279 lines
9.4 KiB
C
279 lines
9.4 KiB
C
#include "i2c.h"
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#include "bma4.h"
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#include "bma456h.h"
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#include "bma4_defs.h"
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#include "driver/gpio.h"
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#include "driver/i2c_master.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "freertos/idf_additions.h"
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#include "hal/gpio_types.h"
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#include "ota_update.h"
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#include <rom/ets_sys.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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static i2c_master_bus_handle_t bus_handle;
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static i2c_master_dev_handle_t bma456_dev_handle;
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static struct bma4_dev bma456_struct;
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volatile uint8_t interrupt_status = 0;
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uint8_t int_line;
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struct bma4_int_pin_config pin_config = {0};
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uint16_t int_status = 0;
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#define BMA4_READ_WRITE_LEN UINT8_C(46)
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#define BMA456W_INT_PIN 7
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static void interrupt_callback(void *) {
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interrupt_status = 1;
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// ESP_LOGI("INTERRUPT", "STEP DETECTED");
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}
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/******************************************************************************/
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/*! User interface functions */
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/*!
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* I2C read function map to ESP platform
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*/
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BMA4_INTF_RET_TYPE bma4_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
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uint32_t len, void *intf_ptr) {
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// ESP_ERROR_CHECK(i2c_master_receive(bma456_dev_handle, reg_data, len, -1));
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esp_err_t err = i2c_master_transmit_receive(bma456_dev_handle, ®_addr, 1,
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reg_data, len, -1);
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return (err == ESP_OK) ? BMA4_OK : BMA4_E_COM_FAIL;
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// return BMA4_OK;
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}
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/*!
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* I2C write function map to ESP platform
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*/
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BMA4_INTF_RET_TYPE bma4_i2c_write(uint8_t reg_addr, const uint8_t *reg_data,
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uint32_t len, void *intf_ptr) {
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// ESP_ERROR_CHECK(i2c_master_transmit(bma456_dev_handle, reg_data, len, -1));
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// Bei Bosch muss zuerst das Register, dann die Daten in einem Transfer
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// gesendet werden
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uint8_t *buffer = malloc(len + 1);
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if (!buffer)
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return BMA4_E_NULL_PTR;
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buffer[0] = reg_addr;
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ESP_LOGI("I2CWrite", "Message Length: %d", len);
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memcpy(&buffer[1], reg_data, len);
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esp_err_t err = i2c_master_transmit(bma456_dev_handle, buffer, len + 1, -1);
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free(buffer);
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return (err == ESP_OK) ? BMA4_OK : BMA4_E_COM_FAIL;
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// return BMA4_OK;
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}
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/*!
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* Delay function map to ESP platform
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*/
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void bma4_delay_us(uint32_t period, void *intf_ptr) {
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uint32_t wait_ms = period / 1000;
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uint32_t wait_us = period % 1000;
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if (wait_ms) {
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vTaskDelay(pdMS_TO_TICKS(wait_ms));
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}
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ets_delay_us(wait_us);
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}
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/*!
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* @brief Prints the execution status of the APIs.
