Commit 80b607dd authored by Luis Ubieda's avatar Luis Ubieda Committed by Dan Kalowsky
Browse files

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: default avatarLuis Ubieda <luisf@croxel.com>
parent e465e616

drivers/sensor/adi/adxl345/adxl345.c

+4 −0
Changes for drivers/sensor/adi/adxl345/adxl345.c: 4 added lines, 0 removed lines.
Original line number Diff line number Diff line
@@ -281,6 +281,7 @@ int adxl345_read_sample(const struct device *dev, 
{

	int16_t raw_x, raw_y, raw_z;

	uint8_t axis_data[6], status1;

	struct adxl345_dev_data *data = dev->data;



	if (!IS_ENABLED(CONFIG_ADXL345_TRIGGER)) {

		do {
@@ -303,6 +304,9 @@ int adxl345_read_sample(const struct device *dev, 
	sample->y = raw_y;

	sample->z = raw_z;



	sample->selected_range = data->selected_range;

	sample->is_full_res = data->is_full_res;



	return 0;

}

drivers/sensor/adi/adxl345/adxl345.h

+1 −0
Changes for drivers/sensor/adi/adxl345/adxl345.h: 1 added line, 0 removed lines.
Original line number Diff line number Diff line
@@ -202,6 +202,7 @@ struct adxl345_sample { 
	uint8_t res: 7;

#endif /* CONFIG_ADXL345_STREAM */

	uint8_t selected_range;

	bool is_full_res;

	int16_t x;

	int16_t y;

	int16_t z;

drivers/sensor/adi/adxl345/adxl345_decoder.c

+62 −40
Changes for drivers/sensor/adi/adxl345/adxl345_decoder.c: 62 added lines, 40 removed lines.
Original line number Diff line number Diff line
@@ -6,17 +6,42 @@ 


#include "adxl345.h"



#ifdef CONFIG_ADXL345_STREAM

/** The q-scale factor will always be the same, as the nominal LSB/g

 * changes at the same rate the selected shift parameter per range:

 *

 * - At 2G: 256 LSB/g, 10-bits resolution.

 * - At 4g: 128 LSB/g, 10-bits resolution.

 * - At 8g: 64 LSB/g, 10-bits resolution.

 * - At 16g 32 LSB/g, 10-bits resolution.

 */

static const uint32_t qscale_factor_no_full_res[] = {

	/* (1.0 / Resolution-LSB-per-g * (2^31 / 2^5) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_2G] = UINT32_C(2570754),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^6) * SENSOR_G / 1000000  */

	[ADXL345_RANGE_4G] = UINT32_C(2570754),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_8G] = UINT32_C(2570754),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_16G] = UINT32_C(2570754),

};



#define SENSOR_SCALING_FACTOR (SENSOR_G / (16 * 1000 / 100))



static const uint32_t accel_period_ns[] = {

	[ADXL345_ODR_12HZ] = UINT32_C(1000000000) / 12,

	[ADXL345_ODR_25HZ] = UINT32_C(1000000000) / 25,

	[ADXL345_ODR_50HZ] = UINT32_C(1000000000) / 50,

	[ADXL345_ODR_100HZ] = UINT32_C(1000000000) / 100,

	[ADXL345_ODR_200HZ] = UINT32_C(1000000000) / 200,

	[ADXL345_ODR_400HZ] = UINT32_C(1000000000) / 400,

/** Sensitivities based on Range:

 *

 * - At 2G: 256 LSB/g, 10-bits resolution.

 * - At 4g: 256 LSB/g, 11-bits resolution.

 * - At 8g: 256 LSB/g, 12-bits resolution.

 * - At 16g 256 LSB/g, 13-bits resolution.

 */

static const uint32_t qscale_factor_full_res[] = {

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^5) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_2G] = UINT32_C(2570754),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^6) * SENSOR_G / 1000000  */

	[ADXL345_RANGE_4G] = UINT32_C(1285377),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_8G] = UINT32_C(642688),

	/* (1.0 / Resolution-LSB-per-g) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_16G] = UINT32_C(321344),

};



static const uint32_t range_to_shift[] = {
@@ -26,30 +51,6 @@ static const uint32_t range_to_shift[] = { 
	[ADXL345_RANGE_16G] = 8,

};



/* (1 / sensitivity) * (pow(2,31) / pow(2,shift)) * (unit_scaler) */

static const uint32_t qscale_factor_no_full_res[] = {

	/* (1.0 / ADXL362_ACCEL_2G_LSB_PER_G) * (2^31 / 2^5) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_2G] = UINT32_C(2569011),

