diff --git a/make/source.mk b/make/source.mk
index 9891bada2..913218ffe 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -235,6 +235,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
drivers/accgyro/accgyro_spi_bmi160.c \
drivers/accgyro/accgyro_spi_bmi270.c \
drivers/accgyro/accgyro_spi_lsm6ds3.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \
drivers/accgyro_legacy/accgyro_adxl345.c \
drivers/accgyro_legacy/accgyro_bma280.c \
@@ -374,6 +375,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
drivers/accgyro/accgyro_spi_icm20689.c \
drivers/accgyro/accgyro_spi_icm426xx.c \
drivers/accgyro/accgyro_spi_lsm6ds3_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl_init.c \
drivers/accgyro/accgyro_spi_lsm6dso_init.c
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 493a23c7b..ed6887ff4 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -136,14 +136,14 @@
const char * const lookupTableAccHardware[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
- "BMI160", "BMI270", "LSM6DS3", "LSM6DSO", "FAKE"
+ "BMI160", "BMI270", "LSM6DS3", "LSM6DSL", "LSM6DSO", "FAKE"
};
// sync with gyroHardware_e
const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
- "BMI160", "BMI270", "LSM6DS3", "LSM6SDO", "FAKE"
+ "BMI160", "BMI270", "LSM6DS3", "LSM6DSL", "LSM6SDO", "FAKE"
};
#if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index 66e0a09db..ec4cf9ce2 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -59,6 +59,7 @@ typedef enum {
GYRO_BMI160,
GYRO_BMI270,
GYRO_LSM6DS3,
+ GYRO_LSM6DSL,
GYRO_LSM6DSO,
GYRO_FAKE
} gyroHardware_e;
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 83bfda14f..1bcbe9f50 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -52,6 +52,7 @@
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6ds3.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dsl.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -359,6 +360,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_ACCGYRO_LSM6DS3
lsm6ds3Detect,
#endif
+#ifdef USE_ACCGYRO_LSM6DSL
+ lsm6dslDetect,
+#endif
#ifdef USE_ACCGYRO_LSM6DSO
lsm6dsoDetect,
#endif
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index 674d8f96d..8d230a02c 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -203,6 +203,7 @@ typedef enum {
BMI_160_SPI,
BMI_270_SPI,
LSM6DS3_SPI,
+ LSM6DSL_SPI,
LSM6DSO_SPI,
L3GD20_SPI,
} mpuSensor_e;
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.c b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.c
new file mode 100644
index 000000000..609f1751c
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.c
@@ -0,0 +1,206 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see .
+ */
+
+#include
+#include
+#include
+#include
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_LSM6DSL
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dsl.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/system.h"
+#include "drivers/time.h"
+
+// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
+#define GYRO_EXTI_DETECT_THRESHOLD 1000
+
+#ifdef USE_GYRO_EXTI
+// Called in ISR context
+// Gyro read has just completed
+busStatus_e lsm6dslIntcallback(uint32_t arg)
+{
+ gyroDev_t *gyro = (gyroDev_t *)arg;
+ int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
+
+ if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
+ gyro->gyroDmaMaxDuration = gyroDmaDuration;
+ }
+
+ gyro->dataReady = true;
+
+ return BUS_READY;
+}
+
+void lsm6dslExtiHandler(extiCallbackRec_t *cb)
+{
+ gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+ // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
+ // not have an associated timer
+ uint32_t nowCycles = getCycleCounter();
+ gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
+ gyro->gyroLastEXTI = nowCycles;
+
+ if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
+ spiSequence(&gyro->dev, gyro->segments);
+ }
+
+ gyro->detectedEXTI++;
+
+}
+#else
+void lsm6dslExtiHandler(extiCallbackRec_t *cb)
+{
+ gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+ gyro->dataReady = true;
+}
+#endif
+
+bool lsm6dslAccRead(accDev_t *acc)
+{
+ switch (acc->gyro->gyroModeSPI) {
+ case GYRO_EXTI_INT:
+ case GYRO_EXTI_NO_INT:
+ {
+ acc->gyro->dev.txBuf[1] = LSM6DSL_REG_OUTX_L_A | 0x80;
+
+ busSegment_t segments[] = {
+ {.u.buffers = {NULL, NULL}, 8, true, NULL},
+ {.u.link = {NULL, NULL}, 0, true, NULL},
+ };
+ segments[0].u.buffers.txData = &acc->gyro->dev.txBuf[1];
+ segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
+
+ spiSequence(&acc->gyro->dev, &segments[0]);
+
+ // Wait for completion
+ spiWait(&acc->gyro->dev);
+
+ uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
+ acc->ADCRaw[X] = accData[1];
+ acc->ADCRaw[Y] = accData[2];
+ acc->ADCRaw[Z] = accData[3];
+ break;
+ }
+
+ case GYRO_EXTI_INT_DMA:
+ {
+ // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
+ // up an old value.
