XL, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsxx_acc_power_up\n");
return -LSM6DSXX_ERROR_BUS;
}
tmp &= ~(LSM6DSXX_CTRL_ODR_MASK);
tmp |= dev->params.acc_odr << LSM6DSXX_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_acc_power_up\n");
return -LSM6DSXX_ERROR_BUS;
}
return LSM6DSXX_OK;
}
int lsm6dsxx_gyro_power_up(const lsm6dsxx_t *dev)
{
int res;
uint8_t tmp;
i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSXX_REG_CTRL2_G, &tmp, 0);
if (res < 0) {
i2c_release(BUS);
DEBUG("[ERROR] lsm6dsxx_gyro_power_up\n");
return -LSM6DSXX_ERROR_BUS;
}
tmp &= ~(LSM6DSXX_CTRL_ODR_MASK);
tmp |= dev->params.gyro_odr << LSM6DSXX_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSXX_REG_CTRL2_G, tmp, 0);
i2c_release(BUS);
if (res < 0) {
DEBUG("[ERROR] lsm6dsxx_gyro_power_up\n");
return -LSM6DSXX_ERROR_BUS;
}
return LSM6DSXX_OK;
}

20
drivers/lsm6dsl/lsm6dsl_saul.c → drivers/lsm6dsxx/lsm6dsxx_saul.c
View File

@ -1,5 +1,6 @@
/*
* Copyright (C) 2017 OTA keys S.A.
* Copyright (C) 2024 HAW Hamburg.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
@ -8,24 +9,25 @@
*/
/**
* @ingroup drivers_lsm6dsl
* @ingroup drivers_lsm6dsxx
* @{
*
* @file
* @brief SAUL implementation for the LSM6DSL 3D accelerometer/gyroscope.
* @brief SAUL implementation for the LSM6DSXX 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
* @author Miquel Borrell <miquel.borrell@haw-hamburg.de>
*
* @}
*/
#include "lsm6dsl.h"
#include "lsm6dsxx.h"
#include "saul.h"
static int read_acc(const void *dev, phydat_t *res)
{
int ret = lsm6dsl_read_acc((const lsm6dsl_t *)dev, (lsm6dsl_3d_data_t *)res->val);
int ret = lsm6dsxx_read_acc((const lsm6dsxx_t *)dev, (lsm6dsxx_3d_data_t *)res->val);
if (ret < 0) {
return -ECANCELED;
}
@ -38,7 +40,7 @@ static int read_acc(const void *dev, phydat_t *res)
static int read_gyro(const void *dev, phydat_t *res)
{
int ret = lsm6dsl_read_gyro((const lsm6dsl_t *)dev, (lsm6dsl_3d_data_t *)res->val);
int ret = lsm6dsxx_read_gyro((const lsm6dsxx_t *)dev, (lsm6dsxx_3d_data_t *)res->val);
if (ret < 0) {
return -ECANCELED;
}
@ -51,7 +53,7 @@ static int read_gyro(const void *dev, phydat_t *res)
static int read_temp(const void *dev, phydat_t *res)
{
if (lsm6dsl_read_temp((const lsm6dsl_t *)dev, &res->val[0]) < 0) {
if (lsm6dsxx_read_temp((const lsm6dsxx_t *)dev, &res->val[0]) < 0) {
return -ECANCELED;
}
res->scale = -2;
@ -60,19 +62,19 @@ static int read_temp(const void *dev, phydat_t *res)
return 1;
}
const saul_driver_t lsm6dsl_saul_acc_driver = {
const saul_driver_t lsm6dsxx_saul_acc_driver = {
.read = read_acc,
.write = saul_write_notsup,
.type = SAUL_SENSE_ACCEL,
};
const saul_driver_t lsm6dsl_saul_gyro_driver = {
const saul_driver_t lsm6dsxx_saul_gyro_driver = {
.read = read_gyro,
.write = saul_write_notsup,
.type = SAUL_SENSE_GYRO,
};
const saul_driver_t lsm6dsl_saul_temp_driver = {
const saul_driver_t lsm6dsxx_saul_temp_driver = {
.read = read_temp,
.write = saul_write_notsup,
.type = SAUL_SENSE_TEMP,

