driver: sensor: adxl362: Bug fix for q31_t conv (527c1f53) · Commits · Wenxi XU / zephyr

drivers/sensor/adi/adxl362/adxl362_decoder.c

+23 −12

Original line number	Diff line number	Diff line
		@@ -9,6 +9,10 @@

		#ifdef CONFIG_ADXL362_STREAM

		/* (2^31 / 2^8(shift) */
		#define ADXL362_TEMP_QSCALE 8388608
		#define ADXL362_TEMP_LSB_PER_C 15

		#define ADXL362_COMPLEMENT 0xf000

		static const uint32_t accel_period_ns[] = {
		@@ -20,11 +24,20 @@ static const uint32_t accel_period_ns[] = {
		[ADXL362_ODR_400_HZ] = UINT32_C(1000000000) / 400,
		};

		static const int32_t range_to_scale[] = {
		/* See table 1 in specifications section of datasheet */
		[ADXL362_RANGE_2G] = ADXL362_ACCEL_2G_LSB_PER_G,
		[ADXL362_RANGE_4G] = ADXL362_ACCEL_4G_LSB_PER_G,
		[ADXL362_RANGE_8G] = ADXL362_ACCEL_8G_LSB_PER_G,
		static const uint32_t range_to_shift[] = {
		[ADXL362_RANGE_2G] = 5,
		[ADXL362_RANGE_4G] = 6,
		[ADXL362_RANGE_8G] = 7,
		};

		/* (1 / sensitivity) * (pow(2,31) / pow(2,shift)) * (unit_scaler) */
		static const uint32_t qscale_factor[] = {
		/* (1.0 / ADXL362_ACCEL_2G_LSB_PER_G) * (2^31 / 2^5) * SENSOR_G / 1000000 */
		[ADXL362_RANGE_2G] = UINT32_C(658338),
		/* (1.0 / ADXL362_ACCEL_4G_LSB_PER_G) * (2^31 / 2^6) * SENSOR_G / 1000000 */
		[ADXL362_RANGE_4G] = UINT32_C(658338),
		/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */
		[ADXL362_RANGE_8G] = UINT32_C(700360),
		};

		static inline void adxl362_temp_convert_q31(q31_t *out, int16_t data_in)
		@@ -36,10 +49,8 @@ static inline void adxl362_temp_convert_q31(q31_t *out, int16_t data_in)
		data_in \|= ADXL362_COMPLEMENT;
		}

		int64_t milli_c = (data_in - ADXL362_TEMP_BIAS_LSB) * ADXL362_TEMP_MC_PER_LSB +
		(ADXL362_TEMP_BIAS_TEST_CONDITION * 1000);

		out = CLAMP(((milli_c 1000) + ((milli_c % 1000) * 1000)), INT32_MIN, INT32_MAX);
		*out = ((data_in - ADXL362_TEMP_BIAS_LSB) / ADXL362_TEMP_LSB_PER_C
		+ ADXL362_TEMP_BIAS_TEST_CONDITION) * ADXL362_TEMP_QSCALE;
		}

		static inline void adxl362_accel_convert_q31(q31_t *out, int16_t data_in, int32_t range)
		@@ -50,9 +61,7 @@ static inline void adxl362_accel_convert_q31(q31_t *out, int16_t data_in, int32_
		data_in \|= ADXL362_COMPLEMENT;
		}

		int64_t micro_ms2 = data_in * SENSOR_G / range_to_scale[range];

		*out = CLAMP((micro_ms2 + (micro_ms2 % 1000000)), INT32_MIN, INT32_MAX);
		out = data_in qscale_factor[range];
		}

		static int adxl362_decode_stream(const uint8_t *buffer, struct sensor_chan_spec chan_spec,
		@@ -102,6 +111,7 @@ static int adxl362_decode_stream(const uint8_t *buffer, struct sensor_chan_spec
		memset(data, 0, sizeof(struct sensor_three_axis_data));
		data->header.base_timestamp_ns = enc_data->timestamp;
		data->header.reading_count = 1;
		data->shift = 8;

		data->readings[count].timestamp_delta =
		period_ns * sample_num;
		@@ -121,6 +131,7 @@ static int adxl362_decode_stream(const uint8_t *buffer, struct sensor_chan_spec
		memset(data, 0, sizeof(struct sensor_three_axis_data));
		data->header.base_timestamp_ns = enc_data->timestamp;
		data->header.reading_count = 1;
		data->shift = range_to_shift[enc_data->selected_range];

		switch (chan_spec.chan_type) {
		case SENSOR_CHAN_ACCEL_X:

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