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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2017/11/20 21:03:32 UTC
[GitHub] vrahane closed pull request #663: BMA253 Fixes, adding notification API and interrupt handler API
vrahane closed pull request #663: BMA253 Fixes, adding notification API and interrupt handler API
URL: https://github.com/apache/mynewt-core/pull/663
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/src/main.c b/apps/sensors_test/src/main.c
index 35ebb4c85..423841958 100755
--- a/apps/sensors_test/src/main.c
+++ b/apps/sensors_test/src/main.c
@@ -46,6 +46,9 @@
#if MYNEWT_VAL(TSL2561_CLI)
#include <tsl2561/tsl2561.h>
#endif
+#if MYNEWT_VAL(BMA253_CLI)
+#include <bma253/bma253.h>
+#endif
#if MYNEWT_VAL(BME280_CLI)
#include <bme280/bme280.h>
#endif
@@ -416,6 +419,10 @@ sensors_dev_shell_init(void)
bno055_shell_init();
#endif
+#if MYNEWT_VAL(BMA253_CLI)
+ bma253_shell_init();
+#endif
+
#if MYNEWT_VAL(BME280_CLI)
bme280_shell_init();
#endif
diff --git a/hw/drivers/sensors/bma253/include/bma253/bma253.h b/hw/drivers/sensors/bma253/include/bma253/bma253.h
index f90e2be81..f3f56e3bf 100644
--- a/hw/drivers/sensors/bma253/include/bma253/bma253.h
+++ b/hw/drivers/sensors/bma253/include/bma253/bma253.h
@@ -24,143 +24,220 @@
#include "os/os_dev.h"
#include "sensor/sensor.h"
#include "sensor/accel.h"
+#include "sensor/temperature.h"
-enum bma253_g_range {
- BMA253_G_RANGE_2 = 0,
- BMA253_G_RANGE_4 = 1,
- BMA253_G_RANGE_8 = 2,
- BMA253_G_RANGE_16 = 3,
-};
+#ifdef __cplusplus
+#extern "C" {
+#endif
-enum bma253_filter_bandwidth {
- BMA253_FILTER_BANDWIDTH_7_81_HZ = 0,
- BMA253_FILTER_BANDWIDTH_15_63_HZ = 1,
- BMA253_FILTER_BANDWIDTH_31_25_HZ = 2,
- BMA253_FILTER_BANDWIDTH_62_5_HZ = 3,
- BMA253_FILTER_BANDWIDTH_125_HZ = 4,
- BMA253_FILTER_BANDWIDTH_250_HZ = 5,
- BMA253_FILTER_BANDWIDTH_500_HZ = 6,
- BMA253_FILTER_BANDWIDTH_1000_HZ = 7,
-};
+/* XXX use some better defaults. For now it is min */
+#define BMA253_LOW_G_DELAY_MS_DEFAULT 2
+#define BMA253_HIGH_G_DELAY_MS_DEFAULT 2
-enum bma253_int_pin_output {
- BMA253_INT_PIN_OUTPUT_PUSH_PULL = 0,
- BMA253_INT_PIN_OUTPUT_OPEN_DRAIN = 1,
+/* Range of acceleration measurements */
+enum bma253_g_range {
+ BMA253_G_RANGE_2 = 0,
+ BMA253_G_RANGE_4 = 1,
+ BMA253_G_RANGE_8 = 2,
+ BMA253_G_RANGE_16 = 3,
};
-enum bma253_int_pin_active {
- BMA253_INT_PIN_ACTIVE_LOW = 0,
- BMA253_INT_PIN_ACTIVE_HIGH = 1,
+/* How often acceleration measurements are taken */
+enum bma253_filter_bandwidth {
+ BMA253_FILTER_BANDWIDTH_7_81_HZ = 0,
+ BMA253_FILTER_BANDWIDTH_15_63_HZ = 1,
+ BMA253_FILTER_BANDWIDTH_31_25_HZ = 2,
+ BMA253_FILTER_BANDWIDTH_62_5_HZ = 3,
+ BMA253_FILTER_BANDWIDTH_125_HZ = 4,
+ BMA253_FILTER_BANDWIDTH_250_HZ = 5,
+ BMA253_FILTER_BANDWIDTH_500_HZ = 6,
+ BMA253_FILTER_BANDWIDTH_1000_HZ = 7,
};
+/* Quiet time after a double/single tap */
enum bma253_tap_quiet {
- BMA253_TAP_QUIET_20_MS = 0,
- BMA253_TAP_QUIET_30_MS = 1,
+ BMA253_TAP_QUIET_20_MS = 0,
+ BMA253_TAP_QUIET_30_MS = 1,
};
+/* Settling time after a double/single tap */
enum bma253_tap_shock {
- BMA253_TAP_SHOCK_50_MS = 0,
- BMA253_TAP_SHOCK_75_MS = 1,
+ BMA253_TAP_SHOCK_50_MS = 0,
+ BMA253_TAP_SHOCK_75_MS = 1,
};
+/* How long to wait for the next tap in a double tap scenario */
enum bma253_d_tap_window {
- BMA253_D_TAP_WINDOW_50_MS = 0,
- BMA253_D_TAP_WINDOW_100_MS = 1,
- BMA253_D_TAP_WINDOW_150_MS = 2,
- BMA253_D_TAP_WINDOW_200_MS = 3,
- BMA253_D_TAP_WINDOW_250_MS = 4,
- BMA253_D_TAP_WINDOW_375_MS = 5,
- BMA253_D_TAP_WINDOW_500_MS = 6,
- BMA253_D_TAP_WINDOW_700_MS = 7,
+ BMA253_D_TAP_WINDOW_50_MS = 0,
+ BMA253_D_TAP_WINDOW_100_MS = 1,
+ BMA253_D_TAP_WINDOW_150_MS = 2,
+ BMA253_D_TAP_WINDOW_200_MS = 3,
+ BMA253_D_TAP_WINDOW_250_MS = 4,
+ BMA253_D_TAP_WINDOW_375_MS = 5,
+ BMA253_D_TAP_WINDOW_500_MS = 6,
+ BMA253_D_TAP_WINDOW_700_MS = 7,
};
+/* How many samples to use after a wake up from a low power mode to determine
+ * whether a tap occurred */
enum bma253_tap_wake_samples {
- BMA253_TAP_WAKE_SAMPLES_2 = 0,
- BMA253_TAP_WAKE_SAMPLES_4 = 1,
- BMA253_TAP_WAKE_SAMPLES_8 = 2,
- BMA253_TAP_WAKE_SAMPLES_16 = 3,
+ BMA253_TAP_WAKE_SAMPLES_2 = 0,
+ BMA253_TAP_WAKE_SAMPLES_4 = 1,
+ BMA253_TAP_WAKE_SAMPLES_8 = 2,
+ BMA253_TAP_WAKE_SAMPLES_16 = 3,
};
-enum bma253_i2c_watchdog {
- BMA253_I2C_WATCHDOG_DISABLED = 0,
- BMA253_I2C_WATCHDOG_1_MS = 1,
- BMA253_I2C_WATCHDOG_50_MS = 2,
+/* Block generation of orientation events based on given criteria */
+enum bma253_orient_blocking {
+ BMA253_ORIENT_BLOCKING_NONE = 0,
+ BMA253_ORIENT_BLOCKING_ACCEL_ONLY = 1,
+ BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE = 2,
+ BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE = 3,
};
+/* Orientation mode configuration, used to determine thresholds for
+ * transitions between different orientations */
+enum bma253_orient_mode {
+ BMA253_ORIENT_MODE_SYMMETRICAL = 0,
+ BMA253_ORIENT_MODE_HIGH_ASYMMETRICAL = 1,
+ BMA253_ORIENT_MODE_LOW_ASYMMETRICAL = 2,
+};
+
+/* Power mode for the device */
enum bma253_power_mode {
- BMA253_POWER_MODE_NORMAL = 0,
- BMA253_POWER_MODE_DEEP_SUSPEND = 1,
- BMA253_POWER_MODE_SUSPEND = 2,
- BMA253_POWER_MODE_STANDBY = 3,
- BMA253_POWER_MODE_LPM_1 = 4,
- BMA253_POWER_MODE_LPM_2 = 5,
+ BMA253_POWER_MODE_NORMAL = 0,
+ BMA253_POWER_MODE_DEEP_SUSPEND = 1,
+ BMA253_POWER_MODE_SUSPEND = 2,
+ BMA253_POWER_MODE_STANDBY = 3,
+ BMA253_POWER_MODE_LPM_1 = 4,
+ BMA253_POWER_MODE_LPM_2 = 5,
};
+/* Duration of sleep whenever the device is in a power mode that alternates
+ * between wake and sleep (LPM 1 & 2) */
enum bma253_sleep_duration {
- BMA253_SLEEP_DURATION_0_5_MS = 0,
- BMA253_SLEEP_DURATION_1_MS = 1,
- BMA253_SLEEP_DURATION_2_MS = 2,
- BMA253_SLEEP_DURATION_4_MS = 3,
- BMA253_SLEEP_DURATION_6_MS = 4,
- BMA253_SLEEP_DURATION_10_MS = 5,
- BMA253_SLEEP_DURATION_25_MS = 6,
- BMA253_SLEEP_DURATION_50_MS = 7,
- BMA253_SLEEP_DURATION_100_MS = 8,
- BMA253_SLEEP_DURATION_500_MS = 9,
- BMA253_SLEEP_DURATION_1_S = 10,
+ BMA253_SLEEP_DURATION_0_5_MS = 0,
+ BMA253_SLEEP_DURATION_1_MS = 1,
+ BMA253_SLEEP_DURATION_2_MS = 2,
+ BMA253_SLEEP_DURATION_4_MS = 3,
+ BMA253_SLEEP_DURATION_6_MS = 4,
+ BMA253_SLEEP_DURATION_10_MS = 5,
+ BMA253_SLEEP_DURATION_25_MS = 6,
+ BMA253_SLEEP_DURATION_50_MS = 7,
+ BMA253_SLEEP_DURATION_100_MS = 8,
+ BMA253_SLEEP_DURATION_500_MS = 9,
+ BMA253_SLEEP_DURATION_1_S = 10,
};
+/* Default configuration values to use with the device */
struct bma253_cfg {
- enum bma253_g_range g_range;
- enum bma253_filter_bandwidth filter_bandwidth;
- bool use_unfiltered_data;
- enum bma253_int_pin_output int_pin_output;
- enum bma253_int_pin_active int_pin_active;
- 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 tap_thresh_g;
- enum bma253_i2c_watchdog i2c_watchdog;
- float offset_x_g;
- float offset_y_g;
- float offset_z_g;
- enum bma253_power_mode power_mode;
- enum bma253_sleep_duration sleep_duration;
- int int_pin1_num;
- int int_pin2_num;
- sensor_type_t sensor_mask;
+ /* Accelerometer configuration */
+ enum bma253_g_range g_range;
+ enum bma253_filter_bandwidth filter_bandwidth;
+ /* Whether to use data that has not been filtered at all */
+ bool use_unfiltered_data;
+ /* Low-g event configuration */
+ uint16_t low_g_delay_ms;
+ float low_g_thresh_g;
+ float low_g_hyster_g;
+ /* High-g event configuration */
+ float high_g_hyster_g;
+ uint16_t high_g_delay_ms;
+ float high_g_thresh_g;
+ /* Tap (double & single) event configuration */
+ 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 tap_thresh_g;
+ /* Orientation event configuration */
+ float orient_hyster_g;
+ enum bma253_orient_blocking orient_blocking;
+ enum bma253_orient_mode orient_mode;
+ bool orient_signal_ud;
+ /* Offsets for acceleration measurements, by axis */
+ float offset_x_g;
+ float offset_y_g;
+ float offset_z_g;
+ /* Power management configuration */
+ enum bma253_power_mode power_mode;
+ enum bma253_sleep_duration sleep_duration;
+ /* Applicable sensor types supported */
+ sensor_type_t sensor_mask;
};
+/* Used to track interrupt state to wake any present waiters */
struct bma253_int {
- os_sr_t lock;
- struct os_sem wait;
- bool active;
- bool asleep;
+ /* Synchronize access to this structure */
+ os_sr_t lock;
+ /* Sleep waiting for an interrupt to occur */
+ struct os_sem wait;
+ /* Is the interrupt currently active */
+ bool active;
+ /* Is there a waiter currently sleeping */
+ bool asleep;
+ /* Configured interrupts */
+ struct sensor_int *ints;
};
-enum bma253_int_pin {
- BMA253_INT_PIN_1 = 0,
- BMA253_INT_PIN_2 = 1,
- BMA253_INT_PIN_MAX = 2,
+/* Device private data */
+struct bma253_private_driver_data {
+ struct bma253_int * interrupt;
+ struct sensor_notify_ev_ctx notify_ctx;
+ struct sensor_read_ev_ctx read_ctx;
+ uint8_t registered_mask;
+
+ uint8_t int_num;
+ uint8_t int_route;
+ uint8_t int_ref_cnt;
};
+/* The device itself */
struct bma253 {
- struct os_dev dev;
- struct sensor sensor;
- struct bma253_cfg cfg;
- struct bma253_int ints[BMA253_INT_PIN_MAX];
+ /* Underlying OS device */
+ struct os_dev dev;
+ /* The sensor infrastructure */
+ struct sensor sensor;
+ /* Default configuration values */
+ struct bma253_cfg cfg;
+ /* Active interrupt state */
+ struct bma253_int intr;
+ /* Active power mode, could be different from default configured
+ * power mode if a function that requires a higher power mode is
+ * currently running. */
+ enum bma253_power_mode power;
+
+ /* Private driver data */
+ struct bma253_private_driver_data pdd;
};
+/* Offset compensation is performed to target this given value, by axis */
enum bma253_offset_comp_target {
- BMA253_OFFSET_COMP_TARGET_0_G = 0,
- BMA253_OFFSET_COMP_TARGET_NEG_1_G = 1,
- BMA253_OFFSET_COMP_TARGET_POS_1_G = 2,
+ BMA253_OFFSET_COMP_TARGET_0_G = 0,
+ BMA253_OFFSET_COMP_TARGET_NEG_1_G = 1,
+ BMA253_OFFSET_COMP_TARGET_POS_1_G = 2,
+};
+
+/* The device's X/Y orientation, in form of rotation */
+enum bma253_orient_xy {
+ BMA253_ORIENT_XY_PORTRAIT_UPRIGHT = 0,
+ BMA253_ORIENT_XY_PORTRAIT_UPSIDE_DOWN = 1,
+ BMA253_ORIENT_XY_LANDSCAPE_LEFT = 2,
+ BMA253_ORIENT_XY_LANDSCAPE_RIGHT = 3,
+};
+
+/* The device's full orientation */
+struct bma253_orient_xyz {
+ /* The X/Y orientation */
+ enum bma253_orient_xy orient_xy;
+ /* Is device facing upward or downward */
+ bool downward_z;
};
+/* Type of tap event to look for */
enum bma253_tap_type {
- BMA253_TAP_TYPE_DOUBLE = 0,
- BMA253_TAP_TYPE_SINGLE = 1,
+ BMA253_TAP_TYPE_DOUBLE = 0,
+ BMA253_TAP_TYPE_SINGLE = 1,
};
/**
@@ -173,10 +250,11 @@ enum bma253_tap_type {
*
* @return 0 on success, non-zero on failure.
*/
-int bma253_self_test(struct bma253 * bma253,
- float delta_high_mult,
- float delta_low_mult,
- bool * self_test_fail);
+int
+bma253_self_test(struct bma253 * bma253,
+ float delta_high_mult,
+ float delta_low_mult,
+ bool * self_test_fail);
/**
* Perform an offset compensation and use the resulting offsets.
@@ -188,10 +266,43 @@ int bma253_self_test(struct bma253 * bma253,
*
* @return 0 on success, non-zero on failure.
*/
-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);
+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);
+
+/**
+ * Return the current compensation offsets in use.
+ *
+ * @param The device object.
+ * @param The offset for the X axis, filled in by this function.
+ * @param The offset for the Y axis, filled in by this function.
+ * @param The offset for the Z axis, filled in by this function.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_query_offsets(struct bma253 * bma253,
+ float * offset_x_g,
+ float * offset_y_g,
+ float * offset_z_g);
+
+/**
+ * Store and use the provided compensation offsets.
+ *
+ * @param The device object.
+ * @param The offset for the X axis.
+ * @param The offset for the Y axis.
+ * @param the offset for the Z axis.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_write_offsets(struct bma253 * bma253,
+ float offset_x_g,
+ float offset_y_g,
+ float offset_z_g);
/**
* Callback for handling accelerometer sensor data.
@@ -201,8 +312,9 @@ int bma253_offset_compensation(struct bma253 * bma253,
*
* @return true to stop streaming data, false to continue.
*/
-typedef bool (*bma253_stream_read_func_t)(void *,
- struct sensor_accel_data *);
+typedef bool
+(*bma253_stream_read_func_t)(void *,
+ struct sensor_accel_data *);
/**
* Provide a continuous stream of accelerometer readings.
@@ -214,10 +326,67 @@ typedef bool (*bma253_stream_read_func_t)(void *,
*
* @return 0 on success, non-zero on failure.
*/
-int bma253_stream_read(struct bma253 * bma253,
- bma253_stream_read_func_t read_func,
- void * read_arg,
- uint32_t time_ms);
+int
+bma253_stream_read(struct bma253 * bma253,
+ bma253_stream_read_func_t read_func,
+ void * read_arg,
+ uint32_t time_ms);
+
+/**
+ * Get the current temperature at the device.
+ *
+ * @param The device object.
+ * @param The current temperature in celsius, filled in by this function.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_current_temp(struct bma253 * bma253,
+ float * temp_c);
+
+/**
+ * Get the current device orientation.
+ *
+ * @param The device object.
+ * @param The current orientation, filled in by this function.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_current_orient(struct bma253 * bma253,
+ struct bma253_orient_xyz * orient_xyz);
+
+/**
+ * Block until the device orientation changes.
+ *
+ * @param The device object.
+ * @param The new orientation, filled in by this function.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_wait_for_orient(struct bma253 * bma253,
+ struct bma253_orient_xyz * orient_xyz);
+
+/**
+ * Block until a high-g event occurs.
+ *
+ * @param The device object.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_wait_for_high_g(struct bma253 * bma253);
+
+/**
+ * Block until a low-g event occurs.
+ *
+ * @param The device object.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_wait_for_low_g(struct bma253 * bma253);
/**
* Block until a single or double tap event occurs.
@@ -227,8 +396,25 @@ int bma253_stream_read(struct bma253 * bma253,
*
* @return 0 on success, non-zero on failure.
*/
-int bma253_wait_for_tap(struct bma253 * bma253,
- enum bma253_tap_type tap_type);
+int
+bma253_wait_for_tap(struct bma253 * bma253,
+ enum bma253_tap_type tap_type);
+
+/**
+ * Change the default power settings.
+ *
+ * @param The device object.
+ * @param The new power mode, which the device resides in unless a different
+ * and more aggressive power mode is required to satisfy a running API
+ * function.
+ * @param The new sleep duration, used whenever device is in LPM_1/2 mode
+ * either due to default power mode or due to being in a temporarily
+ * overridden power mode.
+ */
+int
+bma253_power_settings(struct bma253 * bma253,
+ enum bma253_power_mode power_mode,
+ enum bma253_sleep_duration sleep_duration);
/**
* Configure the sensor.
@@ -238,7 +424,8 @@ int bma253_wait_for_tap(struct bma253 * bma253,
*
* @return 0 on success, non-zero on failure.
