InfiniTime/src/drivers/Bma421.cpp

#include <libraries/delay/nrf_delay.h>
#include <libraries/log/nrf_log.h>
#include "Bma421.h"
#include "TwiMaster.h"
#include <drivers/Bma421_C/bma423.h>

using namespace Pinetime::Drivers;

namespace {
  int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
    auto bma421 = static_cast<Bma421*>(intf_ptr);
    bma421->Read(reg_addr, reg_data, length);
    return 0;
  }

  int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
    auto bma421 = static_cast<Bma421*>(intf_ptr);
    bma421->Write(reg_addr, reg_data, length);
    return 0;
  }

  void user_delay(uint32_t period_us, void* intf_ptr) {
    nrf_delay_us(period_us);
  }
}

Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
  bma.intf = BMA4_I2C_INTF;
  bma.bus_read = user_i2c_read;
  bma.bus_write = user_i2c_write;
  bma.variant = BMA42X_VARIANT;
  bma.intf_ptr = this;
  bma.delay_us = user_delay;
  bma.read_write_len = 8;
}

void Bma421::Init() {
  auto ret = bma4_soft_reset(&bma);
  ASSERT(ret == BMA4_OK);

  nrf_delay_ms(1);

  ret = bma423_init(&bma);
  ASSERT(ret == BMA4_OK);

  ret = bma423_write_config_file(&bma);
  ASSERT(ret == BMA4_OK);

  ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
  ASSERT(ret == BMA4_OK);

  ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
  ASSERT(ret == BMA4_OK);

  ret = bma423_step_detector_enable(0, &bma);
  ASSERT(ret == BMA4_OK);

  ret = bma4_set_accel_enable(1, &bma);
  ASSERT(ret == BMA4_OK);

  struct bma4_accel_config accel_conf;
  accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
  accel_conf.range = BMA4_ACCEL_RANGE_2G;
  accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
  accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
  ret = bma4_set_accel_config(&accel_conf, &bma);
  ASSERT(ret == BMA4_OK);
}

void Bma421::Reset() {
  uint8_t data = 0xb6;
  twiMaster.Write(deviceAddress, 0x7E, &data, 1);
}

void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) {
  twiMaster.Read(deviceAddress, registerAddress, buffer, size);
}

void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) {
  twiMaster.Write(deviceAddress, registerAddress, data, size);
}

Bma421::Values Bma421::Process() {
  struct bma4_accel data;
  bma4_read_accel_xyz(&data, &bma);

  uint32_t steps = 0;
  bma423_step_counter_output(&steps, &bma);

  int32_t temperature;
  bma4_get_temperature(&temperature, BMA4_DEG, &bma);
  temperature = temperature / 1000;

  uint8_t activity = 0;
  bma423_activity_output(&activity, &bma);

  NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);

  // X and Y axis are swapped because of the way the sensor is mounted in the PineTime
  return {steps, data.y, data.x, data.z};
}