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sensor: add lsm6dsl sensor driver

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Support for LSM6DSL accelerometer and gyroscpe sensor
with bare minimum features.

For more info on this sensor:
http://www.st.com/en/mems-and-sensors/lsm6dsl.html

Change-Id: I9b100a3e030faa8a70a5015a881025c876b81be4
Signed-off-by: Erwan Gouriou <erwan.gouriou@linaro.org>
This commit is contained in:
Erwan Gouriou 2017-05-04 16:56:44 +02:00 • committed by Maureen Helm
commit e015c00300
6 changed files with 1254 additions and 0 deletions
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2
drivers/sensor/Kconfig
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@ -82,6 +82,8 @@ source "drivers/sensor/lps25hb/Kconfig"
source "drivers/sensor/lsm6ds0/Kconfig"
source "drivers/sensor/lsm6dsl/Kconfig"
source "drivers/sensor/lsm9ds0_gyro/Kconfig"
source "drivers/sensor/lsm9ds0_mfd/Kconfig"

1
drivers/sensor/Makefile
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@ -21,6 +21,7 @@ obj-$(CONFIG_LIS3MDL) += lis3mdl/
obj-$(CONFIG_LPS22HB) += lps22hb/
obj-$(CONFIG_LPS25HB) += lps25hb/
obj-$(CONFIG_LSM6DS0) += lsm6ds0/
obj-$(CONFIG_LSM6DSL) += lsm6dsl/
obj-$(CONFIG_LSM9DS0_GYRO) += lsm9ds0_gyro/
obj-$(CONFIG_LSM9DS0_MFD) += lsm9ds0_mfd/
obj-$(CONFIG_MAX30101) += max30101/

94
drivers/sensor/lsm6dsl/Kconfig Normal file
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@ -0,0 +1,94 @@
# Kconfig - LSM6DSL accelerometer and gyroscope sensor configuration
# options
#
# Copyright (c) 2017 Linaro Limited
#
# SPDX-License-Identifier: Apache-2.0
#
menuconfig LSM6DSL
bool "LSM6DSL I2C accelerometer and gyroscope Chip"
depends on SENSOR && I2C
default n
help
Enable driver for LSM6DSL I2C-based accelerometer and gyroscope
sensor.
config LSM6DSL_DEV_NAME
string "LSM6DSL device name"
depends on LSM6DSL
default "LSM6DSL"
config LSM6DSL_I2C_ADDR
hex
prompt "LSM6DSL I2C address"
depends on LSM6DSL
default 0x6A
range 0x6A 0x6B
help
I2C address of the LSM6DSL sensor.
Use 0x6A if the SA0 pin is pulled to GND or 0x6B if the SA0 pin
is pulled to VCC.
config LSM6DSL_I2C_MASTER_DEV_NAME
string "I2C master where LSM6DSL chip is connected"
depends on LSM6DSL
default I2C_0_NAME
help
Specify the device name of the I2C master device to which LSM6DSL is
connected.
config LSM6DSL_ENABLE_TEMP
bool "Enable temperature"
depends on LSM6DSL
default n
help
Enable/disable temperature
menu "Attributes"
depends on LSM6DSL
config LSM6DSL_GYRO_FULLSCALE
int
prompt "Gyroscope full-scale range"
depends on LSM6DSL
default 2000
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 125, 245, 500, 1000 and 2000.
config LSM6DSL_GYRO_SAMPLING_RATE
int
prompt "Output data rate"
depends on LSM6DSL
default 26
help
Specify the default gyroscope output data rate expressed in samples
per second (Hz).
Data rates supported by the chip are 0, 13, 26, 52, 104, 208, 416,
833, 1660, 3330, 6660.
config LSM6DSL_ACCEL_FULLSCALE
int
prompt "Accelerometer full-scale range"
depends on LSM6DSL
default 2
help
Specify the default accelerometer full-scale range.
An X value for the config represents a range of +/- X G. Valid values
are 2, 4, 8 and 16.
config LSM6DSL_ACCEL_SAMPLING_RATE
int
prompt "Output data rate"
depends on LSM6DSL
default 26
help
Specify the default accelerometer output data rate expressed in
samples per second (Hz).
Data rates supported by the chip are 0, 2, 13, 26, 52, 104, 208,
416, 833, 1660, 3330, 6660.
endmenu

1
drivers/sensor/lsm6dsl/Makefile Normal file
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@ -0,0 +1 @@
obj-$(CONFIG_LSM6DSL) += lsm6dsl.o

444
drivers/sensor/lsm6dsl/lsm6dsl.c Normal file
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@ -0,0 +1,444 @@
/* lsm6dsl.c - Driver for LSM6DSL accelerometer, gyroscope and
* temperature sensor
*/
/*
* Copyright (c) 2017 Linaro Limited
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sensor.h>
#include <kernel.h>
#include <device.h>
#include <init.h>
#include <misc/byteorder.h>
#include <misc/__assert.h>
#include "lsm6dsl.h"
static inline int lsm6dsl_reboot(struct device *dev)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_CTRL3_C,
LSM6DSL_MASK_CTRL3_C_BOOT,
1 << LSM6DSL_SHIFT_CTRL3_C_BOOT) < 0) {
return -EIO;
}
/* Wait sensor turn-on time as per datasheet */
k_busy_wait(35 * USEC_PER_MSEC);
return 0;
}
static int lsm6dsl_accel_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_CTRL1_XL,
LSM6DSL_MASK_CTRL1_XL_FS_XL,
fs << LSM6DSL_SHIFT_CTRL1_XL_FS_XL) < 0) {
return -EIO;
}
return 0;
}
static int lsm6dsl_accel_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_CTRL1_XL,
LSM6DSL_MASK_CTRL1_XL_ODR_XL,
odr << LSM6DSL_SHIFT_CTRL1_XL_ODR_XL) < 0) {
return -EIO;
}
return 0;
}
static int lsm6dsl_gyro_set_fs_raw(struct device *dev, u8_t fs)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
if (fs == GYRO_FULLSCALE_125) {
if (i2c_reg_update_byte(data->i2c_master,
config->i2c_slave_addr,
LSM6DSL_REG_CTRL2_G,
LSM6DSL_MASK_CTRL2_FS125,
1 << LSM6DSL_SHIFT_CTRL2_FS125) < 0) {
return -EIO;
}
} else {
if (i2c_reg_update_byte(data->i2c_master,
config->i2c_slave_addr,
LSM6DSL_REG_CTRL2_G,
