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Merge pull request #20504 from MrKevinWeiss/pr/feather-nrf52840-sense/generic

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driver/lsm6dsxx: Allow generic LSM6DSXX driver
This commit is contained in:
Marian Buschsieweke 2024-03-27 16:32:47 +00:00 committed by GitHub
commit 42b68a5a43
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7 changed files with 115 additions and 55 deletions
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36
dist/tools/doccheck/exclude_simple vendored
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@ -8424,3 +8424,39 @@ warning: Member LSM6DSXX_PARAM_GYRO_FIFO_DEC (macro definition) of file lsm6dsxx
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.
RIOTDoxygenLayout.xml:8: warning: the type 'topics' is not supported for the entry tag within a navindex! Check your layout file!
warning: Member LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSOR_SYC_RES_RATIO (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_DRDY_PULSE_CFG_G (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_MASTER_CONFIG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB1_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB2_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB3_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB4_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB5_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB6_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB7_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB8_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB9_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB10_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB11_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB12_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB13_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB14_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB15_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB16_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB17_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENSORHUB18_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_FUNC_SRC_2 (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_WRIST_TILT_IA (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_MASTER_CMD_CODE (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_SENS_SYNC_SPI_ERR_CODE (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_L (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_H (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_X_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_Y_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DSL_REG_Z_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
warning: Member LSM6DS33_REG_ORIENT_CFG_G (macro definition) of file lsm6dsxx_internal.h is not documented.

1
drivers/include/lsm6dsxx.h
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@ -106,6 +106,7 @@ typedef struct {
*/
typedef struct {
lsm6dsxx_params_t params; /**< driver parameters */
uint8_t temperature_scaling_factor; /**< temperature scaling factor */
} lsm6dsxx_t;
/**

94
drivers/lsm6dsxx/include/lsm6dsxx_internal.h
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@ -93,70 +93,64 @@ extern "C" {
#define LSM6DSXX_REG_MD2_CFG (0x5F)
/** @} */
#if MODULE_LSM6DSL
/**
* @name LSM6DSL specific registers not used in implemnetation
* @name LSM6DSL and LSM6DS3TR-C specific registers
* @{
*/
#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)
#define LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (0x04)
#define LSM6DSL_REG_SENSOR_SYC_RES_RATIO (0x05)
#define LSM6DSL_REG_DRDY_PULSE_CFG_G (0x0B)
#define LSM6DSL_REG_MASTER_CONFIG (0x1A)
#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_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_2 (0x54)
#define LSM6DSL_REG_WRIST_TILT_IA (0x55)
#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)
/** @} */
/**
* @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
* @name LSM6DS33 specific registers
* @{
*/
#define LSM6DSXX_REG_ORIENT_CFG_G (0x0B)
#define LSM6DS33_REG_ORIENT_CFG_G (0x0B)
/** @} */
/**
* @brief WHO_AM_I value for the LSM6DS33
*/
#define LSM6DSXX_WHO_AM_I (0b01101001)
#define LSM6DS33_WHO_AM_I (0b01101001)
#endif
/**
* @brief WHO_AM_I value for the LSM6DSL and LSM6DS3TR-C
*/
#define LSM6DSL_WHO_AM_I (0b01101010)
/**
* @name CTRL_x registers
@ -183,7 +177,7 @@ extern "C" {
/**
* @brief Offset for temperature calculation
*/
#define LSM6DSXX_TEMP_OFFSET (0x1900)
#define LSM6DSXX_TEMP_OFFSET (25)
/**
* @brief Reboot wait interval in ms (15ms)

12
drivers/lsm6dsxx/lsm6dsxx.c
View File

@ -71,7 +71,13 @@ int lsm6dsxx_init(lsm6dsxx_t *dev, const lsm6dsxx_params_t *params)
return -LSM6DSXX_ERROR_BUS;
}
if (tmp != LSM6DSXX_WHO_AM_I) {
if (tmp == LSM6DS33_WHO_AM_I) {
dev->temperature_scaling_factor = 4;
}
else if (tmp == LSM6DSL_WHO_AM_I) {
dev->temperature_scaling_factor = 8;
}
else {
DEBUG("[ERROR] lsm6dsxx_init: WHO_AM_I\n");
return -LSM6DSXX_ERROR_DEV;
}
@ -192,8 +198,8 @@ int lsm6dsxx_read_temp(const lsm6dsxx_t *dev, int16_t *data)
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);
traw += LSM6DSXX_TEMP_OFFSET << dev->temperature_scaling_factor;
*data = (int16_t)(((int32_t)traw * 100) >> dev->temperature_scaling_factor);
return LSM6DSXX_OK;
}

2
makefiles/tools/usb_board_reset.mk
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@ -33,7 +33,7 @@ preflash-delay: preflash
sleep $(PREFLASH_DELAY)
endif
ifneq (,$(filter test term,$(MAKECMDGOALS)))
ifneq (,$(filter test term test-with-config,$(MAKECMDGOALS)))
term-delay: $(TERMDELAYDEPS)
sleep $(TERM_DELAY)
endif

5
tests/drivers/lsm6dsxx/Makefile
View File

@ -1,6 +1,9 @@
BOARD ?= feather-nrf52840-sense
include ../Makefile.drivers_common
DRIVER ?= lsm6ds33
DISABLE_MODULE += test_utils_interactive_sync
DRIVER ?= lsm6dsxx
USEMODULE += $(DRIVER)
USEMODULE += ztimer

20
tests/drivers/lsm6dsxx/tests-with-config/01-run.py Executable file
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@ -0,0 +1,20 @@
#!/usr/bin/env python3
# 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.
import sys
from testrunner import run
def testfunc(child):
child.expect("Accelerometer x:")
child.expect("Gyroscope x:")
child.expect(r"Temperature \[in")
if __name__ == "__main__":
sys.exit(run(testfunc))