Commit 18e8cada authored by Armando Visconti's avatar Armando Visconti Committed by Christopher Friedt
Browse files

drivers/sensor: lsm6dso: Move odr/range Kconfig property into dts 



Move odr and range properties for both accelerometer and gyro
from Kconfigs to Device Tree.
Fixes #41117

Signed-off-by: default avatarArmando Visconti <armando.visconti@st.com>
parent df4e87f9

drivers/sensor/lsm6dso/Kconfig

+0 −68
Original line number Diff line number Diff line
@@ -85,72 +85,4 @@ config LSM6DSO_EXT_LPS22HB 


endif # LSM6DSO_SENSORHUB



menu "Attributes"



config LSM6DSO_GYRO_FS

	int "Gyroscope full-scale range"

	default 0

	help

	  Specify the default gyroscope full-scale range.

	  An X value for the config represents a range of +/- X degree per

	  second. Valid values are:

	  0:  Full Scale selected at runtime

	  125:   +/- 125dps

	  250:   +/- 250dps

	  500:   +/- 500dps

	  1000:  +/- 1000dps

	  2000:  +/- 2000dps



config LSM6DSO_GYRO_ODR

	int "Gyroscope Output data rate frequency"

	range 0 10

	default 0

	help

	  Specify the default accelerometer output data rate expressed in

	  samples per second (Hz).

	  0: ODR selected at runtime

	  1: 12.5Hz

	  2: 26Hz

	  3: 52Hz

	  4: 104Hz

	  5: 208Hz

	  6: 416Hz

	  7: 833Hz

	  8: 1660Hz

	  9: 3330Hz

	  10: 6660Hz



config LSM6DSO_ACCEL_FS

	int "Accelerometer full-scale range"

	default 0

	help

	  Specify the default accelerometer full-scale range.

	  An X value for the config represents a range of +/- X G. Valid values

	  are:

	  0:  Full Scale selected at runtime

	  2:  +/- 2g

	  4:  +/- 4g

	  8:  +/- 8g

	  16: +/- 16g



config LSM6DSO_ACCEL_ODR

	int "Accelerometer Output data rate frequency"

	range 0 10

	default 0

	help

	  Specify the default accelerometer output data rate expressed in

	  samples per second (Hz).

	  0: ODR selected at runtime

	  1: 12.5Hz

	  2: 26Hz

	  3: 52Hz

	  4: 104Hz

	  5: 208Hz

	  6: 416Hz

	  7: 833Hz

	  8: 1660Hz

	  9: 3330Hz

	  10: 6660Hz

endmenu



endif # LSM6DSO

drivers/sensor/lsm6dso/lsm6dso.c

+32 −39
Original line number Diff line number Diff line
@@ -26,7 +26,6 @@ LOG_MODULE_REGISTER(LSM6DSO, CONFIG_SENSOR_LOG_LEVEL); 
static const uint16_t lsm6dso_odr_map[] = {0, 12, 26, 52, 104, 208, 416, 833,

					1660, 3330, 6660};



#if defined(LSM6DSO_ACCEL_ODR_RUNTIME) || defined(LSM6DSO_GYRO_ODR_RUNTIME)

static int lsm6dso_freq_to_odr_val(uint16_t freq)

{

	size_t i;
@@ -39,7 +38,6 @@ static int lsm6dso_freq_to_odr_val(uint16_t freq) 


	return -EINVAL;

}

#endif



static int lsm6dso_odr_to_freq_val(uint16_t odr)

{
@@ -52,7 +50,6 @@ static int lsm6dso_odr_to_freq_val(uint16_t odr) 
	return lsm6dso_odr_map[ARRAY_SIZE(lsm6dso_odr_map) - 1];

}



#ifdef LSM6DSO_ACCEL_FS_RUNTIME

static const uint16_t lsm6dso_accel_fs_map[] = {2, 16, 4, 8};

static const uint16_t lsm6dso_accel_fs_sens[] = {1, 8, 2, 4};
@@ -68,11 +65,9 @@ static int lsm6dso_accel_range_to_fs_val(int32_t range) 


	return -EINVAL;

}

#endif



#ifdef LSM6DSO_GYRO_FS_RUNTIME

static const uint16_t lsm6dso_gyro_fs_map[] = {250, 500, 1000, 2000, 125};

static const uint16_t lsm6dso_gyro_fs_sens[] = {2, 4, 8, 16, 1};

static const uint16_t lsm6dso_gyro_fs_map[] = {250, 125, 500, 0, 1000, 0, 2000};

static const uint16_t lsm6dso_gyro_fs_sens[] = {2, 1, 4, 0, 8, 0, 16};



static int lsm6dso_gyro_range_to_fs_val(int32_t range)

