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bma456w.c
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bma456w.c
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/**
* 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 bma456w.c
* @date 2022-07-01
* @version V2.24.1
*
*/
/*! \file bma456w.c
* \brief Sensor Driver for BMA456W sensor
*/
#include "bma456w.h"
/**\name Feature configuration file */
const uint8_t bma456w_config_file[] = {
0x80, 0x2e, 0xf0, 0x01, 0x80, 0x2e, 0xf2, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xff, 0x00, 0x80, 0x2e, 0xfe,
0x00, 0x80, 0x2e, 0xf1, 0x01, 0x80, 0x2e, 0xef, 0x01, 0x80, 0x2e, 0x92, 0xb0, 0x80, 0x2e, 0xb6, 0x09, 0xb0, 0xf0,
0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf3, 0x01, 0x71, 0x50, 0x6f, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41,
0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x22, 0xeb,
0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x04, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x1e, 0x01, 0x01, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, 0x21, 0x2e, 0x55, 0xf0, 0x30, 0x50, 0x00, 0x30, 0x67, 0x56, 0x05, 0x30,
0x05, 0x2c, 0xfb, 0x7f, 0x3e, 0xbe, 0xd2, 0xba, 0xb2, 0xb9, 0x6c, 0x0b, 0x53, 0x0e, 0xf9, 0x2f, 0x53, 0x1a, 0x01,
0x2f, 0x4d, 0x0e, 0xf5, 0x2f, 0xd2, 0x7f, 0x04, 0x30, 0x1f, 0x2c, 0xe1, 0x7f, 0xc5, 0x01, 0xa3, 0x03, 0x72, 0x0e,
0x03, 0x2f, 0x72, 0x1a, 0x0f, 0x2f, 0x79, 0x0f, 0x0d, 0x2f, 0xe1, 0x6f, 0x4f, 0x04, 0x5f, 0xb9, 0xb1, 0xbf, 0xfa,
0x0b, 0xd2, 0x6f, 0x96, 0x06, 0xb1, 0x25, 0x51, 0xbf, 0xeb, 0x7f, 0x06, 0x00, 0xb2, 0x25, 0x27, 0x03, 0xdb, 0x7f,
0xcf, 0xbf, 0x3e, 0xbf, 0x01, 0xb8, 0xd2, 0xba, 0x41, 0xba, 0xb2, 0xb9, 0x07, 0x0a, 0x6e, 0x0b, 0xc0, 0x90, 0xdf,
0x2f, 0x40, 0x91, 0xdd, 0x2f, 0xfb, 0x6f, 0xd0, 0x5f, 0xb8, 0x2e, 0x10, 0x50, 0xfb, 0x7f, 0x21, 0x25, 0x98, 0x2e,
0xe5, 0x01, 0xfb, 0x6f, 0x21, 0x25, 0xf0, 0x5f, 0x10, 0x25, 0x80, 0x2e, 0xba, 0x00, 0xc8, 0x2e, 0xc8, 0x2e, 0xaa,
0x00, 0x05, 0x00, 0xaa, 0x00, 0x05, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b,
0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96,
0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00,
0x00, 0x00, 0x04, 0x00, 0xee, 0x06, 0xf2, 0x05, 0x80, 0x80, 0x16, 0xf1, 0x02, 0x02, 0x48, 0x20, 0x88, 0x00, 0x74,
0x00, 0x00, 0x01, 0x7d, 0x00, 0x02, 0x01, 0x51, 0x00, 0xaf, 0x00, 0xff, 0x00, 0xec, 0x00, 0xff, 0xb7, 0x00, 0x02,
0x00, 0xb0, 0x05, 0x80, 0xc9, 0xf0, 0x00, 0x40, 0xff, 0x7f, 0x00, 0x80, 0x88, 0x00, 0x80, 0x00, 0x5e, 0xf0, 0x59,
0xf0, 0x89, 0xf0, 0x54, 0x00, 0x00, 0x20, 0x56, 0xf0, 0x5f, 0x00, 0x55, 0x00, 0x5a, 0x00, 0x58, 0x00, 0xff, 0xfb,
