sensor_bma423.cpp

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#include "sdkconfig.h"
#include "esp_log.h"
#include "esp_err.h"
#include "i2c_driver.h"
#include "freertos/FreeRTOS.h"
 
#ifdef CONFIG_BMA423
 
#include "AccelerometerDrv.hpp"
 
static const char *TAG = "BMA";
 
SensorBMA423 accel;
 
extern uint32_t hal_callback(SensorCommCustomHal::Operation op, void *param1, void *param2);
 
static bool init_done = false;
 
esp_err_t bma423_init()
{
    uint8_t address = BMA423_I2C_ADDR_SECONDARY;
 
    ESP_LOGI(TAG, "----DRIVER BMA423----");
 
    //* Implemented using read and write callback methods, applicable to other platforms
#if CONFIG_I2C_COMMUNICATION_METHOD_CALLBACK_RW
 
 
    // * Provide the device address to the callback function
    i2c_drv_device_init(address);
 
    ESP_LOGI(TAG, "Implemented using read and write callback methods");
    if (accel.begin(i2c_wr_function, hal_callback, address)) {
        ESP_LOGI(TAG, "Initialization of BMA423 accelerometer is successful!");
    } else {
        ESP_LOGE(TAG, "Failed to initialize the BMA423 accelerometer!");
        return ESP_FAIL;
    }
#endif
 
    //* Use the built-in esp-idf communication method
#if CONFIG_I2C_COMMUNICATION_METHOD_BUILTIN_RW
#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0)) && defined(CONFIG_SENSORLIB_ESP_IDF_NEW_API)
 
    ESP_LOGI(TAG, "Implemented using built-in read and write methods (Use higher version >= 5.0 API)");
 
    // * Using the new API of esp-idf 5.x, you need to pass the I2C BUS handle,
    // * which is useful when the bus shares multiple devices.
    extern i2c_master_bus_handle_t bus_handle;
 
    if (accel.begin(bus_handle, address)) {
        ESP_LOGI(TAG, "Initialization of BMA423 accelerometer is successful!");
    } else {
        ESP_LOGE(TAG, "Failed to initialize the BMA423 accelerometer!");
        return ESP_FAIL;
    }
 
#else
 
    ESP_LOGI(TAG, "Implemented using built-in read and write methods (Use lower version < 5.0 API)");
    if (accel.begin((i2c_port_t)CONFIG_I2C_MASTER_PORT_NUM, address, CONFIG_SENSOR_SDA, CONFIG_SENSOR_SCL)) {
        ESP_LOGI(TAG, "Initialization of BMA423 accelerometer is successful!");
    } else {
        ESP_LOGE(TAG, "Failed to initialize the BMA423 accelerometer!");
        return ESP_FAIL;
    }
#endif //ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0)
#endif //CONFIG_I2C_COMMUNICATION_METHOD_BUILTIN_RW
 
    init_done = true;
 
    return ESP_OK;
}
 
void bma423_loop()
{
    if (!init_done) {
        return;
    }
    ESP_LOGI("BMA423", "Temperature:%.2f*C", accel.getTemperature());
}
 
#endif