diff --git a/Makefile b/Makefile index d7c0f6b..d7b9e3a 100644 --- a/Makefile +++ b/Makefile @@ -73,11 +73,17 @@ VERBOSE= NN_TYPE=float # Model Name to be loaded to the firmware -NN_MODEL_NAME="test_model" +NN_MODEL_NAME="magic_wand" # Folder name containing the model and regression data NN_MODEL_FOLDER=./mtb_ml_gen +# Shield used to gather IMU data +# +# CY_028_TFT_SHIELD -- Using the 028-TFT shield +# CY_028_SENSE_SHIELD -- Using the 028-SENSE shield +SHIELD_DATA_COLLECTION=CY_028_TFT_SHIELD + ################################################################################ # Advanced Configuration ################################################################################ @@ -128,6 +134,14 @@ DEFINES+=CY_ML_FIXED_POINT_8_IN=1 CY_ML_FIXED_POINT_8_NN=1 COMPONENTS+=ML_INT8x8 endif +# Depending which shield is used for data collection, add specific DEFINE +ifeq (CY_028_TFT_SHIELD, $(SHIELD_DATA_COLLECTION)) +DEFINES+=CY_BMI_160_IMU=1 +endif +ifeq (CY_028_SENSE_SHIELD, $(SHIELD_DATA_COLLECTION)) +DEFINES+=CY_BMX_160_IMU=1 +endif + # Select softfp or hardfp floating point. Default is softfp. VFP_SELECT=hardfp @@ -158,12 +172,16 @@ LDLIBS= # Path to the linker script to use (if empty, use the default linker script). LINKER_SCRIPT= -# Custom pre-build commands to run. -PREBUILD= - # Custom post-build commands to run. -POSTBUILD= - +PREBUILD= +PREBUILD+=rm -rf bmi160; +PREBUILD+=mkdir bmi160/; +PREBUILD+=cp $(SEARCH_BMI160_driver)/bmi160* bmi160/; +PREBUILD+=cp $(SEARCH_BMI160_driver)/LICENSE bmi160/; +ifeq (CY_028_SENSE_SHIELD, $(SHIELD_DATA_COLLECTION)) +PREBUILD+=sed -i 's/UINT8_C(0xD1)/UINT8_C(0xD8)/' bmi160/bmi160_defs.h; +endif +CY_IGNORE+=$(SEARCH_BMI160_driver) ################################################################################ # Paths diff --git a/README.md b/README.md index 7bd1f3d..08491ae 100644 --- a/README.md +++ b/README.md @@ -2,45 +2,54 @@ This code example demonstrates how to perform gesture classification based on motion sensor (accelerometer and gyroscope) data. The code example comes with a pre-trained model that classifies the following gestures: circle, square, and side-to-side. -For more details, see the [ModusToolbox Machine Learning solution](https://www.cypress.com/products/modustoolbox/machine-learning). +For more details, see the [ModusToolbox™ Machine Learning solution](https://www.cypress.com/products/modustoolbox/machine-learning). + +[View this README on GitHub.](https://github.com/Infineon/mtb-example-ml-gesture-classification) + +[Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMzMxMTIiLCJTcGVjIE51bWJlciI6IjAwMi0zMzExMiIsIkRvYyBUaXRsZSI6Ik1hY2hpbmUgTGVhcm5pbmc6IGdlc3R1cmUgY2xhc3NpZmljYXRpb24iLCJyaWQiOiJucnNoIiwiRG9jIHZlcnNpb24iOiIxLjEuMCIsIkRvYyBMYW5ndWFnZSI6IkVuZ2xpc2giLCJEb2MgRGl2aXNpb24iOiJNQ0QiLCJEb2MgQlUiOiJJQ1ciLCJEb2MgRmFtaWx5IjoiUFNPQyJ9) + +**Disclaimer:** The model provided is an example and may need customization for generalization or to meet certain performance criteria. If you require large-scale production, contact your sales representative. -[Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMzMxMTIiLCJTcGVjIE51bWJlciI6IjAwMi0zMzExMiIsIkRvYyBUaXRsZSI6Ik1hY2hpbmUgTGVhcm5pbmc6IGdlc3R1cmUgY2xhc3NpZmljYXRpb24iLCJyaWQiOiJucnNoIiwiRG9jIHZlcnNpb24iOiIxLjAuMCIsIkRvYyBMYW5ndWFnZSI6IkVuZ2xpc2giLCJEb2MgRGl2aXNpb24iOiJNQ0QiLCJEb2MgQlUiOiJJQ1ciLCJEb2MgRmFtaWx5IjoiUFNPQyJ9) ## Requirements -- [ModusToolbox™ software](https://www.cypress.com/products/modustoolbox-software-environment) v2.3 with ModusToolbox tools patch 2.3.1 +- [ModusToolbox™ software](https://www.cypress.com/products/modustoolbox-software-environment) v2.3 with ModusToolbox™ tools patch 2.3.1 - Board support package (BSP) minimum required version: 2.0.0 - Programming language: C - Associated parts: All [PSoC™ 6 MCU](http://www.cypress.com/PSoC6) parts + ## Supported toolchains (make variable 'TOOLCHAIN') - GNU Arm® embedded compiler v9.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN` -- Arm compiler v6.13 (`ARM`) +- Arm® compiler v6.13 (`ARM`) - IAR C/C++ compiler v8.42.2 (`IAR`) ## Supported kits (make variable 'TARGET') -- [PSoC 62S2 Wi-Fi Bluetooth® pioneer kit](https://www.cypress.com/CY8CKIT-062S2-43012) (`CY8CKIT-062S2-43012`) - Default value of `TARGET` -- [PSoC 64 "Secure Boot" Wi-Fi Bluetooth pioneer kit](http://www.cypress.com/CY8CKIT-064B0S2-4343W) (`CY8CKIT-064B0S2-4343W`) +- [PSoC™ 62S2 Wi-Fi Bluetooth® pioneer kit](https://www.cypress.com/CY8CKIT-062S2-43012) (`CY8CKIT-062S2-43012`) - Default value of `TARGET` +- [PSoC™ 64 "Secure Boot" Wi-Fi Bluetooth® pioneer kit](http://www.cypress.com/CY8CKIT-064B0S2-4343W) (`CY8CKIT-064B0S2-4343W`) + ## Hardware setup -Connect the CY8CKIT-028-SENSE shield to the Arduino header of your baseboard. +Connect the CY8CKIT-028-TFT shield to the header of your baseboard, which is compatible with Arduino. + +The code example also works with the CY8CKIT-028-SENSE shield. See the [Operation](#operation) section for more information. ## Software setup Install a terminal emulator if you don't have one. Instructions in this document use [Tera Term](https://ttssh2.osdn.jp/index.html.en). -By default, the Makefile uses a model that comes with the code example. The pre-trained Neural Net (NN) model is located in the *pretrained_models* folder. The output files location is set to *mtb_ml_gen*; the project name is set to *magic_wand*. You can use the MTB-ML Configurator Tool to open the *design.mtbml* model to evaluate the model. +By default, the Makefile uses a model that comes with the code example. The pre-trained neural net (NN) model is located in the *pretrained_models* folder. The output files location is set to *mtb_ml_gen*; the project name is set to *magic_wand*. You can use the MTB-ML Configurator Tool to open the *design.mtbml* model to evaluate the model. ## Using the code example Create the project and open it using one of the following: -
In Eclipse IDE for ModusToolbox +
In Eclipse IDE for ModusToolbox™ software -1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox Application**). This launches the [Project Creator](http://www.cypress.com/ModusToolboxProjectCreator) tool. +1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox Application**). This launches the [Project Creator](https://www.cypress.com/ModusToolboxProjectCreator) tool. 2. Pick a kit supported by the code example from the list shown in the **Project Creator - Choose Board Support Package (BSP)** dialog. @@ -52,57 +61,77 @@ Create the project and open it using one of the following: 3. In the **Project Creator - Select Application** dialog, choose the example by enabling the checkbox. -4. Optionally, change the suggested **New Application Name**. +4. (Optional) Change the suggested **New Application Name**. -5. Enter the local path in the **Application(s) Root Path** field to indicate where the application needs to be created. - - Applications that can share libraries can be placed in the same root path. +5. The **Application(s) Root Path** defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the *Application(s) Root Path* value. Applications that share libraries should be in the same root path. 6. Click **Create** to complete the application creation process. -For more details, see the [Eclipse IDE for ModusToolbox User Guide](https://www.cypress.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox install directory}/ide_{version}/docs/mt_ide_user_guide.pdf*). +For more details, see the [Eclipse IDE for ModusToolbox™ software user guide](https://www.cypress.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox™ software install directory}/ide_{version}/docs/mt_ide_user_guide.pdf*).
In command-line interface (CLI) -ModusToolbox provides the Project Creator as both a GUI tool and a command line tool to easily create one or more ModusToolbox applications. See the "Project Creator Tools" section of the [ModusToolbox User Guide](https://www.cypress.com/ModusToolboxUserGuide) for more details. - -Alternatively, you can manually create the application using the following steps: +ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the *{ModusToolbox™ software install directory}/tools_{version}/project-creator/* directory. -1. Download and unzip this repository onto your local machine, or clone the repository. +Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing `modus-shell` in the search box in the Windows menu. In Linux and macOS, you can use any terminal application. -2. Open a CLI terminal and navigate to the application folder. +This tool has the following arguments: - On Windows, use the command line "modus-shell" program provided in the ModusToolbox installation instead of a standard Windows command line application. This shell provides access to all ModusToolbox tools. You can access it by typing `modus-shell` in the search box in the Windows menu. +Argument | Description | Required/optional +---------|-------------|----------- +`--board-id` | Defined in the `` field of the [BSP](https://github.com/Infineon?q=bsp-manifest&type=&language=&sort=) manifest | Required +`--app-id` | Defined in the `` field of the [CE](https://github.com/Infineon?q=ce-manifest&type=&language=&sort=) manifest | Required +`--target-dir`| Specify the directory in which the application is to be created if you prefer not to use the default current working directory | Optional +`--user-app-name`| Specify the name of the application if you prefer to have a name other than the example's default name | Optional - In Linux and macOS, you can use any terminal application. +
- **Note:** The cloned application contains a default BSP file (*TARGET_xxx.mtb*) in the *deps* folder. Use the [Library Manager](https://www.cypress.com/ModusToolboxLibraryManager) (`make modlibs` command) to select and download a different BSP file, if required. If the selected kit does not have the required resources or is not [supported](#supported-kits-make-variable-target), the application may not work. +The following example will clone the "[Hello World](https://github.com/Infineon/mtb-example-psoc6-hello-world)" application with the desired name "MyHelloWorld" configured for the *CY8CKIT-062-WIFI-BT* BSP into the specified working directory, *C:/mtb_projects*: -3. Import the required libraries by executing the `make getlibs` command. + ``` + project-creator-cli --board-id CY8CKIT-062-WIFI-BT --app-id mtb-example-psoc6-hello-world --user-app-name MyHelloWorld --target-dir "C:/mtb_projects" + ``` -Various CLI tools include a `-h` option that prints help information to the terminal screen about that tool. For more details, see the [ModusToolbox User Guide](https://www.cypress.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox install directory}/docs_{version}/mtb_user_guide.pdf*). +**Note:** The project-creator-cli tool uses the `git clone` and `make getlibs` commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the [ModusToolbox™ software user guide](https://www.cypress.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*).
-
In Third-party IDEs +
In third-party IDEs -1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and import the libraries using the `make getlibs` command. +Use one of the following options: -2. Export the application to a supported IDE using the `make ` command. +- **Use the standalone [Project Creator](https://www.cypress.com/ModusToolboxProjectCreator) tool:** - For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox User Guide](https://www.cypress.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox install directory}/docs_{version}/mtb_user_guide.pdf*. + 1. Launch Project Creator from the Windows Start menu or from *{ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe*. -3. Follow the instructions displayed in the terminal to create or import the application as an IDE project. + 2. In the initial **Choose Board Support Package** screen, select the BSP, and click **Next**. + + 3. In the **Select Application** screen, select the appropriate IDE from the **Target IDE** drop-down menu. + + 4. Click **Create** and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE. + +
+ +- **Use command-line interface (CLI):** + + 1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and then import the libraries using the `make getlibs` command. + + 2. Export the application to a supported IDE using the `make ` command. + + 3. Follow the instructions displayed in the terminal to create or import the application as an IDE project. + +For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox™ software user guide](https://www.cypress.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*).
+ ## Operation -If using a PSoC 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC 64 device must be provisioned with keys and policies before being programmed. Follow the instructions in the ["Secure Boot" SDK user guide](https://www.cypress.com/documentation/software-and-drivers/psoc-64-secure-mcu-secure-boot-sdk-user-guide) to provision the device. If the kit is already provisioned, copy-paste the keys and policy folder to the application folder. +If using a PSoC™ 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC™ 64 device must be provisioned with keys and policies before being programmed. Follow the instructions in the ["Secure Boot" SDK user guide](https://www.cypress.com/documentation/software-and-drivers/psoc-64-secure-mcu-secure-boot-sdk-user-guide) to provision the device. If the kit is already provisioned, copy-paste the keys and policy folder to the application folder. -1. Connect the CY8CKIT-028-SENSE shield to the baseboard kit. +1. Connect the CY8CKIT-028-TFT shield to the baseboard. If using the CY8CKIT-028-SENSE shield, change `SHIELD_DATA_COLLECTION=CY_028_TFT_SHIELD` to `SHIELD_DATA_COLLECTION=CY_028_SENSE_SHIELD` in the Makefile. 2. Connect the board to your PC using the provided USB cable through the KitProg3 USB connector. @@ -110,16 +139,17 @@ If using a PSoC 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC 64 de 4. Program the board using one of the following: -
Using Eclipse IDE for ModusToolbox +
Using Eclipse IDE for ModusToolbox™ software 1. Select the application project in the Project Explorer. 2. In the **Quick Panel**, scroll down, and click **\ Program (KitProg3_MiniProg4)**. +
Using CLI - From the terminal, execute the `make program` command to build and program the application using the default toolchain to the default target. You can specify a target and toolchain manually: + From the terminal, execute the `make program` command to build and program the application using the default toolchain to the default target. The default toolchain and target are specified in the application's Makefile but you can override those values manually: ``` make program TARGET= TOOLCHAIN= ``` @@ -128,7 +158,13 @@ If using a PSoC 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC 64 de ``` make program TARGET=CY8CPROTO-062-4343W TOOLCHAIN=GCC_ARM ``` -
+ If using the CY8CKIT-028-SENSE shield: + + ``` + make program TARGET= TOOLCHAIN= -j8 SHIELD_DATA_COLLECTION=CY_028_TFT_SHIELD + ``` + +
5. After programming, the application starts automatically. Confirm that "Gesture Classification Example" and some log data are printed on the UART terminal, the gesture classifications and confidence are updated continuously. @@ -138,42 +174,65 @@ If using a PSoC 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC 64 de ![](images/board-orientation.jpg) -7. Perform a counter-clockwise circle movement continuously and confirm that the UART terminal prints the gesture as **Circle** and the confidence of the circle increases past 70%. +7. Perform a counter-clockwise circle movement continuously. Confirm that the UART terminal prints the gesture as [**Circle**](https://github.com/Infineon/mtb-example-ml-gesture-classification/blob/master/images/circle.gif), and the confidence of the circle increases past 97%. For best results, repeatedly perform a circle movement that has a diameter of one foot, and complete one circle per second. + + **Figure 2. Circle gesture** + + + + + +8. Perform a counter-clockwise square movement continuously. Confirm that the UART terminal prints the gesture as [**Square**](https://github.com/Infineon/mtb-example-ml-gesture-classification/blob/master/images/square.gif), and the confidence of the square increases past 97%. For best results, repeatedly perform a square movement that has a side length of one foot, and complete one square in two seconds. + + **Figure 3. Square gesture** + + + + -8. Perform a counter-clockwise square movement continuously and confirm that the UART terminal prints the gesture as **Square** and the confidence of the square increases past 70%. +9. Perform a side-to-side movement (left <-> right) continuously, confirm that the UART terminal prints the gesture as [**Side-to-side**](https://github.com/Infineon/mtb-example-ml-gesture-classification/blob/master/images/side-to-side.gif), and the confidence increases past 97%. For best results, repeatedly perform a one-foot-wide left-to-right movement in half-a-second. -9. Perform a side-to-side movement (left <-> right) continuously and confirm that the UART terminal prints the gesture as **Side-to-side** and the confidence side-to-side increases past 70%. + **Figure 4. Side-to-side gesture** -10. When not performing any of the gestures above, confirm that the UART terminal prints the gesture as **None**. + + + +10. When not performing any of these gestures, confirm that the UART terminal prints the gesture as **None**. + +**Note:** If the confidence is lower than 97%, the gesture will register as **None**. + +**Note:** Figures 2-4 above may have low frame rates. Click on the link to redirect to GitHub for better quality. - **Note**: If the confidence is lower than 70% then the gesture will register as **None**. ## Debugging -You can debug the example to step through the code. In the IDE, use the **\ Debug (KitProg3_MiniProg4)** configuration in the **Quick Panel**. For more details, see the "Program and debug" section in the [Eclipse IDE for ModusToolbox User Guide](https://www.cypress.com/MTBEclipseIDEUserGuide). +You can debug the example to step through the code. In the IDE, use the **\ Debug (KitProg3_MiniProg4)** configuration in the **Quick Panel**. For more details, see the "Program and debug" section in the [Eclipse IDE for ModusToolbox™ user guide](https://www.cypress.com/MTBEclipseIDEUserGuide). **Note:** **(Only while debugging)** On the CM4 CPU, some code in `main()` may execute before the debugger halts at the beginning of `main()`. This means that some code executes twice - once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of `main()`. See [KBA231071](https://community.cypress.com/docs/DOC-21143) to learn about this and for the workaround. + ## Design and implementation -In this example, the firmware reads the data from a motion sensor (BMX160) to detect gestures. The data consists of 3-axis orientation data from the accelerometer and 3-axis orientation data from the gyroscope. A timer is configured to interrupt at 128 Hz. The interrupt handler reads all 6 axes through SPI and signals a task to process the batch of samples when the internal FIFO has 128-sample new samples. It performs an IIR filter and a min-max normalization on 128 samples at a time. This processed data is then fed to the inference engine. The inference engine outputs the confidence of the gesture for each of the four gesture classes. If the confidence passes a certain percent, the gesture is printed to the UART terminal. +In this example, the firmware reads the data from a motion sensor (BMX160) to detect gestures. The data consists of 3-axis orientation data from the accelerometer and 3-axis orientation data from the gyroscope. A timer is configured to interrupt at 128 Hz. The interrupt handler reads all 6 axes through SPI and signals a task to process the batch of samples when the internal FIFO has 128 new samples. It performs an IIR filter and a min-max normalization on 128 samples at a time. This processed data is then fed to the inference engine. The inference engine outputs the confidence of the gesture for each of the four gesture classes. If the confidence passes a certain percent, the gesture is printed to the UART terminal. The code example also provides a MTB-ML Configurator tool project file - *design.mtbml*, which points to the pre-trained NN model available in the *pretrained_models* folder. This application uses FreeRTOS. There are three tasks in the system - *sensor task*, *NN task* and *control task*. They communicate with each other through queues. Sensor data is fed to the input queue, and the result is sent to the output queue. - **Figure 2. Block diagram** +**Figure 2. Block diagram** + +![](images/block-diagram.png) - ![](images/block-diagram.png) -### Gesture classification model details +### Gesture classification model -The convolutional neural network (CNN) model consists of two convolutional blocks and two full connection layers. Each convolutional block includes convolutional operations, including relu and max pooling, with the addition of a batch normalization layer after the first block. The convolutional layers act as feature extractors and provide abstract representations of the input sensor data in feature maps. They capture short-term dependencies (spatial relationships) of the data. In the CNN, features are extracted and then used as inputs of fully connected network, using softmax activation for classification. +The convolutional neural network (CNN) model consists of two convolutional blocks and two full-connection layers. Each convolutional block includes convolutional operations, including rectified linear unit (ReLU) and max pooling, with the addition of a batch normalization layer after the first block. The convolutional layers act as feature extractors and provide abstract representations of the input sensor data in feature maps. They capture short-term dependencies (spatial relationships) of the data. In the CNN, features are extracted and then used as inputs of fully connected network, using softmax activation for classification. - **Figure 3. Model diagram** +**Figure 3. Model diagram** + ### Files and folders ``` @@ -191,7 +250,9 @@ The convolutional neural network (CNN) model consists of two convolutional block |-- FreeRTOSConfig.h # FreeRTOS Configuration file |-- design.mtbml # MTB-ML Configurator tool project file ``` -
+ +**Note:** This code example supports both the CY8CKIT-028-TFT and the CY8CKIT-028-SENSE. These shields have different sensors; to support both, a change is made to the *bmi160_defs.h* file. When using CY8CKIT-028-TFT, `BMI160_CHIP_ID` is set to `0xD1`. When using CY8CKIT-028-SENSE, `BMI160_CHIP_ID` is set to `0xD8`. This is done through a series of `PREBUILD` commands in the Makefile. + ### Resources and settings @@ -207,54 +268,36 @@ The convolutional neural network (CNN) model consists of two convolutional block ## Related resources -| Application notes | | -| :----------------------------------------------------------- | :----------------------------------------------------------- | -| [AN228571](https://www.cypress.com/AN228571) – Getting started with PSoC 6 MCU on ModusToolbox | Describes PSoC 6 MCU devices and how to build your first application with ModusToolbox | -| [AN221774](https://www.cypress.com/AN221774) – Getting started with PSoC 6 MCU on PSoC Creator | Describes PSoC 6 MCU devices and how to build your first application with PSoC Creator | -| [AN210781](https://www.cypress.com/AN210781) – Getting started with PSoC 6 MCU with Bluetooth Low Energy connectivity on PSoC Creator | Describes PSoC 6 MCU with Bluetooth LE connectivity devices and how to build your first application with PSoC Creator | -| [AN215656](https://www.cypress.com/AN215656) – PSoC 6 MCU: dual-CPU system design | Describes the dual-CPU architecture in PSoC 6 MCU, and shows how to build a simple dual-CPU design | -| **Code examples** | | -| [Using ModusToolbox](https://github.com/cypresssemiconductorco/Code-Examples-for-ModusToolbox-Software) | [Using PSoC Creator](https://www.cypress.com/documentation/code-examples/psoc-6-mcu-code-examples) | -| **Device documentation** | | -| [PSoC 6 MCU datasheets](https://www.cypress.com/search/all?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A575&f[2]=field_related_products%3A114026) | [PSoC 6 technical reference manuals](https://www.cypress.com/search/all/PSoC%206%20Technical%20Reference%20Manual?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A583) | -| **Development kits** | Buy at www.cypress.com | -| [CY8CKIT-062-BLE](https://www.cypress.com/CY8CKIT-062-BLE) PSoC 6 Bluetooth LE pioneer kit | [CY8CKIT-062-WiFi-BT](https://www.cypress.com/CY8CKIT-062-WiFi-BT) PSoC 6 Wi-Fi Bluetooth pioneer kit | -| [CY8CPROTO-063-BLE](https://www.cypress.com/CY8CPROTO-063-BLE) PSoC 6 Bluetooth LE prototyping kit | [CY8CPROTO-062-4343W](https://www.cypress.com/CY8CPROTO-062-4343W) PSoC 6 Wi-Fi Bluetooth prototyping kit | -| [CY8CKIT-062S2-43012](https://www.cypress.com/CY8CKIT-062S2-43012) PSoC 62S2 Wi-Fi Bluetooth pioneer kit | [CY8CPROTO-062S3-4343W](https://www.cypress.com/CY8CPROTO-062S3-4343W) PSoC 62S3 Wi-Fi Bluetooth prototyping kit | -| [CYW9P62S1-43438EVB-01](https://www.cypress.com/CYW9P62S1-43438EVB-01) PSoC 62S1 Wi-Fi Bluetooth pioneer kit | [CYW9P62S1-43012EVB-01](https://www.cypress.com/CYW9P62S1-43012EVB-01) PSoC 62S1 Wi-Fi Bluetooth pioneer kit | -| [CY8CKIT-064B0S2-4343W](http://www.cypress.com/CY8CKIT-064B0S2-4343W) PSoC 64 "Secure Boot" Wi-Fi Bluetooth pioneer kit | [CY8CKIT-064S0S2-4343W](http://www.cypress.com/CY8CKIT-064S0S2-4343W) PSoC 64 "Standard Secure" AWS Wi-Fi Bluetooth pioneer kit | -| **Libraries** | | -| PSoC 6 peripheral driver library (PDL) and docs | [mtb-pdl-cat1](https://github.com/cypresssemiconductorco/mtb-pdl-cat1) on GitHub | -| Hardware abstraction layer (HAL) Library and docs | [mtb-hal-cat1](https://github.com/cypresssemiconductorco/mtb-hal-cat1) on GitHub | -| Retarget IO - A utility library to retarget the standard input/output (STDIO) messages to a UART port | [retarget-io](https://github.com/cypresssemiconductorco/retarget-io) on GitHub | -| **Middleware** | | -| CapSense™ library and docs | [capsense](https://github.com/cypresssemiconductorco/capsense) on GitHub | -| Links to all PSoC 6 MCU middleware | [psoc6-middleware](https://github.com/cypresssemiconductorco/psoc6-middleware) on GitHub | -| **Tools** | | -| [Eclipse IDE for ModusToolbox](https://www.cypress.com/modustoolbox) | The cross-platform, Eclipse-based IDE for IoT designers that supports application configuration and development targeting converged MCU and wireless systems. | -| [PSoC Creator™](https://www.cypress.com/products/psoc-creator-integrated-design-environment-ide) | The Cypress IDE for PSoC and FM0+ MCU development. | +Resources | Links +-----------|---------------------------------- +Application notes | [AN228571](https://www.cypress.com/AN228571) – Getting started with PSoC™ 6 MCU on ModusToolbox™ software
[AN215656](https://www.cypress.com/AN215656) – PSoC™ 6 MCU: Dual-CPU system design
+Code examples | [Using ModusToolbox™ software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub +Device documentation | [PSoC™ 6 MCU datasheets](https://www.cypress.com/search/all?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A575&f[2]=field_related_products%3A114026)
[PSoC™ 6 technical reference manuals](https://www.cypress.com/search/all/PSoC%206%20Technical%20Reference%20Manual?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A583) +Development kits | Visit www.cypress.com/microcontrollers-mcus-kits and use the options in the **Select your kit** section to filter kits by *Product family* or *Features*. +Libraries on GitHub | [mtb-pdl-cat1](https://github.com/infineon/mtb-pdl-cat1) – PSoC™ 6 peripheral driver library (PDL)
[mtb-hal-cat1](https://github.com/infineon/mtb-hal-cat1) – Hardware abstraction layer (HAL) library
[retarget-io](https://github.com/infineon/retarget-io) – Utility library to retarget STDIO messages to a UART port +Middleware on GitHub | [capsense](https://github.com/infineon/capsense) – CAPSENSE™ library and documents
[psoc6-middleware](https://github.com/Infineon/modustoolbox-software#psoc-6-middleware-libraries) – Links to all PSoC™ 6 MCU middleware +Tools | [Eclipse IDE for ModusToolbox™ software](https://www.cypress.com/modustoolbox) – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.
## Other resources Cypress provides a wealth of data at www.cypress.com to help you select the right device, and quickly and effectively integrate it into your design. -For PSoC 6 MCU devices, see [How to design with PSoC 6 MCU - KBA223067](https://community.cypress.com/docs/DOC-14644) in the Cypress community. +For PSoC™ 6 MCU devices, see [How to design with PSoC™ 6 MCU - KBA223067](https://community.cypress.com/docs/DOC-14644) in the Cypress community.
