/** * Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved. * * BSD-3-Clause * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * @file bma456_an.c * @date 2022-07-01 * @version V2.24.1 * */ /*! \file bma456_an.c * \brief Sensor Driver for BMA456_AN sensor */ #include "bma456_an.h" /**\name Feature configuration file */ const uint8_t bma456_an_config_file[] = { 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x58, 0x01, 0x80, 0x2e, 0x42, 0x02, 0xb0, 0xf0, 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/***************************************************************************/ /**\name Function definitions ****************************************************************************/ /*! * @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. */ int8_t bma456_an_init(struct bma4_dev *dev) { int8_t rslt; /* Structure to define the default values for axes re-mapping */ struct bma4_axes_remap axes_remap = { .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE }; rslt = bma4_init(dev); if (rslt == BMA4_OK) { if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) { /* Resolution of BMA456_AN sensor is 16 bit */ dev->resolution = BMA4_16_BIT_RESOLUTION; dev->feature_len = BMA456_AN_FEATURE_SIZE; dev->config_size = sizeof(bma456_an_config_file); /* Set the default values for axis * re-mapping in the device structure */ dev->remap = axes_remap; } else { rslt = BMA4_E_INVALID_SENSOR; } } return rslt; } /*! * @brief This API is used to upload the configuration file to enable the * features of the sensor. */ int8_t bma456_an_write_config_file(struct bma4_dev *dev) { int8_t rslt = BMA4_OK; if (dev != NULL) { if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) { /* Configuration stream read/write length boundary * check */ if ((dev->read_write_len >= BMA456_AN_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456_AN_RD_WR_MAX_LEN)) { /* Even or odd check */ if ((dev->read_write_len % 2) != 0) { dev->read_write_len = dev->read_write_len - 1; } /* Assign stream data */ dev->config_file_ptr = bma456_an_config_file; rslt = bma4_write_config_file(dev); } else { rslt = BMA4_E_RD_WR_LENGTH_INVALID; } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API is used to get the config file major and minor information. */ int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) { /* Initialize configuration file */ uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; /* Update index to config file version */ uint8_t index = BMA456_AN_CONFIG_ID_OFFSET; /* Variable to define LSB */ uint8_t lsb = 0; /* Variable to define MSB */ uint8_t msb = 0; /* Variable to define LSB and MSB */ uint16_t lsb_msb = 0; /* Result of api are returned to this variable */ int8_t rslt = BMA4_OK; if ((config_major != NULL) && (config_minor != NULL)) { rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); if (rslt == BMA4_OK) { /* Wait for sensor time synchronization. Refer the data-sheet for * more information */ dev->delay_us(450, dev->intf_ptr); /* Get config file identification from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { /* Get word to calculate config file identification */ lsb = feature_config[index++]; msb = feature_config[index++]; lsb_msb = (uint16_t)(msb << 8 | lsb); /* Get major and minor version */ *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); } } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets/un-sets the user provided interrupt to either interrupt * pin1 or pin2 in the sensor. */ int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) { int8_t rslt = BMA4_OK; if (dev != NULL) { if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) { if (int_line <= 1) { /* Map/Unmap the interrupt */ rslt = bma4_map_interrupt(int_line, int_map, enable, dev); } else { rslt = BMA4_E_INT_LINE_INVALID; } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the bma456_an interrupt status from the sensor. */ int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev) { int8_t rslt = BMA4_OK; if ((dev != NULL) && (int_status != NULL)) { if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) { /* Read the interrupt status */ rslt = bma4_read_int_status(int_status, dev); } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API performs x, y and z axis remapping in the sensor. */ int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) { uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456_AN_AXES_REMAP_OFFSET; int8_t rslt = BMA4_OK; if (remap_axes != NULL) { rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev); } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the x, y and z axis remap data from the sensor. */ int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) { uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456_AN_AXES_REMAP_OFFSET; int8_t rslt = BMA4_OK; if (remap_axes != NULL) { rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev); } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the configuration of