LSM6DS3 driver implementation for LimiFrog V1 by ReneHerthel · Pull Request #3263 · RIOT-OS/RIOT

ReneHerthel · 2015-06-25T17:21:03Z

Needed for the port of the board: LimiFrog.

board: RIOT port for LimiFrog V1 #3020

@PeterKietzmann Here's my first implementation for the lsm6ds3 driver, but there are still some TODO's, which I have to handle in the next time..

PeterKietzmann · 2015-06-26T06:42:10Z

@ReneHerthel nice! I will have a deeper look when you finished your todos. Are there any questions for this?

PeterKietzmann · 2015-06-26T06:43:23Z

drivers/include/lsm6ds3.h

Add HAW Hamburg here and let FU Berlin in, as you code seems to base on Thomas Eichingers code

If we stay with the (below discussed) decision that you are the only author, please replace FU by HAW

@PeterKietzmann Okey

haukepetersen · 2015-06-26T08:47:40Z

Just a side question: How similar are the LSM6DS3 and the LSM303DLHC drivers? Does it make sense to merge them into the same codebase?

PeterKietzmann · 2015-06-29T06:29:41Z

@ReneHerthel? I don't know about the internals...

ReneHerthel · 2015-06-29T13:44:02Z

The LSM6DS3 is a little different as the LSM303DLHC.
There are much more FIFO registers which controlls the output/input data.
I guess the LSM303DLHC handle its sensor datas directly with an address and the digital interface (i2c) and the LSM6DS3 with some FIFO registers (which stores the data of the accelerometer and gyroscope), between the i2c and the accelerometer or gyroscope.

See here:
Page 20, 21, 22 in the LSM303DLHC datasheet:
http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00027543.pdf

and:
Page 27_5.4_FIFO in the LSM6DS3 datasheet:
http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133076.pdf

If you want to have an overview..

PeterKietzmann · 2015-06-29T21:44:54Z

I tend to have separate implementations. Here are just some reasons I found during a quick look in the datasheets:

the one sensor contains a gyroscope and the other contains a magnetometer
both sensors contain an accelerometer but the one features a low power "always on" mode
as @ReneHerthel said, the one sensor has many (relatively great) FIFOs
the registers of both sensors don't look too similar

@haukepetersen if you have other opinions please state them as fast as you can!

ReneHerthel · 2015-07-07T12:10:32Z

@PeterKietzmann any ideas? did you look at my latest push? :-)

PeterKietzmann · 2015-07-07T12:16:25Z

@ReneHerthel no I didn't. As long as no message plopps up here I'm not aware of new commits :-) . Will look inside soon. Are there open questions?

ReneHerthel · 2015-07-08T14:58:16Z

@PeterKietzmann Ooh, I forgot to tell you... ehm, yes I'm not sure with the FIFO-registers, because the LSM303DLHC has constant addresses to the two sensors, and the LSM6DS3 not, so should I use the address, of the FIFO-output-register, where the data from the sensors are stored? .. I guess this was the only thing i didn't implemented yet..

PeterKietzmann · 2015-07-08T15:17:39Z

@ReneHerthel if reading from the fifos is the only way to get the measurement data from the sensors, I think there is no way around :-). Or did I get you wrong? I don't know if you're aware of it, or even if it's interesting, but did you see #3054? If you need more help here, please rephrase your question so I can specifically search in the datasheet.

PeterKietzmann · 2015-07-08T15:21:35Z

drivers/include/lsm6ds3.h

Does this correlate with the fifo stuff you've been explaining?

@PeterKietzmann Yes.

Ok. Then the next question is, do you need these defines? Or as you want to have them in for "template"-reasons, you could add a comment...

