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harden sensor acquisition after audit

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This commit is contained in:
Jay
2026-08-17 09:48:05 -04:00
parent f1ac20fb4f
commit b8fe233ba6
11 changed files with 376 additions and 50 deletions
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main/trikke_sensor_main.c
+26 -9
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@@ -84,6 +84,7 @@ void app_main(void)
ESP_LOGE(TAG,
"ADXL345 not found at 0x53 or 0x1D (expected DEVID 0xE5): %s",
esp_err_to_name(err));
i2c_del_master_bus(bus);
return;
}
ESP_LOGI(TAG, "ADXL345 detected at 0x%02X; 100 Hz, +/-8 g, full resolution",
@@ -95,6 +96,8 @@ void app_main(void)
ESP_LOGE(TAG,
"L3G4200D not found at 0x69 or 0x68 (expected WHO_AM_I 0xD3): %s",
esp_err_to_name(err));
adxl345_deinit(&accelerometer);
i2c_del_master_bus(bus);
return;
}
ESP_LOGI(TAG, "L3G4200D detected at 0x%02X; 100 Hz, 25 Hz BW, +/-500 dps",
@@ -103,27 +106,35 @@ void app_main(void)
// Discard the gyroscope's visible startup transient before beginning the stream.
vTaskDelay(pdMS_TO_TICKS(500));
printf("# format=trikke_axis_validation_v1\n");
printf("# accel_scale_g_per_lsb=0.0039,gyro_scale_dps_per_lsb=0.0175\n");
printf("# format=trikke_freshness_validation_v2\n");
printf("# nominal_accel_scale_g_per_lsb=0.0039,"
"nominal_gyro_scale_dps_per_lsb=0.0175\n");
printf("# enclosure_axes=+x:right,+y:top,+z:toward_cover\n");
printf("# mapping=accel(x,y,z)=(native_y,-native_x,native_z);"
"gyro(x,y,z)=(native_x,native_y,native_z)\n");
printf("sequence,timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,"
printf("# status_masks=accel_data_ready:0x80,accel_overrun:0x01,"
"gyro_data_ready:0x08,gyro_overrun:0x80\n");
printf("sequence,poll_timestamp_us,accel_x_raw,accel_y_raw,accel_z_raw,"
"gyro_x_raw,gyro_y_raw,gyro_z_raw,"
"accel_native_x_raw,accel_native_y_raw,accel_native_z_raw,"
"gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw\n");
"gyro_native_x_raw,gyro_native_y_raw,gyro_native_z_raw,"
"accel_int_source,gyro_status,loop_overrun_count\n");
uint32_t sequence = 0;
uint32_t read_error_count = 0;
uint32_t loop_overrun_count = 0;
TickType_t last_wake = xTaskGetTickCount();
while (true) {
adxl345_sample_t accel = {0};
l3g4200d_sample_t gyro = {0};
uint8_t accel_int_source = 0;
uint8_t gyro_status = 0;
const int64_t timestamp_us = esp_timer_get_time();
const esp_err_t accel_err = adxl345_read_raw(&accelerometer, &accel);
const esp_err_t gyro_err = l3g4200d_read_raw(&gyroscope, &gyro);
const esp_err_t accel_err = adxl345_read_raw(&accelerometer, &accel,
&accel_int_source);
const esp_err_t gyro_err = l3g4200d_read_raw(&gyroscope, &gyro, &gyro_status);
if (accel_err == ESP_OK && gyro_err == ESP_OK) {
const trikke_axes_sample_t enclosure_accel = map_accel_to_enclosure(&accel);
@@ -132,12 +143,14 @@ void app_main(void)
printf("%" PRIu32 ",%" PRId64 ",%" PRId32 ",%" PRId32 ",%" PRId32
",%" PRId32 ",%" PRId32 ",%" PRId32
",%" PRId16 ",%" PRId16 ",%" PRId16
",%" PRId16 ",%" PRId16 ",%" PRId16 "\n",
",%" PRId16 ",%" PRId16 ",%" PRId16
",%" PRIu8 ",%" PRIu8 ",%" PRIu32 "\n",
sequence, timestamp_us,
enclosure_accel.x, enclosure_accel.y, enclosure_accel.z,
enclosure_gyro.x, enclosure_gyro.y, enclosure_gyro.z,
accel.x, accel.y, accel.z,
gyro.x, gyro.y, gyro.z);
gyro.x, gyro.y, gyro.z,
accel_int_source, gyro_status, loop_overrun_count);
} else {
++read_error_count;
ESP_LOGE(TAG,
@@ -147,6 +160,10 @@ void app_main(void)
}
++sequence;
xTaskDelayUntil(&last_wake, TRIKKE_SAMPLE_TICKS);
if (xTaskDelayUntil(&last_wake, TRIKKE_SAMPLE_TICKS) == pdFALSE) {
// Do not issue a burst of back-to-back samples after a stalled output path.
++loop_overrun_count;
last_wake = xTaskGetTickCount();
}
}
}