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powerpods/components/bma456/bma456_an.c
simon e5db0b21c7 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

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/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bma456_an.c
* @date 2023-07-05
* @version V2.29.0
*
*/
/*! \file bma456_an.c
* \brief Sensor Driver for BMA456_AN sensor
*/
#include "bma456_an.h"
/**\name Feature configuration file */
const uint8_t bma456_an_config_file[] = {
0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x58, 0x01, 0x80, 0x2e, 0x42, 0x02, 0xb0, 0xf0,
0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf0, 0x00, 0x1f, 0x50, 0x1d, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41,
0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x2c, 0x82,
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0x01, 0x2e, 0x40, 0xf0, 0x1a, 0x90, 0x21, 0x2f, 0x98, 0x2e, 0x1e, 0xb0, 0x03, 0x30, 0x13, 0x50, 0x17, 0x52, 0x11,
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0x40, 0xb2, 0x06, 0x2f, 0x23, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0,
0x6f, 0x01, 0x31, 0x20, 0x26, 0x01, 0x42, 0x10, 0x30, 0x21, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x01, 0x50,
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0x42, 0x84, 0x42, 0x98, 0x2e, 0x7f, 0x01, 0x05, 0x50, 0x06, 0x80, 0x71, 0x30, 0x01, 0x42, 0x00, 0x2e, 0x00, 0x2e,
0xd0, 0x2e, 0x98, 0x2e, 0xd6, 0x00, 0x01, 0x2e, 0x36, 0x00, 0x00, 0xb2, 0x0d, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x36,
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0x50, 0x9c, 0xbe, 0x02, 0x40, 0x1d, 0x52, 0xf4, 0x33, 0xdc, 0xba, 0xd9, 0x0f, 0x94, 0x08, 0x06, 0x2f, 0x49, 0xaf,
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0x06, 0x41, 0xf8, 0xbf, 0xbe, 0x0b, 0xb5, 0x11, 0xd6, 0x42, 0x03, 0x89, 0x5a, 0x0e, 0xf6, 0x2f, 0x12, 0x30, 0x25,
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0xf6, 0x6f, 0xa0, 0x5f, 0xc8, 0x2e, 0x09, 0x86, 0x02, 0x30, 0x12, 0x42, 0x43, 0x0e, 0xfc, 0x2f, 0x37, 0x80, 0x13,
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0x2f, 0x7f, 0x82, 0x98, 0x2e, 0x00, 0xb0, 0x2d, 0x52, 0x23, 0x2e, 0xff, 0xb9, 0x06, 0x2d, 0xfb, 0x6f, 0xf0, 0x5f,
0x80, 0x2e, 0x00, 0xb0, 0x2b, 0x52, 0x01, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x10, 0x24, 0x58,
0x02, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a,
0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80,
0x2e, 0x10, 0x00
};
/***************************************************************************/
/**\name Function definitions
****************************************************************************/
/*!
* @brief This API is the entry point.
* Call this API before using all other APIs.
* This API reads the chip-id of the sensor and sets the resolution.
*/
int8_t bma456_an_init(struct bma4_dev *dev)
{
int8_t rslt;
/* Structure to define the default values for axes re-mapping */
struct bma4_axes_remap axes_remap = {
.x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS,
.y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE
};
rslt = bma4_init(dev);
if (rslt == BMA4_OK)
{
if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
{
/* Resolution of BMA456_AN sensor is 16 bit */
dev->resolution = BMA4_16_BIT_RESOLUTION;
dev->feature_len = BMA456_AN_FEATURE_SIZE;
dev->config_size = sizeof(bma456_an_config_file);
/* Set the default values for axis
* re-mapping in the device structure
*/
dev->remap = axes_remap;
}
else
{
rslt = BMA4_E_INVALID_SENSOR;
}
}
return rslt;
}
/*!
* @brief This API is used to upload the configuration file to enable the
* features of the sensor.