PeterKietzmann · 2017-01-16T16:44:08Z

The driver should be compatible as long as the sensor is connected via I2C (I don't even know if this device supports other bus protocols). Only thing that should need adaption is the pin configuration and probably the slave address. I fear that there might be some relicts that I plan to fix as soon as I have the hardware available. In best case this only concerns the usage of I2C_X macro. Would be great if you can already give it a shot @aabadie!

aabadie · 2017-01-16T16:49:27Z

@PeterKietzmann, will test, probably tomorrow afternoon

aabadie · 2017-01-19T14:15:01Z

boards/limifrog-v1/include/lsm6ds3_params.h

@@ -0,0 +1,48 @@
+/*


Can this file be moved to drivers/lsm6ds3/include so one can use it with the default params and the sensor plugged on another board ?

aabadie · 2017-01-19T14:21:35Z

~~Readme.md file missing with the test application.~~

aabadie · 2017-01-19T14:24:39Z

drivers/lsm6ds3/lsm6ds3.c

+    data->z_axis = raw[2] * sensitivity / GYR_DIVIDER;
+}
+
+void lsm6ds3_read_temp(lsm6ds3_t *dev, int16_t *data)


should be value instead of data here or data below instead of value, otherwise it doesn't build

aabadie · 2017-01-19T14:54:41Z

drivers/lsm6ds3/lsm6ds3.c

+    i2c_read_reg(dev->i2c, dev->addr, LSM6DS3_WHO_AM_I_REG, &tmp);
+
+    if (tmp != LSM6DS_CHIP_ID) {
+        DEBUG("LIS3MDL: Failed to identify sensor\n");


s/LIS3MDL/LSM6DS3/

aabadie · 2017-01-19T15:05:44Z

Tested on my ST nucleo iks01a1 shield where there's a LSM6DS0. Following the datasheet the ID is 0xD0 and the sensor I2C address 0xD6. In any case, the sensor is not recognize, which is weird.

aabadie · 2017-01-19T15:06:17Z

I also tried to skip the sensor ID verification and the read values were wrong (empty).

aabadie · 2017-01-19T15:38:51Z

drivers/lsm6ds3/lsm6ds3.c

+
+    i2c_acquire(dev->i2c);
+
+    i2c_init_master(i2c, I2C_SPEED_NORMAL);


I think this line should go before i2c_aquire

PeterKietzmann · 2017-01-19T17:03:35Z

@ReneHerthel please don't take it personally but I'm wondering how you even tested this. (i) Your demo application doesn't even compile and (ii) with compilation errors fixed the application simply hard-faults and reboots the device constantly which might be related to #6432. Btw, I fetched your branch.

When I offered to shepherd this implementation I've assumed there are only minor style fixes left over but this requires more work which I can't provide before the release. I'm sorry.

PeterKietzmann · 2017-01-19T17:07:26Z

@aabadie in case you are willing to take this over in the context of your board and driver enhancement-mania :-), feel free to do so! Otherwise I will try my best to provide fixes for the limifrog first and this driver after the release. Thanks for the review!

miri64 · 2017-05-23T09:18:25Z

Ping?

smlng · 2017-06-19T12:46:38Z

with #6835 already merged it might be possible to unify these drivers?! A quick look into some of the defines showed that both devices share lots of values.

miri64 · 2017-10-05T08:09:31Z

Ping again then ;-)

PeterKietzmann · 2017-11-21T08:35:07Z

I see no reason for this PR so stay open. No progress since months or years. #6835 provides a driver for a similar device. Maybe a 'busy bee' will merge both drivers in some time in future. Closing with memo label set.

PeterKietzmann reviewed Jun 26, 2015
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PeterKietzmann mentioned this pull request Jun 26, 2015

board: RIOT port for LimiFrog V1 #3020

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OlegHahm assigned PeterKietzmann Jun 29, 2015

OlegHahm added Type: new feature The issue requests / The PR implemements a new feature for RIOT Area: drivers Area: Device drivers labels Jun 29, 2015

PeterKietzmann reviewed Jul 8, 2015
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aabadie reviewed Jan 19, 2017

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PeterKietzmann modified the milestones: Release 2017.04, Release 2017.01 Jan 19, 2017

aabadie mentioned this pull request Mar 31, 2017

drivers: add lsm6dsl accelerometer/gyroscope device driver #6835

Merged

kaspar030 modified the milestones: Release 2017.04, Release 2017.07 Apr 21, 2017

aabadie modified the milestones: Release 2017.07, Release 2017.10 Jun 30, 2017

smlng modified the milestones: Release 2017.10, Release 2018.01 Nov 16, 2017

PeterKietzmann added the State: archived State: The PR has been archived for possible future re-adaptation label Nov 21, 2017

PeterKietzmann closed this Nov 21, 2017


		i2c_acquire(dev->i2c);

		i2c_init_master(i2c, I2C_SPEED_NORMAL);

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