mirror of
https://github.com/apache/nuttx.git
synced 2026-05-25 09:45:55 +08:00
drivers/sensors/lsm303agr: fix compilation warnings and run through nxstyle; drivers/sensors/lsm6dsl: run through nxstyle
This commit is contained in:
raiden00pl
committed by
Alan Carvalho de Assis
Alan Carvalho de Assis
parent
177c037aa9
commit
e23d58e86d
+131
-143
@@ -79,9 +79,6 @@ static int lsm303agr_readreg8(FAR struct lsm303agr_dev_s *priv,
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uint8_t regaddr, FAR uint8_t * regval);
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static int lsm303agr_writereg8(FAR struct lsm303agr_dev_s *priv,
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uint8_t regaddr, uint8_t regval);
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static int lsm303agr_modifyreg8(FAR struct lsm303agr_dev_s *priv,
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uint8_t regaddr,
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uint8_t clearbits, uint8_t setbits);
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/* Other Helpers */
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@@ -95,7 +92,7 @@ static int lsm303agr_sensor_config(FAR struct lsm303agr_dev_s *priv);
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static int lsm303agr_sensor_start(FAR struct lsm303agr_dev_s *priv);
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static int lsm303agr_sensor_stop(FAR struct lsm303agr_dev_s *priv);
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static int lsm303agr_sensor_read(FAR struct lsm303agr_dev_s *priv,
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FAR struct lsm303agr_sensor_data_s *sensor_data);
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FAR struct lsm303agr_sensor_data_s *sdata);
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static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv,
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uint32_t mode);
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@@ -263,45 +260,6 @@ static int lsm303agr_writereg8(FAR struct lsm303agr_dev_s *priv,
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return OK;
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}
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/****************************************************************************
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* Name: lsm303agr_modifyreg8
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*
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* Description:
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* Modify an 8-bit register.
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*
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****************************************************************************/
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static int lsm303agr_modifyreg8(FAR struct lsm303agr_dev_s *priv,
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uint8_t regaddr,
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uint8_t clearbits, uint8_t setbits)
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{
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int ret;
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uint8_t regval;
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/* Sanity check */
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DEBUGASSERT(priv != NULL);
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ret = lsm303agr_readreg8(priv, regaddr, ®val);
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if (ret < 0)
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{
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snerr("ERROR: lsm303agr_readreg8 failed: %d\n", ret);
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return ret;
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}
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regval &= ~clearbits;
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regval |= setbits;
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ret = lsm303agr_writereg8(priv, regaddr, regval);
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if (ret < 0)
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{
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snerr("ERROR: lsm303agr_writereg8 failed: %d\n", ret);
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return ret;
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}
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return OK;
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}
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/****************************************************************************
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* Name: lsm303agr_find_minimum
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*
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@@ -424,8 +382,6 @@ static int lsm303agr_sensor_start(FAR struct lsm303agr_dev_s *priv)
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{
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/* readreg8 is not necessary to modify. Clearbits can be 0x00 or 0xff */
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uint8_t value;
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/* Enable the accelerometer */
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/* Reset values */
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@@ -485,7 +441,8 @@ static int lsm303agr_sensor_stop(FAR struct lsm303agr_dev_s *priv)
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*
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****************************************************************************/
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static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv,
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uint32_t mode)
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{
