Code cleaning in BMA421 driver. Do the axis inversion in the driver and not in the application.
NOTE: Axis remapping from the SDK do not apply to the "raw" X/Y/Z values returned to the sensor. According to the doc, the remapping is only applied to features, but I cannot check if it has any effect on step counting (I'm not sure I use it correctly, doc is not complete enough about this feature).
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19b53545d4
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3 changed files with 32 additions and 59 deletions
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@ -6,23 +6,25 @@
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using namespace Pinetime::Drivers;
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int8_t user_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Read(reg_addr, reg_data, length);
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return 0;
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namespace {
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int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Read(reg_addr, reg_data, length);
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return 0;
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}
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int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Write(reg_addr, reg_data, length);
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return 0;
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}
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void user_delay(uint32_t period_us, void* intf_ptr) {
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nrf_delay_us(period_us);
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}
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}
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int8_t user_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr) {
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auto bma421 = static_cast<Bma421*>(intf_ptr);
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bma421->Write(reg_addr, reg_data, length);
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return 0;
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}
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void user_delay(uint32_t period_us, void *intf_ptr) {
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nrf_delay_us(period_us);
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}
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Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, twiAddress{twiAddress} {
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Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
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bma.intf = BMA4_I2C_INTF;
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bma.bus_read = user_i2c_read;
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bma.bus_write = user_i2c_write;
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@ -30,13 +32,6 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
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bma.intf_ptr = this;
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bma.delay_us = user_delay;
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bma.read_write_len = 8;
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accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
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accel_conf.range = BMA4_ACCEL_RANGE_2G;
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accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
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}
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void Bma421::Init() {
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@ -46,43 +41,28 @@ void Bma421::Init() {
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nrf_delay_ms(1);
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ret = bma423_init(&bma);
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NRF_LOG_INFO("RESET : %d", ret);
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//ret = bma423_init(&bma);
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//NRF_LOG_INFO("ID : %d", bma.chip_id);
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ASSERT(ret == BMA4_OK);
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ret = bma423_write_config_file(&bma);
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ASSERT(ret == BMA4_OK);
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bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
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struct bma4_int_pin_config int_pin_config;
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int_pin_config.edge_ctrl = BMA4_LEVEL_TRIGGER;
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int_pin_config.lvl = BMA4_ACTIVE_LOW;
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int_pin_config.od = BMA4_PUSH_PULL;
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int_pin_config.output_en = BMA4_OUTPUT_ENABLE;
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int_pin_config.input_en = BMA4_INPUT_DISABLE;
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bma4_set_int_pin_config(&int_pin_config, BMA4_INTR1_MAP, &bma);
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//ret = bma423_feature_enable(BMA423_STEP_CNTR | BMA423_STEP_ACT | BMA423_WRIST_WEAR | BMA423_SINGLE_TAP | BMA423_DOUBLE_TAP, 1, &bma);
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ret = bma423_feature_enable(0xff, 1, &bma);
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ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
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ASSERT(ret == BMA4_OK);
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//ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_SINGLE_TAP_INT | BMA423_STEP_CNTR_INT | BMA423_ACTIVITY_INT | BMA423_WRIST_WEAR_INT | BMA423_DOUBLE_TAP_INT | BMA423_ANY_MOT_INT | BMA423_NO_MOT_INT| BMA423_ERROR_INT, 1,&bma);
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ret = bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT, 1,&bma);
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ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
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ASSERT(ret == BMA4_OK);
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bma423_step_detector_enable(0, &bma);
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bma423_any_no_mot_config motConfig;
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motConfig.threshold = 0xaa;
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motConfig.axes_en = 3;
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motConfig.duration = 1;
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bma423_set_any_mot_config(&motConfig, &bma);
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ret = bma423_step_detector_enable(0, &bma);
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ASSERT(ret == BMA4_OK);
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ret = bma4_set_accel_enable(1, &bma);
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ASSERT(ret == BMA4_OK);
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struct bma4_accel_config accel_conf;
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accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
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accel_conf.range = BMA4_ACCEL_RANGE_2G;
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accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
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accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
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ret = bma4_set_accel_config(&accel_conf, &bma);
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ASSERT(ret == BMA4_OK);
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}
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@ -116,7 +96,7 @@ Bma421::Values Bma421::Process() {
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NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
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return {steps, data.x, data.y, data.z};
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// X and Y axis are swapped because of the way the sensor is mounted in the PineTime
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return {steps, data.y, data.x, data.z};
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}
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@ -25,19 +25,12 @@ namespace Pinetime {
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void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
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void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
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void OnIrq();
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uint32_t GetNbInterrupts() const {return nbInterrupts;}
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private:
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TwiMaster& twiMaster;
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uint8_t twiAddress;
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uint8_t deviceAddress = 0x18;
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struct bma4_dev bma;
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struct bma4_accel_config accel_conf;
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static constexpr uint8_t deviceAddress = 0x18;
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uint32_t nbInterrupts = 0;
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};
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}
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}
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@ -243,8 +243,8 @@ void SystemTask::UpdateMotion() {
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if(isSleeping)
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twiMaster.Sleep();
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motionController.Update(motionValues.y,
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motionValues.x,
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motionController.Update(motionValues.x,
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motionValues.y,
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motionValues.z,
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motionValues.steps);
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if (motionController.ShouldWakeUp(isSleeping)) {
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