diff --git a/examples/bma456/__init__.py b/examples/bma456/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/examples/bma456/bma456_i2c_interrupt_streaming.py b/examples/bma456/bma456_i2c_interrupt_streaming.py new file mode 100644 index 0000000..c474407 --- /dev/null +++ b/examples/bma456/bma456_i2c_interrupt_streaming.py @@ -0,0 +1,51 @@ +import logging +import struct +import sys +import time +from pathlib import Path + +from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle + + +def setup_logging(level: int = logging.DEBUG) -> logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + shuttle.configure_i2c() + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}") + assert shuttle.sensor.chip_id == 0x16 + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.configure_interrupt_streaming() + shuttle.start_streaming() + time.sleep(0.1) + logger.info("configuration complete, start streaming now") + for idx in range(1000): + for streaming in shuttle.board.receive_interrupt_streaming_multiple(includes_mcu_timestamp=False): + sensor_id, packet, time_stamp, payload = streaming + a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack(" logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + + shuttle.configure_i2c() + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:04X}") + assert shuttle.sensor.chip_id == 0x16 + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.configure_polling_streaming() + shuttle.start_streaming() + time.sleep(0.1) + for idx in range(1000): + for streaming in shuttle.board.receive_polling_streaming_multiple(): + sensor_id, payload = streaming + a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack(" logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + + shuttle.configure_i2c() + + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}") + logger.info(f"err_reg=0x{shuttle.sensor.err_reg:02X}") + logger.info(f"status=0x{shuttle.sensor.status:02X}") + logger.info(f"pwr_conf=0x{shuttle.sensor.pwr_conf:02X}") + + logger.info(f"acceleration={shuttle.sensor.acc_data}") + logger.info(f"sensor_time={shuttle.sensor.sensor_time}") + logger.info(f"internal_status={shuttle.sensor.internal_status}") + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.switch_on_accel() + time.sleep(0.05) + logger.info(f"internal_status={shuttle.sensor.internal_status}") + logger.info(f"acceleration={shuttle.sensor.acc_data}") + logger.info(f"sensor_time={shuttle.sensor.sensor_time}") diff --git a/examples/bma456/bma456_spi_interrupt_streaming.py b/examples/bma456/bma456_spi_interrupt_streaming.py new file mode 100644 index 0000000..45b9263 --- /dev/null +++ b/examples/bma456/bma456_spi_interrupt_streaming.py @@ -0,0 +1,53 @@ +import logging +import struct +import sys +import time +from pathlib import Path + +from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle + + +def setup_logging(level: int = logging.DEBUG) -> logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + + shuttle.configure_spi() + _ = shuttle.board.read_spi(shuttle.CS, 0, 1) # dummy read is required, do not delete + + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}") + assert shuttle.sensor.chip_id == 0x16 + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.configure_interrupt_streaming() + shuttle.start_streaming() + time.sleep(0.1) + for idx in range(1000): + for streaming in shuttle.board.receive_interrupt_streaming_multiple(includes_mcu_timestamp=False): + sensor_id, packet, time_stamp, payload = streaming + a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack(" logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + + shuttle.configure_spi() + _ = shuttle.board.read_spi(shuttle.CS, 0, 1) # dummy read is required, do not delete + + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}") + assert shuttle.sensor.chip_id == 0x16 + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.configure_polling_streaming() + shuttle.start_streaming() + time.sleep(0.1) + for idx in range(1000): + for streaming in shuttle.board.receive_polling_streaming_multiple(): + sensor_id, payload = streaming + a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack(" logging.Logger: + logger = logging.getLogger() + logger.setLevel(level) + stdout_handler = logging.StreamHandler(sys.stdout) + log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s" + log_formatter = logging.Formatter(log_format) + stdout_handler.setFormatter(log_formatter) + file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w") + file_handler.setFormatter(log_formatter) + logger.addHandler(stdout_handler) + logger.addHandler(file_handler) + return logger + + +if __name__ == "__main__": + logger = setup_logging() + shuttle = BMA456Shuttle.on_hardware_v3_rev1() + shuttle.initialize() + shuttle.check_connected_hw() + + shuttle.configure_spi() + _ = shuttle.board.read_spi(shuttle.CS, 0, 1) # dummy read is required, do not delete + + logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}") + logger.info(f"err_reg=0x{shuttle.sensor.err_reg:02X}") + logger.info(f"status=0x{shuttle.sensor.status:02X}") + logger.info(f"pwr_conf=0x{shuttle.sensor.pwr_conf:02X}") + + logger.info(f"acceleration={shuttle.sensor.acc_data}") + logger.info(f"sensor_time={shuttle.sensor.sensor_time}") + logger.info(f"internal_status={shuttle.sensor.internal_status}") + shuttle.sensor.pwr_conf = 0x00 + shuttle.sensor.init_ctrl = 0x00 + shuttle.write_mm_config_file() + time.sleep(0.01) + shuttle.sensor.init_ctrl = 0x01 + shuttle.switch_on_accel() + time.sleep(0.05) + logger.info(f"internal_status={shuttle.sensor.internal_status}") + logger.info(f"acceleration={shuttle.sensor.acc_data}") + logger.info(f"sensor_time={shuttle.sensor.sensor_time}") diff --git a/src/umrx_app_v3/sensors/bma456.py b/src/umrx_app_v3/sensors/bma456.py new file mode 100644 index 0000000..a0f3332 --- /dev/null +++ b/src/umrx_app_v3/sensors/bma456.py @@ -0,0 +1,430 @@ +import struct +from collections.abc import Callable +from enum import Enum + + +class BMA456Addr(Enum): + chip_id = 0x00 + err_reg = 0x02 + status = 0x03 + aux_x_lsb = 0x0A + aux_x_msb = 0x0B + aux_y_lsb = 0x0C + aux_y_msb = 0x0D + aux_z_lsb = 0x0E + aux_z_msb = 0x0F + aux_r_lsb = 0x10 + aux_r_msb = 0x11 + acc_x_lsb = 0x12 + acc_x_msb = 0x13 + acc_y_lsb = 0x14 + acc_y_msb = 0x15 + acc_z_lsb = 0x16 + acc_z_msb = 0x17 + sensor_time_0 = 0x18 + sensor_time_1 = 0x19 + sensor_time_2 = 0x1A + event = 0x1B + int_status_0 = 0x1C + int_status_1 = 0x1D + step_counter_0 = 0x1E + step_counter_1 = 0x1F + step_counter_2 = 0x20 + step_counter_3 = 0x21 + temperature = 0x22 + fifo_length_0 = 0x24 + fifo_length_1 = 0x25 + fifo_data = 0x26 + activity_type = 0x27 + internal_status = 0x2A + acc_conf = 0x40 + acc_range = 0x41 + aux_conf = 0x44 + fifo_downs = 0x45 + fifo_wtm_0 = 0x46 + fifo_wtm_1 = 0x47 + fifo_config_0 = 0x48 + fifo_config_1 = 0x49 + aux_dev_id = 0x4B + aux_if_conf = 0x4C + aux_rd_addr = 0x4D + aux_wr_addr = 0x4E + aux_wr_data = 0x4F + int1_io_ctrl = 0x53 + int2_io_ctrl = 0x54 + int_latch = 0x55 + int1_map = 0x56 + int2_map = 0x57 + int_map_data = 0x58 + init_ctrl = 0x59 + features_offset_lsb = 0x5B + features_offset_msb = 0x5C + features_in = 0x5E + internal_error = 0x5F + nvm_conf = 0x6A + if_conf = 0x6B + acc_self_test = 0x6D + nv_conf = 0x70 + offset_0 = 0x71 + offset_1 = 0x72 + offset_2 = 0x73 + pwr_conf = 0x7C + pwr_ctrl = 0x7D + cmd = 0x7E + + +class BMA456: + def __init__(self) -> None: + self.read: Callable | None = None + self.write: Callable | None = None + + def assign_callbacks(self, read_callback: Callable, write_callback: Callable) -> None: + self.read = read_callback + self.write = write_callback + + @property + def chip_id(self) -> int: + return self.read(BMA456Addr.chip_id) + + @property + def err_reg(self) -> int: + return self.read(BMA456Addr.err_reg) + + @property + def status(self) -> int: + return self.read(BMA456Addr.status) + + @property + def aux_data(self) -> tuple[int, int, int, int]: + payload = self.read(BMA456Addr.aux_x_lsb, 8) + aux_x, aux_y, aux_z, aux_r = struct.unpack(" tuple[int, int, int]: + payload = self.read(BMA456Addr.acc_x_lsb, 6) + a_x, a_y, a_z = struct.unpack(" float: + b_0, b_1, b_2 = self.read(BMA456Addr.sensor_time_0, 3) + return ((b_2 << 16) | (b_1 << 8) | b_0) * 39.0625e-6 + + @property + def event(self) -> int: + return self.read(BMA456Addr.event) + + @property + def int_status_0(self) -> int: + return self.read(BMA456Addr.int_status_0) + + @property + def int_status_1(self) -> int: + return self.read(BMA456Addr.int_status_1) + + @property + def step_count(self) -> int: + payload = self.read(BMA456Addr.step_counter_0, 4) + (steps,) = struct.unpack(" int: + return self.read(BMA456Addr.temperature) + + @property + def fifo_length_0(self) -> int: + return self.read(BMA456Addr.fifo_length_0) + + @property + def fifo_length_1(self) -> int: + return self.read(BMA456Addr.fifo_length_1) + + @property + def fifo_data(self) -> int: + return self.read(BMA456Addr.fifo_data) + + @property + def activity_type(self) -> int: + return self.read(BMA456Addr.activity_type) + + @activity_type.setter + def activity_type(self, value: int) -> None: + self.write(BMA456Addr.activity_type, value) + + @property + def internal_status(self) -> int: + return self.read(BMA456Addr.internal_status) + + @property + def acc_conf(self) -> int: + return self.read(BMA456Addr.acc_conf) + + @acc_conf.setter + def acc_conf(self, value: int) -> None: + self.write(BMA456Addr.acc_conf, value) + + @property + def acc_range(self) -> int: + return self.read(BMA456Addr.acc_range) + + @acc_range.setter + def acc_range(self, value: int) -> None: + self.write(BMA456Addr.acc_range, value) + + @property + def aux_conf(self) -> int: + return self.read(BMA456Addr.aux_conf) + + @aux_conf.setter + def aux_conf(self, value: int) -> None: + self.write(BMA456Addr.aux_conf, value) + + @property + def fifo_downs(self) -> int: + return self.read(BMA456Addr.fifo_downs) + + @fifo_downs.setter + def fifo_downs(self, value: int) -> None: + self.write(BMA456Addr.fifo_downs, value) + + @property + def fifo_wtm_0(self) -> int: + return self.read(BMA456Addr.fifo_wtm_0) + + @fifo_wtm_0.setter + def fifo_wtm_0(self, value: int) -> None: + self.write(BMA456Addr.fifo_wtm_0, value) + + @property + def fifo_wtm_1(self) -> int: + return self.read(BMA456Addr.fifo_wtm_1) + + @fifo_wtm_1.setter + def fifo_wtm_1(self, value: int) -> None: + self.write(BMA456Addr.fifo_wtm_1, value) + + @property + def fifo_config_0(self) -> int: + return self.read(BMA456Addr.fifo_config_0) + + @fifo_config_0.setter + def fifo_config_0(self, value: int) -> None: + self.write(BMA456Addr.fifo_config_0, value) + + @property + def fifo_config_1(self) -> int: + return self.read(BMA456Addr.fifo_config_1) + + @fifo_config_1.setter + def fifo_config_1(self, value: int) -> None: + self.write(BMA456Addr.fifo_config_1, value) + + @property + def aux_dev_id(self) -> int: + return self.read(BMA456Addr.aux_dev_id) + + @aux_dev_id.setter + def aux_dev_id(self, value: int) -> None: + self.write(BMA456Addr.aux_dev_id, value) + + @property + def aux_if_conf(self) -> int: + return self.read(BMA456Addr.aux_if_conf) + + @aux_if_conf.setter + def aux_if_conf(self, value: int) -> None: + self.write(BMA456Addr.aux_if_conf, value) + + @property + def aux_rd_addr(self) -> int: + return self.read(BMA456Addr.aux_rd_addr) + + @aux_rd_addr.setter + def aux_rd_addr(self, value: int) -> None: + self.write(BMA456Addr.aux_rd_addr, value) + + @property + def aux_wr_addr(self) -> int: + return self.read(BMA456Addr.aux_wr_addr) + + @aux_wr_addr.setter + def aux_wr_addr(self, value: int) -> None: + self.write(BMA456Addr.aux_wr_addr, value) + + @property + def aux_wr_data(self) -> int: + return self.read(BMA456Addr.aux_wr_data) + + @aux_wr_data.setter + def aux_wr_data(self, value: int) -> None: + self.write(BMA456Addr.aux_wr_data, value) + + @property + def int1_io_ctrl(self) -> int: + return self.read(BMA456Addr.int1_io_ctrl) + + @int1_io_ctrl.setter + def int1_io_ctrl(self, value: int) -> None: + self.write(BMA456Addr.int1_io_ctrl, value) + + @property + def int2_io_ctrl(self) -> int: + return self.read(BMA456Addr.int2_io_ctrl) + + @int2_io_ctrl.setter + def int2_io_ctrl(self, value: int) -> None: + self.write(BMA456Addr.int2_io_ctrl, value) + + @property + def int_latch(self) -> int: + return self.read(BMA456Addr.int_latch) + + @int_latch.setter + def int_latch(self, value: int) -> None: + self.write(BMA456Addr.int_latch, value) + + @property + def int1_map(self) -> int: + return self.read(BMA456Addr.int1_map) + + @int1_map.setter + def int1_map(self, value: int) -> None: + self.write(BMA456Addr.int1_map, value) + + @property + def int2_map(self) -> int: + return self.read(BMA456Addr.int2_map) + + @int2_map.setter + def int2_map(self, value: int) -> None: + self.write(BMA456Addr.int2_map, value) + + @property + def int_map_data(self) -> int: + return self.read(BMA456Addr.int_map_data) + + @int_map_data.setter + def int_map_data(self, value: int) -> None: + self.write(BMA456Addr.int_map_data, value) + + @property + def init_ctrl(self) -> int: + return self.read(BMA456Addr.init_ctrl) + + @init_ctrl.setter + def init_ctrl(self, value: int) -> None: + self.write(BMA456Addr.init_ctrl, value) + + @property + def features_offset_lsb(self) -> int: + return self.read(BMA456Addr.features_offset_lsb) + + @features_offset_lsb.setter + def features_offset_lsb(self, value: int) -> None: + self.write(BMA456Addr.features_offset_lsb, value) + + @property + def features_offset_msb(self) -> int: + return self.read(BMA456Addr.features_offset_msb) + + @features_offset_msb.setter + def features_offset_msb(self, value: int) -> None: + self.write(BMA456Addr.features_offset_msb, value) + + @property + def features_in(self) -> int: + return self.read(BMA456Addr.features_in) + + @features_in.setter + def features_in(self, value: int) -> None: + self.write(BMA456Addr.features_in, value) + + @property + def internal_error(self) -> int: + return self.read(BMA456Addr.internal_error) + + @internal_error.setter + def internal_error(self, value: int) -> None: + self.write(BMA456Addr.internal_error, value) + + @property + def nvm_conf(self) -> int: + return self.read(BMA456Addr.nvm_conf) + + @nvm_conf.setter + def nvm_conf(self, value: int) -> None: + self.write(BMA456Addr.nvm_conf, value) + + @property + def if_conf(self) -> int: + return self.read(BMA456Addr.if_conf) + + @if_conf.setter + def if_conf(self, value: int) -> None: + self.write(BMA456Addr.if_conf, value) + + @property + def acc_self_test(self) -> int: + return self.read(BMA456Addr.acc_self_test) + + @acc_self_test.setter + def acc_self_test(self, value: int) -> None: + self.write(BMA456Addr.acc_self_test, value) + + @property + def nv_conf(self) -> int: + return self.read(BMA456Addr.nv_conf) + + @nv_conf.setter + def nv_conf(self, value: int) -> None: + self.write(BMA456Addr.nv_conf, value) + + @property + def offset_0(self) -> int: + return self.read(BMA456Addr.offset_0) + + @offset_0.setter + def offset_0(self, value: int) -> None: + self.write(BMA456Addr.offset_0, value) + + @property + def offset_1(self) -> int: + return self.read(BMA456Addr.offset_1) + + @offset_1.setter + def offset_1(self, value: int) -> None: + self.write(BMA456Addr.offset_1, value) + + @property + def offset_2(self) -> int: + return self.read(BMA456Addr.offset_2) + + @offset_2.setter + def offset_2(self, value: int) -> None: + self.write(BMA456Addr.offset_2, value) + + @property + def pwr_conf(self) -> int: + return self.read(BMA456Addr.pwr_conf) + + @pwr_conf.setter + def pwr_conf(self, value: int) -> None: + self.write(BMA456Addr.pwr_conf, value) + + @property + def pwr_ctrl(self) -> int: + return self.read(BMA456Addr.pwr_ctrl) + + @pwr_ctrl.setter + def pwr_ctrl(self, value: int) -> None: + self.write(BMA456Addr.pwr_ctrl, value) + + @property + def cmd(self) -> int: + return self.read(BMA456Addr.cmd) + + @cmd.setter + def cmd(self, value: int) -> None: + self.write(BMA456Addr.cmd, value) diff --git a/src/umrx_app_v3/shuttle_board/bma456/__init__.py b/src/umrx_app_v3/shuttle_board/bma456/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/umrx_app_v3/shuttle_board/bma456/bma456_shuttle.py b/src/umrx_app_v3/shuttle_board/bma456/bma456_shuttle.py new file mode 100644 index 0000000..0b32eca --- /dev/null +++ b/src/umrx_app_v3/shuttle_board/bma456/bma456_shuttle.py @@ -0,0 +1,259 @@ +import logging +import time +from array import array +from typing import Any, Self + +from umrx_app_v3.mcu_board.app_board_v3_rev0 import ApplicationBoardV3Rev0 +from umrx_app_v3.mcu_board.app_board_v3_rev1 import ApplicationBoardV3Rev1 +from umrx_app_v3.mcu_board.bst_app_board import ApplicationBoard +from umrx_app_v3.mcu_board.bst_protocol_constants import ( + I2CMode, + MultiIOPin, + PinDirection, + PinValue, + SPIBus, + StreamingSamplingUnit, +) +from umrx_app_v3.mcu_board.commands.spi import SPIConfigureCmd +from umrx_app_v3.sensors.bma456 import BMA456, BMA456Addr +from umrx_app_v3.shuttle_board.bma456.config_files.bma456_an import CONFIG_FILE as BMA456_AN_CONFIG_FILE +from umrx_app_v3.shuttle_board.bma456.config_files.bma456_h import CONFIG_FILE as BMA456_H_CONFIG_FILE +from umrx_app_v3.shuttle_board.bma456.config_files.bma456_mm import CONFIG_FILE as BMA456_MM_CONFIG_FILE +from umrx_app_v3.shuttle_board.bma456.config_files.bma456_tablet import CONFIG_FILE as BMA456_TABLET_CONFIG_FILE +from umrx_app_v3.shuttle_board.bma456.config_files.bma456_w import CONFIG_FILE as BMA456_W_CONFIG_FILE + +logger = logging.getLogger(__name__) + + +class BMA456ShuttleError(Exception): ... + + +class BMA456Shuttle: + # 1-wire PROM + SHUTTLE_ID = 0x141 + # Pins + SDO = MultiIOPin.MINI_SHUTTLE_PIN_2_3 + CS = MultiIOPin.MINI_SHUTTLE_PIN_2_1 + INT1 = MultiIOPin.MINI_SHUTTLE_PIN_1_6 + INT2 = MultiIOPin.MINI_SHUTTLE_PIN_1_7 + # I2C addresses + I2C_DEFAULT_ADDRESS = 0x18 + I2C_ALTERNATIVE_ADDRESS = 0x19 + + def __init__(self, **kw: Any) -> None: + self.board: ApplicationBoard | None = kw["board"] if kw.get("board") else None + self.sensor: BMA456 = BMA456() + self.is_initialized: bool = False + self.is_i2c_configured: bool = False + self.is_spi_configured: bool = False + self.is_polling_streaming_configured: bool = False + self.is_interrupt_streaming_configured: bool = False + + def attach_to(self, board: ApplicationBoard) -> None: + self.board = board + + @classmethod + def on_hardware_v3_rev0(cls) -> Self: + return cls(board=ApplicationBoardV3Rev0()) + + @classmethod + def on_hardware_v3_rev1(cls) -> Self: + return cls(board=ApplicationBoardV3Rev1()) + + def initialize(self) -> None: + self.board.initialize() + self.board.start_communication() + self.is_initialized = True + + def check_connected_hw(self) -> None: + board_info = self.board.board_info + if board_info.shuttle_id != self.SHUTTLE_ID: + error_message = f"Expect shuttle_id={self.SHUTTLE_ID} got {board_info.shuttle_id}" + raise BMA456ShuttleError(error_message) + + def assign_sensor_callbacks(self) -> None: + self.sensor.assign_callbacks(read_callback=self.read_register, write_callback=self.write_register) + + def configure_i2c(self) -> None: + self.board.set_vdd_vddio(0.0, 0.0) + time.sleep(0.1) + self.board.set_pin_config(self.SDO, PinDirection.OUTPUT, PinValue.LOW) + self.board.set_pin_config(self.CS, PinDirection.OUTPUT, PinValue.HIGH) + self.board.set_vdd_vddio(3.3, 3.3) + time.sleep(0.01) + self.board.configure_i2c(I2CMode.FAST_MODE) + self.assign_sensor_callbacks() + self.is_i2c_configured = True + self.is_spi_configured = False + + def configure_spi(self) -> None: + self.board.set_vdd_vddio(0.0, 0.0) + time.sleep(0.1) + self.board.set_pin_config(self.CS, PinDirection.OUTPUT, PinValue.HIGH) + self.board.set_vdd_vddio(3.3, 3.3) + time.sleep(0.2) + if isinstance(self.board, ApplicationBoardV3Rev1): + SPIConfigureCmd.set_bus(SPIBus.BUS_1) + self.board.configure_spi() + self.assign_sensor_callbacks() + self.is_spi_configured = True + self.is_i2c_configured = False + + def read_register(self, reg_addr: int, bytes_to_read: int = 1) -> array[int] | int: + if isinstance(reg_addr, BMA456Addr): + reg_addr = reg_addr.value + if self.is_i2c_configured: + values = self.board.read_i2c(self.I2C_DEFAULT_ADDRESS, reg_addr, bytes_to_read) + if bytes_to_read == 1: + return values[0] + return values + if self.is_spi_configured: + if bytes_to_read == 1: + return self.read_single_register_spi(reg_addr) + return self.read_multiple_spi(reg_addr, bytes_to_read) + + error_message = "Configure I2C or SPI protocol prior to reading registers" + raise BMA456ShuttleError(error_message) + + def read_single_register_spi(self, reg_addr: int) -> int: + values = self.board.read_spi(self.CS, reg_addr, 2) + return values[1] + + def read_multiple_spi(self, start_register_addr: int, bytes_to_read: int) -> array[int]: + values = self.board.read_spi(self.CS, start_register_addr, bytes_to_read + 1) + return values[1:] + + def write_register(self, reg_addr: int, value: int) -> None: + if isinstance(reg_addr, BMA456Addr): + reg_addr = reg_addr.value + if self.is_i2c_configured: + return self.board.write_i2c(self.I2C_DEFAULT_ADDRESS, reg_addr, array("B", (value,))) + if self.is_spi_configured: + return self.board.write_spi(self.CS, reg_addr, array("B", (value,))) + error_message = "Configure I2C or SPI protocol prior to reading registers" + raise BMA456ShuttleError(error_message) + + def _configure_i2c_polling_streaming( + self, + sampling_time: int, + sampling_unit: