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#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};
}
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