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bma4.c
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bma4.c
* @date 2020-05-08
* @version V2.14.13
*
*/
/*
* @file bma4.c
* @brief Source file for the BMA4 Sensor API
*/
/***************************************************************************/
/*!
* @defgroup bma4 BMA4
*/
/**\name Header files
****************************************************************************/
#include "bma4.h"
/***************************************************************************/
/**\name Local structures
****************************************************************************/
/*!
* @brief Accel data deviation from ideal value
*/
struct bma4_offset_delta
{
/*! X axis */
int16_t x;
/*! Y axis */
int16_t y;
/*! Z axis */
int16_t z;
};
/*!
* @brief Accel offset xyz structure
*/
struct bma4_accel_offset
{
/*! Accel offset X data */
uint8_t x;
/*! Accel offset Y data */
uint8_t y;
/*! Accel offset Z data */
uint8_t z;
};
/***************************************************************************/
/*! Static Function Declarations
****************************************************************************/
/*!
* @brief This API validates the bandwidth and perfmode
* value set by the user.
*
* param bandwidth[in] : bandwidth value set by the user.
* param perf_mode[in] : perf_mode value set by the user.
*/
static int8_t validate_bandwidth_perfmode(uint8_t bandwidth, uint8_t perf_mode);
/*!
* @brief @brief This API validates the ODR value set by the user.
*
* param bandwidth[in] : odr for accelerometer
*/
static int8_t validate_odr(uint8_t odr);
/*!
* @brief This API is used to reset the FIFO related configurations
* in the fifo_frame structure.
*
* @param fifo[in,out] : Structure instance of bma4_fifo_frame
*
*/
static void reset_fifo_data_structure(struct bma4_fifo_frame *fifo);
/*!
* @brief This API computes the number of bytes of accel FIFO data
* which is to be parsed in header-less mode
*
* @param[out] start_idx : The start index for parsing data
* @param[out] len : Number of bytes to be parsed
* @param[in] acc_count : Number of accelerometer frames to be read
* @param[in] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void get_accel_len_to_parse(uint16_t *start_idx,
uint16_t *len,
const uint16_t *acc_count,
const struct bma4_fifo_frame *fifo);
/*!
* @brief This API checks the fifo read data as empty frame, if it
* is empty frame then moves the index to last byte.
*
* @param[in,out] data_index : The index of the current data to
* be parsed from fifo data
* @param[in] fifo : Structure instance of bma4_fifo_frame.
*/
static void check_empty_fifo(uint16_t *data_index, const struct bma4_fifo_frame *fifo);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in header mode.
*
* @param[in,out] accel_data : Structure instance of bma4_accel where
* the accelerometer data in FIFO is stored.
* @param[in,out] accel_length : Number of accelerometer frames
* (x,y,z axes data)
* @param[in,out] fifo : Structure instance of bma4_fifo_frame
* @param[in,out] dev : Structure instance of bma4_dev.
*
*/
static void extract_accel_header_mode(struct bma4_accel *accel_data,
uint16_t *accel_length,
struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data in both header mode and header-less mode.
* It update the idx value which is used to store the index of
* the current data byte which is parsed.
*
* @param[in,out] acc : Structure instance of bma4_accel.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] acc_idx : Index value of accelerometer data
* (x,y,z axes) frame to be parsed
* @param[in] frm : It consists of either fifo_data_enable
* parameter (Accel and/or mag data enabled in FIFO)
* in header-less mode or frame header data
* in header mode
* @param[in] fifo : Structure instance of bma4_fifo_frame.
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void unpack_acc_frm(struct bma4_accel *acc,
uint16_t *idx,
uint16_t *acc_idx,
uint8_t frm,
const struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the accelerometer data from the
* FIFO data and store it in the instance of the structure bma4_accel.
*
* @param[out] accel_data : Structure instance of bma4_accel where
* the parsed accel data bytes are stored.
* @param[in] data_start_index : Index value of the accel data bytes
* which is to be parsed from the fifo data.
