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/*
****************************************************************************
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* File :bma4.c
*
* 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.c
\brief Sensor Driver for BMA4 family of sensors */
/***************************************************************************/
/**\name Header files
****************************************************************************/
#include "bma4.h"
/***************************************************************************/
/**\name Static Data Buffer
****************************************************************************/
/* Local array to store the values read from the register
* using read_regs API */
static uint8_t temp_buff[BMA4_MAX_BUFFER_SIZE] = {0};
/***************************************************************************/
/**\name Local structures
****************************************************************************/
/*!
* @brief Accel difference value of axis.
*/
struct data_with_sign {
/*! Difference value */
int16_t val;
/*! Indicates negative value if set */
uint8_t is_negative;
};
/*!
* @brief Accel data deviation from ideal value
*/
struct offset_delta {
/*! Accel x axis */
struct data_with_sign x;
/*! Accel y axis */
struct data_with_sign y;
/*! Accel z axis */
struct data_with_sign z;
};
/*!
* @brief Accel offset xyz structure
*/
struct accel_offset {
/*! Accel offset X data */
uint8_t x;
/*! Accel offset Y data */
uint8_t y;
/*! Accel offset Z data */
uint8_t z;
};
/*!
* @brief Accel self test diff xyz data structure
*/
struct selftest_delta_limit {
/*! Accel X data */
int32_t x;
/*! Accel Y data */
int32_t y;
/*! Accel Z data */
int32_t z;
};
/*!
* @brief Structure to store temp data values
*/
struct accel_temp {
/*! Accel X temp data */
int32_t x;
/*! Accel Y temp data */
int32_t y;
/*! Accel Z temp data */
int32_t z;
};
/***************************************************************************/
/*! Static Function Declarations
****************************************************************************/
/*!
* @brief This API validates the bandwidth and perfmode
* value set by the user.
*
* param bandwidth[in] : bandwidth value set by the user.
* param perf_mode[in] : perf_mode value set by the user.
*/
static uint16_t validate_bandwidth_perfmode(uint8_t bandwidth,
uint8_t perf_mode);
/*!
* @brief @brief This API validates the ODR value set by the user.
*
* param bandwidth[in] : odr for accelerometer
*/
static uint16_t validate_odr(uint8_t odr);
/*!
* @brief This API is used to reset the FIFO related configurations
* in the fifo_frame structure.
*
* @param dev[in,out] : Structure instance of bma4_dev
*
*/
static void reset_fifo_data_structure(const struct bma4_dev *dev);
/*!
* @brief This API computes the number of bytes of accel FIFO data
* which is to be parsed in header-less mode
*
* @param[out] start_idx : The start index for parsing data
* @param[out] len : Number of bytes to be parsed
* @param[in] acc_count : Number of accelerometer frames to be read
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void get_accel_len_to_parse(uint16_t *start_idx, uint16_t *len,
const uint16_t *acc_count,
const struct bma4_dev *dev);
/*!
* @brief This API checks the fifo read data as empty frame, if it
* is empty frame then moves the index to last byte.
*
* @param[in,out] data_index : The index of the current data to
* be parsed from fifo data
* @param[in] dev : Structure instance of bma4_dev.
*/
static void check_empty_fifo(uint16_t *data_index, const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in header mode.
*
* @param[in,out] accel_data : Structure instance of bma4_accel where
* the accelerometer data in FIFO is stored.
* @param[in,out] accel_length : Number of accelerometer frames
* (x,y,z axes data)
* @param[in,out] dev : Structure instance of bma4_dev.
*
*/
static void extract_accel_header_mode(struct bma4_accel *accel_data,
uint16_t *accel_length,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in both header mode and header-less mode.
* It update the idx value which is used to store the index of
* the current data byte which is parsed.
*
* @param[in,out] acc : Structure instance of bma4_accel.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] acc_idx : Index value of accelerometer data
* (x,y,z axes) frame to be parsed
* @param[in] frm : It consists of either fifo_data_enable
* parameter (Accel and/or mag data enabled in FIFO)
* in header-less mode or frame header data
* in header mode
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void unpack_acc_frm(struct bma4_accel *acc, uint16_t *idx,
uint16_t *acc_idx, uint8_t frm,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data and store it in the instance of the structure bma4_accel.
*
* @param[out] accel_data : Structure instance of bma4_accel where
* the parsed accel data bytes are stored.
* @param[in] data_start_index : Index value of the accel data bytes
* which is to be parsed from the fifo data.
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void unpack_accel_data(struct bma4_accel *accel_data,
uint16_t data_start_index,
const struct bma4_dev *dev);
/*!
* @brief This API computes the number of bytes of Mag FIFO data which is
* to be parsed in header-less mode
*
* @param[out] start_idx : The start index for parsing data
* @param[out] len : Number of bytes to be parsed
* @param[in] mag_count : Number of magnetometer frames to be read
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void get_mag_len_to_parse(uint16_t *start_idx, uint16_t *len,
const uint16_t *mag_count,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in header mode.
*
* @param[in,out] data : Structure instance of bma4_mag_xyzr where
* the magnetometer data in FIFO is extracted
* and stored.
* @param[in,out] len : Number of magnetometer frames
* (x,y,z,r data)
* @param[in,out] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t extract_mag_header_mode(struct bma4_mag *data, uint16_t *len,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in both header mode and header-less mode and update the
* idx value which is used to store the index of the current
* data byte which is parsed.
*
* @param data : Structure instance of bma4_mag_xyzr.
* @param idx : Index value of number of bytes parsed
* @param mag_idx : Index value magnetometer data frame (x,y,z,r)
* to be parsed
* @param frm : It consists of either the fifo_data_enable parameter
* (Accel and/or mag data enabled in FIFO) in
* header-less mode and frame header data in header mode
* @param dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t unpack_mag_frm(struct bma4_mag *data, uint16_t *idx,
uint16_t *mag_idx, uint8_t frm,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the auxiliary magnetometer data from
* the FIFO data and store it in the instance of the structure mag_data.
*
* @param mag_data : Structure instance of bma4_mag_xyzr where the
* parsed magnetometer data bytes are stored.
* @param start_idx : Index value of the magnetometer data bytes
* which is to be parsed from the FIFO data
* @param dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t unpack_mag_data(struct bma4_mag *mag_data, uint16_t start_idx,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse and store the sensor time from the
* FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the sensor time.
* @param[in,out] dev : Structure instance of bma4_dev.
*
*/
static void unpack_sensortime_frame(uint16_t *data_index,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse and store the skipped_frame_count from
* the FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the skipped frame count.
* @param[in,out] dev : Structure instance of bma4_dev.
*
*/
static void unpack_skipped_frame(uint16_t *data_index,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse and store the dropped_frame_count from
* the FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the dropped frame data.
* @param[in,out] dev : Structure instance of bma4_dev.
*
*/
static void unpack_dropped_frame(uint16_t *data_index,
const struct bma4_dev *dev);
/*!
* @brief This API is used to move the data index ahead of the
* current_frame_length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*
* @param[in,out] data_index : Index of the FIFO data which
* is to be moved ahead of the
* current_frame_length
* @param[in] current_frame_length : Number of bytes in a particular frame
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length,
const struct bma4_dev *dev);
/*!
* @brief This API writes the config stream data in memory using burst mode
*
* @param[in] stream_data : Pointer to store data of 32 bytes
* @param[in] index : Represents value in multiple of 32 bytes
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
static uint16_t stream_transfer_write(const uint8_t *stream_data,
uint16_t index, struct bma4_dev *dev);
/*!
* @brief This API enables or disables the Accel Self test feature in the
* sensor.
*
* @param[in] accel_selftest_enable : Variable used to enable or disable
* the Accel self test feature
* Value | Description
* --------|---------------
* 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
*
*/
static uint16_t set_accel_selftest_enable(uint8_t accel_selftest_axis,
struct bma4_dev *dev);
/*!
* @brief This API selects the sign of Accel self-test excitation
*
* @param[in] accel_selftest_sign: Variable used to select the Accel
* self test sign
* Value | Description
* --------|--------------------------
* 0x00 | BMA4_DISABLE (negative)
* 0x01 | BMA4_ENABLE (positive)
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t set_accel_selftest_sign(uint8_t accel_selftest_sign,
struct bma4_dev *dev);
/*!
* @brief This API sets the Accel self test amplitude in the sensor.
*
* @param[in] accel_selftest_amp : Variable used to specify the Accel self
* test amplitude
* Value | Description
* --------|------------------------------------
* 0x00 | BMA4_SELFTEST_AMP_LOW
* 0x01 | BMA4_SELFTEST_AMP_HIGH
*
* @param[in] dev : structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t set_accel_selftest_amp(uint8_t accel_selftest_amp,
struct bma4_dev *dev);
/*!
* @brief This function enables and configures the Accel which is needed
* for Self test operation.
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return results of self test
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t set_accel_selftest_config(struct bma4_dev *dev);
/*!
* @brief This API validates the Accel g value provided as input by the
* user for Accel offset compensation.
*
* @param[in] gvalue : Pointer variable used to specify the g value
* set by the user for Accel offset compensation.
*
* @note The g-values to be passed to the parameter should be
* multiples of 1000000.
*
* @return results of the status of user input validation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t validate_user_input(const int32_t *gvalue);
/*!
* @brief This API converts the range value into corresponding integer
* value.
*
* @param[in] range_in : input range value.
* @param[out] range_out : pointer to store the integer value of range.
*
* @return results of the status of user input validation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static void map_range(uint8_t range_in, uint8_t *range_out);
/*!
* @brief This API normalise the data with offset.
*
* @param[out] compensated_data : pointer to store the compensated data.
* @param[in] offset_data : pointer of offset.
*
* @return results of the status of user input validation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static void normalise_offset(const struct offset_delta *compensated_data,
struct accel_offset *offset_data);
/*!
* @brief This API normalise the data with offset.
*
* @param[in] res : resolution of the sensor.
* @param[in] range : G-range of the accel.
* @param[in] delta : pointer of offset_delta.
* @param[out] data : pointer to store accel_offset data.
*
* @return results of the status of user input validation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static void scale_offset(uint8_t res, uint8_t range,
const struct offset_delta *delta,
struct accel_offset *data);
/*!
* @brief This API compensate the accel data against gravity.
*
* @param[in] lsb_per_g : lsb value pre 1g.
* @param[in] g_val : G reference value of all axis.
* @param[in] data : pointer of accel_offset data.
* @param[out] comp_data : pointer to store compensated data.
*
* @note The g-values to be passed to the parameter should be
* multiples of 1000000.
*
* @return results of the status of user input validation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static void comp_for_grvty(uint16_t lsb_per_g, const int32_t g_val[3],
const struct bma4_accel *data,
struct offset_delta *comp_data);
/*!
* @brief This function validates the Accel Self test data and decides the
* result of Self test operation.
*
* @param[in] accel_data_diff : Pointer to structure variable which holds
* the Accel data difference of Self test operation
* @param[in] dev : Structure instance of bma4_dev
*
* @return results of self test operation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t
validate_selftest(const struct selftest_delta_limit *accel_data_diff,
const struct bma4_dev *dev);
/*!
* @brief This function configure the Accel for FOC.
*
* @param[in] acc_conf : accel config structure instance
* @param[in] acc_en : enables the accel
* @param[in] pwr_mode : set the power mode
* @param[in] dev : Structure instance of bma4_dev
*
* @return results of self test operation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static uint16_t foc_config(struct bma4_accel_config *acc_conf, uint8_t *acc_en,
uint8_t *pwr_mode, struct bma4_dev *dev);
/*!
* @brief This API converts lsb value of axes to mg for self-test
*
* @param[in] accel_data_diff : Pointer variable used to pass accel difference
* values in g
* @param[out] accel_data_diff_mg : Pointer variable used to store accel
* difference values in mg
* @param[out] dev : Structure instance of bma4_dev
*
* @return None *
*/
static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff,
struct selftest_delta_limit *accel_data_diff_mg,
const struct bma4_dev *dev);
/*!
* @brief This API sets the feature config. data start address in 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
*/
static uint16_t set_feature_config_start_addr(struct bma4_dev *dev);
/*!
* @brief This API increments the feature config. data address according to the
* user provided read/write length in the dev structure.
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
static uint16_t increment_feature_config_addr(const struct bma4_dev *dev);
/*!
* @brief This API reads the 8-bit data from the given register
* in the sensor.
*/
static uint16_t read_regs(uint8_t addr, uint8_t *data, uint8_t len,
const struct bma4_dev *dev);
/*!
* @brief This API writes the 8-bit data to the given register
* in the sensor.
*/
static uint16_t write_regs(uint8_t addr, uint8_t *data, uint8_t len,
const struct bma4_dev *dev);
/*!
* @brief This API sets the feature config. data start address in the sensor.
*/
static uint16_t get_feature_config_start_addr(struct bma4_dev *dev);
/*!
* @brief This API is used to calculate the power of given
* base value.
*
* @param[in] base : value of base
* @param[in] resolution : resolution of the sensor
*
* @return : return the value of base^resolution
*/
static int32_t power(int16_t base, uint8_t resolution);
/*!
* @brief This API performs roundoff on given value
*
* @param[in] value : Value which is need to be rounded off
*
* @return : None
*/
static int8_t roundoff(int32_t value);
/*!
* @brief This API finds the bit position of 3.9mg according to given range
* and resolution.
*
* @param[in] range : range of the accel.
* @param[in] res : resolution of the accel.