+
+ // This data was read from the gyro, which is the same SPI device as the acc
+ uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
+ acc->ADCRaw[X] = accData[4];
+ acc->ADCRaw[Y] = accData[5];
+ acc->ADCRaw[Z] = accData[6];
+ break;
+ }
+
+ case GYRO_EXTI_INIT:
+ default:
+ break;
+ }
+
+ return true;
+}
+
+bool lsm6dslGyroRead(gyroDev_t *gyro)
+{
+ uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
+ switch (gyro->gyroModeSPI) {
+ case GYRO_EXTI_INIT:
+ {
+ // Initialise the tx buffer to all 0x00
+ memset(gyro->dev.txBuf, 0x00, 14);
+#ifdef USE_GYRO_EXTI
+ // Check that minimum number of interrupts have been detected
+
+ // We need some offset from the gyro interrupts to ensure sampling after the interrupt
+ gyro->gyroDmaMaxDuration = 5;
+ // Using DMA for gyro access upsets the scheduler on the F4
+ if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
+ if (spiUseDMA(&gyro->dev)) {
+ gyro->dev.callbackArg = (uint32_t)gyro;
+ gyro->dev.txBuf[1] = LSM6DSL_REG_OUTX_L_G | 0x80;
+ gyro->segments[0].len = 13;
+ gyro->segments[0].callback = lsm6dslIntcallback;
+ gyro->segments[0].u.buffers.txData = &gyro->dev.txBuf[1];
+ gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
+ gyro->segments[0].negateCS = true;
+ gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
+ } else {
+ // Interrupts are present, but no DMA
+ gyro->gyroModeSPI = GYRO_EXTI_INT;
+ }
+ } else
+#endif
+ {
+ gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
+ }
+ break;
+ }
+
+ case GYRO_EXTI_INT:
+ case GYRO_EXTI_NO_INT:
+ {
+ gyro->dev.txBuf[1] = LSM6DSL_REG_OUTX_L_G | 0x80;
+
+ busSegment_t segments[] = {
+ {.u.buffers = {NULL, NULL}, 7, true, NULL},
+ {.u.link = {NULL, NULL}, 0, true, NULL},
+ };
+ segments[0].u.buffers.txData = &gyro->dev.txBuf[1];
+ segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
+
+ spiSequence(&gyro->dev, &segments[0]);
+
+ // Wait for completion
+ spiWait(&gyro->dev);
+
+ // Fall through
+ FALLTHROUGH;
+ }
+
+ case GYRO_EXTI_INT_DMA:
+ {
+ // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
+ // up an old value.
+ gyro->gyroADCRaw[X] = gyroData[1];
+ gyro->gyroADCRaw[Y] = gyroData[2];
+ gyro->gyroADCRaw[Z] = gyroData[3];
+ break;
+ }
+
+ default:
+ break;
+ }
+
+ return true;
+}
+#endif
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.h b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.h
new file mode 100644
index 000000000..017746ab5
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl.h
@@ -0,0 +1,67 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see .
