drivers: add lsm6dsl imu driver

drivers/Makefile.dep

@@ -227,3 +227,8 @@ ifneq (,$(filter mtd_spi_nor,$(USEMODULE)))
   USEMODULE += mtd
   FEATURES_REQUIRED += periph_spi
 endif
+
+ifneq (,$(filter lsm6dsl,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_i2c
+  USEMODULE += xtimer
+endif

drivers/Makefile.include

@@ -118,3 +118,6 @@ endif
 ifneq (,$(filter dynamixel,$(USEMODULE)))
     USEMODULE_INCLUDES += $(RIOTBASE)/drivers/dynamixel/include
 endif
+ifneq (,$(filter lsm6dsl,$(USEMODULE)))
+    USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lsm6dsl/include
+endif

drivers/include/lsm6dsl.h

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @defgroup    drivers_lsm6dsl LSM36DSL 3D accelerometer/gyroscope
+ * @ingroup     drivers_sensors
+ * @brief       Device driver for the LSM36DSL 3D accelerometer/gyroscope
+ *
+ * @{
+ * @file
+ * @brief       Device driver interface for the LSM36DSL 3D accelerometer/gyroscope.
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ */
+
+#ifndef LSM6DSL_H
+#define LSM6DSL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "periph/i2c.h"
+
+/** Data rate */
+enum {
+    LSM6DSL_DATA_RATE_POWER_DOWN = 0x0,
+    LSM6DSL_DATA_RATE_1_6HZ      = 0xB,
+    LSM6DSL_DATA_RATE_12_5HZ     = 0x1,
+    LSM6DSL_DATA_RATE_26HZ       = 0x2,
+    LSM6DSL_DATA_RATE_52HZ       = 0x3,
+    LSM6DSL_DATA_RATE_104HZ      = 0x4,
+    LSM6DSL_DATA_RATE_208HZ      = 0x5,
+    LSM6DSL_DATA_RATE_416HZ      = 0x6,
+    LSM6DSL_DATA_RATE_833HZ      = 0x7,
+    LSM6DSL_DATA_RATE_1_66KHZ    = 0x8,
+    LSM6DSL_DATA_RATE_3_33KHZ    = 0x9,
+    LSM6DSL_DATA_RATE_6_66KHZ    = 0xa,
+};
+
+/** Decimation */
+enum {
+    LSM6DSL_DECIMATION_NOT_IN_FIFO = 0,
+    LSM6DSL_DECIMATION_NO          = 1,
+    LSM6DSL_DECIMATION_2           = 2,
+    LSM6DSL_DECIMATION_3           = 3,
+    LSM6DSL_DECIMATION_4           = 4,
+    LSM6DSL_DECIMATION_8           = 5,
+    LSM6DSL_DECIMATION_16          = 6,
+    LSM6DSL_DECIMATION_32          = 7,
+};
+
+/** Accelerometer full scale */
+enum {
+    LSM6DSL_ACC_FS_2G  = 0,
+    LSM6DSL_ACC_FS_4G  = 2,
+    LSM6DSL_ACC_FS_8G  = 3,
+    LSM6DSL_ACC_FS_16G = 1,
+};
+
+/** Gyroscope full scale */
+enum {
+    LSM6DSL_GYRO_FS_245DPS    = 0,
+    LSM6DSL_GYRO_FS_500DPS    = 1,
+    LSM6DSL_GYRO_FS_1000DPS   = 2,
+    LSM6DSL_GYRO_FS_2000DPS   = 3,
+};
+
+/** LSM6DSL driver parameters */
+typedef struct {
+    i2c_t i2c;                  /**< i2c bus */
+    uint8_t addr;               /**< i2c address */
+    uint8_t acc_odr;            /**< accelerometer output data rate */
+    uint8_t gyro_odr;           /**< gyroscope output data rate */
+    uint8_t acc_fs;             /**< accelerometer full scale */
+    uint8_t gyro_fs;            /**< gyroscope full scale */
+    uint8_t acc_decimation;     /**< accelerometer decimation */
+    uint8_t gyro_decimation;    /**< gyroscope decimation */
+} lsm6dsl_params_t;
+
+/** LSM6DSL device descriptor */
+typedef struct {
+    lsm6dsl_params_t params; /**< driver parameters */
+} lsm6dsl_t;
+
+/** 3D output data */
+typedef struct {
+    int16_t x;  /**< X axis */
+    int16_t y;  /**< Y axis */
+    int16_t z;  /**< Z axis */
+} lsm6dsl_3d_data_t;
+
+/**
+ * @brief Initialize a LSM6DSL device
+ *
+ * @param[in] dev     device to initialize
+ * @param[in] params  driver parameters
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params);
+
+/**
+ * @brief Read accelerometer data
+ *
+ * @param[in] dev    device to read
+ * @param[out] data  accelerometer values
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int lsm6dsl_read_acc(lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
+
+/**
+ * @brief Read gyroscope data
+ *
+ * @param[in] dev    device to read
+ * @param[out] data  gyroscope values
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int lsm6dsl_read_gyro(lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
+
+/**
+ * @brief Read temperature data
+ *
+ * @param[in] dev    device to read
+ * @param[out] data  temperature value
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int lsm6dsl_read_temp(lsm6dsl_t *dev, int16_t *data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LSM6DSL_H */
+/** @} */

