emul: icm42688: Implement backend sensor emul API #61051
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Implement the backend emul API for the ICM42688 motion sensor so it can be automatically tested by the generic sensor test (see zephyrproject-rtos#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>
teburd
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Aug 1, 2023
yperess
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Aug 2, 2023
yperess
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Aug 2, 2023
kartben
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Aug 23, 2023
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| /* Epsilon is equal to 1.5 bit-counts worth of error. */ | ||
| *epsilon = (3 * SENSOR_PI * Q31_SCALE * 10LL / 1000000LL / 180LL / sensitivity / 2LL) >> | ||
| *shift; |
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@tristan-google In case shift==-1 (BIT_GYRO_UI_FS_15_625 case in icm42688_emul_get_gyro_settings), the right shift operation has an undefined behavior
The result of E1 >> E2 is E1 right-shifted E2 bit positions. If E1 has an unsigned type
or if E1 has a signed type and a nonnegative value, the value of the result is the integral
part of the quotient of E1 divided by the quantity, 2 raised to the power E2. If E1 has a
signed type and a negative value, the resulting value is implementation-defined
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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.