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ist8310: be resilient to bad data coming from sensor

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It doesn't hurt to test if the sensor is outputing data in the expected
range and it should help with elimination of spikes in case of errors.
This commit is contained in:
Lucas De Marchi
2017-03-15 00:20:47 -07:00
committed by Lorenz Meier
parent e40209ead9
commit 04dac46eaf
1 changed files with 31 additions and 1 deletions
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32
src/drivers/ist8310/ist8310.cpp
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@@ -87,6 +87,20 @@
#define IST8310_BUS_I2C_ADDR 0xE
#define IST8310_DEFAULT_BUS_SPEED 400000
/*
* FSR:
* x, y: +- 1600 µT
* z: +- 2500 µT
*
* Resolution according to datasheet is 0.3µT/LSB
*/
#define IST8310_RESOLUTION 0.3
static const int16_t IST8310_MAX_VAL_XY = (1600 / IST8310_RESOLUTION) + 1;
static const int16_t IST8310_MIN_VAL_XY = -IST8310_MAX_VAL_XY;
static const int16_t IST8310_MAX_VAL_Z = (2500 / IST8310_RESOLUTION) + 1;
static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
/* Hardware definitions */
#define ADDR_WAI 0 /* WAI means 'Who Am I'*/
@@ -920,7 +934,7 @@ IST8310::collect()
if (ret != OK) {
perf_count(_comms_errors);
DEVICE_DEBUG("data/status read error");
DEVICE_DEBUG("I2C read error");
goto out;
}
@@ -929,11 +943,27 @@ IST8310::collect()
report.y = (((int16_t)report_buffer.y[1]) << 8) | (int16_t)report_buffer.y[0];
report.z = (((int16_t)report_buffer.z[1]) << 8) | (int16_t)report_buffer.z[0];
/*
* Check if value makes sense according to the FSR and Resolution of
* this sensor, discarding outliers
*/
if (report.x > IST8310_MAX_VAL_XY || report.x < IST8310_MIN_VAL_XY ||
report.y > IST8310_MAX_VAL_XY || report.y < IST8310_MIN_VAL_XY ||
report.z > IST8310_MAX_VAL_Z || report.z < IST8310_MIN_VAL_Z) {
perf_count(_range_errors);
DEVICE_DEBUG("data/status read error");
goto out;
}
/* temperature measurement is not available on IST8310 */
new_report.temperature = 0;
/*
* raw outputs
*
* Sensor doesn't follow right hand rule, swap x and y to make it obey
* it.
*/
new_report.x_raw = report.y;
new_report.y_raw = report.x;