drivers/sensor: lsm6dso: Move odr/range Kconfig property into dts

Move odr and range properties for both accelerometer and gyro from Kconfigs to Device Tree. Fixes #41117 Signed-off-by: Armando Visconti <armando.visconti@st.com>
2021-12-15 17:11:54 +01:00 · 2021-12-15 17:11:54 +01:00 · 18e8cadaf9
commit 18e8cadaf9
parent df4e87f973
4 changed files with 101 additions and 157 deletions
--- a/drivers/sensor/lsm6dso/Kconfig
+++ b/drivers/sensor/lsm6dso/Kconfig
@ -85,72 +85,4 @@ config LSM6DSO_EXT_LPS22HB

 endif # LSM6DSO_SENSORHUB

-menu "Attributes"
-
-config LSM6DSO_GYRO_FS
-	int "Gyroscope full-scale range"
-	default 0
-	help
-	  Specify the default gyroscope full-scale range.
-	  An X value for the config represents a range of +/- X degree per
-	  second. Valid values are:
-	  0:  Full Scale selected at runtime
-	  125:   +/- 125dps
-	  250:   +/- 250dps
-	  500:   +/- 500dps
-	  1000:  +/- 1000dps
-	  2000:  +/- 2000dps
-
-config LSM6DSO_GYRO_ODR
-	int "Gyroscope Output data rate frequency"
-	range 0 10
-	default 0
-	help
-	  Specify the default accelerometer output data rate expressed in
-	  samples per second (Hz).
-	  0: ODR selected at runtime
-	  1: 12.5Hz
-	  2: 26Hz
-	  3: 52Hz
-	  4: 104Hz
-	  5: 208Hz
-	  6: 416Hz
-	  7: 833Hz
-	  8: 1660Hz
-	  9: 3330Hz
-	  10: 6660Hz
-
-config LSM6DSO_ACCEL_FS
-	int "Accelerometer full-scale range"
-	default 0
-	help
-	  Specify the default accelerometer full-scale range.
-	  An X value for the config represents a range of +/- X G. Valid values
-	  are:
-	  0:  Full Scale selected at runtime
-	  2:  +/- 2g
-	  4:  +/- 4g
-	  8:  +/- 8g
-	  16: +/- 16g
-
-config LSM6DSO_ACCEL_ODR
-	int "Accelerometer Output data rate frequency"
-	range 0 10
-	default 0
-	help
-	  Specify the default accelerometer output data rate expressed in
-	  samples per second (Hz).
-	  0: ODR selected at runtime
-	  1: 12.5Hz
-	  2: 26Hz
-	  3: 52Hz
-	  4: 104Hz
-	  5: 208Hz
-	  6: 416Hz
-	  7: 833Hz
-	  8: 1660Hz
-	  9: 3330Hz
-	  10: 6660Hz
-endmenu
-
 endif # LSM6DSO
--- a/drivers/sensor/lsm6dso/lsm6dso.c
+++ b/drivers/sensor/lsm6dso/lsm6dso.c
@ -26,7 +26,6 @@ LOG_MODULE_REGISTER(LSM6DSO, CONFIG_SENSOR_LOG_LEVEL);
 static const uint16_t lsm6dso_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833,
 					1660, 3330, 6660};

-#if defined(LSM6DSO_ACCEL_ODR_RUNTIME) || defined(LSM6DSO_GYRO_ODR_RUNTIME)
 static int lsm6dso_freq_to_odr_val(uint16_t freq)
 {
 	size_t i;
@ -39,7 +38,6 @@ static int lsm6dso_freq_to_odr_val(uint16_t freq)

 	return -EINVAL;
 }
-#endif

 static int lsm6dso_odr_to_freq_val(uint16_t odr)
 {
@ -52,7 +50,6 @@ static int lsm6dso_odr_to_freq_val(uint16_t odr)
 	return lsm6dso_odr_map[ARRAY_SIZE(lsm6dso_odr_map) - 1];
 }

-#ifdef LSM6DSO_ACCEL_FS_RUNTIME
 static const uint16_t lsm6dso_accel_fs_map[] = {2, 16, 4, 8};
 static const uint16_t lsm6dso_accel_fs_sens[] = {1, 8, 2, 4};