drivers/lsm6dsl/Makefile

+include $(RIOTBASE)/Makefile.base

drivers/lsm6dsl/include/lsm6dsl_internal.h

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @addtogroup  drivers_lsm6dsl
+ *
+ * @{
+ * @file
+ * @brief       Internal configuration for LSM36DSL devices
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ */
+
+#ifndef LSM6DSL_INTERNAL_H
+#define LSM6DSL_INTERNAL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name LSM6DSL registers
+ * @{
+ */
+#define LSM6DSL_REG_FUNC_CFG_ACCESS        (0x01)
+#define LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (0x04)
+#define LSM6DSL_REG_SENSOR_SYC_RES_RATIO   (0x05)
+#define LSM6DSL_REG_FIFO_CTRL1             (0x06)
+#define LSM6DSL_REG_FIFO_CTRL2             (0x07)
+#define LSM6DSL_REG_FIFO_CTRL3             (0x08)
+#define LSM6DSL_REG_FIFO_CTRL4             (0x09)
+#define LSM6DSL_REG_FIFO_CTRL5             (0x0A)
+#define LSM6DSL_REG_DRDY_PULSE_CFG_G       (0x0B)
+#define LSM6DSL_REG_INT1_CTRL              (0x0D)
+#define LSM6DSL_REG_INT2_CTRL              (0x0E)
+#define LSM6DSL_REG_WHO_AM_I               (0x0F)
+#define LSM6DSL_REG_CTRL1_XL               (0x10)
+#define LSM6DSL_REG_CTRL2_G                (0x11)
+#define LSM6DSL_REG_CTRL3_C                (0x12)
+#define LSM6DSL_REG_CTRL4_C                (0x13)
+#define LSM6DSL_REG_CTRL5_C                (0x14)
+#define LSM6DSL_REG_CTRL6_C                (0x15)
+#define LSM6DSL_REG_CTRL7_G                (0x16)
+#define LSM6DSL_REG_CTRL8_XL               (0x17)
+#define LSM6DSL_REG_CTRL9_XL               (0x18)
+#define LSM6DSL_REG_CTRL10_C               (0x19)
+#define LSM6DSL_REG_MASTER_CONFIG          (0x1A)
+#define LSM6DSL_REG_WAKE_UP_SRC            (0x1B)
+#define LSM6DSL_REG_TAP_SRC                (0x1C)
+#define LSM6DSL_REG_D6D_SRC                (0x1D)
+#define LSM6DSL_REG_STATUS_REG             (0x1E)
+#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_REG         (0x2E)
+#define LSM6DSL_REG_SENSORHUB2_REG         (0x2F)
+#define LSM6DSL_REG_SENSORHUB3_REG         (0x30)
+#define LSM6DSL_REG_SENSORHUB4_REG         (0x31)
+#define LSM6DSL_REG_SENSORHUB5_REG         (0x32)
+#define LSM6DSL_REG_SENSORHUB6_REG         (0x33)
+#define LSM6DSL_REG_SENSORHUB7_REG         (0x34)
+#define LSM6DSL_REG_SENSORHUB8_REG         (0x35)
+#define LSM6DSL_REG_SENSORHUB9_REG         (0x36)
+#define LSM6DSL_REG_SENSORHUB10_REG        (0x37)