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+#include "drivers/exti.h"
+
+// LSM6DSL registers (not the complete list)
+typedef enum {
+ LSM6DSL_REG_DRDY_PULSED_CFG_G = 0x0B,// DataReady configuration register
+ LSM6DSL_REG_INT1_CTRL = 0x0D, // int pin 1 control
+ LSM6DSL_REG_INT2_CTRL = 0x0E, // int pin 2 control
+ LSM6DSL_REG_WHO_AM_I = 0x0F, // chip ID
+ LSM6DSL_REG_CTRL1_XL = 0x10, // accelerometer control
+ LSM6DSL_REG_CTRL2_G = 0x11, // gyro control
+ LSM6DSL_REG_CTRL3_C = 0x12, // control register 3
+ LSM6DSL_REG_CTRL4_C = 0x13, // control register 4
+ LSM6DSL_REG_CTRL5_C = 0x14, // control register 5MSB
+ LSM6DSL_REG_CTRL6_C = 0x15, // control register 6
+ LSM6DSL_REG_CTRL7_G = 0x16, // control register 7
+ LSM6DSL_REG_CTRL8_XL = 0x17, // control register 8
+ LSM6DSL_REG_CTRL9_XL = 0x18, // control register 9
+ LSM6DSL_REG_CTRL10_C = 0x19, // control register 10
+ LSM6DSL_REG_STATUS = 0x1E, // status register
+ LSM6DSL_REG_OUT_TEMP_L = 0x20, // temperature LSB
+ LSM6DSL_REG_OUT_TEMP_H = 0x21, // temperature MSB
+ LSM6DSL_REG_OUTX_L_G = 0x22, // gyro X axis LSB
+ LSM6DSL_REG_OUTX_H_G = 0x23, // gyro X axis MSB
+ LSM6DSL_REG_OUTY_L_G = 0x24, // gyro Y axis LSB
+ LSM6DSL_REG_OUTY_H_G = 0x25, // gyro Y axis MSB
+ LSM6DSL_REG_OUTZ_L_G = 0x26, // gyro Z axis LSB
+ LSM6DSL_REG_OUTZ_H_G = 0x27, // gyro Z axis MSB
+ LSM6DSL_REG_OUTX_L_A = 0x28, // acc X axis LSB
+ LSM6DSL_REG_OUTX_H_A = 0x29, // acc X axis MSB
+ LSM6DSL_REG_OUTY_L_A = 0x2A, // acc Y axis LSB
+ LSM6DSL_REG_OUTY_H_A = 0x2B, // acc Y axis MSB
+ LSM6DSL_REG_OUTZ_L_A = 0x2C, // acc Z axis LSB
+ LSM6DSL_REG_OUTZ_H_A = 0x2D, // acc Z axis MSB
+} lsm6dslRegister_e;
+
+// Contained in accgyro_spi_lsm6dsl_init.c which is size-optimized
+uint8_t lsm6dslDetect(const extDevice_t *dev);
+bool lsm6dslSpiAccDetect(accDev_t *acc);
+bool lsm6dslSpiGyroDetect(gyroDev_t *gyro);
+
+// Contained in accgyro_spi_lsm6dsl.c which is speed-optimized
+void lsm6dslExtiHandler(extiCallbackRec_t *cb);
+bool lsm6dslAccRead(accDev_t *acc);
+bool lsm6dslGyroRead(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c
new file mode 100644
index 000000000..6f7f5af10
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_lsm6dsl_init.c
@@ -0,0 +1,239 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see .
