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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2017/11/09 14:11:43 UTC
[GitHub] rymanluk closed pull request #650: sensors/bma253: Couple of improvements and fixes
rymanluk closed pull request #650: sensors/bma253: Couple of improvements and fixes
URL: https://github.com/apache/mynewt-core/pull/650
This is a PR merged from a forked repository.
As GitHub hides the original diff on merge, it is displayed below for
the sake of provenance:
As this is a foreign pull request (from a fork), the diff is supplied
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diff --git a/apps/sensors_test/syscfg.yml b/apps/sensors_test/syscfg.yml
index 997235b97..1a6ab1d1e 100644
--- a/apps/sensors_test/syscfg.yml
+++ b/apps/sensors_test/syscfg.yml
@@ -59,6 +59,10 @@ syscfg.vals:
FLOAT_USER: 1
SENSOR_OIC_PERIODIC: 1
+syscfg.vals.BMA253_OFB:
+ BMA253_PIN_INT1: 19
+ BMA253_PIN_INT2: 20
+
syscfg.defs:
SENSOR_BLE:
description: 'BLE transport is used for sensor data'
diff --git a/hw/drivers/sensors/bma253/include/bma253/bma253.h b/hw/drivers/sensors/bma253/include/bma253/bma253.h
index f90e2be81..608a6d7f7 100644
--- a/hw/drivers/sensors/bma253/include/bma253/bma253.h
+++ b/hw/drivers/sensors/bma253/include/bma253/bma253.h
@@ -137,6 +137,8 @@ struct bma253_int {
struct os_sem wait;
bool active;
bool asleep;
+ int pin;
+ int pin_active;
};
enum bma253_int_pin {
diff --git a/hw/drivers/sensors/bma253/src/bma253.c b/hw/drivers/sensors/bma253/src/bma253.c
index 729d7e56f..fda8e5c16 100644
--- a/hw/drivers/sensors/bma253/src/bma253.c
+++ b/hw/drivers/sensors/bma253/src/bma253.c
@@ -108,3172 +108,3391 @@ static struct log bma253_log;
#define REG_VALUE_CHIP_ID 0xFA
#define REG_VALUE_SOFT_RESET 0xB6
-static void delay_msec(uint32_t delay)
+static void
+delay_msec(uint32_t delay)
{
- delay = (delay * OS_TICKS_PER_SEC) / 1000 + 1;
- os_time_delay(delay);
+ delay = (delay * OS_TICKS_PER_SEC) / 1000 + 1;
+ os_time_delay(delay);
}
-static void interrupt_init(struct bma253_int * interrupt)
+static void
+interrupt_init(struct bma253_int * interrupt)
{
- os_error_t error;
+ os_error_t error;
- error = os_sem_init(&interrupt->wait, 0);
- assert(error == OS_OK);
+ error = os_sem_init(&interrupt->wait, 0);
+ assert(error == OS_OK);
- interrupt->active = false;
- interrupt->asleep = false;
+ interrupt->active = false;
+ interrupt->asleep = false;
}
-static void interrupt_undo(struct bma253_int * interrupt)
+static void
+interrupt_undo(struct bma253_int * interrupt)
{
- OS_ENTER_CRITICAL(interrupt->lock);
- interrupt->active = false;
- interrupt->asleep = false;
- OS_EXIT_CRITICAL(interrupt->lock);
+ OS_ENTER_CRITICAL(interrupt->lock);
+ interrupt->active = false;
+ interrupt->asleep = false;
+ OS_EXIT_CRITICAL(interrupt->lock);
}
-static void interrupt_wait(struct bma253_int * interrupt)
+static void
+interrupt_wait(struct bma253_int * interrupt)
{
- bool wait;
+ bool wait;
- OS_ENTER_CRITICAL(interrupt->lock);
- if (interrupt->active) {
- interrupt->active = false;
- wait = false;
- } else {
- interrupt->asleep = true;
- wait = true;
- }
- OS_EXIT_CRITICAL(interrupt->lock);
+ OS_ENTER_CRITICAL(interrupt->lock);
- if (wait) {
- os_error_t error;
+ /* Check if we did not missed interrupt */
+ if (hal_gpio_read(interrupt->pin) == interrupt->pin_active) {
+ OS_EXIT_CRITICAL(interrupt->lock);
+ return;
+ }
- error = os_sem_pend(&interrupt->wait, -1);
- assert(error == OS_OK);
- }
+ if (interrupt->active) {
+ interrupt->active = false;
+ wait = false;
+ } else {
+ interrupt->asleep = true;
+ wait = true;
+ }
+ OS_EXIT_CRITICAL(interrupt->lock);
+
+ if (wait) {
+ os_error_t error;
+
+ error = os_sem_pend(&interrupt->wait, -1);
+ assert(error == OS_OK);
+ }
}
-static void interrupt_wake(struct bma253_int * interrupt)
+static void
+interrupt_wake(struct bma253_int * interrupt)
{
- bool wake;
+ bool wake;
- OS_ENTER_CRITICAL(interrupt->lock);
- if (interrupt->asleep) {
- interrupt->asleep = false;
- wake = true;
- } else {
- interrupt->active = true;
- wake = false;
- }
- OS_EXIT_CRITICAL(interrupt->lock);
+ OS_ENTER_CRITICAL(interrupt->lock);
+ if (interrupt->asleep) {
+ interrupt->asleep = false;
+ wake = true;
+ } else {
+ interrupt->active = true;
+ wake = false;
+ }
+ OS_EXIT_CRITICAL(interrupt->lock);
- if (wake) {
- os_error_t error;
+ if (wake) {
+ os_error_t error;
- error = os_sem_release(&interrupt->wait);
- assert(error == OS_OK);
- }
+ error = os_sem_release(&interrupt->wait);
+ assert(error == OS_OK);
+ }
}
-static void interrupt_handler(void * arg)
+static void
+interrupt_handler(void * arg)
{
- struct bma253_int * interrupt;
+ struct bma253_int * interrupt;
- interrupt = (struct bma253_int *)arg;
+ interrupt = (struct bma253_int *) arg;
- interrupt_wake(interrupt);
+ interrupt_wake(interrupt);
}
-static int get_register(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t * data)
+static int
+get_register(const struct sensor_itf * itf, uint8_t addr, uint8_t * data)
{
- struct hal_i2c_master_data oper;
- int rc;
+ struct hal_i2c_master_data oper;
+ int rc;
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = &addr;
+ oper.address = itf->si_addr;
+ oper.len = 1;
+ oper.buffer = &addr;
- rc = hal_i2c_master_write(itf->si_num, &oper,
- OS_TICKS_PER_SEC / 10, 1);
- if (rc != 0) {
- BMA253_ERROR("I2C access failed at address 0x%02X\n",
- addr);
- return rc;
- }
+ rc = hal_i2c_master_write(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10,
+ 1);
+ if (rc != 0) {
+ BMA253_ERROR("I2C access failed at address 0x%02X\n", addr);
+ return rc;
+ }
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = data;
+ oper.address = itf->si_addr;
+ oper.len = 1;
+ oper.buffer = data;
- rc = hal_i2c_master_read(itf->si_num, &oper,
- OS_TICKS_PER_SEC / 10, 1);
- if (rc != 0) {
- BMA253_ERROR("I2C read failed at address 0x%02X single byte\n",
- addr);
- return rc;
- }
+ rc = hal_i2c_master_read(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10,
+ 1);
+ if (rc != 0) {
+ BMA253_ERROR("I2C read failed at address 0x%02X single byte\n", addr);
+ return rc;
+ }
- return 0;
+ return 0;
}
-static int get_registers(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t * data,
- uint8_t size)
+static int
+get_registers(const struct sensor_itf * itf, uint8_t addr, uint8_t * data,
+ uint8_t size)
{
- struct hal_i2c_master_data oper;
- int rc;
+ struct hal_i2c_master_data oper;
+ int rc;
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = &addr;
+ oper.address = itf->si_addr;
+ oper.len = 1;
+ oper.buffer = &addr;
- rc = hal_i2c_master_write(itf->si_num, &oper,
- OS_TICKS_PER_SEC / 10, 1);
- if (rc != 0) {
- BMA253_ERROR("I2C access failed at address 0x%02X\n",
- addr);
- return rc;
- }
+ rc = hal_i2c_master_write(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10,
+ 1);
+ if (rc != 0) {
+ BMA253_ERROR("I2C access failed at address 0x%02X\n", addr);
+ return rc;
+ }
- oper.address = itf->si_addr;
- oper.len = size;
- oper.buffer = data;
+ oper.address = itf->si_addr;
+ oper.len = size;
+ oper.buffer = data;
- rc = hal_i2c_master_read(itf->si_num, &oper,
- OS_TICKS_PER_SEC / 10, 1);
- if (rc != 0) {
- BMA253_ERROR("I2C read failed at address 0x%02X length %u\n",
- addr, size);
- return rc;
- }
+ rc = hal_i2c_master_read(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10,
+ 1);
+ if (rc != 0) {
+ BMA253_ERROR("I2C read failed at address 0x%02X length %u\n", addr,
+ size);
+ return rc;
+ }
- return 0;
+ return 0;
}
-static int set_register(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t data)
+static int
+set_register(const struct sensor_itf * itf, uint8_t addr, uint8_t data)
{
- uint8_t tuple[2];
- struct hal_i2c_master_data oper;
- int rc;
+ uint8_t tuple[2];
+ struct hal_i2c_master_data oper;
+ int rc;
- tuple[0] = addr;
- tuple[1] = data;
+ tuple[0] = addr;
+ tuple[1] = data;
- oper.address = itf->si_addr;
- oper.len = 2;
- oper.buffer = tuple;
+ oper.address = itf->si_addr;
+ oper.len = 2;
+ oper.buffer = tuple;
- rc = hal_i2c_master_write(itf->si_num, &oper,
- OS_TICKS_PER_SEC / 10, 1);
- if (rc != 0) {
- BMA253_ERROR("I2C write failed at address 0x%02X single byte\n",
- addr);
- return rc;
- }
+ rc = hal_i2c_master_write(itf->si_num, &oper,
+ OS_TICKS_PER_SEC / 10,
+ 1);
+ if (rc != 0) {
+ BMA253_ERROR("I2C write failed at address 0x%02X single byte\n", addr);
+ return rc;
+ }
- return 0;
+ return 0;
}
-int bma253_get_chip_id(const struct sensor_itf * itf,
- uint8_t * chip_id)
+int
+bma253_get_chip_id(const struct sensor_itf * itf, uint8_t * chip_id)
{
- return get_register(itf, REG_ADDR_BGW_CHIPID, chip_id);
+ return get_register(itf, REG_ADDR_BGW_CHIPID, chip_id);
}
-enum axis {
- AXIS_X = 0,
- AXIS_Y = 1,
- AXIS_Z = 2,
- AXIS_ALL = 3,
+enum axis
+{
+ AXIS_X = 0, AXIS_Y = 1, AXIS_Z = 2, AXIS_ALL = 3,
};
-struct accel_data {
- float accel_g;
- bool new_data;
+struct accel_data
+{
+ float accel_g;
+ bool new_data;
};
-static void compute_accel_data(struct accel_data * accel_data,
- const uint8_t * raw_data,
- float accel_scale)
-{
- int16_t raw_accel;
-
- raw_accel = (raw_data[0] >> 4) | (raw_data[1] << 4);
- raw_accel <<= 4;
- raw_accel >>= 4;
-
- accel_data->accel_g = (float)raw_accel * accel_scale;
- accel_data->new_data = raw_data[0] & 0x01;
-}
-
-int bma253_get_accel(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- enum axis axis,
- struct accel_data * accel_data)
-{
- float accel_scale;
- uint8_t base_addr;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- accel_scale = 0.00098;
- break;
- case BMA253_G_RANGE_4:
- accel_scale = 0.00195;
- break;
- case BMA253_G_RANGE_8:
- accel_scale = 0.00391;
- break;
- case BMA253_G_RANGE_16:
- accel_scale = 0.00781;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (axis) {
- case AXIS_X:
- base_addr = REG_ADDR_ACCD_X_LSB;
- break;
- case AXIS_Y:
- base_addr = REG_ADDR_ACCD_Y_LSB;
- break;
- case AXIS_Z:
- base_addr = REG_ADDR_ACCD_Z_LSB;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_registers(itf, base_addr,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- compute_accel_data(accel_data, data, accel_scale);
-
- return 0;
-}
-
-int bma253_get_temp(const struct sensor_itf * itf,
- float * temp_c)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_ACCD_TEMP, &data);
- if (rc != 0)
- return rc;
-
- *temp_c = (float)(int8_t)data * 0.5 + 23.0;
-
- return 0;
-}
-
-enum axis_trigger_sign {
- AXIS_TRIGGER_SIGN_POS = 0,
- AXIS_TRIGGER_SIGN_NEG = 1,
+static void
+compute_accel_data(struct accel_data * accel_data, const uint8_t * raw_data,
+ float accel_scale)
+{
+ int16_t raw_accel;
+
+ raw_accel = (raw_data[0] >> 4) | (raw_data[1] << 4);
+ raw_accel <<= 4;
+ raw_accel >>= 4;
+
+ accel_data->accel_g = (float) raw_accel * accel_scale;
+ accel_data->new_data = raw_data[0] & 0x01;
+}
+
+int
+bma253_get_accel(const struct sensor_itf * itf, enum bma253_g_range g_range,
+ enum axis axis, struct accel_data * accel_data)
+{
+ float accel_scale;
+ uint8_t base_addr;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ accel_scale = 0.00098;
+ break;
+ case BMA253_G_RANGE_4:
+ accel_scale = 0.00195;
+ break;
+ case BMA253_G_RANGE_8:
+ accel_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_16:
+ accel_scale = 0.00781;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (axis) {
+ case AXIS_X:
+ base_addr = REG_ADDR_ACCD_X_LSB;
+ break;
+ case AXIS_Y:
+ base_addr = REG_ADDR_ACCD_Y_LSB;
+ break;
+ case AXIS_Z:
+ base_addr = REG_ADDR_ACCD_Z_LSB;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = get_registers(itf, base_addr, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ compute_accel_data(accel_data, data, accel_scale);
+
+ return 0;
+}
+
+int
+bma253_get_temp(const struct sensor_itf * itf, float * temp_c)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_ACCD_TEMP, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *temp_c = (float) (int8_t) data * 0.5 + 23.0;
+
+ return 0;
+}
+
+enum axis_trigger_sign
+{
+ AXIS_TRIGGER_SIGN_POS = 0, AXIS_TRIGGER_SIGN_NEG = 1,
};
-struct axis_trigger {
- enum axis_trigger_sign sign;
- enum axis axis;
- bool axis_known;
+struct axis_trigger
+{
+ enum axis_trigger_sign sign;
+ enum axis axis;
+ bool axis_known;
};
-enum dev_orientation {
- DEV_ORIENTATION_PORTRAIT_UPRIGHT = 0,
- DEV_ORIENTATION_PORTRAIT_UPSIDE_DOWN = 1,
- DEV_ORIENTATION_LANDSCAPE_LEFT = 2,
- DEV_ORIENTATION_LANDSCAPE_RIGHT = 3,
+enum dev_orientation
+{
+ DEV_ORIENTATION_PORTRAIT_UPRIGHT = 0,
+ DEV_ORIENTATION_PORTRAIT_UPSIDE_DOWN = 1,
+ DEV_ORIENTATION_LANDSCAPE_LEFT = 2,
+ DEV_ORIENTATION_LANDSCAPE_RIGHT = 3,
};
-struct int_status {
- bool flat_int_active;
- bool orient_int_active;
- bool s_tap_int_active;
- bool d_tap_int_active;
- bool slow_no_mot_int_active;
- bool slope_int_active;
- bool high_g_int_active;
- bool low_g_int_active;
- bool data_int_active;
- bool fifo_wmark_int_active;
- bool fifo_full_int_active;
- struct axis_trigger tap_trigger;
- struct axis_trigger slope_trigger;
- bool device_is_flat;
- bool device_is_up;
- enum dev_orientation device_orientation;
- struct axis_trigger high_g_trigger;
+struct int_status
+{
+ bool flat_int_active;
+ bool orient_int_active;
+ bool s_tap_int_active;
+ bool d_tap_int_active;
+ bool slow_no_mot_int_active;
+ bool slope_int_active;
+ bool high_g_int_active;
+ bool low_g_int_active;
+ bool data_int_active;
+ bool fifo_wmark_int_active;
+ bool fifo_full_int_active;
+ struct axis_trigger tap_trigger;
+ struct axis_trigger slope_trigger;
+ bool device_is_flat;
+ bool device_is_up;
+ enum dev_orientation device_orientation;
+ struct axis_trigger high_g_trigger;
};
-static void quad_to_axis_trigger(struct axis_trigger * axis_trigger,
- uint8_t quad_bits,
- const char * name_bits)
-{
- axis_trigger->sign = (quad_bits >> 3) & 0x01;
- switch (quad_bits & 0x07) {
- default:
- BMA253_ERROR("unknown %s quad bits 0x%02X\n",
- name_bits, quad_bits);
- case 0x00:
- axis_trigger->axis = -1;
- axis_trigger->axis_known = false;
- break;
- case 0x01:
- axis_trigger->axis = AXIS_X;
- axis_trigger->axis_known = true;
- break;
- case 0x02:
- axis_trigger->axis = AXIS_Y;
- axis_trigger->axis_known = true;
- break;
- case 0x03:
- axis_trigger->axis = AXIS_Z;
- axis_trigger->axis_known = true;
- break;
- }
-}
-
-int bma253_get_int_status(const struct sensor_itf * itf,
- struct int_status * int_status)
-{
- uint8_t data[4];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_INT_STATUS_0,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- int_status->flat_int_active = data[0] & 0x80;
- int_status->orient_int_active = data[0] & 0x40;
- int_status->s_tap_int_active = data[0] & 0x20;
- int_status->d_tap_int_active = data[0] & 0x10;
- int_status->slow_no_mot_int_active = data[0] & 0x08;
- int_status->slope_int_active = data[0] & 0x04;
- int_status->high_g_int_active = data[0] & 0x02;
- int_status->low_g_int_active = data[0] & 0x01;
- int_status->data_int_active = data[1] & 0x80;
- int_status->fifo_wmark_int_active = data[1] & 0x40;
- int_status->fifo_full_int_active = data[1] & 0x20;
- quad_to_axis_trigger(&int_status->tap_trigger,
- (data[2] >> 4) & 0x0F, "tap");
- quad_to_axis_trigger(&int_status->slope_trigger,
- (data[2] >> 0) & 0x0F, "slope");
- int_status->device_is_flat = data[3] & 0x80;
- int_status->device_is_up = data[3] & 0x40;
- int_status->device_orientation = (data[3] >> 4) & 0x03;
- quad_to_axis_trigger(&int_status->high_g_trigger,
- (data[3] >> 0) & 0x0F, "high_g");
-
- return 0;
-}
-
-int bma253_get_fifo_status(const struct sensor_itf * itf,
- bool * overrun,
- uint8_t * frame_counter)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_FIFO_STATUS, &data);
- if (rc != 0)
- return rc;
-
- *overrun = data & 0x80;
- *frame_counter = data & 0x7F;
-
- return 0;
-}
-
-int bma253_get_g_range(const struct sensor_itf * itf,
- enum bma253_g_range * g_range)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_PMU_RANGE, &data);
- if (rc != 0)
- return rc;
-
- switch (data & 0x0F) {
- default:
- BMA253_ERROR("unknown PMU_RANGE reg value 0x%02X\n", data);
- *g_range = BMA253_G_RANGE_16;
- break;
- case 0x03:
- *g_range = BMA253_G_RANGE_2;
- break;
- case 0x05:
- *g_range = BMA253_G_RANGE_4;
- break;
- case 0x08:
- *g_range = BMA253_G_RANGE_8;
- break;
- case 0x0C:
- *g_range = BMA253_G_RANGE_16;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_g_range(const struct sensor_itf * itf,
- enum bma253_g_range g_range)
-{
- uint8_t data;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- data = 0x03;
- break;
- case BMA253_G_RANGE_4:
- data = 0x05;
- break;
- case BMA253_G_RANGE_8:
- data = 0x08;
- break;
- case BMA253_G_RANGE_16:
- data = 0x0C;
- break;
- default:
- return SYS_EINVAL;
- }
-
- return set_register(itf, REG_ADDR_PMU_RANGE, data);
-}
-
-int bma253_get_filter_bandwidth(const struct sensor_itf * itf,
- enum bma253_filter_bandwidth * filter_bandwidth)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_PMU_BW, &data);
- if (rc != 0)
- return rc;
-
- switch (data & 0x1F) {
- case 0x00 ... 0x08:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_7_81_HZ;
- break;
- case 0x09:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_15_63_HZ;
- break;
- case 0x0A:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_31_25_HZ;
- break;
- case 0x0B:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_62_5_HZ;
- break;
- case 0x0C:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_125_HZ;
- break;
- case 0x0D:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_250_HZ;
- break;
- case 0x0E:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_500_HZ;
- break;
- case 0x0F ... 0x1F:
- *filter_bandwidth = BMA253_FILTER_BANDWIDTH_1000_HZ;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_filter_bandwidth(const struct sensor_itf * itf,
- enum bma253_filter_bandwidth filter_bandwidth)
-{
- uint8_t data;
-
- switch (filter_bandwidth) {
- case BMA253_FILTER_BANDWIDTH_7_81_HZ:
- data = 0x08;
- break;
- case BMA253_FILTER_BANDWIDTH_15_63_HZ:
- data = 0x09;
- break;
- case BMA253_FILTER_BANDWIDTH_31_25_HZ:
- data = 0x0A;
- break;
- case BMA253_FILTER_BANDWIDTH_62_5_HZ:
- data = 0x0B;
- break;
- case BMA253_FILTER_BANDWIDTH_125_HZ:
- data = 0x0C;
- break;
- case BMA253_FILTER_BANDWIDTH_250_HZ:
- data = 0x0D;
- break;
- case BMA253_FILTER_BANDWIDTH_500_HZ:
- data = 0x0E;
- break;
- case BMA253_FILTER_BANDWIDTH_1000_HZ:
- data = 0x0F;
- break;
- default:
- return SYS_EINVAL;
- }
-
- return set_register(itf, REG_ADDR_PMU_BW, data);
-}
-
-enum sleep_timer {
- SLEEP_TIMER_EVENT_DRIVEN = 0,
- SLEEP_TIMER_EQUIDISTANT_SAMPLING = 1,
+static void
+quad_to_axis_trigger(struct axis_trigger * axis_trigger, uint8_t quad_bits,
+ const char * name_bits)
+{
+ axis_trigger->sign = (quad_bits >> 3) & 0x01;
+ switch (quad_bits & 0x07) {
+ default:
+ BMA253_ERROR("unknown %s quad bits 0x%02X\n", name_bits, quad_bits);
+ case 0x00:
+ axis_trigger->axis = -1;
+ axis_trigger->axis_known = false;
+ break;
+ case 0x01:
+ axis_trigger->axis = AXIS_X;
+ axis_trigger->axis_known = true;
+ break;
+ case 0x02:
+ axis_trigger->axis = AXIS_Y;
+ axis_trigger->axis_known = true;
+ break;
+ case 0x03:
+ axis_trigger->axis = AXIS_Z;
+ axis_trigger->axis_known = true;
+ break;
+ }
+}
+
+int
+bma253_get_int_status(const struct sensor_itf * itf,
+ struct int_status * int_status)
+{
+ uint8_t data[4];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_INT_STATUS_0, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_status->flat_int_active = data[0] & 0x80;
+ int_status->orient_int_active = data[0] & 0x40;
+ int_status->s_tap_int_active = data[0] & 0x20;
+ int_status->d_tap_int_active = data[0] & 0x10;
+ int_status->slow_no_mot_int_active = data[0] & 0x08;
+ int_status->slope_int_active = data[0] & 0x04;