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int samples = 5;
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int i;
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@@ -513,13 +470,6 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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int16_t OUTY_ST[samples];
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int16_t OUTZ_ST[samples];
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int16_t AVR_OUTX_NOST[samples];
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int16_t AVR_OUTY_NOST[samples];
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int16_t AVR_OUTZ_NOST[samples];
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int16_t AVR_OUTX_ST[samples];
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int16_t AVR_OUTY_ST[samples];
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int16_t AVR_OUTZ_ST[samples];
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int16_t avr_x = 0;
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int16_t avr_y = 0;
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int16_t avr_z = 0;
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@@ -541,11 +491,6 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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int16_t max_yst = 0;
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int16_t max_zst = 0;
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int16_t ltemp;
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int16_t htemp;
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int16_t tempi;
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int16_t temp = 0;
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int16_t raw_xst = 0;
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int16_t raw_yst = 0;
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int16_t raw_zst = 0;
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@@ -606,14 +551,26 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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/* Read OUT registers Gyro is starting at 22h and Accelero at 28h */
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_L_A + registershift, &lox);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_H_A + registershift, &hix);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_L_A + registershift,
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(FAR uint8_t *)&lox);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_H_A + registershift,
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(FAR uint8_t *)&hix);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_L_A + registershift, &loy);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_H_A + registershift, &hiy);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_L_A + registershift,
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(FAR uint8_t *)&loy);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_H_A + registershift,
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(FAR uint8_t *)&hiy);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_L_A + registershift, &loz);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_H_A + registershift, &hiz);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_L_A + registershift,
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(FAR uint8_t *)&loz);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_H_A + registershift,
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(FAR uint8_t *)&hiz);
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/* check XLDA 5 times */
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@@ -634,16 +591,28 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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* http://ozzmaker.com/accelerometer-to-g/
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*/
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_L_A + registershift, &lox);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_H_A + registershift, &hix);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_L_A + registershift,
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(FAR uint8_t *)&lox);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_H_A + registershift,
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(FAR uint8_t *)&hix);
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raw_x = (int16_t) (((uint16_t) hix << 8U) | (uint16_t) lox);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_L_A + registershift, &loy);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_H_A + registershift, &hiy);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_L_A + registershift,
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(FAR uint8_t *)&loy);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_H_A + registershift,
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(FAR uint8_t *)&hiy);
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raw_y = (int16_t) (((uint16_t) hiy << 8U) | (uint16_t) loy);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_L_A + registershift, &loz);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_H_A + registershift, &hiz);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_L_A + registershift,
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(FAR uint8_t *)&loz);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_H_A + registershift,
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(FAR uint8_t *)&hiz);
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raw_z = (int16_t) (((uint16_t) hiz << 8U) | (uint16_t) loz);
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/* selftest only uses raw values */
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@@ -685,14 +654,26 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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/* Now do all the ST values */