## Document history -Document Title: *CE233112* - *Machine Learning: gesture classification* +Document title: *CE233112* - *Machine Learning: gesture classification* -| Version | Description of Change | -| ------- | --------------------- | -| 1.0.0 | New code example | +| Version | Description of change | +| ------- | ------------------------------------------------------------ | +| 1.0.0 | New code example | +| 1.1.0 | Updated model, new CY_028_TFT support, better gesture description | ------ -All other trademarks or registered trademarks referenced herein are the property of their respective owners. - ![banner](images/ifx-cy-banner.png) ------------------------------------------------------------------------------- diff --git a/deps/BMI160_driver.mtb b/deps/BMI160_driver.mtb new file mode 100644 index 0000000..e0b727b --- /dev/null +++ b/deps/BMI160_driver.mtb @@ -0,0 +1 @@ +https://github.com/BoschSensortec/BMI160_driver#bmi160_v3.9.1#$$ASSET_REPO$$/BMI160_driver/bmi160_v3.9.1 diff --git a/deps/BMM150-Sensor-API.mtb b/deps/BMM150-Sensor-API.mtb index 2fcc652..03a2460 100644 --- a/deps/BMM150-Sensor-API.mtb +++ b/deps/BMM150-Sensor-API.mtb @@ -1 +1 @@ -https://github.com/BoschSensortec/BMM150-Sensor-API#bmm150_v1.0.3#$$ASSET_REPO$$/BMM150-Sensor-API/bmm150_v1.0.3 \ No newline at end of file +https://github.com/BoschSensortec/BMM150-Sensor-API#bmm150_v2.0.0#$$ASSET_REPO$$/BMM150-Sensor-API/bmm150_v2.0.0 diff --git a/deps/TARGET_CY8CKIT-062S2-43012.mtb b/deps/TARGET_CY8CKIT-062S2-43012.mtb index 895ded9..a99cd4a 100644 --- a/deps/TARGET_CY8CKIT-062S2-43012.mtb +++ b/deps/TARGET_CY8CKIT-062S2-43012.mtb @@ -1 +1 @@ -https://github.com/cypresssemiconductorco/TARGET_CY8CKIT-062S2-43012#latest-v2.X#$$ASSET_REPO$$/TARGET_CY8CKIT-062S2-43012/latest-v2.X +https://github.com/cypresssemiconductorco/TARGET_CY8CKIT-062S2-43012#latest-v2.X#$$ASSET_REPO$$/TARGET_CY8CKIT-062S2-43012/latest-v2.X \ No newline at end of file diff --git a/deps/ml-inference.mtb b/deps/ml-inference.mtb index 0cb13f7..7761de5 100644 --- a/deps/ml-inference.mtb +++ b/deps/ml-inference.mtb @@ -1 +1 @@ -https://github.com/cypresssemiconductorco/ml-inference#latest-v1.X#$$ASSET_REPO$$/ml-inference/latest-v1.X +https://github.com/cypresssemiconductorco/ml-inference#latest-v1.X#$$ASSET_REPO$$/ml-inference/latest-v1.X \ No newline at end of file diff --git a/deps/retarget-io.mtb b/deps/retarget-io.mtb index 5f86d6c..c58feed 100644 --- a/deps/retarget-io.mtb +++ b/deps/retarget-io.mtb @@ -1 +1 @@ -https://github.com/cypresssemiconductorco/retarget-io#latest-v1.X#$$ASSET_REPO$$/retarget-io/latest-v1.X +https://github.com/cypresssemiconductorco/retarget-io#latest-v1.X#$$ASSET_REPO$$/retarget-io/latest-v1.X diff --git a/deps/sensor-motion-bmi160.mtb b/deps/sensor-motion-bmi160.mtb new file mode 100644 index 0000000..0ba82be --- /dev/null +++ b/deps/sensor-motion-bmi160.mtb @@ -0,0 +1 @@ +https://github.com/cypresssemiconductorco/sensor-motion-bmi160#latest-v1.X#$$ASSET_REPO$$/sensor-motion-bmi160/latest-v1.X diff --git a/deps/sensor-orientation-bmx160.mtb b/deps/sensor-orientation-bmx160.mtb new file mode 100644 index 0000000..119e933 --- /dev/null +++ b/deps/sensor-orientation-bmx160.mtb @@ -0,0 +1 @@ +https://github.com/Infineon/sensor-orientation-bmx160#latest-v1.X#$$ASSET_REPO$$/sensor-orientation-bmx160/latest-v1.X diff --git a/design.mtbml b/design.mtbml index 5aef1de..67245c3 100644 --- a/design.mtbml +++ b/design.mtbml @@ -7,22 +7,23 @@ "quantization": { "float32": true, "int16": true, - "int16x16": true, - "int16x8": true, + "int16x16": false, + "int16x8": false, "int8": true, - "int8x8": true + "int8x8": false } }, "name": "magic_wand", "output_dir": "mtb_ml_gen", "target": "CY8C62xA", "validation": { - "feat_col_first": 0, + "feat_col_count": 127, + "feat_col_first": 1, "feat_col_last": 0, "inputFormat": "CSV", "inputType": "PRNG", "max_samples": 100, - "path": "", + "path": "../../output_O_nrsh3.csv", "quantization": { "float32": true, "int16": true, @@ -31,6 +32,8 @@ "int8": true, "int8x8": true }, + "target_col_count": 5, + "target_col_first": 0, "target_cols": "0" }, "version": 1 diff --git a/images/circle.gif b/images/circle.gif new file mode 100644 index 0000000..22d1206 Binary files /dev/null and b/images/circle.gif differ diff --git a/images/magic-wand-model.png b/images/magic-wand-model.png index 01f2442..0f54fe6 100644 Binary files a/images/magic-wand-model.png and b/images/magic-wand-model.png differ diff --git a/images/side-to-side.gif b/images/side-to-side.gif new file mode 100644 index 0000000..0b99654 Binary files /dev/null and b/images/side-to-side.gif differ diff --git a/images/square.gif b/images/square.gif new file mode 100644 index 0000000..fadcc2d Binary files /dev/null and b/images/square.gif differ diff --git a/mtb_ml_gen/info/acc_flt.txt b/mtb_ml_gen/info/acc_flt.txt index d426e6e..c7a7988 100644 --- a/mtb_ml_gen/info/acc_flt.txt +++ b/mtb_ml_gen/info/acc_flt.txt @@ -1,4 +1,4 @@ -Memory to be allocated for scratch memory : 29.27 kB +Memory to be allocated for scratch memory : 58.52 kB Memory to be allocated for persistent memory : 0.52 kB -Memory size for NN model weights & biases : 30.98 kB +Memory size for NN model weights & biases : 21.32 kB Accuracy for 32-bit floating-point implementation : 100.00 diff --git a/mtb_ml_gen/info/log_flt.txt b/mtb_ml_gen/info/log_flt.txt index ca50e04..4b5f099 100644 --- a/mtb_ml_gen/info/log_flt.txt +++ b/mtb_ml_gen/info/log_flt.txt @@ -1,100 +1,100 @@ + 0.000000 0.002884 0.201892 0.795224 + 0.000000 0.000000 0.061531 0.938469 + 0.000000 0.000000 0.388461 0.611539 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000 + 0.000000 0.000000 0.000001 0.999999 0.000000 0.000000 0.000000 1.000000 + 0.000000 0.302395 0.697605 0.000000 + 0.000000 0.000000 0.999840 0.000160 + 0.000000 0.000000 0.000042 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file diff --git a/mtb_ml_gen/info/magic_wand_model_info.json b/mtb_ml_gen/info/magic_wand_model_info.json index d027d7d..ebed55f 100644 --- a/mtb_ml_gen/info/magic_wand_model_info.json +++ b/mtb_ml_gen/info/magic_wand_model_info.json @@ -1 +1 @@ -{"cycles_flt": 3021136, "scratch_flt": 29968, "model_mem_flt": 31940, "cycles_int16x16": 2037680, "scratch_int16x16": 39568, "model_mem_int16x16": 16112, "cycles_int16x8": 2529408, "scratch_int16x8": 39568, "model_mem_int16x8": 8198, "cycles_int8x16": 2037680, "scratch_int8x16": 39568, "model_mem_int8x16": 16112, "cycles_int8x8": 2529408, "scratch_int8x8": 39568, "model_mem_int8x8": 8198} \ No newline at end of file +{"cycles_flt": 11237264, "scratch_flt": 59920, "model_mem_flt": 22052, "cycles_int16x16": 7991824, "scratch_int16x16": 79120, "model_mem_int16x16": 11168, "cycles_int16x8": 9614544, "scratch_int16x8": 79120, "model_mem_int16x8": 5726, "cycles_int8x16": 7991824, "scratch_int8x16": 79120, "model_mem_int8x16": 11168, "cycles_int8x8": 9614544, "scratch_int8x8": 79120, "model_mem_int8x8": 5726} \ No newline at end of file diff --git a/mtb_ml_gen/mtb_ml_models/magic_wand_model_all.h b/mtb_ml_gen/mtb_ml_models/magic_wand_model_all.h index 421b24e..155d14c 100644 --- a/mtb_ml_gen/mtb_ml_models/magic_wand_model_all.h +++ b/mtb_ml_gen/mtb_ml_models/magic_wand_model_all.h @@ -1,4704 +1,3268 @@ const unsigned char magic_wand_model_prms_bin[] __ALIGNED(4) = { - 0x1c, 0x01, 0x00, 0x00, 0x10, 0x75, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, - 0x00, 0x15, 0x00, 0x00, 0x90, 0x9a, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, - 0x80, 0x0a, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, + 0x00, 0x80, 0x00, 0x00, 0x10, 0xea, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, + 0x00, 0x2a, 0x00, 0x00, 0x10, 0x35, 0x01, 0x00, 0x00, 0x60, 0x00, 0x00, + 0x00, 0x15, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xb7, 0x1d, 0xc1, 0x04, 0x00, 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0x00, 0x0e, 0x00, 0x00, 0x00, - 0x02, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, - 0x10, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0xc0, 0x01, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, - 0x04, 0x00, 0x00, 0x00 + 0x04, 0x00, 0x00, 0x00, 0xad, 0x5d, 0xa1, 0x8f }; -unsigned int magic_wand_model_prms_bin_len = 436; +unsigned int magic_wand_model_prms_bin_len = 440; + +#ifdef CY_ML_MODEL_MEM +#define Q(x) #x +#define QUOTE(x) Q(x) +CY_SECTION(QUOTE(CY_ML_MODEL_MEM)) +#endif #if CY_ML_FLOATING_POINT_fltxflt_NN unsigned char magic_wand_model_flt_bin[] __ALIGNED(4) = { - 0xa8, 0x7b, 0x00, 0x00, 0x80, 0x01, 0x00, 0x00, 0x75, 0xab, 0xbc, 0xbb, - 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}; -unsigned int magic_wand_model_fixed16_bin_len = 15960; +unsigned int magic_wand_model_fixed16_bin_len = 11016; #endif//#if CY_ML_FIXED_POINT_16_NN #if CY_ML_FIXED_POINT_8_NN unsigned char magic_wand_model_fixed8_bin[] __ALIGNED(4) = { - 0xea, 0x1e, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0xff, 0xe7, 0xf8, 0xed, - 0xbb, 0x16, 0x2e, 0xc1, 0x22, 0x27, 0x0c, 0x3f, 0x04, 0x2e, 0xda, 0xcc, - 0xf8, 0xb4, 0x09, 0x18, 0x93, 0xf4, 0x0f, 0x93, 0xd4, 0x0a, 0xf2, 0xeb, - 0xdf, 0xcd, 0xcc, 0x0c, 0x0b, 0x14, 0x00, 0xe4, 0xfe, 0x04, 0xdb, 0x51, - 0x33, 0xd6, 0xf9, 0x0d, 0xba, 0x1a, 0x18, 0xf8, 0x2a, 0x04, 0x17, 0xe1, - 0xe6, 0x2e, 0xf8, 0x0c, 0x47, 0x08, 0xb3, 0x0a, 0x65, 0xf4, 0xd7, 0x3b, - 0xfd, 0x01, 0x61, 0xe0, 0xea, 0x16, 0xf4, 0x17, 0xd4, 0x09, 0x15, 0xbc, - 0xe2, 0x1a, 0xfa, 0xd3, 0x4a, 0xdf, 0x13, 0xea, 0xbd, 0xfb, 0xbe, 0x37, - 0x0b, 0x0b, 0xbd, 0xee, 0xec, 0xe5, 0xec, 0x31, 0x08, 0x00, 0x00, 0x00, - 0xc0, 0xf3, 0xd2, 0x24, 0x0a, 0x01, 0xf0, 0xde, 0x02, 0x00, 0x00, 0x00, - 0x80, 0x80, 0x02, 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0x00, 0x08, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x08, 0x00, - 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00 }; -unsigned int magic_wand_model_fixed8_bin_len = 8046; +unsigned int magic_wand_model_fixed8_bin_len = 5574; #endif//#if CY_ML_FIXED_POINT_8_NN diff --git a/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_fixed.h b/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_fixed.h index 881e7b2..8abf1a4 100644 --- a/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_fixed.h +++ b/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_fixed.h @@ -1,8 +1,6 @@ #if CY_ML_FIXED_POINT const unsigned char magic_wand_y_data_fixed_bin[] __ALIGNED(4) = { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, @@ -23,8 +21,8 @@ const unsigned char magic_wand_y_data_fixed_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, @@ -44,8 +42,8 @@ const unsigned char magic_wand_y_data_fixed_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, @@ -116,8 +114,8 @@ const unsigned char magic_wand_y_data_fixed_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, @@ -134,7 +132,9 @@ const unsigned char magic_wand_y_data_fixed_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00 + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00 }; unsigned int magic_wand_y_data_fixed_bin_len = 1600; #endif//#if CY_ML_FIXED_POINT diff --git a/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_flt.h b/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_flt.h index d83804f..1f57e01 100644 --- a/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_flt.h +++ b/mtb_ml_gen/mtb_ml_regression_data/magic_wand_y_data_flt.h @@ -1,8 +1,6 @@ #if CY_ML_FLOATING_POINT_fltxflt_NN const unsigned char magic_wand_y_data_flt_bin[] __ALIGNED(4) = { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, @@ -23,8 +21,8 @@ const unsigned char magic_wand_y_data_flt_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, @@ -44,8 +42,8 @@ const unsigned char magic_wand_y_data_flt_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, @@ -116,8 +114,8 @@ const unsigned char magic_wand_y_data_flt_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, @@ -134,7 +132,9 @@ const unsigned char magic_wand_y_data_flt_bin[] __ALIGNED(4) = { 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x00, 0x00 + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00 }; unsigned int magic_wand_y_data_flt_bin_len = 1600; #endif//#if CY_ML_FLOATING_POINT_fltxflt_NN diff --git a/pretrained_models/Magic_wand_model.h5 b/pretrained_models/Magic_wand_model.h5 index 73f0bb1..cb7e644 100644 Binary files a/pretrained_models/Magic_wand_model.h5 and b/pretrained_models/Magic_wand_model.h5 differ diff --git a/sensor-motion-bmx160/bmi160.c b/sensor-motion-bmx160/bmi160.c deleted file mode 100644 index d94888d..0000000 --- a/sensor-motion-bmx160/bmi160.c +++ /dev/null @@ -1,6369 +0,0 @@ -/** -* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. -* -* BSD-3-Clause -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* -* 1. Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* -* 2. Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* -* 3. Neither the name of the copyright holder nor the names of its -* contributors may be used to endorse or promote products derived from -* this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) -* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, -* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING -* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -* @file bmi160.c -* @date 10/01/2020 -* @version 3.8.1 -* -*/ - -/*! - * @defgroup bmi160 - * @brief - * @{*/ - -#include "bmi160.h" - -/* Below look up table follows the enum bmi160_int_types. - * Hence any change should match to the enum bmi160_int_types - */ -const uint8_t int_mask_lookup_table[13] = { - BMI160_INT1_SLOPE_MASK, BMI160_INT1_SLOPE_MASK, BMI160_INT2_LOW_STEP_DETECT_MASK, BMI160_INT1_DOUBLE_TAP_MASK, - BMI160_INT1_SINGLE_TAP_MASK, BMI160_INT1_ORIENT_MASK, BMI160_INT1_FLAT_MASK, BMI160_INT1_HIGH_G_MASK, - BMI160_INT1_LOW_G_MASK, BMI160_INT1_NO_MOTION_MASK, BMI160_INT2_DATA_READY_MASK, BMI160_INT2_FIFO_FULL_MASK, - BMI160_INT2_FIFO_WM_MASK -}; - -/*********************************************************************/ -/* Static function declarations */ - -/*! - * @brief This API configures the pins to fire the - * interrupt signal when it occurs - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the any-motion interrupt of the sensor. - * This interrupt occurs when accel values exceeds preset threshold - * for a certain period of time. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev); - -/*! - * @brief This API sets tap interrupts.Interrupt is fired when - * tap movements happen. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the data ready interrupt for both accel and gyro. - * This interrupt occurs when new accel and gyro data come. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the significant motion interrupt of the sensor.This - * interrupt occurs when there is change in user location. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev); - -/*! - * @brief This API sets the no motion/slow motion interrupt of the sensor. - * Slow motion is similar to any motion interrupt.No motion interrupt - * occurs when slope bet. two accel values falls below preset threshold - * for preset duration. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the step detection interrupt.This interrupt - * occurs when the single step causes accel values to go above - * preset threshold. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the orientation interrupt of the sensor.This - * interrupt occurs when there is orientation change in the sensor - * with respect to gravitational field vector g. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the flat interrupt of the sensor.This interrupt - * occurs in case of flat orientation - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the low-g interrupt of the sensor.This interrupt - * occurs during free-fall. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the high-g interrupt of the sensor.The interrupt - * occurs if the absolute value of acceleration data of any enabled axis - * exceeds the programmed threshold and the sign of the value does not - * change for a preset duration. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the default configuration parameters of accel & gyro. - * Also maintain the previous state of configurations. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static void default_param_settg(struct bmi160_dev *dev); - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t null_ptr_check(const struct bmi160_dev *dev); - -/*! - * @brief This API set the accel configuration. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_conf(struct bmi160_dev *dev); - -/*! - * @brief This API check the accel configuration. - * - * @param[in] data : Pointer to store the updated accel config. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the accel odr. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the accel bandwidth. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the accel range. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API checks the invalid settings for ODR & Bw for Accel and Gyro. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t check_invalid_settg(const struct bmi160_dev *dev); - -/*! - * @brief This API set the gyro configuration. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_gyro_conf(struct bmi160_dev *dev); - -/*! - * @brief This API check the gyro configuration. - * - * @param[in] data : Pointer to store the updated gyro config. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the gyro odr. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the gyro bandwidth. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API process the gyro range. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the accel power mode. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_accel_pwr(struct bmi160_dev *dev); - -/*! - * @brief This API process the undersampling setting of Accel. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the gyro power mode. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -static int8_t set_gyro_pwr(struct bmi160_dev *dev); - -/*! - * @brief This API reads accel data along with sensor time if time is requested - * by user. Kindly refer the user guide(README.md) for more info. - * - * @param[in] len : len to read no of bytes - * @param[out] accel : Structure pointer to store accel data - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev); - -/*! - * @brief This API reads accel data along with sensor time if time is requested - * by user. Kindly refer the user guide(README.md) for more info. - * - * @param[in] len : len to read no of bytes - * @param[out] gyro : Structure pointer to store accel data - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev); - -/*! - * @brief This API reads accel and gyro data along with sensor time - * if time is requested by user. - * Kindly refer the user guide(README.md) for more info. - * - * @param[in] len : len to read no of bytes - * @param[out] accel : Structure pointer to store accel data - * @param[out] gyro : Structure pointer to store accel data - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_accel_gyro_data(uint8_t len, - struct bmi160_sensor_data *accel, - struct bmi160_sensor_data *gyro, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the any-motion interrupt for accel. - * - * @param[in] any_motion_int_cfg : Structure instance of - * bmi160_acc_any_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - struct bmi160_dev *dev); - -/*! - * @brief This API disable the sig-motion interrupt. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t disable_sig_motion_int(const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for any-motion interrupt. - * - * @param[in] any_motion_int_cfg : Structure instance of - * bmi160_acc_any_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the duration and threshold of - * any-motion interrupt. - * - * @param[in] any_motion_int_cfg : Structure instance of - * bmi160_acc_any_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure necessary setting of any-motion interrupt. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] any_motion_int_cfg : Structure instance of - * bmi160_acc_any_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enable the data ready interrupt. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_data_ready_int(const struct bmi160_dev *dev); - -/*! - * @brief This API enables the no motion/slow motion interrupt. - * - * @param[in] no_mot_int_cfg : Structure instance of - * bmi160_acc_no_motion_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the interrupt PIN setting for - * no motion/slow motion interrupt. - * - * @param[in] int_config : structure instance of bmi160_int_settg. - * @param[in] no_mot_int_cfg : Structure instance of - * bmi160_acc_no_motion_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of interrupt for no motion. - * - * @param[in] no_mot_int_cfg : Structure instance of - * bmi160_acc_no_motion_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the duration and threshold of - * no motion/slow motion interrupt along with selection of no/slow motion. - * - * @param[in] no_mot_int_cfg : Structure instance of - * bmi160_acc_no_motion_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the sig-motion motion interrupt. - * - * @param[in] sig_mot_int_cfg : Structure instance of - * bmi160_acc_sig_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev); - -/*! - * @brief This API configure the interrupt PIN setting for - * significant motion interrupt. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] sig_mot_int_cfg : Structure instance of - * bmi160_acc_sig_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for sig motion interrupt. - * - * @param[in] sig_mot_int_cfg : Structure instance of - * bmi160_acc_sig_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the threshold, skip and proof time of - * sig motion interrupt. - * - * @param[in] sig_mot_int_cfg : Structure instance of - * bmi160_acc_sig_mot_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the step detector interrupt. - * - * @param[in] step_detect_int_cfg : Structure instance of - * bmi160_acc_step_detect_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the step detector parameter. - * - * @param[in] step_detect_int_cfg : Structure instance of - * bmi160_acc_step_detect_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the single/double tap interrupt. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_tap_int(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the interrupt PIN setting for - * tap interrupt. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] tap_int_cfg : Structure instance of bmi160_acc_tap_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for tap interrupt. - * - * @param[in] tap_int_cfg : Structure instance of bmi160_acc_tap_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the parameters of tap interrupt. - * Threshold, quite, shock, and duration. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] tap_int_cfg : Structure instance of bmi160_acc_tap_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_tap_param(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enable the external mode configuration. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_sec_if(const struct bmi160_dev *dev); - -/*! - * @brief This API configure the ODR of the auxiliary sensor. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_aux_odr(const struct bmi160_dev *dev); - -/*! - * @brief This API maps the actual burst read length set by user. - * - * @param[in] len : Pointer to store the read length. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the settings of auxiliary sensor. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_aux_settg(const struct bmi160_dev *dev); - -/*! - * @brief This API extract the read data from auxiliary sensor. - * - * @param[in] map_len : burst read value. - * @param[in] reg_addr : Address of register to read. - * @param[in] aux_data : Pointer to store the read data. - * @param[in] len : length to read the data. - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t extract_aux_read(uint16_t map_len, - uint8_t reg_addr, - uint8_t *aux_data, - uint16_t len, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the orient interrupt. - * - * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the necessary setting of orientation interrupt. - * - * @param[in] orient_int_cfg : Structure instance of bmi160_acc_orient_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the flat interrupt. - * - * @param[in] flat_int : Structure instance of bmi160_acc_flat_detect_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the necessary setting of flat interrupt. - * - * @param[in] flat_int : Structure instance of bmi160_acc_flat_detect_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int, - const struct bmi160_dev *dev); - -/*! - * @brief This API enables the Low-g interrupt. - * - * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of data(filter & pre-filter) for low-g interrupt. - * - * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the necessary setting of low-g interrupt. - * - * @param[in] low_g_int : Structure instance of bmi160_acc_low_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev); - -/*! - * @brief This API enables the high-g interrupt. - * - * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for high-g interrupt. - * - * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the necessary setting of high-g interrupt. - * - * @param[in] high_g_int_cfg : Structure instance of bmi160_acc_high_g_int_cfg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, - const struct bmi160_dev *dev); - -/*! - * @brief This API configure the behavioural setting of interrupt pin. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API performs the self test for accelerometer of BMI160 - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t perform_accel_self_test(struct bmi160_dev *dev); - -/*! - * @brief This API enables to perform the accel self test by setting proper - * configurations to facilitate accel self test - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_accel_self_test(struct bmi160_dev *dev); - -/*! - * @brief This API performs accel self test with positive excitation - * - * @param[in] accel_pos : Structure pointer to store accel data - * for positive excitation - * @param[in] dev : structure instance of bmi160_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev); - -/*! - * @brief This API performs accel self test with negative excitation - * - * @param[in] accel_neg : Structure pointer to store accel data - * for negative excitation - * @param[in] dev : structure instance of bmi160_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev); - -/*! - * @brief This API validates the accel self test results - * - * @param[in] accel_pos : Structure pointer to store accel data - * for positive excitation - * @param[in] accel_neg : Structure pointer to store accel data - * for negative excitation - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error / +ve value -> Self test fail - */ -static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos, - const struct bmi160_sensor_data *accel_neg); - -/*! - * @brief This API performs the self test for gyroscope of BMI160 - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t perform_gyro_self_test(const struct bmi160_dev *dev); - -/*! - * @brief This API enables the self test bit to trigger self test for gyro - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_gyro_self_test(const struct bmi160_dev *dev); - -/*! - * @brief This API validates the self test results of gyro - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t validate_gyro_self_test(const struct bmi160_dev *dev); - -/*! - * @brief This API sets FIFO full interrupt of the sensor.This interrupt - * occurs when the FIFO is full and the next full data sample would cause - * a FIFO overflow, which may delete the old samples. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This enable the FIFO full interrupt engine. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API sets FIFO watermark interrupt of the sensor.The FIFO - * watermark interrupt is fired, when the FIFO fill level is above a fifo - * watermark. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This enable the FIFO watermark interrupt engine. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to reset the FIFO related configurations - * in the fifo_frame structure. - * - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void reset_fifo_data_structure(const struct bmi160_dev *dev); - -/*! - * @brief This API is used to read number of bytes filled - * currently in FIFO buffer. - * - * @param[in] bytes_to_read : Number of bytes available in FIFO at the - * instant which is obtained from FIFO counter. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - * @retval Any non zero value -> Fail - * - */ -static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev); - -/*! - * @brief This API is used to compute the number of bytes of accel FIFO data - * which is to be parsed in header-less mode - * - * @param[out] data_index : The start index for parsing data - * @param[out] data_read_length : Number of bytes to be parsed - * @param[in] acc_frame_count : Number of accelerometer frames to be read - * @param[in] dev : Structure instance of bmi160_dev. - * - */ -static void get_accel_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *acc_frame_count, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed. - * - * @param[in,out] acc : structure instance of sensor data - * @param[in,out] idx : Index value of number of bytes parsed - * @param[in,out] acc_idx : Index value of accelerometer data - * (x,y,z axes) frames parsed - * @param[in] frame_info : It consists of either fifo_data_enable - * parameter in header-less mode or - * frame header data in header mode - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_accel_frame(struct bmi160_sensor_data *acc, - uint16_t *idx, - uint8_t *acc_idx, - uint8_t frame_info, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data and store it in the instance of the structure bmi160_sensor_data. - * - * @param[in,out] accel_data : structure instance of sensor data - * @param[in,out] data_start_index : Index value of number of bytes parsed - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_accel_data(struct bmi160_sensor_data *accel_data, - uint16_t data_start_index, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data in header mode. - * - * @param[in,out] accel_data : Structure instance of sensor data - * @param[in,out] accel_length : Number of accelerometer frames - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data, - uint8_t *accel_length, - const struct bmi160_dev *dev); - -/*! - * @brief This API computes the number of bytes of gyro FIFO data - * which is to be parsed in header-less mode - * - * @param[out] data_index : The start index for parsing data - * @param[out] data_read_length : No of bytes to be parsed from FIFO buffer - * @param[in] gyro_frame_count : Number of Gyro data frames to be read - * @param[in] dev : Structure instance of bmi160_dev. - */ -static void get_gyro_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *gyro_frame_count, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the gyroscope's data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed. - * - * @param[in,out] gyro : structure instance of sensor data - * @param[in,out] idx : Index value of number of bytes parsed - * @param[in,out] gyro_idx : Index value of gyro data - * (x,y,z axes) frames parsed - * @param[in] frame_info : It consists of either fifo_data_enable - * parameter in header-less mode or - * frame header data in header mode - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_gyro_frame(struct bmi160_sensor_data *gyro, - uint16_t *idx, - uint8_t *gyro_idx, - uint8_t frame_info, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the gyro data from the - * FIFO data and store it in the instance of the structure bmi160_sensor_data. - * - * @param[in,out] gyro_data : structure instance of sensor data - * @param[in,out] data_start_index : Index value of number of bytes parsed - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data, - uint16_t data_start_index, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the gyro data from the - * FIFO data in header mode. - * - * @param[in,out] gyro_data : Structure instance of sensor data - * @param[in,out] gyro_length : Number of gyro frames - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data, - uint8_t *gyro_length, - const struct bmi160_dev *dev); - -/*! - * @brief This API computes the number of bytes of aux FIFO data - * which is to be parsed in header-less mode - * - * @param[out] data_index : The start index for parsing data - * @param[out] data_read_length : No of bytes to be parsed from FIFO buffer - * @param[in] aux_frame_count : Number of Aux data frames to be read - * @param[in] dev : Structure instance of bmi160_dev. - */ -static void get_aux_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *aux_frame_count, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the aux's data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed - * - * @param[in,out] aux_data : structure instance of sensor data - * @param[in,out] idx : Index value of number of bytes parsed - * @param[in,out] aux_index : Index value of gyro data - * (x,y,z axes) frames parsed - * @param[in] frame_info : It consists of either fifo_data_enable - * parameter in header-less mode or - * frame header data in header mode - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_aux_frame(struct bmi160_aux_data *aux_data, - uint16_t *idx, - uint8_t *aux_index, - uint8_t frame_info, - const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the aux data from the - * FIFO data and store it in the instance of the structure bmi160_aux_data. - * - * @param[in,out] aux_data : structure instance of sensor data - * @param[in,out] data_start_index : Index value of number of bytes parsed - * @param[in] dev : structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse the aux data from the - * FIFO data in header mode. - * - * @param[in,out] aux_data : Structure instance of sensor data - * @param[in,out] aux_length : Number of aux frames - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length, - const struct bmi160_dev *dev); - -/*! - * @brief This API checks the presence of non-valid frames in the read fifo data. - * - * @param[in,out] data_index : The index of the current data to - * be parsed from fifo data - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to move the data index ahead of the - * current_frame_length parameter when unnecessary FIFO data appears while - * extracting the user specified data. - * - * @param[in,out] data_index : Index of the FIFO data which - * is to be moved ahead of the - * current_frame_length - * @param[in] current_frame_length : Number of bytes in a particular frame - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse and store the sensor time from the - * FIFO data in the structure instance dev. - * - * @param[in,out] data_index : Index of the FIFO data which - * has the sensor time. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to parse and store the skipped_frame_count from - * the FIFO data in the structure instance dev. - * - * @param[in,out] data_index : Index of the FIFO data which - * has the skipped frame count. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to get the FOC status from the sensor - * - * @param[in,out] foc_status : Result of FOC status. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev); - -/*! - * @brief This API is used to configure the offset enable bits in the sensor - * - * @param[in,out] foc_conf : Structure instance of bmi160_foc_conf which - * has the FOC and offset configurations - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev); - -/*! - * @brief This API is used to trigger the FOC in the sensor - * - * @param[in,out] offset : Structure instance of bmi160_offsets which - * reads and stores the offset values after FOC - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev); - -/*! - * @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full - * and FIFO watermark interrupt - * - * @param[in] int_config : Structure instance of bmi160_int_settg which - * stores the interrupt type and interrupt channel - * configurations to map/unmap the interrupt pins - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*! - * @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g, - * Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins. - * - * @param[in] int_config : Structure instance of bmi160_int_settg which - * stores the interrupt type and interrupt channel - * configurations to map/unmap the interrupt pins - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev); - -/*********************** User function definitions ****************************/ - -/*! - * @brief This API reads the data from the given register address - * of sensor. - */ -int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - /* Variable to define temporary length */ - uint16_t temp_len; - - /* Variable to define temporary buffer */ - uint8_t temp_buf[32]; - - /* Variable to define loop */ - uint16_t indx = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->read == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else if (len == 0) - { - rslt = BMI160_READ_WRITE_LENGHT_INVALID; - } - else - { - /* Set temp_len */ - temp_len = len + dev->dummy_byte; - - /* Limit the temp_len to 32 */ - if (temp_len > 32) - { - temp_len = 32; - } - - /* Configuring reg_addr for SPI Interface */ - if (dev->interface == BMI160_SPI_INTF) - { - reg_addr = (reg_addr | BMI160_SPI_RD_MASK); - } - rslt = dev->read(dev->id, reg_addr, temp_buf, temp_len); - - if (rslt == BMI160_OK) - { - /* Read the data from the position next to dummy byte */ - while (indx < len) - { - data[indx] = temp_buf[indx]; - indx++; - } - } - else - { - rslt = BMI160_E_COM_FAIL; - } - } - - return rslt; -} - -/*! - * @brief This API writes the given data to the register address - * of sensor. - */ -int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - uint8_t count = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->write == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else if (len == 0) - { - rslt = BMI160_READ_WRITE_LENGHT_INVALID; - } - else - { - /* Configuring reg_addr for SPI Interface */ - if (dev->interface == BMI160_SPI_INTF) - { - reg_addr = (reg_addr & BMI160_SPI_WR_MASK); - } - if ((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) || - (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) - { - rslt = dev->write(dev->id, reg_addr, data, len); - - /* Kindly refer bmi160 data sheet section 3.2.4 */ - dev->delay_ms(1); - - } - else - { - /*Burst write is not allowed in - * suspend & low power mode */ - for (; count < len; count++) - { - rslt = dev->write(dev->id, reg_addr, &data[count], 1); - reg_addr++; - - /* Kindly refer bmi160 data sheet section 3.2.4 */ - dev->delay_ms(1); - - } - } - if (rslt != BMI160_OK) - { - rslt = BMI160_E_COM_FAIL; - } - } - - return rslt; -} - -/*! - * @brief This API is the entry point for sensor.It performs - * the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of bmi160 sensor. - */ -int8_t bmi160_init(struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data; - uint8_t try = 3; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - - /* An extra dummy byte is read during SPI read */ - if (dev->interface == BMI160_SPI_INTF) - { - dev->dummy_byte = 1; - } - else - { - dev->dummy_byte = 0; - } - - /* Dummy read of 0x7F register to enable SPI Interface - * if SPI is used */ - if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF)) - { - rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev); - } - - if (rslt == BMI160_OK) - { - /* Assign chip id as zero */ - dev->chip_id = 0; - - while ((try--) && (dev->chip_id != BMI160_CHIP_ID)) - { - /* Read chip_id */ - rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev); - } - if ((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID)) - { - dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED; - - /* Soft reset */ - rslt = bmi160_soft_reset(dev); - } - else - { - rslt = BMI160_E_DEV_NOT_FOUND; - } - } - - return rslt; -} - -/*! - * @brief This API resets and restarts the device. - * All register values are overwritten with default parameters. - */ -int8_t bmi160_soft_reset(struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = BMI160_SOFT_RESET_CMD; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Reset the device */ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev); - dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS); - if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF)) - { - /* Dummy read of 0x7F register to enable SPI Interface - * if SPI is used */ - rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev); - } - if (rslt == BMI160_OK) - { - /* Update the default parameters */ - default_param_settg(dev); - } - } - - return rslt; -} - -/*! - * @brief This API configures the power mode, range and bandwidth - * of sensor. - */ -int8_t bmi160_set_sens_conf(struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = set_accel_conf(dev); - if (rslt == BMI160_OK) - { - rslt = set_gyro_conf(dev); - if (rslt == BMI160_OK) - { - /* write power mode for accel and gyro */ - rslt = bmi160_set_power_mode(dev); - if (rslt == BMI160_OK) - { - rslt = check_invalid_settg(dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the power mode of the sensor. - */ -int8_t bmi160_set_power_mode(struct bmi160_dev *dev) -{ - int8_t rslt = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = set_accel_pwr(dev); - if (rslt == BMI160_OK) - { - rslt = set_gyro_pwr(dev); - } - } - - return rslt; -} - -/*! - * @brief This API gets the power mode of the sensor. - */ -int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t power_mode = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_get_regs(BMI160_PMU_STATUS_ADDR, &power_mode, 1, dev); - if (rslt == BMI160_OK) - { - /* Power mode of the accel,gyro,aux sensor is obtained */ - pmu_status->aux_pmu_status = BMI160_GET_BITS_POS_0(power_mode, BMI160_MAG_POWER_MODE); - pmu_status->gyro_pmu_status = BMI160_GET_BITS(power_mode, BMI160_GYRO_POWER_MODE); - pmu_status->accel_pmu_status = BMI160_GET_BITS(power_mode, BMI160_ACCEL_POWER_MODE); - } - } - - return rslt; -} - -/*! - * @brief This API reads sensor data, stores it in - * the bmi160_sensor_data structure pointer passed by the user. - */ -int8_t bmi160_get_sensor_data(uint8_t select_sensor, - struct bmi160_sensor_data *accel, - struct bmi160_sensor_data *gyro, - const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - uint8_t time_sel; - uint8_t sen_sel; - uint8_t len = 0; - - /*Extract the sensor and time select information*/ - sen_sel = select_sensor & BMI160_SEN_SEL_MASK; - time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2); - sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL); - if (time_sel == 1) - { - len = 3; - } - - /* Null-pointer check */ - if (dev != NULL) - { - switch (sen_sel) - { - case BMI160_ACCEL_ONLY: - - /* Null-pointer check */ - if (accel == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = get_accel_data(len, accel, dev); - } - break; - case BMI160_GYRO_ONLY: - - /* Null-pointer check */ - if (gyro == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = get_gyro_data(len, gyro, dev); - } - break; - case BMI160_BOTH_ACCEL_AND_GYRO: - - /* Null-pointer check */ - if ((gyro == NULL) || (accel == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = get_accel_gyro_data(len, accel, gyro, dev); - } - break; - default: - rslt = BMI160_E_INVALID_INPUT; - break; - } - } - else - { - rslt = BMI160_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API configures the necessary interrupt based on - * the user settings in the bmi160_int_settg structure instance. - */ -int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - switch (int_config->int_type) - { - case BMI160_ACC_ANY_MOTION_INT: - - /*Any-motion interrupt*/ - rslt = set_accel_any_motion_int(int_config, dev); - break; - case BMI160_ACC_SIG_MOTION_INT: - - /* Significant motion interrupt */ - rslt = set_accel_sig_motion_int(int_config, dev); - break; - case BMI160_ACC_SLOW_NO_MOTION_INT: - - /* Slow or no motion interrupt */ - rslt = set_accel_no_motion_int(int_config, dev); - break; - case BMI160_ACC_DOUBLE_TAP_INT: - case BMI160_ACC_SINGLE_TAP_INT: - - /* Double tap and single tap Interrupt */ - rslt = set_accel_tap_int(int_config, dev); - break; - case BMI160_STEP_DETECT_INT: - - /* Step detector interrupt */ - rslt = set_accel_step_detect_int(int_config, dev); - break; - case BMI160_ACC_ORIENT_INT: - - /* Orientation interrupt */ - rslt = set_accel_orientation_int(int_config, dev); - break; - case BMI160_ACC_FLAT_INT: - - /* Flat detection interrupt */ - rslt = set_accel_flat_detect_int(int_config, dev); - break; - case BMI160_ACC_LOW_G_INT: - - /* Low-g interrupt */ - rslt = set_accel_low_g_int(int_config, dev); - break; - case BMI160_ACC_HIGH_G_INT: - - /* High-g interrupt */ - rslt = set_accel_high_g_int(int_config, dev); - break; - case BMI160_ACC_GYRO_DATA_RDY_INT: - - /* Data ready interrupt */ - rslt = set_accel_gyro_data_ready_int(int_config, dev); - break; - case BMI160_ACC_GYRO_FIFO_FULL_INT: - - /* Fifo full interrupt */ - rslt = set_fifo_full_int(int_config, dev); - break; - case BMI160_ACC_GYRO_FIFO_WATERMARK_INT: - - /* Fifo water-mark interrupt */ - rslt = set_fifo_watermark_int(int_config, dev); - break; - case BMI160_FIFO_TAG_INT_PIN: - - /* Fifo tagging feature support */ - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - break; - default: - break; - } - - return rslt; -} - -/*! - * @brief This API enables or disable the step counter feature. - * 1 - enable step counter (0 - disable) - */ -int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - if (step_cnt_enable == BMI160_ENABLE) - { - data |= (uint8_t)(step_cnt_enable << 3); - } - else - { - data &= ~BMI160_STEP_COUNT_EN_BIT_MASK; - } - rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API reads the step counter value. - */ -int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data[2] = { 0, 0 }; - uint16_t msb = 0; - uint8_t lsb = 0; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_get_regs(BMI160_INT_STEP_CNT_0_ADDR, data, 2, dev); - if (rslt == BMI160_OK) - { - lsb = data[0]; - msb = data[1] << 8; - *step_val = msb | lsb; - } - } - - return rslt; -} - -/*! - * @brief This API reads the mention no of byte of data from the given - * register address of auxiliary sensor. - */ -int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - uint16_t map_len = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->read == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) - { - rslt = map_read_len(&map_len, dev); - if (rslt == BMI160_OK) - { - rslt = extract_aux_read(map_len, reg_addr, aux_data, len, dev); - } - } - else - { - rslt = BMI160_E_INVALID_INPUT; - } - } - - return rslt; -} - -/*! - * @brief This API writes the mention no of byte of data to the given - * register address of auxiliary sensor. - */ -int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - uint8_t count = 0; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->write == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - for (; count < len; count++) - { - /* set data to write */ - rslt = bmi160_set_regs(BMI160_AUX_IF_4_ADDR, aux_data, 1, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - if (rslt == BMI160_OK) - { - /* set address to write */ - rslt = bmi160_set_regs(BMI160_AUX_IF_3_ADDR, ®_addr, 1, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - if (rslt == BMI160_OK && (count < len - 1)) - { - aux_data++; - reg_addr++; - } - } - } - } - - return rslt; -} - -/*! - * @brief This API initialize the auxiliary sensor - * in order to access it. - */ -int8_t bmi160_aux_init(const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) - { - /* Configures the auxiliary sensor interface settings */ - rslt = config_aux_settg(dev); - } - else - { - rslt = BMI160_E_INVALID_INPUT; - } - } - - return rslt; -} - -/*! - * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode - * Thus enabling the auto update of 8 bytes of data from auxiliary sensor - * to BMI160 register address 0x04 to 0x0B - */ -int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - if (dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) - { - /* Write the aux. address to read in 0x4D of BMI160*/ - rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, data_addr, 1, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - if (rslt == BMI160_OK) - { - /* Configure the polling ODR for - * auxiliary sensor */ - rslt = config_aux_odr(dev); - if (rslt == BMI160_OK) - { - /* Disable the aux. manual mode, i.e aux. - * sensor is in auto-mode (data-mode) */ - dev->aux_cfg.manual_enable = BMI160_DISABLE; - rslt = bmi160_config_aux_mode(dev); - - /* Auxiliary sensor data is obtained - * in auto mode from this point */ - } - } - } - else - { - rslt = BMI160_E_INVALID_INPUT; - } - } - - return rslt; -} - -/*! - * @brief This API configures the 0x4C register and settings like - * Auxiliary sensor manual enable/ disable and aux burst read length. - */ -int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t aux_if[2] = { (uint8_t)(dev->aux_cfg.aux_i2c_addr * 2), 0 }; - - rslt = bmi160_get_regs(BMI160_AUX_IF_1_ADDR, &aux_if[1], 1, dev); - if (rslt == BMI160_OK) - { - /* update the Auxiliary interface to manual/auto mode */ - aux_if[1] = BMI160_SET_BITS(aux_if[1], BMI160_MANUAL_MODE_EN, dev->aux_cfg.manual_enable); - - /* update the burst read length defined by user */ - aux_if[1] = BMI160_SET_BITS_POS_0(aux_if[1], BMI160_AUX_READ_BURST, dev->aux_cfg.aux_rd_burst_len); - - /* Set the secondary interface address and manual mode - * along with burst read length */ - rslt = bmi160_set_regs(BMI160_AUX_IF_0_ADDR, &aux_if[0], 2, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - } - - return rslt; -} - -/*! - * @brief This API is used to read the raw uncompensated auxiliary sensor - * data of 8 bytes from BMI160 register address 0x04 to 0x0B - */ -int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - if ((dev->aux_cfg.aux_sensor_enable == BMI160_ENABLE) && (dev->aux_cfg.manual_enable == BMI160_DISABLE)) - { - /* Read the aux. sensor's raw data */ - rslt = bmi160_get_regs(BMI160_AUX_DATA_ADDR, aux_data, 8, dev); - } - else - { - rslt = BMI160_E_INVALID_INPUT; - } - } - - return rslt; -} - -/*! - * @brief This is used to perform self test of accel/gyro of the BMI160 sensor - */ -int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev) -{ - int8_t rslt; - int8_t self_test_rslt = 0; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - - /* Proceed if null check is fine */ - switch (select_sensor) - { - case BMI160_ACCEL_ONLY: - rslt = perform_accel_self_test(dev); - break; - case BMI160_GYRO_ONLY: - - /* Set the power mode as normal mode */ - dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; - rslt = bmi160_set_power_mode(dev); - - /* Perform gyro self test */ - if (rslt == BMI160_OK) - { - /* Perform gyro self test */ - rslt = perform_gyro_self_test(dev); - } - - break; - default: - rslt = BMI160_E_INVALID_INPUT; - break; - } - - /* Check to ensure bus error does not occur */ - if (rslt >= BMI160_OK) - { - /* Store the status of self test result */ - self_test_rslt = rslt; - - /* Perform soft reset */ - rslt = bmi160_soft_reset(dev); - - } - - /* Check to ensure bus operations are success */ - if (rslt == BMI160_OK) - { - /* Restore self_test_rslt as return value */ - rslt = self_test_rslt; - } - } - - return rslt; -} - -/*! - * @brief This API reads the data from fifo buffer. - */ -int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint16_t bytes_to_read = 0; - uint16_t user_fifo_len = 0; - - /* check the bmi160 structure as NULL*/ - if ((dev == NULL) || (dev->fifo->data == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - reset_fifo_data_structure(dev); - - /* get current FIFO fill-level*/ - rslt = get_fifo_byte_counter(&bytes_to_read, dev); - if (rslt == BMI160_OK) - { - user_fifo_len = dev->fifo->length; - if ((dev->fifo->length > bytes_to_read)) - { - /* Handling the case where user requests - * more data than available in FIFO */ - dev->fifo->length = bytes_to_read; - } - if ((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) && - (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len)) - { - /* Handling case of sensor time availability*/ - dev->fifo->length = dev->fifo->length + BMI160_FIFO_BYTES_OVERREAD; - } - - /* read only the filled bytes in the FIFO Buffer */ - rslt = bmi160_get_regs(BMI160_FIFO_DATA_ADDR, dev->fifo->data, dev->fifo->length, dev); - } - } - - return rslt; -} - -/*! - * @brief This API writes fifo_flush command to command register.This - * action clears all data in the Fifo without changing fifo configuration - * settings - */ -int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t data = BMI160_FIFO_FLUSH_VALUE; - uint8_t reg_addr = BMI160_COMMAND_REG_ADDR; - - /* Check the bmi160_dev structure for NULL address*/ - if (dev == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev); - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO configuration in the sensor. - */ -int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint8_t data = 0; - uint8_t reg_addr = BMI160_FIFO_CONFIG_1_ADDR; - uint8_t fifo_config = config & BMI160_FIFO_CONFIG_1_MASK; - - /* Check the bmi160_dev structure for NULL address*/ - if (dev == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev); - if (rslt == BMI160_OK) - { - if (fifo_config > 0) - { - if (enable == BMI160_ENABLE) - { - data = data | fifo_config; - } - else - { - data = data & (~fifo_config); - } - } - - /* write fifo frame content configuration*/ - rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev); - if (rslt == BMI160_OK) - { - /* read fifo frame content configuration*/ - rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev); - if (rslt == BMI160_OK) - { - /* extract fifo header enabled status */ - dev->fifo->fifo_header_enable = data & BMI160_FIFO_HEAD_ENABLE; - - /* extract accel/gyr/aux. data enabled status */ - dev->fifo->fifo_data_enable = data & BMI160_FIFO_M_G_A_ENABLE; - - /* extract fifo sensor time enabled status */ - dev->fifo->fifo_time_enable = data & BMI160_FIFO_TIME_ENABLE; - } - } - } - } - - return rslt; -} - -/*! @brief This API is used to configure the down sampling ratios of - * the accel and gyro data for FIFO.Also, it configures filtered or - * pre-filtered data for accel and gyro. - * - */ -int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t data = 0; - uint8_t reg_addr = BMI160_FIFO_DOWN_ADDR; - - /* Check the bmi160_dev structure for NULL address*/ - if (dev == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_get_regs(reg_addr, &data, BMI160_ONE, dev); - if (rslt == BMI160_OK) - { - data = data | fifo_down; - rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev); - } - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO watermark level in the sensor. - * - */ -int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t data = fifo_wm; - uint8_t reg_addr = BMI160_FIFO_CONFIG_0_ADDR; - - /* Check the bmi160_dev structure for NULL address*/ - if (dev == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = bmi160_set_regs(reg_addr, &data, BMI160_ONE, dev); - } - - return rslt; -} - -/*! - * @brief This API parses and extracts the accelerometer frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the "accel_data" structure instance. - */ -int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint16_t data_index = 0; - uint16_t data_read_length = 0; - uint8_t accel_index = 0; - uint8_t fifo_data_enable = 0; - - if (dev == NULL || dev->fifo == NULL || dev->fifo->data == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Parsing the FIFO data in header-less mode */ - if (dev->fifo->fifo_header_enable == 0) - { - /* Number of bytes to be parsed from FIFO */ - get_accel_len_to_parse(&data_index, &data_read_length, accel_length, dev); - for (; data_index < data_read_length;) - { - /*Check for the availability of next two bytes of FIFO data */ - check_frame_validity(&data_index, dev); - fifo_data_enable = dev->fifo->fifo_data_enable; - unpack_accel_frame(accel_data, &data_index, &accel_index, fifo_data_enable, dev); - } - - /* update number of accel data read*/ - *accel_length = accel_index; - - /*update the accel byte index*/ - dev->fifo->accel_byte_start_idx = data_index; - } - else - { - /* Parsing the FIFO data in header mode */ - extract_accel_header_mode(accel_data, accel_length, dev); - } - } - - return rslt; -} - -/*! - * @brief This API parses and extracts the gyro frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the "gyro_data" structure instance. - */ -int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint16_t data_index = 0; - uint16_t data_read_length = 0; - uint8_t gyro_index = 0; - uint8_t fifo_data_enable = 0; - - if (dev == NULL || dev->fifo->data == NULL) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Parsing the FIFO data in header-less mode */ - if (dev->fifo->fifo_header_enable == 0) - { - /* Number of bytes to be parsed from FIFO */ - get_gyro_len_to_parse(&data_index, &data_read_length, gyro_length, dev); - for (; data_index < data_read_length;) - { - /*Check for the availability of next two bytes of FIFO data */ - check_frame_validity(&data_index, dev); - fifo_data_enable = dev->fifo->fifo_data_enable; - unpack_gyro_frame(gyro_data, &data_index, &gyro_index, fifo_data_enable, dev); - } - - /* update number of gyro data read */ - *gyro_length = gyro_index; - - /* update the gyro byte index */ - dev->fifo->gyro_byte_start_idx = data_index; - } - else - { - /* Parsing the FIFO data in header mode */ - extract_gyro_header_mode(gyro_data, gyro_length, dev); - } - } - - return rslt; -} - -/*! - * @brief This API parses and extracts the aux frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the "aux_data" structure instance. - */ -int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint16_t data_index = 0; - uint16_t data_read_length = 0; - uint8_t aux_index = 0; - uint8_t fifo_data_enable = 0; - - if ((dev == NULL) || (dev->fifo->data == NULL) || (aux_data == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Parsing the FIFO data in header-less mode */ - if (dev->fifo->fifo_header_enable == 0) - { - /* Number of bytes to be parsed from FIFO */ - get_aux_len_to_parse(&data_index, &data_read_length, aux_len, dev); - for (; data_index < data_read_length;) - { - /* Check for the availability of next two - * bytes of FIFO data */ - check_frame_validity(&data_index, dev); - fifo_data_enable = dev->fifo->fifo_data_enable; - unpack_aux_frame(aux_data, &data_index, &aux_index, fifo_data_enable, dev); - } - - /* update number of aux data read */ - *aux_len = aux_index; - - /* update the aux byte index */ - dev->fifo->aux_byte_start_idx = data_index; - } - else - { - /* Parsing the FIFO data in header mode */ - extract_aux_header_mode(aux_data, aux_len, dev); - } - } - - return rslt; -} - -/*! - * @brief This API starts the FOC of accel and gyro - * - * @note FOC should not be used in low-power mode of sensor - * - * @note Accel FOC targets values of +1g , 0g , -1g - * Gyro FOC always targets value of 0 dps - */ -int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf, - struct bmi160_offsets *offset, - struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t data; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Set the offset enable bits */ - rslt = configure_offset_enable(foc_conf, dev); - if (rslt == BMI160_OK) - { - /* Read the FOC config from the sensor */ - rslt = bmi160_get_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev); - - /* Set the FOC config for gyro */ - data = BMI160_SET_BITS(data, BMI160_GYRO_FOC_EN, foc_conf->foc_gyr_en); - - /* Set the FOC config for accel xyz axes */ - data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_X_CONF, foc_conf->foc_acc_x); - data = BMI160_SET_BITS(data, BMI160_ACCEL_FOC_Y_CONF, foc_conf->foc_acc_y); - data = BMI160_SET_BITS_POS_0(data, BMI160_ACCEL_FOC_Z_CONF, foc_conf->foc_acc_z); - if (rslt == BMI160_OK) - { - /* Set the FOC config in the sensor */ - rslt = bmi160_set_regs(BMI160_FOC_CONF_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* Procedure to trigger - * FOC and check status */ - rslt = trigger_foc(offset, dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API reads and stores the offset values of accel and gyro - */ -int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data[7]; - uint8_t lsb, msb; - int16_t offset_msb, offset_lsb; - int16_t offset_data; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Read the FOC config from the sensor */ - rslt = bmi160_get_regs(BMI160_OFFSET_ADDR, data, 7, dev); - - /* Accel offsets */ - offset->off_acc_x = (int8_t)data[0]; - offset->off_acc_y = (int8_t)data[1]; - offset->off_acc_z = (int8_t)data[2]; - - /* Gyro x-axis offset */ - lsb = data[3]; - msb = BMI160_GET_BITS_POS_0(data[6], BMI160_GYRO_OFFSET_X); - offset_msb = (int16_t)(msb << 14); - offset_lsb = lsb << 6; - offset_data = offset_msb | offset_lsb; - - /* Divide by 64 to get the Right shift by 6 value */ - offset->off_gyro_x = (int16_t)(offset_data / 64); - - /* Gyro y-axis offset */ - lsb = data[4]; - msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Y); - offset_msb = (int16_t)(msb << 14); - offset_lsb = lsb << 6; - offset_data = offset_msb | offset_lsb; - - /* Divide by 64 to get the Right shift by 6 value */ - offset->off_gyro_y = (int16_t)(offset_data / 64); - - /* Gyro z-axis offset */ - lsb = data[5]; - msb = BMI160_GET_BITS(data[6], BMI160_GYRO_OFFSET_Z); - offset_msb = (int16_t)(msb << 14); - offset_lsb = lsb << 6; - offset_data = offset_msb | offset_lsb; - - /* Divide by 64 to get the Right shift by 6 value */ - offset->off_gyro_z = (int16_t)(offset_data / 64); - } - - return rslt; -} - -/*! - * @brief This API writes the offset values of accel and gyro to - * the sensor but these values will be reset on POR or soft reset. - */ -int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf, - const struct bmi160_offsets *offset, - struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t data[7]; - uint8_t x_msb, y_msb, z_msb; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Update the accel offset */ - data[0] = (uint8_t)offset->off_acc_x; - data[1] = (uint8_t)offset->off_acc_y; - data[2] = (uint8_t)offset->off_acc_z; - - /* Update the LSB of gyro offset */ - data[3] = BMI160_GET_LSB(offset->off_gyro_x); - data[4] = BMI160_GET_LSB(offset->off_gyro_y); - data[5] = BMI160_GET_LSB(offset->off_gyro_z); - - /* Update the MSB of gyro offset */ - x_msb = BMI160_GET_BITS(offset->off_gyro_x, BMI160_GYRO_OFFSET); - y_msb = BMI160_GET_BITS(offset->off_gyro_y, BMI160_GYRO_OFFSET); - z_msb = BMI160_GET_BITS(offset->off_gyro_z, BMI160_GYRO_OFFSET); - data[6] = (uint8_t)(z_msb << 4 | y_msb << 2 | x_msb); - - /* Set the offset enable/disable for gyro and accel */ - data[6] = BMI160_SET_BITS(data[6], BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en); - data[6] = BMI160_SET_BITS(data[6], BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en); - - /* Set the offset config and values in the sensor */ - rslt = bmi160_set_regs(BMI160_OFFSET_ADDR, data, 7, dev); - } - - return rslt; -} - -/*! - * @brief This API writes the image registers values to NVM which is - * stored even after POR or soft reset - */ -int8_t bmi160_update_nvm(struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t data; - uint8_t cmd = BMI160_NVM_BACKUP_EN; - - /* Read the nvm_prog_en configuration */ - rslt = bmi160_get_regs(BMI160_CONF_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - data = BMI160_SET_BITS(data, BMI160_NVM_UPDATE, 1); - - /* Set the nvm_prog_en bit in the sensor */ - rslt = bmi160_set_regs(BMI160_CONF_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* Update NVM */ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev); - if (rslt == BMI160_OK) - { - /* Check for NVM ready status */ - rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - data = BMI160_GET_BITS(data, BMI160_NVM_STATUS); - if (data != BMI160_ENABLE) - { - /* Delay to update NVM */ - dev->delay_ms(25); - } - } - } - } - } - - return rslt; -} - -/*! - * @brief This API gets the interrupt status from the sensor. - */ -int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel, - union bmi160_int_status *int_status, - struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - - /* To get the status of all interrupts */ - if (int_status_sel == BMI160_INT_STATUS_ALL) - { - rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 4, dev); - } - else - { - if (int_status_sel & BMI160_INT_STATUS_0) - { - rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev); - } - if (int_status_sel & BMI160_INT_STATUS_1) - { - rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev); - } - if (int_status_sel & BMI160_INT_STATUS_2) - { - rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev); - } - if (int_status_sel & BMI160_INT_STATUS_3) - { - rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev); - } - } - - return rslt; -} - -/*********************** Local function definitions ***************************/ - -/*! - * @brief This API sets the any-motion interrupt of the sensor. - * This interrupt occurs when accel values exceeds preset threshold - * for a certain period of time. - */ -static int8_t set_accel_any_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg = &(int_config->int_type_cfg.acc_any_motion_int); - rslt = enable_accel_any_motion_int(any_motion_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_any_motion_int_settg(int_config, any_motion_int_cfg, dev); - } - } - - return rslt; -} - -/*! - * @brief This API sets tap interrupts.Interrupt is fired when - * tap movements happen. - */ -static int8_t set_accel_tap_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_tap_int_cfg *tap_int_cfg = &(int_config->int_type_cfg.acc_tap_int); - rslt = enable_tap_int(int_config, tap_int_cfg, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_tap_int_settg(int_config, tap_int_cfg, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the data ready interrupt for both accel and gyro. - * This interrupt occurs when new accel and gyro data comes. - */ -static int8_t set_accel_gyro_data_ready_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - rslt = enable_data_ready_int(dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_hardware_interrupt(int_config, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the significant motion interrupt of the sensor.This - * interrupt occurs when there is change in user location. - */ -static int8_t set_accel_sig_motion_int(struct bmi160_int_settg *int_config, struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg = &(int_config->int_type_cfg.acc_sig_motion_int); - rslt = enable_sig_motion_int(sig_mot_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_sig_motion_int_settg(int_config, sig_mot_int_cfg, dev); - } - } - - return rslt; -} - -/*! - * @brief This API sets the no motion/slow motion interrupt of the sensor. - * Slow motion is similar to any motion interrupt.No motion interrupt - * occurs when slope bet. two accel values falls below preset threshold - * for preset duration. - */ -static int8_t set_accel_no_motion_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg = &(int_config->int_type_cfg.acc_no_motion_int); - rslt = enable_no_motion_int(no_mot_int_cfg, dev); - if (rslt == BMI160_OK) - { - /* Configure the INT PIN settings*/ - rslt = config_no_motion_int_settg(int_config, no_mot_int_cfg, dev); - } - } - - return rslt; -} - -/*! - * @brief This API sets the step detection interrupt.This interrupt - * occurs when the single step causes accel values to go above - * preset threshold. - */ -static int8_t set_accel_step_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg = &(int_config->int_type_cfg.acc_step_detect_int); - rslt = enable_step_detect_int(step_detect_int_cfg, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_step_detect(step_detect_int_cfg, dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the orientation interrupt of the sensor.This - * interrupt occurs when there is orientation change in the sensor - * with respect to gravitational field vector g. - */ -static int8_t set_accel_orientation_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_orient_int_cfg *orient_int_cfg = &(int_config->int_type_cfg.acc_orient_int); - rslt = enable_orient_int(orient_int_cfg, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - /* map INT pin to orient interrupt */ - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - /* configure the - * orientation setting*/ - rslt = config_orient_int_settg(orient_int_cfg, dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the flat interrupt of the sensor.This interrupt - * occurs in case of flat orientation - */ -static int8_t set_accel_flat_detect_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_flat_detect_int_cfg *flat_detect_int = &(int_config->int_type_cfg.acc_flat_int); - - /* enable the flat interrupt */ - rslt = enable_flat_int(flat_detect_int, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - /* map INT pin to flat interrupt */ - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - /* configure the flat setting*/ - rslt = config_flat_int_settg(flat_detect_int, dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the low-g interrupt of the sensor.This interrupt - * occurs during free-fall. - */ -static int8_t set_accel_low_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_low_g_int_cfg *low_g_int = &(int_config->int_type_cfg.acc_low_g_int); - - /* Enable the low-g interrupt*/ - rslt = enable_low_g_int(low_g_int, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - /* Map INT pin to low-g interrupt */ - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - /* configure the data source - * for low-g interrupt*/ - rslt = config_low_g_data_src(low_g_int, dev); - if (rslt == BMI160_OK) - { - rslt = config_low_g_int_settg(low_g_int, dev); - } - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the high-g interrupt of the sensor.The interrupt - * occurs if the absolute value of acceleration data of any enabled axis - * exceeds the programmed threshold and the sign of the value does not - * change for a preset duration. - */ -static int8_t set_accel_high_g_int(struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if ((rslt != BMI160_OK) || (int_config == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* updating the interrupt structure to local structure */ - struct bmi160_acc_high_g_int_cfg *high_g_int_cfg = &(int_config->int_type_cfg.acc_high_g_int); - - /* Enable the high-g interrupt */ - rslt = enable_high_g_int(high_g_int_cfg, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - /* Map INT pin to high-g interrupt */ - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - /* configure the data source - * for high-g interrupt*/ - rslt = config_high_g_data_src(high_g_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_high_g_int_settg(high_g_int_cfg, dev); - } - } - } - } - } - - return rslt; -} - -/*! - * @brief This API configures the pins to fire the - * interrupt signal when it occurs. - */ -static int8_t set_intr_pin_config(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* configure the behavioural settings of interrupt pin */ - rslt = config_int_out_ctrl(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_int_latch(int_config, dev); - } - - return rslt; -} - -/*! - * @brief This internal API is used to validate the device structure pointer for - * null conditions. - */ -static int8_t null_ptr_check(const struct bmi160_dev *dev) -{ - int8_t rslt; - - if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Device structure is fine */ - rslt = BMI160_OK; - } - - return rslt; -} - -/*! - * @brief This API sets the default configuration parameters of accel & gyro. - * Also maintain the previous state of configurations. - */ -static void default_param_settg(struct bmi160_dev *dev) -{ - /* Initializing accel and gyro params with - * default values */ - dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; - dev->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ; - dev->accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; - dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G; - dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; - dev->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ; - dev->gyro_cfg.power = BMI160_GYRO_SUSPEND_MODE; - dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; - - /* To maintain the previous state of accel configuration */ - dev->prev_accel_cfg = dev->accel_cfg; - - /* To maintain the previous state of gyro configuration */ - dev->prev_gyro_cfg = dev->gyro_cfg; -} - -/*! - * @brief This API set the accel configuration. - */ -static int8_t set_accel_conf(struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data[2] = { 0 }; - - rslt = check_accel_config(data, dev); - if (rslt == BMI160_OK) - { - /* Write output data rate and bandwidth */ - rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev); - if (rslt == BMI160_OK) - { - dev->prev_accel_cfg.odr = dev->accel_cfg.odr; - dev->prev_accel_cfg.bw = dev->accel_cfg.bw; - - /* write accel range */ - rslt = bmi160_set_regs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev); - if (rslt == BMI160_OK) - { - dev->prev_accel_cfg.range = dev->accel_cfg.range; - } - } - } - - return rslt; -} - -/*! - * @brief This API check the accel configuration. - */ -static int8_t check_accel_config(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* read accel Output data rate and bandwidth */ - rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev); - if (rslt == BMI160_OK) - { - rslt = process_accel_odr(&data[0], dev); - if (rslt == BMI160_OK) - { - rslt = process_accel_bw(&data[0], dev); - if (rslt == BMI160_OK) - { - rslt = process_accel_range(&data[1], dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API process the accel odr. - */ -static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t odr = 0; - - if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_MAX) - { - if (dev->accel_cfg.odr != dev->prev_accel_cfg.odr) - { - odr = (uint8_t)dev->accel_cfg.odr; - temp = *data & ~BMI160_ACCEL_ODR_MASK; - - /* Adding output data rate */ - *data = temp | (odr & BMI160_ACCEL_ODR_MASK); - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API process the accel bandwidth. - */ -static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t bw = 0; - - if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_MAX) - { - if (dev->accel_cfg.bw != dev->prev_accel_cfg.bw) - { - bw = (uint8_t)dev->accel_cfg.bw; - temp = *data & ~BMI160_ACCEL_BW_MASK; - - /* Adding bandwidth */ - *data = temp | ((bw << 4) /*& BMI160_ACCEL_ODR_MASK*/); - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API process the accel range. - */ -static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t range = 0; - - if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_MAX) - { - if (dev->accel_cfg.range != dev->prev_accel_cfg.range) - { - range = (uint8_t)dev->accel_cfg.range; - temp = *data & ~BMI160_ACCEL_RANGE_MASK; - - /* Adding range */ - *data = temp | (range & BMI160_ACCEL_RANGE_MASK); - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API checks the invalid settings for ODR & Bw for - * Accel and Gyro. - */ -static int8_t check_invalid_settg(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - /* read the error reg */ - rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, dev); - data = data >> 1; - data = data & BMI160_ERR_REG_MASK; - if (data == 1) - { - rslt = BMI160_E_ACCEL_ODR_BW_INVALID; - } - else if (data == 2) - { - rslt = BMI160_E_GYRO_ODR_BW_INVALID; - } - else if (data == 3) - { - rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID; - } - else if (data == 7) - { - rslt = BMI160_E_LWP_PRE_FLTR_INVALID; - } - - return rslt; -} -static int8_t set_gyro_conf(struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data[2] = { 0 }; - - rslt = check_gyro_config(data, dev); - if (rslt == BMI160_OK) - { - /* Write output data rate and bandwidth */ - rslt = bmi160_set_regs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev); - if (rslt == BMI160_OK) - { - dev->prev_gyro_cfg.odr = dev->gyro_cfg.odr; - dev->prev_gyro_cfg.bw = dev->gyro_cfg.bw; - - /* Write gyro range */ - rslt = bmi160_set_regs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev); - if (rslt == BMI160_OK) - { - dev->prev_gyro_cfg.range = dev->gyro_cfg.range; - } - } - } - - return rslt; -} - -/*! - * @brief This API check the gyro configuration. - */ -static int8_t check_gyro_config(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* read gyro Output data rate and bandwidth */ - rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev); - if (rslt == BMI160_OK) - { - rslt = process_gyro_odr(&data[0], dev); - if (rslt == BMI160_OK) - { - rslt = process_gyro_bw(&data[0], dev); - if (rslt == BMI160_OK) - { - rslt = process_gyro_range(&data[1], dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API process the gyro odr. - */ -static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t odr = 0; - - if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_MAX) - { - if (dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr) - { - odr = (uint8_t)dev->gyro_cfg.odr; - temp = (*data & ~BMI160_GYRO_ODR_MASK); - - /* Adding output data rate */ - *data = temp | (odr & BMI160_GYRO_ODR_MASK); - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API process the gyro bandwidth. - */ -static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t bw = 0; - - if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_MAX) - { - bw = (uint8_t)dev->gyro_cfg.bw; - temp = *data & ~BMI160_GYRO_BW_MASK; - - /* Adding bandwidth */ - *data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK); - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API process the gyro range. - */ -static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t temp = 0; - uint8_t range = 0; - - if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_MAX) - { - if (dev->gyro_cfg.range != dev->prev_gyro_cfg.range) - { - range = (uint8_t)dev->gyro_cfg.range; - temp = *data & ~BMI160_GYRO_RANGE_MSK; - - /* Adding range */ - *data = temp | (range & BMI160_GYRO_RANGE_MSK); - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API sets the accel power. - */ -static int8_t set_accel_pwr(struct bmi160_dev *dev) -{ - int8_t rslt = 0; - uint8_t data = 0; - - if ((dev->accel_cfg.power >= BMI160_ACCEL_SUSPEND_MODE) && (dev->accel_cfg.power <= BMI160_ACCEL_LOWPOWER_MODE)) - { - if (dev->accel_cfg.power != dev->prev_accel_cfg.power) - { - rslt = process_under_sampling(&data, dev); - if (rslt == BMI160_OK) - { - /* Write accel power */ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->accel_cfg.power, 1, dev); - - /* Add delay of 3.8 ms - refer data sheet table 24*/ - if (dev->prev_accel_cfg.power == BMI160_ACCEL_SUSPEND_MODE) - { - dev->delay_ms(BMI160_ACCEL_DELAY_MS); - } - dev->prev_accel_cfg.power = dev->accel_cfg.power; - } - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API process the undersampling setting of Accel. - */ -static int8_t process_under_sampling(uint8_t *data, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t pre_filter = 0; - - rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev); - if (rslt == BMI160_OK) - { - if (dev->accel_cfg.power == BMI160_ACCEL_LOWPOWER_MODE) - { - temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK; - - /* Set under-sampling parameter */ - *data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK); - - /* Write data */ - rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev); - - /* disable the pre-filter data in - * low power mode */ - if (rslt == BMI160_OK) - { - /* Disable the Pre-filter data*/ - rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev); - } - } - else if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK) - { - temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK; - - /* disable under-sampling parameter - * if already enabled */ - *data = temp; - - /* Write data */ - rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API sets the gyro power mode. - */ -static int8_t set_gyro_pwr(struct bmi160_dev *dev) -{ - int8_t rslt = 0; - - if ((dev->gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) || (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE) || - (dev->gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE)) - { - if (dev->gyro_cfg.power != dev->prev_gyro_cfg.power) - { - /* Write gyro power */ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &dev->gyro_cfg.power, 1, dev); - if (dev->prev_gyro_cfg.power == BMI160_GYRO_SUSPEND_MODE) - { - /* Delay of 80 ms - datasheet Table 24 */ - dev->delay_ms(BMI160_GYRO_DELAY_MS); - } - else if ((dev->prev_gyro_cfg.power == BMI160_GYRO_FASTSTARTUP_MODE) && - (dev->gyro_cfg.power == BMI160_GYRO_NORMAL_MODE)) - { - /* This delay is required for transition from - * fast-startup mode to normal mode - datasheet Table 3 */ - dev->delay_ms(10); - } - else - { - /* do nothing */ - } - dev->prev_gyro_cfg.power = dev->gyro_cfg.power; - } - } - else - { - rslt = BMI160_E_OUT_OF_RANGE; - } - - return rslt; -} - -/*! - * @brief This API reads accel data along with sensor time if time is requested - * by user. Kindly refer the user guide(README.md) for more info. - */ -static int8_t get_accel_data(uint8_t len, struct bmi160_sensor_data *accel, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t idx = 0; - uint8_t data_array[9] = { 0 }; - uint8_t time_0 = 0; - uint16_t time_1 = 0; - uint32_t time_2 = 0; - uint8_t lsb; - uint8_t msb; - int16_t msblsb; - - /* read accel sensor data along with time if requested */ - rslt = bmi160_get_regs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev); - if (rslt == BMI160_OK) - { - /* Accel Data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->x = msblsb; /* Data in X axis */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->y = msblsb; /* Data in Y axis */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->z = msblsb; /* Data in Z axis */ - if (len == 3) - { - time_0 = data_array[idx++]; - time_1 = (uint16_t)(data_array[idx++] << 8); - time_2 = (uint32_t)(data_array[idx++] << 16); - accel->sensortime = (uint32_t)(time_2 | time_1 | time_0); - } - else - { - accel->sensortime = 0; - } - } - else - { - rslt = BMI160_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API reads accel data along with sensor time if time is requested - * by user. Kindly refer the user guide(README.md) for more info. - */ -static int8_t get_gyro_data(uint8_t len, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t idx = 0; - uint8_t data_array[15] = { 0 }; - uint8_t time_0 = 0; - uint16_t time_1 = 0; - uint32_t time_2 = 0; - uint8_t lsb; - uint8_t msb; - int16_t msblsb; - - if (len == 0) - { - /* read gyro data only */ - rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev); - if (rslt == BMI160_OK) - { - /* Gyro Data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->x = msblsb; /* Data in X axis */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->y = msblsb; /* Data in Y axis */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->z = msblsb; /* Data in Z axis */ - gyro->sensortime = 0; - } - else - { - rslt = BMI160_E_COM_FAIL; - } - } - else - { - /* read gyro sensor data along with time */ - rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev); - if (rslt == BMI160_OK) - { - /* Gyro Data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->x = msblsb; /* gyro X axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->y = msblsb; /* gyro Y axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->z = msblsb; /* gyro Z axis data */ - idx = idx + 6; - time_0 = data_array[idx++]; - time_1 = (uint16_t)(data_array[idx++] << 8); - time_2 = (uint32_t)(data_array[idx++] << 16); - gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0); - } - else - { - rslt = BMI160_E_COM_FAIL; - } - } - - return rslt; -} - -/*! - * @brief This API reads accel and gyro data along with sensor time - * if time is requested by user. - * Kindly refer the user guide(README.md) for more info. - */ -static int8_t get_accel_gyro_data(uint8_t len, - struct bmi160_sensor_data *accel, - struct bmi160_sensor_data *gyro, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t idx = 0; - uint8_t data_array[15] = { 0 }; - uint8_t time_0 = 0; - uint16_t time_1 = 0; - uint32_t time_2 = 0; - uint8_t lsb; - uint8_t msb; - int16_t msblsb; - - /* read both accel and gyro sensor data - * along with time if requested */ - rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev); - if (rslt == BMI160_OK) - { - /* Gyro Data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->x = msblsb; /* gyro X axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->y = msblsb; /* gyro Y axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - gyro->z = msblsb; /* gyro Z axis data */ - /* Accel Data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->x = (int16_t)msblsb; /* accel X axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->y = (int16_t)msblsb; /* accel Y axis data */ - lsb = data_array[idx++]; - msb = data_array[idx++]; - msblsb = (int16_t)((msb << 8) | lsb); - accel->z = (int16_t)msblsb; /* accel Z axis data */ - if (len == 3) - { - time_0 = data_array[idx++]; - time_1 = (uint16_t)(data_array[idx++] << 8); - time_2 = (uint32_t)(data_array[idx++] << 16); - accel->sensortime = (uint32_t)(time_2 | time_1 | time_0); - gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0); - } - else - { - accel->sensortime = 0; - gyro->sensortime = 0; - } - } - else - { - rslt = BMI160_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API enables the any-motion interrupt for accel. - */ -static int8_t enable_accel_any_motion_int(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable any motion x, any motion y, any motion z - * in Int Enable 0 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - if (any_motion_int_cfg->anymotion_en == BMI160_ENABLE) - { - temp = data & ~BMI160_ANY_MOTION_X_INT_EN_MASK; - - /* Adding Any_motion x axis */ - data = temp | (any_motion_int_cfg->anymotion_x & BMI160_ANY_MOTION_X_INT_EN_MASK); - temp = data & ~BMI160_ANY_MOTION_Y_INT_EN_MASK; - - /* Adding Any_motion y axis */ - data = temp | ((any_motion_int_cfg->anymotion_y << 1) & BMI160_ANY_MOTION_Y_INT_EN_MASK); - temp = data & ~BMI160_ANY_MOTION_Z_INT_EN_MASK; - - /* Adding Any_motion z axis */ - data = temp | ((any_motion_int_cfg->anymotion_z << 2) & BMI160_ANY_MOTION_Z_INT_EN_MASK); - - /* any-motion feature selected*/ - dev->any_sig_sel = BMI160_ANY_MOTION_ENABLED; - } - else - { - data = data & ~BMI160_ANY_MOTION_ALL_INT_EN_MASK; - - /* neither any-motion feature nor sig-motion selected */ - dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED; - } - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API disable the sig-motion interrupt. - */ -static int8_t disable_sig_motion_int(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Disabling Significant motion interrupt if enabled */ - rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = (data & BMI160_SIG_MOTION_SEL_MASK); - if (temp) - { - temp = data & ~BMI160_SIG_MOTION_SEL_MASK; - data = temp; - - /* Write data to register */ - rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API is used to map/unmap the Any/Sig motion, Step det/Low-g, - * Double tap, Single tap, Orientation, Flat, High-G, Nomotion interrupt pins. - */ -static int8_t map_feature_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data[3] = { 0, 0, 0 }; - uint8_t temp[3] = { 0, 0, 0 }; - - rslt = bmi160_get_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev); - if (rslt == BMI160_OK) - { - temp[0] = data[0] & ~int_mask_lookup_table[int_config->int_type]; - temp[2] = data[2] & ~int_mask_lookup_table[int_config->int_type]; - switch (int_config->int_channel) - { - case BMI160_INT_CHANNEL_NONE: - data[0] = temp[0]; - data[2] = temp[2]; - break; - case BMI160_INT_CHANNEL_1: - data[0] = temp[0] | int_mask_lookup_table[int_config->int_type]; - data[2] = temp[2]; - break; - case BMI160_INT_CHANNEL_2: - data[2] = temp[2] | int_mask_lookup_table[int_config->int_type]; - data[0] = temp[0]; - break; - case BMI160_INT_CHANNEL_BOTH: - data[0] = temp[0] | int_mask_lookup_table[int_config->int_type]; - data[2] = temp[2] | int_mask_lookup_table[int_config->int_type]; - break; - default: - rslt = BMI160_E_OUT_OF_RANGE; - } - if (rslt == BMI160_OK) - { - rslt = bmi160_set_regs(BMI160_INT_MAP_0_ADDR, data, 3, dev); - } - } - - return rslt; -} - -/*! - * @brief This API is used to map/unmap the Dataready(Accel & Gyro), FIFO full - * and FIFO watermark interrupt. - */ -static int8_t map_hardware_interrupt(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - rslt = bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~int_mask_lookup_table[int_config->int_type]; - temp = temp & ~((uint8_t)(int_mask_lookup_table[int_config->int_type] << 4)); - switch (int_config->int_channel) - { - case BMI160_INT_CHANNEL_NONE: - data = temp; - break; - case BMI160_INT_CHANNEL_1: - data = temp | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4); - break; - case BMI160_INT_CHANNEL_2: - data = temp | int_mask_lookup_table[int_config->int_type]; - break; - case BMI160_INT_CHANNEL_BOTH: - data = temp | int_mask_lookup_table[int_config->int_type]; - data = data | (uint8_t)((int_mask_lookup_table[int_config->int_type]) << 4); - break; - default: - rslt = BMI160_E_OUT_OF_RANGE; - } - if (rslt == BMI160_OK) - { - rslt = bmi160_set_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for any-motion interrupt. - */ -static int8_t config_any_motion_src(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 1 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_MOTION_SRC_INT_MASK; - data = temp | ((any_motion_int_cfg->anymotion_data_src << 7) & BMI160_MOTION_SRC_INT_MASK); - - /* Write data to DATA 1 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the duration and threshold of - * any-motion interrupt. - */ -static int8_t config_any_dur_threshold(const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - uint8_t data_array[2] = { 0 }; - uint8_t dur; - - /* Configure Int Motion 0 register */ - rslt = bmi160_get_regs(BMI160_INT_MOTION_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* slope duration */ - dur = (uint8_t)any_motion_int_cfg->anymotion_dur; - temp = data & ~BMI160_SLOPE_INT_DUR_MASK; - data = temp | (dur & BMI160_MOTION_SRC_INT_MASK); - data_array[0] = data; - - /* add slope threshold */ - data_array[1] = any_motion_int_cfg->anymotion_thr; - - /* INT MOTION 0 and INT MOTION 1 address lie consecutively, - * hence writing data to respective registers at one go */ - - /* Writing to Int_motion 0 and - * Int_motion 1 Address simultaneously */ - rslt = bmi160_set_regs(BMI160_INT_MOTION_0_ADDR, data_array, 2, dev); - } - - return rslt; -} - -/*! - * @brief This API configure necessary setting of any-motion interrupt. - */ -static int8_t config_any_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_any_mot_int_cfg *any_motion_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = disable_sig_motion_int(dev); - if (rslt == BMI160_OK) - { - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_any_motion_src(any_motion_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_any_dur_threshold(any_motion_int_cfg, dev); - } - } - } - } - - return rslt; -} - -/*! - * @brief This API enable the data ready interrupt. - */ -static int8_t enable_data_ready_int(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable data ready interrupt in Int Enable 1 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_DATA_RDY_INT_EN_MASK; - data = temp | ((1 << 4) & BMI160_DATA_RDY_INT_EN_MASK); - - /* Writing data to INT ENABLE 1 Address */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API enables the no motion/slow motion interrupt. - */ -static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable no motion x, no motion y, no motion z - * in Int Enable 2 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - if (no_mot_int_cfg->no_motion_x == 1) - { - temp = data & ~BMI160_NO_MOTION_X_INT_EN_MASK; - - /* Adding No_motion x axis */ - data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK); - } - if (no_mot_int_cfg->no_motion_y == 1) - { - temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK; - - /* Adding No_motion x axis */ - data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK); - } - if (no_mot_int_cfg->no_motion_z == 1) - { - temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK; - - /* Adding No_motion x axis */ - data = temp | ((1 << 2) & BMI160_NO_MOTION_Z_INT_EN_MASK); - } - - /* write data to Int Enable 2 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the interrupt PIN setting for - * no motion/slow motion interrupt. - */ -static int8_t config_no_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_no_motion_data_src(no_mot_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_no_motion_dur_thr(no_mot_int_cfg, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API configure the source of interrupt for no motion. - */ -static int8_t config_no_motion_data_src(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 1 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_MOTION_SRC_INT_MASK; - data = temp | ((no_mot_int_cfg->no_motion_src << 7) & BMI160_MOTION_SRC_INT_MASK); - - /* Write data to DATA 1 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the duration and threshold of - * no motion/slow motion interrupt along with selection of no/slow motion. - */ -static int8_t config_no_motion_dur_thr(const struct bmi160_acc_no_motion_int_cfg *no_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - uint8_t temp_1 = 0; - uint8_t reg_addr; - uint8_t data_array[2] = { 0 }; - - /* Configuring INT_MOTION register */ - reg_addr = BMI160_INT_MOTION_0_ADDR; - rslt = bmi160_get_regs(reg_addr, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_NO_MOTION_INT_DUR_MASK; - - /* Adding no_motion duration */ - data = temp | ((no_mot_int_cfg->no_motion_dur << 2) & BMI160_NO_MOTION_INT_DUR_MASK); - - /* Write data to NO_MOTION 0 address */ - rslt = bmi160_set_regs(reg_addr, &data, 1, dev); - if (rslt == BMI160_OK) - { - reg_addr = BMI160_INT_MOTION_3_ADDR; - rslt = bmi160_get_regs(reg_addr, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_NO_MOTION_SEL_BIT_MASK; - - /* Adding no_motion_sel bit */ - temp_1 = (no_mot_int_cfg->no_motion_sel & BMI160_NO_MOTION_SEL_BIT_MASK); - data = (temp | temp_1); - data_array[1] = data; - - /* Adding no motion threshold */ - data_array[0] = no_mot_int_cfg->no_motion_thres; - reg_addr = BMI160_INT_MOTION_2_ADDR; - - /* writing data to INT_MOTION 2 and INT_MOTION 3 - * address simultaneously */ - rslt = bmi160_set_regs(reg_addr, data_array, 2, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API enables the sig-motion motion interrupt. - */ -static int8_t enable_sig_motion_int(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* For significant motion,enable any motion x,any motion y, - * any motion z in Int Enable 0 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - if (sig_mot_int_cfg->sig_en == BMI160_ENABLE) - { - temp = data & ~BMI160_SIG_MOTION_INT_EN_MASK; - data = temp | (7 & BMI160_SIG_MOTION_INT_EN_MASK); - - /* sig-motion feature selected*/ - dev->any_sig_sel = BMI160_SIG_MOTION_ENABLED; - } - else - { - data = data & ~BMI160_SIG_MOTION_INT_EN_MASK; - - /* neither any-motion feature nor sig-motion selected */ - dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED; - } - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the interrupt PIN setting for - * significant motion interrupt. - */ -static int8_t config_sig_motion_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_sig_motion_data_src(sig_mot_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_sig_dur_threshold(sig_mot_int_cfg, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for sig motion interrupt. - */ -static int8_t config_sig_motion_data_src(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 1 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_MOTION_SRC_INT_MASK; - data = temp | ((sig_mot_int_cfg->sig_data_src << 7) & BMI160_MOTION_SRC_INT_MASK); - - /* Write data to DATA 1 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the threshold, skip and proof time of - * sig motion interrupt. - */ -static int8_t config_sig_dur_threshold(const struct bmi160_acc_sig_mot_int_cfg *sig_mot_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data; - uint8_t temp = 0; - - /* Configuring INT_MOTION registers */ - - /* Write significant motion threshold. - * This threshold is same as any motion threshold */ - data = sig_mot_int_cfg->sig_mot_thres; - - /* Write data to INT_MOTION 1 address */ - rslt = bmi160_set_regs(BMI160_INT_MOTION_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - rslt = bmi160_get_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_SIG_MOTION_SKIP_MASK; - - /* adding skip time of sig_motion interrupt*/ - data = temp | ((sig_mot_int_cfg->sig_mot_skip << 2) & BMI160_SIG_MOTION_SKIP_MASK); - temp = data & ~BMI160_SIG_MOTION_PROOF_MASK; - - /* adding proof time of sig_motion interrupt */ - data = temp | ((sig_mot_int_cfg->sig_mot_proof << 4) & BMI160_SIG_MOTION_PROOF_MASK); - - /* configure the int_sig_mot_sel bit to select - * significant motion interrupt */ - temp = data & ~BMI160_SIG_MOTION_SEL_MASK; - data = temp | ((sig_mot_int_cfg->sig_en << 1) & BMI160_SIG_MOTION_SEL_MASK); - rslt = bmi160_set_regs(BMI160_INT_MOTION_3_ADDR, &data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API enables the step detector interrupt. - */ -static int8_t enable_step_detect_int(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable data ready interrupt in Int Enable 2 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_STEP_DETECT_INT_EN_MASK; - data = temp | ((step_detect_int_cfg->step_detector_en << 3) & BMI160_STEP_DETECT_INT_EN_MASK); - - /* Writing data to INT ENABLE 2 Address */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_2_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the step detector parameter. - */ -static int8_t config_step_detect(const struct bmi160_acc_step_detect_int_cfg *step_detect_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data_array[2] = { 0 }; - - if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_NORMAL) - { - /* Normal mode setting */ - data_array[0] = 0x15; - data_array[1] = 0x03; - } - else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_SENSITIVE) - { - /* Sensitive mode setting */ - data_array[0] = 0x2D; - data_array[1] = 0x00; - } - else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_ROBUST) - { - /* Robust mode setting */ - data_array[0] = 0x1D; - data_array[1] = 0x07; - } - else if (step_detect_int_cfg->step_detector_mode == BMI160_STEP_DETECT_USER_DEFINE) - { - /* Non recommended User defined setting */ - /* Configuring STEP_CONFIG register */ - rslt = bmi160_get_regs(BMI160_INT_STEP_CONFIG_0_ADDR, &data_array[0], 2, dev); - if (rslt == BMI160_OK) - { - temp = data_array[0] & ~BMI160_STEP_DETECT_MIN_THRES_MASK; - - /* Adding min_threshold */ - data_array[0] = temp | ((step_detect_int_cfg->min_threshold << 3) & BMI160_STEP_DETECT_MIN_THRES_MASK); - temp = data_array[0] & ~BMI160_STEP_DETECT_STEPTIME_MIN_MASK; - - /* Adding steptime_min */ - data_array[0] = temp | ((step_detect_int_cfg->steptime_min) & BMI160_STEP_DETECT_STEPTIME_MIN_MASK); - temp = data_array[1] & ~BMI160_STEP_MIN_BUF_MASK; - - /* Adding steptime_min */ - data_array[1] = temp | ((step_detect_int_cfg->step_min_buf) & BMI160_STEP_MIN_BUF_MASK); - } - } - - /* Write data to STEP_CONFIG register */ - rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_0_ADDR, data_array, 2, dev); - - return rslt; -} - -/*! - * @brief This API enables the single/double tap interrupt. - */ -static int8_t enable_tap_int(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable single tap or double tap interrupt in Int Enable 0 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - if (int_config->int_type == BMI160_ACC_SINGLE_TAP_INT) - { - temp = data & ~BMI160_SINGLE_TAP_INT_EN_MASK; - data = temp | ((tap_int_cfg->tap_en << 5) & BMI160_SINGLE_TAP_INT_EN_MASK); - } - else - { - temp = data & ~BMI160_DOUBLE_TAP_INT_EN_MASK; - data = temp | ((tap_int_cfg->tap_en << 4) & BMI160_DOUBLE_TAP_INT_EN_MASK); - } - - /* Write to Enable 0 Address */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the interrupt PIN setting for - * tap interrupt. - */ -static int8_t config_tap_int_settg(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_feature_interrupt(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = config_tap_data_src(tap_int_cfg, dev); - if (rslt == BMI160_OK) - { - rslt = config_tap_param(int_config, tap_int_cfg, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for tap interrupt. - */ -static int8_t config_tap_data_src(const struct bmi160_acc_tap_int_cfg *tap_int_cfg, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 0 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_TAP_SRC_INT_MASK; - data = temp | ((tap_int_cfg->tap_data_src << 3) & BMI160_TAP_SRC_INT_MASK); - - /* Write data to Data 0 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the parameters of tap interrupt. - * Threshold, quite, shock, and duration. - */ -static int8_t config_tap_param(const struct bmi160_int_settg *int_config, - const struct bmi160_acc_tap_int_cfg *tap_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data = 0; - uint8_t data_array[2] = { 0 }; - uint8_t count = 0; - uint8_t dur, shock, quiet, thres; - - /* Configure tap 0 register for tap shock,tap quiet duration - * in case of single tap interrupt */ - rslt = bmi160_get_regs(BMI160_INT_TAP_0_ADDR, data_array, 2, dev); - if (rslt == BMI160_OK) - { - data = data_array[count]; - if (int_config->int_type == BMI160_ACC_DOUBLE_TAP_INT) - { - dur = (uint8_t)tap_int_cfg->tap_dur; - temp = (data & ~BMI160_TAP_DUR_MASK); - - /* Add tap duration data in case of - * double tap interrupt */ - data = temp | (dur & BMI160_TAP_DUR_MASK); - } - shock = (uint8_t)tap_int_cfg->tap_shock; - temp = data & ~BMI160_TAP_SHOCK_DUR_MASK; - data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK); - quiet = (uint8_t)tap_int_cfg->tap_quiet; - temp = data & ~BMI160_TAP_QUIET_DUR_MASK; - data = temp | ((quiet << 7) & BMI160_TAP_QUIET_DUR_MASK); - data_array[count++] = data; - data = data_array[count]; - thres = (uint8_t)tap_int_cfg->tap_thr; - temp = data & ~BMI160_TAP_THRES_MASK; - data = temp | (thres & BMI160_TAP_THRES_MASK); - data_array[count++] = data; - - /* TAP 0 and TAP 1 address lie consecutively, - * hence writing data to respective registers at one go */ - - /* Writing to Tap 0 and Tap 1 Address simultaneously */ - rslt = bmi160_set_regs(BMI160_INT_TAP_0_ADDR, data_array, count, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the secondary interface. - */ -static int8_t config_sec_if(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t if_conf = 0; - uint8_t cmd = BMI160_AUX_NORMAL_MODE; - - /* set the aux power mode to normal*/ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev); - if (rslt == BMI160_OK) - { - /* 0.5ms delay - refer datasheet table 24*/ - dev->delay_ms(1); - rslt = bmi160_get_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev); - if_conf |= (uint8_t)(1 << 5); - if (rslt == BMI160_OK) - { - /*enable the secondary interface also*/ - rslt = bmi160_set_regs(BMI160_IF_CONF_ADDR, &if_conf, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API configure the ODR of the auxiliary sensor. - */ -static int8_t config_aux_odr(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t aux_odr; - - rslt = bmi160_get_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev); - if (rslt == BMI160_OK) - { - aux_odr = (uint8_t)(dev->aux_cfg.aux_odr); - - /* Set the secondary interface ODR - * i.e polling rate of secondary sensor */ - rslt = bmi160_set_regs(BMI160_AUX_ODR_ADDR, &aux_odr, 1, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - } - - return rslt; -} - -/*! - * @brief This API maps the actual burst read length set by user. - */ -static int8_t map_read_len(uint16_t *len, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - switch (dev->aux_cfg.aux_rd_burst_len) - { - case BMI160_AUX_READ_LEN_0: - *len = 1; - break; - case BMI160_AUX_READ_LEN_1: - *len = 2; - break; - case BMI160_AUX_READ_LEN_2: - *len = 6; - break; - case BMI160_AUX_READ_LEN_3: - *len = 8; - break; - default: - rslt = BMI160_E_INVALID_INPUT; - break; - } - - return rslt; -} - -/*! - * @brief This API configure the settings of auxiliary sensor. - */ -static int8_t config_aux_settg(const struct bmi160_dev *dev) -{ - int8_t rslt; - - rslt = config_sec_if(dev); - if (rslt == BMI160_OK) - { - /* Configures the auxiliary interface settings */ - rslt = bmi160_config_aux_mode(dev); - } - - return