mirror of https://github.com/sqfmi/Watchy.git
BMA423 added accelerometer support
sqfmi
parent
83167af48c
commit
03ea538e32
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@ -0,0 +1,33 @@
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/*
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* Watchy - Accelerometer Example
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* Prints out the BMA423 accelerometer data on Serial
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*/
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#ifndef ESP32
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#error Please select ESP32 Wrover Module under Tools > Board
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#endif
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#include <bma.h>
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BMA *bma = nullptr;
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I2CBus *i2c = nullptr;
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void setup()
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{
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byte data;
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Serial.begin(115200);
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i2c = new I2CBus();
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bma = new BMA(*i2c);
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bma->begin();
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bma->enableAccel();
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}
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void loop(){
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Accel acc;
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bool res = bma->getAccel(acc);
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Serial.print(acc.x);
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Serial.print(" , ");
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Serial.print(acc.y);
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Serial.print(" , ");
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Serial.println(acc.z);
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}
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@ -0,0 +1,273 @@
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#include "bma.h"
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#include <Arduino.h>
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I2CBus *BMA::_bus = nullptr;
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BMA::BMA(I2CBus &bus)
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{
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_bus = &bus;
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}
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BMA::~BMA()
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{
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}
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uint16_t BMA::read(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len)
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{
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return _bus->readBytes(addr, reg, data, len);
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}
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uint16_t BMA::write(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len)
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{
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return _bus->writeBytes(addr, reg, data, len);
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}
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bool BMA::begin()
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{
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_dev.dev_addr = BMA4_I2C_ADDR_PRIMARY;
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_dev.interface = BMA4_I2C_INTERFACE;
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_dev.bus_read = read;
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_dev.bus_write = write;
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_dev.delay = delay;
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_dev.read_write_len = 8;
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_dev.resolution = 12;
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_dev.feature_len = BMA423_FEATURE_SIZE;
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reset();
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delay(20);
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if (bma423_init(&_dev) != BMA4_OK) {
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Serial.println("bma4 init fail");
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return false;
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}
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config();
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return true;
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}
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void BMA::reset()
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{
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uint8_t reg = 0xB6;
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_bus->writeBytes(BMA4_I2C_ADDR_PRIMARY, 0x7E, ®, 1);
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}
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uint16_t BMA::config()
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{
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return bma423_write_config_file(&_dev);
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}
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bool BMA::getAccel(Accel &acc)
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{
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memset(&acc, 0, sizeof(acc));
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if (bma4_read_accel_xyz(&acc, &_dev) != BMA4_OK) {
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return false;
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}
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return true;
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}
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uint8_t BMA::direction()
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{
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Accel acc;
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if (bma4_read_accel_xyz(&acc, &_dev) != BMA4_OK) {
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return 0;
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}
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uint16_t absX = abs(acc.x);
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uint16_t absY = abs(acc.y);
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uint16_t absZ = abs(acc.z);
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if ((absZ > absX) && (absZ > absY)) {
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if (acc.z > 0) {
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return DIRECTION_DISP_DOWN;
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} else {
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return DIRECTION_DISP_UP;
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}
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} else if ((absY > absX) && (absY > absZ)) {
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if (acc.y > 0) {
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return DIRECTION_BOTTOM_EDGE;
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} else {
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return DIRECTION_TOP_EDGE;
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}
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} else {
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if (acc.x < 0) {
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return DIRECTION_RIGHT_EDGE;
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} else {
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return DIRECTION_LEFT_EDGE;
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}
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}
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}
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float BMA::temperature()
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{
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int32_t data = 0;
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bma4_get_temperature(&data, BMA4_DEG, &_dev);
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float res = (float)data / (float)BMA4_SCALE_TEMP;
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/* 0x80 - temp read from the register and 23 is the ambient temp added.
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* If the temp read from register is 0x80, it means no valid
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* information is available */
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if (((data - 23) / BMA4_SCALE_TEMP) == 0x80) {
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res = 0;
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}
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return res;
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}
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void BMA::enableAccel()
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{
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if (bma4_set_accel_enable(BMA4_ENABLE, &_dev)) {
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return;
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}
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Acfg cfg;
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cfg.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
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cfg.range = BMA4_ACCEL_RANGE_2G;
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cfg.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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cfg.perf_mode = BMA4_CONTINUOUS_MODE;
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if (bma4_set_accel_config(&cfg, &_dev)) {
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Serial.println("[bma4] set accel config fail");
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return;
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}
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}
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void BMA::disalbeIrq()
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{
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bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT /* |BMA423_WAKEUP_INT*/, BMA4_DISABLE, &_dev);
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}
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void BMA::enableIrq()
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{
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bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT /* |BMA423_WAKEUP_INT*/, BMA4_ENABLE, &_dev);
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}
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//attachInterrupt bma423 int1
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void BMA::attachInterrupt()
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{
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uint16_t rslt = BMA4_OK;
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enableAccel();
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// rslt |= bma423_reset_step_counter(&_dev);
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rslt |= bma423_step_detector_enable(BMA4_ENABLE, &_dev);
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rslt |= bma423_feature_enable(BMA423_STEP_CNTR, BMA4_ENABLE, &_dev);
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rslt |= bma423_feature_enable(BMA423_WAKEUP, BMA4_ENABLE, &_dev);
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rslt |= bma423_feature_enable(BMA423_TILT, BMA4_ENABLE, &_dev);
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rslt |= bma423_step_counter_set_watermark(100, &_dev);
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// rslt |= bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT | BMA423_WAKEUP_INT, BMA4_ENABLE, &_dev);
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rslt |= bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT, BMA4_ENABLE, &_dev);
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rslt |= bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_TILT_INT, BMA4_ENABLE, &_dev);
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bma423_anymotion_enable_axis(BMA423_ALL_AXIS_DIS, &_dev);
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struct bma4_int_pin_config config ;
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config.edge_ctrl = BMA4_LEVEL_TRIGGER;
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config.lvl = BMA4_ACTIVE_HIGH;
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config.od = BMA4_PUSH_PULL;
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config.output_en = BMA4_OUTPUT_ENABLE;
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config.input_en = BMA4_INPUT_DISABLE;
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rslt |= bma4_set_int_pin_config(&config, BMA4_INTR1_MAP, &_dev);
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// Serial.printf("[bma4] attachInterrupt %s\n", rslt != 0 ? "fail" : "pass");
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struct bma423_axes_remap remap_data;
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remap_data.x_axis = 0;
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remap_data.x_axis_sign = 1;
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remap_data.y_axis = 1;
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remap_data.y_axis_sign = 1;
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remap_data.z_axis = 2;
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remap_data.z_axis_sign = 0;
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bma423_set_remap_axes(&remap_data, &_dev);
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}
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bool BMA::readInterrupt()
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{
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return bma423_read_int_status(&_irqStatus, &_dev) == BMA4_OK;
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}
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uint8_t BMA::getIrqStatus()
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{
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return _irqStatus;
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}
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uint32_t BMA::getCounter()
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{
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uint32_t stepCount;
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if (bma423_step_counter_output(&stepCount, &_dev) == BMA4_OK) {
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return stepCount;
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}
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return 0;
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}
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bool BMA::isStepCounter()
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{
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return (bool)(BMA423_STEP_CNTR_INT & _irqStatus);
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}
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bool BMA::isDoubleClick()
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{
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return (bool)(BMA423_WAKEUP_INT & _irqStatus);
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}
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bool BMA::isTilt()
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{
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return (bool)(BMA423_TILT_INT & _irqStatus);
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}
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bool BMA::isActivity()
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{
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return (bool)(BMA423_ACTIVITY_INT & _irqStatus);
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}
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bool BMA::isAnyNoMotion()
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{
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return (bool)(BMA423_ANY_NO_MOTION_INT & _irqStatus);
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}
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const char *BMA::getActivity()
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{
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uint8_t activity;
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bma423_activity_output(&activity, &_dev);
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if (activity & BMA423_USER_STATIONARY) {
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return "BMA423_USER_STATIONARY";
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} else if (activity & BMA423_USER_WALKING) {
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return "BMA423_USER_WALKING";
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} else if (activity & BMA423_USER_RUNNING) {
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return "BMA423_USER_RUNNING";
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} else if (activity & BMA423_STATE_INVALID) {
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return "BMA423_STATE_INVALID";
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}
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return "None";
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}
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bool BMA::enableStepCountInterrupt(bool en)
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{
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return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT, en, &_dev));
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}
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bool BMA::enableTiltInterrupt(bool en)
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{
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return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_TILT_INT, en, &_dev));
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}
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bool BMA::enableWakeupInterrupt(bool en)
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{
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return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_WAKEUP_INT, en, &_dev));
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}
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bool BMA::enableAnyNoMotionInterrupt(bool en)
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{
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return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_ANY_NO_MOTION_INT, en, &_dev));
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}
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bool BMA::enableActivityInterrupt(bool en)
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{
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return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_ACTIVITY_INT, en, &_dev));
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}
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@ -0,0 +1,63 @@
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#pragma once
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#include "bma423.h"
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#include "i2c_bus.h"
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enum {
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DIRECTION_TOP_EDGE = 0,
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DIRECTION_BOTTOM_EDGE = 1,
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DIRECTION_LEFT_EDGE = 2,
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DIRECTION_RIGHT_EDGE = 3,
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DIRECTION_DISP_UP = 4,
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DIRECTION_DISP_DOWN = 5
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} ;
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typedef struct bma4_dev Bma;
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typedef struct bma4_accel Accel;
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typedef struct bma4_accel_config Acfg;
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class BMA
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{
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public:
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BMA(I2CBus &bus);
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~BMA();
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bool begin();
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void reset();
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uint8_t direction();
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float temperature();
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void enableAccel();
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void disalbeIrq();
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void enableIrq();
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void attachInterrupt();
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uint32_t getCounter();
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bool isStepCounter();
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bool isDoubleClick();
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bool readInterrupt();
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bool isTilt();
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bool isActivity();
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bool isAnyNoMotion();
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bool getAccel(Accel &acc);
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uint8_t getIrqStatus();
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const char * getActivity();
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bool enableStepCountInterrupt(bool en = true);
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bool enableTiltInterrupt(bool en = true);
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bool enableWakeupInterrupt(bool en = true);
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bool enableAnyNoMotionInterrupt(bool en = true);
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bool enableActivityInterrupt(bool en = true);
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private:
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static uint16_t read(uint8_t dev_addr, uint8_t reg_addr, uint8_t *read_data, uint16_t len);
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static uint16_t write(uint8_t dev_addr, uint8_t reg_addr, uint8_t *read_data, uint16_t len);
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uint16_t config();
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Bma _dev;
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static bma4_com_fptr_t _read;
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static bma4_com_fptr_t _write;
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static I2CBus *_bus;
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bool _irqRead = false;
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uint16_t _irqStatus;
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};
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,804 @@
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/*
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*
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****************************************************************************
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* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
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*
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* File : bma423.h
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*
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* Date: 12 Oct 2017
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*
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* Revision : 1.1.4 $
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*
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* Usage: Sensor Driver for BMA423 sensor
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*
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****************************************************************************
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*
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* Disclaimer
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*
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* Common:
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* Bosch Sensortec products are developed for the consumer goods industry.
