sensor: adxl345: Fix decoder for non-streaming mode
The following fixes have been applied to this decoder: - The Q-scale factor was fixed, both for full-scale and non full-scale modes. - The data-type decoded is struct sensor_three_axis_data, as it should for read/decode API. Signed-off-by: Luis Ubieda <luisf@croxel.com>
This commit is contained in:
Luis Ubieda
Benjamin Cabé
parent
2dba777432
commit
283b5197e6
3 changed files with 67 additions and 40 deletions
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@ -281,6 +281,7 @@ int adxl345_read_sample(const struct device *dev,
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{
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int16_t raw_x, raw_y, raw_z;
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uint8_t axis_data[6], status1;
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struct adxl345_dev_data *data = dev->data;
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if (!IS_ENABLED(CONFIG_ADXL345_TRIGGER)) {
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do {
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@ -303,6 +304,9 @@ int adxl345_read_sample(const struct device *dev,
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sample->y = raw_y;
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sample->z = raw_z;
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sample->selected_range = data->selected_range;
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sample->is_full_res = data->is_full_res;
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return 0;
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}
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@ -205,6 +205,7 @@ struct adxl345_sample {
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uint8_t res: 7;
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#endif /* CONFIG_ADXL345_STREAM */
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uint8_t selected_range;
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bool is_full_res;
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int16_t x;
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int16_t y;
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int16_t z;
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@ -6,17 +6,42 @@
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#include "adxl345.h"
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#ifdef CONFIG_ADXL345_STREAM
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/** The q-scale factor will always be the same, as the nominal LSB/g
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* changes at the same rate the selected shift parameter per range:
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*
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* - At 2G: 256 LSB/g, 10-bits resolution.
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* - At 4g: 128 LSB/g, 10-bits resolution.
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* - At 8g: 64 LSB/g, 10-bits resolution.
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* - At 16g 32 LSB/g, 10-bits resolution.
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*/
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static const uint32_t qscale_factor_no_full_res[] = {
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/* (1.0 / Resolution-LSB-per-g * (2^31 / 2^5) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_2G] = UINT32_C(2570754),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^6) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_4G] = UINT32_C(2570754),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_8G] = UINT32_C(2570754),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_16G] = UINT32_C(2570754),
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};
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#define SENSOR_SCALING_FACTOR (SENSOR_G / (16 * 1000 / 100))
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static const uint32_t accel_period_ns[] = {
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[ADXL345_ODR_12HZ] = UINT32_C(1000000000) / 12,
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[ADXL345_ODR_25HZ] = UINT32_C(1000000000) / 25,
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[ADXL345_ODR_50HZ] = UINT32_C(1000000000) / 50,
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[ADXL345_ODR_100HZ] = UINT32_C(1000000000) / 100,
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[ADXL345_ODR_200HZ] = UINT32_C(1000000000) / 200,
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[ADXL345_ODR_400HZ] = UINT32_C(1000000000) / 400,
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/** Sensitivities based on Range:
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*
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* - At 2G: 256 LSB/g, 10-bits resolution.
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* - At 4g: 256 LSB/g, 11-bits resolution.
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* - At 8g: 256 LSB/g, 12-bits resolution.
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* - At 16g 256 LSB/g, 13-bits resolution.
