diff options
Diffstat (limited to 'src/drivers/Bma421.cpp')
-rw-r--r-- | src/drivers/Bma421.cpp | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp new file mode 100644 index 00000000..f1dd934a --- /dev/null +++ b/src/drivers/Bma421.cpp @@ -0,0 +1,122 @@ +#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; + +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}, twiAddress{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; + + 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() { + auto ret = bma4_soft_reset(&bma); + ASSERT(ret == BMA4_OK); + + 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); + 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); + 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 = bma4_set_accel_enable(1, &bma); + ASSERT(ret == BMA4_OK); + + ret = bma4_set_accel_config(&accel_conf, &bma); + ASSERT(ret == BMA4_OK); +} + +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() { + 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); + + + return {steps, data.x, data.y, data.z}; +} + |