src/main/drivers/accgyro/accgyro_bmi270_maximum_fifo.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       bmi270_maximum_fifo.c
  34 * @date       2020-11-04
  35 * @version    v2.63.1
  36 *
  37 */
  38
  39 /***************************************************************************/
  40
  41 /*!             Header files
  42  ****************************************************************************/
  43 //#include "bmi270_maximum_fifo.h"
  44 #include "platform.h"
  45
  46 /***************************************************************************/
  47
  48 /*!              Global Variable
  49  ****************************************************************************/
  50
  51 /*! @name  Global array that stores the configuration file of BMI270 */
  52 const uint8_t bmi270_maximum_fifo_config_file[] = {
  53     0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
  54     0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
  55     0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
  56     0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  57     0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
  58     0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
  59     0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
  60     0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
  61     0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
  62     0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
  63     0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
  64     0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
  65     0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
  66     0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
  67     0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
  68     0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
  69     0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
  70     0xf5, 0xeb, 0x2c, 0xe1, 0x6f
  71 };
  72
  73 // The rest of this is not needed, avoid compiler errors due to pedantic settings
  74 #if false
  75
  76 /*! @name  Global array that stores the feature input configuration of BMI270 */
  77 const struct bmi2_feature_config bmi270_maximum_fifo_feat_in[BMI270_MAXIMUM_FIFO_MAX_FEAT_IN] = {
  78
  79 };
  80
  81 /*! @name  Global array that stores the feature output configuration */
  82 const struct bmi2_feature_config bmi270_maximum_fifo_feat_out[BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT] = {
  83
  84 };
  85
  86 /******************************************************************************/
  87
  88 /*!         Local Function Prototypes
  89  ******************************************************************************/
  90
  91 /*!
  92  * @brief This internal API is used to validate the device pointer for
  93  * null conditions.
  94  *
  95  * @param[in] dev : Structure instance of bmi2_dev.
  96  *
  97  * @return Result of API execution status
  98  * @retval 0 -> Success
  99  * @retval < 0 -> Fail
 100  */
 101 static int8_t null_ptr_check(const struct bmi2_dev *dev);
 102
 103 /***************************************************************************/
 104
 105 /*!         User Interface Definitions
 106  ****************************************************************************/
 107
 108 /*!
 109  *  @brief This API:
 110  *  1) updates the device structure with address of the configuration file.
 111  *  2) Initializes BMI270 sensor.
 112  *  3) Writes the configuration file.
 113  *  4) Updates the feature offset parameters in the device structure.
 114  *  5) Updates the maximum number of pages, in the device structure.
 115  */
 116 int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev)
 117 {
 118     /* Variable to define result */
 119     int8_t rslt;
 120
 121     /* Null-pointer check */
 122     rslt = null_ptr_check(dev);
 123
 124     if (rslt == BMI2_OK)
 125     {
 126         /* Assign chip id of BMI270 */
 127         dev->chip_id = BMI270_MAXIMUM_FIFO_CHIP_ID;
 128
 129         dev->config_size = sizeof(bmi270_maximum_fifo_config_file);
 130
 131         /* Enable the variant specific features if any */
 132         dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_MAXIMUM_FIFO_VARIANT;
 133
 134         /* An extra dummy byte is read during SPI read */
 135         if (dev->intf == BMI2_SPI_INTF)
 136         {
 137             dev->dummy_byte = 1;
 138         }
 139         else
 140         {
 141             dev->dummy_byte = 0;
 142         }
 143
 144         /* If configuration file pointer is not assigned any address */
 145         if (!dev->config_file_ptr)
 146         {
 147             /* Give the address of the configuration file array to
 148              * the device pointer
 149              */
 150             dev->config_file_ptr = bmi270_maximum_fifo_config_file;
 151         }
 152
 153         /* Initialize BMI2 sensor */
 154         rslt = bmi2_sec_init(dev);
 155
 156         if (rslt == BMI2_OK)
 157         {
 158             /* Assign the offsets of the feature input
 159              * configuration to the device structure
 160              */
 161             dev->feat_config = bmi270_maximum_fifo_feat_in;
 162
 163             /* Assign the offsets of the feature output to
 164              * the device structure
 165              */
 166             dev->feat_output = bmi270_maximum_fifo_feat_out;
 167
 168             /* Assign the maximum number of pages to the
 169              * device structure
 170              */
 171             dev->page_max = BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM;
 172
 173             /* Assign maximum number of input sensors/
 174              * features to device structure
 175              */
 176             dev->input_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_IN;
 177
 178             /* Assign maximum number of output sensors/
 179              * features to device structure
 180              */
 181             dev->out_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT;
 182
 183             /* Get the gyroscope cross axis sensitivity */
 184             rslt = bmi2_get_gyro_cross_sense(dev);
 185         }
 186     }
 187
 188     return rslt;
 189 }
 190
 191 /***************************************************************************/
 192
 193 /*!         Local Function Definitions
 194  ****************************************************************************/
 195
 196 /*!
 197  * @brief This internal API is used to validate the device structure pointer for
 198  * null conditions.
 199  */
 200 static int8_t null_ptr_check(const struct bmi2_dev *dev)
 201 {
 202     /* Variable to define result */
 203     int8_t rslt = BMI2_OK;
 204
 205     if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
 206     {
 207         /* Device structure pointer is not valid */
 208         rslt = BMI2_E_NULL_PTR;
 209     }
 210
 211     return rslt;
 212 }
 213 #endif