Refactor BMA421 as a generic class that implements the concept IsMotionSensor.

src/components/motion/MotionController.cpp

@@ -69,12 +69,12 @@ int32_t MotionController::currentShakeSpeed() {
 void MotionController::IsSensorOk(bool isOk) {
   isSensorOk = isOk;
 }
-void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
+void MotionController::Init(Pinetime::Drivers::MotionSensors::DeviceTypes types) {
   switch (types) {
-    case Drivers::Bma421::DeviceTypes::BMA421:
+    case Drivers::MotionSensors::DeviceTypes::BMA421:
       this->deviceType = DeviceTypes::BMA421;
       break;
-    case Drivers::Bma421::DeviceTypes::BMA425:
+    case Drivers::MotionSensors::DeviceTypes::BMA425:
       this->deviceType = DeviceTypes::BMA425;
       break;
     default:

src/components/motion/MotionController.h

@@ -1,7 +1,8 @@
 #pragma once
 
 #include <cstdint>
-#include <drivers/Bma421.h>
+#include <drivers/MotionSensor.h>
+#include <port/MotionSensor.h>
 #include <components/ble/MotionService.h>
 
 namespace Pinetime {
@@ -48,7 +49,7 @@ namespace Pinetime {
         return deviceType;
       }
 
-      void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
+      void Init(Pinetime::Drivers::MotionSensors::DeviceTypes types);
       void SetService(Pinetime::Controllers::MotionService* service);
 
     private:

src/drivers/Bma421.cpp

@@ -4,7 +4,7 @@
 #include "drivers/TwiMaster.h"
 #include <drivers/Bma421_C/bma423.h>
 
-using namespace Pinetime::Drivers;
+using namespace Pinetime::Drivers::MotionSensors;
 
 namespace {
   int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
@@ -44,13 +44,13 @@ void Bma421::Init() {
 
   switch (bma.chip_id) {
     case BMA423_CHIP_ID:
-      deviceType = DeviceTypes::BMA421;
+      deviceType = MotionSensors::DeviceTypes::BMA421;
       break;
     case BMA425_CHIP_ID:
-      deviceType = DeviceTypes::BMA425;
+      deviceType = MotionSensors::DeviceTypes::BMA425;
       break;
     default:
-      deviceType = DeviceTypes::Unknown;
+      deviceType = MotionSensors::DeviceTypes::Unknown;
       break;
   }
 
@@ -99,7 +99,7 @@ void Bma421::Write(uint8_t registerAddress, const uint8_t* data, size_t size) {
   twiMaster.Write(deviceAddress, registerAddress, data, size);
 }
 
-Bma421::Values Bma421::Process() {
+Pinetime::Drivers::MotionSensors::Values Bma421::Process() {
   if (not isOk)
     return {};
   struct bma4_accel data;
@@ -133,6 +133,6 @@ void Bma421::SoftReset() {
     nrf_delay_ms(1);
   }
 }
-Bma421::DeviceTypes Bma421::DeviceType() const {
+Pinetime::Drivers::MotionSensors::DeviceTypes Bma421::DeviceType() const {
   return deviceType;
 }

src/drivers/Bma421.h

@@ -1,47 +1,50 @@
 #pragma once
 #include "drivers/TwiMaster.h"
 #include "port/TwiMaster.h"
+#include "drivers/MotionSensor.h"
 #include <drivers/Bma421_C/bma4_defs.h>
 