*/
-int bma253_config(struct bma253 * bma253, struct bma253_cfg * cfg);
+int
+bma253_config(struct bma253 * bma253, struct bma253_cfg * cfg);
/**
* Expects to be called back through os_dev_create().
@@ -248,6 +435,21 @@ int bma253_config(struct bma253 * bma253, struct bma253_cfg * cfg);
*
* @return 0 on success, non-zero on failure.
*/
-int bma253_init(struct os_dev * dev, void * arg);
+int
+bma253_init(struct os_dev * dev, void * arg);
+
+#if MYNEWT_VAL(BMA253_CLI)
+/**
+ * Initialize the BMA253 shell extensions.
+ *
+ * @return 0 on success, non-zero on failure.
+ */
+int
+bma253_shell_init(void);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
#endif
diff --git a/hw/drivers/sensors/bma253/pkg.yml b/hw/drivers/sensors/bma253/pkg.yml
index 40f9f5cef..d1c7a2a71 100644
--- a/hw/drivers/sensors/bma253/pkg.yml
+++ b/hw/drivers/sensors/bma253/pkg.yml
@@ -27,6 +27,11 @@ pkg.keywords:
pkg.deps:
- "@apache-mynewt-core/kernel/os"
- "@apache-mynewt-core/hw/hal"
+ - "@apache-mynewt-core/hw/sensor"
-pkg.deps.BMA253_LOG:
- - "@apache-mynewt-core/sys/log/full"
+pkg.req_apis:
+ - stats
+ - log
+
+pkg.deps.BMA253_CLI:
+ - "@apache-mynewt-core/util/parse"
diff --git a/hw/drivers/sensors/bma253/src/bma253.c b/hw/drivers/sensors/bma253/src/bma253.c
index 729d7e56f..2d1534617 100644
--- a/hw/drivers/sensors/bma253/src/bma253.c
+++ b/hw/drivers/sensors/bma253/src/bma253.c
@@ -17,11 +17,12 @@
* under the License.
*/
-#include <alloca.h>
#include <assert.h>
+#include <math.h>
#include <string.h>
#include "bma253/bma253.h"
+#include "bma253_priv.h"
#include "defs/error.h"
#include "hal/hal_gpio.h"
#include "hal/hal_i2c.h"
@@ -32,3529 +33,4678 @@
#if MYNEWT_VAL(BMA253_LOG)
static struct log bma253_log;
-#define LOG_MODULE_BMA253 (253)
-#define BMA253_ERROR(...) LOG_ERROR(&bma253_log, LOG_MODULE_BMA253, __VA_ARGS__)
-#define BMA253_INFO(...) LOG_INFO(&bma253_log, LOG_MODULE_BMA253, __VA_ARGS__)
+#define LOG_MODULE_BMA253 (253)
+#define BMA253_ERROR(...) LOG_ERROR(&bma253_log, LOG_MODULE_BMA253, __VA_ARGS__)
+#define BMA253_INFO(...) LOG_INFO(&bma253_log, LOG_MODULE_BMA253, __VA_ARGS__)
#else
#define BMA253_ERROR(...)
#define BMA253_INFO(...)
#endif
-#define REG_ADDR_BGW_CHIPID 0x00 // r
-// RESERVED //
-#define REG_ADDR_ACCD_X_LSB 0x02 // r
-#define REG_ADDR_ACCD_X_MSB 0x03 // r
-#define REG_ADDR_ACCD_Y_LSB 0x04 // r
-#define REG_ADDR_ACCD_Y_MSB 0x05 // r
-#define REG_ADDR_ACCD_Z_LSB 0x06 // r
-#define REG_ADDR_ACCD_Z_MSB 0x07 // r
-#define REG_ADDR_ACCD_TEMP 0x08 // r
-#define REG_ADDR_INT_STATUS_0 0x09 // r
-#define REG_ADDR_INT_STATUS_1 0x0A // r
-#define REG_ADDR_INT_STATUS_2 0x0B // r
-#define REG_ADDR_INT_STATUS_3 0x0C // r
-// RESERVED //
-#define REG_ADDR_FIFO_STATUS 0x0E // r
-#define REG_ADDR_PMU_RANGE 0x0F // rw
-#define REG_ADDR_PMU_BW 0x10 // rw
-#define REG_ADDR_PMU_LPW 0x11 // rw
-#define REG_ADDR_PMU_LOW_POWER 0x12 // rw
-#define REG_ADDR_ACCD_HBW 0x13 // rw
-#define REG_ADDR_BGW_SOFTRESET 0x14 // w
-// RESERVED //
-#define REG_ADDR_INT_EN_0 0x16 // rw
-#define REG_ADDR_INT_EN_1 0x17 // rw
-#define REG_ADDR_INT_EN_2 0x18 // rw
-#define REG_ADDR_INT_MAP_0 0x19 // rw
-#define REG_ADDR_INT_MAP_1 0x1A // rw
-#define REG_ADDR_INT_MAP_2 0x1B // rw
-// RESERVED //
-// RESERVED //
-#define REG_ADDR_INT_SRC 0x1E // rw
-// RESERVED //
-#define REG_ADDR_INT_OUT_CTRL 0x20 // rw
-#define REG_ADDR_INT_RST_LATCH 0x21 // rw
-#define REG_ADDR_INT_0 0x22 // rw
-#define REG_ADDR_INT_1 0x23 // rw
-#define REG_ADDR_INT_2 0x24 // rw
-#define REG_ADDR_INT_3 0x25 // rw
-#define REG_ADDR_INT_4 0x26 // rw
-#define REG_ADDR_INT_5 0x27 // rw
-#define REG_ADDR_INT_6 0x28 // rw
-#define REG_ADDR_INT_7 0x29 // rw
-#define REG_ADDR_INT_8 0x2A // rw
-#define REG_ADDR_INT_9 0x2B // rw
-#define REG_ADDR_INT_A 0x2C // rw
-#define REG_ADDR_INT_B 0x2D // rw
-#define REG_ADDR_INT_C 0x2E // rw
-#define REG_ADDR_INT_D 0x2F // rw
-#define REG_ADDR_FIFO_CONFIG_0 0x30 // rw
-// RESERVED //
-#define REG_ADDR_PMU_SELF_TEST 0x32 // rw
-#define REG_ADDR_TRIM_NVM_CTRL 0x33 // rw
-#define REG_ADDR_BGW_SPI3_WDT 0x34 // rw
-// RESERVED //
-#define REG_ADDR_OFC_CTRL 0x36 // rw
-#define REG_ADDR_OFC_SETTING 0x37 // rw
-#define REG_ADDR_OFC_OFFSET_X 0x38 // rw nvm
-#define REG_ADDR_OFC_OFFSET_Y 0x39 // rw nvm
-#define REG_ADDR_OFC_OFFSET_Z 0x3A // rw nvm
-#define REG_ADDR_TRIM_GP0 0x3B // rw nvm
-#define REG_ADDR_TRIM_GP1 0x3C // rw nvm
-// RESERVED //
-#define REG_ADDR_FIFO_CONFIG_1 0x3E // rw
-#define REG_ADDR_FIFO_DATA 0x3F // r
-
-#define REG_VALUE_CHIP_ID 0xFA
-#define REG_VALUE_SOFT_RESET 0xB6
-
-static void delay_msec(uint32_t delay)
-{
- delay = (delay * OS_TICKS_PER_SEC) / 1000 + 1;
- os_time_delay(delay);
-}
-
-static void interrupt_init(struct bma253_int * interrupt)
-{
- os_error_t error;
-
- error = os_sem_init(&interrupt->wait, 0);
- assert(error == OS_OK);
-
- interrupt->active = false;
- interrupt->asleep = false;
-}
-
-static void interrupt_undo(struct bma253_int * interrupt)
-{
- OS_ENTER_CRITICAL(interrupt->lock);
- interrupt->active = false;
- interrupt->asleep = false;
- OS_EXIT_CRITICAL(interrupt->lock);
-}
-
-static void interrupt_wait(struct bma253_int * interrupt)
-{
- 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);
-
- 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)
-{
- 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);
-
- if (wake) {
- os_error_t error;
+#define BMA253_NOTIFY_MASK 0x01
+#define BMA253_READ_MASK 0x02
- error = os_sem_release(&interrupt->wait);
- assert(error == OS_OK);
- }
+ enum int_route int_route;
+static void
+delay_msec(uint32_t delay)
+{
+ delay = (delay * OS_TICKS_PER_SEC) / 1000 + 1;
+ os_time_delay(delay);
}
-static void interrupt_handler(void * arg)
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+static void
+init_interrupt(struct bma253_int * interrupt, struct sensor_int *ints)
{
- struct bma253_int * interrupt;
+ os_error_t error;
- interrupt = (struct bma253_int *)arg;
+ error = os_sem_init(&interrupt->wait, 0);
+ assert(error == OS_OK);
- interrupt_wake(interrupt);
+ interrupt->active = false;
+ interrupt->asleep = false;
+ interrupt->ints = ints;
}
-static int get_register(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t * data)
+static void
+undo_interrupt(struct bma253_int * interrupt)
{
- struct hal_i2c_master_data oper;
- int rc;
+ OS_ENTER_CRITICAL(interrupt->lock);
+ interrupt->active = false;
+ interrupt->asleep = false;
+ OS_EXIT_CRITICAL(interrupt->lock);
+}
+
+static void
+wait_interrupt(struct bma253_int * interrupt, enum bma253_int_num int_num)
+{
+ bool wait;
+
+ OS_ENTER_CRITICAL(interrupt->lock);
+
+ /* Check if we did not missed interrupt */
+ if (hal_gpio_read(interrupt->ints[int_num].host_pin) ==
+ interrupt->ints[int_num].active) {
+ OS_EXIT_CRITICAL(interrupt->lock);
+ return;
+ }
+
+ 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);
+ }
+}
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = &addr;
+static void
+wake_interrupt(struct bma253_int * interrupt)
+{
+ 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);
+
+ if (wake) {
+ os_error_t error;
+
+ error = os_sem_release(&interrupt->wait);
+ assert(error == OS_OK);
+ }
+}
- 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;
- }
+static void
+interrupt_handler(void * arg)
+{
+ struct sensor *sensor = arg;
+ struct bma253 *bma253;
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = data;
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
- 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;
- }
+ if (bma253->pdd.interrupt) {
+ wake_interrupt(bma253->pdd.interrupt);
+ }
- return 0;
+ sensor_mgr_put_interrupt_evt(sensor);
}
+#endif
-static int get_registers(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t * data,
- uint8_t size)
+static int
+get_register(const struct bma253 * bma253,
+ uint8_t addr,
+ uint8_t * data)
{
- struct hal_i2c_master_data oper;
- int rc;
+ const struct sensor_itf * itf;
+ struct hal_i2c_master_data oper;
+ int rc;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+
+ 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;
+ }
+
+ 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;
+ }
+
+ return 0;
+}
- oper.address = itf->si_addr;
- oper.len = 1;
- oper.buffer = &addr;
+static int
+get_registers(const struct bma253 * bma253,
+ uint8_t addr,
+ uint8_t * data,
+ uint8_t size)
+{
+ const struct sensor_itf * itf;
+ struct hal_i2c_master_data oper;
+ int rc;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+
+ 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;
+ }
+
+ 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;
+ }
+
+ return 0;
+}
- 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;
- }
+static int
+set_register(const struct bma253 * bma253,
+ uint8_t addr,
+ uint8_t data)
+{
+ const struct sensor_itf * itf;
+ uint8_t tuple[2];
+ struct hal_i2c_master_data oper;
+ int rc;
+
+ itf = SENSOR_GET_ITF(&bma253->sensor);
+
+ tuple[0] = addr;
+ tuple[1] = data;
+
+ 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;
+ }
+
+ switch (bma253->power) {
+ case BMA253_POWER_MODE_SUSPEND:
+ case BMA253_POWER_MODE_LPM_1:
+ delay_msec(1);
+ break;
+ default:
+ break;
+ }
+
+ return 0;
+}
- oper.address = itf->si_addr;
- oper.len = size;
- oper.buffer = data;
+int
+bma253_get_chip_id(const struct bma253 * bma253,
+ uint8_t * chip_id)
+{
+ return get_register(bma253, REG_ADDR_BGW_CHIPID, chip_id);
+}
+
+static void
+compute_accel_data(struct accel_data * accel_data,
+ const uint8_t * raw_data,
+ float accel_scale)
+{
+ int16_t raw_accel;
- 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;
- }
+ raw_accel = (raw_data[0] >> 4) | (raw_data[1] << 4);
+ raw_accel <<= 4;
+ raw_accel >>= 4;
- return 0;
+ accel_data->accel_g = (float)raw_accel * accel_scale;
+ accel_data->new_data = raw_data[0] & 0x01;
}
-static int set_register(const struct sensor_itf * itf,
- uint8_t addr,
- uint8_t data)
+int
+bma253_get_accel(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ enum axis axis,
+ struct accel_data * accel_data)
{
- uint8_t tuple[2];
- struct hal_i2c_master_data oper;
- int rc;
+ 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(bma253, base_addr,
+ data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ compute_accel_data(accel_data, data, accel_scale);
+
+ return 0;
+}
- tuple[0] = addr;
- tuple[1] = data;
+int
+bma253_get_temp(const struct bma253 * bma253,
+ float * temp_c)
+{
+ uint8_t data;
+ int rc;
- oper.address = itf->si_addr;
- oper.len = 2;
- oper.buffer = tuple;
+ rc = get_register(bma253, REG_ADDR_ACCD_TEMP, &data);
+ if (rc != 0) {
+ 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;
- }
+ *temp_c = (float)(int8_t)data * 0.5 + 23.0;
- return 0;
+ return 0;
}
-int bma253_get_chip_id(const struct sensor_itf * itf,
- uint8_t * chip_id)
+static void
+quad_to_axis_trigger(struct axis_trigger * axis_trigger,
+ uint8_t quad_bits,
+ const char * name_bits)
{
- return get_register(itf, REG_ADDR_BGW_CHIPID, chip_id);
+ 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;
+ }
}
-enum axis {
- AXIS_X = 0,
- AXIS_Y = 1,
- AXIS_Z = 2,
- AXIS_ALL = 3,
-};
+int
+bma253_get_int_status(const struct bma253 * bma253,
+ struct int_status * int_status)
+{
+ uint8_t data[4];
+ int rc;
+
+ rc = get_registers(bma253, 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_down = 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;
+}
-struct accel_data {
- float accel_g;
- bool new_data;
-};
+int
+bma253_get_fifo_status(const struct bma253 * bma253,
+ bool * overrun,
+ uint8_t * frame_counter)
+{
+ uint8_t data;
+ int rc;
-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,
-};
+ rc = get_register(bma253, REG_ADDR_FIFO_STATUS, &data);
+ if (rc != 0) {
+ return rc;
+ }
-struct axis_trigger {
- enum axis_trigger_sign sign;
- enum axis axis;
- bool axis_known;
-};
+ *overrun = data & 0x80;
+ *frame_counter = data & 0x7F;
-enum dev_orientation {
- DEV_ORIENTATION_PORTRAIT_UPRIGHT = 0,
- DEV_ORIENTATION_PORTRAIT_UPSIDE_DOWN = 1,
- DEV_ORIENTATION_LANDSCAPE_LEFT = 2,
- DEV_ORIENTATION_LANDSCAPE_RIGHT = 3,
-};
+ return 0;
+}
-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;
-};
+int
+bma253_get_g_range(const struct bma253 * bma253,
+ enum bma253_g_range * g_range)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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;
+}
-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,
-};
+int
+bma253_set_g_range(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_PMU_RANGE, data);
+}
-struct power_settings {
- enum bma253_power_mode power_mode;
- enum bma253_sleep_duration sleep_duration;
- enum sleep_timer sleep_timer;
-};
+int
+bma253_get_filter_bandwidth(const struct bma253 * bma253,
+ enum bma253_filter_bandwidth * filter_bandwidth)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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_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_set_filter_bandwidth(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_PMU_BW, data);
+}
-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_power_settings(const struct bma253 * bma253,
+ struct power_settings * power_settings)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(bma253, 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;
+}
-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_set_power_settings(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_PMU_LOW_POWER, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_PMU_LPW, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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_data_acquisition(const struct bma253 * bma253,
+ bool * unfiltered_reg_data,
+ bool * disable_reg_shadow)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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 bma253 * bma253,
+ bool unfiltered_reg_data,
+ bool disable_reg_shadow)
+{
+ uint8_t data;
-int bma253_get_int_filters(const struct sensor_itf * itf,
- struct int_filters * int_filters)
+ data = (unfiltered_reg_data << 7) |
+ (disable_reg_shadow << 6);
+
+ return set_register(bma253, REG_ADDR_ACCD_HBW, data);
+}
+
+int
+bma253_set_softreset(const struct bma253 * bma253)
{
- uint8_t data;
- int rc;
+ int rc;
- rc = get_register(itf, REG_ADDR_INT_SRC, &data);
- if (rc != 0)
- return rc;
+ rc = set_register(bma253, REG_ADDR_BGW_SOFTRESET, REG_VALUE_SOFT_RESET);
+ 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;
+ delay_msec(2);
- return 0;
+ return 0;
}
-int bma253_set_int_filters(const struct sensor_itf * itf,
- const struct int_filters * int_filters)
+int
+bma253_get_int_enable(const struct bma253 * bma253,
+ struct int_enable * int_enable)
{
- uint8_t data;
+ uint8_t data[3];
+ int rc;
+
+ rc = get_registers(bma253, 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;
+}
- 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);
+int
+bma253_set_int_enable(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_EN_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_EN_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_EN_2, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
- return set_register(itf, REG_ADDR_INT_SRC, data);
+int
+bma253_get_int_routes(const struct bma253 * bma253,
+ struct int_routes * int_routes)
+{
+ uint8_t data[3];
+ int rc;
+
+ rc = get_registers(bma253, 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;
}
-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_set_int_routes(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_MAP_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_MAP_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_MAP_2, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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_filters(const struct bma253 * bma253,
+ struct int_filters * int_filters)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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;
+
+ return 0;
+}
-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_set_int_filters(const struct bma253 * bma253,
+ const struct int_filters * int_filters)
+{
+ 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);
+
+ return set_register(bma253, REG_ADDR_INT_SRC, data);
+}
-int bma253_get_low_g_int_cfg(const struct sensor_itf * itf,
- struct low_g_int_cfg * low_g_int_cfg)
+int
+bma253_get_int_pin_electrical(const struct bma253 * bma253,
+ struct int_pin_electrical * electrical)
{
- uint8_t data[3];
- int rc;
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, REG_ADDR_INT_OUT_CTRL, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((data & 0x02) != 0) {
+ electrical->pin1_output = INT_PIN_OUTPUT_OPEN_DRAIN;
+ } else {
+ electrical->pin1_output = INT_PIN_OUTPUT_PUSH_PULL;
+ }
+ if ((data & 0x01) != 0) {
+ electrical->pin1_active = INT_PIN_ACTIVE_HIGH;
+ } else {
+ electrical->pin1_active = INT_PIN_ACTIVE_LOW;
+ }
+ if ((data & 0x08) != 0) {
