diff --git a/drivers/include/lsm6dsl.h b/drivers/include/lsm6dsl.h
index 5feebd88acdeffcf3f562807c7f15b4fe4c07150..6b98261d28dd92f5592b23c445462275b9c11444 100644
--- a/drivers/include/lsm6dsl.h
+++ b/drivers/include/lsm6dsl.h
@@ -13,10 +13,13 @@
* @brief Device driver for the LSM6DSL 3D accelerometer/gyroscope
*
* @{
+ *
* @file
* @brief Device driver interface for the LSM6DSL 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
+ * @author Sebastian Meiling <s@mlng.net>
+ *
*/
#ifndef LSM6DSL_H
@@ -28,7 +31,9 @@ extern "C" {
#include "periph/i2c.h"
-/** Data rate */
+/**
+ * @brief Data rate settings
+ */
enum {
LSM6DSL_DATA_RATE_POWER_DOWN = 0x0,
LSM6DSL_DATA_RATE_1_6HZ = 0xB,
@@ -44,35 +49,45 @@ enum {
LSM6DSL_DATA_RATE_6_66KHZ = 0xa,
};
-/** Decimation */
+/**
+ * @brief Decimation settings
+ */
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,
+ LSM6DSL_DECIMATION_NO,
+ LSM6DSL_DECIMATION_2,
+ LSM6DSL_DECIMATION_3,
+ LSM6DSL_DECIMATION_4,
+ LSM6DSL_DECIMATION_8,
+ LSM6DSL_DECIMATION_16,
+ LSM6DSL_DECIMATION_32,
};
-/** Accelerometer full scale */
+/**
+ * @brief Accelerometer full scale
+ */
enum {
LSM6DSL_ACC_FS_2G = 0,
- LSM6DSL_ACC_FS_4G = 2,
- LSM6DSL_ACC_FS_8G = 3,
- LSM6DSL_ACC_FS_16G = 1,
+ LSM6DSL_ACC_FS_16G,
+ LSM6DSL_ACC_FS_4G,
+ LSM6DSL_ACC_FS_8G,
+ LSM6DSL_ACC_FS_MAX,
};
-/** Gyroscope full scale */
+/**
+ * @brief 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_GYRO_FS_500DPS,
+ LSM6DSL_GYRO_FS_1000DPS,
+ LSM6DSL_GYRO_FS_2000DPS,
+ LSM6DSL_GYRO_FS_MAX,
};
-/** LSM6DSL driver parameters */
+/**
+ * @brief LSM6DSL driver parameters
+ */
typedef struct {
i2c_t i2c; /**< i2c bus */
uint8_t addr; /**< i2c address */
@@ -84,25 +99,39 @@ typedef struct {
uint8_t gyro_decimation; /**< gyroscope decimation */
} lsm6dsl_params_t;
-/** LSM6DSL device descriptor */
+/**
+ * @brief LSM6DSL device descriptor
+ */
typedef struct {
lsm6dsl_params_t params; /**< driver parameters */
} lsm6dsl_t;
-/** 3D output data */
+/**
+ * @brief 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 Named return values
+ */
+enum {
+ LSM6DSL_OK = 0, /**< all good */
+ LSM6DSL_ERROR_BUS, /**< I2C bus error */
+ LSM6DSL_ERROR_CNF, /**< Config error */
+ LSM6DSL_ERROR_DEV, /**< device error */
+};
+
/**
* @brief Initialize a LSM6DSL device
*
- * @param[in] dev device to initialize
+ * @param[out] dev device to initialize
* @param[in] params driver parameters
*
- * @return 0 on success
+ * @return LSM6DSL_OK on success
* @return < 0 on error
*/
int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params);
@@ -113,7 +142,7 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params);
* @param[in] dev device to read
* @param[out] data accelerometer values
*
- * @return 0 on success
+ * @return LSM6DSL_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
@@ -124,7 +153,7 @@ int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
* @param[in] dev device to read
* @param[out] data gyroscope values
*
- * @return 0 on success
+ * @return LSM6DSL_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
@@ -132,10 +161,14 @@ int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data);
/**
* @brief Read temperature data
*
+ * @note To avoid floating point data types but still provide high resolution
+ * for temperature readings, resulting values are scale by factor 100.