+ */
+
+#include
+#include
+#include
+#include
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_LSM6DSL
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dsl.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/system.h"
+#include "drivers/time.h"
+
+#include "sensors/gyro.h"
+
+// 10 MHz max SPI frequency
+#define LSM6DSL_MAX_SPI_CLK_HZ 10000000
+
+#define LSM6DSL_CHIP_ID 0x6A
+
+// LSM6DSL register configuration values
+typedef enum {
+ LSM6DSL_VAL_DRDY_PULSED_CFG_G_DRDY_PULSED = BIT(7),// (bit 7) enable data ready pulsed mode
+ LSM6DSL_VAL_INT1_CTRL = 0x02, // enable gyro data ready interrupt pin 1
+ LSM6DSL_VAL_INT2_CTRL = 0x00, // disable gyro data ready interrupt pin 2
+ LSM6DSL_VAL_CTRL1_XL_ODR833 = 0x07, // accelerometer 833hz output data rate (gyro/8)
+ LSM6DSL_VAL_CTRL1_XL_ODR1667 = 0x08, // accelerometer 1666hz output data rate (gyro/4)
+ LSM6DSL_VAL_CTRL1_XL_ODR3332 = 0x09, // accelerometer 3332hz output data rate (gyro/2)
+ LSM6DSL_VAL_CTRL1_XL_ODR6664 = 0x0A, // accelerometer 6664hz output data rate (gyro/1)
+ LSM6DSL_VAL_CTRL1_XL_8G = 0x03, // accelerometer 8G scale
+ LSM6DSL_VAL_CTRL1_XL_16G = 0x01, // accelerometer 16G scale
+ LSM6DSL_VAL_CTRL1_XL_LPF1 = 0x00, // accelerometer output from LPF1
+ LSM6DSL_VAL_CTRL1_XL_LPF2 = 0x01, // accelerometer output from LPF2
+ LSM6DSL_VAL_CTRL2_G_ODR6664 = 0x0A, // gyro 6664hz output data rate
+ LSM6DSL_VAL_CTRL2_G_2000DPS = 0x03, // gyro 2000dps scale
+ // LSM6DSL_VAL_CTRL3_C_BDU = BIT(6), // (bit 6) output registers are not updated until MSB and LSB have been read (prevents MSB from being updated while burst reading LSB/MSB)
+ LSM6DSL_VAL_CTRL3_C_H_LACTIVE = 0, // (bit 5) interrupt pins active high
+ LSM6DSL_VAL_CTRL3_C_PP_OD = 0, // (bit 4) interrupt pins push/pull
+ LSM6DSL_VAL_CTRL3_C_SIM = 0, // (bit 3) SPI 4-wire interface mode
+ LSM6DSL_VAL_CTRL3_C_IF_INC = BIT(2), // (bit 2) auto-increment address for burst reads
+ LSM6DSL_VAL_CTRL4_C_DRDY_MASK = BIT(3), // (bit 3) data ready interrupt mask
+ LSM6DSL_VAL_CTRL4_C_I2C_DISABLE = BIT(2), // (bit 2) disable I2C interface
+ LSM6DSL_VAL_CTRL4_C_LPF1_SEL_G = BIT(1), // (bit 1) enable gyro LPF1
+ LSM6DSL_VAL_CTRL6_C_XL_HM_MODE = 0, // (bit 4) enable accelerometer high performance mode
+ LSM6DSL_VAL_CTRL6_C_FTYPE_315HZ = 0x00, // (bits 1:0) gyro LPF1 cutoff 315Hz
+ LSM6DSL_VAL_CTRL6_C_FTYPE_237HZ = 0x01, // (bits 1:0) gyro LPF1 cutoff 237Hz
+ LSM6DSL_VAL_CTRL6_C_FTYPE_173HZ = 0x02, // (bits 1:0) gyro LPF1 cutoff 173Hz
+ LSM6DSL_VAL_CTRL6_C_FTYPE_937HZ = 0x03, // (bits 1:0) gyro LPF1 cutoff 937Hz
+ LSM6DSL_VAL_CTRL7_G_HP_EN_G = BIT(6), // (bit 6) enable gyro high-pass filter
+ LSM6DSL_VAL_CTRL7_G_HPM_G_16 = 0x00, // (bits 5:4) gyro HPF cutoff 16mHz
+ LSM6DSL_VAL_CTRL7_G_HPM_G_65 = 0x01, // (bits 5:4) gyro HPF cutoff 65mHz
+ LSM6DSL_VAL_CTRL7_G_HPM_G_260 = 0x02, // (bits 5:4) gyro HPF cutoff 260mHz