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* They may only be used within the parameters of the respective valid
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* product data sheet. Bosch Sensortec products are provided with the
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* express understanding that there is no warranty of fitness for a
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* particular purpose.They are not fit for use in life-sustaining,
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* safety or security sensitive systems or any system or device
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* that may lead to bodily harm or property damage if the system
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* or device malfunctions. In addition,Bosch Sensortec products are
|
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* not fit for use in products which interact with motor vehicle systems.
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* The resale and or use of products are at the purchasers own risk and
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* his own responsibility. The examination of fitness for the intended use
|
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* is the sole responsibility of the Purchaser.
|
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*
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* The purchaser shall indemnify Bosch Sensortec from all third party
|
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* claims, including any claims for incidental, or consequential damages,
|
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* arising from any product use not covered by the parameters of
|
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* the respective valid product data sheet or not approved by
|
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* Bosch Sensortec and reimburse Bosch Sensortec for all costs in
|
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* connection with such claims.
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*
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* The purchaser must monitor the market for the purchased products,
|
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* particularly with regard to product safety and inform Bosch Sensortec
|
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* without delay of all security relevant incidents.
|
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*
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* Engineering Samples are marked with an asterisk (*) or (e).
|
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* Samples may vary from the valid technical specifications of the product
|
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* series. They are therefore not intended or fit for resale to third
|
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* parties or for use in end products. Their sole purpose is internal
|
||||
* client testing. The testing of an engineering sample may in no way
|
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* replace the testing of a product series. Bosch Sensortec assumes
|
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* no liability for the use of engineering samples.
|
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* By accepting the engineering samples, the Purchaser agrees to indemnify
|
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* Bosch Sensortec from all claims arising from the use of engineering
|
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* samples.
|
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*
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* Special:
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* This software module (hereinafter called "Software") and any information
|
||||
* on application-sheets (hereinafter called "Information") is provided
|
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* free of charge for the sole purpose to support your application work.
|
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* The Software and Information is subject to the following
|
||||
* terms and conditions:
|
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*
|
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* The Software is specifically designed for the exclusive use for
|
||||
* Bosch Sensortec products by personnel who have special experience
|
||||
* and training. Do not use this Software if you do not have the
|
||||
* proper experience or training.
|
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*
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* This Software package is provided `` as is `` and without any expressed
|
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* or implied warranties,including without limitation, the implied warranties
|
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* of merchantability and fitness for a particular purpose.
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*
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* Bosch Sensortec and their representatives and agents deny any liability
|
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* for the functional impairment
|
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* of this Software in terms of fitness, performance and safety.
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* Bosch Sensortec and their representatives and agents shall not be liable
|
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* for any direct or indirect damages or injury, except as
|
||||
* otherwise stipulated in mandatory applicable law.
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*
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* The Information provided is believed to be accurate and reliable.
|
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* Bosch Sensortec assumes no responsibility for the consequences of use
|
||||
* of such Information nor for any infringement of patents or
|
||||
* other rights of third parties which may result from its use.
|
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* No license is granted by implication or otherwise under any patent or
|
||||
* patent rights of Bosch. Specifications mentioned in the Information are
|
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* subject to change without notice.
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**************************************************************************/
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/*! \file bma423.h
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\brief Sensor Driver for BMA423 sensor */
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#ifndef BMA423_H
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#define BMA423_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "bma4.h"
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/**\name Chip ID of BMA423 sensor */
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#define BMA423_CHIP_ID UINT8_C(0x13)
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/**\name Sensor feature size */
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#define BMA423_FEATURE_SIZE UINT8_C(64)
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#define BMA423_ANYMOTION_EN_LEN UINT8_C(2)
|
||||
#define BMA423_RD_WR_MIN_LEN UINT8_C(2)
|
||||
|
||||
/**\name Feature offset address */
|
||||
#define BMA423_ANY_NO_MOTION_OFFSET UINT8_C(0x00)
|
||||
#define BMA423_STEP_CNTR_OFFSET UINT8_C(0x36)
|
||||
#define BMA423_STEP_CNTR_PARAM_OFFSET UINT8_C(0x04)
|
||||
#define BMA423_WAKEUP_OFFSET UINT8_C(0x38)
|
||||
#define BMA423_TILT_OFFSET UINT8_C(0x3A)
|
||||
#define BMA423_CONFIG_ID_OFFSET UINT8_C(0x3C)
|
||||
#define BMA423_AXES_REMAP_OFFSET UINT8_C(0x3E)
|
||||
|
||||
|
||||
/**************************************************************/
|
||||
/**\name Remap Axes */
|
||||
/**************************************************************/
|
||||
#define BMA423_X_AXIS_MASK UINT8_C(0x03)
|
||||
#define BMA423_X_AXIS_SIGN_MASK UINT8_C(0x04)
|
||||
#define BMA423_Y_AXIS_MASK UINT8_C(0x18)
|
||||
#define BMA423_Y_AXIS_SIGN_MASK UINT8_C(0x20)
|
||||
#define BMA423_Z_AXIS_MASK UINT8_C(0xC0)
|
||||
#define BMA423_Z_AXIS_SIGN_MASK UINT8_C(0x01)
|
||||
|
||||
/**************************************************************/
|
||||
/**\name Step Counter & Detector */
|
||||
/**************************************************************/
|
||||
/**\name Step counter enable macros */
|
||||
#define BMA423_STEP_CNTR_EN_POS UINT8_C(4)
|
||||
#define BMA423_STEP_CNTR_EN_MSK UINT8_C(0x10)
|
||||
#define BMA423_ACTIVITY_EN_MSK UINT8_C(0x20)
|
||||
|
||||
/**\name Step counter watermark macros */
|
||||
#define BMA423_STEP_CNTR_WM_MSK UINT16_C(0x03FF)
|
||||
|
||||
/**\name Step counter reset macros */
|
||||
#define BMA423_STEP_CNTR_RST_POS UINT8_C(2)
|
||||
#define BMA423_STEP_CNTR_RST_MSK UINT8_C(0x04)
|
||||
|
||||
/**\name Step detector enable macros */
|
||||
#define BMA423_STEP_DETECTOR_EN_POS UINT8_C(3)
|
||||
#define BMA423_STEP_DETECTOR_EN_MSK UINT8_C(0x08)
|
||||
|
||||
/**\name Tilt enable macros */
|
||||
#define BMA423_TILT_EN_MSK UINT8_C(0x01)
|
||||
|
||||
/**\name Step count output length*/
|
||||
#define BMA423_STEP_CNTR_DATA_SIZE UINT16_C(4)
|
||||
|
||||
/**\name Wakeup enable macros */
|
||||
#define BMA423_WAKEUP_EN_MSK UINT8_C(0x01)
|
||||
|
||||
/**\name Wake up sensitivity macros */
|
||||
#define BMA423_WAKEUP_SENS_POS UINT8_C(1)
|
||||
#define BMA423_WAKEUP_SENS_MSK UINT8_C(0x0E)
|
||||
|
||||
/**\name Tap selection macro */
|
||||
#define BMA423_TAP_SEL_POS UINT8_C(4)
|
||||
#define BMA423_TAP_SEL_MSK UINT8_C(0x10)
|
||||
|
||||
/**************************************************************/
|
||||
/**\name Any Motion */
|
||||
/**************************************************************/
|
||||
/**\name Any motion threshold macros */
|
||||
#define BMA423_ANY_NO_MOTION_THRES_POS UINT8_C(0)
|
||||
#define BMA423_ANY_NO_MOTION_THRES_MSK UINT16_C(0x07FF)
|
||||
|
||||
/**\name Any motion selection macros */
|
||||
#define BMA423_ANY_NO_MOTION_SEL_POS UINT8_C(3)
|
||||
#define BMA423_ANY_NO_MOTION_SEL_MSK UINT8_C(0x08)
|
||||
|
||||
/**\name Any motion enable macros */
|
||||
#define BMA423_ANY_NO_MOTION_AXIS_EN_POS UINT8_C(5)
|
||||
#define BMA423_ANY_NO_MOTION_AXIS_EN_MSK UINT8_C(0xE0)
|
||||
|
||||
/**\name Any motion duration macros */
|
||||
#define BMA423_ANY_NO_MOTION_DUR_MSK UINT16_C(0x1FFF)
|
||||
|
||||
/**************************************************************/
|
||||
/**\name User macros */
