Completed base support for LSM6DSL added base demo.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11740 110e8d01-0319-4d1e-a829-52ad28d1bb01

3 files changed, 131 insertions, 124 deletions

diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c
index 6a1fc34fc..24b78c87f 100644
--- a/os/ex/ST/lsm6dsl.c
+++ b/os/ex/ST/lsm6dsl.c
@@ -138,7 +138,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
 #endif /* LSM6DSL_SHARED_I2C */

 

   msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, 

-                               LSM6DSL_AD_OUT_X_L_XL, buff, 

+                               LSM6DSL_AD_OUTX_L_XL, buff, 

                                LSM6DSL_ACC_NUMBER_OF_AXES * 2);

 

 #if LSM6DSL_SHARED_I2C

@@ -381,7 +381,7 @@ static msg_t acc_set_full_scale(LSM6DSLDriver *devp,
     /* Updating register.*/

     msg = lsm6dslI2CReadRegister(devp->config->i2cp,

                                  devp->config->slaveaddress,

-                                 LSM6DSL_AD_CTRL_REG6_XL, &buff[1], 1);

+                                 LSM6DSL_AD_CTRL1_XL, &buff[1], 1);

 

 #if LSM6DSL_SHARED_I2C

         i2cReleaseBus(devp->config->i2cp);

@@ -390,9 +390,9 @@ static msg_t acc_set_full_scale(LSM6DSLDriver *devp,
     if(msg != MSG_OK)

       return msg;

 

-    buff[1] &= ~(LSM6DSL_CTRL_REG6_XL_FS_MASK);

+    buff[1] &= ~(LSMDSL_CTRL1_XL_FS_MASK);

     buff[1] |= fs;

-    buff[0] = LSM6DSL_AD_CTRL_REG6_XL;

+    buff[0] = LSM6DSL_AD_CTRL1_XL;

 

 #if LSM6DSL_SHARED_I2C

     i2cAcquireBus(devp->config->i2cp);

@@ -471,7 +471,7 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES])
 #endif /* LSM6DSL_SHARED_I2C */

 

   msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, 

-                               LSM6DSL_AD_OUT_X_L_G, buff, 

+                               LSM6DSL_AD_OUTX_L_G, buff,

                                LSM6DSL_GYRO_NUMBER_OF_AXES * 2);

 

 #if	LSM6DSL_SHARED_I2C

@@ -684,13 +684,18 @@ static msg_t gyro_reset_sensivity(void *ip) {
   

   osalDbgAssert((devp->state == LSM6DSL_READY),

                 "gyro_reset_sensivity(), invalid state");

-

-  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS)

+  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS)

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS)

     for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

-      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;

   else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)

 	for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

       devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS)

+	for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;

   else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)

 	for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

       devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;

@@ -728,12 +733,18 @@ static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
                 "gyro_set_full_scale(), channel not ready");

 #endif

 

-  if(fs == LSM6DSL_GYRO_FS_245DPS) {

-    newfs = LSM6DSL_GYRO_245DPS;

+  if(fs == LSM6DSL_GYRO_FS_125DPS) {

+    newfs = LSM6DSL_GYRO_125DPS;

+  }

+  else if(fs == LSM6DSL_GYRO_FS_250DPS) {

+    newfs = LSM6DSL_GYRO_250DPS;

   }

   else if(fs == LSM6DSL_GYRO_FS_500DPS) {

     newfs = LSM6DSL_GYRO_500DPS;

   }

+  else if(fs == LSM6DSL_GYRO_FS_1000DPS) {

+    newfs = LSM6DSL_GYRO_1000DPS;

+  }

   else if(fs == LSM6DSL_GYRO_FS_2000DPS) {

     newfs = LSM6DSL_GYRO_2000DPS;

   }

@@ -755,16 +766,16 @@ static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
     /* Updating register.*/

     msg = lsm6dslI2CReadRegister(devp->config->i2cp,

                                  devp->config->slaveaddress,

-                                 LSM6DSL_AD_CTRL_REG1_G, &buff[1], 1);