+ electrical->pin2_output = INT_PIN_OUTPUT_OPEN_DRAIN;
+ } else {
+ electrical->pin2_output = INT_PIN_OUTPUT_PUSH_PULL;
+ }
+ if ((data & 0x04) != 0) {
+ electrical->pin2_active = INT_PIN_ACTIVE_HIGH;
+ } else {
+ electrical->pin2_active = INT_PIN_ACTIVE_LOW;
+ }
+
+ return 0;
+}
- rc = get_registers(itf, REG_ADDR_INT_0,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
+int
+bma253_set_int_pin_electrical(const struct bma253 * bma253,
+ const struct int_pin_electrical * electrical)
+{
+ uint8_t data;
+
+ data = 0;
+
+ switch (electrical->pin1_output) {
+ case INT_PIN_OUTPUT_OPEN_DRAIN:
+ data |= 0x02;
+ break;
+ case INT_PIN_OUTPUT_PUSH_PULL:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin1_active) {
+ case INT_PIN_ACTIVE_HIGH:
+ data |= 0x01;
+ break;
+ case INT_PIN_ACTIVE_LOW:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin2_output) {
+ case INT_PIN_OUTPUT_OPEN_DRAIN:
+ data |= 0x08;
+ break;
+ case INT_PIN_OUTPUT_PUSH_PULL:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (electrical->pin2_active) {
+ case INT_PIN_ACTIVE_HIGH:
+ data |= 0x04;
+ break;
+ case INT_PIN_ACTIVE_LOW:
+ data |= 0x00;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(bma253, REG_ADDR_INT_OUT_CTRL, data);
+}
- 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;
+int
+bma253_get_int_latch(const struct bma253 * bma253,
+ enum int_latch * int_latch)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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;
+}
- return 0;
+int
+bma253_set_int_latch(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_RST_LATCH, data);
}
-int bma253_set_low_g_int_cfg(const struct sensor_itf * itf,
- const struct low_g_int_cfg * low_g_int_cfg)
+int
+bma253_get_low_g_int_cfg(const struct bma253 * bma253,
+ 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->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;
+ rc = get_registers(bma253, REG_ADDR_INT_0,
+ data, sizeof(data) / sizeof(*data));
+ 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);
+ 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;
- 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;
+}
- return 0;
+int
+bma253_set_low_g_int_cfg(const struct bma253 * bma253,
+ const struct low_g_int_cfg * low_g_int_cfg)
+{
+ 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->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;
+ }
+
+ 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);
+
+ rc = set_register(bma253, REG_ADDR_INT_0, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_1, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, 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;
-};
+int
+bma253_get_high_g_int_cfg(const struct bma253 * bma253,
+ 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(bma253, 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_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_set_high_g_int_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_2, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_3, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_4, data[2]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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 bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_5, data + 0);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = get_register(bma253, 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_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_set_slow_no_mot_int_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_5, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_7, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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_slope_int_cfg(const struct bma253 * bma253,
+ 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(bma253, 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;
+}
-enum orient_mode {
- ORIENT_MODE_SYMMETRICAL = 0,
- ORIENT_MODE_HIGH_ASYMMETRICAL = 1,
- ORIENT_MODE_LOW_ASYMMETRICAL = 2,
-};
+int
+bma253_set_slope_int_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_5, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_6, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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_tap_int_cfg(const struct bma253 * bma253,
+ 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(bma253, 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_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_set_tap_int_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_INT_8, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_9, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-struct flat_int_cfg {
- uint8_t flat_angle;
- enum flat_hold flat_hold;
- uint8_t flat_hyster;
- bool hyster_enable;
-};
+int
+bma253_get_orient_int_cfg(const struct bma253 * bma253,
+ struct orient_int_cfg * orient_int_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(bma253, 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 =
+ BMA253_ORIENT_BLOCKING_NONE;
+ break;
+ case 0x01:
+ orient_int_cfg->orient_blocking =
+ BMA253_ORIENT_BLOCKING_ACCEL_ONLY;
+ break;
+ case 0x02:
+ orient_int_cfg->orient_blocking =
+ BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE;
+ break;
+ case 0x03:
+ orient_int_cfg->orient_blocking =
+ BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE;
+ break;
+ }
+
+ switch (data[0] & 0x03) {
+ case 0x00:
+ orient_int_cfg->orient_mode =
+ BMA253_ORIENT_MODE_SYMMETRICAL;
+ break;
+ case 0x01:
+ orient_int_cfg->orient_mode =
+ BMA253_ORIENT_MODE_HIGH_ASYMMETRICAL;
+ break;
+ case 0x02:
+ orient_int_cfg->orient_mode =
+ BMA253_ORIENT_MODE_LOW_ASYMMETRICAL;
+ break;
+ case 0x03:
+ orient_int_cfg->orient_mode =
+ BMA253_ORIENT_MODE_SYMMETRICAL;
+ break;
+ }
+
+ orient_int_cfg->signal_up_dn = data[1] & 0x40;
+ orient_int_cfg->blocking_angle = data[1] & 0x3F;
+
+ return 0;
+}
+
+int
+bma253_set_orient_int_cfg(const struct bma253 * bma253,
+ 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 BMA253_ORIENT_BLOCKING_NONE:
+ data[0] |= 0x00 << 2;
+ break;
+ case BMA253_ORIENT_BLOCKING_ACCEL_ONLY:
+ data[0] |= 0x01 << 2;
+ break;
+ case BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE:
+ data[0] |= 0x02 << 2;
+ break;
+ case BMA253_ORIENT_BLOCKING_ACCEL_AND_SLOPE_AND_STABLE:
+ data[0] |= 0x03 << 2;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ switch (orient_int_cfg->orient_mode) {
+ case BMA253_ORIENT_MODE_SYMMETRICAL:
+ data[0] |= 0x00;
+ break;
+ case BMA253_ORIENT_MODE_HIGH_ASYMMETRICAL:
+ data[0] |= 0x01;
+ break;
+ case BMA253_ORIENT_MODE_LOW_ASYMMETRICAL:
+ data[0] |= 0x02;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ data[1] = (orient_int_cfg->signal_up_dn << 6) |
+ ((orient_int_cfg->blocking_angle & 0x3F) << 0);
+
+ rc = set_register(bma253, REG_ADDR_INT_A, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_B, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_get_flat_int_cfg(const struct bma253 * bma253,
+ struct flat_int_cfg * flat_int_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ rc = get_registers(bma253, REG_ADDR_INT_C,
+ data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
+
+ 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;
+ }
+
+ flat_int_cfg->flat_hyster = data[1] & 0x07;
+ flat_int_cfg->hyster_enable = (data[1] & 0x07) != 0x00;
+
+ return 0;
+}
+
+int
+bma253_set_flat_int_cfg(const struct bma253 * bma253,
+ const struct flat_int_cfg * flat_int_cfg)
+{
+ uint8_t data[2];
+ int rc;
+
+ 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;
+ }
+
+ 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;
+ }
+
+ if (flat_int_cfg->hyster_enable) {
+ data[1] |= flat_int_cfg->flat_hyster & 0x07;
+ }
+
+ rc = set_register(bma253, REG_ADDR_INT_C, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_INT_D, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_get_fifo_wmark_level(const struct bma253 * bma253,
+ uint8_t * wmark_level)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, REG_ADDR_FIFO_CONFIG_0, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *wmark_level = data & 0x3F;
+
+ return 0;
+}
-int bma253_get_flat_int_cfg(const struct sensor_itf * itf,
- struct flat_int_cfg * flat_int_cfg)
+int
+bma253_set_fifo_wmark_level(const struct bma253 * bma253,
+ uint8_t wmark_level)
{
- uint8_t data[2];
- int rc;
+ uint8_t data;
- rc = get_registers(itf, REG_ADDR_INT_C,
- data, sizeof(data) / sizeof(*data));
- if (rc != 0)
- return rc;
+ if (wmark_level > 32) {
+ return SYS_EINVAL;
+ }
- flat_int_cfg->flat_angle = data[0] & 0x3F;
+ data = wmark_level & 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;
- }
+ return set_register(bma253, REG_ADDR_FIFO_CONFIG_0, data);
+}
- flat_int_cfg->flat_hyster = data[1] & 0x07;
- flat_int_cfg->hyster_enable = (data[1] & 0x07) != 0x00;
+int
+bma253_get_self_test_cfg(const struct bma253 * bma253,
+ struct self_test_cfg * self_test_cfg)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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;
+}
- return 0;
+int
+bma253_set_self_test_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_PMU_SELF_TEST, data);
}
-int bma253_set_flat_int_cfg(const struct sensor_itf * itf,
- const struct flat_int_cfg * flat_int_cfg)
+int
+bma253_get_nvm_control(const struct bma253 * bma253,
+ uint8_t * remaining_cycles,
+ bool * load_from_nvm,
+ bool * nvm_is_ready,
+ bool * nvm_unlocked)
{
- uint8_t data[2];
- int rc;
+ uint8_t data;
+ int rc;
- 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;
+ rc = get_register(bma253, REG_ADDR_TRIM_NVM_CTRL, &data);
+ if (rc != 0) {
+ return rc;
+ }
- data[0] = flat_int_cfg->flat_angle & 0x3F;
- data[1] = 0;
+ *remaining_cycles = (data >> 4) & 0x0F;
+ *load_from_nvm = data & 0x08;
+ *nvm_is_ready = data & 0x04;
+ *nvm_unlocked = data & 0x01;
- 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;
- }
+ return 0;
+}
- if (flat_int_cfg->hyster_enable)
- data[1] |= flat_int_cfg->flat_hyster & 0x07;
+int
+bma253_set_nvm_control(const struct bma253 * bma253,
+ bool load_from_nvm,
+ bool store_into_nvm,
+ bool nvm_unlocked)
+{
+ uint8_t data;
- 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;
+ data = (load_from_nvm << 3) |
+ (store_into_nvm << 1) |
+ (nvm_unlocked << 0);
- return 0;
+ return set_register(bma253, REG_ADDR_TRIM_NVM_CTRL, data);
}
-int bma253_get_fifo_wmark_level(const struct sensor_itf * itf,
- uint8_t * wmark_level)
+int
+bma253_get_i2c_watchdog(const struct bma253 * bma253,
+ enum i2c_watchdog * i2c_watchdog)
{
- uint8_t data;
- int rc;
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, REG_ADDR_BGW_SPI3_WDT, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((data & 0x04) != 0) {
+ if ((data & 0x02) != 0) {
+ *i2c_watchdog = I2C_WATCHDOG_50_MS;
+ } else {
+ *i2c_watchdog = I2C_WATCHDOG_1_MS;
+ }
+ } else {
+ *i2c_watchdog = I2C_WATCHDOG_DISABLED;
+ }
+
+ return 0;
+}
- rc = get_register(itf, REG_ADDR_FIFO_CONFIG_0, &data);
- if (rc != 0)
- return rc;
+int
+bma253_set_i2c_watchdog(const struct bma253 * bma253,
+ enum i2c_watchdog i2c_watchdog)
+{
+ uint8_t data;
+
+ switch (i2c_watchdog) {
+ case I2C_WATCHDOG_DISABLED:
+ data = 0x00;
+ break;
+ case I2C_WATCHDOG_1_MS:
+ data = 0x04;
+ break;
+ case I2C_WATCHDOG_50_MS:
+ data = 0x06;
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ return set_register(bma253, REG_ADDR_BGW_SPI3_WDT, data);
+}
- *wmark_level = data & 0x3F;
+int
+bma253_get_fast_ofc_cfg(const struct bma253 * bma253,
+ 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(bma253, 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;
+}
- return 0;
+int
+bma253_set_fast_ofc_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_OFC_SETTING, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_OFC_CTRL, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
}
-int bma253_set_fifo_wmark_level(const struct sensor_itf * itf,
- uint8_t wmark_level)
+int
+bma253_get_slow_ofc_cfg(const struct bma253 * bma253,
+ struct slow_ofc_cfg * slow_ofc_cfg)
{
- uint8_t data;
+ uint8_t data[2];
+ int rc;
- if (wmark_level > 32)
- return SYS_EINVAL;
+ rc = get_registers(bma253, REG_ADDR_OFC_CTRL,
+ data, sizeof(data) / sizeof(*data));
+ if (rc != 0) {
+ return rc;
+ }
- data = wmark_level & 0x3F;
+ 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 set_register(itf, REG_ADDR_FIFO_CONFIG_0, data);
+ return 0;
}
-enum self_test_ampl {
- SELF_TEST_AMPL_HIGH = 0,
- SELF_TEST_AMPL_LOW = 1,
-};
+int
+bma253_set_slow_ofc_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_OFC_SETTING, data[1]);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = set_register(bma253, REG_ADDR_OFC_CTRL, data[0]);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-enum self_test_sign {
- SELF_TEST_SIGN_NEGATIVE = 0,
- SELF_TEST_SIGN_POSITIVE = 1,
-};
+int
+bma253_set_ofc_reset(const struct bma253 * bma253)
+{
+ return set_register(bma253, REG_ADDR_OFC_CTRL, 0x80);
+}
-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_ofc_offset(const struct bma253 * bma253,
+ 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(bma253, reg_addr, &data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ *offset_g = (float)(int8_t)data * 0.00781;
+
+ return 0;
+}
-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_set_ofc_offset(const struct bma253 * bma253,
+ enum axis axis,
+ float offset_g)
+{
+ 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;
+ }
+
+ data = (int8_t)(offset_g / 0.00781);
+
+ return set_register(bma253, reg_addr, data);
}
-struct slow_ofc_cfg {
- bool ofc_z_enabled;
- bool ofc_y_enabled;
- bool ofc_x_enabled;
- bool high_bw_cut_off;
-};
+int
+bma253_get_saved_data(const struct bma253 * bma253,
+ enum saved_data_addr saved_data_addr,
+ uint8_t * saved_data_val)
+{
+ 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;
+ }
+
+ return get_register(bma253, reg_addr, saved_data_val);
+}
-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_set_saved_data(const struct bma253 * bma253,
+ enum saved_data_addr saved_data_addr,
+ uint8_t saved_data_val)
+{
+ 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;
+ }
+
+ return set_register(bma253, reg_addr, saved_data_val);
+}
- rc = get_register(itf, reg_addr, &data);
- if (rc != 0)
- return rc;
+int
+bma253_get_fifo_cfg(const struct bma253 * bma253,
+ struct fifo_cfg * fifo_cfg)
+{
+ uint8_t data;
+ int rc;
+
+ rc = get_register(bma253, 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;
+}
- *offset_g = (float)(int8_t)data * 0.00781;
+int
+bma253_set_fifo_cfg(const struct bma253 * bma253,
+ 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(bma253, REG_ADDR_FIFO_CONFIG_1, data);
+}
- return 0;
+int
+bma253_get_fifo(const struct bma253 * bma253,
+ 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(bma253, 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;
}
-int bma253_set_ofc_offset(const struct sensor_itf * itf,
- enum axis axis,
- float offset_g)
+static int
+reset_and_recfg(struct bma253 * bma253)
{
- uint8_t reg_addr;
- uint8_t data;
+ const struct bma253_cfg * cfg;
+ int rc;
+ enum int_route int_route;
+ struct int_routes int_routes;
+ struct int_filters int_filters;
+ struct int_pin_electrical int_pin_electrical;
+ struct low_g_int_cfg low_g_int_cfg;
+ struct high_g_int_cfg high_g_int_cfg;
+ struct tap_int_cfg tap_int_cfg;
+ struct orient_int_cfg orient_int_cfg;
+ enum i2c_watchdog i2c_watchdog;
+ struct fifo_cfg fifo_cfg;
+ struct bma253_private_driver_data *pdd;
+
+ cfg = &bma253->cfg;
+ pdd = &bma253->pdd;
+
+ bma253->power = BMA253_POWER_MODE_NORMAL;
+
+ rc = bma253_set_softreset(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(bma253, cfg->g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_filter_bandwidth(bma253, cfg->filter_bandwidth);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_data_acquisition(bma253,
+ cfg->use_unfiltered_data,
+ false);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_route = INT_ROUTE_NONE;
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ int_route = pdd->int_route;
+#endif
+
+ int_routes.flat_int_route = INT_ROUTE_NONE;
+ int_routes.orient_int_route = int_route;
+ int_routes.s_tap_int_route = INT_ROUTE_NONE;
+ int_routes.d_tap_int_route = INT_ROUTE_NONE;
+ 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;
+ int_routes.low_g_int_route = int_route;
+ int_routes.fifo_wmark_int_route = INT_ROUTE_NONE;
+ int_routes.fifo_full_int_route = INT_ROUTE_NONE;
+ int_routes.data_int_route = int_route;
+
+ rc = bma253_set_int_routes(bma253, &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(bma253, &int_filters);
+ if (rc != 0) {
+ return rc;
+ }
+
+#if MYNEWT_VAL(BMA253_INT_CFG_OUTPUT)
+ int_pin_electrical.pin1_output = INT_PIN_OUTPUT_OPEN_DRAIN;
+ int_pin_electrical.pin2_output = INT_PIN_OUTPUT_OPEN_DRAIN;
+#else
+ int_pin_electrical.pin1_output = INT_PIN_OUTPUT_PUSH_PULL;
+ int_pin_electrical.pin2_output = INT_PIN_OUTPUT_PUSH_PULL;
