Add BMA423 accelerometer code

This commit is contained in:
Lewis Jackson 2023-05-30 00:58:20 +03:00
parent 46af1b07ae
commit 6609a3ab13
9 changed files with 9822 additions and 0 deletions

View file

@ -4,6 +4,8 @@ WatchyDisplayBase Watchy::m_displayBase;
WatchyDisplay Watchy::m_display(Watchy::m_displayBase); WatchyDisplay Watchy::m_display(Watchy::m_displayBase);
WatchyRTC Watchy::m_RTC; WatchyRTC Watchy::m_RTC;
RTC_DATA_ATTR BMA423 Watchy::m_sensor;
RTC_DATA_ATTR bool g_displayFullInit = true; RTC_DATA_ATTR bool g_displayFullInit = true;
Watchy::Watchy() Watchy::Watchy()
@ -40,6 +42,7 @@ void Watchy::Init()
} }
default: default:
{ {
BmaConfig();
ConnectWiFi(); ConnectWiFi();
SyncNTPTime(); SyncNTPTime();
DisconnectWiFi(); DisconnectWiFi();
@ -150,4 +153,121 @@ void Watchy::ClearBusyCallback()
void Watchy::SetBusyCallback() void Watchy::SetBusyCallback()
{ {
m_display.epd2.setBusyCallback(DisplayBusyCallback); m_display.epd2.setBusyCallback(DisplayBusyCallback);
}
uint16_t Watchy::ReadRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len)
{
Wire.beginTransmission(address);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom((uint8_t)address, (uint8_t)len);
uint8_t i = 0;
while (Wire.available()) {
data[i++] = Wire.read();
}
return 0;
}
uint16_t Watchy::WriteRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len)
{
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(data, len);
return (0 != Wire.endTransmission());
}
void Watchy::BmaConfig()
{
if (m_sensor.begin(ReadRegister, WriteRegister, delay) == false) {
// fail to init BMA
return;
}
// Accel parameter structure
Acfg cfg;
/*!
Output data rate in Hz, Optional parameters:
- BMA4_OUTPUT_DATA_RATE_0_78HZ
- BMA4_OUTPUT_DATA_RATE_1_56HZ
- BMA4_OUTPUT_DATA_RATE_3_12HZ
- BMA4_OUTPUT_DATA_RATE_6_25HZ
- BMA4_OUTPUT_DATA_RATE_12_5HZ
- BMA4_OUTPUT_DATA_RATE_25HZ
- BMA4_OUTPUT_DATA_RATE_50HZ
- BMA4_OUTPUT_DATA_RATE_100HZ
- BMA4_OUTPUT_DATA_RATE_200HZ
- BMA4_OUTPUT_DATA_RATE_400HZ
- BMA4_OUTPUT_DATA_RATE_800HZ
- BMA4_OUTPUT_DATA_RATE_1600HZ
*/
cfg.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
/*!
G-range, Optional parameters:
- BMA4_ACCEL_RANGE_2G
- BMA4_ACCEL_RANGE_4G
- BMA4_ACCEL_RANGE_8G
- BMA4_ACCEL_RANGE_16G
*/
cfg.range = BMA4_ACCEL_RANGE_2G;
/*!
Bandwidth parameter, determines filter configuration, Optional parameters:
- BMA4_ACCEL_OSR4_AVG1
- BMA4_ACCEL_OSR2_AVG2
- BMA4_ACCEL_NORMAL_AVG4
- BMA4_ACCEL_CIC_AVG8
- BMA4_ACCEL_RES_AVG16
- BMA4_ACCEL_RES_AVG32
- BMA4_ACCEL_RES_AVG64
- BMA4_ACCEL_RES_AVG128
*/
cfg.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
/*! Filter performance mode , Optional parameters:
- BMA4_CIC_AVG_MODE
- BMA4_CONTINUOUS_MODE
*/
cfg.perf_mode = BMA4_CONTINUOUS_MODE;
// Configure the BMA423 accelerometer
m_sensor.setAccelConfig(cfg);
// Enable BMA423 accelerometer
// Warning : Need to use feature, you must first enable the accelerometer
// Warning : Need to use feature, you must first enable the accelerometer
m_sensor.enableAccel();
struct bma4_int_pin_config config;
config.edge_ctrl = BMA4_LEVEL_TRIGGER;
config.lvl = BMA4_ACTIVE_HIGH;
config.od = BMA4_PUSH_PULL;
config.output_en = BMA4_OUTPUT_ENABLE;
config.input_en = BMA4_INPUT_DISABLE;
// The correct trigger interrupt needs to be configured as needed
m_sensor.setINTPinConfig(config, BMA4_INTR1_MAP);
struct bma423_axes_remap remap_data;
remap_data.x_axis = 1;
remap_data.x_axis_sign = 0xFF;
remap_data.y_axis = 0;
remap_data.y_axis_sign = 0xFF;
remap_data.z_axis = 2;
remap_data.z_axis_sign = 0xFF;
// Need to raise the wrist function, need to set the correct axis
m_sensor.setRemapAxes(&remap_data);
// Enable BMA423 isStepCounter feature
m_sensor.enableFeature(BMA423_STEP_CNTR, true);
// Enable BMA423 isTilt feature
m_sensor.enableFeature(BMA423_TILT, true);
// Enable BMA423 isDoubleClick feature
m_sensor.enableFeature(BMA423_WAKEUP, true);
// Reset steps
m_sensor.resetStepCounter();
// Turn on feature interrupt
m_sensor.enableStepCountInterrupt();
m_sensor.enableTiltInterrupt();
// It corresponds to isDoubleClick interrupt
m_sensor.enableWakeupInterrupt();
} }

View file

@ -6,6 +6,7 @@
#include <WiFi.h> #include <WiFi.h>
#include <WiFiUdp.h> #include <WiFiUdp.h>
#include <NTPClient.h> #include <NTPClient.h>
#include "bma.h"
class Watchy class Watchy
{ {
@ -34,4 +35,11 @@ protected:
static WatchyDisplayBase m_displayBase; static WatchyDisplayBase m_displayBase;
static WatchyDisplay m_display; static WatchyDisplay m_display;
static WatchyRTC m_RTC; static WatchyRTC m_RTC;
static RTC_DATA_ATTR BMA423 m_sensor;
private:
void BmaConfig();
static uint16_t ReadRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len);
static uint16_t WriteRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len);
}; };

