drivers: sensor: lsm6dsl: add .attr_set callback
In order to be able to change at runtime the Output Data Rate (ODR) as well as the Full-Scale (FS) for both the Accelerometr and Gyroscope the driver needs to provide the .attr_set callback. Signed-off-by: Armando Visconti <armando.visconti@st.com>
This commit is contained in:
Armando Visconti
Maureen Helm
parent
580a9b3f2f
commit
f7f56ccda5
4 changed files with 341 additions and 137 deletions
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@ -205,46 +205,74 @@ endif #LSM6DSL_SENSORHUB
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menu "Attributes"
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depends on LSM6DSL
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config LSM6DSL_GYRO_FULLSCALE
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config LSM6DSL_GYRO_FS
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int
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prompt "Gyroscope full-scale range"
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depends on LSM6DSL
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default 2000
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default 0
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help
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Specify the default gyroscope full-scale range.
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An X value for the config represents a range of +/- X degree per
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second. Valid values are 125, 245, 500, 1000 and 2000.
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second. Valid values are:
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0: Full Scale selected at runtime
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125: +/- 125dps
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245: +/- 245dps
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500: +/- 500dps
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1000: +/- 1000dps
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2000: +/- 2000dps
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config LSM6DSL_GYRO_SAMPLING_RATE
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int
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prompt "Output data rate"
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config LSM6DSL_GYRO_ODR
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int "Gyroscope Output data rate frequency"
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depends on LSM6DSL
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default 26
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help
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Specify the default gyroscope output data rate expressed in samples
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per second (Hz).
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Data rates supported by the chip are 0, 13, 26, 52, 104, 208, 416,
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833, 1660, 3330, 6660.
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config LSM6DSL_ACCEL_FULLSCALE
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int
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prompt "Accelerometer full-scale range"
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depends on LSM6DSL
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default 2
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help
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Specify the default accelerometer full-scale range.
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An X value for the config represents a range of +/- X G. Valid values
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are 2, 4, 8 and 16.
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config LSM6DSL_ACCEL_SAMPLING_RATE
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int
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prompt "Output data rate"
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depends on LSM6DSL
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default 26
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range 0 10
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default 0
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help
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Specify the default accelerometer output data rate expressed in
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samples per second (Hz).
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Data rates supported by the chip are 0, 2, 13, 26, 52, 104, 208,
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416, 833, 1660, 3330, 6660.
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0: ODR selected at runtime
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1: 12.5Hz
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2: 26Hz
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3: 52Hz
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4: 104Hz
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5: 208Hz
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6: 416Hz
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7: 833Hz
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8: 1660Hz
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9: 3330Hz
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10: 6660Hz
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config LSM6DSL_ACCEL_FS
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int
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prompt "Accelerometer full-scale range"
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depends on LSM6DSL
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default 0
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help
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Specify the default accelerometer full-scale range.
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An X value for the config represents a range of +/- X G. Valid values
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are:
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0: Full Scale selected at runtime
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2: +/- 2g
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4: +/- 4g
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8: +/- 8g
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16: +/- 16g
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config LSM6DSL_ACCEL_ODR
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int "Accelerometer Output data rate frequency"
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depends on LSM6DSL
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range 0 10
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default 0
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help
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Specify the default accelerometer output data rate expressed in
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samples per second (Hz).