+                                 LSM6DSL_AD_CTRL2_G, &buff[1], 1);

 

 #if	LSM6DSL_SHARED_I2C

 		i2cReleaseBus(devp->config->i2cp);

 #endif /* LSM6DSL_SHARED_I2C */ 

 #endif /* LSM6DSL_USE_I2C */

 

-    buff[1] &= ~(LSM6DSL_CTRL_REG1_G_FS_MASK);

+    buff[1] &= ~(LSMDSL_CTRL2_G_FS_MASK);

     buff[1] |= fs;

-    buff[0] = LSM6DSL_AD_CTRL_REG1_G;

+    buff[0] = LSM6DSL_AD_CTRL2_G;

  

 #if LSM6DSL_USE_I2C 

 #if	LSM6DSL_SHARED_I2C

@@ -842,7 +853,7 @@ void lsm6dslObjectInit(LSM6DSLDriver *devp) {
  */

 void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {

   uint32_t i;

-  uint8_t cr[5];

+  uint8_t cr[11];

   osalDbgCheck((devp != NULL) && (config != NULL));

 

   osalDbgAssert((devp->state == LSM6DSL_STOP) || 

@@ -851,15 +862,10 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
 

   devp->config = config;

 

-  /* Configuring common registers.*/

-    

-  /* Control register 8 configuration block.*/

+  /* Enforcing multiple write configuration.*/

   {

-    cr[0] = LSM6DSL_AD_CTRL_REG8;

-    cr[1] = LSM6DSL_CTRL_REG8_IF_ADD_INC;

-#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[1] |= devp->config->endianness | devp->config->blockdataupdate;

-#endif

+    cr[0] = LSM6DSL_AD_CTRL3_C;

+    cr[1] = LSMDSL_CTRL3_C_IF_INC;

   }

 #if LSM6DSL_USE_I2C

 #if LSM6DSL_SHARED_I2C

@@ -875,22 +881,77 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
 #endif /* LSM6DSL_SHARED_I2C */

 #endif /* LSM6DSL_USE_I2C */

 

-  /* Configuring Accelerometer subsystem.*/

+  /* Configuring all the control registers.*/

   /* Multiple write starting address.*/

-  cr[0] = LSM6DSL_AD_CTRL_REG5_XL;

+  cr[0] = LSM6DSL_AD_CTRL1_XL;

+  /* Control register 1 configuration block.*/

+  {

+      cr[1] = devp->config->accoutdatarate |

+              devp->config->accfullscale;

+  }

+  /* Control register 2 configuration block.*/

+  {

+      cr[2] = devp->config->gyrooutdatarate |

+              devp->config->gyrofullscale;

+  }

+  /* Control register 3 configuration block.*/

+  {

+      cr[3] = LSMDSL_CTRL3_C_IF_INC;

+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)

+      cr[3] |= devp->config->endianness | devp->config->blockdataupdate;

+#endif

+  }

+  /* Control register 4 configuration block.*/

+  {

+      cr[4] = 0;

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+      if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {

+        cr[4] |= LSMDSL_CTRL4_C_LPF1_SEL_G;

+      }

+      else {

+        /* Nothing to do. */

+      }

+#endif

+  }

   /* Control register 5 configuration block.*/

   {

-      cr[1] = LSM6DSL_CTRL_REG5_XL_XEN_XL | LSM6DSL_CTRL_REG5_XL_YEN_XL |

-              LSM6DSL_CTRL_REG5_XL_ZEN_XL;

+      cr[5] = 0;

+  }

+  /* Control register 6 configuration block.*/

+  {

+      cr[6] = 0;

 #if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)

-      cr[1] |= devp->config->accdecmode;

+      cr[6] |= devp->config->acclpmode;

+

+#endif

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+      if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {

+        cr[6] |= devp->config->gyrolowpassfilter;