+#define LSM6DSL_REG_SENSORHUB11_REG        (0x38)
+#define LSM6DSL_REG_SENSORHUB12_REG        (0x39)
+#define LSM6DSL_REG_FIFO_STATUS1           (0x3A)
+#define LSM6DSL_REG_FIFO_STATUS2           (0x3B)
+#define LSM6DSL_REG_FIFO_STATUS3           (0x3C)
+#define LSM6DSL_REG_FIFO_STATUS4           (0x3D)
+#define LSM6DSL_REG_FIFO_DATA_OUT_L        (0x3E)
+#define LSM6DSL_REG_FIFO_DATA_OUT_H        (0x3F)
+#define LSM6DSL_REG_TIMESTAMP0_REG         (0x40)
+#define LSM6DSL_REG_TIMESTAMP1_REG         (0x41)
+#define LSM6DSL_REG_TIMESTAMP2_REG         (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_REG        (0x4D)
+#define LSM6DSL_REG_SENSORHUB14_REG        (0x4E)
+#define LSM6DSL_REG_SENSORHUB15_REG        (0x4F)
+#define LSM6DSL_REG_SENSORHUB16_REG        (0x50)
+#define LSM6DSL_REG_SENSORHUB17_REG        (0x51)
+#define LSM6DSL_REG_SENSORHUB18_REG        (0x52)
+#define LSM6DSL_REG_FUNC_SRC_1             (0x53)
+#define LSM6DSL_REG_FUNC_SRC_2             (0x54)
+#define LSM6DSL_REG_WRIST_TILT_IA          (0x55)
+#define LSM6DSL_REG_TAP_CFG                (0x58)
+#define LSM6DSL_REG_TAP_THS_6D             (0x59)
+#define LSM6DSL_REG_INT_DUR2               (0x5A)
+#define LSM6DSL_REG_WAKE_UP_THS            (0x5B)
+#define LSM6DSL_REG_WAKE_UP_DUR            (0x5C)
+#define LSM6DSL_REG_FREE_FALL              (0x5D)
+#define LSM6DSL_REG_MD1_CFG                (0x5E)
+#define LSM6DSL_REG_MD2_CFG                (0x5F)
+#define LSM6DSL_REG_MASTER_CMD_CODE        (0x60)
+#define LSM6DSL_REG_SENS_SYNC_SPI_ERR_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)
+/** @} */
+
+/** WHO_AM_I value */
+#define LSM6DSL_WHO_AM_I                   (0b01101010)
+
+/**
+ * @name CTRL_x registers
+ * @{
+ */
+#define LSM6DSL_CTRL_ODR_SHIFT             (4)
+#define LSM6DSL_CTRL_ODR_MASK              (0xF0)
+#define LSM6DSL_CTRL_FS_SHIFT              (2)
+#define LSM6DSL_CTRL_FS_MASK               (0x0C)
+
+#define LSM6DSL_CTRL3_C_BOOT               (0x80)
+/** @} */
+
+/**
+ * @name FIFO_CTRL_x registers
+ * @{
+ */
+#define LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE (0x6)
+#define LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT  (3)
+
+#define LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT  (3)
+/** @} */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LSM6DS_LINTERNAL_H */
+/** @} */