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0: ODR selected at runtime
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1: 12.5Hz
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2: 26Hz
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3: 52Hz
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4: 104Hz
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5: 208Hz
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6: 416Hz
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7: 833Hz
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8: 1660Hz
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9: 3330Hz
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10: 6660Hz
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endmenu
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@ -18,6 +18,69 @@
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#include "lsm6dsl.h"
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static const u16_t lsm6dsl_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833,
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1660, 3330, 6660};
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#if defined(LSM6DSL_ACCEL_ODR_RUNTIME) || defined(LSM6DSL_GYRO_ODR_RUNTIME)
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static int lsm6dsl_freq_to_odr_val(u16_t freq)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(lsm6dsl_odr_map); i++) {
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if (freq == lsm6dsl_odr_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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#endif
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static int lsm6dsl_odr_to_freq_val(u16_t odr)
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{
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if (odr > ARRAY_SIZE(lsm6dsl_odr_map)) {
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odr = ARRAY_SIZE(lsm6dsl_odr_map);
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}
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return lsm6dsl_odr_map[odr];
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}
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#ifdef LSM6DSL_ACCEL_FS_RUNTIME
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static const u16_t lsm6dsl_accel_fs_map[] = {2, 16, 4, 8};
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static const u16_t lsm6dsl_accel_fs_sens[] = {1, 8, 2, 4};
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static int lsm6dsl_accel_range_to_fs_val(s32_t range)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(lsm6dsl_accel_fs_map); i++) {
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if (range == lsm6dsl_accel_fs_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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#endif
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#ifdef LSM6DSL_GYRO_FS_RUNTIME
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static const u16_t lsm6dsl_gyro_fs_map[] = {245, 500, 1000, 2000, 125};
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static const u16_t lsm6dsl_gyro_fs_sens[] = {2, 4, 8, 16, 1};
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static int lsm6dsl_gyro_range_to_fs_val(s32_t range)
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{
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size_t i;
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for (i = 0; i < ARRAY_SIZE(lsm6dsl_gyro_fs_map); i++) {
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if (range == lsm6dsl_gyro_fs_map[i]) {
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return i;
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}
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}
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return -EINVAL;
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}
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#endif
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static inline int lsm6dsl_reboot(struct device *dev)
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{
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struct lsm6dsl_data *data = dev->driver_data;
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@ -45,6 +108,8 @@ static int lsm6dsl_accel_set_fs_raw(struct device *dev, u8_t fs)
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return -EIO;
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}
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data->accel_fs = fs;
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return 0;
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}
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@ -59,6 +124,8 @@ static int lsm6dsl_accel_set_odr_raw(struct device *dev, u8_t odr)
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return -EIO;
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}
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data->accel_freq = lsm6dsl_odr_to_freq_val(odr);
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return 0;
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}
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@ -99,6 +166,147 @@ static int lsm6dsl_gyro_set_odr_raw(struct device *dev, u8_t odr)
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return 0;
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}
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#ifdef LSM6DSL_ACCEL_ODR_RUNTIME
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static int lsm6dsl_accel_odr_set(struct device *dev, u16_t freq)
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{
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int odr;
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odr = lsm6dsl_freq_to_odr_val(freq);
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if (odr < 0) {
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return odr;
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}
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if (lsm6dsl_accel_set_odr_raw(dev, odr) < 0) {
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SYS_LOG_DBG("failed to set accelerometer sampling rate");
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return -EIO;
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}
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return 0;
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}
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#endif
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#ifdef LSM6DSL_ACCEL_FS_RUNTIME
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static int lsm6dsl_accel_range_set(struct device *dev, s32_t range)
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{
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int fs;
