From 60053a20d10ba75c9797da5ac75d64c83ac5373e Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Fri, 5 Jan 2024 19:49:40 +0000
Subject: [PATCH 1/7] Update Bma421 acelerometer driver to return values in
milli-g rather than raw counts.
---
src/drivers/Bma421.cpp | 19 +++++++++++++++++--
src/drivers/Bma421.h | 5 +++++
2 files changed, 22 insertions(+), 2 deletions(-)
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index 84d76ab3c0..3656dc50cf 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -24,6 +24,17 @@ namespace {
}
}
+// Scale factors to convert accelerometer counts to milli-g
+// from datasheet: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
+// The array index to use is stored in accel_conf.range
+const short Bma421::accelScaleFactors[] = {
+ 1024, // LSB/g +/- 2g range
+ 512, // LSB/g +/- 4g range
+ 256, // LSB/g +/- 8g range
+ 128 // LSB/g +/- 16g range
+};
+
+
Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster {twiMaster}, deviceAddress {twiAddress} {
bma.intf = BMA4_I2C_INTF;
bma.bus_read = user_i2c_read;
@@ -74,7 +85,6 @@ void Bma421::Init() {
if (ret != BMA4_OK)
return;
- struct bma4_accel_config accel_conf;
accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
accel_conf.range = BMA4_ACCEL_RANGE_2G;
accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
@@ -102,8 +112,13 @@ void Bma421::Write(uint8_t registerAddress, const uint8_t* data, size_t size) {
Bma421::Values Bma421::Process() {
if (not isOk)
return {};
+ struct bma4_accel rawData;
struct bma4_accel data;
- bma4_read_accel_xyz(&data, &bma);
+ bma4_read_accel_xyz(&rawData, &bma);
+
+ data.x = 1000 * rawData.x / accelScaleFactors[accel_conf.range];
+ data.y = 1000 * rawData.y / accelScaleFactors[accel_conf.range];
+ data.z = 1000 * rawData.z / accelScaleFactors[accel_conf.range];
uint32_t steps = 0;
bma423_step_counter_output(&steps, &bma);
diff --git a/src/drivers/Bma421.h b/src/drivers/Bma421.h
index fb83251449..339a557634 100644
--- a/src/drivers/Bma421.h
+++ b/src/drivers/Bma421.h
@@ -9,6 +9,10 @@ namespace Pinetime {
public:
enum class DeviceTypes : uint8_t { Unknown, BMA421, BMA425 };
+ // Scale factors to convert accelerometer counts to milli-g
+ // The array values are initialised in Bma421.cpp
+ static const short accelScaleFactors[];
+
struct Values {
uint32_t steps;
int16_t x;
@@ -41,6 +45,7 @@ namespace Pinetime {
TwiMaster& twiMaster;
uint8_t deviceAddress = 0x18;
struct bma4_dev bma;
+ struct bma4_accel_config accel_conf; // Store the device configuration for later reference.
bool isOk = false;
bool isResetOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown;
From 2eee78264e43f15e63a056ba06fc11d0725acd4f Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Fri, 5 Jan 2024 19:50:46 +0000
Subject: [PATCH 2/7] Update Motion screen to display values in milli-g rather
than scaled.
---
src/displayapp/apps/CMakeLists.txt | 2 +-
src/displayapp/screens/Motion.cpp | 8 ++++----
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/displayapp/apps/CMakeLists.txt b/src/displayapp/apps/CMakeLists.txt
index ddf95171fb..6778001f5f 100644
--- a/src/displayapp/apps/CMakeLists.txt
+++ b/src/displayapp/apps/CMakeLists.txt
@@ -1,7 +1,7 @@
if(DEFINED ENABLE_USERAPPS)
set(USERAPP_TYPES ${ENABLE_USERAPPS} CACHE STRING "List of user apps to build into the firmware")
else ()
- set(USERAPP_TYPES "Apps::Navigation, Apps::StopWatch, Apps::Alarm, Apps::Timer, Apps::Steps, Apps::HeartRate, Apps::Music, Apps::Paint, Apps::Paddle, Apps::Twos, Apps::Metronome" CACHE STRING "List of user apps to build into the firmware")
+ set(USERAPP_TYPES "Apps::Navigation, Apps::StopWatch, Apps::Alarm, Apps::Timer, Apps::Steps, Apps::Motion, Apps::HeartRate, Apps::Music, Apps::Paint, Apps::Paddle, Apps::Twos, Apps::Metronome" CACHE STRING "List of user apps to build into the firmware")
endif ()
add_library(infinitime_apps INTERFACE)
diff --git a/src/displayapp/screens/Motion.cpp b/src/displayapp/screens/Motion.cpp
index 87c55eea9d..ecbed317c7 100644
--- a/src/displayapp/screens/Motion.cpp
+++ b/src/displayapp/screens/Motion.cpp
@@ -53,9 +53,9 @@ void Motion::Refresh() {
lv_label_set_text_fmt(labelStep, "Steps %lu", motionController.NbSteps());
lv_label_set_text_fmt(label,
- "X #FF0000 %d# Y #00B000 %d# Z #FFFF00 %d#",
- motionController.X() / 0x10,
- motionController.Y() / 0x10,
- motionController.Z() / 0x10);
+ "X #FF0000 %d# Y #00B000 %d# Z #FFFF00 %d# mg",
+ motionController.X(),
+ motionController.Y(),
+ motionController.Z());
lv_obj_align(label, nullptr, LV_ALIGN_IN_TOP_MID, 0, 10);
}
From c261579e954a6647daa89b079b350de3548b39ae Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Sun, 7 Jan 2024 16:13:37 +0000
Subject: [PATCH 3/7] Changed output from to 'binary milli-g' (scaled to 1024
rather than 1000) - this means that the values for the default range of +/-2
g are unchanged, and all ranges give something very close to milli-g - see
discussion fof pull request #1950 for information.
