Add support for LSM6DSO gyro/acc

Also supports the LSM6DSOX variant which has the additional machine learning core (not used by Betaflight).

make/source.mk

@@ -224,6 +224,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
             drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_lsm6dso.c \
             drivers/accgyro_legacy/accgyro_adxl345.c \
             drivers/accgyro_legacy/accgyro_bma280.c \
             drivers/accgyro_legacy/accgyro_l3g4200d.c \
@@ -357,7 +358,8 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu9250.c \
-            drivers/accgyro/accgyro_spi_icm20689.c
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_lsm6dso_init.c
 
 
 # F4 and F7 optimizations

src/main/cli/settings.c

@@ -129,14 +129,14 @@
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605",
-    "BMI160", "BMI270", "FAKE"
+    "BMI160", "BMI270", "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",
-    "BMI160", "BMI270", "FAKE"
+    "BMI160", "BMI270", "LSM6SDO", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)

src/main/drivers/accgyro/accgyro.h

@@ -58,6 +58,7 @@ typedef enum {
     GYRO_ICM42605,
     GYRO_BMI160,
     GYRO_BMI270,
+    GYRO_LSM6DSO,
     GYRO_FAKE
 } gyroHardware_e;
 
@@ -73,6 +74,7 @@ typedef enum {
     GYRO_RATE_1100_Hz,
     GYRO_RATE_3200_Hz,
     GYRO_RATE_6400_Hz,
+    GYRO_RATE_6664_Hz,
     GYRO_RATE_8_kHz,
     GYRO_RATE_9_kHz,
     GYRO_RATE_32_kHz,

src/main/drivers/accgyro/accgyro_mpu.c

@@ -51,6 +51,7 @@
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm42605.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -223,6 +224,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #endif
 #ifdef USE_GYRO_L3GD20
     l3gd20Detect,
+#endif
+#ifdef USE_ACCGYRO_LSM6DSO
+    lsm6dsoDetect,
 #endif
     NULL // Avoid an empty array
 };

src/main/drivers/accgyro/accgyro_mpu.h

@@ -202,6 +202,7 @@ typedef enum {
     ICM_42605_SPI,
     BMI_160_SPI,
     BMI_270_SPI,
+    LSM6DSO_SPI,
     L3GD20_SPI,
 } mpuSensor_e;
 

src/main/drivers/accgyro/accgyro_spi_lsm6dso.c

@@ -0,0 +1,90 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_LSM6DSO
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+void lsm6dsoExtiHandler(extiCallbackRec_t *cb)
+{
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    gyro->dataReady = true;
+}
+#endif
+
+bool lsm6dsoAccRead(accDev_t *acc)
+{
+    enum {
+        IDX_ACCEL_XOUT_L,
+        IDX_ACCEL_XOUT_H,
+        IDX_ACCEL_YOUT_L,
+        IDX_ACCEL_YOUT_H,
+        IDX_ACCEL_ZOUT_L,
+        IDX_ACCEL_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
+
+    const busDevice_t *busdev = &acc->bus;
+    busReadRegisterBuffer(busdev, LSM6DSO_REG_OUTX_L_A, lsm6dso_rx_buf, BUFFER_SIZE);
+
+    acc->ADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_XOUT_L]);
+    acc->ADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_YOUT_L]);
+    acc->ADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_ZOUT_L]);
+
+    return true;
+}
+
+bool lsm6dsoGyroRead(gyroDev_t *gyro)
+{
+    enum {
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
+
+    const busDevice_t *busdev = &gyro->bus;
+    busReadRegisterBuffer(busdev, LSM6DSO_REG_OUTX_L_G, lsm6dso_rx_buf, BUFFER_SIZE);
+
+    gyro->gyroADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_XOUT_L]);
+    gyro->gyroADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_YOUT_L]);
+    gyro->gyroADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_ZOUT_L]);
+
+    return true;
+}
+#endif

