Added BMA456 Support

components/bma456

@@ -0,0 +1 @@
+Subproject commit e3122bc6db442d153928ed82956b2750cc16845f

main/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "hw_test.c"
+idf_component_register(SRCS "hw_test.c" "bosch456.c"
                     INCLUDE_DIRS ".")

main/bosch456.c

@@ -0,0 +1,259 @@
+#include "bosch456.h"
+#include "bma4.h"
+#include "bma456h.h"
+#include "bma4_defs.h"
+#include "driver/gpio.h"
+#include "driver/i2c_master.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/idf_additions.h"
+#include "hal/gpio_types.h"
+#include <rom/ets_sys.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+static i2c_master_dev_handle_t bma456_dev_handle;
+static struct bma4_dev bma456_struct;
+
+volatile uint8_t interrupt_status = 0;
+uint8_t int_line;
+struct bma4_int_pin_config pin_config = {0};
+uint16_t int_status = 0;
+
+#define BMA4_READ_WRITE_LEN UINT8_C(46)
+#define BMA456W_INT_PIN 10
+#define BMA456W_INT_PIN2 9
+
+static void interrupt_callback(void *) {
+  interrupt_status = 1;
+  //ESP_LOGI("INTERRUPT", "STEP DETECTED");
+}
+
+/******************************************************************************/
+/*!                User interface functions                                   */
+
+/*!
+ * I2C read function map to ESP platform
+ */
+BMA4_INTF_RET_TYPE bma4_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
+                                 uint32_t len, void *intf_ptr) {
+  // ESP_ERROR_CHECK(i2c_master_receive(bma456_dev_handle, reg_data, len, -1));
+  esp_err_t err = i2c_master_transmit_receive(bma456_dev_handle, &reg_addr, 1,
+                                              reg_data, len, -1);
+  return (err == ESP_OK) ? BMA4_OK : BMA4_E_COM_FAIL;
+  // return BMA4_OK;
+}
+
+/*!
+ * I2C write function map to ESP platform
+ */
+BMA4_INTF_RET_TYPE bma4_i2c_write(uint8_t reg_addr, const uint8_t *reg_data,
+                                  uint32_t len, void *intf_ptr) {
+  // ESP_ERROR_CHECK(i2c_master_transmit(bma456_dev_handle, reg_data, len, -1));
+  // Bei Bosch muss zuerst das Register, dann die Daten in einem Transfer
+  // gesendet werden
+  uint8_t *buffer = malloc(len + 1);
+  if (!buffer)
+    return BMA4_E_NULL_PTR;
+
+  buffer[0] = reg_addr;
+
+  ESP_LOGI("I2CWrite", "Message Length: %d", len);
+
+  memcpy(&buffer[1], reg_data, len);
+
+  esp_err_t err = i2c_master_transmit(bma456_dev_handle, buffer, len + 1, -1);
+  free(buffer);
+
+  return (err == ESP_OK) ? BMA4_OK : BMA4_E_COM_FAIL;
+  // return BMA4_OK;
+}
+
+/*!
+ * Delay function map to ESP platform
+ */
+void bma4_delay_us(uint32_t period, void *intf_ptr) {
+  uint32_t wait_ms = period / 1000;
+  uint32_t wait_us = period % 1000;
+  if (wait_ms) {
+    vTaskDelay(pdMS_TO_TICKS(wait_ms));
+  }
+  ets_delay_us(wait_us);
+}
+
+/*!
+ *  @brief Prints the execution status of the APIs.
+ */
+void bma4_error_codes_print_result(const char api_name[], int8_t rslt) {
+  if (rslt != BMA4_OK) {
+    ESP_LOGI("BMA4_I2C", "%s\t", api_name);
+    if (rslt == BMA4_E_NULL_PTR) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Null pointer\r\n", rslt);
+    } else if (rslt == BMA4_E_COM_FAIL) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Communication failure\r\n", rslt);
+    } else if (rslt == BMA4_E_CONFIG_STREAM_ERROR) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Invalid configuration stream\r\n",
+               rslt);
+    } else if (rslt == BMA4_E_SELF_TEST_FAIL) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Self test failed\r\n", rslt);
+    } else if (rslt == BMA4_E_INVALID_SENSOR) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Device not found\r\n", rslt);
+    } else if (rslt == BMA4_E_OUT_OF_RANGE) {
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Out of Range\r\n", rslt);
+    } else if (rslt == BMA4_E_AVG_MODE_INVALID_CONF) {
+      ESP_LOGI("BMA4_I2C",
+               "Error [%d] : Invalid bandwidth and ODR combination in Accel "
+               "Averaging mode\r\n",
+               rslt);
+    } else {
+      /* For more error codes refer "*_defs.h" */
+      ESP_LOGI("BMA4_I2C", "Error [%d] : Unknown error code\r\n", rslt);
+    }
+  }
+}
+
+void read_sensor_task(void *params) {
+  int8_t ret;
+  struct bma4_accel sens_data = {0};
+
+  while (1) {
+    ret = bma4_read_accel_xyz(&sens_data, &bma456_struct);
+    bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
+
+    ESP_LOGI("ACC", "X: %d, Y: %d, Z: %d", sens_data.x, sens_data.y,
+             sens_data.z);
+
+    if (interrupt_status) {
+      ESP_LOGI("INTERRUPT", "Da war der Interrupt resetting");
+      interrupt_status = 0;
+      ret = bma456h_read_int_status(&int_status, &bma456_struct);
+      bma4_error_codes_print_result("bma456w_step_counter_output status", ret);
+
+      int8_t rslt;
+      struct bma456h_out_state tap_out = {0};
+
+      rslt = bma456h_output_state(&tap_out, &bma456_struct);