@ -68,11 +65,9 @@ static int lsm6dso_accel_range_to_fs_val(int32_t range)

 	return -EINVAL;
 }
-#endif

-#ifdef LSM6DSO_GYRO_FS_RUNTIME
-static const uint16_t lsm6dso_gyro_fs_map[] = {250, 500, 1000, 2000, 125};
-static const uint16_t lsm6dso_gyro_fs_sens[] = {2, 4, 8, 16, 1};
+static const uint16_t lsm6dso_gyro_fs_map[] = {250, 125, 500, 0, 1000, 0, 2000};
+static const uint16_t lsm6dso_gyro_fs_sens[] = {2, 1, 4, 0, 8, 0, 16};

 static int lsm6dso_gyro_range_to_fs_val(int32_t range)
 {
@ -86,7 +81,6 @@ static int lsm6dso_gyro_range_to_fs_val(int32_t range)

 	return -EINVAL;
 }
-#endif

 static inline int lsm6dso_reboot(const struct device *dev)
 {
@ -157,7 +151,6 @@ static int lsm6dso_gyro_set_odr_raw(const struct device *dev, uint8_t odr)
 	return 0;
 }

-#ifdef LSM6DSO_ACCEL_ODR_RUNTIME
 static int lsm6dso_accel_odr_set(const struct device *dev, uint16_t freq)
 {
 	int odr;
@ -174,9 +167,7 @@ static int lsm6dso_accel_odr_set(const struct device *dev, uint16_t freq)

 	return 0;
 }
-#endif

-#ifdef LSM6DSO_ACCEL_FS_RUNTIME
 static int lsm6dso_accel_range_set(const struct device *dev, int32_t range)
 {
 	int fs;
@ -195,7 +186,6 @@ static int lsm6dso_accel_range_set(const struct device *dev, int32_t range)
 	data->acc_gain = (lsm6dso_accel_fs_sens[fs] * GAIN_UNIT_XL);
 	return 0;
 }
-#endif

 static int lsm6dso_accel_config(const struct device *dev,
 				enum sensor_channel chan,
@ -203,14 +193,10 @@ static int lsm6dso_accel_config(const struct device *dev,
 				const struct sensor_value *val)
 {
 	switch (attr) {
-#ifdef LSM6DSO_ACCEL_FS_RUNTIME
 	case SENSOR_ATTR_FULL_SCALE:
 		return lsm6dso_accel_range_set(dev, sensor_ms2_to_g(val));
-#endif
-#ifdef LSM6DSO_ACCEL_ODR_RUNTIME
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lsm6dso_accel_odr_set(dev, val->val1);
-#endif
 	default:
 		LOG_DBG("Accel attribute not supported.");
 		return -ENOTSUP;
@ -219,7 +205,6 @@ static int lsm6dso_accel_config(const struct device *dev,
 	return 0;
 }

-#ifdef LSM6DSO_GYRO_ODR_RUNTIME
 static int lsm6dso_gyro_odr_set(const struct device *dev, uint16_t freq)
 {
 	int odr;
@ -236,9 +221,7 @@ static int lsm6dso_gyro_odr_set(const struct device *dev, uint16_t freq)

 	return 0;
 }
-#endif

-#ifdef LSM6DSO_GYRO_FS_RUNTIME
 static int lsm6dso_gyro_range_set(const struct device *dev, int32_t range)
 {
 	int fs;
@ -257,7 +240,6 @@ static int lsm6dso_gyro_range_set(const struct device *dev, int32_t range)
 	data->gyro_gain = (lsm6dso_gyro_fs_sens[fs] * GAIN_UNIT_G);
 	return 0;
 }
-#endif

 static int lsm6dso_gyro_config(const struct device *dev,
 			       enum sensor_channel chan,
@ -265,14 +247,10 @@ static int lsm6dso_gyro_config(const struct device *dev,
 			       const struct sensor_value *val)
 {
 	switch (attr) {
-#ifdef LSM6DSO_GYRO_FS_RUNTIME
 	case SENSOR_ATTR_FULL_SCALE:
 		return lsm6dso_gyro_range_set(dev, sensor_rad_to_degrees(val));
-#endif
-#ifdef LSM6DSO_GYRO_ODR_RUNTIME
 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		return lsm6dso_gyro_odr_set(dev, val->val1);
-#endif
 	default:
 		LOG_DBG("Gyro attribute not supported.");
 		return -ENOTSUP;
@ -515,8 +493,7 @@ static int lsm6dso_gyro_channel_get(enum sensor_channel chan,
 				    struct sensor_value *val,
 				    struct lsm6dso_data *data)
 {
-	return lsm6dso_gyro_get_channel(chan, val, data,
-					LSM6DSO_DEFAULT_GYRO_SENSITIVITY);
+	return lsm6dso_gyro_get_channel(chan, val, data, data->gyro_gain);
 }

 #if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
@ -740,6 +717,7 @@ static int lsm6dso_init_chip(const struct device *dev)
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lsm6dso_data *lsm6dso = dev->data;
 	uint8_t chip_id;
+	uint8_t odr, fs;

 	if (lsm6dso_device_id_get(ctx, &chip_id) < 0) {
 		LOG_DBG("Failed reading chip id");
@ -766,28 +744,35 @@ static int lsm6dso_init_chip(const struct device *dev)

 	k_busy_wait(100);

