emul: icm42688: Implement backend sensor emul API
Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see #60394). Supports all channels (temp, accel XYZ, and gyro XYZ) at each of the programmable full-scale accel and gyro ranges. Also fixes an arithmetic bug in the driver that was causing a minor error in the returned readings. Signed-off-by: Tristan Honscheid <honscheid@google.com>
This commit is contained in:
Tristan Honscheid
Fabio Baltieri
parent
2cfffda32a
commit
128b466dd1
2 changed files with 297 additions and 5 deletions
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@ -99,8 +99,8 @@ static enum sensor_channel icm42688_get_channel_from_position(int pos)
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}
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}
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int icm42688_convert_raw_to_q31(struct icm42688_cfg *cfg, enum sensor_channel chan,
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int32_t reading, q31_t *out)
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int icm42688_convert_raw_to_q31(struct icm42688_cfg *cfg, enum sensor_channel chan, int32_t reading,
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q31_t *out)
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{
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int32_t whole;
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int32_t fraction;
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@ -134,9 +134,11 @@ int icm42688_convert_raw_to_q31(struct icm42688_cfg *cfg, enum sensor_channel ch
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}
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intermediate = ((int64_t)whole * INT64_C(1000000) + fraction);
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if (shift < 0) {
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intermediate = intermediate * INT32_MAX * (1 << -shift) / INT64_C(1000000);
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intermediate =
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intermediate * ((int64_t)INT32_MAX + 1) * (1 << -shift) / INT64_C(1000000);
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} else if (shift > 0) {
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intermediate = intermediate * INT32_MAX / (((1 << shift) - 1) * INT64_C(1000000));
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intermediate =
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intermediate * ((int64_t)INT32_MAX + 1) / ((1 << shift) * INT64_C(1000000));
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}
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*out = CLAMP(intermediate, INT32_MIN, INT32_MAX);
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@ -7,6 +7,7 @@
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#include <zephyr/device.h>
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#include <zephyr/drivers/emul.h>
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#include <zephyr/drivers/emul_sensor.h>
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#include <zephyr/drivers/spi.h>
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#include <zephyr/drivers/spi_emul.h>
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#include <zephyr/logging/log.h>
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@ -117,9 +118,298 @@ static const struct spi_emul_api icm42688_emul_spi_api = {
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.io = icm42688_emul_io_spi,
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};
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#define Q31_SCALE ((int64_t)INT32_MAX + 1)
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/**
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* @brief Get current full-scale range in g's based on register config, along with corresponding
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* sensitivity and shift. See datasheet section 3.2, table 2.
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*/
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static void icm42688_emul_get_accel_settings(const struct emul *target, int *fs_g, int *sensitivity,
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int8_t *shift)
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{
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uint8_t reg;
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int sensitivity_out, fs_g_out;
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int8_t shift_out;
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icm42688_emul_get_reg(target, REG_ACCEL_CONFIG0, ®, 1);
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switch ((reg & MASK_ACCEL_UI_FS_SEL) >> 5) {
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case BIT_ACCEL_UI_FS_16:
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fs_g_out = 16;
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sensitivity_out = 2048;
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/* shift is based on `fs_g * 9.8` since the final numbers will be in SI units of
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* m/s^2, not g's
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*/
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shift_out = 8;
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break;
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case BIT_ACCEL_UI_FS_8:
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fs_g_out = 8;
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sensitivity_out = 4096;
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shift_out = 7;
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break;
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case BIT_ACCEL_UI_FS_4:
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fs_g_out = 4;
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sensitivity_out = 8192;
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shift_out = 6;
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break;
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case BIT_ACCEL_UI_FS_2:
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fs_g_out = 2;
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sensitivity_out = 16384;
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shift_out = 5;
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break;
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default:
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__ASSERT_UNREACHABLE;
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}
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if (fs_g) {
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*fs_g = fs_g_out;
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}
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if (sensitivity) {
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*sensitivity = sensitivity_out;
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}
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if (shift) {
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*shift = shift_out;
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}
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}
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/**
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* @brief Helper function for calculating accelerometer ranges. Considers the current full-scale
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* register config (i.e. +/-2g, +/-4g, etc...)
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*/
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static void icm42688_emul_get_accel_ranges(const struct emul *target, q31_t *lower, q31_t *upper,
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q31_t *epsilon, int8_t *shift)
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{
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int fs_g;
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int sensitivity;
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icm42688_emul_get_accel_settings(target, &fs_g, &sensitivity, shift);
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/* Epsilon is equal to 1.5 bit-counts worth of error. */
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*epsilon = (3 * SENSOR_G * Q31_SCALE / sensitivity / 1000000LL / 2) >> *shift;
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*upper = (fs_g * SENSOR_G * Q31_SCALE / 1000000LL) >> *shift;
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*lower = -*upper;
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}
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/**
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* @brief Get current full-scale gyro range in milli-degrees per second based on register config,
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* along with corresponding sensitivity and shift. See datasheet section 3.1, table 1.
