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Add optional BMA456 accelerometer init on shared I2C bus.

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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>
This commit is contained in:
skruecken
2026-05-18 22:51:32 +02:00
co-authored by Cursor
parent 755bdd92d7
commit e5db0b21c7
168 changed files with 42062 additions and 2 deletions
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components/bma456/bma456w_examples/accelerometer_hw_int/Makefile
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accelerometer_hw_int.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bma4.c \
$(API_LOCATION)/bma456w.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
TARGET = MCU_APP30
include $(COINES_INSTALL_PATH)/coines.mk
components/bma456/bma456w_examples/accelerometer_hw_int/accelerometer_hw_int.c
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/**\
* Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "bma456w.h"
#include "common.h"
#include "coines.h"
/******************************************************************************/
/*! Global variable Declaration */
volatile uint8_t drdy_int_status = 0;
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*! Macro that holds the total number of accel x,y and z axes sample counts to be printed */
#define ACCEL_SAMPLE_COUNT UINT8_C(100)
/*! APP20 Board number */
#define BOARD_MCU_APP20 UINT8_C(0x03)
/*! APP30 Board number */
#define BOARD_MCU_APP30 UINT8_C(0x05)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API converts raw sensor values(LSB) to meters per seconds square.
*
* @param[in] val : Raw sensor value.
* @param[in] g_range : Accel Range selected (2G, 4G, 8G, 16G).
* @param[in] bit_width : Resolution of the sensor.
*
* @return Accel values in meters per second square.
*
*/
static float lsb_to_ms2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function gets board information
*
* @param[out] board : Board value to determine as APP2.0 or APP3.0
*/
static void get_board_info(uint8_t *board);
/*!
* @brief This internal API is used to set the interrupt status
*/
static void interrupt_callback(uint32_t param1, uint32_t param2)
{
(void)param1;
(void)param2;
drdy_int_status = 1;
}
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Variable to store the status of API */
int8_t rslt;
/* Sensor initialization configuration */
struct bma4_dev bma = { 0 };
/* Variable to store accel data ready interrupt status */
uint16_t int_status = 0;
/* Variable that holds the accelerometer sample count */
uint8_t n_data = 1;
struct bma4_accel sens_data = { 0 };
float x = 0, y = 0, z = 0;
struct bma4_accel_config accel_conf = { 0 };
struct bma4_int_pin_config pin_config = { 0 };
/* Variable for interrupt line selection */
uint8_t int_line;
uint8_t intf;
uint8_t board = 0;
/* intf: Interface reference is given as a parameter
* For I2C : BMA4_I2C_INTF
* For SPI : BMA4_SPI_INTF
* Variant information given as parameter - BMA45X_VARIANT
*/
intf = BMA4_I2C_INTF;
rslt = bma4_interface_init(&bma, intf, BMA45X_VARIANT);
bma4_error_codes_print_result("bma4_interface_init", rslt);
/* Sensor initialization */
rslt = bma456w_init(&bma);
bma4_error_codes_print_result("bma456w_init status", rslt);
/* Accelerometer configuration settings */
/* Output data Rate */
accel_conf.odr = BMA4_OUTPUT_DATA_RATE_50HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G) */
accel_conf.range = BMA4_ACCEL_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a less noisier signal, but
* this has an adverse effect on the power consumed.
*/
accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Averaging samples (Default)
* 1 -> No averaging
* For more info on No Averaging mode refer datasheet.