drivers/lsm6dsl/include/lsm6dsl_params.h

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @addtogroup  drivers_lsm6dsl
+ *
+ * @{
+ * @file
+ * @brief       Default configuration for LSM36DSL devices
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ */
+
+#ifndef LSM6DSL_PARAMS_H
+#define LSM6DSL_PARAMS_H
+
+#include "board.h"
+#include "lsm6dsl.h"
+#include "saul_reg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Set default configuration parameters
+ * @{
+ */
+#ifndef LSM6DSL_PARAM_I2C
+#define LSM6DSL_PARAM_I2C            I2C_DEV(0)
+#endif
+#ifndef LSM6DSL_PARAM_ADDR
+#define LSM6DSL_PARAM_ADDR           (0x6B) /* (0x6A) */
+#endif
+#ifndef LSM6DSL_PARAM_ACC_ODR
+#define LSM6DSL_PARAM_ACC_ODR        (LSM6DSL_DATA_RATE_52HZ)
+#endif
+#ifndef LSM6DSL_PARAM_GYRO_ODR
+#define LSM6DSL_PARAM_GYRO_ODR       (LSM6DSL_DATA_RATE_52HZ)
+#endif
+#ifndef LSM6DSL_PARAM_ACC_FS
+#define LSM6DSL_PARAM_ACC_FS         (LSM6DSL_ACC_FS_2G)
+#endif
+#ifndef LSM6DSL_PARAM_GYRO_FS
+#define LSM6DSL_PARAM_GYRO_FS        (LSM6DSL_GYRO_FS_245DPS)
+#endif
+#ifndef LSM6DSL_PARAM_ACC_FIFO_DEC
+#define LSM6DSL_PARAM_ACC_FIFO_DEC   (LSM6DSL_DECIMATION_NO)
+#endif
+#ifndef LSM6DSL_PARAM_GYRO_FIFO_DEC
+#define LSM6DSL_PARAM_GYRO_FIFO_DEC  (LSM6DSL_DECIMATION_NO)
+#endif
+
+#define LSM6DSL_PARAMS_DEFAULT       { .i2c             = LSM6DSL_PARAM_I2C, \
+                                       .addr            = LSM6DSL_PARAM_ADDR, \
+                                       .acc_odr         = LSM6DSL_PARAM_ACC_ODR, \
+                                       .gyro_odr        = LSM6DSL_PARAM_GYRO_ODR, \
+                                       .acc_fs          = LSM6DSL_PARAM_ACC_FS, \
+                                       .gyro_fs         = LSM6DSL_PARAM_GYRO_FS, \
+                                       .acc_decimation  = LSM6DSL_PARAM_ACC_FIFO_DEC, \
+                                       .gyro_decimation = LSM6DSL_PARAM_GYRO_FIFO_DEC }
+/** @} */
+
+/**
+ * @brief   Allocate some memory to store the actual configuration
+ */
+static const lsm6dsl_params_t lsm6dsl_params[] =
+{
+#ifdef LSM6DSL_PARAMS_CUSTOM
+    LSM6DSL_PARAMS_CUSTOM,
+#else
+    LSM6DSL_PARAMS_DEFAULT,
+#endif
+};
+
+/**
+ * @brief   Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t lsm6dsl_saul_info[] =
+{
+    { .name = "lsm6dsl" }
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LSM6DSL_PARAMS_H */
+/** @} */

