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sensor-motion-bmi270/mtb_bmi270.c

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/******************************************************************************
* \file mtb_bmi270.c
*
* \brief
* This file contains the functions for interacting with the
* BMI270 motion sensor.
*
********************************************************************************
* \copyright
* Copyright 2024 Cypress Semiconductor Corporation
* SPDX-License-Identifier: Apache-2.0
*
* Licensed 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 "mtb_bmi270.h"
#if defined(__cplusplus)
extern "C"
{
#endif
/******************************************************************************
* Macros
******************************************************************************/
#define _I2C_TIMEOUT_MS (1U)
#define _READ_WRITE_LEN (46U)
#define _SOFT_RESET_DELAY_US 300
/******************************************************************************
* Global variables
******************************************************************************/
static cyhal_i2c_t* _bmi270_i2c = NULL;
static uint8_t _dev_addr;
/*****************************************************************************
* Local function Prototypes
*****************************************************************************/
static BMI2_INTF_RETURN_TYPE _bmi2_i2c_read(uint8_t reg_addr, uint8_t* reg_data,
uint32_t len, void* intf_ptr);
static BMI2_INTF_RETURN_TYPE _bmi2_i2c_write(uint8_t reg_addr, const uint8_t* reg_data,
uint32_t len, void* intf_ptr);
static void _bmi2_delay_us(uint32_t us, void* intf_ptr);
/******************************************************************************
* _mtb_bmi270_pins_equal
******************************************************************************/
static inline bool _mtb_bmi270_pins_equal(cyhal_gpio_callback_data_t ref_pin, cyhal_gpio_t pin)
{
return (ref_pin.pin == pin);
}
/******************************************************************************
* _mtb_bmi270_set_pin
******************************************************************************/
static inline bool _mtb_bmi270_set_pin(cyhal_gpio_callback_data_t* ref_pin, cyhal_gpio_t pin)
{
return (ref_pin->pin = pin);
}
/******************************************************************************
* mtb_bmi270_init_i2c
******************************************************************************/
cy_rslt_t mtb_bmi270_init_i2c(mtb_bmi270_t* dev, cyhal_i2c_t* i2c_instance,
mtb_bmi270_address_t address)
{
cy_rslt_t rslt;
_dev_addr = address;
struct bmi2_sens_config config = {0};
CY_ASSERT(NULL != i2c_instance);
CY_ASSERT(NULL != dev);
_bmi270_i2c = i2c_instance;
dev->sensor.intf = BMI2_I2C_INTF;
dev->sensor.read = _bmi2_i2c_read;
dev->sensor.write = _bmi2_i2c_write;
dev->sensor.delay_us = _bmi2_delay_us;
dev->sensor.intf_ptr = &_dev_addr;
dev->sensor.read_write_len = _READ_WRITE_LEN;
dev->sensor.config_file_ptr = NULL;
_mtb_bmi270_set_pin(&(dev->intpin1), NC);
_mtb_bmi270_set_pin(&(dev->intpin2), NC);
bmi270_init(&(dev->sensor));
rslt = bmi270_get_sensor_config(&config, 1, &(dev->sensor));
return (BMI2_OK == rslt)
? CY_RSLT_SUCCESS
: rslt;
}
/******************************************************************************
* _mtb_bmi270_config_int
******************************************************************************/
static cy_rslt_t _mtb_bmi270_config_int(cyhal_gpio_callback_data_t* intpin, cyhal_gpio_t pin,
bool init, uint8_t intr_priority, cyhal_gpio_event_t event,
cyhal_gpio_event_callback_t callback, void* callback_arg)
{
cy_rslt_t result = CY_RSLT_SUCCESS;
if (NULL == callback)
{
cyhal_gpio_free(pin);
_mtb_bmi270_set_pin(intpin, NC);
}
else
{
if (init)
{
result = cyhal_gpio_init(pin, CYHAL_GPIO_DIR_INPUT, CYHAL_GPIO_DRIVE_NONE, 0);
}
if (CY_RSLT_SUCCESS == result)
{
_mtb_bmi270_set_pin(intpin, pin);
intpin->callback = callback;
intpin->callback_arg = callback_arg;
cyhal_gpio_register_callback(pin, intpin);
cyhal_gpio_enable_event(pin, event, intr_priority, true);
}
}
return result;
}
/******************************************************************************
* mtb_bmi270_config_default
******************************************************************************/
cy_rslt_t mtb_bmi270_config_default(mtb_bmi270_t* dev)
{
cy_rslt_t rslt;
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_GYRO };
struct bmi2_sens_config config = {0};
rslt = bmi2_get_sensor_config(&config, 1, &(dev->sensor));
if (BMI2_OK != rslt)
{
return rslt;
}
config.type = BMI2_ACCEL;
config.cfg.acc.odr = BMI2_ACC_ODR_100HZ;
config.cfg.acc.range = BMI2_ACC_RANGE_2G;
config.cfg.acc.bwp = BMI2_ACC_OSR4_AVG1;
config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
rslt = bmi2_set_sensor_config(&config, 1, &(dev->sensor));
if (BMI2_OK != rslt)
{
return rslt;
}
rslt = bmi2_get_sensor_config(&config, 1, &(dev->sensor));
if (BMI2_OK != rslt)
{
return rslt;
}
config.type = BMI2_GYRO;
config.cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
rslt = bmi2_set_sensor_config(&config, 1, &(dev->sensor));
if (BMI2_OK != rslt)
{
return rslt;
}
rslt = bmi2_get_sensor_config(&config, 1, &(dev->sensor));
if (BMI2_OK != rslt)
{
return rslt;
}
rslt = bmi2_sensor_enable(sens_list, 2, &(dev->sensor));
return (BMI2_OK == rslt)
? CY_RSLT_SUCCESS
: rslt;
}
/******************************************************************************
* mtb_bmi270_read
******************************************************************************/
cy_rslt_t mtb_bmi270_read(mtb_bmi270_t* dev, mtb_bmi270_data_t* data)
{
cy_rslt_t rslt;
rslt = bmi2_get_sensor_data(&(data->sensor_data), &(dev->sensor));
return (BMI2_OK == rslt)
? CY_RSLT_SUCCESS
: rslt;
}
/******************************************************************************
* mtb_bmi270_selftest
******************************************************************************/
cy_rslt_t mtb_bmi270_selftest(mtb_bmi270_t* dev)
{
cy_rslt_t rslt = bmi2_perform_accel_self_test(&(dev->sensor));
cyhal_system_delay_us(_SOFT_RESET_DELAY_US); //per datasheet, delay needed after reset to reboot
if (BMI2_OK == rslt)
{
rslt = bmi2_do_gyro_st(&(dev->sensor));
cyhal_system_delay_us(_SOFT_RESET_DELAY_US); // delay needed after another reset
}
return (BMI2_OK == rslt)
? CY_RSLT_SUCCESS
: rslt;
}
/******************************************************************************
* mtb_bmi270_config_int
******************************************************************************/
cy_rslt_t mtb_bmi270_config_int(mtb_bmi270_t* dev, struct bmi2_int_pin_config* intsettings,
cyhal_gpio_t pin, uint8_t intr_priority, cyhal_gpio_event_t event,
cyhal_gpio_event_callback_t callback, void* callback_arg)
{
cy_rslt_t result = CY_RSLT_SUCCESS;
if (_mtb_bmi270_pins_equal(dev->intpin1, pin))
{
result = _mtb_bmi270_config_int(&(dev->intpin1), pin, false, intr_priority, event, callback,
callback_arg);
}
else if (_mtb_bmi270_pins_equal(dev->intpin2, pin))
{
result = _mtb_bmi270_config_int(&(dev->intpin2), pin, false, intr_priority, event, callback,
callback_arg);
}
else if (_mtb_bmi270_pins_equal(dev->intpin1, NC))
{
result = _mtb_bmi270_config_int(&(dev->intpin1), pin, true, intr_priority, event, callback,
callback_arg);
}
else if (_mtb_bmi270_pins_equal(dev->intpin2, NC))
{
result = _mtb_bmi270_config_int(&(dev->intpin2), pin, true, intr_priority, event, callback,
callback_arg);
}
else
{
CY_ASSERT(CY_RSLT_SUCCESS == result);
}
if (result == CY_RSLT_SUCCESS)
{
int8_t status = bmi2_set_int_pin_config(intsettings, &(dev->sensor));
if (status != BMI2_OK)
{
CY_ASSERT(CY_RSLT_SUCCESS == status);
}
}
return result;
}
/******************************************************************************
* mtb_bmi270_free_pin
******************************************************************************/
void mtb_bmi270_free_pin(mtb_bmi270_t* dev)
{
if (!_mtb_bmi270_pins_equal(dev->intpin1, NC))
{
cyhal_gpio_free((dev->intpin1).pin);
}
if (!_mtb_bmi270_pins_equal(dev->intpin2, NC))
{
cyhal_gpio_free((dev->intpin2).pin);
}
_bmi270_i2c = NULL;
}
/*****************************************************************************
* Function name: _bmi2_i2c_read
*****************************************************************************
* Summary:
* This internal function reads I2C function map to host MCU
*
* Parameters:
* reg_addr 8bit register address of the sensor
* reg_data Data from the specified address
* len Length of the reg_data array
* intf_ptr Void pointer that can enable the linking of descriptors for
* interface related callbacks
*
* Return:
* int8_t Status of execution
*
*****************************************************************************/
static BMI2_INTF_RETURN_TYPE _bmi2_i2c_read(uint8_t reg_addr, uint8_t* reg_data,
uint32_t len, void* intf_ptr)
{
uint8_t device_addr = *(uint8_t*)intf_ptr;
return (BMI2_INTF_RETURN_TYPE)cyhal_i2c_master_mem_read(_bmi270_i2c, device_addr,
reg_addr, 1,
reg_data, (uint16_t)len,
_I2C_TIMEOUT_MS);
}
/*****************************************************************************
* Function name: _bmi2_i2c_write
*****************************************************************************
* Summary:
* This internal function writes I2C function map to host MCU
*
* Parameters:
* reg_addr 8bit register address of the sensor
* reg_data Data from the specified address
* len Length of the reg_data array
* intf_ptr Void pointer that can enable the linking of descriptors for
* interface related callbacks
*
* Return:
* int8_t Status of execution
*
*****************************************************************************/
static BMI2_INTF_RETURN_TYPE _bmi2_i2c_write(uint8_t reg_addr, const uint8_t* reg_data,
uint32_t len, void* intf_ptr)
{
uint8_t device_addr = *(uint8_t*)intf_ptr;
return (BMI2_INTF_RETURN_TYPE)cyhal_i2c_master_mem_write(_bmi270_i2c, device_addr,
reg_addr, 1,
reg_data,
(uint16_t)len,
_I2C_TIMEOUT_MS);
}
/*****************************************************************************
* Function name: _bmi2_delay_us
*****************************************************************************
* Summary:
* This internal function maps delay function to host MCU
*
* Parameters:
* us The time period in microseconds
* intf_ptr Void pointer that can enable the linking of descriptors for
* interface related callbacks
*
* Return:
* void
*
*****************************************************************************/
static void _bmi2_delay_us(uint32_t us, void* intf_ptr)
{
(void)intf_ptr;
cyhal_system_delay_us(us);
}
#if defined(__cplusplus)
}
#endif
/* [] END OF FILE */