+      }

+      else {

+        /* Nothing to do. */

+      }

 #endif

   }

+  /* Control register 7 configuration block.*/

+  {

+      cr[7] = 0;

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+      cr[7] |= devp->config->gyrolpmode;

 

-  /* Control register 6 configuration block.*/

+#endif

+  }

+  /* Control register 8 configuration block.*/

   {

-    cr[2] = devp->config->accoutdatarate |

-            devp->config->accfullscale;

+      cr[8] = 0;

+  }

+  /* Control register 9 configuration block.*/

+  {

+      cr[9] = 0;

+  }

+  /* Control register 10 configuration block.*/

+  {

+      cr[10] = 0;

   }

   

 #if LSM6DSL_USE_I2C

@@ -900,7 +961,7 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
 #endif /* LSM6DSL_SHARED_I2C */

 

   lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                          cr, 2);

+                          cr, 10);

 

 #if LSM6DSL_SHARED_I2C

   i2cReleaseBus(devp->config->i2cp);

@@ -954,84 +1015,24 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
   else      

     for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

       devp->accbias[i] = LSM6DSL_ACC_BIAS;

-    

-  /* Configuring Gyroscope subsystem.*/

-  /* Multiple write starting address.*/

-  cr[0] = LSM6DSL_AD_CTRL_REG1_G;

-

-  /* Control register 1 configuration block.*/

-  {

-    cr[1] = devp->config->gyrofullscale |

-            devp->config->gyrooutdatarate;

-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[1] |= devp->config->gyrodecmode;

-#endif

-  }

-

-  /* Control register 2 configuration block.*/

-  {

-    cr[2] = 0;

-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[2] |= devp->config->gyrooutsel;

-#endif

-  }

-

-  /* Control register 3 configuration block.*/

-  {

-    cr[3] = 0;

-#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[3] |= devp->config->gyrohpfenable |

-             devp->config->gyrolowmodecfg |

-             devp->config->gyrohpcfg;

-#endif

-  }

 

-  /* Control register 4 configuration block.*/

-  {

-    cr[4] = LSM6DSL_CTRL_REG4_XEN_G | LSM6DSL_CTRL_REG4_YEN_G |

-            LSM6DSL_CTRL_REG4_ZEN_G;

-  }

-#if LSM6DSL_USE_I2C

-#if LSM6DSL_SHARED_I2C

-  i2cAcquireBus(devp->config->i2cp);

-  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

-#endif /* LSM6DSL_SHARED_I2C */

-

-  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                          cr, 4);

-

-#if LSM6DSL_SHARED_I2C

-  i2cReleaseBus(devp->config->i2cp);

-#endif /* LSM6DSL_SHARED_I2C */

-#endif /* LSM6DSL_USE_I2C */

-

-  cr[0] = LSM6DSL_AD_CTRL_REG9;

-  /* Control register 9 configuration block.*/

-  {

-      cr[1] = 0;

+  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS) {

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      if(devp->config->gyrosensitivity == NULL)

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;

+      else

+        devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

+    }

+    devp->gyrofullscale = LSM6DSL_GYRO_125DPS;

   }

-#if LSM6DSL_USE_I2C

-#if LSM6DSL_SHARED_I2C

-  i2cAcquireBus(devp->config->i2cp);

-  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

-#endif /* LSM6DSL_SHARED_I2C */

-

-  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                          cr, 1);

-

-#if LSM6DSL_SHARED_I2C

-  i2cReleaseBus(devp->config->i2cp);

-#endif /* LSM6DSL_SHARED_I2C */

-#endif /* LSM6DSL_USE_I2C */

-

-  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS) {

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS) {

     for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

       if(devp->config->gyrosensitivity == NULL)

-        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;

       else

         devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

     }

-    devp->gyrofullscale = LSM6DSL_GYRO_245DPS;

+    devp->gyrofullscale = LSM6DSL_GYRO_250DPS;

   }

   else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {

     for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

@@ -1042,6 +1043,15 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
     }

     devp->gyrofullscale = LSM6DSL_GYRO_500DPS;