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*/
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static void icm42688_emul_get_gyro_settings(const struct emul *target, int *fs_mdps,
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int *sensitivity, int8_t *shift)
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{
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uint8_t reg;
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int sensitivity_out, fs_mdps_out;
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int8_t shift_out;
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icm42688_emul_get_reg(target, REG_GYRO_CONFIG0, ®, 1);
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switch ((reg & MASK_GYRO_UI_FS_SEL) >> 5) {
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case BIT_GYRO_UI_FS_2000:
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/* Milli-degrees per second */
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fs_mdps_out = 2000000;
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/* 10x LSBs/deg/s */
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sensitivity_out = 164;
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/* Shifts are based on rad/s: `(fs_mdps * pi / 180 / 1000)` */
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shift_out = 6; /* +/- 34.90659 */
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break;
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case BIT_GYRO_UI_FS_1000:
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fs_mdps_out = 1000000;
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sensitivity_out = 328;
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shift_out = 5; /* +/- 17.44444 */
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break;
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case BIT_GYRO_UI_FS_500:
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fs_mdps_out = 500000;
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sensitivity_out = 655;
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shift_out = 4; /* +/- 8.72222 */
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break;
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case BIT_GYRO_UI_FS_250:
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fs_mdps_out = 250000;
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sensitivity_out = 1310;
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shift_out = 3; /* +/- 4.36111 */
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break;
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case BIT_GYRO_UI_FS_125:
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fs_mdps_out = 125000;
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sensitivity_out = 2620;
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shift_out = 2; /* +/- 2.18055 */
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break;
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case BIT_GYRO_UI_FS_62_5:
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fs_mdps_out = 62500;
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sensitivity_out = 5243;
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shift_out = 1; /* +/- 1.09027 */
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break;
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case BIT_GYRO_UI_FS_31_25:
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fs_mdps_out = 31250;
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sensitivity_out = 10486;
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shift_out = 0; /* +/- 0.54513 */
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break;
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case BIT_GYRO_UI_FS_15_625:
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fs_mdps_out = 15625;
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sensitivity_out = 20972;
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shift_out = -1; /* +/- 0.27256 */
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break;
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default:
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__ASSERT_UNREACHABLE;
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}
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if (fs_mdps) {
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*fs_mdps = fs_mdps_out;
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}
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if (sensitivity) {
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*sensitivity = sensitivity_out;
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}
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if (shift) {
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*shift = shift_out;
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}
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}
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/**
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* @brief Helper function for calculating gyroscope ranges. Considers the current full-scale
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* register config
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*/
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static void icm42688_emul_get_gyro_ranges(const struct emul *target, q31_t *lower, q31_t *upper,
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q31_t *epsilon, int8_t *shift)
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{
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/* millidegrees/second */
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int fs_mdps;
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/* 10x LSBs per degrees/second*/
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int sensitivity;
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icm42688_emul_get_gyro_settings(target, &fs_mdps, &sensitivity, shift);
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/* Reduce the actual range of gyroscope values. Some full-scale ranges actually exceed the
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* size of an int16 by a small margin. For example, FS_SEL=0 has a +/-2000 deg/s range with
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* 16.4 bits/deg/s sensitivity (Section 3.1, Table 1). This works out to register values of
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* +/-2000 * 16.4 = +/-32800. This will cause the expected value to get clipped when
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* setting the register and throw off the actual reading. Therefore, scale down the range
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* to 99% to avoid the top and bottom edges.
