/**
* @brief Read BMA250 acceleration data.
*
* This function obtains accelerometer data for all three axes of the Bosch
* device. The data is read from three device registers using a multi-byte
* bus transfer.
*
* Along with the actual sensor data, the LSB byte contains a "new" flag
* indicating if the data for this axis has been updated since the last
* time the axis data was read. Reading either LSB or MSB data will
* clear this flag.
*
* @param sensor Address of an initialized sensor device descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma250_get_accel(sensor_hal_t *hal, sensor_data_t *data)
{
size_t const count = sensor_bus_read(hal, hal->burst_addr,
event_regs.acc, sizeof(event_regs.acc));
format_axis_data(hal, event_regs.acc, data);
return (count == sizeof(event_regs.acc));
}
/**
* @brief Read accelerometer data.
*
* This function obtains accelerometer data for all three axes of the Bosch
* device. The data is read from six device registers using a multi-byte
* bus transfer. The 10-bit raw results are then assembled from the two
* register values for each axis, including extending the sign bit, to
* form a signed 32-bit value.
*
* Along with the actual sensor data, the LSB byte contains a "new" flag
* indicating if the data for this axis has been updated since the last
* time the axis data was read. Reading either LSB or MSB data will
* clear this flag.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data The address of a vector storing sensor axis data.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma180_get_accel(sensor_hal_t *hal, sensor_data_t *data)
{
bma_axis_t axis[3];
size_t const count = sensor_bus_read(hal, hal->burst_addr,
axis, sizeof(axis));
format_axis_data(hal, axis, data);
return (count == sizeof(axis));
}
/**
* @brief Bosch BMA250 accelerometer driver initialization.
*
* This is the main initialization function for the BMA250 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool bma250_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA250_ID_VAL == sensor_bus_get(hal, BMA250_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma250_device = {
/* Bosch BMA250 Driver Entry Points & Capabilities */
.func.read = bma250_read,
.func.ioctl = bma250_ioctl,
.func.selftest = bma250_selftest,
.func.event = bma250_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT |
SENSOR_CAPS_TAP_EVENT |
SENSOR_CAPS_TILT_EVENT |
SENSOR_CAPS_AUX_TEMP,
.caps.vendor = SENSOR_VENDOR_BOSCH,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_g0,
.caps.scale = SENSOR_SCALE_milli,
.caps.name = "BMA250 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma250_device;
/* Set the driver (device) default range, bandwidth, &
* resolution.
*
* \internal
* Per the BMA250 Datasheet the default range and bandwidth
* after device reset are +/- 2g and 1kHz respectively.
*/
bma250_set_state(sensor, SENSOR_STATE_RESET);
hal->range = 2000;
hal->bandwidth = 1000;
hal->resolution = BMA250_DATA_RESOLUTION;
hal->burst_addr = BMA250_NEW_DATA_X;
/* Install an interrupt handler. */
if ((STATUS_OK == hal->bus.status) &&
sensor_irq_connect(hal->mcu_sigint, bma250_isr,
hal)) {
status = true;
}
}
return status;
}
/**
* @brief Bosch BMA250 driver interrupt service routine.
*
* This is the common interrupt service routine for all enabled BMA250 interrupt
* events. Five different types of interrupts can be programmed. All interrupt
* criteria are combined and drive the interrupt pad with a Boolean \c OR
* condition.
*
* Interrupt criteria are tested against values from the BMA250 digital filter
* output. All thresholds are scaled using the current device range. Timings
* for high and low acceleration are absolute values (1 LSB of HG_dur and LG_dur
* registers corresponds to 1 millisecond, +/- 10%). Timing for the any-motion
* interrupt and alert detection are proportional to the bandwidth setting.
*
* This routine handles interrupts generated when low-g, high-g, any-motion,
* alert, and new data criteria are satisfied and the corresponding event
* notification is enabled in the device.
*
* The BMA250 device does not provide any way to definitively identify an
* any-motion interrupt once it has occurred. So, if a handler has been
* installed for that event, it will always be called by this routine,
* and the SENSOR_EVENT_MOTION indicator will be set in the event type field.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void bma250_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
hal->bus.no_wait = true;
sensor_bus_read(hal, hal->burst_addr, &event_regs, sizeof(event_regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_UNKNOWN;
format_axis_data(hal, event_regs.acc, &(event_data.data));
if (event_regs.status_field.data_int) {
event_data.event |= SENSOR_EVENT_NEW_DATA;
(event_cb[0].handler)(&event_data, event_cb[0].arg);
}
if (event_regs.status_field.slope_int) {
event_data.event |= SENSOR_EVENT_MOTION;
(event_cb[1].handler)(&event_data, event_cb[1].arg);
}
if (event_regs.status_field.low_int) {
event_data.event |= SENSOR_EVENT_LOW_G;
(event_cb[2].handler)(&event_data, event_cb[2].arg);
}
if (event_regs.status_field.high_int) {
event_data.event |= SENSOR_EVENT_HIGH_G;
(event_cb[3].handler)(&event_data, event_cb[3].arg);
}
if (event_regs.status_field.s_tap_int) {
event_data.event |= SENSOR_EVENT_S_TAP;
(event_cb[4].handler)(&event_data, event_cb[4].arg);
}
if (event_regs.status_field.d_tap_int) {
event_data.event |= SENSOR_EVENT_D_TAP;
(event_cb[4].handler)(&event_data, event_cb[4].arg);
}
}
}
/**
* @brief Bosch BMA150 accelerometer driver initialization.
*
* This is the main initialization function for the BMA150 device.
*
* @param sensor Address of a sensor device descriptor.
* @param resvd Reserved value.