+ int_status->high_g_int_active = data[0] & 0x02;
+ int_status->low_g_int_active = data[0] & 0x01;
+ int_status->data_int_active = data[1] & 0x80;
+ int_status->fifo_wmark_int_active = data[1] & 0x40;
+ int_status->fifo_full_int_active = data[1] & 0x20;
+ quad_to_axis_trigger(&int_status->tap_trigger, (data[2] >> 4) & 0x0F,
+ "tap");
+ quad_to_axis_trigger(&int_status->slope_trigger, (data[2] >> 0) & 0x0F,
+ "slope");
+ int_status->device_is_flat = data[3] & 0x80;
+ int_status->device_is_up = data[3] & 0x40;
+ int_status->device_orientation = (data[3] >> 4) & 0x03;
+ quad_to_axis_trigger(&int_status->high_g_trigger, (data[3] >> 0) & 0x0F,
+ "high_g");
+
+ return 0;
+}
+
+int
+bma253_get_fifo_status(const struct sensor_itf * itf,
+bool * overrun,
+ uint8_t * frame_counter)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_FIFO_STATUS, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *overrun = data & 0x80;
+ *frame_counter = data & 0x7F;
+
+ return 0;
+}
+
+int
+bma253_get_g_range(const struct sensor_itf * itf, enum bma253_g_range * g_range)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_PMU_RANGE, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ switch (data & 0x0F) {
+ default:
+ BMA253_ERROR("unknown PMU_RANGE reg value 0x%02X\n", data);
+ *g_range = BMA253_G_RANGE_16;
+ break;
+ case 0x03:
+ *g_range = BMA253_G_RANGE_2;
+ break;
+ case 0x05:
+ *g_range = BMA253_G_RANGE_4;
+ break;
+ case 0x08:
+ *g_range = BMA253_G_RANGE_8;
+ break;
+ case 0x0C:
+ *g_range = BMA253_G_RANGE_16;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_g_range(const struct sensor_itf * itf, enum bma253_g_range g_range)
+{
+ uint8_t data;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ data = 0x03;
+ break;
+ case BMA253_G_RANGE_4:
+ data = 0x05;
+ break;
+ case BMA253_G_RANGE_8:
+ data = 0x08;
+ break;
+ case BMA253_G_RANGE_16:
+ data = 0x0C;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(itf, REG_ADDR_PMU_RANGE, data);
+}
+
+int
+bma253_get_filter_bandwidth(const struct sensor_itf * itf,
+ enum bma253_filter_bandwidth * filter_bandwidth)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_PMU_BW, &data);
+ if (rc != 0)
+ return rc;
+
+ switch (data & 0x1F) {
+ case 0x00 ... 0x08:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_7_81_HZ;
+ break;
+ case 0x09:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_15_63_HZ;
+ break;
+ case 0x0A:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_31_25_HZ;
+ break;
+ case 0x0B:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_62_5_HZ;
+ break;
+ case 0x0C:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_125_HZ;
+ break;
+ case 0x0D:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_250_HZ;
+ break;
+ case 0x0E:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_500_HZ;
+ break;
+ case 0x0F ... 0x1F:
+ *filter_bandwidth = BMA253_FILTER_BANDWIDTH_1000_HZ;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_filter_bandwidth(const struct sensor_itf * itf,
+ enum bma253_filter_bandwidth filter_bandwidth)
+{
+ uint8_t data;
+
+ switch (filter_bandwidth) {
+ case BMA253_FILTER_BANDWIDTH_7_81_HZ:
+ data = 0x08;
+ break;
+ case BMA253_FILTER_BANDWIDTH_15_63_HZ:
+ data = 0x09;
+ break;
+ case BMA253_FILTER_BANDWIDTH_31_25_HZ:
+ data = 0x0A;
+ break;
+ case BMA253_FILTER_BANDWIDTH_62_5_HZ:
+ data = 0x0B;
+ break;
+ case BMA253_FILTER_BANDWIDTH_125_HZ:
+ data = 0x0C;
+ break;
+ case BMA253_FILTER_BANDWIDTH_250_HZ:
+ data = 0x0D;
+ break;
+ case BMA253_FILTER_BANDWIDTH_500_HZ:
+ data = 0x0E;
+ break;
+ case BMA253_FILTER_BANDWIDTH_1000_HZ:
+ data = 0x0F;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(itf, REG_ADDR_PMU_BW, data);
+}
+
+enum sleep_timer
+{
+ SLEEP_TIMER_EVENT_DRIVEN = 0, SLEEP_TIMER_EQUIDISTANT_SAMPLING = 1,
};
-struct power_settings {
- enum bma253_power_mode power_mode;
- enum bma253_sleep_duration sleep_duration;
- enum sleep_timer sleep_timer;
+struct power_settings
+{
+ enum bma253_power_mode power_mode;
+ enum bma253_sleep_duration sleep_duration;
+ enum sleep_timer sleep_timer;
};
-int bma253_get_power_settings(const struct sensor_itf * itf,
- struct power_settings * power_settings)
-{
- uint8_t data[2];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_PMU_LPW,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- switch ((data[0] >> 5) & 0x07) {
- default:
- BMA253_ERROR("unknown PMU_LPW reg value 0x%02X\n", data[0]);
- power_settings->power_mode = BMA253_POWER_MODE_NORMAL;
- break;
- case 0x00:
- power_settings->power_mode = BMA253_POWER_MODE_NORMAL;
- break;
- case 0x01:
- power_settings->power_mode = BMA253_POWER_MODE_DEEP_SUSPEND;
- break;
- case 0x02:
- if ((data[1] & 0x40) == 0)
- power_settings->power_mode = BMA253_POWER_MODE_LPM_1;
- else
- power_settings->power_mode = BMA253_POWER_MODE_LPM_2;
- break;
- case 0x04:
- if ((data[1] & 0x40) == 0)
- power_settings->power_mode = BMA253_POWER_MODE_SUSPEND;
- else
- power_settings->power_mode = BMA253_POWER_MODE_STANDBY;
- break;
- }
-
- switch ((data[0] >> 1) & 0x0F) {
- case 0x00 ... 0x05:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_0_5_MS;
- break;
- case 0x06:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_1_MS;
- break;
- case 0x07:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_2_MS;
- break;
- case 0x08:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_4_MS;
- break;
- case 0x09:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_6_MS;
- break;
- case 0x0A:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_10_MS;
- break;
- case 0x0B:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_25_MS;
- break;
- case 0x0C:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_50_MS;
- break;
- case 0x0D:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_100_MS;
- break;
- case 0x0E:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_500_MS;
- break;
- case 0x0F:
- power_settings->sleep_duration = BMA253_SLEEP_DURATION_1_S;
- break;
- }
-
- if ((data[1] & 0x20) != 0)
- power_settings->sleep_timer = SLEEP_TIMER_EQUIDISTANT_SAMPLING;
- else
- power_settings->sleep_timer = SLEEP_TIMER_EVENT_DRIVEN;
-
- return 0;
-}
-
-int bma253_set_power_settings(const struct sensor_itf * itf,
- const struct power_settings * power_settings)
-{
- uint8_t data[2];
- int rc;
-
- data[0] = 0;
- data[1] = 0;
-
- switch (power_settings->power_mode) {
- case BMA253_POWER_MODE_NORMAL:
- data[0] |= 0x00 << 5;
- break;
- case BMA253_POWER_MODE_DEEP_SUSPEND:
- data[0] |= 0x01 << 5;
- break;
- case BMA253_POWER_MODE_SUSPEND:
- data[0] |= 0x04 << 5;
- data[1] |= 0x00 << 6;
- break;
- case BMA253_POWER_MODE_STANDBY:
- data[0] |= 0x04 << 5;
- data[1] |= 0x01 << 6;
- break;
- case BMA253_POWER_MODE_LPM_1:
- data[0] |= 0x02 << 5;
- data[1] |= 0x00 << 6;
- break;
- case BMA253_POWER_MODE_LPM_2:
- data[0] |= 0x02 << 5;
- data[1] |= 0x01 << 6;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (power_settings->sleep_duration) {
- case BMA253_SLEEP_DURATION_0_5_MS:
- data[0] |= 0x05 << 1;
- break;
- case BMA253_SLEEP_DURATION_1_MS:
- data[0] |= 0x06 << 1;
- break;
- case BMA253_SLEEP_DURATION_2_MS:
- data[0] |= 0x07 << 1;
- break;
- case BMA253_SLEEP_DURATION_4_MS:
- data[0] |= 0x08 << 1;
- break;
- case BMA253_SLEEP_DURATION_6_MS:
- data[0] |= 0x09 << 1;
- break;
- case BMA253_SLEEP_DURATION_10_MS:
- data[0] |= 0x0A << 1;
- break;
- case BMA253_SLEEP_DURATION_25_MS:
- data[0] |= 0x0B << 1;
- break;
- case BMA253_SLEEP_DURATION_50_MS:
- data[0] |= 0x0C << 1;
- break;
- case BMA253_SLEEP_DURATION_100_MS:
- data[0] |= 0x0D << 1;
- break;
- case BMA253_SLEEP_DURATION_500_MS:
- data[0] |= 0x0E << 1;
- break;
- case BMA253_SLEEP_DURATION_1_S:
- data[0] |= 0x0F << 1;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (power_settings->sleep_timer) {
- case SLEEP_TIMER_EVENT_DRIVEN:
- data[1] |= 0x00 << 5;
- break;
- case SLEEP_TIMER_EQUIDISTANT_SAMPLING:
- data[1] |= 0x01 << 5;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = set_register(itf, REG_ADDR_PMU_LOW_POWER, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_PMU_LPW, data[0]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-int bma253_get_data_acquisition(const struct sensor_itf * itf,
- bool * unfiltered_reg_data,
- bool * disable_reg_shadow)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_ACCD_HBW, &data);
- if (rc != 0)
- return rc;
-
- *unfiltered_reg_data = data & 0x80;
- *disable_reg_shadow = data & 0x40;
-
- return 0;
-}
-
-int bma253_set_data_acquisition(const struct sensor_itf * itf,
- bool unfiltered_reg_data,
- bool disable_reg_shadow)
-{
- uint8_t data;
-
- data = (unfiltered_reg_data << 7) |
- (disable_reg_shadow << 6);
-
- return set_register(itf, REG_ADDR_ACCD_HBW, data);
-}
-
-int bma253_set_softreset(const struct sensor_itf * itf)
-{
- return set_register(itf, REG_ADDR_BGW_SOFTRESET, REG_VALUE_SOFT_RESET);
-}
-
-struct int_enable {
- bool flat_int_enable;
- bool orient_int_enable;
- bool s_tap_int_enable;
- bool d_tap_int_enable;
- bool slope_z_int_enable;
- bool slope_y_int_enable;
- bool slope_x_int_enable;
- bool fifo_wmark_int_enable;
- bool fifo_full_int_enable;
- bool data_int_enable;
- bool low_g_int_enable;
- bool high_g_z_int_enable;
- bool high_g_y_int_enable;
- bool high_g_x_int_enable;
- bool no_motion_select;
- bool slow_no_mot_z_int_enable;
- bool slow_no_mot_y_int_enable;
- bool slow_no_mot_x_int_enable;
+int
+bma253_get_power_settings(const struct sensor_itf * itf,
+ struct power_settings * power_settings)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_PMU_LPW, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ switch ((data[0] >> 5) & 0x07) {
+ default:
+ BMA253_ERROR("unknown PMU_LPW reg value 0x%02X\n", data[0]);
+ power_settings->power_mode = BMA253_POWER_MODE_NORMAL;
+ break;
+ case 0x00:
+ power_settings->power_mode = BMA253_POWER_MODE_NORMAL;
+ break;
+ case 0x01:
+ power_settings->power_mode = BMA253_POWER_MODE_DEEP_SUSPEND;
+ break;
+ case 0x02:
+ if ((data[1] & 0x40) == 0) {
+ power_settings->power_mode = BMA253_POWER_MODE_LPM_1;
+ } else {
+ power_settings->power_mode = BMA253_POWER_MODE_LPM_2;
+ }
+ break;
+ case 0x04:
+ if ((data[1] & 0x40) == 0) {
+ power_settings->power_mode = BMA253_POWER_MODE_SUSPEND;
+ } else {
+ power_settings->power_mode = BMA253_POWER_MODE_STANDBY;
+ }
+ break;
+ }
+
+ switch ((data[0] >> 1) & 0x0F) {
+ case 0x00 ... 0x05:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_0_5_MS;
+ break;
+ case 0x06:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_1_MS;
+ break;
+ case 0x07:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_2_MS;
+ break;
+ case 0x08:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_4_MS;
+ break;
+ case 0x09:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_6_MS;
+ break;
+ case 0x0A:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_10_MS;
+ break;
+ case 0x0B:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_25_MS;
+ break;
+ case 0x0C:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_50_MS;
+ break;
+ case 0x0D:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_100_MS;
+ break;
+ case 0x0E:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_500_MS;
+ break;
+ case 0x0F:
+ power_settings->sleep_duration = BMA253_SLEEP_DURATION_1_S;
+ break;
+ }
+
+ if ((data[1] & 0x20) != 0) {
+ power_settings->sleep_timer = SLEEP_TIMER_EQUIDISTANT_SAMPLING;
+ } else {
+ power_settings->sleep_timer = SLEEP_TIMER_EVENT_DRIVEN;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_power_settings(const struct sensor_itf * itf,
+ const struct power_settings * power_settings)
+{
+ uint8_t data[2];
+ int rc;
+
+ data[0] = 0;
+ data[1] = 0;
+
+ switch (power_settings->power_mode) {
+ case BMA253_POWER_MODE_NORMAL:
+ data[0] |= 0x00 << 5;
+ break;
+ case BMA253_POWER_MODE_DEEP_SUSPEND:
+ data[0] |= 0x01 << 5;
+ break;
+ case BMA253_POWER_MODE_SUSPEND:
+ data[0] |= 0x04 << 5;
+ data[1] |= 0x00 << 6;
+ break;
+ case BMA253_POWER_MODE_STANDBY:
+ data[0] |= 0x04 << 5;
+ data[1] |= 0x01 << 6;
+ break;
+ case BMA253_POWER_MODE_LPM_1:
+ data[0] |= 0x02 << 5;
+ data[1] |= 0x00 << 6;
+ break;
+ case BMA253_POWER_MODE_LPM_2:
+ data[0] |= 0x02 << 5;
+ data[1] |= 0x01 << 6;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (power_settings->sleep_duration) {
+ case BMA253_SLEEP_DURATION_0_5_MS:
+ data[0] |= 0x05 << 1;
+ break;
+ case BMA253_SLEEP_DURATION_1_MS:
+ data[0] |= 0x06 << 1;
+ break;
+ case BMA253_SLEEP_DURATION_2_MS:
+ data[0] |= 0x07 << 1;
+ break;
+ case BMA253_SLEEP_DURATION_4_MS:
+ data[0] |= 0x08 << 1;
+ break;
+ case BMA253_SLEEP_DURATION_6_MS:
+ data[0] |= 0x09 << 1;
+ break;
+ case BMA253_SLEEP_DURATION_10_MS:
+ data[0] |= 0x0A << 1;
+ break;
+ case BMA253_SLEEP_DURATION_25_MS:
+ data[0] |= 0x0B << 1;
+ break;
+ case BMA253_SLEEP_DURATION_50_MS:
+ data[0] |= 0x0C << 1;
+ break;
+ case BMA253_SLEEP_DURATION_100_MS:
+ data[0] |= 0x0D << 1;
+ break;
+ case BMA253_SLEEP_DURATION_500_MS:
+ data[0] |= 0x0E << 1;
+ break;
+ case BMA253_SLEEP_DURATION_1_S:
+ data[0] |= 0x0F << 1;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (power_settings->sleep_timer) {
+ case SLEEP_TIMER_EVENT_DRIVEN:
+ data[1] |= 0x00 << 5;
+ break;
+ case SLEEP_TIMER_EQUIDISTANT_SAMPLING:
+ data[1] |= 0x01 << 5;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = set_register(itf, REG_ADDR_PMU_LOW_POWER, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_PMU_LPW, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_get_data_acquisition(const struct sensor_itf * itf,
+bool * unfiltered_reg_data,
+ bool * disable_reg_shadow)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_ACCD_HBW, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *unfiltered_reg_data = data & 0x80;
+ *disable_reg_shadow = data & 0x40;
+
+ return 0;
+}
+
+int
+bma253_set_data_acquisition(const struct sensor_itf * itf,
+bool unfiltered_reg_data,
+ bool disable_reg_shadow)
+{
+ uint8_t data;
+
+ data = (unfiltered_reg_data << 7) | (disable_reg_shadow << 6);
+
+ return set_register(itf, REG_ADDR_ACCD_HBW, data);
+}
+
+int
+bma253_set_softreset(const struct sensor_itf * itf)
+{
+ return set_register(itf, REG_ADDR_BGW_SOFTRESET, REG_VALUE_SOFT_RESET);
+}
+
+struct int_enable
+{
+ bool flat_int_enable;
+ bool orient_int_enable;
+ bool s_tap_int_enable;
+ bool d_tap_int_enable;
+ bool slope_z_int_enable;
+ bool slope_y_int_enable;
+ bool slope_x_int_enable;
+ bool fifo_wmark_int_enable;
+ bool fifo_full_int_enable;
+ bool data_int_enable;
+ bool low_g_int_enable;
+ bool high_g_z_int_enable;
+ bool high_g_y_int_enable;
+ bool high_g_x_int_enable;
+ bool no_motion_select;
+ bool slow_no_mot_z_int_enable;
+ bool slow_no_mot_y_int_enable;
+ bool slow_no_mot_x_int_enable;
};
-int bma253_get_int_enable(const struct sensor_itf * itf,
- struct int_enable * int_enable)
-{
- uint8_t data[3];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_INT_EN_0,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- int_enable->flat_int_enable = data[0] & 0x80;
- int_enable->orient_int_enable = data[0] & 0x40;
- int_enable->s_tap_int_enable = data[0] & 0x20;
- int_enable->d_tap_int_enable = data[0] & 0x10;
- int_enable->slope_z_int_enable = data[0] & 0x04;
- int_enable->slope_y_int_enable = data[0] & 0x02;
- int_enable->slope_x_int_enable = data[0] & 0x01;
- int_enable->fifo_wmark_int_enable = data[1] & 0x40;
- int_enable->fifo_full_int_enable = data[1] & 0x20;
- int_enable->data_int_enable = data[1] & 0x10;
- int_enable->low_g_int_enable = data[1] & 0x08;
- int_enable->high_g_z_int_enable = data[1] & 0x04;
- int_enable->high_g_y_int_enable = data[1] & 0x02;
- int_enable->high_g_x_int_enable = data[1] & 0x01;
- int_enable->no_motion_select = data[2] & 0x08;
- int_enable->slow_no_mot_z_int_enable = data[2] & 0x04;
- int_enable->slow_no_mot_y_int_enable = data[2] & 0x02;
- int_enable->slow_no_mot_x_int_enable = data[2] & 0x01;
-
- return 0;
-}
-
-int bma253_set_int_enable(const struct sensor_itf * itf,
- const struct int_enable * int_enable)
-{
- uint8_t data[3];
- int rc;
-
- data[0] = (int_enable->flat_int_enable << 7) |
- (int_enable->orient_int_enable << 6) |
- (int_enable->s_tap_int_enable << 5) |
- (int_enable->d_tap_int_enable << 4) |
- (int_enable->slope_z_int_enable << 2) |
- (int_enable->slope_y_int_enable << 1) |
- (int_enable->slope_x_int_enable << 0);
-
- data[1] = (int_enable->fifo_wmark_int_enable << 6) |
- (int_enable->fifo_full_int_enable << 5) |
- (int_enable->data_int_enable << 4) |
- (int_enable->low_g_int_enable << 3) |
- (int_enable->high_g_z_int_enable << 2) |
- (int_enable->high_g_y_int_enable << 1) |
- (int_enable->high_g_x_int_enable << 0);
-
- data[2] = (int_enable->no_motion_select << 3) |
- (int_enable->slow_no_mot_z_int_enable << 2) |
- (int_enable->slow_no_mot_y_int_enable << 1) |
- (int_enable->slow_no_mot_x_int_enable << 0);
-
- rc = set_register(itf, REG_ADDR_INT_EN_0, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_EN_1, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_EN_2, data[2]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-enum int_route {
- INT_ROUTE_NONE = 0,
- INT_ROUTE_PIN_1 = 1,
- INT_ROUTE_PIN_2 = 2,
- INT_ROUTE_BOTH = 3,
+int
+bma253_get_int_enable(const struct sensor_itf * itf,
+ struct int_enable * int_enable)
+{
+ uint8_t data[3];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_INT_EN_0, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0)
+ return rc;
+
+ int_enable->flat_int_enable = data[0] & 0x80;
+ int_enable->orient_int_enable = data[0] & 0x40;
+ int_enable->s_tap_int_enable = data[0] & 0x20;
+ int_enable->d_tap_int_enable = data[0] & 0x10;
+ int_enable->slope_z_int_enable = data[0] & 0x04;
+ int_enable->slope_y_int_enable = data[0] & 0x02;
+ int_enable->slope_x_int_enable = data[0] & 0x01;
+ int_enable->fifo_wmark_int_enable = data[1] & 0x40;
+ int_enable->fifo_full_int_enable = data[1] & 0x20;
+ int_enable->data_int_enable = data[1] & 0x10;
+ int_enable->low_g_int_enable = data[1] & 0x08;
+ int_enable->high_g_z_int_enable = data[1] & 0x04;
+ int_enable->high_g_y_int_enable = data[1] & 0x02;
+ int_enable->high_g_x_int_enable = data[1] & 0x01;
+ int_enable->no_motion_select = data[2] & 0x08;
+ int_enable->slow_no_mot_z_int_enable = data[2] & 0x04;
+ int_enable->slow_no_mot_y_int_enable = data[2] & 0x02;
+ int_enable->slow_no_mot_x_int_enable = data[2] & 0x01;
+
+ return 0;
+}
+
+int
+bma253_set_int_enable(const struct sensor_itf * itf,
+ const struct int_enable * int_enable)
+{
+ uint8_t data[3];
+ int rc;
+
+ data[0] = (int_enable->flat_int_enable << 7)
+ | (int_enable->orient_int_enable << 6)
+ | (int_enable->s_tap_int_enable << 5)
+ | (int_enable->d_tap_int_enable << 4)
+ | (int_enable->slope_z_int_enable << 2)
+ | (int_enable->slope_y_int_enable << 1)
+ | (int_enable->slope_x_int_enable << 0);
+
+ data[1] = (int_enable->fifo_wmark_int_enable << 6)
+ | (int_enable->fifo_full_int_enable << 5)
+ | (int_enable->data_int_enable << 4)
+ | (int_enable->low_g_int_enable << 3)
+ | (int_enable->high_g_z_int_enable << 2)
+ | (int_enable->high_g_y_int_enable << 1)
+ | (int_enable->high_g_x_int_enable << 0);
+
+ data[2] = (int_enable->no_motion_select << 3)
+ | (int_enable->slow_no_mot_z_int_enable << 2)
+ | (int_enable->slow_no_mot_y_int_enable << 1)
+ | (int_enable->slow_no_mot_x_int_enable << 0);
+
+ rc = set_register(itf, REG_ADDR_INT_EN_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_EN_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_EN_2, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+enum int_route
+{
+ INT_ROUTE_NONE = 0,
+ INT_ROUTE_PIN_1 = 1,
+ INT_ROUTE_PIN_2 = 2,
+ INT_ROUTE_BOTH = 3,
};
-struct int_routes {
- enum int_route flat_int_route;
- enum int_route orient_int_route;
- enum int_route s_tap_int_route;
- enum int_route d_tap_int_route;
