/** * 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 bma456h.c * @date 2022-07-01 * @version V2.24.1 * */ /*! \file bma456h.c * \brief Sensor Driver for BMA456H sensor */ #include "bma456h.h" /**\name Feature configuration file */ const uint8_t bma456h_config_file[] = { 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xae, 0x00, 0x80, 0x2e, 0x6e, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9a, 0x01, 0x50, 0x35, 0x21, 0x2e, 0xb0, 0xf0, 0x10, 0x30, 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Static Function Declarations ****************************************************************************/ /*! * @brief This API enables the features of sensor. * * @param[in] feature : Variable to specify the features which are to be set in * the sensor. * @param[in] feature_config : Array address which stores the feature * configuration data * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t feature_enable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev); /*! * @brief This API disables the features of sensor. * * @param[in] feature : Variable to specify the features which are to be unset * in the sensor. * @param[in] feature_config : Array address which stores the feature * configuration data * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t feature_disable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev); /*! * @brief This API update the settings of step counter into write array. * * @param[in] setting : Pointer to structure variable which stores the * settings parameter1 to parameter25. * @param[in] index : Value for array traversing. * @param[out] feature_config : Pointer to store the settings * * @return none */ static void update_stepcounter_parameter(const struct bma456h_stepcounter_settings *setting, uint8_t index, uint8_t *feature_config); /*! * @brief This API copy the settings of step counter into the * structure of bma456h_stepcounter_settings, which is read from sensor. * * @param[out] setting : Pointer to structure variable which stores the * settings parameter1 to parameter25 read from sensor. * @param[in] data_p : Pointer of array which stores the parameters. * * @return none */ static void extract_stepcounter_parameter(struct bma456h_stepcounter_settings *setting, const uint16_t *data_p); /*! * @brief This API update the settings of tap into write array. * * @param[in] setting : Pointer to structure variable which stores the * settings parameter1 to parameter12. * @param[in] index : Value for array traversing. * @param[out] feature_config : Pointer to store the settings * * @return none */ static void update_tap_parameter(const struct bma456h_multitap_settings *setting, uint8_t index, uint8_t *feature_config); /*! * @brief This API copy the settings of tap into the * structure of bma456h_multitap_settings, which is read from sensor. * * @param[out] setting : Pointer to structure variable which stores the * settings parameter1 to parameter12 read from sensor. * @param[in] data_p : Pointer of array which stores the parameters. * * @return none */ static void extract_tap_parameter(struct bma456h_multitap_settings *setting, const uint16_t *data_p); /***************************************************************************/ /**\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 bma456h_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 == BMA456H_CHIP_ID) { /* Resolution of BMA456H sensor is 16 bit */ dev->resolution = BMA4_16_BIT_RESOLUTION; dev->feature_len = BMA456H_FEATURE_SIZE; dev->config_size = sizeof(bma456h_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 bma456h_write_config_file(struct bma4_dev *dev) { int8_t rslt = BMA4_OK; if (dev != NULL) { if (dev->chip_id == BMA456H_CHIP_ID) { /* Configuration stream read/write length boundary * check */ if ((dev->read_write_len >= BMA456H_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456H_RD_WR_MAX_LEN)) { /* Even or odd check */ if (dev->read_write_len & 0x01) { dev->read_write_len = dev->read_write_len - 1; } /* Assign stream data */ dev->config_file_ptr = bma456h_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 configuration id of the sensor. */ int8_t bma456h_get_config_id(uint16_t *config_id, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_CONFIG_ID_OFFSET; int8_t rslt = BMA4_OK; uint16_t config_id_lsb = 0; uint16_t config_id_msb = 0; if ((dev != NULL) && (config_id != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { config_id_lsb = (uint16_t)feature_config[index]; config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; *config_id = config_id_lsb | config_id_msb; } } else { rslt = BMA4_E_INVALID_SENSOR; } } 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 bma456h_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 == BMA456H_CHIP_ID) { 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 bma456h interrupt status from the sensor. */ int8_t bma456h_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 == BMA456H_CHIP_ID) { /* 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 enables/disables the features of the sensor. */ int8_t bma456h_feature_enable(uint16_t feature, uint8_t enable, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEAT_EN_SIZE] = { 0, 0 }; int8_t rslt = BMA4_OK; uint8_t len = BMA456H_FEAT_EN_SIZE; if (dev != NULL) { if (dev->chip_id == BMA456H_CHIP_ID) { /* Read feature configuration data */ rslt = bma4_read_regs(BMA456H_FEAT_EN_ADDR1, feature_config, len, dev); if (rslt == BMA4_OK) { if (enable == TRUE) { /* Enables the feature */ rslt = feature_enable(feature, feature_config, dev); } else { /* Disables the feature */ rslt = feature_disable(feature, feature_config, 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 bma456h_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_AXES_REMAP_OFFSET; int8_t rslt = BMA4_OK; if (remap_axes != NULL) { rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456H_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 bma456h_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_AXES_REMAP_OFFSET; int8_t rslt = BMA4_OK; if (remap_axes != NULL) { rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456H_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 bma456h_set_any_mot_config(const struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Update index to configure any-motion axes */ uint8_t index = BMA456H_ANY_MOT_OFFSET; if ((dev != NULL) && (any_mot != NULL)) { /* Get any-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_ANY_MOT_LEN, dev); if (rslt == BMA4_OK) { /* Set threshold value in feature configuration array */ feature_config[index] = BMA4_GET_LSB(any_mot->threshold); feature_config[index + 1] = BMA4_GET_MSB(any_mot->threshold); feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN, any_mot->intr_bhvr); feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], BMA456H_ANY_MOTION_SLOPE_EN, any_mot->slope); /* Extract the word where duration and axes enable * resides */ feature_config[index + 2] = BMA4_GET_LSB(any_mot->duration); feature_config[index + 3] = BMA4_GET_MSB(any_mot->duration); /* Set any-motion configuration to the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_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 bma456h_get_any_mot_config(struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Update index to configure any-motion axes */ uint8_t index = BMA456H_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_mot != NULL)) { /* Get any-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_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 + 1] << 8) & (BMA456H_ANY_NO_MOT_THRES_MSK)); lsb_msb = lsb | msb; /* Get word to calculate intr_bhvr */ any_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN); /* Get word to calculate slope */ any_mot->slope = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_MOTION_SLOPE_EN); /* Extract threshold value */ any_mot->threshold = lsb_msb & BMA456H_ANY_NO_MOT_THRES_MSK; /* Get word to calculate duration */ lsb = (uint16_t)feature_config[index + 2]; msb = (uint16_t)((feature_config[index + 3] << 8) & (BMA456H_ANY_NO_MOT_DUR_MSK)); lsb_msb = lsb | msb; /* Extract duration value */ any_mot->duration = lsb_msb & BMA456H_ANY_NO_MOT_DUR_MSK; } } 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 bma456h_set_no_mot_config(const struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Update index to configure no-motion axes */ uint8_t index = BMA456H_NO_MOT_OFFSET; if ((dev != NULL) && (no_mot != NULL)) { /* Get no-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_NO_MOT_RD_WR_LEN, dev); if (rslt == BMA4_OK) { /* Set threshold value in feature configuration array */ feature_config[index] = BMA4_GET_LSB(no_mot->threshold); feature_config[index + 1] = BMA4_GET_MSB(no_mot->threshold); feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN, no_mot->intr_bhvr); /* Extract the word where duration and axes enable * resides */ feature_config[index + 2] = BMA4_GET_LSB(no_mot->duration); feature_config[index + 3] = BMA4_GET_MSB(no_mot->duration); /* Set no-motion configuration to the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_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 bma456h_get_no_mot_config(struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev) { /* Variable to define error */ int8_t