|
||||
/**************************************************************/
|
||||
|
||||
/**\name Anymotion/Nomotion axis enable macros */
|
||||
#define BMA423_X_AXIS_EN UINT8_C(0x01)
|
||||
#define BMA423_Y_AXIS_EN UINT8_C(0x02)
|
||||
#define BMA423_Z_AXIS_EN UINT8_C(0x04)
|
||||
#define BMA423_ALL_AXIS_EN UINT8_C(0x07)
|
||||
#define BMA423_ALL_AXIS_DIS UINT8_C(0x00)
|
||||
|
||||
/**\name Feature enable macros for the sensor */
|
||||
#define BMA423_STEP_CNTR UINT8_C(0x01)
|
||||
/**\name Below macros are mutually exclusive */
|
||||
#define BMA423_ANY_MOTION UINT8_C(0x02)
|
||||
#define BMA423_NO_MOTION UINT8_C(0x04)
|
||||
#define BMA423_ACTIVITY UINT8_C(0x08)
|
||||
#define BMA423_TILT UINT8_C(0x10)
|
||||
#define BMA423_WAKEUP UINT8_C(0x20)
|
||||
|
||||
/**\name Interrupt status macros */
|
||||
#define BMA423_STEP_CNTR_INT UINT8_C(0x02)
|
||||
#define BMA423_ACTIVITY_INT UINT8_C(0x04)
|
||||
#define BMA423_TILT_INT UINT8_C(0x08)
|
||||
#define BMA423_WAKEUP_INT UINT8_C(0x20)
|
||||
#define BMA423_ANY_NO_MOTION_INT UINT8_C(0x40)
|
||||
#define BMA423_ERROR_INT UINT8_C(0x80)
|
||||
|
||||
/**\name Activity recognition macros */
|
||||
#define BMA423_USER_STATIONARY UINT8_C(0x00)
|
||||
#define BMA423_USER_WALKING UINT8_C(0x01)
|
||||
#define BMA423_USER_RUNNING UINT8_C(0x02)
|
||||
#define BMA423_STATE_INVALID UINT8_C(0x03)
|
||||
|
||||
/**\name Configuration selection macros */
|
||||
#define BMA423_PHONE_CONFIG UINT8_C(0x00)
|
||||
#define BMA423_WRIST_CONFIG UINT8_C(0x01)
|
||||
|
||||
/**\name Step counter parameter setting(1-25) for phone */
|
||||
#define BMA423_PHONE_SC_PARAM_1 UINT16_C(0x132)
|
||||
#define BMA423_PHONE_SC_PARAM_2 UINT16_C(0x78E6)
|
||||
#define BMA423_PHONE_SC_PARAM_3 UINT16_C(0x84)
|
||||
#define BMA423_PHONE_SC_PARAM_4 UINT16_C(0x6C9C)
|
||||
#define BMA423_PHONE_SC_PARAM_5 UINT8_C(0x07)
|
||||
#define BMA423_PHONE_SC_PARAM_6 UINT16_C(0x7564)
|
||||
#define BMA423_PHONE_SC_PARAM_7 UINT16_C(0x7EAA)
|
||||
#define BMA423_PHONE_SC_PARAM_8 UINT16_C(0x55F)
|
||||
#define BMA423_PHONE_SC_PARAM_9 UINT16_C(0xABE)
|
||||
#define BMA423_PHONE_SC_PARAM_10 UINT16_C(0x55F)
|
||||
#define BMA423_PHONE_SC_PARAM_11 UINT16_C(0xE896)
|
||||
#define BMA423_PHONE_SC_PARAM_12 UINT16_C(0x41EF)
|
||||
#define BMA423_PHONE_SC_PARAM_13 UINT8_C(0x01)
|
||||
#define BMA423_PHONE_SC_PARAM_14 UINT8_C(0x0C)
|
||||
#define BMA423_PHONE_SC_PARAM_15 UINT8_C(0x0C)
|
||||
#define BMA423_PHONE_SC_PARAM_16 UINT8_C(0x4A)
|
||||
#define BMA423_PHONE_SC_PARAM_17 UINT8_C(0xA0)
|
||||
#define BMA423_PHONE_SC_PARAM_18 UINT8_C(0x00)
|
||||
#define BMA423_PHONE_SC_PARAM_19 UINT8_C(0x0C)
|
||||
#define BMA423_PHONE_SC_PARAM_20 UINT16_C(0x3CF0)
|
||||
#define BMA423_PHONE_SC_PARAM_21 UINT16_C(0x100)
|
||||
#define BMA423_PHONE_SC_PARAM_22 UINT8_C(0x00)
|
||||
#define BMA423_PHONE_SC_PARAM_23 UINT8_C(0x00)
|
||||
#define BMA423_PHONE_SC_PARAM_24 UINT8_C(0x00)
|
||||
#define BMA423_PHONE_SC_PARAM_25 UINT8_C(0x00)
|
||||
|
||||
/**\name Step counter parameter setting(1-25) for wrist (Default) */
|
||||
#define BMA423_WRIST_SC_PARAM_1 UINT16_C(0x12D)
|
||||
#define BMA423_WRIST_SC_PARAM_2 UINT16_C(0x7BD4)
|
||||
#define BMA423_WRIST_SC_PARAM_3 UINT16_C(0x13B)
|
||||
#define BMA423_WRIST_SC_PARAM_4 UINT16_C(0x7ADB)
|
||||
#define BMA423_WRIST_SC_PARAM_5 UINT8_C(0x04)
|
||||
#define BMA423_WRIST_SC_PARAM_6 UINT16_C(0x7B3F)
|
||||
#define BMA423_WRIST_SC_PARAM_7 UINT16_C(0x6CCD)
|
||||
#define BMA423_WRIST_SC_PARAM_8 UINT16_C(0x4C3)
|
||||
#define BMA423_WRIST_SC_PARAM_9 UINT16_C(0x985)
|
||||
#define BMA423_WRIST_SC_PARAM_10 UINT16_C(0x4C3)
|
||||
#define BMA423_WRIST_SC_PARAM_11 UINT16_C(0xE6EC)
|
||||
#define BMA423_WRIST_SC_PARAM_12 UINT16_C(0x460C)
|
||||
#define BMA423_WRIST_SC_PARAM_13 UINT8_C(0x01)
|
||||
#define BMA423_WRIST_SC_PARAM_14 UINT8_C(0x27)
|
||||
#define BMA423_WRIST_SC_PARAM_15 UINT8_C(0x19)
|
||||
#define BMA423_WRIST_SC_PARAM_16 UINT8_C(0x96)
|
||||
#define BMA423_WRIST_SC_PARAM_17 UINT8_C(0xA0)
|
||||
#define BMA423_WRIST_SC_PARAM_18 UINT8_C(0x01)
|
||||
#define BMA423_WRIST_SC_PARAM_19 UINT8_C(0x0C)
|
||||
#define BMA423_WRIST_SC_PARAM_20 UINT16_C(0x3CF0)
|
||||
#define BMA423_WRIST_SC_PARAM_21 UINT16_C(0x100)
|
||||
#define BMA423_WRIST_SC_PARAM_22 UINT8_C(0x01)
|
||||
#define BMA423_WRIST_SC_PARAM_23 UINT8_C(0x03)
|
||||
#define BMA423_WRIST_SC_PARAM_24 UINT8_C(0x01)
|
||||
#define BMA423_WRIST_SC_PARAM_25 UINT8_C(0x0E)
|
||||
|
||||
/*!
|
||||
* @brief Any motion configuration
|
||||
*/
|
||||
struct bma423_anymotion_config {
|
||||
/*! Expressed in 50 Hz samples (20 ms) */
|
||||
uint16_t duration;
|
||||
/*! Threshold value for Any-motion / No-motion detection in
|
||||
5.11g format */
|
||||
uint16_t threshold;
|
||||
/*! Indicates if No-motion or Any-motion is selected */
|
||||
uint8_t nomotion_sel;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Axes remapping configuration
|
||||
*/
|
||||
struct bma423_axes_remap {
|
||||
uint8_t x_axis;
|
||||
uint8_t x_axis_sign;
|
||||
uint8_t y_axis;
|
||||
uint8_t y_axis_sign;
|
||||
uint8_t z_axis;
|
||||
uint8_t z_axis_sign;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Step counter param settings
|
||||
*/
|
||||
struct bma423_stepcounter_settings {
|
||||
/*! Step Counter param 1 */
|
||||
uint16_t param1;
|
||||
/*! Step Counter param 2 */
|
||||
uint16_t param2;
|
||||
/*! Step Counter param 3 */
|
||||
uint16_t param3;
|
||||
/*! Step Counter param 4 */
|
||||
uint16_t param4;
|
||||
/*! Step Counter param 5 */
|
||||
uint16_t param5;
|
||||
/*! Step Counter param 6 */
|
||||
uint16_t param6;
|
||||
/*! Step Counter param 7 */
|
||||
uint16_t param7;
|
||||
/*! Step Counter param 8 */
|
||||
uint16_t param8;
|
||||
/*! Step Counter param 9 */
|
||||
uint16_t param9;
|
||||
/*! Step Counter param 10 */
|
||||
uint16_t param10;
|
||||
/*! Step Counter param 11 */
|
||||
uint16_t param11;
|
||||
/*! Step Counter param 12 */
|
||||
uint16_t param12;
|
||||
/*! Step Counter param 13 */
|
||||
uint16_t param13;
|
||||
/*! Step Counter param 14 */
|
||||
uint16_t param14;
|
||||
/*! Step Counter param 15 */
|
||||
uint16_t param15;
|
||||
/*! Step Counter param 16 */
|
||||
uint16_t param16;
|
||||
/*! Step Counter param 17 */
|
||||
uint16_t param17;
|
||||
/*! Step Counter param 18 */
|
||||
uint16_t param18;
|
||||
/*! Step Counter param 19 */
|
||||
uint16_t param19;
|
||||
/*! Step Counter param 20 */
|
||||
uint16_t param20;
|
||||
/*! Step Counter param 21 */
|
||||
uint16_t param21;
|
||||
/*! Step Counter param 22 */
|
||||
uint16_t param22;
|
||||
/*! Step Counter param 23 */
|
||||
uint16_t param23;
|
||||
/*! Step Counter param 24 */
|
||||
uint16_t param24;
|
||||
/*! Step Counter param 25 */
|
||||
uint16_t param25;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief This API is the entry point.
|
||||
* Call this API before using all other APIs.
|
||||
* This API reads the chip-id of the sensor and sets the resolution.
|
||||
*
|
||||
* @param[in,out] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_init(struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API is used to upload the config file to enable
|
||||
* the features of the sensor.
|
||||
*
|
||||
* @param[in] dev : Structure instance of bma4_dev.
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_write_config_file(struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API is used to get the configuration id of the sensor.
|
||||
*
|
||||
* @param[out] config_id : Pointer variable used to store
|
||||
* the configuration id.
|
||||
* @param[in] dev : Structure instance of bma4_dev.
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_get_config_id(uint16_t *config_id, struct bma4_dev *dev);
|
||||
|
||||
|
||||
/*!
|
||||
* @brief This API sets/unsets the user provided interrupt to either
|
||||
* interrupt pin1 or pin2 in the sensor.
|
||||
*
|
||||
* @param[in] int_line: Variable to select either interrupt pin1 or pin2.
|
||||
* int_line | Macros
|
||||
* ------------|-------------------
|
||||
* 0 | BMA4_INTR1_MAP
|
||||
* 1 | BMA4_INTR2_MAP
|
||||
* @param[in] int_map : Variable to specify the interrupts.
|
||||
* @param[in] enable : Variable to specify mapping or unmapping of
|
||||
* interrupts.
|
||||
* enable | Macros
|
||||
* --------------------|-------------------
|
||||
* 0x00 | BMA4_DISABLE
|
||||
* 0x01 | BMA4_ENABLE
|
||||
* @param[in] dev : Structure instance of bma4_dev.
|
||||
*
|
||||
* @note Below macros specify the interrupts.
|
||||
* Feature Interrupts
|
||||
* - BMA423_STEP_CNTR_INT
|
||||
* - BMA423_ACTIVITY_INT
|
||||
* - BMA423_TILT_INT
|
||||
* - BMA423_WAKEUP_INT
|
||||
* - BMA423_ANY_NO_MOTION_INT
|
||||
* - BMA423_ERROR_INT
|
||||
*
|
||||
* Hardware Interrupts
|
||||
* - BMA4_FIFO_FULL_INT
|
||||
* - BMA4_FIFO_WM_INT
|
||||
* - BMA4_DATA_RDY_INT
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API reads the bma423 interrupt status from the sensor.
|
||||
*
|
||||
* @param[out] int_status : Variable to store the interrupt status
|
||||
* read from the sensor.
|
||||
* @param[in] dev : Structure instance of bma4_dev.
|
||||
*
|
||||
* @note Below macros are used to check the interrupt status.
|
||||
* Feature Interrupts
|
||||
*
|
||||
* - BMA423_STEP_CNTR_INT
|
||||
* - BMA423_ACTIVITY_INT
|
||||
* - BMA423_TILT_INT
|
||||
* - BMA423_WAKEUP_INT
|
||||
* - BMA423_ANY_NO_MOTION_INT
|
||||
* - BMA423_ERROR_INT
|
||||
*
|
||||
*
|
||||
* Hardware Interrupts
|
||||
* - BMA4_FIFO_FULL_INT
|
||||
* - BMA4_FIFO_WM_INT
|
||||
* - BMA4_MAG_DATA_RDY_INT
|
||||
* - BMA4_ACCEL_DATA_RDY_INT
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_read_int_status(uint16_t *int_status, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API enables/disables the features of the sensor.
|
||||
*
|
||||
* @param[in] feature : Variable to specify the features
|
||||
* which are to be set in bma423 sensor.
|
||||
* @param[in] enable : Variable which specifies whether to enable or
|
||||
* disable the features in the bma423 sensor
|
||||
* enable | Macros
|
||||
* --------------------|-------------------
|
||||
* 0x00 | BMA4_DISABLE
|
||||
* 0x01 | BMA4_ENABLE
|
||||
* @param[in] dev : Structure instance of bma4_dev.
|
||||
*
|
||||
* @note User should use the below macros to enable or disable the
|
||||
* features of bma423 sensor
|
||||
* - BMA423_STEP_CNTR
|
||||
* - BMA423_ANY_MOTION (or) BMA423_NO_MOTION
|
||||
* - BMA423_ACTIVITY
|
||||
* - BMA423_WAKEUP
|
||||
* - BMA423_TILT
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev);
|
||||
|
||||
|
||||
/*!
|
||||
* @brief This API performs x, y and z axis remapping in the sensor.
|
||||
*
|
||||
* @param[in] remap_data : Pointer to store axes remapping data.