src/main/drivers/accgyro/accgyro_spi_lsm6dso.h

@@ -0,0 +1,66 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+#include "drivers/exti.h"
+
+// LSM6DSO registers (not the complete list)
+typedef enum {
+    LSM6DSO_REG_INT1_CTRL = 0x0D,  // int pin 1 control
+    LSM6DSO_REG_INT2_CTRL = 0x0E,  // int pin 2 control
+    LSM6DSO_REG_WHO_AM_I = 0x0F,   // chip ID
+    LSM6DSO_REG_CTRL1_XL = 0x10,   // accelerometer control
+    LSM6DSO_REG_CTRL2_G = 0x11,    // gyro control
+    LSM6DSO_REG_CTRL3_C = 0x12,    // control register 3
+    LSM6DSO_REG_CTRL4_C = 0x13,    // control register 4
+    LSM6DSO_REG_CTRL5_C = 0x14,    // control register 5
+    LSM6DSO_REG_CTRL6_C = 0x15,    // control register 6
+    LSM6DSO_REG_CTRL7_G = 0x16,    // control register 7
+    LSM6DSO_REG_CTRL8_XL = 0x17,   // control register 8
+    LSM6DSO_REG_CTRL9_XL = 0x18,   // control register 9
+    LSM6DSO_REG_CTRL10_C = 0x19,   // control register 10
+    LSM6DSO_REG_STATUS = 0x1E,     // status register
+    LSM6DSO_REG_OUT_TEMP_L = 0x20, // temperature LSB
+    LSM6DSO_REG_OUT_TEMP_H = 0x21, // temperature MSB
+    LSM6DSO_REG_OUTX_L_G = 0x22,   // gyro X axis LSB
+    LSM6DSO_REG_OUTX_H_G = 0x23,   // gyro X axis MSB
+    LSM6DSO_REG_OUTY_L_G = 0x24,   // gyro Y axis LSB
+    LSM6DSO_REG_OUTY_H_G = 0x25,   // gyro Y axis MSB
+    LSM6DSO_REG_OUTZ_L_G = 0x26,   // gyro Z axis LSB
+    LSM6DSO_REG_OUTZ_H_G = 0x27,   // gyro Z axis MSB
+    LSM6DSO_REG_OUTX_L_A = 0x28,   // acc X axis LSB
+    LSM6DSO_REG_OUTX_H_A = 0x29,   // acc X axis MSB
+    LSM6DSO_REG_OUTY_L_A = 0x2A,   // acc Y axis LSB
+    LSM6DSO_REG_OUTY_H_A = 0x2B,   // acc Y axis MSB
+    LSM6DSO_REG_OUTZ_L_A = 0x2C,   // acc Z axis LSB
+    LSM6DSO_REG_OUTZ_H_A = 0x2D,   // acc Z axis MSB
+} lsm6dsoRegister_e;
+
+// Contained in accgyro_spi_lsm6dso_init.c which is size-optimized
+uint8_t lsm6dsoDetect(const busDevice_t *bus);
+bool lsm6dsoSpiAccDetect(accDev_t *acc);
+bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro);
+
+// Contained in accgyro_spi_lsm6dso.c which is speed-optimized
+void lsm6dsoExtiHandler(extiCallbackRec_t *cb);
+bool lsm6dsoAccRead(accDev_t *acc);
+bool lsm6dsoGyroRead(gyroDev_t *gyro);

