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Merge pull request #6835 from OTAkeys/pr/lsm6dsl 

drivers: add lsm6dsl accelerometer/gyroscope device driver
pr/rotary
Alexandre Abadie 6 years ago committed by GitHub
parent
8550bd68a1 f5adafd813
commit
c65e57b308
12 changed files with 846 additions and 0 deletions
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  1. 5
      drivers/Makefile.dep
  2. 3
      drivers/Makefile.include
  3. 148
      drivers/include/lsm6dsl.h
  4. 1
      drivers/lsm6dsl/Makefile
  5. 157
      drivers/lsm6dsl/include/lsm6dsl_internal.h
  6. 95
      drivers/lsm6dsl/include/lsm6dsl_params.h
  7. 218
      drivers/lsm6dsl/lsm6dsl.c
  8. 57
      drivers/lsm6dsl/lsm6dsl_saul.c
  9. 4
      sys/auto_init/auto_init.c
  10. 77
      sys/auto_init/saul/auto_init_lsm6dsl.c
  11. 9
      tests/driver_lsm6dsl/Makefile
  12. 72
      tests/driver_lsm6dsl/main.c

5
drivers/Makefile.dep
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@ -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

3
drivers/Makefile.include
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@ -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

148
drivers/include/lsm6dsl.h
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@ -0,0 +1,148 @@
/*
* 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 LSM6DSL 3D accelerometer/gyroscope
* @ingroup drivers_sensors
* @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>
*/
#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 */
/** @} */

1
drivers/lsm6dsl/Makefile
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@ -0,0 +1 @@
include $(RIOTBASE)/Makefile.base

157
drivers/lsm6dsl/include/lsm6dsl_internal.h
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@ -0,0 +1,157 @@
/*
* 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 drivers_lsm6dsl
*
* @{
* @file
* @brief Internal configuration for LSM6DSL 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 */
/** @} */

95
drivers/lsm6dsl/include/lsm6dsl_params.h
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/*
* 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 drivers_lsm6dsl
*
* @{
* @file
* @brief Default configuration for LSM6DSL 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 */
/** @} */

218
drivers/lsm6dsl/lsm6dsl.c
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/*
* 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 LSM6DSL 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;
}

57
drivers/lsm6dsl/lsm6dsl_saul.c
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@ -0,0 +1,57 @@
/*
* 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 LSM6DSL 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,
};

4
sys/auto_init/auto_init.c
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@ -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 */

77
sys/auto_init/saul/auto_init_lsm6dsl.c
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@ -0,0 +1,77 @@
/*
* 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 */

9
tests/driver_lsm6dsl/Makefile
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@ -0,0 +1,9 @@
APPLICATION = driver_lsm6dsl
include ../Makefile.tests_common
FEATURES_REQUIRED = periph_i2c
USEMODULE += lsm6dsl
USEMODULE += xtimer
include $(RIOTBASE)/Makefile.include

72
tests/driver_lsm6dsl/main.c
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@ -0,0 +1,72 @@
/*
* 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 Test application for the LSM6DSL accelerometer/gyroscope driver.
*
* @author Vincent Dupont <vincent@otakeys.com>
*
*/
#include <stdio.h>
#include "xtimer.h"
#include "lsm6dsl.h"
#include "lsm6dsl_params.h"
#define SLEEP (100 * 1000U)
int main(void)
{
lsm6dsl_t dev;
int16_t temp_value;
lsm6dsl_3d_data_t mag_value;
lsm6dsl_3d_data_t acc_value;
puts("LSM6DSL test application\n");
printf("Initializing LSM6DSL sensor at I2C_%i... ", lsm6dsl_params->i2c);
if (lsm6dsl_init(&dev, lsm6dsl_params) == 0) {
puts("[OK]\n");
}
else {
puts("[Failed]");
return 1;
}
while (1) {
if (lsm6dsl_read_acc(&dev, &acc_value) == 0) {
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");
}
if (lsm6dsl_read_gyro(&dev, &mag_value) == 0) {
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");
}
xtimer_usleep(SLEEP);
}
return 0;
}
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