c7cc47ae30
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).
103 lines
2.7 KiB
C++
103 lines
2.7 KiB
C++
#include <libraries/delay/nrf_delay.h>
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#include <libraries/log/nrf_log.h>
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#include "Bma421.h"
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#include "TwiMaster.h"
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#include <drivers/Bma421_C/bma423.h>
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using namespace Pinetime::Drivers;
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namespace {
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int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Read(reg_addr, reg_data, length);
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return 0;
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}
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int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Write(reg_addr, reg_data, length);
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return 0;
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}
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void user_delay(uint32_t period_us, void* intf_ptr) {
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nrf_delay_us(period_us);
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}
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}
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Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
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bma.intf = BMA4_I2C_INTF;
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bma.bus_read = user_i2c_read;
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bma.bus_write = user_i2c_write;
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bma.variant = BMA42X_VARIANT;
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bma.intf_ptr = this;
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bma.delay_us = user_delay;
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bma.read_write_len = 8;
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}
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void Bma421::Init() {
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auto ret = bma4_soft_reset(&bma);
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ASSERT(ret == BMA4_OK);
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nrf_delay_ms(1);
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ret = bma423_init(&bma);
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ASSERT(ret == BMA4_OK);
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ret = bma423_write_config_file(&bma);
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ASSERT(ret == BMA4_OK);
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ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
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ASSERT(ret == BMA4_OK);
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ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
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ASSERT(ret == BMA4_OK);
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ret = bma423_step_detector_enable(0, &bma);
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ASSERT(ret == BMA4_OK);
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ret = bma4_set_accel_enable(1, &bma);
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ASSERT(ret == BMA4_OK);
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struct bma4_accel_config accel_conf;
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accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
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accel_conf.range = BMA4_ACCEL_RANGE_2G;
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accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
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ret = bma4_set_accel_config(&accel_conf, &bma);
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ASSERT(ret == BMA4_OK);
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}
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void Bma421::Reset() {
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uint8_t data = 0xb6;
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twiMaster.Write(deviceAddress, 0x7E, &data, 1);
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}
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void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) {
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twiMaster.Read(deviceAddress, registerAddress, buffer, size);
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}
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void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) {
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twiMaster.Write(deviceAddress, registerAddress, data, size);
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}
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Bma421::Values Bma421::Process() {
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struct bma4_accel data;
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bma4_read_accel_xyz(&data, &bma);
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uint32_t steps = 0;
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bma423_step_counter_output(&steps, &bma);
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int32_t temperature;
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bma4_get_temperature(&temperature, BMA4_DEG, &bma);
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temperature = temperature / 1000;
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uint8_t activity = 0;
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bma423_activity_output(&activity, &bma);
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NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
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// X and Y axis are swapped because of the way the sensor is mounted in the PineTime
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return {steps, data.y, data.x, data.z};
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}
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