Added Sensor HAL for Acc, Mag and Gyr.

embedded/Drivers/Sensor/Bosch-Sensortec/Driver_BMA2X2.c

@@ -0,0 +1,326 @@
+/* Open Sensor Platform Project
+ * https://github.com/sensorplatforms/open-sensor-platform
+ *
+ * Copyright (C) 2015 Audience Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/*-------------------------------------------------------------------------------------------------*\
+ |    I N C L U D E   F I L E S
+\*-------------------------------------------------------------------------------------------------*/
+#include "common.h"
+#include "Driver_Sensor.h"
+#include "bma2x2.h"
+#include "bosch_i2c_adapter.h"
+#include "chip.h"
+
+/*-------------------------------------------------------------------------------------------------*\
+ |    C O N S T A N T S   &   M A C R O S
+\*-------------------------------------------------------------------------------------------------*/
+#ifndef I2C_DRIVER
+# error Needs I2C_DRIVER to be defined. Check Common.h
+#endif
+
+#define OSP_SENSOR_DRV_VERSION ARM_DRIVER_VERSION_MAJOR_MINOR( 1,0 )
+
+/*-------------------------------------------------------------------------------------------------*\
+ |    S T A T I C   V A R I A B L E S   D E F I N I T I O N S
+\*-------------------------------------------------------------------------------------------------*/
+/* Driver Version */
+static const ARM_DRIVER_VERSION DriverVersion = {
+    OSP_SENSOR_API_VERSION,
+    OSP_SENSOR_DRV_VERSION
+};
+
+static bma2x2_t bma2x2;
+
+/*-------------------------------------------------------------------------------------------------*\
+ |    P R I V A T E     F U N C T I O N S
+\*-------------------------------------------------------------------------------------------------*/
+/****************************************************************************************************
+ * @fn      OSP_Accel_GetVersion
+ *          Get driver version
+ *
+ * @param   data    Private Argument (Unused)
+ *
+ * @return  Driver Version
+ *
+ ***************************************************************************************************/
+static ARM_DRIVER_VERSION OSP_Accel_GetVersion( void *data )
+{
+    return DriverVersion;
+}
+
+/****************************************************************************************************
+ * @fn      _Accel_DumpRegisters
+ *          Dumps the registers of the chosen Accelerometer device
+ *
+ * @param   None
+ *
+ * @return  None
+ *
+ ***************************************************************************************************/
+static void _Accel_DumpRegisters( void )
+{
+    //TODO
+    return;
+}
+
+/****************************************************************************************************
+ * @fn      _Accel_ResetDevice
+ *          Soft resets the Accelerometer
+ *
+ * @param   None
+ *
+ * @return  None
+ *
+ ***************************************************************************************************/
+static void _Accel_ResetDevice( void )
+{
+    /* Soft Reset device */
+    bma2x2_soft_reset();  // Problem with I2C at 1.8V
+    bma2x2.delay_msec( 1 );
+}
+
+/****************************************************************************************************
+ * @fn      _Accel_HardwareSetup
+ *          Configures the interrupt GPIO and regulators (if any) for the Accelerometer
+ *
+ * @param   enable - Enables or disables the GPIOs / Communications interface
+ *
+ * @return  none
+ *
+ ***************************************************************************************************/
+static void _Accel_HardwareSetup( osp_bool_t enable )
+{
+    if (enable == true)
+    {
+        /* Initialize the Sensor interface HW (typically I2C or SPI) */
+        Board_SensorIfInit( ACCEL_INPUT_SENSOR );
+    }
+    else
+    {
+        /* Disable interrupts and free GPIOs */
+        Board_SensorIfDeinit( ACCEL_INPUT_SENSOR );
+    }
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_Initialize
+ *          Initialization function for Accel
+ *
+ * @param   cb      Event Handler
+ * @param   data    Data required for initialization
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Return code: On success return ARM_DRIVER_OK
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_Initialize( OSP_Sensor_SignalEvent_t cb, void *data, void *priv )
+{
+    _Accel_HardwareSetup( true );
+
+    /* Init the Bosch Driver for accel */
+    bma2x2.bus_write  = dev_i2c_write;
+    bma2x2.bus_read   = dev_i2c_read;
+    bma2x2.delay_msec = dev_i2c_delay;
+    bma2x2_init( &bma2x2 );
+
+    /* Register state before changes */
+    _Accel_DumpRegisters();
+
+    /* Set key registers to default on startup */
+    _Accel_ResetDevice();
+
+    /* Clear any existing interrupts */
+    /* Note: DRDY is normally cleared on Data read but otherwise since we don't latch DRDY interrupt,
+       we don't need to do data read to clear any pending interrupts */
+
+    bma2x2_set_mode( BMA2x2_MODE_NORMAL );        // Normal power
+    bma2x2_set_range( BMA2x2_RANGE_4G );          // set range 4g for grange
+    bma2x2_set_bandwidth( BMA2x2_BW_31_25HZ );    // BW set to 31.25Hz, ODR = BW*2 (62.5Hz)
+
+    /* Setup interrupt selections */
+    bma2x2_set_newdata( BMA2x2_INT1_NDATA, 1 ); //DRDY interrupt on INT1 pad
+    /* Latched with 250uS duration */
+    bma2x2_set_latch_int( BMA2x2_LATCH_DUR_250US );
+
+    /* Registers after initialization */
+    _Accel_DumpRegisters();
+
+    /* Set to suspend mode till application requests data by enabling interrupt */
+    //bma2x2_set_mode( BMA2x2_MODE_DEEP_SUSPEND ); --> This requires additional setup in IntEnable call
+
+    return ARM_DRIVER_OK;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_Uninitialize
+ *          Uninitialize the Accel
+ *
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Returns ARM_DRIVER_ERROR_UNSUPPORTED since function is currently not supported
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_Uninitialize( void *priv )
+{
+    return ARM_DRIVER_ERROR_UNSUPPORTED;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_Activate
+ *          Activate the sensor
+ *
+ * @param   flags               Sensor Flag - SENSOR_FLAG* (Unused)
+ * @param   us_delay            Delay before actual activation
+ * @param   fifo_num_samples    Fifo size
+ * @param   max_report_latency  Maximum latency for reporting the data
+ * @param   priv                Private Argument (Unused)
+ *
+ * @return  Return code: On success return ARM_DRIVER_OK
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_Activate( uint16_t flags, uint32_t us_delay, uint16_t fifo_num_samples, uint32_t max_report_latency, void *priv )
+{
+    /* Enables/Disables the New Data interrupt on the Accelerometer.