0x52, 0xf0, 0x33, 0x09, 0x33, 0x07, 0x00, 0x08, 0x90, 0x01, 0x00, 0xf8, 0x01, 0x80, 0x86, 0x00, 0xff, 0x1f, 0xa9,
0x36, 0xab, 0x04, 0x1d, 0x6c, 0xad, 0x00, 0x59, 0x01, 0x31, 0xd1, 0x71, 0x7d, 0xe4, 0x0c, 0x12, 0x02, 0xb3, 0x00,
0xb4, 0x04, 0x62, 0x03, 0xc0, 0x02, 0x1f, 0xf8, 0xe1, 0x07, 0xd3, 0x07, 0x01, 0xe0, 0x8d, 0x00, 0x97, 0x00, 0x99,
0x00, 0x91, 0x00, 0x90, 0x00, 0x93, 0x00, 0x8c, 0x00, 0x96, 0x00, 0xb5, 0x00, 0x65, 0x52, 0x57, 0x50, 0x60, 0x42,
0x00, 0x3f, 0x59, 0x54, 0x42, 0x42, 0x69, 0x82, 0x5b, 0x54, 0x42, 0x42, 0x42, 0x82, 0x0b, 0x31, 0x42, 0x40, 0x10,
0x08, 0x50, 0x42, 0x7e, 0x80, 0x4b, 0x42, 0x61, 0x32, 0x01, 0x42, 0x10, 0x50, 0x03, 0x2e, 0x40, 0xf0, 0x56, 0x90,
0x08, 0x80, 0xf0, 0x7f, 0x31, 0x30, 0x1f, 0x2f, 0x03, 0x30, 0x63, 0x52, 0x5d, 0x54, 0x14, 0x35, 0x06, 0x30, 0x5f,
0x50, 0x55, 0x32, 0x1d, 0x1a, 0xe3, 0x22, 0x18, 0x1a, 0x61, 0x58, 0xe3, 0x22, 0x04, 0x30, 0xd5, 0x40, 0xb5, 0x0d,
0xe1, 0xbe, 0x6f, 0xbb, 0x80, 0x91, 0xa9, 0x0d, 0x01, 0x89, 0xb5, 0x23, 0x10, 0xa1, 0xf7, 0x2f, 0xda, 0x0e, 0x14,
0x35, 0xeb, 0x2f, 0x01, 0x2e, 0x25, 0x00, 0x70, 0x1a, 0x00, 0x30, 0x21, 0x30, 0x48, 0x22, 0x40, 0xb2, 0x06, 0x2f,
0x23, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0xb5, 0x00, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x01, 0x31, 0x20,
0x26, 0x01, 0x42, 0x10, 0x30, 0x21, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0xb5, 0x00, 0x4d, 0x50, 0x4f, 0x52, 0x98, 0x2e,
0x07, 0xb4, 0x4d, 0x50, 0x05, 0x84, 0x14, 0x30, 0x51, 0x50, 0x63, 0x30, 0x53, 0x52, 0x94, 0x42, 0x83, 0x42, 0x98,
0x2e, 0x07, 0xb4, 0x51, 0x50, 0x06, 0x80, 0x71, 0x30, 0x01, 0x42, 0x98, 0x2e, 0x42, 0xb1, 0x00, 0x2e, 0x00, 0x2e,
0xd0, 0x2e, 0x98, 0x2e, 0x78, 0xb0, 0x01, 0x2e, 0x54, 0x00, 0x00, 0xb2, 0x12, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x54,
0x00, 0x55, 0x50, 0x98, 0x2e, 0x38, 0xb0, 0x55, 0x50, 0x98, 0x2e, 0x4d, 0xb1, 0x98, 0x2e, 0xff, 0xb4, 0x55, 0x50,
0x4d, 0x52, 0x98, 0x2e, 0x18, 0xb4, 0x55, 0x50, 0x51, 0x52, 0x98, 0x2e, 0x18, 0xb4, 0x98, 0x2e, 0xb5, 0x00, 0xe1,
0x2d, 0x83, 0x86, 0x01, 0x30, 0x00, 0x30, 0x94, 0x40, 0x24, 0x18, 0x06, 0x00, 0x53, 0x0e, 0x4f, 0x02, 0xf9, 0x2f,
0xb8, 0x2e, 0xc8, 0x2e, 0xc8, 0x2e, 0xc8, 0x2e, 0xc8, 0x2e, 0x1a, 0x24, 0x26, 0x00, 0x80, 0x2e, 0x66, 0x01, 0x80,
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0xdd, 0x03, 0xc0, 0xad, 0x0b, 0x2f, 0xc0, 0xa8, 0x03, 0x2f, 0xc0, 0x90, 0x07, 0x2f, 0x80, 0xa6, 0x05, 0x2f, 0x40,
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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] len : Length for read and write
* @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(uint8_t feature, uint8_t len, 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] len : Length for read and write