src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c

@@ -0,0 +1,203 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_LSM6DSO
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dso.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/time.h"
+
+#define LSM6DSO_CHIP_ID 0x6C
+
+// LSM6DSO register configuration values
+typedef enum {
+    LSM6DSO_VAL_INT1_CTRL = 0x02,             // enable gyro data ready interrupt pin 1
+    LSM6DSO_VAL_INT2_CTRL = 0x02,             // enable gyro data ready interrupt pin 2
+    LSM6DSO_VAL_CTRL1_XL_ODR833 = 0x07,       // accelerometer 833hz output data rate (gyro/8)
+    LSM6DSO_VAL_CTRL1_XL_ODR1667 = 0x08,      // accelerometer 1666hz output data rate (gyro/4)
+    LSM6DSO_VAL_CTRL1_XL_ODR3332 = 0x09,      // accelerometer 3332hz output data rate (gyro/2)
+    LSM6DSO_VAL_CTRL1_XL_ODR3333 = 0x0A,      // accelerometer 6664hz output data rate (gyro/1)
+    LSM6DSO_VAL_CTRL1_XL_8G = 0x03,           // accelerometer 8G scale
+    LSM6DSO_VAL_CTRL1_XL_16G = 0x01,          // accelerometer 16G scale
+    LSM6DSO_VAL_CTRL1_XL_LPF1 = 0x00,         // accelerometer output from LPF1
+    LSM6DSO_VAL_CTRL1_XL_LPF2 = 0x01,         // accelerometer output from LPF2
+    LSM6DSO_VAL_CTRL2_G_ODR6664 = 0x0A,       // gyro 6664hz output data rate
+    LSM6DSO_VAL_CTRL2_G_2000DPS = 0x03,       // gyro 2000dps scale
+    LSM6DSO_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)
+    LSM6DSO_VAL_CTRL3_C_H_LACTIVE = 0,        // (bit 5) interrupt pins active high
+    LSM6DSO_VAL_CTRL3_C_PP_OD = 0,            // (bit 4) interrupt pins push/pull
+    LSM6DSO_VAL_CTRL3_C_SIM = 0,              // (bit 3) SPI 4-wire interface mode
+    LSM6DSO_VAL_CTRL3_C_IF_INC = BIT(2),      // (bit 2) auto-increment address for burst reads
+    LSM6DSO_VAL_CTRL4_C_I2C_DISABLE = BIT(2), // (bit 2) disable I2C interface
+    LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G = BIT(1),  // (bit 1) enable gyro LPF1
+    LSM6DSO_VAL_CTRL6_C_XL_HM_MODE = 0,       // (bit 4) enable accelerometer high performance mode
+    LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ = 0x00,   // (bits 2:0) gyro LPF1 cutoff 335.5hz
+    LSM6DSO_VAL_CTRL6_C_FTYPE_232HZ = 0x01,   // (bits 2:0) gyro LPF1 cutoff 232.0hz
+    LSM6DSO_VAL_CTRL6_C_FTYPE_171HZ = 0x02,   // (bits 2:0) gyro LPF1 cutoff 171.1hz
+    LSM6DSO_VAL_CTRL6_C_FTYPE_609HZ = 0x03,   // (bits 2:0) gyro LPF1 cutoff 609.0hz
+    LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE = BIT(1),// (bit 1) disable I3C interface
+} lsm6dsoConfigValues_e;
+
+// LSM6DSO register configuration bit masks
+typedef enum {
+    LSM6DSO_MASK_CTRL3_C = 0x7C,         // 0b01111100
+    LSM6DSO_MASK_CTRL3_C_RESET = BIT(0), // 0b00000001
+    LSM6DSO_MASK_CTRL4_C = 0x06,         // 0b00000110
+    LSM6DSO_MASK_CTRL6_C = 0x17,         // 0b00010111
+    LSM6DSO_MASK_CTRL9_XL = 0x02,        // 0b00000010
+} lsm6dsoConfigMasks_e;
+
+uint8_t lsm6dsoDetect(const busDevice_t *bus)
+{
+    uint8_t chipID = 0;
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    if (busReadRegisterBuffer(bus, LSM6DSO_REG_WHO_AM_I, &chipID, 1)) {
+        if (chipID == LSM6DSO_CHIP_ID) {
+            return LSM6DSO_SPI;
+        }
+    }
+
+    return MPU_NONE;
+}
+
+static void lsm6dsoWriteRegister(const busDevice_t *bus, lsm6dsoRegister_e registerID, uint8_t value, unsigned delayMs)
+{
+    busWriteRegister(bus, registerID, value);
+    if (delayMs) {
+        delay(delayMs);
+    }
+}
+
+static void lsm6dsoWriteRegisterBits(const busDevice_t *bus, lsm6dsoRegister_e registerID, lsm6dsoConfigMasks_e mask, uint8_t value, unsigned delayMs)
+{
+    uint8_t newValue;
+    if (busReadRegisterBuffer(bus, registerID, &newValue, 1)) {
+        delayMicroseconds(2);
+        newValue = (newValue & ~mask) | value;
+        lsm6dsoWriteRegister(bus, registerID, newValue, delayMs);
+    }
+}
+
+static void lsm6dsoConfig(const gyroDev_t *gyro)
+{
+    const busDevice_t *bus = &gyro->bus;
+
+    // Reset the device (wait 100ms before continuing config)
+    lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C_RESET, BIT(0), 100);
+
+    // Configure interrupt pin 1 for gyro data ready only
+    lsm6dsoWriteRegister(bus, LSM6DSO_REG_INT1_CTRL, LSM6DSO_VAL_INT1_CTRL, 1);
+
+    // Disable interrupt pin 2
+    lsm6dsoWriteRegister(bus, LSM6DSO_REG_INT2_CTRL, LSM6DSO_VAL_INT2_CTRL, 1);
+
+    // Configure the accelerometer
+    // 833hz ODR, 16G scale, use LPF1 output
+    lsm6dsoWriteRegister(bus, LSM6DSO_REG_CTRL1_XL, (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) | (LSM6DSO_VAL_CTRL1_XL_LPF1 << 1), 1);
+
+    // Configure the gyro
+    // 6664hz ODR, 2000dps scale
+    lsm6dsoWriteRegister(bus, LSM6DSO_REG_CTRL2_G, (LSM6DSO_VAL_CTRL2_G_ODR6664 << 4) | (LSM6DSO_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
+    lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C, (LSM6DSO_VAL_CTRL3_C_BDU | LSM6DSO_VAL_CTRL3_C_H_LACTIVE | LSM6DSO_VAL_CTRL3_C_PP_OD | LSM6DSO_VAL_CTRL3_C_SIM | LSM6DSO_VAL_CTRL3_C_IF_INC), 1);
+
+    // Configure control register 4
+    // enable accelerometer high performane mode; set gyro LPF1 cutoff to 335.5hz
+    lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL4_C, LSM6DSO_MASK_CTRL4_C, (LSM6DSO_VAL_CTRL4_C_I2C_DISABLE | LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G), 1);
+
+    // Configure control register 6
+    // disable I2C interface; enable gyro LPF1
+    lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL6_C, LSM6DSO_MASK_CTRL6_C, (LSM6DSO_VAL_CTRL6_C_XL_HM_MODE | LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ), 1);
+
+    // Configure control register 9
+    // disable I3C interface
+    lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL9_XL, LSM6DSO_MASK_CTRL9_XL, LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE, 1);
+}
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+static void lsm6dsoIntExtiInit(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, lsm6dsoExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
+    EXTIEnable(mpuIntIO, true);
+}
+#endif
+
+static void lsm6dsoSpiGyroInit(gyroDev_t *gyro)
+{
+    lsm6dsoConfig(gyro);
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+    lsm6dsoIntExtiInit(gyro);
+#endif
+}
+
+static void lsm6dsoSpiAccInit(accDev_t *acc)
+{
+    // sensor is configured during gyro init
+    acc->acc_1G = 512 * 4;   // 16G sensor scale
+}
+
+bool lsm6dsoSpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor != LSM6DSO_SPI) {
+        return false;
+    }
+
+    acc->initFn = lsm6dsoSpiAccInit;
+    acc->readFn = lsm6dsoAccRead;
+
+    return true;
+}
+
+bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor != LSM6DSO_SPI) {
+        return false;
+    }
+
+    gyro->initFn = lsm6dsoSpiGyroInit;
+    gyro->readFn = lsm6dsoGyroRead;
+    gyro->scale = GYRO_SCALE_2000DPS;
+
+    return true;
+}
+#endif // USE_ACCGYRO_LSM6DSO