LSM6DSL_MASK_CTRL2_G_FS_G,
fs << LSM6DSL_SHIFT_CTRL2_G_FS_G) < 0) {
return -EIO;
}
}
return 0;
}
static int lsm6dsl_gyro_set_odr_raw(struct device *dev, u8_t odr)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_CTRL2_G,
LSM6DSL_MASK_CTRL2_G_ODR_G,
odr << LSM6DSL_SHIFT_CTRL2_G_ODR_G) < 0) {
return -EIO;
}
return 0;
}
static int lsm6dsl_sample_fetch_accel(struct device *dev)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_OUTX_L_XL, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
data->accel_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
data->accel_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
data->accel_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
return 0;
}
static int lsm6dsl_sample_fetch_gyro(struct device *dev)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
u8_t buf[6];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_OUTX_L_G, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
data->gyro_sample_x = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
data->gyro_sample_y = (s16_t)((u16_t)(buf[2]) |
((u16_t)(buf[3]) << 8));
data->gyro_sample_z = (s16_t)((u16_t)(buf[4]) |
((u16_t)(buf[5]) << 8));
return 0;
}
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
static int lsm6dsl_sample_fetch_temp(struct device *dev)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
u8_t buf[2];
if (i2c_burst_read(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_OUT_TEMP_L, buf, sizeof(buf)) < 0) {
SYS_LOG_DBG("failed to read sample");
return -EIO;
}
data->temp_sample = (s16_t)((u16_t)(buf[0]) |
((u16_t)(buf[1]) << 8));
return 0;
}
#endif
static int lsm6dsl_sample_fetch(struct device *dev, enum sensor_channel chan)
{
switch (chan) {
case SENSOR_CHAN_ACCEL_XYZ:
lsm6dsl_sample_fetch_accel(dev);
break;
case SENSOR_CHAN_GYRO_XYZ:
lsm6dsl_sample_fetch_gyro(dev);
break;
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
case SENSOR_CHAN_TEMP:
lsm6dsl_sample_fetch_temp(dev);
break;
#endif
case SENSOR_CHAN_ALL:
lsm6dsl_sample_fetch_accel(dev);
lsm6dsl_sample_fetch_gyro(dev);
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
lsm6dsl_sample_fetch_temp(dev);
#endif
break;
default:
return -ENOTSUP;
}
return 0;
}
static inline void lsm6dsl_accel_convert(struct sensor_value *val, int raw_val,
float sensitivity)
{
double dval;
/* Sensitivity is exposed in mg/LSB */
/* Convert to m/s^2 */
dval = (double)(raw_val) * sensitivity * SENSOR_G_DOUBLE / 1000;
val->val1 = (s32_t)dval;
val->val2 = (((s32_t)(dval * 1000)) % 1000) * 1000;
}
static inline int lsm6dsl_accel_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6dsl_data *data,
float sensitivity)
{
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
lsm6dsl_accel_convert(val, data->accel_sample_x, sensitivity);
break;
case SENSOR_CHAN_ACCEL_Y:
lsm6dsl_accel_convert(val, data->accel_sample_y, sensitivity);
break;
case SENSOR_CHAN_ACCEL_Z:
lsm6dsl_accel_convert(val, data->accel_sample_z, sensitivity);
break;
case SENSOR_CHAN_ACCEL_XYZ:
lsm6dsl_accel_convert(val, data->accel_sample_x, sensitivity);
lsm6dsl_accel_convert(val + 1, data->accel_sample_y,
sensitivity);
lsm6dsl_accel_convert(val + 2, data->accel_sample_z,
sensitivity);
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6dsl_accel_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6dsl_data *data)
{
return lsm6dsl_accel_get_channel(chan, val, data,
LSM6DSL_DEFAULT_ACCEL_SENSITIVITY);
}
static inline void lsm6dsl_gyro_convert(struct sensor_value *val, int raw_val,
float sensitivity)
{
double dval;
/* Sensitivity is exposed in mdps/LSB */
/* Convert to rad/s */
dval = (double)(raw_val * sensitivity * SENSOR_DEG2RAD_DOUBLE / 1000);
val->val1 = (s32_t)dval;
val->val2 = (((s32_t)(dval * 1000)) % 1000) * 1000;
}
static inline int lsm6dsl_gyro_get_channel(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6dsl_data *data,
float sensitivity)
{
switch (chan) {
case SENSOR_CHAN_GYRO_X:
lsm6dsl_gyro_convert(val, data->gyro_sample_x, sensitivity);
break;
case SENSOR_CHAN_GYRO_Y:
lsm6dsl_gyro_convert(val, data->gyro_sample_y, sensitivity);
break;
case SENSOR_CHAN_GYRO_Z:
lsm6dsl_gyro_convert(val, data->gyro_sample_z, sensitivity);
break;
case SENSOR_CHAN_GYRO_XYZ:
lsm6dsl_gyro_convert(val, data->gyro_sample_x, sensitivity);
lsm6dsl_gyro_convert(val + 1, data->gyro_sample_y, sensitivity);
lsm6dsl_gyro_convert(val + 2, data->gyro_sample_z, sensitivity);
break;
default:
return -ENOTSUP;
}
return 0;
}
static int lsm6dsl_gyro_channel_get(enum sensor_channel chan,
struct sensor_value *val,
struct lsm6dsl_data *data)
{
return lsm6dsl_gyro_get_channel(chan, val, data,
LSM6DSL_DEFAULT_GYRO_SENSITIVITY);
}
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
static void lsm6dsl_gyro_channel_get_temp(struct sensor_value *val,
struct lsm6dsl_data *data)
{
/* val = temp_sample / 256 + 25 */
val->val1 = data->temp_sample / 256 + 25;
val->val2 = (data->temp_sample % 256) * (1000000 / 256);
}
#endif
static int lsm6dsl_channel_get(struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct lsm6dsl_data *data = dev->driver_data;
switch (chan) {
case SENSOR_CHAN_ACCEL_X:
case SENSOR_CHAN_ACCEL_Y:
case SENSOR_CHAN_ACCEL_Z:
case SENSOR_CHAN_ACCEL_XYZ:
lsm6dsl_accel_channel_get(chan, val, data);
break;
case SENSOR_CHAN_GYRO_X:
case SENSOR_CHAN_GYRO_Y:
case SENSOR_CHAN_GYRO_Z:
case SENSOR_CHAN_GYRO_XYZ:
lsm6dsl_gyro_channel_get(chan, val, data);
break;
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
case SENSOR_CHAN_TEMP:
lsm6dsl_gyro_channel_get_temp(val, data);
break;
#endif
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api lsm6dsl_api_funcs = {
.sample_fetch = lsm6dsl_sample_fetch,
.channel_get = lsm6dsl_channel_get,
};
static int lsm6dsl_init_chip(struct device *dev)
{
struct lsm6dsl_data *data = dev->driver_data;
const struct lsm6dsl_config *config = dev->config->config_info;
u8_t chip_id;
if (lsm6dsl_reboot(dev) < 0) {
SYS_LOG_DBG("failed to reboot device");
return -EIO;
}
if (i2c_reg_read_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_WHO_AM_I, &chip_id) < 0) {
SYS_LOG_DBG("failed reading chip id");
return -EIO;
}
if (chip_id != LSM6DSL_VAL_WHO_AM_I) {
SYS_LOG_DBG("invalid chip id 0x%x", chip_id);
return -EIO;
}
SYS_LOG_DBG("chip id 0x%x", chip_id);
if (lsm6dsl_accel_set_fs_raw(dev, LSM6DSL_DEFAULT_ACCEL_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer full-scale");
return -EIO;
}
if (lsm6dsl_accel_set_odr_raw(dev, LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set accelerometer sampling rate");
return -EIO;
}
if (lsm6dsl_gyro_set_fs_raw(dev, LSM6DSL_DEFAULT_GYRO_FULLSCALE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope full-scale");
return -EIO;
}
if (lsm6dsl_gyro_set_odr_raw(dev, LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE)
< 0) {
SYS_LOG_DBG("failed to set gyroscope sampling rate");
return -EIO;
}
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_FIFO_CTRL5,
LSM6DSL_MASK_FIFO_CTRL5_FIFO_MODE,
0 << LSM6DSL_SHIFT_FIFO_CTRL5_FIFO_MODE) < 0) {
SYS_LOG_DBG("failed to set FIFO mode");
return -EIO;
}
if (i2c_reg_update_byte(data->i2c_master, config->i2c_slave_addr,
LSM6DSL_REG_CTRL3_C,
LSM6DSL_MASK_CTRL3_C_BDU |
LSM6DSL_MASK_CTRL3_C_BLE |
LSM6DSL_MASK_CTRL3_C_IF_INC,
(1 << LSM6DSL_SHIFT_CTRL3_C_BDU) |
(0 << LSM6DSL_SHIFT_CTRL3_C_BLE) |
(1 << LSM6DSL_SHIFT_CTRL3_C_IF_INC))
< 0) {
SYS_LOG_DBG("failed to set BDU, BLE and burst");
return -EIO;
}
return 0;
}
static int lsm6dsl_init(struct device *dev)
{
const struct lsm6dsl_config * const config = dev->config->config_info;
struct lsm6dsl_data *data = dev->driver_data;
data->i2c_master = device_get_binding(config->i2c_master_dev_name);
if (!data->i2c_master) {
SYS_LOG_DBG("i2c master not found: %s",
config->i2c_master_dev_name);
return -EINVAL;
}
if (lsm6dsl_init_chip(dev) < 0) {
SYS_LOG_DBG("failed to initialize chip");
return -EIO;
}
return 0;
}
static const struct lsm6dsl_config lsm6dsl_config = {
.i2c_master_dev_name = CONFIG_LSM6DSL_I2C_MASTER_DEV_NAME,
.i2c_slave_addr = CONFIG_LSM6DSL_I2C_ADDR,
};
static struct lsm6dsl_data lsm6dsl_data;
DEVICE_AND_API_INIT(lsm6dsl, CONFIG_LSM6DSL_DEV_NAME, lsm6dsl_init,
&lsm6dsl_data, &lsm6dsl_config, POST_KERNEL,
CONFIG_SENSOR_INIT_PRIORITY, &lsm6dsl_api_funcs);

712
drivers/sensor/lsm6dsl/lsm6dsl.h Normal file
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@ -0,0 +1,712 @@
/* sensor_lsm6dsl.h - header file for LSM6DSL accelerometer, gyroscope and
* temperature sensor driver
*/
/*
* Copyright (c) 2017 Linaro Limited
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef __SENSOR_LSM6DSL_H__
#define __SENSOR_LSM6DSL_H__
#include <zephyr/types.h>
#include <i2c.h>
#include <misc/util.h>
#define LSM6DSL_REG_FUNC_CFG_ACCESS 0x01
#define LSM6DSL_MASK_FUNC_CFG_EN BIT(7)
#define LSM6DSL_SHIFT_FUNC_CFG_EN 7
#define LSM6DSL_MASK_FUNC_CFG_EN_B BIT(5)
#define LSM6DSL_SHIFT_FUNC_CFG_EN_B 5
#define LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME 0x04
#define LSM6DSL_MASK_SENSOR_SYNC_TIME_FRAME_TPH (BIT(3) | BIT(2) | \
BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_SENSOR_SYNC_TIME_FRAME_TPH 0
#define LSM6DSL_REG_SENSOR_SYNC_RES_RATIO 0x05
#define LSM6DSL_MASK_SENSOR_SYNC_RES_RATIO (BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_SENSOR_SYNC_RES_RATIO 0
#define LSM6DSL_REG_FIFO_CTRL1 0x06
#define LSM6DSL_MASK_FIFO_CTRL1_FTH (BIT(7) | BIT(6) | \
BIT(5) | BIT(4) | \
BIT(3) | BIT(2) | \
BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_FIFO_CTRL1_FTH 0
#define LSM6DSL_REG_FIFO_CTRL2 0x07
#define LSM6DSL_MASK_FIFO_CTRL2_TIMER_PEDO_FIFO_EN BIT(7)
#define LSM6DSL_SHIFT_FIFO_CTRL2_TIMER_PEDO_FIFO_EN 7
#define LSM6DSL_MASK_FIFO_CTRL2_TIMER_PEDO_FIFO_DRDY BIT(6)
#define LSM6DSL_SHIFT_FIFO_CTRL2_TIMER_PEDO_FIFO_DRDY 6
#define LSM6DSL_MASK_FIFO_CTRL2_FIFO_TEMP_EN BIT(3)
#define LSM6DSL_SHIFT_FIFO_CTRL2_FIFO_TEMP_EN 3
#define LSM6DSL_MASK_FIFO_CTRL2_FTH (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FIFO_CTRL2_FTH 0
#define LSM6DSL_REG_FIFO_CTRL3 0x08
#define LSM6DSL_MASK_FIFO_CTRL3_DEC_FIFO_GYRO (BIT(5) | BIT(4) | \
BIT(3))
#define LSM6DSL_SHIFT_FIFO_CTRL3_DEC_FIFO_GYRO 3
#define LSM6DSL_MASK_FIFO_CTRL3_DEC_FIFO_XL (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FIFO_CTRL3_DEC_FIFO_XL 0
#define LSM6DSL_REG_FIFO_CTRL4 0x09
#define LSM6DSL_MASK_FIFO_CTRL4_STOP_ON_FTH BIT(7)