+#endif
+#if MYNEWT_VAL(BMA253_INT_CFG_ACTIVE)
+ int_pin_electrical.pin1_active = INT_PIN_ACTIVE_HIGH;
+ int_pin_electrical.pin2_active = INT_PIN_ACTIVE_HIGH;
+#else
+ int_pin_electrical.pin1_active = INT_PIN_ACTIVE_LOW;
+ int_pin_electrical.pin2_active = INT_PIN_ACTIVE_LOW;
+#endif
+
+ rc = bma253_set_int_pin_electrical(bma253, &int_pin_electrical);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_int_latch(bma253, false, INT_LATCH_NON_LATCHED);
+ if (rc != 0) {
+ return rc;
+ }
+
+ low_g_int_cfg.delay_ms = cfg->low_g_delay_ms;
+ low_g_int_cfg.thresh_g = cfg->low_g_thresh_g;
+ low_g_int_cfg.hyster_g = cfg->low_g_hyster_g;
+ low_g_int_cfg.axis_summing = false;
+
+ rc = bma253_set_low_g_int_cfg(bma253, &low_g_int_cfg);
+ if (rc != 0) {
+ return rc;
+ }
+
+ high_g_int_cfg.hyster_g = cfg->high_g_hyster_g;
+ high_g_int_cfg.delay_ms = cfg->high_g_delay_ms;
+ high_g_int_cfg.thresh_g = cfg->high_g_thresh_g;
+
+ rc = bma253_set_high_g_int_cfg(bma253, cfg->g_range, &high_g_int_cfg);
+ 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(bma253, cfg->g_range, &tap_int_cfg);
+ if (rc != 0) {
+ return rc;
+ }
+
+ orient_int_cfg.hyster_g = cfg->orient_hyster_g;
+ orient_int_cfg.orient_blocking = cfg->orient_blocking;
+ orient_int_cfg.orient_mode = cfg->orient_mode;
+ orient_int_cfg.signal_up_dn = cfg->orient_signal_ud;
+ orient_int_cfg.blocking_angle = 0x08;
+
+ rc = bma253_set_orient_int_cfg(bma253, &orient_int_cfg);
+ if (rc != 0) {
+ return rc;
+ }
+
+#if MYNEWT_VAL(BMA253_I2C_WDT)
+ i2c_watchdog = I2C_WATCHDOG_50_MS;
+#else
+ i2c_watchdog = I2C_WATCHDOG_DISABLED;
+#endif
+
+ rc = bma253_set_i2c_watchdog(bma253, i2c_watchdog);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(bma253, AXIS_X, cfg->offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(bma253, AXIS_Y, cfg->offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(bma253, AXIS_Z, cfg->offset_z_g);
+ if (rc != 0) {
+ return 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;
- }
+ fifo_cfg.fifo_mode = FIFO_MODE_BYPASS;
+ fifo_cfg.fifo_data = FIFO_DATA_X_AND_Y_AND_Z;
- data = (int8_t)(offset_g / 0.00781);
+ rc = bma253_set_fifo_cfg(bma253, &fifo_cfg);
+ if (rc != 0) {
+ return rc;
+ }
- return set_register(itf, reg_addr, data);
+ return 0;
}
-enum saved_data_addr {
- SAVED_DATA_ADDR_0 = 0,
- SAVED_DATA_ADDR_1 = 1,
-};
+static int
+change_power(struct bma253 * bma253,
+ enum bma253_power_mode target)
+{
+ const struct bma253_cfg * cfg;
+ int rc;
+ bool step1_move;
+ bool step2_move;
+ enum bma253_power_mode step1_mode;
+ enum bma253_power_mode step2_mode;
+ struct power_settings power_settings;
+
+ cfg = &bma253->cfg;
+
+ if (bma253->power == BMA253_POWER_MODE_DEEP_SUSPEND) {
+ rc = reset_and_recfg(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+ }
+
+ step1_move = false;
+ switch (bma253->power) {
+ case BMA253_POWER_MODE_SUSPEND:
+ case BMA253_POWER_MODE_LPM_1:
+ switch (target) {
+ case BMA253_POWER_MODE_STANDBY:
+ case BMA253_POWER_MODE_LPM_2:
+ step1_mode = BMA253_POWER_MODE_NORMAL;
+ step1_move = true;
+ break;
+ default:
+ break;
+ }
+ break;
+ case BMA253_POWER_MODE_STANDBY:
+ case BMA253_POWER_MODE_LPM_2:
+ switch (target) {
+ case BMA253_POWER_MODE_SUSPEND:
+ case BMA253_POWER_MODE_LPM_1:
+ step1_mode = BMA253_POWER_MODE_NORMAL;
+ step1_move = true;
+ break;
+ default:
+ break;
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (bma253->power != target) {
+ step2_mode = target;
+ step2_move = true;
+ } else {
+ step2_move = false;
+ }
+
+ if (step1_move) {
+ power_settings.power_mode = step1_mode;
+ power_settings.sleep_duration = cfg->sleep_duration;
+ power_settings.sleep_timer = SLEEP_TIMER_EVENT_DRIVEN;
+
+ rc = bma253_set_power_settings(bma253, &power_settings);
+ if (rc != 0) {
+ return rc;
+ }
+
+ bma253->power = step1_mode;
+ }
+
+ if (step2_move) {
+ power_settings.power_mode = step2_mode;
+ power_settings.sleep_duration = cfg->sleep_duration;
+ power_settings.sleep_timer = SLEEP_TIMER_EVENT_DRIVEN;
+
+ rc = bma253_set_power_settings(bma253, &power_settings);
+ if (rc != 0) {
+ return rc;
+ }
+
+ bma253->power = step2_mode;
+ }
+
+ return 0;
+}
-int bma253_get_saved_data(const struct sensor_itf * itf,
- enum saved_data_addr saved_data_addr,
- uint8_t * saved_data_val)
+static int
+interim_power(struct bma253 * bma253,
+ const enum bma253_power_mode * reqs,
+ uint8_t size)
{
- uint8_t reg_addr;
+ uint8_t i;
+
+ if (size == 0) {
+ 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;
- }
+ for (i = 0; i < size; i++) {
+ if (reqs[i] == bma253->power) {
+ return 0;
+ }
+ }
- return get_register(itf, reg_addr, saved_data_val);
+ return change_power(bma253, reqs[0]);
}
-int bma253_set_saved_data(const struct sensor_itf * itf,
- enum saved_data_addr saved_data_addr,
- uint8_t saved_data_val)
+static int
+default_power(struct bma253 * bma253)
{
- uint8_t reg_addr;
+ const struct bma253_cfg * cfg;
- 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;
- }
+ cfg = &bma253->cfg;
- return set_register(itf, reg_addr, saved_data_val);
+ if (cfg->power_mode == bma253->power) {
+ return 0;
+ }
+
+ return change_power(bma253, cfg->power_mode);
}
-enum fifo_mode {
- FIFO_MODE_BYPASS = 0,
- FIFO_MODE_FIFO = 1,
- FIFO_MODE_STREAM = 2,
-};
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+static int
+init_intpin(struct bma253 * bma253,
+ hal_gpio_irq_handler_t handler,
+ void * arg)
+{
+ struct bma253_private_driver_data *pdd = &bma253->pdd;
+ hal_gpio_irq_trig_t trig;
+ int pin = -1;
+ int rc;
+ int i;
+
+ for (i = 0; i < MYNEWT_VAL(SENSOR_MAX_INTERRUPTS_PINS); i++){
+ pin = bma253->sensor.s_itf.si_ints[i].host_pin;
+ if (pin > 0) {
+ break;
+ }
+ }
+
+ if (pin < 0) {
+ BMA253_ERROR("Interrupt pin not configured\n");
+ return SYS_EINVAL;
+ }
+
+ pdd->int_num = i;
+ if (bma253->sensor.s_itf.si_ints[pdd->int_num].active) {
+ trig = HAL_GPIO_TRIG_RISING;
+ } else {
+ trig = HAL_GPIO_TRIG_FALLING;
+ }
+
+ if (bma253->sensor.s_itf.si_ints[pdd->int_num].device_pin == 1) {
+ pdd->int_route = INT_ROUTE_PIN_1;
+ } else if (bma253->sensor.s_itf.si_ints[pdd->int_num].device_pin == 2) {
+ pdd->int_route = INT_ROUTE_PIN_2;
+ } else {
+ BMA253_ERROR("Route not configured\n");
+ return SYS_EINVAL;
+ }
+
+ rc = hal_gpio_irq_init(pin,
+ handler,
+ arg,
+ trig,
+ HAL_GPIO_PULL_NONE);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
-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,
-};
+static void
+enable_intpin(struct bma253 * bma253)
+{
+ struct bma253_private_driver_data *pdd = &bma253->pdd;
+ enum bma253_int_num int_num = pdd->int_num;
-struct fifo_cfg {
- enum fifo_mode fifo_mode;
- enum fifo_data fifo_data;
-};
+ pdd->int_ref_cnt++;
+
+ if (pdd->int_ref_cnt == 1) {
+ hal_gpio_irq_enable(bma253->sensor.s_itf.si_ints[int_num].host_pin);
+ }
+}
+
+static void
+disable_intpin(struct bma253 * bma253)
+{
+ struct bma253_private_driver_data *pdd = &bma253->pdd;
+ enum bma253_int_num int_num = pdd->int_num;
+
+ if (pdd->int_ref_cnt == 0) {
+ return;
+ }
+
+ pdd->int_ref_cnt--;
+
+ if (pdd->int_ref_cnt == 0) {
+ hal_gpio_irq_disable(bma253->sensor.s_itf.si_ints[int_num].host_pin);
+ }
+}
+#endif
+
+static int
+self_test_enable(const struct bma253 * bma253,
+ 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(bma253, &self_test_cfg);
+}
+
+static int
+self_test_disable(const struct bma253 * bma253)
+{
+ 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(bma253, &self_test_cfg);
+}
+
+static int
+self_test_nudge(const struct bma253 * bma253,
+ 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(bma253, ampl, sign, axis);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ rc = bma253_get_accel(bma253, g_range, axis, accel_data);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_disable(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ return 0;
+}
+
+static int
+self_test_axis(const struct bma253 * bma253,
+ 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(bma253,
+ SELF_TEST_AMPL_HIGH,
+ SELF_TEST_SIGN_NEGATIVE,
+ axis,
+ g_range,
+ &accel_neg_hi);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = self_test_nudge(bma253,
+ SELF_TEST_AMPL_LOW,
+ SELF_TEST_SIGN_NEGATIVE,
+ axis,
+ g_range,
+ &accel_neg_lo);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = self_test_nudge(bma253,
+ SELF_TEST_AMPL_HIGH,
+ SELF_TEST_SIGN_POSITIVE,
+ axis,
+ g_range,
+ &accel_pos_hi);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = self_test_nudge(bma253,
+ 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 bma253_cfg * cfg;
+ enum bma253_power_mode request_power;
+ 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;
+
+ cfg = &bma253->cfg;
+
+ request_power = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253, &request_power, 1);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(bma253, BMA253_G_RANGE_8);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_axis(bma253,
+ AXIS_X,
+ BMA253_G_RANGE_8,
+ &delta_hi_x_g,
+ &delta_lo_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = self_test_axis(bma253,
+ AXIS_Y,
+ BMA253_G_RANGE_8,
+ &delta_hi_y_g,
+ &delta_lo_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = self_test_axis(bma253,
+ AXIS_Z,
+ BMA253_G_RANGE_8,
+ &delta_hi_z_g,
+ &delta_lo_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = self_test_disable(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(bma253, cfg->g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ delay_msec(50);
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ 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 bma253 * bma253,
+ 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(bma253,
+ &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(bma253, axis, target, true);
+ if (rc != 0) {
+ return rc;
+ }
+
+ for (count = 1000; count != 0; count--) {
+ rc = bma253_get_fast_ofc_cfg(bma253,
+ &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 bma253_cfg * cfg;
+ enum bma253_power_mode request_power;
+ int rc;
+
+ cfg = &bma253->cfg;
+
+ request_power = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253, &request_power, 1);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(bma253, BMA253_G_RANGE_2);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = axis_offset_compensation(bma253, AXIS_X, target_x);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = axis_offset_compensation(bma253, AXIS_Y, target_y);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = axis_offset_compensation(bma253, AXIS_Z, target_z);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_ofc_offset(bma253, AXIS_X, &bma253->cfg.offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_ofc_offset(bma253, AXIS_Y, &bma253->cfg.offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_ofc_offset(bma253, AXIS_Z, &bma253->cfg.offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_g_range(bma253, cfg->g_range);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_query_offsets(struct bma253 * bma253,
+ float * offset_x_g,
+ float * offset_y_g,
+ float * offset_z_g)
+{
+ const struct bma253_cfg * cfg;
+ enum bma253_power_mode request_power[5];
+ int rc;
+ float val_offset_x_g;
+ float val_offset_y_g;
+ float val_offset_z_g;
+ bool mismatch;
+
+ cfg = &bma253->cfg;
+
+ request_power[0] = BMA253_POWER_MODE_SUSPEND;
+ request_power[1] = BMA253_POWER_MODE_STANDBY;
+ request_power[2] = BMA253_POWER_MODE_LPM_1;
+ request_power[3] = BMA253_POWER_MODE_LPM_2;
+ request_power[4] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_ofc_offset(bma253, AXIS_X, &val_offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_ofc_offset(bma253, AXIS_Y, &val_offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_ofc_offset(bma253, AXIS_Z, &val_offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ mismatch = false;
+ if (cfg->offset_x_g != val_offset_x_g) {
+ BMA253_ERROR("X compensation offset value mismatch\n");
+ mismatch = true;
+ }
+ if (cfg->offset_y_g != val_offset_y_g) {
+ BMA253_ERROR("Y compensation offset value mismatch\n");
+ mismatch = true;
+ }
+ if (cfg->offset_z_g != val_offset_z_g) {
+ BMA253_ERROR("Z compensation offset value mismatch\n");
+ mismatch = true;
+ }
+
+ if (mismatch) {
+ return SYS_EINVAL;
+ }
+
+ *offset_x_g = val_offset_x_g;
+ *offset_y_g = val_offset_y_g;
+ *offset_z_g = val_offset_z_g;
+
+ return 0;
+}
-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_write_offsets(struct bma253 * bma253,
+ float offset_x_g,
+ float offset_y_g,
+ float offset_z_g)
+{
+ struct bma253_cfg * cfg;
+ enum bma253_power_mode request_power[5];
+ int rc;
+
+ cfg = &bma253->cfg;
+
+ request_power[0] = BMA253_POWER_MODE_SUSPEND;
+ request_power[1] = BMA253_POWER_MODE_STANDBY;
+ request_power[2] = BMA253_POWER_MODE_LPM_1;
+ request_power[3] = BMA253_POWER_MODE_LPM_2;
+ request_power[4] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_set_ofc_offset(bma253, AXIS_X, offset_x_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_set_ofc_offset(bma253, AXIS_Y, offset_y_g);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_set_ofc_offset(bma253, AXIS_Z, offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ cfg->offset_x_g = offset_x_g;
+ cfg->offset_y_g = offset_y_g;
+ cfg->offset_z_g = offset_z_g;
+
+ 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 bma253_cfg * cfg;
+ int rc;
+ enum bma253_power_mode request_power;
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = { 0 };
+ os_time_t time_ticks;
+ os_time_t stop_ticks;
+ struct accel_data accel_data[AXIS_ALL];
+ struct sensor_accel_data sad;
+ struct bma253_private_driver_data *pdd;
+
+ cfg = &bma253->cfg;
+ pdd = &bma253->pdd;
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;
-}
-
-// TODO In suspend mode (or low-power mode 1) an interface idle time of at least 450 us is required
-// after a write.
-// 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;
-};
-static bool sensor_driver_read_func(void * arg,
- struct sensor_accel_data * sad)
+ request_power = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253, &request_power, 1);
+ if (rc != 0) {
+ return rc;
+ }
+
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ undo_interrupt(&bma253->intr);
+
+ if (pdd->interrupt) {
+ return SYS_EBUSY;
+ }
+ pdd->interrupt = &bma253->intr;
+ enable_intpin(bma253);
+#endif
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ /* Leave tap configured as it is since it is on int2*/
+ int_enable.s_tap_int_enable = int_enable_org.s_tap_int_enable;
+ int_enable.d_tap_int_enable = int_enable_org.d_tap_int_enable;
+ int_enable.data_int_enable = true;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ if (time_ms != 0) {
+ rc = os_time_ms_to_ticks(time_ms, &time_ticks);
+ if (rc != 0) {
+ goto done;
+ }
+ stop_ticks = os_time_get() + time_ticks;
+ }
+
+ for (;;) {
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ wait_interrupt(&bma253->intr, pdd->int_num);
+#else
+ switch (cfg->filter_bandwidth) {
+ case BMA253_FILTER_BANDWIDTH_7_81_HZ:
+ delay_msec(128);
+ break;
+ case BMA253_FILTER_BANDWIDTH_15_63_HZ:
+ delay_msec(64);
+ break;
+ case BMA253_FILTER_BANDWIDTH_31_25_HZ:
+ delay_msec(32);
+ break;
+ case BMA253_FILTER_BANDWIDTH_62_5_HZ:
+ delay_msec(16);
+ break;
+ case BMA253_FILTER_BANDWIDTH_125_HZ:
+ delay_msec(8);
+ break;
+ case BMA253_FILTER_BANDWIDTH_250_HZ:
+ delay_msec(4);
+ break;
+ case BMA253_FILTER_BANDWIDTH_500_HZ:
+ delay_msec(2);
+ break;
+ case BMA253_FILTER_BANDWIDTH_1000_HZ:
+ delay_msec(1);
+ break;
+ default:
+ delay_msec(1000);
+ break;
+ }
+#endif
+
+ rc = bma253_get_fifo(bma253,
+ cfg->g_range,
+ FIFO_DATA_X_AND_Y_AND_Z,
+ accel_data);
+ if (rc != 0) {
+ goto done;
+ }
+
+ 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;
+ }
+ }
+
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ goto done;
+ }
+
+done:
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ pdd->interrupt = NULL;
+ disable_intpin(bma253);
+#endif
+
+ return rc;
+}
+
+int
+bma253_current_temp(struct bma253 * bma253,
+ float * temp_c)
+{
+ enum bma253_power_mode request_power[3];
+ int rc;
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_temp(bma253, temp_c);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_current_orient(struct bma253 * bma253,
+ struct bma253_orient_xyz * orient_xyz)
+{
+ enum bma253_power_mode request_power[3];
+ int rc;
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = { 0 };
+ struct int_status int_status;
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Leave tap configured as it is since it is on int2*/
+ int_enable.s_tap_int_enable = int_enable_org.s_tap_int_enable;
+ int_enable.d_tap_int_enable = int_enable_org.d_tap_int_enable;
+
+ int_enable.orient_int_enable = true;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_int_status(bma253, &int_status);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Back to original interrupts */
