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powerpods/components/bma456/bma456_an.h
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.h
* @date 2023-07-05
* @version V2.29.0
*
*/
/**
* \ingroup bma4xy
* \defgroup bma456_an BMA456_AN
* @brief Sensor driver for BMA456_AN sensor
*/
#ifndef BMA456_AN_H
#define BMA456_AN_H
#ifdef __cplusplus
extern "C" {
#endif
#include "bma4.h"
/**\name Chip ID of BMA456_AN sensor */
#define BMA456_AN_CHIP_ID_PRIM UINT8_C(0x16)
#define BMA456_AN_CHIP_ID_SEC UINT8_C(0x1A)
/**\name Sensor feature size */
#define BMA456_AN_FEATURE_SIZE UINT8_C(12)
#define BMA456_AN_ANY_MOT_LEN UINT8_C(4)
/**\name Feature offset address */
#define BMA456_AN_ANY_MOT_OFFSET UINT8_C(0x00)
#define BMA456_AN_NO_MOT_OFFSET UINT8_C(0x04)
#define BMA456_AN_CONFIG_ID_OFFSET UINT8_C(0x08)
#define BMA456_AN_AXES_REMAP_OFFSET UINT8_C(0x0A)
/**\name Read/Write Lengths */
#define BMA456_AN_RD_WR_MIN_LEN UINT8_C(2)
/*! @name Maximum valid read write length is size of config file array */
#define BMA456_AN_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456_an_config_file))
#define BMA456_AN_NO_MOT_RD_WR_LEN (BMA456_AN_ANY_MOT_LEN + BMA456_AN_NO_MOT_OFFSET)
/**************************************************************/
/**\name Re-map Axes */
/**************************************************************/
#define BMA456_AN_X_AXIS_MASK UINT8_C(0x03)
#define BMA456_AN_X_AXIS_SIGN_MASK UINT8_C(0x04)
#define BMA456_AN_Y_AXIS_MASK UINT8_C(0x18)
#define BMA456_AN_Y_AXIS_SIGN_MASK UINT8_C(0x20)
#define BMA456_AN_Z_AXIS_MASK UINT8_C(0xC0)
#define BMA456_AN_Z_AXIS_SIGN_MASK UINT8_C(0x01)
/**************************************************************/
/**\name Any/no Motion */
/**************************************************************/
/**\name Any/No motion threshold macros */
#define BMA456_AN_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF)
/**\name Any/No motion duration macros */
#define BMA456_AN_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF)
/**\name Any/No motion enable macros */
#define BMA456_AN_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D)
#define BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000)
/**************************************************************/
/**\name User macros */
/**************************************************************/
/**\name Any-motion/No-motion axis enable macros */
#define BMA456_AN_X_AXIS_EN UINT8_C(0x01)
#define BMA456_AN_Y_AXIS_EN UINT8_C(0x02)
#define BMA456_AN_Z_AXIS_EN UINT8_C(0x04)
#define BMA456_AN_EN_ALL_AXIS UINT8_C(0x07)
#define BMA456_AN_DIS_ALL_AXIS UINT8_C(0x00)
/**\name Interrupt status macros */
#define BMA456_AN_ANY_MOT_INT UINT8_C(0x20)
#define BMA456_AN_NO_MOT_INT UINT8_C(0x40)
#define BMA456_AN_ERROR_INT UINT8_C(0x80)
/******************************************************************************/
/*! @name Structure Declarations */
/******************************************************************************/
/*!
* @brief Any/No motion configuration
*/
struct bma456_an_any_no_mot_config
{
/*! Expressed in 50 Hz samples (20 ms) */
uint16_t duration;
/*! Threshold value for Any-motion/No-motion detection in
* 5.11g format
*/
uint16_t threshold;
/*! To enable selected axes */
uint8_t axes_en;
};
/***************************************************************************/
/*! BMA456_AN User Interface function prototypes
****************************************************************************/
/**
* \ingroup bma456_an
* \defgroup bma456_anApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bma456_anApiInit
* \page bma456_an_api_bma456_an_init bma456_an_init
* \code
* int8_t bma456_an_init(struct bma4_dev *dev);
* \endcode
* @details 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.
*
* @param[in,out] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_init(struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiConfig ConfigFile
* @brief Write binary configuration in the sensor
*/
/*!