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*/
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void bma4_error_codes_print_result(const char api_name[], int8_t rslt) {
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if (rslt != BMA4_OK) {
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ESP_LOGI("BMA4_I2C", "%s\t", api_name);
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if (rslt == BMA4_E_NULL_PTR) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Null pointer\r\n", rslt);
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} else if (rslt == BMA4_E_COM_FAIL) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Communication failure\r\n", rslt);
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} else if (rslt == BMA4_E_CONFIG_STREAM_ERROR) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Invalid configuration stream\r\n",
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rslt);
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} else if (rslt == BMA4_E_SELF_TEST_FAIL) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Self test failed\r\n", rslt);
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} else if (rslt == BMA4_E_INVALID_SENSOR) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Device not found\r\n", rslt);
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} else if (rslt == BMA4_E_OUT_OF_RANGE) {
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ESP_LOGI("BMA4_I2C", "Error [%d] : Out of Range\r\n", rslt);
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} else if (rslt == BMA4_E_AVG_MODE_INVALID_CONF) {
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ESP_LOGI("BMA4_I2C",
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"Error [%d] : Invalid bandwidth and ODR combination in Accel "
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"Averaging mode\r\n",
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rslt);
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} else {
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/* For more error codes refer "*_defs.h" */
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ESP_LOGI("BMA4_I2C", "Error [%d] : Unknown error code\r\n", rslt);
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}
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}
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}
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void init_i2c() {
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i2c_master_bus_config_t i2c_mst_config = {
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.i2c_port = I2C_PORT,
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.scl_io_num = I2C_MASTER_SCL_IO,
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.sda_io_num = I2C_MASTER_SDA_IO,
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.glitch_ignore_cnt = 7,
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//.flags.enable_internal_pullup = true,
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};
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ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_mst_config, &bus_handle));
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}
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void read_sensor_task(void *params) {
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int8_t ret;
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struct bma4_accel sens_data = {0};
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while (1) {
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ret = bma4_read_accel_xyz(&sens_data, &bma456_struct);
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bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
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ESP_LOGI("ACC", "X: %d, Y: %d, Z: %d", sens_data.x, sens_data.y,
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sens_data.z);
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if (interrupt_status) {
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ESP_LOGI("INTERRUPT", "Da war der Interrupt resetting");
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interrupt_status = 0;
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ret = bma456h_read_int_status(&int_status, &bma456_struct);
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bma4_error_codes_print_result("bma456w_step_counter_output status", ret);
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int8_t rslt;
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struct bma456h_out_state tap_out = {0};
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rslt = bma456h_output_state(&tap_out, &bma456_struct);
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if (BMA4_OK == rslt) {
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/* Enters only if the obtained interrupt is single-tap */
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if (tap_out.single_tap) {
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ESP_LOGI("INTERRUPT", "Single Tap interrupt occurred\n");
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}
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/* Enters only if the obtained interrupt is double-tap */
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else if (tap_out.double_tap) {
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ESP_LOGI("INTERRUPT", "Double Tap interrupt occurred\n");
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}
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/* Enters only if the obtained interrupt is triple-tap */
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else if (tap_out.triple_tap) {
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ESP_LOGI("INTERRUPT", "Triple Tap interrupt occurred\n");
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}
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}
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}
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// ESP_LOGI("i2c", "X:%d, Y%d, Z%d", sens_data.x, sens_data.y, sens_data.z);
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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}
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void init_bma456() {
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i2c_device_config_t dev_cfg_bma456 = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = BMA456_ADDRESS,
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.scl_speed_hz = 100000,
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};
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ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_cfg_bma456,
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&bma456_dev_handle));
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bma456_struct.intf = BMA4_I2C_INTF;
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bma456_struct.bus_read = bma4_i2c_read;
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bma456_struct.bus_write = bma4_i2c_write;
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bma456_struct.delay_us = bma4_delay_us;