+
+      if (BMA4_OK == rslt) {
+        /* Enters only if the obtained interrupt is single-tap */
+        if (tap_out.single_tap) {
+          ESP_LOGI("INTERRUPT", "Single Tap interrupt occurred\n");
+        }
+        /* Enters only if the obtained interrupt is double-tap */
+        else if (tap_out.double_tap) {
+          ESP_LOGI("INTERRUPT", "Double Tap interrupt occurred\n");
+        }
+        /* Enters only if the obtained interrupt is triple-tap */
+        else if (tap_out.triple_tap) {
+          ESP_LOGI("INTERRUPT", "Triple Tap interrupt occurred\n");
+        }
+      }
+    }
+
+    // ESP_LOGI("i2c", "X:%d, Y%d, Z%d", sens_data.x, sens_data.y, sens_data.z);
+    vTaskDelay(pdMS_TO_TICKS(100));
+  }
+}
+
+void init_bma456(i2c_master_bus_handle_t bus_handle) {
+  i2c_device_config_t dev_cfg_bma456 = {
+      .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+      .device_address = BMA456_ADDRESS,
+      .scl_speed_hz = 100000,
+  };
+
+  ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_cfg_bma456,
+                                            &bma456_dev_handle));
+
+  bma456_struct.intf = BMA4_I2C_INTF;
+  bma456_struct.bus_read = bma4_i2c_read;
+  bma456_struct.bus_write = bma4_i2c_write;
+  bma456_struct.delay_us = bma4_delay_us;
+  bma456_struct.read_write_len = BMA4_READ_WRITE_LEN;
+  bma456_struct.intf_ptr = &bma456_dev_handle;
+
+  int8_t ret;
+  bma456_struct.chip_id = 0;
+
+  ret = bma456h_init(&bma456_struct);
+  bma4_error_codes_print_result("I2C Init", ret);
+
+  ESP_LOGI("I2C", "Chip Init ausgelesene CHIP ID %d", bma456_struct.chip_id);
+
+  ret = bma4_soft_reset(&bma456_struct);
+  bma4_error_codes_print_result("bma4_soft_reset", ret);
+  vTaskDelay(pdMS_TO_TICKS(20)); // Wartezeit nach Reset
+
+  ret = bma4_set_advance_power_save(BMA4_DISABLE, &bma456_struct);
+  bma4_error_codes_print_result("bma4_set_advance_power_save", ret);
+  vTaskDelay(pdMS_TO_TICKS(10));
+
+  ESP_LOGI("I2C", "Config SIZE %d", bma456_struct.config_size);
+  ESP_LOGI("I2C", "Config Pointer %p", bma456_struct.config_file_ptr);
+
+  ESP_LOGI("I2C", "Starte Config-File Upload...");
+  ret = bma456h_write_config_file(&bma456_struct);
+  bma4_error_codes_print_result("bma4_write_config_file", ret);
+
+  struct bma4_accel_config accel_config;
+  bma4_get_accel_config(&accel_config, &bma456_struct);
+  accel_config.range = BMA4_ACCEL_RANGE_2G;
+  ret = bma4_set_accel_config(&accel_config, &bma456_struct);
+  bma4_error_codes_print_result("bma4_set_accel_config status", ret);
+
+  /* Enable the accelerometer */
+  ret = bma4_set_accel_enable(BMA4_ENABLE, &bma456_struct);
+  bma4_error_codes_print_result("bma4_set_accel_enable status", ret);
+
+  struct bma456h_multitap_settings tap_settings = {0};
+  ret = bma456h_tap_get_parameter(&tap_settings, &bma456_struct);
+  bma4_error_codes_print_result("bma456h_tap_get_parameter status", ret);
+  tap_settings.tap_sens_thres = 0;
+  ret = bma456h_tap_set_parameter(&tap_settings, &bma456_struct);
+  bma4_error_codes_print_result("bma456h_tap_set_parameter status", ret);
+
+  ret = bma456h_feature_enable(
+      (BMA456H_SINGLE_TAP_EN | BMA456H_DOUBLE_TAP_EN | BMA456H_TRIPLE_TAP_EN),
+      BMA4_ENABLE, &bma456_struct);
+  bma4_error_codes_print_result("bma456w_feature_enable status", ret);
+
+  /* Setting watermark level 1, the output step resolution is 20 steps.
+   * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers
+   */
+  ret = bma456h_step_counter_set_watermark(1, &bma456_struct);
+  bma4_error_codes_print_result("bma456w_step_counter_set_watermark status",
+                                ret);
+
+  /* Hardware interrupt configuration */
+  int_line = BMA4_INTR2_MAP;
+
+  ret = bma4_get_int_pin_config(&pin_config, int_line, &bma456_struct);
+  bma4_error_codes_print_result("bma4_get_int_pin_config status", ret);
+
+  ret = bma456h_map_interrupt(int_line, BMA456H_TAP_OUT_INT, BMA4_ENABLE,
+                              &bma456_struct);
+
+  bma4_error_codes_print_result("bma456w_map_interrupt status", ret);
+
+  pin_config.edge_ctrl = BMA4_EDGE_TRIGGER;
+  pin_config.output_en = BMA4_OUTPUT_ENABLE;
+  pin_config.lvl = BMA4_ACTIVE_HIGH;
+  pin_config.od = BMA4_PUSH_PULL;
+  pin_config.input_en = BMA4_INPUT_DISABLE;
+
+  ret = bma4_set_int_pin_config(&pin_config, int_line, &bma456_struct);
+  bma4_error_codes_print_result("bma4_set_int_pin_config status", ret);
+
+  gpio_reset_pin(BMA456W_INT_PIN);
+  gpio_set_direction(BMA456W_INT_PIN, GPIO_MODE_INPUT);
+  gpio_set_pull_mode(BMA456W_INT_PIN, GPIO_PULLDOWN_ENABLE);
+  gpio_set_intr_type(BMA456W_INT_PIN, GPIO_INTR_POSEDGE);
+  gpio_intr_enable(BMA456W_INT_PIN);
+
+  gpio_install_isr_service(0);
+  gpio_isr_handler_add(BMA456W_INT_PIN, interrupt_callback,
+                       (void *)BMA456W_INT_PIN);
+
+  xTaskCreate(read_sensor_task, "READ_SENSOR", 4096, NULL, 1, NULL);
+}

