drivers: sensor: adxl345: Fix odr update bus fault

The adxl345 accelerometer driver needs to store the current output data
rate (odr) for later use in streaming mode, but the value was
incorrectly placed in the constant configuration structure (located in
flash) and updating it caused a bus fault. Rework odr update handling to
place the current value in RAM instead. The initial value from
devicetree is still stored in flash.

Signed-off-by: Maureen Helm <[email protected]>

Author: MaureenHelm

drivers/sensor/adi/adxl345/adxl345.c

@@ -229,7 +229,7 @@ static int adxl345_attr_set_odr(const struct device *dev,
 				const struct sensor_value *val)
 {
 	enum adxl345_odr odr;
-	struct adxl345_dev_config *cfg = (struct adxl345_dev_config *)dev->config;
+	struct adxl345_dev_data *data = dev->data;
 
 	switch (val->val1) {
 	case 12:
@@ -257,7 +257,7 @@ static int adxl345_attr_set_odr(const struct device *dev,
 	int ret = adxl345_set_odr(dev, odr);
 
 	if (ret == 0) {
-		cfg->odr = odr;
+		data->odr = odr;
 	}
 
 	return ret;
@@ -435,9 +435,7 @@ static int adxl345_init(const struct device *dev)
 {
 	int rc;
 	struct adxl345_dev_data *data = dev->data;
-#ifdef CONFIG_ADXL345_TRIGGER
 	const struct adxl345_dev_config *cfg = dev->config;
-#endif
 	uint8_t dev_id, full_res;
 
 	data->sample_number = 0;
@@ -488,17 +486,18 @@ static int adxl345_init(const struct device *dev)
 		return -EIO;
 	}
 
+	rc = adxl345_set_odr(dev, cfg->odr);
+	if (rc) {
+		return rc;
+	}
+
 #ifdef CONFIG_ADXL345_TRIGGER
 	rc = adxl345_init_interrupt(dev);
 	if (rc < 0) {
 		LOG_ERR("Failed to initialize interrupt!");
 		return -EIO;
 	}
 
-	rc = adxl345_set_odr(dev, cfg->odr);
-	if (rc) {
-		return rc;
-	}
 	rc = adxl345_interrupt_config(dev, ADXL345_INT_MAP_WATERMARK_MSK);
 	if (rc) {
 		return rc;

drivers/sensor/adi/adxl345/adxl345.h

@@ -153,6 +153,7 @@ struct adxl345_dev_data {
 	struct adxl345_fifo_config fifo_config;
 	uint8_t is_full_res;
 	uint8_t selected_range;
+	enum adxl345_odr odr;
 #ifdef CONFIG_ADXL345_TRIGGER
 	struct gpio_callback gpio_cb;
 

drivers/sensor/adi/adxl345/adxl345_stream.c

@@ -159,7 +159,7 @@ static void adxl345_process_fifo_samples_cb(struct rtio *r, const struct rtio_sq
 	hdr->int_status = data->status1;
 	hdr->is_full_res = data->is_full_res;
 	hdr->selected_range = data->selected_range;
-	hdr->accel_odr = cfg->odr;
+	hdr->accel_odr = data->odr;
 	hdr->sample_set_size = sample_set_size;
 
 	uint32_t buf_avail = buf_len;