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Code cleaning in BMA421 driver. Do the axis inversion in the driver and not in the application.

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NOTE: Axis remapping from the SDK do not apply to the "raw" X/Y/Z values returned to the sensor. According to the doc, the remapping is only applied to features, but I cannot check if it has any effect on step counting (I'm not sure I use it correctly, doc is not complete enough about this feature).
This commit is contained in:
Jean-François Milants 2021-04-01 21:18:59 +02:00
parent 19b53545d4
commit c7cc47ae30
3 changed files with 32 additions and 59 deletions
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76
src/drivers/Bma421.cpp
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@ -6,23 +6,25 @@
using namespace Pinetime::Drivers;
int8_t user_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr) {
auto bma421 = static_cast<Bma421*>(intf_ptr);
bma421->Read(reg_addr, reg_data, length);
return 0;
namespace {
int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
auto bma421 = static_cast<Bma421*>(intf_ptr);
bma421->Read(reg_addr, reg_data, length);
return 0;
}
int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
auto bma421 = static_cast<Bma421*>(intf_ptr);
bma421->Write(reg_addr, reg_data, length);
return 0;
}
void user_delay(uint32_t period_us, void* intf_ptr) {
nrf_delay_us(period_us);
}
}
int8_t user_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr) {
auto bma421 = static_cast<Bma421*>(intf_ptr);
bma421->Write(reg_addr, reg_data, length);
return 0;
}
void user_delay(uint32_t period_us, void *intf_ptr) {
nrf_delay_us(period_us);
}
Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, twiAddress{twiAddress} {
Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
bma.intf = BMA4_I2C_INTF;
bma.bus_read = user_i2c_read;
bma.bus_write = user_i2c_write;
@ -30,13 +32,6 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
bma.intf_ptr = this;
bma.delay_us = user_delay;
bma.read_write_len = 8;
accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
accel_conf.range = BMA4_ACCEL_RANGE_2G;
accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
}
void Bma421::Init() {
@ -46,43 +41,28 @@ void Bma421::Init() {
nrf_delay_ms(1);
ret = bma423_init(&bma);
NRF_LOG_INFO("RESET : %d", ret);
//ret = bma423_init(&bma);
//NRF_LOG_INFO("ID : %d", bma.chip_id);
ASSERT(ret == BMA4_OK);
ret = bma423_write_config_file(&bma);
ASSERT(ret == BMA4_OK);
bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
struct bma4_int_pin_config int_pin_config;
int_pin_config.edge_ctrl = BMA4_LEVEL_TRIGGER;
int_pin_config.lvl = BMA4_ACTIVE_LOW;
int_pin_config.od = BMA4_PUSH_PULL;
int_pin_config.output_en = BMA4_OUTPUT_ENABLE;
int_pin_config.input_en = BMA4_INPUT_DISABLE;
bma4_set_int_pin_config(&int_pin_config, BMA4_INTR1_MAP, &bma);
//ret = bma423_feature_enable(BMA423_STEP_CNTR | BMA423_STEP_ACT | BMA423_WRIST_WEAR | BMA423_SINGLE_TAP | BMA423_DOUBLE_TAP, 1, &bma);
ret = bma423_feature_enable(0xff, 1, &bma);
ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
ASSERT(ret == BMA4_OK);
//ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_SINGLE_TAP_INT | BMA423_STEP_CNTR_INT | BMA423_ACTIVITY_INT | BMA423_WRIST_WEAR_INT | BMA423_DOUBLE_TAP_INT | BMA423_ANY_MOT_INT | BMA423_NO_MOT_INT| BMA423_ERROR_INT, 1,&bma);
ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT, 1,&bma);
ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
ASSERT(ret == BMA4_OK);
bma423_step_detector_enable(0, &bma);
bma423_any_no_mot_config motConfig;
motConfig.threshold = 0xaa;
motConfig.axes_en = 3;
motConfig.duration = 1;
bma423_set_any_mot_config(&motConfig, &bma);
ret = bma423_step_detector_enable(0, &bma);
ASSERT(ret == BMA4_OK);
ret = bma4_set_accel_enable(1, &bma);
ASSERT(ret == BMA4_OK);
struct bma4_accel_config accel_conf;
accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
accel_conf.range = BMA4_ACCEL_RANGE_2G;
accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
ret = bma4_set_accel_config(&accel_conf, &bma);
ASSERT(ret == BMA4_OK);
}
@ -116,7 +96,7 @@ Bma421::Values Bma421::Process() {
NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
return {steps, data.x, data.y, data.z};
// X and Y axis are swapped because of the way the sensor is mounted in the PineTime
return {steps, data.y, data.x, data.z};
}

11
src/drivers/Bma421.h
View File

@ -25,19 +25,12 @@ namespace Pinetime {
void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
void OnIrq();
uint32_t GetNbInterrupts() const {return nbInterrupts;}
private:
TwiMaster& twiMaster;
uint8_t twiAddress;
uint8_t deviceAddress = 0x18;
struct bma4_dev bma;
struct bma4_accel_config accel_conf;
static constexpr uint8_t deviceAddress = 0x18;
uint32_t nbInterrupts = 0;
};
}
}

4
src/systemtask/SystemTask.cpp
View File

@ -243,8 +243,8 @@ void SystemTask::UpdateMotion() {
if(isSleeping)
twiMaster.Sleep();
motionController.Update(motionValues.y,
motionValues.x,
motionController.Update(motionValues.x,
motionValues.y,
motionValues.z,
motionValues.steps);
if (motionController.ShouldWakeUp(isSleeping)) {