simon
e5db0b21c7
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>
363 lines
12 KiB
C
363 lines
12 KiB
C
/**\
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* Copyright (c) 2022 Bosch Sensortec GmbH. All rights reserved.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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**/
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#include <stdio.h>
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#include <stdlib.h>
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#include "coines.h"
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#include "bma456_an.h"
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#include "common.h"
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/*********************************************************************/
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/* functions */
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/*********************************************************************/
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/*!
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* @brief Main Function where the execution getting started to test the code.
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*
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* @param[in] argc
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* @param[in] argv
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*
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* @return status
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*
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*/
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int main(void)
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{
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int8_t rslt;
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struct bma4_dev bma4;
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struct bma4_remap remap_data = { 0 };
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struct bma4_accel accel = { 0 };
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struct bma4_accel_config accel_conf = { 0 };
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uint16_t int_status = 0;
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char data_array[13][11] =
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{ { 0 }, { "BMA4_X" }, { "BMA4_Y" }, { 0 }, { "BMA4_Z" }, { 0 }, { 0 }, { 0 }, { 0 }, { "BMA4_NEG_X" },
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{ "BMA4_NEG_Y" }, { 0 }, { "BMA4_NEG_Z" } };
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/* Interface reference is given as a parameter
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* For I2C : BMA4_I2C_INTF
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* For SPI : BMA4_SPI_INTF
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* Variant information given as parameter - BMA45X_VARIANT
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*/
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rslt = bma4_interface_init(&bma4, BMA4_SPI_INTF, BMA45X_VARIANT);
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bma4_error_codes_print_result("bma4_interface_init", rslt);
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/* Sensor initialization */
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rslt = bma456_an_init(&bma4);
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bma4_error_codes_print_result("bma456_an_init", rslt);
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/* Upload the configuration file to enable the features of the sensor. */
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rslt = bma456_an_write_config_file(&bma4);
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bma4_error_codes_print_result("bma456_an_write_config", rslt);
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/* Accelerometer configuration Setting */
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/* Output data Rate */
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accel_conf.odr = BMA4_OUTPUT_DATA_RATE_50HZ;
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/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G) */
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accel_conf.range = BMA4_ACCEL_RANGE_2G;
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/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
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* if it is set to 2, then 2^(bandwidth parameter) samples
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* are averaged, resulting in 4 averaged samples
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* Note1 : For more information, refer the datasheet.
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* Note2 : A higher number of averaged samples will result in a less noisier signal, but
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* this has an adverse effect on the power consumed.
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*/
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accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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/* Enable the filter performance mode where averaging of samples
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* will be done based on above set bandwidth and ODR.
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* There are two modes
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* 0 -> Averaging samples (Default)
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* 1 -> No averaging
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* For more info on No Averaging mode refer datasheet.
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*/
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accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
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/* Set the accel configurations */
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rslt = bma4_set_accel_config(&accel_conf, &bma4);
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bma4_error_codes_print_result("bma4_set_accel_config status", rslt);
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/* NOTE : Enable accel after set of configurations */
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rslt = bma4_set_accel_enable(1, &bma4);
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bma4_error_codes_print_result("bma4_set_accel_enable status", rslt);
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/* Mapping data ready interrupt with interrupt pin 1 to get interrupt status once getting new accel data */
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rslt = bma456_an_map_interrupt(BMA4_INTR1_MAP, BMA4_DATA_RDY_INT, BMA4_ENABLE, &bma4);
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bma4_error_codes_print_result("bma456_an_map_interrupt status", rslt);
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printf("\nAXIS_REMAP_FUNC_TEST 1\n");
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printf("Get sensor data of re-mapped axes\n");
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rslt = bma456_an_get_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_get_remap_axes", rslt);
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printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
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printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
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printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
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printf("Expected Re-mapped x value = BMA4_X\n");
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printf("Expected Re-mapped y value = BMA4_Y\n");
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printf("Expected Re-mapped z value = BMA4_Z\n");
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if ((remap_data.x == BMA4_X) && (remap_data.y == BMA4_Y) && (remap_data.z == BMA4_Z))
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{
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printf(">> PASS\n");
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}
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else
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{
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printf(">> FAIL\n");
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}
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printf("Print mapped data\n");
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for (;;)
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{
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/* Read interrupt status */
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rslt = bma456_an_read_int_status(&int_status, &bma4);
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bma4_error_codes_print_result("bma456_an_read_int_status", rslt);
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/* Filtering only the accel data ready interrupt */
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if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
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{
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rslt = bma4_read_accel_xyz(&accel, &bma4);
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bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
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printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
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break;
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}
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}
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printf("\nAXIS_REMAP_FUNC_TEST 2\n");
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printf("Get sensor data of re-mapped axes\n");
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remap_data.x = BMA4_NEG_Y;
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remap_data.y = BMA4_Z;
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remap_data.z = BMA4_NEG_X;
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rslt = bma456_an_set_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_set_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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rslt = bma456_an_get_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_get_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
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printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
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printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
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}
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printf("Expected Re-mapped x value = BMA4_NEG_Y\n");
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printf("Expected Re-mapped y value = BMA4_Z\n");
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printf("Expected Re-mapped z value = BMA4_NEG_X\n");
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if ((remap_data.x == BMA4_NEG_Y) && (remap_data.y == BMA4_Z) && (remap_data.z == BMA4_NEG_X))
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{
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printf(">> PASS\n");
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}
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else
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{
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printf(">> FAIL\n");
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}