283
src/bma.cpp Normal file
View file

@ -0,0 +1,283 @@
#include "bma.h"
#define DEBUGPORT Serial
#ifdef DEBUGPORT
#define DEBUG(...) DEBUGPORT.printf(__VA_ARGS__)
#else
#define DEBUG(...)
#endif
BMA423::BMA423() {
__readRegisterFptr = nullptr;
__writeRegisterFptr = nullptr;
__delayCallBlackFptr = nullptr;
__init = false;
}
BMA423::~BMA423() {}
bool BMA423::begin(bma4_com_fptr_t readCallBlack,
bma4_com_fptr_t writeCallBlack,
bma4_delay_fptr_t delayCallBlack, uint8_t address) {
if (__init || readCallBlack == nullptr || writeCallBlack == nullptr ||
delayCallBlack == nullptr) {
return true;
}
__readRegisterFptr = readCallBlack;
__writeRegisterFptr = writeCallBlack;
__delayCallBlackFptr = delayCallBlack;
__devFptr.dev_addr = address;
__devFptr.interface = BMA4_I2C_INTERFACE;
__devFptr.bus_read = readCallBlack;
__devFptr.bus_write = writeCallBlack;
__devFptr.delay = delayCallBlack;
__devFptr.read_write_len = 8;
__devFptr.resolution = 12;
__devFptr.feature_len = BMA423_FEATURE_SIZE;
softReset();
__delayCallBlackFptr(20);
if (bma423_init(&__devFptr) != BMA4_OK) {
DEBUG("BMA423 FAIL\n");
return false;
}
if (bma423_write_config_file(&__devFptr) != BMA4_OK) {
DEBUG("BMA423 Write Config FAIL\n");
return false;
}
__init = true;
struct bma4_int_pin_config config;
config.edge_ctrl = BMA4_LEVEL_TRIGGER;
config.lvl = BMA4_ACTIVE_HIGH;
config.od = BMA4_PUSH_PULL;
config.output_en = BMA4_OUTPUT_ENABLE;
config.input_en = BMA4_INPUT_DISABLE;
if (bma4_set_int_pin_config(&config, BMA4_INTR1_MAP, &__devFptr) != BMA4_OK) {
DEBUG("BMA423 SET INT FAIL\n");
return false;
}
return true;
}
void BMA423::softReset() {
uint8_t reg = BMA4_RESET_ADDR;
__writeRegisterFptr(BMA4_I2C_ADDR_PRIMARY, BMA4_RESET_SET_MASK, &reg, 1);
}
void BMA423::shutDown() {
bma4_set_advance_power_save(BMA4_DISABLE, &__devFptr);
}
void BMA423::wakeUp() { bma4_set_advance_power_save(BMA4_ENABLE, &__devFptr); }
uint16_t BMA423::getErrorCode() {
struct bma4_err_reg err;
uint16_t rslt = bma4_get_error_status(&err, &__devFptr);
return rslt;
}
uint16_t BMA423::getStatus() {
uint8_t status;
bma4_get_status(&status, &__devFptr);
return status;
}
uint32_t BMA423::getSensorTime() {
uint32_t ms;
bma4_get_sensor_time(&ms, &__devFptr);
return ms;
}
bool BMA423::selfTest() {
return (BMA4_OK ==
bma4_selftest_config(BMA4_ACCEL_SELFTEST_ENABLE_MSK, &__devFptr));
}
uint8_t BMA423::getDirection() {
Accel acc;
if (bma4_read_accel_xyz(&acc, &__devFptr) != BMA4_OK) {
return 0;
}
uint16_t absX = abs(acc.x);
uint16_t absY = abs(acc.y);
uint16_t absZ = abs(acc.z);
if ((absZ > absX) && (absZ > absY)) {
if (acc.z > 0) {
return DIRECTION_DISP_DOWN;
} else {
return DIRECTION_DISP_UP;
}
} else if ((absY > absX) && (absY > absZ)) {
if (acc.y > 0) {
return DIRECTION_RIGHT_EDGE;
} else {
return DIRECTION_LEFT_EDGE;
}
} else {
if (acc.x < 0) {
return DIRECTION_BOTTOM_EDGE;
} else {
return DIRECTION_TOP_EDGE;
}
}
}
float BMA423::readTemperature() {
int32_t data = 0;
bma4_get_temperature(&data, BMA4_DEG, &__devFptr);
float res = (float)data / (float)BMA4_SCALE_TEMP;
/* 0x80 - temp read from the register and 23 is the ambient temp added.
* If the temp read from register is 0x80, it means no valid
* information is available */
if (((data - 23) / BMA4_SCALE_TEMP) == 0x80) {
res = 0;
}
return res;
}
float BMA423::readTemperatureF() {
float temp = readTemperature();
if (temp != 0) {
temp = temp * 1.8 + 32.0;
}
return (temp);
}
bool BMA423::getAccel(Accel &acc) {
memset(&acc, 0, sizeof(acc));
if (bma4_read_accel_xyz(&acc, &__devFptr) != BMA4_OK) {
return false;
}
return true;
}
bool BMA423::getAccelEnable() {
uint8_t en;
bma4_get_accel_enable(&en, &__devFptr);
return (en & BMA4_ACCEL_ENABLE_POS) == BMA4_ACCEL_ENABLE_POS;
}
bool BMA423::disableAccel() { return enableAccel(false); }
bool BMA423::enableAccel(bool en) {
return (BMA4_OK ==
bma4_set_accel_enable(en ? BMA4_ENABLE : BMA4_DISABLE, &__devFptr));
}
bool BMA423::setAccelConfig(Acfg &cfg) {
return (BMA4_OK == bma4_set_accel_config(&cfg, &__devFptr));
}
bool BMA423::getAccelConfig(Acfg &cfg) {
return (BMA4_OK == bma4_get_accel_config(&cfg, &__devFptr));
}
bool BMA423::setRemapAxes(struct bma423_axes_remap *remap_data) {
return (BMA4_OK == bma423_set_remap_axes(remap_data, &__devFptr));
}
bool BMA423::resetStepCounter() {
return BMA4_OK == bma423_reset_step_counter(&__devFptr);
}
uint32_t BMA423::getCounter() {
uint32_t stepCount;
if (bma423_step_counter_output(&stepCount, &__devFptr) == BMA4_OK) {
return stepCount;
}
return 0;
}
bool BMA423::setINTPinConfig(struct bma4_int_pin_config config,
uint8_t pinMap) {
return BMA4_OK == bma4_set_int_pin_config(&config, pinMap, &__devFptr);
}
bool BMA423::getINT() {
return bma423_read_int_status(&__IRQ_MASK, &__devFptr) == BMA4_OK;
}
uint8_t BMA423::getIRQMASK() { return __IRQ_MASK; }
bool BMA423::disableIRQ(uint16_t int_map) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, int_map, BMA4_DISABLE,
&__devFptr));
}
bool BMA423::enableIRQ(uint16_t int_map) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, int_map, BMA4_ENABLE,
&__devFptr));
}
bool BMA423::enableFeature(uint8_t feature, uint8_t enable) {
if ((feature & BMA423_STEP_CNTR) == BMA423_STEP_CNTR) {
bma423_step_detector_enable(enable ? BMA4_ENABLE : BMA4_DISABLE,
&__devFptr);
}
return (BMA4_OK == bma423_feature_enable(feature, enable, &__devFptr));
}
bool BMA423::isStepCounter() {
return (bool)(BMA423_STEP_CNTR_INT & __IRQ_MASK);
}
bool BMA423::isDoubleClick() { return (bool)(BMA423_WAKEUP_INT & __IRQ_MASK); }
bool BMA423::isTilt() { return (bool)(BMA423_TILT_INT & __IRQ_MASK); }
bool BMA423::isActivity() { return (bool)(BMA423_ACTIVITY_INT & __IRQ_MASK); }
bool BMA423::isAnyNoMotion() {
return (bool)(BMA423_ANY_NO_MOTION_INT & __IRQ_MASK);
}
bool BMA423::enableStepCountInterrupt(bool en) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT,
en, &__devFptr));
}
bool BMA423::enableTiltInterrupt(bool en) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_TILT_INT, en,
&__devFptr));
}
bool BMA423::enableWakeupInterrupt(bool en) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_WAKEUP_INT, en,
&__devFptr));
}
bool BMA423::enableAnyNoMotionInterrupt(bool en) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP,
BMA423_ANY_NO_MOTION_INT, en,
&__devFptr));
}
bool BMA423::enableActivityInterrupt(bool en) {
return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_ACTIVITY_INT,
en, &__devFptr));
}
const char *BMA423::getActivity() {
uint8_t activity;
bma423_activity_output(&activity, &__devFptr);
if (activity & BMA423_USER_STATIONARY) {
return "BMA423_USER_STATIONARY";
} else if (activity & BMA423_USER_WALKING) {
return "BMA423_USER_WALKING";
} else if (activity & BMA423_USER_RUNNING) {
return "BMA423_USER_RUNNING";
} else if (activity & BMA423_STATE_INVALID) {
return "BMA423_STATE_INVALID";
}
return "None";
}

87
src/bma.h Normal file
View file

@ -0,0 +1,87 @@
#pragma once
#ifdef ARDUINO
#include <Arduino.h>
#else
#include <stdlib.h>
#endif
#include "bma423.h"
enum {
DIRECTION_TOP_EDGE = 0,
DIRECTION_BOTTOM_EDGE = 1,
DIRECTION_LEFT_EDGE = 2,
DIRECTION_RIGHT_EDGE = 3,
DIRECTION_DISP_UP = 4,
DIRECTION_DISP_DOWN = 5
};
typedef struct bma4_accel Accel;
typedef struct bma4_accel_config Acfg;
class BMA423 {
public:
BMA423();
~BMA423();
bool begin(bma4_com_fptr_t readCallBlack, bma4_com_fptr_t writeCallBlack,
bma4_delay_fptr_t delayCallBlack,
uint8_t address = BMA4_I2C_ADDR_PRIMARY);
void softReset();
void shutDown();
void wakeUp();
bool selfTest();
uint8_t getDirection();
bool setAccelConfig(Acfg &cfg);
bool getAccelConfig(Acfg &cfg);
bool getAccel(Accel &acc);
bool getAccelEnable();
bool disableAccel();
bool enableAccel(bool en = true);
bool setINTPinConfig(struct bma4_int_pin_config config, uint8_t pinMap);
bool getINT();
uint8_t getIRQMASK();
bool disableIRQ(uint16_t int_map = BMA423_STEP_CNTR_INT);
bool enableIRQ(uint16_t int_map = BMA423_STEP_CNTR_INT);
bool isStepCounter();
bool isDoubleClick();
bool isTilt();
bool isActivity();
bool isAnyNoMotion();
bool resetStepCounter();
uint32_t getCounter();
float readTemperature();
float readTemperatureF();
uint16_t getErrorCode();
uint16_t getStatus();
uint32_t getSensorTime();
const char *getActivity();
bool setRemapAxes(struct bma423_axes_remap *remap_data);
bool enableFeature(uint8_t feature, uint8_t enable);
bool enableStepCountInterrupt(bool en = true);
bool enableTiltInterrupt(bool en = true);
bool enableWakeupInterrupt(bool en = true);
bool enableAnyNoMotionInterrupt(bool en = true);
bool enableActivityInterrupt(bool en = true);
private:
bma4_com_fptr_t __readRegisterFptr;
bma4_com_fptr_t __writeRegisterFptr;
bma4_delay_fptr_t __delayCallBlackFptr;
uint8_t __address;
uint16_t __IRQ_MASK;
bool __init;
struct bma4_dev __devFptr;
};