{
@@ -86,7 +81,6 @@ static int lsm6dso_gyro_range_to_fs_val(int32_t range) 


	return -EINVAL;

}

#endif



static inline int lsm6dso_reboot(const struct device *dev)

{
@@ -157,7 +151,6 @@ static int lsm6dso_gyro_set_odr_raw(const struct device *dev, uint8_t odr) 
	return 0;

}



#ifdef LSM6DSO_ACCEL_ODR_RUNTIME

static int lsm6dso_accel_odr_set(const struct device *dev, uint16_t freq)

{

	int odr;
@@ -174,9 +167,7 @@ static int lsm6dso_accel_odr_set(const struct device *dev, uint16_t freq) 


	return 0;

}

#endif



#ifdef LSM6DSO_ACCEL_FS_RUNTIME

static int lsm6dso_accel_range_set(const struct device *dev, int32_t range)

{

	int fs;
@@ -195,7 +186,6 @@ static int lsm6dso_accel_range_set(const struct device *dev, int32_t range) 
	data->acc_gain = (lsm6dso_accel_fs_sens[fs] * GAIN_UNIT_XL);

	return 0;

}

#endif



static int lsm6dso_accel_config(const struct device *dev,

				enum sensor_channel chan,
@@ -203,14 +193,10 @@ static int lsm6dso_accel_config(const struct device *dev, 
				const struct sensor_value *val)

{

	switch (attr) {

#ifdef LSM6DSO_ACCEL_FS_RUNTIME

	case SENSOR_ATTR_FULL_SCALE:

		return lsm6dso_accel_range_set(dev, sensor_ms2_to_g(val));

#endif

#ifdef LSM6DSO_ACCEL_ODR_RUNTIME

	case SENSOR_ATTR_SAMPLING_FREQUENCY:

		return lsm6dso_accel_odr_set(dev, val->val1);

#endif

	default:

		LOG_DBG("Accel attribute not supported.");

		return -ENOTSUP;
@@ -219,7 +205,6 @@ static int lsm6dso_accel_config(const struct device *dev, 
	return 0;

}



#ifdef LSM6DSO_GYRO_ODR_RUNTIME

static int lsm6dso_gyro_odr_set(const struct device *dev, uint16_t freq)

{

	int odr;
@@ -236,9 +221,7 @@ static int lsm6dso_gyro_odr_set(const struct device *dev, uint16_t freq) 


	return 0;

}

#endif



#ifdef LSM6DSO_GYRO_FS_RUNTIME

static int lsm6dso_gyro_range_set(const struct device *dev, int32_t range)

{

	int fs;
@@ -257,7 +240,6 @@ static int lsm6dso_gyro_range_set(const struct device *dev, int32_t range) 
	data->gyro_gain = (lsm6dso_gyro_fs_sens[fs] * GAIN_UNIT_G);

	return 0;

}

#endif



static int lsm6dso_gyro_config(const struct device *dev,

			       enum sensor_channel chan,
@@ -265,14 +247,10 @@ static int lsm6dso_gyro_config(const struct device *dev, 
			       const struct sensor_value *val)

{

	switch (attr) {

#ifdef LSM6DSO_GYRO_FS_RUNTIME

	case SENSOR_ATTR_FULL_SCALE:

		return lsm6dso_gyro_range_set(dev, sensor_rad_to_degrees(val));

#endif

#ifdef LSM6DSO_GYRO_ODR_RUNTIME

	case SENSOR_ATTR_SAMPLING_FREQUENCY:

		return lsm6dso_gyro_odr_set(dev, val->val1);

#endif

	default:

		LOG_DBG("Gyro attribute not supported.");

		return -ENOTSUP;
@@ -515,8 +493,7 @@ static int lsm6dso_gyro_channel_get(enum sensor_channel chan, 
				    struct sensor_value *val,

				    struct lsm6dso_data *data)

{

	return lsm6dso_gyro_get_channel(chan, val, data,

					LSM6DSO_DEFAULT_GYRO_SENSITIVITY);

	return lsm6dso_gyro_get_channel(chan, val, data, data->gyro_gain);

}



#if defined(CONFIG_LSM6DSO_ENABLE_TEMP)
@@ -740,6 +717,7 @@ static int lsm6dso_init_chip(const struct device *dev) 
	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;

	struct lsm6dso_data *lsm6dso = dev->data;

	uint8_t chip_id;

	uint8_t odr, fs;



	if (lsm6dso_device_id_get(ctx, &chip_id) < 0) {

		LOG_DBG("Failed reading chip id");
@@ -766,28 +744,35 @@ static int lsm6dso_init_chip(const struct device *dev) 


	k_busy_wait(100);



	if (lsm6dso_accel_set_fs_raw(dev,

				     LSM6DSO_DEFAULT_ACCEL_FULLSCALE) < 0) {

		LOG_DBG("failed to set accelerometer full-scale");

	fs = cfg->accel_range;

