[contexthub] bmi160: Change bmi160 accel to support 8g and 16g range.
BUG: b/37222541
Test: tested with local build.
Change-Id: I833afa1f3b82227268a8e274e55ae52077e2caf8
diff --git a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
index 1c85a7b..a816e74 100644
--- a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
+++ b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
@@ -233,7 +233,20 @@
#define MAX_NUM_COMMS_EVENT_SAMPLES 15
-#define kScale_acc 0.00239501953f // ACC_range * 9.81f / 32768.0f;
+// Default accel range is 8g
+#ifndef BMI160_ACC_RANGE_G
+#define BMI160_ACC_RANGE_G 8
+#endif
+
+#if BMI160_ACC_RANGE_G == 16
+#define ACC_RANGE_SETTING 0x0c
+#elif BMI160_ACC_RANGE_G == 8
+#define ACC_RANGE_SETTING 0x08
+#else
+#error "Invalid BMI160_ACC_RANGE_G setting: valid values are 8, 16"
+#endif
+
+#define kScale_acc (9.81f * BMI160_ACC_RANGE_G / 32768.0f)
#define kScale_gyr 0.00053263221f // GYR_range * M_PI / (180.0f * 32768.0f);
#define kScale_temp 0.001953125f // temperature in deg C
#define kTempInvalid -1000.0f
@@ -1517,9 +1530,15 @@
}
static void configMotion(uint8_t odr) {
+#if BMI160_ACC_RANGE_G == 16
+ // motion threshold is element * 31.25mg (for 16g range)
+ static const uint8_t motion_thresholds[ACC_MAX_RATE+1] =
+ {3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 1, 1, 1};
+#elif BMI160_ACC_RANGE_G == 8
// motion threshold is element * 15.63mg (for 8g range)
static const uint8_t motion_thresholds[ACC_MAX_RATE+1] =
{5, 5, 5, 5, 5, 5, 5, 5, 4, 3, 2, 2, 2};
+#endif
// set any_motion duration to 1 point
// set no_motion duration to (3+1)*1.28sec=5.12sec
@@ -2664,8 +2683,8 @@
break;
case CALIBRATION_FOC:
- // set accel range to +-8g
- SPI_WRITE(BMI160_REG_ACC_RANGE, 0x08);
+ // set accel range
+ SPI_WRITE(BMI160_REG_ACC_RANGE, ACC_RANGE_SETTING);
// enable accel fast offset compensation,
// x: 0g, y: 0g, z: 1g
@@ -2828,8 +2847,8 @@
// set accel conf
SPI_WRITE(BMI160_REG_ACC_CONF, 0x2c);
- // set accel range to +-8g
- SPI_WRITE(BMI160_REG_ACC_RANGE, 0x08);
+ // set accel range
+ SPI_WRITE(BMI160_REG_ACC_RANGE, ACC_RANGE_SETTING);
// read stale accel data
SPI_READ(BMI160_REG_DATA_14, 6, &mTask.dataBuffer);
@@ -3320,8 +3339,8 @@
mTask.sensors[GYR].offset_enable = false;
SPI_WRITE(BMI160_REG_OFFSET_6, offset6Mode(), 450);
- // initial range for accel (+-8g) and gyro (+-1000 degree).
- SPI_WRITE(BMI160_REG_ACC_RANGE, 0x08, 450);
+ // initial range for accel and gyro (+-1000 degree).
+ SPI_WRITE(BMI160_REG_ACC_RANGE, ACC_RANGE_SETTING, 450);
SPI_WRITE(BMI160_REG_GYR_RANGE, 0x01, 450);
// Reset step counter