*
* @return : bit position of 3.9mg
*/
static int8_t get_bit_pos_3_9mg(uint8_t range, uint8_t res);
/*!
* @brief This API finds the the null error of the device pointer structure
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Null error
*/
static uint16_t bma4_null_pointer_check(const struct bma4_dev *dev);
/*!
* @brief This internal API brings up the secondary interface to access
* auxiliary sensor
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval 0 if success, else fail
*/
static uint16_t bma4_set_aux_interface_config(struct bma4_dev *dev);
/*!
* @brief This internal API reads the data from the auxiliary sensor
* depending on burst length configured
*
* @param[in] dev : Structure instance of bma4_dev.
* @param[out] aux_data : Pointer variable to store data read
* @param[in] aux_reg_addr : Variable to pass address from where
* data is to be read
*
* @return Result of API execution status
*
* @retval 0 if success, else fail
*/
static uint16_t bma4_extract_aux_data(uint8_t aux_reg_addr, uint8_t *aux_data,
uint16_t len, struct bma4_dev *dev);
/*!
* @brief This internal API maps the actual burst read length with user length
* set.
*
* @param[in] dev : Structure instance of bma4_dev.
* @param[out] len : Pointer variable to store mapped length
*
* @return Result of API execution status
*
* @retval 0 if success, else fail
*/
static uint16_t bma4_map_read_len(uint8_t *len, const struct bma4_dev *dev);
/***************************************************************************/
/**\name Extern Declarations
****************************************************************************/
/***************************************************************************/
/**\name Globals
****************************************************************************/
/***************************************************************************/
/**\name Function definitions
****************************************************************************/
/*!
* @brief This API is the entry point.
* Call this API before using all other APIs.
* This API reads the chip-id of the sensor which is the first step to
* verify the sensor and also it configures the read mechanism of SPI and
* I2C interface.
*/
uint16_t bma4_init(struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if ((dev == NULL) || (dev->bus_read == NULL) || (dev->bus_write == NULL)) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (dev->interface == BMA4_SPI_INTERFACE)
dev->dummy_byte = 1;
else
dev->dummy_byte = 0;
rslt |= bma4_read_regs(BMA4_CHIP_ID_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
/* Assign Chip Id */
dev->chip_id = data;
}
}
return rslt;
}
/*!
* @brief This API is used to write the binary configuration in the sensor
*/
uint16_t bma4_write_config_file(struct bma4_dev *dev) {
uint16_t rslt;
/* Config loading disable*/
uint8_t config_load = 0;
uint16_t index = 0;
uint8_t config_stream_status = 0;
/* Disable advanced power save */
rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
more information*/
dev->delay(1);
if (rslt == BMA4_OK) {
/* Disable config loading*/
rslt |= bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev);
/* Write the config stream */
for (index = 0; index < BMA4_CONFIG_STREAM_SIZE;
index += dev->read_write_len)
rslt |= stream_transfer_write((dev->config_file_ptr + index), index, dev);
/* Enable config loading and FIFO mode */
config_load = 0x01;
rslt |= bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev);
/* Wait till ASIC is initialized. Refer the data-sheet for
more information*/
dev->delay(150);
/* Read the status of config stream operation */
rslt |= bma4_read_regs(BMA4_INTERNAL_STAT, &config_stream_status, 1, dev);
if (config_stream_status != BMA4_ASIC_INITIALIZED) {
rslt |= BMA4_E_CONFIG_STREAM_ERROR;
} else {
/* Enable advanced power save */
rslt |= bma4_set_advance_power_save(BMA4_ENABLE, dev);
rslt |= get_feature_config_start_addr(dev);
}
}
return rslt;
}
/*!
* @brief This API checks whether the write operation requested is for feature
* config or register write and accordingly writes the data in the sensor.
*/
uint16_t bma4_write_regs(uint8_t addr, uint8_t *data, uint8_t len,
struct bma4_dev *dev) {
uint8_t i;
uint8_t loop_count;
uint8_t overflow;
uint8_t index;
uint16_t rslt = BMA4_OK;
uint8_t adv_pwr_save = 0;
/* Check the dev structure as NULL*/
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (addr == BMA4_FEATURE_CONFIG_ADDR) {
/* Disable APS if enabled before writing the feature config register */
rslt = bma4_get_advance_power_save(&adv_pwr_save, dev);
if (adv_pwr_save == BMA4_ENABLE) {
rslt |= bma4_set_advance_power_save(BMA4_DISABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
more information*/
dev->delay(1);
}
if (((len % 2) == 0) && (len <= dev->feature_len) && (rslt == BMA4_OK)) {
if (dev->read_write_len < len) {
/* Calculate the no of writes to be performed according
to the read/write length */
loop_count = len / dev->read_write_len;
overflow = len % dev->read_write_len;
index = 0;
rslt = set_feature_config_start_addr(dev);
for (i = 0; i < loop_count; i++) {
rslt |= write_regs(BMA4_FEATURE_CONFIG_ADDR, data + index,
dev->read_write_len, dev);
rslt |= increment_feature_config_addr(dev);
index = index + dev->read_write_len;
}
if (overflow)
rslt |= write_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, overflow,
dev);
rslt |= set_feature_config_start_addr(dev);
} else {
rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, data, len, dev);
}
} else {
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
if (rslt == BMA4_OK) {
/* Enable APS once write feature config register is done */
rslt = bma4_get_advance_power_save(&adv_pwr_save, dev);
if (adv_pwr_save == BMA4_DISABLE) {
rslt |= bma4_set_advance_power_save(BMA4_ENABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
more information*/
dev->delay(1);
}
}
} else {
rslt = write_regs(addr, data, len, dev);
}
}
return rslt;
}
/*!
* @brief This API writes the 8-bit data to the given register
* in the sensor.
*/
static uint16_t write_regs(uint8_t addr, uint8_t *data, uint8_t len,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (dev->interface == BMA4_SPI_INTERFACE)
addr = addr & BMA4_SPI_WR_MASK;
/* write data in the register*/
rslt |= dev->bus_write(dev->dev_addr, addr, data, len);
}
return rslt;
}
/*!
* @brief This API sets the feature config. data start address in the sensor.
*/
static uint16_t get_feature_config_start_addr(struct bma4_dev *dev) {
uint16_t rslt;
uint8_t asic_lsb;
uint8_t asic_msb;
rslt = read_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev);
rslt |= read_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev);
/* Store asic info in dev structure */
dev->asic_data.asic_lsb = asic_lsb & 0x0F;
dev->asic_data.asic_msb = asic_msb;
return rslt;
}
/*!
* @brief This API sets the feature config. data start address in the sensor.
*/
static uint16_t set_feature_config_start_addr(struct bma4_dev *dev) {
uint16_t rslt;
rslt =
write_regs(BMA4_RESERVED_REG_5B_ADDR, &dev->asic_data.asic_lsb, 1, dev);
rslt |=
write_regs(BMA4_RESERVED_REG_5C_ADDR, &dev->asic_data.asic_msb, 1, dev);
return rslt;
}
/*!
* @brief This API increments the feature config. data address according to the
* user provided read/write length in the dev structure.
*/
static uint16_t increment_feature_config_addr(const struct bma4_dev *dev) {
uint16_t rslt;
uint16_t asic_addr;
uint8_t asic_lsb;
uint8_t asic_msb;
/* Read the asic address from the sensor */
rslt = read_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev);
rslt |= read_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev);
/* Get the asic address */
asic_addr = (asic_msb << 4) | (asic_lsb & 0x0F);
/* Sum the asic address with read/write length after converting from
byte to word */
asic_addr = asic_addr + (dev->read_write_len / 2);
/* Split the asic address */
asic_lsb = asic_addr & 0x0F;
asic_msb = (uint8_t)(asic_addr >> 4);
/* Write the asic address in the sensor */
rslt |= write_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev);
rslt |= write_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev);
return rslt;
}
/*!
* @brief This API checks whether the read operation requested is for feature
* or register read and accordingly reads the data from the sensor.
*/
uint16_t bma4_read_regs(uint8_t addr, uint8_t *data, uint8_t len,
struct bma4_dev *dev) {
uint8_t i;
uint8_t loop_count;
uint8_t overflow;
uint8_t index;
uint16_t rslt = BMA4_OK;
uint8_t adv_pwr_save = 0;
/* Check the dev structure as NULL*/
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (addr == BMA4_FEATURE_CONFIG_ADDR) {
/* Disable APS if enabled before reading the feature config register */
rslt = bma4_get_advance_power_save(&adv_pwr_save, dev);
if (adv_pwr_save == BMA4_ENABLE) {
rslt |= bma4_set_advance_power_save(BMA4_DISABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
more information*/
dev->delay(1);
}
if (((len % 2) == 0) && (len <= dev->feature_len) && (rslt == BMA4_OK)) {
if (dev->read_write_len < len) {
/* Calculate the no of writes to be performed according
to the read/write length */
loop_count = len / dev->read_write_len;
overflow = len % dev->read_write_len;
index = 0;
rslt = set_feature_config_start_addr(dev);
for (i = 0; i < loop_count; i++) {
rslt |= read_regs(BMA4_FEATURE_CONFIG_ADDR, data + index,
dev->read_write_len, dev);
rslt |= increment_feature_config_addr(dev);
index = index + dev->read_write_len;
}
if (overflow)
rslt |= read_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, overflow,
dev);
rslt |= set_feature_config_start_addr(dev);
} else {
rslt = read_regs(BMA4_FEATURE_CONFIG_ADDR, data, len, dev);
}
} else {
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
if (rslt == BMA4_OK) {
/* Enable APS once read feature config register is done */
rslt = bma4_get_advance_power_save(&adv_pwr_save, dev);
if (adv_pwr_save == BMA4_DISABLE) {
rslt |= bma4_set_advance_power_save(BMA4_ENABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
more information*/
dev->delay(1);
}
}
} else {
rslt = read_regs(addr, data, len, dev);
}
}
return rslt;
}
/*!
* @brief This API reads the 8-bit data from the given register
* in the sensor.
*/
static uint16_t read_regs(uint8_t addr, uint8_t *data, uint8_t len,
const struct bma4_dev *dev) {
/* variable used to return the status of communication result*/
uint16_t rslt = 0;
uint16_t temp_len = len + dev->dummy_byte;
uint16_t i;
if (dev->interface == BMA4_SPI_INTERFACE) {
/* SPI mask added */
addr = addr | BMA4_SPI_RD_MASK;
}
if (temp_len > BMA4_MAX_BUFFER_SIZE) {
/* Buffer size is not sufficient */
rslt |= BMA4_E_OUT_OF_RANGE;
}
if (rslt == BMA4_OK) {
/* Read the data from the register */
rslt |= dev->bus_read(dev->dev_addr, addr, temp_buff, temp_len);
for (i = 0; i < len; i++) {
/* Parsing and storing the valid data */
data[i] = temp_buff[i + dev->dummy_byte];
}
}
return rslt;
}
/*!
* @brief This API reads the error status from the sensor.
*/
uint16_t bma4_get_error_status(struct bma4_err_reg *err_reg,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the error codes*/
rslt |= bma4_read_regs(BMA4_ERROR_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
/* Fatal error*/
err_reg->fatal_err = BMA4_GET_BITS_POS_0(data, BMA4_FATAL_ERR);
/* Cmd error*/
err_reg->cmd_err = BMA4_GET_BITSLICE(data, BMA4_CMD_ERR);
/* User error*/
err_reg->err_code = BMA4_GET_BITSLICE(data, BMA4_ERR_CODE);
/* FIFO error*/
err_reg->fifo_err = BMA4_GET_BITSLICE(data, BMA4_FIFO_ERR);
/* Mag data ready error*/
err_reg->aux_err = BMA4_GET_BITSLICE(data, BMA4_AUX_ERR);
}
}
return rslt;
}
/*!
* @brief This API reads the sensor status from the sensor.
*/
uint16_t bma4_get_status(uint8_t *status, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the error codes*/
rslt |= bma4_read_regs(BMA4_STATUS_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*status = data;
}
return rslt;
}
/*!
* @brief This API reads the Accel data for x,y and z axis from the sensor.
* The data units is in LSB format.
*/
uint16_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint16_t lsb = 0;
uint16_t msb = 0;
uint8_t data[BMA4_ACCEL_DATA_LENGTH] = {0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_DATA_8_ADDR, data, BMA4_ACCEL_DATA_LENGTH, dev);
if (rslt == BMA4_OK) {
msb = data[1];
lsb = data[0];
/* Accel data x axis */
accel->x = (int16_t)((msb << 8) | lsb);
msb = data[3];
lsb = data[2];
/* Accel data y axis */
accel->y = (int16_t)((msb << 8) | lsb);
msb = data[5];
lsb = data[4];
/* Accel data z axis */
accel->z = (int16_t)((msb << 8) | lsb);
if (dev->resolution == BMA4_12_BIT_RESOLUTION) {
accel->x = (accel->x / 0x10);
accel->y = (accel->y / 0x10);
accel->z = (accel->z / 0x10);
} else if (dev->resolution == BMA4_14_BIT_RESOLUTION) {
accel->x = (accel->x / 0x04);
accel->y = (accel->y / 0x04);
accel->z = (accel->z / 0x04);
}
}
}
return rslt;
}
/*!
* @brief This API reads the sensor time of Sensor time gets updated
* with every update of data register or FIFO.