	LOG_DBG("accel range is %d", fs);

	if (lsm6dso_accel_set_fs_raw(dev, fs) < 0) {

		LOG_ERR("failed to set accelerometer range %d", fs);

		return -EIO;

	}

	lsm6dso->acc_gain = LSM6DSO_DEFAULT_ACCEL_SENSITIVITY;

	lsm6dso->acc_gain = lsm6dso_accel_fs_sens[fs] * GAIN_UNIT_XL;



	lsm6dso->accel_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_ACCEL_ODR);

	if (lsm6dso_accel_set_odr_raw(dev, CONFIG_LSM6DSO_ACCEL_ODR) < 0) {

		LOG_DBG("failed to set accelerometer sampling rate");

	odr = cfg->accel_odr;

	LOG_DBG("accel odr is %d", odr);

	lsm6dso->accel_freq = lsm6dso_odr_to_freq_val(odr);

	if (lsm6dso_accel_set_odr_raw(dev, odr) < 0) {

		LOG_ERR("failed to set accelerometer odr %d", odr);

		return -EIO;

	}



	if (lsm6dso_gyro_set_fs_raw(dev, LSM6DSO_DEFAULT_GYRO_FULLSCALE) < 0) {

		LOG_DBG("failed to set gyroscope full-scale");

	fs = cfg->gyro_range;

	LOG_DBG("gyro range is %d", fs);

	if (lsm6dso_gyro_set_fs_raw(dev, fs) < 0) {

		LOG_ERR("failed to set gyroscope range %d", fs);

		return -EIO;

	}

	lsm6dso->gyro_gain = LSM6DSO_DEFAULT_GYRO_SENSITIVITY;

	lsm6dso->gyro_gain = (lsm6dso_gyro_fs_sens[fs] * GAIN_UNIT_G);



	lsm6dso->gyro_freq = lsm6dso_odr_to_freq_val(CONFIG_LSM6DSO_GYRO_ODR);

	if (lsm6dso_gyro_set_odr_raw(dev, CONFIG_LSM6DSO_GYRO_ODR) < 0) {

		LOG_DBG("failed to set gyroscope sampling rate");

	odr = cfg->gyro_odr;

	LOG_DBG("gyro odr is %d", odr);

	lsm6dso->gyro_freq = lsm6dso_odr_to_freq_val(odr);

	if (lsm6dso_gyro_set_odr_raw(dev, odr) < 0) {

		LOG_ERR("failed to set gyroscope odr %d", odr);

		return -EIO;

	}
@@ -892,6 +877,10 @@ static int lsm6dso_init(const struct device *dev) 
					   LSM6DSO_SPI_OP,		\

					   0),				\

		},							\

		.accel_odr = DT_INST_PROP(inst, accel_odr),		\

		.accel_range = DT_INST_PROP(inst, accel_range),		\

		.gyro_odr = DT_INST_PROP(inst, gyro_odr),		\

		.gyro_range = DT_INST_PROP(inst, gyro_range),		\

		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\

			(LSM6DSO_CFG_IRQ(inst)), ())			\

	}
@@ -913,6 +902,10 @@ static int lsm6dso_init(const struct device *dev) 
		.stmemsc_cfg = {					\

			.i2c = I2C_DT_SPEC_INST_GET(inst),		\

		},							\

		.accel_odr = DT_INST_PROP(inst, accel_odr),		\

		.accel_range = DT_INST_PROP(inst, accel_range),		\

		.gyro_odr = DT_INST_PROP(inst, gyro_odr),		\

		.gyro_range = DT_INST_PROP(inst, gyro_range),		\

		COND_CODE_1(DT_INST_NODE_HAS_PROP(inst, irq_gpios),	\

			(LSM6DSO_CFG_IRQ(inst)), ())			\

	}

drivers/sensor/lsm6dso/lsm6dso.h

+4 −50
Original line number Diff line number Diff line
@@ -40,56 +40,6 @@ 
#define SENSOR_DEG2RAD_DOUBLE			(SENSOR_PI_DOUBLE / 180)

#define SENSOR_G_DOUBLE				(SENSOR_G / 1000000.0)



#if CONFIG_LSM6DSO_ACCEL_FS == 0

	#define LSM6DSO_ACCEL_FS_RUNTIME 1

	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0

	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL

#elif CONFIG_LSM6DSO_ACCEL_FS == 2

	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		0

	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	GAIN_UNIT_XL

#elif CONFIG_LSM6DSO_ACCEL_FS == 4

	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		2

	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(2.0 * GAIN_UNIT_XL)