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_L_A + registershift, &loxst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_H_A + registershift, &hixst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_L_A + registershift,
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(FAR uint8_t *)&loxst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_H_A + registershift,
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(FAR uint8_t *)&hixst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_L_A + registershift, &loyst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_H_A + registershift, &hiyst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_L_A + registershift,
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(FAR uint8_t *)&loyst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_H_A + registershift,
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(FAR uint8_t *)&hiyst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_L_A + registershift, &lozst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_H_A + registershift, &hizst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_L_A + registershift,
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(FAR uint8_t *)&lozst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_H_A + registershift,
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(FAR uint8_t *)&hizst);
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for (i2 = 0; i2 < samples; i2++)
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{
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@@ -709,16 +690,28 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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nxsig_usleep(100000); /* 100ms */
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_L_A + registershift, &loxst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_X_H_A + registershift, &hixst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_L_A + registershift,
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(FAR uint8_t *)&loxst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_X_H_A + registershift,
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(FAR uint8_t *)&hixst);
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raw_xst = (int16_t) (((uint16_t) hixst << 8U) | (uint16_t) loxst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_L_A + registershift, &loyst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Y_H_A + registershift, &hiyst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_L_A + registershift,
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(FAR uint8_t *)&loyst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Y_H_A + registershift,
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(FAR uint8_t *)&hiyst);
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raw_yst = (int16_t) (((uint16_t) hiyst << 8U) | (uint16_t) loyst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_L_A + registershift, &lozst);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_Z_H_A + registershift, &hizst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_L_A + registershift,
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(FAR uint8_t *)&lozst);
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lsm303agr_readreg8(priv,
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LSM303AGR_OUT_Z_H_A + registershift,
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(FAR uint8_t *)&hizst);
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raw_zst = (int16_t) (((uint16_t) hizst << 8U) | (uint16_t) lozst);
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/* Selftest only uses raw values */
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@@ -876,42 +869,18 @@ static int lsm303agr_selftest(FAR struct lsm303agr_dev_s *priv, uint32_t mode)
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****************************************************************************/
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static int lsm303agr_sensor_read(FAR struct lsm303agr_dev_s *priv,
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FAR struct lsm303agr_sensor_data_s *sensor_data)
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FAR struct lsm303agr_sensor_data_s *sdata)
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{
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int16_t lo = 0;
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int16_t lox = 0;
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int16_t loxg = 0;
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int16_t hi = 0;
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int16_t hix = 0;
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int16_t hixg = 0;
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int16_t loy = 0;
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int16_t loyg = 0;
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int16_t hiy = 0;
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int16_t hiyg = 0;
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int16_t loz = 0;
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int16_t lozg = 0;
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int16_t hiz = 0;
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int16_t hizg = 0;
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int16_t templ = 0;
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int16_t temph = 0;
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uint8_t status1 = 0;
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uint8_t status2 = 0;
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uint8_t status3 = 0;
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uint8_t status4 = 0;
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uint8_t value = 0;
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uint8_t tstamp0 = 0;
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uint8_t tstamp1 = 0;
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uint8_t tstamp2 = 0;