 namespace Pinetime {
   namespace Drivers {
-    class Bma421 {
-    public:
-      enum class DeviceTypes : uint8_t { Unknown, BMA421, BMA425 };
-      struct Values {
-        uint32_t steps;
-        int16_t x;
-        int16_t y;
-        int16_t z;
+    namespace MotionSensors {
+      class Bma421 {
+      public:
+        enum class DeviceTypes : uint8_t { Unknown, BMA421, BMA425 };
+        struct Values {
+          uint32_t steps;
+          int16_t x;
+          int16_t y;
+          int16_t z;
+        };
+        Bma421(TwiMaster& twiMaster, uint8_t twiAddress);
+        Bma421(const Bma421&) = delete;
+        Bma421& operator=(const Bma421&) = delete;
+        Bma421(Bma421&&) = delete;
+        Bma421& operator=(Bma421&&) = delete;
+
+        /// The chip freezes the TWI bus after the softreset operation. Softreset is separated from the
+        /// Init() method to allow the caller to uninit and then reinit the TWI device after the softreset.
+        void SoftReset();
+        void Init();
+        MotionSensors::Values Process();
+        void ResetStepCounter();
+
+        void Read(uint8_t registerAddress, uint8_t* buffer, size_t size);
+        void Write(uint8_t registerAddress, const uint8_t* data, size_t size);
+
+        bool IsOk() const;
+        MotionSensors::DeviceTypes DeviceType() const;
+
+      private:
+        void Reset();
+
+        TwiMaster& twiMaster;
+        uint8_t deviceAddress = 0x18;
+        struct bma4_dev bma;
+        bool isOk = false;
+        bool isResetOk = false;
+        MotionSensors::DeviceTypes deviceType = MotionSensors::DeviceTypes::Unknown;
       };
-      Bma421(TwiMaster& twiMaster, uint8_t twiAddress);
-      Bma421(const Bma421&) = delete;
-      Bma421& operator=(const Bma421&) = delete;
-      Bma421(Bma421&&) = delete;
-      Bma421& operator=(Bma421&&) = delete;
-
-      /// The chip freezes the TWI bus after the softreset operation. Softreset is separated from the
-      /// Init() method to allow the caller to uninit and then reinit the TWI device after the softreset.
-      void SoftReset();
-      void Init();
-      Values Process();
-      void ResetStepCounter();
-
-      void Read(uint8_t registerAddress, uint8_t* buffer, size_t size);
-      void Write(uint8_t registerAddress, const uint8_t* data, size_t size);
-
-      bool IsOk() const;
-      DeviceTypes DeviceType() const;
-
-    private:
-      void Reset();
-
-      TwiMaster& twiMaster;
-      uint8_t deviceAddress = 0x18;
-      struct bma4_dev bma;
-      bool isOk = false;
-      bool isResetOk = false;
-      DeviceTypes deviceType = DeviceTypes::Unknown;
-    };
+    }
   }
 }

src/drivers/MotionSensor.h

@@ -0,0 +1,78 @@
+#pragma once
+#include <concepts>
+#include <cstddef>
+#include <cstdint>
+
+namespace Pinetime {
+  namespace Drivers {
+    namespace MotionSensors {
+      enum class DeviceTypes : uint8_t { Unknown, BMA421, BMA425 };
+      struct Values {
+        uint32_t steps;
+        int16_t x;
+        int16_t y;
+        int16_t z;
+      };
+    }
+
+    template <typename motionSensorImpl>
+    concept IsMotionSensor = requires(motionSensorImpl sensor, uint8_t registerAddress, uint8_t* data, uint8_t* constData, size_t size) {
+                               { sensor.SoftReset() };
+                               { sensor.Init() };
+                               { sensor.Process() };
+                               { sensor.ResetStepCounter() };
+                               { sensor.IsOk() };
+                               { sensor.DeviceType() };
+                               { sensor.Read(registerAddress, data, size) };
+                               { sensor.Write(registerAddress, constData, size) };
+                           };
+
+    namespace Interface {
+      template <class T>
+        requires IsMotionSensor<T>
+      class MotionSensor {
+      public:
+        explicit MotionSensor(T& impl) : impl {impl} {}
+        MotionSensor(const MotionSensor&) = delete;
+        MotionSensor& operator=(const MotionSensor&) = delete;
+        MotionSensor(MotionSensor&&) = delete;
+        MotionSensor& operator=(MotionSensor&&) = delete;
+
+        void SoftReset() {
+          return impl.SoftReset();
+        }
+
+        void Init() {
+          impl.Init();
+        }
+
+        MotionSensors::Values Process() {
+          return impl.Process();
+        }
+
+        void ResetStepCounter() {
+          return impl.ResetStepCounter();
+        }
+
+        void Read(uint8_t registerAddress, uint8_t* buffer, size_t size) {
+          impl.Read(registerAddress, buffer, size);
+        }
+
+        void Write(uint8_t registerAddress, const uint8_t* data, size_t size) {
+          impl.Write(registerAddress, data, size);
+        }
+
+        bool IsOk() const {
+          return impl.IsOk();
+        }
+
+        MotionSensors::DeviceTypes DeviceType() const {
+          return impl.DeviceType();
+        }
+
+      private:
+        T& impl;
+      };
+    }
+  }
+}