- enum int_route slow_no_mot_int_route;
- enum int_route slope_int_route;
- enum int_route high_g_int_route;
- enum int_route low_g_int_route;
- enum int_route fifo_wmark_int_route;
- enum int_route fifo_full_int_route;
- enum int_route data_int_route;
+struct int_routes
+{
+ enum int_route flat_int_route;
+ enum int_route orient_int_route;
+ enum int_route s_tap_int_route;
+ enum int_route d_tap_int_route;
+ enum int_route slow_no_mot_int_route;
+ enum int_route slope_int_route;
+ enum int_route high_g_int_route;
+ enum int_route low_g_int_route;
+ enum int_route fifo_wmark_int_route;
+ enum int_route fifo_full_int_route;
+ enum int_route data_int_route;
};
-int bma253_get_int_routes(const struct sensor_itf * itf,
- struct int_routes * int_routes)
-{
- uint8_t data[3];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_INT_MAP_0,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- int_routes->flat_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x80) != 0)
- int_routes->flat_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x80) != 0)
- int_routes->flat_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->orient_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x40) != 0)
- int_routes->orient_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x40) != 0)
- int_routes->orient_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->s_tap_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x20) != 0)
- int_routes->s_tap_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x20) != 0)
- int_routes->s_tap_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->d_tap_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x10) != 0)
- int_routes->d_tap_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x10) != 0)
- int_routes->d_tap_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->slow_no_mot_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x08) != 0)
- int_routes->slow_no_mot_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x08) != 0)
- int_routes->slow_no_mot_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->slope_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x04) != 0)
- int_routes->slope_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x04) != 0)
- int_routes->slope_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->high_g_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x02) != 0)
- int_routes->high_g_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x02) != 0)
- int_routes->high_g_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->low_g_int_route = INT_ROUTE_NONE;
- if ((data[0] & 0x01) != 0)
- int_routes->low_g_int_route |= INT_ROUTE_PIN_1;
- if ((data[2] & 0x01) != 0)
- int_routes->low_g_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->fifo_wmark_int_route = INT_ROUTE_NONE;
- if ((data[1] & 0x02) != 0)
- int_routes->fifo_wmark_int_route |= INT_ROUTE_PIN_1;
- if ((data[1] & 0x40) != 0)
- int_routes->fifo_wmark_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->fifo_full_int_route = INT_ROUTE_NONE;
- if ((data[1] & 0x04) != 0)
- int_routes->fifo_full_int_route |= INT_ROUTE_PIN_1;
- if ((data[1] & 0x20) != 0)
- int_routes->fifo_full_int_route |= INT_ROUTE_PIN_2;
-
- int_routes->data_int_route = INT_ROUTE_NONE;
- if ((data[1] & 0x01) != 0)
- int_routes->data_int_route |= INT_ROUTE_PIN_1;
- if ((data[1] & 0x80) != 0)
- int_routes->data_int_route |= INT_ROUTE_PIN_2;
-
- return 0;
-}
-
-int bma253_set_int_routes(const struct sensor_itf * itf,
- const struct int_routes * int_routes)
-{
- uint8_t data[3];
- int rc;
-
- data[0] = (((int_routes->flat_int_route & INT_ROUTE_PIN_1) != 0) << 7) |
- (((int_routes->orient_int_route & INT_ROUTE_PIN_1) != 0) << 6) |
- (((int_routes->s_tap_int_route & INT_ROUTE_PIN_1) != 0) << 5) |
- (((int_routes->d_tap_int_route & INT_ROUTE_PIN_1) != 0) << 4) |
- (((int_routes->slow_no_mot_int_route & INT_ROUTE_PIN_1) != 0) << 3) |
- (((int_routes->slope_int_route & INT_ROUTE_PIN_1) != 0) << 2) |
- (((int_routes->high_g_int_route & INT_ROUTE_PIN_1) != 0) << 1) |
- (((int_routes->low_g_int_route & INT_ROUTE_PIN_1) != 0) << 0);
-
- data[1] = (((int_routes->data_int_route & INT_ROUTE_PIN_2) != 0) << 7) |
- (((int_routes->fifo_wmark_int_route & INT_ROUTE_PIN_2) != 0) << 6) |
- (((int_routes->fifo_full_int_route & INT_ROUTE_PIN_2) != 0) << 5) |
- (((int_routes->fifo_full_int_route & INT_ROUTE_PIN_1) != 0) << 2) |
- (((int_routes->fifo_wmark_int_route & INT_ROUTE_PIN_1) != 0) << 1) |
- (((int_routes->data_int_route & INT_ROUTE_PIN_1) != 0) << 0);
-
- data[2] = (((int_routes->flat_int_route & INT_ROUTE_PIN_2) != 0) << 7) |
- (((int_routes->orient_int_route & INT_ROUTE_PIN_2) != 0) << 6) |
- (((int_routes->s_tap_int_route & INT_ROUTE_PIN_2) != 0) << 5) |
- (((int_routes->d_tap_int_route & INT_ROUTE_PIN_2) != 0) << 4) |
- (((int_routes->slow_no_mot_int_route & INT_ROUTE_PIN_2) != 0) << 3) |
- (((int_routes->slope_int_route & INT_ROUTE_PIN_2) != 0) << 2) |
- (((int_routes->high_g_int_route & INT_ROUTE_PIN_2) != 0) << 1) |
- (((int_routes->low_g_int_route & INT_ROUTE_PIN_2) != 0) << 0);
-
- rc = set_register(itf, REG_ADDR_INT_MAP_0, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_MAP_1, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_MAP_2, data[2]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-struct int_filters {
- bool unfiltered_data_int;
- bool unfiltered_tap_int;
- bool unfiltered_slow_no_mot_int;
- bool unfiltered_slope_int;
- bool unfiltered_high_g_int;
- bool unfiltered_low_g_int;
+int
+bma253_get_int_routes(const struct sensor_itf * itf,
+ struct int_routes * int_routes)
+{
+ uint8_t data[3];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_INT_MAP_0, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0)
+ return rc;
+
+ int_routes->flat_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x80) != 0) {
+ int_routes->flat_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x80) != 0) {
+ int_routes->flat_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->orient_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x40) != 0) {
+ int_routes->orient_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x40) != 0) {
+ int_routes->orient_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->s_tap_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x20) != 0) {
+ int_routes->s_tap_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x20) != 0) {
+ int_routes->s_tap_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->d_tap_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x10) != 0) {
+ int_routes->d_tap_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x10) != 0) {
+ int_routes->d_tap_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->slow_no_mot_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x08) != 0) {
+ int_routes->slow_no_mot_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x08) != 0) {
+ int_routes->slow_no_mot_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->slope_int_route = INT_ROUTE_NONE;
+ if ((data[0] & 0x04) != 0){
+ int_routes->slope_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x04) != 0) {
+ int_routes->slope_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->high_g_int_route = INT_ROUTE_NONE;
+
+ if ((data[0] & 0x02) != 0) {
+ int_routes->high_g_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x02) != 0) {
+ int_routes->high_g_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->low_g_int_route = INT_ROUTE_NONE;
+
+ if ((data[0] & 0x01) != 0) {
+ int_routes->low_g_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[2] & 0x01) != 0) {
+ int_routes->low_g_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->fifo_wmark_int_route = INT_ROUTE_NONE;
+
+ if ((data[1] & 0x02) != 0) {
+ int_routes->fifo_wmark_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[1] & 0x40) != 0) {
+ int_routes->fifo_wmark_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->fifo_full_int_route = INT_ROUTE_NONE;
+
+ if ((data[1] & 0x04) != 0) {
+ int_routes->fifo_full_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[1] & 0x20) != 0) {
+ int_routes->fifo_full_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ int_routes->data_int_route = INT_ROUTE_NONE;
+
+ if ((data[1] & 0x01) != 0) {
+ int_routes->data_int_route |= INT_ROUTE_PIN_1;
+ }
+
+ if ((data[1] & 0x80) != 0) {
+ int_routes->data_int_route |= INT_ROUTE_PIN_2;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_int_routes(const struct sensor_itf * itf,
+ const struct int_routes * int_routes)
+{
+ uint8_t data[3];
+ int rc;
+
+ data[0] = (((int_routes->flat_int_route & INT_ROUTE_PIN_1) != 0) << 7)
+ | (((int_routes->orient_int_route & INT_ROUTE_PIN_1) != 0)
+ << 6)
+ | (((int_routes->s_tap_int_route & INT_ROUTE_PIN_1) != 0)
+ << 5)
+ | (((int_routes->d_tap_int_route & INT_ROUTE_PIN_1) != 0)
+ << 4)
+ | (((int_routes->slow_no_mot_int_route & INT_ROUTE_PIN_1)
+ != 0) << 3)
+ | (((int_routes->slope_int_route & INT_ROUTE_PIN_1) != 0)
+ << 2)
+ | (((int_routes->high_g_int_route & INT_ROUTE_PIN_1) != 0)
+ << 1)
+ | (((int_routes->low_g_int_route & INT_ROUTE_PIN_1) != 0)
+ << 0);
+
+ data[1] = (((int_routes->data_int_route & INT_ROUTE_PIN_2) != 0) << 7)
+ | (((int_routes->fifo_wmark_int_route
+ & INT_ROUTE_PIN_2) != 0)
+ << 6)
+ | (((int_routes->fifo_full_int_route
+ & INT_ROUTE_PIN_2) != 0)
+ << 5)
+ | (((int_routes->fifo_full_int_route
+ & INT_ROUTE_PIN_1) != 0)
+ << 2)
+ | (((int_routes->fifo_wmark_int_route
+ & INT_ROUTE_PIN_1) != 0)
+ << 1)
+ | (((int_routes->data_int_route
+ & INT_ROUTE_PIN_1) != 0)
+ << 0);
+
+ data[2] = (((int_routes->flat_int_route & INT_ROUTE_PIN_2) != 0) << 7)
+ | (((int_routes->orient_int_route & INT_ROUTE_PIN_2) != 0)
+ << 6)
+ | (((int_routes->s_tap_int_route & INT_ROUTE_PIN_2) != 0)
+ << 5)
+ | (((int_routes->d_tap_int_route & INT_ROUTE_PIN_2) != 0)
+ << 4)
+ | (((int_routes->slow_no_mot_int_route & INT_ROUTE_PIN_2)
+ != 0) << 3)
+ | (((int_routes->slope_int_route & INT_ROUTE_PIN_2) != 0)
+ << 2)
+ | (((int_routes->high_g_int_route & INT_ROUTE_PIN_2) != 0)
+ << 1)
+ | (((int_routes->low_g_int_route & INT_ROUTE_PIN_2) != 0)
+ << 0);
+
+ rc = set_register(itf, REG_ADDR_INT_MAP_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_MAP_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_MAP_2, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+struct int_filters
+{
+ bool unfiltered_data_int;
+ bool unfiltered_tap_int;
+ bool unfiltered_slow_no_mot_int;
+ bool unfiltered_slope_int;
+ bool unfiltered_high_g_int;
+ bool unfiltered_low_g_int;
};
-int bma253_get_int_filters(const struct sensor_itf * itf,
- struct int_filters * int_filters)
+int
+bma253_get_int_filters(const struct sensor_itf * itf,
+ struct int_filters * int_filters)
{
- uint8_t data;
- int rc;
+ uint8_t data;
+ int rc;
- rc = get_register(itf, REG_ADDR_INT_SRC, &data);
- if (rc != 0)
- return rc;
+ rc = get_register(itf, REG_ADDR_INT_SRC, &data);
+ if (rc != 0) {
+ return rc;
+ }
- int_filters->unfiltered_data_int = data & 0x20;
- int_filters->unfiltered_tap_int = data & 0x10;
- int_filters->unfiltered_slow_no_mot_int = data & 0x08;
- int_filters->unfiltered_slope_int = data & 0x04;
- int_filters->unfiltered_high_g_int = data & 0x02;
- int_filters->unfiltered_low_g_int = data & 0x01;
+ int_filters->unfiltered_data_int = data & 0x20;
+ int_filters->unfiltered_tap_int = data & 0x10;
+ int_filters->unfiltered_slow_no_mot_int = data & 0x08;
+ int_filters->unfiltered_slope_int = data & 0x04;
+ int_filters->unfiltered_high_g_int = data & 0x02;
+ int_filters->unfiltered_low_g_int = data & 0x01;
- return 0;
+ return 0;
}
-int bma253_set_int_filters(const struct sensor_itf * itf,
- const struct int_filters * int_filters)
+int
+bma253_set_int_filters(const struct sensor_itf * itf,
+ const struct int_filters * int_filters)
{
- uint8_t data;
+ uint8_t data;
- data = (int_filters->unfiltered_data_int << 5) |
- (int_filters->unfiltered_tap_int << 4) |
- (int_filters->unfiltered_slow_no_mot_int << 3) |
- (int_filters->unfiltered_slope_int << 2) |
- (int_filters->unfiltered_high_g_int << 1) |
- (int_filters->unfiltered_low_g_int << 0);
+ data = (int_filters->unfiltered_data_int << 5)
+ | (int_filters->unfiltered_tap_int << 4)
+ | (int_filters->unfiltered_slow_no_mot_int << 3)
+ | (int_filters->unfiltered_slope_int << 2)
+ | (int_filters->unfiltered_high_g_int << 1)
+ | (int_filters->unfiltered_low_g_int << 0);
- return set_register(itf, REG_ADDR_INT_SRC, data);
+ return set_register(itf, REG_ADDR_INT_SRC, data);
}
-struct int_pin_electrical {
- enum bma253_int_pin_output pin1_output;
- enum bma253_int_pin_active pin1_active;
- enum bma253_int_pin_output pin2_output;
- enum bma253_int_pin_active pin2_active;
+struct int_pin_electrical
+{
+ enum bma253_int_pin_output pin1_output;
+ enum bma253_int_pin_active pin1_active;
+ enum bma253_int_pin_output pin2_output;
+ enum bma253_int_pin_active pin2_active;
};
-int bma253_get_int_pin_electrical(const struct sensor_itf * itf,
- struct int_pin_electrical * electrical)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_INT_OUT_CTRL, &data);
- if (rc != 0)
- return rc;
-
- if ((data & 0x02) != 0)
- electrical->pin1_output = BMA253_INT_PIN_OUTPUT_OPEN_DRAIN;
- else
- electrical->pin1_output = BMA253_INT_PIN_OUTPUT_PUSH_PULL;
- if ((data & 0x01) != 0)
- electrical->pin1_active = BMA253_INT_PIN_ACTIVE_HIGH;
- else
- electrical->pin1_active = BMA253_INT_PIN_ACTIVE_LOW;
- if ((data & 0x08) != 0)
- electrical->pin2_output = BMA253_INT_PIN_OUTPUT_OPEN_DRAIN;
- else
- electrical->pin2_output = BMA253_INT_PIN_OUTPUT_PUSH_PULL;
- if ((data & 0x04) != 0)
- electrical->pin2_active = BMA253_INT_PIN_ACTIVE_HIGH;
- else
- electrical->pin2_active = BMA253_INT_PIN_ACTIVE_LOW;
-
- return 0;
-}
-
-int bma253_set_int_pin_electrical(const struct sensor_itf * itf,
- const struct int_pin_electrical * electrical)
-{
- uint8_t data;
-
- data = 0;
-
- switch (electrical->pin1_output) {
- case BMA253_INT_PIN_OUTPUT_OPEN_DRAIN:
- data |= 0x02;
- break;
- case BMA253_INT_PIN_OUTPUT_PUSH_PULL:
- data |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (electrical->pin1_active) {
- case BMA253_INT_PIN_ACTIVE_HIGH:
- data |= 0x01;
- break;
- case BMA253_INT_PIN_ACTIVE_LOW:
- data |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (electrical->pin2_output) {
- case BMA253_INT_PIN_OUTPUT_OPEN_DRAIN:
- data |= 0x08;
- break;
- case BMA253_INT_PIN_OUTPUT_PUSH_PULL:
- data |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (electrical->pin2_active) {
- case BMA253_INT_PIN_ACTIVE_HIGH:
- data |= 0x04;
- break;
- case BMA253_INT_PIN_ACTIVE_LOW:
- data |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- return set_register(itf, REG_ADDR_INT_OUT_CTRL, data);
-}
-
-enum int_latch {
- INT_LATCH_NON_LATCHED = 0,
- INT_LATCH_LATCHED = 1,
- INT_LATCH_TEMPORARY_250_US = 2,
- INT_LATCH_TEMPORARY_500_US = 3,
- INT_LATCH_TEMPORARY_1_MS = 4,
- INT_LATCH_TEMPORARY_12_5_MS = 5,
- INT_LATCH_TEMPORARY_25_MS = 6,
- INT_LATCH_TEMPORARY_50_MS = 7,
- INT_LATCH_TEMPORARY_250_MS = 8,
- INT_LATCH_TEMPORARY_500_MS = 9,
- INT_LATCH_TEMPORARY_1_S = 10,
- INT_LATCH_TEMPORARY_2_S = 11,
- INT_LATCH_TEMPORARY_4_S = 12,
- INT_LATCH_TEMPORARY_8_S = 13,
+int
+bma253_get_int_pin_electrical(const struct sensor_itf * itf,
+ struct int_pin_electrical * electrical)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_INT_OUT_CTRL, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+if ((data & 0x02) != 0) {
+ electrical->pin1_output = BMA253_INT_PIN_OUTPUT_OPEN_DRAIN;
+ } else {
+ electrical->pin1_output = BMA253_INT_PIN_OUTPUT_PUSH_PULL;
+ }
+
+ if ((data & 0x01) != 0) {
+ electrical->pin1_active = BMA253_INT_PIN_ACTIVE_HIGH;
+ } else {
+ electrical->pin1_active = BMA253_INT_PIN_ACTIVE_LOW;
+ }
+
+ if ((data & 0x08) != 0) {
+ electrical->pin2_output = BMA253_INT_PIN_OUTPUT_OPEN_DRAIN;
+ } else {
+ electrical->pin2_output = BMA253_INT_PIN_OUTPUT_PUSH_PULL;
+ }
+
+ if ((data & 0x04) != 0) {
+ electrical->pin2_active = BMA253_INT_PIN_ACTIVE_HIGH;
+ } else {
+ electrical->pin2_active = BMA253_INT_PIN_ACTIVE_LOW;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_int_pin_electrical(const struct sensor_itf * itf,
+ const struct int_pin_electrical * electrical)
+{
+ uint8_t data;
+
+ data = 0;
+
+ switch (electrical->pin1_output) {
+ case BMA253_INT_PIN_OUTPUT_OPEN_DRAIN:
+ data |= 0x02;
+ break;
+ case BMA253_INT_PIN_OUTPUT_PUSH_PULL:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin1_active) {
+ case BMA253_INT_PIN_ACTIVE_HIGH:
+ data |= 0x01;
+ break;
+ case BMA253_INT_PIN_ACTIVE_LOW:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin2_output) {
+ case BMA253_INT_PIN_OUTPUT_OPEN_DRAIN:
+ data |= 0x08;
+ break;
+ case BMA253_INT_PIN_OUTPUT_PUSH_PULL:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin2_active) {
+ case BMA253_INT_PIN_ACTIVE_HIGH:
+ data |= 0x04;
+ break;
+ case BMA253_INT_PIN_ACTIVE_LOW:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(itf, REG_ADDR_INT_OUT_CTRL, data);
+}
+
+enum int_latch
+{
+ INT_LATCH_NON_LATCHED = 0,
+ INT_LATCH_LATCHED = 1,
+ INT_LATCH_TEMPORARY_250_US = 2,
+ INT_LATCH_TEMPORARY_500_US = 3,
+ INT_LATCH_TEMPORARY_1_MS = 4,
+ INT_LATCH_TEMPORARY_12_5_MS = 5,
+ INT_LATCH_TEMPORARY_25_MS = 6,
+ INT_LATCH_TEMPORARY_50_MS = 7,
+ INT_LATCH_TEMPORARY_250_MS = 8,
+ INT_LATCH_TEMPORARY_500_MS = 9,
+ INT_LATCH_TEMPORARY_1_S = 10,
+ INT_LATCH_TEMPORARY_2_S = 11,
+ INT_LATCH_TEMPORARY_4_S = 12,
+ INT_LATCH_TEMPORARY_8_S = 13,
};
-int bma253_get_int_latch(const struct sensor_itf * itf,
- enum int_latch * int_latch)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_INT_RST_LATCH, &data);
- if (rc != 0)
- return rc;
-
- switch (data & 0x0F) {
- case 0x00:
- *int_latch = INT_LATCH_NON_LATCHED;
- break;
- case 0x01:
- *int_latch = INT_LATCH_TEMPORARY_250_MS;
- break;
- case 0x02:
- *int_latch = INT_LATCH_TEMPORARY_500_MS;
- break;
- case 0x03:
- *int_latch = INT_LATCH_TEMPORARY_1_S;
- break;
- case 0x04:
- *int_latch = INT_LATCH_TEMPORARY_2_S;
- break;
- case 0x05:
- *int_latch = INT_LATCH_TEMPORARY_4_S;
- break;
- case 0x06:
- *int_latch = INT_LATCH_TEMPORARY_8_S;
- break;
- case 0x07:
- *int_latch = INT_LATCH_LATCHED;
- break;
- case 0x08:
- *int_latch = INT_LATCH_NON_LATCHED;
- break;
- case 0x09:
- *int_latch = INT_LATCH_TEMPORARY_250_US;
- break;
- case 0x0A:
- *int_latch = INT_LATCH_TEMPORARY_500_US;
- break;
- case 0x0B:
- *int_latch = INT_LATCH_TEMPORARY_1_MS;
- break;
- case 0x0C:
- *int_latch = INT_LATCH_TEMPORARY_12_5_MS;
- break;
- case 0x0D:
- *int_latch = INT_LATCH_TEMPORARY_25_MS;
- break;
- case 0x0E:
- *int_latch = INT_LATCH_TEMPORARY_50_MS;
- break;
- case 0x0F:
- *int_latch = INT_LATCH_LATCHED;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_int_latch(const struct sensor_itf * itf,
- bool reset_ints,
- enum int_latch int_latch)
-{
- uint8_t data;
-
- data = 0;
- data |= reset_ints << 7;
-
- switch (int_latch) {
- case INT_LATCH_NON_LATCHED:
- data |= 0x00;
- break;
- case INT_LATCH_LATCHED:
- data |= 0x0F;
- break;
- case INT_LATCH_TEMPORARY_250_US:
- data |= 0x09;
- break;
- case INT_LATCH_TEMPORARY_500_US:
- data |= 0x0A;
- break;
- case INT_LATCH_TEMPORARY_1_MS:
- data |= 0x0B;
- break;
- case INT_LATCH_TEMPORARY_12_5_MS:
- data |= 0x0C;
- break;
- case INT_LATCH_TEMPORARY_25_MS:
- data |= 0x0D;
- break;
- case INT_LATCH_TEMPORARY_50_MS:
- data |= 0x0E;
- break;
- case INT_LATCH_TEMPORARY_250_MS:
- data |= 0x01;
- break;
- case INT_LATCH_TEMPORARY_500_MS:
- data |= 0x02;
- break;
- case INT_LATCH_TEMPORARY_1_S:
- data |= 0x03;
- break;
- case INT_LATCH_TEMPORARY_2_S:
- data |= 0x04;
- break;
- case INT_LATCH_TEMPORARY_4_S:
- data |= 0x05;
- break;
- case INT_LATCH_TEMPORARY_8_S:
- data |= 0x06;
- break;
- default:
- return SYS_EINVAL;
- }
-
