Merge pull request #20504 from MrKevinWeiss/pr/feather-nrf52840-sense…

…/generic driver/lsm6dsxx: Allow generic LSM6DSXX driver
RIOT-OS · Mar 27, 2024 · 42b68a5 · 42b68a5
2 parents e67e2fc + b98e5bd
commit 42b68a5
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diff --git a/dist/tools/doccheck/exclude_simple b/dist/tools/doccheck/exclude_simple
@@ -8424,3 +8424,39 @@ warning: Member LSM6DSXX_PARAM_GYRO_FIFO_DEC (macro definition) of file lsm6dsxx
 warning: Member LSM6DSXX_PARAMS (macro definition) of file lsm6dsxx_params.h is not documented.
 warning: Member LSM6DSXX_SAUL_INFO (macro definition) of file lsm6dsxx_params.h is not documented.
 RIOTDoxygenLayout.xml:8: warning: the type 'topics' is not supported for the entry tag within a navindex! Check your layout file!
+warning: Member LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSOR_SYC_RES_RATIO (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_DRDY_PULSE_CFG_G (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_MASTER_CONFIG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB1_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB2_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB3_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB4_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB5_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB6_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB7_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB8_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB9_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB10_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB11_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB12_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB13_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB14_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB15_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB16_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB17_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENSORHUB18_REG (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_FUNC_SRC_2 (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_WRIST_TILT_IA (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_MASTER_CMD_CODE (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_SENS_SYNC_SPI_ERR_CODE (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_L (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_X_H (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_L (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_Y_H (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_L (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_OUT_MAG_RAW_Z_H (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_X_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_Y_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DSL_REG_Z_OFS_USR (macro definition) of file lsm6dsxx_internal.h is not documented.
+warning: Member LSM6DS33_REG_ORIENT_CFG_G (macro definition) of file lsm6dsxx_internal.h is not documented.
diff --git a/drivers/include/lsm6dsxx.h b/drivers/include/lsm6dsxx.h
@@ -106,6 +106,7 @@ typedef struct {
  */
 typedef struct {
     lsm6dsxx_params_t params; /**< driver parameters */
+    uint8_t temperature_scaling_factor; /**< temperature scaling factor */
 } lsm6dsxx_t;
 
 /**

diff --git a/drivers/lsm6dsxx/include/lsm6dsxx_internal.h b/drivers/lsm6dsxx/include/lsm6dsxx_internal.h
@@ -93,70 +93,64 @@ extern "C" {
 #define LSM6DSXX_REG_MD2_CFG                (0x5F)
 /** @} */
 
-#if MODULE_LSM6DSL
 /**
- * @name    LSM6DSL specific registers not used in implemnetation
+ * @name    LSM6DSL and LSM6DS3TR-C specific registers
  * @{
  */
-#define LSM6DSXX_REG_SENSOR_SYNC_TIME_FRAME  (0x04)
-#define LSM6DSXX_REG_SENSOR_SYC_RES_RATIO    (0x05)
-#define LSM6DSXX_REG_DRDY_PULSE_CFG_G        (0x0B)
-#define LSM6DSXX_REG_MASTER_CONFIG           (0x1A)
-#define LSM6DSXX_REG_SENSORHUB1_REG          (0x2E)
-#define LSM6DSXX_REG_SENSORHUB2_REG          (0x2F)
-#define LSM6DSXX_REG_SENSORHUB3_REG          (0x30)
-#define LSM6DSXX_REG_SENSORHUB4_REG          (0x31)
-#define LSM6DSXX_REG_SENSORHUB5_REG          (0x32)
-#define LSM6DSXX_REG_SENSORHUB6_REG          (0x33)
-#define LSM6DSXX_REG_SENSORHUB7_REG          (0x34)
-#define LSM6DSXX_REG_SENSORHUB8_REG          (0x35)
-#define LSM6DSXX_REG_SENSORHUB9_REG          (0x36)
-#define LSM6DSXX_REG_SENSORHUB10_REG         (0x37)
-#define LSM6DSXX_REG_SENSORHUB11_REG         (0x38)
-#define LSM6DSXX_REG_SENSORHUB12_REG         (0x39)
-#define LSM6DSXX_REG_SENSORHUB13_REG         (0x4D)
-#define LSM6DSXX_REG_SENSORHUB14_REG         (0x4E)
-#define LSM6DSXX_REG_SENSORHUB15_REG         (0x4F)
-#define LSM6DSXX_REG_SENSORHUB16_REG         (0x50)
-#define LSM6DSXX_REG_SENSORHUB17_REG         (0x51)
-#define LSM6DSXX_REG_SENSORHUB18_REG         (0x52)
-#define LSM6DSXX_REG_FUNC_SRC_2              (0x54)
-#define LSM6DSXX_REG_WRIST_TILT_IA           (0x55)
-#define LSM6DSXX_REG_MASTER_CMD_CODE         (0x60)
-#define LSM6DSXX_REG_SENS_SYNC_SPI_ERR_CODE  (0x61)
-#define LSM6DSXX_REG_OUT_MAG_RAW_X_L         (0x66)
-#define LSM6DSXX_REG_OUT_MAG_RAW_X_H         (0x67)
-#define LSM6DSXX_REG_OUT_MAG_RAW_Y_L         (0x68)
-#define LSM6DSXX_REG_OUT_MAG_RAW_Y_H         (0x69)
-#define LSM6DSXX_REG_OUT_MAG_RAW_Z_L         (0x6A)
-#define LSM6DSXX_REG_OUT_MAG_RAW_Z_H         (0x6B)
-#define LSM6DSXX_REG_X_OFS_USR               (0x73)
-#define LSM6DSXX_REG_Y_OFS_USR               (0x74)
-#define LSM6DSXX_REG_Z_OFS_USR               (0x75)
+#define LSM6DSL_REG_SENSOR_SYNC_TIME_FRAME  (0x04)
+#define LSM6DSL_REG_SENSOR_SYC_RES_RATIO    (0x05)
+#define LSM6DSL_REG_DRDY_PULSE_CFG_G        (0x0B)
+#define LSM6DSL_REG_MASTER_CONFIG           (0x1A)
+#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_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_2              (0x54)
+#define LSM6DSL_REG_WRIST_TILT_IA           (0x55)
+#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)
 /** @} */
 
