diff --git a/LICENSE b/LICENSE index ab7a8c8..df241f2 100644 --- a/LICENSE +++ b/LICENSE @@ -1,39 +1,30 @@ -Copyright (C) 2017 - 2018 Bosch Sensortec GmbH +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: -Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer. - -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. +1. 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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. -The information provided is believed to be accurate and reliable. -The copyright holder assumes no responsibility -for the consequences of use -of such information nor for any infringement of patents or -other rights of third parties which may result from its use. -No license is granted by implication or otherwise under any patent or -patent rights of the copyright holder. \ No newline at end of file +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. \ No newline at end of file diff --git a/README.md b/README.md index 35f096e..80d437e 100644 --- a/README.md +++ b/README.md @@ -1,480 +1,462 @@ -# BMI08X Sensor API - -## Table of Contents - - [Introduction](#Intro) - - [Version and date](#Ver) - - [Integration details](#Integration) - - [Driver files information](#file) - - [Sensor interfaces](#interface) - - [Integration Examples](#examples) - -### Introduction -This package contains Bosch Sensortec's BMI08X Sensor API. - -### Version and date - -Driver files | Version | Date | -----------------|---------|------------ | -_bmi085.c_ | 1.4.0 | 25 Sep, 2019| -_bmi085.h_ | 1.4.0 | 25 Sep, 2019| -_bmi088.c_ | 1.4.0 | 25 Sep, 2019| -_bmi088.h_ | 1.4.0 | 25 Sep, 2019| -_bmi08a.c_ | 1.4.0 | 25 Sep, 2019| -_bmi08g.c_ | 1.4.0 | 25 Sep, 2019| -_bmi08x_defs.h_ | 1.4.0 | 25 Sep, 2019| -_bmi08x.h_ | 1.4.0 | 25 Sep, 2019| - - -### Integration details -- Integrate _bmi085.c_,_bmi085.h_,_bmi088.c_,_bmi088.h_, _bmi08a.c_, _bmi08g.c_,_bmi08x_defs.h_ and _bmi08x.h_ in your project. - -Enable the below macro in bmi08x_defs.h to use the BMI085 sensor feature -/** \name enable bmi085 sensor */ - #ifndef BMI08X_ENABLE_BMI085 - #define BMI08X_ENABLE_BMI085 1 - #endif - -Enable the below macro in bmi08x_defs.h to use the BMI088 sensor feature -/** \name enable bmi088 sensor */ - #ifndef BMI08X_ENABLE_BMI088 - #define BMI08X_ENABLE_BMI088 1 - #endif - -- User has to include _bmi08x.h_ and _bmi085.h_/_bmi088.h_ in the code to call sensor APIs as shown below : -``` c -#include "bmi08x.h" -include the variant specific headers bmi085.h/bmi088.h - -```` -### Driver files information -- *_bmi085.c_* - * This file has function definitions of bmi085 API interfaces. -- *_bmi085.h_* - * This header file has necessary include files,bmi085 function declarations, required to make API calls. -- *_bmi088.c_* - * This file has function definitions of bmi088 API interfaces. -- *_bmi088.h_* - * This header file has necessary include files,bmi088 function declarations, required to make API calls. -- *_bmi08a.c_* - * This file has function definitions of bmi08x accel generic API interfaces. -- *_bmi08g.c_* - * This file has function definitions of bmi08x gyro generic API interfaces. -- *_bmi08x.h_* - * This header file has necessary include files,bmi08x function declarations, required to make API calls. - - *_bmi08x_defs.h_* - * This header file has necessary include files, macro definitions, typedefs and data structure definitions. - -### Sensor interfaces -- I2C interface -- SPI interface -_Note: By default, the interface is I2C._ - -### Integration examples -#### Initializing BMI085 sensors - /* below code shows bmi085 integration steps */ - #include "bmi085.h" -To initialize BMI085 sensors, an instance of the bmi08x structure should be created. The following parameters are required to be updated in the structure, by the user, to initialize bmi085 sensors. - -Parameters | Details ---------------|------------------------------------------------------------------------------------- -_accel_id_ | Accel device address of I2C interface (can be used to identify CSB1 pin in SPI mode) -_gyro_id_ | Gyro device address of I2C interface (can be used to identify CSB2 pin in SPI mode) -_intf_ | I2C or SPI -_read_ | read through I2C/SPI interface -_write_ | write through I2C/SPI interface -_delay_ms_ | delay - -As defined in _bmi08x_defs.h_, the _read_/_write_ functions must be implemented in such a way that they comply with the following template of a function declaration: - -_typedef int8_t (*bmi08x_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);_ - -##### _Initialize through SPI interface_ -In order to use SPI interface, the user has to implement dedicated SPI read/write functions, which could for example look like this: - -_int8_t user_spi_write(uint8_t cs_pin, uint8_t reg_addr, uint8_t *data, uint16_t len);_ - -_int8_t user_spi_read(uint8_t cs_pin, uint8_t reg_addr, uint8_t *data, uint16_t len);_ - -Since the BMI08x sensor family has dedicated communication interfaces for gyro and accelerometer, two different chip select lines are required to retrieve all data from the sensor (see datasheet for details). The user can use the fields _accel_id_ and _gyro_id_ to provide an information to the generic SPI read/write function, which chip select to use. - -When the sensorAPI functions call the _int8_t user_spi_write_ and _int8_t user_spi_read_ functions, they will pass the fields _accel_id_ or _gyro_id_ to the _cs_pin_ parameter. - -In the example below it is assumed that on the MCU platform of the user, the pin for CSB1 (chip select for accelerometer and temperature sensor data) is defined as MCU_GPIO_BMI08X_CSB1 and the pin for CSB2 (gyro chip select) is defined as MCU_GPIO_BMI08X_CSB2. -Thus the user need to provide the following values to the _bmi08x_dev_ structure and initialize SPI as follows. - -``` c - -int8_t rslt; - -struct bmi08x_dev dev = { - .accel_id = MCU_GPIO_BMI08X_CSB1, - .gyro_id = MCU_GPIO_BMI08X_CSB2, - .intf = BMI08X_SPI_INTF, - .read = user_spi_read, - .write = user_spi_write, - .delay_ms = user_delay_milli_sec -}; - -/* Initialize the SPI */ - -/* Initializing the bmi085 sensors the below function will Initialize both accel and gyro sensors*/ -rslt = bmi085_init(&dev); - -``` - -##### _Initialize through I2C interface_ -``` c -/* I2c slave address depends on the hardware configuration for details please refer Data sheet*/ - -int8_t rslt; - -struct bmi08x_dev dev = { - .accel_id = BMI08X_ACCEL_I2C_ADDR_PRIMARY, /* User has define this macro depends on the I2C slave address */ - .gyro_id = BMI08X_GYRO_I2C_ADDR_PRIMARY, /* User has define this macro depends on the I2C slave address */ - .intf = BMI08X_I2C_INTF, - .read = user_i2c_read, - .write = user_i2c_write, - .delay_ms = user_delay_milli_sec -}; - -/* Initialize the I2C */ - -/* Initializing the bmi085 sensors the below function will Initialize both accel and gyro sensors*/ -rslt = bmi085_init(&dev); - -``` - -#### Read Chip ID from the accel -``` c - -int8_t rslt; -uint8_t data = 0; - -/* Initialize the device instance as per the initialization example */ - -if(rslt == BMI08X_OK) -{ - /* Read accel chip id */ - rslt = bmi08a_get_regs(BMI08X_ACCEL_CHIP_ID_REG, &data, 1, &dev); -} - -``` - -#### Get the accel power mode -``` c -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -/* Read the accel power mode */ -rslt = bmi08a_get_power_mode(&dev) -/* power mode will be updated in the dev.accel_cfg.power */ - -``` - -#### Get the accelerometer configurations -``` c -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -/* Read the accel sensor config parameters (odr,bw,range) */ -rslt = bmi08a_get_meas_conf(&dev) -/* config parameters will be updated in the dev.accel_cfg.odr,dev.accel_cfg.bw and dev.accel_cfg.range*/ - -``` - -#### Configuring the accelerometer -``` c - -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -/* Assign the desired configurations */ -dev.accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; -dev.accel_cfg.odr = BMI08X_ACCEL_ODR_100_HZ; -dev.accel_cfg.range = BMI085_ACCEL_RANGE_4G; -dev.accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE; - -rslt = bmi08a_set_power_mode(&dev); -/* Wait for 10ms to switch between the power modes - delay taken care inside the function*/ - -rslt = bmi08a_set_meas_conf(&dev); - -``` - -#### Get accelerometer data -``` c - -int8_t rslt; -struct bmi08x_sensor_data user_accel_bmi085; - -/* Initialize the device instance as per the initialization example */ - -/* Read the sensor data into the sensor data instance */ -rslt = bmi08a_get_data(&user_accel_bmi085, &dev); - -``` - -#### Interrupt Configuring for accel data ready interrupt -``` c -/* Mapping data ready interrupt to interrupt channel */ - -int8_t rslt; -struct bmi08x_accel_int_channel_cfg int_config; - -/* Initialize the device instance as per the initialization example */ - -/* Interrupt configurations */ -int_config.int_channel = BMI08X_INT_CHANNEL_1; -int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; -int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; -int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; -int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; - -/* Configure the controller port pin for the interrupt and assign the ISR */ - -/* Setting the interrupt configuration */ -rslt = bmi08a_set_int_config(&int_config, &dev); - - - -void interrupt_handler(void) -{ - /* ISR functionality */ -} - -/* Unmapping data ready interrupt to interrupt channel */ - -int8_t rslt; -struct bmi08x_accel_int_channel_cfg int_config; - -/* Initialize the device instance as per the initialization example */ - -/* Interrupt configurations */ -int_config.int_channel = BMI08X_INT_CHANNEL_1; -int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; -int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; -int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; -int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; - -/* Setting the interrupt configuration */ -rslt = bmi08a_set_int_config(&int_config, &dev); - -/* Configure the controller port pin for disabling the interrupt */ - - -void interrupt_handler(void) -{ - /* ISR functionality */ -} -``` -#### Interrupt Configuring for accel Anymotion interrupt -```c - -/* Initialize the device instance as per the initialization example */ - -/*declare the anymotion configuration structure*/ - -struct bmi08x_anymotion_cfg anymotion_cfg; - -struct bmi08x_accel_int_channel_cfg int_config; -uint8_t rslt; - -/*! Max read/write length (maximum supported length is 32). -To be set by the user */ -dev.read_write_len = 8; -/* Enabling Accel Anymotion interrupt */ -rslt = bmi085_apply_config_file(&dev); - -/*configure the any motion parameters*/ - -anymotion_cfg.threshold = 0x44; -anymotion_cfg.nomotion_sel = 0x00; -anymotion_cfg.duration = 0x01; -anymotion_cfg.x_en = 0x01; -anymotion_cfg.y_en = 0x01; -anymotion_cfg.z_en = 0x01; - -rslt=bmi085_configure_anymotion(anymotion_cfg, &dev); - -/* Interrupt configurations */ - -int_config.int_channel = BMI08X_INT_CHANNEL_1; -int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; -int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; -int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; -int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; - -/* Configure the controller port pin for the interrupt and assign the ISR */ - -/* Setting the interrupt configuration */ - -rslt = bmi08a_set_int_config(&int_config, &dev); - -void interrupt_handler(void) -{ - /* ISR functionality */ -} - -/* Disbaling Accel Anymotion interrupt */ - -struct bmi08x_anymotion_cfg anymotion_cfg; -anymotion_cfg.threshold = 0x44; -anymotion_cfg.nomotion_sel = 0x00; -anymotion_cfg.duration = 0x01; -anymotion_cfg.x_en = 0x00; -anymotion_cfg.y_en = 0x00; -anymotion_cfg.z_en = 0x00; - -rslt=bmi085_configure_anymotion(anymotion_cfg, &dev); - -if(rslt == BMI08X_OK) { - /* Interrupt configurations */ - int_config.int_channel = BMI08X_INT_CHANNEL_1; - int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; - int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; - int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; - int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; - - /* Setting the interrupt configuration */ - rslt = bmi08a_set_int_config(&int_config, &dev); -} - -``` - - -#### Get the sensor time -``` c - -int8_t rslt; -uint32_t user_sampling_time; - -/* Initialize the device instance as per the initialization example */ - -/* Read the sensor time */ -rslt = bmi08a_get_sensor_time(&dev, &user_sampling_time); - -``` - -#### Read Chip ID from the gyro -``` c - -int8_t rslt; -uint8_t data = 0; - -/* Initialize the device instance as per the initialization example */ - -if(rslt == BMI08X_OK) -{ - /* Read gyro chip id */ - rslt = bmi08g_get_regs(BMI08X_GYRO_CHIP_ID_REG, &data, 1, &dev); -} - -``` - -#### Get the gyro power mode -``` c - -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -/* Read the gyro power mode */ -rslt = bmi08g_get_power_mode(&dev) -/* power mode will be updated in the dev.gyro_cfg.power */ - -``` - -#### Get the gyro sensor config -``` c - -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -/* Read the gyro sensor config parameters (odr,bw,range) */ -rslt = bmi08g_get_meas_conf(&dev) -/* config parameters will be updated in the dev.gyro_cfg.odr,dev.gyro_cfg.bw and dev.gyro_cfg.range */ - -``` - -#### Configuring the gyro -``` c - -int8_t rslt; - -/* Initialize the device instance as per the initialization example */ - -dev.gyro_cfg.power = BMI08X_GYRO_PM_NORMAL; - -rslt = bmi08g_set_power_mode(&dev); -/* Wait for 30ms to switch between the power modes - delay taken care inside the function*/ - -/* Assign the desired configurations */ -dev.gyro_cfg.odr = BMI08X_GYRO_BW_23_ODR_200_HZ; -dev.gyro_cfg.range = BMI08X_GYRO_RANGE_1000_DPS; -dev.gyro_cfg.bw = BMI08X_GYRO_BW_23_ODR_200_HZ; - -rslt = bmi08g_set_meas_conf(&dev); - -``` - -#### Get gyro data -``` c - -int8_t rslt; -struct bmi08x_sensor_data user_gyro_bmi085; - -/* Initialize the device instance as per the initialization example */ - -/* Read the sensor data into the sensor data instance */ -rslt = bmi08g_get_data(&user_gyro_bmi085, &dev); - -``` - -#### Interrupt Configuring for gyro data ready interrupt -``` c - -int8_t rslt; -struct bmi08x_gyro_int_channel_cfg int_config; - -/* Initialize the device instance as per the initialization example */ - -/* Mapping data ready interrupt to interrupt channel */ - -int_config.int_channel = BMI08X_INT_CHANNEL_3; -int_config.int_type = BMI08X_GYRO_DATA_RDY_INT; -int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; -int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; -int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; - -/* Setting the interrupt configuration */ -rslt = bmi08g_set_int_config(&int_config, &dev); - -/* Configure the controller port pin for the interrupt and assign the ISR */ - -void interrupt_handler(void) -{ - /* ISR functionality */ -} - -/*Disabling gyro data ready interrupt*/ - -struct bmi08x_gyro_int_channel_cfg int_config; - -/* Initialize the device instance as per the initialization example */ - -int_config.int_channel = BMI08X_INT_CHANNEL_3; -int_config.int_type = BMI08X_GYRO_DATA_RDY_INT; -int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; -int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; -int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; - -/* Setting the interrupt configuration */ -rslt = bmi08g_set_int_config(&int_config, &dev); - -/* Configure the controller port pin for disabling the interrupt */ - - +# BMI08X Sensor API + +## Table of Contents + - [Introduction](#Intro) + - [Version and date](#Ver) + - [Integration details](#Integration) + - [Driver files information](#file) + - [Sensor interfaces](#interface) + - [Integration Examples](#examples) + +### Introduction +This package contains Bosch Sensortec's BMI08X Sensor API. + +### Version and date + +Driver files | Version | Date | +----------------|---------|------------ | +_bmi085.c_ | 1.4.4 | 10 Jan, 2019| +_bmi085.h_ | 1.4.4 | 10 Jan, 2019| +_bmi088.c_ | 1.4.4 | 10 Jan, 2019| +_bmi088.h_ | 1.4.4 | 10 Jan, 2019| +_bmi08a.c_ | 1.4.4 | 10 Jan, 2019| +_bmi08g.c_ | 1.4.4 | 10 Jan, 2019| +_bmi08x_defs.h_ | 1.4.4 | 10 Jan, 2019| +_bmi08x.h_ | 1.4.4 | 10 Jan, 2019| + + +### Integration details +- Integrate _bmi085.c_,_bmi085.h_,_bmi088.c_,_bmi088.h_, _bmi08a.c_, _bmi08g.c_,_bmi08x_defs.h_ and _bmi08x.h_ in your project. + +Enable the below macro in bmi08x_defs.h to use the BMI085 sensor feature +/** \name enable bmi085 sensor */ +``` c + #ifndef BMI08X_ENABLE_BMI085 + #define BMI08X_ENABLE_BMI085 1 + #endif +``` +Enable the below macro in bmi08x_defs.h to use the BMI088 sensor feature +/** \name enable bmi088 sensor */ +``` c + #ifndef BMI08X_ENABLE_BMI088 + #define BMI08X_ENABLE_BMI088 1 + #endif +``` +- User has to include _bmi08x.h_ and _bmi085.h_/_bmi088.h_ in the code to call sensor APIs as shown below : +``` c +#include "bmi08x.h" +``` +include the variant specific headers bmi085.h/bmi088.h + +### Driver files information +- *_bmi085.c_* + * This file has function definitions of bmi085 API interfaces. +- *_bmi085.h_* + * This header file has necessary include files,bmi085 function declarations, required to make API calls. +- *_bmi088.c_* + * This file has function definitions of bmi088 API interfaces. +- *_bmi088.h_* + * This header file has necessary include files,bmi088 function declarations, required to make API calls. +- *_bmi08a.c_* + * This file has function definitions of bmi08x accel generic API interfaces. +- *_bmi08g.c_* + * This file has function definitions of bmi08x gyro generic API interfaces. +- *_bmi08x.h_* + * This header file has necessary include files,bmi08x function declarations, required to make API calls. + - *_bmi08x_defs.h_* + * This header file has necessary include files, macro definitions, typedefs and data structure definitions. + +### Sensor interfaces +- I2C interface +- SPI interface +_Note: By default, the interface is I2C._ + +### Integration examples +#### Initializing BMI085 sensors + /* below code shows bmi085 integration steps */ + #include "bmi085.h" +To initialize BMI085 sensors, an instance of the bmi08x structure should be created. The following parameters are required to be updated in the structure, by the user, to initialize bmi085 sensors. + +Parameters | Details +--------------|----------------------------------- +_accel_id_ | Accel device address of I2C interface +_gyro_id_ | Gyro device address of I2C interface +_intf_ | I2C or SPI +_read_ | read through I2C/SPI interface +_write_ | write through I2C/SPI interface +_delay_ms_ | delay + +##### _Initialize through SPI interface_ +``` c + +int8_t rslt; + +struct bmi08x_dev dev = { + .accel_id = 0, + .gyro_id = 0, + .intf = BMI08X_SPI_INTF, + .read = user_spi_read, + .write = user_spi_write, + .delay_ms = user_delay_milli_sec +}; + +/* Initialize the SPI */ + +/* Initializing the bmi085 sensors the below function will Initialize both accel and gyro sensors */ +rslt = bmi085_init(&dev); + +``` + +##### _Initialize through I2C interface_ +``` c +/* I2C slave address depends on the hardware configuration for details please refer Data sheet */ + +int8_t rslt; + +struct bmi08x_dev dev = { + .accel_id = BMI08X_ACCEL_I2C_ADDR_PRIMARY, /* User has define this macro depends on the I2C slave address */ + .gyro_id = BMI08X_GYRO_I2C_ADDR_PRIMARY, /* User has define this macro depends on the I2C slave address */ + .intf = BMI08X_I2C_INTF, + .read = user_i2c_read, + .write = user_i2c_write, + .delay_ms = user_delay_milli_sec +}; + +/* Initialize the I2C */ + +/* Initializing the bmi085 sensors the below function will Initialize both accel and gyro sensors */ +rslt = bmi085_init(&dev); + +``` + +#### Read Chip ID from the accel +``` c + +int8_t rslt; +uint8_t data = 0; + +/* Initialize the device instance as per the initialization example */ + +if(rslt == BMI08X_OK) +{ + /* Read accel chip id */ + rslt = bmi08a_get_regs(BMI08X_ACCEL_CHIP_ID_REG, &data, 1, &dev); +} + +``` + +#### Get the accel power mode +``` c +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +/* Read the accel power mode */ +rslt = bmi08a_get_power_mode(&dev) +/* Power mode will be updated in the dev.accel_cfg.power */ + +``` + +#### Get the accelerometer configurations +``` c +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +/* Read the accel sensor config parameters (odr,bw,range) */ +rslt = bmi08a_get_meas_conf(&dev) +/* Config parameters will be updated in the dev.accel_cfg.odr,dev.accel_cfg.bw and dev.accel_cfg.range */ + +``` + +#### Configuring the accelerometer +``` c + +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +/* Assign the desired configurations */ +dev.accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; +dev.accel_cfg.odr = BMI08X_ACCEL_ODR_100_HZ; +dev.accel_cfg.range = BMI085_ACCEL_RANGE_4G; +dev.accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE; + +rslt = bmi08a_set_power_mode(&dev); +/* Wait for 10ms to switch between the power modes - delay taken care inside the function */ + +rslt = bmi08a_set_meas_conf(&dev); + +``` + +#### Get accelerometer data +``` c + +int8_t rslt; +struct bmi08x_sensor_data user_accel_bmi085; + +/* Initialize the device instance as per the initialization example */ + +/* Read the sensor data into the sensor data instance */ +rslt = bmi08a_get_data(&user_accel_bmi085, &dev); + +``` + +#### Interrupt Configuring for accel data ready interrupt +```c +/* Mapping data ready interrupt to interrupt channel */ + +int8_t rslt; +struct bmi08x_accel_int_channel_cfg int_config; + +/* Initialize the device instance as per the initialization example */ + +/* Interrupt configurations */ +int_config.int_channel = BMI08X_INT_CHANNEL_1; +int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; +int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; +int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; +int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; + +/* Configure the controller port pin for the interrupt and assign the ISR */ + +/* Setting the interrupt configuration */ +rslt = bmi08a_set_int_config(&int_config, &dev); + + + +void interrupt_handler(void) +{ + /* ISR functionality */ +} + +/* Unmapping data ready interrupt to interrupt channel */ + +int8_t rslt; +struct bmi08x_accel_int_channel_cfg int_config; + +/* Initialize the device instance as per the initialization example */ + +/* Interrupt configurations */ +int_config.int_channel = BMI08X_INT_CHANNEL_1; +int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; +int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; +int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; +int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; + +/* Setting the interrupt configuration */ +rslt = bmi08a_set_int_config(&int_config, &dev); + +/* Configure the controller port pin for disabling the interrupt */ + + +void interrupt_handler(void) +{ + /* ISR functionality */ +} +``` +#### Interrupt Configuring for accel Anymotion interrupt +```c + +/* Initialize the device instance as per the initialization example */ + +/* Declare the anymotion configuration structure */ + +struct bmi08x_anymotion_cfg anymotion_cfg; + +struct bmi08x_accel_int_channel_cfg int_config; +uint8_t rslt; + +/*! Max read/write length (maximum supported length is 32). +To be set by the user */ +dev.read_write_len = 8; +/* Enabling Accel Anymotion interrupt */ +rslt = bmi085_apply_config_file(&dev); + +/* Configure the any motion parameters */ + +anymotion_cfg.threshold = 0x44; +anymotion_cfg.nomotion_sel = 0x00; +anymotion_cfg.duration = 0x01; +anymotion_cfg.x_en = 0x01; +anymotion_cfg.y_en = 0x01; +anymotion_cfg.z_en = 0x01; + +rslt=bmi085_configure_anymotion(anymotion_cfg, &dev); + +/* Interrupt configurations */ + +int_config.int_channel = BMI08X_INT_CHANNEL_1; +int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; +int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; +int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; +int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; + +/* Configure the controller port pin for the interrupt and assign the ISR */ + +/* Setting the interrupt configuration */ + +rslt = bmi08a_set_int_config(&int_config, &dev); + +void interrupt_handler(void) +{ + /* ISR functionality */ +} + +/* Disbaling Accel Anymotion interrupt */ + +struct bmi08x_anymotion_cfg anymotion_cfg; + +anymotion_cfg.threshold = 0x44; +anymotion_cfg.nomotion_sel = 0x00; +anymotion_cfg.duration = 0x01; +anymotion_cfg.x_en = 0x00; +anymotion_cfg.y_en = 0x00; +anymotion_cfg.z_en = 0x00; + +rslt=bmi085_configure_anymotion(anymotion_cfg, &dev); + +if(rslt == BMI08X_OK) { + /* Interrupt configurations */ + int_config.int_channel = BMI08X_INT_CHANNEL_1; + int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT; + int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; + int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; + int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; + + /* Setting the interrupt configuration */ + rslt = bmi08a_set_int_config(&int_config, &dev); +} + +``` + + +#### Get the sensor time +```c + +int8_t rslt; +uint32_t user_sampling_time; + +/* Initialize the device instance as per the initialization example */ + +/* Read the sensor time */ +rslt = bmi08a_get_sensor_time(&dev, &user_sampling_time); + +``` + +#### Read Chip ID from the gyro +```c + +int8_t rslt; +uint8_t data = 0; + +/* Initialize the device instance as per the initialization example */ + +if(rslt == BMI08X_OK) +{ + /* Read gyro chip id */ + rslt = bmi08g_get_regs(BMI08X_GYRO_CHIP_ID_REG, &data, 1, &dev); +} + +``` + +#### Get the gyro power mode +``` c + +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +/* Read the gyro power mode */ +rslt = bmi08g_get_power_mode(&dev) +/* Power mode will be updated in the dev.gyro_cfg.power */ + +``` + +#### Get the gyro sensor config +``` c + +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +/* Read the gyro sensor config parameters (odr,bw,range) */ +rslt = bmi08g_get_meas_conf(&dev) +/* Config parameters will be updated in the dev.gyro_cfg.odr,dev.gyro_cfg.bw and dev.gyro_cfg.range */ + +``` + +#### Configuring the gyro +``` c + +int8_t rslt; + +/* Initialize the device instance as per the initialization example */ + +dev.gyro_cfg.power = BMI08X_GYRO_PM_NORMAL; + +rslt = bmi08g_set_power_mode(&dev); +/* Wait for 30ms to switch between the power modes - delay taken care inside the function */ + +/* Assign the desired configurations */ +dev.gyro_cfg.odr = BMI08X_GYRO_BW_23_ODR_200_HZ; +dev.gyro_cfg.range = BMI08X_GYRO_RANGE_1000_DPS; +dev.gyro_cfg.bw = BMI08X_GYRO_BW_23_ODR_200_HZ; + +rslt = bmi08g_set_meas_conf(&dev); + +``` + +#### Get gyro data +``` c + +int8_t rslt; +struct bmi08x_sensor_data user_gyro_bmi085; + +/* Initialize the device instance as per the initialization example */ + +/* Read the sensor data into the sensor data instance */ +rslt = bmi08g_get_data(&user_gyro_bmi085, &dev); + +``` + +#### Interrupt Configuring for gyro data ready interrupt +``` c + +int8_t rslt; +struct bmi08x_gyro_int_channel_cfg int_config; + +/* Initialize the device instance as per the initialization example */ + +/* Mapping data ready interrupt to interrupt channel */ + +int_config.int_channel = BMI08X_INT_CHANNEL_3; +int_config.int_type = BMI08X_GYRO_DATA_RDY_INT; +int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; +int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; +int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; + +/* Setting the interrupt configuration */ +rslt = bmi08g_set_int_config(&int_config, &dev); + +/* Configure the controller port pin for the interrupt and assign the ISR */ + +void interrupt_handler(void) +{ + /* ISR functionality */ +} + +/* Disabling gyro data ready interrupt */ + +struct bmi08x_gyro_int_channel_cfg int_config; + +/* Initialize the device instance as per the initialization example */ + +int_config.int_channel = BMI08X_INT_CHANNEL_3; +int_config.int_type = BMI08X_GYRO_DATA_RDY_INT; +int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; +int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; +int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE; + +/* Setting the interrupt configuration */ +rslt = bmi08g_set_int_config(&int_config, &dev); diff --git a/bmi085.c b/bmi085.c index eda7661..46e312b 100644 --- a/bmi085.c +++ b/bmi085.c @@ -1,356 +1,347 @@ -/**\mainpage - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi085.c - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi085.c - * \brief Sensor Driver for BMI085 family of sensors */ - -/****************************************************************************/ - -/**\name Header files - ****************************************************************************/ -#include "bmi08x.h" -#include "bmi085.h" -#if BMI08X_FEATURE_BMI085 == 1 - -/****************************************************************************/ - -/** \name Macros - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Local structures - ****************************************************************************/ - -/****************************************************************************/ - -/*! Static Function Declarations - ****************************************************************************/ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev); - -/****************************************************************************/ - -/**\name Extern Declarations - ****************************************************************************/ -extern const uint8_t bmi08x_config_file[]; - -/****************************************************************************/ - -/**\name Globals - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Function definitions - ****************************************************************************/ - -/*! - * @brief This API is the entry point for bmi085 sensors. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel & gyro sensors. - * Additionally the bmi085 config file is loaded onto the device. - */ -int8_t bmi085_init(struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Initialize bmi085 accel sensor */ - rslt = bmi08a_init(dev); - - if (rslt == BMI08X_OK) - { - /* Initialize bmi085 gyro sensor */ - rslt = bmi08g_init(dev); - } - - return rslt; -} - -/*! - * @brief This API uploads the bmi085 config file onto the device. - */ -int8_t bmi085_apply_config_file(struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Assign stream file */ - dev->config_file_ptr = bmi08x_config_file; - - /* Upload binary */ - rslt = bmi08a_write_config_file(dev); - } - - return rslt; -} - -/*! - * @brief This API is used to enable/disable and configure the data synchronization - * feature. - */ -int8_t bmi085_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev) -{ - int8_t rslt; - uint16_t data[BMI08X_ACCEL_DATA_SYNC_LEN]; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Change sensor meas config */ - switch (sync_cfg.mode) - { - case BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_230_ODR_2000_HZ; - break; - case BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_800_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_116_ODR_1000_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_116_ODR_1000_HZ; - break; - case BMI08X_ACCEL_DATA_SYNC_MODE_400HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_400_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_47_ODR_400_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_47_ODR_400_HZ; - break; - default: - break; - } - rslt = bmi08a_set_meas_conf(dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08g_set_meas_conf(dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - /* Enable data synchronization */ - data[0] = (sync_cfg.mode & BMI08X_ACCEL_DATA_SYNC_MODE_MASK); - rslt = bmi08a_write_feature_config(BMI08X_ACCEL_DATA_SYNC_ADR, &data[0], BMI08X_ACCEL_DATA_SYNC_LEN, dev); - } - - return rslt; -} - -/*! - * @brief This API is used to enable/disable and configure the anymotion - * feature. - */ -int8_t bmi085_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint16_t data[BMI08X_ACCEL_ANYMOTION_LEN]; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Enable data synchronization */ - data[0] = (anymotion_cfg.threshold & BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK); - data[0] |= - ((anymotion_cfg.nomotion_sel << BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT) & - BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK); - data[1] = (anymotion_cfg.duration & BMI08X_ACCEL_ANYMOTION_DURATION_MASK); - data[1] |= ((anymotion_cfg.x_en << BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_X_EN_MASK); - data[1] |= ((anymotion_cfg.y_en << BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Y_EN_MASK); - data[1] |= ((anymotion_cfg.z_en << BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Z_EN_MASK); - rslt = bmi08a_write_feature_config(BMI08X_ACCEL_ANYMOTION_ADR, &data[0], BMI08X_ACCEL_ANYMOTION_LEN, dev); - } - - return rslt; -} - -/*! - * @brief This API reads the synchronized accel & gyro data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - */ -int8_t bmi085_get_synchronized_data(struct bmi08x_sensor_data *accel, - struct bmi08x_sensor_data *gyro, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t reg_addr, data[6]; - uint8_t lsb, msb; - uint16_t msblsb; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (accel != NULL) && (gyro != NULL)) - { - /* Read accel x,y sensor data */ - reg_addr = BMI08X_ACCEL_GP_0_REG; - rslt = bmi08a_get_regs(reg_addr, &data[0], 4, dev); - - if (rslt == BMI08X_OK) - { - /* Read accel sensor data */ - reg_addr = BMI08X_ACCEL_GP_4_REG; - rslt = bmi08a_get_regs(reg_addr, &data[4], 2, dev); - - if (rslt == BMI08X_OK) - { - lsb = data[0]; - msb = data[1]; - msblsb = (msb << 8) | lsb; - accel->x = ((int16_t) msblsb); /* Data in X axis */ - - lsb = data[2]; - msb = data[3]; - msblsb = (msb << 8) | lsb; - accel->y = ((int16_t) msblsb); /* Data in Y axis */ - - lsb = data[4]; - msb = data[5]; - msblsb = (msb << 8) | lsb; - accel->z = ((int16_t) msblsb); /* Data in Z axis */ - - /* Read gyro sensor data */ - rslt = bmi08g_get_data(gyro, dev); - } - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API configures the synchronization interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - */ -int8_t bmi085_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Configure accel sync data ready interrupt configuration */ - rslt = bmi08a_set_int_config(&int_config->accel_int_config_1, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08a_set_int_config(&int_config->accel_int_config_2, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - /* Configure gyro data ready interrupt configuration */ - rslt = bmi08g_set_int_config(&int_config->gyro_int_config_1, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08g_set_int_config(&int_config->gyro_int_config_2, dev); - - return rslt; -} - -/*****************************************************************************/ -/* Static function definition */ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) - { - /* Device structure pointer is not valid */ - rslt = BMI08X_E_NULL_PTR; - } - else - { - /* Device structure is fine */ - rslt = BMI08X_OK; - } - - return rslt; -} -#endif - -/** @}*/ +/** +* 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 bmi085.c +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi085.c + * \brief Sensor Driver for BMI085 family of sensors */ + +/****************************************************************************/ + +/**\name Header files + ****************************************************************************/ +#include "bmi08x.h" +#include "bmi085.h" +#if BMI08X_FEATURE_BMI085 == 1 + +/****************************************************************************/ + +/** \name Macros + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Local structures + ****************************************************************************/ + +/****************************************************************************/ + +/*! Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev); + +/****************************************************************************/ + +/**\name Extern Declarations + ****************************************************************************/ +extern const uint8_t bmi08x_config_file[]; + +/****************************************************************************/ + +/**\name Globals + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point for bmi085 sensors. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel & gyro sensors. + * Additionally the bmi085 config file is loaded onto the device. + */ +int8_t bmi085_init(struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Initialize bmi085 accel sensor */ + rslt = bmi08a_init(dev); + + if (rslt == BMI08X_OK) + { + /* Initialize bmi085 gyro sensor */ + rslt = bmi08g_init(dev); + } + + return rslt; +} + +/*! + * @brief This API uploads the bmi085 config file onto the device. + */ +int8_t bmi085_apply_config_file(struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Assign stream file */ + dev->config_file_ptr = bmi08x_config_file; + + /* Upload binary */ + rslt = bmi08a_write_config_file(dev); + } + + return rslt; +} + +/*! + * @brief This API is used to enable/disable and configure the data synchronization + * feature. + */ +int8_t bmi085_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev) +{ + int8_t rslt; + uint16_t data[BMI08X_ACCEL_DATA_SYNC_LEN]; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Change sensor meas config */ + switch (sync_cfg.mode) + { + case BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_230_ODR_2000_HZ; + break; + case BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_800_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_116_ODR_1000_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_116_ODR_1000_HZ; + break; + case BMI08X_ACCEL_DATA_SYNC_MODE_400HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_400_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_47_ODR_400_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_47_ODR_400_HZ; + break; + default: + break; + } + rslt = bmi08a_set_meas_conf(dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08g_set_meas_conf(dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + /* Enable data synchronization */ + data[0] = (sync_cfg.mode & BMI08X_ACCEL_DATA_SYNC_MODE_MASK); + rslt = bmi08a_write_feature_config(BMI08X_ACCEL_DATA_SYNC_ADR, &data[0], BMI08X_ACCEL_DATA_SYNC_LEN, dev); + } + + return rslt; +} + +/*! + * @brief This API is used to enable/disable and configure the anymotion + * feature. + */ +int8_t bmi085_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint16_t data[BMI08X_ACCEL_ANYMOTION_LEN]; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Enable data synchronization */ + data[0] = (anymotion_cfg.threshold & BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK); + data[0] |= + ((anymotion_cfg.nomotion_sel << BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT) & + BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK); + data[1] = (anymotion_cfg.duration & BMI08X_ACCEL_ANYMOTION_DURATION_MASK); + data[1] |= ((anymotion_cfg.x_en << BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_X_EN_MASK); + data[1] |= ((anymotion_cfg.y_en << BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Y_EN_MASK); + data[1] |= ((anymotion_cfg.z_en << BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Z_EN_MASK); + rslt = bmi08a_write_feature_config(BMI08X_ACCEL_ANYMOTION_ADR, &data[0], BMI08X_ACCEL_ANYMOTION_LEN, dev); + } + + return rslt; +} + +/*! + * @brief This API reads the synchronized accel & gyro data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + */ +int8_t bmi085_get_synchronized_data(struct bmi08x_sensor_data *accel, + struct bmi08x_sensor_data *gyro, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t reg_addr, data[6]; + uint8_t lsb, msb; + uint16_t msblsb; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (accel != NULL) && (gyro != NULL)) + { + /* Read accel x,y sensor data */ + reg_addr = BMI08X_ACCEL_GP_0_REG; + rslt = bmi08a_get_regs(reg_addr, &data[0], 4, dev); + + if (rslt == BMI08X_OK) + { + /* Read accel sensor data */ + reg_addr = BMI08X_ACCEL_GP_4_REG; + rslt = bmi08a_get_regs(reg_addr, &data[4], 2, dev); + + if (rslt == BMI08X_OK) + { + lsb = data[0]; + msb = data[1]; + msblsb = (msb << 8) | lsb; + accel->x = ((int16_t) msblsb); /* Data in X axis */ + + lsb = data[2]; + msb = data[3]; + msblsb = (msb << 8) | lsb; + accel->y = ((int16_t) msblsb); /* Data in Y axis */ + + lsb = data[4]; + msb = data[5]; + msblsb = (msb << 8) | lsb; + accel->z = ((int16_t) msblsb); /* Data in Z axis */ + + /* Read gyro sensor data */ + rslt = bmi08g_get_data(gyro, dev); + } + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API configures the synchronization interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + */ +int8_t bmi085_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Configure accel sync data ready interrupt configuration */ + rslt = bmi08a_set_int_config(&int_config->accel_int_config_1, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08a_set_int_config(&int_config->accel_int_config_2, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + /* Configure gyro data ready interrupt configuration */ + rslt = bmi08g_set_int_config(&int_config->gyro_int_config_1, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08g_set_int_config(&int_config->gyro_int_config_2, dev); + + return rslt; +} + +/*****************************************************************************/ +/* Static function definition */ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) + { + /* Device structure pointer is not valid */ + rslt = BMI08X_E_NULL_PTR; + } + else + { + /* Device structure is fine */ + rslt = BMI08X_OK; + } + + return rslt; +} +#endif + +/** @}*/ diff --git a/bmi085.h b/bmi085.h index a98640e..fb48a81 100644 --- a/bmi085.h +++ b/bmi085.h @@ -1,158 +1,149 @@ -/** - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi085.h - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi085.h - * \brief Sensor Driver for BMI085 family of sensors */ - -#ifndef BMI085_H_ -#define BMI085_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/**********************************************************************************/ -/* header includes */ -/**********************************************************************************/ -/* header files */ -#include "bmi08x_defs.h" -#if BMI08X_FEATURE_BMI085 == 1 - -/**********************************************************************************/ -/* (extern) variable declarations */ -/**********************************************************************************/ - -/**********************************************************************************/ -/* function prototype declarations */ - -/*! - * @brief This API is the entry point for bmi085 sensors. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel & gyro sensors. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_init(struct bmi08x_dev *dev); - -/*! - * @brief This API uploads the bmi085 config file onto the device. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_apply_config_file(struct bmi08x_dev *dev); - -/*! - * @brief This API is used to enable/disable the data synchronization - * feature. - * - * @param[in] sync_cfg : configure sync feature - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev); - -/*! - * @brief This API is used to enable/disable and configure the anymotion - * feature. - * - * @param[in] anymotion_cfg : configure anymotion feature - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the synchronized accel & gyro data from the sensor, - * store it in the bmi085_sensor_data structure instance - * passed by the user. - * - * @param[out] accel : Structure pointer to store accel data - * @param[out] gyro : Structure pointer to store gyro data - * @param[in] dev : Structure instance of bmi08x_dev. - * - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_get_synchronized_data(struct bmi08x_sensor_data *accel, - struct bmi08x_sensor_data *gyro, - const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the synchronization interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - * - * @param[in] int_config : Structure instance of accel bmi08_int_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi085_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev); - -#endif -#ifdef __cplusplus -} -#endif - -#endif /* BMI085_H_ */ - -/** @}*/ +/** +* 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 bmi085.h +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi085.h + * \brief Sensor Driver for BMI085 family of sensors */ + +#ifndef BMI085_H_ +#define BMI085_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/**********************************************************************************/ +/* header includes */ +/**********************************************************************************/ +/* header files */ +#include "bmi08x_defs.h" +#if BMI08X_FEATURE_BMI085 == 1 + +/**********************************************************************************/ +/* (extern) variable declarations */ +/**********************************************************************************/ + +/**********************************************************************************/ +/* function prototype declarations */ + +/*! + * @brief This API is the entry point for bmi085 sensors. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel & gyro sensors. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_init(struct bmi08x_dev *dev); + +/*! + * @brief This API uploads the bmi085 config file onto the device. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_apply_config_file(struct bmi08x_dev *dev); + +/*! + * @brief This API is used to enable/disable the data synchronization + * feature. + * + * @param[in] sync_cfg : configure sync feature + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev); + +/*! + * @brief This API is used to enable/disable and configure the anymotion + * feature. + * + * @param[in] anymotion_cfg : configure anymotion feature + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the synchronized accel & gyro data from the sensor, + * store it in the bmi085_sensor_data structure instance + * passed by the user. + * + * @param[out] accel : Structure pointer to store accel data + * @param[out] gyro : Structure pointer to store gyro data + * @param[in] dev : Structure instance of bmi08x_dev. + * + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_get_synchronized_data(struct bmi08x_sensor_data *accel, + struct bmi08x_sensor_data *gyro, + const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the synchronization interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + * + * @param[in] int_config : Structure instance of accel bmi08_int_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi085_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev); + +#endif +#ifdef __cplusplus +} +#endif + +#endif /* BMI085_H_ */ + +/** @}*/ diff --git a/bmi088.c b/bmi088.c index 6bbf340..d9692c6 100644 --- a/bmi088.c +++ b/bmi088.c @@ -1,354 +1,345 @@ -/**\mainpage - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi088.c - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi088.c - * \brief Sensor Driver for BMI085 family of sensors */ - -/****************************************************************************/ - -/**\name Header files - ****************************************************************************/ -#include "bmi08x.h" -#include "bmi088.h" - -#if BMI08X_FEATURE_BMI088 == 1 - -/****************************************************************************/ - -/** \name Macros - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Local structures - ****************************************************************************/ - -/****************************************************************************/ - -/*! Static Function Declarations - ****************************************************************************/ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev); - -/****************************************************************************/ - -/**\name Extern Declarations - ****************************************************************************/ -extern const uint8_t bmi08x_config_file[]; - -/**\name Globals - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Function definitions - ****************************************************************************/ - -/*! - * @brief This API is the entry point for bmi088 sensors. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel & gyro sensors. - */ -int8_t bmi088_init(struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Initialize bmi088 accel sensor */ - rslt = bmi08a_init(dev); - - if (rslt == BMI08X_OK) - { - /* Initialize bmi088 gyro sensor */ - rslt = bmi08g_init(dev); - } - - return rslt; -} - -/*! - * @brief This API uploads the bmi088 config file onto the device. - */ -int8_t bmi088_apply_config_file(struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Assign stream file */ - dev->config_file_ptr = bmi08x_config_file; - - /* Upload binary */ - rslt = bmi08a_write_config_file(dev); - } - - return rslt; -} - -/*! - * @brief This API is used to enable/disable and configure the data synchronization - * feature. - */ -int8_t bmi088_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev) -{ - int8_t rslt; - uint16_t data[BMI08X_ACCEL_DATA_SYNC_LEN]; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Change sensor meas config */ - switch (sync_cfg.mode) - { - case BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_230_ODR_2000_HZ; - break; - case BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_800_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_116_ODR_1000_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_116_ODR_1000_HZ; - break; - case BMI08X_ACCEL_DATA_SYNC_MODE_400HZ: - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_400_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - dev->gyro_cfg.odr = BMI08X_GYRO_BW_47_ODR_400_HZ; - dev->gyro_cfg.bw = BMI08X_GYRO_BW_47_ODR_400_HZ; - break; - default: - break; - } - rslt = bmi08a_set_meas_conf(dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08g_set_meas_conf(dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - /* Enable data synchronization */ - data[0] = (sync_cfg.mode & BMI08X_ACCEL_DATA_SYNC_MODE_MASK); - rslt = bmi08a_write_feature_config(BMI08X_ACCEL_DATA_SYNC_ADR, &data[0], BMI08X_ACCEL_DATA_SYNC_LEN, dev); - } - - return rslt; -} - -/*! - * @brief This API is used to enable/disable and configure the anymotion - * feature. - */ -int8_t bmi088_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint16_t data[BMI08X_ACCEL_ANYMOTION_LEN]; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Enable data synchronization */ - data[0] = (anymotion_cfg.threshold & BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK); - data[0] |= - ((anymotion_cfg.nomotion_sel << BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT) & - BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK); - data[1] = (anymotion_cfg.duration & BMI08X_ACCEL_ANYMOTION_DURATION_MASK); - data[1] |= ((anymotion_cfg.x_en << BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_X_EN_MASK); - data[1] |= ((anymotion_cfg.y_en << BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Y_EN_MASK); - data[1] |= ((anymotion_cfg.z_en << BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Z_EN_MASK); - rslt = bmi08a_write_feature_config(BMI08X_ACCEL_ANYMOTION_ADR, &data[0], BMI08X_ACCEL_ANYMOTION_LEN, dev); - } - - return rslt; -} - -/*! - * @brief This API reads the synchronized accel & gyro data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - */ -int8_t bmi088_get_synchronized_data(struct bmi08x_sensor_data *accel, - struct bmi08x_sensor_data *gyro, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t reg_addr, data[6]; - uint8_t lsb, msb; - uint16_t msblsb; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (accel != NULL) && (gyro != NULL)) - { - /* Read accel x,y sensor data */ - reg_addr = BMI08X_ACCEL_GP_0_REG; - rslt = bmi08a_get_regs(reg_addr, &data[0], 4, dev); - - if (rslt == BMI08X_OK) - { - /* Read accel sensor data */ - reg_addr = BMI08X_ACCEL_GP_4_REG; - rslt = bmi08a_get_regs(reg_addr, &data[4], 2, dev); - - if (rslt == BMI08X_OK) - { - lsb = data[0]; - msb = data[1]; - msblsb = (msb << 8) | lsb; - accel->x = ((int16_t) msblsb); /* Data in X axis */ - - lsb = data[2]; - msb = data[3]; - msblsb = (msb << 8) | lsb; - accel->y = ((int16_t) msblsb); /* Data in Y axis */ - - lsb = data[4]; - msb = data[5]; - msblsb = (msb << 8) | lsb; - accel->z = ((int16_t) msblsb); /* Data in Z axis */ - - /* Read gyro sensor data */ - rslt = bmi08g_get_data(gyro, dev); - } - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API configures the synchronization interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - */ -int8_t bmi088_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Configure accel sync data ready interrupt configuration */ - rslt = bmi08a_set_int_config(&int_config->accel_int_config_1, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08a_set_int_config(&int_config->accel_int_config_2, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - /* Configure gyro data ready interrupt configuration */ - rslt = bmi08g_set_int_config(&int_config->gyro_int_config_1, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = bmi08g_set_int_config(&int_config->gyro_int_config_2, dev); - - return rslt; -} - -/*****************************************************************************/ -/* Static function definition */ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) - { - /* Device structure pointer is not valid */ - rslt = BMI08X_E_NULL_PTR; - } - else - { - /* Device structure is fine */ - rslt = BMI08X_OK; - } - - return rslt; -} -#endif - -/** @}*/ +/** +* 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 bmi088.c +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi088.c + * \brief Sensor Driver for BMI085 family of sensors */ + +/****************************************************************************/ + +/**\name Header files + ****************************************************************************/ +#include "bmi08x.h" +#include "bmi088.h" + +#if BMI08X_FEATURE_BMI088 == 1 + +/****************************************************************************/ + +/** \name Macros + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Local structures + ****************************************************************************/ + +/****************************************************************************/ + +/*! Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev); + +/****************************************************************************/ + +/**\name Extern Declarations + ****************************************************************************/ +extern const uint8_t bmi08x_config_file[]; + +/**\name Globals + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point for bmi088 sensors. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel & gyro sensors. + */ +int8_t bmi088_init(struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Initialize bmi088 accel sensor */ + rslt = bmi08a_init(dev); + + if (rslt == BMI08X_OK) + { + /* Initialize bmi088 gyro sensor */ + rslt = bmi08g_init(dev); + } + + return rslt; +} + +/*! + * @brief This API uploads the bmi088 config file onto the device. + */ +int8_t bmi088_apply_config_file(struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Assign stream file */ + dev->config_file_ptr = bmi08x_config_file; + + /* Upload binary */ + rslt = bmi08a_write_config_file(dev); + } + + return rslt; +} + +/*! + * @brief This API is used to enable/disable and configure the data synchronization + * feature. + */ +int8_t bmi088_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev) +{ + int8_t rslt; + uint16_t data[BMI08X_ACCEL_DATA_SYNC_LEN]; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Change sensor meas config */ + switch (sync_cfg.mode) + { + case BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_230_ODR_2000_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_230_ODR_2000_HZ; + break; + case BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_800_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_116_ODR_1000_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_116_ODR_1000_HZ; + break; + case BMI08X_ACCEL_DATA_SYNC_MODE_400HZ: + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_400_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + dev->gyro_cfg.odr = BMI08X_GYRO_BW_47_ODR_400_HZ; + dev->gyro_cfg.bw = BMI08X_GYRO_BW_47_ODR_400_HZ; + break; + default: + break; + } + rslt = bmi08a_set_meas_conf(dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08g_set_meas_conf(dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + /* Enable data synchronization */ + data[0] = (sync_cfg.mode & BMI08X_ACCEL_DATA_SYNC_MODE_MASK); + rslt = bmi08a_write_feature_config(BMI08X_ACCEL_DATA_SYNC_ADR, &data[0], BMI08X_ACCEL_DATA_SYNC_LEN, dev); + } + + return rslt; +} + +/*! + * @brief This API is used to enable/disable and configure the anymotion + * feature. + */ +int8_t bmi088_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint16_t data[BMI08X_ACCEL_ANYMOTION_LEN]; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Enable data synchronization */ + data[0] = (anymotion_cfg.threshold & BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK); + data[0] |= + ((anymotion_cfg.nomotion_sel << BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT) & + BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK); + data[1] = (anymotion_cfg.duration & BMI08X_ACCEL_ANYMOTION_DURATION_MASK); + data[1] |= ((anymotion_cfg.x_en << BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_X_EN_MASK); + data[1] |= ((anymotion_cfg.y_en << BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Y_EN_MASK); + data[1] |= ((anymotion_cfg.z_en << BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT) & BMI08X_ACCEL_ANYMOTION_Z_EN_MASK); + rslt = bmi08a_write_feature_config(BMI08X_ACCEL_ANYMOTION_ADR, &data[0], BMI08X_ACCEL_ANYMOTION_LEN, dev); + } + + return rslt; +} + +/*! + * @brief This API reads the synchronized accel & gyro data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + */ +int8_t bmi088_get_synchronized_data(struct bmi08x_sensor_data *accel, + struct bmi08x_sensor_data *gyro, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t reg_addr, data[6]; + uint8_t lsb, msb; + uint16_t msblsb; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (accel != NULL) && (gyro != NULL)) + { + /* Read accel x,y sensor data */ + reg_addr = BMI08X_ACCEL_GP_0_REG; + rslt = bmi08a_get_regs(reg_addr, &data[0], 4, dev); + + if (rslt == BMI08X_OK) + { + /* Read accel sensor data */ + reg_addr = BMI08X_ACCEL_GP_4_REG; + rslt = bmi08a_get_regs(reg_addr, &data[4], 2, dev); + + if (rslt == BMI08X_OK) + { + lsb = data[0]; + msb = data[1]; + msblsb = (msb << 8) | lsb; + accel->x = ((int16_t) msblsb); /* Data in X axis */ + + lsb = data[2]; + msb = data[3]; + msblsb = (msb << 8) | lsb; + accel->y = ((int16_t) msblsb); /* Data in Y axis */ + + lsb = data[4]; + msb = data[5]; + msblsb = (msb << 8) | lsb; + accel->z = ((int16_t) msblsb); /* Data in Z axis */ + + /* Read gyro sensor data */ + rslt = bmi08g_get_data(gyro, dev); + } + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API configures the synchronization interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + */ +int8_t bmi088_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Configure accel sync data ready interrupt configuration */ + rslt = bmi08a_set_int_config(&int_config->accel_int_config_1, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08a_set_int_config(&int_config->accel_int_config_2, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + /* Configure gyro data ready interrupt configuration */ + rslt = bmi08g_set_int_config(&int_config->gyro_int_config_1, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = bmi08g_set_int_config(&int_config->gyro_int_config_2, dev); + + return rslt; +} + +/*****************************************************************************/ +/* Static function definition */ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) + { + /* Device structure pointer is not valid */ + rslt = BMI08X_E_NULL_PTR; + } + else + { + /* Device structure is fine */ + rslt = BMI08X_OK; + } + + return rslt; +} +#endif + +/** @}*/ diff --git a/bmi088.h b/bmi088.h index 84e5919..efb12a3 100644 --- a/bmi088.h +++ b/bmi088.h @@ -1,154 +1,145 @@ -/** - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi088.h - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi088.h - * \brief Sensor Driver for BMI088 family of sensors */ -#ifndef BMI088_H_ -#define BMI088_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/* header files */ -#include "bmi08x_defs.h" -#if BMI08X_FEATURE_BMI088 == 1 - -/**********************************************************************************/ -/* (extern) variable declarations */ -/**********************************************************************************/ - -/**********************************************************************************/ -/* function prototype declarations */ - -/*! - * @brief This API is the entry point for bmi088 sensors. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel & gyro sensors. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_init(struct bmi08x_dev *dev); - -/*! - * @brief This API uploads the bmi088 config file onto the device. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_apply_config_file(struct bmi08x_dev *dev); - -/*! - * @brief This API is used to enable/disable the data synchronization - * feature. - * - * @param[in] sync_cfg : configure sync feature - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev); - -/*! - * @brief This API is used to enable/disable and configure the anymotion - * feature. - * - * @param[in] anymotion_cfg : configure anymotion feature - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the synchronized accel & gyro data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - * - * @param[out] accel : Structure pointer to store accel data - * @param[out] gyro : Structure pointer to store gyro data - * @param[in] dev : Structure instance of bmi08x_dev. - * - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_get_synchronized_data(struct bmi08x_sensor_data *accel, - struct bmi08x_sensor_data *gyro, - const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the synchronization interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - * - * @param[in] int_config : Structure instance of accel bmi08x_int_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi088_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev); - -#endif -#ifdef __cplusplus -} -#endif - -#endif /* BMI088_H_ */ - -/** @}*/ +/** +* 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 bmi088.h +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi088.h + * \brief Sensor Driver for BMI088 family of sensors */ +#ifndef BMI088_H_ +#define BMI088_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* header files */ +#include "bmi08x_defs.h" +#if BMI08X_FEATURE_BMI088 == 1 + +/**********************************************************************************/ +/* (extern) variable declarations */ +/**********************************************************************************/ + +/**********************************************************************************/ +/* function prototype declarations */ + +/*! + * @brief This API is the entry point for bmi088 sensors. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel & gyro sensors. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_init(struct bmi08x_dev *dev); + +/*! + * @brief This API uploads the bmi088 config file onto the device. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_apply_config_file(struct bmi08x_dev *dev); + +/*! + * @brief This API is used to enable/disable the data synchronization + * feature. + * + * @param[in] sync_cfg : configure sync feature + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_configure_data_synchronization(struct bmi08x_data_sync_cfg sync_cfg, struct bmi08x_dev *dev); + +/*! + * @brief This API is used to enable/disable and configure the anymotion + * feature. + * + * @param[in] anymotion_cfg : configure anymotion feature + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_configure_anymotion(struct bmi08x_anymotion_cfg anymotion_cfg, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the synchronized accel & gyro data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + * + * @param[out] accel : Structure pointer to store accel data + * @param[out] gyro : Structure pointer to store gyro data + * @param[in] dev : Structure instance of bmi08x_dev. + * + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_get_synchronized_data(struct bmi08x_sensor_data *accel, + struct bmi08x_sensor_data *gyro, + const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the synchronization interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + * + * @param[in] int_config : Structure instance of accel bmi08x_int_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi088_set_data_sync_int_config(const struct bmi08x_int_cfg *int_config, const struct bmi08x_dev *dev); + +#endif +#ifdef __cplusplus +} +#endif + +#endif /* BMI088_H_ */ + +/** @}*/ diff --git a/bmi08a.c b/bmi08a.c index 86c01d5..ec74e45 100644 --- a/bmi08a.c +++ b/bmi08a.c @@ -1,2758 +1,2739 @@ -/**\mainpage - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi08a.c - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi08a.c - * \brief Sensor Driver for BMI08x family of sensors */ - -/****************************************************************************/ - -/**\name Header files - ****************************************************************************/ -#include "bmi08x.h" - -/****************************************************************************/ - -/** \name Macros - ****************************************************************************/ -#if BMI08X_FEATURE_BMI085 == 1 - -/**\name Value of LSB_PER_G = (power(2, BMI08X_16_BIT_RESOLUTION) / (2 * range)) */ -#define LSB_PER_G UINT32_C(2048) /* for the 16-bit resolution and 16g range */ -#elif BMI08X_FEATURE_BMI088 == 1 - -/**\name Value of LSB_PER_G = (power(2, BMI08X_16_BIT_RESOLUTION) / (2 * range)) */ -#define LSB_PER_G UINT32_C(1365) /* for the 16-bit resolution and 24g range */ -#endif - -/****************************************************************************/ - -/**\name Local structures - ****************************************************************************/ - -/*! - * @brief Accel self test diff xyz data structure - */ -struct selftest_delta_limit -{ - /*! Accel X data */ - uint16_t x; - - /*! Accel Y data */ - uint16_t y; - - /*! Accel Z data */ - uint16_t z; -}; - -/**\name Feature configuration file */ -const uint8_t bmi08x_config_file[] = { - 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x4b, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, - 0x2e, 0x80, 0x2e, 0xa7, 0x00, 0x80, 0x2e, 0x83, 0x00, 0x80, 0x2e, 0x15, 0x01, 0x50, 0x39, 0x21, 0x2e, 0xb0, 0xf0, - 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0x9c, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8b, 0xf6, - 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, - 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, - 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, - 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, - 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0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, -}; - -/****************************************************************************/ - -/*! Static Function Declarations - ****************************************************************************/ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the data from the given register address of accel sensor. - * - * @param[in] reg_addr : Register address from where the data to be read - * @param[out] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the given data to the register address - * of accel sensor. - * - * @param[in] reg_addr : Register address to where the data to be written. - * @param[in] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the pins which fire the - * interrupt signal when any interrupt occurs. - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_int_pin_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the data ready interrupt for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_accel_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the synchronized data ready interrupt for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_accel_sync_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the given interrupt channel as input for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_accel_sync_input(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the anymotion interrupt for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_accel_anymotion_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the config stream data in memory using burst mode - * - * @param[in] stream_data : Pointer to store data of 32 bytes - * @param[in] index : Represents value in multiple of 32 bytes - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, const struct bmi08x_dev *dev); - -/*! - * @brief This API performs the pre-requisites needed to perform the self test - * - * @param[in] dev : structure instance of bmi08x_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t enable_self_test(struct bmi08x_dev *dev); - -/*! - * @brief This API reads the accel data with the positive excitation - * - * @param[out] accel_pos : Structure pointer to store accel data - * for positive excitation - * @param[in] dev : structure instance of bmi08x_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t positive_excited_accel(struct bmi08x_sensor_data *accel_pos, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the accel data with the negative excitation - * - * @param[out] accel_neg : Structure pointer to store accel data - * for negative excitation - * @param[in] dev : structure instance of bmi08x_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t