https://github.com/InfiniTimeOrg/InfiniTime/pull/1950
---
src/drivers/Bma421.cpp | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index 3656dc50cf..89a8bac0c7 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -116,9 +116,13 @@ Bma421::Values Bma421::Process() {
struct bma4_accel data;
bma4_read_accel_xyz(&rawData, &bma);
- data.x = 1000 * rawData.x / accelScaleFactors[accel_conf.range];
- data.y = 1000 * rawData.y / accelScaleFactors[accel_conf.range];
- data.z = 1000 * rawData.z / accelScaleFactors[accel_conf.range];
+ // Scale the measured ADC counts to units of 'binary milli-g'
+ // where 1g = 1024 'binary milli-g' units.
+ // See https://github.com/InfiniTimeOrg/InfiniTime/pull/1950 for
+ // discussion of why we opted for scaling to 1024 rather than 1000.
+ data.x = 1024 * rawData.x / accelScaleFactors[accel_conf.range];
+ data.y = 1024 * rawData.y / accelScaleFactors[accel_conf.range];
+ data.z = 1024 * rawData.z / accelScaleFactors[accel_conf.range];
uint32_t steps = 0;
bma423_step_counter_output(&steps, &bma);
From 99cdb8eced124775a12ebe75dcf15748be35c14c Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Sun, 7 Jan 2024 22:06:06 +0000
Subject: [PATCH 4/7] Update src/drivers/Bma421.cpp
Changes to array declaration as suggested during pull request review.
Co-authored-by: FintasticMan <finlay.neon.kid@gmail.com>
---
src/drivers/Bma421.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index 89a8bac0c7..d640df74a0 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -27,11 +27,11 @@ namespace {
// Scale factors to convert accelerometer counts to milli-g
// from datasheet: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
// The array index to use is stored in accel_conf.range
-const short Bma421::accelScaleFactors[] = {
- 1024, // LSB/g +/- 2g range
- 512, // LSB/g +/- 4g range
- 256, // LSB/g +/- 8g range
- 128 // LSB/g +/- 16g range
+constexpr int16_t accelScaleFactors[] = {
+ [BMA4_ACCEL_RANGE_2G] = 1024, // LSB/g +/- 2g range
+ [BMA4_ACCEL_RANGE_4G] = 512, // LSB/g +/- 4g range
+ [BMA4_ACCEL_RANGE_8G] = 256, // LSB/g +/- 8g range
+ [BMA4_ACCEL_RANGE_16G] = 128 // LSB/g +/- 16g range
};
From 7f6ea30556da8ecdf5d50ef8eae3865bd8e087df Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Mon, 8 Jan 2024 21:22:26 +0000
Subject: [PATCH 5/7] Moved scale factors out of class and into anonymous
namespace
---
src/drivers/Bma421.cpp | 21 ++++++++++-----------
src/drivers/Bma421.h | 4 ----
2 files changed, 10 insertions(+), 15 deletions(-)
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index d640df74a0..eb8831e0b1 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -22,18 +22,17 @@ namespace {
void user_delay(uint32_t period_us, void* /*intf_ptr*/) {
nrf_delay_us(period_us);
}
-}
-
-// Scale factors to convert accelerometer counts to milli-g
-// from datasheet: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
-// The array index to use is stored in accel_conf.range
-constexpr int16_t accelScaleFactors[] = {
- [BMA4_ACCEL_RANGE_2G] = 1024, // LSB/g +/- 2g range
- [BMA4_ACCEL_RANGE_4G] = 512, // LSB/g +/- 4g range
- [BMA4_ACCEL_RANGE_8G] = 256, // LSB/g +/- 8g range
- [BMA4_ACCEL_RANGE_16G] = 128 // LSB/g +/- 16g range
-};
+ // Scale factors to convert accelerometer counts to milli-g
