drivers: sensor: adxl34x: Add sensor driver for ADXL3x motion sensors #77275
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The current adxl345 driver doesn't support the extended driver features Zephyr has to offer, and only support the sensor sample_fetch and channel_get API. It also doesn't support adxl344 and adxl346 sensors. This new driver is a full replacement of the existing driver (using a compatibility flag) and, apart from the full driver API (adding support for attributes, triggers, RTIO and decoders), also support access to all registers of the adxl343, adxl344, adxl345 and adxl346 sensors. It also has power management support and comes with a full set of regression tests. The adxl345 driver API has an additional (unofficial) feature which uses the FIFO to return multiple values using a single sensor_sample_fetch command. To make the adxl34x driver a drop in replacement of the adxl345 driver an additional compile flag was introduced which mimics this behavior (default off). Both the adxl345 and adxl34x drivers have been tested using the various (application) use-cases to check functionality and behavior. Source code is available in a different repository. Signed-off-by: Chaim Zax <chaim.zax@zaxx.pro>
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zephyrbot
requested review from
avisconti,
galak,
jeppenodgaard,
MaureenHelm,
microbuilder,
ozersa,
teburd,
tristan-google,
ttmut,
ubieda and
yperess
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@MaureenHelm can you have a look at this pull request? I'm still a bit unfamiliar with the Zephyr contribution process, so please let me know if there is still anything I need to (or can) do. |
| sensor_ug_to_ms2(ug, &ms2); | ||
| const int64_t q31_temp = ((int64_t)ms2.val1 * INT64_C(1000000) + ms2.val2) * | ||
| ((int64_t)INT32_MAX + 1) / ((1 << shift) * INT64_C(1000000)); | ||
| *out = CLAMP(q31_temp, INT32_MIN, INT32_MAX); |
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This should be a simple mulitply rather than requiring division, shifting, and 64 bit math. The raw value is 16bit, you are converting to a q1.31 with a new scale.
See #76968
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Thanks for the feedback @teburd, I was starting to worry if anyone would take the time for this review.
I am new with the q31 notation so I mainly looked at existing drivers for examples. I see what you're getting at. No problem, the driver already uses some lookup tables for conversion and it shouldn't be a problem to extend this in favor of having these calculations done runtime.
| #elif defined(CONFIG_ADXL34X_DATA_TYPE_SENSOR_VALUE) | ||
| struct sensor_value *out = (struct sensor_value *)data_out; | ||
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| #elif defined(CONFIG_ADXL34X_DATA_TYPE_DOUBLE) |
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Doubles aren't supported from the driver itself through this API, its always possible to convert a q31 to a double.
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The Zephyr documentation indicates the q31 notation is experimental, so I wasn't sure what the best approach would be. Therefore I made the output configurable compile time. I have no problem removing this 'feature' and completely switch to q31 notation for the decoder. Shall I completely remove the 'double' and 'sensor_value' support?
| enum pm_device_state pm_state; | ||
| int rc; | ||
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| rc = pm_device_state_get(dev, &pm_state); |
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It's really nice we are able to do this automatic power management potentially with read+decode, @JordanYates might be interested or have some comments here on this.
| int rc; | ||
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| /* Read accel x, y and z values. */ | ||
| rc = config->bus_read_buf(dev, ADXL34X_REG_DATA, rx_buf, buf_size); |
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This looks to be a blocking read, any particular reason not to trigger an async read here?
Imagine wishing to start the read periodically directly from a timer interrupt for example.
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No particular reason. I had some issues finding a good reference driver and started with a relative simple approach (using blocking calls). The icm42688 driver is the only one using the RTIO system to do the actual I2C commands as well for streaming data, which does use this async mechanism (as far as I can tell). I can do the same here.
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@ubieda the sensor driver implements several optional interfaces. I've split up the implementation of these interfaces into various files. So if needed, I can limit the initial pull request to the basic 'fetch' and 'get' interface, and add additional pull requests by adding these files one by one (more or less) for the remaining interfaces. This is relatively simple. Would this be the preferred way of working? |
Starting simple sounds good. As far a splitting commits, I'd suggest:
If possible, leave the RTIO support on a separate PR so we don't block the rest iterating on this. Does it sound like a good plan? |
Sounds perfectly fine! I'll leave out the RTIO support initially, so there will be a total of four pull requests. I'll keep this one open and will use it for the first pull request. Thanks for the feedback. |
No need to have 4-PRs. As long as they're separate commits: you can have
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Ah, sorry, my mistake. I misread, so two pull requests, splitting the first one up in several commits. Thanks! |
The current adxl345 driver doesn't support the extended driver features Zephyr has to offer, and only support the sensor sample_fetch and channel_get API. It also doesn't support adxl344 and adxl346 sensors. This new driver is a full replacement of the existing driver (using a compatibility flag) and, apart from the full driver API (adding support for attributes, triggers, RTIO and decoders), also support access to all registers of the adxl343, adxl344, adxl345 and adxl346 sensors. It also has power management support and comes with a full set of regression tests.
The adxl345 driver API has an additional (unofficial) feature which uses the FIFO to return multiple values using a single sensor_sample_fetch command. To make the adxl34x driver a drop in replacement of the adxl345 driver an additional compile flag was introduced which mimics this behavior (default off).
Both the adxl345 and adxl34x drivers have been tested using the various (application) use-cases to check functionality and behavior. Source code is available in a different repository.