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struct lsm6dsl_data *data = dev->driver_data;
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fs = lsm6dsl_accel_range_to_fs_val(range);
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if (fs < 0) {
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return fs;
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}
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if (lsm6dsl_accel_set_fs_raw(dev, fs) < 0) {
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SYS_LOG_DBG("failed to set accelerometer full-scale");
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return -EIO;
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}
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data->accel_sensitivity = (float)(lsm6dsl_accel_fs_sens[fs]
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* SENSI_GRAIN_XL);
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return 0;
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}
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#endif
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static int lsm6dsl_accel_config(struct device *dev, enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (attr) {
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#ifdef LSM6DSL_ACCEL_FS_RUNTIME
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case SENSOR_ATTR_FULL_SCALE:
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return lsm6dsl_accel_range_set(dev, sensor_ms2_to_g(val));
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#endif
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#ifdef LSM6DSL_ACCEL_ODR_RUNTIME
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return lsm6dsl_accel_odr_set(dev, val->val1);
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#endif
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default:
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SYS_LOG_DBG("Accel attribute not supported.");
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return -ENOTSUP;
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}
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return 0;
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}
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#ifdef LSM6DSL_GYRO_ODR_RUNTIME
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static int lsm6dsl_gyro_odr_set(struct device *dev, u16_t freq)
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{
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int odr;
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odr = lsm6dsl_freq_to_odr_val(freq);
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if (odr < 0) {
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return odr;
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}
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if (lsm6dsl_gyro_set_odr_raw(dev, odr) < 0) {
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SYS_LOG_DBG("failed to set gyroscope sampling rate");
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return -EIO;
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}
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return 0;
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}
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#endif
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#ifdef LSM6DSL_GYRO_FS_RUNTIME
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static int lsm6dsl_gyro_range_set(struct device *dev, s32_t range)
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{
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int fs;
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struct lsm6dsl_data *data = dev->driver_data;
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fs = lsm6dsl_gyro_range_to_fs_val(range);
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if (fs < 0) {
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return fs;
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}
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if (lsm6dsl_gyro_set_fs_raw(dev, fs) < 0) {
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SYS_LOG_DBG("failed to set gyroscope full-scale");
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return -EIO;
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}
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data->gyro_sensitivity = (float)(lsm6dsl_gyro_fs_sens[fs]
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* SENSI_GRAIN_G);
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return 0;
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}
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#endif
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static int lsm6dsl_gyro_config(struct device *dev, enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (attr) {
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#ifdef LSM6DSL_GYRO_FS_RUNTIME
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case SENSOR_ATTR_FULL_SCALE:
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return lsm6dsl_gyro_range_set(dev, sensor_ms2_to_g(val));
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#endif
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#ifdef LSM6DSL_GYRO_ODR_RUNTIME
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case SENSOR_ATTR_SAMPLING_FREQUENCY:
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return lsm6dsl_gyro_odr_set(dev, val->val1);
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#endif
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default:
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SYS_LOG_DBG("Gyro attribute not supported.");
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return -ENOTSUP;
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}
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return 0;
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}
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static int lsm6dsl_attr_set(struct device *dev, enum sensor_channel chan,
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enum sensor_attribute attr,
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const struct sensor_value *val)
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{
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switch (chan) {
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case SENSOR_CHAN_ACCEL_XYZ:
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return lsm6dsl_accel_config(dev, chan, attr, val);
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case SENSOR_CHAN_GYRO_XYZ:
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return lsm6dsl_gyro_config(dev, chan, attr, val);
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default:
