mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
3c287c058d
Previously, `UNIT_G` was used for g-force with the correct symbol `g`, `UNIT_GR` for gram (as in kilogram) with the incorrect symbol `G` (which would be correct for Gauss), and `UNIT_GS` for Gauss with symbol `Gs` (which is an uncommon but correct symbol). To avoid confusion between G-Force, Gauss, and Gram the units have been renamed to `UNIT_G_FORCE`, `UNIT_GRAM`, and `UNIT_GAUSS`. In addition, gram now uses the correct symbol `g` and Gauss uses `G`.
80 lines
1.6 KiB
C
80 lines
1.6 KiB
C
/*
|
|
* 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 SAUL implementation for the LSM6DSL 3D accelerometer/gyroscope.
|
|
*
|
|
* @author Vincent Dupont <vincent@otakeys.com>
|
|
* @author Sebastian Meiling <s@mlng.net>
|
|
*
|
|
* @}
|
|
*/
|
|
|
|
#include "lsm6dsl.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);
|
|
if (ret < 0) {
|
|
return -ECANCELED;
|
|
}
|
|
|
|
res->scale = -3;
|
|
res->unit = UNIT_G_FORCE;
|
|
|
|
return 3;
|
|
}
|
|
|
|
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);
|
|
if (ret < 0) {
|
|
return -ECANCELED;
|
|
}
|
|
|
|
res->scale = -1;
|
|
res->unit = UNIT_DPS;
|
|
|
|
return 3;
|
|
}
|
|
|
|
static int read_temp(const void *dev, phydat_t *res)
|
|
{
|
|
if (lsm6dsl_read_temp((const lsm6dsl_t *)dev, &res->val[0]) < 0) {
|
|
return -ECANCELED;
|
|
}
|
|
res->scale = -2;
|
|
res->unit = UNIT_TEMP_C;
|
|
|
|
return 1;
|
|
}
|
|
|
|
const saul_driver_t lsm6dsl_saul_acc_driver = {
|
|
.read = read_acc,
|
|
.write = saul_write_notsup,
|
|
.type = SAUL_SENSE_ACCEL,
|
|
};
|
|
|
|
const saul_driver_t lsm6dsl_saul_gyro_driver = {
|
|
.read = read_gyro,
|
|
.write = saul_write_notsup,
|
|
.type = SAUL_SENSE_GYRO,
|
|
};
|
|
|
|
const saul_driver_t lsm6dsl_saul_temp_driver = {
|
|
.read = read_temp,
|
|
.write = saul_write_notsup,
|
|
.type = SAUL_SENSE_TEMP,
|
|
};
|