update accelerometer

components/flow3r_bsp/flow3r_bsp_imu.c

@@ -35,7 +35,7 @@ static tildagon_mux_i2c_obj_t* mux;
 #define READ ( MP_MACHINE_I2C_FLAG_WRITE1 | MP_MACHINE_I2C_FLAG_READ | MP_MACHINE_I2C_FLAG_STOP )
 #define WRITE MP_MACHINE_I2C_FLAG_STOP
 
-static BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
                                            uint32_t len, void *intf_ptr) {
     flow3r_bsp_imu_t *imu = (flow3r_bsp_imu_t *)intf_ptr;
 
@@ -55,7 +55,7 @@ static BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
     return BMI2_OK;
 }
 
-static BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr,
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr,
                                             const uint8_t *reg_data,
                                             uint32_t len, void *intf_ptr) {
     flow3r_bsp_imu_t *imu = (flow3r_bsp_imu_t *)intf_ptr;
@@ -237,6 +237,20 @@ esp_err_t flow3r_bsp_imu_read_steps(flow3r_bsp_imu_t *imu, uint32_t *steps) {
     return ESP_ERR_NOT_FOUND;
 }
 
+/*!
+ * @brief get the temperature of the device
+ */
+esp_err_t flow3r_bsp_imu_read_temperature(flow3r_bsp_imu_t *imu, float *temperature) {
+    uint16_t temp_data;
+    int8_t rslt = bmi2_get_temperature_data(&temp_data, &(imu->bmi));
+    bmi2_error_codes_print_result(rslt);
+    if (rslt != BMI2_OK) return ESP_FAIL;
+    const float scaling = 0.001953125F;
+    const float offset = 23.0F; 
+    *temperature = ((float)temp_data * scaling ) + offset; 
+    return ESP_OK;
+}
+
 /*!
  *  @brief Prints the execution status of the APIs.
  */
@@ -565,10 +579,6 @@ static int8_t set_accel_config(flow3r_bsp_imu_t *imu) {
         /* Set the accel configurations. */
         rslt = bmi2_set_sensor_config(&config, 1, &imu->bmi);
         bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, &imu->bmi);
-        bmi2_error_codes_print_result(rslt);
     }
 
     return rslt;
@@ -616,10 +626,6 @@ static int8_t set_gyro_config(flow3r_bsp_imu_t *imu) {
 
         rslt = bmi2_set_sensor_config(&config, 1, &imu->bmi);
         bmi2_error_codes_print_result(rslt);
-
-        /* Map data ready interrupt to interrupt pin. */
-        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, &imu->bmi);
-        bmi2_error_codes_print_result(rslt);
     }
 
     return rslt;

components/flow3r_bsp/flow3r_bsp_imu.h

@@ -66,4 +66,21 @@ esp_err_t flow3r_bsp_imu_read_gyro_dps(flow3r_bsp_imu_t *imu, float *x,
 // Returns ESP_ERR_NOT_FOUND if there is no new reading available.
 // Returns ESP_FAIL if the sensor could not be read (e.g. I2C unavailable).
 // Retrurns the number of steps counted.
-esp_err_t flow3r_bsp_imu_read_steps(flow3r_bsp_imu_t *imu, uint32_t *steps);
+esp_err_t flow3r_bsp_imu_read_steps(flow3r_bsp_imu_t *imu, uint32_t *steps);
+
+// Get temperature
+//
+// Returns ESP_FAIL if the sensor could not be read (e.g. I2C unavailable).
+// Returns temperature in 'C
+esp_err_t flow3r_bsp_imu_read_temperature(flow3r_bsp_imu_t *imu, float *temperature);
+
+// i2c write
+// writes buffer to register address
+// Returns bmi fault code
+BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr,const uint8_t *reg_data,
+                                            uint32_t len, void *intf_ptr);
+// i2c read
+// reads buffer from register address
+// Returns bmi fault code                                            
+BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data,
+                                           uint32_t len, void *intf_ptr);

components/st3m/st3m_imu.c

@@ -10,8 +10,6 @@ static const char *TAG = "st3m-imu";
 #include "freertos/semphr.h"
 #include "freertos/task.h"
 
-static void _task(void *data);
-
 static flow3r_bsp_imu_t _imu;
 
 static SemaphoreHandle_t _mu;
@@ -20,20 +18,20 @@ static SemaphoreHandle_t _mu;
 
 static float _acc_x, _acc_y, _acc_z;
 static float _gyro_x, _gyro_y, _gyro_z;
+static float _temperature;
 static uint32_t _steps;
 