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uint8_t tstamp3 = 0;
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uint32_t ts = 0;
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int16_t x_val = 0;
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int16_t y_val = 0;
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int16_t z_val = 0;
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int16_t tempi = 0;
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int16_t temp_val = 0;
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@@ -921,19 +890,19 @@ static int lsm303agr_sensor_read(FAR struct lsm303agr_dev_s *priv,
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/* Magneto */
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lsm303agr_readreg8(priv, LSM303AGR_OUTX_L_REG_M, &loxg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTX_H_REG_M, &hixg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTX_L_REG_M, (FAR uint8_t *)&loxg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTX_H_REG_M, (FAR uint8_t *)&hixg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTY_L_REG_M, &loyg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTY_H_REG_M, &hiyg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTY_L_REG_M, (FAR uint8_t *)&loyg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTY_H_REG_M, (FAR uint8_t *)&hiyg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTZ_L_REG_M, &lozg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTZ_H_REG_M, &hizg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTZ_L_REG_M, (FAR uint8_t *)&lozg);
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lsm303agr_readreg8(priv, LSM303AGR_OUTZ_H_REG_M, (FAR uint8_t *)&hizg);
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/* Temperature */
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lsm303agr_readreg8(priv, LSM303AGR_OUT_TEMP_L_A, &templ);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_TEMP_H_A, &temph);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_TEMP_L_A, (FAR uint8_t *)&templ);
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lsm303agr_readreg8(priv, LSM303AGR_OUT_TEMP_H_A, (FAR uint8_t *)&temph);
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tempi = (int16_t) ((((int16_t) temph << 8) | (int16_t) templ));
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@@ -941,19 +910,22 @@ static int lsm303agr_sensor_read(FAR struct lsm303agr_dev_s *priv,
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sninfo("Data 16-bit TEMP--->: %d Celsius\n", temp_val);
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sensor_data->temperature = temp_val;
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sdata->temperature = temp_val;
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x_valg = (int16_t) (((hixg) << 8) | loxg);
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y_valg = (int16_t) (((hiyg) << 8) | loyg);
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z_valg = (int16_t) (((hizg) << 8) | lozg);
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sninfo("Data 16-bit M_X--->: %d mguass\n", (short)(x_valg * g_magnetofactor));
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sninfo("Data 16-bit M_Y--->: %d mguass\n", (short)(y_valg * g_magnetofactor));
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sninfo("Data 16-bit M_Z--->: %d mguass\n", (short)(z_valg * g_magnetofactor));
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sninfo("Data 16-bit M_X--->: %d mguass\n",
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(short)(x_valg * g_magnetofactor));
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sninfo("Data 16-bit M_Y--->: %d mguass\n",
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(short)(y_valg * g_magnetofactor));
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sninfo("Data 16-bit M_Z--->: %d mguass\n",
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(short)(z_valg * g_magnetofactor));
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sensor_data->m_x_data = x_valg;
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sensor_data->m_y_data = y_valg;
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sensor_data->m_z_data = z_valg;
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sdata->m_x_data = x_valg;
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sdata->m_y_data = y_valg;
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sdata->m_z_data = z_valg;
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return OK;
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}
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@@ -1126,7 +1098,8 @@ static ssize_t lsm303agr_write(FAR struct file *filep,
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*
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****************************************************************************/
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static int lsm303agr_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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static int lsm303agr_ioctl(FAR struct file *filep, int cmd,
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||||
unsigned long arg)
|
||||
{
|
||||
FAR struct inode *inode;
|
||||
FAR struct lsm303agr_dev_s *priv;
|
||||
@@ -1148,30 +1121,43 @@ static int lsm303agr_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
{
|
||||
/* Start converting. Arg: None. */
|
||||
|
||||
case SNIOC_START:
|
||||
ret = priv->ops->start(priv);
|
||||
break;
|
||||
case SNIOC_START:
|
||||
{
|
||||
ret = priv->ops->start(priv);
|
||||
break;
|
||||
}
|
||||
|
||||
/* Stop converting. Arg: None. */
|
||||
|
||||
case SNIOC_STOP:
|
||||
ret = priv->ops->stop(priv);
|
||||
break;
|
||||
case SNIOC_STOP:
|
||||
{
|
||||
ret = priv->ops->stop(priv);
|
||||
break;
|
||||
}
|
||||
|
||||
case SNIOC_LSM303AGRSENSORREAD:
|
||||
ret = priv->ops->sensor_read(priv, (FAR struct lsm303agr_sensor_data_s *) arg);
|