#define LSM6DSL_SHIFT_FIFO_CTRL4_STOP_ON_FTH 7
#define LSM6DSL_MASK_FIFO_CTRL4_ONLY_HIGH_DATA BIT(6)
#define LSM6DSL_SHIFT_FIFO_CTRL4_ONLY_HIGH_DATA 6
#define LSM6DSL_MASK_FIFO_CTRL4_DEC_DS4_FIFO (BIT(5) | BIT(4) | \
BIT(3))
#define LSM6DSL_SHIFT_FIFO_CTRL4_DEC_DS4_FIFO 3
#define LSM6DSL_MASK_FIFO_CTRL4_DEC_DS3_FIFO (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FIFO_CTRL4_DEC_DS3_FIFO 0
#define LSM6DSL_REG_FIFO_CTRL5 0x0A
#define LSM6DSL_MASK_FIFO_CTRL5_ODR_FIFO (BIT(5) | BIT(4) | \
BIT(3))
#define LSM6DSL_SHIFT_FIFO_CTRL5_ODR_FIFO 3
#define LSM6DSL_MASK_FIFO_CTRL5_FIFO_MODE (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FIFO_CTRL5_FIFO_MODE 0
#define LSM6DSL_REG_DRDY_PULSE_CFG_G 0x0B
#define LSM6DSL_MASK_DRDY_PULSE_CFG_G_DRDY_PULSED BIT(7)
#define LSM6DSL_SHIFT_DRDY_PULSE_CFG_G_DRDY_PULSED 7
#define LSM6DSL_MASK_DRDY_PULSE_CFG_G_INT2_WRIST_TILT BIT(0)
#define LSM6DSL_SHIFT_DRDY_PULSE_CFG_G_INT2_WRIST_TILT 0
#define LSM6DSL_REG_INT1_CTRL 0x0D
#define LSM6DSL_MASK_INT1_CTRL_STEP_DETECTOR BIT(7)
#define LSM6DSL_SHIFT_INT1_CTRL_STEP_DETECTOR 7
#define LSM6DSL_MASK_INT1_CTRL_SIGN_MOT BIT(6)
#define LSM6DSL_SHIFT_INT1_CTRL_SIGN_MOT 6
#define LSM6DSL_MASK_INT1_CTRL_FULL_FLAG BIT(5)
#define LSM6DSL_SHIFT_INT1_CTRL_FULL_FLAG 5
#define LSM6DSL_MASK_INT1_CTRL_FIFO_OVR BIT(4)
#define LSM6DSL_SHIFT_INT1_CTRL_FIFO_OVR 4
#define LSM6DSL_MASK_INT1_FTH BIT(3)
#define LSM6DSL_SHIFT_INT1_FTH 3
#define LSM6DSL_MASK_INT1_CTRL_BOOT BIT(2)
#define LSM6DSL_SHIFT_INT1_CTRL_BOOT 2
#define LSM6DSL_MASK_INT1_CTRL_DRDY_G BIT(1)
#define LSM6DSL_SHIFT_INT1_CTRL_DRDY_G 1
#define LSM6DSL_MASK_INT1_CTRL_DRDY_XL BIT(0)
#define LSM6DSL_SHIFT_INT1_CTRL_DRDY_XL 0
#define LSM6DSL_REG_INT2_CTRL 0x0E
#define LSM6DSL_MASK_INT2_CTRL_STEP_DELTA BIT(7)
#define LSM6DSL_SHIFT_INT2_CTRL_STEP_DELTA 7
#define LSM6DSL_MASK_INT2_CTRL_STEP_COUNT_OV BIT(6)
#define LSM6DSL_SHIFT_INT2_CTRL_STEP_COUNT_OV 6
#define LSM6DSL_MASK_INT2_CTRL_FULL_FLAG BIT(5)
#define LSM6DSL_SHIFT_INT2_CTRL_FULL_FLAG 5
#define LSM6DSL_MASK_INT2_CTRL_FIFO_OVR BIT(4)
#define LSM6DSL_SHIFT_INT2_CTRL_FIFO_OVR 4
#define LSM6DSL_MASK_INT2_FTH BIT(3)
#define LSM6DSL_SHIFT_INT2_FTH 3
#define LSM6DSL_MASK_INT2_DRDY_TEMP BIT(2)
#define LSM6DSL_SHIFT_INT2_DRDY_TEMP 2
#define LSM6DSL_MASK_INT2_CTRL_DRDY_G BIT(1)
#define LSM6DSL_SHIFT_INT2_CTRL_DRDY_G 1
#define LSM6DSL_MASK_INT2_CTRL_DRDY_XL BIT(0)
#define LSM6DSL_SHIFT_INT2_CTRL_DRDY_XL 0
#define LSM6DSL_REG_WHO_AM_I 0x0F
#define LSM6DSL_VAL_WHO_AM_I 0x6A
#define LSM6DSL_REG_CTRL1_XL 0x10
#define LSM6DSL_MASK_CTRL1_XL_ODR_XL (BIT(7) | BIT(6) | \
BIT(5) | BIT(4))
#define LSM6DSL_SHIFT_CTRL1_XL_ODR_XL 4
#define LSM6DSL_MASK_CTRL1_XL_FS_XL (BIT(3) | BIT(2))
#define LSM6DSL_SHIFT_CTRL1_XL_FS_XL 2
#define LSM6DSL_MASK_CTRL1_XL_LPF1_BW_SEL BIT(1)
#define LSM6DSL_SHIFT_CTRL1_XL_LPF1_BW_SEL 1
#define LSM6DSL_REG_CTRL2_G 0x11
#define LSM6DSL_MASK_CTRL2_G_ODR_G (BIT(7) | BIT(6) | \
BIT(5) | BIT(4))
#define LSM6DSL_SHIFT_CTRL2_G_ODR_G 4
#define LSM6DSL_MASK_CTRL2_G_FS_G (BIT(3) | BIT(2))
#define LSM6DSL_SHIFT_CTRL2_G_FS_G 2
#define LSM6DSL_MASK_CTRL2_FS125 BIT(1)
#define LSM6DSL_SHIFT_CTRL2_FS125 1
#define LSM6DSL_REG_CTRL3_C 0x12
#define LSM6DSL_MASK_CTRL3_C_BOOT BIT(7)
#define LSM6DSL_SHIFT_CTRL3_C_BOOT 7
#define LSM6DSL_MASK_CTRL3_C_BDU BIT(6)
#define LSM6DSL_SHIFT_CTRL3_C_BDU 6
#define LSM6DSL_MASK_CTRL3_C_H_LACTIVE BIT(5)
#define LSM6DSL_SHIFT_CTRL3_C_H_LACTIVE 5
#define LSM6DSL_MASK_CTRL3_C_PP_OD BIT(4)
#define LSM6DSL_SHIFT_CTRL3_C_PP_OD 4
#define LSM6DSL_MASK_CTRL3_C_SIM BIT(3)
#define LSM6DSL_SHIFT_CTRL3_C_SIM 3
#define LSM6DSL_MASK_CTRL3_C_IF_INC BIT(2)
#define LSM6DSL_SHIFT_CTRL3_C_IF_INC 2
#define LSM6DSL_MASK_CTRL3_C_BLE BIT(1)
#define LSM6DSL_SHIFT_CTRL3_C_BLE 1
#define LSM6DSL_MASK_CTRL3_C_SW_RESET BIT(0)
#define LSM6DSL_SHIFT_CTRL3_C_SW_RESET 0
#define LSM6DSL_REG_CTRL3_C 0x12
#define LSM6DSL_MASK_CTRL3_C_BOOT BIT(7)
#define LSM6DSL_SHIFT_CTRL3_C_BOOT 7
#define LSM6DSL_MASK_CTRL3_C_BDU BIT(6)
#define LSM6DSL_SHIFT_CTRL3_C_BDU 6
#define LSM6DSL_MASK_CTRL3_C_H_LACTIVE BIT(5)
#define LSM6DSL_SHIFT_CTRL3_C_H_LACTIVE 5
#define LSM6DSL_MASK_CTRL3_C_PP_OD BIT(4)
#define LSM6DSL_SHIFT_CTRL3_C_PP_OD 4
#define LSM6DSL_MASK_CTRL3_C_SIM BIT(3)
#define LSM6DSL_SHIFT_CTRL3_C_SIM 3
#define LSM6DSL_MASK_CTRL3_C_IF_INC BIT(2)
#define LSM6DSL_SHIFT_CTRL3_C_IF_INC 2
#define LSM6DSL_MASK_CTRL3_C_BLE BIT(1)
#define LSM6DSL_SHIFT_CTRL3_C_BLE 1
#define LSM6DSL_MASK_CTRL3_C_SW_RESET BIT(0)
#define LSM6DSL_SHIFT_CTRL3_C_SW_RESET 0
#define LSM6DSL_REG_CTRL4_C 0x13
#define LSM6DSL_MASK_CTRL4_C_DEN_XL_EN BIT(7)
#define LSM6DSL_SHIFT_CTRL4_C_DEN_XL_EN 7
#define LSM6DSL_MASK_CTRL4_C_SLEEP BIT(6)
#define LSM6DSL_SHIFT_CTRL4_C_SLEEP 6
#define LSM6DSL_MASK_CTRL4_C_INT2_ON_INT1 BIT(5)
#define LSM6DSL_SHIFT_CTRL4_C_INT2_ON_INT1 5
#define LSM6DSL_MASK_CTRL4_C_DEN_DRDY_INT1 BIT(4)
#define LSM6DSL_SHIFT_CTRL4_C_DEN_DRDY_INT1 4
#define LSM6DSL_MASK_CTRL4_C_DRDY_MASK BIT(3)
#define LSM6DSL_SHIFT_CTRL4_C_DRDY_MASK 3
#define LSM6DSL_MASK_CTRL4_C_I2C_DISABLE BIT(2)
#define LSM6DSL_SHIFT_CTRL4_C_I2C_DISABLE 2
#define LSM6DSL_MASK_CTRL4_C_LPF1_SEL_G BIT(1)
#define LSM6DSL_SHIFT_CTRL4_C_LPF1_SEL_G 1
