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d8edf6dd4e
Converting phydat_t* to lsm6dsl_3d_data_t* is not correct, but it happened to just work because the first struct member of phydat_t will be used. Furthermore, casting &res[0] to int16_t* is wrong. Again, it just happened to work.
80 lines
1.6 KiB
C
80 lines
1.6 KiB
C
/*
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* Copyright (C) 2017 OTA keys S.A.
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*
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*/
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/**
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* @ingroup drivers_lsm6dsl
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* @{
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*
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* @file
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* @brief SAUL implementation for the LSM6DSL 3D accelerometer/gyroscope.
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*
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* @author Vincent Dupont <vincent@otakeys.com>
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* @author Sebastian Meiling <s@mlng.net>
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*
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* @}
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*/
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#include "lsm6dsl.h"
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#include "saul.h"
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static int read_acc(const void *dev, phydat_t *res)
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{
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int ret = lsm6dsl_read_acc((const lsm6dsl_t *)dev, (lsm6dsl_3d_data_t *)res->val);
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if (ret < 0) {
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return -ECANCELED;
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}
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res->scale = -3;
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res->unit = UNIT_G;
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return 3;
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}
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static int read_gyro(const void *dev, phydat_t *res)
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{
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int ret = lsm6dsl_read_gyro((const lsm6dsl_t *)dev, (lsm6dsl_3d_data_t *)res->val);
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if (ret < 0) {
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return -ECANCELED;
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}
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res->scale = -1;
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res->unit = UNIT_DPS;
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return 3;
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}
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static int read_temp(const void *dev, phydat_t *res)
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{
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if (lsm6dsl_read_temp((const lsm6dsl_t *)dev, &res->val[0]) < 0) {
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return -ECANCELED;
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}
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res->scale = -2;
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res->unit = UNIT_TEMP_C;
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return 1;
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}
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const saul_driver_t lsm6dsl_saul_acc_driver = {
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.read = read_acc,
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.write = saul_notsup,
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.type = SAUL_SENSE_ACCEL,
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};
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const saul_driver_t lsm6dsl_saul_gyro_driver = {
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.read = read_gyro,
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.write = saul_notsup,
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.type = SAUL_SENSE_GYRO,
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};
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const saul_driver_t lsm6dsl_saul_temp_driver = {
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.read = read_temp,
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.write = saul_notsup,
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.type = SAUL_SENSE_TEMP,
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};
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