82
drivers/saul/init_devs/auto_init_lsm6dsl.c
View File

@ -1,82 +0,0 @@
/*
* Copyright (C) 2017 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/*
* @ingroup sys_auto_init_saul
* @{
*
* @file
* @brief Auto initialization of LSM6DSL accelerometer/gyroscope sensors
*
* @author Vincent Dupont <vincent@otakeys.com
*
* @}
*/
#include "assert.h"
#include "log.h"
#include "saul_reg.h"
#include "lsm6dsl.h"
#include "lsm6dsl_params.h"
/**
* @brief Define the number of configured sensors
*/
#define LSM6DSL_NUM ARRAY_SIZE(lsm6dsl_params)
/**
* @brief Allocate memory for the device descriptors
*/
static lsm6dsl_t lsm6dsl_devs[LSM6DSL_NUM];
/**
* @brief Memory for the SAUL registry entries
*/
static saul_reg_t saul_entries[LSM6DSL_NUM * 3];
/**
* @brief Define the number of saul info
*/
#define LSM6DSL_INFO_NUM ARRAY_SIZE(lsm6dsl_saul_info)
/**
* @name Reference the driver structs
* @{
*/
extern saul_driver_t lsm6dsl_saul_acc_driver;
extern saul_driver_t lsm6dsl_saul_gyro_driver;
extern saul_driver_t lsm6dsl_saul_temp_driver;
/** @} */
void auto_init_lsm6dsl(void)
{
assert(LSM6DSL_NUM == LSM6DSL_INFO_NUM);
for (unsigned int i = 0; i < LSM6DSL_NUM; i++) {
LOG_DEBUG("[auto_init_saul] initializing lsm6dsl #%u\n", i);
if (lsm6dsl_init(&lsm6dsl_devs[i], &lsm6dsl_params[i]) < 0) {
LOG_ERROR("[auto_init_saul] error initializing lsm6dsl #%u\n", i);
continue;
}
saul_entries[(i * 3)].dev = &(lsm6dsl_devs[i]);
saul_entries[(i * 3)].name = lsm6dsl_saul_info[i].name;
saul_entries[(i * 3)].driver = &lsm6dsl_saul_acc_driver;
saul_reg_add(&(saul_entries[(i * 3)]));
saul_entries[(i * 3) + 1].dev = &(lsm6dsl_devs[i]);
saul_entries[(i * 3) + 1].name = lsm6dsl_saul_info[i].name;
saul_entries[(i * 3) + 1].driver = &lsm6dsl_saul_gyro_driver;
saul_reg_add(&(saul_entries[(i * 3) + 1]));
saul_entries[(i * 3) + 2].dev = &(lsm6dsl_devs[i]);
saul_entries[(i * 3) + 2].name = lsm6dsl_saul_info[i].name;
saul_entries[(i * 3) + 2].driver = &lsm6dsl_saul_temp_driver;
saul_reg_add(&(saul_entries[(i * 3) + 2]));
}
}

