diff options
Diffstat (limited to 'src/drivers/Bma421.cpp')
-rw-r--r-- | src/drivers/Bma421.cpp | 116 |
1 files changed, 116 insertions, 0 deletions
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp new file mode 100644 index 00000000..ea705d8e --- /dev/null +++ b/src/drivers/Bma421.cpp @@ -0,0 +1,116 @@ +#include <libraries/delay/nrf_delay.h> +#include <libraries/log/nrf_log.h> +#include "Bma421.h" +#include "TwiMaster.h" +#include <drivers/Bma421_C/bma423.h> + +using namespace Pinetime::Drivers; + +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); + } +} + +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; + bma.variant = BMA42X_VARIANT; + bma.intf_ptr = this; + bma.delay_us = user_delay; + bma.read_write_len = 8; +} + +void Bma421::Init() { + if(not isResetOk) return; // Call SoftReset (and reset TWI device) first! + + auto ret = bma423_init(&bma); + if(ret != BMA4_OK) return; + + ret = bma423_write_config_file(&bma); + if(ret != BMA4_OK) return; + + ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma); + if(ret != BMA4_OK) return; + + ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma); + if(ret != BMA4_OK) return; + + ret = bma423_step_detector_enable(0, &bma); + if(ret != BMA4_OK) return; + + ret = bma4_set_accel_enable(1, &bma); + if(ret != BMA4_OK) return; + + 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); + if(ret != BMA4_OK) return; + + isOk = true; +} + +void Bma421::Reset() { + uint8_t data = 0xb6; + twiMaster.Write(deviceAddress, 0x7E, &data, 1); +} + +void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) { + twiMaster.Read(deviceAddress, registerAddress, buffer, size); +} + +void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) { + twiMaster.Write(deviceAddress, registerAddress, data, size); +} + +Bma421::Values Bma421::Process() { + if(not isOk) return {}; + struct bma4_accel data; + bma4_read_accel_xyz(&data, &bma); + + uint32_t steps = 0; + bma423_step_counter_output(&steps, &bma); + + int32_t temperature; + bma4_get_temperature(&temperature, BMA4_DEG, &bma); + temperature = temperature / 1000; + + uint8_t activity = 0; + bma423_activity_output(&activity, &bma); + + NRF_LOG_INFO("MOTION : %d - %d/%d/%d", 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}; +} +bool Bma421::IsOk() const { + return isOk; +} + +void Bma421::ResetStepCounter() { + bma423_reset_step_counter(&bma); +} + +void Bma421::SoftReset() { + auto ret = bma4_soft_reset(&bma); + if(ret == BMA4_OK) { + isResetOk = true; + nrf_delay_ms(1); + } +} |