*/
uint16_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[BMA4_SENSOR_TIME_LENGTH] = {0};
uint8_t msb = 0;
uint8_t xlsb = 0;
uint8_t lsb = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_SENSORTIME_0_ADDR, data,
BMA4_SENSOR_TIME_LENGTH, dev);
if (rslt == BMA4_OK) {
msb = data[BMA4_SENSOR_TIME_MSB_BYTE];
xlsb = data[BMA4_SENSOR_TIME_XLSB_BYTE];
lsb = data[BMA4_SENSOR_TIME_LSB_BYTE];
*sensor_time = (uint32_t)((msb << 16) | (xlsb << 8) | lsb);
}
}
return rslt;
}
/*!
* @brief This API reads the chip temperature of sensor.
*
* @note Using a scaling factor of 1000, to obtain integer values, which
* at the user end, are used to get accurate temperature value .
* BMA4_FAHREN_SCALED = 1.8 * 1000, BMA4_KELVIN_SCALED = 273.15 * 1000
*/
uint16_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[BMA4_TEMP_DATA_SIZE] = {0};
int32_t temp_raw_scaled = 0;
/* Check for Null pointer error */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read temperature value from the register */
rslt |=
bma4_read_regs(BMA4_TEMPERATURE_ADDR, data, BMA4_TEMP_DATA_SIZE, dev);
if (rslt == BMA4_OK)
temp_raw_scaled = (int32_t)data[BMA4_TEMP_BYTE] * BMA4_SCALE_TEMP;
/* '0' value read from the register corresponds to 23 degree C */
(*temp) = temp_raw_scaled + (BMA4_OFFSET_TEMP * BMA4_SCALE_TEMP);
switch (temp_unit) {
case BMA4_DEG:
break;
case BMA4_FAHREN:
/* Temperature in degree Fahrenheit */
(*temp) = (((*temp) / BMA4_SCALE_TEMP) * BMA4_FAHREN_SCALED) +
(32 * BMA4_SCALE_TEMP);
break;
case BMA4_KELVIN:
/* Temperature in degree Kelvin */
(*temp) = (*temp) + BMA4_KELVIN_SCALED;
break;
default:
break;
}
}
return rslt;
}
/*!
* @brief This API reads the Output data rate, Bandwidth, perf_mode
* and Range of accel.
*/
uint16_t bma4_get_accel_config(struct bma4_accel_config *accel,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_ACCEL_CONFIG_ADDR, data,
BMA4_ACCEL_CONFIG_LENGTH, dev);
if (rslt == BMA4_OK) {
/* To get the ODR */
accel->odr = BMA4_GET_BITS_POS_0(data[0], BMA4_ACCEL_ODR);
/* To get the bandwidth */
accel->bandwidth = BMA4_GET_BITSLICE(data[0], BMA4_ACCEL_BW);
/* To get the under sampling mode */
accel->perf_mode = BMA4_GET_BITSLICE(data[0], BMA4_ACCEL_PERFMODE);
/* Read the Accel range */
accel->range = BMA4_GET_BITS_POS_0(data[1], BMA4_ACCEL_RANGE);
}
}
return rslt;
}
/*!
* @brief This API sets the output_data_rate, bandwidth, perf_mode
* and range of Accel.
*/
uint16_t bma4_set_accel_config(const struct bma4_accel_config *accel,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t accel_config_data[2] = {0, 0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* check whether the bandwidth and perfmode
settings are valid */
rslt = validate_bandwidth_perfmode(accel->bandwidth, accel->perf_mode);
if (rslt == BMA4_OK) {
/* check ODR is valid */
rslt |= validate_odr(accel->odr);
if (rslt == BMA4_OK) {
accel_config_data[0] = accel->odr & BMA4_ACCEL_ODR_MSK;
accel_config_data[0] |=
(uint8_t)(accel->bandwidth << BMA4_ACCEL_BW_POS);
accel_config_data[0] |=
(uint8_t)(accel->perf_mode << BMA4_ACCEL_PERFMODE_POS);
accel_config_data[1] = accel->range & BMA4_ACCEL_RANGE_MSK;
/* Burst write is not possible in
suspend mode hence individual write is
used with delay of 1 ms */
rslt |= bma4_write_regs(BMA4_ACCEL_CONFIG_ADDR, &accel_config_data[0],
1, dev);
dev->delay(BMA4_GEN_READ_WRITE_DELAY);
rslt |= bma4_write_regs((BMA4_ACCEL_CONFIG_ADDR + 1),
&accel_config_data[1], 1, dev);
}
}
}
return rslt;
}
/*!
* @brief This API validates the bandwidth and perf_mode
* value set by the user.
*/
static uint16_t validate_bandwidth_perfmode(uint8_t bandwidth,
uint8_t perf_mode) {
uint16_t rslt = BMA4_OK;
if (perf_mode == BMA4_CONTINUOUS_MODE) {
if (bandwidth > BMA4_ACCEL_NORMAL_AVG4) {
/* Invalid bandwidth error for continuous mode */
rslt = BMA4_E_OUT_OF_RANGE;
}
} else if (perf_mode == BMA4_CIC_AVG_MODE) {
if (bandwidth > BMA4_ACCEL_RES_AVG128) {
/* Invalid bandwidth error for CIC avg. mode */
rslt = BMA4_E_OUT_OF_RANGE;
}
} else {
rslt = BMA4_E_OUT_OF_RANGE;
}
return rslt;
}
/*!
* @brief This API validates the ODR value set by the user.
*/
static uint16_t validate_odr(uint8_t odr) {
uint16_t rslt = BMA4_OK;
if ((odr < BMA4_OUTPUT_DATA_RATE_0_78HZ) ||
(odr > BMA4_OUTPUT_DATA_RATE_1600HZ)) {
/* If odr is not valid return error */
rslt = BMA4_E_OUT_OF_RANGE;
}
return rslt;
}
/*!
* @brief This API sets the advance power save mode in the sensor.
*/
uint16_t bma4_set_advance_power_save(uint8_t adv_pwr_save,
struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITS_POS_0(data, BMA4_ADVANCE_POWER_SAVE, adv_pwr_save);
rslt |= bma4_write_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API reads the status of advance power save mode
* from the sensor.
*/
uint16_t bma4_get_advance_power_save(uint8_t *adv_pwr_save,
struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*adv_pwr_save = BMA4_GET_BITS_POS_0(data, BMA4_ADVANCE_POWER_SAVE);
}
return rslt;
}
/*!
* @brief This API sets the FIFO self wake up functionality in the sensor.
*/
uint16_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_FIFO_SELF_WAKE_UP, fifo_self_wakeup);
rslt |= bma4_write_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API gets the status of FIFO self wake up functionality from
* the sensor.
*/
uint16_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wake_up,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*fifo_self_wake_up = BMA4_GET_BITSLICE(data, BMA4_FIFO_SELF_WAKE_UP);
}
return rslt;
}
/*!
* @brief This API enables or disables the Accel in the sensor.
*/
uint16_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_ACCEL_ENABLE, accel_en);
rslt |= bma4_write_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API checks whether Accel is enabled or not in the sensor.
*/
uint16_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*accel_en = BMA4_GET_BITSLICE(data, BMA4_ACCEL_ENABLE);
}
return rslt;
}
/*!
* @brief This API is used to enable or disable auxiliary Mag
* in the sensor.
*/
uint16_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITS_POS_0(data, BMA4_MAG_ENABLE, mag_en);
rslt |= bma4_write_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API is used to check whether the auxiliary Mag is enabled
* or not in the sensor.
*/
uint16_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_en = BMA4_GET_BITS_POS_0(data, BMA4_MAG_ENABLE);
}
return rslt;
}
/*!
* @brief This API reads the SPI interface mode which is set for primary
* interface.
*/
uint16_t bma4_get_spi_interface(uint8_t *spi, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read SPI mode */
rslt |= bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*spi = BMA4_GET_BITS_POS_0(data, BMA4_CONFIG_SPI3);
}
return rslt;
}
/*!
* @brief This API configures the SPI interface Mode for primary interface
*/
uint16_t bma4_set_spi_interface(uint8_t spi, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (spi <= BMA4_MAX_VALUE_SPI3) {
/* Write SPI mode */
rslt |= bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITS_POS_0(data, BMA4_CONFIG_SPI3, spi);
rslt |= bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
}
} else {
rslt |= BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This API writes the available sensor specific commands
* to the sensor.
*/
uint16_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write command register */
rslt |= bma4_write_regs(BMA4_CMD_ADDR, &command_reg, 1, dev);
}
return rslt;
}
/*!
* @brief This API sets the I2C device address of auxiliary sensor
*/
uint16_t bma4_set_i2c_device_addr(struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0, dev_id = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write the auxiliary I2C device address */
rslt |= bma4_read_regs(BMA4_AUX_DEV_ID_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
dev_id = BMA4_SET_BITSLICE(data, BMA4_I2C_DEVICE_ADDR,
dev->aux_config.aux_dev_addr);
rslt |= bma4_write_regs(BMA4_AUX_DEV_ID_ADDR, &dev_id, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API sets the register access on MAG_IF[2], MAG_IF[3],
* MAG_IF[4] in the sensor. This implies that the DATA registers are
* not updated with Mag values automatically.
*/
uint16_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write the Mag manual*/
rslt |= bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
dev->delay(BMA4_GEN_READ_WRITE_DELAY);
if (rslt == BMA4_OK) {
/* Set the bit of Mag manual enable */
data = BMA4_SET_BITSLICE(data, BMA4_MAG_MANUAL_ENABLE, mag_manual);
rslt |= bma4_write_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
dev->aux_config.manual_enable = (uint8_t)mag_manual;
} else {
/*dev->mag_manual_enable = 0;*/
dev->aux_config.manual_enable = 0;
}
}
return rslt;
}
/*!
* @brief This API checks whether the Mag access is done manually or
* automatically in the sensor.
* If the Mag access is done through manual mode then Mag data registers
* in sensor are not updated automatically.
*/
uint16_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read Mag manual */
rslt |= bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_manual = BMA4_GET_BITSLICE(data, BMA4_MAG_MANUAL_ENABLE);
}
return rslt;
}
/*!
* @brief This API sets the I2C interface configuration(if) mode
* for auxiliary Mag.
*/
uint16_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE, if_mode);
rslt |= bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API gets the address of the register of Aux Mag sensor
* where the data to be read.
*/
uint16_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_AUX_RD_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_read_addr = BMA4_GET_BITS_POS_0(data, BMA4_READ_ADDR);
}
return rslt;
}
/*!
* @brief This API sets the address of the register of Aux Mag sensor
* where the data to be read.
*/
uint16_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write the Mag read address*/
rslt |= bma4_write_regs(BMA4_AUX_RD_ADDR, &mag_read_addr, 1, dev);
}
return rslt;
}
/*!
* @brief This API gets the Aux Mag write address from the sensor.
* Mag write address is where the Mag data will be written.
*/
uint16_t bma4_get_mag_write_addr(uint8_t *mag_write_addr,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_AUX_WR_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_write_addr = BMA4_GET_BITS_POS_0(data, BMA4_WRITE_ADDR);
}
return rslt;
}
/*!
* @brief This API sets the Aux Mag write address in the sensor.
* Mag write address is where the Mag data will be written.
*/
uint16_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL)
rslt |= BMA4_E_NULL_PTR;
else
rslt |= bma4_write_regs(BMA4_AUX_WR_ADDR, &mag_write_addr, 1, dev);
return rslt;
}
/*!
* @brief This API reads the data from the sensor which is written to the
* Mag.
*/
uint16_t bma4_get_mag_write_data(uint8_t *mag_write_data,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_AUX_WR_DATA_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_write_data = BMA4_GET_BITS_POS_0(data, BMA4_WRITE_DATA);
}
return rslt;
}
/*!
* @brief This API sets the data in the sensor which in turn will
* be written to Mag.
*/
uint16_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL)
rslt |= BMA4_E_NULL_PTR;
else
rslt |= bma4_write_regs(BMA4_AUX_WR_DATA_ADDR, &mag_write_data, 1, dev);
return rslt;
}
/*!
* @brief This API reads the x,y,z and r axis data from the auxiliary
* Mag BMM150/AKM9916 sensor.
*/
uint16_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint16_t msb = 0;
uint16_t lsb = 0;
uint8_t data[BMA4_MAG_XYZR_DATA_LENGTH] = {0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |=
bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZR_DATA_LENGTH, dev);
if (rslt == BMA4_OK) {
/* Data X */
/* X-axis LSB value shifting */
lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_X_LSB_BYTE], BMA4_DATA_MAG_X_LSB);
msb = data[BMA4_MAG_X_MSB_BYTE];
mag->x = (int16_t)((msb << 8) | lsb);
mag->x = (mag->x / 0x08);
/* Data Y */
/* Y-axis LSB value shifting */
lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_Y_LSB_BYTE], BMA4_DATA_MAG_Y_LSB);
msb = data[BMA4_MAG_Y_MSB_BYTE];
mag->y = (int16_t)((msb << 8) | lsb);
mag->y = (mag->y / 0x08);
/* Data Z */
/* Z-axis LSB value shifting */
lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_Z_LSB_BYTE], BMA4_DATA_MAG_Z_LSB);
msb = data[BMA4_MAG_Z_MSB_BYTE];
mag->z = (int16_t)((msb << 8) | lsb);
mag->z = (mag->z / 0x02);
/* RHall */
/* R-axis LSB value shifting */
lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_R_LSB_BYTE], BMA4_DATA_MAG_R_LSB);
msb = data[BMA4_MAG_R_MSB_BYTE];
mag->r = (int16_t)((msb << 8) | lsb);
mag->r = (mag->r / 0x04);
}
}
return rslt;
}
/*!
