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-rw-r--r--src/drivers/Bma421.cpp76
-rw-r--r--src/drivers/Bma421.h11
-rw-r--r--src/systemtask/SystemTask.cpp4
3 files changed, 32 insertions, 59 deletions
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index f1dd934a..9e98f1ca 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -6,23 +6,25 @@
using namespace Pinetime::Drivers;
-int8_t user_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr) {
- auto bma421 = static_cast<Bma421*>(intf_ptr);
- bma421->Read(reg_addr, reg_data, length);
- return 0;
+namespace {
+ int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
+ auto bma421 = static_cast<Bma421*>(intf_ptr);
+ bma421->Read(reg_addr, reg_data, length);
+ return 0;
+ }
+
+ int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
+ auto bma421 = static_cast<Bma421*>(intf_ptr);
+ bma421->Write(reg_addr, reg_data, length);
+ return 0;
+ }
+
+ void user_delay(uint32_t period_us, void* intf_ptr) {
+ nrf_delay_us(period_us);
+ }
}
-int8_t user_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr) {
- auto bma421 = static_cast<Bma421*>(intf_ptr);
- bma421->Write(reg_addr, reg_data, length);
- return 0;
-}
-
-void user_delay(uint32_t period_us, void *intf_ptr) {
- nrf_delay_us(period_us);
-}
-
-Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, twiAddress{twiAddress} {
+Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
bma.intf = BMA4_I2C_INTF;
bma.bus_read = user_i2c_read;
bma.bus_write = user_i2c_write;
@@ -30,13 +32,6 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
bma.intf_ptr = this;
bma.delay_us = user_delay;
bma.read_write_len = 8;
-
- accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
- accel_conf.range = BMA4_ACCEL_RANGE_2G;
- accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
- accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
-
-
}
void Bma421::Init() {
@@ -46,43 +41,28 @@ void Bma421::Init() {
nrf_delay_ms(1);
ret = bma423_init(&bma);
- NRF_LOG_INFO("RESET : %d", ret);
-
- //ret = bma423_init(&bma);
- //NRF_LOG_INFO("ID : %d", bma.chip_id);
ASSERT(ret == BMA4_OK);
ret = bma423_write_config_file(&bma);
ASSERT(ret == BMA4_OK);
- bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
- struct bma4_int_pin_config int_pin_config;
- int_pin_config.edge_ctrl = BMA4_LEVEL_TRIGGER;
- int_pin_config.lvl = BMA4_ACTIVE_LOW;
- int_pin_config.od = BMA4_PUSH_PULL;
- int_pin_config.output_en = BMA4_OUTPUT_ENABLE;
- int_pin_config.input_en = BMA4_INPUT_DISABLE;
- bma4_set_int_pin_config(&int_pin_config, BMA4_INTR1_MAP, &bma);
-
- //ret = bma423_feature_enable(BMA423_STEP_CNTR | BMA423_STEP_ACT | BMA423_WRIST_WEAR | BMA423_SINGLE_TAP | BMA423_DOUBLE_TAP, 1, &bma);
- ret = bma423_feature_enable(0xff, 1, &bma);
+ ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
ASSERT(ret == BMA4_OK);
- //ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_SINGLE_TAP_INT | BMA423_STEP_CNTR_INT | BMA423_ACTIVITY_INT | BMA423_WRIST_WEAR_INT | BMA423_DOUBLE_TAP_INT | BMA423_ANY_MOT_INT | BMA423_NO_MOT_INT| BMA423_ERROR_INT, 1,&bma);
- ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT, 1,&bma);
+ ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
ASSERT(ret == BMA4_OK);
- bma423_step_detector_enable(0, &bma);
-
- bma423_any_no_mot_config motConfig;
- motConfig.threshold = 0xaa;
- motConfig.axes_en = 3;
- motConfig.duration = 1;
- bma423_set_any_mot_config(&motConfig, &bma);
+ ret = bma423_step_detector_enable(0, &bma);
+ ASSERT(ret == BMA4_OK);
ret = bma4_set_accel_enable(1, &bma);
ASSERT(ret == BMA4_OK);
+ struct bma4_accel_config accel_conf;
+ accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
+ accel_conf.range = BMA4_ACCEL_RANGE_2G;
+ accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
+ accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
ret = bma4_set_accel_config(&accel_conf, &bma);
ASSERT(ret == BMA4_OK);
}
@@ -116,7 +96,7 @@ Bma421::Values Bma421::Process() {
NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
-
- return {steps, data.x, data.y, data.z};
+ // X and Y axis are swapped because of the way the sensor is mounted in the PineTime
+ return {steps, data.y, data.x, data.z};
}
diff --git a/src/drivers/Bma421.h b/src/drivers/Bma421.h
index bcc06b1c..fbb190ae 100644
--- a/src/drivers/Bma421.h
+++ b/src/drivers/Bma421.h
@@ -25,19 +25,12 @@ namespace Pinetime {
void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
- void OnIrq();
-
- uint32_t GetNbInterrupts() const {return nbInterrupts;}
-
private:
TwiMaster& twiMaster;
- uint8_t twiAddress;
+ uint8_t deviceAddress = 0x18;
- struct bma4_dev bma;
- struct bma4_accel_config accel_conf;
- static constexpr uint8_t deviceAddress = 0x18;
- uint32_t nbInterrupts = 0;
+ struct bma4_dev bma;
};
}
} \ No newline at end of file
diff --git a/src/systemtask/SystemTask.cpp b/src/systemtask/SystemTask.cpp
index bf1839c7..74c2c46e 100644
--- a/src/systemtask/SystemTask.cpp
+++ b/src/systemtask/SystemTask.cpp
@@ -243,8 +243,8 @@ void SystemTask::UpdateMotion() {
if(isSleeping)
twiMaster.Sleep();
- motionController.Update(motionValues.y,
- motionValues.x,
+ motionController.Update(motionValues.x,
+ motionValues.y,
motionValues.z,
motionValues.steps);
if (motionController.ShouldWakeUp(isSleeping)) {
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-20 14:32:44 +0000