Align BMA456H driver with Powerpod and document sensor integration.
Clarify hearable variant usage, clean up I2C/GPIO/tap init, and add README coverage for hardware, boot behavior, deadzone paths, and logging. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
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@ -50,13 +50,43 @@ Pins (`powerpod.h`):
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| UART TX | 3 |
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| UART RX | 2 |
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| LED ring | 7 |
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| BMA456 INT | 10 |
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Startup order:
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1. Read DIP + IO expander → `app_config`
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2. `esp_now_comm_init(&app_config)` — WiFi + ESP-NOW
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3. `led_ring_init()`
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4. **Master only:** command queue, UART, registered commands (e.g. VERSION)
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2. **I2C bus** — IO expander `0x20`; optional **BMA456H** (`init_bma456`, same bus)
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3. `esp_now_comm_init(&app_config)` — WiFi + ESP-NOW
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4. `led_ring_init()`
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5. **Master only:** command queue, UART, registered commands (e.g. VERSION)
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## BMA456 accelerometer (`bosch456.c`)
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Powerpod uses the Bosch **BMA456H** (hearable) variant, not the generic `bma456w` examples in the vendor tree.
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| Item | Value |
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|------|--------|
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| Project wrapper | `main/bosch456.c`, `main/bosch456.h` |
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| Vendor component | `components/bma456` — only `bma4.c` + `bma456h.c` are linked |
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| I2C | Shared bus with IO expander (SCL/SDA GPIO 5/6), address **0x18**, **100 kHz** |
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| Interrupt | **GPIO 10**, active high, tap events (single / double / triple) |
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| Polling | FreeRTOS task `bma456_poll`, **10 Hz** accel read |
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**Boot:** `init_bma456(bus_handle)` runs on **master and slave** after the IO expander. If the sensor is missing or init fails, firmware logs `BMA456 init skipped` and continues (`bma456_is_ready() == false`).
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**Accel logging:** Samples are printed only when any axis changes by more than the **deadzone** (raw LSB) since the last logged sample (default **100**). This is a **software** filter on top of the sensor; it does not change BMA456 hardware thresholds.
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**Configuration paths:**
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| Path | Effect |
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|------|--------|
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| UART `ACCEL_DEADZONE` with `client_id = 0` | `bma456_set_accel_deadzone()` on the local node |
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| ESP-NOW `SET_ACCEL_DEADZONE` | Same on a slave (no-op log path if sensor not installed) |
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| `make gotool-deadzone-set DEADZONE=… CLIENT=0` | Host shortcut for local deadzone |
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**Logs:** `[BMA456] ACC X=… Y=… Z=…` when deadzone exceeded; `[BMA456] tap: single|double|triple` on interrupt.
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Regenerate nanopb only when changing protos; sensor code has no code generation step.
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## ESP-NOW discovery
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@ -177,7 +207,7 @@ Encoding: `uart_send_uart_message()` in `uart_proto.c`.
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### ACCEL_DEADZONE command
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Filters BMA456 logs: a new accel line is emitted only when any axis changes by more than `deadzone` raw LSB since the last reported sample (default **100**).
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Sets the **software** deadzone used by `bosch456.c` when logging accel (see [BMA456 accelerometer](#bma456-accelerometer-bosch456c)). Default **100** LSB.
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**Request:** framed `06` + nanopb `UartMessage` with `accel_deadzone_request`:
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@ -279,6 +309,7 @@ Target: ESP32-S3. Close serial monitor on the UART adapter port before running `
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| `cmd_version.c/h` | VERSION handler |
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| `cmd_client_info.c/h` | CLIENT_INFO handler |
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| `client_registry.c/h` | Registered slave table |
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| `bosch456.c/h` | BMA456H I2C driver, accel poll, tap INT, deadzone filter |
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| `led_ring.c/h` | LED digit display |
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| `proto/uart_messages.proto` | UART protocol schema |
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| `proto/esp_now_messages.proto` | ESP-NOW protocol schema |
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410
main/bosch456.c
410
main/bosch456.c
@ -1,134 +1,90 @@
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/**
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* BMA456H integration for Powerpod (ESP-IDF I2C master + Bosch SensorAPI).
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*
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* Polls accelerometer at 10 Hz; tap events arrive on BMA456_INT_GPIO.