-	if (lsm6dso_accel_set_fs_raw(dev,
-				     LSM6DSO_DEFAULT_ACCEL_FULLSCALE) < 0) {
-		LOG_DBG("failed to set accelerometer full-scale");
+	fs = cfg->accel_range;
+	LOG_DBG("accel range is %d", fs);
+	if (lsm6dso_accel_set_fs_raw(dev, fs) < 0) {
+		LOG_ERR("failed to set accelerometer range %d", fs);
 		return -EIO;
 	}
-	lsm6dso->acc_gain = LSM6DSO_DEFAULT_ACCEL_SENSITIVITY;
+	lsm6dso->acc_gain = lsm6dso_accel_fs_sens[fs] * GAIN_UNIT_XL;

-	lsm6dso->accel_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_ACCEL_ODR);
-	if (lsm6dso_accel_set_odr_raw(dev, CONFIG_LSM6DSO_ACCEL_ODR) < 0) {
-		LOG_DBG("failed to set accelerometer sampling rate");
+	odr = cfg->accel_odr;
+	LOG_DBG("accel odr is %d", odr);
+	lsm6dso->accel_freq = lsm6dso_odr_to_freq_val(odr);
+	if (lsm6dso_accel_set_odr_raw(dev, odr) < 0) {
+		LOG_ERR("failed to set accelerometer odr %d", odr);
 		return -EIO;
 	}

-	if (lsm6dso_gyro_set_fs_raw(dev, LSM6DSO_DEFAULT_GYRO_FULLSCALE) < 0) {
-		LOG_DBG("failed to set gyroscope full-scale");
+	fs = cfg->gyro_range;
+	LOG_DBG("gyro range is %d", fs);
+	if (lsm6dso_gyro_set_fs_raw(dev, fs) < 0) {
+		LOG_ERR("failed to set gyroscope range %d", fs);
 		return -EIO;
 	}
-	lsm6dso->gyro_gain = LSM6DSO_DEFAULT_GYRO_SENSITIVITY;
+	lsm6dso->gyro_gain = (lsm6dso_gyro_fs_sens[fs] * GAIN_UNIT_G);

-	lsm6dso->gyro_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_GYRO_ODR);
-	if (lsm6dso_gyro_set_odr_raw(dev, CONFIG_LSM6DSO_GYRO_ODR) < 0) {
-		LOG_DBG("failed to set gyroscope sampling rate");
+	odr = cfg->gyro_odr;
+	LOG_DBG("gyro odr is %d", odr);
+	lsm6dso->gyro_freq = lsm6dso_odr_to_freq_val(odr);
+	if (lsm6dso_gyro_set_odr_raw(dev, odr) < 0) {
+		LOG_ERR("failed to set gyroscope odr %d", odr);
 		return -EIO;
 	}

@ -892,6 +877,10 @@ static int lsm6dso_init(const struct device *dev)
 					   LSM6DSO_SPI_OP,		\
 					   0),				\
 		},							\
+		.accel_odr = DT_INST_PROP(inst, accel_odr),		\
+		.accel_range = DT_INST_PROP(inst, accel_range),		\
+		.gyro_odr = DT_INST_PROP(inst, gyro_odr),		\
+		.gyro_range = DT_INST_PROP(inst, gyro_range),		\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LSM6DSO_CFG_IRQ(inst)), ())			\
 	}
@ -913,6 +902,10 @@ static int lsm6dso_init(const struct device *dev)
 		.stmemsc_cfg = {					\
 			.i2c = I2C_DT_SPEC_INST_GET(inst),		\
 		},							\
+		.accel_odr = DT_INST_PROP(inst, accel_odr),		\
+		.accel_range = DT_INST_PROP(inst, accel_range),		\
+		.gyro_odr = DT_INST_PROP(inst, gyro_odr),		\
+		.gyro_range = DT_INST_PROP(inst, gyro_range),		\
 		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\
 			(LSM6DSO_CFG_IRQ(inst)), ())			\
 	}
--- a/drivers/sensor/lsm6dso/lsm6dso.h
+++ b/drivers/sensor/lsm6dso/lsm6dso.h
@ -40,56 +40,6 @@
 #define SENSOR_DEG2RAD_DOUBLE			(SENSOR_PI_DOUBLE / 180)
 #define SENSOR_G_DOUBLE				(SENSOR_G / 1000000.0)

