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Posted to commits@nuttx.apache.org by xi...@apache.org on 2020/11/20 02:13:23 UTC
[incubator-nuttx] branch master updated (9393572 -> cab072b)
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a change to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git.
from 9393572 Revert "fs/nxffs: Fix scan good block slowly and scan an invalid block"
new 60d1755 drivers: l3gd20 supports the sensor driver model
new cab072b board/stm32f429i: support l3gd20 sensor with new sensor model
The 2 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails. The revisions
listed as "add" were already present in the repository and have only
been added to this reference.
Summary of changes:
boards/arm/stm32/common/include/stm32_l3gd20.h | 3 +-
boards/arm/stm32/common/src/stm32_l3gd20.c | 7 +-
drivers/sensors/Kconfig | 10 +
drivers/sensors/l3gd20.c | 336 +++++++++++--------------
include/nuttx/sensors/l3gd20.h | 17 +-
5 files changed, 161 insertions(+), 212 deletions(-)
[incubator-nuttx] 01/02: drivers: l3gd20 supports the sensor driver
model
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 60d1755e0431911dcd27557896cfaff9e8177254
Author: dongjiuzhu <do...@xiaomi.com>
AuthorDate: Tue Nov 17 14:02:06 2020 +0800
drivers: l3gd20 supports the sensor driver model
Signed-off-by: dongjiuzhu <do...@xiaomi.com>
---
drivers/sensors/Kconfig | 10 ++
drivers/sensors/l3gd20.c | 336 +++++++++++++++++------------------------
include/nuttx/sensors/l3gd20.h | 17 +--
3 files changed, 156 insertions(+), 207 deletions(-)
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 560cd67..f800092 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -222,9 +222,19 @@ config SENSORS_L3GD20
bool "STMicro L3GD20 Gyroscope Sensor support"
default n
select SPI
+ select SCHED_HPWORK if SENSORS_L3GD20_BUFFER_SIZE > 0
---help---
Enable driver support for the STMicro L3GD20 gyroscope sensor.
+config SENSORS_L3GD20_BUFFER_SIZE
+ int "size of buffer"
+ default 1
+ depends on SENSORS_L3GD20
+ ---help---
+ The size of the circular buffer used. If the value equal to zero,
+ indicates that the circular buffer is disabled.
+
+
config SENSOR_KXTJ9
bool "Kionix KXTJ9 Accelerometer support"
default n
diff --git a/drivers/sensors/l3gd20.c b/drivers/sensors/l3gd20.c
index 89a765b..716d044 100644
--- a/drivers/sensors/l3gd20.c
+++ b/drivers/sensors/l3gd20.c
@@ -29,13 +29,16 @@
#include <debug.h>
#include <stdlib.h>
#include <string.h>
+#include <math.h>
+#include <nuttx/nuttx.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
#include <nuttx/random.h>
#include <nuttx/fs/fs.h>
+#include <nuttx/sensors/sensor.h>
#include <nuttx/sensors/l3gd20.h>
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
@@ -44,10 +47,6 @@
* Pre-processor Definitions
****************************************************************************/
-#if !defined(CONFIG_SCHED_HPWORK)
-# error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
-#endif
-
/****************************************************************************
* Private Types
****************************************************************************/
@@ -59,13 +58,14 @@ struct l3gd20_dev_s
FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
FAR struct l3gd20_config_s *config; /* Pointer to the configuration of the
* L3GD20 sensor */
- sem_t datasem; /* Manages exclusive access to this
- * structure */
- struct l3gd20_sensor_data_s data; /* The data as measured by the sensor */
+ uint64_t timestamp; /* Units is microseconds */
+ struct sensor_lowerhalf_s lower; /* The struct of lower half driver */
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
struct work_s work; /* The work queue is responsible for
* retrieving the data from the sensor
* after the arrival of new data was
* signalled in an interrupt */
+#endif
};
/****************************************************************************
@@ -80,7 +80,8 @@ static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr,
uint8_t const reg_data);
static void l3gd20_reset(FAR struct l3gd20_dev_s *dev);
-static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev);
+static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
+ FAR struct sensor_event_gyro *data);
static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
uint16_t *x_gyr, uint16_t *y_gyr,
uint16_t *z_gyr);
@@ -88,32 +89,32 @@ static void l3gd20_read_temperature(FAR struct l3gd20_dev_s *dev,
uint8_t * temperature);
static int l3gd20_interrupt_handler(int irq, FAR void *context,
FAR void *arg);