#define LSM6DSL_REG_CTRL5_C 0x14
#define LSM6DSL_MASK_CTRL5_C_ROUNDING (BIT(7) | BIT(6) \
BIT(5))
#define LSM6DSL_SHIFT_CTRL5_C_ROUNDING 5
#define LSM6DSL_MASK_CTRL5_C_DEN_LH BIT(4)
#define LSM6DSL_SHIFT_CTRL5_C_DEN_LH 4
#define LSM6DSL_MASK_CTRL5_C_ST_G (BIT(3) | BIT(2))
#define LSM6DSL_SHIFT_CTRL5_C_ST_G 2
#define LSM6DSL_MASK_CTRL5_C_ST_XL (BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_CTRL5_C_ST_XL 0
#define LSM6DSL_REG_CTRL6_C 0x14
#define LSM6DSL_MASK_CTRL6_C_TRIG_EN BIT(7)
#define LSM6DSL_SHIFT_CTRL6_C_TRIG_EN 7
#define LSM6DSL_MASK_CTRL6_C_LVL_EN BIT(6)
#define LSM6DSL_SHIFT_CTRL6_C_LVL_EN 6
#define LSM6DSL_MASK_CTRL6_C_LVL2_EN BIT(5)
#define LSM6DSL_SHIFT_CTRL6_C_LVL2_EN 5
#define LSM6DSL_MASK_CTRL6_C_XL_HM_MODE BIT(4)
#define LSM6DSL_SHIFT_CTRL6_C_XL_HM_MODE 4
#define LSM6DSL_MASK_CTRL6_C_USR_OFF_W BIT(3)
#define LSM6DSL_SHIFT_CTRL6_C_USR_OFF_W 3
#define LSM6DSL_MASK_CTRL6_C_FTYPE (BIT(0) | BIT(1))
#define LSM6DSL_SHIFT_CTRL6_C_FTYPE 0
#define LSM6DSL_REG_CTRL7_G 0x16
#define LSM6DSL_MASK_CTRL7_G_HM_MODE BIT(7)
#define LSM6DSL_SHIFT_CTRL7_G_HM_MODE 7
#define LSM6DSL_MASK_CTRL7_HP_EN_G BIT(6)
#define LSM6DSL_SHIFT_CTRL7_HP_EN_G 6
#define LSM6DSL_MASK_CTRL7_HPM_G (BIT(5) | BIT(4))
#define LSM6DSL_SHIFT_CTRL7_HPM_G 4
#define LSM6DSL_MASK_CTRL7_ROUNDING_STATUS BIT(2)
#define LSM6DSL_SHIFT_CTRL7_ROUNDING_STATUS 2
#define LSM6DSL_REG_CTRL8_XL 0x17
#define LSM6DSL_MASK_CTRL8_LPF2_XL_EN BIT(7)
#define LSM6DSL_SHIFT_CTRL8_LPF2_XL_EN 7
#define LSM6DSL_MASK_CTRL8_HPCF_XL (BIT(6) | BIT(5))
#define LSM6DSL_SHIFT_CTRL8_HPCF_XL 5
#define LSM6DSL_MASK_CTRL8_HP_REF_MODE BIT(4)
#define LSM6DSL_SHIFT_CTRL8_HP_REF_MODE 4
#define LSM6DSL_MASK_CTRL8_INPUT_COMPOSITE BIT(3)
#define LSM6DSL_SHIFT_CTRL8_INPUT_COMPOSITE 3
#define LSM6DSL_MASK_CTRL8_HP_SLOPE_XL_EN BIT(2)
#define LSM6DSL_SHIFT_CTRL8_HP_SLOPE_XL_EN 2
#define LSM6DSL_MASK_CTRL8_LOW_PASS_ON_6D BIT(0)
#define LSM6DSL_SHIFT_CTRL8_LOW_PASS_ON_6D 0
#define LSM6DSL_REG_CTRL9_XL 0x18
#define LSM6DSL_MASK_CTRL9_XL_DEN_X BIT(7)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_X 7
#define LSM6DSL_MASK_CTRL9_XL_DEN_Y BIT(6)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_Y 6
#define LSM6DSL_MASK_CTRL9_XL_DEN_Z BIT(5)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_Z 5
#define LSM6DSL_MASK_CTRL9_XL_DEN_G BIT(4)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_G 4
#define LSM6DSL_MASK_CTRL9_XL_SOFT_EN BIT(2)
#define LSM6DSL_SHIFT_CTRL9_XL_SOFT_EN 2
#define LSM6DSL_REG_CTRL9_XL 0x18
#define LSM6DSL_MASK_CTRL9_XL_DEN_X BIT(7)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_X 7
#define LSM6DSL_MASK_CTRL9_XL_DEN_Y BIT(6)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_Y 6
#define LSM6DSL_MASK_CTRL9_XL_DEN_Z BIT(5)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_Z 5
#define LSM6DSL_MASK_CTRL9_XL_DEN_G BIT(4)
#define LSM6DSL_SHIFT_CTRL9_XL_DEN_G 4
#define LSM6DSL_MASK_CTRL9_XL_SOFT_EN BIT(2)
#define LSM6DSL_SHIFT_CTRL9_XL_SOFT_EN 2
#define LSM6DSL_REG_CTRL10_C 0x19
#define LSM6DSL_MASK_CTRL10_C_WRIST_TILT_EN BIT(7)
#define LSM6DSL_SHIFT_CTRL10_C_WRIST_TILT_EN 7
#define LSM6DSL_MASK_CTRL10_C_TIMER_EN BIT(5)
#define LSM6DSL_SHIFT_CTRL10_C_TIMER_EN 5
#define LSM6DSL_MASK_CTRL10_C_PEDO_EN BIT(4)
#define LSM6DSL_SHIFT_CTRL10_C_PEDO_EN 4
#define LSM6DSL_MASK_CTRL10_C_TILT_EN BIT(3)
#define LSM6DSL_SHIFT_CTRL10_C_TILT_EN 3
#define LSM6DSL_MASK_CTRL10_C_FUNC_EN BIT(2)
#define LSM6DSL_SHIFT_CTRL10_C_FUNC_EN 2
#define LSM6DSL_MASK_CTRL10_C_PEDO_RST_STEP BIT(1)
#define LSM6DSL_SHIFT_CTRL10_C_PEDO_RST_STEP 1
#define LSM6DSL_MASK_CTRL10_C_SIGN_MOTION_EN BIT(0)
#define LSM6DSL_SHIFT_CTRL10_C_SIGN_MOTION_EN 0
#define LSM6DSL_REG_MASTER_CONFIG 0x1A
#define LSM6DSL_MASK_MASTER_CONFIG_DRDY_ON_INT1 BIT(7)
#define LSM6DSL_SHIFT_MASTER_CONFIG_DRDY_ON_INT1 7
#define LSM6DSL_MASK_MASTER_CONFIG_DATA_VALID_SEL_FIFO BIT(6)
#define LSM6DSL_SHIFT_MASTER_CONFIG_DATA_VALID_SEL_FIFO 6
#define LSM6DSL_MASK_MASTER_CONFIG_START_CONFIG BIT(4)
#define LSM6DSL_SHIFT_MASTER_CONFIG_START_CONFIG 4
#define LSM6DSL_MASK_MASTER_CONFIG_PULL_UP_EN BIT(3)
#define LSM6DSL_SHIFT_MASTER_CONFIG_PULL_UP_EN 3
#define LSM6DSL_MASK_MASTER_CONFIG_PASS_THROUGH_MODE BIT(2)
#define LSM6DSL_SHIFT_MASTER_CONFIG_PASS_THROUGH_MODE 2
#define LSM6DSL_MASK_MASTER_CONFIG_IRON_EN BIT(1)
#define LSM6DSL_SHIFT_MASTER_CONFIG_IRON_EN 1
#define LSM6DSL_MASK_MASTER_CONFIG_MASTER_ON BIT(0)
#define LSM6DSL_SHIFT_MASTER_CONFIG_MASTER_ON 0
#define LSM6DSL_REG_WAKE_UP_SRC 0x1B
#define LSM6DSL_MASK_WAKE_UP_SRC_FF_IA BIT(5)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_FF_IA 5
#define LSM6DSL_MASK_WAKE_UP_SRC_SLEEP_STATE_IA BIT(4)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_SLEEP_STATE_IA 4
#define LSM6DSL_MASK_WAKE_UP_SRC_WU_IA BIT(3)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_WU_IA 3
#define LSM6DSL_MASK_WAKE_UP_SRC_X_WU BIT(2)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_X_WU 2
#define LSM6DSL_MASK_WAKE_UP_SRC_Y_WU BIT(1)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_Y_WU 1
#define LSM6DSL_MASK_WAKE_UP_SRC_Z_WU BIT(0)
#define LSM6DSL_SHIFT_WAKE_UP_SRC_Z_WU 0
#define LSM6DSL_REG_TAP_SRC 0x1C