- return set_register(itf, REG_ADDR_INT_RST_LATCH, data);
-}
-
-struct low_g_int_cfg {
- uint16_t delay_ms;
- float thresh_g;
- float hyster_g;
- bool axis_summing;
+int
+bma253_get_int_latch(const struct sensor_itf * itf, enum int_latch * int_latch)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_INT_RST_LATCH, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ switch (data & 0x0F) {
+ case 0x00:
+ *int_latch = INT_LATCH_NON_LATCHED;
+ break;
+ case 0x01:
+ *int_latch = INT_LATCH_TEMPORARY_250_MS;
+ break;
+ case 0x02:
+ *int_latch = INT_LATCH_TEMPORARY_500_MS;
+ break;
+ case 0x03:
+ *int_latch = INT_LATCH_TEMPORARY_1_S;
+ break;
+ case 0x04:
+ *int_latch = INT_LATCH_TEMPORARY_2_S;
+ break;
+ case 0x05:
+ *int_latch = INT_LATCH_TEMPORARY_4_S;
+ break;
+ case 0x06:
+ *int_latch = INT_LATCH_TEMPORARY_8_S;
+ break;
+ case 0x07:
+ *int_latch = INT_LATCH_LATCHED;
+ break;
+ case 0x08:
+ *int_latch = INT_LATCH_NON_LATCHED;
+ break;
+ case 0x09:
+ *int_latch = INT_LATCH_TEMPORARY_250_US;
+ break;
+ case 0x0A:
+ *int_latch = INT_LATCH_TEMPORARY_500_US;
+ break;
+ case 0x0B:
+ *int_latch = INT_LATCH_TEMPORARY_1_MS;
+ break;
+ case 0x0C:
+ *int_latch = INT_LATCH_TEMPORARY_12_5_MS;
+ break;
+ case 0x0D:
+ *int_latch = INT_LATCH_TEMPORARY_25_MS;
+ break;
+ case 0x0E:
+ *int_latch = INT_LATCH_TEMPORARY_50_MS;
+ break;
+ case 0x0F:
+ *int_latch = INT_LATCH_LATCHED;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_int_latch(const struct sensor_itf * itf,
+bool reset_ints,
+ enum int_latch int_latch)
+{
+ uint8_t data;
+
+ data = 0;
+ data |= reset_ints << 7;
+
+ switch (int_latch) {
+ case INT_LATCH_NON_LATCHED:
+ data |= 0x00;
+ break;
+ case INT_LATCH_LATCHED:
+ data |= 0x0F;
+ break;
+ case INT_LATCH_TEMPORARY_250_US:
+ data |= 0x09;
+ break;
+ case INT_LATCH_TEMPORARY_500_US:
+ data |= 0x0A;
+ break;
+ case INT_LATCH_TEMPORARY_1_MS:
+ data |= 0x0B;
+ break;
+ case INT_LATCH_TEMPORARY_12_5_MS:
+ data |= 0x0C;
+ break;
+ case INT_LATCH_TEMPORARY_25_MS:
+ data |= 0x0D;
+ break;
+ case INT_LATCH_TEMPORARY_50_MS:
+ data |= 0x0E;
+ break;
+ case INT_LATCH_TEMPORARY_250_MS:
+ data |= 0x01;
+ break;
+ case INT_LATCH_TEMPORARY_500_MS:
+ data |= 0x02;
+ break;
+ case INT_LATCH_TEMPORARY_1_S:
+ data |= 0x03;
+ break;
+ case INT_LATCH_TEMPORARY_2_S:
+ data |= 0x04;
+ break;
+ case INT_LATCH_TEMPORARY_4_S:
+ data |= 0x05;
+ break;
+ case INT_LATCH_TEMPORARY_8_S:
+ data |= 0x06;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(itf, REG_ADDR_INT_RST_LATCH, data);
+}
+
+struct low_g_int_cfg
+{
+ uint16_t delay_ms;
+ float thresh_g;
+ float hyster_g;
+ bool axis_summing;
};
-int bma253_get_low_g_int_cfg(const struct sensor_itf * itf,
- struct low_g_int_cfg * low_g_int_cfg)
+int
+bma253_get_low_g_int_cfg(const struct sensor_itf * itf,
+ struct low_g_int_cfg * low_g_int_cfg)
{
- uint8_t data[3];
- int rc;
+ uint8_t data[3];
+ int rc;
- rc = get_registers(itf, REG_ADDR_INT_0,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
+ rc = get_registers(itf, REG_ADDR_INT_0, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
- low_g_int_cfg->delay_ms = (data[0] + 1) << 1;
- low_g_int_cfg->thresh_g = (float)data[1] * 0.00781;
- low_g_int_cfg->hyster_g = (float)(data[2] & 0x03) * 0.125;
- low_g_int_cfg->axis_summing = data[2] & 0x04;
+ low_g_int_cfg->delay_ms = (data[0] + 1) << 1;
+ low_g_int_cfg->thresh_g = (float) data[1] * 0.00781;
+ low_g_int_cfg->hyster_g = (float) (data[2] & 0x03) * 0.125;
+ low_g_int_cfg->axis_summing = data[2] & 0x04;
- return 0;
+ return 0;
}
-int bma253_set_low_g_int_cfg(const struct sensor_itf * itf,
- const struct low_g_int_cfg * low_g_int_cfg)
+int
+bma253_set_low_g_int_cfg(const struct sensor_itf * itf,
+ const struct low_g_int_cfg * low_g_int_cfg)
{
- uint8_t data[3];
- int rc;
+ uint8_t data[3];
+ int rc;
+
+ if (low_g_int_cfg->delay_ms < 2 || low_g_int_cfg->delay_ms > 512) {
+ return SYS_EINVAL;
+ }
- if (low_g_int_cfg->delay_ms < 2 ||
- low_g_int_cfg->delay_ms > 512)
- return SYS_EINVAL;
- if (low_g_int_cfg->thresh_g < 0.0 ||
- low_g_int_cfg->thresh_g > 1.992)
- return SYS_EINVAL;
- if (low_g_int_cfg->hyster_g < 0.0 ||
- low_g_int_cfg->hyster_g > 0.375)
- return SYS_EINVAL;
+ if (low_g_int_cfg->thresh_g < 0.0 || low_g_int_cfg->thresh_g > 1.992) {
+ return SYS_EINVAL;
+ }
- data[0] = (low_g_int_cfg->delay_ms >> 1) - 1;
- data[1] = low_g_int_cfg->thresh_g / 0.00781;
- data[2] = (low_g_int_cfg->axis_summing << 2) |
- (((uint8_t)(low_g_int_cfg->hyster_g / 0.125) & 0x03) << 0);
+ if (low_g_int_cfg->hyster_g < 0.0 || low_g_int_cfg->hyster_g > 0.375) {
+ return SYS_EINVAL;
+ }
- rc = set_register(itf, REG_ADDR_INT_0, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_1, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_2, data[2]);
- if (rc != 0)
- return rc;
+ data[0] = (low_g_int_cfg->delay_ms >> 1) - 1;
+ data[1] = low_g_int_cfg->thresh_g / 0.00781;
+ data[2] =
+ (low_g_int_cfg->axis_summing << 2)
+ | (((uint8_t) (low_g_int_cfg->hyster_g
+ / 0.125) & 0x03) << 0);
- return 0;
+ rc = set_register(itf, REG_ADDR_INT_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_2, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
}
-struct high_g_int_cfg {
- float hyster_g;
- uint16_t delay_ms;
- float thresh_g;
+struct high_g_int_cfg
+{
+ float hyster_g;
+ uint16_t delay_ms;
+ float thresh_g;
};
-int bma253_get_high_g_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- struct high_g_int_cfg * high_g_int_cfg)
-{
- float hyster_scale;
- float thresh_scale;
- uint8_t data[3];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- hyster_scale = 0.125;
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_4:
- hyster_scale = 0.25;
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_8:
- hyster_scale = 0.5;
- thresh_scale = 0.03125;
- break;
- case BMA253_G_RANGE_16:
- hyster_scale = 1.0;
- thresh_scale = 0.0625;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_registers(itf, REG_ADDR_INT_2,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- high_g_int_cfg->hyster_g = (float)((data[0] >> 6) & 0x03) * hyster_scale;
- high_g_int_cfg->delay_ms = (data[1] + 1) << 1;
- high_g_int_cfg->thresh_g = (float)data[2] * thresh_scale;
-
- return 0;
-}
-
-int bma253_set_high_g_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- const struct high_g_int_cfg * high_g_int_cfg)
-{
- float hyster_scale;
- float thresh_scale;
- uint8_t data[3];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- hyster_scale = 0.125;
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_4:
- hyster_scale = 0.25;
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_8:
- hyster_scale = 0.5;
- thresh_scale = 0.03125;
- break;
- case BMA253_G_RANGE_16:
- hyster_scale = 1.0;
- thresh_scale = 0.0625;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (high_g_int_cfg->hyster_g < 0.0 ||
- high_g_int_cfg->hyster_g > hyster_scale * 3.0)
- return SYS_EINVAL;
- if (high_g_int_cfg->delay_ms < 2 ||
- high_g_int_cfg->delay_ms > 512)
- return SYS_EINVAL;
- if (high_g_int_cfg->thresh_g < 0.0 ||
- high_g_int_cfg->thresh_g > thresh_scale * 255.0)
- return SYS_EINVAL;
-
- data[0] = ((uint8_t)(high_g_int_cfg->hyster_g / hyster_scale) & 0x03) << 6;
- data[1] = (high_g_int_cfg->delay_ms >> 1) - 1;
- data[2] = high_g_int_cfg->thresh_g / thresh_scale;
-
- rc = set_register(itf, REG_ADDR_INT_2, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_3, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_4, data[2]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-struct slow_no_mot_int_cfg {
- uint16_t duration_p_or_s;
- float thresh_g;
+int
+bma253_get_high_g_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ struct high_g_int_cfg * high_g_int_cfg)
+{
+ float hyster_scale;
+ float thresh_scale;
+ uint8_t data[3];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ hyster_scale = 0.125;
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_4:
+ hyster_scale = 0.25;
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_8:
+ hyster_scale = 0.5;
+ thresh_scale = 0.03125;
+ break;
+ case BMA253_G_RANGE_16:
+ hyster_scale = 1.0;
+ thresh_scale = 0.0625;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = get_registers(itf, REG_ADDR_INT_2, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ high_g_int_cfg->hyster_g = (float) ((data[0] >> 6) & 0x03) * hyster_scale;
+ high_g_int_cfg->delay_ms = (data[1] + 1) << 1;
+ high_g_int_cfg->thresh_g = (float) data[2] * thresh_scale;
+
+ return 0;
+}
+
+int
+bma253_set_high_g_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ const struct high_g_int_cfg * high_g_int_cfg)
+{
+ float hyster_scale;
+ float thresh_scale;
+ uint8_t data[3];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ hyster_scale = 0.125;
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_4:
+ hyster_scale = 0.25;
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_8:
+ hyster_scale = 0.5;
+ thresh_scale = 0.03125;
+ break;
+ case BMA253_G_RANGE_16:
+ hyster_scale = 1.0;
+ thresh_scale = 0.0625;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ if (high_g_int_cfg->hyster_g < 0.0
+ || high_g_int_cfg->hyster_g > hyster_scale * 3.0) {
+ return SYS_EINVAL;
+ }
+
+ if (high_g_int_cfg->delay_ms < 2 || high_g_int_cfg->delay_ms > 512) {
+ return SYS_EINVAL;
+ }
+
+ if (high_g_int_cfg->thresh_g < 0.0
+ || high_g_int_cfg->thresh_g > thresh_scale * 255.0) {
+ return SYS_EINVAL;
+ }
+
+ data[0] = ((uint8_t) (high_g_int_cfg->hyster_g / hyster_scale) & 0x03) << 6;
+ data[1] = (high_g_int_cfg->delay_ms >> 1) - 1;
+ data[2] = high_g_int_cfg->thresh_g / thresh_scale;
+
+ rc = set_register(itf, REG_ADDR_INT_2, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_3, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_4, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+struct slow_no_mot_int_cfg
+{
+ uint16_t duration_p_or_s;
+ float thresh_g;
};
-int bma253_get_slow_no_mot_int_cfg(const struct sensor_itf * itf,
- bool no_motion_select,
- enum bma253_g_range g_range,
- struct slow_no_mot_int_cfg * slow_no_mot_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.00391;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.03125;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_register(itf, REG_ADDR_INT_5, data + 0);
- if (rc != 0)
- return rc;
- rc = get_register(itf, REG_ADDR_INT_7, data + 1);
- if (rc != 0)
- return rc;
-
- if (no_motion_select)
- if ((data[0] & 0x80) == 0)
- if ((data[0] & 0x40) == 0)
- slow_no_mot_int_cfg->duration_p_or_s =
- ((data[0] >> 2) & 0x0F) + 1;
- else
- slow_no_mot_int_cfg->duration_p_or_s =
- (((data[0] >> 2) & 0x0F) << 2) + 20;
- else
- slow_no_mot_int_cfg->duration_p_or_s =
- (((data[0] >> 2) & 0x1F) << 3) + 88;
- else
- slow_no_mot_int_cfg->duration_p_or_s =
- ((data[0] >> 2) & 0x03) + 1;
- slow_no_mot_int_cfg->thresh_g = (float)data[1] * thresh_scale;
-
- return 0;
-}
-
-int bma253_set_slow_no_mot_int_cfg(const struct sensor_itf * itf,
- bool no_motion_select,
- enum bma253_g_range g_range,
- const struct slow_no_mot_int_cfg * slow_no_mot_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- uint16_t duration;
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.00391;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.03125;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (no_motion_select) {
- if (slow_no_mot_int_cfg->duration_p_or_s < 1 ||
- slow_no_mot_int_cfg->duration_p_or_s > 336)
- return SYS_EINVAL;
- } else {
- if (slow_no_mot_int_cfg->duration_p_or_s < 1 ||
- slow_no_mot_int_cfg->duration_p_or_s > 4)
- return SYS_EINVAL;
- }
- if (slow_no_mot_int_cfg->thresh_g < 0.0 ||
- slow_no_mot_int_cfg->thresh_g > thresh_scale * 255.0)
- return SYS_EINVAL;
-
- duration = slow_no_mot_int_cfg->duration_p_or_s;
- if (no_motion_select) {
- if (duration > 80) {
- if (duration < 88)
- duration = 88;
- data[0] = (((duration - 88) >> 3) << 2) | 0x80;
- } else if (duration > 16) {
- if (duration < 20)
- duration = 20;
- data[0] = (((duration - 20) >> 2) << 2) | 0x40;
- } else {
- data[0] = (duration - 1) << 2;
- }
- } else {
- data[0] = (duration - 1) << 2;
- }
- data[1] = slow_no_mot_int_cfg->thresh_g / thresh_scale;
-
- rc = set_register(itf, REG_ADDR_INT_5, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_7, data[1]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-struct slope_int_cfg {
- uint8_t duration_p;
- float thresh_g;
+int
+bma253_get_slow_no_mot_int_cfg(const struct sensor_itf * itf,
+bool no_motion_select,
+ enum bma253_g_range g_range,
+ struct slow_no_mot_int_cfg * slow_no_mot_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.03125;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = get_register(itf, REG_ADDR_INT_5, data + 0);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = get_register(itf, REG_ADDR_INT_7, data + 1);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (no_motion_select) {
+ if ((data[0] & 0x80) == 0) {
+ if ((data[0] & 0x40) == 0) {
+ slow_no_mot_int_cfg->duration_p_or_s = ((data[0] >> 2) & 0x0F)
+ + 1;
+ } else {
+ slow_no_mot_int_cfg->duration_p_or_s = (((data[0] >> 2) & 0x0F)
+ << 2) + 20;
+ }
+ } else {
+ slow_no_mot_int_cfg->duration_p_or_s =
+ (((data[0] >> 2) & 0x1F) << 3) + 88;
+ }
+ } else {
+ slow_no_mot_int_cfg->duration_p_or_s = ((data[0] >> 2) & 0x03) + 1;
+ }
+
+ slow_no_mot_int_cfg->thresh_g = (float) data[1] * thresh_scale;
+
+ return 0;
+}
+
+int
+bma253_set_slow_no_mot_int_cfg(
+ const struct sensor_itf * itf,
+ bool no_motion_select,
+ enum bma253_g_range g_range,
+ const struct slow_no_mot_int_cfg * slow_no_mot_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ uint16_t duration;
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.03125;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ if (no_motion_select) {
+ if (slow_no_mot_int_cfg->duration_p_or_s < 1
+ || slow_no_mot_int_cfg->duration_p_or_s > 336) {
+ return SYS_EINVAL;
+ }
+ }
+ else {
+ if (slow_no_mot_int_cfg->duration_p_or_s < 1
+ || slow_no_mot_int_cfg->duration_p_or_s > 4) {
+ return SYS_EINVAL;
+ }
+ }
+
+ if (slow_no_mot_int_cfg->thresh_g < 0.0
+ || slow_no_mot_int_cfg->thresh_g > thresh_scale * 255.0) {
+ return SYS_EINVAL;
+ }
+
+ duration = slow_no_mot_int_cfg->duration_p_or_s;
+ if (no_motion_select) {
+ if (duration > 80) {
+ if (duration < 88)
+ duration = 88;
+ data[0] = (((duration - 88) >> 3) << 2) | 0x80;
+ }
+ else if (duration > 16) {
+ if (duration < 20)
+ duration = 20;
+ data[0] = (((duration - 20) >> 2) << 2) | 0x40;
+ }
+ else {
+ data[0] = (duration - 1) << 2;
+ }
+ }
+ else {
+ data[0] = (duration - 1) << 2;
+ }
+ data[1] = slow_no_mot_int_cfg->thresh_g / thresh_scale;
+
+ rc = set_register(itf, REG_ADDR_INT_5, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_7, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+struct slope_int_cfg
+{
+ uint8_t duration_p;
+ float thresh_g;
};
-int bma253_get_slope_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- struct slope_int_cfg * slope_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.00391;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.03125;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_registers(itf, REG_ADDR_INT_5,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- slope_int_cfg->duration_p = (data[0] & 0x03) + 1;
- slope_int_cfg->thresh_g = (float)data[1] * thresh_scale;
-
- return 0;
-}
-
-int bma253_set_slope_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- const struct slope_int_cfg * slope_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.00391;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.00781;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.01563;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.03125;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (slope_int_cfg->duration_p < 1 ||
- slope_int_cfg->duration_p > 4)
- return SYS_EINVAL;
- if (slope_int_cfg->thresh_g < 0.0 ||
- slope_int_cfg->thresh_g > thresh_scale * 255.0)
- return SYS_EINVAL;
-
- data[0] = (slope_int_cfg->duration_p - 1) & 0x03;
- data[1] = slope_int_cfg->thresh_g / thresh_scale;
-
- rc = set_register(itf, REG_ADDR_INT_5, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_6, data[1]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-struct tap_int_cfg {
- enum bma253_tap_quiet tap_quiet;
- enum bma253_tap_shock tap_shock;
- enum bma253_d_tap_window d_tap_window;
- enum bma253_tap_wake_samples tap_wake_samples;
- float thresh_g;
+int
+bma253_get_slope_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ struct slope_int_cfg * slope_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.03125;
+ break;
+ default:
+ return SYS_EINVAL;
+}
+
+ rc = get_registers(itf, REG_ADDR_INT_5, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ slope_int_cfg->duration_p = (data[0] & 0x03) + 1;
+ slope_int_cfg->thresh_g = (float) data[1] * thresh_scale;
+
+ return 0;
+}
+
+int
+bma253_set_slope_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ const struct slope_int_cfg * slope_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.00781;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.01563;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.03125;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ if (slope_int_cfg->duration_p < 1 || slope_int_cfg->duration_p > 4) {
+ return SYS_EINVAL;
+ }
+
+ if (slope_int_cfg->thresh_g < 0.0
+ || slope_int_cfg->thresh_g > thresh_scale * 255.0) {
+ return SYS_EINVAL;
+ }
+
+ data[0] = (slope_int_cfg->duration_p - 1) & 0x03;
+ data[1] = slope_int_cfg->thresh_g / thresh_scale;
+
+ rc = set_register(itf, REG_ADDR_INT_5, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_6, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+struct tap_int_cfg
+{
+ enum bma253_tap_quiet tap_quiet;
+ enum bma253_tap_shock tap_shock;
+ enum bma253_d_tap_window d_tap_window;
+ enum bma253_tap_wake_samples tap_wake_samples;
+ float thresh_g;
};
-int bma253_get_tap_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- struct tap_int_cfg * tap_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.0625;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.125;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.25;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.5;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_registers(itf, REG_ADDR_INT_8,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- if ((data[0] & 0x80) == 0)
- tap_int_cfg->tap_quiet = BMA253_TAP_QUIET_30_MS;
- else
- tap_int_cfg->tap_quiet = BMA253_TAP_QUIET_20_MS;
- if ((data[0] & 0x40) == 0)
- tap_int_cfg->tap_shock = BMA253_TAP_SHOCK_50_MS;
- else
- tap_int_cfg->tap_shock = BMA253_TAP_SHOCK_75_MS;
-
- switch (data[0] & 0x07) {
- case 0x00:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_50_MS;
- break;
- case 0x01:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_100_MS;
- break;
- case 0x02:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_150_MS;
- break;
- case 0x03:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_200_MS;
- break;
- case 0x04:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_250_MS;
- break;
- case 0x05:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_375_MS;
- break;
- case 0x06:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_500_MS;
- break;
- case 0x07:
- tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_700_MS;
- break;
- }
-
- switch ((data[1] >> 6) & 0x03) {
- case 0x00:
- tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_2;
- break;
- case 0x01:
- tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_4;
- break;
- case 0x02:
- tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_8;
- break;
- case 0x03:
- tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_16;
- break;
- }
-
- tap_int_cfg->thresh_g = (float)(data[1] & 0x1F) * thresh_scale;
-
- return 0;
-}
-