* @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(uint8_t feature, uint8_t len, 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 bma456w_stepcounter_settings *setting,
uint8_t index,
uint8_t *feature_config);
/*!
* @brief This API copy the settings of step counter into the
* structure of bma456w_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 bma456w_stepcounter_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 bma456w_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 == BMA456W_CHIP_ID)
{
/* Resolution of BMA456 sensor is 16 bit */
dev->resolution = BMA4_16_BIT_RESOLUTION;
dev->feature_len = BMA456W_FEATURE_SIZE;
dev->config_size = sizeof(bma456w_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 bma456w_write_config_file(struct bma4_dev *dev)
{
int8_t rslt = BMA4_OK;
if (dev != NULL)
{
/* Configuration stream read/write length boundary
* check
*/
if ((dev->read_write_len >= BMA456W_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456W_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 = bma456w_config_file;
rslt = bma4_write_config_file(dev);
}
else
{
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to get the configuration id of the sensor.
*/
int8_t bma456w_get_config_id(uint16_t *config_id, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456W_CONFIG_ID_OFFSET;
int8_t rslt = BMA4_OK;
uint16_t config_id_lsb = 0;
uint16_t config_id_msb = 0;
if (config_id != NULL)
{
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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_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 bma456w_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 == BMA456W_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 bma456w interrupt status from the sensor.
*/
int8_t bma456w_read_int_status(uint16_t *int_status, struct bma4_dev *dev)
{
int8_t rslt = BMA4_OK;
if (int_status != NULL)
{
/* Read the interrupt status */
rslt = bma4_read_int_status(int_status, dev);
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables/disables the features of the sensor.
*/
int8_t bma456w_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
int8_t rslt;
uint8_t len = BMA456W_FEATURE_SIZE;
/* Read feature configuration data */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev);
if (rslt == BMA4_OK)
{
if (enable == TRUE)
{
/* Enables the feature */
rslt = feature_enable(feature, len, feature_config, dev);
}
else
{
/* Disables the feature */
rslt = feature_disable(feature, len, feature_config, dev);
}
}
return rslt;
}
/*!
* @brief This API performs x, y and z axis remapping in the sensor.