+static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
+ bool enable);
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
static void l3gd20_worker(FAR void *arg);
-
-static int l3gd20_open(FAR struct file *filep);
-static int l3gd20_close(FAR struct file *filep);
-static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen);
-static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen);
-static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
+#else
+static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR char *buffer, size_t buflen);
+#endif
/****************************************************************************
* Private Data
****************************************************************************/
-static const struct file_operations g_l3gd20_fops =
+/* The lower half sensor driver operations for sensor register */
+
+static const struct sensor_ops_s g_l2gd20_ops =
{
- l3gd20_open,
- l3gd20_close,
- l3gd20_read,
- l3gd20_write,
- NULL,
- l3gd20_ioctl,
- NULL
-#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
- , NULL
+ .activate = l3gd20_activate,
+ .set_interval = NULL,
+ .batch = NULL,
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
+ .fetch = NULL,
+#else
+ .fetch = l3gd20_fetch,
#endif
+ .control = NULL
};
/* Single linked list to store instances of drivers */
@@ -214,13 +215,13 @@ static void l3gd20_reset(FAR struct l3gd20_dev_s *dev)
* Name: l3gd20_read_measurement_data
****************************************************************************/
-static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
+static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
+ FAR struct sensor_event_gyro *data)
{
uint16_t x_gyr = 0;
uint16_t y_gyr = 0;
uint16_t z_gyr = 0;
uint8_t temperature = 0;
- int ret;
/* Read Gyroscope */
@@ -230,24 +231,11 @@ static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
l3gd20_read_temperature(dev, &temperature);
- /* Acquire the semaphore before the data is copied */
-
- ret = nxsem_wait(&dev->datasem);
- if (ret < 0)
- {
- snerr("ERROR: Could not acquire dev->datasem: %d\n", ret);
- return;
- }
-
- /* Copy retrieve data to internal data structure */
-
- dev->data.x_gyr = (int16_t) (x_gyr);
- dev->data.y_gyr = (int16_t) (y_gyr);
- dev->data.z_gyr = (int16_t) (z_gyr);
-
- /* Give back the semaphore */
-
- nxsem_post(&dev->datasem);
+ data->x = ((int16_t)x_gyr / 180.0f) * (float)M_PI;
+ data->y = ((int16_t)y_gyr / 180.0f) * (float)M_PI;
+ data->z = ((int16_t)z_gyr / 180.0f) * (float)M_PI;
+ data->temperature = temperature;
+ data->timestamp = dev->timestamp;
/* Feed sensor data to entropy pool */
@@ -357,6 +345,11 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
DEBUGASSERT(priv != NULL);
}
+ /* Get the timestamp */
+
+ priv->timestamp = sensor_get_timestamp();
+
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
/* Task the worker with retrieving the latest sensor data. We should not do
* this in a interrupt since it might take too long. Also we cannot lock
* the SPI bus from within an interrupt.
@@ -364,200 +357,155 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
DEBUGASSERT(priv->work.worker == NULL);
ret = work_queue(HPWORK, &priv->work, l3gd20_worker, priv, 0);
+
if (ret < 0)
{
snerr("ERROR: Failed to queue work: %d\n", ret);
return ret;
}
+#else
+ /* notify event to upper half driver */
+
+ priv->lower.notify_event(priv->lower.priv);
+
+#endif
return OK;
}
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
/****************************************************************************
* Name: l3gd20_worker
****************************************************************************/
static void l3gd20_worker(FAR void *arg)
{
+ struct sensor_event_gyro temp;
+
FAR struct l3gd20_dev_s *priv = (FAR struct l3gd20_dev_s *)(arg);
DEBUGASSERT(priv != NULL);
/* Read out the latest sensor data */
- l3gd20_read_measurement_data(priv);
-}
-
-/****************************************************************************
- * Name: l3gd20_open
- ****************************************************************************/
-
-static int l3gd20_open(FAR struct file *filep)
-{
- FAR struct inode *inode = filep->f_inode;
- FAR struct l3gd20_dev_s *priv = inode->i_private;
-#ifdef CONFIG_DEBUG_SENSORS_INFO
- uint8_t reg_content;
- uint8_t reg_addr;
-#endif
-
- DEBUGASSERT(priv != NULL);
-
- /* Perform a reset */
-
- l3gd20_reset(priv);
-
- /* Enable DRDY signal on INT 2 */
-
- l3gd20_write_register(priv,
- L3GD20_CTRL_REG_3,
- L3GD20_CTRL_REG_3_I2_DRDY_BM);
-
- /* Enable the maximum full scale mode.