src/main/drivers/accgyro/gyro_sync.c

@@ -77,6 +77,13 @@ uint16_t gyroSetSampleRate(gyroDev_t *gyro)
             gyroSampleRateHz = 9000;
             accSampleRateHz = 1125;
             break;
+#ifdef USE_ACCGYRO_LSM6DSO
+        case LSM6DSO_SPI:
+            gyro->gyroRateKHz = GYRO_RATE_6664_Hz;
+            gyroSampleRateHz = 6664;   // Yes, this is correct per the datasheet. Will effectively round to 150us and 6.67KHz.
+            accSampleRateHz = 833;
+            break;
+#endif
         default:
             gyro->gyroRateKHz = GYRO_RATE_8_kHz;
             gyroSampleRateHz = 8000;

src/main/sensors/acceleration.c

@@ -47,6 +47,7 @@
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm42605.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -303,6 +304,15 @@ retry:
         FALLTHROUGH;
 #endif
 
+#ifdef USE_ACCGYRO_LSM6DSO
+    case ACC_LSM6DSO:
+        if (lsm6dsoSpiAccDetect(dev)) {
+            accHardware = ACC_LSM6DSO;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_FAKE_ACC
     case ACC_FAKE:
         if (fakeAccDetect(dev)) {

src/main/sensors/acceleration.h

@@ -45,6 +45,7 @@ typedef enum {
     ACC_ICM42605,
     ACC_BMI160,
     ACC_BMI270,
+    ACC_LSM6DSO,
     ACC_FAKE
 } accelerationSensor_e;
 

src/main/sensors/gyro_init.c

@@ -46,6 +46,7 @@
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm42605.h"
+#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -312,6 +313,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
     case GYRO_MPU6000:
     case GYRO_MPU6500:
     case GYRO_MPU9250:
+    case GYRO_LSM6DSO:
         gyroSensor->gyroDev.gyroHasOverflowProtection = true;
         break;
 
@@ -469,6 +471,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
+#ifdef USE_ACCGYRO_LSM6DSO
+    case GYRO_LSM6DSO:
+        if (lsm6dsoSpiGyroDetect(dev)) {
+            gyroHardware = GYRO_LSM6DSO;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_FAKE_GYRO
     case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {
@@ -494,7 +505,7 @@ 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_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSO)
 
     bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
 
@@ -519,7 +530,7 @@ 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_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DSO)
     mpuPreInit(config);
 #else
     UNUSED(config);

src/main/target/STM32_UNIFIED/target.h

@@ -169,6 +169,7 @@
 #define USE_GYRO_SPI_MPU6500
 #define USE_ACC_SPI_ICM20689
 #define USE_GYRO_SPI_ICM20689
+#define USE_ACCGYRO_LSM6DSO
 
 #define USE_MAG
 #define USE_MAG_DATA_READY_SIGNAL