+ *
+ *
* @param[in] dev device to read
- * @param[out] data temperature value
+ * @param[out] data temperature value, in °C x 100
*
- * @return 0 on success
+ * @return LSM6DSL_OK on success
* @return < 0 on error
*/
int lsm6dsl_read_temp(const lsm6dsl_t *dev, int16_t *data);
diff --git a/drivers/lsm6dsl/include/lsm6dsl_internal.h b/drivers/lsm6dsl/include/lsm6dsl_internal.h
index 7d112db207c307a7c94083b7d32dee5ac8d3fe32..0d2f4280d31733b1e8202b2487e49e29fc03152d 100644
--- a/drivers/lsm6dsl/include/lsm6dsl_internal.h
+++ b/drivers/lsm6dsl/include/lsm6dsl_internal.h
@@ -9,17 +9,21 @@
/**
* @ingroup drivers_lsm6dsl
- *
* @{
+ *
* @file
* @brief Internal configuration for LSM6DSL devices
*
* @author Vincent Dupont <vincent@otakeys.com>
+ * @author Sebastian Meiling <s@mlng.net>
+ *
*/
#ifndef LSM6DSL_INTERNAL_H
#define LSM6DSL_INTERNAL_H
+#include "xtimer.h"
+
#ifdef __cplusplus
extern "C" {
#endif
@@ -28,127 +32,137 @@ extern "C" {
* @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)
+#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)
+#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_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)
+#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_CTRL5_CONTINUOUS_MODE (0x6)
+#define LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT (3)
-#define LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT (3)
+#define LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT (3)
/** @} */
+/**
+ * @brief Offset for temperature calculation
+ */
+#define LSM6DSL_TEMP_OFFSET (0x1900)
+
+/**
+ * @brief Reboot wait interval in us (15ms)
+ */
+#define LSM6DSL_BOOT_WAIT (15 * US_PER_MS)
+
#ifdef __cplusplus
}
#endif
diff --git a/drivers/lsm6dsl/include/lsm6dsl_params.h b/drivers/lsm6dsl/include/lsm6dsl_params.h
index 2910b4a1a3909b37d2ee6c1f753064b9226e98bf..c6501ba0dd8c5702d2fff9373a3e9222887400c2 100644
--- a/drivers/lsm6dsl/include/lsm6dsl_params.h
+++ b/drivers/lsm6dsl/include/lsm6dsl_params.h
@@ -9,12 +9,13 @@
/**
* @ingroup drivers_lsm6dsl
- *
* @{
+ *
* @file
* @brief Default configuration for LSM6DSL devices
*
* @author Vincent Dupont <vincent@otakeys.com>
+ *
*/
#ifndef LSM6DSL_PARAMS_H
diff --git a/drivers/lsm6dsl/lsm6dsl.c b/drivers/lsm6dsl/lsm6dsl.c
index a641ab7c94ead8801d357f4e22b6bfd7f6f915f7..cecf13c23cde3970a8065c90fa38af868af3eced 100644
--- a/drivers/lsm6dsl/lsm6dsl.c
+++ b/drivers/lsm6dsl/lsm6dsl.c
@@ -8,10 +8,16 @@
*/
/**
+ * @ingroup drivers_lsm6dsl
+ * @{
+ *
* @file
* @brief Device driver implementation for the LSM6DSL 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
+ * @author Sebastian Meiling <s@mlng.net>
+ *
+ * @}
*/
#include "xtimer.h"
@@ -24,6 +30,22 @@
#define MAX(a, b) ((a) > (b) ? (a) : (b))
+#define BUS (dev->params.i2c)
+#define ADDR (dev->params.addr)
+
+/**
+ * order in arry [0, 1, 2, 3] is
+ * LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_FS_16G, LSM6DSL_ACC_FS_4G, LSM6DSL_ACC_FS_8G
+ */
+static const int16_t range_acc[] = { 2000, 16000, 4000, 8000 };
+
+/**
+ * order in arry [0, 1, 2, 3] is
+ * LSM6DSL_GYRO_FS_245DPS, LSM6DSL_GYRO_FS_500DPS,
+ * LSM6DSL_GYRO_FS_1000DPS, LSM6DSL_GYRO_FS_2000DPS
+ */
+static const int16_t range_gyro[] = { 2450, 5000, 10000, 20000 };
+
int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
{
uint8_t tmp;
@@ -33,47 +55,49 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
dev->params = *params;
- i2c_acquire(dev->params.i2c);
- i2c_init_master(dev->params.i2c, I2C_SPEED_NORMAL);
+ i2c_acquire(BUS);
+ i2c_init_master(BUS, I2C_SPEED_NORMAL);
/* Reboot */
- i2c_write_reg(dev->params.i2c, dev->params.addr,
- LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT);
+ i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT);
+
+ xtimer_usleep(LSM6DSL_BOOT_WAIT);
- xtimer_usleep(5000);
+ if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_WHO_AM_I, &tmp) != 1) {
+ i2c_release(BUS);
+ DEBUG("[ERROR] lsm6dsl_init: i2c_read_reg LSM6DSL_REG_WHO_AM_I!\n");
+ return -LSM6DSL_ERROR_BUS;
+ }
- 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;
+ if (tmp != LSM6DSL_WHO_AM_I) {
+ DEBUG("[ERROR] lsm6dsl_init: WHO_AM_I\n");
+ return -LSM6DSL_ERROR_DEV;
}
/* 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)));
