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drivers/sensors/lsm6dsl.c: fix various compiler warnings
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@raiden00pl @gregory-nutt
raiden00pl authored and gregory-nutt committed Jan 3, 2020
1 parent 06c2e86 commit 9b2fa81
Showing 1 changed file with 92 additions and 69 deletions.
161 changes: 92 additions & 69 deletions drivers/sensors/lsm6dsl.c
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Original file line number Diff line number Diff line change
Expand Up @@ -416,8 +416,6 @@ static bool lsm6dsl_isbitset(int8_t b, int8_t m)

static int lsm6dsl_sensor_start(FAR struct lsm6dsl_dev_s *priv)
{
uint8_t value;

/* Enable the accelerometer */

/* Reset values */
Expand Down Expand Up @@ -519,13 +517,6 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)
int16_t OUTY_ST[samples];
int16_t OUTZ_ST[samples];

int16_t AVR_OUTX_NOST[samples];
int16_t AVR_OUTY_NOST[samples];
int16_t AVR_OUTZ_NOST[samples];
int16_t AVR_OUTX_ST[samples];
int16_t AVR_OUTY_ST[samples];
int16_t AVR_OUTZ_ST[samples];

int16_t avr_x = 0;
int16_t avr_y = 0;
int16_t avr_z = 0;
Expand All @@ -547,11 +538,6 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)
int16_t max_yst = 0;
int16_t max_zst = 0;

int16_t ltemp = 0;
int16_t htemp = 0;
int16_t tempi = 0;
int16_t temp = 0;

int16_t raw_x = 0;
int16_t raw_y = 0;
int16_t raw_z = 0;
Expand Down Expand Up @@ -626,14 +612,26 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)

/* Read OUT registers Gyro is starting at 22h and Accelero at 28h */

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G + registershift, &lox);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G + registershift, &hix);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G + registershift, &loy);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G + registershift, &hiy);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G + registershift, &loz);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G + registershift, &hiz);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_L_G + registershift,
(FAR uint8_t *)&lox);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_H_G + registershift,
(FAR uint8_t *)&hix);

lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_L_G + registershift,
(FAR uint8_t *)&loy);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_H_G + registershift,
(FAR uint8_t *)&hiy);

lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_L_G + registershift,
(FAR uint8_t *)&loz);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_H_G + registershift,
(FAR uint8_t *)&hiz);

/* check XLDA 5 times */

Expand All @@ -653,16 +651,28 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)
* http://ozzmaker.com/accelerometer-to-g/
*/

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G + registershift, &lox);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G + registershift, &hix);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_L_G + registershift,
(FAR uint8_t *)&lox);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_H_G + registershift,
(FAR uint8_t *)&hix);
raw_x = (int16_t) (((uint16_t) hix << 8U) | (uint16_t) lox);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G + registershift, &loy);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G + registershift, &hiy);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_L_G + registershift,
(FAR uint8_t *)&loy);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_H_G + registershift,
(FAR uint8_t *)&hiy);
raw_y = (int16_t) (((uint16_t) hiy << 8U) | (uint16_t) loy);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G + registershift, &loz);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G + registershift, &hiz);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_L_G + registershift,
(FAR uint8_t *)&loz);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_H_G + registershift,
(FAR uint8_t *)&hiz);
raw_z = (int16_t) (((uint16_t) hiz << 8U) | (uint16_t) loz);

/* Selftest only uses raw values */
Expand Down Expand Up @@ -704,14 +714,26 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)

/* Now do all the ST values */

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G + registershift, &loxst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G + registershift, &hixst);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G + registershift, &loyst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G + registershift, &hiyst);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G + registershift, &lozst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G + registershift, &hizst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_L_G + registershift,
(FAR uint8_t *)&loxst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_H_G + registershift,
(FAR uint8_t *)&hixst);

lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_L_G + registershift,
(FAR uint8_t *)&loyst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_H_G + registershift,
(FAR uint8_t *)&hiyst);

lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_L_G + registershift,
(FAR uint8_t *)&lozst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_H_G + registershift,
(FAR uint8_t *)&hizst);

for (i2 = 0; i2 < samples; i2++)
{
Expand All @@ -727,16 +749,28 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)