* \ingroup bma456_anApiConfig
* \page bma456_an_api_bma456_an_write_config_file bma456_an_write_config_file
* \code
* int8_t bma456_an_write_config_file(struct bma4_dev *dev);
* \endcode
* @details This API is used to upload the config file to enable the features of
* the sensor.
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_write_config_file(struct bma4_dev *dev);
/*!
* \ingroup bma456_anApiConfig
* \page bma456_an_api_bma456_an_get_version_config bma456_an_get_version_config
* \code
*int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev);
* \endcode
* @details This API is used to get the config file major and minor information.
*
* @param[in] dev : Structure instance of bma4_dev.
* @param[out] config_major : Pointer to data buffer to store the config major.
* @param[out] config_minor : Pointer to data buffer to store the config minor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiMapInt Map / Unmap Interrupt
* @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor
*/
/*!
* \ingroup bma456_anApiMapInt
* \page bma456_an_api_bma456_an_map_interrupt bma456_an_map_interrupt
* \code
* int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev);
* \endcode
* @details This API sets/unsets the user provided interrupt to either
* interrupt pin1 or pin2 in the sensor.
*
* @param[in] int_line: Variable to select either interrupt pin1 or pin2.
*
*@verbatim
* int_line | Macros
* ------------|-------------------
* 0x00 | BMA4_INTR1_MAP
* 0x01 | BMA4_INTR2_MAP
*@endverbatim
*
* @param[in] int_map : Variable to specify the interrupts.
* @param[in] enable : Variable to specify mapping or unmapping of interrupts.
*
*@verbatim
* enable | Macros
* --------|-------------------
* 0x00 | BMA4_DISABLE
* 0x01 | BMA4_ENABLE
*@endverbatim
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @note Below macros specify the interrupts.
*
* Feature Interrupts
* - BMA456_AN_ANY_MOT_INT
* - BMA456_AN_NO_MOT_INT
* - BMA456_AN_ERROR_INT
*
* Hardware Interrupts
* - BMA4_FIFO_FULL_INT
* - BMA4_FIFO_WM_INT
* - BMA4_ACCEL_DATA_RDY_INT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiIntS Interrupt Status
* @brief Read interrupt status of the sensor
*/
/*!
* \ingroup bma456_anApiIntS
* \page bma456_an_api_bma456_an_read_int_status bma456_an_read_int_status
* \code
* int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev);
* \endcode
* @details This API reads the bma456_an interrupt status from the sensor.
*
* @param[out] int_status : Variable to store the interrupt status read from
* the sensor.
* @param[in] dev : Structure instance of bma4_dev.
*
* @note Below macros are used to check the interrupt status.
*
* Feature Interrupts
* - BMA456_AN_ANY_MOT_INT
* - BMA456_AN_NO_MOT_INT
* - BMA456_AN_ERROR_INT
*
* Hardware Interrupts
* - BMA4_FIFO_FULL_INT
* - BMA4_FIFO_WM_INT
* - BMA4_ACCEL_DATA_RDY_INT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiRemap Remap Axes
* @brief Set / Get x, y and z axis re-mapping in the sensor
*/
/*!
* \ingroup bma456_anApiRemap
* \page bma456_an_api_bma456_an_set_remap_axes bma456_an_set_remap_axes
* \code
* int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev);
* \endcode
* @details This API performs x, y and z axis remapping in the sensor.
*
* @param[in] remap_data : Pointer to store axes remapping data.
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev);
/*!
* \ingroup bma456_anApiRemap
* \page bma456_an_api_bma456_an_get_remap_axes bma456_an_get_remap_axes
* \code
* int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev);
* \endcode
* @details This API reads the x, y and z axis remap data from the sensor.
*
* @param[out] remap_data : Pointer to store axis remap data which is read
* from the bma456_an sensor.
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiAnyMot Any motion Feature
* @brief Functions of Any motion feature of the sensor
*/
/*!
* \ingroup bma456_anApiAnyMot
* \page bma456_an_api_bma456_an_set_any_mot_config bma456_an_set_any_mot_config
* \code
* int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev);
* \endcode
* @details 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.
*
* @param[in] any_motion : Pointer to structure variable to configure
* any-motion.
*
* @verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | Any-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|----------------------------------------
* | Enables the feature on a per-axis
* axis_en | basis.