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_set_remap_axes(const struct bma423_axes_remap *remap_data, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API reads the x, y and z axis remap data from the sensor.
|
||||
*
|
||||
* @param[out] remap_data : Pointer to store axis remap data which is read
|
||||
* from the bma423 sensor.
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_get_remap_axes(struct bma423_axes_remap *remap_data, struct bma4_dev *dev);
|
||||
|
||||
|
||||
/*!
|
||||
* @brief This API sets the watermark level for step counter
|
||||
* interrupt in the sensor.
|
||||
*
|
||||
* @param[in] step_counter_wm : Variable which specifies watermark level
|
||||
* count
|
||||
* @note Valid values are from 1 to 1023
|
||||
* @note Value 0 is used for step detector interrupt
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API gets the water mark level set for step counter interrupt
|
||||
* in the sensor
|
||||
*
|
||||
* @param[out] step_counter_wm : Pointer variable which stores
|
||||
* the water mark level read from the sensor.
|
||||
* @note valid values are from 1 to 1023
|
||||
* @note value 0 is used for step detector interrupt
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API resets the counted steps of step counter.
|
||||
*
|
||||
* @param[in] dev : structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_reset_step_counter(struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API gets the number of counted steps of the step counter
|
||||
* feature from the sensor.
|
||||
*
|
||||
* @param[out] step_count : Pointer variable which stores counted steps
|
||||
* read from the sensor.
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_step_counter_output(uint32_t *step_count, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API gets the output for activity feature.
|
||||
*
|
||||
* @param[out] activity : Pointer variable which stores activity output
|
||||
* read from the sensor.
|
||||
* activity | State
|
||||
* --------------|------------------------
|
||||
* 0x00 | BMA423_USER_STATIONARY
|
||||
* 0x01 | BMA423_USER_WALKING
|
||||
* 0x02 | BMA423_USER_RUNNING
|
||||
* 0x03 | BMA423_STATE_INVALID
|
||||
*
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_activity_output(uint8_t *activity, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API select the platform configuration wrist(default) or phone.
|
||||
*
|
||||
* @param[in] platform : Variable to select wrist/phone
|
||||
*
|
||||
* platform | Macros
|
||||
* -------------|------------------------
|
||||
* 0x00 | BMA423_PHONE_CONFIG
|
||||
* 0x01 | BMA423_WRIST_CONFIG
|
||||
*
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_select_platform(uint8_t platform, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API gets the parameter1 to parameter7 settings of the
|
||||
* step counter feature.
|
||||
*
|
||||
* @param[out] setting : Pointer to structure variable which stores the
|
||||
* parameter1 to parameter7 read from the sensor.
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_stepcounter_get_parameter(struct bma423_stepcounter_settings *setting, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API sets the parameter1 to parameter7 settings of the
|
||||
* step counter feature in the sensor.
|
||||
*
|
||||
* @param[in] setting : Pointer to structure variable which stores the
|
||||
* parameter1 to parameter7 settings read from the sensor.
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_stepcounter_set_parameter(const struct bma423_stepcounter_settings *setting, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API enables or disables the step detector feature in the
|
||||
* sensor.
|
||||
*
|
||||
* @param[in] enable : Variable used to enable or disable step detector
|
||||
* enable | Macros
|
||||
* --------------------|-------------------
|
||||
* 0x00 | BMA4_DISABLE
|
||||
* 0x01 | BMA4_ENABLE
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_step_detector_enable(uint8_t enable, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API enables the any motion feature according to the axis
|
||||
* set by the user in the sensor.
|
||||
*
|
||||
* @param[in] axis : Variable to specify the axis of the any motion feature
|
||||
* to be enabled in the sensor.
|
||||
* Value | Axis
|
||||
* ---------|-------------------------
|
||||
* 0x00 | BMA423_ALL_AXIS_DIS
|
||||
* 0x01 | BMA423_X_AXIS_EN
|
||||
* 0x02 | BMA423_Y_AXIS_EN
|
||||
* 0x04 | BMA423_Z_AXIS_EN
|
||||
* 0x07 | BMA423_ALL_AXIS_EN
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_anymotion_enable_axis(uint8_t axis, struct bma4_dev *dev);
|
||||
|
||||
/*! @brief This API sets the configuration of Any motion feature in
|
||||
* the sensor.
|
||||
*
|
||||
* @param[in] any_motion : Pointer to structure variable to specify
|
||||
* the any motion feature settings.
|
||||
* Structure members are provided in the table below
|
||||
*@verbatim
|
||||
* -------------------------------------------------------------------------
|
||||
* Structure parameters | Description
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Defines the number of
|
||||
* | consecutive data points for
|
||||
* | which the threshold condition
|
||||
* duration | must be respected, for interrupt
|
||||
* | assertion. It is expressed in
|
||||
* | 50 Hz samples (20 ms).
|
||||
* | Range is 0 to 163sec.
|
||||
* | Default value is 5 = 100ms.
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Slope threshold value for
|
||||
* | Any-motion / No-motion detection
|
||||
* threshold | in 5.11g format.
|
||||
* | Range is 0 to 1g.
|
||||
* | Default value is 0xAA = 83mg.
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Indicates if No motion (1) or
|
||||
* nomotion_sel | Any-motion (0) is selected;
|
||||
* | default value is 0 Any-motion.
|
||||
* -------------------------------------------------------------------------
|
||||
*@endverbatim
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_set_any_motion_config(const struct bma423_anymotion_config *any_motion, struct bma4_dev *dev);
|
||||
|
||||
/*! @brief This API gets the configuration of any motion feature from
|
||||
* the sensor.
|
||||
*
|
||||
* @param[out] any_motion : Pointer to structure variable used to store
|
||||
* the any motion feature settings read from the sensor.
|
||||
* Structure members are provided in the table below
|
||||
*@verbatim
|
||||
* -------------------------------------------------------------------------
|
||||
* Structure parameters | Description
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Defines the number of
|
||||
* | consecutive data points for
|
||||
* | which the threshold condition
|
||||
* duration | must be respected, for interrupt
|
||||
* | assertion. It is expressed in
|
||||
* | 50 Hz samples (20 ms).
|
||||
* | Range is 0 to 163sec.
|
||||
* | Default value is 5 = 100ms.
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Slope threshold value for
|
||||
* | Any-motion / No-motion detection
|
||||
* threshold | in 5.11g format.
|
||||
* | Range is 0 to 1g.
|
||||
* | Default value is 0xAA = 83mg.
|
||||
* --------------------------------|----------------------------------------
|
||||
* | Indicates if No motion (1) or
|
||||
* nomotion_sel | Any-motion (0) is selected;
|
||||
* | default value is 0 Any-motion.
|
||||
* -------------------------------------------------------------------------
|
||||
*@endverbatim
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_get_any_motion_config(struct bma423_anymotion_config *any_motion, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API sets the sensitivity of wake up feature in the sensor
|
||||
*
|
||||
* @param[in] sensitivity : Variable used to specify the sensitivity of the
|
||||
* Wake up feature.
|
||||
* Value | Sensitivity
|
||||
* --------|-------------------------
|
||||
* 0x00 | MOST SENSITIVE
|
||||
* 0x07 | LEAST SENSITIVE
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_wakeup_set_sensitivity(uint8_t sensitivity, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API gets the sensitivity of wake up feature in the sensor
|
||||
*
|
||||
* @param[out] sensitivity : Pointer variable which stores the sensitivity
|
||||
* value read from the sensor.
|
||||
* Value | Sensitivity
|
||||
* --------|-------------------------
|
||||
* 0x00 | MOST SENSITIVE
|
||||
* 0x07 | LEAST SENSITIVE
|
||||
* @param[in] dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return Result of API execution status
|
||||
* @retval 0 -> Success
|
||||
* @retval Any non zero value -> Fail
|
||||
*/
|
||||
uint16_t bma423_wakeup_get_sensitivity(uint8_t *sensitivity, struct bma4_dev *dev);
|
||||
|
||||
/*!
|
||||
* @brief This API is used to select single/double tap
|
||||
* feature in the sensor
|
||||
*
|
||||
* @param tap_select : Variable used to specify the single or
|
||||
* double tap selection in the sensor
|
||||
* tap_select | description
|
||||
* ------------|------------------------
|
||||
* 0x00 | Double tap selected
|
||||
* 0x01 | single tap selected
|
||||
*
|
||||
* @param dev : Structure instance of bma4_dev
|
||||
*
|
||||
* @return results of stream_transfer operation
|
||||
* @retval 0 -> Success
|
||||
* @retval Any positive value mentioned in ERROR CODES -> Fail
|
||||
*
|
||||
*/
|
||||
uint16_t bma423_tap_selection(const uint8_t tap_select, struct bma4_dev *dev);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /*End of CPP guard */
|
||||
|
||||
#endif /*End of header guard macro */
|
||||
|
|
@ -0,0 +1,960 @@
|
|||
/*
|
||||
*
|
||||
****************************************************************************
|
||||
* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
|
||||
*
|
||||
* File : bma4_defs.h
|
||||
*
|
||||
* Date: 12 Oct 2017
|
||||
*
|
||||
* Revision: 2.1.9 $
|
||||
*
|
||||
* Usage: Sensor Driver for BMA4 family of sensors
|
||||
*
|
||||
****************************************************************************
|
||||
*
|
||||
* Disclaimer
|
||||
*
|
||||
* Common:
|
||||
* Bosch Sensortec products are developed for the consumer goods industry.
|
||||
* They may only be used within the parameters of the respective valid
|
||||
* product data sheet. Bosch Sensortec products are provided with the
|
||||
* express understanding that there is no warranty of fitness for a
|
||||
* particular purpose.They are not fit for use in life-sustaining,
|
||||
* safety or security sensitive systems or any system or device
|
||||
* that may lead to bodily harm or property damage if the system
|
||||
* or device malfunctions. In addition,Bosch Sensortec products are
|
||||
* not fit for use in products which interact with motor vehicle systems.
|
||||
* The resale and or use of products are at the purchasers own risk and
|
||||
* his own responsibility. The examination of fitness for the intended use
|
||||
* is the sole responsibility of the Purchaser.
|
||||
*
|
||||
* The purchaser shall indemnify Bosch Sensortec from all third party
|
||||
* claims, including any claims for incidental, or consequential damages,
|
||||
* arising from any product use not covered by the parameters of
|
||||
* the respective valid product data sheet or not approved by
|
||||
* Bosch Sensortec and reimburse Bosch Sensortec for all costs in
|
||||
* connection with such claims.