- * Enable block data update for gyro sensor data.
- * This should prevent race conditions when reading sensor data.
- */
-
- l3gd20_write_register(priv,
- L3GD20_CTRL_REG_4,
- L3GD20_CTRL_REG_4_BDU_BM |
- L3GD20_CTRL_REG_4_FS_1_BM |
- L3GD20_CTRL_REG_4_FS_0_BM);
-
- /* Enable X,Y,Z axis
- * DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
- */
-
- l3gd20_write_register(priv,
- L3GD20_CTRL_REG_1,
- L3GD20_CTRL_REG_1_POWERDOWN_BM |
- L3GD20_CTRL_REG_1_X_EN_BM |
- L3GD20_CTRL_REG_1_Y_EN_BM |
- L3GD20_CTRL_REG_1_Z_EN_BM);
-
- /* Read measurement data to ensure DRDY is low */
-
- l3gd20_read_measurement_data(priv);
+ l3gd20_read_measurement_data(priv, &temp);
- /* Read back the content of all control registers for debug purposes */
+ /* push data to upper half driver */
-#ifdef CONFIG_DEBUG_SENSORS_INFO
- reg_content = 0;
-
- l3gd20_read_register(priv, L3GD20_WHO_AM_I, ®_content);
- sninfo("WHO_AM_I_REG = %04x\n", reg_content);
-
- for (reg_addr = L3GD20_CTRL_REG_1;
- reg_addr <= L3GD20_CTRL_REG_5;
- reg_addr++)
- {
- l3gd20_read_register(priv, reg_addr, ®_content);
- sninfo("R#%04x = %04x\n", reg_addr, reg_content);
- }
-
- l3gd20_read_register(priv, L3GD20_STATUS_REG, ®_content);
- sninfo("STATUS_REG = %04x\n", reg_content);
-#endif
-
- return OK;
+ priv->lower.push_event(priv->lower.priv, &temp,
+ sizeof(struct sensor_event_gyro));
}
+#else
+
/****************************************************************************
- * Name: l3gd20_close
+ * Name: l3gd20_fetch
****************************************************************************/
-static int l3gd20_close(FAR struct file *filep)
+static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
+ FAR char *buffer, size_t buflen)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct l3gd20_dev_s *priv = inode->i_private;
+ FAR struct l3gd20_dev_s *priv = container_of(lower,
+ FAR struct l3gd20_dev_s,
+ lower);
+
+ if (buflen != sizeof(struct sensor_event_gyro))
+ return 0;
DEBUGASSERT(priv != NULL);
- /* Perform a reset */
+ /* Read out the latest sensor data */
- l3gd20_reset(priv);
- return OK;
+ l3gd20_read_measurement_data(priv, (FAR struct sensor_event_gyro *)buffer);
+
+ return sizeof(struct sensor_event_gyro);
}
+#endif
/****************************************************************************
- * Name: l3gd20_read
+ * Name: l3gd20_activate
****************************************************************************/
-static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen)
+static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
+ bool enable)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct l3gd20_dev_s *priv = inode->i_private;
- FAR struct l3gd20_sensor_data_s *data;
- int ret;
+ FAR struct l3gd20_dev_s *priv = container_of(lower,
+ FAR struct l3gd20_dev_s,
+ lower);
+ struct sensor_event_gyro temp;
- DEBUGASSERT(priv != NULL);
+#ifdef CONFIG_DEBUG_SENSORS_INFO
+ uint8_t reg_content;
+ uint8_t reg_addr;
+#endif
- /* Check if enough memory was provided for the read call */
+ DEBUGASSERT(priv != NULL);
- if (buflen < sizeof(FAR struct l3gd20_sensor_data_s))
+ if (enable == true)
{
- snerr("ERROR: Not enough memory for reading out a sensor data"
- " sample\n");
- return -ENOSYS;
- }
+ /* Perform a reset */
- /* Acquire the semaphore before the data is copied */
+ l3gd20_reset(priv);
- ret = nxsem_wait(&priv->datasem);
- if (ret < 0)
- {
- snerr("ERROR: Could not acquire priv->datasem: %d\n", ret);
- return ret;
- }
+ /* Enable DRDY signal on INT 2 */
- /* Copy the sensor data into the buffer */
+ l3gd20_write_register(priv,
+ L3GD20_CTRL_REG_3,
+ L3GD20_CTRL_REG_3_I2_DRDY_BM);
- data = (FAR struct l3gd20_sensor_data_s *)buffer;
- memset(data, 0, sizeof(FAR struct l3gd20_sensor_data_s));
+ /* Enable the maximum full scale mode.