+ tmp = (dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT) |
+ (dev->params.acc_fs << LSM6DSL_CTRL_FS_SHIFT);
+ res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp);
/* 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)));
-
+ tmp = (dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT) |
+ (dev->params.gyro_fs << LSM6DSL_CTRL_FS_SHIFT);
+ res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp);
/* 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);
+ tmp = (fifo_odr << LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT) |
+ LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE;
+ res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL5, tmp);
+ tmp = (dev->params.gyro_decimation << LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT) |
+ dev->params.acc_decimation;
+ res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL3, tmp);
- i2c_release(dev->params.i2c);
+ i2c_release(BUS);
if (res < 4) {
- DEBUG("[!!failed!!] config\n");
- return -1;
+ DEBUG("[ERROR] lsm6dsl_init: config\n");
+ return -LSM6DSL_ERROR_CNF;
}
- return 0;
+ return LSM6DSL_OK;
}
int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
@@ -81,59 +105,35 @@ int lsm6dsl_read_acc(const 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);
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, 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);
+ res = i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_XL, &tmp);
data->z |= tmp << 8;
- i2c_release(dev->params.i2c);
+ i2c_release(BUS);
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;
+ DEBUG("[ERROR] lsm6dsl_read_acc\n");
+ return -LSM6DSL_ERROR_BUS;
}
- data->x = (data->x * range) / INT16_MAX;
- data->y = (data->y * range) / INT16_MAX;
- data->z = (data->z * range) / INT16_MAX;
+ assert(dev->params.acc_fs < LSM6DSL_ACC_FS_MAX);
+ data->x = ((int32_t)data->x * range_acc[dev->params.acc_fs]) / INT16_MAX;
+ data->y = ((int32_t)data->y * range_acc[dev->params.acc_fs]) / INT16_MAX;
+ data->z = ((int32_t)data->z * range_acc[dev->params.acc_fs]) / INT16_MAX;
- return 0;
+ return LSM6DSL_OK;
}
int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
@@ -141,78 +141,57 @@ int lsm6dsl_read_gyro(const 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);
+ i2c_acquire(BUS);
+ i2c_read_reg(BUS, 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);
+ res = i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, 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);
+ res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_G, &tmp);
data->z |= tmp << 8;
- i2c_release(dev->params.i2c);
+ i2c_release(BUS);
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;
+ DEBUG("[ERROR] lsm6dsl_read_gyro\n");
+ return -LSM6DSL_ERROR_BUS;
}
- data->x = (data->x * range) / INT16_MAX;
- data->y = (data->y * range) / INT16_MAX;
- data->z = (data->z * range) / INT16_MAX;
+ assert(dev->params.gyro_fs < LSM6DSL_GYRO_FS_MAX);
+ data->x = ((int32_t)data->x * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
+ data->y = ((int32_t)data->y * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
+ data->z = ((int32_t)data->z * range_gyro[dev->params.gyro_fs]) / INT16_MAX;
- return 0;
+ return LSM6DSL_OK;
}
int lsm6dsl_read_temp(const 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;
+ uint16_t traw;
+ /* read raw temperature */
+ i2c_acquire(BUS);
+ if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_L, &tmp) != 1) {
+ i2c_release(BUS);
+ return -LSM6DSL_ERROR_BUS;
+ }
+ traw = tmp;
+ if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_H, &tmp) != 1) {
+ i2c_release(BUS);
+ return -LSM6DSL_ERROR_BUS;
}
+ traw |= (uint16_t)tmp << 8;
+ i2c_release(BUS);
+ /* convert temperature to degC x 100 */
+ traw += LSM6DSL_TEMP_OFFSET;
+ *data = (int16_t)(((int32_t)traw * 100) / 256);
- return 0;
+ return LSM6DSL_OK;
}
diff --git a/drivers/lsm6dsl/lsm6dsl_saul.c b/drivers/lsm6dsl/lsm6dsl_saul.c
index 4b86e6a7476184c70a301bc51bf22e898931110b..0894cc19644c90180d1acfb9981d7e7075ca174c 100644
--- a/drivers/lsm6dsl/lsm6dsl_saul.c
+++ b/drivers/lsm6dsl/lsm6dsl_saul.c
@@ -8,10 +8,16 @@
*/
/**
+ * @ingroup drivers_lsm6dsl
+ * @{
+ *
* @file
* @brief SAUL implementation for the LSM6DSL 3D accelerometer/gyroscope.