* @brief This API sets the burst data length (1,2,6,8 byte) of auxiliary
* Mag sensor.
*/
uint16_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write auxiliary burst mode length*/
rslt |= bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITS_POS_0(data, BMA4_MAG_BURST, mag_burst);
rslt |= bma4_write_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API reads the burst data length of Mag set in the sensor.
*/
uint16_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write Mag burst mode length*/
rslt |= bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*mag_burst = BMA4_GET_BITS_POS_0(data, BMA4_MAG_BURST);
}
return rslt;
}
/*!
* @brief This API reads the FIFO data of Accel and/or Mag sensor
*/
uint16_t bma4_read_fifo_data(struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
uint8_t addr = BMA4_FIFO_DATA_ADDR;
/* check the bma4 structure as NULL*/
if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
reset_fifo_data_structure(dev);
/* read FIFO data*/
if (dev->interface == BMA4_SPI_INTERFACE)
addr = addr | BMA4_SPI_RD_MASK;
rslt |=
dev->bus_read(dev->dev_addr, addr, dev->fifo->data, dev->fifo->length);
/* read fifo frame content configuration*/
rslt |= bma4_read_regs(BMA4_FIFO_CONFIG_1_ADDR, &data, 1, dev);
/* filter fifo header enabled status */
dev->fifo->fifo_header_enable = data & BMA4_FIFO_HEADER;
/* filter accel/mag data enabled status */
dev->fifo->fifo_data_enable = data & BMA4_FIFO_M_A_ENABLE;
}
return rslt;
}
/*!
* @brief This API parses and extracts the accelerometer frames from
* FIFO data read by the "bma4_read_fifo_data" API and stores it in the
* "accel_data" structure instance.
*/
uint16_t bma4_extract_accel(struct bma4_accel *accel_data,
uint16_t *accel_length,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
uint16_t data_index = 0;
uint16_t accel_index = 0;
uint16_t data_read_length = 0;
if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Parsing the FIFO data in header-less mode */
if (dev->fifo->fifo_header_enable == 0) {
get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev);
for (; data_index < data_read_length;) {
unpack_acc_frm(accel_data, &data_index, &accel_index,
dev->fifo->fifo_data_enable, dev);
/*Check for the availability of next
two bytes of FIFO data */
check_empty_fifo(&data_index, dev);
}
/* update number of accel data read*/
*accel_length = accel_index;
/*update the accel byte index*/
dev->fifo->accel_byte_start_idx = data_index;
} else {
/* Parsing the FIFO data in header mode */
extract_accel_header_mode(accel_data, accel_length, dev);
}
}
return rslt;
}
/*!
* @brief This API parses and extracts the magnetometer frames from
* FIFO data read by the "bma4_read_fifo_data" API and stores it in the
* "mag_data" structure instance parameter of this API
*/
uint16_t bma4_extract_mag(struct bma4_mag *mag_data, uint16_t *mag_length,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
uint16_t data_index = 0;
uint16_t mag_index = 0;
uint16_t data_read_length = 0;
if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Parsing the FIFO data in header-less mode */
if (dev->fifo->fifo_header_enable == 0) {
get_mag_len_to_parse(&data_index, &data_read_length, mag_length, dev);
for (; data_index < data_read_length;) {
rslt |= unpack_mag_frm(mag_data, &data_index, &mag_index,
dev->fifo->fifo_data_enable, dev);
/*Check for the availability of next
two bytes of FIFO data */
check_empty_fifo(&data_index, dev);
}
/* update number of Aux. sensor data read*/
*mag_length = mag_index;
/*update the Aux. sensor frame index*/
dev->fifo->mag_byte_start_idx = data_index;
} else {
/* Parsing the FIFO data in header mode */
rslt |= extract_mag_header_mode(mag_data, mag_length, dev);
}
}
return rslt;
}
/*!
* @brief This API reads the FIFO water mark level which is set
* in the sensor.
*/
uint16_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0, 0};
/* Check the bma4 structure as NULL*/
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the FIFO water mark level*/
rslt |=
bma4_read_regs(BMA4_FIFO_WTM_0_ADDR, data, BMA4_FIFO_WM_LENGTH, dev);
if (BMA4_OK == rslt)
*fifo_wm = (data[1] << 8) | (data[0]);
}
return rslt;
}
/*!
* @brief This API sets the FIFO watermark level in the sensor.
*/
uint16_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0, 0};
/* Check the bma4 structure as NULL*/
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
data[0] = BMA4_GET_LSB(fifo_wm);
data[1] = BMA4_GET_MSB(fifo_wm);
/* consecutive write is not possible in suspend mode hence
separate write is used with delay of 1 ms*/
/* Write the fifo watermark level*/
rslt |= bma4_write_regs(BMA4_FIFO_WTM_0_ADDR, &data[0], 1, dev);
dev->delay(BMA4_GEN_READ_WRITE_DELAY);
rslt |= bma4_write_regs((BMA4_FIFO_WTM_0_ADDR + 1), &data[1], 1, dev);
}
return rslt;
}
/*!
* @brief This API checks whether the Accel FIFO data is set for filtered
* or unfiltered mode.
*/
uint16_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the Accel FIFO filter data */
rslt |= bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*accel_fifo_filter = BMA4_GET_BITSLICE(data, BMA4_FIFO_FILTER_ACCEL);
}
return rslt;
}
/*!
* @brief This API sets the condition of Accel FIFO data either to
* filtered or unfiltered mode.
*/
uint16_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (accel_fifo_filter <= BMA4_MAX_VALUE_FIFO_FILTER) {
rslt |= bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
/* Write Accel FIFO filter data */
data =
BMA4_SET_BITSLICE(data, BMA4_FIFO_FILTER_ACCEL, accel_fifo_filter);
rslt |= bma4_write_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
}
} else {
rslt |= BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This API reads the down sampling rates which is configured
* for Accel FIFO data.
*/
uint16_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the Accel FIFO down data */
rslt |= bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*fifo_down = BMA4_GET_BITSLICE(data, BMA4_FIFO_DOWN_ACCEL);
}
return rslt;
}
/*!
* @brief This API sets the down-sampling rates for Accel FIFO.
*/
uint16_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Write the Accel FIFO down data */
rslt |= bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_FIFO_DOWN_ACCEL, fifo_down);
rslt |= bma4_write_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API reads the length of FIFO data available in the sensor
* in the units of bytes.
*/
uint16_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t index = 0;
uint8_t data[BMA4_FIFO_DATA_LENGTH] = {0, 0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read FIFO length*/
rslt |= bma4_read_regs(BMA4_FIFO_LENGTH_0_ADDR, data, BMA4_FIFO_DATA_LENGTH,
dev);
if (rslt == BMA4_OK) {
index = BMA4_FIFO_LENGTH_MSB_BYTE;
data[index] =
BMA4_GET_BITS_POS_0(data[index], BMA4_FIFO_BYTE_COUNTER_MSB);
*fifo_length = ((data[index] << 8) | data[index - 1]);
}
}
return rslt;
}
/*!
* @brief This API aligns and compensates the Mag data of BMM150/AKM9916
* sensor.
*/
uint16_t
bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data,
uint8_t mag_second_if,
struct bma4_mag *compensated_mag_data) {
uint16_t rslt = 0;
#ifdef BMM150
int16_t mag_x = 0;
int16_t mag_y = 0;
int16_t mag_z = 0;
uint16_t mag_r = 0;
#endif
switch (mag_second_if) {
#ifdef BMM150
case BMA4_SEC_IF_BMM150:
/* X data*/
mag_x =
(int16_t)((mag_fifo_data.mag_x_msb << 8) | (mag_fifo_data.mag_x_lsb));
mag_x = (int16_t)(mag_x / 0x08);
/* Y data*/
mag_y =
(int16_t)((mag_fifo_data.mag_y_msb << 8) | (mag_fifo_data.mag_y_lsb));
mag_y = (int16_t)(mag_y / 0x08);
/* Z data*/
mag_z =
(int16_t)((mag_fifo_data.mag_z_msb << 8) | (mag_fifo_data.mag_z_lsb));
mag_z = (int16_t)(mag_z / 0x02);
/* R data*/
mag_r = (uint16_t)((mag_fifo_data.mag_r_y2_msb << 8) |
(mag_fifo_data.mag_r_y2_lsb));
mag_r = (uint16_t)(mag_r >> 2);
/* Compensated Mag x data */
compensated_mag_data->x = bma4_bmm150_mag_compensate_X(mag_x, mag_r);
/* Compensated Mag y data */
compensated_mag_data->y = bma4_bmm150_mag_compensate_Y(mag_y, mag_r);
/* Compensated Mag z data */
compensated_mag_data->z = bma4_bmm150_mag_compensate_Z(mag_z, mag_r);
break;
#endif
#ifdef AKM9916
case BMA4_SEC_IF_AKM09916:
/* Compensated X data */
compensated_mag_data->x =
(int16_t)((mag_fifo_data.mag_x_msb << 8) | (mag_fifo_data.mag_x_lsb));
/* Compensated Y data*/
compensated_mag_data->y =
(int16_t)((mag_fifo_data.mag_y_msb << 8) | (mag_fifo_data.mag_y_lsb));
/* Compensated Z data*/
compensated_mag_data->z =
(int16_t)((mag_fifo_data.mag_z_msb << 8) | (mag_fifo_data.mag_z_lsb));
break;
#endif
default:
rslt |= BMA4_E_OUT_OF_RANGE;
break;
}
return rslt;
}
/*!
* @brief This API reads Mag. x,y and z axis data from either BMM150 or
* AKM9916 sensor
*/
uint16_t bma4_read_mag_xyz(struct bma4_mag *mag, uint8_t sensor_select,
struct bma4_dev *dev) {
uint16_t rslt = 0;
#if defined(AKM9916) || defined(BMM150)
uint8_t index;
uint16_t msb = 0;
uint16_t lsb = 0;
uint8_t data[BMA4_MAG_XYZ_DATA_LENGTH] = {0};
#endif
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
switch (sensor_select) {
#if defined(BMM150)
case BMA4_SEC_IF_BMM150:
rslt |=
bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZ_DATA_LENGTH, dev);
if (rslt == BMA4_OK) {
index = BMA4_MAG_X_LSB_BYTE;
/*X-axis LSB value shifting*/
data[index] = BMA4_GET_BITSLICE(data[index], BMA4_DATA_MAG_X_LSB);
/* Data X */
msb = data[index + 1];
lsb = data[index];
mag->x = (int16_t)((msb << 8) | lsb);
mag->x = (mag->x / 0x08);
/* Data Y */
/*Y-axis LSB value shifting*/
data[index + 2] =
BMA4_GET_BITSLICE(data[index + 2], BMA4_DATA_MAG_Y_LSB);
msb = data[index + 3];
lsb = data[index + 2];
mag->y = (int16_t)((msb << 8) | lsb);
mag->y = (mag->y / 0x08);
/* Data Z */
/*Z-axis LSB value shifting*/
data[index + 4] =
BMA4_GET_BITSLICE(data[index + 4], BMA4_DATA_MAG_Z_LSB);
msb = data[index + 5];
lsb = data[index + 4];
mag->z = (int16_t)((msb << 8) | lsb);
mag->z = (mag->z / 0x02);
}
break;
#endif
#if defined(AKM9916)
case BMA4_SEC_IF_AKM09916:
if (AKM9916_SENSOR == dev->aux_sensor) {
rslt |= bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZ_DATA_LENGTH,
dev);
if (rslt == BMA4_OK) {
index = BMA4_MAG_X_LSB_BYTE;
/* Data X */
msb = data[index + 1];
lsb = data[index];
mag->x = (int16_t)((msb << 8) | lsb);
/* Data Y */
msb = data[index + 3];
lsb = data[index + 2];
mag->y = (int32_t)((msb << 8) | lsb);
/* Data Z */
msb = data[index + 5];
lsb = data[index + 4];
mag->z = (int16_t)((msb << 8) | lsb);
}
}
break;
#endif
default:
rslt |= BMA4_E_OUT_OF_RANGE;
break;
}
}
return rslt;
}
/*!
* @brief This API reads the auxiliary I2C interface configuration which
* is set in the sensor.
*/
uint16_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read auxiliary interface configuration */
rslt |= bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*if_mode = BMA4_GET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE);
}
return rslt;
}
/*!
* @brief This API sets the auxiliary interface configuration in the
* sensor.
*/
uint16_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (if_mode <= BMA4_MAX_IF_MODE) {
/* Write the interface configuration mode */
rslt |= bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE, if_mode);
rslt |= bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev);
}
} else {
rslt |= BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This API reads the data ready status of Accel from the sensor.
*/
uint16_t bma4_get_accel_data_rdy(uint8_t *data_rdy, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/*Reads the status of Accel data ready*/
rslt |= bma4_read_regs(BMA4_STATUS_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*data_rdy = BMA4_GET_BITSLICE(data, BMA4_STAT_DATA_RDY_ACCEL);
}
return rslt;
}
/*!
* @brief This API reads the data ready status of Mag from the sensor.
* The status get reset when Mag data register is read.
*/
uint16_t bma4_get_mag_data_rdy(uint8_t *data_rdy, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/*Reads the status of Accel data ready*/
rslt |= bma4_read_regs(BMA4_STATUS_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
*data_rdy = BMA4_GET_BITSLICE(data, BMA4_STAT_DATA_RDY_MAG);
}
return rslt;
}
/*!
