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57 lines
1.1 KiB
57 lines
1.1 KiB
/* |
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* Copyright (C) 2017 OTA keys S.A. |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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* |
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*/ |
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/** |
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* @file |
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* @brief SAUL implementation for the LSM6DSL 3D accelerometer/gyroscope. |
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* |
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* @author Vincent Dupont <vincent@otakeys.com> |
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*/ |
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#include "lsm6dsl.h" |
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#include "saul.h" |
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static int read_acc(void *dev, phydat_t *res) |
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{ |
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int ret = lsm6dsl_read_acc(dev, (lsm6dsl_3d_data_t *)res); |
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if (ret < 0) { |
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return -ECANCELED; |
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} |
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res->scale = -3; |
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res->unit = UNIT_G; |
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return 3; |
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} |
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static int read_gyro(void *dev, phydat_t *res) |
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{ |
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int ret = lsm6dsl_read_gyro(dev, (lsm6dsl_3d_data_t *)res); |
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if (ret < 0) { |
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return -ECANCELED; |
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} |
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res->scale = -1; |
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res->unit = UNIT_DPS; |
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return 3; |
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} |
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const saul_driver_t lsm6dsl_saul_acc_driver = { |
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.read = read_acc, |
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.write = saul_notsup, |
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.type = SAUL_SENSE_ACCEL, |
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}; |
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const saul_driver_t lsm6dsl_saul_gyro_driver = { |
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.read = read_gyro, |
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.write = saul_notsup, |
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.type = SAUL_SENSE_GYRO, |
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};
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