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*/
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static const uint32_t qscale_factor_full_res[] = {
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^5) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_2G] = UINT32_C(2570754),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^6) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_4G] = UINT32_C(1285377),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_8G] = UINT32_C(642688),
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/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_16G] = UINT32_C(321344),
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};
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static const uint32_t range_to_shift[] = {
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@ -26,30 +51,6 @@ static const uint32_t range_to_shift[] = {
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[ADXL345_RANGE_16G] = 8,
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};
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/* (1 / sensitivity) * (pow(2,31) / pow(2,shift)) * (unit_scaler) */
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static const uint32_t qscale_factor_no_full_res[] = {
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/* (1.0 / ADXL362_ACCEL_2G_LSB_PER_G) * (2^31 / 2^5) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_2G] = UINT32_C(2569011),
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/* (1.0 / ADXL362_ACCEL_4G_LSB_PER_G) * (2^31 / 2^6) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_4G] = UINT32_C(642253),
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/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_8G] = UINT32_C(160563),
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/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_16G] = UINT32_C(40141),
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};
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/* (1 / sensitivity) * (pow(2,31) / pow(2,shift)) * (unit_scaler) */
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static const uint32_t qscale_factor_full_res[] = {
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/* (1.0 / ADXL362_ACCEL_2G_LSB_PER_G) * (2^31 / 2^5) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_2G] = UINT32_C(2569011),
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/* (1.0 / ADXL362_ACCEL_4G_LSB_PER_G) * (2^31 / 2^6) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_4G] = UINT32_C(1284506),
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/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_8G] = UINT32_C(642253),
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/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */
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[ADXL345_RANGE_16G] = UINT32_C(321126),
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};
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static inline void adxl345_accel_convert_q31(q31_t *out, int16_t sample, int32_t range,
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uint8_t is_full_res)
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{
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@ -76,15 +77,28 @@ static inline void adxl345_accel_convert_q31(q31_t *out, int16_t sample, int32_t
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}
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break;
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}
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*out = sample * qscale_factor_full_res[range];
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} else {
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if (sample & BIT(9)) {
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sample |= ADXL345_COMPLEMENT;
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}
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*out = sample * qscale_factor_no_full_res[range];
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}
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*out = sample * qscale_factor_no_full_res[range];
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}
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#ifdef CONFIG_ADXL345_STREAM
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#define SENSOR_SCALING_FACTOR (SENSOR_G / (16 * 1000 / 100))
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static const uint32_t accel_period_ns[] = {
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[ADXL345_ODR_12HZ] = UINT32_C(1000000000) / 12,
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[ADXL345_ODR_25HZ] = UINT32_C(1000000000) / 25,
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[ADXL345_ODR_50HZ] = UINT32_C(1000000000) / 50,
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[ADXL345_ODR_100HZ] = UINT32_C(1000000000) / 100,
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[ADXL345_ODR_200HZ] = UINT32_C(1000000000) / 200,
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[ADXL345_ODR_400HZ] = UINT32_C(1000000000) / 400,
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};
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static int adxl345_decode_stream(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
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uint32_t *fit, uint16_t max_count, void *data_out)
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{
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@ -208,7 +222,12 @@ static int adxl345_decode_sample(const struct adxl345_sample *data,
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struct sensor_chan_spec chan_spec, uint32_t *fit,
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uint16_t max_count, void *data_out)
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{
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struct sensor_value *out = (struct sensor_value *)data_out;
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struct sensor_three_axis_data *out = (struct sensor_three_axis_data *)data_out;
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memset(out, 0, sizeof(struct sensor_three_axis_data));
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out->header.base_timestamp_ns = k_ticks_to_ns_floor64(k_uptime_ticks());
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out->header.reading_count = 1;
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out->shift = range_to_shift[data->selected_range];
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if (*fit > 0) {
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return -ENOTSUP;
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@ -216,9 +235,12 @@ static int adxl345_decode_sample(const struct adxl345_sample *data,
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switch (chan_spec.chan_type) {
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case SENSOR_CHAN_ACCEL_XYZ:
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adxl345_accel_convert(out++, data->x);
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adxl345_accel_convert(out++, data->y);
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adxl345_accel_convert(out, data->z);
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adxl345_accel_convert_q31(&out->readings->x, data->x, data->selected_range,
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data->is_full_res);
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adxl345_accel_convert_q31(&out->readings->y, data->y, data->selected_range,
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data->is_full_res);
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adxl345_accel_convert_q31(&out->readings->z, data->z, data->selected_range,
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data->is_full_res);
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break;
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default:
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return -ENOTSUP;
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@ -226,7 +248,7 @@ static int adxl345_decode_sample(const struct adxl345_sample *data,
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*fit = 1;
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return 0;
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return 1;
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}
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static int adxl345_decoder_decode(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
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