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ orient_xyz->orient_xy = int_status.device_orientation;
+ orient_xyz->downward_z = int_status.device_is_down;
+
+ return 0;
+}
+
+int
+bma253_wait_for_orient(struct bma253 * bma253,
+ struct bma253_orient_xyz * orient_xyz)
{
- struct sensor_driver_read_context * context;
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ int rc;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = {0};
+ struct int_status int_status;
+ struct bma253_private_driver_data *pdd;
+
+ pdd = &bma253->pdd;
+
+ if (pdd->interrupt) {
+ BMA253_ERROR("Interrupt used\n");
+ return SYS_EINVAL;
+ }
+
+ pdd->interrupt = &bma253->intr;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ undo_interrupt(&bma253->intr);
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Leave tap configured as it is since it is on int2*/
+ int_enable.s_tap_int_enable = int_enable_org.s_tap_int_enable;
+ int_enable.d_tap_int_enable = int_enable_org.d_tap_int_enable;
+ int_enable.orient_int_enable = true;
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ wait_interrupt(&bma253->intr, pdd->int_num);
+
+ rc = bma253_get_int_status(bma253, &int_status);
+ if (rc != 0) {
+ goto done;
+ }
+
+ /* Back to original interrupts */
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ goto done;
+ }
+
+ orient_xyz->orient_xy = int_status.device_orientation;
+ orient_xyz->downward_z = int_status.device_is_down;
+
+done:
+ pdd->interrupt = NULL;
+ disable_intpin(bma253);
+ return rc;
+#else
+ return SYS_ENODEV;
+#endif
+}
- context = (struct sensor_driver_read_context *)arg;
+int
+bma253_wait_for_high_g(struct bma253 * bma253)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ int rc;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = { 0 };
+ struct bma253_private_driver_data *pdd;
+
+ pdd = &bma253->pdd;
+
+ if (pdd->interrupt) {
+ BMA253_ERROR("Interrupt used\n");
+ return SYS_EINVAL;
+ }
+
+ pdd->interrupt = &bma253->intr;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ undo_interrupt(&bma253->intr);
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Leave tap configured as it is since it is on int2*/
+ int_enable.s_tap_int_enable = int_enable_org.s_tap_int_enable;
+ int_enable.d_tap_int_enable = int_enable_org.d_tap_int_enable;
+
+ int_enable.high_g_z_int_enable = true;
+ int_enable.high_g_y_int_enable = true;
+ int_enable.high_g_x_int_enable = true;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ wait_interrupt(&bma253->intr, pdd->int_num);
+
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ goto done;
+ }
+
+done:
+ pdd->interrupt = NULL;
+ disable_intpin(bma253);
+ return rc;
+#else
+ return SYS_ENODEV;
+#endif
+}
- context->result_code = context->data_func(context->sensor,
- context->data_arg,
- sad,
- SENSOR_TYPE_ACCELEROMETER);
+int
+bma253_wait_for_low_g(struct bma253 * bma253)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ int rc;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = { 0 };
+ struct bma253_private_driver_data *pdd;
+
+ pdd = &bma253->pdd;
+
+ if (pdd->interrupt) {
+ BMA253_ERROR("Interrupt used\n");
+ return SYS_EINVAL;
+ }
+
+ pdd->interrupt = &bma253->intr;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ undo_interrupt(&bma253->intr);
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Leave tap configured as it is since it is on int2 */
+ int_enable.s_tap_int_enable = int_enable_org.s_tap_int_enable;
+ int_enable.d_tap_int_enable = int_enable_org.d_tap_int_enable;
+
+ int_enable.low_g_int_enable = true;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ wait_interrupt(&bma253->intr, pdd->int_num);
+
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ goto done;
+ }
+
+done:
+ pdd->interrupt = NULL;
+ disable_intpin(bma253);
+ return 0;
+#else
+ return SYS_ENODEV;
+#endif
+}
- return true;
+int
+bma253_wait_for_tap(struct bma253 * bma253,
+ enum bma253_tap_type tap_type)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ int rc = 0;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable_org;
+ struct int_enable int_enable = { 0 };
+ struct int_routes int_routes;
+ struct int_routes int_routes_org;
+ struct bma253_private_driver_data *pdd;
+
+ pdd = &bma253->pdd;
+
+ switch (tap_type) {
+ case BMA253_TAP_TYPE_DOUBLE:
+ case BMA253_TAP_TYPE_SINGLE:
+ break;
+ default:
+ return SYS_EINVAL;
+ }
+
+ rc = bma253_get_int_routes(bma253, &int_routes_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_routes = int_routes_org;
+ if (tap_type == BMA253_TAP_TYPE_DOUBLE) {
+ /* According to BMA253 when single tap shall not be used we should not
+ * route it to any INTX
+ */
+ int_routes.d_tap_int_route = pdd->int_route;
+ int_routes.s_tap_int_route = INT_ROUTE_NONE;
+ } else {
+ int_routes.d_tap_int_route = INT_ROUTE_NONE;
+ int_routes.s_tap_int_route = pdd->int_route;
+ }
+
+ rc = bma253_set_int_routes(bma253, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (pdd->interrupt) {
+ BMA253_ERROR("Interrupt used\n");
+ return SYS_EINVAL;
+ }
+
+ pdd->interrupt = &bma253->intr;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ undo_interrupt(&bma253->intr);
+
+ rc = bma253_get_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_enable.s_tap_int_enable = tap_type == BMA253_TAP_TYPE_SINGLE;
+ int_enable.d_tap_int_enable = tap_type == BMA253_TAP_TYPE_DOUBLE;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ wait_interrupt(&bma253->intr, pdd->int_num);
+
+ rc = bma253_set_int_enable(bma253, &int_enable_org);
+ if (rc != 0) {
+ goto done;
+ }
+
+ rc = default_power(bma253);
+
+done:
+ pdd->interrupt = NULL;
+ disable_intpin(bma253);
+ /* Restore previous routing */
+ rc = bma253_set_int_routes(bma253, &int_routes_org);
+
+ return rc;
+#else
+ return SYS_ENODEV;
+#endif
}
-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)
+int
+bma253_power_settings(struct bma253 * bma253,
+ enum bma253_power_mode power_mode,
+ enum bma253_sleep_duration sleep_duration)
{
- struct bma253 * bma253;
- struct sensor_driver_read_context context;
- int rc;
+ struct bma253_cfg * cfg;
+
+ cfg = &bma253->cfg;
- if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER))
- return SYS_EINVAL;
+ cfg->power_mode = power_mode;
+ cfg->sleep_duration = sleep_duration;
- bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ return default_power(bma253);
+}
- context.data_func = data_func;
- context.data_arg = data_arg;
- context.sensor = sensor;
+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;
+ const struct bma253_cfg * cfg;
+ enum bma253_power_mode request_power[3];
+ int rc;
+ struct accel_data accel_data[AXIS_ALL];
+ struct sensor_accel_data sad;
+ float temp_c;
+ struct sensor_temp_data std;
+
+ if ((sensor_type & ~(SENSOR_TYPE_ACCELEROMETER |
+ SENSOR_TYPE_AMBIENT_TEMPERATURE)) != 0) {
+ return SYS_EINVAL;
+ }
+
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ cfg = &bma253->cfg;
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ if ((sensor_type & SENSOR_TYPE_ACCELEROMETER) != 0) {
+ rc = bma253_get_accel(bma253,
+ cfg->g_range,
+ AXIS_X,
+ accel_data + AXIS_X);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_accel(bma253,
+ cfg->g_range,
+ AXIS_Y,
+ accel_data + AXIS_Y);
+ if (rc != 0) {
+ return rc;
+ }
+ rc = bma253_get_accel(bma253,
+ cfg->g_range,
+ AXIS_Z,
+ accel_data + AXIS_Z);
+ 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;
+
+ rc = data_func(sensor,
+ data_arg,
+ &sad,
+ SENSOR_TYPE_ACCELEROMETER);
+ if (rc != 0) {
+ return rc;
+ }
+ }
+
+ if ((sensor_type & SENSOR_TYPE_AMBIENT_TEMPERATURE) != 0) {
+ rc = bma253_get_temp(bma253, &temp_c);
+ if (rc != 0) {
+ return rc;
+ }
+
+ std.std_temp = temp_c;
+ std.std_temp_is_valid = 1;
+
+ rc = data_func(sensor,
+ data_arg,
+ &std,
+ SENSOR_TYPE_AMBIENT_TEMPERATURE);
+ if (rc != 0) {
+ return rc;
+ }
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
- rc = bma253_stream_read(bma253,
- sensor_driver_read_func,
- &context,
- 0);
- if (rc != 0)
- return rc;
+static int
+sensor_driver_get_config(struct sensor * sensor,
+ sensor_type_t sensor_type,
+ struct sensor_cfg * cfg)
+{
+ if ((sensor_type & ~(SENSOR_TYPE_ACCELEROMETER |
+ SENSOR_TYPE_AMBIENT_TEMPERATURE)) != 0) {
+ return SYS_EINVAL;
+ }
+ if ((sensor_type & (sensor_type - 1)) != 0) {
+ return SYS_EINVAL;
+ }
+
+ if ((sensor_type & SENSOR_TYPE_ACCELEROMETER) != 0) {
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+ }
+ if ((sensor_type & SENSOR_TYPE_AMBIENT_TEMPERATURE) != 0) {
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT;
+ }
+
+ return 0;
+}
- return context.result_code;
+static int
+sensor_driver_set_trigger_thresh(struct sensor * sensor,
+ sensor_type_t sensor_type,
+ struct sensor_type_traits * stt)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ struct bma253 * bma253;
+ const struct bma253_cfg * cfg;
+ int rc;
+ enum bma253_power_mode request_power[3];
+ const struct sensor_accel_data * low_thresh;
+ const struct sensor_accel_data * high_thresh;
+ struct int_enable int_enable;
+ float thresh;
+ struct low_g_int_cfg low_g_int_cfg;
+ struct high_g_int_cfg high_g_int_cfg;
+ struct bma253_private_driver_data *pdd;
+
+ if (sensor_type != SENSOR_TYPE_ACCELEROMETER) {
+ return SYS_EINVAL;
+ }
+
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ cfg = &bma253->cfg;
+ pdd = &bma253->pdd;
+
+ pdd->read_ctx.srec_type |= sensor_type;
+ pdd->registered_mask |= BMA253_READ_MASK;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ low_thresh = stt->stt_low_thresh.sad;
+ high_thresh = stt->stt_high_thresh.sad;
+
+ rc = bma253_get_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ if (low_thresh->sad_x_is_valid |
+ low_thresh->sad_y_is_valid |
+ low_thresh->sad_z_is_valid) {
+ thresh = INFINITY;
+
+ if (low_thresh->sad_x_is_valid) {
+ if (thresh > low_thresh->sad_x) {
+ thresh = low_thresh->sad_x;
+ }
+ }
+ if (low_thresh->sad_y_is_valid) {
+ if (thresh > low_thresh->sad_y) {
+ thresh = low_thresh->sad_y;
+ }
+ }
+ if (low_thresh->sad_z_is_valid) {
+ if (thresh > low_thresh->sad_z) {
+ thresh = low_thresh->sad_z;
+ }
+ }
+
+ low_g_int_cfg.delay_ms = 20;
+ low_g_int_cfg.thresh_g = thresh;
+ low_g_int_cfg.hyster_g = 0.125;
+ low_g_int_cfg.axis_summing = false;
+
+ rc = bma253_set_low_g_int_cfg(bma253,
+ &low_g_int_cfg);
+ if (rc != 0) {
+ goto done;
+ }
+
+ int_enable.low_g_int_enable = true;
+ }
+
+ if (high_thresh->sad_x_is_valid |
+ high_thresh->sad_y_is_valid |
+ high_thresh->sad_z_is_valid) {
+ thresh = 0.0;
+
+ if (high_thresh->sad_x_is_valid) {
+ if (thresh < high_thresh->sad_x) {
+ thresh = high_thresh->sad_x;
+ }
+ }
+ if (high_thresh->sad_y_is_valid) {
+ if (thresh < high_thresh->sad_y) {
+ thresh = high_thresh->sad_y;
+ }
+ }
+ if (high_thresh->sad_z_is_valid) {
+ if (thresh < high_thresh->sad_z) {
+ thresh = high_thresh->sad_z;
+ }
+ }
+
+ high_g_int_cfg.hyster_g = 0.25;
+ high_g_int_cfg.delay_ms = 32;
+ high_g_int_cfg.thresh_g = thresh;
+
+ rc = bma253_set_high_g_int_cfg(bma253,
+ cfg->g_range,
+ &high_g_int_cfg);
+ if (rc != 0) {
+ goto done;
+ }
+
+ int_enable.high_g_z_int_enable = high_thresh->sad_z_is_valid;
+ int_enable.high_g_y_int_enable = high_thresh->sad_y_is_valid;
+ int_enable.high_g_x_int_enable = high_thresh->sad_x_is_valid;
+ }
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+
+done:
+ if (rc != 0) {
+ /* Something went wrong, unregister from interrupt */
+ pdd->read_ctx.srec_type &= ~sensor_type;
+ pdd->registered_mask &= ~BMA253_READ_MASK;
+ disable_intpin(bma253);
+ }
+
+ return rc;
+#else
+ return SYS_ENODEV;
+#endif
}
-static int sensor_driver_get_config(struct sensor * sensor,
- sensor_type_t sensor_type,
- struct sensor_cfg * cfg)
+static int
+sensor_driver_unset_notification(struct sensor * sensor,
+ sensor_event_type_t sensor_event_type)
{
- if (!(sensor_type & SENSOR_TYPE_ACCELEROMETER))
- return SYS_EINVAL;
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ struct bma253 * bma253;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable;
+ struct int_routes int_routes;
+ struct bma253_private_driver_data *pdd;
+ int rc;
+
+ if ((sensor_event_type & ~(SENSOR_EVENT_TYPE_DOUBLE_TAP |
+ SENSOR_EVENT_TYPE_SINGLE_TAP)) != 0) {
+ return SYS_EINVAL;
+ }
+
+ /*XXX for now we do not support registering for both events */
+ if (sensor_event_type == (SENSOR_EVENT_TYPE_DOUBLE_TAP |
+ SENSOR_EVENT_TYPE_SINGLE_TAP)) {
+ return SYS_EINVAL;
+ }
+
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ pdd = &bma253->pdd;
+
+ pdd->notify_ctx.snec_evtype &= ~sensor_event_type;
+ pdd->registered_mask &= ~BMA253_NOTIFY_MASK;
+ disable_intpin(bma253);
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Clear route and interrupts. We can do it for single and double as driver
+ * supports notification only for one of them at the time
+ */
+ rc = bma253_get_int_routes(bma253, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (sensor_event_type & SENSOR_EVENT_TYPE_SINGLE_TAP) {
+ int_routes.s_tap_int_route = INT_ROUTE_NONE;
+ }
+
+ if (sensor_event_type & SENSOR_EVENT_TYPE_DOUBLE_TAP) {
+ int_routes.d_tap_int_route = INT_ROUTE_NONE;
+ }
+
+ rc = bma253_set_int_routes(bma253, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = bma253_get_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ int_enable.d_tap_int_enable = false;
+ int_enable.s_tap_int_enable = false;
+
+ rc = bma253_set_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+#else
+ return SYS_ENODEV;
+#endif
+}
- cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+static int
+sensor_driver_set_notification(struct sensor * sensor,
+ sensor_event_type_t sensor_event_type)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ struct bma253 * bma253;
+ int rc;
+ enum bma253_power_mode request_power[3];
+ struct int_enable int_enable;
+ struct int_routes int_routes;
+ struct bma253_private_driver_data *pdd;
+
+ if ((sensor_event_type & ~(SENSOR_EVENT_TYPE_DOUBLE_TAP |
+ SENSOR_EVENT_TYPE_SINGLE_TAP)) != 0) {
+ return SYS_EINVAL;
+ }
+
+ /*XXX for now we do not support registering for both events */
+ if (sensor_event_type == (SENSOR_EVENT_TYPE_DOUBLE_TAP |
+ SENSOR_EVENT_TYPE_SINGLE_TAP)) {
+ return SYS_EINVAL;
+ }
+
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ pdd = &bma253->pdd;
+
+ if (pdd->registered_mask & BMA253_NOTIFY_MASK) {
+ return SYS_EBUSY;
+ }
+
+ pdd->notify_ctx.snec_evtype |= sensor_event_type;
+ pdd->registered_mask |= BMA253_NOTIFY_MASK;
+ enable_intpin(bma253);
+
+ request_power[0] = BMA253_POWER_MODE_LPM_1;
+ request_power[1] = BMA253_POWER_MODE_LPM_2;
+ request_power[2] = BMA253_POWER_MODE_NORMAL;
+
+ rc = interim_power(bma253,
+ request_power,
+ sizeof(request_power) / sizeof(*request_power));
+ if (rc != 0) {
+ goto done;
+ }
+
+ /* Configure route */
+ rc = bma253_get_int_routes(bma253, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (sensor_event_type & SENSOR_EVENT_TYPE_DOUBLE_TAP) {
+ int_routes.d_tap_int_route = pdd->int_route;
+ }
+
+ if (sensor_event_type & SENSOR_EVENT_TYPE_SINGLE_TAP) {
+ int_routes.s_tap_int_route = pdd->int_route;
+ }
+
+ rc = bma253_set_int_routes(bma253, &int_routes);
+ if (rc != 0) {
+ return rc;
+ }
+
+ /* Configure enable event*/
+ rc = bma253_get_int_enable(bma253, &int_enable);
+ if (rc != 0) {
+ goto done;
+ }
+
+ /* Enable tap event*/
+ int_enable.s_tap_int_enable = sensor_event_type &
+ SENSOR_EVENT_TYPE_SINGLE_TAP;
+ int_enable.d_tap_int_enable = sensor_event_type &
+ SENSOR_EVENT_TYPE_DOUBLE_TAP;
+ rc = bma253_set_int_enable(bma253, &int_enable);
+
+done:
+ if (rc != 0) {
+ pdd->notify_ctx.snec_evtype &= ~sensor_event_type;
+ pdd->registered_mask &= ~BMA253_NOTIFY_MASK;
+ disable_intpin(bma253);
+ }
+
+ return rc;
+#else
+ return SYS_ENODEV;
+#endif
+}
- return 0;
+static int
+sensor_driver_handle_interrupt(struct sensor * sensor)
+{
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ struct bma253 * bma253;
+ struct bma253_private_driver_data *pdd;
+ struct int_status int_status;
+ int rc;
+
+ bma253 = (struct bma253 *)SENSOR_GET_DEVICE(sensor);
+ pdd = &bma253->pdd;
+
+ rc = bma253_get_int_status(bma253, &int_status);
+ if (rc != 0) {
+ BMA253_ERROR("Cound not read int status err=0x%02x\n", rc);
+ return rc;
+ }
+
+ if ((pdd->registered_mask & BMA253_NOTIFY_MASK) &&
+ (int_status.s_tap_int_active || int_status.d_tap_int_active)) {
+ sensor_mgr_put_notify_evt(&pdd->notify_ctx);
+ }
+
+ if ((pdd->registered_mask & BMA253_READ_MASK) &&
+ (int_status.high_g_int_active || int_status.low_g_int_active)) {
+ sensor_mgr_put_read_evt(&pdd->read_ctx);
+ }
+
+ return 0;
+#else
+ return SYS_ENODEV;
+#endif
}
static struct sensor_driver bma253_sensor_driver = {
- .sd_read = sensor_driver_read,
- .sd_get_config = sensor_driver_get_config,
+ .sd_read = sensor_driver_read,
+ .sd_get_config = sensor_driver_get_config,
+ .sd_set_trigger_thresh = sensor_driver_set_trigger_thresh,
+ .sd_set_notification = sensor_driver_set_notification,
+ .sd_unset_notification = sensor_driver_unset_notification,