82
drivers/saul/init_devs/auto_init_lsm6dsxx.c Normal file
View File

@ -0,0 +1,82 @@
/*
* Copyright (C) 2017 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/*
* @ingroup sys_auto_init_saul
* @{
*
* @file
* @brief Auto initialization of LSM6DSXX accelerometer/gyroscope sensors
*
* @author Vincent Dupont <vincent@otakeys.com
*
* @}
*/
#include "assert.h"
#include "log.h"
#include "saul_reg.h"
#include "lsm6dsxx.h"
#include "lsm6dsxx_params.h"
/**
* @brief Define the number of configured sensors
*/
#define LSM6DSXX_NUM ARRAY_SIZE(lsm6dsxx_params)
/**
* @brief Allocate memory for the device descriptors
*/
static lsm6dsxx_t lsm6dsxx_devs[LSM6DSXX_NUM];
/**
* @brief Memory for the SAUL registry entries
*/
static saul_reg_t saul_entries[LSM6DSXX_NUM * 3];
/**
* @brief Define the number of saul info
*/
#define LSM6DSXX_INFO_NUM ARRAY_SIZE(lsm6dsxx_saul_info)
/**
* @name Reference the driver structs
* @{
*/
extern saul_driver_t lsm6dsxx_saul_acc_driver;
extern saul_driver_t lsm6dsxx_saul_gyro_driver;
extern saul_driver_t lsm6dsxx_saul_temp_driver;
/** @} */
void auto_init_lsm6dsxx(void)
{
assert(LSM6DSXX_NUM == LSM6DSXX_INFO_NUM);
for (unsigned int i = 0; i < LSM6DSXX_NUM; i++) {
LOG_DEBUG("[auto_init_saul] initializing lsm6dsxx #%u\n", i);
if (lsm6dsxx_init(&lsm6dsxx_devs[i], &lsm6dsxx_params[i]) < 0) {
LOG_ERROR("[auto_init_saul] error initializing lsm6dsxx #%u\n", i);
continue;
}
saul_entries[(i * 3)].dev = &(lsm6dsxx_devs[i]);
saul_entries[(i * 3)].name = lsm6dsxx_saul_info[i].name;
saul_entries[(i * 3)].driver = &lsm6dsxx_saul_acc_driver;
saul_reg_add(&(saul_entries[(i * 3)]));
saul_entries[(i * 3) + 1].dev = &(lsm6dsxx_devs[i]);
saul_entries[(i * 3) + 1].name = lsm6dsxx_saul_info[i].name;
saul_entries[(i * 3) + 1].driver = &lsm6dsxx_saul_gyro_driver;
saul_reg_add(&(saul_entries[(i * 3) + 1]));
saul_entries[(i * 3) + 2].dev = &(lsm6dsxx_devs[i]);
saul_entries[(i * 3) + 2].name = lsm6dsxx_saul_info[i].name;
saul_entries[(i * 3) + 2].driver = &lsm6dsxx_saul_temp_driver;
saul_reg_add(&(saul_entries[(i * 3) + 2]));
}
}

6
drivers/saul/init_devs/init.c
View File

@ -195,9 +195,9 @@ void saul_init_devs(void)
extern void auto_init_lsm303dlhc(void);
auto_init_lsm303dlhc();
}
if (IS_USED(MODULE_LSM6DSL)) {
extern void auto_init_lsm6dsl(void);
auto_init_lsm6dsl();
if (IS_USED(MODULE_LSM6DSXX)) {
extern void auto_init_lsm6dsxx(void);
auto_init_lsm6dsxx();
}
if (IS_USED(MODULE_LTC4150)) {
extern void auto_init_ltc4150(void);

4
tests/drivers/lsm6dsl/Makefile → tests/drivers/lsm6dsxx/Makefile
View File

@ -1,6 +1,8 @@
include ../Makefile.drivers_common
USEMODULE += lsm6dsl
DRIVER ?= lsm6ds33
USEMODULE += $(DRIVER)
USEMODULE += ztimer
USEMODULE += ztimer_msec

0
tests/drivers/lsm6dsl/Makefile.ci → tests/drivers/lsm6dsxx/Makefile.ci
View File

2
tests/drivers/lsm6dsl/README.md → tests/drivers/lsm6dsxx/README.md
View File

@ -1,5 +1,5 @@
# About
This is a manual test application for the ST LSM6DSL sensor driver.
This is a manual test application for the ST LSM6DSXX sensor driver.
# Usage

2
tests/drivers/lsm6dsl/app.config.test → tests/drivers/lsm6dsxx/app.config.test
View File

@ -1,5 +1,5 @@
# this file enables modules defined in Kconfig. Do not use this file for
# application configuration. This is only needed during migration.
CONFIG_MODULE_LSM6DSL=y
CONFIG_MODULE_LSM6DSXX=y
CONFIG_MODULE_ZTIMER=y
CONFIG_MODULE_ZTIMER_MSEC=y