+ LSM6DSL_VAL_CTRL7_G_HPM_G_1040 = 0x03, // (bits 5:4) gyro HPF cutoff 1.04Hz
+} lsm6dslConfigValues_e;
+
+// LSM6DSL register configuration bit masks
+typedef enum {
+ LSM6DSL_MASK_DRDY_PULSED_CFG_G = 0x80, // 0b10000000
+ LSM6DSL_MASK_CTRL3_C = 0x3C, // 0b00111100
+ LSM6DSL_MASK_CTRL3_C_RESET = BIT(0), // 0b00000001
+ LSM6DSL_MASK_CTRL4_C = 0x0E, // 0b00001110
+ LSM6DSL_MASK_CTRL6_C = 0x13, // 0b00010011
+ LSM6DSL_MASK_CTRL7_G = 0x70, // 0b01110000
+} lsm6dslConfigMasks_e;
+
+uint8_t lsm6dslDetect(const extDevice_t *dev)
+{
+ uint8_t chipID = 0;
+
+ if (busReadRegisterBuffer(dev, LSM6DSL_REG_WHO_AM_I, &chipID, 1)) {
+ if (chipID == LSM6DSL_CHIP_ID) {
+ return LSM6DSL_SPI;
+ }
+ }
+
+ return MPU_NONE;
+}
+
+static void lsm6dslWriteRegister(const extDevice_t *dev, lsm6dslRegister_e registerID, uint8_t value, unsigned delayMs)
+{
+ busWriteRegister(dev, registerID, value);
+ if (delayMs) {
+ delay(delayMs);
+ }
+}
+
+static void lsm6dslWriteRegisterBits(const extDevice_t *dev, lsm6dslRegister_e registerID, lsm6dslConfigMasks_e mask, uint8_t value, unsigned delayMs)
+{
+ uint8_t newValue;
+ if (busReadRegisterBuffer(dev, registerID, &newValue, 1)) {
+ delayMicroseconds(2);
+ newValue = (newValue & ~mask) | value;
+ lsm6dslWriteRegister(dev, registerID, newValue, delayMs);
+ }
+}
+
+static uint8_t getLsmDlpfBandwidth()
+{
+ switch(gyroConfig()->gyro_hardware_lpf) {
+ case GYRO_HARDWARE_LPF_NORMAL:
+ return LSM6DSL_VAL_CTRL6_C_FTYPE_237HZ;
+ case GYRO_HARDWARE_LPF_OPTION_1:
+ return LSM6DSL_VAL_CTRL6_C_FTYPE_315HZ;
+ case GYRO_HARDWARE_LPF_OPTION_2:
+ return LSM6DSL_VAL_CTRL6_C_FTYPE_937HZ;
+ case GYRO_HARDWARE_LPF_EXPERIMENTAL:
+ return LSM6DSL_VAL_CTRL6_C_FTYPE_937HZ;
+ }
+ return 0;
+}
+
+static void lsm6dslConfig(gyroDev_t *gyro)
+{
+ extDevice_t *dev = &gyro->dev;
+
+ // Reset the device (wait 100ms before continuing config)
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_CTRL3_C, LSM6DSL_MASK_CTRL3_C_RESET, BIT(0), 100);
+
+ // Configure data ready pulsed mode
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_DRDY_PULSED_CFG_G, LSM6DSL_MASK_DRDY_PULSED_CFG_G, LSM6DSL_VAL_DRDY_PULSED_CFG_G_DRDY_PULSED, 0);
+
+ // Configure interrupt pin 1 for gyro data ready only
+ lsm6dslWriteRegister(dev, LSM6DSL_REG_INT1_CTRL, LSM6DSL_VAL_INT1_CTRL, 1);
+
+ // Disable interrupt pin 2
+ lsm6dslWriteRegister(dev, LSM6DSL_REG_INT2_CTRL, LSM6DSL_VAL_INT2_CTRL, 1);
+
+ // Configure the accelerometer
+ // 833hz ODR, 16G scale, use LPF2 output (default with ODR/4 cutoff)
+ lsm6dslWriteRegister(dev, LSM6DSL_REG_CTRL1_XL, (LSM6DSL_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSL_VAL_CTRL1_XL_16G << 2) | (LSM6DSL_VAL_CTRL1_XL_LPF2 << 1), 1);
+
+ // Configure the gyro
+ // 6664hz ODR, 2000dps scale
+ lsm6dslWriteRegister(dev, LSM6DSL_REG_CTRL2_G, (LSM6DSL_VAL_CTRL2_G_ODR6664 << 4) | (LSM6DSL_VAL_CTRL2_G_2000DPS << 2), 1);
