bhi.c

#include <stdio.h>
#include <string.h>

#include "gpio.h"
#include "bhy_uc_driver.h"
#include "bhy.h"
#include "pmic.h"

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "queue.h"

#include "api/interrupt-sender.h"
#include "epicardium.h"
#include "modules/log.h"
#include "modules/modules.h"
#include "modules/stream.h"

/* Ticks to wait when trying to acquire lock */
#define LOCK_WAIT pdMS_TO_TICKS(BHI160_MUTEX_WAIT_MS)

/* BHI160 Firmware Blob.  Contents are defined in libcard10. */
extern uint8_t bhy1_fw[];

/* Interrupt Pin */
static const gpio_cfg_t bhi160_interrupt_pin = {
	PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP
};

/* Axis remapping matrices */
static int8_t bhi160_mapping_matrix[3 * 3] = { 0, -1, 0, 1, 0, 0, 0, 0, 1 };
static int8_t bmm150_mapping_matrix[3 * 3] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };

/*
 * From the official docs:
 *
 *    The sic matrix should be calculated for customer platform by logging
 *    uncalibrated magnetometer data.  The sic matrix here is only an example
 *    array (identity matrix). Customer should generate their own matrix.  This
 *    affects magnetometer fusion performance.
 *
 * TODO: Get data for card10
 */
/* clang-format off */
static float bhi160_sic_array[3 * 3] = { 1.0, 0.0, 0.0,
                                         0.0, 1.0, 0.0,
                                         0.0, 0.0, 1.0 };
/* clang-format on */

/* BHI160 Fifo */
static uint8_t bhi160_fifo[BHI160_FIFO_SIZE];
static size_t start_index = 0;

/* BHI160 Task ID */
static TaskHandle_t bhi160_task_id = NULL;

/* BHI160 Mutex */
static StaticSemaphore_t bhi160_mutex_data;
static SemaphoreHandle_t bhi160_mutex = NULL;

/* Streams */
static struct stream_info bhi160_streams[10];

/* Active */
static bool bhi160_sensor_active[10] = { 0 };

/* -- Utilities -------------------------------------------------------- {{{ */
/*
 * Retrieve the data size for a sensor.  This value is needed for the creation