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>
2026-05-18 22:51:32 +02:00
parent 755bdd92d7
commit e5db0b21c7
168 changed files with 42062 additions and 2 deletions
@@ -0,0 +1,127 @@
+/**\
+ * Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ **/
+
+#include <stdio.h>
+#include "bma456w.h"
+#include "common.h"
+
+/******************************************************************************/
+/*!            Function                                                       */
+
+/* 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 step activity interrupt status */
+    uint16_t int_status = 0;
+
+    /* Variable to hold iteration value */
+    uint8_t loop = 1;
+
+    /* Variable to store activity status */
+    uint8_t activity_output = 0;
+
+    /* 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);
+
+    if (rslt == BMA4_OK)
+    {
+        /* Map the interrupt 1 for step activity */
+        rslt = bma456w_map_interrupt(BMA4_INTR1_MAP, BMA456W_ACTIVITY_INT, BMA4_ENABLE, &bma);
+        bma4_error_codes_print_result("bma456w_map_interrupt status", rslt);
+
+        if (rslt == BMA4_OK)
+        {
+            /* Setting watermark level 1, the output step resolution is 20 steps.
+             * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers
+             */
+            rslt = bma456w_step_counter_set_watermark(1, &bma);
+            bma4_error_codes_print_result("bma456w_step_counter_set_watermark status", rslt);
+
+            if (rslt == BMA4_OK)
+            {
+                /* Enabling step detector feature */
+                rslt = bma456w_feature_enable(BMA456W_STEP_ACT, BMA4_ENABLE, &bma);
+                bma4_error_codes_print_result("bma456w_feature_enable status", rslt);
+            }
+        }
+
+        if (rslt == BMA4_OK)
+        {
+            printf("Move the board in steps to perform step activity\n");
+
+            while (loop <= 5)
+            {
+                /* Read interrupt status */
+                rslt = bma456w_read_int_status(&int_status, &bma);
+                bma4_error_codes_print_result("bma456w_read_int_status", rslt);
+
+                /* Filtering only the activity interrupt */
+                if ((rslt == BMA4_OK) && (int_status & BMA456W_ACTIVITY_INT))
+                {
+                    printf("\nIteration : %d\n", loop);
+
+                    /* Get step activity output */
+                    rslt = bma456w_activity_output(&activity_output, &bma);
+                    bma4_error_codes_print_result("bma456w_activity_output status", rslt);
+
+                    if (rslt == BMA4_OK)
+                    {
+                        printf("The Activity output is %d\n", activity_output);
+
+                        switch (activity_output)
+                        {
+                            case BMA456W_USER_STATIONARY:
+                                printf("User state is stationary\n");
+                                break;
+                            case BMA456W_USER_WALKING:
+                                printf("User state is walking\n");
+                                break;
+                            case BMA456W_USER_RUNNING:
+                                printf("User state is running\n");
+                                break;
+                            case BMA456W_STATE_INVALID:
+                                printf("User state is invalid state\n");
+                                break;
+                            default:
+                                break;
+                        }
+
+                        loop++;
+                    }
+                }
+
+                int_status = 0;
+            }
+        }
+    }
+
+    bma4_coines_deinit();
+
+    return rslt;
+}