Add optional BMA456 accelerometer init on shared I2C bus.
Probe and configure the sensor when present; log and continue boot if init fails so boards without BMA456 still run normally. Co-authored-by: Cursor <cursoragent@cursor.com>
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Cursor
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COINES_INSTALL_PATH ?= ../../../..
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EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
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API_LOCATION ?= ../..
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COMMON_LOCATION ?= ..
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C_SRCS += \
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$(API_LOCATION)/bma4.c \
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$(API_LOCATION)/bma456_an.c \
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$(COMMON_LOCATION)/common/common.c
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INCLUDEPATHS += \
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$(API_LOCATION) \
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$(COMMON_LOCATION)/common
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include $(COINES_INSTALL_PATH)/coines.mk
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+188
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/**\
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* Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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**/
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#include <stdio.h>
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#include "bma456_an.h"
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#include "common.h"
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/******************************************************************************/
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/*! Macro definition */
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/*! Buffer size allocated to store raw FIFO data */
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#define BMA456_AN_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(1024)
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/*! Length of data to be read from FIFO */
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#define BMA456_AN_FIFO_RAW_DATA_USER_LENGTH UINT16_C(1024)
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/*! Setting a watermark level in FIFO */
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#define BMA456_AN_FIFO_WATERMARK_LEVEL UINT16_C(600)
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/*! Number of accel frames to be extracted from FIFO
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* Calculation:
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* fifo_watermark_level = 600, accel_frame_len = 6.
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* fifo_accel_frame_count = (600 / 6) = 100 frames
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*/
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#define BMA456_AN_FIFO_ACCEL_FRAME_COUNT UINT8_C(100)
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/******************************************************************************/
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/*! Function */
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/* This function starts the execution of program */
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int main(void)
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{
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/* Status of API are returned to this variable */
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int8_t rslt;
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/* Accelerometer configuration structure */
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struct bma4_accel_config acc_conf = { 0 };
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/* Sensor initialization configuration */
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struct bma4_dev dev = { 0 };
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/* Number of accelerometer frames */
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uint16_t accel_length;
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/* Variable to idx bytes */
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uint16_t idx = 0;
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/* Variable to maintain count of loop to run FIFO read */
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uint8_t loop = 1;
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/* Number of bytes of FIFO data
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* NOTE : Dummy byte (for SPI Interface) required for FIFO data read must be given as part of array size
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*/
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uint8_t fifo_data[BMA456_AN_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
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/* Array of accelerometer frames -> Total bytes =
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* 100 * (6 axes bytes(+/- x,y,z)) = 600 bytes */
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struct bma4_accel fifo_accel_data[BMA456_AN_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
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/* Initialize FIFO frame structure */
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struct bma4_fifo_frame fifoframe = { 0 };
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/* Variable that contains interrupt status value */
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uint16_t int_status = 0;
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/* Variable to hold the length of FIFO data */
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uint16_t fifo_length = 0;
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uint16_t watermark = 0;
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/* To set the watermark level in FIFO */
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uint16_t wm_lvl;
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/* Interface reference is given as a parameter
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* For I2C : BMA4_I2C_INTF
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* For SPI : BMA4_SPI_INTF
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* Variant information given as parameter - BMA45X_VARIANT
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*/
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rslt = bma4_interface_init(&dev, BMA4_I2C_INTF, BMA45X_VARIANT);
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bma4_error_codes_print_result("bma4_interface_init", rslt);
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/* Initialize BMA456_AN */
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rslt = bma456_an_init(&dev);
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bma4_error_codes_print_result("bma456_an_init status", rslt);
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/* Accelerometer configuration settings */
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acc_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
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acc_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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acc_conf.range = BMA4_ACCEL_RANGE_2G;
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acc_conf.perf_mode = BMA4_CIC_AVG_MODE;
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/* Set the accel configurations */
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rslt = bma4_set_accel_config(&acc_conf, &dev);
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bma4_error_codes_print_result("bma4_set_accel_config status", rslt);
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/* NOTE : Enable accel after set of configurations */
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rslt = bma4_set_accel_enable(1, &dev);
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bma4_error_codes_print_result("bma4_set_accel_enable status", rslt);
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/* Disabling advance power save mode as FIFO data is not accessible in advance low power mode */
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rslt = bma4_set_advance_power_save(BMA4_DISABLE, &dev);
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bma4_error_codes_print_result("bma4_set_advance_power_save status", rslt);
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/* Clear FIFO configuration register */
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rslt = bma4_set_fifo_config(BMA4_FIFO_ALL, BMA4_DISABLE, &dev);
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bma4_error_codes_print_result("bma4_set_fifo_config disable status", rslt);
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/* Set FIFO configuration by enabling accel.
