lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c

   1 /**
   2  * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
   3  *
   4  * BSD-3-Clause
   5  *
   6  * Redistribution and use in source and binary forms, with or without
   7  * modification, are permitted provided that the following conditions are met:
   8  *
   9  * 1. Redistributions of source code must retain the above copyright
  10  *    notice, this list of conditions and the following disclaimer.
  11  *
  12  * 2. Redistributions in binary form must reproduce the above copyright
  13  *    notice, this list of conditions and the following disclaimer in the
  14  *    documentation and/or other materials provided with the distribution.
  15  *
  16  * 3. Neither the name of the copyright holder nor the names of its
  17  *    contributors may be used to endorse or promote products derived from
  18  *    this software without specific prior written permission.
  19  *
  20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  22  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  23  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  24  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  25  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  26  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  27  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  28  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
  29  * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
  30  * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  31  * POSSIBILITY OF SUCH DAMAGE.
  32  *
  33  * @file       bmi2_ois.c
  34  * @date       2020-05-05
  35  * @version    v2.23.2
  36  *
  37  */
  38
  39 /******************************************************************************/
  40
  41 /*!  @name          Header Files                                  */
  42 /******************************************************************************/
  43 #include "bmi2_ois.h"
  44
  45 /******************************************************************************/
  46
  47 /*!         Local Function Prototypes
  48  ******************************************************************************/
  49
  50 /*!
  51  * @brief This internal API gets the OIS accelerometer and the gyroscope data.
  52  *
  53  * @param[out] ois_data                     : Structure instance of bmi2_sens_axes_data.
  54  * @param[in] reg_addr                      : Register address where data is stored.
  55  * @param[in] ois_dev                       : Structure instance of bmi2_ois_dev.
  56  * @param[in] ois_gyr_cross_sens_zx         :"gyroscope cross sensitivity value which was calculated during
  57  * bmi2xy_init(), refer the example ois_accel_gyro.c for more info"
  58  *
  59  * @return Result of API execution status
  60  * @retval 0 -> Success
  61  * @retval < 0 -> Fail
  62  */
  63 static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
  64                                    uint8_t reg_addr,
  65                                    struct bmi2_ois_dev *ois_dev,
  66                                    int16_t ois_gyr_cross_sens_zx);
  67
  68 /*!
  69  * @brief This internal API is used to validate the OIS device pointer for null
  70  * conditions.
  71  *
  72  * @param[in] ois_dev : Structure instance of bmi2_ois_dev.
  73  *
  74  * @return Result of API execution status
  75  * @retval 0 -> Success
  76  * @retval < 0 -> Fail
  77  */
  78 static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev);
  79
  80 /*!
  81  * @brief This internal API corrects the gyroscope cross-axis sensitivity
  82  * between the z and the x axis.
  83  *
  84  * @param[in] ois_dev               : Structure instance of bmi2_ois_dev.
  85  * @param[in] ois_gyr_cross_sens_zx : "gyroscope cross sensitivity value which was calculated during bmi2xy_init(),
  86  * refer the example ois_accel_gyro.c for more info"
  87  *
  88  */
  89 static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx);
  90
  91 /******************************************************************************/
  92 /*!  @name      User Interface Definitions                            */
  93 /******************************************************************************/
  94
  95 /*!
  96  * @brief This API reads the data from the given OIS register address of bmi2
  97  * sensor.
  98  */
  99 int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev)
 100 {
 101     /* Variable to define error */
 102     int8_t rslt;
 103
 104     /* Variable to define dummy byte for SPI read */
 105     uint8_t dummy_byte = 1;
 106
 107     /* Variable to define temporary length */
 108     uint16_t temp_len = data_len + dummy_byte;
 109
 110     /* Variable to define temporary buffer */
 111     uint8_t temp_buf[temp_len];
 112
 113     /* Variable to index bytes read */
 114     uint16_t index = 0;
 115
 116     /* Null-pointer check */
 117     rslt = null_ptr_check(ois_dev);
 118     if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
 119     {
 120         /* Configuring reg_addr for SPI Interface */
 121         ois_reg_addr = (ois_reg_addr | BMI2_OIS_SPI_RD_MASK);
 122
 123         /* Read from OIS register through OIS interface */
 124         ois_dev->intf_rslt = ois_dev->ois_read(ois_reg_addr, temp_buf, temp_len, ois_dev->intf_ptr);
 125         if (ois_dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
 126         {
 127             /* Read the data from the position next to dummy byte */
 128             while (index < data_len)
 129             {
 130                 ois_reg_data[index] = temp_buf[index + dummy_byte];
 131                 index++;
 132             }
 133         }
 134         else
 135         {
 136             rslt = BMI2_OIS_E_COM_FAIL;
 137         }
 138     }
 139     else
 140     {
 141         rslt = BMI2_OIS_E_NULL_PTR;
 142     }
 143
 144     return rslt;
 145 }
 146
 147 /*!