* @brief This API reads the ASIC status from the sensor.
* The status information is mentioned in the below table.
*/
uint16_t bma4_get_asic_status(struct bma4_asic_status *asic_status,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the Mag I2C device address*/
rslt |= bma4_read_regs(BMA4_INTERNAL_ERROR, &data, 1, dev);
if (rslt == BMA4_OK) {
asic_status->sleep = (data & 0x01);
asic_status->irq_ovrn = ((data & 0x02) >> 0x01);
asic_status->wc_event = ((data & 0x04) >> 0x02);
asic_status->stream_transfer_active = ((data & 0x08) >> 0x03);
}
}
return rslt;
}
/*!
* @brief This API enables the offset compensation for filtered and
* unfiltered Accel data.
*/
uint16_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
/* Write Accel FIFO filter data */
data = BMA4_SET_BITSLICE(data, BMA4_NV_ACCEL_OFFSET, offset_en);
rslt |= bma4_write_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API gets the status of Accel offset compensation
*/
uint16_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
/* Write Accel FIFO filter data */
*offset_en = BMA4_GET_BITSLICE(data, BMA4_NV_ACCEL_OFFSET);
}
}
return rslt;
}
/*!
* @brief This API performs Fast Offset Compensation for Accel.
*
* @note The g-values to be passed to the parameter should be
* multiples of 1000000.
*/
uint16_t bma4_perform_accel_foc(const int32_t accel_g_value[3],
struct bma4_dev *dev) {
uint16_t rslt = 0;
struct bma4_accel accel_value[10] = {{0}};
struct accel_offset offset = {0};
struct offset_delta delta = {{0, 0}, {0, 0}, {0, 0}};
struct bma4_accel_config acc_conf = {0};
uint8_t accel_en = 0;
uint8_t adv_pwr_save = 0;
uint8_t range = 0;
uint16_t lsb_per_g = 0;
struct accel_temp temp = {0};
struct bma4_accel avg = {0};
struct bma4_accel accel_data = {0};
uint8_t i = 0;
/* used to validate user input */
rslt |= validate_user_input(accel_g_value);
if (BMA4_OK == rslt) {
/* Configure accel config, accel enable and
advance power save for FOC */
rslt |= foc_config(&acc_conf, &accel_en, &adv_pwr_save, dev);
/*TO DO: Check for data ready status before
reading accel values*/
if (BMA4_OK == rslt) {
/* Giving a delay of 20ms before reading accel data
since odr is configured as 50Hz */
for (i = 0; i < 10; i++) {
dev->delay(20);
rslt |= bma4_read_accel_xyz(&accel_value[i], dev);
temp.x = temp.x + (int32_t)accel_value[i].x;
temp.y = temp.y + (int32_t)accel_value[i].y;
temp.z = temp.z + (int32_t)accel_value[i].z;
}
/* Take average of x, y and z data for lesser noise */
avg.x = (int16_t)(temp.x / 10);
avg.y = (int16_t)(temp.y / 10);
avg.z = (int16_t)(temp.z / 10);
/* Copy average value in another structure */
accel_data = avg;
if (BMA4_OK == rslt) {
/* Get the exact range value */
map_range(acc_conf.range, &range);
/* Get LSB per bit given the range and resolution */
lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range));
/* Compensate accel data against gravity */
comp_for_grvty(lsb_per_g, accel_g_value, &accel_data, &delta);
/* scale according to offset register resolution*/
scale_offset(dev->resolution, range, &delta, &offset);
/* normalise the data with offset*/
normalise_offset(&delta, &offset);
/* offset values are written in the offset register */
rslt |=
bma4_write_regs(BMA4_OFFSET_0_ADDR, (uint8_t *)&offset.x, 1, dev);
rslt |=
bma4_write_regs(BMA4_OFFSET_1_ADDR, (uint8_t *)&offset.y, 1, dev);
rslt |=
bma4_write_regs(BMA4_OFFSET_2_ADDR, (uint8_t *)&offset.z, 1, dev);
/* Enable offset compensation */
rslt |= bma4_set_offset_comp(BMA4_ENABLE, dev);
/* Set accel config, accel enable and advance power save */
rslt |= bma4_set_accel_config(&acc_conf, dev);
rslt |= bma4_set_accel_enable(accel_en, dev);
rslt |= bma4_set_advance_power_save(adv_pwr_save, dev);
} else {
rslt |= BMA4_E_FOC_FAIL;
}
}
}
return rslt;
}
/*!
* @brief This API checks whether the self test functionality of the sensor
* is working or not.
* The following parameter of struct bma4_dev, should have the valid value
* before performing the Self test,
* 1. Variant and 2. Resolution
*/
uint16_t bma4_perform_accel_selftest(uint8_t *result, struct bma4_dev *dev) {
uint16_t rslt = 0;
struct bma4_accel positive = {0};
struct bma4_accel negative = {0};
/*! Structure for difference of accel values in g*/
struct selftest_delta_limit accel_data_diff = {0};
/*! Structure for difference of accel values in mg*/
struct selftest_delta_limit accel_data_diff_mg = {0};
*result = BMA4_SELFTEST_FAIL;
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt = set_accel_selftest_config(dev);
dev->delay(20);
rslt |= bma4_selftest_config(BMA4_ENABLE, dev);
if (rslt == BMA4_OK) {
dev->delay(100);
rslt = bma4_read_accel_xyz(&positive, dev);
rslt |= bma4_selftest_config(BMA4_DISABLE, dev);
if (rslt == BMA4_OK) {
dev->delay(100);
rslt = bma4_read_accel_xyz(&negative, dev);
accel_data_diff.x = ABS(positive.x) + ABS(negative.x);
accel_data_diff.y = ABS(positive.y) + ABS(negative.y);
accel_data_diff.z = ABS(positive.z) + ABS(negative.z);
/*! Converting LSB of the differences of accel values to mg*/
convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev);
/*! Validating self test for accel values in mg*/
rslt |= validate_selftest(&accel_data_diff_mg, dev);
if (rslt == BMA4_OK)
*result = BMA4_SELFTEST_PASS;
/* Triggers a soft reset */
rslt |= bma4_set_command_register(0xB6, dev);
dev->delay(200);
}
}
}
return rslt;
}
/*!
* @brief This API performs the steps needed for Self test operation
* before reading the Accel Self test data.
*/
uint16_t bma4_selftest_config(uint8_t sign, struct bma4_dev *dev) {
uint16_t rslt = 0;
rslt |= set_accel_selftest_enable(BMA4_ENABLE, dev);
rslt |= set_accel_selftest_sign(sign, dev);
/* Set self test amplitude based on variant */
switch (dev->variant) {
case BMA42X_VARIANT:
/* Set self test amplitude to high for BMA42x */
rslt |= set_accel_selftest_amp(BMA4_ENABLE, dev);
break;
case BMA45X_VARIANT:
/* Set self test amplitude to low for BMA45x */
rslt |= set_accel_selftest_amp(BMA4_DISABLE, dev);
break;
default:
rslt = BMA4_E_INVALID_SENSOR;
break;
}
return rslt;
}
/*!
* @brief API sets the interrupt to either interrupt1 or
* interrupt2 pin in the sensor.
*/
uint16_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[3] = {0, 0, 0};
uint8_t index[2] = {BMA4_INT_MAP_1_ADDR, BMA4_INT_MAP_2_ADDR};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_INT_MAP_1_ADDR, data, 3, dev);
if (enable == TRUE) {
/* Feature interrupt mapping */
data[int_line] |= (uint8_t)(int_map & (0x00FF));
/* Hardware interrupt mapping */
if (int_line == BMA4_INTR2_MAP)
data[2] |= (uint8_t)((int_map & (0xFF00)) >> 4);
else
data[2] |= (uint8_t)((int_map & (0xFF00)) >> 8);
rslt |= bma4_write_regs(index[int_line], &data[int_line], 1, dev);
rslt |= bma4_write_regs(BMA4_INT_MAP_DATA_ADDR, &data[2], 1, dev);
} else {
/* Feature interrupt un-mapping */
data[int_line] &= (~(uint8_t)(int_map & (0x00FF)));
/* Hardware interrupt un-mapping */
if (int_line == BMA4_INTR2_MAP)
data[2] &= (~(uint8_t)((int_map & (0xFF00)) >> 4));
else
data[2] &= (~(uint8_t)((int_map & (0xFF00)) >> 8));
rslt |= bma4_write_regs(index[int_line], &data[int_line], 1, dev);
rslt |= bma4_write_regs(BMA4_INT_MAP_DATA_ADDR, &data[2], 1, dev);
}
}
return rslt;
}
/*!
* @brief This API sets the interrupt mode in the sensor.
*/
uint16_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (mode == BMA4_NON_LATCH_MODE || mode == BMA4_LATCH_MODE)
rslt |= bma4_write_regs(BMA4_INTR_LATCH_ADDR, &mode, 1, dev);
else
rslt |= BMA4_E_OUT_OF_RANGE;
}
return rslt;
}
/*!
* @brief This API gets the interrupt mode which is set in the sensor.
*/
uint16_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_INTR_LATCH_ADDR, &data, 1, dev);
*mode = data;
}
return rslt;
}
/*!
* @brief This API sets the auxiliary Mag(BMM150 or AKM9916) output data
* rate and offset.
*/
uint16_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if ((aux_mag->odr >= BMA4_OUTPUT_DATA_RATE_0_78HZ) &&
(aux_mag->odr <= BMA4_OUTPUT_DATA_RATE_1600HZ) &&
((aux_mag->offset & BMA4_MAG_CONFIG_OFFSET_MSK) == 0x00)) {
data = (uint8_t)(aux_mag->odr |
((aux_mag->offset << BMA4_MAG_CONFIG_OFFSET_POS)));
rslt |= bma4_write_regs(BMA4_AUX_CONFIG_ADDR, &data, 1, dev);
} else {
rslt |= BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This API reads the auxiliary Mag(BMM150 or AKM9916) output data
* rate and offset.
*/
uint16_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_AUX_CONFIG_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
aux_mag->odr = (data & 0x0F);
aux_mag->offset = (data & BMA4_MAG_CONFIG_OFFSET_MSK) >> 4;
}
}
return rslt;
}
/*! @brief This API sets the FIFO configuration in the sensor.
*/
uint16_t bma4_set_fifo_config(uint8_t config, uint8_t enable,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0, 0};
uint8_t fifo_config_0 = config & BMA4_FIFO_CONFIG_0_MASK;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_FIFO_CONFIG_0_ADDR, data,
BMA4_FIFO_CONFIG_LENGTH, dev);
if (rslt == BMA4_OK) {
if (fifo_config_0 > 0) {
if (enable == TRUE)
data[0] = data[0] | fifo_config_0;
else
data[0] = data[0] & (~fifo_config_0);
}
if (enable == TRUE)
data[1] = data[1] | (config & BMA4_FIFO_CONFIG_1_MASK);
else
data[1] = data[1] & (~(config & BMA4_FIFO_CONFIG_1_MASK));
/* Burst write is not possible in suspend mode hence
separate write is used with delay of 1 ms*/
rslt |= bma4_write_regs(BMA4_FIFO_CONFIG_0_ADDR, &data[0], 1, dev);
dev->delay(BMA4_GEN_READ_WRITE_DELAY);
rslt |= bma4_write_regs((BMA4_FIFO_CONFIG_0_ADDR + 1), &data[1], 1, dev);
}
}
return rslt;
}
/*! @brief This API reads the FIFO configuration from the sensor.
*/
uint16_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0, 0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_FIFO_CONFIG_0_ADDR, data,
BMA4_FIFO_CONFIG_LENGTH, dev);
if (rslt == BMA4_OK)
*fifo_config =
((uint8_t)((data[0] & BMA4_FIFO_CONFIG_0_MASK) | (data[1])));
}
return rslt;
}
/*! @brief This function sets the electrical behaviour of interrupt pin1 or
* pin2 in the sensor.
*/
uint16_t
bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config,
uint8_t int_line, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t interrupt_address_array[2] = {BMA4_INT1_IO_CTRL_ADDR,
BMA4_INT2_IO_CTRL_ADDR};
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (int_line <= 1) {
data = ((uint8_t)(
(int_pin_config->edge_ctrl & BMA4_INT_EDGE_CTRL_MASK) |
((int_pin_config->lvl << 1) & BMA4_INT_LEVEL_MASK) |
((int_pin_config->od << 2) & BMA4_INT_OPEN_DRAIN_MASK) |
((int_pin_config->output_en << 3) & BMA4_INT_OUTPUT_EN_MASK) |
((int_pin_config->input_en << 4) & BMA4_INT_INPUT_EN_MASK)));
rslt |= bma4_write_regs(interrupt_address_array[int_line], &data, 1, dev);
} else {
rslt |= BMA4_E_INT_LINE_INVALID;
}
}
return rslt;
}
/*! @brief This API reads the electrical behavior of interrupt pin1 or pin2
* from the sensor.