|
||||
*
|
||||
* The purchaser must monitor the market for the purchased products,
|
||||
* particularly with regard to product safety and inform Bosch Sensortec
|
||||
* without delay of all security relevant incidents.
|
||||
*
|
||||
* Engineering Samples are marked with an asterisk (*) or (e).
|
||||
* Samples may vary from the valid technical specifications of the product
|
||||
* series. They are therefore not intended or fit for resale to third
|
||||
* parties or for use in end products. Their sole purpose is internal
|
||||
* client testing. The testing of an engineering sample may in no way
|
||||
* replace the testing of a product series. Bosch Sensortec assumes
|
||||
* no liability for the use of engineering samples.
|
||||
* By accepting the engineering samples, the Purchaser agrees to indemnify
|
||||
* Bosch Sensortec from all claims arising from the use of engineering
|
||||
* samples.
|
||||
*
|
||||
* Special:
|
||||
* This software module (hereinafter called "Software") and any information
|
||||
* on application-sheets (hereinafter called "Information") is provided
|
||||
* free of charge for the sole purpose to support your application work.
|
||||
* The Software and Information is subject to the following
|
||||
* terms and conditions:
|
||||
*
|
||||
* The Software is specifically designed for the exclusive use for
|
||||
* Bosch Sensortec products by personnel who have special experience
|
||||
* and training. Do not use this Software if you do not have the
|
||||
* proper experience or training.
|
||||
*
|
||||
* This Software package is provided `` as is `` and without any expressed
|
||||
* or implied warranties,including without limitation, the implied warranties
|
||||
* of merchantability and fitness for a particular purpose.
|
||||
*
|
||||
* Bosch Sensortec and their representatives and agents deny any liability
|
||||
* for the functional impairment
|
||||
* of this Software in terms of fitness, performance and safety.
|
||||
* Bosch Sensortec and their representatives and agents shall not be liable
|
||||
* for any direct or indirect damages or injury, except as
|
||||
* otherwise stipulated in mandatory applicable law.
|
||||
*
|
||||
* The Information provided is believed to be accurate and reliable.
|
||||
* Bosch Sensortec assumes no responsibility for the consequences of use
|
||||
* of such Information nor for any infringement of patents or
|
||||
* other rights of third parties which may result from its use.
|
||||
* No license is granted by implication or otherwise under any patent or
|
||||
* patent rights of Bosch. Specifications mentioned in the Information are
|
||||
* subject to change without notice.
|
||||
**************************************************************************/
|
||||
/*! \file bma4_defs.h
|
||||
\brief Sensor Driver for BMA4 family of sensors */
|
||||
#ifndef BMA4_DEFS_H__
|
||||
#define BMA4_DEFS_H__
|
||||
/*********************************************************************/
|
||||
/**\ header files */
|
||||
#ifdef __KERNEL__
|
||||
#include <linux/types.h>
|
||||
#else
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
#include <math.h>
|
||||
#endif
|
||||
|
||||
/*********************************************************************/
|
||||
/* macro definitions */
|
||||
|
||||
/*
|
||||
#if (LONG_MAX) > 0x7fffffff
|
||||
#define __have_long64 1
|
||||
#elif (LONG_MAX) == 0x7fffffff
|
||||
#define __have_long32 1
|
||||
#endif
|
||||
*/
|
||||
|
||||
#if !defined(UINT8_C)
|
||||
#define INT8_C(x) x
|
||||
#if (INT_MAX) > 0x7f
|
||||
#define UINT8_C(x) x
|
||||
#else
|
||||
#define UINT8_C(x) x##U
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if !defined(UINT16_C)
|
||||
#define INT16_C(x) x
|
||||
#if (INT_MAX) > 0x7fff
|
||||
#define UINT16_C(x) x
|
||||
#else
|
||||
#define UINT16_C(x) x##U
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if !defined(INT32_C) && !defined(UINT32_C)
|
||||
#if __have_long32
|
||||
#define INT32_C(x) x##L
|
||||
#define UINT32_C(x) x##UL
|
||||
#else
|
||||
#define INT32_C(x) x
|
||||
#define UINT32_C(x) x##U
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if !defined(INT64_C) && !defined(UINT64_C)
|
||||
#if __have_long64
|
||||
#define INT64_C(x) x##L
|
||||
#define UINT64_C(x) x##UL
|
||||
#else
|
||||
#define INT64_C(x) x##LL
|
||||
#define UINT64_C(x) x##ULL
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**\name CHIP ID ADDRESS*/
|
||||
#define BMA4_CHIP_ID_ADDR UINT8_C(0x00)
|
||||
|
||||
/**\name ERROR STATUS*/
|
||||
#define BMA4_ERROR_ADDR UINT8_C(0X02)
|
||||
|
||||
/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/
|
||||
#define BMA4_STATUS_ADDR UINT8_C(0X03)
|
||||
|
||||
/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/
|
||||
#define BMA4_DATA_0_ADDR UINT8_C(0X0A)
|
||||
#define BMA4_DATA_8_ADDR UINT8_C(0X12)
|
||||
|
||||
/**\name SENSOR TIME REGISTERS*/
|
||||
#define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18)
|
||||
|
||||
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
|
||||
#define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C)
|
||||
|
||||
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
|
||||
#define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D)
|
||||
|
||||
/**\name TEMPERATURE REGISTERS*/
|
||||
#define BMA4_TEMPERATURE_ADDR UINT8_C(0X22)
|
||||
|
||||
/**\name FIFO REGISTERS*/
|
||||
#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24)
|
||||
#define BMA4_FIFO_DATA_ADDR UINT8_C(0X26)
|
||||
|
||||
/**\name ACCEL CONFIG REGISTERS*/
|
||||
#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40)
|
||||
|
||||
/**\name ACCEL RANGE ADDRESS*/
|
||||
#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41)
|
||||
|
||||
/**\name AUX CONFIG REGISTERS*/
|
||||
#define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44)
|
||||
|
||||
/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/
|
||||
#define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45)
|
||||
|
||||
/**\name FIFO WATERMARK REGISTER ADDRESS*/
|
||||
#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46)
|
||||
|
||||
/**\name FIFO CONFIG REGISTERS*/
|
||||
#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48)
|
||||
#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49)
|
||||
|
||||
/**\name MAG INTERFACE REGISTERS*/
|
||||
#define BMA4_AUX_DEV_ID_ADDR UINT8_C(0X4B)
|
||||
#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C)
|
||||
#define BMA4_AUX_RD_ADDR UINT8_C(0X4D)
|
||||
#define BMA4_AUX_WR_ADDR UINT8_C(0X4E)
|
||||
#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F)
|
||||
|
||||
/**\name INTERRUPT ENABLE REGISTERS*/
|
||||
#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53)
|
||||
#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54)
|
||||
|
||||
/**\name LATCH DURATION REGISTERS*/
|
||||
#define BMA4_INTR_LATCH_ADDR UINT8_C(0X55)
|
||||
|
||||
/**\name MAP INTERRUPT 1 and 2 REGISTERS*/
|
||||
#define BMA4_INT_MAP_1_ADDR UINT8_C(0X56)
|
||||
#define BMA4_INT_MAP_2_ADDR UINT8_C(0X57)
|
||||
#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58)
|
||||
#define BMA4_INIT_CTRL_ADDR UINT8_C(0x59)
|
||||
|
||||
/**\name FEATURE CONFIG RELATED */
|
||||
#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B)
|
||||
#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C)
|
||||
#define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E)
|
||||
#define BMA4_INTERNAL_ERROR UINT8_C(0x5F)
|
||||
|
||||
/**\name SERIAL INTERFACE SETTINGS REGISTER*/
|
||||
#define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B)
|
||||
|
||||
/**\name SELF_TEST REGISTER*/
|
||||
#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D)
|
||||
|
||||
/**\name SPI,I2C SELECTION REGISTER*/
|
||||
#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70)
|
||||
|
||||
/**\name ACCEL OFFSET REGISTERS*/
|
||||
#define BMA4_OFFSET_0_ADDR UINT8_C(0X71)
|
||||
#define BMA4_OFFSET_1_ADDR UINT8_C(0X72)
|
||||
#define BMA4_OFFSET_2_ADDR UINT8_C(0X73)
|
||||
|
||||
/**\name POWER_CTRL REGISTER*/
|
||||
#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C)
|
||||
#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D)
|
||||
|
||||
/**\name COMMAND REGISTER*/
|
||||
#define BMA4_CMD_ADDR UINT8_C(0X7E)
|
||||
|
||||
/**\name GPIO REGISTERS*/
|
||||
#define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E)
|
||||
#define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F)
|
||||
#define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27)
|
||||
#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28)
|
||||
#define BMA4_INTERNAL_STAT UINT8_C(0x2A)
|
||||
|
||||
/*!