*
* @author Vincent Dupont <vincent@otakeys.com>
+ * @author Sebastian Meiling <s@mlng.net>
+ *
+ * @}
*/
#include "lsm6dsl.h"
@@ -43,6 +49,17 @@ static int read_gyro(const void *dev, phydat_t *res)
return 3;
}
+static int read_temp(const void *dev, phydat_t *res)
+{
+ if (lsm6dsl_read_temp((const lsm6dsl_t *)dev, (int16_t *)&res[0]) < 0) {
+ return -ECANCELED;
+ }
+ res->scale = -2;
+ res->unit = UNIT_TEMP_C;
+
+ return 1;
+}
+
const saul_driver_t lsm6dsl_saul_acc_driver = {
.read = read_acc,
.write = saul_notsup,
@@ -54,3 +71,9 @@ const saul_driver_t lsm6dsl_saul_gyro_driver = {
.write = saul_notsup,
.type = SAUL_SENSE_GYRO,
};
+
+const saul_driver_t lsm6dsl_saul_temp_driver = {
+ .read = read_temp,
+ .write = saul_notsup,
+ .type = SAUL_SENSE_TEMP,
+};
diff --git a/sys/auto_init/saul/auto_init_lsm6dsl.c b/sys/auto_init/saul/auto_init_lsm6dsl.c
index d35beb6c35c7c875c00e43a4bfbbc8ff8f4bf9be..91b64551329bd3a0062ce187562ff97bbbd88b61 100644
--- a/sys/auto_init/saul/auto_init_lsm6dsl.c
+++ b/sys/auto_init/saul/auto_init_lsm6dsl.c
@@ -39,7 +39,7 @@ static lsm6dsl_t lsm6dsl_devs[LSM6DSL_NUM];
/**
* @brief Memory for the SAUL registry entries
*/
-static saul_reg_t saul_entries[LSM6DSL_NUM * 2];
+static saul_reg_t saul_entries[LSM6DSL_NUM * 3];
/**
* @brief Reference the driver structs
@@ -47,6 +47,7 @@ static saul_reg_t saul_entries[LSM6DSL_NUM * 2];
*/
extern saul_driver_t lsm6dsl_saul_acc_driver;
extern saul_driver_t lsm6dsl_saul_gyro_driver;
+extern saul_driver_t lsm6dsl_saul_temp_driver;
/** @} */
@@ -61,14 +62,18 @@ void auto_init_lsm6dsl(void)
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]));
+ saul_entries[(i * 3)].dev = &(lsm6dsl_devs[i]);
+ saul_entries[(i * 3)].name = lsm6dsl_saul_info[i].name;
+ saul_entries[(i * 3)].driver = &lsm6dsl_saul_acc_driver;
+ saul_reg_add(&(saul_entries[(i * 3)]));
+ saul_entries[(i * 3) + 1].dev = &(lsm6dsl_devs[i]);
+ saul_entries[(i * 3) + 1].name = lsm6dsl_saul_info[i].name;
+ saul_entries[(i * 3) + 1].driver = &lsm6dsl_saul_gyro_driver;
+ saul_reg_add(&(saul_entries[(i * 3) + 1]));
+ saul_entries[(i * 3) + 2].dev = &(lsm6dsl_devs[i]);
+ saul_entries[(i * 3) + 2].name = lsm6dsl_saul_info[i].name;
+ saul_entries[(i * 3) + 2].driver = &lsm6dsl_saul_temp_driver;
+ saul_reg_add(&(saul_entries[(i * 3) + 2]));
}
}
diff --git a/tests/driver_lsm6dsl/README.md b/tests/driver_lsm6dsl/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..3d01dfa10013bad4a3bd28d7d37fe6495d531f3b
--- /dev/null
+++ b/tests/driver_lsm6dsl/README.md
@@ -0,0 +1,10 @@
+# About
+This is a manual test application for the ST LSM6DSL sensor driver.