*/
int8_t bma456_an_write_config_file(struct bma4_dev *dev)
{
int8_t rslt = BMA4_OK;
if (dev != NULL)
{
if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
{
/* Configuration stream read/write length boundary
* check
*/
if ((dev->read_write_len >= BMA456_AN_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456_AN_RD_WR_MAX_LEN))
{
/* Even or odd check */
if ((dev->read_write_len % 2) != 0)
{
dev->read_write_len = dev->read_write_len - 1;
}
/* Assign stream data */
dev->config_file_ptr = bma456_an_config_file;
rslt = bma4_write_config_file(dev);
}
else
{
rslt = BMA4_E_RD_WR_LENGTH_INVALID;
}
}
else
{
rslt = BMA4_E_INVALID_SENSOR;
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to get the config file major and minor information.
*/
int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev)
{
/* Initialize configuration file */
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
/* Update index to config file version */
uint8_t index = BMA456_AN_CONFIG_ID_OFFSET;
/* Variable to define LSB */
uint8_t lsb = 0;
/* Variable to define MSB */
uint8_t msb = 0;
/* Variable to define LSB and MSB */
uint16_t lsb_msb = 0;
/* Result of api are returned to this variable */
int8_t rslt = BMA4_OK;
if ((config_major != NULL) && (config_minor != NULL))
{
rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev);
if (rslt == BMA4_OK)
{
/* Wait for sensor time synchronization. Refer the data-sheet for
* more information
*/
dev->delay_us(450, dev->intf_ptr);
/* Get config file identification from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_FEATURE_SIZE, dev);
if (rslt == BMA4_OK)
{
/* Get word to calculate config file identification */
lsb = feature_config[index++];
msb = feature_config[index++];
lsb_msb = (uint16_t)(msb << 8 | lsb);
/* Get major and minor version */
*config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR);
*config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR);
}
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets/un-sets the user provided interrupt to either interrupt
* pin1 or pin2 in the sensor.
*/
int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev)
{
int8_t rslt = BMA4_OK;
if (dev != NULL)
{
if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
{
if (int_line <= 1)
{
/* Map/Unmap the interrupt */
rslt = bma4_map_interrupt(int_line, int_map, enable, dev);
}
else
{
rslt = BMA4_E_INT_LINE_INVALID;
}
}
else
{
rslt = BMA4_E_INVALID_SENSOR;
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the bma456_an interrupt status from the sensor.
*/
int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev)
{
int8_t rslt = BMA4_OK;
if ((dev != NULL) && (int_status != NULL))
{
if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
{
/* Read the interrupt status */
rslt = bma4_read_int_status(int_status, dev);
}
else
{
rslt = BMA4_E_INVALID_SENSOR;
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API performs x, y and z axis remapping in the sensor.
*/
int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456_AN_AXES_REMAP_OFFSET;
int8_t rslt = BMA4_OK;
if (remap_axes != NULL)
{
rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev);
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the x, y and z axis remap data from the sensor.
*/
int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
uint8_t index = BMA456_AN_AXES_REMAP_OFFSET;
int8_t rslt = BMA4_OK;
if (remap_axes != NULL)
{
rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev);
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the configuration of any-motion feature in the sensor.
* This API enables/disables the any-motion feature according to the axis set.
*/
int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMA4_OK;
/* Initialize configuration file */
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
/* Update index to configure any-motion axes */
uint8_t index = BMA456_AN_ANY_MOT_OFFSET;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define LSB and MSB */
uint16_t lsb_msb = 0;
if ((dev != NULL) && (any_motion != NULL))
{
/* Get any-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
if (rslt == BMA4_OK)
{
/* Set threshold value in feature configuration array */
feature_config[index++] = BMA4_GET_LSB(any_motion->threshold);
feature_config[index++] = BMA4_GET_MSB(any_motion->threshold);
/* Extract the word where duration and axes enable
* resides
*/
lsb = feature_config[index];
msb = feature_config[index + 1] << 8;
lsb_msb = lsb | msb;
/* Set the duration in the same word */
lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, any_motion->duration);
/* Set the axes in the same word */
lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, any_motion->axes_en);
/* Assign the word with set duration and axes enable
* value back to feature configuration array
*/
feature_config[index++] = BMA4_GET_LSB(lsb_msb);
feature_config[index] = BMA4_GET_MSB(lsb_msb);
/* Set any-motion configuration to the sensor */
rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the configuration of any-motion feature from the
* sensor.