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}
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printf("Print mapped data\n");
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for (;;)
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{
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/* Read interrupt status */
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rslt = bma456_an_read_int_status(&int_status, &bma4);
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bma4_error_codes_print_result("bma456_an_read_int_status", rslt);
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/* Filtering only the accel data ready interrupt */
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if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
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{
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rslt = bma4_read_accel_xyz(&accel, &bma4);
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bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
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printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
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break;
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}
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}
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printf("\nAXIS_REMAP_FUNC_TEST 3\n");
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printf("Get sensor data of re-mapped axes - 2nd combination\n");
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remap_data.x = BMA4_NEG_Z;
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remap_data.y = BMA4_NEG_X;
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remap_data.z = BMA4_Y;
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rslt = bma456_an_set_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_set_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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rslt = bma456_an_get_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_get_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
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printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
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printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
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}
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printf("Expected Re-mapped x value = BMA4_NEG_Z\n");
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printf("Expected Re-mapped y value = BMA4_NEG_X\n");
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printf("Expected Re-mapped z value = BMA4_Y\n");
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if ((remap_data.x == BMA4_NEG_Z) && (remap_data.y == BMA4_NEG_X) && (remap_data.z == BMA4_Y))
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{
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printf(">> PASS\n");
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}
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else
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{
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printf(">> FAIL\n");
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}
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}
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printf("Print mapped data\n");
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for (;;)
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{
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/* Read interrupt status */
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rslt = bma456_an_read_int_status(&int_status, &bma4);
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bma4_error_codes_print_result("bma456_an_read_int_status", rslt);
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/* Filtering only the accel data ready interrupt */
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if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
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{
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rslt = bma4_read_accel_xyz(&accel, &bma4);
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bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
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printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
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break;
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}
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}
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printf("\nAXIS_REMAP_FUNC_TEST 4\n");
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printf("Get sensor data of re-mapped axes - 3rd combination\n");
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remap_data.x = BMA4_Y;
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remap_data.y = BMA4_Z;
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remap_data.z = BMA4_X;
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rslt = bma456_an_set_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_set_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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rslt = bma456_an_get_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_get_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
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printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
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printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
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}
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printf("Expected Re-mapped x value = BMA4_Y\n");
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printf("Expected Re-mapped y value = BMA4_Z\n");
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printf("Expected Re-mapped z value = BMA4_X\n");
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if ((remap_data.x == BMA4_Y) && (remap_data.y == BMA4_Z) && (remap_data.z == BMA4_X))
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{
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printf(">> PASS\n");
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}
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else
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{
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printf(">> FAIL\n");
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}
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}
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printf("Print mapped data\n");
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for (;;)
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{
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/* Read interrupt status */
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rslt = bma456_an_read_int_status(&int_status, &bma4);
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bma4_error_codes_print_result("bma456_an_read_int_status", rslt);
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/* Filtering only the accel data ready interrupt */
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if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
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{
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rslt = bma4_read_accel_xyz(&accel, &bma4);
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bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
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printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
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break;
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}
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}
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printf("\nAXIS_REMAP_FUNC_TEST 5\n");
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printf("Get sensor data of re-mapped axes - 4th combination\n");
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remap_data.x = BMA4_NEG_X;
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remap_data.y = BMA4_NEG_Y;
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remap_data.z = BMA4_NEG_Z;
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rslt = bma456_an_set_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_set_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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rslt = bma456_an_get_remap_axes(&remap_data, &bma4);
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bma4_error_codes_print_result("bma456_an_get_remap_axes", rslt);
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if (rslt == BMA4_OK)
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{
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printf("Re-mapped x value = %s\n", data_array[remap_data.x]);
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printf("Re-mapped y value = %s\n", data_array[remap_data.y]);
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printf("Re-mapped z value = %s\n", data_array[remap_data.z]);
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}
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printf("Expected Re-mapped x value = BMA4_NEG_X\n");
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printf("Expected Re-mapped y value = BMA4_NEG_Y\n");
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printf("Expected Re-mapped z value = BMA4_NEG_Z\n");
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if ((remap_data.x == BMA4_NEG_X) && (remap_data.y == BMA4_NEG_Y) && (remap_data.z == BMA4_NEG_Z))
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{
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printf(">> PASS\n");
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}
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else
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{
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printf(">> FAIL\n");
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}
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}
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printf("Print mapped data\n");
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for (;;)
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{
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/* Read interrupt status */
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rslt = bma456_an_read_int_status(&int_status, &bma4);
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bma4_error_codes_print_result("bma456_an_read_int_status", rslt);
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/* Filtering only the accel data ready interrupt */
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if ((rslt == BMA4_OK) && (int_status & BMA4_ACCEL_DATA_RDY_INT))
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{
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rslt = bma4_read_accel_xyz(&accel, &bma4);
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bma4_error_codes_print_result("bma4_read_accel_xyz", rslt);
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printf("Accel :: X = %d Y = %d Z = %d\n", accel.x, accel.y, accel.z);
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break;
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}
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}
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bma4_coines_deinit();
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return rslt;
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}
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