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* Accel logging is filtered in software (deadzone); see ACCEL_DEADZONE UART command.
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*/
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#include "bosch456.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 "bma456h.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 <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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#include <string.h>
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static const char *TAG = "[BMA456]";
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static i2c_master_dev_handle_t bma456_dev_handle;
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#define BMA4_READ_WRITE_LEN UINT8_C(46)
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#define BMA4_I2C_MAX_WRITE (1u + BMA4_READ_WRITE_LEN)
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#define SENSOR_POLL_MS 100
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static i2c_master_dev_handle_t s_bma456_dev;
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static bool s_bma456_ready;
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static struct bma4_dev bma456_struct;
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static struct bma4_dev s_bma456;
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static uint32_t s_accel_deadzone = BMA456_DEFAULT_ACCEL_DEADZONE;
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static int16_t s_last_x;
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static int16_t s_last_y;
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static int16_t s_last_z;
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static bool s_have_last_sample;
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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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static volatile bool s_int_pending;
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#define BMA4_READ_WRITE_LEN UINT8_C(46)
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#define BMA456W_INT_PIN 10
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#define BMA456W_INT_PIN2 9
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static esp_err_t check_bma4(const char *api_name, int8_t rslt);
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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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/* Bosch SensorAPI platform hooks (intf_ptr → i2c_master_dev_handle_t *). */
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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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if (bma456_dev_handle == NULL) {
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if (s_bma456_dev == NULL) {
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return BMA4_E_COM_FAIL;
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}
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esp_err_t err = i2c_master_transmit_receive(bma456_dev_handle, ®_addr, 1,
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esp_err_t err = i2c_master_transmit_receive(s_bma456_dev, ®_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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if (bma456_dev_handle == NULL) {
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(void)intf_ptr;
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if (s_bma456_dev == NULL || reg_data == NULL) {
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return BMA4_E_COM_FAIL;
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}
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if (len > BMA4_READ_WRITE_LEN) {
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return BMA4_E_COM_FAIL;
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}
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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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uint8_t buffer[BMA4_I2C_MAX_WRITE];
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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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esp_err_t err =
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i2c_master_transmit(s_bma456_dev, buffer, (size_t)(len + 1), -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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* 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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(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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if (wait_ms > 0) {
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vTaskDelay(pdMS_TO_TICKS(wait_ms));
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}
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if (wait_us > 0) {
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ets_delay_us(wait_us);
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}
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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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return;
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}
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ESP_LOGI("BMA4_I2C", "%s\t", api_name);
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switch (rslt) {
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case BMA4_E_NULL_PTR:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Null pointer\r\n", rslt);
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break;
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case BMA4_E_COM_FAIL:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Communication failure\r\n", rslt);
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break;
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case BMA4_E_CONFIG_STREAM_ERROR:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Invalid configuration stream\r\n", rslt);
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break;
