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bma400.c
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/**
* Copyright (c) 2024 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 bma400.c
* @date 2024-05-10
* @version v1.5.10
*
*/
#include "bma400.h"
/*
* @brief Accel self test diff xyz data structure
*/
struct bma400_selftest_delta_limit
{
/* Accel X data */
int32_t x;
/* Accel Y data */
int32_t y;
/* Accel Z data */
int32_t z;
};
/************************************************************************************/
/*********************** Static function declarations *******************************/
/************************************************************************************/
/*
* @brief This internal API is used to validate the device pointer for
* null conditions.
*
* @param[in] dev : Structure instance of bma400_dev.
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t null_ptr_check(const struct bma400_dev *dev);
/*
* @brief This internal API is used to set sensor configurations
*
* @param[in] data : Data to be mapped with interrupt
* @param[in] conf : Sensor configurations to be set
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_sensor_conf(uint8_t *data, const struct bma400_sensor_conf *conf, struct bma400_dev *dev);
/*
* @brief This internal API is used to get sensor configurations
*
* @param[in] data : Data to be mapped with interrupt
* @param[in] conf : Sensor configurations to be set
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_sensor_conf(const uint8_t *data, struct bma400_sensor_conf *conf, struct bma400_dev *dev);
/*
* @brief This internal API is used to set the accel configurations in sensor
*
* @param[in] accel_conf : Structure instance with accel configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_accel_conf(const struct bma400_acc_conf *accel_conf, struct bma400_dev *dev);
/*
* @brief This API reads accel data along with sensor time
*
* @param[in] data_sel : Variable to select the data to be read
* @param[in,out] accel : Structure instance to store the accel data
* @param[in] dev : Structure instance of bma400_dev
*
* Assignable values for data_sel:
* - BMA400_DATA_ONLY
* - BMA400_DATA_SENSOR_TIME
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_accel_data(uint8_t data_sel, struct bma400_sensor_data *accel, struct bma400_dev *dev);
/*
* @brief This API enables the auto-wakeup feature
* of the sensor using a timeout value
*
* @param[in] wakeup_conf : Structure instance of wakeup configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_autowakeup_timeout(const struct bma400_auto_wakeup_conf *wakeup_conf, struct bma400_dev *dev);
/*
* @brief This API enables the auto-wakeup feature of the sensor
*
* @param[in] conf : Configuration value to enable/disable
* auto-wakeup interrupt
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_auto_wakeup(uint8_t conf, struct bma400_dev *dev);
/*
* @brief This API sets the parameters for auto-wakeup feature
* of the sensor
*
* @param[in] wakeup_conf : Structure instance of wakeup configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_autowakeup_interrupt(const struct bma400_wakeup_conf *wakeup_conf, struct bma400_dev *dev);
/*
* @brief This API sets the sensor to enter low power mode
* automatically based on the configurations
*
* @param[in] auto_lp_conf : Structure instance of auto-low power settings
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_auto_low_power(const struct bma400_auto_lp_conf *auto_lp_conf, struct bma400_dev *dev);
/*
* @brief This API sets the tap setting parameters
*
* @param[in] tap_set : Structure instance of tap configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_tap_conf(const struct bma400_tap_conf *tap_set, struct bma400_dev *dev);
/*
* @brief This API sets the parameters for activity change detection
*
* @param[in] act_ch_set : Structure instance of activity change
* configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_activity_change_conf(const struct bma400_act_ch_conf *act_ch_set, struct bma400_dev *dev);
/*
* @brief This API sets the parameters for generic interrupt1 configuration
*
* @param[in] gen_int_set : Structure instance of generic interrupt
* configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_gen1_int(const struct bma400_gen_int_conf *gen_int_set, struct bma400_dev *dev);
/*
* @brief This API sets the parameters for generic interrupt2 configuration
*
* @param[in] gen_int_set : Structure instance of generic interrupt
* configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_gen2_int(const struct bma400_gen_int_conf *gen_int_set, struct bma400_dev *dev);
/*
* @brief This API sets the parameters for orientation interrupt
*
* @param[in] orient_conf : Structure instance of orient interrupt
* configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_orient_int(const struct bma400_orient_int_conf *orient_conf, struct bma400_dev *dev);
/*
* @brief This internal API is used to get the accel configurations in sensor
*
* @param[in,out] accel_conf : Structure instance of basic
* accelerometer configuration
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_accel_conf(struct bma400_acc_conf *accel_conf, struct bma400_dev *dev);
/*
* @brief This API gets the set sensor settings for auto-wakeup timeout feature
*
* @param[in,out] wakeup_conf : Structure instance of wake-up configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_autowakeup_timeout(struct bma400_auto_wakeup_conf *wakeup_conf, struct bma400_dev *dev);
/*
* @brief This API gets the set sensor settings for
* auto-wakeup interrupt feature
*
* @param[in,out] wakeup_conf : Structure instance of wake-up configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_autowakeup_interrupt(struct bma400_wakeup_conf *wakeup_conf, struct bma400_dev *dev);
/*
* @brief This API gets the sensor to get the auto-low
* power mode configuration settings
*
* @param[in,out] auto_lp_conf : Structure instance of low power
* configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_auto_low_power(struct bma400_auto_lp_conf *auto_lp_conf, struct bma400_dev *dev);
/*
* @brief This API sets the tap setting parameters
*
* @param[in,out] tap_set : Structure instance of tap configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_tap_conf(struct bma400_tap_conf *tap_set, struct bma400_dev *dev);
/*
* @brief This API gets the parameters for activity change detection
*
* @param[in,out] act_ch_set : Structure instance of activity
* change configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_activity_change_conf(struct bma400_act_ch_conf *act_ch_set, struct bma400_dev *dev);
/*
* @brief This API gets the generic interrupt1 configuration
*
* @param[in,out] gen_int_set : Structure instance of generic
* interrupt configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_gen1_int(struct bma400_gen_int_conf *gen_int_set, struct bma400_dev *dev);
/*
* @brief This API gets the generic interrupt2 configuration
*
* @param[in,out] gen_int_set : Structure instance of generic
* interrupt configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_gen2_int(struct bma400_gen_int_conf *gen_int_set, struct bma400_dev *dev);
/*
* @brief This API gets the parameters for orientation interrupt
*
* @param[in,out] orient_conf : Structure instance of orient
* interrupt configurations
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_orient_int(struct bma400_orient_int_conf *orient_conf, struct bma400_dev *dev);
/*
* @brief This API sets the selected interrupt to be mapped to
* the hardware interrupt pin of the sensor
*
* @param[in,out] data_array : Data array of interrupt pin configurations
* @param[in] int_enable : Interrupt selected for pin mapping
* @param[in] int_map : Interrupt channel to be mapped
*
* @return Nothing
*/
static void map_int_pin(uint8_t *data_array, uint8_t int_enable, enum bma400_int_chan int_map);
/*
* @brief This API checks whether the interrupt is mapped to the INT pin1
* or INT pin2 of the sensor
*
* @param[in] int_1_map : Variable to denote whether the interrupt is
* mapped to INT1 pin or not
* @param[in] int_2_map : Variable to denote whether the interrupt is
* mapped to INT2 pin or not
* @param[in,out] int_map : Interrupt channel which is mapped
* INT1/INT2/NONE/BOTH
*
* @return Nothing
*/
static void check_mapped_interrupts(uint8_t int_1_map, uint8_t int_2_map, enum bma400_int_chan *int_map);
/*
* @brief This API gets the selected interrupt and its mapping to
* the hardware interrupt pin of the sensor
*
* @param[in,out] data_array : Data array of interrupt pin configurations
* @param[in] int_enable : Interrupt selected for pin mapping
* @param[out] int_map : Interrupt channel which is mapped
*
* @return Nothing
*/
static void get_int_pin_map(const uint8_t *data_array, uint8_t int_enable, enum bma400_int_chan *int_map);
/*
* @brief This API is used to set the interrupt pin configurations
*
* @param[in] int_conf : Interrupt pin configuration
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_int_pin_conf(struct bma400_int_pin_conf int_conf, struct bma400_dev *dev);
/*
* @brief This API is used to set the interrupt pin configurations
*
* @param[in,out] int_conf : Interrupt pin configuration
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_int_pin_conf(struct bma400_int_pin_conf *int_conf, struct bma400_dev *dev);
/*
* @brief This API is used to set the FIFO configurations
*
* @param[in,out] fifo_conf : Structure instance containing the FIFO
* configuration set in the sensor
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t set_fifo_conf(const struct bma400_fifo_conf *fifo_conf, struct bma400_dev *dev);
/*
* @brief This API is used to get the FIFO configurations
*
* @param[in,out] fifo_conf : Structure instance containing the FIFO
* configuration set in the sensor
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success / +ve value -> Warning / -ve value -> Error
*/
static int8_t get_fifo_conf(struct bma400_fifo_conf *fifo_conf, struct bma400_dev *dev);
/*
* @brief This API is used to get the number of bytes filled in FIFO
*
* @param[in,out] fifo_byte_cnt : Number of bytes in the FIFO buffer
* actually filled by the sensor
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t get_fifo_length(uint16_t *fifo_byte_cnt, struct bma400_dev *dev);
/*
* @brief This API is used to read the FIFO of BMA400
*
* @param[in,out] fifo : Pointer to the fifo structure.
*
* @param[in] dev : Structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t read_fifo(struct bma400_fifo_data *fifo, struct bma400_dev *dev);
/*
* @brief This API is used to unpack the accelerometer frames from the FIFO
*
* @param[in,out] fifo : Pointer to the fifo structure.
* @param[in,out] accel_data : Structure instance to store the accel data
* @param[in,out] frame_count : Number of frames requested by user as input
* Number of frames actually parsed as output
* @param[in] dev : Structure instance of bma400_dev
*
* @return Nothing
*/
static void unpack_accel_frame(struct bma400_fifo_data *fifo,
struct bma400_fifo_sensor_data *accel_data,
uint16_t *frame_count,
const struct bma400_dev *dev);
/*
* @brief This API is used to check for a frame availability in FIFO
*
* @param[in,out] fifo : Pointer to the fifo structure.
* @param[in,out] frame_available : Variable to denote availability of a frame
* @param[in] accel_width : Variable to denote 12/8 bit accel data
* @param[in] data_en : Data enabled in FIFO
* @param[in,out] data_index : Index of the currently parsed FIFO data
*
* @return Nothing
*/
static void check_frame_available(const struct bma400_fifo_data *fifo,
uint8_t *frame_available,
uint8_t accel_width,
uint8_t data_en,
uint16_t *data_index);
/*
* @brief This API is used to unpack the accelerometer xyz data from the FIFO
* and store it in the user defined buffer
*
* @param[in,out] fifo : Pointer to the fifo structure.
* @param[in,out] accel_data : Structure instance to store the accel data
* @param[in,out] data_index : Index of the currently parsed FIFO data
* @param[in] accel_width : Variable to denote 12/8 bit accel data
* @param[in] frame_header : Variable to get the data enabled
*
* @return Nothing
*/
static void unpack_accel(const struct bma400_fifo_data *fifo,
struct bma400_fifo_sensor_data *accel_data,
uint16_t *data_index,
uint8_t accel_width,
uint8_t frame_header);
/*
* @brief This API is used to parse and store the sensor time from the
* FIFO data in the structure instance dev
*
* @param[in,out] fifo : Pointer to the fifo structure.
* @param[in,out] data_index : Index of the FIFO data which has sensor time
*
* @return Nothing
*/
static void unpack_sensortime_frame(struct bma400_fifo_data *fifo, uint16_t *data_index);
/*
* @brief This API validates the self test results
*
* @param[in] accel_pos : Structure pointer to store accel data
* for positive excitation
* @param[in] accel_neg : Structure pointer to store accel data
* for negative excitation
*
*@param[in] dev : structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval +ve value -> Warning
* @retval -ve value -> Error
*/
static int8_t validate_accel_self_test(const struct bma400_sensor_data *accel_pos,
const struct bma400_sensor_data *accel_neg);
/*
* @brief This API performs self test with positive excitation
*
* @param[in] accel_pos : Structure pointer to store accel data
* for positive excitation
* @param[in] dev : structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval -ve value -> Error
*/
static int8_t positive_excited_accel(struct bma400_sensor_data *accel_pos, struct bma400_dev *dev);
/*
* @brief This API performs self test with negative excitation
*
* @param[in] accel_neg : Structure pointer to store accel data
* for negative excitation
* @param[in] dev : structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval -ve value -> Error
*/
static int8_t negative_excited_accel(struct bma400_sensor_data *accel_neg, struct bma400_dev *dev);
/*
* @brief This API performs the pre-requisites needed to perform the self test
*
* @param[in] dev : structure instance of bma400_dev
*
* @return Result of API execution status
* @retval zero -> Success
* @retval -ve value -> Error
*/
static int8_t enable_self_test(struct bma400_dev *dev);
/************************************************************************************/
/*********************** User function definitions **********************************/
/************************************************************************************/
int8_t bma400_init(struct bma400_dev *dev)
{
int8_t rslt;
uint8_t chip_id = 0;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMA400_OK)
{
/* Initial power-up time */
dev->delay_us(5000, dev->intf_ptr);
/* Assigning dummy byte value */
if (dev->intf == BMA400_SPI_INTF)
{
/* Dummy Byte availability */
dev->dummy_byte = 1;
/* Dummy read of Chip-ID in SPI mode */
rslt = bma400_get_regs(BMA400_REG_CHIP_ID, &chip_id, 1, dev);
}
else
{
dev->dummy_byte = 0;
}
if (rslt == BMA400_OK)
{
/* Chip ID of the sensor is read */
rslt = bma400_get_regs(BMA400_REG_CHIP_ID, &chip_id, 1, dev);
/* Proceed if everything is fine until now */
if (rslt == BMA400_OK)
{
/* Check for chip id validity */
if (chip_id == BMA400_CHIP_ID)
{
/* Store the chip ID in dev structure */
dev->chip_id = chip_id;
}
else
{
rslt = BMA400_E_DEV_NOT_FOUND;
}
}
}
}
return rslt;
}
int8_t bma400_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bma400_dev *dev)
{
int8_t rslt;
uint8_t count;
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMA400_OK) && (reg_data != NULL))
{
/* Write the data to the reg_addr */
/* SPI write requires to set The MSB of reg_addr as 0
* but in default the MSB is always 0
*/
if (len == 1)
{
dev->intf_rslt = dev->write(reg_addr, reg_data, len, dev->intf_ptr);
if (dev->intf_rslt != BMA400_INTF_RET_SUCCESS)
{
/* Failure case */
rslt = BMA400_E_COM_FAIL;
}
}
/* Burst write is not allowed thus we split burst case write
* into single byte writes Thus user can write multiple bytes
* with ease
*/
if (len > 1)
{
for (count = 0; (count < len) && (rslt == BMA400_OK); count++)
{
dev->intf_rslt = dev->write(reg_addr, ®_data[count], 1, dev->intf_ptr);
reg_addr++;
if (dev->intf_rslt != BMA400_INTF_RET_SUCCESS)
{
/* Failure case */
rslt = BMA400_E_COM_FAIL;
}
}
}
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bma400_dev *dev)
{
int8_t rslt;
uint16_t index;
uint8_t temp_buff[BMA400_MAX_LEN];
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMA400_OK) && (reg_data != NULL))
{
if (dev->intf != BMA400_I2C_INTF)
{
/* If interface selected is SPI */
reg_addr = reg_addr | BMA400_SPI_RD_MASK;
}
/* Read the data from the reg_addr */
dev->intf_rslt = dev->read(reg_addr, temp_buff, (len + dev->dummy_byte), dev->intf_ptr);
if (dev->intf_rslt == BMA400_INTF_RET_SUCCESS)
{
for (index = 0; index < len; index++)
{
/* Parse the data read and store in "reg_data"
* buffer so that the dummy byte is removed
* and user will get only valid data
*/
reg_data[index] = temp_buff[index + dev->dummy_byte];
}
}
else
{
/* Failure case */
rslt = BMA400_E_COM_FAIL;
}
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_soft_reset(struct bma400_dev *dev)
{
int8_t rslt;
uint8_t data = BMA400_SOFT_RESET_CMD;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMA400_OK)
{
/* Reset the device */
rslt = bma400_set_regs(BMA400_REG_COMMAND, &data, 1, dev);
dev->delay_us(BMA400_DELAY_US_SOFT_RESET, dev->intf_ptr);
if ((rslt == BMA400_OK) && (dev->intf == BMA400_SPI_INTF))
{
/* Dummy read of 0x7F register to enable SPI Interface
* if SPI is used
*/
rslt = bma400_get_regs(0x7F, &data, 1, dev);
}
}
return rslt;
}
int8_t bma400_set_power_mode(uint8_t power_mode, struct bma400_dev *dev)
{
int8_t rslt;
uint8_t reg_data = 0;
rslt = null_ptr_check(dev);
if (rslt == BMA400_OK)
{
rslt = bma400_get_regs(BMA400_REG_ACCEL_CONFIG_0, ®_data, 1, dev);
}
if (rslt == BMA400_OK)
{
reg_data = BMA400_SET_BITS_POS_0(reg_data, BMA400_POWER_MODE, power_mode);
/* Set the power mode of sensor */
rslt = bma400_set_regs(BMA400_REG_ACCEL_CONFIG_0, ®_data, 1, dev);
if (power_mode == BMA400_MODE_LOW_POWER)
{
/* A delay of 1/ODR is required to switch power modes
* Low power mode has 25Hz frequency and hence it needs
* 40ms delay to enter low power mode
*/
dev->delay_us(40000, dev->intf_ptr);
}
else
{
dev->delay_us(10000, dev->intf_ptr); /* TBC */
}
}
return rslt;
}
int8_t bma400_get_power_mode(uint8_t *power_mode, struct bma400_dev *dev)
{
int8_t rslt;
uint8_t reg_data;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMA400_OK) && (power_mode != NULL))
{
rslt = bma400_get_regs(BMA400_REG_STATUS, ®_data, 1, dev);
*power_mode = BMA400_GET_BITS(reg_data, BMA400_POWER_MODE_STATUS);
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_get_accel_data(uint8_t data_sel, struct bma400_sensor_data *accel, struct bma400_dev *dev)
{
int8_t rslt;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMA400_OK) && (accel != NULL))
{
/* Read and store the accel data */
rslt = get_accel_data(data_sel, accel, dev);
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_set_sensor_conf(const struct bma400_sensor_conf *conf, uint16_t n_sett, struct bma400_dev *dev)
{
int8_t rslt;
uint16_t idx = 0;
uint8_t data_array[3] = { 0 };
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMA400_OK) && (conf != NULL))
{
/* Read the interrupt pin mapping configurations */
rslt = bma400_get_regs(BMA400_REG_INT_MAP, data_array, 3, dev);
if (rslt == BMA400_OK)
{
for (idx = 0; (idx < n_sett) && (rslt == BMA400_OK); idx++)
{
rslt = set_sensor_conf(data_array, conf + idx, dev);
}
if (rslt == BMA400_OK)
{
/* Set the interrupt pin mapping configurations */
rslt = bma400_set_regs(BMA400_REG_INT_MAP, data_array, 3, dev);
}
}
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_get_sensor_conf(struct bma400_sensor_conf *conf, uint16_t n_sett, struct bma400_dev *dev)
{
int8_t rslt;
uint16_t idx;
uint8_t data_array[3] = { 0 };
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
if ((rslt == BMA400_OK) && (conf != NULL))
{
/* Read the interrupt pin mapping configurations */
rslt = bma400_get_regs(BMA400_REG_INT_MAP, data_array, 3, dev);
for (idx = 0; (idx < n_sett) && (rslt == BMA400_OK); idx++)
{
rslt = get_sensor_conf(data_array, conf + idx, dev);
}
}
else
{
rslt = BMA400_E_NULL_PTR;
}
return rslt;
}
int8_t bma400_set_device_conf(const struct bma400_device_conf *conf, uint8_t n_sett, struct bma400_dev *dev)
{
int8_t rslt;
uint16_t idx;
uint8_t data_array[3] = { 0 };
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
if ((rslt == BMA400_OK) && (conf != NULL))
{
/* Read the interrupt pin mapping configurations */
rslt = bma400_get_regs(BMA400_REG_INT_MAP, data_array, 3, dev);
for (idx = 0; (idx < n_sett) && (rslt == BMA400_OK); idx++)
{
switch (conf[idx].type)
{
case BMA400_AUTOWAKEUP_TIMEOUT:
rslt = set_autowakeup_timeout(&conf[idx].param.auto_wakeup, dev);
break;
case BMA400_AUTOWAKEUP_INT:
rslt = set_autowakeup_interrupt(&conf[idx].param.wakeup, dev);
if (rslt == BMA400_OK)
{
/* Interrupt pin mapping */
map_int_pin(data_array, BMA400_WAKEUP_INT_MAP, conf[idx].param.wakeup.int_chan);
}
break;
case BMA400_AUTO_LOW_POWER:
rslt = set_auto_low_power(&conf[idx].param.auto_lp, dev);
break;
case BMA400_INT_PIN_CONF:
rslt = set_int_pin_conf(conf[idx].param.int_conf, dev);
break;
case BMA400_INT_OVERRUN_CONF:
/* Interrupt pin mapping */
map_int_pin(data_array, BMA400_INT_OVERRUN_MAP, conf[idx].param.overrun_int.int_chan);
break;
case BMA400_FIFO_CONF:
rslt = set_fifo_conf(&conf[idx].param.fifo_conf, dev);
if (rslt == BMA400_OK)
{
/* Interrupt pin mapping */
map_int_pin(data_array, BMA400_FIFO_WM_INT_MAP, conf[idx].param.fifo_conf.fifo_wm_channel);
map_int_pin(data_array, BMA400_FIFO_FULL_INT_MAP, conf[idx].param.fifo_conf.fifo_full_channel);
}
break;
default:
rslt = BMA400_E_INVALID_CONFIG;
}
}
if (rslt == BMA400_OK)
{
/* Set the interrupt pin mapping configurations */
rslt = bma400_set_regs(BMA400_REG_INT_MAP, data_array, 3, dev);
}
}
else
{