+ .sd_handle_interrupt = sensor_driver_handle_interrupt,
};
-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;
+ int rc;
+ uint8_t chip_id;
+
+ bma253->cfg = *cfg;
+
+ sensor = &bma253->sensor;
+
+ rc = bma253_get_chip_id(bma253, &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 = reset_and_recfg(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = default_power(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ rc = sensor_set_type_mask(sensor, cfg->sensor_mask);
+ if (rc != 0) {
+ return rc;
+ }
+
+ return 0;
+}
+
+int
+bma253_init(struct os_dev * dev, void * arg)
+{
+ struct bma253 * bma253;
+ struct sensor * sensor;
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ struct bma253_private_driver_data *pdd;
+#endif
+ 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 |
+ SENSOR_TYPE_AMBIENT_TEMPERATURE,
+ &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;
+#if MYNEWT_VAL(BMA253_INT_ENABLE)
+ init_interrupt(&bma253->intr, bma253->sensor.s_itf.si_ints);
+
+ pdd = &bma253->pdd;
+
+ pdd->read_ctx.srec_sensor = sensor;
+ pdd->notify_ctx.snec_sensor = sensor;
+
+ rc = init_intpin(bma253, interrupt_handler, sensor);
+ if (rc != 0) {
+ return rc;
+ }
+#endif
- interrupt_init(bma253->ints + BMA253_INT_PIN_1);
- interrupt_init(bma253->ints + BMA253_INT_PIN_2);
+ bma253->power = BMA253_POWER_MODE_NORMAL;
- return 0;
+ return 0;
}
diff --git a/hw/drivers/sensors/bma253/src/bma253_priv.h b/hw/drivers/sensors/bma253/src/bma253_priv.h
new file mode 100644
index 000000000..eac21c240
--- /dev/null
+++ b/hw/drivers/sensors/bma253/src/bma253_priv.h
@@ -0,0 +1,656 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef __BMA253_PRIV_H__
+#define __BMA253_PRIV_H__
+
+#include "bma253/bma253.h"
+
+#ifdef __cplusplus
+#extern "C" {
+#endif
+
+/*
+ * Full register map:
+ */
+
+#define REG_ADDR_BGW_CHIPID 0x00 /* r */
+/* RESERVED */ /* */
+#define REG_ADDR_ACCD_X_LSB 0x02 /* r */
+#define REG_ADDR_ACCD_X_MSB 0x03 /* r */
+#define REG_ADDR_ACCD_Y_LSB 0x04 /* r */
+#define REG_ADDR_ACCD_Y_MSB 0x05 /* r */
+#define REG_ADDR_ACCD_Z_LSB 0x06 /* r */
+#define REG_ADDR_ACCD_Z_MSB 0x07 /* r */
+#define REG_ADDR_ACCD_TEMP 0x08 /* r */
+#define REG_ADDR_INT_STATUS_0 0x09 /* r */
+#define REG_ADDR_INT_STATUS_1 0x0A /* r */
+#define REG_ADDR_INT_STATUS_2 0x0B /* r */
+#define REG_ADDR_INT_STATUS_3 0x0C /* r */
+/* RESERVED */ /* */
+#define REG_ADDR_FIFO_STATUS 0x0E /* r */
+#define REG_ADDR_PMU_RANGE 0x0F /* rw */
+#define REG_ADDR_PMU_BW 0x10 /* rw */
+#define REG_ADDR_PMU_LPW 0x11 /* rw */
+#define REG_ADDR_PMU_LOW_POWER 0x12 /* rw */
+#define REG_ADDR_ACCD_HBW 0x13 /* rw */
+#define REG_ADDR_BGW_SOFTRESET 0x14 /* w */
+/* RESERVED */ /* */
+#define REG_ADDR_INT_EN_0 0x16 /* rw */
+#define REG_ADDR_INT_EN_1 0x17 /* rw */
+#define REG_ADDR_INT_EN_2 0x18 /* rw */
+#define REG_ADDR_INT_MAP_0 0x19 /* rw */
+#define REG_ADDR_INT_MAP_1 0x1A /* rw */
+#define REG_ADDR_INT_MAP_2 0x1B /* rw */
+/* RESERVED */ /* */
+/* RESERVED */ /* */
+#define REG_ADDR_INT_SRC 0x1E /* rw */
+/* RESERVED */ /* */
+#define REG_ADDR_INT_OUT_CTRL 0x20 /* rw */
+#define REG_ADDR_INT_RST_LATCH 0x21 /* rw */
+#define REG_ADDR_INT_0 0x22 /* rw */
+#define REG_ADDR_INT_1 0x23 /* rw */
+#define REG_ADDR_INT_2 0x24 /* rw */
+#define REG_ADDR_INT_3 0x25 /* rw */
+#define REG_ADDR_INT_4 0x26 /* rw */
+#define REG_ADDR_INT_5 0x27 /* rw */
+#define REG_ADDR_INT_6 0x28 /* rw */
+#define REG_ADDR_INT_7 0x29 /* rw */
+#define REG_ADDR_INT_8 0x2A /* rw */
+#define REG_ADDR_INT_9 0x2B /* rw */
+#define REG_ADDR_INT_A 0x2C /* rw */
+#define REG_ADDR_INT_B 0x2D /* rw */
+#define REG_ADDR_INT_C 0x2E /* rw */
+#define REG_ADDR_INT_D 0x2F /* rw */
+#define REG_ADDR_FIFO_CONFIG_0 0x30 /* rw */
+/* RESERVED */ /* */
+#define REG_ADDR_PMU_SELF_TEST 0x32 /* rw */
+#define REG_ADDR_TRIM_NVM_CTRL 0x33 /* rw */
+#define REG_ADDR_BGW_SPI3_WDT 0x34 /* rw */
+/* RESERVED */ /* */
+#define REG_ADDR_OFC_CTRL 0x36 /* rw */
+#define REG_ADDR_OFC_SETTING 0x37 /* rw */
+#define REG_ADDR_OFC_OFFSET_X 0x38 /* rw nvm */
+#define REG_ADDR_OFC_OFFSET_Y 0x39 /* rw nvm */
+#define REG_ADDR_OFC_OFFSET_Z 0x3A /* rw nvm */
+#define REG_ADDR_TRIM_GP0 0x3B /* rw nvm */
+#define REG_ADDR_TRIM_GP1 0x3C /* rw nvm */
+/* RESERVED */ /* */
+#define REG_ADDR_FIFO_CONFIG_1 0x3E /* rw */
+#define REG_ADDR_FIFO_DATA 0x3F /* r */
+
+/* Magical value that the chip always reports as its ID */
+#define REG_VALUE_CHIP_ID 0xFA
+/* Magical value that is used to initiate a full reset */
+#define REG_VALUE_SOFT_RESET 0xB6
+
+/* Get the chip ID */
+int
+bma253_get_chip_id(const struct bma253 * bma253,
+ uint8_t * chip_id);
+
+/* All three axis types */
+enum axis {
+ AXIS_X = 0,
+ AXIS_Y = 1,
+ AXIS_Z = 2,
+ AXIS_ALL = 3,
+};
+
+/* A single accelerometer measurement for one axis */
+struct accel_data {
+ float accel_g;
+ bool new_data;
+};
+
+/* Get an accelerometer measurement for a single axis */
+int
+bma253_get_accel(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ enum axis axis,
+ struct accel_data * accel_data);
+
+/* Get a temperature measurement */
+int
+bma253_get_temp(const struct bma253 * bma253,
+ float * temp_c);
+
+/* Which direction in an axis was this interrupt triggered on */
+enum axis_trigger_sign {
+ AXIS_TRIGGER_SIGN_POS = 0,
+ AXIS_TRIGGER_SIGN_NEG = 1,
+};
+
+/* Which axis was this interrupt triggered on */
+struct axis_trigger {
+ enum axis_trigger_sign sign;
+ enum axis axis;
+ bool axis_known;
+};
+
+/* Active status of all interrupts */
+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_down;
+ enum bma253_orient_xy device_orientation;
+ struct axis_trigger high_g_trigger;
+};
+
+/* Get the active status of all interrupts */
+int
+bma253_get_int_status(const struct bma253 * bma253,
+ struct int_status * int_status);
+
+/* Get the status and size of the FIFO */
+int
+bma253_get_fifo_status(const struct bma253 * bma253,
+ bool * overrun,
+ uint8_t * frame_counter);
+
+/* Get/Set the accelerometer range */
+int
+bma253_get_g_range(const struct bma253 * bma253,
+ enum bma253_g_range * g_range);
+int
+bma253_set_g_range(const struct bma253 * bma253,
+ enum bma253_g_range g_range);
+
+/* Get/Set the filter output bandwidth */
+int
+bma253_get_filter_bandwidth(const struct bma253 * bma253,
+ enum bma253_filter_bandwidth * filter_bandwidth);
+int
+bma253_set_filter_bandwidth(const struct bma253 * bma253,
+ enum bma253_filter_bandwidth filter_bandwidth);
+
+/* Whether the sleep timer is locked to events or to time */
+enum sleep_timer {
+ SLEEP_TIMER_EVENT_DRIVEN = 0,
+ SLEEP_TIMER_EQUIDISTANT_SAMPLING = 1,
+};
+
+/* Power settings of the device */
+struct power_settings {
+ enum bma253_power_mode power_mode;
+ enum bma253_sleep_duration sleep_duration;
+ enum sleep_timer sleep_timer;
+};
+
+/* Get/Set the power settings of the device */
+int
+bma253_get_power_settings(const struct bma253 * bma253,
+ struct power_settings * power_settings);
+int
+bma253_set_power_settings(const struct bma253 * bma253,
+ const struct power_settings * power_settings);
+
+/* Get/Set the data register settings */
+int
+bma253_get_data_acquisition(const struct bma253 * bma253,
+ bool * unfiltered_reg_data,
+ bool * disable_reg_shadow);
+int
+bma253_set_data_acquisition(const struct bma253 * bma253,
+ bool unfiltered_reg_data,
+ bool disable_reg_shadow);
+
+/* Kick off a full soft reset of the device */
+int
+bma253_set_softreset(const struct bma253 * bma253);
+
+/* Enable settings of all interupts */
+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;
+};
+
+/* Get/Set the enable settings of all interrupts */
+int
+bma253_get_int_enable(const struct bma253 * bma253,
+ struct int_enable * int_enable);
+int
+bma253_set_int_enable(const struct bma253 * bma253,
+ const struct int_enable * int_enable);
+
+/* Which physical device pin is a given interrupt routed to */
+enum int_route {
+ INT_ROUTE_NONE = 0,
+ INT_ROUTE_PIN_1 = 1,
+ INT_ROUTE_PIN_2 = 2,
+ INT_ROUTE_BOTH = 3,
+};
+
+enum bma253_int_num {
+ INT1_PIN,
+ INT2_PIN
+};
+
+/* Pin routing settings of all interrupts */
+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;
+};
+
+/* Get/Set the pin routing settings of all interrupts */
+int
+bma253_get_int_routes(const struct bma253 * bma253,
+ struct int_routes * int_routes);
+int
+bma253_set_int_routes(const struct bma253 * bma253,
+ const struct int_routes * int_routes);
+
+/* Whether each interrupt uses filtered or unfiltered data */
+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;
+};
+
+/* Get/Set the filtered data settings of all interrupts */
+int
+bma253_get_int_filters(const struct bma253 * bma253,
+ struct int_filters * int_filters);
+int
+bma253_set_int_filters(const struct bma253 * bma253,
+ const struct int_filters * int_filters);
+
+/* Drive mode of the interrupt pins */
+enum int_pin_output {
+ INT_PIN_OUTPUT_PUSH_PULL = 0,
+ INT_PIN_OUTPUT_OPEN_DRAIN = 1,
+};
+
+/* Active mode of the interrupt pins */
+enum int_pin_active {
+ INT_PIN_ACTIVE_LOW = 0,
+ INT_PIN_ACTIVE_HIGH = 1,
+};
+
+/* Electrical settings of both interrupt pins */
+struct int_pin_electrical {
+ enum int_pin_output pin1_output;
+ enum int_pin_active pin1_active;
+ enum int_pin_output pin2_output;
+ enum int_pin_active pin2_active;
+};
+
+/* Get/Set the electrical settings of both interrupt pins */
+int
+bma253_get_int_pin_electrical(const struct bma253 * bma253,
+ struct int_pin_electrical * electrical);
+int
+bma253_set_int_pin_electrical(const struct bma253 * bma253,
+ const struct int_pin_electrical * electrical);
+
+/* Length of time that an interrupt condition should be latched active */
+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,
+};
+
+/* Get/Set the interrupt condition latch time */
+int
+bma253_get_int_latch(const struct bma253 * bma253,
+ enum int_latch * int_latch);
+int
+bma253_set_int_latch(const struct bma253 * bma253,
+ bool reset_ints,
+ enum int_latch int_latch);
+
+/* Settings for the low-g interrupt */
+struct low_g_int_cfg {
+ uint16_t delay_ms;
+ float thresh_g;
+ float hyster_g;
+ bool axis_summing;
+};
+
+/* Get/Set the low-g interrupt settings */
+int
+bma253_get_low_g_int_cfg(const struct bma253 * bma253,
+ struct low_g_int_cfg * low_g_int_cfg);
+int
+bma253_set_low_g_int_cfg(const struct bma253 * bma253,
+ const struct low_g_int_cfg * low_g_int_cfg);
+
+/* Settings for the high-g interrupt */
+struct high_g_int_cfg {
+ float hyster_g;
+ uint16_t delay_ms;
+ float thresh_g;
+};
+
+/* Get/Set the high-g interrupt settings */
+int
+bma253_get_high_g_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ struct high_g_int_cfg * high_g_int_cfg);
+int
+bma253_set_high_g_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ const struct high_g_int_cfg * high_g_int_cfg);
+
+/* Settings for the slow/no-motion interrupt */
+struct slow_no_mot_int_cfg {
+ uint16_t duration_p_or_s;
+ float thresh_g;
+};
+
+/* Get/Set the slow/no-motion interrupt settings */
+int
+bma253_get_slow_no_mot_int_cfg(const struct bma253 * bma253,
+ bool no_motion_select,
+ enum bma253_g_range g_range,
+ struct slow_no_mot_int_cfg * slow_no_mot_int_cfg);
+int
+bma253_set_slow_no_mot_int_cfg(const struct bma253 * bma253,
+ bool no_motion_select,
+ enum bma253_g_range g_range,
+ const struct slow_no_mot_int_cfg * slow_no_mot_int_cfg);
+
+/* Settings for the slope interrupt */
+struct slope_int_cfg {
+ uint8_t duration_p;
+ float thresh_g;
+};
+
+/* Get/Set the slope interrupt settings */
+int
+bma253_get_slope_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ struct slope_int_cfg * slope_int_cfg);
+int
+bma253_set_slope_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ const struct slope_int_cfg * slope_int_cfg);
+
+/* Settings for the double/single tap interrupt */
+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;
+};
+
+/* Get/Set the double/single tap interrupt settings */
+int
+bma253_get_tap_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ struct tap_int_cfg * tap_int_cfg);
+int
+bma253_set_tap_int_cfg(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ const struct tap_int_cfg * tap_int_cfg);
+
+/* Settings for the orientation interrupt */
+struct orient_int_cfg {
+ float hyster_g;
+ enum bma253_orient_blocking orient_blocking;
+ enum bma253_orient_mode orient_mode;
+ bool signal_up_dn;
+ uint8_t blocking_angle;
+};
+
+/* Get/Set the orientation interrupt settings */
+int
+bma253_get_orient_int_cfg(const struct bma253 * bma253,
+ struct orient_int_cfg * orient_int_cfg);
+int
+bma253_set_orient_int_cfg(const struct bma253 * bma253,
+ const struct orient_int_cfg * orient_int_cfg);
+
+/* Hold time for flat condition */
+enum flat_hold {
+ FLAT_HOLD_0_MS = 0,
+ FLAT_HOLD_512_MS = 1,
+ FLAT_HOLD_1024_MS = 2,
+ FLAT_HOLD_2048_MS = 3,
+};
+
+/* Settings for the flat interrupt */
+struct flat_int_cfg {
+ uint8_t flat_angle;
+ enum flat_hold flat_hold;
+ uint8_t flat_hyster;
+ bool hyster_enable;
+};
+
+/* Get/Set the flat interrupt settings */
+int
+bma253_get_flat_int_cfg(const struct bma253 * bma253,
+ struct flat_int_cfg * flat_int_cfg);
+int
+bma253_set_flat_int_cfg(const struct bma253 * bma253,
+ const struct flat_int_cfg * flat_int_cfg);
+
+/* Get/Set the FIFO watermark level */
+int
+bma253_get_fifo_wmark_level(const struct bma253 * bma253,
+ uint8_t * wmark_level);
+int
+bma253_set_fifo_wmark_level(const struct bma253 * bma253,
+ uint8_t wmark_level);
+
+/* Amplitude of a self-test induced acceleration */
+enum self_test_ampl {
+ SELF_TEST_AMPL_HIGH = 0,
+ SELF_TEST_AMPL_LOW = 1,
+};
+
+/* Direction of a self-test induced acceleration */
+enum self_test_sign {
+ SELF_TEST_SIGN_NEGATIVE = 0,
+ SELF_TEST_SIGN_POSITIVE = 1,
+};
+
+/* Settings for the self-test functionality */
+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;
+};
+
+/* Get/Set the self-test settings */
+int
+bma253_get_self_test_cfg(const struct bma253 * bma253,
+ struct self_test_cfg * self_test_cfg);
+int
+bma253_set_self_test_cfg(const struct bma253 * bma253,
+ const struct self_test_cfg * self_test_cfg);
+
+/* Get/Set the NVM reset/write control values */
+int
+bma253_get_nvm_control(const struct bma253 * bma253,
+ uint8_t * remaining_cycles,
+ bool * load_from_nvm,
+ bool * nvm_is_ready,
+ bool * nvm_unlocked);
+int
+bma253_set_nvm_control(const struct bma253 * bma253,
+ bool load_from_nvm,
+ bool store_into_nvm,
+ bool nvm_unlocked);
+
+/* Length of time before the I2C watchdog fires */
+enum i2c_watchdog {
+ I2C_WATCHDOG_DISABLED = 0,
+ I2C_WATCHDOG_1_MS = 1,
+ I2C_WATCHDOG_50_MS = 2,
+};
+
+/* Get/Set the I2C watchdog settings */
+int
+bma253_get_i2c_watchdog(const struct bma253 * bma253,
+ enum i2c_watchdog * i2c_watchdog);
+int
+bma253_set_i2c_watchdog(const struct bma253 * bma253,
+ enum i2c_watchdog i2c_watchdog);
+
+/* Offset compensation settings used in slow compensation mode */
+struct slow_ofc_cfg {
+ bool ofc_z_enabled;
+ bool ofc_y_enabled;
+ bool ofc_x_enabled;
+ bool high_bw_cut_off;
+};
+
+/* Get/Set the fast & slow offset compensation mode settings, and reset all
+ * offset compensation values back to NVM defaults */
+int
+bma253_get_fast_ofc_cfg(const struct bma253 * bma253,
+ 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);
+int
+bma253_set_fast_ofc_cfg(const struct bma253 * bma253,
+ enum axis fast_ofc_axis,
+ enum bma253_offset_comp_target fast_ofc_target,
+ bool trigger_fast_ofc);
+int
+bma253_get_slow_ofc_cfg(const struct bma253 * bma253,
+ struct slow_ofc_cfg * slow_ofc_cfg);
+int
+bma253_set_slow_ofc_cfg(const struct bma253 * bma253,
+ const struct slow_ofc_cfg * slow_ofc_cfg);
+int
+bma253_set_ofc_reset(const struct bma253 * bma253);
+
+/* Get/Set the offset compensation value for a specific axis */
+int
+bma253_get_ofc_offset(const struct bma253 * bma253,
+ enum axis axis,
+ float * offset_g);
+int
+bma253_set_ofc_offset(const struct bma253 * bma253,
+ enum axis axis,
+ float offset_g);
+
+/* General purpose non-volatile data registers */
+enum saved_data_addr {
+ SAVED_DATA_ADDR_0 = 0,
+ SAVED_DATA_ADDR_1 = 1,
+};
+
+/* Get/Set the data stored in general purpose non-volatile registers */
+int
+bma253_get_saved_data(const struct bma253 * bma253,
+ enum saved_data_addr saved_data_addr,
+ uint8_t * saved_data_val);
+int
+bma253_set_saved_data(const struct bma253 * bma253,
+ enum saved_data_addr saved_data_addr,
+ uint8_t saved_data_val);
+
+/* Mode that the FIFO is running in */
+enum fifo_mode {
+ FIFO_MODE_BYPASS = 0,
+ FIFO_MODE_FIFO = 1,
+ FIFO_MODE_STREAM = 2,
+};
+
+/* Measurements for which axis to capture into the FIFO */
+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,
+};
+
+/* FIFO capture and behavior settings */
+struct fifo_cfg {
+ enum fifo_mode fifo_mode;
+ enum fifo_data fifo_data;
+};
+
+/* Get/Set the FIFO capture and behavior settings */
+int
+bma253_get_fifo_cfg(const struct bma253 * bma253,
+ struct fifo_cfg * fifo_cfg);