#elif CONFIG_LSM6DSO_ACCEL_FS == 8

	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		3

	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(4.0 * GAIN_UNIT_XL)

#elif CONFIG_LSM6DSO_ACCEL_FS == 16

	#define LSM6DSO_DEFAULT_ACCEL_FULLSCALE		1

	#define LSM6DSO_DEFAULT_ACCEL_SENSITIVITY	(8.0 * GAIN_UNIT_XL)

#endif



#if (CONFIG_LSM6DSO_ACCEL_ODR == 0)

#define LSM6DSO_ACCEL_ODR_RUNTIME 1

#endif



#define GYRO_FULLSCALE_125 4



#if CONFIG_LSM6DSO_GYRO_FS == 0

	#define LSM6DSO_GYRO_FS_RUNTIME 1

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G

#elif CONFIG_LSM6DSO_GYRO_FS == 125

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		4

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	GAIN_UNIT_G

#elif CONFIG_LSM6DSO_GYRO_FS == 250

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		0

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(2.0 * GAIN_UNIT_G)

#elif CONFIG_LSM6DSO_GYRO_FS == 500

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		1

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(4.0 * GAIN_UNIT_G)

#elif CONFIG_LSM6DSO_GYRO_FS == 1000

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		2

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(8.0 * GAIN_UNIT_G)

#elif CONFIG_LSM6DSO_GYRO_FS == 2000

	#define LSM6DSO_DEFAULT_GYRO_FULLSCALE		3

	#define LSM6DSO_DEFAULT_GYRO_SENSITIVITY	(16.0 * GAIN_UNIT_G)

#endif





#if (CONFIG_LSM6DSO_GYRO_ODR == 0)

#define LSM6DSO_GYRO_ODR_RUNTIME 1

#endif



struct lsm6dso_config {

	stmdev_ctx_t ctx;

	union {
@@ -100,6 +50,10 @@ struct lsm6dso_config { 
		const struct spi_dt_spec spi;

#endif

	} stmemsc_cfg;

	uint8_t accel_odr;

	uint8_t accel_range;

	uint8_t gyro_odr;

	uint8_t gyro_range;

#ifdef CONFIG_LSM6DSO_TRIGGER

	const struct gpio_dt_spec gpio_drdy;

	uint8_t int_pin;

dts/bindings/sensor/st,lsm6dso-common.yaml

+65 −0
Original line number Diff line number Diff line
@@ -26,3 +26,68 @@ properties: 
        (INT1 or INT2) the drdy line is attached to. This property is not

        mandatory and if not present it defaults to 1 which is the

        configuration at power-up.



    accel-range:

      type: int

      required: false

      default: 0

      description: |

        Range in g. Default is power-up configuration.

      enum:

        - 0 # 2g  (0.061 mg/LSB)

        - 1 # 16g (0.488 mg/LSB)

        - 2 # 4g  (0.122 mg/LSB)

        - 3 # 8g  (0.244 mg/LSB)



    accel-odr:

      type: int

      required: false

      default: 0

      description: |

        Specify the default accelerometer output data rate expressed in samples per second (Hz).

        Default is power-up configuration.

      enum:

        - 0  # Power-Down

        - 1  # 12.5Hz

        - 2  # 26Hz

        - 3  # 52Hz

        - 4  # 104Hz

        - 5  # 208Hz

        - 6  # 417Hz

        - 7  # 833Hz

        - 8  # 1667Hz

        - 9  # 3333Hz

        - 10 # 6667Hz



    gyro-range:

      type: int

      required: false

      default: 0

      description: |

        Range in dps. Default is power-up configuration.

      enum:

        - 0 # 250 dps  (8.75 mdps/LSB)

        - 1 # 125 dps  (4.375 mdps/LSB)

        - 2 # 500 dps  (17.50 mdps/LSB)

        - 4 # 1000 dps (35 mdps/LSB)

        - 6 # 2000 dps (70 mdps/LSB)



    gyro-odr:

      type: int

      required: false

      default: 0

      description: |

        Specify the default gyro output data rate expressed in samples per second (Hz).

        Default is power-up configuration.

      enum:

        - 0  # Power-Down

        - 1  # 12.5Hz

        - 2  # 26Hz

        - 3  # 52Hz

        - 4  # 104Hz

        - 5  # 208Hz

        - 6  # 417Hz

        - 7  # 833Hz

        - 8  # 1667Hz

        - 9  # 3333Hz

        - 10 # 6667Hz

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