drivers: sensor: adxl367: fix for temperature readout

Fix to ensure temperature is sampled at the same timestamp as x,y,z axis
data.

Signed-off-by: Vinayak Sunilkumar Priyadarsini <[email protected]>

Author: SPVinayak

drivers/sensor/adi/adxl367/adxl367.c

@@ -743,29 +743,38 @@ int adxl367_get_accel_data(const struct device *dev,
 }
 
 /**
- * @brief Reads the raw temperature of the device. If ADXL367_TEMP_EN is not
- *        set, use adxl367_temp_read_en() first to enable temperature reading.
+ * @brief Reads the raw temperature of the device.
  *
- * @param dev      - The device structure.
- * @param raw_temp - Raw value of temperature.
+ * If ADXL367_TEMP_EN is not set, use adxl367_temp_read_en() first to enable temperature reading.
+ * Optionally checks the data ready status before reading temperature.
+ *
+ * @param dev            - The device structure.
+ * @param raw_temp       - Raw value of temperature.
+ * @param check_data_rdy - If true, waits for data ready status before reading temperature.
+ *                         If false, reads temperature directly. Note: The DATA_READY bit is
+ *                         cleared when data is read; set this flag to false if temperature from
+ *                         the same sample frame is needed after performing an axis(x,y,z) read.
  *
  * @return 0 in case of success, negative error code otherwise.
  */
-int adxl367_get_temp_data(const struct device *dev, int16_t *raw_temp)
+int adxl367_get_temp_data(const struct device *dev, int16_t *raw_temp, bool check_data_rdy)
 {
 	int ret;
 	uint8_t temp[2] = { 0 };
-	uint8_t reg_data, nready = 1U;
 	struct adxl367_data *data = dev->data;
 
-	while (nready != 0) {
-		ret = data->hw_tf->read_reg(dev, ADXL367_STATUS, &reg_data);
-		if (ret != 0) {
-			return ret;
-		}
+	if (check_data_rdy) {
+		uint8_t reg_data, nready = 1U;
 
-		if ((reg_data & ADXL367_STATUS_DATA_RDY) != 0) {
-			nready = 0U;
+		while (nready != 0) {
+			ret = data->hw_tf->read_reg(dev, ADXL367_STATUS, &reg_data);
+			if (ret != 0) {
+				return ret;
+			}
+
+			if ((reg_data & ADXL367_STATUS_DATA_RDY) != 0) {
+				nready = 0U;
+			}
 		}
 	}
 
@@ -879,8 +888,14 @@ static int adxl367_sample_fetch(const struct device *dev,
 	if (ret != 0) {
 		return ret;
 	}
+	const struct adxl367_dev_config *cfg = dev->config;
+	bool check_temp_data_ready = false;
 
-	return adxl367_get_temp_data(dev, &data->temp_val);
+	if (cfg->temp_en) {
+		ret = adxl367_get_temp_data(dev, &data->temp_val, check_temp_data_ready);
+	}
+
+	return ret;
 }
 #ifdef CONFIG_SENSOR_ASYNC_API
 void adxl367_accel_convert(struct sensor_value *val, int16_t value,

drivers/sensor/adi/adxl367/adxl367.h

@@ -442,7 +442,7 @@ void adxl367_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe);
 int adxl367_get_decoder(const struct device *dev, const struct sensor_decoder_api **decoder);
 int adxl367_get_accel_data(const struct device *dev,
 			   struct adxl367_xyz_accel_data *accel_data);
-int adxl367_get_temp_data(const struct device *dev, int16_t *raw_temp);
+int adxl367_get_temp_data(const struct device *dev, int16_t *raw_temp, bool check_data_rdy);
 void adxl367_accel_convert(struct sensor_value *val, int16_t value,
 				enum adxl367_range range);
 void adxl367_temp_convert(struct sensor_value *val, int16_t value);

drivers/sensor/adi/adxl367/adxl367_rtio.c

@@ -44,8 +44,9 @@ static void adxl367_submit_fetch(struct rtio_iodev_sqe *iodev_sqe)
 	}
 
 	enc_data->xyz.range = data->range;
+	bool check_temp_data_ready = false;
 
-	rc = adxl367_get_temp_data(dev, &enc_data->raw_temp);
+	rc = adxl367_get_temp_data(dev, &enc_data->raw_temp, check_temp_data_ready);
 	if (rc != 0) {
 		LOG_ERR("Failed to fetch temp samples");
 		rtio_iodev_sqe_err(iodev_sqe, rc);