main/bosch456.h

@@ -0,0 +1,8 @@
+#include "driver/i2c_types.h"
+
+#define TOUCH_1 9
+#define TOUCH_2 8
+
+#define BMA456_ADDRESS 0x18
+
+void init_bma456(i2c_master_bus_handle_t bus_handle);

main/hw_test.c

@@ -7,6 +7,7 @@
 #include "freertos/task.h"
 #include "led_strip.h"
 #include <stdint.h>
+#include "bosch456.h"
 
 #define LED_GPIO 21
 #define TASTER_GPIO 12
@@ -17,13 +18,10 @@
 #define DIP_MASTER 4
 #define I2C_SCL 5
 #define I2C_SDA 6
-#define TOUCH_1 9
-#define TOUCH_2 8
 #define LED_RING 7
 
 #define I2C_PORT 0
 #define IO_EXPANDER_ADDRESS 0x20
-#define BMA456_ADDRESS 0x18
 
 static const char *TAG = "LED_TASK";
 static led_strip_handle_t led_strip;
@@ -31,7 +29,6 @@ static led_strip_handle_t led_ring;
 
 static i2c_master_bus_handle_t bus_handle;
 static i2c_master_dev_handle_t io_expander;
-static i2c_master_dev_handle_t bma456_dev_handle;
 
 /* LED Task */
 void vTaskLed(void *pvParameters) {
@@ -91,8 +88,10 @@ void vTaskRingBlink(void *pvParameters) {
     if (state) {
       // GREEN
       led_strip_set_pixel(led_ring, 0, 25, 0, 0);
+      led_strip_set_pixel(led_ring, 10, 25, 0, 0);
     } else {
       led_strip_set_pixel(led_ring, 0, 0, 0, 0);
+      led_strip_set_pixel(led_ring, 10, 0, 0, 0);
     }
 
     led_strip_refresh(led_ring);
@@ -179,4 +178,6 @@ void app_main(void) {
     }
     ESP_LOGI(TAG, "Read INPUT %d", read_val);
   }
+
+  init_bma456(bus_handle);
 }