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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 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,
};