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* NOTE 1: The header mode is enabled by default.
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* NOTE 2: By default the FIFO operating mode is FIFO mode. */
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rslt = bma4_set_fifo_config(BMA4_FIFO_ACCEL, BMA4_ENABLE, &dev);
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bma4_error_codes_print_result("bma4_set_fifo_config enable status", rslt);
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/* Update FIFO structure */
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fifoframe.data = fifo_data;
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fifoframe.length = BMA456_AN_FIFO_RAW_DATA_USER_LENGTH;
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/* To enable headerless mode, disable the header. */
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rslt = bma4_set_fifo_config(BMA4_FIFO_HEADER, BMA4_DISABLE, &dev);
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bma4_error_codes_print_result("bma4_set_fifo_config status", rslt);
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printf("FIFO is configured in headerless mode\n");
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rslt = bma456_an_map_interrupt(BMA4_INTR1_MAP, BMA4_FIFO_WM_INT, BMA4_ENABLE, &dev);
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bma4_error_codes_print_result("bma4_map_interrupt status", rslt);
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wm_lvl = BMA456_AN_FIFO_WATERMARK_LEVEL;
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rslt = bma4_set_fifo_wm(wm_lvl, &dev);
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bma4_error_codes_print_result("bma4_set_fifo_wm status", rslt);
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while (loop <= 10)
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{
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rslt = bma456_an_read_int_status(&int_status, &dev);
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bma4_error_codes_print_result("bma4_read_int_status", rslt);
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if ((rslt == BMA4_OK) && (int_status & BMA4_FIFO_WM_INT))
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{
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printf("\nIteration : %d\n", loop);
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rslt = bma4_get_fifo_wm(&watermark, &dev);
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bma4_error_codes_print_result("bma4_get_fifo_wm status", rslt);
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printf("FIFO watermark level : %d\n", watermark);
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rslt = bma4_get_fifo_length(&fifo_length, &dev);
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bma4_error_codes_print_result("bma4_get_fifo_length status", rslt);
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printf("FIFO data bytes available : %d\n", fifo_length);
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printf("FIFO data bytes requested : %d\n", fifoframe.length);
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/* Read FIFO data */
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rslt = bma4_read_fifo_data(&fifoframe, &dev);
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bma4_error_codes_print_result("bma4_read_fifo_data status", rslt);
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accel_length = BMA456_AN_FIFO_ACCEL_FRAME_COUNT;
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if (rslt == BMA4_OK)
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{
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printf("Requested data frames before parsing: %d\n", accel_length);
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/* Parse the FIFO data to extract accelerometer data from the FIFO buffer */
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rslt = bma4_extract_accel(fifo_accel_data, &accel_length, &fifoframe, &dev);
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printf("Parsed accelerometer data frames: %d\n", accel_length);
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printf("ACCEL, X, Y, Z\n");
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/* Print the parsed accelerometer data from the FIFO buffer */
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for (idx = 0; idx < accel_length; idx++)
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{
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printf("%d, %d, %d, %d\n",
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idx,
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fifo_accel_data[idx].x,
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fifo_accel_data[idx].y,
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fifo_accel_data[idx].z);
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}
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}
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loop++;
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}
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}
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bma4_coines_deinit();
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return rslt;
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}
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