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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/motion_hw_int/Makefile
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= motion_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/motion_hw_int/motion_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 <math.h>
#include "bma456w.h"
#include "common.h"
/*****************************************************************************/
/*! Global variable */
/*! Structure to define any/no-motion configurations */
struct bma456w_any_no_mot_config any_no_mot = { 0 };
volatile uint8_t interrupt_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 internal API is used to get any/no-motion configurations.
*
* @param[in] bma : Structure instance of bma4_dev.
*
* @return Status of execution.
*/
static int8_t get_any_no_mot_config(struct bma4_dev *bma);
/*!
* @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;
interrupt_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 any/no-motion interrupt status */
uint16_t int_status = 0;
/* Loop variable */
uint8_t iteration = 20;
struct bma4_int_pin_config pin_config = { 0 };
uint8_t board = 0;
/* Variable for interrupt line selection*/
uint8_t int_line;
/* Interface reference is given as a parameter
* For I2C : BMA4_I2C_INTF
* For SPI : BMA4_SPI_INTF
* Variant information given as parameter - BMA45X_VARIANT
*/
rslt = bma4_interface_init(&bma, BMA4_I2C_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);
/* Upload the configuration file to enable the features of the sensor. */
rslt = bma456w_write_config_file(&bma);
bma4_error_codes_print_result("bma456w_write_config status", rslt);
/* Enable the accelerometer */
rslt = bma4_set_accel_enable(BMA4_ENABLE, &bma);
bma4_error_codes_print_result("bma4_set_accel_enable status", rslt);
/* Get any-motion and no-motion configurations */
rslt = get_any_no_mot_config(&bma);
bma4_error_codes_print_result("get_any_no_mot_config status", rslt);
/* Hardware interrupt configuration */
int_line = BMA4_INTR2_MAP;
rslt = bma4_get_int_pin_config(&pin_config, int_line, &bma);
bma4_error_codes_print_result("bma4_get_int_pin_config status", rslt);
rslt = bma456w_map_interrupt(int_line, (BMA456W_ANY_MOT_INT | BMA456W_NO_MOT_INT), BMA4_ENABLE, &bma);
bma4_error_codes_print_result("bma456w_map_interrupt 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);
/* 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
printf("Shake the board for any-motion interrupt whereas do not shake the board for no-motion interrupt\n");
for (;;)
{
if (interrupt_status == 1)
{
interrupt_status = 0;
/* Read interrupt status */
rslt = bma456w_read_int_status(&int_status, &bma);
bma4_error_codes_print_result("bma456w_read_int_status", rslt);
if (rslt == BMA4_OK)
{
/* Enters only if the obtained interrupt is any-motion */
if (int_status & BMA456W_ANY_MOT_INT)
{
printf("Any-motion interrupt occurred\n");
iteration--;
}
/* Enters only if the obtained interrupt is no-motion */
else if (int_status & BMA456W_NO_MOT_INT)
{
printf("No-motion interrupt occurred\n");
iteration--;
}
int_status = 0;
/* Break out of the loop when iteration has reached zero */
if (iteration == 0)
{
printf("Iterations are done. Exiting !");
break;
}
}
}
}
bma4_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to get any/no-motion configurations.
*/
static int8_t get_any_no_mot_config(struct bma4_dev *bma)
{
/* Variable to store the status of API */
int8_t rslt;
/* Getting any-motion configuration to get default configuration */
rslt = bma456w_get_any_mot_config(&any_no_mot, bma);
bma4_error_codes_print_result("bma456w_get_any_mot_config status", rslt);
if (rslt == BMA4_OK)
{
/*
* Set the slope threshold:
* Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG)
*/
any_no_mot.threshold = 10;
/*
* Set the duration for any-motion interrupt:
* Duration defines the number of consecutive data points for which threshold condition must be true(1
* bit =
* 20ms)
*/
any_no_mot.duration = 4;
/* Enabling X, Y, and Z axis for Any-motion feature */
any_no_mot.axes_en = BMA456W_EN_ALL_AXIS;
/* Like threshold and duration, we can also change the config of int_bhvr and slope */
/* Set the threshold and duration configuration */
rslt = bma456w_set_any_mot_config(&any_no_mot, bma);
bma4_error_codes_print_result("bma456w_set_any_mot_config status", rslt);
if (rslt == BMA4_OK)
{
/* Getting no-motion configuration to get default configuration */
rslt = bma456w_get_no_mot_config(&any_no_mot, bma);
bma4_error_codes_print_result("bma456w_get_no_mot_config status", rslt);
if (rslt == BMA4_OK)
{
/*
* Set the slope threshold:
* Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG)
*/
any_no_mot.threshold = 10;
/*
* Set the duration for no-motion interrupt:
* Duration defines the number of consecutive data points for which threshold condition must be
* true(1 bit = 20ms)
*/
any_no_mot.duration = 4;
/* Enabling X, Y, and Z axis for no-motion feature */
any_no_mot.axes_en = BMA456W_EN_ALL_AXIS;
/* Like threshold and duration, we can also change the config of int_bhvr */
/* Set the threshold and duration configuration */
rslt = bma456w_set_no_mot_config(&any_no_mot, bma);
bma4_error_codes_print_result("bma456w_set_no_mot_config status", rslt);
}
}
}
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;
}
}