#define LSM6DSL_MASK_TAP_SRC_TAP_IA BIT(6)
#define LSM6DSL_SHIFT_TAP_SRC_TAP_IA 6
#define LSM6DSL_MASK_TAP_SRC_SINGLE_TAP BIT(5)
#define LSM6DSL_SHIFT_TAP_SRC_SINGLE_TAP 5
#define LSM6DSL_MASK_TAP_SRC_DOUBLE_TAP BIT(4)
#define LSM6DSL_SHIFT_TAP_SRC_DOUBLE_TAP 4
#define LSM6DSL_MASK_TAP_SRC_TAP_SIGN BIT(3)
#define LSM6DSL_SHIFT_TAP_SRC_TAP_SIGN 3
#define LSM6DSL_MASK_TAP_SRC_X_TAP BIT(2)
#define LSM6DSL_SHIFT_TAP_SRC_X_TAP 2
#define LSM6DSL_MASK_TAP_SRC_Y_TAP BIT(1)
#define LSM6DSL_SHIFT_TAP_SRC_Y_TAP 1
#define LSM6DSL_MASK_TAP_SRC_Z_TAP BIT(0)
#define LSM6DSL_SHIFT_TAP_SRC_Z_TAP 0
#define LSM6DSL_REG_D6D_SRC 0x1D
#define LSM6DSL_MASK_D6D_SRC_DEN_DRDY BIT(7)
#define LSM6DSL_SHIFT_D6D_SRC_DEN_DRDY 7
#define LSM6DSL_MASK_D6D_SRC_D6D_IA BIT(6)
#define LSM6DSL_SHIFT_D6D_SRC_D6D_IA 6
#define LSM6DSL_MASK_D6D_SRC_ZH BIT(5)
#define LSM6DSL_SHIFT_D6D_SRC_ZH 5
#define LSM6DSL_MASK_D6D_SRC_ZL BIT(4)
#define LSM6DSL_SHIFT_D6D_SRC_ZL 4
#define LSM6DSL_MASK_D6D_SRC_YH BIT(3)
#define LSM6DSL_SHIFT_D6D_SRC_YH 3
#define LSM6DSL_MASK_D6D_SRC_YL BIT(2)
#define LSM6DSL_SHIFT_D6D_SRC_YL 2
#define LSM6DSL_MASK_D6D_SRC_XH BIT(1)
#define LSM6DSL_SHIFT_D6D_SRC_XH 1
#define LSM6DSL_MASK_D6D_SRC_XL BIT(0)
#define LSM6DSL_SHIFT_D6D_SRC_XL 0
#define LSM6DSL_REG_STATUS_REG 0x1E
#define LSM6DSL_MASK_STATUS_REG_TDA BIT(2)
#define LSM6DSL_SHIFT_STATUS_REG_TDA 2
#define LSM6DSL_MASK_STATUS_REG_GDA BIT(1)
#define LSM6DSL_SHIFT_STATUS_REG_GDA 1
#define LSM6DSL_MASK_STATUS_REG_XLDA BIT(0)
#define LSM6DSL_SHIFT_STATUS_REG_XLDA 0
#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 0x2E
#define LSM6DSL_REG_SENSORHUB2 0x2F
#define LSM6DSL_REG_SENSORHUB3 0x30
#define LSM6DSL_REG_SENSORHUB4 0x31
#define LSM6DSL_REG_SENSORHUB5 0x32
#define LSM6DSL_REG_SENSORHUB6 0x33
#define LSM6DSL_REG_SENSORHUB7 0x34
#define LSM6DSL_REG_SENSORHUB8 0x35
#define LSM6DSL_REG_SENSORHUB9 0x36
#define LSM6DSL_REG_SENSORHUB10 0x37
#define LSM6DSL_REG_SENSORHUB11 0x38
#define LSM6DSL_REG_SENSORHUB12 0x39
#define LSM6DSL_REG_FIFO_STATUS1 0x3A
#define LSM6DSL_REG_FIFO_STATUS2 0x3B
#define LSM6DSL_MASK_FIFO_STATUS2_WATERM BIT(7)
#define LSM6DSL_SHIFT_FIFO_STATUS2_WATERM 7
#define LSM6DSL_MASK_FIFO_STATUS2_OVER_RUN BIT(6)
#define LSM6DSL_SHIFT_FIFO_STATUS2_OVER_RUN 6
#define LSM6DSL_MASK_FIFO_STATUS2_FIFO_FULL_SMART BIT(5)
#define LSM6DSL_SHIFT_FIFO_STATUS2_FIFO_FULL_SMART 5
#define LSM6DSL_MASK_FIFO_STATUS2_FIFO_EMPTY BIT(4)
#define LSM6DSL_SHIFT_FIFO_STATUS2_FIFO_EMPTY 4
#define LSM6DSL_MASK_FIFO_STATUS2_DIFF_FIFO (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FIFO_STATUS2_DIFF_FIFO 0
#define LSM6DSL_REG_FIFO_STATUS3 0x3C
#define LSM6DSL_MASK_FIFO_STATUS3_FIFO_PATTERN 0x0F
#define LSM6DSL_SHIFT_FIFO_STATUS3_FIFO_PATTERN 0
#define LSM6DSL_REG_FIFO_STATUS4 0x3C
#define LSM6DSL_MASK_FIFO_STATUS4_FIFO_PATTERN (BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_FIFO_STATUS4_FIFO_PATTERN 0
#define LSM6DSL_REG_FIFO_DATA_OUT_L 0x3E
#define LSM6DSL_REG_FIFO_DATA_OUT_H 0x3F
#define LSM6DSL_REG_TIMESTAMP0 0x40
#define LSM6DSL_REG_TIMESTAMP1 0x41
#define LSM6DSL_REG_TIMESTAMP2 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 0x4D
#define LSM6DSL_REG_SENSORHUB14 0x4E
#define LSM6DSL_REG_SENSORHUB15 0x4F
#define LSM6DSL_REG_SENSORHUB16 0x50
#define LSM6DSL_REG_SENSORHUB17 0x51
#define LSM6DSL_REG_SENSORHUB18 0x52
#define LSM6DSL_REG_FUNC_SRC1 0x53
#define LSM6DSL_MASK_FUNC_SRC1_STEP_COUNT_DELTA_IA BIT(7)
#define LSM6DSL_SHIFT_FUNC_SRC1_STEP_COUNT_DELTA_IA 7
#define LSM6DSL_MASK_FUNC_SRC1_SIGN_MOTION_IA BIT(6)
#define LSM6DSL_SHIFT_FUNC_SRC1_SIGN_MOTION_IA 6
#define LSM6DSL_MASK_FUNC_SRC1_TILT_IA BIT(5)
#define LSM6DSL_SHIFT_FUNC_SRC1_TILT_IA 5
#define LSM6DSL_MASK_FUNC_SRC1_STEP_DETECTED BIT(4)
#define LSM6DSL_SHIFT_FUNC_SRC1_STEP_DETECTED 4
#define LSM6DSL_MASK_FUNC_SRC1_STEP_OVERFLOW BIT(3)
#define LSM6DSL_SHIFT_FUNC_SRC1_STEP_OVERFLOW 3
#define LSM6DSL_MASK_FUNC_SRC1_HI_FAIL BIT(2)
#define LSM6DSL_SHIFT_FUNC_SRC1_HI_FAIL 2
#define LSM6DSL_MASK_FUNC_SRC1_SI_SEND_OP BIT(1)
#define LSM6DSL_SHIFT_FUNC_SRC1_SI_SEND_OP 1
#define LSM6DSL_MASK_FUNC_SRC1_SENSORHUB_END_OP BIT(0)
#define LSM6DSL_SHIFT_FUNC_SRC1_SENSORHUB_END_OP 0
#define LSM6DSL_REG_FUNC_SRC2 0x54
#define LSM6DSL_MASK_FUNC_SRC2_SLAVE3_NACK BIT(6)
#define LSM6DSL_SHIFT_FUNC_SRC2_SLAVE3_NACK 6
#define LSM6DSL_MASK_FUNC_SRC2_SLAVE2_NACK BIT(5)
#define LSM6DSL_SHIFT_FUNC_SRC2_SLAVE2_NACK 5
#define LSM6DSL_MASK_FUNC_SRC2_SLAVE1_NACK BIT(4)
#define LSM6DSL_SHIFT_FUNC_SRC2_SLAVE1_NACK 4
#define LSM6DSL_MASK_FUNC_SRC2_SLAVE0_NACK BIT(3)
#define LSM6DSL_SHIFT_FUNC_SRC2_SLAVE0_NACK 3
#define LSM6DSL_MASK_FUNC_SRC2_WRIST_TILT_IA BIT(0)
#define LSM6DSL_SHIFT_FUNC_SRC2_WRIST_TILT_IA 0
#define LSM6DSL_REG_WRIST_TILT_IA 0x55
#define LSM6DSL_MASK_WRIST_TILT_IA_XPOS BIT(7)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_XPOS 7
#define LSM6DSL_MASK_WRIST_TILT_IA_XNEG BIT(6)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_XNEG 6
#define LSM6DSL_MASK_WRIST_TILT_IA_YPOS BIT(5)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_YPOS 5
#define LSM6DSL_MASK_WRIST_TILT_IA_YNEG BIT(4)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_YNEG 4
