/** * Copyright (C) 2021 Bosch Sensortec GmbH. All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause */ #include #include #include #include #include "bmi270_common.h" #include "bmi2_defs.h" #include "tkl_i2c.h" #include "tkl_system.h" #include "tkl_memory.h" /******************************************************************************/ /*! Macro definitions */ #define BMI2XY_SHUTTLE_ID UINT16_C(0x1B8) /*! Macro that defines read write length */ #define READ_WRITE_LEN UINT8_C(46) /******************************************************************************/ /*! Static variable definition */ /*! Variable that holds the I2C device address or SPI chip selection */ static uint8_t dev_addr; /******************************************************************************/ /*! User interface functions */ /*! * I2C read function map to COINES platform */ BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr) { // uint8_t dev_addr = *(uint8_t*)intf_ptr; // For BMI270, we need to send the register address first, then read the data // This is typically done as a combined write-read transaction OPERATE_RET ret = tkl_i2c_master_send(0, dev_addr, ®_addr, 1, TRUE); if (ret != OPRT_OK) { PR_DEBUG("BMI270 I2C read failed at reg 0x%02X: %d", reg_addr, ret); return ret; } uint8_t port = 0; if (intf_ptr != NULL) { port = *(uint8_t *)intf_ptr; } ret = tkl_i2c_master_receive(port, dev_addr, reg_data, (uint16_t)len, FALSE); return ret; } /*! * I2C write function map to COINES platform */ BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr) { // uint8_t dev_addr = *(uint8_t*)intf_ptr; // For BMI270, we need to send the register address followed by the data // Create a buffer with register address and data uint8_t *buf = (uint8_t *)tkl_system_malloc(len + 1); if (buf == NULL) { return OPRT_MALLOC_FAILED; } buf[0] = reg_addr; memcpy(buf + 1, reg_data, len); uint8_t port = 0; if (intf_ptr != NULL) { port = *(uint8_t *)intf_ptr; } OPERATE_RET ret = tkl_i2c_master_send(port, dev_addr, buf, (uint16_t)(len + 1), FALSE); tkl_system_free(buf); return ret; } /*! * SPI read function map to COINES platform */ BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr) { // uint8_t dev_addr = *(uint8_t*)intf_ptr; return -1; // coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len); } /*! * SPI write function map to COINES platform */ BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr) { // uint8_t dev_addr = *(uint8_t*)intf_ptr; return -1; // coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len); } /*! * Delay function map to COINES platform */ void bmi2_delay_us(uint32_t period, void *intf_ptr) { for (volatile uint32_t i = 0; i < period; i++) { for (volatile int j = 0; j < 20; j++) { __asm__ volatile("nop"); } } } void coines_delay_msec(uint32_t period) { tkl_system_sleep(period); } /*! * @brief Function to select the interface between SPI and I2C. * Also to initialize coines platform */ int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf) { int8_t rslt = BMI2_OK; #if 0 struct coines_board_info board_info; #endif if (bmi != NULL) { #if 0 int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB); if (result < COINES_SUCCESS) { printf( "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n" " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n"); exit(result); } result = coines_get_board_info(&board_info); #if defined(PC) setbuf(stdout, NULL); #endif if (result == COINES_SUCCESS) { if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID)) { printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n"); exit(COINES_E_FAILURE); } } coines_set_shuttleboard_vdd_vddio_config(0, 0); coines_delay_msec(100); #endif /* Bus configuration : I2C */ if (intf == BMI2_I2C_INTF) { printf("I2C Interface \n"); /* To initialize the user I2C function */ dev_addr = BMI2_I2C_PRIM_ADDR; bmi->intf = BMI2_I2C_INTF; bmi->read = bmi2_i2c_read; bmi->write = bmi2_i2c_write; #if 0 /* SDO to Ground */ coines_set_pin_config(COINES_SHUTTLE_PIN_22, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW); /* Make CSB pin HIGH */ coines_set_pin_config(COINES_SHUTTLE_PIN_21, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH); coines_delay_msec(100); coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_STANDARD_MODE); #endif } /* Bus configuration : SPI */ else if (intf == BMI2_SPI_INTF) { printf("SPI Interface \n"); /* To initialize the user SPI function */ dev_addr = -1; // dummy variable, not used in SPI bmi->intf = BMI2_SPI_INTF; bmi->read = bmi2_spi_read; bmi->write = bmi2_spi_write; #if 0 coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3); coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH); #endif } /* Assign device address to interface pointer */ // bmi->intf_ptr = &dev_addr; /* Configure delay in microseconds */ bmi->delay_us = bmi2_delay_us; /* Configure max read/write length (in bytes) ( Supported length depends on target machine) */ bmi->read_write_len = READ_WRITE_LEN; /* Assign to NULL to load the default config file. */ bmi->config_file_ptr = NULL; coines_delay_msec(100); #if 0 coines_set_shuttleboard_vdd_vddio_config(3300, 3300); #endif coines_delay_msec(200); } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief Prints the execution status of the APIs. */ void bmi2_error_codes_print_result(int8_t rslt) { switch (rslt) { case BMI2_OK: /* Do nothing */ break; case BMI2_W_FIFO_EMPTY: printf("Warning [%d] : FIFO empty\r\n", rslt); break; case BMI2_W_PARTIAL_READ: printf("Warning [%d] : FIFO partial read\r\n", rslt); break; case BMI2_E_NULL_PTR: printf( "Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n", rslt); break; case BMI2_E_COM_FAIL: printf("Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n", rslt); break; case BMI2_E_DEV_NOT_FOUND: printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n", rslt); break; case BMI2_E_INVALID_SENSOR: printf( "Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n", rslt); break; case BMI2_E_SELF_TEST_FAIL: printf("Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n", rslt); break; case BMI2_E_INVALID_INT_PIN: printf("Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n", rslt); break; case BMI2_E_OUT_OF_RANGE: printf("Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n", rslt); break; case BMI2_E_ACC_INVALID_CFG: printf("Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n", rslt); break; case BMI2_E_GYRO_INVALID_CFG: printf("Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n", rslt); break; case BMI2_E_ACC_GYR_INVALID_CFG: printf("Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n", rslt); break; case BMI2_E_CONFIG_LOAD: printf("Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n", rslt); break; case BMI2_E_INVALID_PAGE: printf("Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n", rslt); break; case BMI2_E_SET_APS_FAIL: printf("Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n", rslt); break; case BMI2_E_AUX_INVALID_CFG: printf("Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n", rslt); break; case BMI2_E_AUX_BUSY: printf("Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n", rslt); break; case BMI2_E_REMAP_ERROR: printf("Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n", rslt); break; case BMI2_E_GYR_USER_GAIN_UPD_FAIL: printf("Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n", rslt); break; case BMI2_E_SELF_TEST_NOT_DONE: printf("Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n", rslt); break; case BMI2_E_INVALID_INPUT: printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt); break; case BMI2_E_INVALID_STATUS: printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt); break; case BMI2_E_CRT_ERROR: printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt); break; case BMI2_E_ST_ALREADY_RUNNING: printf("Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n", rslt); break; case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT: printf( "Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n", rslt); break; case BMI2_E_DL_ERROR: printf("Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n", rslt); break; case BMI2_E_PRECON_ERROR: printf("Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n", rslt); break; case BMI2_E_ABORT_ERROR: printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt); break; case BMI2_E_WRITE_CYCLE_ONGOING: printf("Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n", rslt); break; case BMI2_E_ST_NOT_RUNING: printf("Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n", rslt); break; case BMI2_E_DATA_RDY_INT_FAILED: printf("Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n", rslt); break; case BMI2_E_INVALID_FOC_POSITION: printf("Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n", rslt); break; default: printf("Error [%d] : Unknown error code\r\n", rslt); break; } } /*! * @brief Deinitializes coines platform * * @return void. */ void bmi2_coines_deinit(void) { #if 0 fflush(stdout); coines_set_shuttleboard_vdd_vddio_config(0, 0); coines_delay_msec(100); /* Coines interface reset */ coines_soft_reset(); coines_delay_msec(100); coines_close_comm_intf(COINES_COMM_INTF_USB); #endif }