+
+ // Configure control register 3
+ // latch LSB/MSB during reads; set interrupt pins active high; set interrupt pins push/pull; set 4-wire SPI; enable auto-increment burst reads
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_CTRL3_C, LSM6DSL_MASK_CTRL3_C, (LSM6DSL_VAL_CTRL3_C_H_LACTIVE | LSM6DSL_VAL_CTRL3_C_PP_OD | LSM6DSL_VAL_CTRL3_C_SIM | LSM6DSL_VAL_CTRL3_C_IF_INC), 1);
+
+ // Configure control register 4
+ // enable accelerometer high performane mode; enable gyro LPF1
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_CTRL4_C, LSM6DSL_MASK_CTRL4_C, (LSM6DSL_VAL_CTRL4_C_DRDY_MASK | LSM6DSL_VAL_CTRL4_C_I2C_DISABLE | LSM6DSL_VAL_CTRL4_C_LPF1_SEL_G), 1);
+
+ // Configure control register 6
+ // disable I2C interface; set gyro LPF1 cutoff according to gyro_hardware_lpf setting
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_CTRL6_C, LSM6DSL_MASK_CTRL6_C, (LSM6DSL_VAL_CTRL6_C_XL_HM_MODE | getLsmDlpfBandwidth()), 1);
+
+ // Configure control register 7
+ lsm6dslWriteRegisterBits(dev, LSM6DSL_REG_CTRL7_G, LSM6DSL_MASK_CTRL7_G, (LSM6DSL_VAL_CTRL7_G_HP_EN_G | LSM6DSL_VAL_CTRL7_G_HPM_G_16), 1);
+
+}
+
+#ifdef USE_GYRO_EXTI
+static void lsm6dslIntExtiInit(gyroDev_t *gyro)
+{
+ if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
+ return;
+ }
+
+ IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
+
+ IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
+ EXTIHandlerInit(&gyro->exti, lsm6dslExtiHandler);
+ EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
+ EXTIEnable(mpuIntIO);
+}
+#endif
+
+static void lsm6dslSpiGyroInit(gyroDev_t *gyro)
+{
+ extDevice_t *dev = &gyro->dev;
+
+ lsm6dslConfig(gyro);
+
+#ifdef USE_GYRO_EXTI
+ lsm6dslIntExtiInit(gyro);
+#endif
+
+ spiSetClkDivisor(dev, spiCalculateDivider(LSM6DSL_MAX_SPI_CLK_HZ));
+}
+
+static void lsm6dslSpiAccInit(accDev_t *acc)
+{
+ // sensor is configured during gyro init
+ acc->acc_1G = 512 * 4; // 16G sensor scale
+}
+
+bool lsm6dslSpiAccDetect(accDev_t *acc)
+{
+ if (acc->mpuDetectionResult.sensor != LSM6DSL_SPI) {
+ return false;
+ }
+
+ acc->initFn = lsm6dslSpiAccInit;
+ acc->readFn = lsm6dslAccRead;
+
+ return true;
+}
+
+bool lsm6dslSpiGyroDetect(gyroDev_t *gyro)
+{
+ if (gyro->mpuDetectionResult.sensor != LSM6DSL_SPI) {
+ return false;
+ }
+
+ gyro->initFn = lsm6dslSpiGyroInit;
+ gyro->readFn = lsm6dslGyroRead;
+ gyro->scale = GYRO_SCALE_2000DPS;
+
+ return true;
+}
+#endif // USE_ACCGYRO_LSM6DSL
diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
index 60d268f0a..1b0b39358 100644
--- a/src/main/drivers/accgyro/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -82,10 +82,15 @@ uint16_t gyroSetSampleRate(gyroDev_t *gyro)
gyroSampleRateHz = 1667;
accSampleRateHz = 833;
break;
+ case LSM6DSL_SPI:
+ gyro->gyroRateKHz = GYRO_RATE_6664_Hz;
