First integration of the motion sensor (bma 421) : step counting + wake on wrist rotation + app to see the value of the 3 axis in "real time".

src/drivers/Bma421.cpp

@@ -0,0 +1,122 @@
+#include <libraries/delay/nrf_delay.h>
+#include <libraries/log/nrf_log.h>
+#include "Bma421.h"
+#include "TwiMaster.h"
+#include <drivers/Bma421_C/bma423.h>
+
+using namespace Pinetime::Drivers;
+
+int8_t user_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr) {
+  auto bma421 = static_cast<Bma421*>(intf_ptr);
+  bma421->Read(reg_addr, reg_data, length);
+  return 0;
+}
+
+int8_t user_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr) {
+  auto bma421 = static_cast<Bma421*>(intf_ptr);
+  bma421->Write(reg_addr, reg_data, length);
+  return 0;
+}
+
+void user_delay(uint32_t period_us, void *intf_ptr) {
+  nrf_delay_us(period_us);
+}
+
+Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, twiAddress{twiAddress} {
+  bma.intf = BMA4_I2C_INTF;
+  bma.bus_read = user_i2c_read;
+  bma.bus_write = user_i2c_write;
+  bma.variant = BMA42X_VARIANT;
+  bma.intf_ptr = this;
+  bma.delay_us = user_delay;
+  bma.read_write_len = 8;
+
+  accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
+  accel_conf.range = BMA4_ACCEL_RANGE_2G;
+  accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
+  accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
+
+
+}
+
+void Bma421::Init() {
+  auto ret = bma4_soft_reset(&bma);
+  ASSERT(ret == BMA4_OK);
+
+  nrf_delay_ms(1);
+
+  ret = bma423_init(&bma);
+  NRF_LOG_INFO("RESET : %d", ret);
+
+  //ret = bma423_init(&bma);
+  //NRF_LOG_INFO("ID : %d", bma.chip_id);
+  ASSERT(ret == BMA4_OK);
+
+  ret = bma423_write_config_file(&bma);
+  ASSERT(ret == BMA4_OK);
+
+  bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
+  struct bma4_int_pin_config int_pin_config;
+  int_pin_config.edge_ctrl = BMA4_LEVEL_TRIGGER;
+  int_pin_config.lvl = BMA4_ACTIVE_LOW;
+  int_pin_config.od = BMA4_PUSH_PULL;
+  int_pin_config.output_en = BMA4_OUTPUT_ENABLE;
+  int_pin_config.input_en = BMA4_INPUT_DISABLE;
+  bma4_set_int_pin_config(&int_pin_config, BMA4_INTR1_MAP, &bma);
+
+  //ret =  bma423_feature_enable(BMA423_STEP_CNTR | BMA423_STEP_ACT | BMA423_WRIST_WEAR | BMA423_SINGLE_TAP | BMA423_DOUBLE_TAP, 1, &bma);
+  ret = bma423_feature_enable(0xff, 1, &bma);
+  ASSERT(ret == BMA4_OK);
+
+  //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);
+  ret = bma423_map_interrupt(BMA4_INTR1_MAP,  BMA423_STEP_CNTR_INT, 1,&bma);
+  ASSERT(ret == BMA4_OK);
+
+  bma423_step_detector_enable(0, &bma);
+
+  bma423_any_no_mot_config motConfig;
+  motConfig.threshold = 0xaa;
+  motConfig.axes_en = 3;
+  motConfig.duration = 1;
+  bma423_set_any_mot_config(&motConfig, &bma);
+
+  ret = bma4_set_accel_enable(1, &bma);
+  ASSERT(ret == BMA4_OK);
+
+  ret = bma4_set_accel_config(&accel_conf, &bma);
+  ASSERT(ret == BMA4_OK);
+}
+
+void Bma421::Reset() {
+  uint8_t data = 0xb6;
+  twiMaster.Write(deviceAddress, 0x7E, &data, 1);
+}
+
+void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) {
+  twiMaster.Read(deviceAddress, registerAddress, buffer, size);
+}
+
+void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) {
+  twiMaster.Write(deviceAddress, registerAddress, data, size);
+}
+
+Bma421::Values Bma421::Process() {
+  struct bma4_accel data;
+  bma4_read_accel_xyz(&data, &bma);
+
+  uint32_t steps = 0;
+  bma423_step_counter_output(&steps, &bma);
+
+  int32_t temperature;
+  bma4_get_temperature(&temperature, BMA4_DEG, &bma);
+  temperature = temperature / 1000;
+
+  uint8_t activity = 0;
+  bma423_activity_output(&activity, &bma);
+
+  NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
+
+
+  return {steps, data.x, data.y, data.z};
+}
+

src/drivers/Bma421.h

@@ -0,0 +1,43 @@
+#pragma once
+#include <drivers/Bma421_C/bma4_defs.h>
+
+namespace Pinetime {
+  namespace Drivers {
+    class TwiMaster;
+    class Bma421 {
+    public:
+      struct Values {
+        uint32_t steps;
+        int16_t x;
+        int16_t y;
+        int16_t z;
+      };
+      Bma421(TwiMaster& twiMaster, uint8_t twiAddress);
+      Bma421(const Bma421&) = delete;
+      Bma421& operator=(const Bma421&) = delete;
+      Bma421(Bma421&&) = delete;
+      Bma421& operator=(Bma421&&) = delete;
+
+      void Init();
+      void Reset();
+      Values Process();
+
+      void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
+      void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
+
+      void OnIrq();
+
+      uint32_t GetNbInterrupts() const {return nbInterrupts;}
+
+    private:
+      TwiMaster& twiMaster;
+      uint8_t twiAddress;
+
+      struct bma4_dev bma;
+      struct bma4_accel_config accel_conf;
+      static constexpr uint8_t deviceAddress = 0x18;
+
+      uint32_t nbInterrupts = 0;
+    };
+  }
+}