* @param[in] fifo : Structure instance of bma4_fifo_frame.
* @param[in] dev : Structure instance of bma4_dev.
*
*/
static void unpack_accel_data(struct bma4_accel *accel_data,
uint16_t data_start_index,
const struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API computes the number of bytes of Mag FIFO data which is
* to be parsed in header-less mode
*
* @param[out] start_idx : The start index for parsing data
* @param[out] len : Number of bytes to be parsed
* @param[in] mag_count : Number of magnetometer frames to be read
* @param[in] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void get_mag_len_to_parse(uint16_t *start_idx,
uint16_t *len,
const uint16_t *mag_count,
const struct bma4_fifo_frame *fifo);
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in header mode.
*
* @param[in,out] data : Structure instance of bma4_mag_xyzr where
* the magnetometer data in FIFO is extracted
* and stored.
* @param[in,out] len : Number of magnetometer frames
* (x,y,z,r data)
* @param[in,out] fifo : Structure instance of bma4_fifo_frame.
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t extract_mag_header_mode(const struct bma4_mag *data,
uint16_t *len,
struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the magnetometer data from the
* FIFO data in both header mode and header-less mode and update the
* idx value which is used to store the index of the current
* data byte which is parsed.
*
* @param data : Structure instance of bma4_mag_xyzr.
* @param idx : Index value of number of bytes parsed
* @param mag_idx : Index value magnetometer data frame (x,y,z,r)
* to be parsed
* @param frm : It consists of either the fifo_data_enable parameter
* (Accel and/or mag data enabled in FIFO) in
* header-less mode and frame header data in header mode
* @param fifo : Structure instance of bma4_fifo_frame.
* @param dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t unpack_mag_frm(const struct bma4_mag *data,
uint16_t *idx,
uint16_t *mag_idx,
uint8_t frm,
const struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse the auxiliary magnetometer data from
* the FIFO data and store it in the instance of the structure mag_data.
*
* @param mag_data : Structure instance of bma4_mag_xyzr where the
* parsed magnetometer data bytes are stored.
* @param start_idx : Index value of the magnetometer data bytes
* which is to be parsed from the FIFO data
* @param fifo : Structure instance of bma4_fifo_frame.
* @param dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t unpack_mag_data(const struct bma4_mag *mag_data,
uint16_t start_idx,
const struct bma4_fifo_frame *fifo,
const struct bma4_dev *dev);
/*!
* @brief This API is used to parse and store the sensor time from the
* FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the sensor time.
* @param[in,out] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void unpack_sensortime_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo);
/*!
* @brief This API is used to parse and store the skipped_frame_count from
* the FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the skipped frame count.
* @param[in,out] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void unpack_skipped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo);
/*!
* @brief This API is used to parse and store the dropped_frame_count from
* the FIFO data in the structure instance dev.
*
* @param[in,out] data_index : Index of the FIFO data which
* has the dropped frame data.
* @param[in,out] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void unpack_dropped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo);
/*!
* @brief This API is used to move the data index ahead of the
* current_frame_length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*
* @param[in,out] data_index : Index of the FIFO data which
* is to be moved ahead of the
* current_frame_length
* @param[in] current_frame_length : Number of bytes in a particular frame
* @param[in] fifo : Structure instance of bma4_fifo_frame.
*
*/
static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bma4_fifo_frame *fifo);
/*!
* @brief This API writes the config stream data in memory using burst mode
*
* @param[in] stream_data : Pointer to store data of 32 bytes
* @param[in] index : Represents value in multiple of 32 bytes
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, struct bma4_dev *dev);
/*!
* @brief This API enables or disables the Accel self-test feature in the
* sensor.
*
* @param[in] accel_self-test_enable : Variable used to enable or disable
* the Accel self-test feature
* Value | Description
* --------|---------------
* 0x00 | BMA4_DISABLE
* 0x01 | BMA4_ENABLE
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_accel_selftest_enable(uint8_t accel_selftest_axis, struct bma4_dev *dev);
/*!