|
||||
* @brief Block size for config write */
|
||||
#define BMA4_BLOCK_SIZE UINT8_C(32)
|
||||
|
||||
/**\name I2C slave address */
|
||||
#define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18)
|
||||
#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19)
|
||||
#define BMA4_I2C_BMM150_ADDR UINT8_C(0x10)
|
||||
|
||||
/**\name Interface selection macro */
|
||||
#define BMA4_SPI_INTERFACE UINT8_C(1)
|
||||
#define BMA4_I2C_INTERFACE UINT8_C(2)
|
||||
|
||||
/**\name Interface selection macro */
|
||||
#define BMA4_SPI_WR_MASK UINT8_C(0x7F)
|
||||
#define BMA4_SPI_RD_MASK UINT8_C(0x80)
|
||||
|
||||
/**\name Chip ID macros */
|
||||
#define BMA4_CHIP_ID_MIN UINT8_C(0x10)
|
||||
#define BMA4_CHIP_ID_MAX UINT8_C(0x15)
|
||||
|
||||
/**\name Auxiliary sensor selection macro */
|
||||
#define BMM150_SENSOR UINT8_C(1)
|
||||
#define AKM9916_SENSOR UINT8_C(2)
|
||||
#define BMA4_ASIC_INITIALIZED UINT8_C(0x01)
|
||||
|
||||
/**\name Auxiliary sensor chip id macros */
|
||||
#define BMM150_CHIP_ID UINT8_C(0x32)
|
||||
|
||||
/**\name Auxiliary sensor other macros */
|
||||
#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B)
|
||||
#define BMM150_POWER_MODE_REG UINT8_C(0x4C)
|
||||
|
||||
/**\name CONSTANTS */
|
||||
#define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2)
|
||||
#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2)
|
||||
#define BMA4_FIFO_WM_LENGTH UINT8_C(2)
|
||||
#define BMA4_CONFIG_STREAM_SIZE UINT16_C(6144)
|
||||
#define BMA4_NON_LATCH_MODE UINT8_C(0)
|
||||
#define BMA4_LATCH_MODE UINT8_C(1)
|
||||
#define BMA4_OPEN_DRAIN UINT8_C(1)
|
||||
#define BMA4_PUSH_PULL UINT8_C(0)
|
||||
#define BMA4_ACTIVE_HIGH UINT8_C(1)
|
||||
#define BMA4_ACTIVE_LOW UINT8_C(0)
|
||||
#define BMA4_EDGE_TRIGGER UINT8_C(1)
|
||||
#define BMA4_LEVEL_TRIGGER UINT8_C(0)
|
||||
#define BMA4_OUTPUT_ENABLE UINT8_C(1)
|
||||
#define BMA4_OUTPUT_DISABLE UINT8_C(0)
|
||||
#define BMA4_INPUT_ENABLE UINT8_C(1)
|
||||
#define BMA4_INPUT_DISABLE UINT8_C(0)
|
||||
|
||||
/**\name ACCEL RANGE CHECK*/
|
||||
#define BMA4_ACCEL_RANGE_2G UINT8_C(0)
|
||||
#define BMA4_ACCEL_RANGE_4G UINT8_C(1)
|
||||
#define BMA4_ACCEL_RANGE_8G UINT8_C(2)
|
||||
#define BMA4_ACCEL_RANGE_16G UINT8_C(3)
|
||||
|
||||
/**\name CONDITION CHECK FOR READING AND WRTING DATA*/
|
||||
#define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1)
|
||||
#define BMA4_MAX_VALUE_SPI3 UINT8_C(1)
|
||||
#define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1)
|
||||
#define BMA4_MAX_IF_MODE UINT8_C(3)
|
||||
#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1)
|
||||
|
||||
/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/
|
||||
#define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16)
|
||||
#define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6)
|
||||
#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8)
|
||||
#define BMA4_ACCEL_DATA_LENGTH UINT8_C(6)
|
||||
#define BMA4_FIFO_DATA_LENGTH UINT8_C(2)
|
||||
#define BMA4_TEMP_DATA_SIZE UINT8_C(1)
|
||||
|
||||
/**\name TEMPERATURE CONSTANT */
|
||||
#define BMA4_OFFSET_TEMP UINT8_C(23)
|
||||
#define BMA4_DEG UINT8_C(1)
|
||||
#define BMA4_FAHREN UINT8_C(2)
|
||||
#define BMA4_KELVIN UINT8_C(3)
|
||||
|
||||
/**\name DELAY DEFINITION IN MSEC*/
|
||||
#define BMA4_AUX_IF_DELAY UINT8_C(5)
|
||||
#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2)
|
||||
#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3)
|
||||
#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1)
|
||||
#define BMA4_GEN_READ_WRITE_DELAY UINT8_C(1)
|
||||
#define BMA4_AUX_COM_DELAY UINT8_C(10)
|
||||
|
||||
/**\name ARRAY PARAMETER DEFINITIONS*/
|
||||
#define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2)
|
||||
#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
|
||||
#define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0)
|
||||
#define BMA4_MAG_X_LSB_BYTE UINT8_C(0)
|
||||
#define BMA4_MAG_X_MSB_BYTE UINT8_C(1)
|
||||
#define BMA4_MAG_Y_LSB_BYTE UINT8_C(2)
|
||||
#define BMA4_MAG_Y_MSB_BYTE UINT8_C(3)
|
||||
#define BMA4_MAG_Z_LSB_BYTE UINT8_C(4)
|
||||
#define BMA4_MAG_Z_MSB_BYTE UINT8_C(5)
|
||||
#define BMA4_MAG_R_LSB_BYTE UINT8_C(6)
|
||||
#define BMA4_MAG_R_MSB_BYTE UINT8_C(7)
|
||||
#define BMA4_TEMP_BYTE UINT8_C(0)
|
||||
#define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1)
|
||||
|
||||
/**\name ERROR CODES */
|
||||
#define BMA4_OK UINT16_C(0)
|
||||
#define BMA4_E_NULL_PTR UINT16_C(1)
|
||||
#define BMA4_E_OUT_OF_RANGE UINT16_C(1 << 1)
|
||||
#define BMA4_E_INVALID_SENSOR UINT16_C(1 << 2)
|
||||
#define BMA4_E_CONFIG_STREAM_ERROR UINT16_C(1 << 3)
|
||||
#define BMA4_E_SELF_TEST_FAIL UINT16_C(1 << 4)
|
||||
#define BMA4_E_FOC_FAIL UINT16_C(1 << 5)
|
||||
#define BMA4_E_FAIL UINT16_C(1 << 6)
|
||||
#define BMA4_E_INT_LINE_INVALID UINT16_C(1 << 7)
|
||||
#define BMA4_E_RD_WR_LENGTH_INVALID UINT16_C(1 << 8)
|
||||
#define BMA4_E_AUX_CONFIG_FAIL UINT16_C(1 << 9)
|
||||
#define BMA4_E_SC_FIFO_HEADER_ERR UINT16_C(1 << 10)
|
||||
#define BMA4_E_SC_FIFO_CONFIG_ERR UINT16_C(1 << 11)
|
||||
|
||||
/**\name UTILITY MACROS */
|
||||
#define BMA4_SET_LOW_BYTE UINT16_C(0x00FF)
|
||||
#define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00)
|
||||
#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F)
|
||||
|
||||
/**\name FOC RELATED MACROS */
|
||||
#define BMA4_ACCEL_CONFIG_FOC UINT8_C(0xB7)
|
||||
|
||||
/* Macros used for Self test */
|
||||
/* Self-test: Resulting minimum difference signal in mg for BMA42x */
|
||||
#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400)
|
||||
#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800)
|
||||
#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400)
|
||||
|
||||
/* Self-test: Resulting minimum difference signal in mg for BMA45x */
|
||||
#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
||||
#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
||||
#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
||||
|
||||
/**\name BOOLEAN TYPES*/
|
||||
#ifndef TRUE
|
||||
#define TRUE UINT8_C(0x01)
|
||||
#endif
|
||||
|
||||
#ifndef FALSE
|
||||
#define FALSE UINT8_C(0x00)
|
||||
#endif
|
||||
|
||||
#ifndef NULL
|
||||
#define NULL UINT8_C(0x00)
|
||||
#endif
|
||||
|
||||
/**\name ERROR STATUS POSITION AND MASK*/
|
||||
#define BMA4_FATAL_ERR_MSK UINT8_C(0x01)
|
||||
#define BMA4_CMD_ERR_POS UINT8_C(1)
|
||||
#define BMA4_CMD_ERR_MSK UINT8_C(0x02)
|
||||
#define BMA4_ERR_CODE_POS UINT8_C(2)
|
||||
#define BMA4_ERR_CODE_MSK UINT8_C(0x1C)
|
||||
#define BMA4_FIFO_ERR_POS UINT8_C(6)
|
||||
#define BMA4_FIFO_ERR_MSK UINT8_C(0x40)
|
||||
#define BMA4_AUX_ERR_POS UINT8_C(7)
|
||||
#define BMA4_AUX_ERR_MSK UINT8_C(0x80)
|
||||
|
||||
/**\name Maximum number of bytes to be read from the sensor */
|
||||
#define BMA4_MAX_BUFFER_SIZE UINT8_C(81)
|
||||
|
||||
/**\name NV_CONFIG POSITION AND MASK*/
|
||||
/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */
|
||||
#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3)
|
||||
#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08)
|
||||
|
||||
/**\name MAG DATA XYZ POSITION AND MASK*/
|
||||
#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3)
|
||||
#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8)
|
||||
#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3)
|
||||
#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8)
|
||||
#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1)
|
||||
#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE)
|
||||
#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2)
|
||||
#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC)
|
||||
|
||||
/**\name ACCEL DATA READY POSITION AND MASK*/
|
||||
#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7)
|
||||
#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80)
|
||||
|
||||
/**\name MAG DATA READY POSITION AND MASK*/
|
||||
#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5)
|
||||
#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20)
|
||||
|
||||
/**\name ADVANCE POWER SAVE POSITION AND MASK*/
|
||||
#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01)
|
||||
|
||||
/**\name ACCELEROMETER ENABLE POSITION AND MASK*/
|
||||
#define BMA4_ACCEL_ENABLE_POS UINT8_C(2)
|
||||
#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04)
|
||||
|
||||
/**\name MAGNETOMETER ENABLE POSITION AND MASK*/
|
||||
#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01)
|
||||
|
||||
/**\name ACCEL CONFIGURATION POSITION AND MASK*/
|
||||
#define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F)
|
||||
#define BMA4_ACCEL_BW_POS UINT8_C(4)
|
||||
#define BMA4_ACCEL_BW_MSK UINT8_C(0x70)
|
||||
#define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03)
|
||||
#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7)
|
||||
#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80)
|
||||
|
||||
/**\name MAG CONFIGURATION POSITION AND MASK*/
|
||||
#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4)
|
||||
#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4)
|
||||
#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0)
|
||||
#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR)
|
||||
|
||||
/**\name FIFO SELF WAKE UP POSITION AND MASK*/
|
||||
#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1)
|
||||
#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02)
|
||||
|
||||
/**\name FIFO BYTE COUNTER POSITION AND MASK*/
|
||||
#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F)
|
||||
|
||||
/**\name FIFO DATA POSITION AND MASK*/
|
||||
#define BMA4_FIFO_DATA_POS UINT8_C(0)
|
||||
#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF)
|
||||
|
||||
/**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/
|
||||
#define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4)
|
||||
#define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70)
|
||||
#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7)
|
||||
#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80)
|
||||
|
||||
/**\name FIFO HEADER DATA DEFINITIONS */
|
||||
#define FIFO_HEAD_A UINT8_C(0x84)
|
||||
#define FIFO_HEAD_M UINT8_C(0x90)
|
||||
#define FIFO_HEAD_M_A UINT8_C(0x94)
|
||||
#define FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
|
||||
#define FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
|
||||
#define FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
|
||||
#define FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80)
|
||||
#define FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50)
|
||||
|
||||
/**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */
|
||||
#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60)
|
||||
#define BMA4_FIFO_A_ENABLE UINT8_C(0x40)
|
||||
#define BMA4_FIFO_M_ENABLE UINT8_C(0x20)
|
||||
|
||||
/**\name FIFO CONFIGURATION SELECTION */
|
||||
#define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01)
|
||||
#define BMA4_FIFO_TIME UINT8_C(0x02)
|
||||
#define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04)
|
||||
#define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08)