* ---------------------------------------------------------------------------
* @endverbatim
*
*@verbatim
* Value | axis_en
* ---------|-------------------------
* 0x00 | BMA456_AN_DIS_ALL_AXIS
* 0x01 | BMA456_AN_X_AXIS_EN
* 0x02 | BMA456_AN_Y_AXIS_EN
* 0x04 | BMA456_AN_Z_AXIS_EN
* 0x07 | BMA456_AN_EN_ALL_AXIS
*@endverbatim
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev);
/*!
* \ingroup bma456_anApiNomot
* \page bma456_an_api_bma456_an_get_any_motion_config bma456_an_get_any_motion_config
* \code
* int8_t bma456_an_get_any_motion_config(struct bma456_an_anymotion_config *any_motion, struct bma4_dev *dev);
* \endcode
* @details This API gets the configuration of any-motion feature from the
* sensor.
*
* @param[out] any_motion : Pointer to structure variable to configure
* any-motion.
*
* @verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | Any-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|-----------------------------------------
* | Enables the feature on a per-axis
* axis_en | basis.
* ---------------------------------------------------------------------------
* @endverbatim
*
*@verbatim
* Value | axis_en
* ---------|-------------------------
* 0x00 | BMA456_AN_DIS_ALL_AXIS
* 0x01 | BMA456_AN_X_AXIS_EN
* 0x02 | BMA456_AN_Y_AXIS_EN
* 0x04 | BMA456_AN_Z_AXIS_EN
* 0x07 | BMA456_AN_EN_ALL_AXIS
*@endverbatim
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev);
/**
* \ingroup bma456_an
* \defgroup bma456_anApiNomot No-Motion Feature
* @brief Operations of no-motion feature of the sensor
*/
/*!
* \ingroup bma456_anApiNomot
* \page bma456_an_api_bma456_an_set_no_motion_config bma456_an_set_no_motion_config
* \code
* int8_t bma456_an_set_no_motion_config(const struct bma456_an_nomotion_config *no_motion, struct bma4_dev *dev);
* \endcode
* @details 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.
*
* @param[in] no_motion : Pointer to structure variable to configure
* no-motion.
* @verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | No-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|----------------------------------------
* | Enables the feature on a per-axis
* axis_en | basis.
* ---------------------------------------------------------------------------
* @endverbatim
*
*@verbatim
* Value | axis_en
* ---------|-------------------------
* 0x00 | BMA456_AN_DIS_ALL_AXIS
* 0x01 | BMA456_AN_X_AXIS_EN
* 0x02 | BMA456_AN_Y_AXIS_EN
* 0x04 | BMA456_AN_Z_AXIS_EN
* 0x07 | BMA456_AN_EN_ALL_AXIS
*@endverbatim
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev);
/*!
* \ingroup bma456_anApiAnyMot
* \page bma456_an_api_bma456_an_get_no_motion_config bma456_an_get_no_motion_config
* \code
* int8_t bma456_an_get_no_motion_config(struct bma456_an_nomotion_config *no_motion, struct bma4_dev *dev);
* \endcode
* @details This API gets the configuration of no-motion feature from the
* sensor.
*
* @param[out] no_motion : Pointer to structure variable to configure
* no-motion.
*
* @verbatim
* -------------------------------------------------------------------------
* Structure parameters | Description
* --------------------------------|----------------------------------------
* | Defines the number of
* | consecutive data points for
* | which the threshold condition
* duration | must be respected, for interrupt
* | assertion. It is expressed in
* | 50 Hz samples (20 ms).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* --------------------------------|----------------------------------------
* | Slope threshold value for
* | No-motion detection
* threshold | in 5.11g format.
* | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* --------------------------------|-----------------------------------------
* | Enables the feature on a per-axis
* axis_en | basis.
* ---------------------------------------------------------------------------
* @endverbatim
*
*@verbatim
* Value | axis_en
* ---------|-------------------------
* 0x00 | BMA456_AN_DIS_ALL_AXIS
* 0x01 | BMA456_AN_X_AXIS_EN
* 0x02 | BMA456_AN_Y_AXIS_EN
* 0x04 | BMA456_AN_Z_AXIS_EN
* 0x07 | BMA456_AN_EN_ALL_AXIS
*@endverbatim
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev);
#ifdef __cplusplus
}
#endif /*End of CPP guard */
#endif /*End of header guard macro */
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