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drivers: sensor: st: qdec_stm32: addition of fractional part

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The fractional part of the qdec sensor readout is set to zero (val2 =
0).

Changed the format of the run time data to Q26.6 and adjusted the
assignment of val1 and val2 accordingly.

Signed-off-by: Juraj Lieskovský <lieskovsky.juraj@gmail.com>
This commit is contained in:
Juraj Lieskovský 2025-04-25 14:14:38 +02:00 • committed by Anas Nashif
commit 7f78eb75dc
1 changed files with 6 additions and 4 deletions
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10
drivers/sensor/st/qdec_stm32/qdec_stm32.c
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@ -38,7 +38,7 @@ struct qdec_stm32_dev_cfg {
/* Device run time data */ /* Device run time data */
struct qdec_stm32_dev_data { struct qdec_stm32_dev_data {
int32_t position; uint32_t position;
}; };
static int qdec_stm32_fetch(const struct device *dev, enum sensor_channel chan) static int qdec_stm32_fetch(const struct device *dev, enum sensor_channel chan)
@ -56,7 +56,9 @@ static int qdec_stm32_fetch(const struct device *dev, enum sensor_channel chan)
* can be ignored * can be ignored
*/ */
counter_value = LL_TIM_GetCounter(dev_cfg->timer_inst) % dev_cfg->counts_per_revolution; counter_value = LL_TIM_GetCounter(dev_cfg->timer_inst) % dev_cfg->counts_per_revolution;
dev_data->position = (counter_value * 360) / dev_cfg->counts_per_revolution;
/* The angle calculated in the fixed-point format (Q26.6 format) */
dev_data->position = (counter_value * 23040) / dev_cfg->counts_per_revolution;
return 0; return 0;
} }
@ -67,8 +69,8 @@ static int qdec_stm32_get(const struct device *dev, enum sensor_channel chan,
struct qdec_stm32_dev_data *const dev_data = dev->data; struct qdec_stm32_dev_data *const dev_data = dev->data;
if (chan == SENSOR_CHAN_ROTATION) { if (chan == SENSOR_CHAN_ROTATION) {
val->val1 = dev_data->position; val->val1 = dev_data->position >> 6;
val->val2 = 0; val->val2 = (dev_data->position & 0x3F) * 15625;
} else { } else {
return -ENOTSUP; return -ENOTSUP;
} }