|
||||
#define BMA4_FIFO_HEADER UINT8_C(0x10)
|
||||
#define BMA4_FIFO_MAG UINT8_C(0x20)
|
||||
#define BMA4_FIFO_ACCEL UINT8_C(0x40)
|
||||
#define BMA4_FIFO_ALL UINT8_C(0x7F)
|
||||
#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03)
|
||||
#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC)
|
||||
|
||||
/**\name FIFO FRAME COUNT DEFINITION */
|
||||
#define FIFO_LSB_CONFIG_CHECK UINT8_C(0x00)
|
||||
#define FIFO_MSB_CONFIG_CHECK UINT8_C(0x80)
|
||||
#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
|
||||
|
||||
/**\name FIFO DROPPED FRAME DEFINITION */
|
||||
#define AUX_FIFO_DROP UINT8_C(0x04)
|
||||
#define ACCEL_AUX_FIFO_DROP UINT8_C(0x05)
|
||||
#define ACCEL_FIFO_DROP UINT8_C(0x01)
|
||||
|
||||
/**\name FIFO MAG DEFINITION*/
|
||||
#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8)
|
||||
|
||||
/**\name FIFO sensor time length definitions*/
|
||||
#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3)
|
||||
|
||||
/**\name FIFO LENGTH DEFINITION*/
|
||||
#define BMA4_FIFO_A_LENGTH UINT8_C(6)
|
||||
#define BMA4_FIFO_M_LENGTH UINT8_C(8)
|
||||
#define BMA4_FIFO_MA_LENGTH UINT8_C(14)
|
||||
|
||||
/**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/
|
||||
#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1)
|
||||
#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE)
|
||||
|
||||
/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/
|
||||
#define BMA4_MAG_BURST_MSK UINT8_C(0x03)
|
||||
#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7)
|
||||
#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80)
|
||||
#define BMA4_READ_ADDR_MSK UINT8_C(0xFF)
|
||||
#define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF)
|
||||
#define BMA4_WRITE_DATA_MSK UINT8_C(0xFF)
|
||||
|
||||
/**\name OUTPUT TYPE ENABLE POSITION AND MASK*/
|
||||
#define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01)
|
||||
#define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00)
|
||||
#define BMA4_INT_LEVEL_MASK UINT8_C(0x02)
|
||||
#define BMA4_INT_LEVEL_POS UINT8_C(0x01)
|
||||
#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04)
|
||||
#define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02)
|
||||
#define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08)
|
||||
#define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03)
|
||||
#define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10)
|
||||
#define BMA4_INT_INPUT_EN_POS UINT8_C(0x04)
|
||||
|
||||
/**\name IF CONFIG POSITION AND MASK*/
|
||||
#define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01)
|
||||
#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4)
|
||||
#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10)
|
||||
|
||||
/**\name ACCEL SELF TEST POSITION AND MASK*/
|
||||
#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01)
|
||||
#define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2)
|
||||
#define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04)
|
||||
#define BMA4_SELFTEST_AMP_POS UINT8_C(3)
|
||||
#define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08)
|
||||
|
||||
/**\name ACCEL ODR */
|
||||
#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01)
|
||||
#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02)
|
||||
#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03)
|
||||
#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04)
|
||||
#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05)
|
||||
#define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06)
|
||||
#define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07)
|
||||
#define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08)
|
||||
#define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09)
|
||||
#define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A)
|
||||
#define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B)
|
||||
#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C)
|
||||
|
||||
/**\name ACCEL BANDWIDTH PARAMETER */
|
||||
#define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0)
|
||||
#define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1)
|
||||
#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2)
|
||||
#define BMA4_ACCEL_CIC_AVG8 UINT8_C(3)
|
||||
#define BMA4_ACCEL_RES_AVG16 UINT8_C(4)
|
||||
#define BMA4_ACCEL_RES_AVG32 UINT8_C(5)
|
||||
#define BMA4_ACCEL_RES_AVG64 UINT8_C(6)
|
||||
#define BMA4_ACCEL_RES_AVG128 UINT8_C(7)
|
||||
|
||||
/**\name ACCEL PERFMODE PARAMETER */
|
||||
#define BMA4_CIC_AVG_MODE UINT8_C(0)
|
||||
#define BMA4_CONTINUOUS_MODE UINT8_C(1)
|
||||
|
||||
/**\name MAG OFFSET */
|
||||
#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00)
|
||||
|
||||
/**\name ENABLE/DISABLE SELECTIONS */
|
||||
#define BMA4_X_AXIS UINT8_C(0)
|
||||
#define BMA4_Y_AXIS UINT8_C(1)
|
||||
#define BMA4_Z_AXIS UINT8_C(2)
|
||||
|
||||
/**\name SELF TEST*/
|
||||
#define BMA4_SELFTEST_PASS UINT8_C(0)
|
||||
#define BMA4_SELFTEST_FAIL UINT8_C(1)
|
||||
|
||||
/**\name INTERRUPT MAPS */
|
||||
#define BMA4_INTR1_MAP UINT8_C(0)
|
||||
#define BMA4_INTR2_MAP UINT8_C(1)
|
||||
|
||||
/**\name INTERRUPT MASKS */
|
||||
#define BMA4_FIFO_FULL_INT UINT16_C(0x0100)
|
||||
#define BMA4_FIFO_WM_INT UINT16_C(0x0200)
|
||||
#define BMA4_DATA_RDY_INT UINT16_C(0x0400)
|
||||
#define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000)
|
||||
#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000)
|
||||
|
||||
|
||||
/**\name AKM POWER MODE SELECTION */
|
||||
#define AKM_POWER_DOWN_MODE UINT8_C(0)
|
||||
#define AKM_SINGLE_MEAS_MODE UINT8_C(1)
|
||||
|
||||
/**\name SECONDARY_MAG POWER MODE SELECTION */
|
||||
#define BMA4_MAG_FORCE_MODE UINT8_C(0)
|
||||
#define BMA4_MAG_SUSPEND_MODE UINT8_C(1)
|
||||
|
||||
/**\name MAG POWER MODE SELECTION */
|
||||
#define FORCE_MODE UINT8_C(0)
|
||||
#define SUSPEND_MODE UINT8_C(1)
|
||||
|
||||
/**\name ACCEL POWER MODE */
|
||||
#define ACCEL_MODE_NORMAL UINT8_C(0x11)
|
||||
|
||||
/**\name MAG POWER MODE */
|
||||
#define MAG_MODE_SUSPEND UINT8_C(0x18)
|
||||
|
||||
/**\name ENABLE/DISABLE BIT VALUES */
|
||||
#define BMA4_ENABLE UINT8_C(0x01)
|
||||
#define BMA4_DISABLE UINT8_C(0x00)
|
||||
|
||||
/**\name DEFINITION USED FOR DIFFERENT WRITE */
|
||||
#define BMA4_MANUAL_DISABLE UINT8_C(0x00)
|
||||
#define BMA4_MANUAL_ENABLE UINT8_C(0x01)
|
||||
#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01)
|
||||
#define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A)
|
||||
#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06)
|
||||
#define BMA4_SEC_IF_NULL UINT8_C(0)
|
||||
#define BMA4_SEC_IF_BMM150 UINT8_C(1)
|
||||
#define BMA4_SEC_IF_AKM09916 UINT8_C(2)
|
||||
#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01)
|
||||
|
||||
/**\name SENSOR RESOLUTION */
|
||||
#define BMA4_12_BIT_RESOLUTION UINT8_C(12)
|
||||
#define BMA4_14_BIT_RESOLUTION UINT8_C(14)
|
||||
#define BMA4_16_BIT_RESOLUTION UINT8_C(16)
|
||||
|
||||
/**\name MULTIPLIER */
|
||||
/*! for handling micro-g values */
|
||||
#define BMA4XY_MULTIPLIER UINT32_C(1000000)
|
||||
/*! for handling float temperature values */
|
||||
#define BMA4_SCALE_TEMP INT32_C(1000)
|
||||
/* BMA4_FAHREN_SCALED = 1.8 * 1000 */
|
||||
#define BMA4_FAHREN_SCALED INT32_C(1800)
|
||||
/* BMA4_KELVIN_SCALED = 273.15 * 1000 */
|
||||
#define BMA4_KELVIN_SCALED INT32_C(273150)
|
||||
|
||||
|
||||
/**\name MAP BURST READ LENGTHS */
|
||||
#define BMA4_AUX_READ_LEN_0 0
|
||||
#define BMA4_AUX_READ_LEN_1 1
|
||||
#define BMA4_AUX_READ_LEN_2 2
|
||||
#define BMA4_AUX_READ_LEN_3 3
|
||||
|
||||
#ifndef ABS
|
||||
#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */
|
||||
#endif
|
||||
|
||||
/**\name BIT SLICE GET AND SET FUNCTIONS */
|
||||
#define BMA4_GET_BITSLICE(regvar, bitname)\
|
||||
((regvar & bitname##_MSK) >> bitname##_POS)
|
||||
#define BMA4_SET_BITSLICE(regvar, bitname, val)\
|
||||
((regvar & ~bitname##_MSK) | \
|
||||
((val<<bitname##_POS)&bitname##_MSK))
|
||||
#define BMA4_GET_DIFF(x, y) ((x) - (y))
|
||||
|
||||
#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE)
|
||||
#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8)
|
||||
|
||||
#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))
|
||||
|
||||
#define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \
|
||||
((reg_data & ~(bitname##_MSK)) | \
|
||||
(data & bitname##_MSK))
|
||||
|
||||
#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
|
||||
|
||||
/**\name TYPEDEF DEFINITIONS */
|
||||
/*!
|
||||
* @brief Bus communication function pointer which should be mapped to
|
||||
* the platform specific read and write functions of the user
|
||||
*/
|
||||
typedef uint16_t (*bma4_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *read_data, uint16_t len);
|
||||
|
||||
/*! delay function pointer */
|
||||
typedef void (*bma4_delay_fptr_t)(uint32_t);
|
||||
|
||||
/******************************************************************************/
|
||||
/*! @name Enum Declarations */
|
||||
/******************************************************************************/
|
||||
|
||||
/*! @name Enum to define BMA4 variants */
|
||||
enum bma4_variant {
|
||||
BMA42X_VARIANT = 1,
|
||||
BMA45X_VARIANT
|
||||
};
|
||||
|
||||
/**\name STRUCTURE DEFINITIONS*/
|
||||
|
||||
/*!
|
||||
* @brief
|
||||
* This structure holds asic info. for feature configuration.
|
||||
*/
|
||||
struct bma4_asic_data {
|
||||
/* Feature config start addr (0-3 bits)*/
|
||||
uint8_t asic_lsb;
|
||||
/* Feature config start addr (4-11 bits)*/
|
||||
uint8_t asic_msb;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Auxiliary configuration structure for user settings
|
||||
*/
|
||||
struct bma4_aux_config {
|
||||
/*! Device address of auxiliary sensor */
|
||||
uint8_t aux_dev_addr;
|
||||
/*! To enable manual or auto mode */
|
||||
uint8_t manual_enable;
|
||||
/*! No of bytes to be read at a time */
|
||||
uint8_t burst_read_length;
|
||||
/*! Variable to set the auxiliary interface */
|
||||
uint8_t if_mode;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief
|
||||
* This structure holds all relevant information about BMA4
|
||||
*/
|
||||
struct bma4_dev {
|
||||
/*! Chip id of BMA4 */
|
||||
uint8_t chip_id;
|
||||
/*! Chip id of auxiliary sensor */
|
||||
uint8_t aux_chip_id;
|
||||
/*! Device address of BMA4 */
|
||||
uint8_t dev_addr;
|
||||
/*! Interface detail */
|
||||
uint8_t interface;
|
||||
/*! Auxiliary sensor information */
|
||||
uint8_t aux_sensor;
|
||||
/*! Decide SPI or I2C read mechanism */
|
||||
uint8_t dummy_byte;
|
||||
/*! Resolution for FOC */
|
||||
uint8_t resolution;
|
||||
/*! Define the BMA4 variant BMA42X or BMA45X */
|
||||
enum bma4_variant variant;
|
||||
/* ! Used to check mag manual/auto mode status
|
||||
int8_t mag_manual_enable;*/
|
||||
/*! FIFO related configurations */
|
||||
struct bma4_fifo_frame *fifo;
|
||||
/*! Config stream data buffer address will be assigned*/
|
||||
const uint8_t *config_file_ptr;
|
||||
/*! Max read/write length (maximum supported length is 32).