+ // from datasheet: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
+ // The array index to use is stored in accel_conf.range
+ constexpr int16_t accelScaleFactors[] = {
+ [BMA4_ACCEL_RANGE_2G] = 1024, // LSB/g +/- 2g range
+ [BMA4_ACCEL_RANGE_4G] = 512, // LSB/g +/- 4g range
+ [BMA4_ACCEL_RANGE_8G] = 256, // LSB/g +/- 8g range
+ [BMA4_ACCEL_RANGE_16G] = 128 // LSB/g +/- 16g range
+ };
+}
Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster {twiMaster}, deviceAddress {twiAddress} {
bma.intf = BMA4_I2C_INTF;
diff --git a/src/drivers/Bma421.h b/src/drivers/Bma421.h
index 339a557634..c36350b2af 100644
--- a/src/drivers/Bma421.h
+++ b/src/drivers/Bma421.h
@@ -9,10 +9,6 @@ namespace Pinetime {
public:
enum class DeviceTypes : uint8_t { Unknown, BMA421, BMA425 };
- // Scale factors to convert accelerometer counts to milli-g
- // The array values are initialised in Bma421.cpp
- static const short accelScaleFactors[];
-
struct Values {
uint32_t steps;
int16_t x;
From d3f667b1d2650522b74151c3dc91e7dc02cdf0bb Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Wed, 10 Jan 2024 11:06:55 +0000
Subject: [PATCH 6/7] Adjusted number of spaces between the end of the code and
start of in-line comments to keep the formatter happy
---
src/drivers/Bma421.cpp | 8 ++++----
src/drivers/Bma421.h | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index eb8831e0b1..aff62b8df0 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -27,10 +27,10 @@ namespace {
// from datasheet: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
// The array index to use is stored in accel_conf.range
constexpr int16_t accelScaleFactors[] = {
- [BMA4_ACCEL_RANGE_2G] = 1024, // LSB/g +/- 2g range
- [BMA4_ACCEL_RANGE_4G] = 512, // LSB/g +/- 4g range
- [BMA4_ACCEL_RANGE_8G] = 256, // LSB/g +/- 8g range
- [BMA4_ACCEL_RANGE_16G] = 128 // LSB/g +/- 16g range
+ [BMA4_ACCEL_RANGE_2G] = 1024, // LSB/g +/- 2g range
+ [BMA4_ACCEL_RANGE_4G] = 512, // LSB/g +/- 4g range
+ [BMA4_ACCEL_RANGE_8G] = 256, // LSB/g +/- 8g range
+ [BMA4_ACCEL_RANGE_16G] = 128 // LSB/g +/- 16g range
};
}
diff --git a/src/drivers/Bma421.h b/src/drivers/Bma421.h
index c36350b2af..5269f62b79 100644
--- a/src/drivers/Bma421.h
+++ b/src/drivers/Bma421.h
@@ -41,7 +41,7 @@ namespace Pinetime {
TwiMaster& twiMaster;
uint8_t deviceAddress = 0x18;
struct bma4_dev bma;
- struct bma4_accel_config accel_conf; // Store the device configuration for later reference.
+ struct bma4_accel_config accel_conf; // Store the device configuration for later reference.
bool isOk = false;
bool isResetOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown;
From f5af62f263c7346985ac7d37b55627a8fd3be6cc Mon Sep 17 00:00:00 2001
From: Graham Jones <grahamjones139@gmail.com>
Date: Sun, 11 Feb 2024 19:42:31 +0000
Subject: [PATCH 7/7] Updated MotionService documentation to specify the units
of the returned values.
---
doc/MotionService.md | 2 ++
1 file changed, 2 insertions(+)
diff --git a/doc/MotionService.md b/doc/MotionService.md
index 429794acb3..58c7e83600 100644
--- a/doc/MotionService.md
+++ b/doc/MotionService.md
@@ -21,3 +21,5 @@ The current raw motion values. This is a 3 `int16_t` array:
- [0] : X
- [1] : Y
- [2] : Z
+
+The three motion values are in units of "binary milli-g", where 1g is represented by a value of 1024.