 148  * @brief This API writes data to the given OIS register address of bmi2 sensor.
 149  */
 150 int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
 151                          const uint8_t *ois_reg_data,
 152                          uint16_t data_len,
 153                          struct bmi2_ois_dev *ois_dev)
 154 {
 155     /* Variable to define error */
 156     int8_t rslt;
 157
 158     /* Null-pointer check */
 159     rslt = null_ptr_check(ois_dev);
 160     if ((rslt == BMI2_OIS_OK) && (ois_reg_data != NULL))
 161     {
 162         /* Configuring reg_addr for SPI Interface */
 163         ois_reg_addr = (ois_reg_addr & BMI2_OIS_SPI_WR_MASK);
 164
 165         /* Burst write to OIS register through OIS interface */
 166         ois_dev->intf_rslt = ois_dev->ois_write(ois_reg_addr, ois_reg_data, data_len, ois_dev->intf_ptr);
 167         if (ois_dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
 168         {
 169             rslt = BMI2_OIS_E_COM_FAIL;
 170         }
 171     }
 172     else
 173     {
 174         rslt = BMI2_OIS_E_NULL_PTR;
 175     }
 176
 177     return rslt;
 178 }
 179
 180 /*!
 181  * @brief This API enables/disables accelerometer/gyroscope data read through
 182  * OIS interface.
 183  */
 184 int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev)
 185 {
 186     /* Variable to define error */
 187     int8_t rslt;
 188
 189     /* Variable to store data */
 190     uint8_t reg_data = 0;
 191
 192     /* Null-pointer check */
 193     rslt = null_ptr_check(ois_dev);
 194     if (rslt == BMI2_OIS_OK)
 195     {
 196         rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
 197         if (rslt == BMI2_OIS_OK)
 198         {
 199             /* Enable/Disable Low pass filter */
 200             reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN, ois_dev->lp_filter_en);
 201
 202             /* Configures Low pass filter cut-off frequency */
 203             reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG, ois_dev->lp_filter_config);
 204
 205             /* Low pass filter - mute on secondary interface */
 206             reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE, ois_dev->lp_filter_mute);
 207
 208             /* Enable/Disable ois on accelerometer */
 209             reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_ACC_EN, ois_dev->acc_en);
 210
 211             /* Enable/Disable ois on gyroscope */
 212             reg_data = BMI2_OIS_SET_BITS(reg_data, BMI2_OIS_GYR_EN, ois_dev->gyr_en);
 213
 214             /* Set the OIS configurations */
 215             rslt = bmi2_ois_set_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
 216         }
 217     }
 218
 219     return rslt;
 220 }
 221
 222 /*!
 223  * @brief This API gets the status of accelerometer/gyroscope enable for data
 224  * read through OIS interface.
 225  */
 226 int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev)
 227 {
 228     /* Variable to define error */
 229     int8_t rslt;
 230
 231     /* Variable to store data */
 232     uint8_t reg_data = 0;
 233
 234     /* Null-pointer check */
 235     rslt = null_ptr_check(ois_dev);
 236     if (rslt == BMI2_OIS_OK)
 237     {
 238         rslt = bmi2_ois_get_regs(BMI2_OIS_CONFIG_ADDR, &reg_data, 1, ois_dev);
 239         if (rslt == BMI2_OIS_OK)
 240         {
 241             /* Get the status of Low pass filter enable */
 242             ois_dev->lp_filter_en = BMI2_GET_BIT_POS0(reg_data, BMI2_OIS_LP_FILTER_EN);
 243
 244             /* Get the status of Low pass filter cut-off frequency */
 245             ois_dev->lp_filter_config = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_CONFIG);
 246
 247             /* Get the status of Low pass filter mute */
 248             ois_dev->lp_filter_mute = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_LP_FILTER_MUTE);
 249
 250             /* Get the status of accelerometer enable */
 251             ois_dev->acc_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_ACC_EN);
 252
 253             /* Get the status of gyroscope enable */
 254             ois_dev->gyr_en = BMI2_OIS_GET_BITS(reg_data, BMI2_OIS_GYR_EN);
 255         }
 256     }
 257
 258     return rslt;
 259 }
 260
 261 /*!
 262  * @brief This API reads accelerometer/gyroscope data through OIS interface.