4238
src/bma4.c Normal file

File diff suppressed because it is too large Load diff

1601
src/bma4.h Normal file

File diff suppressed because it is too large Load diff

1713
src/bma423.c Normal file

File diff suppressed because it is too large Load diff

815
src/bma423.h Normal file
View file

@ -0,0 +1,815 @@
/*
*
****************************************************************************
* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
*
* File : bma423.h
*
* Date: 12 Oct 2017
*
* Revision : 1.1.4 $
*
* Usage: Sensor Driver for BMA423 sensor
*
****************************************************************************
*
* 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 bma423.h
\brief Sensor Driver for BMA423 sensor */
#ifndef BMA423_H
#define BMA423_H
#ifdef __cplusplus
extern "C" {
#endif
#include "bma4.h"
/**\name Chip ID of BMA423 sensor */
#define BMA423_CHIP_ID UINT8_C(0x13)
/**\name Sensor feature size */
#define BMA423_FEATURE_SIZE UINT8_C(64)
#define BMA423_ANYMOTION_EN_LEN UINT8_C(2)
#define BMA423_RD_WR_MIN_LEN UINT8_C(2)
/**\name Feature offset address */
#define BMA423_ANY_NO_MOTION_OFFSET UINT8_C(0x00)
#define BMA423_STEP_CNTR_OFFSET UINT8_C(0x36)
#define BMA423_STEP_CNTR_PARAM_OFFSET UINT8_C(0x04)
#define BMA423_WAKEUP_OFFSET UINT8_C(0x38)
#define BMA423_TILT_OFFSET UINT8_C(0x3A)
#define BMA423_CONFIG_ID_OFFSET UINT8_C(0x3C)
#define BMA423_AXES_REMAP_OFFSET UINT8_C(0x3E)
/**************************************************************/
/**\name Remap Axes */
/**************************************************************/
#define BMA423_X_AXIS_MASK UINT8_C(0x03)
#define BMA423_X_AXIS_SIGN_MASK UINT8_C(0x04)
#define BMA423_Y_AXIS_MASK UINT8_C(0x18)
#define BMA423_Y_AXIS_SIGN_MASK UINT8_C(0x20)
#define BMA423_Z_AXIS_MASK UINT8_C(0xC0)
#define BMA423_Z_AXIS_SIGN_MASK UINT8_C(0x01)
/**************************************************************/
/**\name Step Counter & Detector */
/**************************************************************/
/**\name Step counter enable macros */
#define BMA423_STEP_CNTR_EN_POS UINT8_C(4)
#define BMA423_STEP_CNTR_EN_MSK UINT8_C(0x10)
#define BMA423_ACTIVITY_EN_MSK UINT8_C(0x20)
/**\name Step counter watermark macros */
#define BMA423_STEP_CNTR_WM_MSK UINT16_C(0x03FF)
/**\name Step counter reset macros */
#define BMA423_STEP_CNTR_RST_POS UINT8_C(2)
#define BMA423_STEP_CNTR_RST_MSK UINT8_C(0x04)
/**\name Step detector enable macros */
#define BMA423_STEP_DETECTOR_EN_POS UINT8_C(3)
#define BMA423_STEP_DETECTOR_EN_MSK UINT8_C(0x08)
/**\name Tilt enable macros */
#define BMA423_TILT_EN_MSK UINT8_C(0x01)
/**\name Step count output length*/
#define BMA423_STEP_CNTR_DATA_SIZE UINT16_C(4)
/**\name Wakeup enable macros */
#define BMA423_WAKEUP_EN_MSK UINT8_C(0x01)
/**\name Wake up sensitivity macros */
#define BMA423_WAKEUP_SENS_POS UINT8_C(1)
#define BMA423_WAKEUP_SENS_MSK UINT8_C(0x0E)
/**\name Tap selection macro */
#define BMA423_TAP_SEL_POS UINT8_C(4)
#define BMA423_TAP_SEL_MSK UINT8_C(0x10)
/**************************************************************/
/**\name Any Motion */
/**************************************************************/
/**\name Any motion threshold macros */
#define BMA423_ANY_NO_MOTION_THRES_POS UINT8_C(0)
#define BMA423_ANY_NO_MOTION_THRES_MSK UINT16_C(0x07FF)
/**\name Any motion selection macros */
#define BMA423_ANY_NO_MOTION_SEL_POS UINT8_C(3)
#define BMA423_ANY_NO_MOTION_SEL_MSK UINT8_C(0x08)
/**\name Any motion enable macros */
#define BMA423_ANY_NO_MOTION_AXIS_EN_POS UINT8_C(5)
#define BMA423_ANY_NO_MOTION_AXIS_EN_MSK UINT8_C(0xE0)
/**\name Any motion duration macros */
#define BMA423_ANY_NO_MOTION_DUR_MSK UINT16_C(0x1FFF)
/**************************************************************/
/**\name User macros */
/**************************************************************/
/**\name Anymotion/Nomotion axis enable macros */
#define BMA423_X_AXIS_EN UINT8_C(0x01)
#define BMA423_Y_AXIS_EN UINT8_C(0x02)
#define BMA423_Z_AXIS_EN UINT8_C(0x04)
#define BMA423_ALL_AXIS_EN UINT8_C(0x07)
#define BMA423_ALL_AXIS_DIS UINT8_C(0x00)
/**\name Feature enable macros for the sensor */
#define BMA423_STEP_CNTR UINT8_C(0x01)
/**\name Below macros are mutually exclusive */
#define BMA423_ANY_MOTION UINT8_C(0x02)
#define BMA423_NO_MOTION UINT8_C(0x04)
#define BMA423_ACTIVITY UINT8_C(0x08)
#define BMA423_TILT UINT8_C(0x10)
#define BMA423_WAKEUP UINT8_C(0x20)
/**\name Interrupt status macros */
#define BMA423_STEP_CNTR_INT UINT8_C(0x02)
#define BMA423_ACTIVITY_INT UINT8_C(0x04)
#define BMA423_TILT_INT UINT8_C(0x08)
#define BMA423_WAKEUP_INT UINT8_C(0x20)
#define BMA423_ANY_NO_MOTION_INT UINT8_C(0x40)
#define BMA423_ERROR_INT UINT8_C(0x80)
/**\name Activity recognition macros */
#define BMA423_USER_STATIONARY UINT8_C(0x00)
#define BMA423_USER_WALKING UINT8_C(0x01)
#define BMA423_USER_RUNNING UINT8_C(0x02)
#define BMA423_STATE_INVALID UINT8_C(0x03)
/**\name Configuration selection macros */
#define BMA423_PHONE_CONFIG UINT8_C(0x00)
#define BMA423_WRIST_CONFIG UINT8_C(0x01)
/**\name Step counter parameter setting(1-25) for phone */
#define BMA423_PHONE_SC_PARAM_1 UINT16_C(0x132)
#define BMA423_PHONE_SC_PARAM_2 UINT16_C(0x78E6)
#define BMA423_PHONE_SC_PARAM_3 UINT16_C(0x84)
#define BMA423_PHONE_SC_PARAM_4 UINT16_C(0x6C9C)
#define BMA423_PHONE_SC_PARAM_5 UINT8_C(0x07)
#define BMA423_PHONE_SC_PARAM_6 UINT16_C(0x7564)
#define BMA423_PHONE_SC_PARAM_7 UINT16_C(0x7EAA)
#define BMA423_PHONE_SC_PARAM_8 UINT16_C(0x55F)
#define BMA423_PHONE_SC_PARAM_9 UINT16_C(0xABE)
#define BMA423_PHONE_SC_PARAM_10 UINT16_C(0x55F)
#define BMA423_PHONE_SC_PARAM_11 UINT16_C(0xE896)
#define BMA423_PHONE_SC_PARAM_12 UINT16_C(0x41EF)
#define BMA423_PHONE_SC_PARAM_13 UINT8_C(0x01)
#define BMA423_PHONE_SC_PARAM_14 UINT8_C(0x0C)
#define BMA423_PHONE_SC_PARAM_15 UINT8_C(0x0C)
#define BMA423_PHONE_SC_PARAM_16 UINT8_C(0x4A)
#define BMA423_PHONE_SC_PARAM_17 UINT8_C(0xA0)
#define BMA423_PHONE_SC_PARAM_18 UINT8_C(0x00)
#define BMA423_PHONE_SC_PARAM_19 UINT8_C(0x0C)
#define BMA423_PHONE_SC_PARAM_20 UINT16_C(0x3CF0)
#define BMA423_PHONE_SC_PARAM_21 UINT16_C(0x100)
#define BMA423_PHONE_SC_PARAM_22 UINT8_C(0x00)
#define BMA423_PHONE_SC_PARAM_23 UINT8_C(0x00)
#define BMA423_PHONE_SC_PARAM_24 UINT8_C(0x00)
#define BMA423_PHONE_SC_PARAM_25 UINT8_C(0x00)
/**\name Step counter parameter setting(1-25) for wrist (Default) */
#define BMA423_WRIST_SC_PARAM_1 UINT16_C(0x12D)
#define BMA423_WRIST_SC_PARAM_2 UINT16_C(0x7BD4)
#define BMA423_WRIST_SC_PARAM_3 UINT16_C(0x13B)
#define BMA423_WRIST_SC_PARAM_4 UINT16_C(0x7ADB)
#define BMA423_WRIST_SC_PARAM_5 UINT8_C(0x04)
#define BMA423_WRIST_SC_PARAM_6 UINT16_C(0x7B3F)
#define BMA423_WRIST_SC_PARAM_7 UINT16_C(0x6CCD)