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case 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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break;
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case BMA4_E_INVALID_SENSOR:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Device not found\r\n", rslt);
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break;
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case 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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break;
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case BMA4_E_AVG_MODE_INVALID_CONF:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Invalid bandwidth/ODR combination\r\n",
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rslt);
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break;
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default:
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ESP_LOGI("BMA4_I2C", "Error [%d] : Unknown error code\r\n", rslt);
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break;
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}
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ESP_LOGW(TAG, "%s failed: %d", api_name, (int)rslt);
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}
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static esp_err_t check_bma4(const char *api_name, int8_t rslt) {
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@ -159,17 +115,14 @@ void bma456_set_accel_deadzone(uint32_t deadzone_lsb) {
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s_accel_deadzone = deadzone_lsb;
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s_have_last_sample = false;
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if (s_bma456_ready) {
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ESP_LOGI(TAG, "accel deadzone applied: %lu LSB", (unsigned long)deadzone_lsb);
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ESP_LOGI(TAG, "accel deadzone %lu LSB", (unsigned long)deadzone_lsb);
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}
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}
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uint32_t bma456_get_accel_deadzone(void) { return s_accel_deadzone; }
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void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
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if (!s_bma456_ready) {
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return;
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}
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if (!sample_exceeds_deadzone(x, y, z)) {
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if (!s_bma456_ready || !sample_exceeds_deadzone(x, y, z)) {
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return;
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}
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@ -182,165 +135,107 @@ void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
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(unsigned long)s_accel_deadzone);
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}
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static void remove_bma456_device(void) {
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if (bma456_dev_handle != NULL) {
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i2c_master_bus_rm_device(bma456_dev_handle);
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bma456_dev_handle = NULL;
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}
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s_bma456_ready = false;
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static void IRAM_ATTR bma456_int_isr(void *arg) {
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(void)arg;
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s_int_pending = true;
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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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static void handle_tap_interrupt(void) {
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uint16_t int_status = 0;
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int8_t ret = bma456h_read_int_status(&int_status, &s_bma456);
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if (ret != BMA4_OK) {
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bma4_error_codes_print_result("bma456h_read_int_status", ret);
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return;
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}
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struct bma456h_out_state tap_out = {0};
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ret = bma456h_output_state(&tap_out, &s_bma456);
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if (ret != BMA4_OK) {
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bma4_error_codes_print_result("bma456h_output_state", ret);
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return;
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}
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if (tap_out.single_tap) {
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ESP_LOGI(TAG, "tap: single");
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} else if (tap_out.double_tap) {
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ESP_LOGI(TAG, "tap: double");
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} else if (tap_out.triple_tap) {
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ESP_LOGI(TAG, "tap: triple");
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}
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}
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static void remove_bma456_device(void) {
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if (s_bma456_ready) {
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gpio_isr_handler_remove(BMA456_INT_GPIO);
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}