#define LSM6DSL_MASK_WRIST_TILT_IA_ZPOS BIT(3)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_ZPOS 3
#define LSM6DSL_MASK_WRIST_TILT_IA_ZNEG BIT(2)
#define LSM6DSL_SHIFT_WRIST_TILT_IA_ZNEG 2
#define LSM6DSL_REG_TAP_CFG 0x58
#define LSM6DSL_MASK_TAP_CFG_INTERRPUTS_ENABLE BIT(7)
#define LSM6DSL_SHIFT_TAP_CFG_INTERRPUTS_ENABLE 7
#define LSM6DSL_MASK_TAP_CFG_INACT_EN (BIT(6) | BIT(5))
#define LSM6DSL_SHIFT_TAP_CFG_INACT_EN 5
#define LSM6DSL_MASK_TAP_CFG_SLOPE_FDS BIT(4)
#define LSM6DSL_SHIFT_TAP_CFG_SLOPE_FDS 4
#define LSM6DSL_MASK_TAP_CFG_X_EN BIT(3)
#define LSM6DSL_SHIFT_TAP_CFG_X_EN 3
#define LSM6DSL_MASK_TAP_CFG_Y_EN BIT(2)
#define LSM6DSL_SHIFT_TAP_CFG_Y_EN 2
#define LSM6DSL_MASK_TAP_CFG_Z_EN BIT(1)
#define LSM6DSL_SHIFT_TAP_CFG_Z_EN 1
#define LSM6DSL_MASK_TAP_CFG_LIR BIT(0)
#define LSM6DSL_SHIFT_TAP_CFG_LIR 0
#define LSM6DSL_REG_TAP_THS_6D 0x59
#define LSM6DSL_MASK_TAP_THS_6D_D4D_EN BIT(7)
#define LSM6DSL_SHIFT_TAP_THS_6D_D4D_EN 7
#define LSM6DSL_MASK_TAP_THS_6D_SIXD_THS (BIT(6) | BIT(5))
#define LSM6DSL_SHIFT_TAP_THS_6D_SIXD_THS 5
#define LSM6DSL_MASK_TAP_THS_6D_TAP_THS (BIT(4) | BIT(3) | \
BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_TAP_THS_6D_TAP_THS 0
#define LSM6DSL_REG_INT_DUR2 0x5A
#define LSM6DSL_MASK_INT_DUR2_DUR (BIT(7) | BIT(6) | \
BIT(5) | BIT(4))
#define LSM6DSL_SHIFT_INT_DUR2_DUR 4
#define LSM6DSL_MASK_INT_DUR2_QUIET (BIT(3) | BIT(2))
#define LSM6DSL_SHIFT_INT_QUIET 2
#define LSM6DSL_MASK_INT_DUR2_SHOCK (BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_INT_SHOCK 0
#define LSM6DSL_REG_WAKE_UP_THS 0x5B
#define LSM6DSL_MASK_WAKE_UP_THS_SINGLE_DOUBLE_TAP BIT(7)
#define LSM6DSL_SHIFT_WAKE_UP_THS_SINGLE_DOUBLE_TAP 7
#define LSM6DSL_MASK_WAKE_UP_THS_WK_THS (BIT(5) | BIT(4) | \
BIT(3) | BIT(2) | \
BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_WAKE_UP_THS_WK_THS 0
#define LSM6DSL_REG_WAKE_UP_DUR 0x5C
#define LSM6DSL_MASK_WAKE_UP_DUR_FF_DUR5 BIT(7)
#define LSM6DSL_SHIFT_WAKE_UP_DUR_FF_DUR5 7
#define LSM6DSL_MASK_WAKE_UP_DUR_WAKE_DUR (BIT(6) | BIT(5))
#define LSM6DSL_SHIFT_WAKE_UP_DUAR_WAKE_DUR 5
#define LSM6DSL_MASK_WAKE_UP_DUR_TIMER_HR BIT(4)
#define LSM6DSL_SHIFT_WAKE_UP_DUR_TIMER_HR 4
#define LSM6DSL_MASK_WAKE_UP_DUR_SLEEP_DUR (BIT(3) | BIT(2) | \
BIT(1) | BIT(0))
#define LSM6DSL_SHIFT_WAKE_UP_DUR_SLEEP_DUR 0
#define LSM6DSL_REG_FREE_FALL 0x5D
#define LSM6DSL_MASK_FREE_FALL_DUR (BIT(7) | BIT(6) | \
BIT(5) | BIT(4) | \
BIT(3))
#define LSM6DSL_SHIFT_FREE_FALL_DUR 4
#define LSM6DSL_MASK_FREE_FALL_THS (BIT(2) | BIT(1) | \
BIT(0))
#define LSM6DSL_SHIFT_FREE_FALL_THS 0
#define LSM6DSL_REG_MD1_CFG 0x5E
#define LSM6DSL_MASK_MD1_CFG_INT1_INACT_STATE BIT(7)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_INACT_STATE 7
#define LSM6DSL_MASK_MD1_CFG_INT1_SINGLE_TAP BIT(6)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_SINGLE_TAP 6
#define LSM6DSL_MASK_MD1_CFG_INT1_WU BIT(5)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_WU 5
#define LSM6DSL_MASK_MD1_CFG_INT1_FF BIT(4)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_FF 4
#define LSM6DSL_MASK_MD1_CFG_INT1_DOUBLE_TAP BIT(3)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_DOUBLE_TAP 3
#define LSM6DSL_MASK_MD1_CFG_INT1_6D BIT(2)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_6D 2
#define LSM6DSL_MASK_MD1_CFG_INT1_TILT BIT(1)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_TILT 1
#define LSM6DSL_MASK_MD1_CFG_INT1_TIMER BIT(0)
#define LSM6DSL_SHIFT_MD1_CFG_INT1_TIMER 0
#define LSM6DSL_REG_MD2_CFG 0x5F
#define LSM6DSL_MASK_MD2_CFG_INT2_INACT_STATE BIT(7)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_INACT_STATE 7
#define LSM6DSL_MASK_MD2_CFG_INT2_SINGLE_TAP BIT(6)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_SINGLE_TAP 6
#define LSM6DSL_MASK_MD2_CFG_INT2_WU BIT(5)
#define LSM6DSL_SHIFT_MD2_CFG_INT1_WU 5
#define LSM6DSL_MASK_MD2_CFG_INT2_FF BIT(4)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_FF 4
#define LSM6DSL_MASK_MD2_CFG_INT2_DOUBLE_TAP BIT(3)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_DOUBLE_TAP 3
#define LSM6DSL_MASK_MD2_CFG_INT2_6D BIT(2)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_6D 2
#define LSM6DSL_MASK_MD2_CFG_INT2_TILT BIT(1)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_TILT 1
#define LSM6DSL_MASK_MD2_CFG_INT2_IRON BIT(0)
#define LSM6DSL_SHIFT_MD2_CFG_INT2_IRON 0
#define LSM6DSL_REG_MASTER_CMD_CODE 0x60
#define LSM6DSL_REG_SENS_SYNC_SPI_ERROR_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
/* Accel sensor sensitivity grain is 0.061 mg/LSB */
#define SENSI_GRAIN_XL (61LL / 1000.0)
/* Gyro sensor sensitivity grain is 4.375 mdps/LSB */
#define SENSI_GRAIN_G (4375LL / 1000.0)
#define SENSOR_PI_DOUBLE (SENSOR_PI / 1000000.0)
#define SENSOR_DEG2RAD_DOUBLE (SENSOR_PI_DOUBLE / 180)
#define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0)
#if CONFIG_LSM6DSL_ACCEL_FULLSCALE == 2
#define LSM6DSL_ACCEL_FULLSCALE_2G
#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 4
#define LSM6DSL_ACCEL_FULLSCALE_4G
#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 8
#define LSM6DSL_ACCEL_FULLSCALE_8G
#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 16