 263  */
 264 int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
 265                           uint8_t n_sens,
 266                           struct bmi2_ois_dev *ois_dev,
 267                           int16_t gyr_cross_sens_zx)
 268 {
 269     /* Variable to define error */
 270     int8_t rslt;
 271
 272     /* Variable to define loop */
 273     uint8_t loop = 0;
 274
 275     /* Variable to update register address */
 276     uint8_t reg_addr = 0;
 277
 278     /* Null-pointer check */
 279     rslt = null_ptr_check(ois_dev);
 280     if ((rslt == BMI2_OIS_OK) && (sens_sel != NULL))
 281     {
 282
 283         for (loop = 0; loop < n_sens; loop++)
 284         {
 285             switch (sens_sel[loop])
 286             {
 287                 case BMI2_OIS_ACCEL:
 288
 289                     /* Update OIS accelerometer address */
 290                     reg_addr = BMI2_OIS_ACC_X_LSB_ADDR;
 291
 292                     /* Get OIS accelerometer data */
 293                     rslt = get_ois_acc_gyr_data(&ois_dev->acc_data, reg_addr, ois_dev, 0);
 294                     break;
 295                 case BMI2_OIS_GYRO:
 296
 297                     /* Update OIS gyroscope address */
 298                     reg_addr = BMI2_OIS_GYR_X_LSB_ADDR;
 299
 300                     /* Get OIS gyroscope data */
 301                     rslt = get_ois_acc_gyr_data(&ois_dev->gyr_data, reg_addr, ois_dev, gyr_cross_sens_zx);
 302                     break;
 303                 default:
 304                     rslt = BMI2_OIS_E_INVALID_SENSOR;
 305                     break;
 306             }
 307
 308             /* Return error if any of the get sensor data fails */
 309             if (rslt != BMI2_OIS_OK)
 310             {
 311                 break;
 312             }
 313         }
 314     }
 315     else
 316     {
 317         rslt = BMI2_OIS_E_NULL_PTR;
 318     }
 319
 320     return rslt;
 321 }
 322
 323 /***************************************************************************/
 324
 325 /*!         Local Function Definitions
 326  ****************************************************************************/
 327
 328 /*! @cond DOXYGEN_SUPRESS */
 329
 330 /* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
 331  * directories */
 332
 333 /*!
 334  * @brief This internal API gets the accelerometer and the gyroscope data.
 335  */
 336 static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
 337                                    uint8_t reg_addr,
 338                                    struct bmi2_ois_dev *ois_dev,
 339                                    int16_t ois_gyr_cross_sens_zx)
 340 {
 341     /* Variable to define error */
 342     int8_t rslt;
 343
 344     /* Variables to store MSB value */
 345     uint8_t msb;
 346
 347     /* Variables to store LSB value */
 348     uint8_t lsb;
 349
 350     /* Variables to store both MSB and LSB value */
 351     uint16_t msb_lsb;
 352
 353     /* Variables to define index */
 354     uint8_t index = 0;
 355
 356     /* Array to define data stored in register */
 357     uint8_t reg_data[BMI2_OIS_ACC_GYR_NUM_BYTES] = { 0 };
 358
 359     /* Read the sensor data */
 360     rslt = bmi2_ois_get_regs(reg_addr, reg_data, BMI2_OIS_ACC_GYR_NUM_BYTES, ois_dev);
 361     if (rslt == BMI2_OIS_OK)
 362     {
 363         /* Read x-axis data */
 364         lsb = reg_data[index++];
 365         msb = reg_data[index++];
 366         msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
 367         ois_data->x = (int16_t)msb_lsb;
 368
 369         /* Read y-axis data */
 370         lsb = reg_data[index++];
 371         msb = reg_data[index++];
 372         msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
 373         ois_data->y = (int16_t)msb_lsb;
 374
 375         /* Read z-axis data */
 376         lsb = reg_data[index++];
 377         msb = reg_data[index++];
 378         msb_lsb = ((uint16_t)msb << 8) | (uint16_t)lsb;
 379         ois_data->z = (int16_t)msb_lsb;
 380
 381         comp_gyro_cross_axis_sensitivity(ois_data, ois_gyr_cross_sens_zx);
 382     }
 383
 384     return rslt;
 385 }
 386
 387 /*!
 388  * @brief This internal API is used to validate the device structure pointer for
 389  * null conditions.
 390  */
 391 static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev)
 392 {
 393     /* Variable to define error */
 394     int8_t rslt = BMI2_OIS_OK;
 395
 396     if ((ois_dev == NULL) || (ois_dev->ois_read == NULL) || (ois_dev->ois_write == NULL) ||
 397         (ois_dev->ois_delay_us == NULL))
 398     {
 399         /* Device structure pointer is NULL */
 400         rslt = BMI2_OIS_E_NULL_PTR;
 401     }
 402
 403     return rslt;
 404 }
 405
 406 /*!
 407  * @brief This internal API corrects the gyroscope cross-axis sensitivity
 408  * between the z and the x axis.
 409  */
 410 static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois_data, int16_t ois_gyr_cross_sens_zx)
 411 {
 412
 413     /* Get the compensated gyroscope x-axis */
 414     ois_data->x = ois_data->x - (int16_t)(((int32_t)ois_gyr_cross_sens_zx * (int32_t)ois_data->z) / 512);
 415 }
 416
 417 /*! @endcond */