drivers/lsm6dsl/lsm6dsl.c

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @file
+ * @brief       Device driver implementation for the LSM36DSL 3D accelerometer/gyroscope.
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ */
+
+#include "xtimer.h"
+
+#include "lsm6dsl.h"
+#include "lsm6dsl_internal.h"
+
+#define ENABLE_DEBUG (1)
+#include "debug.h"
+
+#define MAX(a, b) ((a) > (b) ? (a) : (b))
+
+int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
+{
+    uint8_t tmp;
+    int res;
+
+    assert(dev && params);
+
+    dev->params = *params;
+
+    i2c_acquire(dev->params.i2c);
+    i2c_init_master(dev->params.i2c, I2C_SPEED_NORMAL);
+
+    /* Reboot */
+    i2c_write_reg(dev->params.i2c, dev->params.addr,
+                  LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT);
+
+    xtimer_usleep(5000);
+
+    res = i2c_read_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_WHO_AM_I, &tmp);
+    if ((res != 1) || (tmp != LSM6DSL_WHO_AM_I)) {
+        i2c_release(dev->params.i2c);
+        DEBUG("[!!failed!!] WHO_AM_I\n");
+        return -1;
+    }
+
+    /* Set acc odr / full scale */
+    res = i2c_write_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_CTRL1_XL,
+                        ((dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT) |
+                         (dev->params.acc_fs << LSM6DSL_CTRL_FS_SHIFT)));
+    /* Set gyro odr / full scale */
+    res += i2c_write_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_CTRL2_G,
+                         ((dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT) |
+                          (dev->params.gyro_fs << LSM6DSL_CTRL_FS_SHIFT)));
+
+    /* Set continuous mode */
+    uint8_t fifo_odr = MAX(dev->params.acc_odr, dev->params.gyro_odr);
+    res += i2c_write_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_FIFO_CTRL5,
+                         (fifo_odr << LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT) |
+                         LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE);
+    res += i2c_write_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_FIFO_CTRL3,
+                         (dev->params.gyro_decimation << LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT) |
+                         dev->params.acc_decimation);
+
+    i2c_release(dev->params.i2c);
+
+    if (res < 4) {
+        DEBUG("[!!failed!!] config\n");
+        return -1;
+    }
+    return 0;
+}
+
+int lsm6dsl_read_acc(lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
+{
+    int res;
+    uint8_t tmp;
+
+    i2c_acquire(dev->params.i2c);
+    i2c_read_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_STATUS_REG, &tmp);
+    DEBUG("lsm6dsl status: %x\n", tmp);
+
+    res = i2c_read_reg(dev->params.i2c, dev->params.addr,
+                       LSM6DSL_REG_OUTX_L_XL, &tmp);
+    data->x = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTX_H_XL, &tmp);
+    data->x |= tmp << 8;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTY_L_XL, &tmp);
+    data->y = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTY_H_XL, &tmp);
+    data->y |= tmp << 8;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTZ_L_XL, &tmp);
+    data->z = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTZ_H_XL, &tmp);
+    data->z |= tmp << 8;
+    i2c_release(dev->params.i2c);
+
+    if (res < 6) {
+        DEBUG("[!!failed!!]\n");
+        return -1;
+    }
+    DEBUG("[done]\n");
+
+    float range;
+    switch (dev->params.acc_fs) {
+    case LSM6DSL_ACC_FS_2G:
+        range = 2000.0;
+        break;
+    case LSM6DSL_ACC_FS_4G:
+        range = 4000.0;
+        break;
+    case LSM6DSL_ACC_FS_8G:
+        range = 8000.0;
+        break;
+    case LSM6DSL_ACC_FS_16G:
+        range = 16000.0;
+        break;
+    default:
+        return -1;
+    }
+
+    data->x = (data->x * range) / INT16_MAX;
+    data->y = (data->y * range) / INT16_MAX;
+    data->z = (data->z * range) / INT16_MAX;
+
+    return 0;
+}
+
+int lsm6dsl_read_gyro(lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
+{
+    int res;
+    uint8_t tmp;
+
+    i2c_acquire(dev->params.i2c);
+    i2c_read_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_STATUS_REG, &tmp);
+    DEBUG("lsm6dsl status: %x\n", tmp);
+
+    res = i2c_read_reg(dev->params.i2c, dev->params.addr,
+                       LSM6DSL_REG_OUTX_L_G, &tmp);
+    data->x = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTX_H_G, &tmp);
+    data->x |= tmp << 8;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTY_L_G, &tmp);
+    data->y = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTY_H_G, &tmp);
+    data->y |= tmp << 8;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTZ_L_G, &tmp);
+    data->z = tmp;
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr,
+                        LSM6DSL_REG_OUTZ_H_G, &tmp);
+    data->z |= tmp << 8;
+    i2c_release(dev->params.i2c);
+
+    if (res < 6) {
+        DEBUG("[!!failed!!]\n");
+        return -1;
+    }
+    DEBUG("[done]\n");
+
+    float range;
+    switch (dev->params.acc_fs) {
+    case LSM6DSL_GYRO_FS_245DPS:
+        range = 2450.0;
+        break;
+    case LSM6DSL_GYRO_FS_500DPS:
+        range = 5000.0;
+        break;
+    case LSM6DSL_GYRO_FS_1000DPS:
+        range = 10000.0;
+        break;
+    case LSM6DSL_GYRO_FS_2000DPS:
+        range = 20000.0;
+        break;
+    default:
+        return -1;
+    }
+
+    data->x = (data->x * range) / INT16_MAX;
+    data->y = (data->y * range) / INT16_MAX;
+    data->z = (data->z * range) / INT16_MAX;
+
+    return 0;
+}
+
+int lsm6dsl_read_temp(lsm6dsl_t *dev, int16_t *data)
+{
+    int res;
+    uint8_t tmp;
+
+    i2c_acquire(dev->params.i2c);
+    res = i2c_read_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_OUT_TEMP_L, &tmp);
+    *data = tmp;
+
+    res += i2c_read_reg(dev->params.i2c, dev->params.addr, LSM6DSL_REG_OUT_TEMP_H, &tmp);
+    *data |= tmp << 8;
+
+    i2c_release(dev->params.i2c);
+
+    if (res < 2) {
+        return -1;
+    }
+
+    return 0;
+}