* @return bool true if the call succeeds, else false is returned.
*/
bool bma150_init(sensor_t *sensor, int resvd)
{
bool status = false;
sensor_hal_t *const hal = sensor->hal;
if (BMA150_ID_VAL == sensor_bus_get(hal, BMA150_CHIP_ID)) {
/* Set the driver function table and capabilities pointer. */
static const sensor_device_t bma150_device = {
.func.read = bma150_read,
.func.ioctl = bma150_ioctl,
.func.selftest = bma150_selftest,
.func.event = bma150_event,
.caps.feature = SENSOR_CAPS_3_AXIS |
SENSOR_CAPS_SELFTEST |
SENSOR_CAPS_HI_G_EVENT |
SENSOR_CAPS_LO_G_EVENT |
SENSOR_CAPS_AUX_TEMP,
.caps.vendor = SENSOR_VENDOR_BOSCH,
.caps.range_table = range_table,
.caps.band_table = band_table,
.caps.range_count = ARRAYSIZE(range_table),
.caps.band_count = ARRAYSIZE(band_table),
.caps.units = SENSOR_UNITS_g0,
.caps.scale = SENSOR_SCALE_milli,
.caps.name
= "BMA150 Digital, triaxial acceleration sensor"
};
sensor->drv = &bma150_device;
/* Set the driver (device) default range, bandwidth, &
* resolution.
*
* Per the BMA150 Datasheet the default range and bandwidth
* after device reset are +/- 4g and 1500 Hz. respectively. So,
* if that's the desired initialization state for this device,
*then
* don't use software to set these values in the driver _init()
* routine.
*/
hal->range = 4000;
hal->bandwidth = 1500;
hal->resolution = BMA150_DATA_RESOLUTION;
/* Set the device burst read base address. */
hal->burst_addr = BMA150_ACC_X_LSB;
/* Initialize the control registers. */
sensor_bus_put(hal, BMA150_CTRL1, 0);
sensor_bus_put(hal, BMA150_CTRL2, 0);
sensor_bus_put(hal, BMA150_CTRL5, 0);
/* Set the interrupt handler. */
if ((STATUS_OK == hal->bus.status) &&
sensor_irq_connect(hal->mcu_sigint, bma150_isr, hal)) {
status = true;
}
}
return status;
}
/**
* @brief Bosch BMA150 driver interrupt service routine.
*
* This is the common interrupt service routine for all enabled BMA150 interrupt
* events. Five different types of interrupts can be programmed. All interrupt
* criteria are combined and drive the interrupt pad with a Boolean \c OR
* condition.
*
* Interrupt events may be set to an inconsistent state by device EEPROM
* changes. BMA150 interrupts should be disabled at the host microcontroller
* when device EEPROM writes are performed.
*
* Interrupt criteria are tested against values from the BMA150 digital filter
* output. All thresholds are scaled using the current device range. Timings
* for high and low acceleration are absolute values (1 LSB of HG_dur and LG_dur
* registers corresponds to 1 millisecond, +/- 10%). Timing for the any-motion
* interrupt and alert detection are proportional to the bandwidth setting.
*
* This routine handles interrupts generated when low-g, high-g, any-motion,
* alert, and new data criteria are satisfied and the corresponding event
* notification is enabled in the device.
*
* The BMA150 device does not provide any way to definitively identify an
* any-motion interrupt once it has occurred. So, if a handler has been
* installed for that event, it will always be called by this routine,
* and the SENSOR_EVENT_MOTION indicator will be set in the event type field.
*
* @param arg The address of the driver sensor_hal_t descriptor.
* @return Nothing.
*/
static void bma150_isr(volatile void *arg)
{
sensor_hal_t *const hal = (sensor_hal_t *)arg;
hal->bus.no_wait = true;
sensor_bus_read(hal, hal->burst_addr, &event_regs, sizeof(event_regs));
hal->bus.no_wait = false;
if (STATUS_OK == hal->bus.status) {
static sensor_event_data_t event_data = {.data.scaled = true};
event_data.data.timestamp = sensor_timestamp();
event_data.event = SENSOR_EVENT_MOTION;
/*
* Test the "new data" bit in the sample outputs prior to
* converting axis data to sign extended 10-bit values and
* buffering the result.
*/
bool const new_data = event_regs.acc[2].field.new_data;
format_axis_data(hal, event_regs.acc, &(event_data.data));
if (event_regs.status_field.LG_issued) {
event_data.event = SENSOR_EVENT_LOW_G;
(event_cb[2].handler)(&event_data, event_cb[2].arg);
} else if (event_regs.status_field.HG_issued) {
event_data.event = SENSOR_EVENT_HIGH_G;
(event_cb[3].handler)(&event_data, event_cb[3].arg);
} else if (new_data) {
event_data.event = SENSOR_EVENT_NEW_DATA;
(event_cb[0].handler)(&event_data, event_cb[0].arg);
} else {
/* Assume the any-motion event triggered the interrupt. */
(event_cb[1].handler)(&event_data, event_cb[1].arg);
}
}
}
/**
* @brief Read BMA150 device ID and revision numbers.
*
* This function reads the accelerometer hardware identification registers
* and returns these values in the specified data structure.
*
* @param hal Address of an initialized sensor hardware descriptor.
* @param data Address of sensor_data_t structure to return values.
* @return bool true if the call succeeds, else false is returned.
*/
static bool bma150_device_id(sensor_hal_t *hal, sensor_data_t *data)
{
data->device.id = sensor_bus_get(hal, BMA150_CHIP_ID);
data->device.version = sensor_bus_get(hal, BMA150_CHIP_VERSION);
return true;
}