*/
uint16_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config,
uint8_t int_line, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t interrupt_address_array[2] = {BMA4_INT1_IO_CTRL_ADDR,
BMA4_INT2_IO_CTRL_ADDR};
uint8_t data = 0;
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (int_line <= 1) {
rslt |= bma4_read_regs(interrupt_address_array[int_line], &data, 1, dev);
/* Assign interrupt configurations to the
structure members*/
if (rslt == BMA4_OK) {
int_pin_config->edge_ctrl = data & BMA4_INT_EDGE_CTRL_MASK;
int_pin_config->lvl =
((data & BMA4_INT_LEVEL_MASK) >> BMA4_INT_LEVEL_POS);
int_pin_config->od =
((data & BMA4_INT_OPEN_DRAIN_MASK) >> BMA4_INT_OPEN_DRAIN_POS);
int_pin_config->output_en =
((data & BMA4_INT_OUTPUT_EN_MASK) >> BMA4_INT_OUTPUT_EN_POS);
int_pin_config->input_en =
((data & BMA4_INT_INPUT_EN_MASK) >> BMA4_INT_INPUT_EN_POS);
}
} else {
rslt |= BMA4_E_INT_LINE_INVALID;
}
}
return rslt;
}
/*!
* @brief This API reads the Feature and Hardware interrupt status from the
* sensor.
*/
uint16_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data[2] = {0};
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
rslt |= bma4_read_regs(BMA4_INT_STAT_0_ADDR, data, 2, dev);
if (rslt == BMA4_OK) {
*int_status = data[0];
*((uint8_t *)int_status + 1) = data[1];
}
}
return rslt;
}
/*!
* @brief This API reads the Feature interrupt status from the sensor.
*/
uint16_t bma4_read_int_status_0(uint8_t *int_status_0, struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
/* Null pointer check */
rslt = BMA4_E_NULL_PTR;
} else {
rslt = bma4_read_regs(BMA4_INT_STAT_0_ADDR, int_status_0, 1, dev);
}
return rslt;
}
/*!
* @brief This API reads the Hardware interrupt status from the sensor.
*/
uint16_t bma4_read_int_status_1(uint8_t *int_status_1, struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
/* Null pointer check */
rslt = BMA4_E_NULL_PTR;
} else {
rslt = bma4_read_regs(BMA4_INT_STAT_1_ADDR, int_status_1, 1, dev);
}
return rslt;
}
/*!
* @brief This API initializes the auxiliary interface to access
* auxiliary sensor
*/
uint16_t bma4_aux_interface_init(struct bma4_dev *dev) {
/* Variable to return error codes */
uint16_t rslt = BMA4_OK;
/* Check for Null pointer error */
rslt |= bma4_null_pointer_check(dev);
if (rslt == BMA4_OK) {
/* Set the auxiliary sensor configuration */
rslt = bma4_set_aux_interface_config(dev);
if (rslt != BMA4_OK)
rslt = BMA4_E_AUX_CONFIG_FAIL;
}
return rslt;
}
/*!
* @brief This API reads the data from the auxiliary sensor
*/
uint16_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len,
struct bma4_dev *dev) {
/* Variable to return error codes */
uint16_t rslt = BMA4_OK;
/* Check for Null pointer error */
rslt |= bma4_null_pointer_check(dev);
if (rslt == BMA4_OK) {
/* Read the data from the data register in terms of
user defined length */
rslt = bma4_extract_aux_data(aux_reg_addr, aux_data, len, dev);
}
return rslt;
}
/*!
* @brief This API writes the data into the auxiliary sensor
*/
uint16_t bma4_aux_write(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len,
struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
/* Check for Null pointer error */
rslt |= bma4_null_pointer_check(dev);
if (rslt == BMA4_OK) {
/* Write data in terms of user defined length */
if (len > 0) {
while (len--) {
/* First set data to write */
rslt = bma4_write_regs(BMA4_AUX_WR_DATA_ADDR, aux_data, 1, dev);
dev->delay(BMA4_AUX_COM_DELAY);
if (rslt == BMA4_OK) {
/* Then set address to write */
rslt = bma4_write_regs(BMA4_AUX_WR_ADDR, &aux_reg_addr, 1, dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Increment data array and register address until
* user-defined length is greater than 0 */
if ((rslt == BMA4_OK) && (len > 0)) {
aux_data++;
aux_reg_addr++;
}
} else {
rslt = BMA4_E_FAIL;
}
}
} else {
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
}
return rslt;
}
/*****************************************************************************/
/* Static function definition */
/*!
* @brief This API converts lsb value of axes to mg for self-test *
*/
static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff,
struct selftest_delta_limit *accel_data_diff_mg,
const struct bma4_dev *dev) {
uint32_t lsb_per_g;
/*! Range considered for self-test is 8g */
uint8_t range = 8;
/*! lsb_per_g for the respective resolution and 8g range*/
lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range));
/*! accel x value in mg */
accel_data_diff_mg->x = (accel_data_diff->x / (int32_t)lsb_per_g) * 1000;
/*! accel y value in mg */
accel_data_diff_mg->y = (accel_data_diff->y / (int32_t)lsb_per_g) * 1000;
/*! accel z value in mg */
accel_data_diff_mg->z = (accel_data_diff->z / (int32_t)lsb_per_g) * 1000;
}
/*!
* @brief This API writes the config stream data in memory using burst mode
* @note index value should be even number.
*/
static uint16_t stream_transfer_write(const uint8_t *stream_data,
uint16_t index, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t asic_msb = (uint8_t)((index / 2) >> 4);
uint8_t asic_lsb = ((index / 2) & 0x0F);
rslt |= bma4_write_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev);
if (rslt == BMA4_OK) {
rslt |= bma4_write_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev);
if (rslt == BMA4_OK)
rslt |= write_regs(BMA4_FEATURE_CONFIG_ADDR, (uint8_t *)stream_data,
dev->read_write_len, dev);
}
return rslt;
}
/*!
* @brief This API enables or disables the Accel Self test feature in the
* sensor.
*/
static uint16_t set_accel_selftest_enable(uint8_t accel_selftest_enable,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
/* Read the self test register */
rslt |= bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITS_POS_0(data, BMA4_ACCEL_SELFTEST_ENABLE,
accel_selftest_enable);
rslt |= bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API selects the sign of Accel self-test excitation.
*/
static uint16_t set_accel_selftest_sign(uint8_t accel_selftest_sign,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (accel_selftest_sign <= BMA4_MAX_VALUE_SELFTEST_SIGN) {
/* Read the Accel self test sign*/
rslt |= bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_ACCEL_SELFTEST_SIGN,
accel_selftest_sign);
rslt |= bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
} else {
rslt = BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This API sets the Accel self test amplitude in the sensor.
*/
static uint16_t set_accel_selftest_amp(uint8_t accel_selftest_amp,
struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t data = 0;
/* Check the bma4 structure as NULL */
if (dev == NULL) {
rslt |= BMA4_E_NULL_PTR;
} else {
if (accel_selftest_amp <= BMA4_MAX_VALUE_SELFTEST_AMP) {
/* Write self test amplitude*/
rslt |= bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMA4_OK) {
data = BMA4_SET_BITSLICE(data, BMA4_SELFTEST_AMP, accel_selftest_amp);
rslt |= bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
} else {
rslt |= BMA4_E_OUT_OF_RANGE;
}
}
return rslt;
}
/*!
* @brief This function enables and configures the Accel which is needed
* for Self test operation.
*/
static uint16_t set_accel_selftest_config(struct bma4_dev *dev) {
uint16_t rslt = 0;
struct bma4_accel_config accel = {0};
accel.odr = BMA4_OUTPUT_DATA_RATE_1600HZ;
accel.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
accel.perf_mode = BMA4_ENABLE;
accel.range = BMA4_ACCEL_RANGE_8G;
rslt |= bma4_set_accel_enable(BMA4_ENABLE, dev);
dev->delay(1);
rslt |= bma4_set_accel_config(&accel, dev);
return rslt;
}
/*!
* @brief This API validates the Accel g value provided as input by the
* user for Accel offset compensation.
*
* @note The g-values to be passed to the parameter should be
* multiples of 1000000.
*/
static uint16_t validate_user_input(const int32_t *gvalue)
{
uint8_t index = 0;
int32_t min_gval = (int32_t)(-1.0 * BMA4XY_MULTIPLIER);
int32_t max_gval = (int32_t)(1.0 * BMA4XY_MULTIPLIER);
while (index < 3) {
if (gvalue[index] >= min_gval && gvalue[index] <= max_gval)
index++;
else
return BMA4_E_OUT_OF_RANGE;
}
return BMA4_OK;
}
/*!
* @brief This API normalise the data with offset
*/
static void normalise_offset(const struct offset_delta *compensated_data,
struct accel_offset *offset_data) {
/* for handling negative offset */
/* employing twos's Complement method*/
if (compensated_data->x.is_negative == TRUE) {
offset_data->x = ~offset_data->x;
offset_data->x += 1;
}
if (compensated_data->y.is_negative == TRUE) {
offset_data->y = ~offset_data->y;
offset_data->y += 1;
}
if (compensated_data->z.is_negative == TRUE) {
offset_data->z = ~offset_data->z;
offset_data->z += 1;
}
offset_data->x = (uint8_t)((offset_data->x) * (-1));
offset_data->y = (uint8_t)((offset_data->y) * (-1));
offset_data->z = (uint8_t)((offset_data->z) * (-1));
}
/*!
* @brief This API normalize the data with offset.
*/
static void scale_offset(uint8_t res, uint8_t range,
const struct offset_delta *delta,
struct accel_offset *data) {
int8_t bit_pos_3_9mg, bit_pos_3_9mg_nextbit;
uint8_t round_off = 0;
/* Find the bit position of 3.9mg */
bit_pos_3_9mg = get_bit_pos_3_9mg(range, res);
/* Data register resolution less than or equal to 3.9 mg */
if (bit_pos_3_9mg > 0) {
/* Round off, consider if the next bit is high */
bit_pos_3_9mg_nextbit = bit_pos_3_9mg - 1;
round_off = (uint8_t)(1 * power(2, ((uint8_t)bit_pos_3_9mg_nextbit)));
/* scale according to offset register resolution*/
data->x = (uint8_t)((delta->x.val + round_off) /
power(2, ((uint8_t)bit_pos_3_9mg)));
data->y = (uint8_t)((delta->y.val + round_off) /
power(2, ((uint8_t)bit_pos_3_9mg)));
data->z = (uint8_t)((delta->z.val + round_off) /
power(2, ((uint8_t)bit_pos_3_9mg)));
} else if (bit_pos_3_9mg < 0) {
bit_pos_3_9mg = (int8_t)(bit_pos_3_9mg * -1);
data->x = (uint8_t)(delta->x.val * power(2, ((uint8_t)bit_pos_3_9mg)));
data->y = (uint8_t)(delta->y.val * power(2, ((uint8_t)bit_pos_3_9mg)));
data->z = (uint8_t)(delta->z.val * power(2, ((uint8_t)bit_pos_3_9mg)));
} else {
/* Scale according to offset register resolution */
data->x = (uint8_t)(delta->x.val);
data->y = (uint8_t)(delta->y.val);
data->z = (uint8_t)(delta->z.val);
}
}
/*!
* @brief This API compensate the accel data against gravity.
*
* @note The g-values to be passed to the parameter should be
* multiples of 1000000.
*/
static void comp_for_grvty(uint16_t lsb_per_g, const int32_t g_val[3],
const struct bma4_accel *data,
struct offset_delta *comp_data) {
int64_t accel_value_lsb[3] = {0};
uint8_t index;
for (index = 0; index < 3; index++) {
/* convert g to lsb */
accel_value_lsb[index] = ((int64_t)(lsb_per_g) * (int64_t)(g_val[index]));
}
/* Dividing the accel value in LSB by 1000000 to get
compensated data back in g-value */
comp_data->x.val = (int16_t)(
data->x -
(int16_t)((accel_value_lsb[BMA4_X_AXIS] / (int64_t)BMA4XY_MULTIPLIER)));
comp_data->y.val = (int16_t)(
data->y -
(int16_t)((accel_value_lsb[BMA4_Y_AXIS] / (int64_t)BMA4XY_MULTIPLIER)));
comp_data->z.val = (int16_t)(
data->z -
(int16_t)((accel_value_lsb[BMA4_Z_AXIS] / (int64_t)BMA4XY_MULTIPLIER)));
if (comp_data->x.val < 0) {
comp_data->x.val = ABS(comp_data->x.val);
comp_data->x.is_negative = 1;
}
if (comp_data->y.val < 0) {
comp_data->y.val = ABS(comp_data->y.val);
comp_data->y.is_negative = 1;
}
if (comp_data->z.val < 0) {
comp_data->z.val = ABS(comp_data->z.val);
comp_data->z.is_negative = 1;
}
}
/*!
* @brief This API converts the range value into corresponding
* integer value.
*/
static void map_range(uint8_t range_in, uint8_t *range_out) {
switch (range_in) {
case BMA4_ACCEL_RANGE_2G:
*range_out = 2;
break;
case BMA4_ACCEL_RANGE_4G:
*range_out = 4;
break;
case BMA4_ACCEL_RANGE_8G:
*range_out = 8;
break;
case BMA4_ACCEL_RANGE_16G:
*range_out = 16;
break;
default:
break;
}
}
/*!
* @brief This API is used to reset the FIFO related configurations
* in the fifo_frame structure.
*
*/
static void reset_fifo_data_structure(const struct bma4_dev *dev) {
/*Prepare for next FIFO read by resetting FIFO's
internal data structures*/
dev->fifo->accel_byte_start_idx = 0;
dev->fifo->mag_byte_start_idx = 0;
dev->fifo->sc_frame_byte_start_idx = 0;
dev->fifo->sensor_time = 0;
dev->fifo->skipped_frame_count = 0;
dev->fifo->accel_dropped_frame_count = 0;
dev->fifo->mag_dropped_frame_count = 0;
}
/*!