-#if CONFIG_LSM6DSO_ACCEL_FS == 0
-	#define LSM6DSO_ACCEL_FS_RUNTIME 1
-	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0
-	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL
-#elif CONFIG_LSM6DSO_ACCEL_FS == 2
-	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0
-	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL
-#elif CONFIG_LSM6DSO_ACCEL_FS == 4
-	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		2
-	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(2.0 * GAIN_UNIT_XL)
-#elif CONFIG_LSM6DSO_ACCEL_FS == 8
-	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		3
-	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(4.0 * GAIN_UNIT_XL)
-#elif CONFIG_LSM6DSO_ACCEL_FS == 16
-	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		1
-	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(8.0 * GAIN_UNIT_XL)
-#endif
-
-#if (CONFIG_LSM6DSO_ACCEL_ODR == 0)
-#define LSM6DSO_ACCEL_ODR_RUNTIME 1
-#endif
-
-#define GYRO_FULLSCALE_125 4
-
-#if CONFIG_LSM6DSO_GYRO_FS == 0
-	#define LSM6DSO_GYRO_FS_RUNTIME 1
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G
-#elif CONFIG_LSM6DSO_GYRO_FS == 125
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G
-#elif CONFIG_LSM6DSO_GYRO_FS == 250
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		0
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(2.0 * GAIN_UNIT_G)
-#elif CONFIG_LSM6DSO_GYRO_FS == 500
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		1
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(4.0 * GAIN_UNIT_G)
-#elif CONFIG_LSM6DSO_GYRO_FS == 1000
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		2
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(8.0 * GAIN_UNIT_G)
-#elif CONFIG_LSM6DSO_GYRO_FS == 2000
-	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		3
-	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(16.0 * GAIN_UNIT_G)
-#endif
-
-
-#if (CONFIG_LSM6DSO_GYRO_ODR == 0)
-#define LSM6DSO_GYRO_ODR_RUNTIME 1
-#endif
-
 struct lsm6dso_config {
 	stmdev_ctx_t ctx;
 	union {
@ -100,6 +50,10 @@ struct lsm6dso_config {
 		const struct spi_dt_spec spi;
 #endif
 	} stmemsc_cfg;
+	uint8_t accel_odr;
+	uint8_t accel_range;
+	uint8_t gyro_odr;
+	uint8_t gyro_range;
 #ifdef CONFIG_LSM6DSO_TRIGGER
 	const struct gpio_dt_spec gpio_drdy;
 	uint8_t int_pin;
--- a/dts/bindings/sensor/st,lsm6dso-common.yaml
+++ b/dts/bindings/sensor/st,lsm6dso-common.yaml
@ -26,3 +26,68 @@ properties:
        (INT1 or INT2) the drdy line is attached to. This property is not
        mandatory and if not present it defaults to 1 which is the
        configuration at power-up.
+
+    accel-range:
+      type: int
+      required: false
+      default: 0
+      description: |
+        Range in g. Default is power-up configuration.
+      enum:
+        - 0 # 2g  (0.061 mg/LSB)
+        - 1 # 16g (0.488 mg/LSB)
+        - 2 # 4g  (0.122 mg/LSB)
+        - 3 # 8g  (0.244 mg/LSB)
+
+    accel-odr:
+      type: int
+      required: false
+      default: 0
+      description: |
+        Specify the default accelerometer output data rate expressed in samples per second (Hz).
+        Default is power-up configuration.
+      enum:
+        - 0  # Power-Down
+        - 1  # 12.5Hz
+        - 2  # 26Hz
+        - 3  # 52Hz
+        - 4  # 104Hz
+        - 5  # 208Hz
+        - 6  # 417Hz
+        - 7  # 833Hz
+        - 8  # 1667Hz
+        - 9  # 3333Hz
+        - 10 # 6667Hz
+
+    gyro-range:
+      type: int
+      required: false
+      default: 0
+      description: |
+        Range in dps. Default is power-up configuration.
+      enum:
+        - 0 # 250 dps  (8.75 mdps/LSB)
+        - 1 # 125 dps  (4.375 mdps/LSB)
+        - 2 # 500 dps  (17.50 mdps/LSB)
+        - 4 # 1000 dps (35 mdps/LSB)
+        - 6 # 2000 dps (70 mdps/LSB)
+
+    gyro-odr:
+      type: int
+      required: false
+      default: 0
+      description: |
+        Specify the default gyro output data rate expressed in samples per second (Hz).
+        Default is power-up configuration.
+      enum:
+        - 0  # Power-Down
+        - 1  # 12.5Hz
+        - 2  # 26Hz
+        - 3  # 52Hz
+        - 4  # 104Hz
+        - 5  # 208Hz
+        - 6  # 417Hz
+        - 7  # 833Hz
+        - 8  # 1667Hz
+        - 9  # 3333Hz
+        - 10 # 6667Hz