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SYS_LOG_WRN("attr_set() not supported on this channel.");
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return -ENOTSUP;
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}
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return 0;
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}
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static int lsm6dsl_sample_fetch_accel(struct device *dev)
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{
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struct lsm6dsl_data *data = dev->driver_data;
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@ -294,7 +502,7 @@ static int lsm6dsl_accel_channel_get(enum sensor_channel chan,
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struct lsm6dsl_data *data)
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{
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return lsm6dsl_accel_get_channel(chan, val, data,
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LSM6DSL_DEFAULT_ACCEL_SENSITIVITY);
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data->accel_sensitivity);
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}
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static inline void lsm6dsl_gyro_convert(struct sensor_value *val, int raw_val,
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@ -481,6 +689,7 @@ static int lsm6dsl_channel_get(struct device *dev,
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}
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static const struct sensor_driver_api lsm6dsl_api_funcs = {
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.attr_set = lsm6dsl_attr_set,
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#if CONFIG_LSM6DSL_TRIGGER
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.trigger_set = lsm6dsl_trigger_set,
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#endif
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@ -510,13 +719,14 @@ static int lsm6dsl_init_chip(struct device *dev)
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SYS_LOG_DBG("chip id 0x%x", chip_id);
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if (lsm6dsl_accel_set_fs_raw(dev,
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LSM6DSL_DEFAULT_ACCEL_FULLSCALE) < 0) {
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LSM6DSL_DEFAULT_ACCEL_FULLSCALE) < 0) {
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SYS_LOG_DBG("failed to set accelerometer full-scale");
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return -EIO;
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}
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data->accel_sensitivity = LSM6DSL_DEFAULT_ACCEL_SENSITIVITY;
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if (lsm6dsl_accel_set_odr_raw(dev,
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LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE) < 0) {
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data->accel_freq = lsm6dsl_odr_to_freq_val(CONFIG_LSM6DSL_ACCEL_ODR);
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if (lsm6dsl_accel_set_odr_raw(dev, CONFIG_LSM6DSL_ACCEL_ODR) < 0) {
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SYS_LOG_DBG("failed to set accelerometer sampling rate");
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return -EIO;
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}
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@ -525,9 +735,10 @@ static int lsm6dsl_init_chip(struct device *dev)
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SYS_LOG_DBG("failed to set gyroscope full-scale");
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return -EIO;
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}
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data->gyro_sensitivity = LSM6DSL_DEFAULT_GYRO_SENSITIVITY;
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if (lsm6dsl_gyro_set_odr_raw(dev,
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LSM6DSL_DEFAULT_GYRO_SAMPLING_RATE) < 0) {
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data->gyro_freq = lsm6dsl_odr_to_freq_val(CONFIG_LSM6DSL_GYRO_ODR);
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if (lsm6dsl_gyro_set_odr_raw(dev, CONFIG_LSM6DSL_GYRO_ODR) < 0) {
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SYS_LOG_DBG("failed to set gyroscope sampling rate");
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return -EIO;
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}
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@ -554,109 +554,54 @@
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#define SENSOR_DEG2RAD_DOUBLE (SENSOR_PI_DOUBLE / 180)
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#define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0)
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#if CONFIG_LSM6DSL_ACCEL_FULLSCALE == 2
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#define LSM6DSL_ACCEL_FULLSCALE_2G
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#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 4
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#define LSM6DSL_ACCEL_FULLSCALE_4G
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#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 8
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#define LSM6DSL_ACCEL_FULLSCALE_8G
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#elif CONFIG_LSM6DSL_ACCEL_FULLSCALE == 16
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#define LSM6DSL_ACCEL_FULLSCALE_16G
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#endif
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#if defined(LSM6DSL_ACCEL_FULLSCALE_2G)
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#if CONFIG_LSM6DSL_ACCEL_FS == 0
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#define LSM6DSL_ACCEL_FS_RUNTIME 1
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#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 0
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#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY SENSI_GRAIN_XL
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#elif defined(LSM6DSL_ACCEL_FULLSCALE_4G)
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#elif CONFIG_LSM6DSL_ACCEL_FS == 2
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#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 0
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#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY SENSI_GRAIN_XL
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#elif CONFIG_LSM6DSL_ACCEL_FS == 4
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#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 2
