add Low Power Sensor Fusion (SFLP) support in lsm6dsv16x sensor driver #83094
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Added DNM, because I reminded that this PR is dependent to stmemsc module which has not been modified yet. |
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The following west manifest projects have changed revision in this Pull Request:
✅ All manifest checks OK Note: This message is automatically posted and updated by the Manifest GitHub Action. |
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@teburd @XenuIsWatching @XenuIsWatching |
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CI fixed by #83429 EDIT: |
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@avisconti this will need a rebase |
Add three new channels and relative data:
- SENSOR_CHAN_GAME_ROTATION_VECTOR
The "game rotation vector" reports the four components x/y/z/w
(quaternions) of the unit vector representing a 3D spatial
rotation or orientation.
- SENSOR_CHAN_GRAVITY_VECTOR
The "gravity vector" reports the three axis x/y/z of the gravity
vector separated from the linear acceleration components.
The measurement unit is m/s^2.
- SENSOR_CHAN_GBIAS_XYZ
The "gbias" reports the gyroscope offset x/y/z components.
The measurement unit is radians/s.
Signed-off-by: Armando Visconti <armando.visconti@st.com>
Align all sensor drivers that are using stmemsc (STdC) HAL i/f to new APIs of stmemsc v2.8 Requires zephyrproject-rtos/hal_st#24 Signed-off-by: Armando Visconti <armando.visconti@st.com>
In case I3C IBI interrupt is not used do not skip reading the status register, otherwise the interrupt event will not get cleared. Signed-off-by: Armando Visconti <armando.visconti@st.com>
Add the Sensor Fusion Low Power (SFLP) FIFO streaming capability,
using RTIO. The decode function is now aware of parsing following FIFO
tags:
- LSM6DSV16X_SFLP_GAME_ROTATION_VECTOR_TAG
- LSM6DSV16X_SFLP_GYROSCOPE_BIAS_TAG
- LSM6DSV16X_SFLP_GRAVITY_VECTOR_TAG
To activate SFLP the user should put in DT the proper configuration.
For example, to activate a 60Hz SFLP FIFO batching rate of game rotation
vector, gravity vector and gbias components, the user should add in DT
the following:
sflp-odr = <LSM6DSV16X_DT_SFLP_ODR_AT_60Hz>;
sflp-fifo-enable = <LSM6DSV16X_DT_SFLP_FIFO_GAME_ROTATION_GRAVITY_GBIAS>;
Signed-off-by: Armando Visconti <armando.visconti@st.com>
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@teburd @XenuIsWatching |
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@avisconti Feel free to re-assign, assignee being the author probably isn't conducive to getting on the merge-able PR list |
No it's fine :) just needs two "non-author" +1's in this case, which it now has! |
For completeness, though, it would have probably been better to let Zephyr Bot deal with the assignment |
Add the Sensor Fusion Low Power (SFLP) FIFO streaming capability, using RTIO. The decode function is now aware of parsing following FIFO tags:
To activate SFLP the user should put in DT the proper configuration. For example, to activate a 60Hz SFLP FIFO batching rate of game rotation vector, gravity vector and gbias components, the user should add in DT the following:
The data are accessed thru three new sensor channels:
Tested on a nucleo_h503rb board plus a x_nucleo_iks4a1 shield, and an improved version of the sample in the #82342