StreamingSamplingUnit, + ) -> None: + self.board.streaming_polling_set_i2c_channel( + i2c_address=self.I2C_DEFAULT_ADDRESS, + sampling_time=sampling_time, + sampling_unit=sampling_unit, + register_address=BMA456Addr.acc_x_lsb.value, + bytes_to_read=(6 + 3), + ) + self.board.configure_streaming_polling(interface="i2c") + self.is_polling_streaming_configured = True + + def _configure_spi_polling_streaming( + self, + sampling_time: int, + sampling_unit: StreamingSamplingUnit, + ) -> None: + self.board.streaming_polling_set_spi_channel( + cs_pin=self.CS, + sampling_time=sampling_time, + sampling_unit=sampling_unit, + register_address=BMA456Addr.acc_x_lsb.value, + bytes_to_read=(1 + 6 + 3), + ) + self.board.configure_streaming_polling(interface="spi") + self.is_polling_streaming_configured = True + + def switch_on_accel(self) -> None: + acc_en = 0x01 + self.sensor.pwr_ctrl = acc_en << 2 | self.sensor.pwr_ctrl + acc_odr = 0x07 # 50 Hz + self.sensor.acc_conf = acc_odr << 0 + + def configure_polling_streaming( + self, + sampling_time: int = 1, + sampling_unit: StreamingSamplingUnit = StreamingSamplingUnit.MILLI_SECOND, + ) -> None: + self.switch_on_accel() + if self.is_i2c_configured: + return self._configure_i2c_polling_streaming(sampling_time, sampling_unit) + if self.is_spi_configured: + return self._configure_spi_polling_streaming(sampling_time, sampling_unit) + error_message = "Configure I2C or SPI protocol first" + raise BMA456ShuttleError(error_message) + + def _configure_i2c_interrupt_streaming(self) -> None: + self.board.streaming_interrupt_set_i2c_channel( + interrupt_pin=self.INT1, + i2c_address=BMA456Shuttle.I2C_DEFAULT_ADDRESS, + register_address=BMA456Addr.acc_x_lsb.value, + bytes_to_read=(6 + 3), + ) + self.board.configure_streaming_interrupt(interface="i2c") + self.is_interrupt_streaming_configured = True + + def _configure_spi_interrupt_streaming(self) -> None: + self.board.streaming_interrupt_set_spi_channel( + interrupt_pin=self.INT1, + cs_pin=self.CS, + register_address=BMA456Addr.acc_x_lsb.value, + bytes_to_read=(6 + 3 + 1), + ) + self.board.configure_streaming_interrupt(interface="spi") + self.is_interrupt_streaming_configured = True + + def configure_interrupt_streaming(self) -> None: + self.switch_on_accel() + self.sensor.int_map_data = 1 << 2 + self.sensor.int1_io_ctrl = (1 << 1) | (1 << 3) + time.sleep(0.02) + if self.is_i2c_configured: + return self._configure_i2c_interrupt_streaming() + if self.is_spi_configured: + return self._configure_spi_interrupt_streaming() + error_message = "Configure I2C or SPI protocol first" + raise BMA456ShuttleError(error_message) + + def start_streaming(self) -> None: + if self.is_polling_streaming_configured: + return self.board.start_polling_streaming() + if self.is_interrupt_streaming_configured: + return self.board.start_interrupt_streaming() + error_message = "Configure polling or interrupt streaming before streaming start" + raise BMA456ShuttleError(error_message) + + def stop_streaming(self) -> None: + self.board.stop_polling_streaming() + time.sleep(0.15) + self.board.stop_interrupt_streaming() + + def write_config_file(self, config_file: tuple[int]) -> None: + transaction_length = 8 + for i in range(0, len(config_file), transaction_length): + chunk_data = config_file[i : i + transaction_length] + self.sensor.features_offset_lsb = (i // 2) & 0x0F + self.sensor.features_offset_msb = (i // 2) >> 4 + # logger.info(f"writing chunk of {len(chunk_data)} bytes") + chunk = array("B", chunk_data) + if self.is_i2c_configured: + self.board.write_i2c(self.I2C_DEFAULT_ADDRESS, BMA456Addr.features_in.value, chunk) + if self.is_spi_configured: + self.board.write_spi(self.CS, BMA456Addr.features_in.value, chunk) + if not (self.is_spi_configured or self.is_i2c_configured): + error_message = "Configure I2C or SPI protocol prior to writing configuration file" + raise BMA456ShuttleError(error_message) + + def write_an_config_file(self) -> None: + self.write_config_file(BMA456_AN_CONFIG_FILE) + + def write_h_config_file(self) -> None: + self.write_config_file(BMA456_H_CONFIG_FILE) + + def write_mm_config_file(self) -> None: + self.write_config_file(BMA456_MM_CONFIG_FILE) + + def write_tablet_config_file(self) -> None: + self.write_config_file(BMA456_TABLET_CONFIG_FILE) + + def write_w_config_file(self) -> None: + self.write_config_file(BMA456_W_CONFIG_FILE) diff --git a/src/umrx_app_v3/shuttle_board/bma456/config_files/__init__.py b/src/umrx_app_v3/shuttle_board/bma456/config_files/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/umrx_app_v3/shuttle_board/bma456/config_files/bma456_an.py b/src/umrx_app_v3/shuttle_board/bma456/config_files/bma456_an.py new file mode 100644 index 0000000..8614c47 --- /dev/null +++ b/src/umrx_app_v3/shuttle_board/bma456/config_files/bma456_an.py @@ -0,0 +1,1202 @@ +CONFIG_FILE = ( + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0xC8, + 0x2E, + 0x00, + 0x2E, + 0x80, + 0x2E, + 0x58, + 0x01, + 0x80, + 0x2E, + 0x42, + 0x02, + 0xB0, + 0xF0, + 0x10, + 0x30, + 0x21, + 0x2E, + 0x16, + 0xF0, + 0x80, + 0x2E, + 0xF0, + 0x00, + 0x1F, + 0x50, + 0x1D, + 0x52, + 0x01, + 0x42, + 0x3B, + 0x80, + 0x41, + 0x30, + 0x01, + 0x42, + 0x3C, + 0x80, + 0x00, + 0x2E, + 0x01, + 0x40, + 0x01, + 0x42, + 0x21, + 0x2E, + 0xFF, + 0xAF, + 0xB8, + 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import BMA456 from umrx_app_v3.sensors.bmi088 import BMI088 from umrx_app_v3.sensors.bmi323 import BMI323 from umrx_app_v3.sensors.bmp390 import BMP390 @@ -175,3 +176,8 @@ def bmp390() -> BMP390: @pytest.fixture(scope="session", autouse=True) def bma400() -> BMA400: return BMA400() + + +@pytest.fixture(scope="session", autouse=True) +def bma456() -> BMA456: + return BMA456() diff --git a/tests/sensors/test_bma456.py b/tests/sensors/test_bma456.py new file mode 100644 index 0000000..8e3d458 --- /dev/null +++ b/tests/sensors/test_bma456.py @@ -0,0 +1,32 @@ +from typing import Any +from unittest.mock import patch + +from umrx_app_v3.sensors.bma456 import BMA456 + + +def test_bma456_read_properties(bma456: BMA456) -> None: + def fake_read(*args: Any) -> int | bytes: + if len(args) <= 1: + return 42 + return b"b" * args[-1] + + all_properties = {key: value for key, value in bma456.__class__.__dict__.items() if isinstance(value, property)} + write_only_properties = [ + key for key, value in all_properties.items() if (value.fset is not None) and (value.fget is None) + ] + readable_properties = all_properties.keys() - write_only_properties + + for readable_property in readable_properties: + with patch.object(bma456, "read", side_effect=fake_read) as mocked_read: + getattr(bma456, readable_property) + mocked_read.assert_called_once() + + +def test_bma456_write_properties(bma456: BMA456) -> None: + all_properties = {key: value for key, value in bma456.__class__.__dict__.items() if isinstance(value, property)} + writable_properties = [key for key, value in all_properties.items() if value.fset is not None] + + for writable_property in writable_properties: + with patch.object(bma456, "write") as mocked_write: + setattr(bma456, writable_property, 123) + mocked_write.assert_called_once()