-int bma253_set_tap_int_cfg(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- const struct tap_int_cfg * tap_int_cfg)
-{
- float thresh_scale;
- uint8_t data[2];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- thresh_scale = 0.0625;
- break;
- case BMA253_G_RANGE_4:
- thresh_scale = 0.125;
- break;
- case BMA253_G_RANGE_8:
- thresh_scale = 0.25;
- break;
- case BMA253_G_RANGE_16:
- thresh_scale = 0.5;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (tap_int_cfg->thresh_g < 0.0 ||
- tap_int_cfg->thresh_g > thresh_scale * 31.0)
- return SYS_EINVAL;
-
- data[0] = 0;
- data[1] = 0;
-
- switch (tap_int_cfg->tap_quiet) {
- case BMA253_TAP_QUIET_20_MS:
- data[0] |= 0x80;
- break;
- case BMA253_TAP_QUIET_30_MS:
- data[0] |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (tap_int_cfg->tap_shock) {
- case BMA253_TAP_SHOCK_50_MS:
- data[0] |= 0x00;
- break;
- case BMA253_TAP_SHOCK_75_MS:
- data[0] |= 0x40;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (tap_int_cfg->d_tap_window) {
- case BMA253_D_TAP_WINDOW_50_MS:
- data[0] |= 0x00;
- break;
- case BMA253_D_TAP_WINDOW_100_MS:
- data[0] |= 0x01;
- break;
- case BMA253_D_TAP_WINDOW_150_MS:
- data[0] |= 0x02;
- break;
- case BMA253_D_TAP_WINDOW_200_MS:
- data[0] |= 0x03;
- break;
- case BMA253_D_TAP_WINDOW_250_MS:
- data[0] |= 0x04;
- break;
- case BMA253_D_TAP_WINDOW_375_MS:
- data[0] |= 0x05;
- break;
- case BMA253_D_TAP_WINDOW_500_MS:
- data[0] |= 0x06;
- break;
- case BMA253_D_TAP_WINDOW_700_MS:
- data[0] |= 0x07;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (tap_int_cfg->tap_wake_samples) {
- case BMA253_TAP_WAKE_SAMPLES_2:
- data[1] |= 0x00 << 6;
- break;
- case BMA253_TAP_WAKE_SAMPLES_4:
- data[1] |= 0x01 << 6;
- break;
- case BMA253_TAP_WAKE_SAMPLES_8:
- data[1] |= 0x02 << 6;
- break;
- case BMA253_TAP_WAKE_SAMPLES_16:
- data[1] |= 0x03 << 6;
- break;
- default:
- return SYS_EINVAL;
- }
-
- data[1] |= (uint8_t)(tap_int_cfg->thresh_g / thresh_scale) & 0x1F;
-
- rc = set_register(itf, REG_ADDR_INT_8, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_9, data[1]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-enum orient_blocking {
- ORIENT_BLOCKING_NONE = 0,
- ORIENT_BLOCKING_ACCEL_ONLY = 1,
- ORIENT_BLOCKING_ACCEL_AND_SLOPE = 2,
- ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE = 3,
+int
+bma253_get_tap_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ struct tap_int_cfg * tap_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.0625;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.125;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.25;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.5;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = get_registers(itf, REG_ADDR_INT_8, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((data[0] & 0x80) == 0) {
+ tap_int_cfg->tap_quiet = BMA253_TAP_QUIET_30_MS;
+ } else {
+ tap_int_cfg->tap_quiet = BMA253_TAP_QUIET_20_MS;
+ }
+
+ if ((data[0] & 0x40) == 0) {
+ tap_int_cfg->tap_shock = BMA253_TAP_SHOCK_50_MS;
+ } else {
+ tap_int_cfg->tap_shock = BMA253_TAP_SHOCK_75_MS;
+ }
+
+ switch (data[0] & 0x07) {
+ case 0x00:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_50_MS;
+ break;
+ case 0x01:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_100_MS;
+ break;
+ case 0x02:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_150_MS;
+ break;
+ case 0x03:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_200_MS;
+ break;
+ case 0x04:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_250_MS;
+ break;
+ case 0x05:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_375_MS;
+ break;
+ case 0x06:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_500_MS;
+ break;
+ case 0x07:
+ tap_int_cfg->d_tap_window = BMA253_D_TAP_WINDOW_700_MS;
+ break;
+ }
+
+ switch ((data[1] >> 6) & 0x03) {
+ case 0x00:
+ tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_2;
+ break;
+ case 0x01:
+ tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_4;
+ break;
+ case 0x02:
+ tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_8;
+ break;
+ case 0x03:
+ tap_int_cfg->tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_16;
+ break;
+ }
+
+ tap_int_cfg->thresh_g = (float) (data[1] & 0x1F) * thresh_scale;
+
+ return 0;
+}
+
+int
+bma253_set_tap_int_cfg(const struct sensor_itf * itf,
+ enum bma253_g_range g_range,
+ const struct tap_int_cfg * tap_int_cfg)
+{
+ float thresh_scale;
+ uint8_t data[2];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ thresh_scale = 0.0625;
+ break;
+ case BMA253_G_RANGE_4:
+ thresh_scale = 0.125;
+ break;
+ case BMA253_G_RANGE_8:
+ thresh_scale = 0.25;
+ break;
+ case BMA253_G_RANGE_16:
+ thresh_scale = 0.5;
+ break;
+ default:
+ return SYS_EINVAL;
+}
+
+ if (tap_int_cfg->thresh_g < 0.0
+ || tap_int_cfg->thresh_g > thresh_scale * 31.0)
+ return SYS_EINVAL;
+
+ data[0] = 0;
+ data[1] = 0;
+
+ switch (tap_int_cfg->tap_quiet) {
+ case BMA253_TAP_QUIET_20_MS:
+ data[0] |= 0x80;
+ break;
+ case BMA253_TAP_QUIET_30_MS:
+ data[0] |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (tap_int_cfg->tap_shock) {
+ case BMA253_TAP_SHOCK_50_MS:
+ data[0] |= 0x00;
+ break;
+ case BMA253_TAP_SHOCK_75_MS:
+ data[0] |= 0x40;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (tap_int_cfg->d_tap_window) {
+ case BMA253_D_TAP_WINDOW_50_MS:
+ data[0] |= 0x00;
+ break;
+ case BMA253_D_TAP_WINDOW_100_MS:
+ data[0] |= 0x01;
+ break;
+ case BMA253_D_TAP_WINDOW_150_MS:
+ data[0] |= 0x02;
+ break;
+ case BMA253_D_TAP_WINDOW_200_MS:
+ data[0] |= 0x03;
+ break;
+ case BMA253_D_TAP_WINDOW_250_MS:
+ data[0] |= 0x04;
+ break;
+ case BMA253_D_TAP_WINDOW_375_MS:
+ data[0] |= 0x05;
+ break;
+ case BMA253_D_TAP_WINDOW_500_MS:
+ data[0] |= 0x06;
+ break;
+ case BMA253_D_TAP_WINDOW_700_MS:
+ data[0] |= 0x07;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (tap_int_cfg->tap_wake_samples) {
+ case BMA253_TAP_WAKE_SAMPLES_2:
+ data[1] |= 0x00 << 6;
+ break;
+ case BMA253_TAP_WAKE_SAMPLES_4:
+ data[1] |= 0x01 << 6;
+ break;
+ case BMA253_TAP_WAKE_SAMPLES_8:
+ data[1] |= 0x02 << 6;
+ break;
+ case BMA253_TAP_WAKE_SAMPLES_16:
+ data[1] |= 0x03 << 6;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ data[1] |= (uint8_t) (tap_int_cfg->thresh_g / thresh_scale) & 0x1F;
+
+ rc = set_register(itf, REG_ADDR_INT_8, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_9, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+enum orient_blocking
+{
+ ORIENT_BLOCKING_NONE = 0,
+ ORIENT_BLOCKING_ACCEL_ONLY = 1,
+ ORIENT_BLOCKING_ACCEL_AND_SLOPE = 2,
+ ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE = 3,
};
-enum orient_mode {
- ORIENT_MODE_SYMMETRICAL = 0,
- ORIENT_MODE_HIGH_ASYMMETRICAL = 1,
- ORIENT_MODE_LOW_ASYMMETRICAL = 2,
+enum orient_mode
+{
+ ORIENT_MODE_SYMMETRICAL = 0,
+ ORIENT_MODE_HIGH_ASYMMETRICAL = 1,
+ ORIENT_MODE_LOW_ASYMMETRICAL = 2,
};
-struct orient_int_cfg {
- float hyster_g;
- enum orient_blocking orient_blocking;
- enum orient_mode orient_mode;
- bool signal_up_down;
- uint8_t blocking_angle;
+struct orient_int_cfg
+{
+ float hyster_g;
+ enum orient_blocking orient_blocking;
+ enum orient_mode orient_mode;
+ bool signal_up_down;
+ uint8_t blocking_angle;
};
-int bma253_get_orient_int_cfg(const struct sensor_itf * itf,
- struct orient_int_cfg * orient_int_cfg)
-{
- uint8_t data[2];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_INT_A,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- orient_int_cfg->hyster_g = (float)((data[0] >> 4) & 0x07) * 0.0625;
-
- switch ((data[0] >> 2) & 0x03) {
- case 0x00:
- orient_int_cfg->orient_blocking =
- ORIENT_BLOCKING_NONE;
- break;
- case 0x01:
- orient_int_cfg->orient_blocking =
- ORIENT_BLOCKING_ACCEL_ONLY;
- break;
- case 0x02:
- orient_int_cfg->orient_blocking =
- ORIENT_BLOCKING_ACCEL_AND_SLOPE;
- break;
- case 0x03:
- orient_int_cfg->orient_blocking =
- ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE;
- break;
- }
-
- switch (data[0] & 0x03) {
- case 0x00:
- orient_int_cfg->orient_mode = ORIENT_MODE_SYMMETRICAL;
- break;
- case 0x01:
- orient_int_cfg->orient_mode = ORIENT_MODE_HIGH_ASYMMETRICAL;
- break;
- case 0x02:
- orient_int_cfg->orient_mode = ORIENT_MODE_LOW_ASYMMETRICAL;
- break;
- case 0x03:
- orient_int_cfg->orient_mode = ORIENT_MODE_SYMMETRICAL;
- break;
- }
-
- orient_int_cfg->signal_up_down = data[1] & 0x40;
- orient_int_cfg->blocking_angle = data[1] & 0x3F;
-
- return 0;
-}
-
-int bma253_set_orient_int_cfg(const struct sensor_itf * itf,
- const struct orient_int_cfg * orient_int_cfg)
-{
- uint8_t data[2];
- int rc;
-
- if (orient_int_cfg->hyster_g < 0.0 ||
- orient_int_cfg->hyster_g > (0.0625 * 7.0))
- return SYS_EINVAL;
- if (orient_int_cfg->blocking_angle > 0x3F)
- return SYS_EINVAL;
-
- data[0] = (uint8_t)(orient_int_cfg->hyster_g / 0.0625) << 4;
-
- switch (orient_int_cfg->orient_blocking) {
- case ORIENT_BLOCKING_NONE:
- data[0] |= 0x00 << 2;
- break;
- case ORIENT_BLOCKING_ACCEL_ONLY:
- data[0] |= 0x01 << 2;
- break;
- case ORIENT_BLOCKING_ACCEL_AND_SLOPE:
- data[0] |= 0x02 << 2;
- break;
- case ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE:
- data[0] |= 0x03 << 2;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (orient_int_cfg->orient_mode) {
- case ORIENT_MODE_SYMMETRICAL:
- data[0] |= 0x00;
- break;
- case ORIENT_MODE_HIGH_ASYMMETRICAL:
- data[0] |= 0x01;
- break;
- case ORIENT_MODE_LOW_ASYMMETRICAL:
- data[0] |= 0x02;
- break;
- default:
- return SYS_EINVAL;
- }
-
- data[1] = (orient_int_cfg->signal_up_down << 6) |
- ((orient_int_cfg->blocking_angle & 0x3F) << 0);
-
- rc = set_register(itf, REG_ADDR_INT_A, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_B, data[1]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-enum flat_hold {
- FLAT_HOLD_0_MS = 0,
- FLAT_HOLD_512_MS = 1,
- FLAT_HOLD_1024_MS = 2,
- FLAT_HOLD_2048_MS = 3,
+int
+bma253_get_orient_int_cfg(const struct sensor_itf * itf,
+ struct orient_int_cfg * orient_int_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_INT_A, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ orient_int_cfg->hyster_g = (float) ((data[0] >> 4) & 0x07) * 0.0625;
+
+ switch ((data[0] >> 2) & 0x03) {
+ case 0x00:
+ orient_int_cfg->orient_blocking = ORIENT_BLOCKING_NONE;
+ break;
+ case 0x01:
+ orient_int_cfg->orient_blocking = ORIENT_BLOCKING_ACCEL_ONLY;
+ break;
+ case 0x02:
+ orient_int_cfg->orient_blocking = ORIENT_BLOCKING_ACCEL_AND_SLOPE;
+ break;
+ case 0x03:
+ orient_int_cfg->orient_blocking =
+ ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE;
+ break;
+ }
+
+ switch (data[0] & 0x03) {
+ case 0x00:
+ orient_int_cfg->orient_mode = ORIENT_MODE_SYMMETRICAL;
+ break;
+ case 0x01:
+ orient_int_cfg->orient_mode = ORIENT_MODE_HIGH_ASYMMETRICAL;
+ break;
+ case 0x02:
+ orient_int_cfg->orient_mode = ORIENT_MODE_LOW_ASYMMETRICAL;
+ break;
+ case 0x03:
+ orient_int_cfg->orient_mode = ORIENT_MODE_SYMMETRICAL;
+ break;
+ }
+
+ orient_int_cfg->signal_up_down = data[1] & 0x40;
+ orient_int_cfg->blocking_angle = data[1] & 0x3F;
+
+ return 0;
+}
+
+int
+bma253_set_orient_int_cfg(const struct sensor_itf * itf,
+ const struct orient_int_cfg * orient_int_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ if (orient_int_cfg->hyster_g < 0.0
+ || orient_int_cfg->hyster_g > (0.0625 * 7.0)) {
+ return SYS_EINVAL;
+ }
+
+ if (orient_int_cfg->blocking_angle > 0x3F) {
+ return SYS_EINVAL;
+ }
+
+ data[0] = (uint8_t) (orient_int_cfg->hyster_g / 0.0625) << 4;
+
+ switch (orient_int_cfg->orient_blocking) {
+ case ORIENT_BLOCKING_NONE:
+ data[0] |= 0x00 << 2;
+ break;
+ case ORIENT_BLOCKING_ACCEL_ONLY:
+ data[0] |= 0x01 << 2;
+ break;
+ case ORIENT_BLOCKING_ACCEL_AND_SLOPE:
+ data[0] |= 0x02 << 2;
+ break;
+ case ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE:
+ data[0] |= 0x03 << 2;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (orient_int_cfg->orient_mode) {
+ case ORIENT_MODE_SYMMETRICAL:
+ data[0] |= 0x00;
+ break;
+ case ORIENT_MODE_HIGH_ASYMMETRICAL:
+ data[0] |= 0x01;
+ break;
+ case ORIENT_MODE_LOW_ASYMMETRICAL:
+ data[0] |= 0x02;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ data[1] = (orient_int_cfg->signal_up_down << 6)
+ | ((orient_int_cfg->blocking_angle & 0x3F) << 0);
+
+ rc = set_register(itf, REG_ADDR_INT_A, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_INT_B, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+enum flat_hold
+{
+ FLAT_HOLD_0_MS = 0,
+ FLAT_HOLD_512_MS = 1,
+ FLAT_HOLD_1024_MS = 2,
+ FLAT_HOLD_2048_MS = 3,
};
-struct flat_int_cfg {
- uint8_t flat_angle;
- enum flat_hold flat_hold;
- uint8_t flat_hyster;
- bool hyster_enable;
+struct flat_int_cfg
+{
+ uint8_t flat_angle;
+ enum flat_hold flat_hold;
+ uint8_t flat_hyster;
+ bool hyster_enable;
};
-int bma253_get_flat_int_cfg(const struct sensor_itf * itf,
- struct flat_int_cfg * flat_int_cfg)
+int
+bma253_get_flat_int_cfg(const struct sensor_itf * itf,
+ struct flat_int_cfg * flat_int_cfg)
{
- uint8_t data[2];
- int rc;
+ uint8_t data[2];
+ int rc;
- rc = get_registers(itf, REG_ADDR_INT_C,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
+ rc = get_registers(itf, REG_ADDR_INT_C, data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
- flat_int_cfg->flat_angle = data[0] & 0x3F;
+ flat_int_cfg->flat_angle = data[0] & 0x3F;
- switch ((data[1] >> 4) & 0x03) {
- case 0x00:
- flat_int_cfg->flat_hold = FLAT_HOLD_0_MS;
- break;
- case 0x01:
- flat_int_cfg->flat_hold = FLAT_HOLD_512_MS;
- break;
- case 0x02:
- flat_int_cfg->flat_hold = FLAT_HOLD_1024_MS;
- break;
- case 0x03:
- flat_int_cfg->flat_hold = FLAT_HOLD_2048_MS;
- break;
- }
+ switch ((data[1] >> 4) & 0x03) {
+ case 0x00:
+ flat_int_cfg->flat_hold = FLAT_HOLD_0_MS;
+ break;
+ case 0x01:
+ flat_int_cfg->flat_hold = FLAT_HOLD_512_MS;
+ break;
+ case 0x02:
+ flat_int_cfg->flat_hold = FLAT_HOLD_1024_MS;
+ break;
+ case 0x03:
+ flat_int_cfg->flat_hold = FLAT_HOLD_2048_MS;
+ break;
+ }
- flat_int_cfg->flat_hyster = data[1] & 0x07;
- flat_int_cfg->hyster_enable = (data[1] & 0x07) != 0x00;
+ flat_int_cfg->flat_hyster = data[1] & 0x07;
+ flat_int_cfg->hyster_enable = (data[1] & 0x07) != 0x00;
- return 0;
+ return 0;
}
-int bma253_set_flat_int_cfg(const struct sensor_itf * itf,
- const struct flat_int_cfg * flat_int_cfg)
+int
+bma253_set_flat_int_cfg(const struct sensor_itf * itf,
+ const struct flat_int_cfg * flat_int_cfg)
{
- uint8_t data[2];
- int rc;
+ uint8_t data[2];
+ int rc;
+
+ if (flat_int_cfg->flat_angle > 0x3F) {
+ return SYS_EINVAL;
+ }
- if (flat_int_cfg->flat_angle > 0x3F)
- return SYS_EINVAL;
- if (flat_int_cfg->flat_hyster == 0x00 &&
- flat_int_cfg->hyster_enable)
- return SYS_EINVAL;
+ if (flat_int_cfg->flat_hyster == 0x00 && flat_int_cfg->hyster_enable) {
+ return SYS_EINVAL;
+ }
- data[0] = flat_int_cfg->flat_angle & 0x3F;
- data[1] = 0;
+ data[0] = flat_int_cfg->flat_angle & 0x3F;
+ data[1] = 0;
- switch (flat_int_cfg->flat_hold) {
- case FLAT_HOLD_0_MS:
- data[1] |= 0x00 << 4;
- break;
- case FLAT_HOLD_512_MS:
- data[1] |= 0x01 << 4;
- break;
- case FLAT_HOLD_1024_MS:
- data[1] |= 0x02 << 4;
- break;
- case FLAT_HOLD_2048_MS:
- data[1] |= 0x03 << 4;
- break;
- }
+ switch (flat_int_cfg->flat_hold) {
+ case FLAT_HOLD_0_MS:
+ data[1] |= 0x00 << 4;
+ break;
+ case FLAT_HOLD_512_MS:
+ data[1] |= 0x01 << 4;
+ break;
+ case FLAT_HOLD_1024_MS:
+ data[1] |= 0x02 << 4;
+ break;
+ case FLAT_HOLD_2048_MS:
+ data[1] |= 0x03 << 4;
+ break;
+ }
- if (flat_int_cfg->hyster_enable)
- data[1] |= flat_int_cfg->flat_hyster & 0x07;
+ if (flat_int_cfg->hyster_enable) {
+ data[1] |= flat_int_cfg->flat_hyster & 0x07;
+ }
- rc = set_register(itf, REG_ADDR_INT_C, data[0]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_INT_D, data[1]);
- if (rc != 0)
- return rc;
+ rc = set_register(itf, REG_ADDR_INT_C, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
- return 0;
+ rc = set_register(itf, REG_ADDR_INT_D, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
}
-int bma253_get_fifo_wmark_level(const struct sensor_itf * itf,
- uint8_t * wmark_level)
+int
+bma253_get_fifo_wmark_level(const struct sensor_itf * itf,
+ uint8_t * wmark_level)
{
- uint8_t data;
- int rc;
+ uint8_t data;
+ int rc;
- rc = get_register(itf, REG_ADDR_FIFO_CONFIG_0, &data);
- if (rc != 0)
- return rc;
+ rc = get_register(itf, REG_ADDR_FIFO_CONFIG_0, &data);
+ if (rc != 0) {
+ return rc;
+ }
- *wmark_level = data & 0x3F;
+ *wmark_level = data & 0x3F;
- return 0;
+ return 0;
}
-int bma253_set_fifo_wmark_level(const struct sensor_itf * itf,
- uint8_t wmark_level)
+int
+bma253_set_fifo_wmark_level(const struct sensor_itf * itf, uint8_t wmark_level)
{
- uint8_t data;
+ uint8_t data;
- if (wmark_level > 32)
- return SYS_EINVAL;
+ if (wmark_level > 32) {
+ return SYS_EINVAL;
+ }
- data = wmark_level & 0x3F;
+ data = wmark_level & 0x3F;
- return set_register(itf, REG_ADDR_FIFO_CONFIG_0, data);
+ return set_register(itf, REG_ADDR_FIFO_CONFIG_0, data);
}
-enum self_test_ampl {
- SELF_TEST_AMPL_HIGH = 0,
- SELF_TEST_AMPL_LOW = 1,
+enum self_test_ampl
+{
+ SELF_TEST_AMPL_HIGH = 0, SELF_TEST_AMPL_LOW = 1,
};
-enum self_test_sign {
- SELF_TEST_SIGN_NEGATIVE = 0,
- SELF_TEST_SIGN_POSITIVE = 1,
+enum self_test_sign
+{
+ SELF_TEST_SIGN_NEGATIVE = 0, SELF_TEST_SIGN_POSITIVE = 1,
};
-struct self_test_cfg {
- enum self_test_ampl self_test_ampl;
- enum self_test_sign self_test_sign;
- enum axis self_test_axis;
- bool self_test_enabled;
+struct self_test_cfg
+{
+ enum self_test_ampl self_test_ampl;
+ enum self_test_sign self_test_sign;
+ enum axis self_test_axis;
+ bool self_test_enabled;
};
-int bma253_get_self_test_cfg(const struct sensor_itf * itf,
- struct self_test_cfg * self_test_cfg)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_PMU_SELF_TEST, &data);
- if (rc != 0)
- return rc;
-
- if ((data & 0x10) == 0)
- self_test_cfg->self_test_ampl = SELF_TEST_AMPL_LOW;
- else
- self_test_cfg->self_test_ampl = SELF_TEST_AMPL_HIGH;
- if ((data & 0x04) == 0)
- self_test_cfg->self_test_sign = SELF_TEST_SIGN_NEGATIVE;
- else
- self_test_cfg->self_test_sign = SELF_TEST_SIGN_POSITIVE;
-
- switch (data & 0x03) {
- case 0x00:
- self_test_cfg->self_test_axis = -1;
- self_test_cfg->self_test_enabled = false;
- break;
- case 0x01:
- self_test_cfg->self_test_axis = AXIS_X;
- self_test_cfg->self_test_enabled = true;
- break;
- case 0x02:
- self_test_cfg->self_test_axis = AXIS_Y;
- self_test_cfg->self_test_enabled = true;
- break;
- case 0x03:
- self_test_cfg->self_test_axis = AXIS_Z;
- self_test_cfg->self_test_enabled = true;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_self_test_cfg(const struct sensor_itf * itf,
- const struct self_test_cfg * self_test_cfg)
-{
- uint8_t data;
-
- data = 0;
-
- switch (self_test_cfg->self_test_ampl) {
- case SELF_TEST_AMPL_HIGH:
- data |= 0x10;
- break;
- case SELF_TEST_AMPL_LOW:
- data |= 0x00;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (self_test_cfg->self_test_sign) {
- case SELF_TEST_SIGN_NEGATIVE:
- data |= 0x00;
- break;
- case SELF_TEST_SIGN_POSITIVE:
- data |= 0x04;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (self_test_cfg->self_test_enabled) {
- switch (self_test_cfg->self_test_axis) {
- case AXIS_X:
- data |= 0x01;
- break;
- case AXIS_Y:
- data |= 0x02;
- break;
- case AXIS_Z:
- data |= 0x03;
- break;
- default:
- return SYS_EINVAL;
- }
- }
-
- return set_register(itf, REG_ADDR_PMU_SELF_TEST, data);
-}
-
-int bma253_get_nvm_control(const struct sensor_itf * itf,
- uint8_t * remaining_cycles,
- bool * load_from_nvm,
- bool * nvm_is_ready,
- bool * nvm_unlocked)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_TRIM_NVM_CTRL, &data);
- if (rc != 0)
- return rc;
-
- *remaining_cycles = (data >> 4) & 0x0F;
- *load_from_nvm = data & 0x08;
- *nvm_is_ready = data & 0x04;
- *nvm_unlocked = data & 0x01;
-
- return 0;
-}
-
-int bma253_set_nvm_control(const struct sensor_itf * itf,