* @brief This API selects the sign of Accel self-test excitation
*
* @param[in] accel_selftest_sign: Variable used to select the Accel
* self-test sign
* Value | Description
* --------|--------------------------
* 0x00 | BMA4_DISABLE (negative)
* 0x01 | BMA4_ENABLE (positive)
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_accel_selftest_sign(uint8_t accel_selftest_sign, struct bma4_dev *dev);
/*!
* @brief This API sets the Accel self-test amplitude in the sensor.
*
* @param[in] accel_selftest_amp : Variable used to specify the Accel self
* test amplitude
* Value | Description
* --------|------------------------------------
* 0x00 | BMA4_SELFTEST_AMP_LOW
* 0x01 | BMA4_SELFTEST_AMP_HIGH
*
* @param[in] dev : structure instance of bma4_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_accel_selftest_amp(uint8_t accel_selftest_amp, struct bma4_dev *dev);
/*!
* @brief This function enables and configures the Accel which is needed
* for self-test operation.
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return results of self-test
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_accel_selftest_config(struct bma4_dev *dev);
/*!
* @brief This function validates the Accel self-test data and decides the
* result of self-test operation.
*
* @param[in] accel_data_diff : Pointer to structure variable which holds
* the Accel data difference of self-test operation
* @param[in] dev : Structure instance of bma4_dev
*
* @return results of self-test operation
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
static int8_t validate_selftest(const struct bma4_selftest_delta_limit *accel_data_diff, const struct bma4_dev *dev);
/*!
* @brief This API converts lsb value of axes to mg for self-test
*
* @param[in] accel_data_diff : Pointer variable used to pass accel difference
* values in g
* @param[out] accel_data_diff_mg : Pointer variable used to store accel
* difference values in mg
* @param[out] dev : Structure instance of bma4_dev
*
*/
static void convert_lsb_g(const struct bma4_selftest_delta_limit *accel_data_diff,
struct bma4_selftest_delta_limit *accel_data_diff_mg,
const struct bma4_dev *dev);
/*!
* @brief This API sets the feature config. data start address in the sensor.
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_feature_config_start_addr(struct bma4_dev *dev);
/*!
* @brief This API increments the feature config. data address according to the user
* provided read/write length in the dev structure.
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t increment_feature_config_addr(struct bma4_dev *dev);
/*!
* @brief This API reads the 8-bit data from the given register
* in the sensor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev);
/*!
* @brief This API writes the 8-bit data to the given register
* in the sensor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev);
/*!
* @brief This API sets the feature config. data start address in the sensor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_feature_config_start_addr(struct bma4_dev *dev);
/*!
* @brief This API is used to calculate the power of given
* base value.
*
* @param[in] base : value of base
* @param[in] resolution : resolution of the sensor
*
* @return : Return the value of base^resolution
*/
static int32_t power(int16_t base, uint8_t resolution);
/*!
* @brief This API finds the the null error of the device pointer structure
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
* @retval BMA4_OK -> Success
* @retval BMA4_E_NULL_PTR -> Null pointer Error
*/
static int8_t null_pointer_check(const struct bma4_dev *dev);
/*!
* @brief This internal API brings up the secondary interface to access
* auxiliary sensor
*
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_aux_interface_config(struct bma4_dev *dev);
/*!
* @brief This internal API reads the data from the auxiliary sensor
* depending on burst length configured
*
* @param[in] dev : Structure instance of bma4_dev.
* @param[out] aux_data : Pointer variable to store data read
* @param[in] aux_reg_addr : Variable to pass address from where
* data is to be read
*
* @return Result of API execution status
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_aux_data(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev);
/*!
* @brief This internal API maps the actual burst read length with user length set.
*
* @param[in] dev : Structure instance of bma4_dev.
* @param[out] len : Pointer variable to store mapped length
*
* @return Result of API execution status
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t map_read_len(uint8_t *len, const struct bma4_dev *dev);
/*!
