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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/axis_remap_hw_int/Makefile
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE = axis_remap_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/axis_remap_hw_int/axis_remap_hw_int.c
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/**\
* Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "coines.h"
#include "bma456w.h"
#include "common.h"
/******************************************************************************/
/*! Global variable Declaration */
volatile uint8_t drdy_int_status = 0;
/******************************************************************************/
/*! Macro definition */
/*! 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 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)
{
int8_t rslt;
struct bma4_dev bma4;
struct bma4_remap remap_data = { 0 };
struct bma4_accel accel = { 0 };
struct bma4_accel_config accel_conf = { 0 };
uint16_t int_status = 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;
char data_array[13][11] =
{ { 0 }, { "BMA4_X" }, { "BMA4_Y" }, { 0 }, { "BMA4_Z" }, { 0 }, { 0 }, { 0 }, { 0 }, { "BMA4_NEG_X" },
{ "BMA4_NEG_Y" }, { 0 }, { "BMA4_NEG_Z" } };
/* 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(&bma4, intf, BMA45X_VARIANT);
bma4_error_codes_print_result("bma4_interface_init", rslt);
/* Sensor initialization */
rslt = bma456w_init(&bma4);
bma4_error_codes_print_result("bma456w_init", rslt);
/* Upload the configuration file to enable the features of the sensor. */
rslt = bma456w_write_config_file(&bma4);
bma4_error_codes_print_result("bma456w_write_config_file", rslt);
/* Accelerometer configuration Setting */
/* 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, &bma4);
bma4_error_codes_print_result("bma4_set_accel_config status", rslt);
/* Hardware interrupt configuration */
int_line = BMA4_INTR2_MAP;
rslt = bma456w_map_interrupt(int_line, BMA4_DATA_RDY_INT, BMA4_ENABLE, &bma4);
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, &bma4);
bma4_error_codes_print_result("bma4_set_interrupt_mode status", rslt);
break;
default:
break;
}
rslt = bma4_get_int_pin_config(&pin_config, int_line, &bma4);
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, &bma4);
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, &bma4);
bma4_error_codes_print_result("bma4_set_accel_enable status", rslt);
printf("\nAXIS_REMAP_FUNC_TEST 1\n");
printf("Get sensor data of re-mapped axes\n");
rslt = bma456w_get_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_get_remap_axes", rslt);
printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
printf("Expected Re-mapped x value = BMA4_X\n");
printf("Expected Re-mapped y value = BMA4_Y\n");
printf("Expected Re-mapped z value = BMA4_Z\n");
if ((remap_data.x == BMA4_X) && (remap_data.y == BMA4_Y) && (remap_data.z == BMA4_Z))
{
printf(">> PASS\n");
}
else
{
printf(">> FAIL\n");
}
printf("Print mapped data\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma4);
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))
{
rslt = bma4_read_accel_xyz(&accel, &bma4);
bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
break;
}
}
}
printf("\nAXIS_REMAP_FUNC_TEST 2\n");
printf("Get sensor data of re-mapped axes\n");
remap_data.x = BMA4_NEG_Y;
remap_data.y = BMA4_Z;
remap_data.z = BMA4_NEG_X;
rslt = bma456w_set_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_set_remap_axes", rslt);
if (rslt == BMA4_OK)
{
rslt = bma456w_get_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_get_remap_axes", rslt);
if (rslt == BMA4_OK)
{
printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
}
printf("Expected Re-mapped x value = BMA4_NEG_Y\n");
printf("Expected Re-mapped y value = BMA4_Z\n");
printf("Expected Re-mapped z value = BMA4_NEG_X\n");
if ((remap_data.x == BMA4_NEG_Y) && (remap_data.y == BMA4_Z) && (remap_data.z == BMA4_NEG_X))
{
printf(">> PASS\n");
}
else
{
printf(">> FAIL\n");
}
}
printf("Print mapped data\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma4);
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))
{
rslt = bma4_read_accel_xyz(&accel, &bma4);
bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
break;
}
}
}
printf("\nAXIS_REMAP_FUNC_TEST 3\n");
printf("Get sensor data of re-mapped axes - 2nd combination\n");
remap_data.x = BMA4_NEG_Z;
remap_data.y = BMA4_NEG_X;
remap_data.z = BMA4_Y;
rslt = bma456w_set_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_set_remap_axes", rslt);
if (rslt == BMA4_OK)
{
rslt = bma456w_get_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_get_remap_axes", rslt);
if (rslt == BMA4_OK)
{
printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
}
printf("Expected Re-mapped x value = BMA4_NEG_Z\n");
printf("Expected Re-mapped y value = BMA4_NEG_X\n");
printf("Expected Re-mapped z value = BMA4_Y\n");
if ((remap_data.x == BMA4_NEG_Z) && (remap_data.y == BMA4_NEG_X) && (remap_data.z == BMA4_Y))
{
printf(">> PASS\n");
}
else
{
printf(">> FAIL\n");
}
}
printf("Print mapped data\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma4);
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))
{
rslt = bma4_read_accel_xyz(&accel, &bma4);
bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
break;
}
}
}
printf("\nAXIS_REMAP_FUNC_TEST 4\n");
printf("Get sensor data of re-mapped axes - 3rd combination\n");
remap_data.x = BMA4_Y;
remap_data.y = BMA4_Z;
remap_data.z = BMA4_X;
rslt = bma456w_set_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_set_remap_axes", rslt);
if (rslt == BMA4_OK)
{
rslt = bma456w_get_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_get_remap_axes", rslt);
if (rslt == BMA4_OK)
{
printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
}
printf("Expected Re-mapped x value = BMA4_Y\n");
printf("Expected Re-mapped y value = BMA4_Z\n");
printf("Expected Re-mapped z value = BMA4_X\n");
if ((remap_data.x == BMA4_Y) && (remap_data.y == BMA4_Z) && (remap_data.z == BMA4_X))
{
printf(">> PASS\n");
}
else
{
printf(">> FAIL\n");
}
}
printf("Print mapped data\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma4);
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))
{
rslt = bma4_read_accel_xyz(&accel, &bma4);
bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
break;
}
}
}
printf("\nAXIS_REMAP_FUNC_TEST 5\n");
printf("Get sensor data of re-mapped axes - 4th combination\n");
remap_data.x = BMA4_NEG_X;
remap_data.y = BMA4_NEG_Y;
remap_data.z = BMA4_NEG_Z;
rslt = bma456w_set_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_set_remap_axes", rslt);
if (rslt == BMA4_OK)
{
rslt = bma456w_get_remap_axes(&remap_data, &bma4);
bma4_error_codes_print_result("bma456w_get_remap_axes", rslt);
if (rslt == BMA4_OK)
{
printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
}
printf("Expected Re-mapped x value = BMA4_NEG_X\n");
printf("Expected Re-mapped y value = BMA4_NEG_Y\n");
printf("Expected Re-mapped z value = BMA4_NEG_Z\n");
if ((remap_data.x == BMA4_NEG_X) && (remap_data.y == BMA4_NEG_Y) && (remap_data.z == BMA4_NEG_Z))
{
printf(">> PASS\n");
}
else
{
printf(">> FAIL\n");
}
}
printf("Print mapped data\n");
for (;;)
{
if (drdy_int_status == 1)
{
drdy_int_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma4);
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))
{
rslt = bma4_read_accel_xyz(&accel, &bma4);
bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
break;
}
}
}
bma4_coines_deinit();
return rslt;
}
/*!
* @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;
}
}