-void st3m_imu_init() {
+esp_err_t st3m_imu_init() {
     _mu = xSemaphoreCreateMutex();
     assert(_mu != NULL);
 
     esp_err_t ret = flow3r_bsp_imu_init(&_imu);
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "IMU init failed: %s", esp_err_to_name(ret));
-        return;
+        return ESP_FAIL;
     }
 
-    xTaskCreate(&_task, "imu", 4096, NULL, configMAX_PRIORITIES - 2, NULL);
-    ESP_LOGI(TAG, "IMU task started");
+    return ESP_OK;
 }
 
 void st3m_imu_read_acc_mps(float *x, float *y, float *z) {
@@ -58,10 +56,24 @@ void st3m_imu_read_steps(uint32_t *steps) {
     UNLOCK;
 }
 
-static void _task(void *data) {
+void st3m_imu_read_temperature(float *temperature) {
+    LOCK;
+    *temperature = _temperature;
+    UNLOCK;
+}
+
+int st3m_imu_read(uint8_t reg_addr, uint8_t *reg_data, uint8_t len) {
+    return bmi2_i2c_read(reg_addr, reg_data, len, &_imu );
+}
+
+int st3m_imu_write(uint8_t reg_addr, uint8_t *reg_data, uint8_t len) {
+    return bmi2_i2c_write(reg_addr, reg_data, len, &_imu );
+}
+
+void st3m_imu_task(void *data) {
     TickType_t last_wake = xTaskGetTickCount();
     esp_err_t ret;
-    float a, b, c;
+    float a, b, c, temperature;
     uint32_t steps;
     while (1) {
         vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(10));  // 100 Hz
@@ -91,6 +103,11 @@ static void _task(void *data) {
             _steps = steps;
         }
 
+        ret = flow3r_bsp_imu_read_temperature(&_imu, &temperature);
+        if (ret == ESP_OK) {
+            _temperature = temperature;
+        }
+
         UNLOCK;
     }
 }

components/st3m/st3m_imu.h

@@ -5,9 +5,13 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-void st3m_imu_init(void);
+esp_err_t st3m_imu_init(void);
 
-void st3m_imu_read_acc_mps(float *x, float *y, float *z);
-void st3m_imu_read_gyro_dps(float *x, float *y, float *z);
-void st3m_imu_read_pressure(float *pressure, float *temperature);
-void st3m_imu_read_steps(uint32_t *steps);
+extern void st3m_imu_task(void *data);
+extern void st3m_imu_read_acc_mps(float *x, float *y, float *z);
+extern void st3m_imu_read_gyro_dps(float *x, float *y, float *z);
+extern void st3m_imu_read_pressure(float *pressure, float *temperature);
+extern void st3m_imu_read_steps(uint32_t *steps);
+extern void st3m_imu_read_temperature(float *temperature);
+extern int  st3m_imu_read(uint8_t reg_addr, uint8_t *reg_data, uint8_t len);
+extern int  st3m_imu_write(uint8_t reg_addr, uint8_t *reg_data, uint8_t len);

drivers/micropython.cmake

@@ -16,6 +16,9 @@ include(${CMAKE_CURRENT_LIST_DIR}/tildagon_i2c/tildagon_i2c.cmake)
 # Add PMIC and usb PD and micropython power bindings
 include(${CMAKE_CURRENT_LIST_DIR}/tildagon_power/tildagon_power.cmake)
 
+# Add imu bindings
+include(${CMAKE_CURRENT_LIST_DIR}/tildagon_imu/tildagon_imu.cmake)
+
 # Add OTA helpers
 include(${CMAKE_CURRENT_LIST_DIR}/ota/micropython.cmake)
 

drivers/tildagon_helpers/micropython.cmake

@@ -11,19 +11,3 @@ target_sources(usermod_tildagon_helpers INTERFACE
 target_link_libraries(usermod INTERFACE usermod_tildagon_helpers)
 
 
-
-# Create an INTERFACE library for our C module.
-add_library(usermod_imu INTERFACE)
-# Add our source files to the lib
-target_sources(usermod_imu INTERFACE
-    ${CMAKE_CURRENT_LIST_DIR}/mp_imu.c
-)
-
-# Add the current directory as an include directory.
-target_include_directories(usermod_imu INTERFACE
-    ${CMAKE_CURRENT_LIST_DIR}
-    ${CMAKE_CURRENT_LIST_DIR}/../../components/st3m
-)
-
-# Link our INTERFACE library to the usermod target.
-target_link_libraries(usermod INTERFACE usermod_imu)