stmicroelectronics / lis2dw12-pid Goto Github PK

The function "lis2dw12_acceleration_raw_get" is giving incorrect sensor results along X-, Y- and Z-axis since it doesn't ignore 2 Least significant bits on OUT_X_L (28h), OUT_Y_L (2Ah) and OUT_Z_L (2Ch).

****** Current Implementation ******:
val[0] = (int16_t)buff[1];
val[0] = (val[0] * 256) + (int16_t)buff[0];
val[1] = (int16_t)buff[3];
val[1] = (val[1] * 256) + (int16_t)buff[2];
val[2] = (int16_t)buff[5];
val[2] = (val[2] * 256) + (int16_t)buff[4];

****** Actual implementation must be ******
val[0] = (int16_t)buff[1];
val[0] = (int16_t)((val[0] << 8) + buff[0]);
val[0] = (int16_t)(val[0] >> 2);

val[1] = (int16_t)buff[3];
val[1] = (int16_t)((val[1] << 8) + buff[2]);
val[1] = (int16_t)(val[1] >> 2);

val[2] = (int16_t)buff[5];
val[2] = (int16_t)((val[2] << 8) + buff[4]);
val[2] = (int16_t)(val[2] >> 2);