rslt; -} - -/*! - * @brief This API extract the read data from auxiliary sensor. - */ -static int8_t extract_aux_read(uint16_t map_len, - uint8_t reg_addr, - uint8_t *aux_data, - uint16_t len, - const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - uint8_t data[8] = { 0, }; - uint8_t read_addr = BMI160_AUX_DATA_ADDR; - uint8_t count = 0; - uint8_t read_count; - uint8_t read_len = (uint8_t)map_len; - - for (; count < len;) - { - /* set address to read */ - rslt = bmi160_set_regs(BMI160_AUX_IF_2_ADDR, ®_addr, 1, dev); - dev->delay_ms(BMI160_AUX_COM_DELAY); - if (rslt == BMI160_OK) - { - rslt = bmi160_get_regs(read_addr, data, map_len, dev); - if (rslt == BMI160_OK) - { - read_count = 0; - - /* if read len is less the burst read len - * mention by user*/ - if (len < map_len) - { - read_len = (uint8_t)len; - } - else if ((len - count) < map_len) - { - read_len = (uint8_t)(len - count); - } - - for (; read_count < read_len; read_count++) - { - aux_data[count + read_count] = data[read_count]; - } - reg_addr += (uint8_t)map_len; - count += (uint8_t)map_len; - } - else - { - rslt = BMI160_E_COM_FAIL; - break; - } - } - } - - return rslt; -} - -/*! - * @brief This API enables the orient interrupt. - */ -static int8_t enable_orient_int(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable data ready interrupt in Int Enable 0 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_ORIENT_INT_EN_MASK; - data = temp | ((orient_int_cfg->orient_en << 6) & BMI160_ORIENT_INT_EN_MASK); - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the necessary setting of orientation interrupt. - */ -static int8_t config_orient_int_settg(const struct bmi160_acc_orient_int_cfg *orient_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - uint8_t data_array[2] = { 0, 0 }; - - /* Configuring INT_ORIENT registers */ - rslt = bmi160_get_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev); - if (rslt == BMI160_OK) - { - data = data_array[0]; - temp = data & ~BMI160_ORIENT_MODE_MASK; - - /* Adding Orientation mode */ - data = temp | ((orient_int_cfg->orient_mode) & BMI160_ORIENT_MODE_MASK); - temp = data & ~BMI160_ORIENT_BLOCK_MASK; - - /* Adding Orientation blocking */ - data = temp | ((orient_int_cfg->orient_blocking << 2) & BMI160_ORIENT_BLOCK_MASK); - temp = data & ~BMI160_ORIENT_HYST_MASK; - - /* Adding Orientation hysteresis */ - data = temp | ((orient_int_cfg->orient_hyst << 4) & BMI160_ORIENT_HYST_MASK); - data_array[0] = data; - data = data_array[1]; - temp = data & ~BMI160_ORIENT_THETA_MASK; - - /* Adding Orientation threshold */ - data = temp | ((orient_int_cfg->orient_theta) & BMI160_ORIENT_THETA_MASK); - temp = data & ~BMI160_ORIENT_UD_ENABLE; - - /* Adding Orient_ud_en */ - data = temp | ((orient_int_cfg->orient_ud_en << 6) & BMI160_ORIENT_UD_ENABLE); - temp = data & ~BMI160_AXES_EN_MASK; - - /* Adding axes_en */ - data = temp | ((orient_int_cfg->axes_ex << 7) & BMI160_AXES_EN_MASK); - data_array[1] = data; - - /* Writing data to INT_ORIENT 0 and INT_ORIENT 1 - * registers simultaneously */ - rslt = bmi160_set_regs(BMI160_INT_ORIENT_0_ADDR, data_array, 2, dev); - } - - return rslt; -} - -/*! - * @brief This API enables the flat interrupt. - */ -static int8_t enable_flat_int(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable flat interrupt in Int Enable 0 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_FLAT_INT_EN_MASK; - data = temp | ((flat_int->flat_en << 7) & BMI160_FLAT_INT_EN_MASK); - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the necessary setting of flat interrupt. - */ -static int8_t config_flat_int_settg(const struct bmi160_acc_flat_detect_int_cfg *flat_int, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - uint8_t data_array[2] = { 0, 0 }; - - /* Configuring INT_FLAT register */ - rslt = bmi160_get_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev); - if (rslt == BMI160_OK) - { - data = data_array[0]; - temp = data & ~BMI160_FLAT_THRES_MASK; - - /* Adding flat theta */ - data = temp | ((flat_int->flat_theta) & BMI160_FLAT_THRES_MASK); - data_array[0] = data; - data = data_array[1]; - temp = data & ~BMI160_FLAT_HOLD_TIME_MASK; - - /* Adding flat hold time */ - data = temp | ((flat_int->flat_hold_time << 4) & BMI160_FLAT_HOLD_TIME_MASK); - temp = data & ~BMI160_FLAT_HYST_MASK; - - /* Adding flat hysteresis */ - data = temp | ((flat_int->flat_hy) & BMI160_FLAT_HYST_MASK); - data_array[1] = data; - - /* Writing data to INT_FLAT 0 and INT_FLAT 1 - * registers simultaneously */ - rslt = bmi160_set_regs(BMI160_INT_FLAT_0_ADDR, data_array, 2, dev); - } - - return rslt; -} - -/*! - * @brief This API enables the Low-g interrupt. - */ -static int8_t enable_low_g_int(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable low-g interrupt in Int Enable 1 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_LOW_G_INT_EN_MASK; - data = temp | ((low_g_int->low_en << 3) & BMI160_LOW_G_INT_EN_MASK); - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for low-g interrupt. - */ -static int8_t config_low_g_data_src(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 0 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK; - data = temp | ((low_g_int->low_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK); - - /* Write data to Data 0 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the necessary setting of low-g interrupt. - */ -static int8_t config_low_g_int_settg(const struct bmi160_acc_low_g_int_cfg *low_g_int, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data_array[3] = { 0, 0, 0 }; - - /* Configuring INT_LOWHIGH register for low-g interrupt */ - rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[2], 1, dev); - if (rslt == BMI160_OK) - { - temp = data_array[2] & ~BMI160_LOW_G_HYST_MASK; - - /* Adding low-g hysteresis */ - data_array[2] = temp | (low_g_int->low_hyst & BMI160_LOW_G_HYST_MASK); - temp = data_array[2] & ~BMI160_LOW_G_LOW_MODE_MASK; - - /* Adding low-mode */ - data_array[2] = temp | ((low_g_int->low_mode << 2) & BMI160_LOW_G_LOW_MODE_MASK); - - /* Adding low-g threshold */ - data_array[1] = low_g_int->low_thres; - - /* Adding low-g interrupt delay */ - data_array[0] = low_g_int->low_dur; - - /* Writing data to INT_LOWHIGH 0,1,2 registers simultaneously*/ - rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_0_ADDR, data_array, 3, dev); - } - - return rslt; -} - -/*! - * @brief This API enables the high-g interrupt. - */ -static int8_t enable_high_g_int(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Enable low-g interrupt in Int Enable 1 register */ - rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* Adding high-g X-axis */ - temp = data & ~BMI160_HIGH_G_X_INT_EN_MASK; - data = temp | (high_g_int_cfg->high_g_x & BMI160_HIGH_G_X_INT_EN_MASK); - - /* Adding high-g Y-axis */ - temp = data & ~BMI160_HIGH_G_Y_INT_EN_MASK; - data = temp | ((high_g_int_cfg->high_g_y << 1) & BMI160_HIGH_G_Y_INT_EN_MASK); - - /* Adding high-g Z-axis */ - temp = data & ~BMI160_HIGH_G_Z_INT_EN_MASK; - data = temp | ((high_g_int_cfg->high_g_z << 2) & BMI160_HIGH_G_Z_INT_EN_MASK); - - /* write data to Int Enable 0 register */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the source of data(filter & pre-filter) - * for high-g interrupt. - */ -static int8_t config_high_g_data_src(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - uint8_t temp = 0; - - /* Configure Int data 0 register to add source of interrupt */ - rslt = bmi160_get_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - temp = data & ~BMI160_LOW_HIGH_SRC_INT_MASK; - data = temp | ((high_g_int_cfg->high_data_src << 7) & BMI160_LOW_HIGH_SRC_INT_MASK); - - /* Write data to Data 0 address */ - rslt = bmi160_set_regs(BMI160_INT_DATA_0_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the necessary setting of high-g interrupt. - */ -static int8_t config_high_g_int_settg(const struct bmi160_acc_high_g_int_cfg *high_g_int_cfg, - const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data_array[3] = { 0, 0, 0 }; - - rslt = bmi160_get_regs(BMI160_INT_LOWHIGH_2_ADDR, &data_array[0], 1, dev); - if (rslt == BMI160_OK) - { - temp = data_array[0] & ~BMI160_HIGH_G_HYST_MASK; - - /* Adding high-g hysteresis */ - data_array[0] = temp | ((high_g_int_cfg->high_hy << 6) & BMI160_HIGH_G_HYST_MASK); - - /* Adding high-g duration */ - data_array[1] = high_g_int_cfg->high_dur; - - /* Adding high-g threshold */ - data_array[2] = high_g_int_cfg->high_thres; - rslt = bmi160_set_regs(BMI160_INT_LOWHIGH_2_ADDR, data_array, 3, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the behavioural setting of interrupt pin. - */ -static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data = 0; - - /* Configuration of output interrupt signals on pins INT1 and INT2 are - * done in BMI160_INT_OUT_CTRL_ADDR register*/ - rslt = bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* updating the interrupt pin structure to local structure */ - const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg); - - /* Configuring channel 1 */ - if (int_config->int_channel == BMI160_INT_CHANNEL_1) - { - /* Output enable */ - temp = data & ~BMI160_INT1_OUTPUT_EN_MASK; - data = temp | ((intr_pin_sett->output_en << 3) & BMI160_INT1_OUTPUT_EN_MASK); - - /* Output mode */ - temp = data & ~BMI160_INT1_OUTPUT_MODE_MASK; - data = temp | ((intr_pin_sett->output_mode << 2) & BMI160_INT1_OUTPUT_MODE_MASK); - - /* Output type */ - temp = data & ~BMI160_INT1_OUTPUT_TYPE_MASK; - data = temp | ((intr_pin_sett->output_type << 1) & BMI160_INT1_OUTPUT_TYPE_MASK); - - /* edge control */ - temp = data & ~BMI160_INT1_EDGE_CTRL_MASK; - data = temp | ((intr_pin_sett->edge_ctrl) & BMI160_INT1_EDGE_CTRL_MASK); - } - else - { - /* Configuring channel 2 */ - /* Output enable */ - temp = data & ~BMI160_INT2_OUTPUT_EN_MASK; - data = temp | ((intr_pin_sett->output_en << 7) & BMI160_INT2_OUTPUT_EN_MASK); - - /* Output mode */ - temp = data & ~BMI160_INT2_OUTPUT_MODE_MASK; - data = temp | ((intr_pin_sett->output_mode << 6) & BMI160_INT2_OUTPUT_MODE_MASK); - - /* Output type */ - temp = data & ~BMI160_INT2_OUTPUT_TYPE_MASK; - data = temp | ((intr_pin_sett->output_type << 5) & BMI160_INT2_OUTPUT_TYPE_MASK); - - /* edge control */ - temp = data & ~BMI160_INT2_EDGE_CTRL_MASK; - data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK); - } - rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API configure the mode(input enable, latch or non-latch) of interrupt pin. - */ -static int8_t config_int_latch(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t temp = 0; - uint8_t data = 0; - - /* Configuration of latch on pins INT1 and INT2 are done in - * BMI160_INT_LATCH_ADDR register*/ - rslt = bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* updating the interrupt pin structure to local structure */ - const struct bmi160_int_pin_settg *intr_pin_sett = &(int_config->int_pin_settg); - if (int_config->int_channel == BMI160_INT_CHANNEL_1) - { - /* Configuring channel 1 */ - /* Input enable */ - temp = data & ~BMI160_INT1_INPUT_EN_MASK; - data = temp | ((intr_pin_sett->input_en << 4) & BMI160_INT1_INPUT_EN_MASK); - } - else - { - /* Configuring channel 2 */ - /* Input enable */ - temp = data & ~BMI160_INT2_INPUT_EN_MASK; - data = temp | ((intr_pin_sett->input_en << 5) & BMI160_INT2_INPUT_EN_MASK); - } - - /* In case of latch interrupt,update the latch duration */ - - /* Latching holds the interrupt for the amount of latch - * duration time */ - temp = data & ~BMI160_INT_LATCH_MASK; - data = temp | (intr_pin_sett->latch_dur & BMI160_INT_LATCH_MASK); - - /* OUT_CTRL_INT and LATCH_INT address lie consecutively, - * hence writing data to respective registers at one go */ - rslt = bmi160_set_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API performs the self test for accelerometer of BMI160 - */ -static int8_t perform_accel_self_test(struct bmi160_dev *dev) -{ - int8_t rslt; - struct bmi160_sensor_data accel_pos, accel_neg; - - /* Enable Gyro self test bit */ - rslt = enable_accel_self_test(dev); - if (rslt == BMI160_OK) - { - /* Perform accel self test with positive excitation */ - rslt = accel_self_test_positive_excitation(&accel_pos, dev); - if (rslt == BMI160_OK) - { - /* Perform accel self test with negative excitation */ - rslt = accel_self_test_negative_excitation(&accel_neg, dev); - if (rslt == BMI160_OK) - { - /* Validate the self test result */ - rslt = validate_accel_self_test(&accel_pos, &accel_neg); - } - } - } - - return rslt; -} - -/*! - * @brief This API enables to perform the accel self test by setting proper - * configurations to facilitate accel self test - */ -static int8_t enable_accel_self_test(struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t reg_data; - - /* Set the Accel power mode as normal mode */ - dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; - - /* Set the sensor range configuration as 8G */ - dev->accel_cfg.range = BMI160_ACCEL_RANGE_8G; - rslt = bmi160_set_sens_conf(dev); - if (rslt == BMI160_OK) - { - /* Accel configurations are set to facilitate self test - * acc_odr - 1600Hz ; acc_bwp = 2 ; acc_us = 0 */ - reg_data = BMI160_ACCEL_SELF_TEST_CONFIG; - rslt = bmi160_set_regs(BMI160_ACCEL_CONFIG_ADDR, ®_data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API performs accel self test with positive excitation - */ -static int8_t accel_self_test_positive_excitation(struct bmi160_sensor_data *accel_pos, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t reg_data; - - /* Enable accel self test with positive self-test excitation - * and with amplitude of deflection set as high */ - reg_data = BMI160_ACCEL_SELF_TEST_POSITIVE_EN; - rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, ®_data, 1, dev); - if (rslt == BMI160_OK) - { - /* Read the data after a delay of 50ms - refer datasheet 2.8.1 accel self test*/ - dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY); - rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_pos, NULL, dev); - } - - return rslt; -} - -/*! - * @brief This API performs accel self test with negative excitation - */ -static int8_t accel_self_test_negative_excitation(struct bmi160_sensor_data *accel_neg, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t reg_data; - - /* Enable accel self test with negative self-test excitation - * and with amplitude of deflection set as high */ - reg_data = BMI160_ACCEL_SELF_TEST_NEGATIVE_EN; - rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, ®_data, 1, dev); - if (rslt == BMI160_OK) - { - /* Read the data after a delay of 50ms */ - dev->delay_ms(BMI160_ACCEL_SELF_TEST_DELAY); - rslt = bmi160_get_sensor_data(BMI160_ACCEL_ONLY, accel_neg, NULL, dev); - } - - return rslt; -} - -/*! - * @brief This API validates the accel self test results - */ -static int8_t validate_accel_self_test(const struct bmi160_sensor_data *accel_pos, - const struct bmi160_sensor_data *accel_neg) -{ - int8_t rslt; - - /* Validate the results of self test */ - if (((accel_neg->x - accel_pos->x) > BMI160_ACCEL_SELF_TEST_LIMIT) && - ((accel_neg->y - accel_pos->y) > BMI160_ACCEL_SELF_TEST_LIMIT) && - ((accel_neg->z - accel_pos->z) > BMI160_ACCEL_SELF_TEST_LIMIT)) - { - /* Self test pass condition */ - rslt = BMI160_OK; - } - else - { - rslt = BMI160_W_ACCEl_SELF_TEST_FAIL; - } - - return rslt; -} - -/*! - * @brief This API performs the self test for gyroscope of BMI160 - */ -static int8_t perform_gyro_self_test(const struct bmi160_dev *dev) -{ - int8_t rslt; - - /* Enable Gyro self test bit */ - rslt = enable_gyro_self_test(dev); - if (rslt == BMI160_OK) - { - /* Validate the gyro self test a delay of 50ms */ - dev->delay_ms(50); - - /* Validate the gyro self test results */ - rslt = validate_gyro_self_test(dev); - } - - return rslt; -} - -/*! - * @brief This API enables the self test bit to trigger self test for Gyro - */ -static int8_t enable_gyro_self_test(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t reg_data; - - /* Enable the Gyro self test bit to trigger the self test */ - rslt = bmi160_get_regs(BMI160_SELF_TEST_ADDR, ®_data, 1, dev); - if (rslt == BMI160_OK) - { - reg_data = BMI160_SET_BITS(reg_data, BMI160_GYRO_SELF_TEST, 1); - rslt = bmi160_set_regs(BMI160_SELF_TEST_ADDR, ®_data, 1, dev); - if (rslt == BMI160_OK) - { - /* Delay to enable gyro self test */ - dev->delay_ms(15); - } - } - - return rslt; -} - -/*! - * @brief This API validates the self test results of Gyro - */ -static int8_t validate_gyro_self_test(const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t reg_data; - - /* Validate the Gyro self test result */ - rslt = bmi160_get_regs(BMI160_STATUS_ADDR, ®_data, 1, dev); - if (rslt == BMI160_OK) - { - - reg_data = BMI160_GET_BITS(reg_data, BMI160_GYRO_SELF_TEST_STATUS); - if (reg_data == BMI160_ENABLE) - { - /* Gyro self test success case */ - rslt = BMI160_OK; - } - else - { - rslt = BMI160_W_GYRO_SELF_TEST_FAIL; - } - } - - return rslt; -} - -/*! - * @brief This API sets FIFO full interrupt of the sensor.This interrupt - * occurs when the FIFO is full and the next full data sample would cause - * a FIFO overflow, which may delete the old samples. - */ -static int8_t set_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - /* Null-pointer check */ - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /*enable the fifo full interrupt */ - rslt = enable_fifo_full_int(int_config, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_hardware_interrupt(int_config, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This enable the FIFO full interrupt engine. - */ -static int8_t enable_fifo_full_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - data = BMI160_SET_BITS(data, BMI160_FIFO_FULL_INT, int_config->fifo_full_int_en); - - /* Writing data to INT ENABLE 1 Address */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API sets FIFO watermark interrupt of the sensor.The FIFO - * watermark interrupt is fired, when the FIFO fill level is above a fifo - * watermark. - */ -static int8_t set_fifo_watermark_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt = BMI160_OK; - - if ((dev == NULL) || (dev->delay_ms == NULL)) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Enable fifo-watermark interrupt in Int Enable 1 register */ - rslt = enable_fifo_wtm_int(int_config, dev); - if (rslt == BMI160_OK) - { - /* Configure Interrupt pins */ - rslt = set_intr_pin_config(int_config, dev); - if (rslt == BMI160_OK) - { - rslt = map_hardware_interrupt(int_config, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This enable the FIFO watermark interrupt engine. - */ -static int8_t enable_fifo_wtm_int(const struct bmi160_int_settg *int_config, const struct bmi160_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - rslt = bmi160_get_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - data = BMI160_SET_BITS(data, BMI160_FIFO_WTM_INT, int_config->fifo_wtm_int_en); - - /* Writing data to INT ENABLE 1 Address */ - rslt = bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API is used to reset the FIFO related configurations - * in the fifo_frame structure. - */ -static void reset_fifo_data_structure(const struct bmi160_dev *dev) -{ - /*Prepare for next FIFO read by resetting FIFO's - * internal data structures*/ - dev->fifo->accel_byte_start_idx = 0; - dev->fifo->gyro_byte_start_idx = 0; - dev->fifo->aux_byte_start_idx = 0; - dev->fifo->sensor_time = 0; - dev->fifo->skipped_frame_count = 0; -} - -/*! - * @brief This API is used to read fifo_byte_counter value (i.e) - * current fill-level in Fifo buffer. - */ -static int8_t get_fifo_byte_counter(uint16_t *bytes_to_read, struct bmi160_dev const *dev) -{ - int8_t rslt = 0; - uint8_t data[2]; - uint8_t addr = BMI160_FIFO_LENGTH_ADDR; - - rslt |= bmi160_get_regs(addr, data, 2, dev); - data[1] = data[1] & BMI160_FIFO_BYTE_COUNTER_MASK; - - /* Available data in FIFO is stored in bytes_to_read*/ - *bytes_to_read = (((uint16_t)data[1] << 8) | ((uint16_t)data[0])); - - return rslt; -} - -/*! - * @brief This API is used to compute the number of bytes of accel FIFO data - * which is to be parsed in header-less mode - */ -static void get_accel_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *acc_frame_count, - const struct bmi160_dev *dev) -{ - /* Data start index */ - *data_index = dev->fifo->accel_byte_start_idx; - if (dev->fifo->fifo_data_enable == BMI160_FIFO_A_ENABLE) - { - *data_read_length = (*acc_frame_count) * BMI160_FIFO_A_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) - { - *data_read_length = (*acc_frame_count) * BMI160_FIFO_GA_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) - { - *data_read_length = (*acc_frame_count) * BMI160_FIFO_MA_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) - { - *data_read_length = (*acc_frame_count) * BMI160_FIFO_MGA_LENGTH; - } - else - { - /* When accel is not enabled ,there will be no accel data. - * so we update the data index as complete */ - *data_index = dev->fifo->length; - } - if (*data_read_length > dev->fifo->length) - { - /* Handling the case where more data is requested - * than that is available*/ - *data_read_length = dev->fifo->length; - } -} - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed. - */ -static void unpack_accel_frame(struct bmi160_sensor_data *acc, - uint16_t *idx, - uint8_t *acc_idx, - uint8_t frame_info, - const struct bmi160_dev *dev) -{ - switch (frame_info) - { - case BMI160_FIFO_HEAD_A: - case BMI160_FIFO_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_A_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into the structure instance "acc" */ - unpack_accel_data(&acc[*acc_idx], *idx, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_A_LENGTH; - (*acc_idx)++; - break; - case BMI160_FIFO_HEAD_G_A: - case BMI160_FIFO_G_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "acc"*/ - unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_G_LENGTH, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_GA_LENGTH; - (*acc_idx)++; - break; - case BMI160_FIFO_HEAD_M_A: - case BMI160_FIFO_M_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "acc"*/ - unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_M_LENGTH, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_MA_LENGTH; - (*acc_idx)++; - break; - case BMI160_FIFO_HEAD_M_G_A: - case BMI160_FIFO_M_G_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "acc"*/ - unpack_accel_data(&acc[*acc_idx], *idx + BMI160_FIFO_MG_LENGTH, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_MGA_LENGTH; - (*acc_idx)++; - break; - case BMI160_FIFO_HEAD_M: - case BMI160_FIFO_M_ENABLE: - (*idx) = (*idx) + BMI160_FIFO_M_LENGTH; - break; - case BMI160_FIFO_HEAD_G: - case BMI160_FIFO_G_ENABLE: - (*idx) = (*idx) + BMI160_FIFO_G_LENGTH; - break; - case BMI160_FIFO_HEAD_M_G: - case BMI160_FIFO_M_G_ENABLE: - (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH; - break; - default: - break; - } -} - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data and store it in the instance of the structure bmi160_sensor_data. - */ -static void unpack_accel_data(struct bmi160_sensor_data *accel_data, - uint16_t data_start_index, - const struct bmi160_dev *dev) -{ - uint16_t data_lsb; - uint16_t data_msb; - - /* Accel raw x data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - accel_data->x = (int16_t)((data_msb << 8) | data_lsb); - - /* Accel raw y data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - accel_data->y = (int16_t)((data_msb << 8) | data_lsb); - - /* Accel raw z data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - accel_data->z = (int16_t)((data_msb << 8) | data_lsb); -} - -/*! - * @brief This API is used to parse the accelerometer data from the - * FIFO data in header mode. - */ -static void extract_accel_header_mode(struct bmi160_sensor_data *accel_data, - uint8_t *accel_length, - const struct bmi160_dev *dev) -{ - uint8_t frame_header = 0; - uint16_t data_index; - uint8_t accel_index = 0; - - for (data_index = dev->fifo->accel_byte_start_idx; data_index < dev->fifo->length;) - { - /* extracting Frame header */ - frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK); - - /*Index is moved to next byte where the data is starting*/ - data_index++; - switch (frame_header) - { - /* Accel frame */ - case BMI160_FIFO_HEAD_A: - case BMI160_FIFO_HEAD_M_A: - case BMI160_FIFO_HEAD_G_A: - case BMI160_FIFO_HEAD_M_G_A: - unpack_accel_frame(accel_data, &data_index, &accel_index, frame_header, dev); - break; - case BMI160_FIFO_HEAD_M: - move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_G: - move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_M_G: - move_next_frame(&data_index, BMI160_FIFO_MG_LENGTH, dev); - break; - - /* Sensor time frame */ - case BMI160_FIFO_HEAD_SENSOR_TIME: - unpack_sensortime_frame(&data_index, dev); - break; - - /* Skip frame */ - case BMI160_FIFO_HEAD_SKIP_FRAME: - unpack_skipped_frame(&data_index, dev); - break; - - /* Input config frame */ - case BMI160_FIFO_HEAD_INPUT_CONFIG: - move_next_frame(&data_index, 1, dev); - break; - case BMI160_FIFO_HEAD_OVER_READ: - - /* Update the data index as complete in case of Over read */ - data_index = dev->fifo->length; - break; - default: - break; - } - if (*accel_length == accel_index) - { - /* Number of frames to read completed */ - break; - } - } - - /*Update number of accel data read*/ - *accel_length = accel_index; - - /*Update the accel frame index*/ - dev->fifo->accel_byte_start_idx = data_index; -} - -/*! - * @brief This API computes the number of bytes of gyro FIFO data - * which is to be parsed in header-less mode - */ -static void get_gyro_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *gyro_frame_count, - const struct bmi160_dev *dev) -{ - /* Data start index */ - *data_index = dev->fifo->gyro_byte_start_idx; - if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_ENABLE) - { - *data_read_length = (*gyro_frame_count) * BMI160_FIFO_G_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_G_A_ENABLE) - { - *data_read_length = (*gyro_frame_count) * BMI160_FIFO_GA_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) - { - *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MG_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) - { - *data_read_length = (*gyro_frame_count) * BMI160_FIFO_MGA_LENGTH; - } - else - { - /* When gyro is not enabled ,there will be no gyro data. - * so we update the data index as complete */ - *data_index = dev->fifo->length; - } - if (*data_read_length > dev->fifo->length) - { - /* Handling the case where more data is requested - * than that is available*/ - *data_read_length = dev->fifo->length; - } -} - -/*! - * @brief This API is used to parse the gyroscope's data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed. - */ -static void unpack_gyro_frame(struct bmi160_sensor_data *gyro, - uint16_t *idx, - uint8_t *gyro_idx, - uint8_t frame_info, - const struct bmi160_dev *dev) -{ - switch (frame_info) - { - case BMI160_FIFO_HEAD_G: - case BMI160_FIFO_G_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_G_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "gyro"*/ - unpack_gyro_data(&gyro[*gyro_idx], *idx, dev); - - /*Move the data index*/ - (*idx) = (*idx) + BMI160_FIFO_G_LENGTH; - (*gyro_idx)++; - break; - case BMI160_FIFO_HEAD_G_A: - case BMI160_FIFO_G_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_GA_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /* Unpack the data array into structure instance "gyro" */ - unpack_gyro_data(&gyro[*gyro_idx], *idx, dev); - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_GA_LENGTH; - (*gyro_idx)++; - break; - case BMI160_FIFO_HEAD_M_G_A: - case BMI160_FIFO_M_G_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "gyro"*/ - unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_MGA_LENGTH; - (*gyro_idx)++; - break; - case BMI160_FIFO_HEAD_M_A: - case BMI160_FIFO_M_A_ENABLE: - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_MA_LENGTH; - break; - case BMI160_FIFO_HEAD_M: - case BMI160_FIFO_M_ENABLE: - (*idx) = (*idx) + BMI160_FIFO_M_LENGTH; - break; - case BMI160_FIFO_HEAD_M_G: - case BMI160_FIFO_M_G_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *idx = dev->fifo->length; - break; - } - - /*Unpack the data array into structure instance "gyro"*/ - unpack_gyro_data(&gyro[*gyro_idx], *idx + BMI160_FIFO_M_LENGTH, dev); - - /*Move the data index*/ - (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH; - (*gyro_idx)++; - break; - case BMI160_FIFO_HEAD_A: - case BMI160_FIFO_A_ENABLE: - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_A_LENGTH; - break; - default: - break; - } -} - -/*! - * @brief This API is used to parse the gyro data from the - * FIFO data and store it in the instance of the structure bmi160_sensor_data. - */ -static void unpack_gyro_data(struct bmi160_sensor_data *gyro_data, - uint16_t data_start_index, - const struct bmi160_dev *dev) -{ - uint16_t data_lsb; - uint16_t data_msb; - - /* Gyro raw x data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - gyro_data->x = (int16_t)((data_msb << 8) | data_lsb); - - /* Gyro raw y data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - gyro_data->y = (int16_t)((data_msb << 8) | data_lsb); - - /* Gyro raw z data */ - data_lsb = dev->fifo->data[data_start_index++]; - data_msb = dev->fifo->data[data_start_index++]; - gyro_data->z = (int16_t)((data_msb << 8) | data_lsb); -} - -/*! - * @brief This API is used to parse the gyro data from the - * FIFO data in header mode. - */ -static void extract_gyro_header_mode(struct bmi160_sensor_data *gyro_data, - uint8_t *gyro_length, - const struct bmi160_dev *dev) -{ - uint8_t frame_header = 0; - uint16_t data_index; - uint8_t gyro_index = 0; - - for (data_index = dev->fifo->gyro_byte_start_idx; data_index < dev->fifo->length;) - { - /* extracting Frame header */ - frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK); - - /*Index is moved to next byte where the data is starting*/ - data_index++; - switch (frame_header) - { - /* GYRO frame */ - case BMI160_FIFO_HEAD_G: - case BMI160_FIFO_HEAD_G_A: - case BMI160_FIFO_HEAD_M_G: - case BMI160_FIFO_HEAD_M_G_A: - unpack_gyro_frame(gyro_data, &data_index, &gyro_index, frame_header, dev); - break; - case BMI160_FIFO_HEAD_A: - move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_M: - move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_M_A: - move_next_frame(&data_index, BMI160_FIFO_M_LENGTH, dev); - break; - - /* Sensor time frame */ - case BMI160_FIFO_HEAD_SENSOR_TIME: - unpack_sensortime_frame(&data_index, dev); - break; - - /* Skip frame */ - case BMI160_FIFO_HEAD_SKIP_FRAME: - unpack_skipped_frame(&data_index, dev); - break; - - /* Input config frame */ - case BMI160_FIFO_HEAD_INPUT_CONFIG: - move_next_frame(&data_index, 1, dev); - break; - case BMI160_FIFO_HEAD_OVER_READ: - - /* Update the data index as complete in case of over read */ - data_index = dev->fifo->length; - break; - default: - break; - } - if (*gyro_length == gyro_index) - { - /*Number of frames to read completed*/ - break; - } - } - - /*Update number of gyro data read*/ - *gyro_length = gyro_index; - - /*Update the gyro frame index*/ - dev->fifo->gyro_byte_start_idx = data_index; -} - -/*! - * @brief This API computes the number of bytes of aux FIFO data - * which is to be parsed in header-less mode - */ -static void get_aux_len_to_parse(uint16_t *data_index, - uint16_t *data_read_length, - const uint8_t *aux_frame_count, - const struct bmi160_dev *dev) -{ - /* Data start index */ - *data_index = dev->fifo->gyro_byte_start_idx; - if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_ENABLE) - { - *data_read_length = (*aux_frame_count) * BMI160_FIFO_M_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_A_ENABLE) - { - *data_read_length = (*aux_frame_count) * BMI160_FIFO_MA_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_ENABLE) - { - *data_read_length = (*aux_frame_count) * BMI160_FIFO_MG_LENGTH; - } - else if (dev->fifo->fifo_data_enable == BMI160_FIFO_M_G_A_ENABLE) - { - *data_read_length = (*aux_frame_count) * BMI160_FIFO_MGA_LENGTH; - } - else - { - /* When aux is not enabled ,there will be no aux data. - * so we update the data index as complete */ - *data_index = dev->fifo->length; - } - if (*data_read_length > dev->fifo->length) - { - /* Handling the case where more data is requested - * than that is available */ - *data_read_length = dev->fifo->length; - } -} - -/*! - * @brief This API is used to parse the aux's data from the - * FIFO data in both header mode and header-less mode. - * It updates the idx value which is used to store the index of - * the current data byte which is parsed - */ -static void unpack_aux_frame(struct bmi160_aux_data *aux_data, - uint16_t *idx, - uint8_t *aux_index, - uint8_t frame_info, - const struct bmi160_dev *dev) -{ - switch (frame_info) - { - case BMI160_FIFO_HEAD_M: - case BMI160_FIFO_M_ENABLE: - - /* Partial read, then skip the data */ - if ((*idx + BMI160_FIFO_M_LENGTH) > dev->fifo->length) - { - /* Update the data index as complete */ - *idx = dev->fifo->length; - break; - } - - /* Unpack the data array into structure instance */ - unpack_aux_data(&aux_data[*aux_index], *idx, dev); - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_M_LENGTH; - (*aux_index)++; - break; - case BMI160_FIFO_HEAD_M_A: - case BMI160_FIFO_M_A_ENABLE: - - /* Partial read, then skip the data */ - if ((*idx + BMI160_FIFO_MA_LENGTH) > dev->fifo->length) - { - /* Update the data index as complete */ - *idx = dev->fifo->length; - break; - } - - /* Unpack the data array into structure instance */ - unpack_aux_data(&aux_data[*aux_index], *idx, dev); - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_MA_LENGTH; - (*aux_index)++; - break; - case BMI160_FIFO_HEAD_M_G: - case BMI160_FIFO_M_G_ENABLE: - - /* Partial read, then skip the data */ - if ((*idx + BMI160_FIFO_MG_LENGTH) > dev->fifo->length) - { - /* Update the data index as complete */ - *idx = dev->fifo->length; - break; - } - - /* Unpack the data array into structure instance */ - unpack_aux_data(&aux_data[*aux_index], *idx, dev); - - /* Move the data index */ - (*idx) = (*idx) + BMI160_FIFO_MG_LENGTH; - (*aux_index)++; - break; - case BMI160_FIFO_HEAD_M_G_A: - case BMI160_FIFO_M_G_A_ENABLE: - - /*Partial read, then skip the data*/ - if ((*idx + BMI160_FIFO_MGA_LENGTH) > dev->fifo->length) - { - /* Update the data index as complete */ - *idx = dev->fifo->length; - break; - } - - /* Unpack the data array into structure instance */ - unpack_aux_data(&aux_data[*aux_index], *idx, dev); - - /*Move the data index*/ - *idx = *idx + BMI160_FIFO_MGA_LENGTH; - (*aux_index)++; - break; - case BMI160_FIFO_HEAD_G: - case BMI160_FIFO_G_ENABLE: - - /* Move the data index */ - (*idx) = (*idx) + BMI160_FIFO_G_LENGTH; - break; - case BMI160_FIFO_HEAD_G_A: - case BMI160_FIFO_G_A_ENABLE: - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_GA_LENGTH; - break; - case BMI160_FIFO_HEAD_A: - case BMI160_FIFO_A_ENABLE: - - /* Move the data index */ - *idx = *idx + BMI160_FIFO_A_LENGTH; - break; - default: - break; - } -} - -/*! - * @brief This API is used to parse the aux data from the - * FIFO data and store it in the instance of the structure bmi160_aux_data. - */ -static void unpack_aux_data(struct bmi160_aux_data *aux_data, uint16_t data_start_index, const struct bmi160_dev *dev) -{ - /* Aux data bytes */ - aux_data->data[0] = dev->fifo->data[data_start_index++]; - aux_data->data[1] = dev->fifo->data[data_start_index++]; - aux_data->data[2] = dev->fifo->data[data_start_index++]; - aux_data->data[3] = dev->fifo->data[data_start_index++]; - aux_data->data[4] = dev->fifo->data[data_start_index++]; - aux_data->data[5] = dev->fifo->data[data_start_index++]; - aux_data->data[6] = dev->fifo->data[data_start_index++]; - aux_data->data[7] = dev->fifo->data[data_start_index++]; -} - -/*! - * @brief This API is used to parse the aux data from the - * FIFO data in header mode. - */ -static void extract_aux_header_mode(struct bmi160_aux_data *aux_data, uint8_t *aux_length, const struct bmi160_dev *dev) -{ - uint8_t frame_header = 0; - uint16_t data_index; - uint8_t aux_index = 0; - - for (data_index = dev->fifo->aux_byte_start_idx; data_index < dev->fifo->length;) - { - /* extracting Frame header */ - frame_header = (dev->fifo->data[data_index] & BMI160_FIFO_TAG_INTR_MASK); - - /*Index is moved to next byte where the data is starting*/ - data_index++; - switch (frame_header) - { - /* Aux frame */ - case BMI160_FIFO_HEAD_M: - case BMI160_FIFO_HEAD_M_A: - case BMI160_FIFO_HEAD_M_G: - case BMI160_FIFO_HEAD_M_G_A: - unpack_aux_frame(aux_data, &data_index, &aux_index, frame_header, dev); - break; - case BMI160_FIFO_HEAD_G: - move_next_frame(&data_index, BMI160_FIFO_G_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_G_A: - move_next_frame(&data_index, BMI160_FIFO_GA_LENGTH, dev); - break; - case BMI160_FIFO_HEAD_A: - move_next_frame(&data_index, BMI160_FIFO_A_LENGTH, dev); - break; - - /* Sensor time frame */ - case BMI160_FIFO_HEAD_SENSOR_TIME: - unpack_sensortime_frame(&data_index, dev); - break; - - /* Skip frame */ - case BMI160_FIFO_HEAD_SKIP_FRAME: - unpack_skipped_frame(&data_index, dev); - break; - - /* Input config frame */ - case BMI160_FIFO_HEAD_INPUT_CONFIG: - move_next_frame(&data_index, 1, dev); - break; - case BMI160_FIFO_HEAD_OVER_READ: - - /* Update the data index as complete in case - * of over read */ - data_index = dev->fifo->length; - break; - default: - - /* Update the data index as complete in case of - * getting other headers like 0x00 */ - data_index = dev->fifo->length; - break; - } - if (*aux_length == aux_index) - { - /*Number of frames to read completed*/ - break; - } - } - - /* Update number of aux data read */ - *aux_length = aux_index; - - /* Update the aux frame index */ - dev->fifo->aux_byte_start_idx = data_index; -} - -/*! - * @brief This API checks the presence of non-valid frames in the read fifo data. - */ -static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev) -{ - if ((*data_index + 2) < dev->fifo->length) - { - /* Check if FIFO is empty */ - if ((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) && - (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK)) - { - /*Update the data index as complete*/ - *data_index = dev->fifo->length; - } - } -} - -/*! - * @brief This API is used to move the data index ahead of the - * current_frame_length parameter when unnecessary FIFO data appears while - * extracting the user specified data. - */ -static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi160_dev *dev) -{ - /*Partial read, then move the data index to last data*/ - if ((*data_index + current_frame_length) > dev->fifo->length) - { - /*Update the data index as complete*/ - *data_index = dev->fifo->length; - } - else - { - /*Move the data index to next frame*/ - *data_index = *data_index + current_frame_length; - } -} - -/*! - * @brief This API is used to parse and store the sensor time from the - * FIFO data in the structure instance dev. - */ -static void unpack_sensortime_frame(uint16_t *data_index, const struct bmi160_dev *dev) -{ - uint32_t sensor_time_byte3 = 0; - uint16_t sensor_time_byte2 = 0; - uint8_t sensor_time_byte1 = 0; - - /*Partial read, then move the data index to last data*/ - if ((*data_index + BMI160_SENSOR_TIME_LENGTH) > dev->fifo->length) - { - /*Update the data index as complete*/ - *data_index = dev->fifo->length; - } - else - { - sensor_time_byte3 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_MSB_BYTE] << 16; - sensor_time_byte2 = dev->fifo->data[(*data_index) + BMI160_SENSOR_TIME_XLSB_BYTE] << 8; - sensor_time_byte1 = dev->fifo->data[(*data_index)]; - - /* Sensor time */ - dev->fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); - *data_index = (*data_index) + BMI160_SENSOR_TIME_LENGTH; - } -} - -/*! - * @brief This API is used to parse and store the skipped_frame_count from - * the FIFO data in the structure instance dev. - */ -static void unpack_skipped_frame(uint16_t *data_index, const struct bmi160_dev *dev) -{ - /*Partial read, then move the data index to last data*/ - if (*data_index >= dev->fifo->length) - { - /*Update the data index as complete*/ - *data_index = dev->fifo->length; - } - else - { - dev->fifo->skipped_frame_count = dev->fifo->data[*data_index]; - - /*Move the data index*/ - *data_index = (*data_index) + 1; - } -} - -/*! - * @brief This API is used to get the FOC status from the sensor - */ -static int8_t get_foc_status(uint8_t *foc_status, struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t data; - - /* Read the FOC status from sensor */ - rslt = bmi160_get_regs(BMI160_STATUS_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* Get the foc_status bit */ - *foc_status = BMI160_GET_BITS(data, BMI160_FOC_STATUS); - } - - return rslt; -} - -/*! - * @brief This API is used to configure the offset enable bits in the sensor - */ -static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t data; - - /* Null-pointer check */ - rslt = null_ptr_check(dev); - if (rslt != BMI160_OK) - { - rslt = BMI160_E_NULL_PTR; - } - else - { - /* Read the FOC config from the sensor */ - rslt = bmi160_get_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev); - if (rslt == BMI160_OK) - { - /* Set the offset enable/disable for gyro */ - data = BMI160_SET_BITS(data, BMI160_GYRO_OFFSET_EN, foc_conf->gyro_off_en); - - /* Set the offset enable/disable for accel */ - data = BMI160_SET_BITS(data, BMI160_ACCEL_OFFSET_EN, foc_conf->acc_off_en); - - /* Set the offset config in the sensor */ - rslt = bmi160_set_regs(BMI160_OFFSET_CONF_ADDR, &data, 1, dev); - } - } - - return rslt; -} -static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev) -{ - int8_t rslt; - uint8_t foc_status; - uint8_t cmd = BMI160_START_FOC_CMD; - uint8_t timeout = 0; - uint8_t data_array[20]; - - /* Start the FOC process */ - rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &cmd, 1, dev); - if (rslt == BMI160_OK) - { - /* Check the FOC status*/ - rslt = get_foc_status(&foc_status, dev); - if ((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE)) - { - while ((foc_status != BMI160_ENABLE) && (timeout < 11)) - { - /* Maximum time of 250ms is given in 10 - * steps of 25ms each - 250ms refer datasheet 2.9.1 */ - dev->delay_ms(25); - - /* Check the FOC status*/ - rslt = get_foc_status(&foc_status, dev); - timeout++; - } - if ((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE)) - { - /* Get offset values from sensor */ - rslt = bmi160_get_offsets(offset, dev); - } - else - { - /* FOC failure case */ - rslt = BMI160_FOC_FAILURE; - } - } - if (rslt == BMI160_OK) - { - /* Read registers 0x04-0x17 */ - rslt = bmi160_get_regs(BMI160_GYRO_DATA_ADDR, data_array, 20, dev); - } - } - - return rslt; -} - -/** @}*/ diff --git a/sensor-motion-bmx160/bmi160.h b/sensor-motion-bmx160/bmi160.h deleted file mode 100644 index 8d9d49d..0000000 --- a/sensor-motion-bmx160/bmi160.h +++ /dev/null @@ -1,683 +0,0 @@ -/** -* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. -* -* BSD-3-Clause -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* -* 1. Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* -* 2. Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* -* 3. Neither the name of the copyright holder nor the names of its -* contributors may be used to endorse or promote products derived from -* this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) -* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, -* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING -* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -* @file bmi160.h -* @date 10/01/2020 -* @version 3.8.1 -* -*/ - -/*! - * @defgroup bmi160 - * @brief - * @{*/ - -#ifndef BMI160_H_ -#define BMI160_H_ - -/*************************** C++ guard macro *****************************/ -#ifdef __cplusplus -extern "C" { -#endif - -#include "bmi160_defs.h" -#ifdef __KERNEL__ -#include -#else -#include -#include -#include -#endif - -/*********************** User function prototypes ************************/ - -/*! - * @brief This API is the entry point for sensor.It performs - * the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of bmi160 sensor. - * - * @param[in,out] dev : Structure instance of bmi160_dev - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_init(struct bmi160_dev *dev); - -/*! - * @brief This API reads the data from the given register address of sensor. - * - * @param[in] reg_addr : Register address from where the data to be read - * @param[out] data : Pointer to data buffer to store the read data. - * @param[in] len : No of bytes of data to be read. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note For most of the registers auto address increment applies, with the - * exception of a few special registers, which trap the address. For e.g., - * Register address - 0x24(BMI160_FIFO_DATA_ADDR) - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev); - -/*! - * @brief This API writes the given data to the register address - * of sensor. - * - * @param[in] reg_addr : Register address from where the data to be written. - * @param[in] data : Pointer to data buffer which is to be written - * in the sensor. - * @param[in] len : No of bytes of data to write.. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev); - -/*! - * @brief This API resets and restarts the device. - * All register values are overwritten with default parameters. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -int8_t bmi160_soft_reset(struct bmi160_dev *dev); - -/*! - * @brief This API configures the power mode, range and bandwidth - * of sensor. - * - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -int8_t bmi160_set_sens_conf(struct bmi160_dev *dev); - -/*! - * @brief This API sets the power mode of the sensor. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -int8_t bmi160_set_power_mode(struct bmi160_dev *dev); - -/*! - * @brief This API gets the power mode of the sensor. - * - * @param[in] power_mode : Power mode of the sensor - * @param[in] dev : Structure instance of bmi160_dev - * - * power_mode Macros possible values for pmu_status->aux_pmu_status : - * - BMI160_AUX_PMU_SUSPEND - * - BMI160_AUX_PMU_NORMAL - * - BMI160_AUX_PMU_LOW_POWER - * - * power_mode Macros possible values for pmu_status->gyro_pmu_status : - * - BMI160_GYRO_PMU_SUSPEND - * - BMI160_GYRO_PMU_NORMAL - * - BMI160_GYRO_PMU_FSU - * - * power_mode Macros possible values for pmu_status->accel_pmu_status : - * - BMI160_ACCEL_PMU_SUSPEND - * - BMI160_ACCEL_PMU_NORMAL - * - BMI160_ACCEL_PMU_LOW_POWER - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error. - */ -int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev); - -/*! - * @brief This API reads sensor data, stores it in - * the bmi160_sensor_data structure pointer passed by the user. - * The user can ask for accel data ,gyro data or both sensor - * data using bmi160_select_sensor enum - * - * @param[in] select_sensor : enum to choose accel,gyro or both sensor data - * @param[out] accel : Structure pointer to store accel data - * @param[out] gyro : Structure pointer to store gyro data - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_get_sensor_data(uint8_t select_sensor, - struct bmi160_sensor_data *accel, - struct bmi160_sensor_data *gyro, - const struct bmi160_dev *dev); - -/*! - * @brief This API configures the necessary interrupt based on - * the user settings in the bmi160_int_settg structure instance. - * - * @param[in] int_config : Structure instance of bmi160_int_settg. - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev); - -/*! - * @brief This API enables the step counter feature. - * - * @param[in] step_cnt_enable : value to enable or disable - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev); - -/*! - * @brief This API reads the step counter value. - * - * @param[in] step_val : Pointer to store the step counter value. - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev); - -/*! - * @brief This API reads the mention no of byte of data from the given - * register address of auxiliary sensor. - * - * @param[in] reg_addr : Address of register to read. - * @param[in] aux_data : Pointer to store the read data. - * @param[in] len : No of bytes to read. - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev); - -/*! - * @brief This API writes the mention no of byte of data to the given - * register address of auxiliary sensor. - * - * @param[in] reg_addr : Address of register to write. - * @param[in] aux_data : Pointer to write data. - * @param[in] len : No of bytes to write. - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev); - -/*! - * @brief This API initialize the auxiliary sensor - * in order to access it. - * - * @param[in] dev : Structure instance of bmi160_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_aux_init(const struct bmi160_dev *dev); - -/*! - * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode - * Thus enabling the auto update of 8 bytes of data from auxiliary sensor - * to BMI160 register address 0x04 to 0x0B - * - * @param[in] data_addr : Starting address of aux. sensor's data register - * (BMI160 registers 0x04 to 0x0B will be updated - * with 8 bytes of data from auxiliary sensor - * starting from this register address.) - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note : Set the value of auxiliary polling rate by setting - * dev->aux_cfg.aux_odr to the required value from the table - * before calling this API - * - * dev->aux_cfg.aux_odr | Auxiliary ODR (Hz) - * -----------------------|----------------------- - * BMI160_AUX_ODR_0_78HZ | 25/32 - * BMI160_AUX_ODR_1_56HZ | 25/16 - * BMI160_AUX_ODR_3_12HZ | 25/8 - * BMI160_AUX_ODR_6_25HZ | 25/4 - * BMI160_AUX_ODR_12_5HZ | 25/2 - * BMI160_AUX_ODR_25HZ | 25 - * BMI160_AUX_ODR_50HZ | 50 - * BMI160_AUX_ODR_100HZ | 100 - * BMI160_AUX_ODR_200HZ | 200 - * BMI160_AUX_ODR_400HZ | 400 - * BMI160_AUX_ODR_800HZ | 800 - * - * @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev); - -/*! - * @brief This API configures the 0x4C register and settings like - * Auxiliary sensor manual enable/ disable and aux burst read length. - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev); - -/*! - * @brief This API is used to read the raw uncompensated auxiliary sensor - * data of 8 bytes from BMI160 register address 0x04 to 0x0B - * - * @param[in] aux_data : Pointer to user array of length 8 bytes - * Ensure that the aux_data array is of - * length 8 bytes - * @param[in] dev : Structure instance of bmi160_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev); - -/*! - * @brief This is used to perform self test of accel/gyro of the BMI160 sensor - * - * @param[in] select_sensor : enum to choose accel or gyro for self test - * @param[in] dev : Structure instance of bmi160_dev - * - * @note self test can be performed either for accel/gyro at any instant. - * - * value of select_sensor | Inference - *----------------------------------|-------------------------------- - * BMI160_ACCEL_ONLY | Accel self test enabled - * BMI160_GYRO_ONLY | Gyro self test enabled - * BMI160_BOTH_ACCEL_AND_GYRO | NOT TO BE USED - * - * @note The return value of this API gives us the result of self test. - * - * @note Performing self test does soft reset of the sensor, User can - * set the desired settings after performing the self test. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error / +ve value -> Self-test fail - * - * Return value | Result of self test - * --------------------------------|--------------------------------- - * BMI160_OK | Self test success - * BMI160_W_GYRO_SELF_TEST_FAIL | Gyro self test fail - * BMI160_W_ACCEl_SELF_TEST_FAIL | Accel self test fail - */ -int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev); - -/*! - * @brief This API reads data from the fifo buffer. - * - * @note User has to allocate the FIFO buffer along with - * corresponding fifo length from his side before calling this API - * as mentioned in the readme.md - * - * @note User must specify the number of bytes to read from the FIFO in - * dev->fifo->length , It will be updated by the number of bytes actually - * read from FIFO after calling this API - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev); - -/*! - * @brief This API writes fifo_flush command to command register.This - * action clears all data in the Fifo without changing fifo configuration - * settings. - * - * @param[in] dev : Structure instance of bmi160_dev - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev); - -/*! @brief This API sets the FIFO configuration in the sensor. - * - * @param[in] config : variable used to specify the FIFO - * configurations which are to be enabled or disabled in the sensor. - * - * @note : User can set either set one or more or all FIFO configurations - * by ORing the below mentioned macros. - * config | Value - * ------------------------|--------------------------- - * BMI160_FIFO_TIME | 0x02 - * BMI160_FIFO_TAG_INT2 | 0x04 - * BMI160_FIFO_TAG_INT1 | 0x08 - * BMI160_FIFO_HEADER | 0x10 - * BMI160_FIFO_AUX | 0x20 - * BMI160_FIFO_ACCEL | 0x40 - * BMI160_FIFO_GYRO | 0x80 - * - * @param[in] enable : Parameter used to enable or disable the above - * FIFO configuration - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return status of bus communication result - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev); - -/*! @brief This API is used to configure the down sampling ratios of - * the accel and gyro data for FIFO.Also, it configures filtered or - * pre-filtered data for the fifo for accel and gyro. - * - * @param[in] fifo_down : variable used to specify the FIFO down - * configurations which are to be enabled or disabled in the sensor. - * - * @note The user must select one among the following macros to - * select down-sampling ratio for accel - * config | Value - * -------------------------------------|--------------------------- - * BMI160_ACCEL_FIFO_DOWN_ZERO | 0x00 - * BMI160_ACCEL_FIFO_DOWN_ONE | 0x10 - * BMI160_ACCEL_FIFO_DOWN_TWO | 0x20 - * BMI160_ACCEL_FIFO_DOWN_THREE | 0x30 - * BMI160_ACCEL_FIFO_DOWN_FOUR | 0x40 - * BMI160_ACCEL_FIFO_DOWN_FIVE | 0x50 - * BMI160_ACCEL_FIFO_DOWN_SIX | 0x60 - * BMI160_ACCEL_FIFO_DOWN_SEVEN | 0x70 - * - * @note The user must select one among the following macros to - * select down-sampling ratio for gyro - * - * config | Value - * -------------------------------------|--------------------------- - * BMI160_GYRO_FIFO_DOWN_ZERO | 0x00 - * BMI160_GYRO_FIFO_DOWN_ONE | 0x01 - * BMI160_GYRO_FIFO_DOWN_TWO | 0x02 - * BMI160_GYRO_FIFO_DOWN_THREE | 0x03 - * BMI160_GYRO_FIFO_DOWN_FOUR | 0x04 - * BMI160_GYRO_FIFO_DOWN_FIVE | 0x05 - * BMI160_GYRO_FIFO_DOWN_SIX | 0x06 - * BMI160_GYRO_FIFO_DOWN_SEVEN | 0x07 - * - * @note The user can enable filtered accel data by the following macro - * config | Value - * -------------------------------------|--------------------------- - * BMI160_ACCEL_FIFO_FILT_EN | 0x80 - * - * @note The user can enable filtered gyro data by the following macro - * config | Value - * -------------------------------------|--------------------------- - * BMI160_GYRO_FIFO_FILT_EN | 0x08 - * - * @note : By ORing the above mentioned macros, the user can select - * the required FIFO down config settings - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return status of bus communication result - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev); - -/*! - * @brief This API sets the FIFO watermark level in the sensor. - * - * @note The FIFO watermark is issued when the FIFO fill level is - * equal or above the watermark level and units of watermark is 4 bytes. - * - * @param[in] fifo_wm : Variable used to set the FIFO water mark level - * @param[in] dev : Structure instance of bmi160_dev - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev); - -/*! - * @brief This API parses and extracts the accelerometer frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the "accel_data" structure instance. - * - * @note The bmi160_extract_accel API should be called only after - * reading the FIFO data by calling the bmi160_get_fifo_data() API. - * - * @param[out] accel_data : Structure instance of bmi160_sensor_data - * where the accelerometer data in FIFO is stored. - * @param[in,out] accel_length : Number of valid accelerometer frames - * (x,y,z axes data) read out from fifo. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note accel_length is updated with the number of valid accelerometer - * frames extracted from fifo (1 accel frame = 6 bytes) at the end of - * execution of this API. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev); - -/*! - * @brief This API parses and extracts the gyro frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the "gyro_data" structure instance. - * - * @note The bmi160_extract_gyro API should be called only after - * reading the FIFO data by calling the bmi160_get_fifo_data() API. - * - * @param[out] gyro_data : Structure instance of bmi160_sensor_data - * where the gyro data in FIFO is stored. - * @param[in,out] gyro_length : Number of valid gyro frames - * (x,y,z axes data) read out from fifo. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note gyro_length is updated with the number of valid gyro - * frames extracted from fifo (1 gyro frame = 6 bytes) at the end of - * execution of this API. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev); - -/*! - * @brief This API parses and extracts the aux frames from - * FIFO data read by the "bmi160_get_fifo_data" API and stores it in - * the bmi160_aux_data structure instance. - * - * @note The bmi160_extract_aux API should be called only after - * reading the FIFO data by calling the bmi160_get_fifo_data() API. - * - * @param[out] aux_data : Structure instance of bmi160_aux_data - * where the aux data in FIFO is stored. - * @param[in,out] aux_len : Number of valid aux frames (8bytes) - * read out from FIFO. - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note aux_len is updated with the number of valid aux - * frames extracted from fifo (1 aux frame = 8 bytes) at the end of - * execution of this API. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - * - */ -int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev); - -/*! - * @brief This API starts the FOC of accel and gyro - * - * @note FOC should not be used in low-power mode of sensor - * - * @note Accel FOC targets values of +1g , 0g , -1g - * Gyro FOC always targets value of 0 dps - * - * @param[in] foc_conf : Structure instance of bmi160_foc_conf which - * has the FOC configuration - * @param[in,out] offset : Structure instance to store Offset - * values read from sensor - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note Pre-requisites for triggering FOC in accel , Set the following, - * Enable the acc_off_en - * Ex : foc_conf.acc_off_en = BMI160_ENABLE; - * - * Set the desired target values of FOC to each axes (x,y,z) by using the - * following macros - * - BMI160_FOC_ACCEL_DISABLED - * - BMI160_FOC_ACCEL_POSITIVE_G - * - BMI160_FOC_ACCEL_NEGATIVE_G - * - BMI160_FOC_ACCEL_0G - * - * Ex : foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G; - * foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G; - * foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G; - * - * @note Pre-requisites for triggering FOC in gyro , - * Set the following parameters, - * - * Ex : foc_conf.foc_gyr_en = BMI160_ENABLE; - * foc_conf.gyro_off_en = BMI160_ENABLE; - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - */ -int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf, - struct bmi160_offsets *offset, - struct bmi160_dev const *dev); - -/*! - * @brief This API reads and stores the offset values of accel and gyro - * - * @param[in,out] offset : Structure instance of bmi160_offsets in which - * the offset values are read and stored - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - */ -int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev); - -/*! - * @brief This API writes the offset values of accel and gyro to - * the sensor but these values will be reset on POR or soft reset. - * - * @param[in] foc_conf : Structure instance of bmi160_foc_conf which - * has the FOC configuration - * @param[in] offset : Structure instance in which user updates offset - * values which are to be written in the sensor - * @param[in] dev : Structure instance of bmi160_dev. - * - * @note Offsets can be set by user like offset->off_acc_x = 10; - * where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second - * - * @note BMI160 offset values for xyz axes of accel should be within range of - * BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127) - * - * @note BMI160 offset values for xyz axes of gyro should be within range of - * BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511) - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - */ -int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf, - const struct bmi160_offsets *offset, - struct bmi160_dev const *dev); - -/*! - * @brief This API writes the image registers values to NVM which is - * stored even after POR or soft reset - * - * @param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - */ -int8_t bmi160_update_nvm(struct bmi160_dev const *dev); - -/*! - * @brief This API gets the interrupt status from the sensor. - * - * @param[in] int_status_sel : Enum variable to select either individual or all the - * interrupt status bits. - * @param[in] int_status : pointer variable to get the interrupt status - * from the sensor. - * param[in] dev : Structure instance of bmi160_dev. - * - * @return Result of API execution status - * @retval 0 -> Success - * @retval Any non zero value -> Fail - */ -int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel, - union bmi160_int_status *int_status, - struct bmi160_dev const *dev); - -/*************************** C++ guard macro *****************************/ -#ifdef __cplusplus -} -#endif - -#endif /* BMI160_H_ */ -/** @}*/ diff --git a/sensor-motion-bmx160/bmi160_defs.h b/sensor-motion-bmx160/bmi160_defs.h deleted file mode 100644 index e6f6da5..0000000 --- a/sensor-motion-bmx160/bmi160_defs.h +++ /dev/null @@ -1,1675 +0,0 @@ -/** -* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. -* -* BSD-3-Clause -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* -* 1. Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* -* 2. Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* -* 3. Neither the name of the copyright holder nor the names of its -* contributors may be used to endorse or promote products derived from -* this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) -* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, -* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING -* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -* @file bmi160_defs.h -* @date 10/01/2020 -* @version 3.8.1 -* -*/ - -/*! - * @defgroup bmi160_defs - * @brief - * @{*/ - -#ifndef BMI160_DEFS_H_ -#define BMI160_DEFS_H_ - -/*************************** C types headers *****************************/ -#ifdef __KERNEL__ -#include -#include -#else -#include -#include -#endif - -/*************************** Common macros *****************************/ - -#if !defined(UINT8_C) && !defined(INT8_C) -#define INT8_C(x) S8_C(x) -#define UINT8_C(x) U8_C(x) -#endif - -#if !defined(UINT16_C) && !defined(INT16_C) -#define INT16_C(x) S16_C(x) -#define UINT16_C(x) U16_C(x) -#endif - -#if !defined(INT32_C) && !defined(UINT32_C) -#define INT32_C(x) S32_C(x) -#define UINT32_C(x) U32_C(x) -#endif - -#if !defined(INT64_C) && !defined(UINT64_C) -#define INT64_C(x) S64_C(x) -#define UINT64_C(x) U64_C(x) -#endif - -/**@}*/ -/**\name C standard macros */ -#ifndef NULL -#ifdef __cplusplus -#define NULL 0 -#else -#define NULL ((void *) 0) -#endif -#endif - -/*************************** Sensor macros *****************************/ -/* Test for an endian machine */ -#ifndef __ORDER_LITTLE_ENDIAN__ -#define __ORDER_LITTLE_ENDIAN__ 0 -#endif - -#ifndef __BYTE_ORDER__ -#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__ -#endif - -#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ -#ifndef LITTLE_ENDIAN -#define LITTLE_ENDIAN 1 -#endif -#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__ -#ifndef BIG_ENDIAN -#define BIG_ENDIAN 1 -#endif -#else -#error "Code does not support Endian format of the processor" -#endif - -/** Mask definitions */ -#define BMI160_ACCEL_BW_MASK UINT8_C(0x70) -#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F) -#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80) -#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F) -#define BMI160_GYRO_BW_MASK UINT8_C(0x30) -#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F) -#define BMI160_GYRO_RANGE_MSK UINT8_C(0x07) - -/** Mask definitions for INT_EN registers */ -#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01) -#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01) -#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01) -#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02) -#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02) -#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02) -#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04) -#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04) -#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04) -#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07) -#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07) -#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08) -#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10) -#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20) -#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20) -#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40) -#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40) -#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08) -#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08) -#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80) -#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10) - -/** PMU status Macros */ -#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00) -#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01) -#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02) - -#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00) -#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01) -#define BMI160_GYRO_PMU_FSU UINT8_C(0x03) - -#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00) -#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01) -#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02) - -/** Mask definitions for INT_OUT_CTRL register */ -#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01) -#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04) -#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02) -#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08) -#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10) -#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40) -#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20) -#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80) - -/** Mask definitions for INT_LATCH register */ -#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10) -#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20) -#define BMI160_INT_LATCH_MASK UINT8_C(0x0F) - -/** Mask definitions for INT_MAP register */ -#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01) -#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02) -#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04) -#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08) -#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10) -#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20) -#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20) -#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40) -#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40) -#define BMI160_INT1_FLAT_MASK UINT8_C(0x80) -#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80) -#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01) -#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01) -#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01) -#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02) -#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02) -#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04) -#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04) -#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08) -#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08) -#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10) -#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20) -#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40) -#define BMI160_INT2_FLAT_MASK UINT8_C(0x80) - -/** Mask definitions for INT_DATA register */ -#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08) -#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80) -#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80) - -/** Mask definitions for INT_MOTION register */ -#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03) -#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC) -#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01) - -/** Mask definitions for INT_TAP register */ -#define BMI160_TAP_DUR_MASK UINT8_C(0x07) -#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40) -#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80) -#define BMI160_TAP_THRES_MASK UINT8_C(0x1F) - -/** Mask definitions for INT_FLAT register */ -#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F) -#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30) -#define BMI160_FLAT_HYST_MASK UINT8_C(0x07) - -/** Mask definitions for INT_LOWHIGH register */ -#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03) -#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04) -#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0) - -/** Mask definitions for INT_SIG_MOTION register */ -#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02) -#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C) -#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30) - -/** Mask definitions for INT_ORIENT register */ -#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03) -#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C) -#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0) -#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F) -#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40) -#define BMI160_AXES_EN_MASK UINT8_C(0x80) - -/** Mask definitions for FIFO_CONFIG register */ -#define BMI160_FIFO_GYRO UINT8_C(0x80) -#define BMI160_FIFO_ACCEL UINT8_C(0x40) -#define BMI160_FIFO_AUX UINT8_C(0x20) -#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08) -#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04) -#define BMI160_FIFO_TIME UINT8_C(0x02) -#define BMI160_FIFO_HEADER UINT8_C(0x10) -#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE) - -/** Mask definitions for STEP_CONF register */ -#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08) -#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18) -#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07) -#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07) - -/** Mask definition for FIFO Header Data Tag */ -#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC) - -/** Fifo byte counter mask definitions */ -#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07) - -/** Enable/disable bit value */ -#define BMI160_ENABLE UINT8_C(0x01) -#define BMI160_DISABLE UINT8_C(0x00) - -/** Latch Duration */ -#define BMI160_LATCH_DUR_NONE UINT8_C(0x00) -#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01) -#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02) -#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03) -#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04) -#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05) -#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06) -#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07) -#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08) -#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09) -#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A) -#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B) -#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C) -#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D) -#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E) -#define BMI160_LATCHED UINT8_C(0x0F) - -/** BMI160 Register map */ -#define BMI160_CHIP_ID_ADDR UINT8_C(0x00) -#define BMI160_ERROR_REG_ADDR UINT8_C(0x02) -#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03) -#define BMI160_AUX_DATA_ADDR UINT8_C(0x04) -#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C) -#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12) -#define BMI160_STATUS_ADDR UINT8_C(0x1B) -#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C) -#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22) -#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24) -#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40) -#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41) -#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42) -#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43) -#define BMI160_AUX_ODR_ADDR UINT8_C(0x44) -#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45) -#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46) -#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47) -#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B) -#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C) -#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D) -#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E) -#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F) -#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50) -#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51) -#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52) -#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53) -#define BMI160_INT_LATCH_ADDR UINT8_C(0x54) -#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55) -#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56) -#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57) -#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58) -#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59) -#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A) -#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B) -#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C) -#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D) -#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E) -#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F) -#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60) -#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61) -#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62) -#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63) -#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64) -#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65) -#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66) -#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67) -#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68) -#define BMI160_FOC_CONF_ADDR UINT8_C(0x69) -#define BMI160_CONF_ADDR UINT8_C(0x6A) - -#define BMI160_IF_CONF_ADDR UINT8_C(0x6B) -#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D) -#define BMI160_OFFSET_ADDR UINT8_C(0x71) -#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77) -#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78) -#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A) -#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B) -#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E) -#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F) -#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85) - -/** Error code definitions */ -#define BMI160_OK INT8_C(0) -#define BMI160_E_NULL_PTR INT8_C(-1) -#define BMI160_E_COM_FAIL INT8_C(-2) -#define BMI160_E_DEV_NOT_FOUND INT8_C(-3) -#define BMI160_E_OUT_OF_RANGE INT8_C(-4) -#define BMI160_E_INVALID_INPUT INT8_C(-5) -#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6) -#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7) -#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8) -#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9) -#define BMI160_E_AUX_NOT_FOUND INT8_C(-10) -#define BMI160_FOC_FAILURE INT8_C(-11) -#define BMI160_READ_WRITE_LENGHT_INVALID INT8_C(-12) - -/**\name API warning codes */ -#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1) -#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2) - -/** BMI160 unique chip identifier */ -#define BMI160_CHIP_ID UINT8_C(0xD8) - -/** Soft reset command */ -#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6) -#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1) - -/** Start FOC command */ -#define BMI160_START_FOC_CMD UINT8_C(0x03) - -/** NVM backup enabling command */ -#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0) - -/* Delay in ms settings */ -#define BMI160_ACCEL_DELAY_MS UINT8_C(5) -#define BMI160_GYRO_DELAY_MS UINT8_C(81) -#define BMI160_ONE_MS_DELAY UINT8_C(1) -#define BMI160_AUX_COM_DELAY UINT8_C(10) -#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20) -#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50) - -/** Self test configurations */ -#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C) -#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D) -#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09) -#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192) - -/** Power mode settings */ -/* Accel power mode */ -#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11) -#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12) -#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10) - -/* Gyro power mode */ -#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14) -#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15) -#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17) - -/* Aux power mode */ -#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18) -#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19) -#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A) - -/** Range settings */ -/* Accel Range */ -#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03) -#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05) -#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08) -#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C) - -/* Gyro Range */ -#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00) -#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01) -#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02) -#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03) -#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04) - -/** Bandwidth settings */ -/* Accel Bandwidth */ -#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00) -#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01) -#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02) -#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03) -#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04) -#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05) -#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06) -#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07) - -#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00) -#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01) -#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02) - -/* Output Data Rate settings */ -/* Accel Output data rate */ -#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00) -#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01) -#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02) -#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03) -#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04) -#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05) -#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06) -#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07) -#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08) -#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09) -#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A) -#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B) -#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C) -#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D) -#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E) -#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F) - -/* Gyro Output data rate */ -#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00) -#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06) -#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07) -#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08) -#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09) -#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A) -#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B) -#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C) -#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D) - -/* Auxiliary sensor Output data rate */ -#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00) -#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01) -#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02) -#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03) -#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04) -#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05) -#define BMI160_AUX_ODR_25HZ UINT8_C(0x06) -#define BMI160_AUX_ODR_50HZ UINT8_C(0x07) -#define BMI160_AUX_ODR_100HZ UINT8_C(0x08) -#define BMI160_AUX_ODR_200HZ UINT8_C(0x09) -#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A) -#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B) - -/* Maximum limits definition */ -#define BMI160_ACCEL_ODR_MAX UINT8_C(15) -#define BMI160_ACCEL_BW_MAX UINT8_C(2) -#define BMI160_ACCEL_RANGE_MAX UINT8_C(12) -#define BMI160_GYRO_ODR_MAX UINT8_C(13) -#define BMI160_GYRO_BW_MAX UINT8_C(2) -#define BMI160_GYRO_RANGE_MAX UINT8_C(4) - -/** FIFO_CONFIG Definitions */ -#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02) -#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04) -#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08) -#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10) -#define BMI160_FIFO_M_ENABLE UINT8_C(0x20) -#define BMI160_FIFO_A_ENABLE UINT8_C(0x40) -#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60) -#define BMI160_FIFO_G_ENABLE UINT8_C(0x80) -#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0) -#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0) -#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0) - -/* Macro to specify the number of bytes over-read from the - * FIFO in order to get the sensor time at the end of FIFO */ -#ifndef BMI160_FIFO_BYTES_OVERREAD -#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25) -#endif - -/* Accel, gyro and aux. sensor length and also their combined - * length definitions in FIFO */ -#define BMI160_FIFO_G_LENGTH UINT8_C(6) -#define BMI160_FIFO_A_LENGTH UINT8_C(6) -#define BMI160_FIFO_M_LENGTH UINT8_C(8) -#define BMI160_FIFO_GA_LENGTH UINT8_C(12) -#define BMI160_FIFO_MA_LENGTH UINT8_C(14) -#define BMI160_FIFO_MG_LENGTH UINT8_C(14) -#define BMI160_FIFO_MGA_LENGTH UINT8_C(20) - -/** FIFO Header Data definitions */ -#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) -#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) -#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) -#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80) -#define BMI160_FIFO_HEAD_A UINT8_C(0x84) -#define BMI160_FIFO_HEAD_G UINT8_C(0x88) -#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C) -#define BMI160_FIFO_HEAD_M UINT8_C(0x90) -#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94) -#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98) -#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C) - -/** FIFO sensor time length definitions */ -#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3) - -/** FIFO DOWN selection */ -/* Accel fifo down-sampling values*/ -#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00) -#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10) -#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20) -#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30) -#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40) -#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50) -#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60) -#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70) - -/* Gyro fifo down-smapling values*/ -#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00) -#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01) -#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02) -#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03) -#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04) -#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05) -#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06) -#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07) - -/* Accel Fifo filter enable*/ -#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80) - -/* Gyro Fifo filter enable*/ -#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08) - -/** Definitions to check validity of FIFO frames */ -#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80) -#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00) - -/*! BMI160 accel FOC configurations */ -#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00) -#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01) -#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02) -#define BMI160_FOC_ACCEL_0G UINT8_C(0x03) - -/** Array Parameter DefinItions */ -#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0) -#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1) -#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2) - -/** Interface settings */ -#define BMI160_SPI_INTF UINT8_C(1) -#define BMI160_I2C_INTF UINT8_C(0) -#define BMI160_SPI_RD_MASK UINT8_C(0x80) -#define BMI160_SPI_WR_MASK UINT8_C(0x7F) - -/* Sensor & time select definition*/ -#define BMI160_ACCEL_SEL UINT8_C(0x01) -#define BMI160_GYRO_SEL UINT8_C(0x02) -#define BMI160_TIME_SEL UINT8_C(0x04) - -/* Sensor select mask*/ -#define BMI160_SEN_SEL_MASK UINT8_C(0x07) - -/* Error code mask */ -#define BMI160_ERR_REG_MASK UINT8_C(0x0F) - -/* BMI160 I2C address */ -#define BMI160_I2C_ADDR UINT8_C(0x69) - -/* BMI160 secondary IF address */ -#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10) - -/** BMI160 Length definitions */ -#define BMI160_ONE UINT8_C(1) -#define BMI160_TWO UINT8_C(2) -#define BMI160_THREE UINT8_C(3) -#define BMI160_FOUR UINT8_C(4) -#define BMI160_FIVE UINT8_C(5) - -/** BMI160 fifo level Margin */ -#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16) - -/** BMI160 fifo flush Command */ -#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0) - -/** BMI160 offset values for xyz axes of accel */ -#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128) -#define BMI160_ACCEL_MAX_OFFSET INT8_C(127) - -/** BMI160 offset values for xyz axes of gyro */ -#define BMI160_GYRO_MIN_OFFSET INT16_C(-512) -#define BMI160_GYRO_MAX_OFFSET INT16_C(511) - -/** BMI160 fifo full interrupt position and mask */ -#define BMI160_FIFO_FULL_INT_POS UINT8_C(5) -#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20) -#define BMI160_FIFO_WTM_INT_POS UINT8_C(6) -#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40) - -#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5) -#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20) -#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1) -#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02) - -#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6) -#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40) -#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2) -#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04) - -#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7) -#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80) -#define BMI160_AUX_READ_BURST_POS UINT8_C(0) -#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03) - -#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4) -#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10) -#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1) -#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02) - -#define BMI160_GYRO_FOC_EN_POS UINT8_C(6) -#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40) - -#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4) -#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30) - -#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2) -#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C) - -#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03) - -#define BMI160_FOC_STATUS_POS UINT8_C(3) -#define BMI160_FOC_STATUS_MSK UINT8_C(0x08) - -#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03) - -#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2) -#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C) - -#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4) -#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30) - -#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7) -#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80) - -#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6) -#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40) - -#define BMI160_GYRO_OFFSET_POS UINT16_C(8) -#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300) - -#define BMI160_NVM_UPDATE_POS UINT8_C(1) -#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02) - -#define BMI160_NVM_STATUS_POS UINT8_C(4) -#define BMI160_NVM_STATUS_MSK UINT8_C(0x10) - -#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03) - -#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30) -#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4) - -#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C) -#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2) - -/* BIT SLICE GET AND SET FUNCTIONS */ -#define BMI160_GET_BITS(regvar, bitname) \ - ((regvar & bitname##_MSK) >> bitname##_POS) -#define BMI160_SET_BITS(regvar, bitname, val) \ - ((regvar & ~bitname##_MSK) | \ - ((val << bitname##_POS) & bitname##_MSK)) - -#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \ - ((reg_data & ~(bitname##_MSK)) | \ - (data & bitname##_MSK)) - -#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) - -/**\name UTILITY MACROS */ -#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF) -#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00) - -#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE) -#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8) - -/*****************************************************************************/ -/* type definitions */ -typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len); -typedef void (*bmi160_delay_fptr_t)(uint32_t period); - -/*************************** Data structures *********************************/ -struct bmi160_pmu_status -{ - /*! Power mode status of Accel - * Possible values : - * - BMI160_ACCEL_PMU_SUSPEND - * - BMI160_ACCEL_PMU_NORMAL - * - BMI160_ACCEL_PMU_LOW_POWER - */ - uint8_t accel_pmu_status; - - /*! Power mode status of Gyro - * Possible values : - * - BMI160_GYRO_PMU_SUSPEND - * - BMI160_GYRO_PMU_NORMAL - * - BMI160_GYRO_PMU_FSU - */ - uint8_t gyro_pmu_status; - - /*! Power mode status of 'Auxiliary sensor interface' whereas the actual - * power mode of the aux. sensor should be configured - * according to the connected sensor specifications - * Possible values : - * - BMI160_AUX_PMU_SUSPEND - * - BMI160_AUX_PMU_NORMAL - * - BMI160_AUX_PMU_LOW_POWER - */ - uint8_t aux_pmu_status; -}; - -/*! - * @brief bmi160 interrupt status selection enum. - */ -enum bmi160_int_status_sel { - BMI160_INT_STATUS_0 = 1, - BMI160_INT_STATUS_1 = 2, - BMI160_INT_STATUS_2 = 4, - BMI160_INT_STATUS_3 = 8, - BMI160_INT_STATUS_ALL = 15 -}; - -/*! - * @brief bmi160 interrupt status bits structure - */ -struct bmi160_int_status_bits -{ -#if LITTLE_ENDIAN == 1 - uint32_t step : 1; - uint32_t sigmot : 1; - uint32_t anym : 1; - - /* pmu trigger will be handled later */ - uint32_t pmu_trigger_reserved : 1; - uint32_t d_tap : 1; - uint32_t s_tap : 1; - uint32_t orient : 1; - uint32_t flat_int : 1; - uint32_t reserved : 2; - uint32_t high_g : 1; - uint32_t low_g : 1; - uint32_t drdy : 1; - uint32_t ffull : 1; - uint32_t fwm : 1; - uint32_t nomo : 1; - uint32_t anym_first_x : 1; - uint32_t anym_first_y : 1; - uint32_t anym_first_z : 1; - uint32_t anym_sign : 1; - uint32_t tap_first_x : 1; - uint32_t tap_first_y : 1; - uint32_t tap_first_z : 1; - uint32_t tap_sign : 1; - uint32_t high_first_x : 1; - uint32_t high_first_y : 1; - uint32_t high_first_z : 1; - uint32_t high_sign : 1; - uint32_t orient_1_0 : 2; - uint32_t orient_2 : 1; - uint32_t flat : 1; -#elif BIG_ENDIAN == 1 - uint32_t high_first_x : 1; - uint32_t high_first_y : 1; - uint32_t high_first_z : 1; - uint32_t high_sign : 1; - uint32_t orient_1_0 : 2; - uint32_t orient_2 : 1; - uint32_t flat : 1; - uint32_t anym_first_x : 1; - uint32_t anym_first_y : 1; - uint32_t anym_first_z : 1; - uint32_t anym_sign : 1; - uint32_t tap_first_x : 1; - uint32_t tap_first_y : 1; - uint32_t tap_first_z : 1; - uint32_t tap_sign : 1; - uint32_t reserved : 2; - uint32_t high_g : 1; - uint32_t low_g : 1; - uint32_t drdy : 1; - uint32_t ffull : 1; - uint32_t fwm : 1; - uint32_t nomo : 1; - uint32_t step : 1; - uint32_t sigmot : 1; - uint32_t anym : 1; - - /* pmu trigger will be handled later */ - uint32_t pmu_trigger_reserved : 1; - uint32_t d_tap : 1; - uint32_t s_tap : 1; - uint32_t orient : 1; - uint32_t flat_int : 1; -#endif -}; - -/*! - * @brief bmi160 interrupt status structure - */ -union bmi160_int_status -{ - uint8_t data[4]; - struct bmi160_int_status_bits bit; -}; - -/*! - * @brief bmi160 sensor data structure which comprises of accel data - */ -struct bmi160_sensor_data -{ - /*! X-axis sensor data */ - int16_t x; - - /*! Y-axis sensor data */ - int16_t y; - - /*! Z-axis sensor data */ - int16_t z; - - /*! sensor time */ - uint32_t sensortime; -}; - -/*! - * @brief bmi160 aux data structure which comprises of 8 bytes of accel data - */ -struct bmi160_aux_data -{ - /*! Auxiliary data */ - uint8_t data[8]; -}; - -/*! - * @brief bmi160 FOC configuration structure - */ -struct bmi160_foc_conf -{ - /*! Enabling FOC in gyro - * Assignable macros : - * - BMI160_ENABLE - * - BMI160_DISABLE - */ - uint8_t foc_gyr_en; - - /*! Accel FOC configurations - * Assignable macros : - * - BMI160_FOC_ACCEL_DISABLED - * - BMI160_FOC_ACCEL_POSITIVE_G - * - BMI160_FOC_ACCEL_NEGATIVE_G - * - BMI160_FOC_ACCEL_0G - */ - uint8_t foc_acc_x; - uint8_t foc_acc_y; - uint8_t foc_acc_z; - - /*! Enabling offset compensation for accel in data registers - * Assignable macros : - * - BMI160_ENABLE - * - BMI160_DISABLE - */ - uint8_t acc_off_en; - - /*! Enabling offset compensation for gyro in data registers - * Assignable macros : - * - BMI160_ENABLE - * - BMI160_DISABLE - */ - uint8_t gyro_off_en; -}; - -/*! - * @brief bmi160 accel gyro offsets - */ -struct bmi160_offsets -{ - /*! Accel offset for x axis */ - int8_t off_acc_x; - - /*! Accel offset for y axis */ - int8_t off_acc_y; - - /*! Accel offset for z axis */ - int8_t off_acc_z; - - /*! Gyro offset for x axis */ - int16_t off_gyro_x; - - /*! Gyro offset for y axis */ - int16_t off_gyro_y; - - /*! Gyro offset for z axis */ - int16_t off_gyro_z; -}; - -/*! - * @brief FIFO aux. sensor data structure - */ -struct bmi160_aux_fifo_data -{ - /*! The value of aux. sensor x LSB data */ - uint8_t aux_x_lsb; - - /*! The value of aux. sensor x MSB data */ - uint8_t aux_x_msb; - - /*! The value of aux. sensor y LSB data */ - uint8_t aux_y_lsb; - - /*! The value of aux. sensor y MSB data */ - uint8_t aux_y_msb; - - /*! The value of aux. sensor z LSB data */ - uint8_t aux_z_lsb; - - /*! The value of aux. sensor z MSB data */ - uint8_t aux_z_msb; - - /*! The value of aux. sensor r for BMM150 LSB data */ - uint8_t aux_r_y2_lsb; - - /*! The value of aux. sensor r for BMM150 MSB data */ - uint8_t aux_r_y2_msb; -}; - -/*! - * @brief bmi160 sensor select structure - */ -enum bmi160_select_sensor { - BMI160_ACCEL_ONLY = 1, - BMI160_GYRO_ONLY, - BMI160_BOTH_ACCEL_AND_GYRO -}; - -/*! - * @brief bmi160 sensor step detector mode structure - */ -enum bmi160_step_detect_mode { - BMI160_STEP_DETECT_NORMAL, - BMI160_STEP_DETECT_SENSITIVE, - BMI160_STEP_DETECT_ROBUST, - - /*! Non recommended User defined setting */ - BMI160_STEP_DETECT_USER_DEFINE -}; - -/*! - * @brief enum for auxiliary burst read selection - */ -enum bm160_aux_read_len { - BMI160_AUX_READ_LEN_0, - BMI160_AUX_READ_LEN_1, - BMI160_AUX_READ_LEN_2, - BMI160_AUX_READ_LEN_3 -}; - -/*! - * @brief bmi160 sensor configuration structure - */ -struct bmi160_cfg -{ - /*! power mode */ - uint8_t power; - - /*! output data rate */ - uint8_t odr; - - /*! range */ - uint8_t range; - - /*! bandwidth */ - uint8_t bw; -}; - -/*! - * @brief Aux sensor configuration structure - */ -struct bmi160_aux_cfg -{ - /*! Aux sensor, 1 - enable 0 - disable */ - uint8_t aux_sensor_enable : 1; - - /*! Aux manual/auto mode status */ - uint8_t manual_enable : 1; - - /*! Aux read burst length */ - uint8_t aux_rd_burst_len : 2; - - /*! output data rate */ - uint8_t aux_odr : 4; - - /*! i2c addr of auxiliary sensor */ - uint8_t aux_i2c_addr; -}; - -/*! - * @brief bmi160 interrupt channel selection structure - */ -enum bmi160_int_channel { - /*! Un-map both channels */ - BMI160_INT_CHANNEL_NONE, - - /*! interrupt Channel 1 */ - BMI160_INT_CHANNEL_1, - - /*! interrupt Channel 2 */ - BMI160_INT_CHANNEL_2, - - /*! Map both channels */ - BMI160_INT_CHANNEL_BOTH -}; -enum bmi160_int_types { - /*! Slope/Any-motion interrupt */ - BMI160_ACC_ANY_MOTION_INT, - - /*! Significant motion interrupt */ - BMI160_ACC_SIG_MOTION_INT, - - /*! Step detector interrupt */ - BMI160_STEP_DETECT_INT, - - /*! double tap interrupt */ - BMI160_ACC_DOUBLE_TAP_INT, - - /*! single tap interrupt */ - BMI160_ACC_SINGLE_TAP_INT, - - /*! orientation interrupt */ - BMI160_ACC_ORIENT_INT, - - /*! flat interrupt */ - BMI160_ACC_FLAT_INT, - - /*! high-g interrupt */ - BMI160_ACC_HIGH_G_INT, - - /*! low-g interrupt */ - BMI160_ACC_LOW_G_INT, - - /*! slow/no-motion interrupt */ - BMI160_ACC_SLOW_NO_MOTION_INT, - - /*! data ready interrupt */ - BMI160_ACC_GYRO_DATA_RDY_INT, - - /*! fifo full interrupt */ - BMI160_ACC_GYRO_FIFO_FULL_INT, - - /*! fifo watermark interrupt */ - BMI160_ACC_GYRO_FIFO_WATERMARK_INT, - - /*! fifo tagging feature support */ - BMI160_FIFO_TAG_INT_PIN -}; - -/*! - * @brief bmi160 active state of any & sig motion interrupt. - */ -enum bmi160_any_sig_motion_active_interrupt_state { - /*! Both any & sig motion are disabled */ - BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1, - - /*! Any-motion selected */ - BMI160_ANY_MOTION_ENABLED, - - /*! Sig-motion selected */ - BMI160_SIG_MOTION_ENABLED -}; -struct bmi160_acc_tap_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! tap threshold */ - uint16_t tap_thr : 5; - - /*! tap shock */ - uint16_t tap_shock : 1; - - /*! tap quiet */ - uint16_t tap_quiet : 1; - - /*! tap duration */ - uint16_t tap_dur : 3; - - /*! data source 0- filter & 1 pre-filter*/ - uint16_t tap_data_src : 1; - - /*! tap enable, 1 - enable, 0 - disable */ - uint16_t tap_en : 1; -#elif BIG_ENDIAN == 1 - - /*! tap enable, 1 - enable, 0 - disable */ - uint16_t tap_en : 1; - - /*! data source 0- filter & 1 pre-filter*/ - uint16_t tap_data_src : 1; - - /*! tap duration */ - uint16_t tap_dur : 3; - - /*! tap quiet */ - uint16_t tap_quiet : 1; - - /*! tap shock */ - uint16_t tap_shock : 1; - - /*! tap threshold */ - uint16_t tap_thr : 5; -#endif -}; -struct bmi160_acc_any_mot_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! 1 any-motion enable, 0 - any-motion disable */ - uint8_t anymotion_en : 1; - - /*! slope interrupt x, 1 - enable, 0 - disable */ - uint8_t anymotion_x : 1; - - /*! slope interrupt y, 1 - enable, 0 - disable */ - uint8_t anymotion_y : 1; - - /*! slope interrupt z, 1 - enable, 0 - disable */ - uint8_t anymotion_z : 1; - - /*! slope duration */ - uint8_t anymotion_dur : 2; - - /*! data source 0- filter & 1 pre-filter*/ - uint8_t anymotion_data_src : 1; - - /*! slope threshold */ - uint8_t anymotion_thr; -#elif BIG_ENDIAN == 1 - - /*! slope threshold */ - uint8_t anymotion_thr; - - /*! data source 0- filter & 1 pre-filter*/ - uint8_t anymotion_data_src : 1; - - /*! slope duration */ - uint8_t anymotion_dur : 2; - - /*! slope interrupt z, 1 - enable, 0 - disable */ - uint8_t anymotion_z : 1; - - /*! slope interrupt y, 1 - enable, 0 - disable */ - uint8_t anymotion_y : 1; - - /*! slope interrupt x, 1 - enable, 0 - disable */ - uint8_t anymotion_x : 1; - - /*! 1 any-motion enable, 0 - any-motion disable */ - uint8_t anymotion_en : 1; -#endif -}; -struct bmi160_acc_sig_mot_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! skip time of sig-motion interrupt */ - uint8_t sig_mot_skip : 2; - - /*! proof time of sig-motion interrupt */ - uint8_t sig_mot_proof : 2; - - /*! data source 0- filter & 1 pre-filter*/ - uint8_t sig_data_src : 1; - - /*! 1 - enable sig, 0 - disable sig & enable anymotion */ - uint8_t sig_en : 1; - - /*! sig-motion threshold */ - uint8_t sig_mot_thres; -#elif BIG_ENDIAN == 1 - - /*! sig-motion threshold */ - uint8_t sig_mot_thres; - - /*! 1 - enable sig, 0 - disable sig & enable anymotion */ - uint8_t sig_en : 1; - - /*! data source 0- filter & 1 pre-filter*/ - uint8_t sig_data_src : 1; - - /*! proof time of sig-motion interrupt */ - uint8_t sig_mot_proof : 2; - - /*! skip time of sig-motion interrupt */ - uint8_t sig_mot_skip : 2; -#endif -}; -struct bmi160_acc_step_detect_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! 1- step detector enable, 0- step detector disable */ - uint16_t step_detector_en : 1; - - /*! minimum threshold */ - uint16_t min_threshold : 2; - - /*! minimal detectable step time */ - uint16_t steptime_min : 3; - - /*! enable step counter mode setting */ - uint16_t step_detector_mode : 2; - - /*! minimum step buffer size*/ - uint16_t step_min_buf : 3; -#elif BIG_ENDIAN == 1 - - /*! minimum step buffer size*/ - uint16_t step_min_buf : 3; - - /*! enable step counter mode setting */ - uint16_t step_detector_mode : 2; - - /*! minimal detectable step time */ - uint16_t steptime_min : 3; - - /*! minimum threshold */ - uint16_t min_threshold : 2; - - /*! 1- step detector enable, 0- step detector disable */ - uint16_t step_detector_en : 1; -#endif -}; -struct bmi160_acc_no_motion_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! no motion interrupt x */ - uint16_t no_motion_x : 1; - - /*! no motion interrupt y */ - uint16_t no_motion_y : 1; - - /*! no motion interrupt z */ - uint16_t no_motion_z : 1; - - /*! no motion duration */ - uint16_t no_motion_dur : 6; - - /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ - uint16_t no_motion_sel : 1; - - /*! data source 0- filter & 1 pre-filter*/ - uint16_t no_motion_src : 1; - - /*! no motion threshold */ - uint8_t no_motion_thres; -#elif BIG_ENDIAN == 1 - - /*! no motion threshold */ - uint8_t no_motion_thres; - - /*! data source 0- filter & 1 pre-filter*/ - uint16_t no_motion_src : 1; - - /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ - uint16_t no_motion_sel : 1; - - /*! no motion duration */ - uint16_t no_motion_dur : 6; - - /* no motion interrupt z */ - uint16_t no_motion_z : 1; - - /*! no motion interrupt y */ - uint16_t no_motion_y : 1; - - /*! no motion interrupt x */ - uint16_t no_motion_x : 1; -#endif -}; -struct bmi160_acc_orient_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! thresholds for switching between the different orientations */ - uint16_t orient_mode : 2; - - /*! blocking_mode */ - uint16_t orient_blocking : 2; - - /*! Orientation interrupt hysteresis */ - uint16_t orient_hyst : 4; - - /*! Orientation interrupt theta */ - uint16_t orient_theta : 6; - - /*! Enable/disable Orientation interrupt */ - uint16_t orient_ud_en : 1; - - /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ - uint16_t axes_ex : 1; - - /*! 1 - orient enable, 0 - orient disable */ - uint8_t orient_en : 1; -#elif BIG_ENDIAN == 1 - - /*! 1 - orient enable, 0 - orient disable */ - uint8_t orient_en : 1; - - /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ - uint16_t axes_ex : 1; - - /*! Enable/disable Orientation interrupt */ - uint16_t orient_ud_en : 1; - - /*! Orientation interrupt theta */ - uint16_t orient_theta : 6; - - /*! Orientation interrupt hysteresis */ - uint16_t orient_hyst : 4; - - /*! blocking_mode */ - uint16_t orient_blocking : 2; - - /*! thresholds for switching between the different orientations */ - uint16_t orient_mode : 2; -#endif -}; -struct bmi160_acc_flat_detect_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! flat threshold */ - uint16_t flat_theta : 6; - - /*! flat interrupt hysteresis */ - uint16_t flat_hy : 3; - - /*! delay time for which the flat value must remain stable for the - * flat interrupt to be generated */ - uint16_t flat_hold_time : 2; - - /*! 1 - flat enable, 0 - flat disable */ - uint16_t flat_en : 1; -#elif BIG_ENDIAN == 1 - - /*! 1 - flat enable, 0 - flat disable */ - uint16_t flat_en : 1; - - /*! delay time for which the flat value must remain stable for the - * flat interrupt to be generated */ - uint16_t flat_hold_time : 2; - - /*! flat interrupt hysteresis */ - uint16_t flat_hy : 3; - - /*! flat threshold */ - uint16_t flat_theta : 6; -#endif -}; -struct bmi160_acc_low_g_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! low-g interrupt trigger delay */ - uint8_t low_dur; - - /*! low-g interrupt trigger threshold */ - uint8_t low_thres; - - /*! hysteresis of low-g interrupt */ - uint8_t low_hyst : 2; - - /*! 0 - single-axis mode ,1 - axis-summing mode */ - uint8_t low_mode : 1; - - /*! data source 0- filter & 1 pre-filter */ - uint8_t low_data_src : 1; - - /*! 1 - enable low-g, 0 - disable low-g */ - uint8_t low_en : 1; -#elif BIG_ENDIAN == 1 - - /*! 1 - enable low-g, 0 - disable low-g */ - uint8_t low_en : 1; - - /*! data source 0- filter & 1 pre-filter */ - uint8_t low_data_src : 1; - - /*! 0 - single-axis mode ,1 - axis-summing mode */ - uint8_t low_mode : 1; - - /*! hysteresis of low-g interrupt */ - uint8_t low_hyst : 2; - - /*! low-g interrupt trigger threshold */ - uint8_t low_thres; - - /*! low-g interrupt trigger delay */ - uint8_t low_dur; -#endif -}; -struct bmi160_acc_high_g_int_cfg -{ -#if LITTLE_ENDIAN == 1 - - /*! High-g interrupt x, 1 - enable, 0 - disable */ - uint8_t high_g_x : 1; - - /*! High-g interrupt y, 1 - enable, 0 - disable */ - uint8_t high_g_y : 1; - - /*! High-g interrupt z, 1 - enable, 0 - disable */ - uint8_t high_g_z : 1; - - /*! High-g hysteresis */ - uint8_t high_hy : 2; - - /*! data source 0- filter & 1 pre-filter */ - uint8_t high_data_src : 1; - - /*! High-g threshold */ - uint8_t high_thres; - - /*! High-g duration */ - uint8_t high_dur; -#elif BIG_ENDIAN == 1 - - /*! High-g duration */ - uint8_t high_dur; - - /*! High-g threshold */ - uint8_t high_thres; - - /*! data source 0- filter & 1 pre-filter */ - uint8_t high_data_src : 1; - - /*! High-g hysteresis */ - uint8_t high_hy : 2; - - /*! High-g interrupt z, 1 - enable, 0 - disable */ - uint8_t high_g_z : 1; - - /*! High-g interrupt y, 1 - enable, 0 - disable */ - uint8_t high_g_y : 1; - - /*! High-g interrupt x, 1 - enable, 0 - disable */ - uint8_t high_g_x : 1; -#endif -}; -struct bmi160_int_pin_settg -{ -#if LITTLE_ENDIAN == 1 - - /*! To enable either INT1 or INT2 pin as output. - * 0- output disabled ,1- output enabled */ - uint16_t output_en : 1; - - /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */ - uint16_t output_mode : 1; - - /*! 0 - active low , 1 - active high level. - * if output_en is 1,this applies to interrupts,else PMU_trigger */ - uint16_t output_type : 1; - - /*! 0 - level trigger , 1 - edge trigger */ - uint16_t edge_ctrl : 1; - - /*! To enable either INT1 or INT2 pin as input. - * 0 - input disabled ,1 - input enabled */ - uint16_t input_en : 1; - - /*! latch duration*/ - uint16_t latch_dur : 4; -#elif BIG_ENDIAN == 1 - - /*! latch duration*/ - uint16_t latch_dur : 4; - - /*! Latched,non-latched or temporary interrupt modes */ - uint16_t input_en : 1; - - /*! 1 - edge trigger, 0 - level trigger */ - uint16_t edge_ctrl : 1; - - /*! 0 - active low , 1 - active high level. - * if output_en is 1,this applies to interrupts,else PMU_trigger */ - uint16_t output_type : 1; - - /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */ - uint16_t output_mode : 1; - - /*! To enable either INT1 or INT2 pin as output. - * 0 - output disabled , 1 - output enabled */ - uint16_t output_en : 1; -#endif -}; -union bmi160_int_type_cfg -{ - /*! Tap interrupt structure */ - struct bmi160_acc_tap_int_cfg acc_tap_int; - - /*! Slope interrupt structure */ - struct bmi160_acc_any_mot_int_cfg acc_any_motion_int; - - /*! Significant motion interrupt structure */ - struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int; - - /*! Step detector interrupt structure */ - struct bmi160_acc_step_detect_int_cfg acc_step_detect_int; - - /*! No motion interrupt structure */ - struct bmi160_acc_no_motion_int_cfg acc_no_motion_int; - - /*! Orientation interrupt structure */ - struct bmi160_acc_orient_int_cfg acc_orient_int; - - /*! Flat interrupt structure */ - struct bmi160_acc_flat_detect_int_cfg acc_flat_int; - - /*! Low-g interrupt structure */ - struct bmi160_acc_low_g_int_cfg acc_low_g_int; - - /*! High-g interrupt structure */ - struct bmi160_acc_high_g_int_cfg acc_high_g_int; -}; -struct bmi160_int_settg -{ - /*! Interrupt channel */ - enum bmi160_int_channel int_channel; - - /*! Select Interrupt */ - enum bmi160_int_types int_type; - - /*! Structure configuring Interrupt pins */ - struct bmi160_int_pin_settg int_pin_settg; - - /*! Union configures required interrupt */ - union bmi160_int_type_cfg int_type_cfg; - - /*! FIFO FULL INT 1-enable, 0-disable */ - uint8_t fifo_full_int_en : 1; - - /*! FIFO WTM INT 1-enable, 0-disable */ - uint8_t fifo_wtm_int_en : 1; -}; - -/*! - * @brief This structure holds the information for usage of - * FIFO by the user. - */ -struct bmi160_fifo_frame -{ - /*! Data buffer of user defined length is to be mapped here */ - uint8_t *data; - - /*! While calling the API "bmi160_get_fifo_data" , length stores - * number of bytes in FIFO to be read (specified by user as input) - * and after execution of the API ,number of FIFO data bytes - * available is provided as an output to user - */ - uint16_t length; - - /*! FIFO time enable */ - uint8_t fifo_time_enable; - - /*! Enabling of the FIFO header to stream in header mode */ - uint8_t fifo_header_enable; - - /*! Streaming of the Accelerometer, Gyroscope - * sensor data or both in FIFO */ - uint8_t fifo_data_enable; - - /*! Will be equal to length when no more frames are there to parse */ - uint16_t accel_byte_start_idx; - - /*! Will be equal to length when no more frames are there to parse */ - uint16_t gyro_byte_start_idx; - - /*! Will be equal to length when no more frames are there to parse */ - uint16_t aux_byte_start_idx; - - /*! Value of FIFO sensor time time */ - uint32_t sensor_time; - - /*! Value of Skipped frame counts */ - uint8_t skipped_frame_count; -}; -struct bmi160_dev -{ - /*! Chip Id */ - uint8_t chip_id; - - /*! Device Id */ - uint8_t id; - - /*! 0 - I2C , 1 - SPI Interface */ - uint8_t interface; - - /*! Hold active interrupts status for any and sig motion - * 0 - Any-motion enable, 1 - Sig-motion enable, - * -1 neither any-motion nor sig-motion selected */ - enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel; - - /*! Structure to configure Accel sensor */ - struct bmi160_cfg accel_cfg; - - /*! Structure to hold previous/old accel config parameters. - * This is used at driver level to prevent overwriting of same - * data, hence user does not change it in the code */ - struct bmi160_cfg prev_accel_cfg; - - /*! Structure to configure Gyro sensor */ - struct bmi160_cfg gyro_cfg; - - /*! Structure to hold previous/old gyro config parameters. - * This is used at driver level to prevent overwriting of same - * data, hence user does not change it in the code */ - struct bmi160_cfg prev_gyro_cfg; - - /*! Structure to configure the auxiliary sensor */ - struct bmi160_aux_cfg aux_cfg; - - /*! Structure to hold previous/old aux config parameters. - * This is used at driver level to prevent overwriting of same - * data, hence user does not change it in the code */ - struct bmi160_aux_cfg prev_aux_cfg; - - /*! FIFO related configurations */ - struct bmi160_fifo_frame *fifo; - - /*! Read function pointer */ - bmi160_com_fptr_t read; - - /*! Write function pointer */ - bmi160_com_fptr_t write; - - /*! Delay function pointer */ - bmi160_delay_fptr_t delay_ms; - - /*! User set read/write length */ - uint16_t read_write_len; - - /*! For switching from I2C to SPI */ - uint8_t dummy_byte; -}; - -#endif /* BMI160_DEFS_H_ */ diff --git a/sensor-motion-bmx160/mtb_bmx160.c b/sensor-motion-bmx160/mtb_bmx160.c deleted file mode 100644 index 583621f..0000000 --- a/sensor-motion-bmx160/mtb_bmx160.c +++ /dev/null @@ -1,369 +0,0 @@ -/**************************************************************************//** - * \file mtb_bmx160.c - * - * Description: This file contains the functions for interacting with the - * motion sensor. - * - ******************************************************************************* - * \copyright - * Copyright 2018-2020 Cypress Semiconductor Corporation - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *******************************************************************************/ - -#include "mtb_bmx160.h" -#include "cyhal_i2c.h" -#include "cyhal_spi.h" -#include "cyhal_gpio.h" -#include "cyhal_system.h" - -#if defined(__cplusplus) -extern "C" -{ -#endif - -#define I2C_TIMEOUT 10 /* 10 msec */ -#define BMX160_ERROR(x) (CY_RSLT_CREATE(CY_RSLT_TYPE_ERROR, CY_RSLT_MODULE_BOARD_HARDWARE_BMI160, x)) -#define I2C_WRITE_BUFFER_LENGTH 32 - -static cyhal_i2c_t *i2c = NULL; -static cyhal_spi_t *spi = NULL; -static cyhal_gpio_t spi_ss = NC; - -static mtb_bmx160_t *ptr; - -static int8_t i2c_write_bytes(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len) -{ - CY_ASSERT(len + 1 < I2C_WRITE_BUFFER_LENGTH); - uint8_t buf[I2C_WRITE_BUFFER_LENGTH]; - buf[0] = reg_addr; - for(uint16_t i=0; isensor)); -} - -int8_t bmm150_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len) { - (void) id; - return bmi160_aux_write(reg_addr, reg_data, len, &(ptr->sensor)); -} - -static void delay_wrapper(uint32_t ms) -{ - (void)cyhal_system_delay_ms(ms); -} - -cy_rslt_t mtb_bmx160_init_i2c(mtb_bmx160_t *obj, cyhal_i2c_t *inst, mtb_bmx160_address_t address) -{ - CY_ASSERT(inst != NULL); - i2c = inst; - obj->mag_enable = false; - - /* Configure the BMI160 structure */ - obj->sensor.id = address; - obj->sensor.interface = BMI160_I2C_INTF; - obj->sensor.read = (bmi160_com_fptr_t)i2c_read_bytes; - obj->sensor.write = (bmi160_com_fptr_t)i2c_write_bytes; - obj->sensor.delay_ms = delay_wrapper; - obj->intpin1 = NC; - obj->intpin2 = NC; - - /* Initialize BNI160 sensor */ - int8_t status = bmi160_init(&(obj->sensor)); - - return (BMI160_OK == status) /* BMI160 initialization successful */ - ? mtb_bmx160_config_default(obj) - : BMX160_ERROR(status); -} - -cy_rslt_t mtb_bmx160_init_spi(mtb_bmx160_t *obj, cyhal_spi_t *inst, cyhal_gpio_t ss) -{ - CY_ASSERT(inst != NULL); - spi = inst; - obj->mag_enable = false; - - /* Configure the BMI160 structure */ - obj->sensor.id = 0; - obj->sensor.interface = BMI160_SPI_INTF; - obj->sensor.read = (bmi160_com_fptr_t)spi_read_bytes; - obj->sensor.write = (bmi160_com_fptr_t)spi_write_bytes; - obj->sensor.delay_ms = delay_wrapper; - obj->intpin1 = NC; - obj->intpin2 = NC; - - spi_ss = ss; - - /* Initialize CS pin */ - cy_rslt_t result = cyhal_gpio_init(spi_ss, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0); - if (result != CY_RSLT_SUCCESS) return result; - cyhal_gpio_write(spi_ss, 1); - - /* Initialize BNI160 sensor */ - int8_t status = bmi160_init(&(obj->sensor)); - - return (BMI160_OK == status) /* BMI160 initialization successful */ - ? mtb_bmx160_config_default(obj) - : BMX160_ERROR(status); -} - -cy_rslt_t mtb_bmx160_init_mag(mtb_bmx160_t *obj) -{ - ptr = obj; - obj->mag_enable = true; - - obj->magnometer.dev_id = BMM150_DEFAULT_I2C_ADDRESS; - obj->magnometer.intf = BMM150_I2C_INTF; - obj->magnometer.read = bmm150_aux_read; - obj->magnometer.write = bmm150_aux_write; - obj->magnometer.delay_ms = delay_wrapper; - - obj->sensor.aux_cfg.aux_i2c_addr = obj->magnometer.dev_id; - obj->sensor.aux_cfg.aux_sensor_enable = BMI160_ENABLE; - obj->sensor.aux_cfg.manual_enable = BMI160_ENABLE; - obj->sensor.aux_cfg.aux_rd_burst_len = BMI160_AUX_READ_LEN_2; - - /* Initialize BMI160 auxiliar sensor */ - int8_t status = 0; - - status |= bmi160_aux_init(&(obj->sensor)); - status |= bmm150_init(&obj->magnometer); - - obj->magnometer.settings.preset_mode = BMM150_PRESETMODE_REGULAR; - bmm150_set_presetmode(&obj->magnometer); - - obj->magnometer.settings.pwr_mode = BMM150_FORCED_MODE; - bmm150_set_op_mode(&obj->magnometer); - - uint8_t aux_addr = 0x42; - - obj->sensor.aux_cfg.aux_odr = 8; - status |= bmi160_config_aux_mode(&(obj->sensor)); - status |= bmi160_set_aux_auto_mode(&aux_addr, &(obj->sensor)); - - return (BMI160_OK == status) - ? CY_RSLT_SUCCESS - : BMX160_ERROR(status); -} - -cy_rslt_t mtb_bmx160_config_default(mtb_bmx160_t * obj) -{ - /* Select the Output data rate, range of accelerometer sensor */ - obj->sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ; - obj->sensor.accel_cfg.range = BMI160_ACCEL_RANGE_4G; - obj->sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; - - /* Select the power mode of accelerometer sensor */ - obj->sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; - - /* Select the Output data rate, range of gyroscope sensor */ - obj->sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ; - obj->sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; - obj->sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; - - /* Select the power mode of gyroscope sensor */ - obj->sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; - - /* Set the sensor configuration */ - int8_t status = bmi160_set_sens_conf(&(obj->sensor)); - - return (BMI160_OK == status) - ? CY_RSLT_SUCCESS - : BMX160_ERROR(status); -} - -cy_rslt_t mtb_bmx160_read(mtb_bmx160_t *obj, mtb_bmx160_data_t *sensor_data) -{ - /* To read both Accel and Gyro data along with time*/ - int8_t status = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), - &(sensor_data->accel), &(sensor_data->gyro), &(obj->sensor)); - - /* Read Mag sensor data */ - if (status == BMI160_OK) - { - if (obj->mag_enable) - { - status = bmm150_read_mag_data(&(obj->magnometer)); - if (status == BMI160_OK) - { - sensor_data->mag.x = obj->magnometer.data.x; - sensor_data->mag.y = obj->magnometer.data.y; - sensor_data->mag.z = obj->magnometer.data.z; - } - } - } - - return (BMI160_OK == status) - ? CY_RSLT_SUCCESS - : BMX160_ERROR(status); -} - -struct bmi160_dev *mtb_bmx160_get(mtb_bmx160_t *obj) -{ - return &(obj->sensor); -} - -cy_rslt_t mtb_bmx160_selftest(mtb_bmx160_t *obj) -{ - int8_t status = bmi160_perform_self_test(BMI160_ACCEL_SEL, &(obj->sensor)); - - if (status == BMI160_OK) - { - status = bmi160_perform_self_test(BMI160_GYRO_SEL, &(obj->sensor)); - } - - return (BMI160_OK == status) - ? CY_RSLT_SUCCESS - : BMX160_ERROR(status); -} - -cy_rslt_t _mtb_bmx160_config_int(cyhal_gpio_t *intpin, cyhal_gpio_t pin, bool init, uint8_t intr_priority, cyhal_gpio_event_t event, cyhal_gpio_event_callback_t callback, void *callback_arg) -{ - cy_rslt_t result = CY_RSLT_SUCCESS; - - if (NULL == callback) - { - cyhal_gpio_free(pin); - *intpin = NC; - } - else - { - if (init) - { - result = cyhal_gpio_init(pin, CYHAL_GPIO_DIR_INPUT, CYHAL_GPIO_DRIVE_NONE, 0); - } - if (CY_RSLT_SUCCESS == result) - { - *intpin = pin; - cyhal_gpio_register_callback(pin, callback, callback_arg); - cyhal_gpio_enable_event(pin, event, intr_priority, 1); - } - } - - return result; -} - -cy_rslt_t mtb_bmx160_config_int(mtb_bmx160_t *obj, struct bmi160_int_settg *intsettings, cyhal_gpio_t pin, uint8_t intr_priority, cyhal_gpio_event_t event, cyhal_gpio_event_callback_t callback, void *callback_arg) -{ - cy_rslt_t result; - - if (obj->intpin1 == pin) - { - result = _mtb_bmx160_config_int(&(obj->intpin1), pin, false, intr_priority, event, callback, callback_arg); - } - else if (obj->intpin2 == pin) - { - result = _mtb_bmx160_config_int(&(obj->intpin2), pin, false, intr_priority, event, callback, callback_arg); - } - else if (obj->intpin1 == NC) - { - result = _mtb_bmx160_config_int(&(obj->intpin1), pin, true, intr_priority, event, callback, callback_arg); - } - else if (obj->intpin2 == NC) - { - result = _mtb_bmx160_config_int(&(obj->intpin2), pin, true, intr_priority, event, callback, callback_arg); - } - else - { - result = CYHAL_BMX160_RSLT_ERR_ADDITIONAL_INT_PIN; - } - - if (result == CY_RSLT_SUCCESS) - { - int8_t status = bmi160_set_int_config(intsettings, &(obj->sensor)); - if (status != BMI160_OK) result = BMX160_ERROR(status); - } - - return result; -} - -void mtb_bmx160_free(mtb_bmx160_t * obj) -{ - if(obj->intpin1 != NC) - { - cyhal_gpio_free(obj->intpin1); - } - - if(obj->intpin2 != NC) - { - cyhal_gpio_free(obj->intpin2); - } - obj->mag_enable = false; - i2c = NULL; - spi = NULL; - spi_ss = NC; -} - -#if defined(__cplusplus) -} -#endif diff --git a/sensor-motion-bmx160/mtb_bmx160.h b/sensor-motion-bmx160/mtb_bmx160.h deleted file mode 100644 index 794f78c..0000000 --- a/sensor-motion-bmx160/mtb_bmx160.h +++ /dev/null @@ -1,195 +0,0 @@ -/**************************************************************************//** - * \file mtb_bmx160.h - * - * Description: This file is the public interface of the BMI160 motion sensor. - ******************************************************************************* - * \copyright - * Copyright 2018-2020 Cypress Semiconductor Corporation - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - *******************************************************************************/ - -#pragma once - -/** -* \addtogroup group_board_libs Motion Sensor -* \{ -* Basic set of APIs for interacting with the BMI160 motion sensor. This -* provides basic initialization and access to to the basic accelerometer & -* gyroscope data. It also provides access to the base BMI160 driver for full -* control. For more information about the motion sensor, see: -* https://github.com/BoschSensortec/BMI160_driver -* -* \note Currently, this library only supports being used for a single instance -* of this device. -* -* \note BMI160 support requires delays. If the RTOS_AWARE component is set or -* CY_RTOS_AWARE is defined, the HAL driver will defer to the RTOS for delays. -* Because of this, it is not safe to call any functions other than -* \ref mtb_bmi160_init_i2c until after the RTOS scheduler has started. -* -* \note There is a known issue with the BMI160 endianness detection. Any code -* referencing the structures defined in the BMI160 driver should have this header -* file, mtb_bmi160.h, first in any includes. -* -* \section subsection_board_libs_snippets Code snippets -* \subsection subsection_board_libs_snippet_1 Snippet 1: Simple initialization with I2C. -* The following snippet initializes an I2C instance and the BMI160, then reads -* from the BMI160. -* \snippet mtb_imu_bmi160_example.c snippet_bmi160_i2c_init -* -* \subsection subsection_board_libs_snippet_2 Snippet 2: BMI160 interrupt configuration. -* The following snippet demonstrates how to configure a BMI160 interrupt. -* \snippet mtb_imu_bmi160_example.c snippet_bmi160_configure_interrupt -*/ - -#include "bmi160.h" -#include "bmm150.h" -#include "cy_result.h" -#include "cyhal_gpio.h" -#include "cyhal_i2c.h" - -#if defined(__cplusplus) -extern "C" -{ -#endif - -/** Structure holding the IMU instance specific information. */ -typedef struct -{ - struct bmi160_dev sensor; - struct bmm150_dev magnometer; - bool mag_enable; - cyhal_gpio_t intpin1; - cyhal_gpio_t intpin2; -} mtb_bmx160_t; - -/** Structure holding the accelerometer and gyroscope data read from the device. */ -typedef struct -{ - /** Accelerometer data */ - struct bmi160_sensor_data accel; - /** Gyroscope data */ - struct bmi160_sensor_data gyro; - /** Magnometer data */ - struct bmm150_mag_data mag; -} mtb_bmx160_data_t; - -/** Enumeration used for selecting I2C address. */ -typedef enum -{ - MTB_BMX160_DEFAULT_ADDRESS = BMI160_I2C_ADDR, - MTB_BMX160_SECONDARY_ADDRESS = BMI160_AUX_BMM150_I2C_ADDR -}mtb_bmx160_address_t; - -/** An attempt was made to configure too many gpio pins as interrupts. */ -#define CYHAL_BMX160_RSLT_ERR_ADDITIONAL_INT_PIN \ - (CYHAL_RSLT_CREATE(CY_RSLT_TYPE_ERROR, CY_RSLT_MODULE_BOARD_HARDWARE_BMI160, 0x100)) - -/** - * Initialize the IMU for I2C communication. Then applies the default - * configuration settings for both the accelerometer & gyroscope. Known maximum - * I2C frequency of 1MHz; refer to manufacturer's datasheet for confirmation. - * See: \ref mtb_bmx160_config_default() - * @param[in] obj Pointer to a BMX160 object. The caller must allocate the memory - * for this object but the init function will initialize its contents. - * @param[in] inst I2C instance to use for communicating with the BMI160 sensor. - * @param[in] address BMI160 I2C address, set by hardware implementation. - * @return CY_RSLT_SUCCESS if properly initialized, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_init_i2c(mtb_bmx160_t *obj, cyhal_i2c_t *inst, mtb_bmx160_address_t address); - -/** - * Initialize the IMU for SPI communication. Then applies the default - * configuration settings for both the accelerometer & gyroscope. Known maximum - * SPI frequency of 10MHz; refer to manufacturer's datasheet for confirmation. - * See: \ref mtb_bmx160_config_default() - * @param[in] obj Pointer to a BMX160 object. The caller must allocate the memory - * for this object but the init function will initialize its contents. - * @param[in] inst SPI instance to use for communicating with the BMI160 sensor. - * @param[in] ss BMX160 SPI slave select pin - * @return CY_RSLT_SUCCESS if properly initialized, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_init_spi(mtb_bmx160_t *obj, cyhal_spi_t *inst, cyhal_gpio_t ss); - -/** - * Initialize the internal magnometer. - * @param[in] obj Pointer to a BMX160 object. The caller must allocate the memory - * for this object but the init function will initialize its contents. - * @return CY_RSLT_SUCCESS if properly initialized, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_init_mag(mtb_bmx160_t *obj); - -/** - * Configure the motion sensor to a default mode with both accelerometer & gyroscope enabled - * with a nominal output data rate. The default values used are from the example in the BMI160 - * driver repository, see https://github.com/BoschSensortec/BMI160_driver - * @param[in] obj Pointer to a BMX160 object. - * @return CY_RSLT_SUCCESS if properly initialized, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_config_default(mtb_bmx160_t *obj); - -/** - * Reads the current accelerometer & gyroscope data from the motion sensor. - * @param[in] obj Pointer to a BMI160 object. - * @param[out] sensor_data The accelerometer & gyroscope data read from the motion sensor - * @return CY_RSLT_SUCCESS if properly initialized, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_read(mtb_bmx160_t *obj, mtb_bmx160_data_t *sensor_data); - -/** - * Gets access to the base motion sensor data. This allows for direct manipulation of the - * sensor for any desired behavior. See https://github.com/BoschSensortec/BMI160_driver for - * more details on the sensor. - * @param[in] obj Pointer to a BMX160 object. - * @return pointer to the BMI160 configuration structure. - */ -struct bmi160_dev *mtb_bmx160_get(mtb_bmx160_t *obj); - -/** - * Performs both accelerometer and gyro self tests. Note these tests cause a soft reset - * of the device and device should be reconfigured after a test. - * See https://github.com/BoschSensortec/BMI160_driver for more details. - * @param[in] obj Pointer to a BMX160 object. - * @return CY_RSLT_SUCCESS if self tests pass, else an error indicating what went wrong. - */ -cy_rslt_t mtb_bmx160_selftest(mtb_bmx160_t *obj); - -/** - * Configure a GPIO pin as an interrupt for the BMI160. - * This configures the pin as an interrupt, and calls the BMI160 interrupt configuration API - * with the application supplied settings structure. - * See https://github.com/BoschSensortec/BMI160_driver for more details. - * @param[in] obj Pointer to a BMX160 object. - * @param[in] intsettings Pointer to a BMX160 interrupt settings structure. - * @param[in] pin Which pin to configure as interrupt - * @param[in] intr_priority The priority for NVIC interrupt events - * @param[in] event The type of interrupt event - * @param[in] callback The function to call when the specified event happens. Pass NULL to unregister the handler. - * @param[in] callback_arg Generic argument that will be provided to the callback when called, can be NULL - * @return CY_RSLT_SUCCESS if interrupt was succesffuly enabled. - */ -cy_rslt_t mtb_bmx160_config_int(mtb_bmx160_t *obj, struct bmi160_int_settg *intsettings, cyhal_gpio_t pin, uint8_t intr_priority, cyhal_gpio_event_t event, cyhal_gpio_event_callback_t callback, void *callback_arg); - -/** - * Frees up any resources allocated by the motion_sensor as part of \ref mtb_bmi160_init_i2c(). - * @param[in] obj Pointer to a BMI160 object. -*/ -void mtb_bmi160_free(mtb_bmx160_t * obj); - -#if defined(__cplusplus) -} -#endif - -/** \} group_board_libs */ diff --git a/source/control.c b/source/control.c index 0cecaa2..7fd9f7c 100644 --- a/source/control.c +++ b/source/control.c @@ -51,7 +51,7 @@ /******************************************************************************* * Constants *******************************************************************************/ -#define MIN_CONFIDENCE 0.7 +#define MIN_CONFIDENCE 0.97 /******************************************************************************* * Function Name: control_task @@ -80,7 +80,6 @@ void control_task( void * arg ) float *nn_float_buffer; #endif - for(;;) { /* Get the result from the model */ @@ -112,7 +111,7 @@ void control_task( void * arg ) printf("|-------------|--------|--------|--------------|--------| |-------------|\r\n"); /* Prints the confidence level of each class */ - printf("| Probability | %%%-3d %%%-3d %%%-3d %%%-3d ", (int)(nn_float_buffer[0]*100), (int)(nn_float_buffer[1]*100), (int)(nn_float_buffer[2]*100), (int)(nn_float_buffer[3]*100)); + printf("| Confidence | %%%-3d %%%-3d %%%-3d %%%-3d ", (int)(nn_float_buffer[0]*100), (int)(nn_float_buffer[1]*100), (int)(nn_float_buffer[2]*100), (int)(nn_float_buffer[3]*100)); /* Check the confidence for the selected class */ if(MIN_CONFIDENCE < nn_float_buffer[class_index]) diff --git a/source/main.c b/source/main.c index ea03af6..c13a59e 100644 --- a/source/main.c +++ b/source/main.c @@ -130,7 +130,14 @@ int main(void) void vApplicationDaemonTaskStartupHook(void) { /* Initializes the inference engine */ - sensor_init(); + cy_rslt_t result; + + result = sensor_init(); + if(CY_RSLT_SUCCESS != result) + { + /* Reset the system on sensor fail */ + NVIC_SystemReset(); + } } diff --git a/source/processing.c b/source/processing.c index 8d61a07..18276b6 100644 --- a/source/processing.c +++ b/source/processing.c @@ -196,7 +196,6 @@ void normalization_min_max(float *buf, uint16_t length, uint16_t dimension, floa * float_buf: A buffer to store the casted float values * length: The number of rows in the passed in buffer * -* *******************************************************************************/ void cast_int16_to_float(int16_t *int_buf, float *float_buf, uint16_t length) { @@ -209,3 +208,60 @@ void cast_int16_to_float(int16_t *int_buf, float *float_buf, uint16_t length) cur++; } } + +/******************************************************************************* +* Function Name: column_swap +******************************************************************************** +* Summary: +* Swaps two columns in an array. +* +* Parameters: +* buf: A buffer with data to swap +* length: The number of rows in the passed in buffer +* dimension: The number of columns in the passed in buffer +* column_one: The column that will be swapped with column_two +* column_two: The column that will be swapped with column_one +* +*******************************************************************************/ +void column_swap(float *buf, uint16_t length, uint16_t dimension, uint16_t column_one, uint16_t column_two) +{ + uint16_t cur_row = 0; + float temp = 0; + + /* Completes calculations for each row */ + while(length > cur_row) + { + /* Swap the specified columns */ + temp = buf[cur_row*dimension+column_one]; + buf[cur_row*dimension+column_one] = buf[cur_row*dimension+column_two]; + buf[cur_row*dimension+column_two] = temp; + cur_row++; + } +} + +/******************************************************************************* +* Function Name: column_inverse +******************************************************************************** +* Summary: +* Inverts of each element of a given column in an array. +* +* Parameters: +* buf: A buffer with data invert +* length: The number of rows in the passed in buffer +* dimension: The number of columns in the passed in buffer +* column: The column that will be inverted +* +*******************************************************************************/ +void column_inverse(float *buf, uint16_t length, uint16_t dimension, uint16_t column) +{ + uint16_t cur_row = 0; + + /* Completes calculations for each row */ + while(length > cur_row) + { + /* Swap the specified columns */ + buf[cur_row*dimension+column] = buf[cur_row*dimension+column] * -1; + cur_row++; + } +} + diff --git a/source/processing.h b/source/processing.h index a14d03f..fa9c922 100644 --- a/source/processing.h +++ b/source/processing.h @@ -74,5 +74,7 @@ int iir_filter_init(iir_filter_struct* st, const float* b, const float* a, int n void iir_filter(iir_filter_struct *st, float *buf, int length, uint16_t cur_dimension, uint16_t total_dimensions); void normalization_min_max(float *buf, uint16_t length, uint16_t dimension,float sensor_min, float sensor_max); void cast_int16_to_float(int16_t *int_buf, float *float_buf, uint16_t length); +void column_swap(float *buf, uint16_t length, uint16_t dimension, uint16_t column_one, uint16_t column_two); +void column_inverse(float *buf, uint16_t length, uint16_t dimension, uint16_t column); #endif /* PROCESSING_H */ diff --git a/source/sensor.c b/source/sensor.c index 600be1b..52f0a14 100644 --- a/source/sensor.c +++ b/source/sensor.c @@ -48,7 +48,7 @@ #include "cybsp.h" #include "mtb_bmx160.h" -#include "bmm150.h" +#include "mtb_bmi160.h" #include "cy_fifo.h" @@ -74,7 +74,14 @@ typedef struct *******************************************************************************/ #define SENSOR_EVENT_BIT 1u<<2 +#ifdef CY_BMX_160_IMU #define IMU_SPI_FREQUENCY 10000000 +#endif + +#ifdef CY_BMI_160_IMU + #define IMU_I2C_MASTER_DEFAULT_ADDRESS 0 + #define IMU_I2C_FREQUENCY 1000000 +#endif #define SENSOR_DATA_WIDTH 2 #define SENSOR_NUM_AXIS 6 @@ -121,17 +128,27 @@ cyhal_timer_t sensor_timer; cy_event_t sensor_event; uint32_t sensor_event_bits = SENSOR_EVENT_BIT; - /* Circle buffer to store IMU data */ static cy_fifo_t sensor_fifo; int8_t sensor_fifo_pool[SENSOR_FIFO_POOL_SIZE]; -/* IMU driver structures */ +#ifdef CY_BMX_160_IMU +/* BMX160 driver structures */ mtb_bmx160_data_t data; mtb_bmx160_t sensor_bmx160; /* SPI object for data transmission */ cyhal_spi_t spi; +#endif + +#ifdef CY_BMI_160_IMU +/* BMI160 driver structures */ +mtb_bmi160_data_t data; +mtb_bmi160_t sensor_bmi160; + +/* I2C object for data transmission */ +cyhal_i2c_t i2c; +#endif /* Neural Network Object */ nn_obj_t nn_gesture_obj; @@ -150,7 +167,7 @@ cy_rslt_t sensor_timer_init(void); * IMU to collect data, a SPI for IMU communication, a timer, and circular buffer. * * Parameters: -* None +* None * * Return: * The status of the initialization. @@ -169,6 +186,7 @@ cy_rslt_t sensor_init(void) /* Setup the circle buffer for data storage */ cy_fifo_init_static(&sensor_fifo, sensor_fifo_pool, sizeof(sensor_fifo_pool), SENSOR_FIFO_ITEM_SIZE); +#ifdef CY_BMX_160_IMU /* Initialize SPI for IMU communication */ result = cyhal_spi_init(&spi, CYBSP_SPI_MOSI, CYBSP_SPI_MISO, CYBSP_SPI_CLK, NC, NULL, 8, CYHAL_SPI_MODE_00_MSB, false); if(CY_RSLT_SUCCESS != result) @@ -183,6 +201,13 @@ cy_rslt_t sensor_init(void) return result; } + /* Initialize the chip select line */ + result = cyhal_gpio_init(CYBSP_SPI_CS, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 1); + if(CY_RSLT_SUCCESS != result) + { + return result; + } + /* Initialize the IMU */ result = mtb_bmx160_init_spi(&sensor_bmx160, &spi, CYBSP_SPI_CS); if(CY_RSLT_SUCCESS != result) @@ -190,6 +215,65 @@ cy_rslt_t sensor_init(void) return result; } + /* Set the output data rate and range of the accelerometer */ + sensor_bmx160.sensor1.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ; + sensor_bmx160.sensor1.accel_cfg.range = BMI160_ACCEL_RANGE_4G; + + /* Set the output data rate of the gyroscope */ + sensor_bmx160.sensor1.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ; + + /* Set the sensor configuration */ + bmi160_set_sens_conf(&(sensor_bmx160.sensor1)); +#endif + +#ifdef CY_BMI_160_IMU + /* Configure the I2C mode, the address, and the data rate */ + cyhal_i2c_cfg_t i2c_config = + { + CYHAL_I2C_MODE_MASTER, + IMU_I2C_MASTER_DEFAULT_ADDRESS, + IMU_I2C_FREQUENCY + }; + + /* Initialize I2C for IMU communication */ + result = cyhal_i2c_init(&i2c, CYBSP_I2C_SDA, CYBSP_I2C_SCL, NULL); + if(CY_RSLT_SUCCESS != result) + { + return result; + } + + /* Configure the I2C */ + result = cyhal_i2c_configure(&i2c, &i2c_config); + if(CY_RSLT_SUCCESS != result) + { + return result; + } + + /* Initialize the IMU */ + result = mtb_bmi160_init_i2c(&sensor_bmi160, &i2c, MTB_BMI160_DEFAULT_ADDRESS); + if(CY_RSLT_SUCCESS != result) + { + return result; + } + + /* Set the default configuration for the BMI160 */ + result = mtb_bmi160_config_default(&sensor_bmi160); + if(CY_RSLT_SUCCESS != result) + { + return result; + } + + /* Set the output data rate and range of the accelerometer */ + sensor_bmi160.sensor.accel_cfg.odr = BMI160_ACCEL_ODR_200HZ; + sensor_bmi160.sensor.accel_cfg.range = BMI160_ACCEL_RANGE_4G; + + /* Set the output data rate of the gyroscope */ + sensor_bmi160.sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ; + + /* Set the sensor configuration */ + bmi160_set_sens_conf(&(sensor_bmi160.sensor)); +#endif + /* Timer for data collection */ sensor_timer_init(); @@ -250,10 +334,17 @@ void sensor_task(void *arg) cur++; } - /* Do a min max normalization to get all data between -1 and 1 */ + /* A min max normalization to get all data between -1 and 1 */ normalization_min_max(&data_feed[0][0], SENSOR_BATCH_SIZE, SENSOR_NUM_AXIS, MIN_DATA_SAMPLE, MAX_DATA_SAMPLE); - /* */ +#ifdef CY_BMI_160_IMU + /* Swap axis for BMI_160 so board orientation stays the same */ + column_inverse(&data_feed[0][0], SENSOR_BATCH_SIZE, SENSOR_NUM_AXIS, 2); + column_swap(&data_feed[0][0], SENSOR_BATCH_SIZE, SENSOR_NUM_AXIS, 0, 1); + column_inverse(&data_feed[0][0], SENSOR_BATCH_SIZE, SENSOR_NUM_AXIS, 5); + column_swap(&data_feed[0][0], SENSOR_BATCH_SIZE, SENSOR_NUM_AXIS, 3, 4); +#endif + #if CY_ML_FIXED_POINT_16_IN /* Convert to int16 based on the q format */ float format = QFORMAT_SCALE; @@ -275,8 +366,6 @@ void sensor_task(void *arg) input_reference = (NN_IN_Type *) data_feed; nn_feed(&nn_gesture_obj, input_reference); #endif - - } } @@ -301,7 +390,12 @@ void sensor_interrupt_handler(void *callback_arg, cyhal_timer_event_t event) /* Read data from IMU sensor */ cy_rslt_t result; +#ifdef CY_BMX_160_IMU result = mtb_bmx160_read(&sensor_bmx160, &data); +#endif +#ifdef CY_BMI_160_IMU + result = mtb_bmi160_read(&sensor_bmi160, &data); +#endif if (CY_RSLT_SUCCESS != result) { CY_ASSERT(0);