||||
break;
|
||||
case SNIOC_LSM303AGRSENSORREAD:
|
||||
{
|
||||
FAR struct lsm303agr_sensor_data_s *d =
|
||||
(FAR struct lsm303agr_sensor_data_s *)arg;
|
||||
|
||||
case SNIOC_START_SELFTEST:
|
||||
ret = priv->ops->selftest(priv, (uint32_t) arg);
|
||||
break;
|
||||
ret = priv->ops->sensor_read(priv, d);
|
||||
break;
|
||||
}
|
||||
|
||||
case SNIOC_START_SELFTEST:
|
||||
{
|
||||
ret = priv->ops->selftest(priv, (uint32_t)arg);
|
||||
break;
|
||||
}
|
||||
|
||||
/* Unrecognized commands */
|
||||
|
||||
default:
|
||||
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
default:
|
||||
{
|
||||
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
@@ -1184,8 +1170,8 @@ static int lsm303agr_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
* Register the LSM303AGR accelerometer, gyroscope device as 'devpath'.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register, e.g., "/dev/lsm303agr0",
|
||||
* "/dev/gyro0" or "/dev/mag0".
|
||||
* devpath - The full path to the driver to register, e.g.
|
||||
* "/dev/lsm303agr0", "/dev/gyro0" or "/dev/mag0".
|
||||
* i2c - An I2C driver instance.
|
||||
* addr - The I2C address of the LSM303AGR accelerometer, gyroscope or
|
||||
* magnetometer.
|
||||
@@ -1263,7 +1249,8 @@ static int lsm303agr_register(FAR const char *devpath,
|
||||
* Register the LSM303AGR accelerometer character device as 'devpath'.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register, e.g., "/dev/lsm303agr0".
|
||||
* devpath - The full path to the driver to register,
|
||||
* e.g. "/dev/lsm303agr0".
|
||||
* i2c - An I2C driver instance.
|
||||
* addr - The I2C address of the LSM303AGR accelerometer.
|
||||
*
|
||||
@@ -1277,7 +1264,8 @@ int lsm303agr_sensor_register(FAR const char *devpath,
|
||||
{
|
||||
struct lsm303agr_sensor_data_s sensor_data;
|
||||
|
||||
DEBUGASSERT(addr == LSM303AGRACCELERO_ADDR || addr == LSM303AGRMAGNETO_ADDR);
|
||||
DEBUGASSERT(addr == LSM303AGRACCELERO_ADDR ||
|
||||
addr == LSM303AGRMAGNETO_ADDR);
|
||||
|
||||
sninfo("Trying to register accel\n");
|
||||
|
||||
|
||||
+22
-17
@@ -95,7 +95,7 @@ static int lsm6dsl_sensor_config(FAR struct lsm6dsl_dev_s *priv);
|
||||
static int lsm6dsl_sensor_start(FAR struct lsm6dsl_dev_s *priv);
|
||||
static int lsm6dsl_sensor_stop(FAR struct lsm6dsl_dev_s *priv);
|
||||
static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
|
||||
FAR struct lsm6dsl_sensor_data_s *sensor_data);
|
||||
FAR struct lsm6dsl_sensor_data_s *sdata);
|
||||
static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode);
|
||||
|
||||
/* Character Driver Methods */
|
||||
@@ -929,7 +929,7 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)
|
||||
****************************************************************************/
|
||||
|
||||
static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
|
||||
FAR struct lsm6dsl_sensor_data_s *sensor_data)
|
||||
FAR struct lsm6dsl_sensor_data_s *sdata)
|
||||
{
|
||||
int16_t lox = 0;
|
||||
int16_t loxg = 0;
|
||||
@@ -1006,16 +1006,20 @@ static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
|
||||
|
||||
temp_val = (tempi / 256) + 25;
|
||||
|
||||
sninfo("Data 16-bit XL_X--->: %d mg\n", (short)(xf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit XL_Y--->: %d mg\n", (short)(yf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit XL_Z--->: %d mg\n", (short)(zf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit TEMP--->: %d Celsius\n", temp_val);
|
||||
sninfo("Data 16-bit XL_X--->: %d mg\n",
|
||||
(short)(xf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit XL_Y--->: %d mg\n",
|
||||
(short)(yf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit XL_Z--->: %d mg\n",
|
||||
(short)(zf_val * g_accelerofactor));
|
||||
sninfo("Data 16-bit TEMP--->: %d Celsius\n",
|
||||
temp_val);
|
||||
|
||||
sensor_data->x_data = xf_val * g_accelerofactor;
|
||||
sensor_data->y_data = yf_val * g_accelerofactor;
|
||||
sensor_data->z_data = zf_val * g_accelerofactor;
|
||||
sensor_data->temperature = temp_val;
|
||||
sensor_data->timestamp = ts;
|
||||
sdata->x_data = xf_val * g_accelerofactor;
|
||||
sdata->y_data = yf_val * g_accelerofactor;
|
||||
sdata->z_data = zf_val * g_accelerofactor;
|
||||
sdata->temperature = temp_val;
|
||||
sdata->timestamp = ts;
|
||||
|
||||
x_valg = (int16_t) (((hixg) << 8) | loxg);
|
||||
y_valg = (int16_t) (((hiyg) << 8) | loyg);
|
||||
@@ -1025,9 +1029,9 @@ static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
|
||||
sninfo("Data 16-bit G_Y--->: %d mdps\n", (short)(y_valg * g_gyrofactor));
|
||||
sninfo("Data 16-bit G_Z--->: %d mdps\n", (short)(z_valg * g_gyrofactor));
|
||||
|
||||
sensor_data->g_x_data = x_valg * g_gyrofactor;
|
||||
sensor_data->g_y_data = y_valg * g_gyrofactor;
|
||||
sensor_data->g_z_data = z_valg * g_gyrofactor;
|
||||
sdata->g_x_data = x_valg * g_gyrofactor;
|
||||
sdata->g_y_data = y_valg * g_gyrofactor;
|
||||
sdata->g_z_data = z_valg * g_gyrofactor;
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1261,8 +1265,8 @@ static int lsm6dsl_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||
* Register the LSM6DSL accelerometer, gyroscope device as 'devpath'.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register, e.g., "/dev/lsm6dsl0",
|
||||
* "/dev/gyro0" or "/dev/mag0".
|
||||
* devpath - The full path to the driver to register, e.g.
|
||||
* "/dev/lsm6dsl0", "/dev/gyro0" or "/dev/mag0".
|
||||
* i2c - An I2C driver instance.
|
||||
* addr - The I2C address of the LSM6DSL accelerometer, gyroscope or
|
||||
* magnetometer.
|
||||
@@ -1340,7 +1344,8 @@ static int lsm6dsl_register(FAR const char *devpath,
|
||||
* Register the LSM6DSL accelerometer character device as 'devpath'.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register, e.g., "/dev/lsm6dsl0".
|
||||
* devpath - The full path to the driver to register,
|
||||
* e.g. "/dev/lsm6dsl0".
|
||||
* i2c - An I2C driver instance.
|
||||
* addr - The I2C address of the LSM6DSL accelerometer.