	/* (1.0 / ADXL362_ACCEL_4G_LSB_PER_G) * (2^31 / 2^6) * SENSOR_G / 1000000  */

	[ADXL345_RANGE_4G] = UINT32_C(642253),

	/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_8G] = UINT32_C(160563),

	/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_16G] = UINT32_C(40141),

};



/* (1 / sensitivity) * (pow(2,31) / pow(2,shift)) * (unit_scaler) */

static const uint32_t qscale_factor_full_res[] = {

	/* (1.0 / ADXL362_ACCEL_2G_LSB_PER_G) * (2^31 / 2^5) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_2G] = UINT32_C(2569011),

	/* (1.0 / ADXL362_ACCEL_4G_LSB_PER_G) * (2^31 / 2^6) * SENSOR_G / 1000000  */

	[ADXL345_RANGE_4G] = UINT32_C(1284506),

	/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^7) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_8G] = UINT32_C(642253),

	/* (1.0 / ADXL362_ACCEL_8G_LSB_PER_G) * (2^31 / 2^8) ) * SENSOR_G / 1000000 */

	[ADXL345_RANGE_16G] = UINT32_C(321126),

};



static inline void adxl345_accel_convert_q31(q31_t *out, int16_t sample, int32_t range,

					uint8_t is_full_res)

{
@@ -76,14 +77,27 @@ static inline void adxl345_accel_convert_q31(q31_t *out, int16_t sample, int32_t 
			}

			break;

		}

		*out = sample * qscale_factor_full_res[range];

	} else {

		if (sample & BIT(9)) {

			sample |= ADXL345_COMPLEMENT;

		}

	}



		*out = sample * qscale_factor_no_full_res[range];

	}

}



#ifdef CONFIG_ADXL345_STREAM



#define SENSOR_SCALING_FACTOR (SENSOR_G / (16 * 1000 / 100))



static const uint32_t accel_period_ns[] = {

	[ADXL345_ODR_12HZ] = UINT32_C(1000000000) / 12,

	[ADXL345_ODR_25HZ] = UINT32_C(1000000000) / 25,

	[ADXL345_ODR_50HZ] = UINT32_C(1000000000) / 50,

	[ADXL345_ODR_100HZ] = UINT32_C(1000000000) / 100,

	[ADXL345_ODR_200HZ] = UINT32_C(1000000000) / 200,

	[ADXL345_ODR_400HZ] = UINT32_C(1000000000) / 400,

};



static int adxl345_decode_stream(const uint8_t *buffer, struct sensor_chan_spec chan_spec,

				 uint32_t *fit, uint16_t max_count, void *data_out)
@@ -208,7 +222,12 @@ static int adxl345_decode_sample(const struct adxl345_sample *data, 
				 struct sensor_chan_spec chan_spec, uint32_t *fit,

				 uint16_t max_count, void *data_out)

{

	struct sensor_value *out = (struct sensor_value *)data_out;

	struct sensor_three_axis_data *out = (struct sensor_three_axis_data *)data_out;



	memset(out, 0, sizeof(struct sensor_three_axis_data));

	out->header.base_timestamp_ns = k_ticks_to_ns_floor64(k_uptime_ticks());

	out->header.reading_count = 1;

	out->shift = range_to_shift[data->selected_range];



	if (*fit > 0) {

		return -ENOTSUP;
@@ -216,9 +235,12 @@ static int adxl345_decode_sample(const struct adxl345_sample *data, 


	switch (chan_spec.chan_type) {

	case SENSOR_CHAN_ACCEL_XYZ:

		adxl345_accel_convert(out++, data->x);

		adxl345_accel_convert(out++, data->y);

		adxl345_accel_convert(out, data->z);

		adxl345_accel_convert_q31(&out->readings->x, data->x, data->selected_range,

					  data->is_full_res);

		adxl345_accel_convert_q31(&out->readings->y, data->y, data->selected_range,

					  data->is_full_res);

		adxl345_accel_convert_q31(&out->readings->z, data->z, data->selected_range,

					  data->is_full_res);

		break;

	default:

		return -ENOTSUP;
@@ -226,7 +248,7 @@ static int adxl345_decode_sample(const struct adxl345_sample *data, 


	*fit = 1;



	return 0;

	return 1;

}



static int adxl345_decoder_decode(const uint8_t *buffer, struct sensor_chan_spec chan_spec,

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