- bool load_from_nvm,
- bool store_into_nvm,
- bool nvm_unlocked)
-{
- uint8_t data;
-
- data = (load_from_nvm << 3) |
- (store_into_nvm << 1) |
- (nvm_unlocked << 0);
-
- return set_register(itf, REG_ADDR_TRIM_NVM_CTRL, data);
-}
-
-int bma253_get_i2c_watchdog(const struct sensor_itf * itf,
- enum bma253_i2c_watchdog * i2c_watchdog)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_BGW_SPI3_WDT, &data);
- if (rc != 0)
- return rc;
-
- if ((data & 0x04) != 0) {
- if ((data & 0x02) != 0)
- *i2c_watchdog = BMA253_I2C_WATCHDOG_50_MS;
- else
- *i2c_watchdog = BMA253_I2C_WATCHDOG_1_MS;
- } else {
- *i2c_watchdog = BMA253_I2C_WATCHDOG_DISABLED;
- }
-
- return 0;
-}
-
-int bma253_set_i2c_watchdog(const struct sensor_itf * itf,
- enum bma253_i2c_watchdog i2c_watchdog)
-{
- uint8_t data;
-
- switch (i2c_watchdog) {
- case BMA253_I2C_WATCHDOG_DISABLED:
- data = 0x00;
- break;
- case BMA253_I2C_WATCHDOG_1_MS:
- data = 0x04;
- break;
- case BMA253_I2C_WATCHDOG_50_MS:
- data = 0x06;
- break;
- default:
- return SYS_EINVAL;
- }
-
- return set_register(itf, REG_ADDR_BGW_SPI3_WDT, data);
-}
+int
+bma253_get_self_test_cfg(const struct sensor_itf * itf,
+ struct self_test_cfg * self_test_cfg)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_PMU_SELF_TEST, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((data & 0x10) == 0)
+ self_test_cfg->self_test_ampl = SELF_TEST_AMPL_LOW;
+ else
+ self_test_cfg->self_test_ampl = SELF_TEST_AMPL_HIGH;
+ if ((data & 0x04) == 0)
+ self_test_cfg->self_test_sign = SELF_TEST_SIGN_NEGATIVE;
+ else
+ self_test_cfg->self_test_sign = SELF_TEST_SIGN_POSITIVE;
+
+ switch (data & 0x03) {
+ case 0x00:
+ self_test_cfg->self_test_axis = -1;
+ self_test_cfg->self_test_enabled = false;
+ break;
+ case 0x01:
+ self_test_cfg->self_test_axis = AXIS_X;
+ self_test_cfg->self_test_enabled = true;
+ break;
+ case 0x02:
+ self_test_cfg->self_test_axis = AXIS_Y;
+ self_test_cfg->self_test_enabled = true;
+ break;
+ case 0x03:
+ self_test_cfg->self_test_axis = AXIS_Z;
+ self_test_cfg->self_test_enabled = true;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_self_test_cfg(const struct sensor_itf * itf,
+ const struct self_test_cfg * self_test_cfg)
+{
+ uint8_t data;
+
+ data = 0;
+
+ switch (self_test_cfg->self_test_ampl) {
+ case SELF_TEST_AMPL_HIGH:
+ data |= 0x10;
+ break;
+ case SELF_TEST_AMPL_LOW:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (self_test_cfg->self_test_sign) {
+ case SELF_TEST_SIGN_NEGATIVE:
+ data |= 0x00;
+ break;
+ case SELF_TEST_SIGN_POSITIVE:
+ data |= 0x04;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ if (self_test_cfg->self_test_enabled) {
+ switch (self_test_cfg->self_test_axis) {
+ case AXIS_X:
+ data |= 0x01;
+ break;
+ case AXIS_Y:
+ data |= 0x02;
+ break;
+ case AXIS_Z:
+ data |= 0x03;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+ }
+
+ return set_register(itf, REG_ADDR_PMU_SELF_TEST, data);
+}
+
+int
+bma253_get_nvm_control(const struct sensor_itf * itf,
+ uint8_t * remaining_cycles,
+ bool * load_from_nvm,
+ bool * nvm_is_ready,
+ bool * nvm_unlocked)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_TRIM_NVM_CTRL, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *remaining_cycles = (data >> 4) & 0x0F;
+ *load_from_nvm = data & 0x08;
+ *nvm_is_ready = data & 0x04;
+ *nvm_unlocked = data & 0x01;
+
+ return 0;
+}
+
+int
+bma253_set_nvm_control(const struct sensor_itf * itf,
+bool load_from_nvm,
+ bool store_into_nvm,
+ bool nvm_unlocked)
+{
+ uint8_t data;
+
+ data = (load_from_nvm << 3) | (store_into_nvm << 1) | (nvm_unlocked << 0);
+
+ return set_register(itf, REG_ADDR_TRIM_NVM_CTRL, data);
+}
+
+int
+bma253_get_i2c_watchdog(const struct sensor_itf * itf,
+ enum bma253_i2c_watchdog * i2c_watchdog)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_BGW_SPI3_WDT, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((data & 0x04) != 0) {
+ if ((data & 0x02) != 0)
+ *i2c_watchdog = BMA253_I2C_WATCHDOG_50_MS;
+ else
+ *i2c_watchdog = BMA253_I2C_WATCHDOG_1_MS;
+ }
+ else {
+ *i2c_watchdog = BMA253_I2C_WATCHDOG_DISABLED;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_i2c_watchdog(const struct sensor_itf * itf,
+ enum bma253_i2c_watchdog i2c_watchdog)
+{
+ uint8_t data;
+
+ switch (i2c_watchdog) {
+ case BMA253_I2C_WATCHDOG_DISABLED:
+ data = 0x00;
+ break;
+ case BMA253_I2C_WATCHDOG_1_MS:
+ data = 0x04;
+ break;
+ case BMA253_I2C_WATCHDOG_50_MS:
+ data = 0x06;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(itf, REG_ADDR_BGW_SPI3_WDT, data);
+}
-struct slow_ofc_cfg {
- bool ofc_z_enabled;
- bool ofc_y_enabled;
- bool ofc_x_enabled;
- bool high_bw_cut_off;
+struct slow_ofc_cfg
+{
+ bool ofc_z_enabled;
+ bool ofc_y_enabled;
+ bool ofc_x_enabled;
+ bool high_bw_cut_off;
};
-int bma253_get_fast_ofc_cfg(const struct sensor_itf * itf,
- bool * fast_ofc_ready,
- enum bma253_offset_comp_target * ofc_target_z,
- enum bma253_offset_comp_target * ofc_target_y,
- enum bma253_offset_comp_target * ofc_target_x)
-{
- uint8_t data[2];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_OFC_CTRL,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- *fast_ofc_ready = data[0] & 0x10;
-
- switch ((data[1] >> 5) & 0x03) {
- case 0x00:
- *ofc_target_z = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- case 0x01:
- *ofc_target_z = BMA253_OFFSET_COMP_TARGET_POS_1_G;
- break;
- case 0x02:
- *ofc_target_z = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
- break;
- case 0x03:
- *ofc_target_z = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- }
-
- switch ((data[1] >> 3) & 0x03) {
- case 0x00:
- *ofc_target_y = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- case 0x01:
- *ofc_target_y = BMA253_OFFSET_COMP_TARGET_POS_1_G;
- break;
- case 0x02:
- *ofc_target_y = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
- break;
- case 0x03:
- *ofc_target_y = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- }
-
- switch ((data[1] >> 1) & 0x03) {
- case 0x00:
- *ofc_target_x = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- case 0x01:
- *ofc_target_x = BMA253_OFFSET_COMP_TARGET_POS_1_G;
- break;
- case 0x02:
- *ofc_target_x = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
- break;
- case 0x03:
- *ofc_target_x = BMA253_OFFSET_COMP_TARGET_0_G;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_fast_ofc_cfg(const struct sensor_itf * itf,
- enum axis fast_ofc_axis,
- enum bma253_offset_comp_target fast_ofc_target,
- bool trigger_fast_ofc)
-{
- uint8_t data[2];
- uint8_t axis_value;
- uint8_t axis_shift;
- int rc;
-
- data[0] = 0;
- data[1] = 0;
-
- switch (fast_ofc_axis) {
- case AXIS_X:
- axis_value = 0x01;
- axis_shift = 1;
- break;
- case AXIS_Y:
- axis_value = 0x02;
- axis_shift = 3;
- break;
- case AXIS_Z:
- axis_value = 0x03;
- axis_shift = 5;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (fast_ofc_target) {
- case BMA253_OFFSET_COMP_TARGET_0_G:
- data[1] |= 0x00 << axis_shift;
- break;
- case BMA253_OFFSET_COMP_TARGET_NEG_1_G:
- data[1] |= 0x02 << axis_shift;
- break;
- case BMA253_OFFSET_COMP_TARGET_POS_1_G:
- data[1] |= 0x01 << axis_shift;
- break;
- default:
- return SYS_EINVAL;
- }
-
- if (trigger_fast_ofc)
- data[0] |= axis_value << 5;
-
- rc = set_register(itf, REG_ADDR_OFC_SETTING, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_OFC_CTRL, data[0]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-int bma253_get_slow_ofc_cfg(const struct sensor_itf * itf,
- struct slow_ofc_cfg * slow_ofc_cfg)
-{
- uint8_t data[2];
- int rc;
-
- rc = get_registers(itf, REG_ADDR_OFC_CTRL,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
-
- slow_ofc_cfg->ofc_z_enabled = data[0] & 0x04;
- slow_ofc_cfg->ofc_y_enabled = data[0] & 0x02;
- slow_ofc_cfg->ofc_x_enabled = data[0] & 0x01;
- slow_ofc_cfg->high_bw_cut_off = data[1] & 0x01;
-
- return 0;
-}
-
-int bma253_set_slow_ofc_cfg(const struct sensor_itf * itf,
- const struct slow_ofc_cfg * slow_ofc_cfg)
-{
- uint8_t data[2];
- int rc;
-
- data[0] = (slow_ofc_cfg->ofc_z_enabled << 2) |
- (slow_ofc_cfg->ofc_y_enabled << 1) |
- (slow_ofc_cfg->ofc_x_enabled << 0);
- data[1] = slow_ofc_cfg->high_bw_cut_off << 0;
-
- rc = set_register(itf, REG_ADDR_OFC_SETTING, data[1]);
- if (rc != 0)
- return rc;
- rc = set_register(itf, REG_ADDR_OFC_CTRL, data[0]);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-int bma253_set_ofc_reset(const struct sensor_itf * itf)
-{
- return set_register(itf, REG_ADDR_OFC_CTRL, 0x80);
-}
-
-int bma253_get_ofc_offset(const struct sensor_itf * itf,
- enum axis axis,
- float * offset_g)
-{
- uint8_t reg_addr;
- uint8_t data;
- int rc;
-
- switch (axis) {
- case AXIS_X:
- reg_addr = REG_ADDR_OFC_OFFSET_X;
- break;
- case AXIS_Y:
- reg_addr = REG_ADDR_OFC_OFFSET_Y;
- break;
- case AXIS_Z:
- reg_addr = REG_ADDR_OFC_OFFSET_Z;
- break;
- default:
- return SYS_EINVAL;
- }
+int
+bma253_get_fast_ofc_cfg(const struct sensor_itf * itf,
+bool * fast_ofc_ready,
+ enum bma253_offset_comp_target * ofc_target_z,
+ enum bma253_offset_comp_target * ofc_target_y,
+ enum bma253_offset_comp_target * ofc_target_x)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_OFC_CTRL, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ *fast_ofc_ready = data[0] & 0x10;
+
+ switch ((data[1] >> 5) & 0x03) {
+ case 0x00:
+ *ofc_target_z = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ case 0x01:
+ *ofc_target_z = BMA253_OFFSET_COMP_TARGET_POS_1_G;
+ break;
+ case 0x02:
+ *ofc_target_z = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
+ break;
+ case 0x03:
+ *ofc_target_z = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ }
+
+ switch ((data[1] >> 3) & 0x03) {
+ case 0x00:
+ *ofc_target_y = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ case 0x01:
+ *ofc_target_y = BMA253_OFFSET_COMP_TARGET_POS_1_G;
+ break;
+ case 0x02:
+ *ofc_target_y = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
+ break;
+ case 0x03:
+ *ofc_target_y = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ }
+
+ switch ((data[1] >> 1) & 0x03) {
+ case 0x00:
+ *ofc_target_x = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ case 0x01:
+ *ofc_target_x = BMA253_OFFSET_COMP_TARGET_POS_1_G;
+ break;
+ case 0x02:
+ *ofc_target_x = BMA253_OFFSET_COMP_TARGET_NEG_1_G;
+ break;
+ case 0x03:
+ *ofc_target_x = BMA253_OFFSET_COMP_TARGET_0_G;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_fast_ofc_cfg(const struct sensor_itf * itf, enum axis fast_ofc_axis,
+ enum bma253_offset_comp_target fast_ofc_target,
+ bool trigger_fast_ofc)
+{
+ uint8_t data[2];
+ uint8_t axis_value;
+ uint8_t axis_shift;
+ int rc;
+
+ data[0] = 0;
+ data[1] = 0;
+
+ switch (fast_ofc_axis) {
+ case AXIS_X:
+ axis_value = 0x01;
+ axis_shift = 1;
+ break;
+ case AXIS_Y:
+ axis_value = 0x02;
+ axis_shift = 3;
+ break;
+ case AXIS_Z:
+ axis_value = 0x03;
+ axis_shift = 5;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (fast_ofc_target) {
+ case BMA253_OFFSET_COMP_TARGET_0_G:
+ data[1] |= 0x00 << axis_shift;
+ break;
+ case BMA253_OFFSET_COMP_TARGET_NEG_1_G:
+ data[1] |= 0x02 << axis_shift;
+ break;
+ case BMA253_OFFSET_COMP_TARGET_POS_1_G:
+ data[1] |= 0x01 << axis_shift;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ if (trigger_fast_ofc)
+ data[0] |= axis_value << 5;
+
+ rc = set_register(itf, REG_ADDR_OFC_SETTING, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_OFC_CTRL, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_get_slow_ofc_cfg(const struct sensor_itf * itf,
+ struct slow_ofc_cfg * slow_ofc_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(itf, REG_ADDR_OFC_CTRL, data,
+ sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ slow_ofc_cfg->ofc_z_enabled = data[0] & 0x04;
+ slow_ofc_cfg->ofc_y_enabled = data[0] & 0x02;
+ slow_ofc_cfg->ofc_x_enabled = data[0] & 0x01;
+ slow_ofc_cfg->high_bw_cut_off = data[1] & 0x01;
+
+ return 0;
+}
+
+int
+bma253_set_slow_ofc_cfg(const struct sensor_itf * itf,
+ const struct slow_ofc_cfg * slow_ofc_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ data[0] = (slow_ofc_cfg->ofc_z_enabled << 2)
+ | (slow_ofc_cfg->ofc_y_enabled << 1)
+ | (slow_ofc_cfg->ofc_x_enabled << 0);
+ data[1] = slow_ofc_cfg->high_bw_cut_off << 0;
+
+ rc = set_register(itf, REG_ADDR_OFC_SETTING, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = set_register(itf, REG_ADDR_OFC_CTRL, data[0]);
+
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_ofc_reset(const struct sensor_itf * itf)
+{
+ return set_register(itf, REG_ADDR_OFC_CTRL, 0x80);
+}
+
+int
+bma253_get_ofc_offset(const struct sensor_itf * itf, enum axis axis,
+ float * offset_g)
+{
+ uint8_t reg_addr;
+ uint8_t data;
+ int rc;
+
+ switch (axis) {
+ case AXIS_X:
+ reg_addr = REG_ADDR_OFC_OFFSET_X;
+ break;
+ case AXIS_Y:
+ reg_addr = REG_ADDR_OFC_OFFSET_Y;
+ break;
+ case AXIS_Z:
+ reg_addr = REG_ADDR_OFC_OFFSET_Z;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
- rc = get_register(itf, reg_addr, &data);
- if (rc != 0)
- return rc;
+ rc = get_register(itf, reg_addr, &data);
+ if (rc != 0) {
+ return rc;
+ }
- *offset_g = (float)(int8_t)data * 0.00781;
+ *offset_g = (float) (int8_t) data * 0.00781;
- return 0;
+ return 0;
}
-int bma253_set_ofc_offset(const struct sensor_itf * itf,
- enum axis axis,
- float offset_g)
+int
+bma253_set_ofc_offset(const struct sensor_itf * itf, enum axis axis,
+ float offset_g)
{
- uint8_t reg_addr;
- uint8_t data;
+ uint8_t reg_addr;
+ uint8_t data;
- switch (axis) {
- case AXIS_X:
- reg_addr = REG_ADDR_OFC_OFFSET_X;
- break;
- case AXIS_Y:
- reg_addr = REG_ADDR_OFC_OFFSET_Y;
- break;
- case AXIS_Z:
- reg_addr = REG_ADDR_OFC_OFFSET_Z;
- break;
- default:
- return SYS_EINVAL;
- }
+ switch (axis) {
+ case AXIS_X:
+ reg_addr = REG_ADDR_OFC_OFFSET_X;
+ break;
+ case AXIS_Y:
+ reg_addr = REG_ADDR_OFC_OFFSET_Y;
+ break;
+ case AXIS_Z:
+ reg_addr = REG_ADDR_OFC_OFFSET_Z;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
- data = (int8_t)(offset_g / 0.00781);
+ data = (int8_t) (offset_g / 0.00781);
- return set_register(itf, reg_addr, data);
+ return set_register(itf, reg_addr, data);
}
-enum saved_data_addr {
- SAVED_DATA_ADDR_0 = 0,
- SAVED_DATA_ADDR_1 = 1,
+enum saved_data_addr
+{
+ SAVED_DATA_ADDR_0 = 0, SAVED_DATA_ADDR_1 = 1,
};
-int bma253_get_saved_data(const struct sensor_itf * itf,
- enum saved_data_addr saved_data_addr,
- uint8_t * saved_data_val)
+int
+bma253_get_saved_data(const struct sensor_itf * itf,
+ enum saved_data_addr saved_data_addr,
+ uint8_t * saved_data_val)
{
- uint8_t reg_addr;
+ uint8_t reg_addr;
- switch (saved_data_addr) {
- case SAVED_DATA_ADDR_0:
- reg_addr = REG_ADDR_TRIM_GP0;
- break;
- case SAVED_DATA_ADDR_1:
- reg_addr = REG_ADDR_TRIM_GP1;
- break;
- default:
- return SYS_EINVAL;
- }
+ switch (saved_data_addr) {
+ case SAVED_DATA_ADDR_0:
+ reg_addr = REG_ADDR_TRIM_GP0;
+ break;
+ case SAVED_DATA_ADDR_1:
+ reg_addr = REG_ADDR_TRIM_GP1;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
- return get_register(itf, reg_addr, saved_data_val);
+ return get_register(itf, reg_addr, saved_data_val);
}
-int bma253_set_saved_data(const struct sensor_itf * itf,
- enum saved_data_addr saved_data_addr,
- uint8_t saved_data_val)
+int
+bma253_set_saved_data(const struct sensor_itf * itf,
+ enum saved_data_addr saved_data_addr,
+ uint8_t saved_data_val)
{
- uint8_t reg_addr;
+ uint8_t reg_addr;
- switch (saved_data_addr) {
- case SAVED_DATA_ADDR_0:
- reg_addr = REG_ADDR_TRIM_GP0;
- break;
- case SAVED_DATA_ADDR_1:
- reg_addr = REG_ADDR_TRIM_GP1;
- break;
- default:
- return SYS_EINVAL;
- }
+ switch (saved_data_addr) {
+ case SAVED_DATA_ADDR_0:
+ reg_addr = REG_ADDR_TRIM_GP0;
+ break;
+ case SAVED_DATA_ADDR_1:
+ reg_addr = REG_ADDR_TRIM_GP1;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
- return set_register(itf, reg_addr, saved_data_val);
+ return set_register(itf, reg_addr, saved_data_val);
}
-enum fifo_mode {
- FIFO_MODE_BYPASS = 0,
- FIFO_MODE_FIFO = 1,
- FIFO_MODE_STREAM = 2,
+enum fifo_mode
+{
+ FIFO_MODE_BYPASS = 0, FIFO_MODE_FIFO = 1, FIFO_MODE_STREAM = 2,
};
-enum fifo_data {
- FIFO_DATA_X_AND_Y_AND_Z = 0,
- FIFO_DATA_X_ONLY = 1,
- FIFO_DATA_Y_ONLY = 2,
- FIFO_DATA_Z_ONLY = 3,
+enum fifo_data
+{
+ FIFO_DATA_X_AND_Y_AND_Z = 0,
+ FIFO_DATA_X_ONLY = 1,
+ FIFO_DATA_Y_ONLY = 2,
+ FIFO_DATA_Z_ONLY = 3,
};
-struct fifo_cfg {
- enum fifo_mode fifo_mode;
- enum fifo_data fifo_data;
+struct fifo_cfg
+{
+ enum fifo_mode fifo_mode;
+ enum fifo_data fifo_data;
};
-int bma253_get_fifo_cfg(const struct sensor_itf * itf,
- struct fifo_cfg * fifo_cfg)
-{
- uint8_t data;
- int rc;
-
- rc = get_register(itf, REG_ADDR_FIFO_CONFIG_1, &data);
- if (rc != 0)
- return rc;
-
- switch ((data >> 6) & 0x03) {
- case 0x03:
- BMA253_ERROR("unknown FIFO_CONFIG_1 reg value 0x%02X\n", data);
- case 0x00:
- fifo_cfg->fifo_mode = FIFO_MODE_BYPASS;
- break;
- case 0x01:
- fifo_cfg->fifo_mode = FIFO_MODE_FIFO;
- break;
- case 0x02:
- fifo_cfg->fifo_mode = FIFO_MODE_STREAM;
- break;
- }
-
- switch ((data >> 0) & 0x03) {
- case 0x00:
- fifo_cfg->fifo_data = FIFO_DATA_X_AND_Y_AND_Z;
- break;
- case 0x01:
- fifo_cfg->fifo_data = FIFO_DATA_X_ONLY;
- break;
- case 0x02:
- fifo_cfg->fifo_data = FIFO_DATA_Y_ONLY;
- break;
- case 0x03:
- fifo_cfg->fifo_data = FIFO_DATA_Z_ONLY;
- break;
- }
-
- return 0;
-}
-
-int bma253_set_fifo_cfg(const struct sensor_itf * itf,
- const struct fifo_cfg * fifo_cfg)
-{
- uint8_t data;
-
- data = 0;
-
- switch (fifo_cfg->fifo_mode) {
- case FIFO_MODE_BYPASS:
- data |= 0x00 << 6;
- break;
- case FIFO_MODE_FIFO:
- data |= 0x01 << 6;
- break;
- case FIFO_MODE_STREAM:
- data |= 0x02 << 6;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (fifo_cfg->fifo_data) {
- case FIFO_DATA_X_AND_Y_AND_Z:
- data |= 0x00 << 0;
- break;
- case FIFO_DATA_X_ONLY:
- data |= 0x01 << 0;
- break;
- case FIFO_DATA_Y_ONLY:
- data |= 0x02 << 0;
- break;
- case FIFO_DATA_Z_ONLY:
- data |= 0x03 << 0;
- break;
- }
-
- return set_register(itf, REG_ADDR_FIFO_CONFIG_1, data);
-}
-
-int bma253_get_fifo(const struct sensor_itf * itf,
- enum bma253_g_range g_range,
- enum fifo_data fifo_data,
- struct accel_data * accel_data)
-{
- float accel_scale;
- uint8_t size, iter;
- uint8_t data[AXIS_ALL << 1];
- int rc;
-
- switch (g_range) {
- case BMA253_G_RANGE_2:
- accel_scale = 0.00098;
- break;
- case BMA253_G_RANGE_4:
- accel_scale = 0.00195;
- break;
- case BMA253_G_RANGE_8:
- accel_scale = 0.00391;
- break;
- case BMA253_G_RANGE_16:
- accel_scale = 0.00781;
- break;
- default:
- return SYS_EINVAL;
- }
-
- switch (fifo_data) {
- case FIFO_DATA_X_AND_Y_AND_Z:
- size = AXIS_ALL << 1;
- break;
- case FIFO_DATA_X_ONLY:
- case FIFO_DATA_Y_ONLY:
- case FIFO_DATA_Z_ONLY:
- size = 1 << 1;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = get_registers(itf, REG_ADDR_FIFO_DATA, data, size);
- if (rc != 0)
- return rc;
-
- for (iter = 0; iter < size; iter += 2)
- compute_accel_data(accel_data + (iter >> 1),
- data + iter,
- accel_scale);
-
- return 0;
-}
-
-static int self_test_enable(const struct sensor_itf * itf,
- enum self_test_ampl ampl,
- enum self_test_sign sign,
- enum axis axis)
-{
- struct self_test_cfg self_test_cfg;
-
- self_test_cfg.self_test_ampl = ampl;
- self_test_cfg.self_test_sign = sign;
- self_test_cfg.self_test_axis = axis;
- self_test_cfg.self_test_enabled = true;
-
- return bma253_set_self_test_cfg(itf, &self_test_cfg);
-}
-
-static int self_test_disable(const struct sensor_itf * itf)
-{
- struct self_test_cfg self_test_cfg;
-
- self_test_cfg.self_test_ampl = SELF_TEST_AMPL_LOW;
- self_test_cfg.self_test_sign = SELF_TEST_SIGN_NEGATIVE;
- self_test_cfg.self_test_axis = -1;
- self_test_cfg.self_test_enabled = false;
-
- return bma253_set_self_test_cfg(itf, &self_test_cfg);
-}
-
-static int self_test_nudge(const struct sensor_itf * itf,
- enum self_test_ampl ampl,
- enum self_test_sign sign,