nxsig_usleep(100000); /* 100ms */

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G + registershift, &loxst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G + registershift, &hixst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_L_G + registershift,
(FAR uint8_t *)&loxst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTX_H_G + registershift,
(FAR uint8_t *)&hixst);
raw_xst = (int16_t) (((uint16_t) hixst << 8U) | (uint16_t) loxst);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G + registershift, &loyst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G + registershift, &hiyst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_L_G + registershift,
(FAR uint8_t *)&loyst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTY_H_G + registershift,
(FAR uint8_t *)&hiyst);
raw_yst = (int16_t) (((uint16_t) hiyst << 8U) | (uint16_t) loyst);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G + registershift, &lozst);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G + registershift, &hizst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_L_G + registershift,
(FAR uint8_t *)&lozst);
lsm6dsl_readreg8(priv,
LSM6DSL_OUTZ_H_G + registershift,
(FAR uint8_t *)&hizst);
raw_zst = (int16_t) (((uint16_t) hizst << 8U) | (uint16_t) lozst);

/* Selftest only uses raw values */
Expand Down Expand Up @@ -897,10 +931,8 @@ static int lsm6dsl_selftest(FAR struct lsm6dsl_dev_s *priv, uint32_t mode)
static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
FAR struct lsm6dsl_sensor_data_s *sensor_data)
{
int16_t lo = 0;
int16_t lox = 0;
int16_t loxg = 0;
int16_t hi = 0;
int16_t hix = 0;
int16_t hixg = 0;
int16_t loy = 0;
Expand All @@ -915,21 +947,11 @@ static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,
int16_t templ = 0;
int16_t temph = 0;

uint8_t status1 = 0;
uint8_t status2 = 0;
uint8_t status3 = 0;
uint8_t status4 = 0;
uint8_t value = 0;

uint8_t tstamp0 = 0;
uint8_t tstamp1 = 0;
uint8_t tstamp2 = 0;
uint8_t tstamp3 = 0;
uint32_t ts = 0;

int16_t x_val = 0;
int16_t y_val = 0;
int16_t z_val = 0;
int16_t tempi = 0;
int16_t temp_val = 0;

Expand All @@ -943,25 +965,25 @@ static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,

/* Accelerometer */

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_XL, &lox);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_XL, &hix);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_XL, (FAR uint8_t *)&lox);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_XL, (FAR uint8_t *)&hix);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_XL, &loy);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_XL, &hiy);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_XL, (FAR uint8_t *)&loy);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_XL, (FAR uint8_t *)&hiy);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_XL, &loz);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_XL, &hiz);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_XL, (FAR uint8_t *)&loz);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_XL, (FAR uint8_t *)&hiz);

/* Gyro */

lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G, &loxg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G, &hixg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_L_G, (FAR uint8_t *)&loxg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTX_H_G, (FAR uint8_t *)&hixg);

lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G, &loyg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G, &hiyg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_L_G, (FAR uint8_t *)&loyg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTY_H_G, (FAR uint8_t *)&hiyg);

lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G, &lozg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G, &hizg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_L_G, (FAR uint8_t *)&lozg);
lsm6dsl_readreg8(priv, LSM6DSL_OUTZ_H_G, (FAR uint8_t *)&hizg);

/* Timestamp */

Expand All @@ -973,8 +995,8 @@ static int lsm6dsl_sensor_read(FAR struct lsm6dsl_dev_s *priv,

/* Temperature */

lsm6dsl_readreg8(priv, LSM6DSL_OUT_TEMP_L, &templ);
lsm6dsl_readreg8(priv, LSM6DSL_OUT_TEMP_H, &temph);
lsm6dsl_readreg8(priv, LSM6DSL_OUT_TEMP_L, (FAR uint8_t *)&templ);
lsm6dsl_readreg8(priv, LSM6DSL_OUT_TEMP_H, (FAR uint8_t *)&temph);

xf_val = (int16_t) ((hix << 8) | lox);
yf_val = (int16_t) ((hiy << 8) | loy);
Expand Down Expand Up @@ -1211,7 +1233,8 @@ static int lsm6dsl_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
break;

case SNIOC_LSM6DSLSENSORREAD:
ret = priv->ops->sensor_read(priv, (FAR struct lsm6dsl_sensor_data_s *) arg);
ret = priv->ops->sensor_read(priv,
(FAR struct lsm6dsl_sensor_data_s *) arg);
break;

case SNIOC_START_SELFTEST:
Expand Down

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