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

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).

src/drivers/Bma421.cpp

@@ -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) {
+namespace {
-  auto bma421 = static_cast<Bma421*>(intf_ptr);
+  int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
-  bma421->Read(reg_addr, reg_data, length);
+    auto bma421 = static_cast<Bma421*>(intf_ptr);
-  return 0;
+    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) {
+Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
-  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} {
   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);
+  ret = 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);
   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_feature_enable(BMA423_STEP_CNTR, 1, &bma);
-  ret = bma423_map_interrupt(BMA4_INTR1_MAP,  BMA423_STEP_CNTR_INT, 1,&bma);
   ASSERT(ret == BMA4_OK);
 
-  bma423_step_detector_enable(0, &bma);
+  ret = bma423_step_detector_enable(0, &bma);
-
+  ASSERT(ret == BMA4_OK);
-  bma423_any_no_mot_config motConfig;
-  motConfig.threshold = 0xaa;
-  motConfig.axes_en = 3;
-  motConfig.duration = 1;
-  bma423_set_any_mot_config(&motConfig, &bma);
 
   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);
 
-
+  // X and Y axis are swapped because of the way the sensor is mounted in the PineTime
-  return {steps, data.x, data.y, data.z};
+  return {steps, data.y, data.x, data.z};
 }
 

src/drivers/Bma421.h

@@ -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;
     };
   }
 }

src/systemtask/SystemTask.cpp

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