Permalink
Cannot retrieve contributors at this time
Name already in use
A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Are you sure you want to create this branch?
sensor-orientation-bmm350/mtb_bmm350.c
Go to fileThis commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
executable file
269 lines (232 sloc)
9.11 KB
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| /****************************************************************************** | |
| * \file mtb_bmm350.c | |
| * | |
| * \brief | |
| * This file contains the functions for interacting with the | |
| * BMM350 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_bmm350.h" | |
| /****************************************************************************** | |
| * Macros | |
| ******************************************************************************/ | |
| #define _I2C_TIMEOUT_MS 10 // 10 msec | |
| #define _I2C_WRITE_BUFFER_LENGTH 32 | |
| #define _SOFT_RESET_DELAY_US 300 | |
| /****************************************************************************** | |
| * Global variables | |
| ******************************************************************************/ | |
| static cyhal_i2c_t* _bmm350_i2c = NULL; | |
| uint8_t _dev_addr; | |
| /***************************************************************************** | |
| * Local function Prototypes | |
| *****************************************************************************/ | |
| static BMM350_INTF_RET_TYPE _bmm350_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, | |
| void* intf_ptr); | |
| static BMM350_INTF_RET_TYPE _bmm350_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, | |
| uint32_t length, | |
| void* intf_ptr); | |
| static void _bmm350_delay_us(uint32_t period, void* intf_ptr); | |
| /****************************************************************************** | |
| * _mtb_bmm350_pins_equal | |
| ******************************************************************************/ | |
| static inline bool _mtb_bmm350_pins_equal(_mtb_bmm350_interrupt_pin_t ref_pin, cyhal_gpio_t pin) | |
| { | |
| return (ref_pin.pin == pin); | |
| } | |
| /****************************************************************************** | |
| * mtb_bmm350_init_i2c | |
| ******************************************************************************/ | |
| cy_rslt_t mtb_bmm350_init_i2c(mtb_bmm350_t* dev, cyhal_i2c_t* i2c_instance, | |
| mtb_bmm350_address_t address) | |
| { | |
| cy_rslt_t rslt; | |
| _dev_addr = address; | |
| uint8_t int_ctrl, err_reg_data = 0; | |
| struct bmm350_pmu_cmd_status_0 pmu_cmd_stat_0; | |
| _bmm350_i2c = i2c_instance; | |
| dev->sensor.intf_ptr = &_dev_addr; | |
| dev->sensor.read = _bmm350_i2c_read; | |
| dev->sensor.write = _bmm350_i2c_write; | |
| dev->sensor.delay_us = _bmm350_delay_us; | |
| rslt = bmm350_init(&(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| rslt = bmm350_get_pmu_cmd_status_0(&pmu_cmd_stat_0, &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Get error data */ | |
| rslt = bmm350_get_regs(BMM350_REG_ERR_REG, &err_reg_data, 1, &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Configure interrupt settings */ | |
| rslt = bmm350_configure_interrupt(BMM350_PULSED, | |
| BMM350_ACTIVE_HIGH, | |
| BMM350_INTR_PUSH_PULL, | |
| BMM350_UNMAP_FROM_PIN, | |
| &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Enable data ready interrupt */ | |
| rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Get interrupt settings */ | |
| rslt = bmm350_get_regs(BMM350_REG_INT_CTRL, &int_ctrl, 1, &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Set ODR and performance */ | |
| rslt = bmm350_set_odr_performance(BMM350_DATA_RATE_25HZ, BMM350_AVERAGING_8, &(dev->sensor)); | |
| if (BMM350_OK != rslt) | |
| { | |
| return rslt; | |
| } | |
| /* Enable all axis */ | |
| rslt = bmm350_enable_axes(BMM350_X_EN, BMM350_Y_EN, BMM350_Z_EN, &(dev->sensor)); | |
| if (rslt == BMM350_OK) | |
| { | |
| rslt = bmm350_set_powermode(BMM350_NORMAL_MODE, &(dev->sensor)); | |
| } | |
| return (BMM350_OK == rslt) | |
| ? CY_RSLT_SUCCESS | |
| : rslt; | |
| } | |
| /****************************************************************************** | |
| * mtb_bmm350_read | |
| ******************************************************************************/ | |
| cy_rslt_t mtb_bmm350_read(mtb_bmm350_t* dev, mtb_bmm350_data_t* data) | |
| { | |
| cy_rslt_t rslt; | |
| rslt = bmm350_get_compensated_mag_xyz_temp_data(&(data->sensor_data), &(dev->sensor)); | |
| return (BMM350_OK == rslt) | |
| ? CY_RSLT_SUCCESS | |
| : rslt; | |
| } | |
| /****************************************************************************** | |
| * mtb_bmm350_selftest | |
| ******************************************************************************/ | |
| cy_rslt_t mtb_bmm350_selftest(mtb_bmm350_t* dev) | |
| { | |
| struct bmm350_self_test out_data; | |
| cy_rslt_t rslt; | |
| rslt = bmm350_perform_self_test(&out_data, &(dev->sensor)); | |
| cyhal_system_delay_us(_SOFT_RESET_DELAY_US); //per datasheet, delay needed after reset to reboot | |
| return (BMM350_OK == rslt) | |
| ? CY_RSLT_SUCCESS | |
| : rslt; | |
| } | |
| /****************************************************************************** | |
| * mtb_bmm350_free_pin | |
| ******************************************************************************/ | |
| void mtb_bmm350_free_pin(mtb_bmm350_t* dev) | |
| { | |
| if (!_mtb_bmm350_pins_equal(dev->intpin, NC)) | |
| { | |
| cyhal_gpio_free((dev->intpin).pin); | |
| } | |
| _bmm350_i2c = NULL; | |
| } | |
| /***************************************************************************** | |
| * Function name: _bmm350_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 BMM350_INTF_RET_TYPE _bmm350_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 (BMM350_INTF_RET_TYPE)cyhal_i2c_master_mem_read(_bmm350_i2c, device_addr, | |
| reg_addr, 1, | |
| reg_data, (uint16_t)len, | |
| _I2C_TIMEOUT_MS); | |
| } | |
| /***************************************************************************** | |
| * Function name: _bmm350_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 BMM350_INTF_RET_TYPE _bmm350_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 (BMM350_INTF_RET_TYPE)cyhal_i2c_master_mem_write(_bmm350_i2c, device_addr, | |
| reg_addr, 1, | |
| reg_data, | |
| (uint16_t)len, | |
| _I2C_TIMEOUT_MS); | |
| } | |
| /***************************************************************************** | |
| * Function name: _bmm350_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 _bmm350_delay_us(uint32_t us, void* intf_ptr) | |
| { | |
| (void)intf_ptr; | |
| cyhal_system_delay_us(us); | |
| } | |
| #if defined(__cplusplus) | |
| } | |
| #endif | |
| /* [] END OF FILE */ |