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if (s_bma456_dev != NULL) {
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i2c_master_bus_rm_device(s_bma456_dev);
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s_bma456_dev = NULL;
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}
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s_bma456_ready = false;
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s_int_pending = false;
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}
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static void read_sensor_task(void *param) {
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(void)param;
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if (!s_bma456_ready) {
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vTaskDelete(NULL);
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return;
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}
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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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int8_t ret = bma4_read_accel_xyz(&sens_data, &s_bma456);
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if (ret == BMA4_OK) {
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bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
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} else {
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bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
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}
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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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if (s_int_pending) {
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s_int_pending = false;
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handle_tap_interrupt();
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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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vTaskDelay(pdMS_TO_TICKS(SENSOR_POLL_MS));
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}
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}
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esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle) {
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int8_t ret;
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static esp_err_t configure_tap_interrupt(void) {
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esp_err_t err;
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s_bma456_ready = false;
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bma456_dev_handle = NULL;
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if (bus_handle == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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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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err = i2c_master_bus_add_device(bus_handle, &dev_cfg_bma456, &bma456_dev_handle);
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if (err != ESP_OK) {
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return err;
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}
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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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bma456_struct.chip_id = 0;
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ret = bma456h_init(&bma456_struct);
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if (check_bma4("bma456h_init", ret) != ESP_OK) {
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remove_bma456_device();
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return ESP_ERR_NOT_FOUND;
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}
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ESP_LOGI(TAG, "chip id 0x%02x", bma456_struct.chip_id);
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|
||||
ret = bma4_soft_reset(&bma456_struct);
|
||||
if (check_bma4("bma4_soft_reset", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(20));
|
||||
|
||||
ret = bma4_set_advance_power_save(BMA4_DISABLE, &bma456_struct);
|
||||
if (check_bma4("bma4_set_advance_power_save", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
ret = bma456h_write_config_file(&bma456_struct);
|
||||
if (check_bma4("bma456h_write_config_file", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
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);
|
||||
if (check_bma4("bma4_set_accel_config", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
ret = bma4_set_accel_enable(BMA4_ENABLE, &bma456_struct);
|
||||
if (check_bma4("bma4_set_accel_enable", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
int8_t ret;
|
||||
const uint8_t int_line = BMA4_INTR2_MAP;
|
||||
|
||||
struct bma456h_multitap_settings tap_settings = {0};
|
||||
ret = bma456h_tap_get_parameter(&tap_settings, &bma456_struct);
|
||||
ret = bma456h_tap_get_parameter(&tap_settings, &s_bma456);
|
||||
if (check_bma4("bma456h_tap_get_parameter", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
return ESP_FAIL;
|
||||
}
|
||||
tap_settings.tap_sens_thres = 0;
|
||||
ret = bma456h_tap_set_parameter(&tap_settings, &bma456_struct);
|
||||
ret = bma456h_tap_set_parameter(&tap_settings, &s_bma456);
|
||||
if (check_bma4("bma456h_tap_set_parameter", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
ret = bma456h_feature_enable(
|
||||
(BMA456H_SINGLE_TAP_EN | BMA456H_DOUBLE_TAP_EN | BMA456H_TRIPLE_TAP_EN),
|
||||
BMA4_ENABLE, &bma456_struct);
|
||||
BMA4_ENABLE, &s_bma456);
|
||||
if (check_bma4("bma456h_feature_enable", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
ret = bma456h_step_counter_set_watermark(1, &bma456_struct);
|
||||
if (check_bma4("bma456h_step_counter_set_watermark", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
int_line = BMA4_INTR2_MAP;
|
||||
|
||||
ret = bma4_get_int_pin_config(&pin_config, int_line, &bma456_struct);
|
||||
if (check_bma4("bma4_get_int_pin_config", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