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*/
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fs_mdps *= 0.99;
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/* Epsilon is equal to 1.5 bit-counts worth of error. */
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*epsilon = (3 * SENSOR_PI * Q31_SCALE * 10LL / 1000000LL / 180LL / sensitivity / 2LL) >>
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*shift;
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*upper = (((fs_mdps * SENSOR_PI / 1000000LL) * Q31_SCALE) / 1000LL / 180LL) >> *shift;
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*lower = -*upper;
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}
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static int icm42688_emul_backend_get_sample_range(const struct emul *target, enum sensor_channel ch,
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q31_t *lower, q31_t *upper, q31_t *epsilon,
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int8_t *shift)
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{
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if (!lower || !upper || !epsilon || !shift) {
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return -EINVAL;
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}
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switch (ch) {
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case SENSOR_CHAN_DIE_TEMP:
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/* degrees C = ([16-bit signed temp_data register] / 132.48) + 25 */
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*shift = 9;
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*lower = (int64_t)(-222.342995169 * Q31_SCALE) >> *shift;
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*upper = (int64_t)(272.33544686 * Q31_SCALE) >> *shift;
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*epsilon = (int64_t)(0.0076 * Q31_SCALE) >> *shift;
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break;
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case SENSOR_CHAN_ACCEL_X:
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case SENSOR_CHAN_ACCEL_Y:
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case SENSOR_CHAN_ACCEL_Z:
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icm42688_emul_get_accel_ranges(target, lower, upper, epsilon, shift);
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break;
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case SENSOR_CHAN_GYRO_X:
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case SENSOR_CHAN_GYRO_Y:
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case SENSOR_CHAN_GYRO_Z:
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icm42688_emul_get_gyro_ranges(target, lower, upper, epsilon, shift);
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break;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static int icm42688_emul_backend_set_channel(const struct emul *target, enum sensor_channel ch,
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q31_t value, int8_t shift)
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{
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if (!target || !target->data) {
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return -EINVAL;
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}
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struct icm42688_emul_data *data = target->data;
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int sensitivity;
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uint8_t reg_addr;
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int32_t reg_val;
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int64_t value_unshifted =
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shift < 0 ? ((int64_t)value >> -shift) : ((int64_t)value << shift);
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switch (ch) {
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case SENSOR_CHAN_DIE_TEMP:
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reg_addr = REG_TEMP_DATA1;
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reg_val = ((value_unshifted - (25 * Q31_SCALE)) * 13248) / (100 * Q31_SCALE);
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break;
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case SENSOR_CHAN_ACCEL_X:
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case SENSOR_CHAN_ACCEL_Y:
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case SENSOR_CHAN_ACCEL_Z:
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switch (ch) {
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case SENSOR_CHAN_ACCEL_X:
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reg_addr = REG_ACCEL_DATA_X1;
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break;
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case SENSOR_CHAN_ACCEL_Y:
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reg_addr = REG_ACCEL_DATA_Y1;
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break;
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case SENSOR_CHAN_ACCEL_Z:
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reg_addr = REG_ACCEL_DATA_Z1;
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break;
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default:
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__ASSERT_UNREACHABLE;
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}
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icm42688_emul_get_accel_settings(target, NULL, &sensitivity, NULL);
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reg_val = ((value_unshifted * sensitivity / Q31_SCALE) * 1000000LL) / SENSOR_G;
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break;
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case SENSOR_CHAN_GYRO_X:
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case SENSOR_CHAN_GYRO_Y:
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case SENSOR_CHAN_GYRO_Z:
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switch (ch) {
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case SENSOR_CHAN_GYRO_X:
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reg_addr = REG_GYRO_DATA_X1;
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break;
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case SENSOR_CHAN_GYRO_Y:
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reg_addr = REG_GYRO_DATA_Y1;
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break;
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case SENSOR_CHAN_GYRO_Z:
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reg_addr = REG_GYRO_DATA_Z1;
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break;
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default:
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__ASSERT_UNREACHABLE;
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}
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icm42688_emul_get_gyro_settings(target, NULL, &sensitivity, NULL);
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reg_val =
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CLAMP((((value_unshifted * sensitivity * 180LL) / Q31_SCALE) * 1000000LL) /
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SENSOR_PI / 10LL,
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INT16_MIN, INT16_MAX);
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break;
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default:
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return -ENOTSUP;
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}
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data->reg[reg_addr] = (reg_val >> 8) & 0xFF;
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data->reg[reg_addr + 1] = reg_val & 0xFF;
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/* Set data ready flag */
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data->reg[REG_INT_STATUS] |= BIT_INT_STATUS_DATA_RDY;
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return 0;
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}
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static const struct emul_sensor_backend_api icm42688_emul_sensor_backend_api = {
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.set_channel = icm42688_emul_backend_set_channel,
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.get_sample_range = icm42688_emul_backend_get_sample_range,
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};
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#define ICM42688_EMUL_DEFINE(n, api) \
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EMUL_DT_INST_DEFINE(n, icm42688_emul_init, &icm42688_emul_data_##n, \
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&icm42688_emul_cfg_##n, &api, NULL)
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&icm42688_emul_cfg_##n, &api, &icm42688_emul_sensor_backend_api)
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#define ICM42688_EMUL_SPI(n) \
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static struct icm42688_emul_data icm42688_emul_data_##n; \
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