+
+# Usage
+
+After successful initialization, the sensor reads the accelerometer, gyroscope,
+and temperature values every 500ms and prints them to the STDOUT. If device
+initialization fails the tests exits with 1, otherwise it runs forever.
+
+Note: reading sensor values may fail even on successful initialization.
diff --git a/tests/driver_lsm6dsl/main.c b/tests/driver_lsm6dsl/main.c
index f37a0fe480b066af651fb3628ce0e1e89d28d3f3..7ea329f1780d649ae059befd7f65cb315d39c082 100644
--- a/tests/driver_lsm6dsl/main.c
+++ b/tests/driver_lsm6dsl/main.c
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2017 OTA keys S.A.
+ * 2017 HAW Hamburg
*
* 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
@@ -7,11 +8,16 @@
*/
/**
+ * @ingroup tests
+ * @{
+ *
* @file
* @brief Test application for the LSM6DSL accelerometer/gyroscope driver.
*
* @author Vincent Dupont <vincent@otakeys.com>
+ * @author Sebastian Meiling <s@mlng.net>
*
+ * @}
*/
#include <stdio.h>
@@ -20,7 +26,7 @@
#include "lsm6dsl.h"
#include "lsm6dsl_params.h"
-#define SLEEP (100 * 1000U)
+#define SLEEP (500UL * US_PER_MS)
int main(void)
{
@@ -29,42 +35,42 @@ int main(void)
lsm6dsl_3d_data_t mag_value;
lsm6dsl_3d_data_t acc_value;
- puts("LSM6DSL test application\n");
+ puts("LSM6DSL test application");
printf("Initializing LSM6DSL sensor at I2C_%i... ", lsm6dsl_params->i2c);
- if (lsm6dsl_init(&dev, lsm6dsl_params) == 0) {
- puts("[OK]\n");
- }
- else {
- puts("[Failed]");
+ if (lsm6dsl_init(&dev, lsm6dsl_params) != LSM6DSL_OK) {
+ puts("[ERROR]");
return 1;
}
+ puts("[SUCCESS]\n");
while (1) {
- if (lsm6dsl_read_acc(&dev, &acc_value) == 0) {
+ if (lsm6dsl_read_acc(&dev, &acc_value) == LSM6DSL_OK) {
printf("Accelerometer x: %i y: %i z: %i\n", acc_value.x,
acc_value.y,
acc_value.z);
}
else {
- puts("\nFailed reading accelerometer values\n");
- }
- if (lsm6dsl_read_temp(&dev, &temp_value) == 0) {
- printf("Temperature value: %i degrees\n", temp_value);
- }
- else {
- puts("\nFailed reading value\n");
+ puts("[ERROR] reading accelerometer!\n");
}
- if (lsm6dsl_read_gyro(&dev, &mag_value) == 0) {
+ if (lsm6dsl_read_gyro(&dev, &mag_value) == LSM6DSL_OK) {
printf("Gyroscope x: %i y: %i z: %i\n", mag_value.x,
mag_value.y,
mag_value.z);
}
else {
- puts("\nFailed reading Gyroscope values\n");
+ puts("[ERROR] reading gyroscope!\n");
+ }
+
+ if (lsm6dsl_read_temp(&dev, &temp_value) == LSM6DSL_OK) {
+ printf("Temperature [in °C x 100]: %i \n", temp_value);
+ }
+ else {
+ puts("[ERROR] reading temperature!\n");
}
+ puts("");
xtimer_usleep(SLEEP);
}