+ * Enable block data update for gyro sensor data.
+ * This should prevent race conditions when reading sensor data.
+ */
- data->x_gyr = priv->data.x_gyr;
- data->y_gyr = priv->data.y_gyr;
- data->z_gyr = priv->data.z_gyr;
- data->temperature = priv->data.temperature;
+ l3gd20_write_register(priv,
+ L3GD20_CTRL_REG_4,
+ L3GD20_CTRL_REG_4_BDU_BM |
+ L3GD20_CTRL_REG_4_FS_1_BM |
+ L3GD20_CTRL_REG_4_FS_0_BM);
- /* Give back the semaphore */
+ /* Enable X,Y,Z axis
+ * DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
+ */
- nxsem_post(&priv->datasem);
+ l3gd20_write_register(priv,
+ L3GD20_CTRL_REG_1,
+ L3GD20_CTRL_REG_1_POWERDOWN_BM |
+ L3GD20_CTRL_REG_1_X_EN_BM |
+ L3GD20_CTRL_REG_1_Y_EN_BM |
+ L3GD20_CTRL_REG_1_Z_EN_BM);
- return sizeof(FAR struct l3gd20_sensor_data_s);
-}
+ /* Read measurement data to ensure DRDY is low */
-/****************************************************************************
- * Name: l3gd20_write
- ****************************************************************************/
+ l3gd20_read_measurement_data(priv, &temp);
-static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen)
-{
- return -ENOSYS;
-}
+ /* Read back the content of all control registers for debug purposes */
-/****************************************************************************
- * Name: l3gd20_ioctl
- ****************************************************************************/
+#ifdef CONFIG_DEBUG_SENSORS_INFO
+ reg_content = 0;
-static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
-{
- int ret = OK;
+ l3gd20_read_register(priv, L3GD20_WHO_AM_I, ®_content);
+ sninfo("WHO_AM_I_REG = %04x\n", reg_content);
- switch (cmd)
- {
- /* @TODO */
+ for (reg_addr = L3GD20_CTRL_REG_1;
+ reg_addr <= L3GD20_CTRL_REG_5;
+ reg_addr++)
+ {
+ l3gd20_read_register(priv, reg_addr, ®_content);
+ sninfo("R#%04x = %04x\n", reg_addr, reg_content);
+ }
- /* Command was not recognized */
+ l3gd20_read_register(priv, L3GD20_STATUS_REG, ®_content);
+ sninfo("STATUS_REG = %04x\n", reg_content);
+#endif
+ }
+ else
+ {
+ /* Perform a reset */
- default:
- snerr("ERROR: Unrecognized cmd: %d\n", cmd);
- ret = -ENOTTY;
- break;
+ l3gd20_reset(priv);
}
- return ret;
+ return 0;
}
/****************************************************************************
@@ -571,7 +519,8 @@ static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
- * devpath - The full path to the driver to register, e.g., "/dev/gyr0".
+ * devno - The device number, used to build the device path
+ * as /dev/sensor/gyro_uncalN
* spi - An SPI driver instance.
* config - configuration for the L3GD20 driver.