*/
accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
/* Set the accel configurations */
rslt = bma4_set_accel_config(&accel_conf, &bma);
bma4_error_codes_print_result("bma4_set_accel_config status", rslt);
/* Hardware interrupt configuration */
int_line = BMA4_INTR1_MAP;
rslt = bma456w_map_interrupt(int_line, BMA4_DATA_RDY_INT, BMA4_ENABLE, &bma);
bma4_error_codes_print_result("bma456w_map_interrupt status", rslt);
/* Get board information */
get_board_info(&board);
/*
* Attach interrupt based on board
*/
if (board == BOARD_MCU_APP20)
{
switch (int_line)
{
case BMA4_INTR1_MAP:
coines_attach_interrupt(COINES_SHUTTLE_PIN_20, interrupt_callback, COINES_PIN_INTERRUPT_RISING_EDGE);
break;
case BMA4_INTR2_MAP:
coines_attach_interrupt(COINES_SHUTTLE_PIN_21, interrupt_callback, COINES_PIN_INTERRUPT_RISING_EDGE);
break;
default:
break;
}
}
#if !defined(MCU_APP20)
else if (board == BOARD_MCU_APP30)
{
switch (int_line)
{
case BMA4_INTR1_MAP:
coines_attach_interrupt(COINES_MINI_SHUTTLE_PIN_1_6,
interrupt_callback,
COINES_PIN_INTERRUPT_RISING_EDGE);
break;
case BMA4_INTR2_MAP:
coines_attach_interrupt(COINES_MINI_SHUTTLE_PIN_1_7,
interrupt_callback,
COINES_PIN_INTERRUPT_RISING_EDGE);
break;
default:
break;
}
}
#endif
/* Latch mode to be set for I2C to read Drdy interrupt with 100kHz Speed */
switch (intf)
{
case BMA4_I2C_INTF:
rslt = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
bma4_error_codes_print_result("bma4_set_interrupt_mode status", rslt);
break;
default:
break;
}
rslt = bma4_get_int_pin_config(&pin_config, int_line, &bma);
bma4_error_codes_print_result("bma4_get_int_pin_config status", rslt);
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;
rslt = bma4_set_int_pin_config(&pin_config, int_line, &bma);
bma4_error_codes_print_result("bma4_set_int_pin_config status", rslt);
/* NOTE : Enable accel after set of configurations */
rslt = bma4_set_accel_enable(1, &bma);
bma4_error_codes_print_result("bma4_set_accel_enable status", rslt);
printf("Data, Acc_Raw_X, Acc_Raw_Y, Acc_Raw_Z, Acc_ms2_X, Acc_ms2_Y, Acc_ms2_Z\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma);
bma4_error_codes_print_result("bma456w_read_int_status", rslt);
/* Filtering only the accel data ready interrupt */
if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
{
/* Read the accel x, y, z data */
rslt = bma4_read_accel_xyz(&sens_data, &bma);
bma4_error_codes_print_result("bma4_read_accel_xyz status", rslt);
if (rslt == BMA4_OK)
{
/* Converting lsb to meter per second squared for 16 bit resolution at 2G range */
x = lsb_to_ms2(sens_data.x, (float)2, bma.resolution);
y = lsb_to_ms2(sens_data.y, (float)2, bma.resolution);
z = lsb_to_ms2(sens_data.z, (float)2, bma.resolution);
/* Print the data in m/s2 */
printf("%d, %d, %d, %d, %4.2f, %4.2f, %4.2f\n",
n_data,
sens_data.x,
sens_data.y,
sens_data.z,
x,
y,
z);
}
/* Increment the count that determines the number of samples to be printed */
n_data++;
/* When the count reaches more than ACCEL_SAMPLE_COUNT, break and exit the loop */
if (n_data > ACCEL_SAMPLE_COUNT)
{
break;
}
}
}
}
bma4_coines_deinit();
return rslt;
}
/*!
* @brief This internal API converts raw sensor values(LSB) to meters per seconds square.
*/
static float lsb_to_ms2(int16_t val, float g_range, uint8_t bit_width)
{
double power = 2;
float half_scale = (float)((pow((double)power, (double)bit_width) / 2.0f));
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function gets board information
*/
static void get_board_info(uint8_t *board)
{
struct coines_board_info board_info;
int16_t result;
result = coines_get_board_info(&board_info);
if (result == COINES_SUCCESS)
{
(*board) = board_info.board;
}
}