drivers: sensor: lsm6dsl: Fix lsm6dsl gyroscope full range setting

valkjsaaa · MaureenHelm · commit 38e81e38f92d · 2023-05-16T11:22:58.000-05:00
Bug 1: Fix lsm6dsl_gyro_set_fs_raw does not clear FS125 to register when
setting the full range to be other values.

Bug 2: Fix lsm6dsl_gyro_channel_get does not use the current
gyro_sensitivity when getting data from the gyroscope.

Signed-off-by: Jackie Yang &lt;jackie@jackieyang.me&gt;
diff --git a/drivers/sensor/lsm6dsl/lsm6dsl.c b/drivers/sensor/lsm6dsl/lsm6dsl.c
@@ -141,14 +141,14 @@ static int lsm6dsl_gyro_set_fs_raw(const struct device *dev, uint8_t fs)
 	if (fs == GYRO_FULLSCALE_125) {
 		if (data->hw_tf->update_reg(dev,
 					LSM6DSL_REG_CTRL2_G,
-					LSM6DSL_MASK_CTRL2_FS125,
+					LSM6DSL_MASK_CTRL2_FS125 | LSM6DSL_MASK_CTRL2_G_FS_G,
 					1 << LSM6DSL_SHIFT_CTRL2_FS125) < 0) {
 			return -EIO;
 		}
 	} else {
 		if (data->hw_tf->update_reg(dev,
 					LSM6DSL_REG_CTRL2_G,
-					LSM6DSL_MASK_CTRL2_G_FS_G,
+					LSM6DSL_MASK_CTRL2_FS125 | LSM6DSL_MASK_CTRL2_G_FS_G,
 					fs << LSM6DSL_SHIFT_CTRL2_G_FS_G) < 0) {
 			return -EIO;
 		}
@@ -558,7 +558,7 @@ static int lsm6dsl_gyro_channel_get(enum sensor_channel chan,
 				    struct lsm6dsl_data *data)
 {
 	return lsm6dsl_gyro_get_channel(chan, val, data,
-					LSM6DSL_DEFAULT_GYRO_SENSITIVITY);
+					data->gyro_sensitivity);
 }
 
 #if defined(CONFIG_LSM6DSL_ENABLE_TEMP)

Original file line number	Diff line number	Diff line change
`@@ -141,14 +141,14 @@ static int lsm6dsl_gyro_set_fs_raw(const struct device *dev, uint8_t fs)`
`141`	`141`	`if (fs == GYRO_FULLSCALE_125) {`
`142`	`142`	`if (data->hw_tf->update_reg(dev,`
`143`	`143`	`LSM6DSL_REG_CTRL2_G,`
`144`		`- LSM6DSL_MASK_CTRL2_FS125,`
	`144`	`+ LSM6DSL_MASK_CTRL2_FS125 \| LSM6DSL_MASK_CTRL2_G_FS_G,`
`145`	`145`	`1 << LSM6DSL_SHIFT_CTRL2_FS125) < 0) {`
`146`	`146`	`return -EIO;`
`147`	`147`	`}`
`148`	`148`	`} else {`
`149`	`149`	`if (data->hw_tf->update_reg(dev,`
`150`	`150`	`LSM6DSL_REG_CTRL2_G,`
`151`		`- LSM6DSL_MASK_CTRL2_G_FS_G,`
	`151`	`+ LSM6DSL_MASK_CTRL2_FS125 \| LSM6DSL_MASK_CTRL2_G_FS_G,`
`152`	`152`	`fs << LSM6DSL_SHIFT_CTRL2_G_FS_G) < 0) {`
`153`	`153`	`return -EIO;`
`154`	`154`	`}`
`@@ -558,7 +558,7 @@ static int lsm6dsl_gyro_channel_get(enum sensor_channel chan,`
`558`	`558`	`struct lsm6dsl_data *data)`
`559`	`559`	`{`
`560`	`560`	`return lsm6dsl_gyro_get_channel(chan, val, data,`
`561`		`- LSM6DSL_DEFAULT_GYRO_SENSITIVITY);`
	`561`	`+ data->gyro_sensitivity);`
`562`	`562`	`}`
`563`	`563`
`564`	`564`	`#if defined(CONFIG_LSM6DSL_ENABLE_TEMP)`