ret = bma456h_map_interrupt(int_line, BMA456H_TAP_OUT_INT, BMA4_ENABLE,
|
||||
&bma456_struct);
|
||||
&s_bma456);
|
||||
if (check_bma4("bma456h_map_interrupt", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
struct bma4_int_pin_config pin_config = {0};
|
||||
ret = bma4_get_int_pin_config(&pin_config, int_line, &s_bma456);
|
||||
if (check_bma4("bma4_get_int_pin_config", ret) != ESP_OK) {
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
pin_config.edge_ctrl = BMA4_EDGE_TRIGGER;
|
||||
@ -349,36 +244,113 @@ esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle) {
|
||||
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);
|
||||
ret = bma4_set_int_pin_config(&pin_config, int_line, &s_bma456);
|
||||
if (check_bma4("bma4_set_int_pin_config", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
return ESP_FAIL;
|
||||
}
|
||||
|
||||
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_reset_pin(BMA456_INT_GPIO);
|
||||
gpio_set_direction(BMA456_INT_GPIO, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(BMA456_INT_GPIO, GPIO_PULLDOWN_ONLY);
|
||||
gpio_set_intr_type(BMA456_INT_GPIO, GPIO_INTR_POSEDGE);
|
||||
|
||||
err = gpio_install_isr_service(0);
|
||||
if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) {
|
||||
goto fail;
|
||||
return err;
|
||||
}
|
||||
|
||||
err = gpio_isr_handler_add(BMA456W_INT_PIN, interrupt_callback,
|
||||
(void *)BMA456W_INT_PIN);
|
||||
err = gpio_isr_handler_add(BMA456_INT_GPIO, bma456_int_isr, NULL);
|
||||
if (err != ESP_OK) {
|
||||
return err;
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle) {
|
||||
int8_t ret;
|
||||
esp_err_t err;
|
||||
|
||||
s_bma456_ready = false;
|
||||
s_bma456_dev = NULL;
|
||||
s_int_pending = false;
|
||||
|
||||
if (bus_handle == NULL) {
|
||||
return ESP_ERR_INVALID_ARG;
|
||||
}
|
||||
|
||||
i2c_device_config_t dev_cfg = {
|
||||
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
|
||||
.device_address = BMA456_I2C_ADDR,
|
||||
.scl_speed_hz = 100000,
|
||||
};
|
||||
|
||||
err = i2c_master_bus_add_device(bus_handle, &dev_cfg, &s_bma456_dev);
|
||||
if (err != ESP_OK) {
|
||||
return err;
|
||||
}
|
||||
|
||||
s_bma456.intf = BMA4_I2C_INTF;
|
||||
s_bma456.bus_read = bma4_i2c_read;
|
||||
s_bma456.bus_write = bma4_i2c_write;
|
||||
s_bma456.delay_us = bma4_delay_us;
|
||||
s_bma456.read_write_len = BMA4_READ_WRITE_LEN;
|
||||
s_bma456.intf_ptr = &s_bma456_dev;
|
||||
s_bma456.chip_id = 0;
|
||||
|
||||
ret = bma456h_init(&s_bma456);
|
||||
if (check_bma4("bma456h_init", ret) != ESP_OK) {
|
||||
remove_bma456_device();
|
||||
return ESP_ERR_NOT_FOUND;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "chip id 0x%02x", s_bma456.chip_id);
|
||||
|
||||
ret = bma4_soft_reset(&s_bma456);
|
||||
if (check_bma4("bma4_soft_reset", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(20));
|
||||
|
||||
ret = bma4_set_advance_power_save(BMA4_DISABLE, &s_bma456);
|
||||
if (check_bma4("bma4_set_advance_power_save", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
ret = bma456h_write_config_file(&s_bma456);
|
||||
if (check_bma4("bma456h_write_config_file", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (xTaskCreate(read_sensor_task, "READ_SENSOR", 4096, NULL, 1, NULL) !=
|
||||
struct bma4_accel_config accel_config = {0};
|
||||
ret = bma4_get_accel_config(&accel_config, &s_bma456);
|
||||
if (check_bma4("bma4_get_accel_config", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
accel_config.range = BMA4_ACCEL_RANGE_2G;
|
||||
ret = bma4_set_accel_config(&accel_config, &s_bma456);
|
||||
if (check_bma4("bma4_set_accel_config", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
ret = bma4_set_accel_enable(BMA4_ENABLE, &s_bma456);
|
||||
if (check_bma4("bma4_set_accel_enable", ret) != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (configure_tap_interrupt() != ESP_OK) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (xTaskCreate(read_sensor_task, "bma456_poll", 4096, NULL, 1, NULL) !=
|
||||
pdPASS) {
|
||||
gpio_isr_handler_remove(BMA456W_INT_PIN);
|
||||
goto fail;
|
||||
}
|
||||
|
||||
s_bma456_ready = true;
|
||||
ESP_LOGI(TAG, "initialized");
|
||||
ESP_LOGI(TAG, "ready (I2C 0x%02x, INT GPIO%d, poll %d ms)", BMA456_I2C_ADDR,
|
||||
BMA456_INT_GPIO, SENSOR_POLL_MS);
|
||||
return ESP_OK;
|
||||
|
||||
fail:
|
||||
|
||||
@ -1,17 +1,30 @@
|
||||
#ifndef BOSCH456_H
|
||||
#define BOSCH456_H
|
||||
|
||||
/**
|
||||
* Powerpod driver for Bosch BMA456H (hearable variant) on the shared I2C bus.
|
||||
*
|
||||
* Vendor API: components/bma456 (bma4.c + bma456h.c only).
|
||||
* Implementation: bosch456.c
|
||||
*/
|
||||
|
||||
#include "driver/i2c_types.h"
|
||||
#include "esp_err.h"
|
||||
|
||||
#define TOUCH_1 9
|
||||
#define TOUCH_2 8
|
||||
/** 7-bit I2C address (SDO low). */
|
||||
#define BMA456_I2C_ADDR 0x18
|
||||
|
||||
#define BMA456_ADDRESS 0x18
|
||||
/** Sensor interrupt line → ESP32 GPIO (active high, rising edge). */
|
||||
#define BMA456_INT_GPIO 10
|
||||
|
||||
/** Software filter: log accel only when |axis - last| > deadzone (raw LSB). */
|
||||
#define BMA456_DEFAULT_ACCEL_DEADZONE 100u
|
||||
|
||||
/** Initialize BMA456 on the shared I2C bus. Returns ESP_OK or logs and skips sensor use. */
|
||||
/**
|
||||
* Probe and configure the sensor on bus_handle (100 kHz device).
|
||||
* On failure the device is removed and ESP_ERR_NOT_FOUND / ESP_FAIL is returned;
|
||||
* firmware continues without a sensor (see bma456_is_ready()).
|
||||
*/
|
||||
esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle);
|
||||
|
||||
bool bma456_is_ready(void);
|
||||
@ -19,7 +32,7 @@ bool bma456_is_ready(void);
|
||||
void bma456_set_accel_deadzone(uint32_t deadzone_lsb);
|
||||
uint32_t bma456_get_accel_deadzone(void);
|
||||
|
||||
/** Log accel sample only when any axis changed more than deadzone since last report. */
|
||||
/** Log accel when any axis moved more than deadzone since last reported sample. */
|
||||
void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z);
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user