* @brief This API computes the number of bytes of accel FIFO data
* which is to be parsed in header-less mode
*/
static void get_accel_len_to_parse(uint16_t *start_idx, uint16_t *len,
const uint16_t *acc_count,
const struct bma4_dev *dev) {
uint8_t dummy_byte_spi = 0;
/*Check if this is the first iteration of data unpacking
if yes, then consider dummy byte on SPI*/
if (dev->fifo->accel_byte_start_idx == 0)
dummy_byte_spi = dev->dummy_byte;
/*Data start index*/
*start_idx = dev->fifo->accel_byte_start_idx + dummy_byte_spi;
if (dev->fifo->fifo_data_enable == BMA4_FIFO_A_ENABLE) {
/*Len has the number of bytes to loop for */
*len = (uint16_t)(((*acc_count) * BMA4_FIFO_A_LENGTH) + dummy_byte_spi);
} else if (dev->fifo->fifo_data_enable == BMA4_FIFO_M_A_ENABLE) {
/*Len has the number of bytes to loop for */
*len = (uint16_t)(((*acc_count) * BMA4_FIFO_MA_LENGTH) + dummy_byte_spi);
} else {
/*Only aux. sensor or no sensor is enabled in FIFO,
so there will be no accel data.
Update the data index as complete*/
*start_idx = dev->fifo->length;
}
if ((*len) > dev->fifo->length) {
/*Handling the case where more data is requested
than available*/
*len = dev->fifo->length;
}
}
/*!
* @brief This API checks the fifo read data as empty frame, if it
* is empty frame then moves the index to last byte.
*/
static void check_empty_fifo(uint16_t *data_index, const struct bma4_dev *dev) {
if ((*data_index + 2) < dev->fifo->length) {
/* Check if FIFO is empty */
if ((dev->fifo->data[*data_index] == FIFO_MSB_CONFIG_CHECK) &&
(dev->fifo->data[*data_index + 1] == FIFO_LSB_CONFIG_CHECK)) {
/*Update the data index as complete*/
*data_index = dev->fifo->length;
}
}
}
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in header mode.
*
*/
static void extract_accel_header_mode(struct bma4_accel *accel_data,
uint16_t *accel_length,
const struct bma4_dev *dev) {
uint8_t frame_header = 0;
uint16_t data_index;
uint16_t accel_index = 0;
uint16_t frame_to_read = *accel_length;
/*Check if this is the first iteration of data unpacking
if yes, then consider dummy byte on SPI*/
if (dev->fifo->accel_byte_start_idx == 0)
dev->fifo->accel_byte_start_idx = dev->dummy_byte;
for (data_index = dev->fifo->accel_byte_start_idx;
data_index < dev->fifo->length;) {
/*Header byte is stored in the variable frame_header*/
frame_header = dev->fifo->data[data_index];
/*Get the frame details from header*/
frame_header = frame_header & BMA4_FIFO_TAG_INTR_MASK;
/*Index is moved to next byte where the data is starting*/
data_index++;
switch (frame_header) {
/* Accel frame */
case FIFO_HEAD_A:
case FIFO_HEAD_M_A:
unpack_acc_frm(accel_data, &data_index, &accel_index, frame_header, dev);
break;
/* Aux. sensor frame */
case FIFO_HEAD_M:
move_next_frame(&data_index, BMA4_FIFO_M_LENGTH, dev);
break;
/* Sensor time frame */
case FIFO_HEAD_SENSOR_TIME:
unpack_sensortime_frame(&data_index, dev);
break;
/* Skip frame */
case FIFO_HEAD_SKIP_FRAME:
unpack_skipped_frame(&data_index, dev);
break;
/* Input config frame */
case FIFO_HEAD_INPUT_CONFIG:
move_next_frame(&data_index, 1, dev);
break;
/* Sample drop frame */
case FIFO_HEAD_SAMPLE_DROP:
unpack_dropped_frame(&data_index, dev);
break;
/* Over read FIFO data */
case FIFO_HEAD_OVER_READ_MSB:
/* Update the data index as complete*/
data_index = dev->fifo->length;
break;
default:
break;
}
if (frame_to_read == accel_index) {
/*Number of frames to read completed*/
break;
}
}
/*Update number of accel data read*/
*accel_length = accel_index;
/*Update the accel frame index*/
dev->fifo->accel_byte_start_idx = data_index;
}
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in both header mode and header-less mode.
* It update the idx value which is used to store the index of
* the current data byte which is parsed.
*/
static void unpack_acc_frm(struct bma4_accel *acc, uint16_t *idx,
uint16_t *acc_idx, uint8_t frm,
const struct bma4_dev *dev) {
switch (frm) {
case FIFO_HEAD_A:
case BMA4_FIFO_A_ENABLE:
/*Partial read, then skip the data*/
if ((*idx + BMA4_FIFO_A_LENGTH) > dev->fifo->length) {
/*Update the data index as complete*/
*idx = dev->fifo->length;
break;
}
/*Unpack the data array into the structure instance "acc" */
unpack_accel_data(&acc[*acc_idx], *idx, dev);
/*Move the data index*/
*idx = *idx + BMA4_FIFO_A_LENGTH;
(*acc_idx)++;
break;
case FIFO_HEAD_M_A:
case BMA4_FIFO_M_A_ENABLE:
/*Partial read, then skip the data*/
if ((*idx + BMA4_FIFO_MA_LENGTH) > dev->fifo->length) {
/*Update the data index as complete*/
*idx = dev->fifo->length;
break;
}
/*Unpack the data array into structure instance "acc"*/
unpack_accel_data(&acc[*acc_idx], *idx + BMA4_MA_FIFO_A_X_LSB, dev);
/*Move the data index*/
*idx = *idx + BMA4_FIFO_MA_LENGTH;
(*acc_idx)++;
break;
/* Aux. sensor frame */
case FIFO_HEAD_M:
case BMA4_FIFO_M_ENABLE:
(*idx) = (*idx) + BMA4_FIFO_M_LENGTH;
break;
default:
break;
}
}
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data and store it in the instance of the structure bma4_accel.
*/
static void unpack_accel_data(struct bma4_accel *accel_data,
uint16_t data_start_index,
const struct bma4_dev *dev) {
uint16_t data_lsb;
uint16_t data_msb;
/* Accel raw x data */
data_lsb = dev->fifo->data[data_start_index++];
data_msb = dev->fifo->data[data_start_index++];
accel_data->x = (int16_t)((data_msb << 8) | data_lsb);
/* Accel raw y data */
data_lsb = dev->fifo->data[data_start_index++];
data_msb = dev->fifo->data[data_start_index++];
accel_data->y = (int16_t)((data_msb << 8) | data_lsb);
/* Accel raw z data */
data_lsb = dev->fifo->data[data_start_index++];
data_msb = dev->fifo->data[data_start_index++];
accel_data->z = (int16_t)((data_msb << 8) | data_lsb);
if (dev->resolution == BMA4_12_BIT_RESOLUTION) {
accel_data->x = (accel_data->x / 0x10);
accel_data->y = (accel_data->y / 0x10);
accel_data->z = (accel_data->z / 0x10);
} else if (dev->resolution == BMA4_14_BIT_RESOLUTION) {
accel_data->x = (accel_data->x / 0x04);
accel_data->y = (accel_data->y / 0x04);
accel_data->z = (accel_data->z / 0x04);
}
}
/*!
* @brief This API computes the number of bytes of Mag FIFO data which is
* to be parsed in header-less mode
*
*/
static void get_mag_len_to_parse(uint16_t *start_idx, uint16_t *len,
const uint16_t *mag_count,
const struct bma4_dev *dev) {
uint8_t dummy_byte_spi = 0;
/*Check if this is the first iteration of data unpacking
if yes, then consider dummy byte on SPI*/
if (dev->fifo->mag_byte_start_idx == 0)
dummy_byte_spi = dev->dummy_byte;
/*Data start index*/
*start_idx = dev->fifo->mag_byte_start_idx + dummy_byte_spi;
if (dev->fifo->fifo_data_enable == BMA4_FIFO_M_ENABLE) {
/*Len has the number of bytes to loop for */
*len = (uint16_t)(((*mag_count) * BMA4_FIFO_M_LENGTH) + dummy_byte_spi);
} else if (dev->fifo->fifo_data_enable == BMA4_FIFO_M_A_ENABLE) {
/*Len has the number of bytes to loop for */
*len = (uint16_t)(((*mag_count) * BMA4_FIFO_MA_LENGTH) + dummy_byte_spi);
} else {
/*Only accel sensor or no sensor is enabled in FIFO,
so there will be no mag data.
Update the data index as complete*/
*start_idx = dev->fifo->length;
}
/*Handling the case where more data is requested than available*/
if ((*len) > dev->fifo->length) {
/*Len is equal to the FIFO length*/
*len = dev->fifo->length;
}
}
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in header mode.
*
*/
static uint16_t extract_mag_header_mode(struct bma4_mag *data, uint16_t *len,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t frame_header = 0;
uint16_t data_index;
uint16_t mag_index = 0;
uint16_t frame_to_read = *len;
/*Check if this is the first iteration of data unpacking
if yes, then consider dummy byte on SPI*/
if (dev->fifo->mag_byte_start_idx == 0)
dev->fifo->mag_byte_start_idx = dev->dummy_byte;
for (data_index = dev->fifo->mag_byte_start_idx;
data_index < dev->fifo->length;) {
/*Header byte is stored in the variable frame_header*/
frame_header = dev->fifo->data[data_index];
/*Get the frame details from header*/
frame_header = frame_header & BMA4_FIFO_TAG_INTR_MASK;
/*Index is moved to next byte where the data is starting*/
data_index++;
switch (frame_header) {
/* Aux. sensor frame */
case FIFO_HEAD_M:
case FIFO_HEAD_M_A:
rslt |= unpack_mag_frm(data, &data_index, &mag_index, frame_header, dev);
break;
/* Aux. sensor frame */
case FIFO_HEAD_A:
move_next_frame(&data_index, BMA4_FIFO_A_LENGTH, dev);
break;
/* Sensor time frame */
case FIFO_HEAD_SENSOR_TIME:
unpack_sensortime_frame(&data_index, dev);
break;
/* Skip frame */
case FIFO_HEAD_SKIP_FRAME:
unpack_skipped_frame(&data_index, dev);
break;
/* Input config frame */
case FIFO_HEAD_INPUT_CONFIG:
move_next_frame(&data_index, 1, dev);
break;
/* Sample drop frame */
case FIFO_HEAD_SAMPLE_DROP:
unpack_dropped_frame(&data_index, dev);
break;
case FIFO_HEAD_OVER_READ_MSB:
/*Update the data index as complete*/
data_index = dev->fifo->length;
break;
default:
break;
}
if (frame_to_read == mag_index) {
/*Number of frames to read completed*/
break;
}
}
/*update number of Aux. sensor data read*/
*len = mag_index;
/*update the Aux. sensor frame index*/
dev->fifo->mag_byte_start_idx = data_index;
return rslt;
}
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in both header mode and header-less mode and update the
* data_index value which is used to store the index of the current
* data byte which is parsed.
*
*/
static uint16_t unpack_mag_frm(struct bma4_mag *data, uint16_t *idx,
uint16_t *mag_idx, uint8_t frm,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
switch (frm) {
case FIFO_HEAD_M:
case BMA4_FIFO_M_ENABLE:
/*partial read, then skip the data*/
if ((*idx + BMA4_FIFO_M_LENGTH) > dev->fifo->length) {
/*update the data index as complete*/
*idx = dev->fifo->length;
break;
}
/*unpack the data array into Aux. sensor data structure*/
rslt |= unpack_mag_data(&data[*mag_idx], *idx, dev);
/*move the data index*/
*idx = *idx + BMA4_FIFO_M_LENGTH;
(*mag_idx)++;
break;
case FIFO_HEAD_M_A:
case BMA4_FIFO_M_A_ENABLE:
/*partial read, then skip the data*/
if ((*idx + BMA4_FIFO_MA_LENGTH) > dev->fifo->length) {
/*update the data index as complete*/
*idx = dev->fifo->length;
break;
}
/*unpack the data array into Aux. sensor data structure*/
rslt |= unpack_mag_data(&data[*mag_idx], *idx, dev);
/*move the data index to next frame*/
*idx = *idx + BMA4_FIFO_MA_LENGTH;
(*mag_idx)++;
break;
/* aux. sensor frame */
case FIFO_HEAD_A:
case BMA4_FIFO_A_ENABLE:
(*idx) = (*idx) + BMA4_FIFO_A_LENGTH;
break;
default:
break;
}
return rslt;
}
/*!
* @brief This API is used to parse the auxiliary magnetometer data from
* the FIFO data and store it in the instance of the structure mag_data.