src/main.cpp

@@ -59,6 +59,7 @@ Pinetime::Logging::DummyLogger logger;
 #endif
 
 #include "port/TouchPanel.h"
+#include "port/MotionSensor.h"
 
 static constexpr uint8_t touchPanelTwiAddress = 0x15;
 static constexpr uint8_t motionSensorTwiAddress = 0x18;
@@ -101,7 +102,8 @@ Pinetime::Drivers::TouchPanel touchPanel {touchPanelImpl};
 #endif
 Pinetime::Components::LittleVgl lvgl {lcd, touchPanel};
 
-Pinetime::Drivers::Bma421 motionSensor {twiMaster, motionSensorTwiAddress};
+Pinetime::Drivers::MotionSensors::Bma421 motionSensorImpl {twiMaster, motionSensorTwiAddress};
+Pinetime::Drivers::MotionSensor motionSensor {motionSensorImpl};
 Pinetime::Drivers::Hrs3300 heartRateSensor {twiMaster, heartRateSensorTwiAddress};
 
 TimerHandle_t debounceTimer;

src/port/MotionSensor.h

@@ -0,0 +1,16 @@
+#pragma once
+#include "drivers/MotionSensor.h"
+
+#ifdef TARGET_DEVICE_PINETIME
+  #include <drivers/Bma421.h>
+#endif
+
+namespace Pinetime {
+  namespace Drivers {
+#ifdef TARGET_DEVICE_PINETIME
+    using MotionSensor = Interface::MotionSensor<Pinetime::Drivers::MotionSensors::Bma421>;
+#else
+  #error "No target device specified!"
+#endif
+  }
+}

src/systemtask/SystemTask.cpp

@@ -55,7 +55,7 @@ SystemTask::SystemTask(Drivers::SpiMaster& spi,
                        Pinetime::Controllers::MotorController& motorController,
                        Pinetime::Drivers::Hrs3300& heartRateSensor,
                        Pinetime::Controllers::MotionController& motionController,
-                       Pinetime::Drivers::Bma421& motionSensor,
+                       Pinetime::Drivers::MotionSensor& motionSensor,
                        Controllers::Settings& settingsController,
                        Pinetime::Controllers::HeartRateController& heartRateController,
                        Pinetime::Applications::DisplayApp& displayApp,

src/systemtask/SystemTask.h

@@ -36,6 +36,7 @@
 #include "drivers/Watchdog.h"
 #include "systemtask/Messages.h"
 #include "port/SpiMaster.h"
+#include "port/MotionSensor.h"
 
 extern std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> NoInit_BackUpTime;
 namespace Pinetime {
@@ -68,7 +69,7 @@ namespace Pinetime {
                  Pinetime::Controllers::MotorController& motorController,
                  Pinetime::Drivers::Hrs3300& heartRateSensor,
                  Pinetime::Controllers::MotionController& motionController,
-                 Pinetime::Drivers::Bma421& motionSensor,
+                 Pinetime::Drivers::MotionSensor& motionSensor,
                  Controllers::Settings& settingsController,
                  Pinetime::Controllers::HeartRateController& heartRateController,
                  Pinetime::Applications::DisplayApp& displayApp,
@@ -113,7 +114,7 @@ namespace Pinetime {
       Pinetime::Controllers::NotificationManager& notificationManager;
       Pinetime::Controllers::MotorController& motorController;
       Pinetime::Drivers::Hrs3300& heartRateSensor;
-      Pinetime::Drivers::Bma421& motionSensor;
+      Pinetime::Drivers::MotionSensor& motionSensor;
       Pinetime::Controllers::Settings& settingsController;
       Pinetime::Controllers::HeartRateController& heartRateController;
       Pinetime::Controllers::MotionController& motionController;