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[WIP] [HELP NEEDED] Fix QMC6309 on LSM6DSO over SPIM #166

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[WIP] [HELP NEEDED] Fix QMC6309 on LSM6DSO over SPIM #166

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94741d2
Fix LSM6DSO slave mode I2C for the magnetometer
meganukebmp Oct 24, 2026
2bfc20f
The LSM6DSO's SLV0_CONFIG register provides only three bits for Slave…
meganukebmp Oct 24, 2026
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36 changes: 28 additions & 8 deletions src/sensor/imu/LSM6DSO.c
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@ int lsm6dso_ext_setup(sensor_ext_mode_t mode, const sensor_mag_t *mag, uint8_t m
break;

case SENSOR_EXT_MODE_I2CM_PROXY:
sensor_interface_ext_configure(&sensor_ext_lsm6dsv);
sensor_interface_ext_configure(&sensor_ext_lsm6dso);
break;

case SENSOR_EXT_MODE_I2CM_AUTONOMOUS:
Expand Down Expand Up @@ -254,9 +254,16 @@ int lsm6dso_ext_write(const uint8_t addr, const uint8_t *buf, uint32_t num_bytes
// Wait for transaction
uint8_t status = 0;
int64_t timeout = k_uptime_get() + 10;
while ((status & 0x80) && k_uptime_get() < timeout) // WR_ONCE_DONE
do {
err |= ssi_reg_read_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_STATUS_MASTER, &status);
err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_MASTER_CONFIG, 0x08); // SHUB_PU_EN, disable I2C master

if ((status & 0x80) != 0) {
break;
}

} while (k_uptime_get() < timeout);

err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_MASTER_CONFIG, 0x08); // disable I2C master
k_usleep(300);
err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_FUNC_CFG_ACCESS, 0x00); // switch to normal registers
if (~status & 0x80)
Expand All @@ -269,7 +276,7 @@ int lsm6dso_ext_write(const uint8_t addr, const uint8_t *buf, uint32_t num_bytes

int lsm6dso_ext_write_read(const uint8_t addr, const uint8_t *write_buf, size_t num_write, uint8_t *read_buf, size_t num_read)
{
if (num_write != 1 || num_read < 1 || num_read > 8)
if (num_write != 1 || num_read < 1 || num_read > 7)
{
LOG_ERR("Unsupported write_read");
return -1;
Expand All @@ -286,14 +293,27 @@ int lsm6dso_ext_write_read(const uint8_t addr, const uint8_t *write_buf, size_t
err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_FUNC_CFG_ACCESS, 0x00); // switch to normal registers
uint8_t tmp;
err |= ssi_reg_read_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_OUTX_H_A, &tmp); // clear XLDA

uint8_t status = 0;
int64_t timeout = k_uptime_get() + 10;
while ((status & 0x01) && k_uptime_get() < timeout) // XLDA

do {
err |= ssi_reg_read_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_STATUS_REG, &status);
if ((status & 0x01) != 0) {
break;
}
} while (k_uptime_get() < timeout);

status = 0;
timeout = k_uptime_get() + 10;
while ((status & 0x01) && k_uptime_get() < timeout) // SENS_HUB_ENDOP
err |= ssi_reg_read_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSO_STATUS_MASTER_MAINPAGE, &status);
// SENS_HUB_ENDOP
do {
err |= ssi_reg_read_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_STATUS_MASTER_MAINPAGE, &status);
if ((status & 0x01) != 0) {
break;
}
} while (k_uptime_get() < timeout);

// Read data
err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_FUNC_CFG_ACCESS, 0x40); // switch to sensor hub registers
err |= ssi_reg_write_byte(SENSOR_INTERFACE_DEV_IMU, LSM6DSV_MASTER_CONFIG, 0x08); // SHUB_PU_EN, disable I2C master
Expand Down Expand Up @@ -325,5 +345,5 @@ const sensor_imu_t sensor_imu_lsm6dso = {
const sensor_ext_ssi_t sensor_ext_lsm6dso = {
*lsm6dso_ext_write,
*lsm6dso_ext_write_read,
8
7
};