- enum axis axis,
- enum bma253_g_range g_range,
- struct accel_data * accel_data)
-{
- int rc;
-
- rc = self_test_enable(itf,
- ampl,
- sign,
- axis);
- if (rc != 0)
- return rc;
-
- delay_msec(50);
-
- rc = bma253_get_accel(itf,
- g_range,
- axis,
- accel_data);
- if (rc != 0)
- return rc;
-
- rc = self_test_disable(itf);
- if (rc != 0)
- return rc;
-
- delay_msec(50);
-
- return 0;
-}
-
-static int self_test_axis(const struct sensor_itf * itf,
- enum axis axis,
- enum bma253_g_range g_range,
- float * delta_hi_g,
- float * delta_lo_g)
-{
- struct accel_data accel_neg_hi;
- struct accel_data accel_neg_lo;
- struct accel_data accel_pos_hi;
- struct accel_data accel_pos_lo;
- int rc;
-
- rc = self_test_nudge(itf,
- SELF_TEST_AMPL_HIGH,
- SELF_TEST_SIGN_NEGATIVE,
- axis,
- g_range,
- &accel_neg_hi);
- if (rc != 0)
- return rc;
- rc = self_test_nudge(itf,
- SELF_TEST_AMPL_LOW,
- SELF_TEST_SIGN_NEGATIVE,
- axis,
- g_range,
- &accel_neg_lo);
- if (rc != 0)
- return rc;
- rc = self_test_nudge(itf,
- SELF_TEST_AMPL_HIGH,
- SELF_TEST_SIGN_POSITIVE,
- axis,
- g_range,
- &accel_pos_hi);
- if (rc != 0)
- return rc;
- rc = self_test_nudge(itf,
- SELF_TEST_AMPL_LOW,
- SELF_TEST_SIGN_POSITIVE,
- axis,
- g_range,
- &accel_pos_lo);
- if (rc != 0)
- return rc;
-
- *delta_hi_g = accel_pos_hi.accel_g - accel_neg_hi.accel_g;
- *delta_lo_g = accel_pos_lo.accel_g - accel_neg_lo.accel_g;
-
- return 0;
-}
-
-int bma253_self_test(struct bma253 * bma253,
- float delta_high_mult,
- float delta_low_mult,
- bool * self_test_fail)
-{
- const struct sensor_itf * itf;
- enum bma253_g_range g_range;
- int rc;
- float delta_hi_x_g;
- float delta_lo_x_g;
- float delta_hi_y_g;
- float delta_lo_y_g;
- float delta_hi_z_g;
- float delta_lo_z_g;
- bool fail;
-
- itf = SENSOR_GET_ITF(&bma253->sensor);
- g_range = bma253->cfg.g_range;
-
- rc = bma253_set_g_range(itf, BMA253_G_RANGE_8);
- if (rc != 0)
- return rc;
-
- rc = self_test_axis(itf,
- AXIS_X,
- BMA253_G_RANGE_8,
- &delta_hi_x_g,
- &delta_lo_x_g);
- if (rc != 0)
- return rc;
- rc = self_test_axis(itf,
- AXIS_Y,
- BMA253_G_RANGE_8,
- &delta_hi_y_g,
- &delta_lo_y_g);
- if (rc != 0)
- return rc;
- rc = self_test_axis(itf,
- AXIS_Z,
- BMA253_G_RANGE_8,
- &delta_hi_z_g,
- &delta_lo_z_g);
- if (rc != 0)
- return rc;
-
- rc = self_test_disable(itf);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_g_range(itf, g_range);
- if (rc != 0)
- return rc;
-
- delay_msec(50);
-
- fail = false;
- if (delta_hi_x_g < delta_high_mult * 0.8)
- fail = true;
- if (delta_lo_x_g < delta_low_mult * 0.8)
- fail = true;
- if (delta_hi_y_g < delta_high_mult * 0.8)
- fail = true;
- if (delta_lo_y_g < delta_low_mult * 0.8)
- fail = true;
- if (delta_hi_z_g < delta_high_mult * 0.4)
- fail = true;
- if (delta_lo_z_g < delta_low_mult * 0.4)
- fail = true;
-
- *self_test_fail = fail;
-
- return 0;
-}
-
-static int axis_offset_compensation(const struct sensor_itf * itf,
- enum axis axis,
- enum bma253_offset_comp_target target)
-{
- int rc;
- bool ready;
- enum bma253_offset_comp_target target_z;
- enum bma253_offset_comp_target target_y;
- enum bma253_offset_comp_target target_x;
- uint32_t count;
-
- rc = bma253_get_fast_ofc_cfg(itf,
- &ready,
- &target_z,
- &target_y,
- &target_x);
- if (rc != 0)
- return rc;
-
- if (!ready) {
- BMA253_ERROR("offset compensation already in progress\n");
- return SYS_ETIMEOUT;
- }
-
- rc = bma253_set_fast_ofc_cfg(itf,
- axis,
- target,
- true);
- if (rc != 0)
- return rc;
-
- for (count = 1000; count != 0; count--) {
- rc = bma253_get_fast_ofc_cfg(itf,
- &ready,
- &target_z,
- &target_y,
- &target_x);
- if (rc != 0)
- return rc;
-
- if (ready)
- break;
- }
-
- if (count == 0) {
- BMA253_ERROR("offset compensation did not complete\n");
- return SYS_ETIMEOUT;
- }
-
- return 0;
-}
-
-int bma253_offset_compensation(struct bma253 * bma253,
- enum bma253_offset_comp_target target_x,
- enum bma253_offset_comp_target target_y,
- enum bma253_offset_comp_target target_z)
-{
- const struct sensor_itf * itf;
- enum bma253_g_range g_range;
- int rc;
-
- itf = SENSOR_GET_ITF(&bma253->sensor);
- g_range = bma253->cfg.g_range;
-
- rc = bma253_set_g_range(itf, BMA253_G_RANGE_2);
- if (rc != 0)
- return rc;
-
- rc = axis_offset_compensation(itf,
- AXIS_X,
- target_x);
- if (rc != 0)
- return rc;
- rc = axis_offset_compensation(itf,
- AXIS_Y,
- target_y);
- if (rc != 0)
- return rc;
- rc = axis_offset_compensation(itf,
- AXIS_Z,
- target_z);
- if (rc != 0)
- return rc;
-
- rc = bma253_get_ofc_offset(itf,
- AXIS_X,
- &bma253->cfg.offset_x_g);
- if (rc != 0)
- return rc;
- rc = bma253_get_ofc_offset(itf,
- AXIS_Y,
- &bma253->cfg.offset_y_g);
- if (rc != 0)
- return rc;
- rc = bma253_get_ofc_offset(itf,
- AXIS_Z,
- &bma253->cfg.offset_z_g);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_g_range(itf, g_range);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-int bma253_stream_read(struct bma253 * bma253,
- bma253_stream_read_func_t read_func,
- void * read_arg,
- uint32_t time_ms)
-{
- const struct sensor_itf * itf;
- enum bma253_g_range g_range;
- int rc;
- os_time_t stop_ticks;
- struct int_enable int_enable;
-
- itf = SENSOR_GET_ITF(&bma253->sensor);
- g_range = bma253->cfg.g_range;
+int
+bma253_get_fifo_cfg(const struct sensor_itf * itf, struct fifo_cfg * fifo_cfg)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(itf, REG_ADDR_FIFO_CONFIG_1, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ switch ((data >> 6) & 0x03) {
+ case 0x03:
+ BMA253_ERROR("unknown FIFO_CONFIG_1 reg value 0x%02X\n", data)
+ ;
+ case 0x00:
+ fifo_cfg->fifo_mode = FIFO_MODE_BYPASS;
+ break;
+ case 0x01:
+ fifo_cfg->fifo_mode = FIFO_MODE_FIFO;
+ break;
+ case 0x02:
+ fifo_cfg->fifo_mode = FIFO_MODE_STREAM;
+ break;
+ }
+
+ switch ((data >> 0) & 0x03) {
+ case 0x00:
+ fifo_cfg->fifo_data = FIFO_DATA_X_AND_Y_AND_Z;
+ break;
+ case 0x01:
+ fifo_cfg->fifo_data = FIFO_DATA_X_ONLY;
+ break;
+ case 0x02:
+ fifo_cfg->fifo_data = FIFO_DATA_Y_ONLY;
+ break;
+ case 0x03:
+ fifo_cfg->fifo_data = FIFO_DATA_Z_ONLY;
+ break;
+ }
+
+ return 0;
+}
+
+int
+bma253_set_fifo_cfg(const struct sensor_itf * itf,
+ const struct fifo_cfg * fifo_cfg)
+{
+ uint8_t data;
+
+ data = 0;
+
+ switch (fifo_cfg->fifo_mode) {
+ case FIFO_MODE_BYPASS:
+ data |= 0x00 << 6;
+ break;
+ case FIFO_MODE_FIFO:
+ data |= 0x01 << 6;
+ break;
+ case FIFO_MODE_STREAM:
+ data |= 0x02 << 6;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (fifo_cfg->fifo_data) {
+ case FIFO_DATA_X_AND_Y_AND_Z:
+ data |= 0x00 << 0;
+ break;
+ case FIFO_DATA_X_ONLY:
+ data |= 0x01 << 0;
+ break;
+ case FIFO_DATA_Y_ONLY:
+ data |= 0x02 << 0;
+ break;
+ case FIFO_DATA_Z_ONLY:
+ data |= 0x03 << 0;
+ break;
+ }
+
+ return set_register(itf, REG_ADDR_FIFO_CONFIG_1, data);
+}
+
+int
+bma253_get_fifo(const struct sensor_itf * itf, enum bma253_g_range g_range,
+ enum fifo_data fifo_data, struct accel_data * accel_data)
+{
+ float accel_scale;
+ uint8_t size, iter;
+ uint8_t data[AXIS_ALL << 1];
+ int rc;
+
+ switch (g_range) {
+ case BMA253_G_RANGE_2:
+ accel_scale = 0.00098;
+ break;
+ case BMA253_G_RANGE_4:
+ accel_scale = 0.00195;
+ break;
+ case BMA253_G_RANGE_8:
+ accel_scale = 0.00391;
+ break;
+ case BMA253_G_RANGE_16:
+ accel_scale = 0.00781;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (fifo_data) {
+ case FIFO_DATA_X_AND_Y_AND_Z:
+ size = AXIS_ALL << 1;
+ break;
+ case FIFO_DATA_X_ONLY:
+ case FIFO_DATA_Y_ONLY:
+ case FIFO_DATA_Z_ONLY:
+ size = 1 << 1;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = get_registers(itf, REG_ADDR_FIFO_DATA, data, size);
+ if (rc != 0) {
+ return rc;
+ }
+
+ for (iter = 0; iter < size; iter += 2)
+ compute_accel_data(accel_data + (iter >> 1), data + iter, accel_scale);
+
+ return 0;
+}
+
+static int
+self_test_enable(const struct sensor_itf * itf, enum self_test_ampl ampl,
+ enum self_test_sign sign, enum axis axis)
+{
+ struct self_test_cfg self_test_cfg;
+
+ self_test_cfg.self_test_ampl = ampl;
+ self_test_cfg.self_test_sign = sign;
+ self_test_cfg.self_test_axis = axis;
+ self_test_cfg.self_test_enabled = true;
+
+ return bma253_set_self_test_cfg(itf, &self_test_cfg);
+}
+
+static int
+self_test_disable(const struct sensor_itf * itf)
+{
+ struct self_test_cfg self_test_cfg;
+
+ self_test_cfg.self_test_ampl = SELF_TEST_AMPL_LOW;
+ self_test_cfg.self_test_sign = SELF_TEST_SIGN_NEGATIVE;
+ self_test_cfg.self_test_axis = -1;
+ self_test_cfg.self_test_enabled = false;
+
+ return bma253_set_self_test_cfg(itf, &self_test_cfg);
+}
+
+static int
+self_test_nudge(const struct sensor_itf * itf, enum self_test_ampl ampl,
+ enum self_test_sign sign, enum axis axis,
+ enum bma253_g_range g_range, struct accel_data * accel_data)
+{
+ int rc;
+
+ rc = self_test_enable(itf, ampl, sign, axis);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ rc = bma253_get_accel(itf, g_range, axis, accel_data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_disable(itf);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ return 0;
+}
+
+static int
+self_test_axis(const struct sensor_itf * itf, enum axis axis,
+ enum bma253_g_range g_range, float * delta_hi_g,
+ float * delta_lo_g)
+{
+ struct accel_data accel_neg_hi;
+ struct accel_data accel_neg_lo;
+ struct accel_data accel_pos_hi;
+ struct accel_data accel_pos_lo;
+ int rc;
+
+ rc = self_test_nudge(itf, SELF_TEST_AMPL_HIGH, SELF_TEST_SIGN_NEGATIVE,
+ axis, g_range, &accel_neg_hi);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_nudge(itf, SELF_TEST_AMPL_LOW, SELF_TEST_SIGN_NEGATIVE, axis,
+ g_range, &accel_neg_lo);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_nudge(itf, SELF_TEST_AMPL_HIGH, SELF_TEST_SIGN_POSITIVE,
+ axis, g_range, &accel_pos_hi);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_nudge(itf, SELF_TEST_AMPL_LOW, SELF_TEST_SIGN_POSITIVE, axis,
+ g_range, &accel_pos_lo);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *delta_hi_g = accel_pos_hi.accel_g - accel_neg_hi.accel_g;
+ *delta_lo_g = accel_pos_lo.accel_g - accel_neg_lo.accel_g;
+
+ return 0;
+}
+
+int
+bma253_self_test(struct bma253 * bma253, float delta_high_mult,
+ float delta_low_mult,
+ bool * self_test_fail)
+{
+ const struct sensor_itf * itf;
+ enum bma253_g_range g_range;
+ int rc;
+ float delta_hi_x_g;
+ float delta_lo_x_g;
+ float delta_hi_y_g;
+ float delta_lo_y_g;
+ float delta_hi_z_g;
+ float delta_lo_z_g;
+ bool fail;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+ g_range = bma253->cfg.g_range;
+
+ rc = bma253_set_g_range(itf, BMA253_G_RANGE_8);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_axis(itf, AXIS_X, BMA253_G_RANGE_8, &delta_hi_x_g,
+ &delta_lo_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_axis(itf, AXIS_Y, BMA253_G_RANGE_8, &delta_hi_y_g,
+ &delta_lo_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_axis(itf, AXIS_Z, BMA253_G_RANGE_8, &delta_hi_z_g,
+ &delta_lo_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_disable(itf);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(itf, g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ fail = false;
+ if (delta_hi_x_g < delta_high_mult * 0.8)
+ fail = true;
+ if (delta_lo_x_g < delta_low_mult * 0.8)
+ fail = true;
+ if (delta_hi_y_g < delta_high_mult * 0.8)
+ fail = true;
+ if (delta_lo_y_g < delta_low_mult * 0.8)
+ fail = true;
+ if (delta_hi_z_g < delta_high_mult * 0.4)
+ fail = true;
+ if (delta_lo_z_g < delta_low_mult * 0.4)
+ fail = true;
+
+ *self_test_fail = fail;
+
+ return 0;
+}
+
+static int
+axis_offset_compensation(const struct sensor_itf * itf, enum axis axis,
+ enum bma253_offset_comp_target target)
+{
+ int rc;
+ bool ready;
+ enum bma253_offset_comp_target target_z;
+ enum bma253_offset_comp_target target_y;
+ enum bma253_offset_comp_target target_x;
+ uint32_t count;
+
+ rc = bma253_get_fast_ofc_cfg(itf, &ready, &target_z, &target_y, &target_x);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (!ready) {
+ BMA253_ERROR("offset compensation already in progress\n");
+ return SYS_ETIMEOUT;
+ }
+
+ rc = bma253_set_fast_ofc_cfg(itf, axis, target, true);
+ if (rc != 0) {
+ return rc;
+ }
+
+ for (count = 1000; count != 0; count--) {
+ rc = bma253_get_fast_ofc_cfg(itf, &ready, &target_z, &target_y,
+ &target_x);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (ready)
+ break;
+ }
+
+ if (count == 0) {
+ BMA253_ERROR("offset compensation did not complete\n");
+ return SYS_ETIMEOUT;
+ }
+
+ return 0;
+}
+
+int
+bma253_offset_compensation(struct bma253 * bma253,
+ enum bma253_offset_comp_target target_x,
+ enum bma253_offset_comp_target target_y,
+ enum bma253_offset_comp_target target_z)
+{
+ const struct sensor_itf * itf;
+ enum bma253_g_range g_range;
+ int rc;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+ g_range = bma253->cfg.g_range;
+
+ rc = bma253_set_g_range(itf, BMA253_G_RANGE_2);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = axis_offset_compensation(itf, AXIS_X, target_x);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = axis_offset_compensation(itf, AXIS_Y, target_y);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = axis_offset_compensation(itf, AXIS_Z, target_z);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_ofc_offset(itf, AXIS_X, &bma253->cfg.offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_ofc_offset(itf, AXIS_Y, &bma253->cfg.offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_ofc_offset(itf, AXIS_Z, &bma253->cfg.offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(itf, g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_stream_read(struct bma253 * bma253, bma253_stream_read_func_t read_func,
+ void * read_arg, uint32_t time_ms)
+{
+ const struct sensor_itf * itf;
+ enum bma253_g_range g_range;
+ int rc;
+ os_time_t stop_ticks;
+ struct int_enable int_enable;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+ g_range = bma253->cfg.g_range;
stop_ticks = 0;
- if (time_ms != 0) {
- uint32_t time_ticks;
-
- rc = os_time_ms_to_ticks(time_ms, &time_ticks);
- if (rc != 0)
- return rc;
-
- stop_ticks = os_time_get() + time_ticks;
- }
-
- interrupt_undo(bma253->ints + BMA253_INT_PIN_1);
-
- int_enable.flat_int_enable = false;
- int_enable.orient_int_enable = false;
- int_enable.s_tap_int_enable = false;
- int_enable.d_tap_int_enable = false;
- int_enable.slope_z_int_enable = false;
- int_enable.slope_y_int_enable = false;
- int_enable.slope_x_int_enable = false;
- int_enable.fifo_wmark_int_enable = true;
- int_enable.fifo_full_int_enable = false;
- int_enable.data_int_enable = false;
- int_enable.low_g_int_enable = false;
- int_enable.high_g_z_int_enable = false;
- int_enable.high_g_y_int_enable = false;
- int_enable.high_g_x_int_enable = false;
- int_enable.no_motion_select = false;
- int_enable.slow_no_mot_z_int_enable = false;
- int_enable.slow_no_mot_y_int_enable = false;
- int_enable.slow_no_mot_x_int_enable = false;
-
- rc = bma253_set_int_enable(itf, &int_enable);
- if (rc != 0)
- return rc;
-
- for (;;) {
- struct accel_data accel_data[AXIS_ALL];
- struct sensor_accel_data sad;
-
- interrupt_wait(bma253->ints + BMA253_INT_PIN_1);
-
- rc = bma253_get_fifo(itf,
- g_range,
- FIFO_DATA_X_AND_Y_AND_Z,
- accel_data);
- if (rc != 0)
- return rc;
-
- sad.sad_x = accel_data[AXIS_X].accel_g;
- sad.sad_y = accel_data[AXIS_Y].accel_g;
- sad.sad_z = accel_data[AXIS_Z].accel_g;
- sad.sad_x_is_valid = 1;
- sad.sad_y_is_valid = 1;
- sad.sad_z_is_valid = 1;
-
- if (read_func(read_arg, &sad))
- break;
-
- if (time_ms != 0 &&
- OS_TIME_TICK_GT(os_time_get(), stop_ticks))
- break;
- }
-
- int_enable.flat_int_enable = false;
- int_enable.orient_int_enable = false;
- int_enable.s_tap_int_enable = false;
- int_enable.d_tap_int_enable = false;
- int_enable.slope_z_int_enable = false;
- int_enable.slope_y_int_enable = false;
- int_enable.slope_x_int_enable = false;
- int_enable.fifo_wmark_int_enable = false;
- int_enable.fifo_full_int_enable = false;
- int_enable.data_int_enable = false;
- int_enable.low_g_int_enable = false;
- int_enable.high_g_z_int_enable = false;
- int_enable.high_g_y_int_enable = false;
- int_enable.high_g_x_int_enable = false;
- int_enable.no_motion_select = false;
- int_enable.slow_no_mot_z_int_enable = false;
- int_enable.slow_no_mot_y_int_enable = false;
- int_enable.slow_no_mot_x_int_enable = false;
-
- rc = bma253_set_int_enable(itf, &int_enable);
- if (rc != 0)
- return rc;
-
- return 0;
-}
-
-int bma253_wait_for_tap(struct bma253 * bma253,
- enum bma253_tap_type tap_type)
-{
- const struct sensor_itf * itf;
- struct int_enable int_enable;
- int rc;
-
- itf = SENSOR_GET_ITF(&bma253->sensor);
-
- switch (tap_type) {
- case BMA253_TAP_TYPE_DOUBLE:
- case BMA253_TAP_TYPE_SINGLE:
- break;
- default:
- return SYS_EINVAL;
- }
-
- interrupt_undo(bma253->ints + BMA253_INT_PIN_2);
-
- int_enable.flat_int_enable = false;
- int_enable.orient_int_enable = false;
- int_enable.s_tap_int_enable = tap_type == BMA253_TAP_TYPE_SINGLE;
- int_enable.d_tap_int_enable = tap_type == BMA253_TAP_TYPE_DOUBLE;
- int_enable.slope_z_int_enable = false;
- int_enable.slope_y_int_enable = false;
- int_enable.slope_x_int_enable = false;
- int_enable.fifo_wmark_int_enable = false;
- int_enable.fifo_full_int_enable = false;
- int_enable.data_int_enable = false;
- int_enable.low_g_int_enable = false;
- int_enable.high_g_z_int_enable = false;
- int_enable.high_g_y_int_enable = false;
- int_enable.high_g_x_int_enable = false;
- int_enable.no_motion_select = false;
- int_enable.slow_no_mot_z_int_enable = false;
- int_enable.slow_no_mot_y_int_enable = false;
- int_enable.slow_no_mot_x_int_enable = false;
-
- rc = bma253_set_int_enable(itf, &int_enable);
- if (rc != 0)
- return rc;
-
- interrupt_wait(bma253->ints + BMA253_INT_PIN_2);
-
- int_enable.flat_int_enable = false;
- int_enable.orient_int_enable = false;
- int_enable.s_tap_int_enable = false;
- int_enable.d_tap_int_enable = false;
- int_enable.slope_z_int_enable = false;
- int_enable.slope_y_int_enable = false;
- int_enable.slope_x_int_enable = false;
- int_enable.fifo_wmark_int_enable = false;
- int_enable.fifo_full_int_enable = false;
- int_enable.data_int_enable = false;
- int_enable.low_g_int_enable = false;
- int_enable.high_g_z_int_enable = false;
- int_enable.high_g_y_int_enable = false;
- int_enable.high_g_x_int_enable = false;
- int_enable.no_motion_select = false;
- int_enable.slow_no_mot_z_int_enable = false;
- int_enable.slow_no_mot_y_int_enable = false;
- int_enable.slow_no_mot_x_int_enable = false;
-
- rc = bma253_set_int_enable(itf, &int_enable);
- if (rc != 0)
- return rc;
-
- return 0;
+ if (time_ms != 0) {
+ uint32_t time_ticks;
+
+ rc = os_time_ms_to_ticks(time_ms, &time_ticks);
+ if (rc != 0) {
+ return rc;
+ }
+
+ stop_ticks = os_time_get() + time_ticks;
+ }
+
+ interrupt_undo(bma253->ints + BMA253_INT_PIN_1);
+
+ int_enable.flat_int_enable = false;
+ int_enable.orient_int_enable = false;
+ int_enable.s_tap_int_enable = false;
+ int_enable.d_tap_int_enable = false;
+ int_enable.slope_z_int_enable = false;
+ int_enable.slope_y_int_enable = false;
+ int_enable.slope_x_int_enable = false;
+ int_enable.fifo_wmark_int_enable = true;
+ int_enable.fifo_full_int_enable = false;
+ int_enable.data_int_enable = false;
+ int_enable.low_g_int_enable = false;
+ int_enable.high_g_z_int_enable = false;
+ int_enable.high_g_y_int_enable = false;
+ int_enable.high_g_x_int_enable = false;
+ int_enable.no_motion_select = false;
+ int_enable.slow_no_mot_z_int_enable = false;
+ int_enable.slow_no_mot_y_int_enable = false;
+ int_enable.slow_no_mot_x_int_enable = false;
+
+ rc = bma253_set_int_enable(itf, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ for (;;) {
+ struct accel_data accel_data[AXIS_ALL];
+ struct sensor_accel_data sad;
+
+ interrupt_wait(bma253->ints + BMA253_INT_PIN_1);