   }

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS) {

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      if(devp->config->gyrosensitivity == NULL)

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;

+      else

+        devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

+    }

+    devp->gyrofullscale = LSM6DSL_GYRO_1000DPS;

+  }

   else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {

     for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

       if(devp->config->gyrosensitivity == NULL)

@@ -1090,17 +1100,14 @@ void lsm6dslStop(LSM6DSLDriver *devp) {
     i2cStart(devp->config->i2cp, devp->config->i2ccfg);

 #endif /* LSM6DSL_SHARED_I2C */

     

-    /* Disabling accelerometer.*/

-    cr[0] = LSM6DSL_AD_CTRL_REG6_XL;

-    cr[1] = 0;

-    lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                            cr, 1);

 

+    cr[0] = LSM6DSL_AD_CTRL1_XL;

+    /* Disabling accelerometer.*/

+    cr[1] = LSM6DSL_ACC_ODR_PD;

     /* Disabling gyroscope.*/

-    cr[0] = LSM6DSL_AD_CTRL_REG9;

-    cr[1] = LSM6DSL_CTRL_REG9_SLEEP_G;

+    cr[2] = LSM6DSL_GYRO_ODR_PD;

     lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                            cr, 1);

+                            cr, 2);

 

     i2cStop(devp->config->i2cp);

 #if LSM6DSL_SHARED_I2C

diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h
index 9816cee7d..7c3215a5b 100644
--- a/os/ex/ST/lsm6dsl.h
+++ b/os/ex/ST/lsm6dsl.h
@@ -243,10 +243,10 @@
 #define LSMDSL_CTRL2_G_FS_125               (1 << 1)

 #define LSMDSL_CTRL2_G_FS_G0                (1 << 2)

 #define LSMDSL_CTRL2_G_FS_G1                (1 << 3)

-#define LSMDSL_CTRL2_G_ODR_G                (1 << 4)

-#define LSMDSL_CTRL2_G_ODR_G                (1 << 5)

-#define LSMDSL_CTRL2_G_ODR_G                (1 << 6)

-#define LSMDSL_CTRL2_G_ODR_G                (1 << 7)

+#define LSMDSL_CTRL2_G_ODR_G0               (1 << 4)

+#define LSMDSL_CTRL2_G_ODR_G1               (1 << 5)

+#define LSMDSL_CTRL2_G_ODR_G2               (1 << 6)

+#define LSMDSL_CTRL2_G_ODR_G3               (1 << 7)

 /** @} */

 

 /**

@@ -296,7 +296,7 @@
  * @{

  */

 #define LSMDSL_CTRL6_C_FTYPE_0              (1 << 0)

-#define LSMDSL_CTRL6_C_FTYPE_0              (1 << 1)

+#define LSMDSL_CTRL6_C_FTYPE_1              (1 << 1)

 #define LSMDSL_CTRL6_C_USR_OFF_W            (1 << 3)

 #define LSMDSL_CTRL6_C_XL_HM_MODE           (1 << 4)

 #define LSMDSL_CTRL6_C_LVL2_EN              (1 << 5)

@@ -519,9 +519,9 @@ typedef enum {
   LSM6DSL_ACC_ODR_104Hz = 0x40,     /**< ODR 104 Hz                         */

   LSM6DSL_ACC_ODR_208Hz = 0x50,     /**< ODR 208 Hz                         */

   LSM6DSL_ACC_ODR_416Hz = 0x60,     /**< ODR 416 Hz                         */

-  LSM6DSL_ACC_ODR_833Hz = 0x70      /**< ODR 833 Hz                         */

-  LSM6DSL_ACC_ODR_1P66Hz = 0x80     /**< ODR 1.66 kHz                       */

-  LSM6DSL_ACC_ODR_3P33Hz = 0x90     /**< ODR 3.33 kHz                       */

+  LSM6DSL_ACC_ODR_833Hz = 0x70,     /**< ODR 833 Hz                         */

+  LSM6DSL_ACC_ODR_1P66Hz = 0x80,    /**< ODR 1.66 kHz                       */

+  LSM6DSL_ACC_ODR_3P33Hz = 0x90,    /**< ODR 3.33 kHz                       */

   LSM6DSL_ACC_ODR_6P66Hz = 0xA0     /**< ODR 6.66 kHz                       */  

 } lsm6dsl_acc_odr_t;

