300c7363d7
No driver exists for this exact chip. lsm6dsl.c is the closest register-compatible match but is the deprecated legacy char-device style; lsm6dso32_uorb.c is the closest uORB-style match but is for a different chip variant. The new driver borrows lsm6dso32_uorb.c's structure (dual sensor_lowerhalf_s, raw I2C_TRANSFER helpers) and lsm6dsl.h's register map -- fixing a bug in the header it was ported from along the way: LSM6DSL_FIFO_CTRL2_SHIFT is defined as 255 instead of 0. Delivery mode is chosen the same way mpu6050 does: kthread polling by default, or interrupt-driven if the board supplies attach(). Unlike the earlier lsm6dso32-style design this went through first -- one INT pin and one activate()/interrupt path per sub-sensor -- the shipped version uses a single shared INT pin for both, mirroring mpu6050's own one-handler-one-worker design (#19601) instead. The two-independent- paths version worked for accel alone but was intermittently broken for gyro: activate() sometimes never actually turned CTRL2_G on even though the interrupt-enable bit was written correctly, and other times the whole console hung -- a real race, never conclusively root-caused on a serial console with no JTAG available. The LSM6DS3TR-C supports OR'ing both DRDY_XL and DRDY_G onto one pin via independent enable bits in that pin's INTn_CTRL register, so there was no need for two paths in the first place: one ISR times the burst, one HPWORK worker reads OUT_TEMP_L..OUTZ_H_A (14 contiguous bytes covering temp, gyro and accel in one I2C transaction) and pushes whichever topic(s) are currently subscribed. activate() now just flips each sub-sensor's own bit in the shared register instead of running its own attach. On the XIAO ESP32-S3 with Seeed's IMU Breakout Board, INT1/INT2 route to GPIO3/GPIO4 (confirmed from the breakout board's schematic, not guessed). Only INT1/GPIO3 is wired up, since one pin is now enough; GPIO4/INT2 is documented as available but unused. Also: CTRL1_XL's FS_XL bits were never actually written to match the driver's own software default (4g) -- registration set the in-memory value but the chip stayed at its 2g reset default until a caller issued an explicit SNIOC_SETFULLSCALE. register() now writes it. Validated on the bench, both modes, reproduced across multiple fresh reboots: WHO_AM_I reads 0x6a, sensor_accel0/sensor_gyro0 stream continuously. Interrupt mode delivers ~300 samples of each per 6s window with shared timestamps down to the microsecond between the two topics per event, confirming both come from the same burst read. Assisted-by: Claude <noreply@anthropic.com> Signed-off-by: Felipe Moura <moura.fmo@gmail.com> |
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| Documentation | ||
| drivers | ||
| dummy | ||
| fs | ||
| graphics | ||
| include | ||
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| mm | ||
| net | ||
| openamp | ||
| pass1 | ||
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| tools | ||
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| AUTHORS | ||
| CMakeLists.txt | ||
| CONTRIBUTING.md | ||
| INVIOLABLES.md | ||
| Kconfig | ||
| LICENSE | ||
| Makefile | ||
| NOTICE | ||
| README.md | ||
| ReleaseNotes | ||
Apache NuttX is a real-time operating system (RTOS) with an emphasis on standards compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller environments, the primary governing standards in NuttX are POSIX and ANSI standards. Additional standard APIs from Unix and other common RTOSs (such as VxWorks) are adopted for functionality not available under these standards, or for functionality that is not appropriate for deeply-embedded environments (such as fork()).
For brevity, many parts of the documentation will refer to Apache NuttX as simply NuttX.
Getting Started
First time on NuttX? Read the Getting Started guide! If you don't have a board available, NuttX has its own simulator that you can run on terminal.
Documentation
You can find the current NuttX documentation on the Documentation Page.
Alternatively, you can build the documentation yourself by following the Documentation Build Instructions.
The old NuttX documentation is still available in the Apache wiki.
Supported Boards
NuttX supports a wide variety of platforms. See the full list on the Supported Platforms page.
Contributing
If you wish to contribute to the NuttX project, read the Contributing guidelines for information on Git usage, coding standard, workflow and the NuttX principles.
License
The code in this repository is under either the Apache 2 license, or a license compatible with the Apache 2 license. See the License Page for more information.