*/
int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMA4_OK;
/* Initialize configuration file */
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
/* Update index to configure any-motion axes */
uint8_t index = BMA456_AN_ANY_MOT_OFFSET;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define LSB and MSB */
uint16_t lsb_msb = 0;
if ((dev != NULL) && (any_motion != NULL))
{
/* Get any-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
if (rslt == BMA4_OK)
{
/* Get word to calculate threshold and any-motion
* select
*/
lsb = (uint16_t)feature_config[index++];
msb = ((uint16_t)feature_config[index++] << 8);
lsb_msb = lsb | msb;
/* Extract threshold value */
any_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK;
/* Get word to calculate duration and axes enable */
lsb = (uint16_t)feature_config[index++];
msb = ((uint16_t)feature_config[index] << 8);
lsb_msb = lsb | msb;
/* Extract duration value */
any_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK;
/* Extract axes enable value */
any_motion->axes_en =
(uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the configuration of no-motion feature in the sensor.
* This API enables/disables the no-motion feature according to the axis set.
*/
int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMA4_OK;
/* Initialize configuration file */
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
/* Update index to configure no-motion axes */
uint8_t index = BMA456_AN_NO_MOT_OFFSET;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define LSB and MSB */
uint16_t lsb_msb = 0;
if ((dev != NULL) && (no_motion != NULL))
{
/* Get no-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
if (rslt == BMA4_OK)
{
/* Set threshold value in feature configuration array */
feature_config[index++] = BMA4_GET_LSB(no_motion->threshold);
feature_config[index++] = BMA4_GET_MSB(no_motion->threshold);
/* Extract the word where duration and axes enable
* resides
*/
lsb = feature_config[index];
msb = feature_config[index + 1] << 8;
lsb_msb = lsb | msb;
/* Set the duration in the same word */
lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, no_motion->duration);
/* Set the axes in the same word */
lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, no_motion->axes_en);
/* Assign the word with set duration and axes enable
* value back to feature configuration array
*/
feature_config[index++] = BMA4_GET_LSB(lsb_msb);
feature_config[index] = BMA4_GET_MSB(lsb_msb);
/* Set no-motion configuration to the sensor */
rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the configuration of no-motion feature from the
* sensor.
*/
int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMA4_OK;
/* Initialize configuration file */
uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
/* Update index to configure no-motion axes */
uint8_t index = BMA456_AN_NO_MOT_OFFSET;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define LSB and MSB */
uint16_t lsb_msb = 0;
if ((dev != NULL) && (no_motion != NULL))
{
/* Get no-motion configuration from the sensor */
rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
if (rslt == BMA4_OK)
{
/* Get word to calculate threshold and no-motion
* select
*/
lsb = (uint16_t)feature_config[index++];
msb = ((uint16_t)feature_config[index++] << 8);
lsb_msb = lsb | msb;
/* Extract threshold value */
no_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK;
/* Get word to calculate duration and axes enable */
lsb = (uint16_t)feature_config[index++];
msb = ((uint16_t)feature_config[index] << 8);
lsb_msb = lsb | msb;
/* Extract duration value */
no_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK;
/* Extract axes enable value */
no_motion->axes_en =
(uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS);
}
}
else
{
rslt = BMA4_E_NULL_PTR;
}
return rslt;
}
/*! @endcond */
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