|
||||
To be set by the user */
|
||||
uint8_t read_write_len;
|
||||
/*! Feature len */
|
||||
uint8_t feature_len;
|
||||
/*! Contains asic information */
|
||||
struct bma4_asic_data asic_data;
|
||||
/*! Contains aux configuration settings */
|
||||
struct bma4_aux_config aux_config;
|
||||
/*! Bus read function pointer */
|
||||
bma4_com_fptr_t bus_read;
|
||||
/*! Bus write function pointer */
|
||||
bma4_com_fptr_t bus_write;
|
||||
/*! delay(in ms) function pointer */
|
||||
bma4_delay_fptr_t delay;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief This structure holds the information for usage of
|
||||
* FIFO by the user.
|
||||
*/
|
||||
struct bma4_fifo_frame {
|
||||
/*! Data buffer of user defined length is to be mapped here */
|
||||
uint8_t *data;
|
||||
/*! Number of bytes of FIFO to be read as specified by the user */
|
||||
uint16_t length;
|
||||
/*! Enabling of the FIFO header to stream in header mode */
|
||||
uint8_t fifo_header_enable;
|
||||
/*! Streaming of the Accelerometer, Auxiliary
|
||||
* sensor data or both in FIFO */
|
||||
uint8_t fifo_data_enable;
|
||||
/*! Will be equal to length when no more frames are there to parse */
|
||||
uint16_t accel_byte_start_idx;
|
||||
/*! Will be equal to length when no more frames are there to parse */
|
||||
uint16_t mag_byte_start_idx;
|
||||
/*! Will be equal to length when no more frames are there to parse */
|
||||
uint16_t sc_frame_byte_start_idx;
|
||||
/*! Value of FIFO sensor time time */
|
||||
uint32_t sensor_time;
|
||||
/*! Value of Skipped frame counts */
|
||||
uint8_t skipped_frame_count;
|
||||
/*! Value of accel dropped frame count */
|
||||
uint8_t accel_dropped_frame_count;
|
||||
/*! Value of mag dropped frame count */
|
||||
uint8_t mag_dropped_frame_count;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Error Status structure
|
||||
*/
|
||||
struct bma4_err_reg {
|
||||
/*! Indicates fatal error */
|
||||
uint8_t fatal_err;
|
||||
/*! Indicates command error */
|
||||
uint8_t cmd_err;
|
||||
/*! Indicates error code */
|
||||
uint8_t err_code;
|
||||
/*! Indicates fifo error */
|
||||
uint8_t fifo_err;
|
||||
/*! Indicates mag error */
|
||||
uint8_t aux_err;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Asic Status structure
|
||||
*/
|
||||
struct bma4_asic_status {
|
||||
/*! Asic is in sleep/halt state */
|
||||
uint8_t sleep;
|
||||
/*! Dedicated interrupt is set again before previous interrupt
|
||||
was acknowledged */
|
||||
uint8_t irq_ovrn;
|
||||
/*! Watchcell event detected (asic stopped) */
|
||||
uint8_t wc_event;
|
||||
/*! Stream transfer has started and transactions are ongoing */
|
||||
uint8_t stream_transfer_active;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Interrupt Pin Configuration structure
|
||||
*/
|
||||
struct bma4_int_pin_config {
|
||||
/*! Trigger condition of interrupt pin */
|
||||
uint8_t edge_ctrl;
|
||||
/*! Level of interrupt pin */
|
||||
uint8_t lvl;
|
||||
/*! Behaviour of interrupt pin to open drain */
|
||||
uint8_t od;
|
||||
/*! Output enable for interrupt pin */
|
||||
uint8_t output_en;
|
||||
/*! Input enable for interrupt pin */
|
||||
uint8_t input_en;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Accelerometer configuration structure */
|
||||
struct bma4_accel_config {
|
||||
/*! Output data rate in Hz */
|
||||
uint8_t odr;
|
||||
/*! Bandwidth parameter, determines filter configuration */
|
||||
uint8_t bandwidth;
|
||||
/*! Filter performance mode */
|
||||
uint8_t perf_mode;
|
||||
/*! G-range */
|
||||
uint8_t range;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Auxiliary magnetometer configuration structure
|
||||
*/
|
||||
struct bma4_aux_mag_config {
|
||||
/*! Poll rate for the sensor attached to the Magnetometer interface */
|
||||
uint8_t odr;
|
||||
/*! Trigger-readout offset in units of 2.5 ms.
|
||||
If set to zero, the offset is maximum, i.e. after readout a trigger
|
||||
is issued immediately */
|
||||
uint8_t offset;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief ASIC Config structure
|
||||
*/
|
||||
struct bma4_asic_config {
|
||||
/*! Enable/Disable ASIC Wake Up */
|
||||
uint8_t asic_en;
|
||||
/*! Configure stream_transfer/FIFO mode */
|
||||
uint8_t fifo_mode_en;
|
||||
/*! Mapping of instance RAM1 */
|
||||
uint8_t mem_conf_ram1;
|
||||
/*! Mapping of instance RAM2 */
|
||||
uint8_t mem_conf_ram2;
|
||||
/*! Mapping of instance RAM3 */
|
||||
uint8_t mem_conf_ram3;
|
||||
};
|
||||
/*!
|
||||
* @brief bmm150 or akm09916
|
||||
* magnetometer values structure
|
||||
*/
|
||||
struct bma4_mag {
|
||||
/*! BMM150 and AKM09916 X raw data */
|
||||
int32_t x;
|
||||
/*! BMM150 and AKM09916 Y raw data */
|
||||
int32_t y;
|
||||
/*! BMM150 and AKM09916 Z raw data */
|
||||
int32_t z;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief bmm150 xyz data structure
|
||||
*/
|
||||
struct bma4_mag_xyzr {
|
||||
/*! BMM150 X raw data */
|
||||
int16_t x;
|
||||
/*! BMM150 Y raw data */
|
||||
int16_t y;
|
||||
/*! BMM150 Z raw data */
|
||||
int16_t z;
|
||||
/*! BMM150 R raw data */
|
||||
uint16_t r;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief Accel xyz data structure
|
||||
*/
|
||||
struct bma4_accel {
|
||||
/*! Accel X data */
|
||||
int16_t x;
|
||||
/*! Accel Y data */
|
||||
int16_t y;
|
||||
/*! Accel Z data */
|
||||
int16_t z;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief FIFO mag data structure
|
||||
*/
|
||||
struct bma4_mag_fifo_data {
|
||||
/*! The value of mag x LSB data */
|
||||
uint8_t mag_x_lsb;
|
||||
/*! The value of mag x MSB data */
|
||||
uint8_t mag_x_msb;
|
||||
/*! The value of mag y LSB data */
|
||||
uint8_t mag_y_lsb;
|
||||
/*! The value of mag y MSB data */
|
||||
uint8_t mag_y_msb;
|
||||
/*! The value of mag z LSB data */
|
||||
uint8_t mag_z_lsb;
|
||||
/*! The value of mag z MSB data */
|
||||
uint8_t mag_z_msb;
|
||||
/*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */
|
||||
uint8_t mag_r_y2_lsb;
|
||||
/*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */
|
||||
uint8_t mag_r_y2_msb;
|
||||
};
|
||||
|
||||
#endif
|
||||
/* End of __BMA4_H__ */
|
||||
|
|
@ -0,0 +1,86 @@
|
|||
#include "i2c_bus.h"
|
||||
#include "Wire.h"
|
||||
#include <Arduino.h>
|
||||
|
||||
void I2CBus::scan(void)
|
||||
{
|
||||
uint8_t err, addr;
|
||||
int nDevices = 0;
|
||||
for (addr = 1; addr < 127; addr++) {
|
||||
_port->beginTransmission(addr);
|
||||
err = _port->endTransmission();
|
||||
if (err == 0) {
|
||||
Serial.print("I2C device found at address 0x");
|
||||
if (addr < 16)
|
||||
Serial.print("0");
|
||||
Serial.print(addr, HEX);
|
||||
Serial.println(" !");
|
||||
nDevices++;
|
||||
} else if (err == 4) {
|
||||
Serial.print("Unknow error at address 0x");
|
||||
if (addr < 16)
|
||||
Serial.print("0");
|
||||
Serial.println(addr, HEX);
|
||||
}
|
||||
}
|
||||
if (nDevices == 0)
|
||||
Serial.println("No I2C devices found\n");
|
||||
else
|
||||
Serial.println("done\n");
|
||||
}
|
||||
|
||||
|
||||
uint16_t I2CBus::readBytes(uint8_t addr, uint8_t *data, uint16_t len, uint16_t delay_ms)
|
||||
{
|
||||
uint16_t ret = 0;
|
||||
uint8_t cnt = _port->requestFrom(addr, (uint8_t)len, (uint8_t)1);
|
||||
if (!cnt) {
|
||||
ret = 1 << 13;
|
||||
}
|
||||
uint16_t index = 0;
|
||||
while (_port->available()) {
|
||||
if (index > len)return 1 << 14;
|
||||
if (delay_ms)delay(delay_ms);
|
||||
data[index++] = _port->read();
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
uint16_t I2CBus::readBytes(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len)
|
||||
{
|
||||
uint16_t ret = 0;
|
||||
_port->beginTransmission(addr);
|
||||
_port->write(reg);
|
||||
_port->endTransmission();
|
||||
uint8_t cnt = _port->requestFrom(addr, (uint8_t)len, (uint8_t)1);
|
||||
if (!cnt) {
|
||||
ret = 1 << 13;
|
||||
}
|
||||
uint16_t index = 0;
|
||||
while (_port->available()) {
|
||||
if (index > len)return 1 << 14;
|
||||
data[index++] = _port->read();
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint16_t I2CBus::writeBytes(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len)
|
||||
{
|
||||
uint16_t ret = 0;
|
||||
_port->beginTransmission(addr);
|
||||
_port->write(reg);
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
_port->write(data[i]);
|
||||
}
|
||||
ret = _port->endTransmission();
|
||||
return ret ? 1 << 12 : ret;
|
||||
}
|
||||
|
||||
bool I2CBus::deviceProbe(uint8_t addr)
|
||||
{
|
||||
uint16_t ret = 0;
|
||||
_port->beginTransmission(addr);
|
||||
ret = _port->endTransmission();
|
||||
return (ret == 0);
|
||||
}
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
#include <Wire.h>
|
||||
|
||||
class I2CBus
|
||||
{
|
||||
public:
|
||||
I2CBus(TwoWire &port = Wire, int sda = 21, int scl = 22)
|
||||
{
|
||||
_port = &port;
|
||||
_port->begin(sda, scl);
|
||||
};
|
||||
void scan();
|
||||
uint16_t readBytes(uint8_t addr, uint8_t *data, uint16_t len, uint16_t delay_ms = 0);
|
||||
uint16_t readBytes(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len);
|
||||
uint16_t writeBytes(uint8_t addr, uint8_t reg, uint8_t *data, uint16_t len);
|
||||
bool deviceProbe(uint8_t addr);
|
||||
private:
|
||||
TwoWire *_port;
|
||||
};
|
||||
Loading…
Reference in New Issue