* @brief This internal API validates accel self-test status from positive and negative axes input
*
* @param[in] positive : Positive accel data.
* @param[in] negative : Negative accel data.
* @param[in/out] accel_data_diff_mg : accel data difference data between positive and negative in mg.
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_accel_data_difference_and_validate(struct bma4_accel positive,
struct bma4_accel negative,
struct bma4_selftest_delta_limit *accel_data_diff_mg,
const struct bma4_dev *dev);
/*!
* @brief This internal API is used to verify the right position of the sensor before doing accel FOC
*
* @param[in] accel_en : Variable to store status of accel
* @param[in] accel_g_axis : Accel FOC axis and #put
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval BMA4_OK - Success.
* @retval BMA4_E_NULL_PTR - Error: Null pointer error
*/
static int8_t verify_foc_position(uint8_t accel_en,
const struct bma4_accel_foc_g_value *accel_g_axis,
struct bma4_dev *dev);
/*!
* @brief This internal API reads and provides average for 128 samples of sensor data for accel FOC operation
*
* @param[in] accel_en : Variable to store status of accel
* @param[in] temp_foc_data : Store data samples.
* @param[in] bma4_dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval BMA4_OK
* @retval BMA4_E_NULL_PTR - Error: Null pointer error
*/
static int8_t get_average_of_sensor_data(uint8_t accel_en,
struct bma4_foc_temp_value *temp_foc_data,
struct bma4_dev *dev);
/*!
* @brief This internal API validates accel FOC position as per the range
*
* @param[in] accel_en : Variable to store status of accel
* @param[in] accel_g_axis : Accel axis to FOC
* @param[in] avg_foc_data : Average value of sensor sample datas
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval BMA4_OK - Success.
* @retval BMA4_E_FAIL - Fail.
*/
static int8_t validate_foc_position(uint8_t accel_en,
const struct bma4_accel_foc_g_value *accel_g_axis,
struct bma4_accel avg_foc_data,
struct bma4_dev *dev);
/*!
* @brief This internal API validates accel FOC axis given as input
*
* @param[in] avg_foc_data : Average value of sensor sample datas
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval BMA4_OK - Success.
* @retval BMA4_E_FOC_FAIL - Error: FOC fail
*/
static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bma4_dev *dev);
/*!
* @brief This internal API saves the configurations before performing FOC.
*
* @param[out] acc_cfg : Accelerometer configuration value
* @param[out] aps : Advance power mode value
* @param[out] acc_en : Accelerometer enable value
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval BMA4_OK - Success.
* @retval BMA4_E_COM_FAIL - Error: Communication fail
* @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor
*/
static int8_t save_accel_foc_config(struct bma4_accel_config *acc_cfg,
uint8_t *aps,
uint8_t *acc_en,
struct bma4_dev *dev);
/*!
* @brief This internal API sets configurations for performing accelerometer FOC.
*
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval BMA4_OK - Success.
* @retval BMA4_E_COM_FAIL - Error: Communication fail
* @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor
*/
static int8_t set_accel_foc_config(struct bma4_dev *dev);
/*!
* @brief This internal API enables/disables the offset compensation for
* filtered and un-filtered accelerometer data.
*
* @param[in] offset_en : Enables/Disables offset compensation.
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval BMA4_OK - Success.
* @retval BMA4_E_COM_FAIL - Error: Communication fail
*/
static int8_t set_bma4_accel_offset_comp(uint8_t offset_en, struct bma4_dev *dev);
/*!
* @brief This internal API performs Fast Offset Compensation for accelerometer.
*
* @param[in] accel_g_value : This parameter selects the accel FOC
* axis to be performed
*
* Input format is {x, y, z, sign}. '1' to enable. '0' to disable
*
* Eg:- To choose x axis {1, 0, 0, 0}
* Eg:- To choose -x axis {1, 0, 0, 1}
*
* @param[in] acc_cfg : Accelerometer configuration value
* @param[in] dev : Structure instance of bma4_dev.
