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| author | Gwendal Grignou <gwendal@chromium.org> | 2019-01-18 15:24:12 -0800 |
|---|---|---|
| committer | Justin TerAvest <teravest@chromium.org> | 2019-01-19 02:05:55 +0000 |
| commit | ccede6a11f3d4287b0e7a49ca1acc25046c45123 (patch) | |
| tree | 7ae6533522ab8d6889a2a374b00e944d7d0ca2f8 /driver/accelgyro_lsm6dsm.c | |
| parent | dc0744d83b7f1118bbb554e1800944d104dfacbd (diff) | |
| download | chrome-ec-ccede6a11f3d4287b0e7a49ca1acc25046c45123.tar.gz | |
drvier: lsm6dsm: Populate Gyroscope scale properly
Range of 250/1000/2000 dps is an approximation.
The Gyrscope uses a slighly higher range:
range | gain(udps/LSB) | actual value(dps)
250 | 8750 | 286.72
500 | 17500 | 573.44
1000 | 35000 | 1146.88
2000 | 70000 | 2293.76
Returns the actual value for a given range.
BUG=b:121279721
BRANCH=octopus
TEST=Check scale returns the correct value:
cd /sys/bus/iio/devices/...
for i in 250 500 1000 2000 ; do echo $i > scale ; V=$(cat scale) ; echo
-n "$i: " ; echo -n "$V: " ; echo $V | python -c 'import sys
for line in sys.stdin:
print float(line) * 32768 * 180 / 3.14159' ; done
250: 0.000152331: 285.996835182
500: 0.000305197: 572.998116648
1000: 0.000610395: 1145.99811077
2000: 0.001221325: 2293.00066781
Check CTS Verifier Gyroscope Measurement Test pass.
Change-Id: I76c977140321d01702af16f58a3dfb7036673014
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/1423597
Reviewed-by: Enrico Granata <egranata@chromium.org>
Diffstat (limited to 'driver/accelgyro_lsm6dsm.c')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.c | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/driver/accelgyro_lsm6dsm.c b/driver/accelgyro_lsm6dsm.c index 7f9ac5b983..30650eebe7 100644 --- a/driver/accelgyro_lsm6dsm.c +++ b/driver/accelgyro_lsm6dsm.c @@ -375,22 +375,20 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd) reg_val = LSM6DSM_ACCEL_FS_REG(newrange); } else { /* Adjust and check rounded value for gyro. */ - if (rnd && (newrange < LSM6DSM_GYRO_NORMALIZE_FS(newrange))) - newrange *= 2; - - if (newrange > LSM6DSM_GYRO_FS_MAX_VAL) - newrange = LSM6DSM_GYRO_FS_MAX_VAL; + reg_val = LSM6DSM_GYRO_FS_REG(range); + if (rnd && (range > LSM6DSM_GYRO_NORMALIZE_FS(reg_val))) + reg_val++; - reg_val = LSM6DSM_GYRO_FS_REG(newrange); + if (reg_val > LSM6DSM_GYRO_FS_MAX_REG_VAL) + reg_val = LSM6DSM_GYRO_FS_MAX_REG_VAL; + newrange = LSM6DSM_GYRO_NORMALIZE_FS(reg_val); } mutex_lock(s->mutex); err = st_write_data_with_mask(s, ctrl_reg, LSM6DSM_RANGE_MASK, reg_val); if (err == EC_SUCCESS) /* Save internally gain for speed optimization. */ - data->base.range = (s->type == MOTIONSENSE_TYPE_ACCEL ? - newrange : - LSM6DSM_GYRO_FS_GAIN(newrange)); + data->base.range = newrange; mutex_unlock(s->mutex); return EC_SUCCESS; @@ -414,9 +412,7 @@ static int get_range(const struct motion_sensor_t *s) */ struct stprivate_data *data = s->drv_data; - if (s->type == MOTIONSENSE_TYPE_ACCEL) - return data->base.range; - return LSM6DSM_GYRO_GAIN_FS(data->base.range); + return data->base.range; } /** |