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sensors/bmi270_uorb: support for fixed-point data

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support for fixed-point data for bmi270_uorb

Signed-off-by: raiden00pl <raiden00@railab.me>
This commit is contained in:
raiden00pl
2026-03-29 11:16:29 +02:00
committed by Xiang Xiao
parent c3190cd04b
commit 18716159c9
1 changed files with 22 additions and 28 deletions
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drivers/sensors/bmi270_uorb.c
+22 -28
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@@ -49,12 +49,6 @@
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
/* Only float data type supported now */
#ifdef CONFIG_SENSORS_USE_B16
# error fixed-point data type not supported yet
#endif
#define CONSTANTS_ONE_G 9.8f #define CONSTANTS_ONE_G 9.8f
/**************************************************************************** /****************************************************************************
@@ -72,7 +66,7 @@ struct bmi270_sensor_s
{ {
struct sensor_lowerhalf_s lower; struct sensor_lowerhalf_s lower;
uint64_t last_update; uint64_t last_update;
float scale; sensor_data_t scale;
FAR void *dev; FAR void *dev;
bool enabled; bool enabled;
#ifdef CONFIG_SENSORS_BMI270_POLL #ifdef CONFIG_SENSORS_BMI270_POLL
@@ -256,9 +250,9 @@ static int bmi270_fetch(FAR struct sensor_lowerhalf_s *lower,
(FAR uint8_t *)data, 6); (FAR uint8_t *)data, 6);
accel.timestamp = sensor_get_timestamp(); accel.timestamp = sensor_get_timestamp();
accel.x = data[0] * priv->scale; accel.x = sensor_data_muli(priv->scale, data[0]);
accel.y = data[1] * priv->scale; accel.y = sensor_data_muli(priv->scale, data[1]);
accel.z = data[2] * priv->scale; accel.z = sensor_data_muli(priv->scale, data[2]);
memcpy(buffer, &accel, sizeof(accel)); memcpy(buffer, &accel, sizeof(accel));
ret = sizeof(accel); ret = sizeof(accel);
@@ -274,9 +268,9 @@ static int bmi270_fetch(FAR struct sensor_lowerhalf_s *lower,
(FAR uint8_t *)data, 6); (FAR uint8_t *)data, 6);
gyro.timestamp = sensor_get_timestamp(); gyro.timestamp = sensor_get_timestamp();
gyro.x = data[0] * priv->scale; gyro.x = sensor_data_muli(priv->scale, data[0]);
gyro.y = data[1] * priv->scale; gyro.y = sensor_data_muli(priv->scale, data[1]);
gyro.z = data[2] * priv->scale; gyro.z = sensor_data_muli(priv->scale, data[2]);
memcpy(buffer, &gyro, sizeof(gyro)); memcpy(buffer, &gyro, sizeof(gyro));
ret = sizeof(gyro); ret = sizeof(gyro);
@@ -363,22 +357,22 @@ static int bmi270_accel_scale(FAR struct bmi270_sensor_s *priv,
if (scale < bmi270_midpoint(2, 4)) if (scale < bmi270_midpoint(2, 4))
{ {
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_2G); bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_2G);
priv->scale = CONSTANTS_ONE_G / 16384.f; priv->scale = sensor_data_ftof(CONSTANTS_ONE_G / 16384.f);
} }
else if (scale < bmi270_midpoint(4, 8)) else if (scale < bmi270_midpoint(4, 8))
{ {
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_4G); bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_4G);
priv->scale = CONSTANTS_ONE_G / 8192.f; priv->scale = sensor_data_ftof(CONSTANTS_ONE_G / 8192.f);
} }
else if (scale < bmi270_midpoint(8, 16)) else if (scale < bmi270_midpoint(8, 16))
{ {
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_8G); bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_8G);
priv->scale = CONSTANTS_ONE_G / 4096.f; priv->scale = sensor_data_ftof(CONSTANTS_ONE_G / 4096.f);
} }
else else
{ {
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_16G); bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_16G);
priv->scale = CONSTANTS_ONE_G / 2048.f; priv->scale = sensor_data_ftof(CONSTANTS_ONE_G / 2048.f);
} }
return ret; return ret;
@@ -396,27 +390,27 @@ static int bmi270_gyro_scale(FAR struct bmi270_sensor_s *priv,
if (scale < bmi270_midpoint(125, 250)) if (scale < bmi270_midpoint(125, 250))
{ {
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_125); bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_125);
priv->scale = (M_PI / 180.0f) * 125.f / 32768.f; priv->scale = sensor_data_ftof((M_PI / 180.0f) * 125.f / 32768.f);
} }
else if (scale < bmi270_midpoint(250, 500)) else if (scale < bmi270_midpoint(250, 500))
{ {
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_250); bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_250);
priv->scale = (M_PI / 180.0f) * 250.f / 32768.f; priv->scale = sensor_data_ftof((M_PI / 180.0f) * 250.f / 32768.f);
} }
else if (scale < bmi270_midpoint(500, 1000)) else if (scale < bmi270_midpoint(500, 1000))
{ {
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_500); bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_500);
priv->scale = (M_PI / 180.0f) * 500.f / 32768.f; priv->scale = sensor_data_ftof((M_PI / 180.0f) * 500.f / 32768.f);
} }
else if (scale < bmi270_midpoint(1000, 2000)) else if (scale < bmi270_midpoint(1000, 2000))
{ {
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_1000); bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_1000);
priv->scale = (M_PI / 180.0f) * 1000.f / 32768.f; priv->scale = sensor_data_ftof((M_PI / 180.0f) * 1000.f / 32768.f);
} }
else else
{ {
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_2000); bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_2000);
priv->scale = (M_PI / 180.0f) * 2000.f / 32768.f; priv->scale = sensor_data_ftof((M_PI / 180.0f) * 2000.f / 32768.f);
} }
return ret; return ret;
@@ -453,9 +447,9 @@ static void bmi270_accel_data(FAR struct bmi270_sensor_s *priv,
priv->last_update = now; priv->last_update = now;
accel.timestamp = now; accel.timestamp = now;
accel.x = buf[0] * priv->scale; accel.x = sensor_data_muli(priv->scale, buf[0]);
accel.y = buf[1] * priv->scale; accel.y = sensor_data_muli(priv->scale, buf[1]);
accel.z = buf[2] * priv->scale; accel.z = sensor_data_muli(priv->scale, buf[2]);
accel.temperature = 0; accel.temperature = 0;
lower->push_event(lower->priv, &accel, sizeof(accel)); lower->push_event(lower->priv, &accel, sizeof(accel));
@@ -491,9 +485,9 @@ static void bmi270_gyro_data(FAR struct bmi270_sensor_s *priv,
priv->last_update = now; priv->last_update = now;
gyro.timestamp = now; gyro.timestamp = now;
gyro.x = buf[0] * priv->scale; gyro.x = sensor_data_muli(priv->scale, buf[0]);
gyro.y = buf[1] * priv->scale; gyro.y = sensor_data_muli(priv->scale, buf[1]);
gyro.z = buf[2] * priv->scale; gyro.z = sensor_data_muli(priv->scale, buf[2]);
gyro.temperature = 0; gyro.temperature = 0;
lower->push_event(lower->priv, &gyro, sizeof(gyro)); lower->push_event(lower->priv, &gyro, sizeof(gyro));