*
* @return Result of API execution status
*
* @retval BMA4_OK - Success.
* @retval BMA4_E_NULL_PTR - Error: Null pointer error
* @retval BMA4_E_COM_FAIL - Error: Communication fail
*/
static int8_t perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value,
const struct bma4_accel_config *acc_cfg,
struct bma4_dev *dev);
/*!
* @brief This internal API converts the range value into accelerometer
* corresponding integer value.
*
* @param[in] range_in : Input range value.
* @param[out] range_out : Stores the integer value of range.
*
* @return None
* @retval None
*/
static void map_accel_range(uint8_t range_in, uint8_t *range_out);
/*!
* @brief This internal API compensate the accelerometer data against gravity.
*
* @param[in] lsb_per_g : LSB value per 1g.
* @param[in] g_val : Gravity reference value of all axes.
* @param[in] data : Accelerometer data
* @param[out] comp_data : Stores the data that is compensated by taking the
* difference in accelerometer data and lsb_per_g
* value.
*
* @return None
* @retval None
*/
static void comp_for_gravity(uint16_t lsb_per_g,
const struct bma4_accel_foc_g_value *g_val,
const struct bma4_accel *data,
struct bma4_offset_delta *comp_data);
/*!
* @brief This internal API scales the compensated accelerometer data according
* to the offset register resolution.
*
* @param[in] range : Gravity range of the accelerometer.
* @param[out] comp_data : Data that is compensated by taking the
* difference in accelerometer data and lsb_per_g
* value.
* @param[out] data : Stores offset data
*
* @return None
* @retval None
*/
static void scale_bma4_accel_offset(uint8_t range,
const struct bma4_offset_delta *comp_data,
struct bma4_accel_offset *data);
/*!
* @brief This internal API inverts the accelerometer offset data.
*
* @param[out] offset_data : Stores the inverted offset data
*
* @return None
* @retval None
*/
static void invert_bma4_accel_offset(struct bma4_accel_offset *offset_data);
/*!
* @brief This internal API writes the offset data in the offset compensation
* register.
*
* @param[in] offset : Offset data
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval BMA4_OK - Success.
* @retval BMA4_E_COM_FAIL - Error: Communication fail
*/
static int8_t write_bma4_accel_offset(const struct bma4_accel_offset *offset, struct bma4_dev *dev);
/*!
* @brief This internal API finds the bit position of 3.9mg according to given
* range and resolution.
*
* @param[in] range : Gravity range of the accelerometer.
*
* @return Result of API execution status
* @retval Bit position of 3.9mg
*/
static int8_t get_bit_pos_3_9mg(uint8_t range);
/*!
* @brief This internal API restores the configurations saved before performing
* accelerometer FOC.
*
* @param[in] acc_cfg : Accelerometer configuration value
* @param[in] aps : Advance power mode value
* @param[in] acc_en : Accelerometer enable value
* @param[in] dev : Structure instance of bma4_dev
*
* @return Result of API execution status
* @retval BMA4_OK - Success.
* @retval BMA4_E_COM_FAIL - Error: Communication fail
* @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor
* @retval BMA4_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
*/
static int8_t restore_accel_foc_config(const struct bma4_accel_config *acc_cfg,
uint8_t aps,
uint8_t acc_en,
struct bma4_dev *dev);
/***************************************************************************/
/**\name Extern Declarations
****************************************************************************/
/***************************************************************************/
/**\name Globals
****************************************************************************/
/***************************************************************************/
/**\name Function definitions
****************************************************************************/
/*!
* @brief This API is the entry point.
* Call this API before using all other APIs.
* This API reads the chip-id of the sensor which is the first step to
* verify the sensor and also it configures the read mechanism of SPI and
* I2C interface.