#define BMA423_WRIST_SC_PARAM_8 UINT16_C(0x4C3)
#define BMA423_WRIST_SC_PARAM_9 UINT16_C(0x985)
#define BMA423_WRIST_SC_PARAM_10 UINT16_C(0x4C3)
#define BMA423_WRIST_SC_PARAM_11 UINT16_C(0xE6EC)
#define BMA423_WRIST_SC_PARAM_12 UINT16_C(0x460C)
#define BMA423_WRIST_SC_PARAM_13 UINT8_C(0x01)
#define BMA423_WRIST_SC_PARAM_14 UINT8_C(0x27)
#define BMA423_WRIST_SC_PARAM_15 UINT8_C(0x19)
#define BMA423_WRIST_SC_PARAM_16 UINT8_C(0x96)
#define BMA423_WRIST_SC_PARAM_17 UINT8_C(0xA0)
#define BMA423_WRIST_SC_PARAM_18 UINT8_C(0x01)
#define BMA423_WRIST_SC_PARAM_19 UINT8_C(0x0C)
#define BMA423_WRIST_SC_PARAM_20 UINT16_C(0x3CF0)
#define BMA423_WRIST_SC_PARAM_21 UINT16_C(0x100)
#define BMA423_WRIST_SC_PARAM_22 UINT8_C(0x01)
#define BMA423_WRIST_SC_PARAM_23 UINT8_C(0x03)
#define BMA423_WRIST_SC_PARAM_24 UINT8_C(0x01)
#define BMA423_WRIST_SC_PARAM_25 UINT8_C(0x0E)
/*!
* @brief Any motion configuration
*/
struct bma423_anymotion_config {
/*! Expressed in 50 Hz samples (20 ms) */
uint16_t duration;
/*! Threshold value for Any-motion / No-motion detection in
5.11g format */
uint16_t threshold;
/*! Indicates if No-motion or Any-motion is selected */
uint8_t nomotion_sel;
};
/*!
* @brief Axes remapping configuration
*/
struct bma423_axes_remap {
uint8_t x_axis;
uint8_t x_axis_sign;
uint8_t y_axis;
uint8_t y_axis_sign;
uint8_t z_axis;
uint8_t z_axis_sign;
};
/*!
* @brief Step counter param settings
*/
struct bma423_stepcounter_settings {
/*! Step Counter param 1 */
uint16_t param1;
/*! Step Counter param 2 */
uint16_t param2;
/*! Step Counter param 3 */
uint16_t param3;
/*! Step Counter param 4 */
uint16_t param4;
/*! Step Counter param 5 */
uint16_t param5;
/*! Step Counter param 6 */
uint16_t param6;
/*! Step Counter param 7 */
uint16_t param7;
/*! Step Counter param 8 */
uint16_t param8;
/*! Step Counter param 9 */
uint16_t param9;
/*! Step Counter param 10 */
uint16_t param10;
/*! Step Counter param 11 */
uint16_t param11;
/*! Step Counter param 12 */
uint16_t param12;
/*! Step Counter param 13 */
uint16_t param13;
/*! Step Counter param 14 */
uint16_t param14;
/*! Step Counter param 15 */
uint16_t param15;
/*! Step Counter param 16 */
uint16_t param16;
/*! Step Counter param 17 */
uint16_t param17;
/*! Step Counter param 18 */
uint16_t param18;
/*! Step Counter param 19 */
uint16_t param19;
/*! Step Counter param 20 */
uint16_t param20;
/*! Step Counter param 21 */
uint16_t param21;
/*! Step Counter param 22 */
uint16_t param22;
/*! Step Counter param 23 */
uint16_t param23;
/*! Step Counter param 24 */
uint16_t param24;
/*! Step Counter param 25 */
uint16_t param25;
};
/*!
* @brief This API is the entry point.
* Call this API before using all other APIs.
* This API reads the chip-id of the sensor and sets the resolution.
*
* @param[in,out] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_init(struct bma4_dev *dev);
/*!
* @brief This API is used to upload the config file to enable
* the features of 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
*/
uint16_t bma423_write_config_file(struct bma4_dev *dev);
/*!
* @brief This API is used to get the configuration id of the sensor.
*
* @param[out] config_id : Pointer variable used to store
* the configuration id.
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_get_config_id(uint16_t *config_id, struct bma4_dev *dev);
/*!
* @brief This API sets/unsets the user provided interrupt to either
* interrupt pin1 or pin2 in the sensor.
*
* @param[in] int_line: Variable to select either interrupt pin1 or pin2.
* int_line | Macros
* ------------|-------------------
* 0 | BMA4_INTR1_MAP
* 1 | BMA4_INTR2_MAP
* @param[in] int_map : Variable to specify the interrupts.
* @param[in] enable : Variable to specify mapping or unmapping of
* interrupts.
* enable | Macros
* --------------------|-------------------
* 0x00 | BMA4_DISABLE
* 0x01 | BMA4_ENABLE
* @param[in] dev : Structure instance of bma4_dev.
*
* @note Below macros specify the interrupts.
* Feature Interrupts
* - BMA423_STEP_CNTR_INT
* - BMA423_ACTIVITY_INT
* - BMA423_TILT_INT
* - BMA423_WAKEUP_INT
* - BMA423_ANY_NO_MOTION_INT
* - BMA423_ERROR_INT
*
* Hardware Interrupts
* - BMA4_FIFO_FULL_INT
* - BMA4_FIFO_WM_INT
* - BMA4_DATA_RDY_INT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_map_interrupt(uint8_t int_line, uint16_t int_map,
uint8_t enable, struct bma4_dev *dev);
/*!
* @brief This API reads the bma423 interrupt status from the sensor.
*
* @param[out] int_status : Variable to store the interrupt status
* read from the sensor.
* @param[in] dev : Structure instance of bma4_dev.
*
* @note Below macros are used to check the interrupt status.
* Feature Interrupts
*
* - BMA423_STEP_CNTR_INT
* - BMA423_ACTIVITY_INT
* - BMA423_TILT_INT
* - BMA423_WAKEUP_INT
* - BMA423_ANY_NO_MOTION_INT
* - BMA423_ERROR_INT
*
*
* Hardware Interrupts
* - BMA4_FIFO_FULL_INT
* - BMA4_FIFO_WM_INT
* - BMA4_MAG_DATA_RDY_INT
* - BMA4_ACCEL_DATA_RDY_INT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_read_int_status(uint16_t *int_status, struct bma4_dev *dev);
/*!
* @brief This API enables/disables the features of the sensor.
*
* @param[in] feature : Variable to specify the features
* which are to be set in bma423 sensor.
* @param[in] enable : Variable which specifies whether to enable or
* disable the features in the bma423 sensor
* enable | Macros
* --------------------|-------------------
* 0x00 | BMA4_DISABLE
* 0x01 | BMA4_ENABLE
* @param[in] dev : Structure instance of bma4_dev.
*
* @note User should use the below macros to enable or disable the
* features of bma423 sensor
* - BMA423_STEP_CNTR
* - BMA423_ANY_MOTION (or) BMA423_NO_MOTION
* - BMA423_ACTIVITY
* - BMA423_WAKEUP
* - BMA423_TILT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_feature_enable(uint8_t feature, uint8_t enable,
struct bma4_dev *dev);
/*!
* @brief This API performs x, y and z axis remapping in the sensor.
*
* @param[in] remap_data : Pointer to store axes remapping data.
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_set_remap_axes(const struct bma423_axes_remap *remap_data,
struct bma4_dev *dev);
/*!
* @brief This API reads the x, y and z axis remap data from the sensor.
*
* @param[out] remap_data : Pointer to store axis remap data which is read
* from the bma423 sensor.
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_get_remap_axes(struct bma423_axes_remap *remap_data,
struct bma4_dev *dev);
/*!
* @brief This API sets the watermark level for step counter
* interrupt in the sensor.
*
* @param[in] step_counter_wm : Variable which specifies watermark level
* count
* @note Valid values are from 1 to 1023
* @note Value 0 is used for step detector interrupt
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_step_counter_set_watermark(uint16_t step_counter_wm,