+ gyroSampleRateHz = 6664;
+ accSampleRateHz = 833;
+ break;
#ifdef USE_ACCGYRO_LSM6DSO
case LSM6DSO_SPI:
gyro->gyroRateKHz = GYRO_RATE_6664_Hz;
- gyroSampleRateHz = 1666; // Yes, this is correct per the datasheet. Will effectively round to 150us and 6.67KHz.
+ gyroSampleRateHz = 6664; // Yes, this is correct per the datasheet. Will effectively round to 150us and 6.67KHz.
accSampleRateHz = 833;
break;
#endif
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index f3da696e1..498564d42 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -47,6 +47,7 @@ typedef enum {
ACC_BMI160,
ACC_BMI270,
ACC_LSM6DS3,
+ ACC_LSM6DSL,
ACC_LSM6DSO,
ACC_FAKE
} accelerationSensor_e;
diff --git a/src/main/sensors/acceleration_init.c b/src/main/sensors/acceleration_init.c
index d257f5617..2e16a28fd 100644
--- a/src/main/sensors/acceleration_init.c
+++ b/src/main/sensors/acceleration_init.c
@@ -48,6 +48,7 @@
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6ds3.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dsl.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -316,6 +317,14 @@ retry:
FALLTHROUGH;
#endif
+#ifdef USE_ACCGYRO_LSM6DSL
+ case ACC_LSM6DSL:
+ if (lsm6dslSpiAccDetect(dev)) {
+ accHardware = ACC_LSM6DSL;
+ break;
+ }
+ FALLTHROUGH;
+#endif
#ifdef USE_ACCGYRO_LSM6DSO
case ACC_LSM6DSO:
diff --git a/src/main/sensors/gyro_init.c b/src/main/sensors/gyro_init.c
index 89ba7d9cc..4ea4a537e 100644
--- a/src/main/sensors/gyro_init.c
+++ b/src/main/sensors/gyro_init.c
@@ -47,6 +47,7 @@
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6ds3.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dsl.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -315,6 +316,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_LSM6DS3:
+ case GYRO_LSM6DSL:
case GYRO_LSM6DSO:
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
break;
@@ -493,6 +495,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
+#ifdef USE_ACCGYRO_LSM6DSL
+ case GYRO_LSM6DSL:
+ if (lsm6dslSpiGyroDetect(dev)) {
+ gyroHardware = GYRO_LSM6DSL;
+ break;
+ }
+ FALLTHROUGH;
+#endif
+
#ifdef USE_ACCGYRO_LSM6DSO
case GYRO_LSM6DSO:
if (lsm6dsoSpiGyroDetect(dev)) {
@@ -528,7 +539,7 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
- || defined(USE_ACCGYRO_LSM6DS3) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+ || defined(USE_ACCGYRO_LSM6DS3) || defined(USE_ACCGYRO_LSM6DSL) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
@@ -552,8 +563,8 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DS3) || defined(USE_ACCGRYO_LSM6DSO)
+ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) \
+ || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DS3) || defined(USE_ACCGRYO_LSM6DSL) ||defined(USE_ACCGRYO_LSM6DSO)
mpuPreInit(config);
#else
UNUSED(config);
diff --git a/src/main/target/AT32F437DEV/target.h b/src/main/target/AT32F437DEV/target.h