rslt = BMA4_OK; /* Initialize configuration file */ uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Update index to configure no-motion axes */ uint8_t index = BMA456H_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_mot != NULL)) { /* Get no-motion configuration from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_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 + 1] << 8); lsb_msb = lsb | msb; /* Get word to calculate intr_bhvr */ no_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN); /* Extract threshold value */ no_mot->threshold = lsb_msb & BMA456H_ANY_NO_MOT_THRES_MSK; /* Get word to calculate duration and axes enable */ lsb = (uint16_t)feature_config[index + 2]; msb = ((uint16_t)feature_config[index + 3] << 8); lsb_msb = lsb | msb; /* Extract duration value */ no_mot->duration = lsb_msb & BMA456H_ANY_NO_MOT_DUR_MSK; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API enables or disables the step detector feature in the sensor. */ int8_t bma456h_step_detector_enable(uint8_t enable, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; int8_t rslt = BMA4_OK; /* Step detector enable bit position is 1 * byte ahead of the base address */ uint8_t index = BMA456H_STEP_CNTR_OFFSET + 1; if (dev != NULL) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { feature_config[index] = BMA4_SET_BITS_POS_0(feature_config[index], BMA456H_STEP_DETR_EN, enable); rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the watermark level for step counter interrupt in the * sensor. */ int8_t bma456h_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_STEP_CNTR_OFFSET; uint16_t wm_lsb = 0; uint16_t wm_msb = 0; int8_t rslt = BMA4_OK; uint16_t data = 0; if (dev != NULL) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { wm_lsb = feature_config[index]; wm_msb = feature_config[index + 1] << 8; data = wm_lsb | wm_msb; /* Sets only water-mark bits in the complete * 16 bits of data */ data = BMA4_SET_BITS_POS_0(data, BMA456H_STEP_CNTR_WM, step_counter_wm); /* Splits 16 bits of data to individual * 8 bits data */ feature_config[index] = BMA4_GET_LSB(data); feature_config[index + 1] = BMA4_GET_MSB(data); /* Writes step counter water-mark settings * in the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the water mark level set for step counter interrupt * in the sensor. */ int8_t bma456h_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_STEP_CNTR_OFFSET; uint16_t wm_lsb = 0; uint16_t wm_msb = 0; int8_t rslt = BMA4_OK; uint16_t data = 0; if ((dev != NULL) && (step_counter_wm != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { wm_lsb = feature_config[index]; wm_msb = feature_config[index + 1] << 8; data = wm_lsb | wm_msb; *step_counter_wm = BMA4_GET_BITS_POS_0(data, BMA456H_STEP_CNTR_WM); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API resets the counted steps of step counter. */ int8_t bma456h_reset_step_counter(struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Reset bit is 1 byte ahead of base address */ uint8_t index = BMA456H_STEP_CNTR_OFFSET + 1; int8_t rslt = BMA4_OK; if (dev != NULL) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456H_STEP_CNTR_RST, 1); rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the number of counted steps of the step counter * feature from the sensor. */ int8_t bma456h_step_counter_output(uint32_t *step_count, struct bma4_dev *dev) { uint8_t data[BMA456H_STEP_CNTR_DATA_SIZE] = { 0 }; int8_t rslt = BMA4_OK; if ((dev != NULL) && (step_count != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { /* Reads the step counter output data from the * gpio register */ rslt = bma4_read_regs(BMA4_STEP_CNT_OUT_0_ADDR, data, BMA456H_STEP_CNTR_DATA_SIZE, dev); if (rslt == BMA4_OK) { *step_count = ((uint32_t)data[0]) | ((uint32_t)data[1] << 8) | ((uint32_t)data[2] << 16) | ((uint32_t)data[3] << 24); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the output for activity feature. */ int8_t bma456h_output_state(struct bma456h_out_state *out_state, struct bma4_dev *dev) { uint8_t data = 0; int8_t rslt = BMA4_OK; if ((dev != NULL) && (out_state != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { /* Reads the activity output from the gpio register */ rslt = bma4_read_regs(BMA456H_FEAT_OUT_ADDR, &data, 1, dev); if (rslt == BMA4_OK) { out_state->activity_type = BMA4_GET_BITS_POS_0(data, BMA456H_ACTIVITY_OUT); out_state->single_tap = BMA4_GET_BITSLICE(data, BMA456H_SINGLE_TAP_OUT); out_state->double_tap = BMA4_GET_BITSLICE(data, BMA456H_DOUBLE_TAP_OUT); out_state->triple_tap = BMA4_GET_BITSLICE(data, BMA456H_TRIPLE_TAP_OUT); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the parameter1 to parameter7 settings of the step * counter feature. */ int8_t bma456h_stepcounter_get_parameter(struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint16_t *data_p = (uint16_t *)(void *)feature_config; int8_t rslt = BMA4_OK; if ((dev != NULL) && (setting != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { /* To convert 8bit to 16 bit address */ data_p = data_p + BMA456H_STEP_CNTR_PARAM_OFFSET / 2; extract_stepcounter_parameter(setting, data_p); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the parameter1 to parameter7 settings of the step * counter feature in the sensor. */ int8_t bma456h_stepcounter_set_parameter(const struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_STEP_CNTR_PARAM_OFFSET; int8_t rslt = BMA4_OK; if ((dev != NULL) && (setting != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { update_stepcounter_parameter(setting, index, feature_config); /* Writes step counter parameter settings * in the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! @cond DOXYGEN_SUPRESS */ /* Suppressing doxygen warnings triggered for same static function names present across various sensor variant * directories */ /*! * @brief This API enables the features of the sensor. */ static int8_t feature_enable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev) { uint8_t index = 0; int8_t rslt = BMA4_OK; if ((dev != NULL) && (feature_config != NULL)) { feature_config[index] |= BMA4_GET_LSB(feature); feature_config[index + 1] |= BMA4_GET_MSB(feature); /* Write the feature enable settings in the sensor */ rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR1, &feature_config[0], 1, dev); if (rslt == BMA4_OK) { /* Delay required for write register */ dev->delay_us(450, dev->intf_ptr); rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR2, &feature_config[1], 1, dev); } } return rslt; } /*! * @brief This API disables the features of the sensor. */ static int8_t feature_disable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev) { uint8_t index = 0; int8_t rslt = BMA4_OK; if ((dev != NULL) && (feature_config != NULL)) { feature = ~feature; feature_config[index] &= BMA4_GET_LSB(feature); feature_config[index + 1] &= BMA4_GET_MSB(feature); /* Write the configured settings in the sensor */ rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR1, &feature_config[0], 1, dev); if (rslt == BMA4_OK) { /* Delay required for write register */ dev->delay_us(450, dev->intf_ptr); rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR2, &feature_config[1], 1, dev); } } return rslt; } /*! * @brief This API update the settings of step counter. */ static void update_stepcounter_parameter(const struct bma456h_stepcounter_settings *setting, uint8_t index, uint8_t *feature_config) { uint8_t param_num; const uint16_t *step_counter_param = &setting->param1; /* Number of step-counter parameter is 25 */ for (param_num = 1; param_num <= 25; param_num++) { feature_config[index++] = BMA4_GET_LSB(*step_counter_param); feature_config[index++] = BMA4_GET_MSB(*step_counter_param); step_counter_param++; } } /*! * @brief This API copy the settings of step counter into the structure of * bma456h_stepcounter_settings, which is read from sensor. */ static void extract_stepcounter_parameter(struct bma456h_stepcounter_settings *setting, const uint16_t *data_p) { uint8_t param_num; uint16_t *step_counter_param = &setting->param1; /* Number of step-counter parameter is 25 */ for (param_num = 1; param_num <= 25; param_num++) { *step_counter_param = *(data_p++); step_counter_param++; } } /*! @endcond */ /*! * @brief This API gets the parameter1 to parameter12 settings of the * tap feature. */ int8_t bma456h_tap_get_parameter(struct bma456h_multitap_settings *setting, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint16_t *data_p = (uint16_t *)(void *)feature_config; int8_t rslt = BMA4_OK; if ((dev != NULL) && (setting != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { /* To convert 8bit to 16 bit address */ data_p = data_p + BMA456H_TAP_PARAM_OFFSET / 2; extract_tap_parameter(setting, data_p); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the parameter1 to parameter12 settings of the * tap feature in the sensor. */ int8_t bma456h_tap_set_parameter(const struct bma456h_multitap_settings *setting, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_TAP_PARAM_OFFSET; int8_t rslt = BMA4_OK; if ((dev != NULL) && (setting != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { update_tap_parameter(setting, index, feature_config); /* Writes tap parameter settings * in the sensor */ rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! @cond DOXYGEN_SUPRESS */ /* Suppressing doxygen warnings triggered for same static function names present across various sensor variant * directories */ /*! * @brief This API update the settings of tap. */ static void update_tap_parameter(const struct bma456h_multitap_settings *setting, uint8_t index, uint8_t *feature_config) { uint8_t param_num; uint8_t max_tap_param = 12; const uint16_t *tap_param = &setting->reserved_1; /* Number of tap detection parameter is 12 */ for (param_num = 1; param_num <= max_tap_param; param_num++) { feature_config[index++] = BMA4_GET_LSB(*tap_param); feature_config[index++] = BMA4_GET_MSB(*tap_param); tap_param++; } } /*! * @brief This API copy the settings of tap into the structure of * bma456h_multitap_settings, which is read from sensor. */ static void extract_tap_parameter(struct bma456h_multitap_settings *setting, const uint16_t *data_p) { uint8_t param_num; uint8_t max_tap_param = 12; uint16_t *tap_param = &setting->reserved_1; /* Number of tap detection parameter is 12 */ for (param_num = 1; param_num <= max_tap_param; param_num++) { *tap_param = *(data_p++); tap_param++; } } /*! @endcond */ /*! * @brief This API gets auto sleep configurations */ int8_t bma456h_get_auto_low_power_config(struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; int8_t rslt = BMA4_OK; uint16_t msb_lsb; if ((dev != NULL) && (auto_low_power != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { auto_low_power->no_motion = BMA4_GET_BITS_POS_0(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET], BMA456H_NO_MOT_AUTO_LOW_POWER); auto_low_power->time_out = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET], BMA456H_AUTO_LOW_POWER_TIME_OUT); msb_lsb = (uint16_t)(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET] | (uint16_t)(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1] << 8)); auto_low_power->time_out_dur = BMA4_GET_BITSLICE(msb_lsb, BMA456H_TIME_OUT_DUR); auto_low_power->lp_odr = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1], BMA456H_LOW_POW_ODR); auto_low_power->pwr_mgt = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1], BMA456H_PWR_MGT_ENABLE); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API gets power mode management configuration. */ int8_t bma456h_set_auto_low_power_config(const struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev) { uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; uint8_t index = BMA456H_AUTO_LOW_POWER_OFFSET; int8_t rslt = BMA4_OK; uint16_t msb_lsb; if ((dev != NULL) && (auto_low_power != NULL)) { if (dev->chip_id == BMA456H_CHIP_ID) { rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); if (rslt == BMA4_OK) { msb_lsb = (uint16_t)((feature_config[index]) | (uint16_t)(feature_config[index + 1] << 8)); msb_lsb = BMA4_SET_BITS_POS_0(msb_lsb, BMA456H_NO_MOT_AUTO_LOW_POWER_WORD, auto_low_power->no_motion); msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_AUTO_LOW_POWER_TIME_OUT_WORD, auto_low_power->time_out); msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_TIME_OUT_DUR_WORD, auto_low_power->time_out_dur); msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_LOW_POW_ODR_WORD, auto_low_power->lp_odr); msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_PWR_MGT_ENABLE_WORD, auto_low_power->pwr_mgt); feature_config[index] = BMA4_GET_LSB(msb_lsb); feature_config[index + 1] = BMA4_GET_MSB(msb_lsb); rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); } } else { rslt = BMA4_E_INVALID_SENSOR; } } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This api reads the auto low power state output status */ int8_t bma456h_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev) { int8_t rslt = BMA4_OK; uint8_t data; if ((dev != NULL) && (auto_low_power_state != NULL)) { rslt = bma4_read_regs(BMA4_INTERNAL_STAT, &data, 1, dev); *auto_low_power_state = BMA4_GET_BITSLICE(data, BMA456H_AUTO_LOW_POWER_STATE); } else { rslt = BMA4_E_NULL_PTR; } return rslt; } /*! * @brief This API is used to get the config file major and minor information. */ int8_t bma456h_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) { /* Initialize configuration file */ uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; /* Update index to config file version */ uint8_t index = BMA456H_CONFIG_ID_START_ADDR; /* 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); /* Wait for sensor time synchronization. Refer the data-sheet for * more information */ dev->delay_us(450, dev->intf_ptr); if (rslt == BMA4_OK) { /* Get config file identification from the sensor */ rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_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; } /*! @endcond */