*
@@ -580,7 +529,7 @@ static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
*
****************************************************************************/
-int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config)
{
FAR struct l3gd20_dev_s *priv;
@@ -603,16 +552,16 @@ int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
priv->spi = spi;
priv->config = config;
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0
priv->work.worker = NULL;
+#endif
+ priv->timestamp = 0;
- priv->data.x_gyr = 0;
- priv->data.y_gyr = 0;
- priv->data.z_gyr = 0;
- priv->data.temperature = 0;
-
- /* Initialize sensor data access semaphore */
-
- nxsem_init(&priv->datasem, 0, 1);
+ priv->lower.type = SENSOR_TYPE_GYROSCOPE;
+ priv->lower.buffer_size = sizeof(struct sensor_event_gyro) *
+ CONFIG_SENSORS_L3GD20_BUFFER_SIZE;
+ priv->lower.ops = &g_l2gd20_ops;
+ priv->lower.uncalibrated = true;
/* Setup SPI frequency and mode */
@@ -628,14 +577,13 @@ int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
goto errout;
}
- /* Register the character driver */
+ /* Register the sensor driver */
- ret = register_driver(devpath, &g_l3gd20_fops, 0666, priv);
+ ret = sensor_register(&priv->lower, devno);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
- nxsem_destroy(&priv->datasem);
goto errout;
}
diff --git a/include/nuttx/sensors/l3gd20.h b/include/nuttx/sensors/l3gd20.h
index 26faae5..cb0aad6 100644
--- a/include/nuttx/sensors/l3gd20.h
+++ b/include/nuttx/sensors/l3gd20.h
@@ -229,16 +229,6 @@ struct l3gd20_config_s
int (*attach)(FAR struct l3gd20_config_s *, xcpt_t);
};
-/* Data returned by reading from the L3GD20 is returned in this format. */
-
-struct l3gd20_sensor_data_s
-{
- int16_t x_gyr; /* Measurement result for x axis */
- int16_t y_gyr; /* Measurement result for y axis */
- int16_t z_gyr; /* Measurement result for z axis */
- int8_t temperature; /* Measurement result for temperature sensor */
-};
-
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
@@ -258,8 +248,9 @@ extern "C"
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
- * devpath - The full path to the driver to register, e.g., "/dev/gyr0".
- * i2c - An SPI driver instance.
+ * devno - The device number, used to build the device path
+ * as /dev/sensor/gyro_uncalN
+ * spi - An SPI driver instance.
* config - configuration for the L3GD20 driver. For details see
* description above.
*
@@ -268,7 +259,7 @@ extern "C"
*
****************************************************************************/
-int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config);
#undef EXTERN
[incubator-nuttx] 02/02: board/stm32f429i: support l3gd20 sensor
with new sensor model
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit cab072b84d0b2bc9285e6ec14b2df41992259d4a
Author: dongjiuzhu <do...@xiaomi.com>
AuthorDate: Tue Nov 17 14:03:26 2020 +0800
board/stm32f429i: support l3gd20 sensor with new sensor model
Signed-off-by: dongjiuzhu <do...@xiaomi.com>
---
boards/arm/stm32/common/include/stm32_l3gd20.h | 3 ++-
boards/arm/stm32/common/src/stm32_l3gd20.c | 7 +++----
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/boards/arm/stm32/common/include/stm32_l3gd20.h b/boards/arm/stm32/common/include/stm32_l3gd20.h
index 0aca79a..8b38ebd 100644
--- a/boards/arm/stm32/common/include/stm32_l3gd20.h
+++ b/boards/arm/stm32/common/include/stm32_l3gd20.h
@@ -62,7 +62,8 @@ extern "C"
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input Parameters:
- * devno - The device number, used to build the device path as /dev/gyroN
+ * devno - The device number, used to build the device path as
+ * /dev/sensor/gyro_uncalN
* busno - The SPI bus number
*
* Returned Value:
diff --git a/boards/arm/stm32/common/src/stm32_l3gd20.c b/boards/arm/stm32/common/src/stm32_l3gd20.c
index ac1e8ee..e32cfb1 100644
--- a/boards/arm/stm32/common/src/stm32_l3gd20.c
+++ b/boards/arm/stm32/common/src/stm32_l3gd20.c
@@ -86,7 +86,8 @@ static int l3gd20_attach(FAR struct l3gd20_config_s *cfg, xcpt_t irq)
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input Parameters:
- * devno - The device number, used to build the device path as /dev/gyroN
+ * devno - The device number, used to build the device path as
+ * /dev/sensor/gyro_uncalN
* busno - The SPI bus number
*
* Returned Value:
@@ -98,7 +99,6 @@ int board_l3gd20_initialize(int devno, int busno)
{
int ret = 0;
struct spi_dev_s *spi;
- char devpath[12];
/* Configure DREADY IRQ input */
@@ -116,8 +116,7 @@ int board_l3gd20_initialize(int devno, int busno)
/* Then register the gyro */
- snprintf(devpath, 12, "/dev/gyro%d", devno);
- ret = l3gd20_register(devpath, spi, &g_l3gd20_config);
+ ret = l3gd20_register(devno, spi, &g_l3gd20_config);
if (ret != OK)
{
goto errout;