+int
+bma253_set_fifo_cfg(const struct bma253 * bma253,
+ const struct fifo_cfg * fifo_cfg);
+
+/* Read a single multi-axis data frame from the FIFO */
+int
+bma253_get_fifo(const struct bma253 * bma253,
+ enum bma253_g_range g_range,
+ enum fifo_data fifo_data,
+ struct accel_data * accel_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/hw/drivers/sensors/bma253/src/bma253_shell.c b/hw/drivers/sensors/bma253/src/bma253_shell.c
new file mode 100644
index 000000000..6a5ae9c4f
--- /dev/null
+++ b/hw/drivers/sensors/bma253/src/bma253_shell.c
@@ -0,0 +1,717 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#include <errno.h>
+
+#include "syscfg/syscfg.h"
+#include "bma253/bma253.h"
+#include "bma253_priv.h"
+#include "console/console.h"
+#include "shell/shell.h"
+
+#if MYNEWT_VAL(BMA253_CLI)
+
+struct self_test_mode {
+ const char * name;
+ float hmult;
+ float lmult;
+};
+
+static const struct self_test_mode self_test_modes[] = {
+ {
+ .name = "default",
+ .hmult = 1.0,
+ .lmult = 0.0,
+ },
+ {
+ .name = "strict",
+ .hmult = 2.0,
+ .lmult = 0.5,
+ },
+};
+
+static int
+bma253_self_test_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ const struct self_test_mode * self_test_mode;
+ uint8_t i;
+ bool self_test_fail;
+ int rc;
+
+ if (argc != 1) {
+ return EINVAL;
+ }
+
+ self_test_mode = NULL;
+ for (i = 0; i < sizeof(self_test_modes) /
+ sizeof(*self_test_modes); i++) {
+ if (strcmp(self_test_modes[i].name, argv[0]) == 0) {
+ self_test_mode = self_test_modes + i;
+ }
+ }
+
+ if (self_test_mode == NULL) {
+ return EINVAL;
+ }
+
+ rc = bma253_self_test(bma253,
+ self_test_mode->hmult,
+ self_test_mode->lmult,
+ &self_test_fail);
+ if (rc != 0) {
+ return rc;
+ }
+
+ if (self_test_fail) {
+ console_printf("self test failed\n");
+ } else {
+ console_printf("self test passed\n");
+ }
+
+ return 0;
+}
+
+struct offset_comp_target {
+ const char * name;
+ enum bma253_offset_comp_target target;
+};
+
+static const struct offset_comp_target offset_comp_targets[] = {
+ {
+ .name = "0g",
+ .target = BMA253_OFFSET_COMP_TARGET_0_G,
+ },
+ {
+ .name = "-1g",
+ .target = BMA253_OFFSET_COMP_TARGET_NEG_1_G,
+ },
+ {
+ .name = "+1g",
+ .target = BMA253_OFFSET_COMP_TARGET_POS_1_G,
+ },
+};
+
+static int
+bma253_offset_compensation_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ const struct offset_comp_target * target_x;
+ const struct offset_comp_target * target_y;
+ const struct offset_comp_target * target_z;
+ uint8_t i;
+
+ if (argc != 3) {
+ return EINVAL;
+ }
+
+ target_x = NULL;
+ for (i = 0; i < sizeof(offset_comp_targets) /
+ sizeof(*offset_comp_targets); i++) {
+ if (strcmp(offset_comp_targets[i].name, argv[0]) == 0) {
+ target_x = offset_comp_targets + i;
+ }
+ }
+ target_y = NULL;
+ for (i = 0; i < sizeof(offset_comp_targets) /
+ sizeof(*offset_comp_targets); i++) {
+ if (strcmp(offset_comp_targets[i].name, argv[1]) == 0) {
+ target_y = offset_comp_targets + i;
+ }
+ }
+ target_z = NULL;
+ for (i = 0; i < sizeof(offset_comp_targets) /
+ sizeof(*offset_comp_targets); i++) {
+ if (strcmp(offset_comp_targets[i].name, argv[2]) == 0) {
+ target_z = offset_comp_targets + i;
+ }
+ }
+
+ if (target_x == NULL) {
+ return EINVAL;
+ }
+ if (target_y == NULL) {
+ return EINVAL;
+ }
+ if (target_z == NULL) {
+ return EINVAL;
+ }
+
+ return bma253_offset_compensation(bma253,
+ target_x->target,
+ target_y->target,
+ target_z->target);
+}
+
+static int
+bma253_query_offsets_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ int rc;
+ float offset_x_g;
+ float offset_y_g;
+ float offset_z_g;
+ char buffer_x[20];
+ char buffer_y[20];
+ char buffer_z[20];
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_query_offsets(bma253,
+ &offset_x_g,
+ &offset_y_g,
+ &offset_z_g);
+ if (rc != 0) {
+ return rc;
+ }
+
+ sensor_ftostr(offset_x_g, buffer_x, sizeof(buffer_x));
+ sensor_ftostr(offset_y_g, buffer_y, sizeof(buffer_y));
+ sensor_ftostr(offset_z_g, buffer_z, sizeof(buffer_z));
+
+ console_printf("offset x = %s offset y = %s offset z = %s\n",
+ buffer_x,
+ buffer_y,
+ buffer_z);
+
+ return 0;
+}
+
+static int
+bma253_write_offsets_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ return bma253_write_offsets(bma253, 0.0, 0.0, 0.0);
+}
+
+struct stream_read_context {
+ uint32_t count;
+};
+
+static bool
+bma253_stream_read_cb(void * arg,
+ struct sensor_accel_data * sad)
+{
+ char buffer_x[20];
+ char buffer_y[20];
+ char buffer_z[20];
+ struct stream_read_context * ctx;
+
+ sensor_ftostr(sad->sad_x, buffer_x, sizeof(buffer_x));
+ sensor_ftostr(sad->sad_y, buffer_y, sizeof(buffer_y));
+ sensor_ftostr(sad->sad_z, buffer_z, sizeof(buffer_z));
+
+ console_printf("x = %s y = %s z = %s\n",
+ buffer_x,
+ buffer_y,
+ buffer_z);
+
+ ctx = (struct stream_read_context *)arg;
+ ctx->count--;
+
+ return ctx->count == 0;
+}
+
+static int
+bma253_stream_read_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ char * end;
+ struct stream_read_context ctx;
+
+ if (argc != 1) {
+ return EINVAL;
+ }
+
+ ctx.count = strtoul(argv[0], &end, 10);
+ if (*end != '\0') {
+ return EINVAL;
+ }
+
+ return bma253_stream_read(bma253,
+ bma253_stream_read_cb,
+ &ctx,
+ 0);
+}
+
+static int
+bma253_current_temp_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ float temp_c;
+ int rc;
+ char buffer[20];
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_current_temp(bma253, &temp_c);
+ if (rc != 0) {
+ return rc;
+ }
+
+ sensor_ftostr(temp_c, buffer, sizeof(buffer));
+
+ console_printf("temp = %s C\n", buffer);
+
+ return 0;
+}
+
+static void
+console_print_orient(const struct bma253_orient_xyz * orient_xyz)
+{
+ const char * xy_desc;
+ const char * z_desc;
+
+ switch (orient_xyz->orient_xy) {
+ case BMA253_ORIENT_XY_PORTRAIT_UPRIGHT:
+ xy_desc = "portrait-upright";
+ break;
+ case BMA253_ORIENT_XY_PORTRAIT_UPSIDE_DOWN:
+ xy_desc = "portrait-upside-down";
+ break;
+ case BMA253_ORIENT_XY_LANDSCAPE_LEFT:
+ xy_desc = "landscape-left";
+ break;
+ case BMA253_ORIENT_XY_LANDSCAPE_RIGHT:
+ xy_desc = "landscape-right";
+ break;
+ default:
+ xy_desc = "unknown-enum";
+ break;
+ }
+
+ if (orient_xyz->downward_z) {
+ z_desc = "facing-downward";
+ } else {
+ z_desc = "facing-upward";
+ }
+
+ console_printf("xy = %s z = %s\n", xy_desc, z_desc);
+}
+
+static int
+bma253_current_orient_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ struct bma253_orient_xyz orient_xyz;
+ int rc;
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_current_orient(bma253, &orient_xyz);
+ if (rc != 0) {
+ return rc;
+ }
+
+ console_print_orient(&orient_xyz);
+
+ return 0;
+}
+
+static int
+bma253_wait_for_orient_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ struct bma253_orient_xyz orient_xyz;
+ int rc;
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_wait_for_orient(bma253, &orient_xyz);
+ if (rc != 0) {
+ return rc;
+ }
+
+ console_print_orient(&orient_xyz);
+ console_printf("done!\n");
+
+ return 0;
+}
+
+static int
+bma253_wait_for_high_g_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ int rc;
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_wait_for_high_g(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ console_printf("done!\n");
+
+ return 0;
+}
+
+static int
+bma253_wait_for_low_g_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ int rc;
+
+ if (argc != 0) {
+ return EINVAL;
+ }
+
+ rc = bma253_wait_for_low_g(bma253);
+ if (rc != 0) {
+ return rc;
+ }
+
+ console_printf("done!\n");
+
+ return 0;
+}
+
+struct tap_type {
+ const char * name;
+ enum bma253_tap_type type;
+};
+
+static const struct tap_type tap_types[] = {
+ {
+ .name = "double",
+ .type = BMA253_TAP_TYPE_DOUBLE,
+ },
+ {
+ .name = "single",
+ .type = BMA253_TAP_TYPE_SINGLE,
+ },
+};
+
+static int
+bma253_wait_for_tap_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ const struct tap_type * tap_type;
+ uint8_t i;
+ int rc;
+
+ if (argc != 1) {
+ return EINVAL;
+ }
+
+ tap_type = NULL;
+ for (i = 0; i < sizeof(tap_types) /
+ sizeof(*tap_types); i++) {
+ if (strcmp(tap_types[i].name, argv[0]) == 0) {
+ tap_type = tap_types + i;
+ }
+ }
+
+ if (tap_type == NULL) {
+ return EINVAL;
+ }
+
+ rc = bma253_wait_for_tap(bma253, tap_type->type);
+ if (rc != 0) {
+ return rc;
+ }
+
+ console_printf("done!\n");
+
+ return 0;
+}
+
+struct power_mode {
+ const char * name;
+ enum bma253_power_mode power;
+};
+
+static const struct power_mode power_modes[] = {
+ {
+ .name = "normal",
+ .power = BMA253_POWER_MODE_NORMAL,
+ },
+ {
+ .name = "deep-suspend",
+ .power = BMA253_POWER_MODE_DEEP_SUSPEND,
+ },
+ {
+ .name = "suspend",
+ .power = BMA253_POWER_MODE_SUSPEND,
+ },
+ {
+ .name = "standby",
+ .power = BMA253_POWER_MODE_STANDBY,
+ },
+ {
+ .name = "lpm1",
+ .power = BMA253_POWER_MODE_LPM_1,
+ },
+ {
+ .name = "lpm2",
+ .power = BMA253_POWER_MODE_LPM_2,
+ },
+};
+
+struct sleep_duration {
+ const char * name;
+ enum bma253_sleep_duration sleep;
+};
+
+static const struct sleep_duration sleep_durations[] = {
+ {
+ .name = "0.5ms",
+ .sleep = BMA253_SLEEP_DURATION_0_5_MS,
+ },
+ {
+ .name = "1ms",
+ .sleep = BMA253_SLEEP_DURATION_1_MS,
+ },
+ {
+ .name = "2ms",
+ .sleep = BMA253_SLEEP_DURATION_2_MS,
+ },
+ {
+ .name = "4ms",
+ .sleep = BMA253_SLEEP_DURATION_4_MS,
+ },
+ {
+ .name = "6ms",
+ .sleep = BMA253_SLEEP_DURATION_6_MS,
+ },
+ {
+ .name = "10ms",
+ .sleep = BMA253_SLEEP_DURATION_10_MS,
+ },
+ {
+ .name = "25ms",
+ .sleep = BMA253_SLEEP_DURATION_25_MS,
+ },
+ {
+ .name = "50ms",
+ .sleep = BMA253_SLEEP_DURATION_50_MS,
+ },
+ {
+ .name = "100ms",
+ .sleep = BMA253_SLEEP_DURATION_100_MS,
+ },
+ {
+ .name = "500ms",
+ .sleep = BMA253_SLEEP_DURATION_500_MS,
+ },
+ {
+ .name = "1s",
+ .sleep = BMA253_SLEEP_DURATION_1_S,
+ },
+};
+
+static int
+bma253_power_settings_cmd(struct bma253 * bma253,
+ int argc,
+ char * argv[])
+{
+ const struct power_mode * power_mode;
+ const struct sleep_duration * sleep_duration;
+ uint8_t i;
+
+ if (argc != 2) {
+ return EINVAL;
+ }
+
+ power_mode = NULL;
+ for (i = 0; i < sizeof(power_modes) /
+ sizeof(*power_modes); i++) {
+ if (strcmp(power_modes[i].name, argv[0]) == 0) {
+ power_mode = power_modes + i;
+ }
+ }
+
+ sleep_duration = NULL;
+ for (i = 0; i < sizeof(sleep_durations) /
+ sizeof(*sleep_durations); i++) {
+ if (strcmp(sleep_durations[i].name, argv[1]) == 0) {
+ sleep_duration = sleep_durations + i;
+ }
+ }
+
+ if (power_mode == NULL) {
+ return EINVAL;
+ }
+ if (sleep_duration == NULL) {
+ return EINVAL;
+ }
+
+ return bma253_power_settings(bma253,
+ power_mode->power,
+ sleep_duration->sleep);
+}
+
+struct subcmd {
+ const char * name;
+ const char * help;
+ int (*func)(struct bma253 * bma253,
+ int argc,
+ char * argv[]);
+};
+
+static const struct subcmd supported_subcmds[] = {
+ {
+ .name = "self-test",
+ .help = "<default|strict>",
+ .func = bma253_self_test_cmd,
+ },
+ {
+ .name = "offset-compensation",
+ .help = "<x={0g|-1g|+1g}> <y={0g|-1g|+1g}> <z={0g|-1g|+1g}>",
+ .func = bma253_offset_compensation_cmd,
+ },
+ {
+ .name = "query-offsets",
+ .help = "",
+ .func = bma253_query_offsets_cmd,
+ },
+ {
+ .name = "write-offsets",
+ .help = "",
+ .func = bma253_write_offsets_cmd,
+ },
+ {
+ .name = "stream-read",
+ .help = "<num-reads>",
+ .func = bma253_stream_read_cmd,
+ },
+ {
+ .name = "current-temp",
+ .help = "",
+ .func = bma253_current_temp_cmd,
+ },
+ {
+ .name = "current-orient",
+ .help = "",
+ .func = bma253_current_orient_cmd,
+ },
+ {
+ .name = "wait-for-orient",
+ .help = "",
+ .func = bma253_wait_for_orient_cmd,
+ },
+ {
+ .name = "wait-for-high-g",
+ .help = "",
+ .func = bma253_wait_for_high_g_cmd,
+ },
+ {
+ .name = "wait-for-low-g",
+ .help = "",
+ .func = bma253_wait_for_low_g_cmd,
+ },
+ {
+ .name = "wait-for-tap",
+ .help = "<double|single>",
+ .func = bma253_wait_for_tap_cmd,
+ },
+ {
+ .name = "power-settings",
+ .help = "<normal|deep-suspend|suspend|standby|lpm1|lpm2>" \
+ "\n " \
+ "<0.5ms|1ms|2ms|4ms|6ms|10ms|25ms|50ms|100ms|500ms|1s>",
+ .func = bma253_power_settings_cmd,
+ },
+};
+
+static int
+bma253_shell_cmd(int argc, char * argv[])
+{
+ struct os_dev * dev;
+ struct bma253 * bma253;
+ const struct subcmd * subcmd;
+ uint8_t i;
+
+ dev = os_dev_open(MYNEWT_VAL(BMA253_SHELL_DEV_NAME), OS_TIMEOUT_NEVER, NULL);
+ if (dev == NULL) {
+ console_printf("failed to open bma253_0 device\n");
+ return ENODEV;
+ }
+
+ bma253 = (struct bma253 *)dev;
+
+ subcmd = NULL;
+ if (argc > 1) {
+ for (i = 0; i < sizeof(supported_subcmds) /
+ sizeof(*supported_subcmds); i++) {
+ if (strcmp(supported_subcmds[i].name, argv[1]) == 0) {
+ subcmd = supported_subcmds + i;
+ }
+ }
+
+ if (subcmd == NULL) {
+ console_printf("unknown %s subcommand\n", argv[1]);
+ }
+ }
+
+ if (subcmd != NULL) {
+ if (subcmd->func(bma253, argc - 2, argv + 2) != 0) {
+ console_printf("could not run %s subcommand\n", argv[1]);
+ console_printf("%s %s\n", subcmd->name, subcmd->help);
+ }
+ } else {
+ for (i = 0; i < sizeof(supported_subcmds) /
+ sizeof(*supported_subcmds); i++) {
+ subcmd = supported_subcmds + i;
+ console_printf("%s %s\n", subcmd->name, subcmd->help);
+ }
+ }
+
+ os_dev_close(dev);
+
+ return 0;
+}
+
+static const struct shell_cmd bma253_shell_cmd_desc = {
+ .sc_cmd = "bma253",
+ .sc_cmd_func = bma253_shell_cmd,
+};
+
+int
+bma253_shell_init(void)
+{
+ return shell_cmd_register(&bma253_shell_cmd_desc);
+}
+
+#endif
diff --git a/hw/drivers/sensors/bma253/syscfg.yml b/hw/drivers/sensors/bma253/syscfg.yml
index b48d8ed55..ee8f720cf 100644
--- a/hw/drivers/sensors/bma253/syscfg.yml
+++ b/hw/drivers/sensors/bma253/syscfg.yml
@@ -18,6 +18,36 @@
#
syscfg.defs:
+ BMA253_CLI:
+ description: 'Enable shell support for BMA253'
+ value: 0
+ BMA253_I2C_WDT:
+ description: 'Enable I2C watchdog functionality'
+ value: 1
+ BMA253_INT_ENABLE:
+ description: 'Enable interrupt support, necessary for events'
+ value: 1
+ BMA253_INT_CFG_ACTIVE:
+ description: 'Set 0 for active-low, 1 for active-high'
+ value: 1
+ BMA253_INT_CFG_OUTPUT:
+ description: 'Set 0 for push-pull, 1 for open-drain'
+ value: 1
+ BMA253_INT_PIN_DEVICE:
+ description: 'Interrupt pin number 1 or 2 on accelerometer device'
+ value: 1
+ BMA253_INT2_PIN_DEVICE:
+ description: 'Interrupt pin number 1 or 2 on accelerometer device'
+ value: 2
+ BMA253_INT_PIN_HOST:
+ description: 'Interrupt pin number on host device connected to INT1 on device'
+ value: 20
+ BMA253_INT2_PIN_HOST:
+ description: 'Interrupt pin number on host device connected to INT2 on device'
+ value: -1
BMA253_LOG:
description: 'Enable BMA253 logging'
- value: 1
+ value: 0
+ BMA253_SHELL_DEV_NAME:
+ description: 'BMA253 Shell device name'
+ value: "\"bma253_0\""
diff --git a/hw/sensor/creator/src/sensor_creator.c b/hw/sensor/creator/src/sensor_creator.c
index cb19e66c3..aa21deede 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>
@@ -182,6 +183,12 @@ static struct sensor_itf i2c_0_itf_lis = {
.si_type = SENSOR_ITF_I2C,
.si_num = 0,
.si_addr = 0x18,
+ .si_ints = {
+ { MYNEWT_VAL(BMA253_INT_PIN_HOST), MYNEWT_VAL(BMA253_INT_PIN_DEVICE),
+ MYNEWT_VAL(BMA253_INT_CFG_ACTIVE)},
+ { MYNEWT_VAL(BMA253_INT2_PIN_HOST), MYNEWT_VAL(BMA253_INT2_PIN_DEVICE),
+ MYNEWT_VAL(BMA253_INT_CFG_ACTIVE)}
+ },
};
#endif
@@ -469,30 +476,27 @@ int
config_bma253_sensor(void)
{
struct os_dev * dev;
- struct bma253_cfg cfg;
+ struct bma253_cfg cfg = {0};
int rc;
dev = os_dev_open("bma253_0", OS_TIMEOUT_NEVER, NULL);
assert(dev != NULL);
+ cfg.low_g_delay_ms = BMA253_LOW_G_DELAY_MS_DEFAULT;
+ cfg.high_g_delay_ms = BMA253_HIGH_G_DELAY_MS_DEFAULT;
cfg.g_range = BMA253_G_RANGE_2;
cfg.filter_bandwidth = BMA253_FILTER_BANDWIDTH_1000_HZ;
cfg.use_unfiltered_data = false;
- cfg.int_pin_output = BMA253_INT_PIN_OUTPUT_PUSH_PULL;
- cfg.int_pin_active = BMA253_INT_PIN_ACTIVE_HIGH;
cfg.tap_quiet = BMA253_TAP_QUIET_30_MS;
cfg.tap_shock = BMA253_TAP_SHOCK_50_MS;
cfg.d_tap_window = BMA253_D_TAP_WINDOW_250_MS;
cfg.tap_wake_samples = BMA253_TAP_WAKE_SAMPLES_2;
cfg.tap_thresh_g = 1.0;
- cfg.i2c_watchdog = BMA253_I2C_WATCHDOG_DISABLED;
cfg.offset_x_g = 0.0;
cfg.offset_y_g = 0.0;
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.sensor_mask = SENSOR_TYPE_ACCELEROMETER;
rc = bma253_config((struct bma253 *)dev, &cfg);
diff --git a/hw/sensor/include/sensor/sensor.h b/hw/sensor/include/sensor/sensor.h
index 4ff4da207..40a37b61e 100644
--- a/hw/sensor/include/sensor/sensor.h
+++ b/hw/sensor/include/sensor/sensor.h
@@ -98,6 +98,13 @@ typedef enum {
SENSOR_TYPE_ALL = 0xFFFFFFFF
} sensor_type_t;
+typedef enum {
+ /* Accelerometer double tap event */
+ SENSOR_EVENT_TYPE_DOUBLE_TAP = (1 << 0),
+ /* Accelerometer single tap event */
+ SENSOR_EVENT_TYPE_SINGLE_TAP = (1 << 1),
+} sensor_event_type_t;
+
/**
* Opaque 32-bit value, must understand underlying sensor type
@@ -211,6 +218,16 @@ typedef int
(*sensor_trigger_cmp_func_t)(sensor_type_t, sensor_data_t *,
sensor_data_t *, void *);
+/**
+ * Callback for event notifications.