+    Note: If device is set in low power/suspend mode then additional device needs to be
+    reinitialized to the last operating mode */
+    bma2x2_set_Int_Enable( BMA2x2_DATA_EN, 1 );
+
+    NVIC_ClearPendingIRQ( ACCEL_PINT_IRQn );
+
+    /* Enable interrupt in the NVIC */
+    NVIC_EnableIRQ( ACCEL_PINT_IRQn );
+
+    return ARM_DRIVER_OK;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_ReadData
+ *          Reads data from Accelerometer's X, Y, Z data registers
+ *
+ * @param   *data        Data pointer
+ * @param   num_samples  Number of samples to be read
+ * @param   priv         Private Argument (Unused)
+ *
+ * @return  Return code: On success return ARM_DRIVER_OK
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_ReadData( void *data, uint16_t num_samples, void *priv )
+{
+    MsgAccelData *pxyzData = data;
+    uint16_t i = 0;
+
+    bma2x2acc_t acc;                //create object of type bma250acc_t
+
+    for (; i<num_samples; i++)
+    {
+        bma2x2_read_accel_xyz( &acc );    //get acceleration data from sensor
+
+        pxyzData->X = acc.x;
+        pxyzData->Y = acc.y;
+        pxyzData->Z = acc.z;
+
+        //add timestamp here!
+        pxyzData->timeStamp = RTC_GetCounter();
+        pxyzData++;
+    }
+
+    return ARM_DRIVER_OK;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_Deactivate
+ *          Deactivate Accelerometer
+ *
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Return code: On success return ARM_DRIVER_OK
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_Deactivate( void *priv )
+{
+    bma2x2_set_Int_Enable( BMA2x2_DATA_EN, 0 );
+    NVIC_DisableIRQ( ACCEL_PINT_IRQn );
+    return ARM_DRIVER_OK;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_PowerControl
+ *          Control the power state of the sensor
+ *
+ * @param   state   Power state
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Return code: On success return ARM_DRIVER_OK
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_PowerControl( ARM_POWER_STATE state, void *priv )
+{
+    switch (state)
+    {
+        case ARM_POWER_OFF:
+            OSP_Accel_Deactivate( NULL );
+            break;
+
+        case ARM_POWER_LOW:
+            bma2x2_set_mode( BMA2x2_MODE_STANDBY );
+            break;
+
+        case ARM_POWER_FULL:
+            OSP_Accel_Activate( SENSOR_FLAG_CONTINUOUS_DATA,NULL /* unused */,NULL /* unused */,NULL /* unused */,NULL );
+            break;
+
+        default:
+            return ARM_DRIVER_ERROR_PARAMETER;
+    }
+    return ARM_DRIVER_OK;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_GetDetails
+ *          Get sensor details
+ *
+ * @param   data    Pointer to the sensor details
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Returns ARM_DRIVER_ERROR_UNSUPPORTED since function is currently not supported
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_GetDetails( void *data, void *priv )
+{
+    return ARM_DRIVER_ERROR_UNSUPPORTED;
+}
+
+/****************************************************************************************************
+ * @fn      OSP_Accel_InjectData
+ *          Feed dummy data
+ *
+ * @param   data    Simulated data
+ * @param   priv    Private Argument (Unused)
+ *
+ * @return  Returns ARM_DRIVER_ERROR_UNSUPPORTED since function is currently not supported
+ *
+ ***************************************************************************************************/
+static int32_t OSP_Accel_InjectData( void *data, void *priv )
+{
+    return ARM_DRIVER_ERROR_UNSUPPORTED;    //Do nothing
+}
+
+/* Accel Driver Definition */
+OSP_BUILD_DRIVER_SENSOR( Accel, OSP_Accel, NULL );
+
+/*-------------------------------------------------------------------------------------------------*\
+ |    E N D   O F   F I L E
+\*-------------------------------------------------------------------------------------------------*/