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drivers/sensors/lsm6ds3trc: remember last ODR across activations

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Previously, activate() always fell back to a hardcoded ODR_52HZ (or the
other sub-sensor's rate, in FIFO mode) whenever a sub-sensor went from
disabled to enabled, discarding whatever rate the application had
explicitly requested via set_interval() before disabling it. An
application that only ever wants, say, 25Hz would see the sensor
restart at 52Hz on every re-activation, and in FIFO mode this fills the
FIFO faster than intended, defeating the point of choosing a lower ODR
for power savings.

Add last_odr, which -- unlike odr -- survives being disabled. activate()
now restores it on the next enable, only falling back to ODR_52HZ on a
sub-sensor's genuine first-ever activation.

Signed-off-by: Felipe Moura <moura.fmo@gmail.com>
This commit is contained in:
Felipe Moura 2026-08-29 14:49:43 -03:00 • committed by Xiang Xiao
parent 94d5599ffe
commit b8c5cf7357
1 changed files with 33 additions and 8 deletions
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41
drivers/sensors/lsm6ds3trc_uorb.c
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@ -174,7 +174,14 @@ struct lsm6ds3trc_sens_s
FAR struct lsm6ds3trc_dev_s *dev; /* Reference to parent device */
bool enabled; /* If this sensor is enabled */
enum lsm6ds3trc_odr_e odr; /* Measurement interval of this
* sensor */
* sensor, ODR_OFF while disabled */
enum lsm6ds3trc_odr_e last_odr; /* Last ODR explicitly requested
* via set_interval(), ODR_OFF if
* never -- unlike odr, this
* survives being disabled, so
* activate() can restore it on
* the next enable instead of
* resetting to a fixed default */
int fsr; /* Full scale range of this sensor.
* Can be from either gyro or accel
* FSR enum. */
@ -1043,15 +1050,24 @@ static int lsm6ds3trc_activate(FAR struct sensor_lowerhalf_s *lower,
start_thread = true;
#ifdef CONFIG_SENSORS_LSM6DS3TRC_FIFO
/* Both sub-sensors share one FIFO write rate: join whatever the
* other one is already running at, if it's enabled, instead of
* disrupting an existing subscriber's rate.
/* Restore whatever ODR was last explicitly requested for this
* sub-sensor (via set_interval()), if any -- ODR_52HZ only
* applies the first time this sub-sensor is ever activated.
*/
odr = other->enabled ? other->odr : ODR_52HZ;
#else
odr = ODR_52HZ;
odr = sens->last_odr != ODR_OFF ? sens->last_odr : ODR_52HZ;
#ifdef CONFIG_SENSORS_LSM6DS3TRC_FIFO
/* ...but both sub-sensors share one FIFO write rate: joining
* whatever the other one is already running at takes priority
* over this sub-sensor's own remembered rate, since FIFO mode
* doesn't allow them to differ.
*/
if (other->enabled)
{
odr = other->odr;
}
#endif
err = is_gyro ? gyro_set_odr(dev, odr) : accel_set_odr(dev, odr);
@ -1205,6 +1221,13 @@ static int lsm6ds3trc_set_interval(FAR struct sensor_lowerhalf_s *lower,
goto early_ret;
}
/* Remember this explicit request so activate() can restore it on the
* next enable, instead of resetting to a fixed default -- unlike
* sens->odr, this isn't touched by disabling the sensor.
*/
sens->last_odr = odr;
#ifdef CONFIG_SENSORS_LSM6DS3TRC_FIFO
/* Both sub-sensors share one FIFO write rate -- re-pace whichever one
* this call didn't target, if it's currently enabled, then let
@ -1468,6 +1491,7 @@ int lsm6ds3trc_register(FAR struct i2c_master_s *i2c, uint8_t addr,
priv->gyro.lower.nbuffer = CONFIG_SENSORS_LSM6DS3TRC_GYRO_ORB_BUFSIZE;
priv->gyro.enabled = false;
priv->gyro.odr = ODR_OFF;
priv->gyro.last_odr = ODR_OFF;
priv->gyro.fsr = LSM6DS3TRC_FSR_GY_245DPS;
priv->gyro.dev = priv;
@ -1486,6 +1510,7 @@ int lsm6ds3trc_register(FAR struct i2c_master_s *i2c, uint8_t addr,
priv->accel.lower.nbuffer = CONFIG_SENSORS_LSM6DS3TRC_ACCEL_ORB_BUFSIZE;
priv->accel.enabled = false;
priv->accel.odr = ODR_OFF;
priv->accel.last_odr = ODR_OFF;
priv->accel.fsr = LSM6DS3TRC_FSR_XL_4G; /* Default 4g, per project notes */
priv->accel.dev = priv;