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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.h | |
| 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.h')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.h | 38 |
1 files changed, 14 insertions, 24 deletions
diff --git a/driver/accelgyro_lsm6dsm.h b/driver/accelgyro_lsm6dsm.h index 72c21fa5f3..0be055271e 100644 --- a/driver/accelgyro_lsm6dsm.h +++ b/driver/accelgyro_lsm6dsm.h @@ -195,34 +195,24 @@ struct fstatus { #define LSM6DSM_GYRO_FS_ADDR 0x11 #define LSM6DSM_GYRO_FS_MASK 0x0c -#define LSM6DSM_GYRO_FS_245_VAL 0x00 -#define LSM6DSM_GYRO_FS_500_VAL 0x01 -#define LSM6DSM_GYRO_FS_1000_VAL 0x02 -#define LSM6DSM_GYRO_FS_2000_VAL 0x03 -#define LSM6DSM_GYRO_FS_245_GAIN 8750 -#define LSM6DSM_GYRO_FS_500_GAIN 17500 -#define LSM6DSM_GYRO_FS_1000_GAIN 35000 -#define LSM6DSM_GYRO_FS_2000_GAIN 70000 - -#define LSM6DSM_GYRO_FS_MAX_VAL 20000 - -/* Gyro FS Gain value from selected Full Scale */ -#define LSM6DSM_GYRO_FS_GAIN(_fs) \ - (LSM6DSM_GYRO_FS_245_GAIN << __fls(_fs / 245)) - -/* Gyro FS Full Scale value from Gain */ -#define LSM6DSM_GYRO_GAIN_FS(_gain) \ - (_gain == LSM6DSM_GYRO_FS_245_GAIN ? 245 : \ - 500 << (30 - __builtin_clz(_gain / LSM6DSM_GYRO_FS_245_GAIN))) +/* Supported gyroscope ranges: + * name(dps) | register | gain(udps/LSB) | actual value(dps) + * 250 | 0 | 8750 | 286.72 + * 500 | 1 | 17500 | 573.44 + * 1000 | 2 | 35000 | 1146.88 + * 2000 | 3 | 70000 | 2293.76 + */ +#define LSM6DSM_GYRO_FS_MIN_VAL_MDPS ((8750 << 15) / 1000) +#define LSM6DSM_GYRO_FS_MAX_REG_VAL 3 -/* Gyro Reg value from Full Scale */ +/* Gyro Reg value for Full Scale selection */ #define LSM6DSM_GYRO_FS_REG(_fs) \ - __fls(_fs / 245) + __fls(MAX(1, (_fs * 1000) / LSM6DSM_GYRO_FS_MIN_VAL_MDPS)) -/* Gyro normalized FS value from Full Scale: for Gyro Gains are not multiple */ -#define LSM6DSM_GYRO_NORMALIZE_FS(_fs) \ - (_fs == 245 ? 245 : 500 << __fls(_fs / 500)) +/* Gyro normalized FS value from Full Scale register */ +#define LSM6DSM_GYRO_NORMALIZE_FS(_reg) \ + ((LSM6DSM_GYRO_FS_MIN_VAL_MDPS << (_reg)) / 1000) /* FS register address/mask for Acc/Gyro sensors */ #define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor)) |