drivers/lsm6dsl/lsm6dsl_saul.c

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @file
+ * @brief       SAUL implementation for the LSM36DSL 3D accelerometer/gyroscope.
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ */
+
+#include "lsm6dsl.h"
+#include "saul.h"
+
+static int read_acc(void *dev, phydat_t *res)
+{
+    int ret = lsm6dsl_read_acc(dev, (lsm6dsl_3d_data_t *)res);
+    if (ret < 0) {
+        return -ECANCELED;
+    }
+
+    res->scale = -3;
+    res->unit = UNIT_G;
+
+    return 3;
+}
+
+static int read_gyro(void *dev, phydat_t *res)
+{
+    int ret = lsm6dsl_read_gyro(dev, (lsm6dsl_3d_data_t *)res);
+    if (ret < 0) {
+        return -ECANCELED;
+    }
+
+    res->scale = -1;
+    res->unit = UNIT_DPS;
+
+    return 3;
+}
+
+const saul_driver_t lsm6dsl_saul_acc_driver = {
+    .read = read_acc,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_ACCEL,
+};
+
+
+const saul_driver_t lsm6dsl_saul_gyro_driver = {
+    .read = read_gyro,
+    .write = saul_notsup,
+    .type = SAUL_SENSE_GYRO,
+};

sys/auto_init/auto_init.c

@@ -323,6 +323,10 @@ void auto_init(void)
     extern void auto_init_adxl345(void);
     auto_init_adxl345();
 #endif
+#ifdef MODULE_LSM6DSL
+    extern void auto_init_lsm6dsl(void);
+    auto_init_lsm6dsl();
+#endif
 
 #endif /* MODULE_AUTO_INIT_SAUL */
 

sys/auto_init/saul/auto_init_lsm6dsl.c

+/*
+ * Copyright (C) 2017 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup     auto_init_saul
+ * @{
+ *
+ * @file
+ * @brief       Auto initialization of LSM6DSL accelerometer/gyroscope sensors
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com
+ *
+ * @}
+ */
+
+#ifdef MODULE_LSM6DSL
+
+#include "log.h"
+#include "saul_reg.h"
+#include "lsm6dsl.h"
+#include "lsm6dsl_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define LSM6DSL_NUM    (sizeof(lsm6dsl_params)/sizeof(lsm6dsl_params[0]))
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static lsm6dsl_t lsm6dsl_devs[LSM6DSL_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[LSM6DSL_NUM * 2];
+
+/**
+ * @brief   Reference the driver structs
+ * @{
+ */
+extern saul_driver_t lsm6dsl_saul_acc_driver;
+extern saul_driver_t lsm6dsl_saul_gyro_driver;
+/** @} */
+
+
+void auto_init_lsm6dsl(void)
+{
+    for (unsigned int i = 0; i < LSM6DSL_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing lsm6dsl #%u\n", i);
+
+        int res = lsm6dsl_init(&lsm6dsl_devs[i], &lsm6dsl_params[i]);
+        if (res < 0) {
+            LOG_ERROR("[auto_init_saul] error initializing lsm6dsl #%u\n", i);
+            continue;
+        }
+
+        saul_entries[(i * 2)].dev = &(lsm6dsl_devs[i]);
+        saul_entries[(i * 2)].name = lsm6dsl_saul_info[i].name;
+        saul_entries[(i * 2)].driver = &lsm6dsl_saul_acc_driver;
+        saul_reg_add(&(saul_entries[(i * 2)]));
+        saul_entries[(i * 2) + 1].dev = &(lsm6dsl_devs[i]);
+        saul_entries[(i * 2) + 1].name = lsm6dsl_saul_info[i].name;
+        saul_entries[(i * 2) + 1].driver = &lsm6dsl_saul_gyro_driver;
+        saul_reg_add(&(saul_entries[(i * 2) + 1]));
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_LSM6DSL */