*/
int8_t bma456w_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456W_AXES_REMAP_OFFSET;
int8_t rslt = BMA4_OK;
if (remap_axes != NULL)
{
rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456W_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 bma456w_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456W_AXES_REMAP_OFFSET;
int8_t rslt = BMA4_OK;
if (remap_axes != NULL)
{
rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456W_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 bma456w_set_any_mot_config(const struct bma456w_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[BMA456W_FEATURE_SIZE] = { 0 };
/* Update index to configure any-motion axes */
uint8_t index = BMA456W_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 (any_mot != NULL)
{
/* Get any-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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++] = BMA4_GET_MSB(any_mot->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, BMA456W_ANY_NO_MOT_DUR, any_mot->duration);
/* Set the axes in the same word */
lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_ANY_NO_MOT_AXIS_EN, any_mot->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, BMA456W_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 bma456w_get_any_mot_config(struct bma456w_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[BMA456W_FEATURE_SIZE] = { 0 };
/* Update index to configure any-motion axes */
uint8_t index = BMA456W_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 (any_mot != NULL)
{
/* Get any-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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_mot->threshold = lsb_msb & BMA456W_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_mot->duration = lsb_msb & BMA456W_ANY_NO_MOT_DUR_MSK;
/* Extract axes enable value */
any_mot->axes_en = (uint8_t)((lsb_msb & BMA456W_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456W_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 bma456w_set_no_mot_config(const struct bma456w_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[BMA456W_FEATURE_SIZE] = { 0 };
/* Update index to configure no-motion axes */
uint8_t index = BMA456W_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 (no_mot != NULL)
{
/* Get no-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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++] = BMA4_GET_MSB(no_mot->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, BMA456W_ANY_NO_MOT_DUR, no_mot->duration);
/* Set the axes in the same word */
lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_ANY_NO_MOT_AXIS_EN, no_mot->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, BMA456W_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 bma456w_get_no_mot_config(struct bma456w_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[BMA456W_FEATURE_SIZE] = { 0 };
/* Update index to configure no-motion axes */
uint8_t index = BMA456W_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 (no_mot != NULL)
{
/* Get no-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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_mot->threshold = lsb_msb & BMA456W_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_mot->duration = lsb_msb & BMA456W_ANY_NO_MOT_DUR_MSK;
/* Extract axes enable value */
no_mot->axes_en = (uint8_t)((lsb_msb & BMA456W_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456W_ANY_NO_MOT_AXIS_EN_POS);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables or disables the step detector feature in the sensor.
*/
int8_t bma456w_step_detector_enable(uint8_t enable, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
int8_t rslt;
/* Step detector enable bit position is 1 byte ahead of the base address */
uint8_t index = BMA456W_STEP_CNTR_OFFSET + 1;
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev);
if (rslt == BMA4_OK)
{
feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456W_STEP_DETECTOR_EN, enable);
rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev);
}
return rslt;
}
/*!
* @brief This API sets the water mark level for step counter interrupt in the
* sensor.
*/
int8_t bma456w_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456W_STEP_CNTR_OFFSET;
uint16_t wm_lsb = 0;
uint16_t wm_msb = 0;
int8_t rslt;
uint16_t data = 0;
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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, BMA456W_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, BMA456W_FEATURE_SIZE, dev);
}
return rslt;
}
/*!
* @brief This API gets the water mark level set for step counter interrupt
* in the sensor.
*/
int8_t bma456w_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456W_STEP_CNTR_OFFSET;
uint16_t wm_lsb = 0;
uint16_t wm_msb = 0;
int8_t rslt = BMA4_OK;
uint16_t data = 0;
if (step_counter_wm != NULL)
{
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_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, BMA456W_STEP_CNTR_WM);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API resets the counted steps of step counter.
*/
int8_t bma456w_reset_step_counter(struct bma4_dev *dev)
{
uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 };
/* Reset bit is 1 byte ahead of base address */
uint8_t index = BMA456W_STEP_CNTR_OFFSET + 1;
int8_t rslt;
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev);
if (rslt == BMA4_OK)
{
feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456W_STEP_CNTR_RST, 1);
rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev);
}
return rslt;
}
/*!
* @brief This API gets the number of counted steps of the step counter
* feature from the sensor.
*/
int8_t bma456w_step_counter_output(uint32_t *step_count, struct bma4_dev *dev)
{
uint8_t data[BMA456W_STEP_CNTR_DATA_SIZE] = { 0 };
int8_t rslt = BMA4_OK;
uint32_t step_count_0 = 0;
uint32_t step_count_1 = 0;
uint32_t step_count_2 = 0;
uint32_t step_count_3 = 0;