*/
int8_t bma4_init(struct bma4_dev *dev)
{
int8_t rslt;
uint8_t data = 0;
uint8_t dummy_read = 0;
/* NULL pointer check */
rslt = null_pointer_check(dev);
if (rslt == BMA4_OK)
{
if (dev->intf == BMA4_SPI_INTF)
{
dev->dummy_byte = 1;
rslt = bma4_read_regs(BMA4_CHIP_ID_ADDR, &dummy_read, 1, dev);
}
else
{
dev->dummy_byte = 0;
}
if (rslt == BMA4_OK)
{
rslt = bma4_read_regs(BMA4_CHIP_ID_ADDR, &data, 1, dev);
if (rslt == BMA4_OK)
{
/* Assign Chip Id */
dev->chip_id = data;
}
}
}
return rslt;
}
/*!
* @brief This API is used to write the binary configuration in the sensor
*/
int8_t bma4_write_config_file(struct bma4_dev *dev)
{
int8_t rslt;
/* Config loading disable*/
uint8_t config_load = 0;
uint16_t index = 0;
uint8_t config_stream_status = 0;
/* Disable advanced power save */
rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev);
/* Wait for sensor time synchronization. Refer the data-sheet for
* more information
*/
dev->delay_us(450, dev->intf_ptr);
if (rslt == BMA4_OK)
{
/* Disable config loading*/
rslt = bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev);
if (rslt == BMA4_OK)
{
/* Write the config stream */
for (index = 0; index < dev->config_size; index += dev->read_write_len)
{
rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev);
}
if (rslt == BMA4_OK)
{
/* Enable config loading and FIFO mode */
config_load = 0x01;
rslt = bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev);
if (rslt == BMA4_OK)
{
/* Wait till ASIC is initialized. Refer the data-sheet for
* more information
*/
dev->delay_us(BMA4_MS_TO_US(150), dev->intf_ptr);
/* Read the status of config stream operation */
rslt = bma4_read_regs(BMA4_INTERNAL_STAT, &config_stream_status, 1, dev);
config_stream_status = config_stream_status & BMA4_CONFIG_STREAM_MESSAGE_MSK;
if (rslt == BMA4_OK)
{
if (config_stream_status != BMA4_ASIC_INITIALIZED)
{
rslt = BMA4_E_CONFIG_STREAM_ERROR;
}
else
{
/* Enable advanced power save */
rslt = bma4_set_advance_power_save(BMA4_ENABLE, dev);
if (rslt == BMA4_OK)
{
rslt = get_feature_config_start_addr(dev);
}
}
}
}
}
}
}
return rslt;
}
/*!
* @brief This API checks whether the write operation requested is for feature
* config or register write and accordingly writes the data in the sensor.
*/
int8_t bma4_write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev)
{
uint8_t i;
uint32_t loop_count;
uint16_t overflow;
uint16_t index;
int8_t rslt;
uint8_t adv_pwr_save = 0;
/* Check the dev structure as NULL */
rslt = null_pointer_check(dev);
if ((rslt == BMA4_OK) && (data != NULL))
{
if (addr == BMA4_FEATURE_CONFIG_ADDR)
{
/* Disable APS if enabled before writing the feature
* config register
*/
rslt = bma4_get_advance_power_save(&adv_pwr_save, dev);
if ((adv_pwr_save == BMA4_ENABLE) && (rslt == BMA4_OK))
{
rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev);
/* Wait for sensor time synchronization. Refer
* the data-sheet for more information
*/
dev->delay_us(450, dev->intf_ptr);
}
if (((len % 2) == 0) && (len <= dev->feature_len) && (rslt == BMA4_OK))
{
if (dev->read_write_len < len)
{
/* Calculate the no of writes to be
* performed according to the read/write
* length
*/
loop_count = len / dev->read_write_len;
overflow = len % dev->read_write_len;
index = 0;
rslt = set_feature_config_start_addr(dev);
if (rslt == BMA4_OK)
{
for (i = 0; i < loop_count; i++)
{
rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, dev->read_write_len, dev);
if (rslt == BMA4_OK)
{