struct bma4_dev *dev);
/*!
* @brief This API gets the water mark level set for step counter interrupt
* in the sensor
*
* @param[out] step_counter_wm : Pointer variable which stores
* the water mark level read from the sensor.
* @note valid values are from 1 to 1023
* @note value 0 is used for step detector interrupt
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_step_counter_get_watermark(uint16_t *step_counter_wm,
struct bma4_dev *dev);
/*!
* @brief This API resets the counted steps of step counter.
*
* @param[in] dev : structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_reset_step_counter(struct bma4_dev *dev);
/*!
* @brief This API gets the number of counted steps of the step counter
* feature from the sensor.
*
* @param[out] step_count : Pointer variable which stores counted steps
* read from 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
*/
uint16_t bma423_step_counter_output(uint32_t *step_count, struct bma4_dev *dev);
/*!
* @brief This API gets the output for activity feature.
*
* @param[out] activity : Pointer variable which stores activity output
* read from the sensor.
* activity | State
* --------------|------------------------
* 0x00 | BMA423_USER_STATIONARY
* 0x01 | BMA423_USER_WALKING
* 0x02 | BMA423_USER_RUNNING
* 0x03 | BMA423_STATE_INVALID
*
* @param[in] dev : Structure instance of bma4_dev
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_activity_output(uint8_t *activity, struct bma4_dev *dev);
/*!
* @brief This API select the platform configuration wrist(default) or phone.
*
* @param[in] platform : Variable to select wrist/phone
*
* platform | Macros
* -------------|------------------------
* 0x00 | BMA423_PHONE_CONFIG
* 0x01 | BMA423_WRIST_CONFIG
*
* @param[in] dev : Structure instance of bma4_dev
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_select_platform(uint8_t platform, struct bma4_dev *dev);
/*!
* @brief This API gets the parameter1 to parameter7 settings of the
* step counter feature.
*
* @param[out] setting : Pointer to structure variable which stores the
* parameter1 to parameter7 read from 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
*/
uint16_t
bma423_stepcounter_get_parameter(struct bma423_stepcounter_settings *setting,
struct bma4_dev *dev);
/*!
* @brief This API sets the parameter1 to parameter7 settings of the
* step counter feature in the sensor.
*
* @param[in] setting : Pointer to structure variable which stores the
* parameter1 to parameter7 settings read from 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
*/
uint16_t bma423_stepcounter_set_parameter(
const struct bma423_stepcounter_settings *setting, struct bma4_dev *dev);
/*!
* @brief This API enables or disables the step detector feature in the
* sensor.
*
* @param[in] enable : Variable used to enable or disable step detector
* enable | Macros
* --------------------|-------------------
* 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
*/
uint16_t bma423_step_detector_enable(uint8_t enable, struct bma4_dev *dev);
/*!
* @brief This API enables the any motion feature according to the axis
* set by the user in the sensor.
*
* @param[in] axis : Variable to specify the axis of the any motion feature
* to be enabled in the sensor.
* Value | Axis
* ---------|-------------------------
* 0x00 | BMA423_ALL_AXIS_DIS
* 0x01 | BMA423_X_AXIS_EN
* 0x02 | BMA423_Y_AXIS_EN
* 0x04 | BMA423_Z_AXIS_EN
* 0x07 | BMA423_ALL_AXIS_EN
* @param[in] dev : Structure instance of bma4_dev
*
* @return result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_anymotion_enable_axis(uint8_t axis, struct bma4_dev *dev);
/*! @brief This API sets the configuration of Any motion feature in
* the sensor.
*
* @param[in] any_motion : Pointer to structure variable to specify
* the any motion feature settings.
* Structure members are provided in the table below
*@verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | Any-motion / No-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|----------------------------------------
* | Indicates if No motion (1) or
* nomotion_sel | Any-motion (0) is selected;
* | default value is 0 Any-motion.
* -------------------------------------------------------------------------
*@endverbatim
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t
bma423_set_any_motion_config(const struct bma423_anymotion_config *any_motion,
struct bma4_dev *dev);
/*! @brief This API gets the configuration of any motion feature from
* the sensor.
*
* @param[out] any_motion : Pointer to structure variable used to store
* the any motion feature settings read from the sensor.
* Structure members are provided in the table below
*@verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | Any-motion / No-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|----------------------------------------
* | Indicates if No motion (1) or
* nomotion_sel | Any-motion (0) is selected;
* | default value is 0 Any-motion.
* -------------------------------------------------------------------------
*@endverbatim
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t
bma423_get_any_motion_config(struct bma423_anymotion_config *any_motion,
struct bma4_dev *dev);
/*!
* @brief This API sets the sensitivity of wake up feature in the sensor
*
* @param[in] sensitivity : Variable used to specify the sensitivity of the
* Wake up feature.
* Value | Sensitivity
* --------|-------------------------
* 0x00 | MOST SENSITIVE
* 0x07 | LEAST SENSITIVE
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_wakeup_set_sensitivity(uint8_t sensitivity,
struct bma4_dev *dev);
/*!
* @brief This API gets the sensitivity of wake up feature in the sensor
*
* @param[out] sensitivity : Pointer variable which stores the sensitivity
* value read from the sensor.
* Value | Sensitivity
* --------|-------------------------
* 0x00 | MOST SENSITIVE
* 0x07 | LEAST SENSITIVE
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
uint16_t bma423_wakeup_get_sensitivity(uint8_t *sensitivity,
struct bma4_dev *dev);
/*!
* @brief This API is used to select single/double tap
* feature in the sensor
*
* @param tap_select : Variable used to specify the single or
* double tap selection in the sensor
* tap_select | description
* ------------|------------------------
* 0x00 | Double tap selected
* 0x01 | single tap selected
*
* @param dev : Structure instance of bma4_dev
*
* @return results of stream_transfer operation
* @retval 0 -> Success
* @retval Any positive value mentioned in ERROR CODES -> Fail
*
*/
uint16_t bma423_tap_selection(const uint8_t tap_select, struct bma4_dev *dev);
#ifdef __cplusplus
}
#endif /*End of CPP guard */
#endif /*End of header guard macro */