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#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (2.0 * SENSI_GRAIN_XL)
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#elif defined(LSM6DSL_ACCEL_FULLSCALE_8G)
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#elif CONFIG_LSM6DSL_ACCEL_FS == 8
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#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 3
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#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (4.0 * SENSI_GRAIN_XL)
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#elif defined(LSM6DSL_ACCEL_FULLSCALE_16G)
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#define LSM6DSL_DEFALUT_ACCEL_FULLSCALE 1
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#elif CONFIG_LSM6DSL_ACCEL_FS == 16
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#define LSM6DSL_DEFAULT_ACCEL_FULLSCALE 1
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#define LSM6DSL_DEFAULT_ACCEL_SENSITIVITY (8.0 * SENSI_GRAIN_XL)
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#endif
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#if CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 0
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#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 0
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#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 2
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#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 11
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#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 13
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#define LSM6DSL_DEFAULT_ACCEL_SAMPLING_RATE 1
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#elif CONFIG_LSM6DSL_ACCEL_SAMPLING_RATE == 26
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#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)
|
||||
#if (CONFIG_LSM6DSL_ACCEL_ODR == 0)
|
||||
#define LSM6DSL_ACCEL_ODR_RUNTIME 1
|
||||
#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
|
||||
#if CONFIG_LSM6DSL_GYRO_FS == 0
|
||||
#define LSM6DSL_GYRO_FS_RUNTIME 1
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 4
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY SENSI_GRAIN_G
|
||||
#elif CONFIG_LSM6DSL_GYRO_FS == 125
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 4
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY SENSI_GRAIN_G
|
||||
#elif CONFIG_LSM6DSL_GYRO_FS == 245
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 0
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (2.0 * SENSI_GRAIN_G)
|
||||
#elif CONFIG_LSM6DSL_GYRO_FS == 500
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 1
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (4.0 * SENSI_GRAIN_G)
|
||||
#elif CONFIG_LSM6DSL_GYRO_FS == 1000
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 2
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (8.0 * SENSI_GRAIN_G)
|
||||
#elif CONFIG_LSM6DSL_GYRO_FS == 2000
|
||||
#define LSM6DSL_DEFAULT_GYRO_FULLSCALE 3
|
||||
#define LSM6DSL_DEFAULT_GYRO_SENSITIVITY (16.0 * SENSI_GRAIN_G)
|
||||
#endif
|
||||
|
||||
|
||||
#if (CONFIG_LSM6DSL_GYRO_ODR == 0)
|
||||
#define LSM6DSL_GYRO_ODR_RUNTIME 1
|
||||
#endif
|
||||
|
||||
struct lsm6dsl_config {
|
||||
|
|
@ -681,9 +626,11 @@ struct lsm6dsl_data {
|
|||
int accel_sample_x;
|
||||
int accel_sample_y;
|
||||
int accel_sample_z;
|
||||
float accel_sensitivity;
|
||||
int gyro_sample_x;
|
||||
int gyro_sample_y;
|
||||
int gyro_sample_z;
|
||||
float gyro_sensitivity;
|
||||
#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)
|
||||
int temp_sample;
|
||||
#endif
|
||||
|
|
@ -698,6 +645,10 @@ struct lsm6dsl_data {
|
|||
int sample_temp;
|
||||
#endif
|
||||
const struct lsm6dsl_transfer_function *hw_tf;
|
||||
u16_t accel_freq;
|
||||
u8_t accel_fs;
|
||||
u16_t gyro_freq;
|
||||
u8_t gyro_fs;
|
||||
|
||||
#ifdef CONFIG_LSM6DSL_TRIGGER
|
||||
struct device *gpio;
|
||||
|
|
|
|||
|
|
@ -142,6 +142,14 @@ static struct lsm6dsl_shub_sens_list {
|
|||
|
||||
static u8_t ext_i2c_addr;
|
||||
|
||||
static inline void lsm6dsl_shub_wait_completed(struct lsm6dsl_data *data)
|
||||
{
|
||||
u16_t freq;
|
||||
|
||||
freq = (data->accel_freq == 0) ? 26 : data->accel_freq;
|
||||
k_sleep((2000U / freq) + 1);
|
||||
}
|
||||
|
||||
static inline void lsm6dsl_shub_embedded_en(struct lsm6dsl_data *data, bool on)
|
||||
{
|
||||
u8_t func_en = (on) ? 0x1 : 0x0;
|
||||
|
|
@ -195,10 +203,13 @@ static void lsm6dsl_shub_enable(struct lsm6dsl_data *data)
|
|||
LSM6DSL_MASK_CTRL10_C_FUNC_EN,
|
||||
1 << LSM6DSL_SHIFT_CTRL10_C_FUNC_EN);
|
||||
|
||||
/* Enable Accel (TBD) */
|
||||
/* data->hw_tf->update_reg(data, LSM6DSL_REG_CTRL1_XL,
|
||||
* LSM6DSL_MASK_CTRL10_C_FUNC_EN, 1 << LSM6DSL_SHIFT_CTRL10_C_FUNC_EN);
|
||||
*/
|
||||
/* Enable Accel @26hz */
|
||||
if (!data->accel_freq) {
|
||||
data->hw_tf->update_reg(data,
|
||||
LSM6DSL_REG_CTRL1_XL,
|
||||
LSM6DSL_MASK_CTRL1_XL_ODR_XL,
|
||||
2 << LSM6DSL_SHIFT_CTRL1_XL_ODR_XL);
|
||||
}
|
||||
|
||||
/* Enable Sensor Hub */
|
||||
data->hw_tf->update_reg(data, LSM6DSL_REG_MASTER_CONFIG,
|
||||
|
|
@ -213,10 +224,13 @@ static void lsm6dsl_shub_disable(struct lsm6dsl_data *data)
|
|||
LSM6DSL_MASK_MASTER_CONFIG_MASTER_ON,
|
||||
0 << LSM6DSL_SHIFT_MASTER_CONFIG_MASTER_ON);
|
||||
|
||||
/* Disable Accel (TBD) */
|
||||
/* data->hw_tf->update_reg(data, LSM6DSL_REG_CTRL1_XL,
|
||||
* LSM6DSL_MASK_CTRL10_C_FUNC_EN, 1 << LSM6DSL_SHIFT_CTRL10_C_FUNC_EN);
|
||||
*/
|
||||
/* Disable Accel */
|
||||
if (!data->accel_freq) {
|
||||
data->hw_tf->update_reg(data,
|
||||
LSM6DSL_REG_CTRL1_XL,
|
||||
LSM6DSL_MASK_CTRL1_XL_ODR_XL,
|
||||
0 << LSM6DSL_SHIFT_CTRL1_XL_ODR_XL);
|
||||
}
|
||||
|
||||
/* Disable Digital Func */
|
||||
data->hw_tf->update_reg(data, LSM6DSL_REG_CTRL10_C,
|
||||
|
|
@ -245,7 +259,7 @@ static int lsm6dsl_shub_read_slave_reg(struct lsm6dsl_data *data,
|
|||
|
||||
/* turn SH on */
|
||||
lsm6dsl_shub_enable(data);
|
||||
k_sleep(100); /* (TBD) based on odr */
|
||||
lsm6dsl_shub_wait_completed(data);
|
||||
data->hw_tf->read_data(data, LSM6DSL_REG_SENSORHUB1, value, len);
|
||||
|
||||
lsm6dsl_shub_disable(data);
|
||||
|
|
@ -283,7 +297,7 @@ static int lsm6dsl_shub_write_slave_reg(struct lsm6dsl_data *data,
|
|||
|
||||
/* turn SH on */
|
||||
lsm6dsl_shub_enable(data);
|
||||
k_sleep(100); /* (TBD) based on odr */
|
||||
lsm6dsl_shub_wait_completed(data);
|
||||
lsm6dsl_shub_disable(data);
|
||||
|
||||
cnt++;
|
||||
|
|
@ -339,7 +353,7 @@ static int lsm6dsl_shub_set_data_channel(struct lsm6dsl_data *data)
|
|||
|
||||
/* turn SH on */
|
||||
lsm6dsl_shub_enable(data);
|
||||
k_sleep(100); /* (TBD) based on odr */
|
||||
lsm6dsl_shub_wait_completed(data);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue