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Merged
TobiasRoeddiger merged 1 commit into from
Sep 21, 2026
Merged

Improve BMA580 FIFO handling #273

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68 changes: 26 additions & 42 deletions src/SensorManager/BMA580/BMA580_Sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,7 +237,10 @@ int8_t BMA580::get_accel_and_int_settings(struct bma5_dev *device)
}

/*!
* @brief This internal API gets FIFO configurations.
* @brief This internal API sets FIFO configurations and verifies the readback.
*
* The BMA580 silently limits the FIFO to 512 bytes while the feature engine
* is enabled, so verify that the requested FIFO size was accepted.
*/
int8_t BMA580::get_fifo_conf(const struct bma5_fifo_conf *fifo_config, struct bma5_dev *device)
{
Expand All @@ -253,13 +256,17 @@ int8_t BMA580::get_fifo_conf(const struct bma5_fifo_conf *fifo_config, struct bm
rslt = bma5_get_fifo_conf(&read_fifo_conf, device);
bma5_check_rslt("bma5_get_fifo_conf", rslt);

if (read_fifo_conf.fifo_size != fifo_config->fifo_size) {
LOG_ERR("FIFO size mismatch: requested 0x%02X, readback 0x%02X "
"(feature engine likely still enabled)",
fifo_config->fifo_size, read_fifo_conf.fifo_size);
}

return rslt;
}

int BMA580::init(int odr, int watermark_level) {
int8_t rslt;
struct bma580_int_map int_map, get_int_map;
//struct bma5_fifo_conf fifo_conf;

/* Assign context parameter selection */
enum bma5_context context = BMA5_HEARABLE;
Expand All @@ -277,19 +284,11 @@ int BMA580::init(int odr, int watermark_level) {
bma5_check_rslt("bma580_init", rslt);
LOG_DBG("Chip ID :0x%X", dev.chip_id);

/* Map generic interrupts to hardware interrupt pin of the sensor */
rslt = bma580_get_int_map(&int_map, &dev);
bma5_check_rslt("bma580_get_int_map", rslt);

/* Set FIFO full interrupt to INT2 */
//int_map.fifo_full_int_map = BMA580_FIFO_FULL_INT_MAP_INT2;
int_map.fifo_wm_int_map = BMA580_FIFO_WM_INT_MAP_INT1;

rslt = bma580_set_int_map(&int_map, &dev);
bma5_check_rslt("bma580_set_int_map", rslt);

rslt = bma580_get_int_map(&get_int_map, &dev);
bma5_check_rslt("bma580_get_int_map", rslt);
/* The feature engine and FIFO share 1024 bytes of RAM. None of the
* feature-engine functions are used here, so disable it to make the full
* RAM available to the FIFO. INT1/INT2 are unused; the FIFO is polled. */
rslt = bma5_set_feat_eng_conf(BMA5_FEAT_ENG_CTRL_DISABLE, &dev);
bma5_check_rslt("bma5_set_feat_eng_conf", rslt);

rslt = get_accel_and_int_settings(&dev);
bma5_check_rslt("get_accel_and_int_settings", rslt);
Expand All @@ -298,17 +297,16 @@ int BMA580::init(int odr, int watermark_level) {
rslt = bma5_get_fifo_conf(&fifo_conf, &dev);
bma5_check_rslt("bma5_get_fifo_conf", rslt);

rslt = bma5_get_fifo_conf(&fifo_conf, &dev);
bma5_check_rslt("bma5_get_fifo_conf", rslt);

fifo_conf.fifo_cfg = BMA5_FIFO_CFG_ENABLE;
fifo_conf.fifo_acc_x = BMA5_FIFO_ACC_X_ENABLE;
fifo_conf.fifo_acc_y = BMA5_FIFO_ACC_Y_ENABLE;
fifo_conf.fifo_acc_z = BMA5_FIFO_ACC_Z_ENABLE;
fifo_conf.fifo_compression = BMA5_FIFO_COMPRESSION_ACC_16BIT;
fifo_conf.fifo_sensor_time = BMA5_FIFO_SENSOR_TIME_OFF;
fifo_conf.fifo_size = BMA5_FIFO_SIZE_MAX_512_BYTES;
fifo_conf.fifo_stop_on_full = BMA5_ENABLE; //BMA5_ENABLE
fifo_conf.fifo_size = BMA5_FIFO_SIZE_MAX_1024_BYTES;
/* Keep sampling if servicing is delayed instead of leaving the FIFO
* permanently stopped with stale data. Oldest samples may be overwritten. */
fifo_conf.fifo_stop_on_full = BMA5_DISABLE;

rslt = get_fifo_conf(&fifo_conf, &dev);
bma5_check_rslt("get_fifo_conf", rslt);
Expand Down Expand Up @@ -336,32 +334,18 @@ int BMA580::stop() {

int BMA580::read(bma5_sens_fifo_axes_data_16_bit *fifo_accel_data) {
int8_t rslt = BMA5_OK;
uint8_t n_status = 1;
struct bma580_int_status_types int_status{};

fifoframe.fifo_avail_frames = 0;

int_status.int_src = BMA580_INT_STATUS_INT1;
/* Read all available data without relying on watermark timing. The sensor
* and MCU clocks can drift enough for a timer poll to precede the event. */
rslt = bma5_read_fifo_data(&fifoframe, &fifo_conf, &dev);
bma5_check_rslt("bma5_read_fifo_data", rslt);

/* Get fifo full interrupt 2 status */
rslt = bma580_get_int_status(&int_status, n_status, &dev);
bma5_check_rslt("bma580_get_int_status", rslt);

if (int_status.int_status.fifo_wm_int_status & BMA5_ENABLE)
if (rslt == BMA5_OK && fifoframe.fifo_avail_len > 0)
{
/* Read FIFO data */
rslt = bma5_read_fifo_data(&fifoframe, &fifo_conf, &dev);
bma5_check_rslt("bma5_read_fifo_data", rslt);

/* Set fifo full interrupt 2 status */
rslt = bma580_set_int_status(&int_status, n_status, &dev);
bma5_check_rslt("bma580_get_int_status\n", rslt);

if (rslt == BMA5_OK)
{
/* Parse the FIFO data to extract accelerometer and sensortime data from the FIFO buffer */
(void)bma5_extract_acc_sens_time_16_bit(fifo_accel_data, &fifoframe, &fifo_conf, &dev);
}
/* Parse accelerometer data from the FIFO buffer. */
(void)bma5_extract_acc_sens_time_16_bit(fifo_accel_data, &fifoframe, &fifo_conf, &dev);
}

return fifoframe.fifo_avail_frames;
Expand Down
2 changes: 1 addition & 1 deletion src/SensorManager/BMA580/BMA580_Sensor.h
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Expand Up @@ -44,7 +44,7 @@
/*! Macro definition */

/*! FIFO raw data buffer size */
#define BMA580_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(520)
#define BMA580_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(1032)

/*! Number of accel frames to be extracted from FIFO
* Calculation:
Expand Down
10 changes: 7 additions & 3 deletions src/SensorManager/BoneConduction.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,16 @@ const SampleRateSetting<10> BoneConduction::sample_rates = {
bool BoneConduction::init(struct k_msgq * queue) {
if (!_active) {
pm_device_runtime_get(ls_1_8);
pm_device_runtime_get(ls_3_3);
k_msleep(50);
_active = true;
}

if (bma580.init() != 0) { // hardware I2C mode, can pass in address & alt Wire
LOG_WRN("Could not find a valid bone conduction sensor, check wiring!");
_active = false;
pm_device_runtime_put(ls_1_8);
pm_device_runtime_put(ls_3_3);
return false;
}

Expand Down Expand Up @@ -113,14 +116,14 @@ void BoneConduction::start(int sample_rate_idx) {

t_sample_us = 1000000.0f / sample_rates.true_sample_rates[sample_rate_idx];

k_timeout_t t = K_USEC(t_sample_us);

int word_size = 3 * sizeof(int16_t) + 1;
_num_samples_buffered = MIN(MAX(1, (int) (CONFIG_SENSOR_LATENCY_MS * 1000.0f / t_sample_us)), 512 / word_size - 8); // Buffer size is 512 bytes
_num_samples_buffered = MIN(MAX(1, (int) (CONFIG_SENSOR_LATENCY_MS * 1000.0f / t_sample_us)), 1024 / word_size - 8); // Buffer size is 1024 bytes

bma580.init(sample_rates.reg_vals[sample_rate_idx], _num_samples_buffered * word_size);
bma580.start();

/* Drain the FIFO once per buffered block instead of once per sample. */
k_timeout_t t = K_USEC(t_sample_us * _num_samples_buffered);
k_timer_start(&sensor.sensor_timer, K_NO_WAIT, t);

_running = true;
Expand All @@ -139,4 +142,5 @@ void BoneConduction::stop() {
bma580.stop();

pm_device_runtime_put(ls_1_8);
pm_device_runtime_put(ls_3_3);
}
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