957
src/bma4_defs.h Normal file
View file

@ -0,0 +1,957 @@
/*
*
****************************************************************************
* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
*
* File : bma4_defs.h
*
* 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_defs.h
\brief Sensor Driver for BMA4 family of sensors */
#ifndef BMA4_DEFS_H__
#define BMA4_DEFS_H__
/*********************************************************************/
/**\ header files */
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <math.h>
#include <stddef.h>
#include <stdint.h>
#endif
/*********************************************************************/
/* macro definitions */
/*
#if (LONG_MAX) > 0x7fffffff
#define __have_long64 1
#elif (LONG_MAX) == 0x7fffffff
#define __have_long32 1
#endif
*/
#if !defined(UINT8_C)
#define INT8_C(x) x
#if (INT_MAX) > 0x7f
#define UINT8_C(x) x
#else
#define UINT8_C(x) x##U
#endif
#endif
#if !defined(UINT16_C)
#define INT16_C(x) x
#if (INT_MAX) > 0x7fff
#define UINT16_C(x) x
#else
#define UINT16_C(x) x##U
#endif
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#if __have_long32
#define INT32_C(x) x##L
#define UINT32_C(x) x##UL
#else
#define INT32_C(x) x
#define UINT32_C(x) x##U
#endif
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#if __have_long64
#define INT64_C(x) x##L
#define UINT64_C(x) x##UL
#else
#define INT64_C(x) x##LL
#define UINT64_C(x) x##ULL
#endif
#endif
/**\name CHIP ID ADDRESS*/
#define BMA4_CHIP_ID_ADDR UINT8_C(0x00)
/**\name RESET REGISTER */
#define BMA4_RESET_ADDR UINT8_C(0xB6)
#define BMA4_RESET_SET_MASK UINT8_C(0x7E)
/**\name ERROR STATUS*/
#define BMA4_ERROR_ADDR UINT8_C(0X02)
/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/
#define BMA4_STATUS_ADDR UINT8_C(0X03)
/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/
#define BMA4_DATA_0_ADDR UINT8_C(0X0A)
#define BMA4_DATA_8_ADDR UINT8_C(0X12)
/**\name SENSOR TIME REGISTERS*/
#define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18)
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
#define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C)
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
#define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D)
/**\name TEMPERATURE REGISTERS*/
#define BMA4_TEMPERATURE_ADDR UINT8_C(0X22)
/**\name FIFO REGISTERS*/
#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24)
#define BMA4_FIFO_DATA_ADDR UINT8_C(0X26)
/**\name ACCEL CONFIG REGISTERS*/
#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40)
/**\name ACCEL RANGE ADDRESS*/
#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41)
/**\name AUX CONFIG REGISTERS*/
#define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44)
/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/
#define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45)
/**\name FIFO WATERMARK REGISTER ADDRESS*/
#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46)
/**\name FIFO CONFIG REGISTERS*/
#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48)
#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49)
/**\name MAG INTERFACE REGISTERS*/
#define BMA4_AUX_DEV_ID_ADDR UINT8_C(0X4B)
#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C)
#define BMA4_AUX_RD_ADDR UINT8_C(0X4D)
#define BMA4_AUX_WR_ADDR UINT8_C(0X4E)
#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F)
/**\name INTERRUPT ENABLE REGISTERS*/
#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53)
#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54)
/**\name LATCH DURATION REGISTERS*/
#define BMA4_INTR_LATCH_ADDR UINT8_C(0X55)
/**\name MAP INTERRUPT 1 and 2 REGISTERS*/
#define BMA4_INT_MAP_1_ADDR UINT8_C(0X56)
#define BMA4_INT_MAP_2_ADDR UINT8_C(0X57)
#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58)
#define BMA4_INIT_CTRL_ADDR UINT8_C(0x59)
/**\name FEATURE CONFIG RELATED */
#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B)
#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C)
#define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E)
#define BMA4_INTERNAL_ERROR UINT8_C(0x5F)
/**\name SERIAL INTERFACE SETTINGS REGISTER*/
#define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B)
/**\name SELF_TEST REGISTER*/
#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D)
/**\name SPI,I2C SELECTION REGISTER*/
#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70)
/**\name ACCEL OFFSET REGISTERS*/
#define BMA4_OFFSET_0_ADDR UINT8_C(0X71)
#define BMA4_OFFSET_1_ADDR UINT8_C(0X72)
#define BMA4_OFFSET_2_ADDR UINT8_C(0X73)
/**\name POWER_CTRL REGISTER*/
#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C)
#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D)
/**\name COMMAND REGISTER*/
#define BMA4_CMD_ADDR UINT8_C(0X7E)
/**\name GPIO REGISTERS*/
#define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E)
#define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F)
#define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27)
#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28)
#define BMA4_INTERNAL_STAT UINT8_C(0x2A)
/*!
* @brief Block size for config write */
#define BMA4_BLOCK_SIZE UINT8_C(32)
/**\name I2C slave address */
#define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18)
#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19)
#define BMA4_I2C_BMM150_ADDR UINT8_C(0x10)
/**\name Interface selection macro */
#define BMA4_SPI_INTERFACE UINT8_C(1)
#define BMA4_I2C_INTERFACE UINT8_C(2)
/**\name Interface selection macro */
#define BMA4_SPI_WR_MASK UINT8_C(0x7F)
#define BMA4_SPI_RD_MASK UINT8_C(0x80)
/**\name Chip ID macros */
#define BMA4_CHIP_ID_MIN UINT8_C(0x10)
#define BMA4_CHIP_ID_MAX UINT8_C(0x15)
/**\name Auxiliary sensor selection macro */
#define BMM150_SENSOR UINT8_C(1)
#define AKM9916_SENSOR UINT8_C(2)
#define BMA4_ASIC_INITIALIZED UINT8_C(0x01)
/**\name Auxiliary sensor chip id macros */
#define BMM150_CHIP_ID UINT8_C(0x32)
/**\name Auxiliary sensor other macros */
#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B)
#define BMM150_POWER_MODE_REG UINT8_C(0x4C)
/**\name CONSTANTS */
#define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2)
#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2)
#define BMA4_FIFO_WM_LENGTH UINT8_C(2)
#define BMA4_CONFIG_STREAM_SIZE UINT16_C(6144)
#define BMA4_NON_LATCH_MODE UINT8_C(0)
#define BMA4_LATCH_MODE UINT8_C(1)
#define BMA4_OPEN_DRAIN UINT8_C(1)
#define BMA4_PUSH_PULL UINT8_C(0)
#define BMA4_ACTIVE_HIGH UINT8_C(1)
#define BMA4_ACTIVE_LOW UINT8_C(0)
#define BMA4_EDGE_TRIGGER UINT8_C(1)
#define BMA4_LEVEL_TRIGGER UINT8_C(0)
#define BMA4_OUTPUT_ENABLE UINT8_C(1)
#define BMA4_OUTPUT_DISABLE UINT8_C(0)
#define BMA4_INPUT_ENABLE UINT8_C(1)
#define BMA4_INPUT_DISABLE UINT8_C(0)
/**\name ACCEL RANGE CHECK*/
#define BMA4_ACCEL_RANGE_2G UINT8_C(0)
#define BMA4_ACCEL_RANGE_4G UINT8_C(1)
#define BMA4_ACCEL_RANGE_8G UINT8_C(2)
#define BMA4_ACCEL_RANGE_16G UINT8_C(3)
/**\name CONDITION CHECK FOR READING AND WRTING DATA*/
#define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1)
#define BMA4_MAX_VALUE_SPI3 UINT8_C(1)
#define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1)
#define BMA4_MAX_IF_MODE UINT8_C(3)
#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1)
/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/
#define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16)
#define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6)
#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8)
#define BMA4_ACCEL_DATA_LENGTH UINT8_C(6)
#define BMA4_FIFO_DATA_LENGTH UINT8_C(2)
#define BMA4_TEMP_DATA_SIZE UINT8_C(1)
/**\name TEMPERATURE CONSTANT */
#define BMA4_OFFSET_TEMP UINT8_C(23)
#define BMA4_DEG UINT8_C(1)
#define BMA4_FAHREN UINT8_C(2)
#define BMA4_KELVIN UINT8_C(3)
/**\name DELAY DEFINITION IN MSEC*/
#define BMA4_AUX_IF_DELAY UINT8_C(5)
#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2)
#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3)
#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1)
#define BMA4_GEN_READ_WRITE_DELAY UINT8_C(1)
#define BMA4_AUX_COM_DELAY UINT8_C(10)
/**\name ARRAY PARAMETER DEFINITIONS*/
#define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2)
#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
#define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0)
#define BMA4_MAG_X_LSB_BYTE UINT8_C(0)
#define BMA4_MAG_X_MSB_BYTE UINT8_C(1)
#define BMA4_MAG_Y_LSB_BYTE UINT8_C(2)
#define BMA4_MAG_Y_MSB_BYTE UINT8_C(3)
#define BMA4_MAG_Z_LSB_BYTE UINT8_C(4)
#define BMA4_MAG_Z_MSB_BYTE UINT8_C(5)
#define BMA4_MAG_R_LSB_BYTE UINT8_C(6)
#define BMA4_MAG_R_MSB_BYTE UINT8_C(7)
#define BMA4_TEMP_BYTE UINT8_C(0)
#define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1)
/**\name ERROR CODES */
#define BMA4_OK UINT16_C(0)
#define BMA4_E_NULL_PTR UINT16_C(1)
#define BMA4_E_OUT_OF_RANGE UINT16_C(1 << 1)
#define BMA4_E_INVALID_SENSOR UINT16_C(1 << 2)
#define BMA4_E_CONFIG_STREAM_ERROR UINT16_C(1 << 3)
#define BMA4_E_SELF_TEST_FAIL UINT16_C(1 << 4)
#define BMA4_E_FOC_FAIL UINT16_C(1 << 5)
#define BMA4_E_FAIL UINT16_C(1 << 6)
#define BMA4_E_INT_LINE_INVALID UINT16_C(1 << 7)
#define BMA4_E_RD_WR_LENGTH_INVALID UINT16_C(1 << 8)
#define BMA4_E_AUX_CONFIG_FAIL UINT16_C(1 << 9)
#define BMA4_E_SC_FIFO_HEADER_ERR UINT16_C(1 << 10)
#define BMA4_E_SC_FIFO_CONFIG_ERR UINT16_C(1 << 11)
/**\name UTILITY MACROS */
#define BMA4_SET_LOW_BYTE UINT16_C(0x00FF)
