diff options
Diffstat (limited to 'driver/accelgyro_lsm6ds0.c')
-rw-r--r-- | driver/accelgyro_lsm6ds0.c | 23 |
1 files changed, 6 insertions, 17 deletions
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c index 54ee1c77cc..beee41b815 100644 --- a/driver/accelgyro_lsm6ds0.c +++ b/driver/accelgyro_lsm6ds0.c @@ -166,14 +166,13 @@ static inline int raw_write8(const int port, const uint16_t i2c_addr_flags, return i2c_write8(port, i2c_addr_flags, reg, data); } -static int set_range(const struct motion_sensor_t *s, +static int set_range(struct motion_sensor_t *s, int range, int rnd) { int ret, ctrl_val, range_tbl_size; uint8_t ctrl_reg, reg_val; const struct accel_param_pair *ranges; - struct lsm6ds0_data *data = s->drv_data; ctrl_reg = get_ctrl_reg(s->type); ranges = get_range_table(s->type, &range_tbl_size); @@ -197,21 +196,14 @@ static int set_range(const struct motion_sensor_t *s, /* Now that we have set the range, update the driver's value. */ if (ret == EC_SUCCESS) - data->base.range = get_engineering_val(reg_val, ranges, - range_tbl_size); + s->current_range = get_engineering_val(reg_val, ranges, + range_tbl_size); accel_cleanup: mutex_unlock(s->mutex); return ret; } -static int get_range(const struct motion_sensor_t *s) -{ - struct lsm6ds0_data *data = s->drv_data; - - return data->base.range; -} - static int get_resolution(const struct motion_sensor_t *s) { return LSM6DS0_RESOLUTION; @@ -328,7 +320,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v) { uint8_t raw[6]; uint8_t xyz_reg; - int ret, range, i, tmp = 0; + int ret, i, tmp = 0; struct lsm6ds0_data *data = s->drv_data; ret = is_data_ready(s, &tmp); @@ -364,14 +356,13 @@ static int read(const struct motion_sensor_t *s, intv3_t v) rotate(v, *s->rot_standard_ref, v); /* apply offset in the device coordinates */ - range = get_range(s); for (i = X; i <= Z; i++) - v[i] += (data->offset[i] << 5) / range; + v[i] += (data->offset[i] << 5) / s->current_range; return EC_SUCCESS; } -static int init(const struct motion_sensor_t *s) +static int init(struct motion_sensor_t *s) { int ret = 0, tmp; @@ -425,11 +416,9 @@ const struct accelgyro_drv lsm6ds0_drv = { .init = init, .read = read, .set_range = set_range, - .get_range = get_range, .get_resolution = get_resolution, .set_data_rate = set_data_rate, .get_data_rate = get_data_rate, .set_offset = set_offset, .get_offset = get_offset, - .perform_calib = NULL, }; |