index dfa0d23e1..c69f4a313 100644
--- a/src/main/target/AT32F437DEV/target.h
+++ b/src/main/target/AT32F437DEV/target.h
@@ -110,6 +110,7 @@
#define USE_GYRO_SPI_MPU6500
#define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_LSM6DS3
+#define USE_ACCGYRO_LSM6DSL
#define USE_ACCGYRO_LSM6DSO
#define USE_ACC
diff --git a/src/main/target/AT32F437DEV/target.mk b/src/main/target/AT32F437DEV/target.mk
index e7e3f2aaf..164d123b9 100644
--- a/src/main/target/AT32F437DEV/target.mk
+++ b/src/main/target/AT32F437DEV/target.mk
@@ -13,6 +13,8 @@ TARGET_SRC = \
drivers/accgyro/accgyro_spi_mpu6500.c\
drivers/accgyro/accgyro_spi_lsm6ds3_init.c \
drivers/accgyro/accgyro_spi_lsm6ds3.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl.c \
drivers/accgyro/accgyro_spi_lsm6dso_init.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \
drivers/max7456.c \
diff --git a/src/main/target/EMSRPROTO2/target.h b/src/main/target/EMSRPROTO2/target.h
index cd3132813..1138e4513 100644
--- a/src/main/target/EMSRPROTO2/target.h
+++ b/src/main/target/EMSRPROTO2/target.h
@@ -103,6 +103,7 @@
#define USE_GYRO
#define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_BMI270
+#define USE_ACCGYRO_LSM6DSL
#define USE_ACCGYRO_LSM6DSO
diff --git a/src/main/target/EMSRPROTO2/target.mk b/src/main/target/EMSRPROTO2/target.mk
index e50564bdf..ffece14c1 100644
--- a/src/main/target/EMSRPROTO2/target.mk
+++ b/src/main/target/EMSRPROTO2/target.mk
@@ -10,6 +10,8 @@ TARGET_SRC = \
drivers/compass/compass_qmc5883l.c\
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
drivers/accgyro/accgyro_spi_bmi270.c\
+ drivers/accgyro/accgyro_spi_lsm6dsl_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl.c \
drivers/accgyro/accgyro_spi_lsm6dso_init.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \
drivers/max7456.c \
diff --git a/src/main/target/NEUTRONRCF435AIO/target.h b/src/main/target/NEUTRONRCF435AIO/target.h
index d503cf7ab..7ebc90d61 100644
--- a/src/main/target/NEUTRONRCF435AIO/target.h
+++ b/src/main/target/NEUTRONRCF435AIO/target.h
@@ -93,6 +93,7 @@
#define USE_ACC_SPI_MPU6500 //debug only
#define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_BMI270
+#define USE_ACCGYRO_LSM6DSL
#define USE_ACCGYRO_LSM6DSO
#define USE_ACC
diff --git a/src/main/target/NEUTRONRCF435AIO/target.mk b/src/main/target/NEUTRONRCF435AIO/target.mk
index d668a254b..2dc835b39 100644
--- a/src/main/target/NEUTRONRCF435AIO/target.mk
+++ b/src/main/target/NEUTRONRCF435AIO/target.mk
@@ -15,6 +15,8 @@ TARGET_SRC = \
drivers/compass/compass_qmc5883l.c\
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
drivers/accgyro/accgyro_spi_bmi270.c\
+ drivers/accgyro/accgyro_spi_lsm6dsl_init.c \
+ drivers/accgyro/accgyro_spi_lsm6dsl.c \
drivers/accgyro/accgyro_spi_lsm6dso_init.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \
drivers/max7456.c \