#define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00)
#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F)
/**\name FOC RELATED MACROS */
#define BMA4_ACCEL_CONFIG_FOC UINT8_C(0xB7)
/* Macros used for Self test */
/* Self-test: Resulting minimum difference signal in mg for BMA42x */
#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400)
#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800)
#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400)
/* Self-test: Resulting minimum difference signal in mg for BMA45x */
#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800)
#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800)
#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800)
/**\name BOOLEAN TYPES*/
#ifndef TRUE
#define TRUE UINT8_C(0x01)
#endif
#ifndef FALSE
#define FALSE UINT8_C(0x00)
#endif
#ifndef NULL
#define NULL UINT8_C(0x00)
#endif
/**\name ERROR STATUS POSITION AND MASK*/
#define BMA4_FATAL_ERR_MSK UINT8_C(0x01)
#define BMA4_CMD_ERR_POS UINT8_C(1)
#define BMA4_CMD_ERR_MSK UINT8_C(0x02)
#define BMA4_ERR_CODE_POS UINT8_C(2)
#define BMA4_ERR_CODE_MSK UINT8_C(0x1C)
#define BMA4_FIFO_ERR_POS UINT8_C(6)
#define BMA4_FIFO_ERR_MSK UINT8_C(0x40)
#define BMA4_AUX_ERR_POS UINT8_C(7)
#define BMA4_AUX_ERR_MSK UINT8_C(0x80)
/**\name Maximum number of bytes to be read from the sensor */
#define BMA4_MAX_BUFFER_SIZE UINT8_C(81)
/**\name NV_CONFIG POSITION AND MASK*/
/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */
#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3)
#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08)
/**\name MAG DATA XYZ POSITION AND MASK*/
#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3)
#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8)
#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3)
#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8)
#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1)
#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE)
#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2)
#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC)
/**\name ACCEL DATA READY POSITION AND MASK*/
#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7)
#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80)
/**\name MAG DATA READY POSITION AND MASK*/
#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5)
#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20)
/**\name ADVANCE POWER SAVE POSITION AND MASK*/
#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01)
/**\name ACCELEROMETER ENABLE POSITION AND MASK*/
#define BMA4_ACCEL_ENABLE_POS UINT8_C(2)
#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04)
/**\name MAGNETOMETER ENABLE POSITION AND MASK*/
#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01)
/**\name ACCEL CONFIGURATION POSITION AND MASK*/
#define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F)
#define BMA4_ACCEL_BW_POS UINT8_C(4)
#define BMA4_ACCEL_BW_MSK UINT8_C(0x70)
#define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03)
#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7)
#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80)
/**\name MAG CONFIGURATION POSITION AND MASK*/
#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4)
#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4)
#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0)
#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR)
/**\name FIFO SELF WAKE UP POSITION AND MASK*/
#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1)
#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02)
/**\name FIFO BYTE COUNTER POSITION AND MASK*/
#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F)
/**\name FIFO DATA POSITION AND MASK*/
#define BMA4_FIFO_DATA_POS UINT8_C(0)
#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF)
/**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/
#define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4)
#define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70)
#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7)
#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80)
/**\name FIFO HEADER DATA DEFINITIONS */
#define FIFO_HEAD_A UINT8_C(0x84)
#define FIFO_HEAD_M UINT8_C(0x90)
#define FIFO_HEAD_M_A UINT8_C(0x94)
#define FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
#define FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
#define FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
#define FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80)
#define FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50)
/**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */
#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60)
#define BMA4_FIFO_A_ENABLE UINT8_C(0x40)
#define BMA4_FIFO_M_ENABLE UINT8_C(0x20)
/**\name FIFO CONFIGURATION SELECTION */
#define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01)
#define BMA4_FIFO_TIME UINT8_C(0x02)
#define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04)
#define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08)
#define BMA4_FIFO_HEADER UINT8_C(0x10)
#define BMA4_FIFO_MAG UINT8_C(0x20)
#define BMA4_FIFO_ACCEL UINT8_C(0x40)
#define BMA4_FIFO_ALL UINT8_C(0x7F)
#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03)
#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC)
/**\name FIFO FRAME COUNT DEFINITION */
#define FIFO_LSB_CONFIG_CHECK UINT8_C(0x00)
#define FIFO_MSB_CONFIG_CHECK UINT8_C(0x80)
#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
/**\name FIFO DROPPED FRAME DEFINITION */
#define AUX_FIFO_DROP UINT8_C(0x04)
#define ACCEL_AUX_FIFO_DROP UINT8_C(0x05)
#define ACCEL_FIFO_DROP UINT8_C(0x01)
/**\name FIFO MAG DEFINITION*/
#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8)
/**\name FIFO sensor time length definitions*/
#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3)
/**\name FIFO LENGTH DEFINITION*/
#define BMA4_FIFO_A_LENGTH UINT8_C(6)
#define BMA4_FIFO_M_LENGTH UINT8_C(8)
#define BMA4_FIFO_MA_LENGTH UINT8_C(14)
/**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/
#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1)
#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE)
/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/
#define BMA4_MAG_BURST_MSK UINT8_C(0x03)
#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7)
#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80)
#define BMA4_READ_ADDR_MSK UINT8_C(0xFF)
#define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF)
#define BMA4_WRITE_DATA_MSK UINT8_C(0xFF)
/**\name OUTPUT TYPE ENABLE POSITION AND MASK*/
#define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01)
#define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00)
#define BMA4_INT_LEVEL_MASK UINT8_C(0x02)
#define BMA4_INT_LEVEL_POS UINT8_C(0x01)
#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04)
#define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02)
#define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08)
#define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03)
#define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10)
#define BMA4_INT_INPUT_EN_POS UINT8_C(0x04)
/**\name IF CONFIG POSITION AND MASK*/
#define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01)
#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4)
#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10)
/**\name ACCEL SELF TEST POSITION AND MASK*/
#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01)
#define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2)
#define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04)
#define BMA4_SELFTEST_AMP_POS UINT8_C(3)
#define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08)
/**\name ACCEL ODR */
#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01)
#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02)
#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03)
#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04)
#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05)
#define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06)
#define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07)
#define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08)
#define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09)
#define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A)
#define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B)
#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C)
/**\name ACCEL BANDWIDTH PARAMETER */
#define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0)
#define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1)
#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2)
#define BMA4_ACCEL_CIC_AVG8 UINT8_C(3)
#define BMA4_ACCEL_RES_AVG16 UINT8_C(4)
#define BMA4_ACCEL_RES_AVG32 UINT8_C(5)
#define BMA4_ACCEL_RES_AVG64 UINT8_C(6)
#define BMA4_ACCEL_RES_AVG128 UINT8_C(7)
/**\name ACCEL PERFMODE PARAMETER */
#define BMA4_CIC_AVG_MODE UINT8_C(0)
#define BMA4_CONTINUOUS_MODE UINT8_C(1)
/**\name MAG OFFSET */
#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00)
/**\name ENABLE/DISABLE SELECTIONS */
#define BMA4_X_AXIS UINT8_C(0)
#define BMA4_Y_AXIS UINT8_C(1)
#define BMA4_Z_AXIS UINT8_C(2)
/**\name SELF TEST*/
#define BMA4_SELFTEST_PASS UINT8_C(0)
#define BMA4_SELFTEST_FAIL UINT8_C(1)
/**\name INTERRUPT MAPS */
#define BMA4_INTR1_MAP UINT8_C(0)
#define BMA4_INTR2_MAP UINT8_C(1)
