int bmg160_slope_config(struct device *dev, enum sensor_attribute attr,
const struct sensor_value *val)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
if (attr == SENSOR_ATTR_SLOPE_TH) {
u16_t any_th_dps, range_dps;
u8_t any_th_reg_val;
any_th_dps = sensor_rad_to_degrees(val);
range_dps = BMG160_SCALE_TO_RANGE(bmg160->scale);
any_th_reg_val = any_th_dps * 2000 / range_dps;
/* the maximum slope depends on selected range */
if (any_th_dps > range_dps / 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_THRES,
any_th_dps & BMG160_THRES_MASK);
} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
/* slope duration can be 4, 8, 12 or 16 samples */
if (val->val1 != 4 && val->val1 != 8 &&
val->val1 != 12 && val->val1 != 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_ANY_EN,
(val->val1 << BMG160_ANY_DURSAMPLE_POS) &
BMG160_ANY_DURSAMPLE_MASK);
}
return -ENOTSUP;
}
static int bmg160_attr_set(struct device *dev, enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
int idx;
u16_t range_dps;
if (chan != SENSOR_CHAN_GYRO_XYZ) {
return -ENOTSUP;
}
switch (attr) {
case SENSOR_ATTR_FULL_SCALE:
range_dps = sensor_rad_to_degrees(val);
idx = bmg160_is_val_valid(range_dps,
bmg160_gyro_range_map,
BMG160_GYRO_RANGE_MAP_SIZE);
if (idx < 0) {
return -ENOTSUP;
}
if (bmg160_write_byte(dev, BMG160_REG_RANGE, idx) < 0) {
return -EIO;
}
bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps);
return 0;
case SENSOR_ATTR_SAMPLING_FREQUENCY:
idx = bmg160_is_val_valid(val->val1,
bmg160_sampling_freq_map,
BMG160_SAMPLING_FREQ_MAP_SIZE);
if (idx < 0) {
return -ENOTSUP;
}
/*
* The sampling frequencies values start at 1, i.e. a
* sampling frequency of 2000Hz translates to BW value
* of 1. Hence the 1 added to the index received.
*/
if (bmg160_write_byte(dev, BMG160_REG_BW, idx + 1) < 0) {
return -EIO;
}
return 0;
#ifdef CONFIG_BMG160_TRIGGER
case SENSOR_ATTR_SLOPE_TH:
case SENSOR_ATTR_SLOPE_DUR:
return bmg160_slope_config(dev, attr, val);
#endif
default:
return -ENOTSUP;
}
}
static int lsm6dsl_gyro_config(struct device *dev, enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
#ifdef LSM6DSL_GYRO_FS_RUNTIME
case SENSOR_ATTR_FULL_SCALE:
return lsm6dsl_gyro_range_set(dev, sensor_rad_to_degrees(val));
#endif
#ifdef LSM6DSL_GYRO_ODR_RUNTIME
case SENSOR_ATTR_SAMPLING_FREQUENCY:
return lsm6dsl_gyro_odr_set(dev, val->val1);
#endif
default:
LOG_DBG("Gyro attribute not supported.");
return -ENOTSUP;
}
return 0;
}
static int lsm9ds0_gyro_attr_set(struct device *dev,
enum sensor_channel chan,
enum sensor_attribute attr,
const struct sensor_value *val)
{
switch (attr) {
#if defined(CONFIG_LSM9DS0_GYRO_FULLSCALE_RUNTIME)
case SENSOR_ATTR_FULL_SCALE:
if (val->type != SENSOR_VALUE_TYPE_INT_PLUS_MICRO) {
return -ENOTSUP;
}
if (lsm9ds0_gyro_set_fs(dev, sensor_rad_to_degrees(val)) < 0) {
SYS_LOG_DBG("full-scale value not supported");
return -EIO;
}
break;
#endif
#if defined(CONFIG_LSM9DS0_GYRO_SAMPLING_RATE_RUNTIME)
case SENSOR_ATTR_SAMPLING_FREQUENCY:
if (val->type != SENSOR_VALUE_TYPE_INT_PLUS_MICRO) {
return -ENOTSUP;
}
if (lsm9ds0_gyro_set_odr(dev, val->val1) < 0) {
SYS_LOG_DBG("sampling frequency value not supported");
return -EIO;
}
break;
#endif
default:
return -ENOTSUP;
}
return 0;
}