 

@@ -540,7 +540,7 @@ typedef enum {
   LSM6DSL_GYRO_FS_125DPS  = 0x02,   /**< Full scale ±125 degree per second  */

   LSM6DSL_GYRO_FS_250DPS  = 0x00,   /**< Full scale ±250 degree per second  */

   LSM6DSL_GYRO_FS_500DPS  = 0x04,   /**< Full scale ±500 degree per second  */

-  LSM6DSL_GYRO_FS_1000DPS = 0x08    /**< Full scale ±1000 degree per second */

+  LSM6DSL_GYRO_FS_1000DPS = 0x08,   /**< Full scale ±1000 degree per second */

   LSM6DSL_GYRO_FS_2000DPS = 0x0C    /**< Full scale ±2000 degree per second */

 } lsm6dsl_gyro_fs_t;

 

@@ -555,9 +555,9 @@ typedef enum {
   LSM6DSL_GYRO_ODR_104Hz = 0x40,    /**< ODR 104 Hz                         */

   LSM6DSL_GYRO_ODR_208Hz = 0x50,    /**< ODR 208 Hz                         */

   LSM6DSL_GYRO_ODR_416Hz = 0x60,    /**< ODR 416 Hz                         */

-  LSM6DSL_GYRO_ODR_833Hz = 0x70     /**< ODR 833 Hz                         */

-  LSM6DSL_GYRO_ODR_1P66Hz = 0x80    /**< ODR 1.66 kHz                       */

-  LSM6DSL_GYRO_ODR_3P33Hz = 0x90    /**< ODR 3.33 kHz                       */

+  LSM6DSL_GYRO_ODR_833Hz = 0x70,    /**< ODR 833 Hz                         */

+  LSM6DSL_GYRO_ODR_1P66Hz = 0x80,   /**< ODR 1.66 kHz                       */

+  LSM6DSL_GYRO_ODR_3P33Hz = 0x90,   /**< ODR 3.33 kHz                       */

   LSM6DSL_GYRO_ODR_6P66Hz = 0xA0    /**< ODR 6.66 kHz                       */  

 } lsm6dsl_gyro_odr_t;

 

@@ -577,7 +577,7 @@ typedef enum {
   LSM6DSL_GYRO_LPF_FTYPE0 = 0x00,   /**< Refer to table 68 of Datasheet.    */

   LSM6DSL_GYRO_LPF_FTYPE1 = 0x01,   /**< Refer to table 68 of Datasheet.    */  

   LSM6DSL_GYRO_LPF_FTYPE2 = 0x10,   /**< Refer to table 68 of Datasheet.    */

-  LSM6DSL_GYRO_LPF_FTYPE3 = 0x11,   /**< Refer to table 68 of Datasheet.    */

+  LSM6DSL_GYRO_LPF_FTYPE3 = 0x11    /**< Refer to table 68 of Datasheet.    */

 } lsm6dsl_gyro_lpf_t;

 

 /**

diff --git a/os/ex/ST/lsm6dsl.mk b/os/ex/ST/lsm6dsl.mk
index e2bbf7b5b..e3cac3d03 100644
--- a/os/ex/ST/lsm6dsl.mk
+++ b/os/ex/ST/lsm6dsl.mk
@@ -1,5 +1,5 @@
 # List of all the LSM6DSL device files.

-LSM6DSLSRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c

+LSM6DSLSRC := $(CHIBIOS)/os/ex/ST/lsm6dsl.c

 

 # Required include directories

 LSM6DSLINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \