Bosch BMA150 3-axis accelerometer driver.
This file contains functions for initializing and reading data from a Bosch BMA150 3-axis accelerometer.
Copyright (c) 2014-2018 Microchip Technology Inc. and its subsidiaries.
Functions | |
| static bool | bma150_device_id (sensor_hal_t *hal, sensor_data_t *data) |
| Read BMA150 device ID and revision numbers. More... | |
| static bool | bma150_event (sensor_t *sensor, sensor_event_t sensor_event, sensor_event_callback_t *callback, bool enable) |
| Enable or disable BMA150 sensor events. More... | |
| static bool | bma150_get_accel (sensor_hal_t *hal, sensor_data_t *data) |
| Read BMA150 acceleration data. More... | |
| static bool | bma150_get_temperature (sensor_hal_t *hal, sensor_data_t *data) |
| Read BMA150 integrated temperature sensor data. More... | |
| static bool | bma150_get_threshold (sensor_hal_t *hal, sensor_threshold_desc_t *threshold) |
| Get event threshold value. More... | |
| bool | bma150_init (sensor_t *sensor, int resvd) |
| Bosch BMA150 accelerometer driver initialization. More... | |
| static bool | bma150_ioctl (sensor_t *sensor, sensor_command_t cmd, void *arg) |
| BMA150 ioctl control entry point. More... | |
| static void | bma150_isr (volatile void *arg) |
| Bosch BMA150 driver interrupt service routine. More... | |
| static bool | bma150_read (sensor_t *sensor, sensor_read_t type, sensor_data_t *data) |
| Read sensor data. More... | |
| static bool | bma150_selftest (sensor_t *sensor, int *test_code, void *arg) |
| Run BMA150 self-tests. More... | |
| static bool | bma150_set_bandwidth (sensor_hal_t *hal, int16_t band) |
| Set the BMA150 ADC output data bandwidth. More... | |
| static bool | bma150_set_range (sensor_hal_t *hal, int16_t range) |
| Set the BMA150 full scale acceleration range. More... | |
| static bool | bma150_set_state (sensor_hal_t *hal, sensor_state_t state) |
| Set the BMA150 execution mode. More... | |
| static bool | bma150_set_threshold (sensor_hal_t *hal, sensor_threshold_desc_t *threshold) |
| Set event threshold value. More... | |
Variables | |
| static const sensor_map_t | band_table [] |
| Bosch BMA150 Bandwidth Table (hertz, register value) More... | |
| static sensor_event_callback_t | event_cb [4] |
| Sensor Event Callback Descriptors (data=0, motion=1, low-g=2, high-g=3) More... | |
| struct { | |
| union { | |
| uint8_t status_byte | |
| Status registers Byte. More... | |
| struct { | |
| uint8_t alert_phase: 1 | |
| Device in alert mode. More... | |
| uint8_t HG_issued: 1 | |
| High-g criteria issued. More... | |
| uint8_t HG_latched: 1 | |
| High-g criteria issued (latch) More... | |
| uint8_t LG_issued: 1 | |
| Low-g criteria issued. More... | |
| uint8_t LG_latched: 1 | |
| Low-g criteria issued (latch) More... | |
| uint8_t st_result: 1 | |
| < Status registers fields More... | |
| uint8_t unused: 2 | |
| } status_field | |
| } | |
| bma_axis_t acc [3] | |
| Acceleration data. More... | |
| int8_t temp | |
| Temperature data. More... | |
| } | event_regs |
| Sensor Event Registers. More... | |
| static const sensor_map_t | range_table [] |
| Bosch BMA150 Range Table (milli-g, register value) More... | |
|
static |
Read BMA150 device ID and revision numbers.
This function reads the accelerometer hardware identification registers and returns these values in the specified data structure.
| hal | Address of an initialized sensor hardware descriptor. |
| data | Address of sensor_data_t structure to return values. |
References BMA150_CHIP_ID, BMA150_CHIP_VERSION, sensor_data_t::device, and sensor_bus_get.
Referenced by bma150_read().
|
static |
Enable or disable BMA150 sensor events.
| sensor | Address of an initialized sensor device descriptor |
| sensor_event | Specifies the sensor event type |
| callback | Application-defined event callback handler descriptor |
| enable | Enable flag: true = enable event, false = disable event |
References BMA150_CTRL2, BMA150_CTRL5, CTRL2_ALERT, CTRL2_ANY_MOTION, CTRL2_ENABLE_HG, CTRL2_ENABLE_LG, CTRL5_ENABLE_ADV_INT, CTRL5_NEW_DATA_INT, sensor_desc::hal, sensor_bus_get, sensor_bus_put, SENSOR_EVENT_HIGH_G, SENSOR_EVENT_LOW_G, SENSOR_EVENT_MOTION, SENSOR_EVENT_NEW_DATA, and status.
Referenced by bma150_init(), and bma150_ioctl().
|
static |
Read BMA150 acceleration data.
This function obtains accelerometer data for all three axes of the Bosch device. The data is read from six device registers using a multi-byte bus transfer. The 10-bit raw results are then assembled from the two register values for each axis, including extending the sign bit, to form a signed 32-bit value.
Along with the actual sensor data, the LSB byte contains a "new" flag indicating if the data for this axis has been updated since the last time the axis data was read. Reading either LSB or MSB data will clear this flag.
| sensor | Address of an initialized sensor device descriptor. |
| data | The address of a vector storing sensor axis data. |
References sensor_hal::burst_addr, event_regs, and sensor_bus_read.
Referenced by bma150_ioctl(), and bma150_read().
|
static |
Read BMA150 integrated temperature sensor data.
| sensor | Address of an initialized sensor device descriptor. |
| data | The address where temperature samples are returned. |
References BMA150_TEMP, BMA150_TEMP_OFFSET, sensor_hal::bus, sensor_data_t::scaled, sensor_bus_get, bus_desc_t::status, STATUS_OK, and sensor_data_t::temperature.
Referenced by bma150_read().
|
static |
Get event threshold value.
| hal | Address of an initialized sensor hardware descriptor. |
| threshold | Address of threshold descriptor. |
References BMA150_ANY_MOTION_THRES, BMA150_HG_THRES, BMA150_LG_THRES, sensor_hal::range, sensor_bus_get, SENSOR_THRESHOLD_HIGH_G, SENSOR_THRESHOLD_LOW_G, SENSOR_THRESHOLD_MOTION, sensor_threshold_desc_t::type, and sensor_threshold_desc_t::value.
Referenced by bma150_ioctl().
Bosch BMA150 accelerometer driver initialization.
This is the main initialization function for the BMA150 device.
| sensor | Address of a sensor device descriptor. |
| resvd | Reserved value. |
References ARRAYSIZE, band_table, sensor_hal::bandwidth, BMA150_ACC_X_LSB, BMA150_CHIP_ID, BMA150_CTRL1, BMA150_CTRL2, BMA150_CTRL5, BMA150_DATA_RESOLUTION, bma150_event(), BMA150_ID_VAL, bma150_ioctl(), bma150_isr(), bma150_read(), bma150_selftest(), sensor_hal::burst_addr, sensor_hal::bus, sensor_desc::drv, sensor_device_t::func, sensor_desc::hal, sensor_hal::mcu_sigint, sensor_hal::range, range_table, sensor_funcs_t::read, sensor_hal::resolution, sensor_bus_get, sensor_bus_put, SENSOR_CAPS_3_AXIS, SENSOR_CAPS_AUX_TEMP, SENSOR_CAPS_HI_G_EVENT, SENSOR_CAPS_LO_G_EVENT, SENSOR_CAPS_SELFTEST, sensor_irq_connect(), SENSOR_SCALE_milli, SENSOR_UNITS_g0, SENSOR_VENDOR_BOSCH, status, bus_desc_t::status, and STATUS_OK.
|
static |
BMA150 ioctl control entry point.
| hal | Address of an initialized sensor hardware descriptor. |
| cmd | Command to execute |
| arg | Argument for command (varies) |
References sensor_data_t::axis, bma150_event(), bma150_get_accel(), bma150_get_threshold(), bma150_set_bandwidth(), bma150_set_range(), bma150_set_state(), bma150_set_threshold(), sensor_desc::err, sensor_desc::hal, sensor_data_t::scaled, SENSOR_DISABLE_EVENT, SENSOR_ENABLE_EVENT, SENSOR_ERR_UNSUPPORTED, SENSOR_GET_THRESHOLD, SENSOR_READ_VECTOR, SENSOR_SET_BANDWIDTH, SENSOR_SET_RANGE, SENSOR_SET_STATE, SENSOR_SET_THRESHOLD, vector3_t::x, vector3_t::y, and vector3_t::z.
Referenced by bma150_init().
|
static |
Bosch BMA150 driver interrupt service routine.
This is the common interrupt service routine for all enabled BMA150 interrupt events. Five different types of interrupts can be programmed. All interrupt criteria are combined and drive the interrupt pad with a Boolean OR condition.
Interrupt events may be set to an inconsistent state by device EEPROM changes. BMA150 interrupts should be disabled at the host microcontroller when device EEPROM writes are performed.
Interrupt criteria are tested against values from the BMA150 digital filter output. All thresholds are scaled using the current device range. Timings for high and low acceleration are absolute values (1 LSB of HG_dur and LG_dur registers corresponds to 1 millisecond, +/- 10%). Timing for the any-motion interrupt and alert detection are proportional to the bandwidth setting.
This routine handles interrupts generated when low-g, high-g, any-motion, alert, and new data criteria are satisfied and the corresponding event notification is enabled in the device.
The BMA150 device does not provide any way to definitively identify an any-motion interrupt once it has occurred. So, if a handler has been installed for that event, it will always be called by this routine, and the SENSOR_EVENT_MOTION indicator will be set in the event type field.
| arg | The address of the driver sensor_hal_t descriptor. |
References sensor_hal::burst_addr, sensor_hal::bus, sensor_event_data_t::data, sensor_event_data_t::event, event_regs, sensor_event_callback_t::handler, bus_desc_t::no_wait, sensor_data_t::scaled, sensor_bus_read, SENSOR_EVENT_HIGH_G, SENSOR_EVENT_LOW_G, SENSOR_EVENT_MOTION, SENSOR_EVENT_NEW_DATA, sensor_timestamp(), bus_desc_t::status, STATUS_OK, and sensor_data_t::timestamp.
Referenced by bma150_init().
|
static |
Read sensor data.
This routine calls the appropriate internal data function to obtain the specified type of data from the sensor device.
| sensor | Address of an initialized sensor device descriptor. |
| type | Type of sensor data to read. |
| data | The address where data values are returned. |
References bma150_device_id(), bma150_get_accel(), bma150_get_temperature(), sensor_desc::err, sensor_desc::hal, SENSOR_ERR_FUNCTION, SENSOR_READ_ACCELERATION, SENSOR_READ_ID, and SENSOR_READ_TEMPERATURE.
Referenced by bma150_init().
Run BMA150 self-tests.
| sensor | Address of an initialized sensor device descriptor. |
| test_code | Address of a device-specific numeric test code. |
| arg | Device-specific self-test argument options. |
References BMA150_CTRL1, BMA150_STATUS1, CTRL1_SELF_TEST_0, CTRL1_SELF_TEST_1, sensor_desc::hal, sensor_bus_get, sensor_reg_bitclear, sensor_reg_bitset, SENSOR_TEST_DEFLECTION, SENSOR_TEST_INTERRUPT, and STATUS1_ST_RESULT.
Referenced by bma150_init().
|
static |
Set the BMA150 ADC output data bandwidth.
| hal | Address of an initialized sensor hardware descriptor. |
| band | The index of a driver-specific bandwidth table entry. |
References BMA150_CTRL4, CTRL4_BANDWIDTH, sensor_bus_get, and sensor_bus_put.
Referenced by bma150_ioctl().
|
static |
Set the BMA150 full scale acceleration range.
| hal | Address of an initialized sensor hardware descriptor. |
| range | The index o a driver-specific range table entry. |
References BMA150_CTRL4, CTRL4_RANGE, sensor_bus_get, and sensor_bus_put.
Referenced by bma150_ioctl().
|
static |
Set the BMA150 execution mode.
This routine sets a specified BMA150 execution state to one of the following:
SENSOR_STATE_SLEEP or SENSOR_STATE_LOWEST_POWER Setting the sleep mode puts the BMA150 into a very low power state in which no communication with the sensor IC is possible. The current consumption in sleep mode is about 1 microamp.
In case of a soft-reset, it is recommended to do the reset after switching from sleep to operational mode. In case a soft-reset is activated during sleep mode, it can take up to 30ms until normal operation has resumed.
SENSOR_STATE_LOW_POWER This option sets the BMA150 to a low power "wake-up" mode that triggers a system wake-up (interrupt output to master) when motion is detected. In this mode, the device periodically evaluates acceleration data with respect to interrupt criteria defined by the user.
Typical current consumption in wake-up mode is estimated as follows:
with approximation:
with parameters:
SENSOR_STATE_NORMAL or SENSOR_STATE_HIGHEST_POWER In normal mode the sensor IC data and status registers can be accessed without restriction. The device current consumption is 200 microamps in this state.
SENSOR_STATE_RESET This function resets the device and internal registers to the power-up default settings.
In the wake-up mode, the BMA150 automatically switches from sleep mode to normal mode after a delay defined by a programmable wake_up_pause value. After transitioning from sleep to normal mode, acceleration data acquisition and interrupt verification are performed. The sensor automatically returns to sleep mode again if no interrupt criteria are satisfied.
| hal | Address of an initialized sensor hardware descriptor. |
| state | A specified sensor operational state. |
References BMA150_CTRL1, BMA150_CTRL5, CTRL1_SLEEP, CTRL1_SOFT_RESET, CTRL5_WAKE_UP, sensor_bus_put, sensor_reg_bitclear, sensor_reg_bitset, SENSOR_STATE_HIGHEST_POWER, SENSOR_STATE_LOW_POWER, SENSOR_STATE_LOWEST_POWER, SENSOR_STATE_NORMAL, SENSOR_STATE_RESET, and SENSOR_STATE_SLEEP.
Referenced by bma150_ioctl().
|
static |
Set event threshold value.
| hal | Address of an initialized sensor hardware descriptor. |
| threshold | Address of threshold descriptor. |
References BMA150_ANY_MOTION_THRES, BMA150_HG_THRES, BMA150_LG_THRES, sensor_hal::bus, sensor_hal::range, sensor_bus_put, SENSOR_THRESHOLD_HIGH_G, SENSOR_THRESHOLD_LOW_G, SENSOR_THRESHOLD_MOTION, bus_desc_t::status, STATUS_OK, sensor_threshold_desc_t::type, and sensor_threshold_desc_t::value.
Referenced by bma150_ioctl().
| bma_axis_t acc[3] |
Acceleration data.
| uint8_t alert_phase |
Device in alert mode.
|
static |
Bosch BMA150 Bandwidth Table (hertz, register value)
Referenced by bma150_init().
|
static |
Sensor Event Callback Descriptors (data=0, motion=1, low-g=2, high-g=3)
| struct { ... } event_regs |
Sensor Event Registers.
Referenced by bma150_get_accel(), and bma150_isr().
| uint8_t HG_issued |
High-g criteria issued.
| uint8_t HG_latched |
High-g criteria issued (latch)
| uint8_t LG_issued |
Low-g criteria issued.
| uint8_t LG_latched |
Low-g criteria issued (latch)
|
static |
Bosch BMA150 Range Table (milli-g, register value)
Referenced by bma150_init().
| uint8_t st_result |
< Status registers fields
Self-test 0 result
| uint8_t status_byte |
Status registers Byte.
| struct { ... } status_field |
| int8_t temp |
Temperature data.
Referenced by app_widget_update_colors(), calendar_time_between_dates(), config_per_test_parameters(), fixed_sqrt(), gfx_mono_framebuffer_mask_byte(), gfx_mono_generic_draw_horizontal_line(), gfx_mono_generic_put_bitmap(), gfx_mono_ssd1306_mask_byte(), gfx_mono_st7565r_mask_byte(), mac_t_gts_cb(), usr_get_current_config_confirm(), wdt_disable(), wdt_disable_window_mode(), wdt_enable(), wdt_enable_window_mode(), wdt_reset_mcu(), wdt_set_timeout_period(), and wdt_set_window_period().
| uint8_t unused |
1.8.5