40
tests/drivers/lsm6dsl/main.c → tests/drivers/lsm6dsxx/main.c
View File

@ -1,10 +1,11 @@
/*
* Copyright (C) 2017 OTA keys S.A.
* 2017 HAW Hamburg
* Copyright (C) 2024 HAW Hamburg.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
@ -12,10 +13,11 @@
* @{
*
* @file
* @brief Test application for the LSM6DSL accelerometer/gyroscope driver.
* @brief Test application for the LSM6DSXX accelerometer/gyroscope driver.
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Sebastian Meiling <s@mlng.net>
* @author Miquel Borrell <miquel.borrell@haw-hamburg.de>
*
* @}
*/
@ -23,33 +25,33 @@
#include <stdio.h>
#include "ztimer.h"
#include "lsm6dsl.h"
#include "lsm6dsl_params.h"
#include "lsm6dsxx.h"
#include "lsm6dsxx_params.h"
#define SLEEP_MSEC (500UL)
int main(void)
{
lsm6dsl_t dev;
lsm6dsxx_t dev;
int16_t temp_value;
lsm6dsl_3d_data_t mag_value;
lsm6dsl_3d_data_t acc_value;
lsm6dsxx_3d_data_t mag_value;
lsm6dsxx_3d_data_t acc_value;
puts("LSM6DSL test application");
printf("Initializing LSM6DSL sensor at I2C_%i... ", lsm6dsl_params->i2c);
puts("LSM6DSXX test application");
printf("Initializing LSM6DSXX sensor at I2C_%i... ", lsm6dsxx_params->i2c);
if (lsm6dsl_init(&dev, lsm6dsl_params) != LSM6DSL_OK) {
if (lsm6dsxx_init(&dev, lsm6dsxx_params) != LSM6DSXX_OK) {
puts("[ERROR]");
return 1;
}
puts("[SUCCESS]\n");
puts("Powering down LSM6DSL sensor...");
if (lsm6dsl_acc_power_down(&dev) != LSM6DSL_OK) {
puts("Powering down LSM6DSXX sensor...");
if (lsm6dsxx_acc_power_down(&dev) != LSM6DSXX_OK) {
puts("[ERROR]");
return 1;
}
if (lsm6dsl_gyro_power_down(&dev) != LSM6DSL_OK) {
if (lsm6dsxx_gyro_power_down(&dev) != LSM6DSXX_OK) {
puts("[ERROR]");
return 1;
}
@ -57,19 +59,19 @@ int main(void)
ztimer_sleep(ZTIMER_MSEC, 1 * 1000);
puts("Powering up LSM6DSL sensor...");
if (lsm6dsl_acc_power_up(&dev) != LSM6DSL_OK) {
puts("Powering up LSM6DSXX sensor...");
if (lsm6dsxx_acc_power_up(&dev) != LSM6DSXX_OK) {
puts("[ERROR]");
return 1;
}
if (lsm6dsl_gyro_power_up(&dev) != LSM6DSL_OK) {
if (lsm6dsxx_gyro_power_up(&dev) != LSM6DSXX_OK) {
puts("[ERROR]");
return 1;
}
puts("[SUCCESS]\n");
while (1) {
if (lsm6dsl_read_acc(&dev, &acc_value) == LSM6DSL_OK) {
if (lsm6dsxx_read_acc(&dev, &acc_value) == LSM6DSXX_OK) {
printf("Accelerometer x: %i y: %i z: %i\n", acc_value.x,
acc_value.y,
acc_value.z);
@ -78,7 +80,7 @@ int main(void)
puts("[ERROR] reading accelerometer!\n");
}
if (lsm6dsl_read_gyro(&dev, &mag_value) == LSM6DSL_OK) {
if (lsm6dsxx_read_gyro(&dev, &mag_value) == LSM6DSXX_OK) {
printf("Gyroscope x: %i y: %i z: %i\n", mag_value.x,
mag_value.y,
mag_value.z);
@ -87,7 +89,7 @@ int main(void)
puts("[ERROR] reading gyroscope!\n");
}
if (lsm6dsl_read_temp(&dev, &temp_value) == LSM6DSL_OK) {
if (lsm6dsxx_read_temp(&dev, &temp_value) == LSM6DSXX_OK) {
printf("Temperature [in °C x 100]: %i \n", temp_value);
}
else {

3
tests/drivers/saul_drivers/Makefile
View File

@ -28,6 +28,9 @@ endif
ifneq (,$(filter lm75,$(DRIVERS)))
USEMODULE += tmp1075
endif
ifneq (,$(filter lsm6dsxx,$(DRIVERS)))
USEMODULE += lsm6dsl
endif
ifneq (,$(filter lpsxxx,$(DRIVERS)))
USEMODULE += lps22hh
endif