/**\name INTERRUPT MASKS */
#define BMA4_FIFO_FULL_INT UINT16_C(0x0100)
#define BMA4_FIFO_WM_INT UINT16_C(0x0200)
#define BMA4_DATA_RDY_INT UINT16_C(0x0400)
#define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000)
#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000)
/**\name AKM POWER MODE SELECTION */
#define AKM_POWER_DOWN_MODE UINT8_C(0)
#define AKM_SINGLE_MEAS_MODE UINT8_C(1)
/**\name SECONDARY_MAG POWER MODE SELECTION */
#define BMA4_MAG_FORCE_MODE UINT8_C(0)
#define BMA4_MAG_SUSPEND_MODE UINT8_C(1)
/**\name MAG POWER MODE SELECTION */
#define FORCE_MODE UINT8_C(0)
#define SUSPEND_MODE UINT8_C(1)
/**\name ACCEL POWER MODE */
#define ACCEL_MODE_NORMAL UINT8_C(0x11)
/**\name MAG POWER MODE */
#define MAG_MODE_SUSPEND UINT8_C(0x18)
/**\name ENABLE/DISABLE BIT VALUES */
#define BMA4_ENABLE UINT8_C(0x01)
#define BMA4_DISABLE UINT8_C(0x00)
/**\name DEFINITION USED FOR DIFFERENT WRITE */
#define BMA4_MANUAL_DISABLE UINT8_C(0x00)
#define BMA4_MANUAL_ENABLE UINT8_C(0x01)
#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01)
#define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A)
#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06)
#define BMA4_SEC_IF_NULL UINT8_C(0)
#define BMA4_SEC_IF_BMM150 UINT8_C(1)
#define BMA4_SEC_IF_AKM09916 UINT8_C(2)
#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01)
/**\name SENSOR RESOLUTION */
#define BMA4_12_BIT_RESOLUTION UINT8_C(12)
#define BMA4_14_BIT_RESOLUTION UINT8_C(14)
#define BMA4_16_BIT_RESOLUTION UINT8_C(16)
/**\name MULTIPLIER */
/*! for handling micro-g values */
#define BMA4XY_MULTIPLIER UINT32_C(1000000)
/*! for handling float temperature values */
#define BMA4_SCALE_TEMP INT32_C(1000)
/* BMA4_FAHREN_SCALED = 1.8 * 1000 */
#define BMA4_FAHREN_SCALED INT32_C(1800)
/* BMA4_KELVIN_SCALED = 273.15 * 1000 */
#define BMA4_KELVIN_SCALED INT32_C(273150)
/**\name MAP BURST READ LENGTHS */
#define BMA4_AUX_READ_LEN_0 0
#define BMA4_AUX_READ_LEN_1 1
#define BMA4_AUX_READ_LEN_2 2
#define BMA4_AUX_READ_LEN_3 3
#ifndef ABS
#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */
#endif
/**\name BIT SLICE GET AND SET FUNCTIONS */
#define BMA4_GET_BITSLICE(regvar, bitname) \
((regvar & bitname##_MSK) >> bitname##_POS)
#define BMA4_SET_BITSLICE(regvar, bitname, val) \
((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
#define BMA4_GET_DIFF(x, y) ((x) - (y))
#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE)
#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8)
#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))
#define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK))
#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
/**\name TYPEDEF DEFINITIONS */
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific read and write functions of the user
*/
typedef uint16_t (*bma4_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
uint8_t *read_data, uint16_t len);
/*! delay function pointer */
typedef void (*bma4_delay_fptr_t)(uint32_t);
/******************************************************************************/
/*! @name Enum Declarations */
/******************************************************************************/
/*! @name Enum to define BMA4 variants */
enum bma4_variant { BMA42X_VARIANT = 1, BMA45X_VARIANT };
/**\name STRUCTURE DEFINITIONS*/
/*!
* @brief
* This structure holds asic info. for feature configuration.
*/
struct bma4_asic_data {
/* Feature config start addr (0-3 bits)*/
uint8_t asic_lsb;
/* Feature config start addr (4-11 bits)*/
uint8_t asic_msb;
};
/*!
* @brief Auxiliary configuration structure for user settings
*/
struct bma4_aux_config {
/*! Device address of auxiliary sensor */
uint8_t aux_dev_addr;
/*! To enable manual or auto mode */
uint8_t manual_enable;
/*! No of bytes to be read at a time */
uint8_t burst_read_length;
/*! Variable to set the auxiliary interface */
uint8_t if_mode;
};
/*!
* @brief
* This structure holds all relevant information about BMA4
*/
struct bma4_dev {
/*! Chip id of BMA4 */
uint8_t chip_id;
/*! Chip id of auxiliary sensor */
uint8_t aux_chip_id;
/*! Device address of BMA4 */
uint8_t dev_addr;
/*! Interface detail */
uint8_t interface;
/*! Auxiliary sensor information */
uint8_t aux_sensor;
/*! Decide SPI or I2C read mechanism */
uint8_t dummy_byte;
/*! Resolution for FOC */
uint8_t resolution;
/*! Define the BMA4 variant BMA42X or BMA45X */
enum bma4_variant variant;
/* ! Used to check mag manual/auto mode status
int8_t mag_manual_enable;*/
/*! FIFO related configurations */
struct bma4_fifo_frame *fifo;
/*! Config stream data buffer address will be assigned*/
const uint8_t *config_file_ptr;
/*! Max read/write length (maximum supported length is 32).
To be set by the user */
uint8_t read_write_len;
/*! Feature len */
uint8_t feature_len;
/*! Contains asic information */
struct bma4_asic_data asic_data;
/*! Contains aux configuration settings */
struct bma4_aux_config aux_config;
/*! Bus read function pointer */
bma4_com_fptr_t bus_read;
/*! Bus write function pointer */
bma4_com_fptr_t bus_write;
/*! delay(in ms) function pointer */
bma4_delay_fptr_t delay;
};
/*!
* @brief This structure holds the information for usage of
* FIFO by the user.
*/
struct bma4_fifo_frame {
/*! Data buffer of user defined length is to be mapped here */
uint8_t *data;
/*! Number of bytes of FIFO to be read as specified by the user */
uint16_t length;
/*! Enabling of the FIFO header to stream in header mode */
uint8_t fifo_header_enable;
/*! Streaming of the Accelerometer, Auxiliary
* sensor data or both in FIFO */
uint8_t fifo_data_enable;
/*! Will be equal to length when no more frames are there to parse */
uint16_t accel_byte_start_idx;
/*! Will be equal to length when no more frames are there to parse */
uint16_t mag_byte_start_idx;
/*! Will be equal to length when no more frames are there to parse */
uint16_t sc_frame_byte_start_idx;
/*! Value of FIFO sensor time time */
uint32_t sensor_time;
/*! Value of Skipped frame counts */
uint8_t skipped_frame_count;
/*! Value of accel dropped frame count */
uint8_t accel_dropped_frame_count;
/*! Value of mag dropped frame count */
uint8_t mag_dropped_frame_count;
};
/*!
* @brief Error Status structure
*/
struct bma4_err_reg {
/*! Indicates fatal error */
uint8_t fatal_err;
/*! Indicates command error */
uint8_t cmd_err;
/*! Indicates error code */
uint8_t err_code;
/*! Indicates fifo error */
uint8_t fifo_err;
/*! Indicates mag error */
uint8_t aux_err;
};
/*!
* @brief Asic Status structure
*/
struct bma4_asic_status {
/*! Asic is in sleep/halt state */
uint8_t sleep;
/*! Dedicated interrupt is set again before previous interrupt
was acknowledged */
uint8_t irq_ovrn;
/*! Watchcell event detected (asic stopped) */
uint8_t wc_event;
/*! Stream transfer has started and transactions are ongoing */
uint8_t stream_transfer_active;
};
/*!
* @brief Interrupt Pin Configuration structure
*/
struct bma4_int_pin_config {
/*! Trigger condition of interrupt pin */
uint8_t edge_ctrl;
/*! Level of interrupt pin */
uint8_t lvl;
/*! Behaviour of interrupt pin to open drain */
uint8_t od;
/*! Output enable for interrupt pin */
uint8_t output_en;
/*! Input enable for interrupt pin */
uint8_t input_en;
};
/*!
* @brief Accelerometer configuration structure */
struct bma4_accel_config {
/*! Output data rate in Hz */
uint8_t odr;
/*! Bandwidth parameter, determines filter configuration */
uint8_t bandwidth;
/*! Filter performance mode */
uint8_t perf_mode;
/*! G-range */
uint8_t range;
};
/*!
* @brief Auxiliary magnetometer configuration structure
*/
struct bma4_aux_mag_config {
/*! Poll rate for the sensor attached to the Magnetometer interface */
uint8_t odr;
/*! Trigger-readout offset in units of 2.5 ms.
If set to zero, the offset is maximum, i.e. after readout a trigger
is issued immediately */
uint8_t offset;
};
/*!
* @brief ASIC Config structure
*/
struct bma4_asic_config {
/*! Enable/Disable ASIC Wake Up */
uint8_t asic_en;
/*! Configure stream_transfer/FIFO mode */
uint8_t fifo_mode_en;
/*! Mapping of instance RAM1 */
uint8_t mem_conf_ram1;
/*! Mapping of instance RAM2 */
uint8_t mem_conf_ram2;
/*! Mapping of instance RAM3 */
uint8_t mem_conf_ram3;
};
/*!
* @brief bmm150 or akm09916
* magnetometer values structure
*/
struct bma4_mag {
/*! BMM150 and AKM09916 X raw data */
int32_t x;
/*! BMM150 and AKM09916 Y raw data */
int32_t y;
/*! BMM150 and AKM09916 Z raw data */
int32_t z;
};
/*!
* @brief bmm150 xyz data structure
*/
struct bma4_mag_xyzr {
/*! BMM150 X raw data */
int16_t x;
/*! BMM150 Y raw data */
int16_t y;
/*! BMM150 Z raw data */
int16_t z;
/*! BMM150 R raw data */
uint16_t r;
};
/*!
* @brief Accel xyz data structure
*/
struct bma4_accel {
/*! Accel X data */
int16_t x;
/*! Accel Y data */
int16_t y;
/*! Accel Z data */
int16_t z;
};
/*!
* @brief FIFO mag data structure
*/
struct bma4_mag_fifo_data {
/*! The value of mag x LSB data */
uint8_t mag_x_lsb;
/*! The value of mag x MSB data */
uint8_t mag_x_msb;
/*! The value of mag y LSB data */
uint8_t mag_y_lsb;
/*! The value of mag y MSB data */
uint8_t mag_y_msb;
/*! The value of mag z LSB data */
uint8_t mag_z_lsb;
/*! The value of mag z MSB data */
uint8_t mag_z_msb;
/*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */
uint8_t mag_r_y2_lsb;
/*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */
uint8_t mag_r_y2_msb;
};
#endif
/* End of __BMA4_H__ */