FelipeMdeO opened a new pull request, #19997:
URL: https://github.com/apache/nuttx/pull/19997
## Summary
No driver exists for the LSM6DS3TR-C. `lsm6dsl.c` is the closest
register-compatible match (same WHO_AM_I, same CTRL1_XL/CTRL2_G layout)
but is the deprecated legacy char-device style; `lsm6dso32_uorb.c` is the
closest uORB-style match but is for a different chip variant. The new
driver borrows `lsm6dso32_uorb.c`'s structure (dual `sensor_lowerhalf_s`,
raw `I2C_TRANSFER` helpers) and `lsm6dsl.h`'s register map -- fixing a bug
in the header it was ported from along the way: `LSM6DSL_FIFO_CTRL2_SHIFT`
is defined as `255` instead of `0`.
Delivery mode is chosen the same way mpu6050 does: kthread polling by
default, or interrupt-driven if the board supplies `attach()`.
On the XIAO ESP32-S3 with Seeed's IMU Breakout Board, INT1/INT2 route to
GPIO3/GPIO4 (confirmed from the breakout board's schematic, not guessed).
Only INT1/GPIO3 is wired up, since one pin is now enough; GPIO4/INT2 is
documented as available but unused.
Also: `CTRL1_XL`'s FS_XL bits were never actually written to match the
driver's own software default (4g) -- registration set the in-memory
value but the chip stayed at its 2g reset default until a caller issued
an explicit `SNIOC_SETFULLSCALE`. `register()` now writes it.
Getting a full build for this board's console needed two unrelated fixes
in `hal.mk`: esp-hal-3rdparty's `sleep_uart.c` and `bootloader_console.c`
reference the ESP-IDF-style `CONFIG_ESP_CONSOLE_UART_NUM` /
`CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM` /
`CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG`
macros directly. Only `Bootloader.mk` ever defined any of them, only for
the bootloader build, and only for a UART console -- the main firmware
build never defined them for any console, so linking failed with
`bootloader_console_init` undefined as soon as a board actually used
`CONFIG_ESP32S3_USBSERIAL` (this board's native USB Serial/JTAG console).
## Impact
New optional driver (`CONFIG_SENSORS_LSM6DS3TRC`, default `n`), no impact
on boards that don't enable it. The `hal.mk` fix only adds `CFLAGS`
definitions gated on the board's console choice
(`CONFIG_UART0/1_SERIAL_CONSOLE`,
`CONFIG_ESP32S3_USBSERIAL`); boards already using a UART console are
unaffected, boards using the native USB Serial/JTOG console (previously
unable to link at all) now build.
## Testing
Host: Ubuntu 24.04.4 LTS. `xtensa-esp-elf-gcc` (crosstool-NG
esp-14.2.0_20241119) 14.2.0. `checkpatch.sh` (style + `-m` commit message)
clean.
**Compiles clean** for the XIAO ESP32-S3 target, rebased onto current
master with no conflicts.
**On hardware** -- Seeed XIAO ESP32-S3 Sense + IMU Breakout Board
(LSM6DS3TR-C @ 0x6A, I2C0 SDA=GPIO5/SCL=GPIO6, INT1=GPIO3), native USB
Serial/JTAG console:
- `i2c dev 0 0x7f` finds the IMU at `0x6a` and the board's OLED at `0x3c`,
matching the breakout board schematic.
- `i2c get -a 0x6a -r 0x0f` reads `WHO_AM_I = 0x6a`.
- Polling mode: `sensor_accel0`/`sensor_gyro0` stream continuously for
minutes with no read errors, reproduced across multiple reboots.
- Interrupt mode: reproduced across multiple fresh reboots, ~300 samples
of each topic per 6s window (matching the configured 52 Hz ODR), with
**shared timestamps down to the microsecond** between the two topics
per event -- confirming both come from the same burst read:
```
nsh> uorb_listener sensor_accel0,sensor_gyro0
Monitor objects num:2
object_name:sensor_gyro, object_instance:0
object_name:sensor_accel, object_instance:0
sensor_gyro(now:34860000):0x3fc96ae4B
sensor_accel(now:34860000):0x3fc96ae4B
sensor_gyro(now:34870000):0x3fc96ae4B
sensor_accel(now:34870000):0x3fc96ae4B
sensor_gyro(now:34890000):0x3fc96ae4B
sensor_accel(now:34890000):0x3fc96ae4B
```
(`%pB` prints as a raw pointer here because the bench defconfig didn't
have `CONFIG_LIBC_PRINT_EXTENSION` on -- a `uorb_listener` display
option, unrelated to this driver. The `now:` timestamps and the 1:1
gyro/accel pairing are the real signal being verified.)
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