#define LSM6DSL_ACCEL_FULLSCALE_16G
#endif
#if defined(LSM6DSL_ACCEL_FULLSCALE_2G)
#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 0
#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY SENSI_GRAIN_XL
#elif defined(LSM6DSL_ACCEL_FULLSCALE_4G)
#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 2
#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (2.0 * SENSI_GRAIN_XL)
#elif defined(LSM6DSL_ACCEL_FULLSCALE_8G)
#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 3
#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (4.0 * SENSI_GRAIN_XL)
#elif defined(LSM6DSL_ACCEL_FULLSCALE_16G)
#define LSM6DSL_DEFALUT_ACCEL_FULLSCALE 1
#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (8.0 * SENSI_GRAIN_XL)
#endif
#if CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 0
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 0
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 2
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 11
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 13
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 1
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 26
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 2
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 52
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 3
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 104
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 4
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 208
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 5
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 416
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 6
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 833
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 7
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 1660
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 8
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 3330
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 9
#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 6660
#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 10
#endif
#if CONFIG_LSM6DSL_GYRO_FULLSCALE == 125
#define LSM6DSL_GYRO_FULLSCALE_125
#elif CONFIG_LSM6DSL_GYRO_FULLSCALE == 245
#define LSM6DSL_GYRO_FULLSCALE_245
#elif CONFIG_LSM6DSL_GYRO_FULLSCALE == 500
#define LSM6DSL_GYRO_FULLSCALE_500
#elif CONFIG_LSM6DSL_GYRO_FULLSCALE == 1000
#define LSM6DSL_GYRO_FULLSCALE_1000
#elif CONFIG_LSM6DSL_GYRO_FULLSCALE == 2000
#define LSM6DSL_GYRO_FULLSCALE_2000
#endif
#if defined(LSM6DSL_GYRO_FULLSCALE_125)
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 4
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY SENSI_GRAIN_G
#elif defined(LSM6DSL_GYRO_FULLSCALE_245)
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 0
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (2.0 * SENSI_GRAIN_G)
#elif defined(LSM6DSL_GYRO_FULLSCALE_500)
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 1
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (4.0 * SENSI_GRAIN_G)
#elif defined(LSM6DSL_GYRO_FULLSCALE_1000)
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 2
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (8.0 * SENSI_GRAIN_G)
#elif defined(LSM6DSL_GYRO_FULLSCALE_2000)
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 3
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (16.0 * SENSI_GRAIN_G)
#endif
#define GYRO_FULLSCALE_125 4
#if CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 0
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 0
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 13
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 1
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 26
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 2
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 52
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 3
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 104
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 4
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 208
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 5
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 416
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 6
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 833
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 7
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 1660
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 8
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 3330
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 9
#elif CONFIG_LSM6DSL_GYRO_SAMPLING_RATE == 6660
#define LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE 10
#endif
struct lsm6dsl_config {
char *i2c_master_dev_name;
u16_t i2c_slave_addr;
};
struct lsm6dsl_data {
struct device *i2c_master;
int accel_sample_x;
int accel_sample_y;
int accel_sample_z;
int gyro_sample_x;
int gyro_sample_y;
int gyro_sample_z;
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
int temp_sample;
#endif
};
#define SYS_LOG_DOMAIN "LSM6DSL"
#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
#include <logging/sys_log.h>
#endif /* __SENSOR_LSM6DSL_H__ */