+ *
+ * @param The sensor that observed the event
+ * @param The opaque argument provided during registration
+ * @param The sensor event type that was observed
+ */
+typedef int
+(*sensor_notifier_func_t)(struct sensor *, void *, sensor_event_type_t);
+
/**
*
*/
@@ -233,6 +250,30 @@ struct sensor_listener {
SLIST_ENTRY(sensor_listener) sl_next;
};
+/**
+ * Registration for sensor event notifications
+ */
+struct sensor_notifier {
+ /* The type of sensor event to be notified on, this is interpreted as a
+ * mask, and this notifier is called for all event types on this
+ * sensor that match the mask.
+ */
+ sensor_event_type_t sn_sensor_event_type;
+
+ /* Sensor event notification handler function, called when a matching
+ * event occurred.
+ */
+ sensor_notifier_func_t sn_func;
+
+ /* Opaque argument for the sensor event notification handler function. */
+ void *sn_arg;
+
+ /* Next item in the sensor notifier list. The head of this list is
+ * contained within the sensor object.
+ */
+ SLIST_ENTRY(sensor_notifier) sn_next;
+};
+
/**
* Sensor type traits list
*/
@@ -272,6 +313,13 @@ struct sensor_type_traits {
SLIST_ENTRY(sensor_type_traits) stt_next;
};
+struct sensor_notify_ev_ctx {
+ /* The sensor for which the ev cb should be called */
+ struct sensor * snec_sensor;
+ /* The event type */
+ sensor_event_type_t snec_evtype;
+};
+
struct sensor_read_ev_ctx {
/* The sensor for which the ev cb should be called */
struct sensor *srec_sensor;
@@ -323,10 +371,48 @@ typedef int (*sensor_get_config_func_t)(struct sensor *, sensor_type_t,
typedef int (*sensor_set_trigger_thresh_t)(struct sensor *, sensor_type_t,
struct sensor_type_traits *stt);
+/**
+ * Set the notification expectation for a targeted set of events for the
+ * specific sensor. After this function returns successfully, the implementer
+ * shall post corresponding event notifications to the sensor manager.
+ *
+ * @param The sensor to expect notifications from.
+ * @param The mask of event types to expect notifications from.
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+typedef int (*sensor_set_notification_t)(struct sensor *,
+ sensor_event_type_t);
+
+/**
+ * Unset the notification expectation for a targeted set of events for the
+ * specific sensor.
+ *
+ * @param The sensor.
+ * @param The mask of event types.
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+typedef int (*sensor_unset_notification_t)(struct sensor *,
+ sensor_event_type_t);
+
+/**
+ * Let driver handle interrupt in the sensor context
+ *
+ * @param The sensor.
+ * @param Interrupt argument
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+typedef int (*sensor_handle_interrupt_t)(struct sensor *);
+
struct sensor_driver {
sensor_read_func_t sd_read;
sensor_get_config_func_t sd_get_config;
sensor_set_trigger_thresh_t sd_set_trigger_thresh;
+ sensor_set_notification_t sd_set_notification;
+ sensor_unset_notification_t sd_unset_notification;
+ sensor_handle_interrupt_t sd_handle_interrupt;
};
struct sensor_timestamp {
@@ -335,6 +421,12 @@ struct sensor_timestamp {
uint32_t st_cputime;
};
+struct sensor_int {
+ uint8_t host_pin;
+ uint8_t device_pin;
+ uint8_t active;
+};
+
struct sensor_itf {
/* Sensor interface type */
@@ -354,6 +446,11 @@ struct sensor_itf {
/* Sensor interface high int pin */
uint8_t si_high_pin;
+
+ /* Sensor interface interrupts pins */
+ /* XXX We should probably remove low/high pins and replace it with those
+ */
+ struct sensor_int si_ints[MYNEWT_VAL(SENSOR_MAX_INTERRUPTS_PINS)];
};
/*
@@ -414,6 +511,11 @@ struct sensor {
*/
SLIST_HEAD(, sensor_listener) s_listener_list;
+ /* A list of notifiers that are registered to receive events from this
+ * sensor
+ */
+ SLIST_HEAD(, sensor_notifier) s_notifier_list;
+
/* A list of sensor thresholds that are registered */
SLIST_HEAD(, sensor_type_traits) s_type_traits_list;
@@ -451,6 +553,28 @@ int sensor_register_listener(struct sensor *, struct sensor_listener *);
int sensor_unregister_listener(struct sensor *, struct sensor_listener *);
+/**
+ * Register a sensor notifier. This allows a calling application to receive
+ * callbacks any time a requested event is observed.
+ *
+ * @param The sensor to register the notifier on
+ * @param The notifier to register
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+int sensor_register_notifier(struct sensor *, struct sensor_notifier *);
+
+/**
+ * Un-register a sensor notifier. This allows a calling application to stop
+ * receiving callbacks for events on the sensor object.
+ *
+ * @param The sensor object to un-register the notifier on
+ * @param The notifier to remove from the notification list
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+int sensor_unregister_notifier(struct sensor *, struct sensor_notifier *);
+
int sensor_read(struct sensor *, sensor_type_t, sensor_data_func_t, void *,
uint32_t);
@@ -513,13 +637,7 @@ sensor_check_type(struct sensor *sensor, sensor_type_t type)
static inline int
sensor_set_interface(struct sensor *sensor, struct sensor_itf *s_itf)
{
- sensor->s_itf.si_type = s_itf->si_type;
- sensor->s_itf.si_num = s_itf->si_num;
- sensor->s_itf.si_cs_pin = s_itf->si_cs_pin;
- sensor->s_itf.si_addr = s_itf->si_addr;
- sensor->s_itf.si_low_pin = s_itf->si_low_pin;
- sensor->s_itf.si_high_pin = s_itf->si_high_pin;
-
+ memcpy(&sensor->s_itf, s_itf, sizeof(*s_itf));
return (0);
}
@@ -705,6 +823,22 @@ sensor_set_thresh(char *, struct sensor_type_traits *);
int
sensor_set_watermark_thresh(char *, struct sensor_type_traits *);
+/**
+ * Puts a notification event on the sensor manager evq
+ *
+ * @param notification event context
+ */
+void
+sensor_mgr_put_notify_evt(struct sensor_notify_ev_ctx *);
+
+/**
+ * Puts a interrupt event on the sensor manager evq
+ *
+ * @param interrupt event context
+ */
+void
+sensor_mgr_put_interrupt_evt(struct sensor *);
+
/**
* Puts read event on the sensor manager evq
*
diff --git a/hw/sensor/src/sensor.c b/hw/sensor/src/sensor.c
index a34fd6858..79384d06d 100644
--- a/hw/sensor/src/sensor.c
+++ b/hw/sensor/src/sensor.c
@@ -76,7 +76,17 @@ struct sensor_read_ctx {
struct sensor_timestamp sensor_base_ts;
struct os_callout st_up_osco;
+static void sensor_notify_ev_cb(struct os_event * ev);
static void sensor_read_ev_cb(struct os_event *ev);
+static void sensor_interrupt_ev_cb(struct os_event *ev);
+
+static struct os_event sensor_interrupt_event = {
+ .ev_cb = sensor_interrupt_ev_cb,
+};
+
+static struct os_event sensor_notify_event = {
+ .ev_cb = sensor_notify_ev_cb,
+};
/** OS event - for doing a sensor read */
static struct os_event sensor_read_event = {
@@ -949,15 +959,21 @@ sensor_unregister_listener(struct sensor *sensor,
struct sensor_listener *listener)
{
int rc;
+ struct sensor_listener *tmp;
rc = sensor_lock(sensor);
if (rc != 0) {
goto err;
}
- /* Remove this entry from the list */
- SLIST_REMOVE(&sensor->s_listener_list, listener, sensor_listener,
- sl_next);
+ SLIST_FOREACH(tmp, &sensor->s_listener_list, sl_next) {
+ if (listener == tmp) {
+ /* Remove this entry from the list */
+ SLIST_REMOVE(&sensor->s_listener_list, listener, sensor_listener,
+ sl_next);
+ break;
+ }
+ }
sensor_unlock(sensor);
@@ -966,6 +982,116 @@ sensor_unregister_listener(struct sensor *sensor,
return (rc);
}
+static int
+sensor_set_notification(struct sensor *sensor)
+{
+ sensor_event_type_t event_type;
+ const struct sensor_notifier *notifier;
+ int rc;
+
+ event_type = 0;
+ SLIST_FOREACH(notifier, &sensor->s_notifier_list, sn_next) {
+ event_type |= notifier->sn_sensor_event_type;
+ }
+
+ if (sensor->s_funcs->sd_set_notification) {
+ rc = sensor->s_funcs->sd_set_notification(sensor, event_type);
+ } else {
+ rc = SYS_ENODEV;
+ }
+
+ return rc;
+}
+
+/**
+ * Register a sensor notifier. This allows a calling application to receive
+ * callbacks any time a requested event is observed.
+ *
+ * @param The sensor to register the notifier on
+ * @param The notifier to register
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+int
+sensor_register_notifier(struct sensor *sensor,
+ struct sensor_notifier *notifier)
+{
+ int rc;
+ struct sensor_notifier *tmp;
+
+ rc = sensor_lock(sensor);
+ if (rc != 0) {
+ goto err;
+ }
+
+ /* Check if notifier is not already on the list */
+ SLIST_FOREACH(tmp, &sensor->s_notifier_list, sn_next) {
+ if (notifier == tmp) {
+ rc = SYS_EINVAL;
+ goto err;
+ }
+ }
+
+ SLIST_INSERT_HEAD(&sensor->s_notifier_list, notifier, sn_next);
+
+ rc = sensor_set_notification(sensor);
+ if (rc != 0) {
+ goto remove;
+ }
+
+ sensor_unlock(sensor);
+
+ return (0);
+
+remove:
+ SLIST_REMOVE(&sensor->s_notifier_list, notifier, sensor_notifier,
+ sn_next);
+
+err:
+ sensor_unlock(sensor);
+ return (rc);
+}
+
+/**
+ * Un-register a sensor notifier. This allows a calling application to stop
+ * receiving callbacks for events on the sensor object.
+ *
+ * @param The sensor object to un-register the notifier on
+ * @param The notifier to remove from the notification list
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+int
+sensor_unregister_notifier(struct sensor *sensor,
+ struct sensor_notifier *notifier)
+{
+ int rc = 0;
+ struct sensor_notifier *tmp;
+
+ rc = sensor_lock(sensor);
+ if (rc != 0) {
+ goto done;
+ }
+
+ SLIST_FOREACH(tmp, &sensor->s_notifier_list, sn_next) {
+ if (notifier == tmp) {
+ SLIST_REMOVE(&sensor->s_notifier_list, notifier, sensor_notifier,
+ sn_next);
+ break;
+ }
+ }
+
+ sensor_unlock(sensor);
+
+ if (sensor->s_funcs->sd_unset_notification) {
+ rc = sensor->s_funcs->sd_unset_notification(sensor,
+ notifier->sn_sensor_event_type);
+ }
+
+done:
+ return (rc);
+}
+
static int
sensor_read_data_func(struct sensor *sensor, void *arg, void *data,
sensor_type_t type)
@@ -987,9 +1113,33 @@ sensor_read_data_func(struct sensor *sensor, void *arg, void *data,
/* Call data function */
if (ctx->user_func != NULL) {
return (ctx->user_func(sensor, ctx->user_arg, data, type));
- } else {
- return (0);
}
+
+ return (0);
+}
+
+/**
+ * Puts a interrupt event on the sensor manager evq
+ *
+ * @param interrupt event context
+ */
+void
+sensor_mgr_put_interrupt_evt(struct sensor *sensor)
+{
+ sensor_interrupt_event.ev_arg = sensor;
+ os_eventq_put(sensor_mgr_evq_get(), &sensor_interrupt_event);
+}
+
+/**
+ * Puts a notification event on the sensor manager evq
+ *
+ * @param notification event context
+ */
+void
+sensor_mgr_put_notify_evt(struct sensor_notify_ev_ctx *ctx)
+{
+ sensor_notify_event.ev_arg = ctx;
+ os_eventq_put(sensor_mgr_evq_get(), &sensor_notify_event);
}
/**
@@ -1004,6 +1154,35 @@ sensor_mgr_put_read_evt(void *arg)
os_eventq_put(sensor_mgr_evq_get(), &sensor_read_event);
}
+static void
+sensor_interrupt_ev_cb(struct os_event *ev)
+{
+ struct sensor *sensor;
+
+ sensor = ev->ev_arg;
+
+ if (sensor && sensor->s_funcs->sd_handle_interrupt) {
+ sensor->s_funcs->sd_handle_interrupt(sensor);
+ }
+}
+
+static void
+sensor_notify_ev_cb(struct os_event * ev)
+{
+ const struct sensor_notify_ev_ctx *ctx;
+ const struct sensor_notifier *notifier;
+
+ ctx = ev->ev_arg;
+
+ SLIST_FOREACH(notifier, &ctx->snec_sensor->s_notifier_list, sn_next) {
+ if (notifier->sn_sensor_event_type & ctx->snec_evtype) {
+ notifier->sn_func(ctx->snec_sensor,
+ notifier->sn_arg,
+ ctx->snec_evtype);
+ }
+ }
+}
+
static void
sensor_read_ev_cb(struct os_event *ev)
{
diff --git a/hw/sensor/src/sensor_shell.c b/hw/sensor/src/sensor_shell.c
index 85a8bf206..18fbdca0d 100644
--- a/hw/sensor/src/sensor_shell.c
+++ b/hw/sensor/src/sensor_shell.c
@@ -79,6 +79,7 @@ sensor_display_help(void)
console_printf(" at <poll_interval> rate for <poll_duration>\n");
console_printf(" type <sensor_name>\n");
console_printf(" types supported by registered sensor\n");
+ console_printf(" notify <sensor_name> [on/off] <type>\n");
}
static void
@@ -596,17 +597,106 @@ sensor_cmd_read(char *name, sensor_type_t type, struct sensor_poll_data *spd)
return rc;
}
+int
+sensor_one_tap_notif(struct sensor *sensor, void *data,
+ sensor_event_type_t type)
+{
+
+ console_printf("Single tap happend\n");
+
+ return 0;
+};
+
+static struct sensor_notifier one_tap = {
+ .sn_sensor_event_type = SENSOR_EVENT_TYPE_SINGLE_TAP,
+ .sn_func = sensor_one_tap_notif,
+ .sn_arg = NULL,
+};
+
+int
+sensor_double_tap_notif(struct sensor *sensor, void *data,
+ sensor_event_type_t type)
+{
+ console_printf("Double tap happend\n");
+
+ return 0;
+};
+
+static struct sensor_notifier double_tap = {
+ .sn_sensor_event_type = SENSOR_EVENT_TYPE_DOUBLE_TAP,
+ .sn_func = sensor_double_tap_notif,
+ .sn_arg = NULL,
+};
+
+static int
+sensor_cmd_notify(char *name, bool on, char *type_string)
+{
+ struct sensor *sensor;
+ int type = 0;
+ int rc = 0;
+
+ /* Look up sensor by name */
+ sensor = sensor_mgr_find_next_bydevname(name, NULL);
+ if (!sensor) {
+ console_printf("Sensor %s not found!\n", name);
+ }
+
+ if (!strcmp(type_string, "single")) {
+ type = SENSOR_EVENT_TYPE_SINGLE_TAP;
+ } else if (!strcmp(type_string, "double")) {
+ type = SENSOR_EVENT_TYPE_DOUBLE_TAP;
+ } else {
+ return 1;
+ }
+
+ if (!on) {
+ if (type == SENSOR_EVENT_TYPE_SINGLE_TAP) {
+ rc = sensor_unregister_notifier(sensor, &one_tap);
+ if (rc) {
+ console_printf("Could not unregister single tap\n");
+ goto done;
+ }
+ }
+ if (type == SENSOR_EVENT_TYPE_DOUBLE_TAP) {
+ rc = sensor_unregister_notifier(sensor, &double_tap);
+ if (rc) {
+ console_printf("Could not unregister double tap\n");
+ goto done;
+ }
+ }
+ goto done;
+ }
+
+ if (type == SENSOR_EVENT_TYPE_SINGLE_TAP) {
+ rc = sensor_register_notifier(sensor, &one_tap);
+ if (rc) {
+ console_printf("Could not register single tap\n");
+ goto done;
+ }
+ }
+
+ if (type == SENSOR_EVENT_TYPE_DOUBLE_TAP) {
+ rc = sensor_register_notifier(sensor, &double_tap);
+ if (rc) {
+ console_printf("Could not register double tap\n");
+ goto done;
+ }
+ }
+
+done:
+ return rc;
+}
+
static int
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 +710,7 @@ 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 +730,37 @@ 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 if (!strcmp(argv[1], "notify")) {
+ if (argc < 3) {
+ console_printf("Too few arguments: %d\n"
+ "Usage: sensor notify <sensor_name> <on/off> <single/double>",
+ argc - 2);
+ rc = SYS_EINVAL;
+ goto done;
+ }
+
+ rc = sensor_cmd_notify(argv[2], !strcmp(argv[3], "on"), argv[4]);
+ if (rc) {
+ console_printf("Too few arguments: %d\n"
+ "Usage: sensor notify <sensor_name> <on/off> <single/double>",
+ argc - 2);
+ goto done;
}
+
} else {
console_printf("Unknown sensor command %s\n", subcmd);
rc = SYS_EINVAL;
- goto err;
+ goto done;
}
done:
- return (0);
-err:
return (rc);
}
diff --git a/hw/sensor/syscfg.yml b/hw/sensor/syscfg.yml
index fbff785bf..53d548169 100644
--- a/hw/sensor/syscfg.yml
+++ b/hw/sensor/syscfg.yml
@@ -48,3 +48,8 @@ syscfg.defs:
SENSOR_POLL_TEST_LOG:
description: 'Sensor poller log'
value: '0'
+
+ SENSOR_MAX_INTERRUPTS_PINS:
+ desecrition: 'Max number of interupts configuration for the sensor.
+ This should be max from all the sensors attached to the system'
+ value: 2
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