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bma456_struct.read_write_len = BMA4_READ_WRITE_LEN;
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bma456_struct.intf_ptr = &bma456_dev_handle;
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int8_t ret;
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bma456_struct.chip_id = 0;
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ret = bma456h_init(&bma456_struct);
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bma4_error_codes_print_result("I2C Init", ret);
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ESP_LOGI("I2C", "Chip Init ausgelesene CHIP ID %d", bma456_struct.chip_id);
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ret = bma4_soft_reset(&bma456_struct);
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bma4_error_codes_print_result("bma4_soft_reset", ret);
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vTaskDelay(pdMS_TO_TICKS(20)); // Wartezeit nach Reset
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ret = bma4_set_advance_power_save(BMA4_DISABLE, &bma456_struct);
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bma4_error_codes_print_result("bma4_set_advance_power_save", ret);
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vTaskDelay(pdMS_TO_TICKS(10));
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ESP_LOGI("I2C", "Config SIZE %d", bma456_struct.config_size);
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ESP_LOGI("I2C", "Config Pointer %p", bma456_struct.config_file_ptr);
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ESP_LOGI("I2C", "Starte Config-File Upload...");
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ret = bma456h_write_config_file(&bma456_struct);
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bma4_error_codes_print_result("bma4_write_config_file", ret);
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struct bma4_accel_config accel_config;
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bma4_get_accel_config(&accel_config, &bma456_struct);
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accel_config.range = BMA4_ACCEL_RANGE_2G;
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ret = bma4_set_accel_config(&accel_config, &bma456_struct);
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bma4_error_codes_print_result("bma4_set_accel_config status", ret);
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/* Enable the accelerometer */
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ret = bma4_set_accel_enable(BMA4_ENABLE, &bma456_struct);
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bma4_error_codes_print_result("bma4_set_accel_enable status", ret);
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struct bma456h_multitap_settings tap_settings = {0};
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ret = bma456h_tap_get_parameter(&tap_settings, &bma456_struct);
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bma4_error_codes_print_result("bma456h_tap_get_parameter status", ret);
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tap_settings.tap_sens_thres = 0;
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ret = bma456h_tap_set_parameter(&tap_settings, &bma456_struct);
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bma4_error_codes_print_result("bma456h_tap_set_parameter status", ret);
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ret = bma456h_feature_enable(
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(BMA456H_SINGLE_TAP_EN | BMA456H_DOUBLE_TAP_EN | BMA456H_TRIPLE_TAP_EN),
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BMA4_ENABLE, &bma456_struct);
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bma4_error_codes_print_result("bma456w_feature_enable status", ret);
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/* Setting watermark level 1, the output step resolution is 20 steps.
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* Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers
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*/
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ret = bma456h_step_counter_set_watermark(1, &bma456_struct);
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bma4_error_codes_print_result("bma456w_step_counter_set_watermark status",
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ret);
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/* Hardware interrupt configuration */
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int_line = BMA4_INTR2_MAP;
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ret = bma4_get_int_pin_config(&pin_config, int_line, &bma456_struct);
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bma4_error_codes_print_result("bma4_get_int_pin_config status", ret);
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ret = bma456h_map_interrupt(int_line, BMA456H_TAP_OUT_INT, BMA4_ENABLE,
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&bma456_struct);
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bma4_error_codes_print_result("bma456w_map_interrupt status", ret);
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pin_config.edge_ctrl = BMA4_EDGE_TRIGGER;
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pin_config.output_en = BMA4_OUTPUT_ENABLE;
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pin_config.lvl = BMA4_ACTIVE_HIGH;
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pin_config.od = BMA4_PUSH_PULL;
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pin_config.input_en = BMA4_INPUT_DISABLE;
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ret = bma4_set_int_pin_config(&pin_config, int_line, &bma456_struct);
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bma4_error_codes_print_result("bma4_set_int_pin_config status", ret);
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gpio_reset_pin(BMA456W_INT_PIN);
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gpio_set_direction(BMA456W_INT_PIN, GPIO_MODE_INPUT);
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gpio_set_pull_mode(BMA456W_INT_PIN, GPIO_PULLDOWN_ONLY);
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gpio_set_intr_type(BMA456W_INT_PIN, GPIO_INTR_POSEDGE);
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gpio_intr_enable(BMA456W_INT_PIN);
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gpio_install_isr_service(0);
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gpio_isr_handler_add(BMA456W_INT_PIN, interrupt_callback,
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(void *)BMA456W_INT_PIN);
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xTaskCreate(read_sensor_task, "READ_SENSOR", 4096, NULL, 1, NULL);
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}
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void init_i2c_with_all_devices() {
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init_i2c();
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init_bma456();
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}
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