any-motion feature in the sensor. * This API enables/disables the any-motion feature according to the axis set. */ int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; /* Update index to configure any-motion axes */ uint8_t index = BMA456_AN_ANY_MOT_OFFSET; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define LSB and MSB */ uint16_t lsb_msb = 0; if ((dev != NULL) && (any_motion != NULL)) { /* Get any-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); if (rslt == BMA4_OK) { /* Set threshold value in feature configuration array */ feature_config[index++] = BMA4_GET_LSB(any_motion->threshold); feature_config[index++] = BMA4_GET_MSB(any_motion->threshold); /* Extract the word where duration and axes enable * resides */ lsb = feature_config[index]; msb = feature_config[index + 1] << 8; lsb_msb = lsb | msb; /* Set the duration in the same word */ lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, any_motion->duration); /* Set the axes in the same word */ lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, any_motion->axes_en); /* Assign the word with set duration and axes enable * value back to feature configuration array */ feature_config[index++] = BMA4_GET_LSB(lsb_msb); feature_config[index] = BMA4_GET_MSB(lsb_msb); /* Set any-motion configuration to the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the configuration of any-motion feature from the * sensor. */ int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; /* Update index to configure any-motion axes */ uint8_t index = BMA456_AN_ANY_MOT_OFFSET; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define LSB and MSB */ uint16_t lsb_msb = 0; if ((dev != NULL) && (any_motion != NULL)) { /* Get any-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); if (rslt == BMA4_OK) { /* Get word to calculate threshold and any-motion * select */ lsb = (uint16_t)feature_config[index++]; msb = ((uint16_t)feature_config[index++] << 8); lsb_msb = lsb | msb; /* Extract threshold value */ any_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK; /* Get word to calculate duration and axes enable */ lsb = (uint16_t)feature_config[index++]; msb = ((uint16_t)feature_config[index] << 8); lsb_msb = lsb | msb; /* Extract duration value */ any_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK; /* Extract axes enable value */ any_motion->axes_en = (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS); } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the configuration of no-motion feature in the sensor. * This API enables/disables the no-motion feature according to the axis set. */ int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; /* Update index to configure no-motion axes */ uint8_t index = BMA456_AN_NO_MOT_OFFSET; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define LSB and MSB */ uint16_t lsb_msb = 0; if ((dev != NULL) && (no_motion != NULL)) { /* Get no-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); if (rslt == BMA4_OK) { /* Set threshold value in feature configuration array */ feature_config[index++] = BMA4_GET_LSB(no_motion->threshold); feature_config[index++] = BMA4_GET_MSB(no_motion->threshold); /* Extract the word where duration and axes enable * resides */ lsb = feature_config[index]; msb = feature_config[index + 1] << 8; lsb_msb = lsb | msb; /* Set the duration in the same word */ lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, no_motion->duration); /* Set the axes in the same word */ lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, no_motion->axes_en); /* Assign the word with set duration and axes enable * value back to feature configuration array */ feature_config[index++] = BMA4_GET_LSB(lsb_msb); feature_config[index] = BMA4_GET_MSB(lsb_msb); /* Set no-motion configuration to the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the configuration of no-motion feature from the * sensor. */ int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; /* Update index to configure no-motion axes */ uint8_t index = BMA456_AN_NO_MOT_OFFSET; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define LSB and MSB */ uint16_t lsb_msb = 0; if ((dev != NULL) && (no_motion != NULL)) { /* Get no-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); if (rslt == BMA4_OK) { /* Get word to calculate threshold and no-motion * select */ lsb = (uint16_t)feature_config[index++]; msb = ((uint16_t)feature_config[index++] << 8); lsb_msb = lsb | msb; /* Extract threshold value */ no_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK; /* Get word to calculate duration and axes enable */ lsb = (uint16_t)feature_config[index++]; msb = ((uint16_t)feature_config[index] << 8); lsb_msb = lsb | msb; /* Extract duration value */ no_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK; /* Extract axes enable value */ no_motion->axes_en = (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS); } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! @endcond */