+
+ rc = bma253_get_fifo(itf, g_range, FIFO_DATA_X_AND_Y_AND_Z, accel_data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ sad.sad_x = accel_data[AXIS_X].accel_g;
+ sad.sad_y = accel_data[AXIS_Y].accel_g;
+ sad.sad_z = accel_data[AXIS_Z].accel_g;
+ sad.sad_x_is_valid = 1;
+ sad.sad_y_is_valid = 1;
+ sad.sad_z_is_valid = 1;
+
+ if (read_func(read_arg, &sad))
+ break;
+
+ if (time_ms != 0 && OS_TIME_TICK_GT(os_time_get(), stop_ticks))
+ break;
+ }
+
+ int_enable.flat_int_enable = false;
+ int_enable.orient_int_enable = false;
+ int_enable.s_tap_int_enable = false;
+ int_enable.d_tap_int_enable = false;
+ int_enable.slope_z_int_enable = false;
+ int_enable.slope_y_int_enable = false;
+ int_enable.slope_x_int_enable = false;
+ int_enable.fifo_wmark_int_enable = false;
+ int_enable.fifo_full_int_enable = false;
+ int_enable.data_int_enable = false;
+ int_enable.low_g_int_enable = false;
+ int_enable.high_g_z_int_enable = false;
+ int_enable.high_g_y_int_enable = false;
+ int_enable.high_g_x_int_enable = false;
+ int_enable.no_motion_select = false;
+ int_enable.slow_no_mot_z_int_enable = false;
+ int_enable.slow_no_mot_y_int_enable = false;
+ int_enable.slow_no_mot_x_int_enable = false;
+
+ rc = bma253_set_int_enable(itf, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_wait_for_tap(struct bma253 * bma253, enum bma253_tap_type tap_type)
+{
+ const struct sensor_itf * itf;
+ struct int_enable int_enable;
+ int rc;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+
+ switch (tap_type) {
+ case BMA253_TAP_TYPE_DOUBLE:
+ case BMA253_TAP_TYPE_SINGLE:
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ interrupt_undo(bma253->ints + BMA253_INT_PIN_2);
+
+ int_enable.flat_int_enable = false;
+ int_enable.orient_int_enable = false;
+ int_enable.s_tap_int_enable = tap_type == BMA253_TAP_TYPE_SINGLE;
+ int_enable.d_tap_int_enable = tap_type == BMA253_TAP_TYPE_DOUBLE;
+ int_enable.slope_z_int_enable = false;
+ int_enable.slope_y_int_enable = false;
+ int_enable.slope_x_int_enable = false;
+ int_enable.fifo_wmark_int_enable = false;
+ int_enable.fifo_full_int_enable = false;
+ int_enable.data_int_enable = false;
+ int_enable.low_g_int_enable = false;
+ int_enable.high_g_z_int_enable = false;
+ int_enable.high_g_y_int_enable = false;
+ int_enable.high_g_x_int_enable = false;
+ int_enable.no_motion_select = false;
+ int_enable.slow_no_mot_z_int_enable = false;
+ int_enable.slow_no_mot_y_int_enable = false;
+ int_enable.slow_no_mot_x_int_enable = false;
+
+ rc = bma253_set_int_enable(itf, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ interrupt_wait(bma253->ints + BMA253_INT_PIN_2);
+
+ int_enable.flat_int_enable = false;
+ int_enable.orient_int_enable = false;
+ int_enable.s_tap_int_enable = false;
+ int_enable.d_tap_int_enable = false;
+ int_enable.slope_z_int_enable = false;
+ int_enable.slope_y_int_enable = false;
+ int_enable.slope_x_int_enable = false;
+ int_enable.fifo_wmark_int_enable = false;
+ int_enable.fifo_full_int_enable = false;
+ int_enable.data_int_enable = false;
+ int_enable.low_g_int_enable = false;
+ int_enable.high_g_z_int_enable = false;
+ int_enable.high_g_y_int_enable = false;
+ int_enable.high_g_x_int_enable = false;
+ int_enable.no_motion_select = false;
+ int_enable.slow_no_mot_z_int_enable = false;
+ int_enable.slow_no_mot_y_int_enable = false;
+ int_enable.slow_no_mot_x_int_enable = false;
+
+ rc = bma253_set_int_enable(itf, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
}
// TODO In suspend mode (or low-power mode 1) an interface idle time of at least 450 us is required
@@ -3281,280 +3500,306 @@ int bma253_wait_for_tap(struct bma253 * bma253,
// TODO enter/exit power modes dynamically - will likely need to pull reset out
// TODO public API setter for power mode
-struct sensor_driver_read_context {
- int result_code;
- sensor_data_func_t data_func;
- void * data_arg;
- struct sensor * sensor;
+struct sensor_driver_read_context
+{
+ int result_code;
+ sensor_data_func_t data_func;
+ void * data_arg;
+ struct sensor * sensor;
};
-static bool sensor_driver_read_func(void * arg,
- struct sensor_accel_data * sad)
+static bool
+sensor_driver_read_func(void * arg, struct sensor_accel_data * sad)
{
- struct sensor_driver_read_context * context;
+ struct sensor_driver_read_context * context;
- context = (struct sensor_driver_read_context *)arg;
+ context = (struct sensor_driver_read_context *) arg;
- context->result_code = context->data_func(context->sensor,
- context->data_arg,
- sad,
- SENSOR_TYPE_ACCELEROMETER);
+ context->result_code = context->data_func(context->sensor,
+ context->data_arg, sad,
+ SENSOR_TYPE_ACCELEROMETER);
- return true;
+ return true;
}
-static int sensor_driver_read(struct sensor * sensor,
- sensor_type_t sensor_type,
- sensor_data_func_t data_func,
- void * data_arg,
- uint32_t timeout)
+static int
+sensor_driver_read(struct sensor * sensor, sensor_type_t sensor_type,
+ sensor_data_func_t data_func, void * data_arg,
+ uint32_t timeout)
{
- struct bma253 * bma253;
- struct sensor_driver_read_context context;
- int rc;
+ struct bma253 * bma253;
+ struct sensor_driver_read_context context;
+ int rc;
- if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER))
- return SYS_EINVAL;
+ if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER)) {
+ return SYS_EINVAL;
+ }
- bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ bma253 = (struct bma253 *) SENSOR_GET_DEVICE(sensor);
- context.data_func = data_func;
- context.data_arg = data_arg;
- context.sensor = sensor;
+ context.data_func = data_func;
+ context.data_arg = data_arg;
+ context.sensor = sensor;
- rc = bma253_stream_read(bma253,
- sensor_driver_read_func,
- &context,
- 0);
- if (rc != 0)
- return rc;
+ rc = bma253_stream_read(bma253, sensor_driver_read_func, &context, 0);
+ if (rc != 0) {
+ return rc;
+ }
- return context.result_code;
+ return context.result_code;
}
-static int sensor_driver_get_config(struct sensor * sensor,
- sensor_type_t sensor_type,
- struct sensor_cfg * cfg)
+static int
+sensor_driver_get_config(struct sensor * sensor, sensor_type_t sensor_type,
+ struct sensor_cfg * cfg)
{
- if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER))
- return SYS_EINVAL;
+ if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER))
+ return SYS_EINVAL;
- cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
- return 0;
+ return 0;
}
-static struct sensor_driver bma253_sensor_driver = {
- .sd_read = sensor_driver_read,
- .sd_get_config = sensor_driver_get_config,
-};
+static struct sensor_driver bma253_sensor_driver =
+ { .sd_read = sensor_driver_read,
+ .sd_get_config = sensor_driver_get_config, };
-int bma253_config(struct bma253 * bma253, struct bma253_cfg * cfg)
-{
- struct sensor * sensor;
- const struct sensor_itf * itf;
- int rc;
- uint8_t chip_id;
- struct int_routes int_routes;
- struct int_filters int_filters;
- struct int_pin_electrical int_pin_electrical;
- struct tap_int_cfg tap_int_cfg;
- struct fifo_cfg fifo_cfg;
- hal_gpio_irq_trig_t gpio_trig;
-
- sensor = &bma253->sensor;
- itf = SENSOR_GET_ITF(sensor);
-
- rc = bma253_get_chip_id(itf, &chip_id);
- if (rc != 0)
- return rc;
- if (chip_id != REG_VALUE_CHIP_ID) {
- BMA253_ERROR("received incorrect chip ID 0x%02X\n", chip_id);
- return SYS_EINVAL;
- }
-
- rc = bma253_set_softreset(itf);
- if (rc != 0)
- return rc;
-
- delay_msec(2);
-
- rc = bma253_set_g_range(itf, cfg->g_range);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_filter_bandwidth(itf, cfg->filter_bandwidth);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_data_acquisition(itf, cfg->use_unfiltered_data, false);
- if (rc != 0)
- return rc;
-
- int_routes.flat_int_route = INT_ROUTE_NONE;
- int_routes.orient_int_route = INT_ROUTE_NONE;
- int_routes.s_tap_int_route = INT_ROUTE_PIN_2;
- int_routes.d_tap_int_route = INT_ROUTE_PIN_2;
- int_routes.slow_no_mot_int_route = INT_ROUTE_NONE;
- int_routes.slope_int_route = INT_ROUTE_NONE;
- int_routes.high_g_int_route = INT_ROUTE_NONE;
- int_routes.low_g_int_route = INT_ROUTE_NONE;
- int_routes.fifo_wmark_int_route = INT_ROUTE_PIN_1;
- int_routes.fifo_full_int_route = INT_ROUTE_NONE;
- int_routes.data_int_route = INT_ROUTE_NONE;
-
- rc = bma253_set_int_routes(itf, &int_routes);
- if (rc != 0)
- return rc;
-
- int_filters.unfiltered_data_int = cfg->use_unfiltered_data;
- int_filters.unfiltered_tap_int = cfg->use_unfiltered_data;
- int_filters.unfiltered_slow_no_mot_int = cfg->use_unfiltered_data;
- int_filters.unfiltered_slope_int = cfg->use_unfiltered_data;
- int_filters.unfiltered_high_g_int = cfg->use_unfiltered_data;
- int_filters.unfiltered_low_g_int = cfg->use_unfiltered_data;
-
- rc = bma253_set_int_filters(itf, &int_filters);
- if (rc != 0)
- return rc;
-
- int_pin_electrical.pin1_output = cfg->int_pin_output;
- int_pin_electrical.pin1_active = cfg->int_pin_active;
- int_pin_electrical.pin2_output = cfg->int_pin_output;
- int_pin_electrical.pin2_active = cfg->int_pin_active;
-
- rc = bma253_set_int_pin_electrical(itf, &int_pin_electrical);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_int_latch(itf, false, INT_LATCH_NON_LATCHED);
- if (rc != 0)
- return rc;
-
- tap_int_cfg.tap_quiet = cfg->tap_quiet;
- tap_int_cfg.tap_shock = cfg->tap_shock;
- tap_int_cfg.d_tap_window = cfg->d_tap_window;
- tap_int_cfg.tap_wake_samples = cfg->tap_wake_samples;
- tap_int_cfg.thresh_g = cfg->tap_thresh_g;
-
- rc = bma253_set_tap_int_cfg(itf, cfg->g_range, &tap_int_cfg);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_fifo_wmark_level(itf, 1);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_i2c_watchdog(itf, cfg->i2c_watchdog);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_ofc_offset(itf,
- AXIS_X,
- cfg->offset_x_g);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_ofc_offset(itf,
- AXIS_Y,
- cfg->offset_y_g);
- if (rc != 0)
- return rc;
-
- rc = bma253_set_ofc_offset(itf,
- AXIS_Z,
- cfg->offset_z_g);
- if (rc != 0)
- return rc;
-
- fifo_cfg.fifo_mode = FIFO_MODE_BYPASS;
- fifo_cfg.fifo_data = FIFO_DATA_X_AND_Y_AND_Z;
-
- rc = bma253_set_fifo_cfg(itf, &fifo_cfg);
- if (rc != 0)
- return rc;
-
- switch (cfg->int_pin_active) {
- case BMA253_INT_PIN_ACTIVE_LOW:
- gpio_trig = HAL_GPIO_TRIG_FALLING;
- break;
- case BMA253_INT_PIN_ACTIVE_HIGH:
- gpio_trig = HAL_GPIO_TRIG_RISING;
- break;
- default:
- return SYS_EINVAL;
- }
-
- rc = hal_gpio_irq_init(cfg->int_pin1_num,
- interrupt_handler,
- bma253->ints + BMA253_INT_PIN_1,
- gpio_trig,
- HAL_GPIO_PULL_NONE);
- if (rc != 0)
- return rc;
-
- if (cfg->int_pin2_num) {
- rc = hal_gpio_irq_init(cfg->int_pin2_num,
- interrupt_handler,
- bma253->ints + BMA253_INT_PIN_2,
- gpio_trig,
- HAL_GPIO_PULL_NONE);
- if (rc != 0)
- return rc;
- hal_gpio_irq_enable(cfg->int_pin2_num);
- }
-
- hal_gpio_irq_enable(cfg->int_pin1_num);
-
- rc = sensor_set_type_mask(sensor, cfg->sensor_mask);
- if (rc != 0)
- return rc;
-
- bma253->cfg = *cfg;
-
- return 0;
-}
-
-int bma253_init(struct os_dev * dev, void * arg)
-{
- struct bma253 * bma253;
- struct sensor * sensor;
- int rc;
-
- if (!dev || !arg)
- return SYS_ENODEV;
+int
+bma253_config(struct bma253 * bma253, struct bma253_cfg * cfg)
+{
+ struct sensor * sensor;
+ const struct sensor_itf * itf;
+ int rc;
+ uint8_t chip_id;
+ struct int_routes int_routes;
+ struct int_filters int_filters;
+ struct int_pin_electrical int_pin_electrical;
+ struct tap_int_cfg tap_int_cfg;
+ struct fifo_cfg fifo_cfg;
+ hal_gpio_irq_trig_t gpio_trig;
+
+ sensor = &bma253->sensor;
+ itf = SENSOR_GET_ITF(sensor);
+
+ rc = bma253_get_chip_id(itf, &chip_id);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (chip_id != REG_VALUE_CHIP_ID) {
+ BMA253_ERROR("received incorrect chip ID 0x%02X\n", chip_id);
+ return SYS_EINVAL;
+ }
+
+ rc = bma253_set_softreset(itf);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(2);
+
+ rc = bma253_set_g_range(itf, cfg->g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_filter_bandwidth(itf, cfg->filter_bandwidth);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_data_acquisition(itf, cfg->use_unfiltered_data, false);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_routes.flat_int_route = INT_ROUTE_NONE;
+ int_routes.orient_int_route = INT_ROUTE_NONE;
+ int_routes.s_tap_int_route = INT_ROUTE_PIN_2;
+ int_routes.d_tap_int_route = INT_ROUTE_PIN_2;
+ int_routes.slow_no_mot_int_route = INT_ROUTE_NONE;
+ int_routes.slope_int_route = INT_ROUTE_NONE;
+ int_routes.high_g_int_route = INT_ROUTE_NONE;
+ int_routes.low_g_int_route = INT_ROUTE_NONE;
+ int_routes.fifo_wmark_int_route = INT_ROUTE_PIN_1;
+ int_routes.fifo_full_int_route = INT_ROUTE_NONE;
+ int_routes.data_int_route = INT_ROUTE_NONE;
+
+ rc = bma253_set_int_routes(itf, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_filters.unfiltered_data_int = cfg->use_unfiltered_data;
+ int_filters.unfiltered_tap_int = cfg->use_unfiltered_data;
+ int_filters.unfiltered_slow_no_mot_int = cfg->use_unfiltered_data;
+ int_filters.unfiltered_slope_int = cfg->use_unfiltered_data;
+ int_filters.unfiltered_high_g_int = cfg->use_unfiltered_data;
+ int_filters.unfiltered_low_g_int = cfg->use_unfiltered_data;
+
+ rc = bma253_set_int_filters(itf, &int_filters);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_pin_electrical.pin1_output = cfg->int_pin_output;
+ int_pin_electrical.pin1_active = cfg->int_pin_active;
+ int_pin_electrical.pin2_output = cfg->int_pin_output;
+ int_pin_electrical.pin2_active = cfg->int_pin_active;
+
+ rc = bma253_set_int_pin_electrical(itf, &int_pin_electrical);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_int_latch(itf, false, INT_LATCH_NON_LATCHED);
+ if (rc != 0)
+ return rc;
+
+ tap_int_cfg.tap_quiet = cfg->tap_quiet;
+ tap_int_cfg.tap_shock = cfg->tap_shock;
+ tap_int_cfg.d_tap_window = cfg->d_tap_window;
+ tap_int_cfg.tap_wake_samples = cfg->tap_wake_samples;
+ tap_int_cfg.thresh_g = cfg->tap_thresh_g;
+
+ rc = bma253_set_tap_int_cfg(itf, cfg->g_range, &tap_int_cfg);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_fifo_wmark_level(itf, 1);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_i2c_watchdog(itf, cfg->i2c_watchdog);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(itf, AXIS_X, cfg->offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(itf, AXIS_Y, cfg->offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(itf, AXIS_Z, cfg->offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ fifo_cfg.fifo_mode = FIFO_MODE_BYPASS;
+ fifo_cfg.fifo_data = FIFO_DATA_X_AND_Y_AND_Z;
+
+ rc = bma253_set_fifo_cfg(itf, &fifo_cfg);
+ if (rc != 0) {
+ return rc;
+ }
+
+ switch (cfg->int_pin_active) {
+ case BMA253_INT_PIN_ACTIVE_LOW:
+ gpio_trig = HAL_GPIO_TRIG_FALLING;
+ break;
+ case BMA253_INT_PIN_ACTIVE_HIGH:
+ gpio_trig = HAL_GPIO_TRIG_RISING;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = hal_gpio_irq_init(cfg->int_pin1_num,
+ interrupt_handler,
+ bma253->ints + BMA253_INT_PIN_1,
+ gpio_trig,
+ HAL_GPIO_PULL_NONE);
+ if (rc != 0) {
+ return rc;
+ }
+
+ bma253->ints[BMA253_INT_PIN_1].pin = cfg->int_pin1_num;
+ bma253->ints[BMA253_INT_PIN_1].pin_active = cfg->int_pin_active;
+
+ if (cfg->int_pin2_num >= 0) {
+ rc = hal_gpio_irq_init(cfg->int_pin2_num,
+ interrupt_handler,
+ bma253->ints + BMA253_INT_PIN_2,
+ gpio_trig,
+ HAL_GPIO_PULL_NONE);
+ if (rc != 0) {
+ return rc;
+ }
+
+ bma253->ints[BMA253_INT_PIN_2].pin = cfg->int_pin2_num;
+ bma253->ints[BMA253_INT_PIN_2].pin_active = cfg->int_pin_active;
+
+ hal_gpio_irq_enable(cfg->int_pin2_num);
+ }
+
+ hal_gpio_irq_enable(cfg->int_pin1_num);
+
+ rc = sensor_set_type_mask(sensor, cfg->sensor_mask);
+ if (rc != 0) {
+ return rc;
+ }
+
+ bma253->cfg = *cfg;
+
+ return 0;
+}
+
+int
+bma253_init(struct os_dev * dev, void * arg)
+{
+ struct bma253 * bma253;
+ struct sensor * sensor;
+ int rc;
+
+ if (!dev || !arg) {
+ return SYS_ENODEV;
+ }
#if MYNEWT_VAL(BMA253_LOG)
- rc = log_register(dev->od_name, &bma253_log, &log_console_handler,
- NULL, LOG_SYSLEVEL);
- if (rc != 0)
- return rc;
+ rc = log_register(dev->od_name, &bma253_log, &log_console_handler,
+ NULL,
+ LOG_SYSLEVEL);
+ if (rc != 0) {
+ return rc;
+ }
#endif
- bma253 = (struct bma253 *)dev;
- sensor = &bma253->sensor;
+ bma253 = (struct bma253 *) dev;
+ sensor = &bma253->sensor;
- rc = sensor_init(sensor, dev);
- if (rc != 0)
- return rc;
+ rc = sensor_init(sensor, dev);
+ if (rc != 0) {
+ return rc;
+ }
- rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
- &bma253_sensor_driver);
- if (rc != 0)
- return rc;
+ rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
+ &bma253_sensor_driver);
+ if (rc != 0) {
+ return rc;
+ }
- rc = sensor_set_interface(sensor, arg);
- if (rc != 0)
- return rc;
+ rc = sensor_set_interface(sensor, arg);
+ if (rc != 0) {
+ return rc;
+ }
- sensor->s_next_run = OS_TIMEOUT_NEVER;
+ sensor->s_next_run = OS_TIMEOUT_NEVER;
- rc = sensor_mgr_register(sensor);
- if (rc != 0)
- return rc;
+ rc = sensor_mgr_register(sensor);
+ if (rc != 0) {
+ return rc;
+ }
- interrupt_init(bma253->ints + BMA253_INT_PIN_1);
- interrupt_init(bma253->ints + BMA253_INT_PIN_2);
+ interrupt_init(bma253->ints + BMA253_INT_PIN_1);
+ interrupt_init(bma253->ints + BMA253_INT_PIN_2);
- return 0;
+ return 0;
}
diff --git a/hw/drivers/sensors/bma253/syscfg.yml b/hw/drivers/sensors/bma253/syscfg.yml
index b48d8ed55..683e8d935 100644
--- a/hw/drivers/sensors/bma253/syscfg.yml
+++ b/hw/drivers/sensors/bma253/syscfg.yml
@@ -21,3 +21,9 @@ syscfg.defs:
BMA253_LOG:
description: 'Enable BMA253 logging'
value: 1
+ BMA253_PIN_INT1:
+ description: 'GPIO on the board connected to sensor INT1'
+ value: -1
+ BMA253_PIN_INT2:
+ description: 'GPIO on the board connected to sensor INT2'
+ value: -1
diff --git a/hw/sensor/creator/src/sensor_creator.c b/hw/sensor/creator/src/sensor_creator.c
index cb19e66c3..c91dbcb42 100644
--- a/hw/sensor/creator/src/sensor_creator.c
+++ b/hw/sensor/creator/src/sensor_creator.c
@@ -17,6 +17,7 @@
* under the License.
*/
+#include "syscfg/syscfg.h"
#include <os/os_dev.h>
#include <assert.h>
#include <defs/error.h>
@@ -460,6 +461,10 @@ config_bno055_sensor(void)
#endif
#if MYNEWT_VAL(BMA253_OFB)
+
+#if (MYNEWT_VAL(BMA253_PIN_INT1) == -1)
+#error "BMA253 requires BMA253_PIN_INT1 to be configured";
+#endif
/**
* BMA253 sensor default configuration
*
@@ -491,8 +496,8 @@ config_bma253_sensor(void)
cfg.offset_z_g = 0.0;
cfg.power_mode = BMA253_POWER_MODE_NORMAL;
cfg.sleep_duration = BMA253_SLEEP_DURATION_0_5_MS;
- cfg.int_pin1_num = 20;
- cfg.int_pin2_num = 19;
+ cfg.int_pin1_num = MYNEWT_VAL(BMA253_PIN_INT1);
+ cfg.int_pin2_num = MYNEWT_VAL(BMA253_PIN_INT2);
cfg.sensor_mask = SENSOR_TYPE_ACCELEROMETER;
rc = bma253_config((struct bma253 *)dev, &cfg);
diff --git a/hw/sensor/src/sensor_shell.c b/hw/sensor/src/sensor_shell.c
index 85a8bf206..06cd6dff9 100644
--- a/hw/sensor/src/sensor_shell.c
+++ b/hw/sensor/src/sensor_shell.c
@@ -601,12 +601,11 @@ sensor_cmd_exec(int argc, char **argv)
{
struct sensor_poll_data spd;
char *subcmd;
- int rc;
+ int rc = 0;
int i;
if (argc <= 1) {
sensor_display_help();
- rc = 0;
goto done;
}
@@ -620,7 +619,7 @@ sensor_cmd_exec(int argc, char **argv)
"[-n nsamples] [-i poll_itvl(ms)] [-d poll_duration(ms)]\n",
argc - 2);
rc = SYS_EINVAL;
- goto err;
+ goto done;
}
i = 4;
@@ -640,22 +639,20 @@ sensor_cmd_exec(int argc, char **argv)
rc = sensor_cmd_read(argv[2], (sensor_type_t) strtol(argv[3], NULL, 0), &spd);
if (rc) {
- goto err;
+ goto done;
}
} else if (!strcmp(argv[1], "type")) {
rc = sensor_cmd_display_type(argv);
if (rc) {
- goto err;
+ goto done;
}
} else {
console_printf("Unknown sensor command %s\n", subcmd);
rc = SYS_EINVAL;
- goto err;
+ goto done;
}
done:
- return (0);
-err:
return (rc);
}
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