|
||||
*
|
||||
|
||||
@@ -55,11 +55,11 @@
|
||||
|
||||
/* Accelerometer addresses */
|
||||
|
||||
#define LSM303AGRACCELERO_ADDR (0x32>>1)
|
||||
#define LSM303AGRACCELERO_ADDR (0x32 >> 1)
|
||||
|
||||
/* Magnetometer addresses */
|
||||
|
||||
#define LSM303AGRMAGNETO_ADDR (0x3C>>1) /* 7-bit */
|
||||
#define LSM303AGRMAGNETO_ADDR (0x3C >> 1) /* 7-bit */
|
||||
|
||||
/* Register Addresses *******************************************************/
|
||||
|
||||
@@ -93,7 +93,7 @@
|
||||
#define LSM303AGR_OUT_Z_L_A 0x2C
|
||||
#define LSM303AGR_OUT_Z_H_A 0x2D
|
||||
|
||||
#define LSM303AGR_OUTX_L_A_SHIFT 0
|
||||
#define LSM303AGR_OUTX_L_A_SHIFT 0
|
||||
#define LSM303AGR_OUTX_L_A_MASK (255 << LSM303AGR_OUTX_L_A_SHIFT)
|
||||
|
||||
#define LSM303AGR_FIFO_CTRL_REG_A 0x2E
|
||||
@@ -142,7 +142,7 @@
|
||||
#define LSM303AGR_OUTZ_L_REG_M 0x6C
|
||||
#define LSM303AGR_OUTZ_H_REG_M 0x6D
|
||||
|
||||
#define LSM303AGR_OUTX_L_M_SHIFT 0
|
||||
#define LSM303AGR_OUTX_L_M_SHIFT 0
|
||||
#define LSM303AGR_OUTX_L_M_MASK (255 << LSM303AGR_OUTX_L_M_SHIFT)
|
||||
|
||||
/****************************************************************************
|
||||
@@ -166,7 +166,7 @@ struct lsm303agr_sensor_data_s
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
struct lsm303agr_dev_s;
|
||||
@@ -218,7 +218,7 @@ extern "C"
|
||||
****************************************************************************/
|
||||
|
||||
int lsm303agr_sensor_register(FAR const char *devpath,
|
||||
FAR struct i2c_master_s *i2c,uint8_t addr);
|
||||
FAR struct i2c_master_s *i2c, uint8_t addr);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@@ -53,8 +53,8 @@
|
||||
|
||||
/* Accelerometer addresses */
|
||||
|
||||
#define LSM6DSLACCEL_ADDR0 (0xD4>>1) /*0x6a low */
|
||||
#define LSM6DSLACCEL_ADDR1 (0xD6>>1) /* 0x6B .. high */
|
||||
#define LSM6DSLACCEL_ADDR0 (0xD4 >> 1) /* 0x6a low */
|
||||
#define LSM6DSLACCEL_ADDR1 (0xD6 >> 1) /* 0x6B .. high */
|
||||
|
||||
/* Gyroscope addresses */
|
||||
|
||||
@@ -138,12 +138,10 @@
|
||||
#define LSM6DSL_SENSORHUB16_REG 0x50 /* Sixteenth byte associated to external sensors. */
|
||||
#define LSM6DSL_SENSORHUB17_REG 0x51 /* Seventeenth byte associated to external sensors. */
|
||||
#define LSM6DSL_SENSORHUB18_REG 0x52 /* Eighteenth byte associated to external sensors. */
|
||||
#define LSM6DSL_FUNC_SRC1 0x53 /* Significant motion, tilt, step detector, hard/soft-iron and sensor hub interrupt source register
|
||||
(r). */
|
||||
#define LSM6DSL_FUNC_SRC1 0x53 /* Significant motion, tilt, step detector, hard/soft-iron and sensor hub interrupt source register (r). */
|
||||
#define LSM6DSL_FUNC_SRC2 0x54 /* Wrist tilt interrupt source register (r). */
|
||||
#define LSM6DSL_WRIST_TILT_IA 0x55 /* Wrist tilt interrupt source register (r). */
|
||||
#define LSM6DSL_TAP_CFG 0x58 /* Enables interrupt and inactivity functions, configuration of filtering and tap recognition
|
||||
functions (r/w). */
|
||||
#define LSM6DSL_TAP_CFG 0x58 /* Enables interrupt and inactivity functions, configuration of filtering and tap recognition functions (r/w). */
|
||||
#define LSM6DSL_TAP_THS_6D 0x59 /* Portrait/landscape position and tap function threshold register (r/w). */
|
||||
#define LSM6DSL_INT_DUR2 0x5A /* Tap recognition function setting register (r/w). */
|
||||
#define LSM6DSL_WAKE_UP_THS 0x5B /* Single and double-tap function threshold register (r/w). */
|
||||
@@ -834,7 +832,7 @@ struct lsm6dsl_sensor_data_s
|
||||
};
|
||||
|
||||
/****************************************************************************************************
|
||||
* Private Types
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
struct lsm6dsl_dev_s;
|
||||
|
||||
Reference in New Issue
Block a user