*
*/
static uint16_t unpack_mag_data(struct bma4_mag *mag_data, uint16_t start_idx,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
struct bma4_mag_fifo_data mag_fifo_data;
/* Aux. mag sensor raw x data */
mag_fifo_data.mag_x_lsb = dev->fifo->data[start_idx++];
mag_fifo_data.mag_x_msb = dev->fifo->data[start_idx++];
/* Aux. mag sensor raw y data */
mag_fifo_data.mag_y_lsb = dev->fifo->data[start_idx++];
mag_fifo_data.mag_y_msb = dev->fifo->data[start_idx++];
/* Aux. mag sensor raw z data */
mag_fifo_data.mag_z_lsb = dev->fifo->data[start_idx++];
mag_fifo_data.mag_z_msb = dev->fifo->data[start_idx++];
/* Aux. mag sensor raw r data */
mag_fifo_data.mag_r_y2_lsb = dev->fifo->data[start_idx++];
mag_fifo_data.mag_r_y2_msb = dev->fifo->data[start_idx++];
/*Compensated FIFO data output*/
rslt |= bma4_second_if_mag_compensate_xyz(mag_fifo_data, dev->aux_sensor,
mag_data);
return rslt;
}
/*!
* @brief This API is used to parse and store the sensor time from the
* FIFO data in the structure instance dev.
*
*/
static void unpack_sensortime_frame(uint16_t *data_index,
const struct bma4_dev *dev) {
uint32_t sensor_time_byte3 = 0;
uint16_t sensor_time_byte2 = 0;
uint8_t sensor_time_byte1 = 0;
/*Partial read, then move the data index to last data*/
if ((*data_index + BMA4_SENSOR_TIME_LENGTH) > dev->fifo->length) {
/*Update the data index as complete*/
*data_index = dev->fifo->length;
} else {
sensor_time_byte3 =
dev->fifo->data[(*data_index) + BMA4_SENSOR_TIME_MSB_BYTE] << 16;
sensor_time_byte2 =
dev->fifo->data[(*data_index) + BMA4_SENSOR_TIME_XLSB_BYTE] << 8;
sensor_time_byte1 = dev->fifo->data[(*data_index)];
/* Sensor time */
dev->fifo->sensor_time =
(uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
*data_index = (*data_index) + BMA4_SENSOR_TIME_LENGTH;
}
}
/*!
* @brief This API is used to parse and store the skipped_frame_count from
* the FIFO data in the structure instance dev.
*/
static void unpack_skipped_frame(uint16_t *data_index,
const struct bma4_dev *dev) {
/*Partial read, then move the data index to last data*/
if (*data_index >= dev->fifo->length) {
/*Update the data index as complete*/
*data_index = dev->fifo->length;
} else {
dev->fifo->skipped_frame_count = dev->fifo->data[*data_index];
/*Move the data index*/
*data_index = (*data_index) + 1;
}
}
/*!
* @brief This API is used to parse and store the dropped_frame_count from
* the FIFO data in the structure instance dev.
*/
static void unpack_dropped_frame(uint16_t *data_index,
const struct bma4_dev *dev) {
uint8_t dropped_frame = 0;
/*Partial read, then move the data index to last data*/
if (*data_index >= dev->fifo->length) {
/*Update the data index as complete*/
*data_index = dev->fifo->length;
} else {
/*Extract accel and mag dropped frame count*/
dropped_frame = dev->fifo->data[*data_index] & ACCEL_AUX_FIFO_DROP;
/*Move the data index and update the dropped frame count*/
switch (dropped_frame) {
case ACCEL_FIFO_DROP:
*data_index = (*data_index) + BMA4_FIFO_A_LENGTH;
dev->fifo->accel_dropped_frame_count =
dev->fifo->accel_dropped_frame_count + 1;
break;
case AUX_FIFO_DROP:
*data_index = (*data_index) + BMA4_FIFO_M_LENGTH;
dev->fifo->mag_dropped_frame_count =
dev->fifo->mag_dropped_frame_count + 1;
break;
case ACCEL_AUX_FIFO_DROP:
*data_index = (*data_index) + BMA4_FIFO_MA_LENGTH;
dev->fifo->accel_dropped_frame_count =
dev->fifo->accel_dropped_frame_count + 1;
dev->fifo->mag_dropped_frame_count =
dev->fifo->mag_dropped_frame_count + 1;
break;
default:
break;
}
}
}
/*!
* @brief This API is used to move the data index ahead of the
* current_frame_length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*/
static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length,
const struct bma4_dev *dev) {
/*Partial read, then move the data index to last data*/
if ((*data_index + current_frame_length) > dev->fifo->length) {
/*Update the data index as complete*/
*data_index = dev->fifo->length;
} else {
/*Move the data index to next frame*/
*data_index = *data_index + current_frame_length;
}
}
/*!
* @brief This function validates the Accel Self test data and decides the
* result of Self test operation.
*/
static uint16_t
validate_selftest(const struct selftest_delta_limit *accel_data_diff,
const struct bma4_dev *dev) {
uint16_t rslt = 0;
/* Set self test amplitude based on variant */
switch (dev->variant) {
case BMA42X_VARIANT:
/* Validating accel data by comparing with minimum value of the axes in mg
*/
/* For BMA42x - > x axis limit 400mg, y axis limit 800mg and z axis limit
* 400mg */
if ((accel_data_diff->x > BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF) &&
(accel_data_diff->y > BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF) &&
(accel_data_diff->z > BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF)) {
rslt = BMA4_OK;
} else {
rslt = BMA4_E_SELF_TEST_FAIL;
}
break;
case BMA45X_VARIANT:
/* Validating accel data by comparing with minimum value of the axes in mg
*/
/* For BMA45x - > x axis limit 1800mg, y axis limit 1800mg and z axis limit
* 1800mg */
if ((accel_data_diff->x > BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF) &&
(accel_data_diff->y > BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF) &&
(accel_data_diff->z > BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF)) {
rslt = BMA4_OK;
} else {
rslt = BMA4_E_SELF_TEST_FAIL;
}
break;
default:
rslt = BMA4_E_INVALID_SENSOR;
break;
}
return rslt;
}
/*!
* @brief This function configure the Accel for FOC.
*/
static uint16_t foc_config(struct bma4_accel_config *acc_conf, uint8_t *acc_en,
uint8_t *pwr_mode, struct bma4_dev *dev) {
uint16_t rslt = 0;
uint8_t accel_cnf = BMA4_ACCEL_CONFIG_FOC;
/* for saving Accel configuration,
Accel enable status, advance power save*/
rslt |= bma4_get_accel_config(acc_conf, dev);
rslt |= bma4_get_accel_enable(acc_en, dev);
rslt |= bma4_get_advance_power_save(pwr_mode, dev);
/* Disabling offset compensation that is in place*/
rslt |= bma4_set_offset_comp(BMA4_DISABLE, dev);
if (rslt == BMA4_OK) {
/* Set Accel config to 50Hz, continuous filter mode,
no under sampling */
rslt |= bma4_write_regs(BMA4_ACCEL_CONFIG_ADDR, &accel_cnf, 1, dev);
if (rslt == BMA4_OK) {
/* Switch Accel to normal mode and
advance power save to zero*/
rslt |= bma4_set_accel_enable(BMA4_ENABLE, dev);
rslt |= bma4_set_advance_power_save(BMA4_DISABLE, dev);
}
}
return rslt;
}
/*!
* @brief This API is used to calculate the power of 2
*/
static int32_t power(int16_t base, uint8_t resolution) {
uint8_t i = 1;
/* Initialize variable to store the power of 2 value */
int32_t value = 1;
for (; i <= resolution; i++)
value = (int32_t)(value * base);
return value;
}
/*!
* @brief This API performs the roundoff on given value
*/
static int8_t roundoff(int32_t value) {
/* Variable to return the round off value */
int8_t ret = 0;
/* Since the value passed is scaled in multiples of 100,
the return value is divided by 100 to get the round off value */
if (value < 0)
ret = (int8_t)(((value)-50) / 100);
else
ret = (int8_t)(((value) + 50) / 100);
return ret;
}
/*!
* @brief This API finds the bit position of 3.9mg according to given range
* and resolution.
*/
static int8_t get_bit_pos_3_9mg(uint8_t range, uint8_t res) {
/* Variable to store the bit position of 3.9mg */
int8_t bit_pos_3_9mg = 0;
/* Variable to store the value to be rounded off */
int32_t value = 0;
/* Variable to store the LSB per bit in micros */
int32_t ug_per_bit;
/* Variable to store the rounded off value */
int8_t round_off_int;
/* Variable to store the bit count */
uint8_t bit_count = 0;
/* Variable to store the signed range value */
int32_t range_value;
/* Scaling range with a multiplier to get integer value of ug_per_bit */
range_value = (int32_t)(2 * range * BMA4XY_MULTIPLIER);
/* Get the G-per bit resolution*/
ug_per_bit = (int32_t)(range_value / power(2, res));
/* Compare for -ve & +ve bit position w.r.t 3900micro-g or as reference
* Note: Value scaled in 100s to get accurate integer value */
if (ug_per_bit > 3900)
value = (int32_t)(ug_per_bit * 100 / 3900);
else
value = (int32_t)(3900 * 100 / ug_per_bit);
/* Round off the value */
round_off_int = (int8_t)(roundoff(value));
/* Find the bit position of 3.9mg*/
while (round_off_int != 1) {
round_off_int = (round_off_int / 0x02);
bit_count++;
}
/* Check for +ve and -ve bit position of 3.9 mg */
if (ug_per_bit > 3900)
bit_pos_3_9mg = (int8_t)(bit_count * (-1));
else
bit_pos_3_9mg = (int8_t)bit_count;
return bit_pos_3_9mg;
}
/*!
* @brief This internal API brings up the secondary interface to access
* auxiliary sensor *
*/
static uint16_t bma4_set_aux_interface_config(struct bma4_dev *dev) {
/* Variable to return error codes */
uint16_t rslt = BMA4_OK;
/* Check for null pointer error */
rslt |= bma4_null_pointer_check(dev);
if (rslt == BMA4_OK) {
/* Enable the auxiliary sensor */
rslt |= bma4_set_mag_enable(0x01, dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Disable advance power save */
rslt |= bma4_set_advance_power_save(0x00, dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Set the I2C device address of auxiliary device */
rslt |= bma4_set_i2c_device_addr(dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Set auxiliary interface to manual mode */
rslt |= bma4_set_mag_manual_enable(dev->aux_config.manual_enable, dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Set the number of bytes for burst read */
rslt |= bma4_set_mag_burst(dev->aux_config.burst_read_length, dev);
dev->delay(BMA4_AUX_COM_DELAY);
/* Switch on the the auxiliary interface mode */
rslt |= bma4_set_if_mode(dev->aux_config.if_mode, dev);
dev->delay(BMA4_AUX_COM_DELAY);
}
return rslt;
}
/*!
* @brief This internal API reads the data from the auxiliary sensor
* depending on burst length configured
*/
static uint16_t bma4_extract_aux_data(uint8_t aux_reg_addr, uint8_t *aux_data,
uint16_t len, struct bma4_dev *dev) {
/* Variable to return error codes */
uint16_t rslt = BMA4_OK;
/* Pointer variable to read data from the register */
uint8_t data[15] = {0};
/* Variable to define length counts */
uint8_t len_count = 0;
/* Variable to define burst read length */
uint8_t burst_len = 0;
/* Variable to define read length */
uint8_t read_length = 0;
/* Variable to define the number of burst reads */
uint8_t burst_count;
/* Variable to define address of the data register*/
uint8_t aux_read_addr = BMA4_DATA_0_ADDR;
/* Extract burst read length in a variable */
rslt |= bma4_map_read_len(&burst_len, dev);
for (burst_count = 0; burst_count < len; burst_count += burst_len) {
/* Set the address whose data is to be read */
rslt |= bma4_set_mag_read_addr(aux_reg_addr, dev);
dev->delay(BMA4_AUX_COM_DELAY);
if (rslt == BMA4_OK) {
/* If user defined length is valid */
if (len > 0) {
/* Read the data from the data register */
rslt |= bma4_read_regs(aux_read_addr, data, (uint8_t)burst_len, dev);
dev->delay(BMA4_AUX_COM_DELAY);
if (rslt == BMA4_OK) {
/* If defined user length or remaining length after a burst
read is less than burst length */
if ((len - burst_count) < burst_len) {
/* Read length is equal to burst_length or
remaining length*/
read_length = (uint8_t)(len - burst_count);
} else {
/* Read length is equal to burst_length */
read_length = burst_len;
}
/* Copy the read data in terms of given read length */
for (len_count = 0; len_count < read_length; len_count++)
aux_data[burst_count + len_count] = data[len_count];
/* Increment the register address by burst read length */
aux_reg_addr += burst_len;
} else {
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
} else {
rslt = BMA4_E_FAIL;
}
} else {
rslt = BMA4_E_FAIL;
}
}
return rslt;
}
/*!
* @brief This internal API maps the actual burst read length with user
length set.
*/
static uint16_t bma4_map_read_len(uint8_t *len, const struct bma4_dev *dev) {
/* Variable to return error codes */
uint16_t rslt = BMA4_OK;
switch (dev->aux_config.burst_read_length) {
case BMA4_AUX_READ_LEN_0:
*len = 1;
break;
case BMA4_AUX_READ_LEN_1:
*len = 2;
break;
case BMA4_AUX_READ_LEN_2:
*len = 6;
break;
case BMA4_AUX_READ_LEN_3:
*len = 8;
break;
default:
rslt = BMA4_E_OUT_OF_RANGE;
break;
}
return rslt;
}
/*!
* @brief This internal API checks null pointer error
*/
static uint16_t bma4_null_pointer_check(const struct bma4_dev *dev) {
uint16_t rslt = BMA4_OK;
if ((dev == NULL) || (dev->bus_read == NULL) || (dev->bus_write == NULL))
rslt |= BMA4_E_NULL_PTR;
else
rslt = BMA4_OK;
return rslt;
}
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