 /**
- * @brief   WHO_AM_I value for the LSM6DSL
- */
-#define LSM6DSXX_WHO_AM_I                    (0b01101010)
-
-
-
-#elif MODULE_LSM6DS33
-/**
- * @name    LSM6DS33 specific registers not used in implementation
+ * @name    LSM6DS33 specific registers
  * @{
  */
 
-#define LSM6DSXX_REG_ORIENT_CFG_G           (0x0B)
+#define LSM6DS33_REG_ORIENT_CFG_G           (0x0B)
 /** @} */
 
 /**
  * @brief   WHO_AM_I value for the LSM6DS33
  */
-#define LSM6DSXX_WHO_AM_I                    (0b01101001)
+#define LSM6DS33_WHO_AM_I                    (0b01101001)
 
-#endif
+/**
+ * @brief   WHO_AM_I value for the LSM6DSL and LSM6DS3TR-C
+ */
+#define LSM6DSL_WHO_AM_I                     (0b01101010)
 
 /**
  * @name    CTRL_x registers
@@ -183,7 +177,7 @@ extern "C" {
 /**
  * @brief   Offset for temperature calculation
  */
-#define LSM6DSXX_TEMP_OFFSET                 (0x1900)
+#define LSM6DSXX_TEMP_OFFSET                 (25)
 
 /**
  * @brief   Reboot wait interval in ms (15ms)

diff --git a/drivers/lsm6dsxx/lsm6dsxx.c b/drivers/lsm6dsxx/lsm6dsxx.c
@@ -71,7 +71,13 @@ int lsm6dsxx_init(lsm6dsxx_t *dev, const lsm6dsxx_params_t *params)
         return -LSM6DSXX_ERROR_BUS;
     }
 
-    if (tmp != LSM6DSXX_WHO_AM_I) {
+    if (tmp == LSM6DS33_WHO_AM_I) {
+        dev->temperature_scaling_factor = 4;
+    }
+    else if (tmp == LSM6DSL_WHO_AM_I) {
+        dev->temperature_scaling_factor = 8;
+    }
+    else {
         DEBUG("[ERROR] lsm6dsxx_init: WHO_AM_I\n");
         return -LSM6DSXX_ERROR_DEV;
     }
@@ -192,8 +198,8 @@ int lsm6dsxx_read_temp(const lsm6dsxx_t *dev, int16_t *data)
     traw |= (uint16_t)tmp << 8;
     i2c_release(BUS);
     /* convert temperature to degC x 100 */
-    traw += LSM6DSXX_TEMP_OFFSET;
-    *data = (int16_t)(((int32_t)traw * 100) / 256);
+    traw += LSM6DSXX_TEMP_OFFSET << dev->temperature_scaling_factor;
+    *data = (int16_t)(((int32_t)traw * 100) >> dev->temperature_scaling_factor);
 
     return LSM6DSXX_OK;
 }

diff --git a/makefiles/tools/usb_board_reset.mk b/makefiles/tools/usb_board_reset.mk
@@ -33,7 +33,7 @@ preflash-delay: preflash
 	sleep $(PREFLASH_DELAY)
 endif
 
-ifneq (,$(filter test term,$(MAKECMDGOALS)))
+ifneq (,$(filter test term test-with-config,$(MAKECMDGOALS)))
 term-delay: $(TERMDELAYDEPS)
 	sleep $(TERM_DELAY)
 endif
diff --git a/tests/drivers/lsm6dsxx/Makefile b/tests/drivers/lsm6dsxx/Makefile
@@ -1,6 +1,9 @@
+BOARD ?= feather-nrf52840-sense
 include ../Makefile.drivers_common
 
-DRIVER ?= lsm6ds33
+DISABLE_MODULE += test_utils_interactive_sync
+
+DRIVER ?= lsm6dsxx
 
 USEMODULE += $(DRIVER)
 USEMODULE += ztimer

diff --git a/tests/drivers/lsm6dsxx/tests-with-config/01-run.py b/tests/drivers/lsm6dsxx/tests-with-config/01-run.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 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
+# directory for more details.
+
+import sys
+from testrunner import run
+
+
+def testfunc(child):
+    child.expect("Accelerometer x:")
+    child.expect("Gyroscope x:")
+    child.expect(r"Temperature \[in")
+
+
+if __name__ == "__main__":
+    sys.exit(run(testfunc))