negative_excited_accel(struct bmi08x_sensor_data *accel_neg, const struct bmi08x_dev *dev); - -/*! - * @brief This API validates the 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 -> Self test fail - */ -static int8_t validate_accel_self_test(const struct bmi08x_sensor_data *accel_pos, - const struct bmi08x_sensor_data *accel_neg); - -/*! - * @brief This API converts lsb value of axes to mg for self-test - * - * @param[in] accel_data_diff : Pointer variable used to pass accel difference - * values in g - * - * @param[out] accel_data_diff_mg : Pointer variable used to store accel - * difference values in mg - * - * @return None - */ -static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff, - struct selftest_delta_limit *accel_data_diff_mg); - -/*! - * @brief This internal API is used to parse accelerometer data from the FIFO - * data. - * - * @param[out] acc : Structure instance of bmi08x_sensor_data - * where the parsed data bytes are stored. - * @param[in] data_start_index : Index value of the accelerometer data bytes - * which is to be parsed from the FIFO data. - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * - * @return None - * @retval None - */ -static void unpack_accel_data(struct bmi08x_sensor_data *acc, - uint16_t data_start_index, - const struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal API is used to parse the accelerometer data from the - * FIFO data in both header and header-less mode. It updates the current data - * byte to be parsed. - * - * @param[in,out] acc : Structure instance of bmi08x_sensor_data where - * where the parsed data bytes are stored. - * @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) - * frame to be parsed. - * @param[in] frame : Either data is enabled by user in header-less - * mode or header frame value in header mode. - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - */ -static int8_t unpack_accel_frame(struct bmi08x_sensor_data *acc, - uint16_t *idx, - uint16_t *acc_idx, - uint16_t frame, - const struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal API is used to parse and store the skipped frame count - * from the FIFO data. - * - * @param[in,out] data_index : Index of the FIFO data which contains skipped - * frame count. - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read - */ -static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal 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 the current frame. - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read - */ -static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal API is used to parse and store the sensor time from the - * FIFO data. - * - * @param[in,out] data_index : Index of the FIFO data which has the sensor time. - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read - */ -static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal API is used to reset the FIFO related configurations - * in the FIFO frame structure for the next FIFO read. - * - * @param[in, out] fifo : Structure instance of bmi08x_fifo_frame. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return None - * @retval None - */ -static void reset_fifo_frame_structure(struct bmi08x_fifo_frame *fifo); - -/*! - * @brief This internal API is used to parse accelerometer data from the FIFO - * data in header mode. - * - * @param[out] acc : Structure instance of bmi08x_sens_data where - * the parsed accelerometer data bytes are stored. - * @param[in] accel_length : Number of accelerometer frames (x,y,z data). - * @param[in] fifo : Structure instance of bmi08x_fifo_frame. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMIX8X_OK - Success. - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read - */ -static int8_t extract_acc_header_mode(struct bmi08x_sensor_data *acc, - uint16_t *accel_length, - struct bmi08x_fifo_frame *fifo, - const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the FIFO watermark interrupt for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_fifo_wm_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the FIFO full interrupt for accel sensor - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/****************************************************************************/ - -/**\name Extern Declarations - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Globals - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Function definitions - ****************************************************************************/ - -/*! - * @brief This API is the entry point for accel sensor. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel sensor. - */ -int8_t bmi08a_init(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t chip_id = 0; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - if (dev->intf == BMI08X_SPI_INTF) - { - /* Set dummy byte in case of SPI interface */ - dev->dummy_byte = BMI08X_ENABLE; - - /* Dummy read of Chip-ID in SPI mode */ - rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &chip_id, 1, dev); - } - else - { - /* Make dummy byte 0 in case of I2C interface */ - dev->dummy_byte = BMI08X_DISABLE; - } - if (rslt == BMI08X_OK) - { - rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &chip_id, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Check for chip id validity */ - if (chip_id == BMI08X_ACCEL_CHIP_ID) - { - /* Store the chip ID in dev structure */ - dev->accel_chip_id = chip_id; - } - else - { - rslt = BMI08X_E_DEV_NOT_FOUND; - } - } - } - } - - return rslt; -} - -/*! - * @brief This API is used to write the binary configuration in the sensor. - */ -int8_t bmi08a_write_config_file(const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Config loading disable*/ - uint8_t config_load = BMI08X_DISABLE; - uint8_t current_acc_pwr_ctrl = 0; - uint16_t index = 0; - uint8_t reg_data = 0; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Check if config file pointer is not null */ - if ((rslt == BMI08X_OK) && (dev->config_file_ptr != NULL)) - { - - /* Check whether the read/write length is valid */ - if (dev->read_write_len > 0) - { - /* deactivate accel, otherwise post processing can not be enabled safely */ - rslt = get_regs(BMI08X_ACCEL_PWR_CTRL_REG, ¤t_acc_pwr_ctrl, 1, dev); - if (rslt != BMI08X_OK) - { - return rslt; - } - - rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, &config_load, 1, dev); - if (rslt == BMI08X_OK) - { - /*delay required to switch power modes*/ - dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); - } - else - { - return rslt; - } - - /* Disable config loading*/ - rslt = set_regs(BMI08X_ACCEL_INIT_CTRL_REG, &config_load, 1, dev); - - if (rslt == BMI08X_OK) - { - for (index = 0; index < BMI08X_CONFIG_STREAM_SIZE; - index += dev->read_write_len) - { - /* Write the config stream */ - rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev); - } - if (rslt == BMI08X_OK) - { - /* Enable config loading and FIFO mode */ - config_load = BMI08X_ENABLE; - - rslt = set_regs(BMI08X_ACCEL_INIT_CTRL_REG, &config_load, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Wait till ASIC is initialized. Refer the data-sheet - * for more information */ - dev->delay_ms(BMI08X_ASIC_INIT_TIME_MS); - - /* Check for config initialization status (1 = OK)*/ - rslt = get_regs(BMI08X_ACCEL_INTERNAL_STAT_REG, ®_data, 1, dev); - } - if (rslt == BMI08X_OK && reg_data != 1) - { - rslt = BMI08X_E_CONFIG_STREAM_ERROR; - } - else - { - /* reactivate accel */ - rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, ¤t_acc_pwr_ctrl, 1, dev); - if (rslt == BMI08X_OK) - { - /*delay required to switch power modes*/ - dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); - } - } - } - } - } - else - { - rslt = BMI08X_E_RD_WR_LENGTH_INVALID; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API writes the feature configuration to the accel sensor. - */ -int8_t bmi08a_write_feature_config(uint8_t reg_addr, const uint16_t *reg_data, uint8_t len, - const struct bmi08x_dev *dev) -{ - - int8_t rslt; - uint16_t read_length = (reg_addr * 2) + (len * 2); - uint8_t feature_data[read_length]; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - /* Read feature space up to the given feature position */ - rslt = bmi08a_get_regs(BMI08X_ACCEL_FEATURE_CFG_REG, &feature_data[0], read_length, dev); - - if (rslt == BMI08X_OK) - { - /* Apply the given feature config. */ - for (int i = 0; i < len; ++i) - { - /* Be careful: the feature config space is 16bit aligned! */ - feature_data[(reg_addr * 2) + (i * 2)] = reg_data[i] & 0xFF; - feature_data[(reg_addr * 2) + (i * 2) + 1] = reg_data[i] >> 8; - } - - /* Write back updated feature space */ - rslt = bmi08a_set_regs(BMI08X_ACCEL_FEATURE_CFG_REG, &feature_data[0], read_length, dev); - } - } - - return rslt; -} - -/*! - * @brief This API reads the data from the given register address of accel sensor. - */ -int8_t bmi08a_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (reg_data != NULL)) - { - if (len > 0) - { - /* Reading from the register */ - rslt = get_regs(reg_addr, reg_data, len, dev); - } - else - { - rslt = BMI08X_E_RD_WR_LENGTH_INVALID; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API writes the given data to the register address - * of accel sensor. - */ -int8_t bmi08a_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (reg_data != NULL)) - { - if (len > 0) - { - /* Writing to the register */ - rslt = set_regs(reg_addr, reg_data, len, dev); - } - else - { - rslt = BMI08X_E_RD_WR_LENGTH_INVALID; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API reads the error status from the accel sensor. - */ -int8_t bmi08a_get_error_status(struct bmi08x_err_reg *err_reg, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - if (err_reg != NULL) - { - /* Read the error codes */ - rslt = get_regs(BMI08X_ACCEL_ERR_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Fatal error */ - err_reg->fatal_err = BMI08X_GET_BITS_POS_0(data, BMI08X_FATAL_ERR); - - /* User error */ - err_reg->err_code = BMI08X_GET_BITS(data, BMI08X_ERR_CODE); - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - } - - return rslt; -} - -/*! - * @brief This API reads the status of the accel sensor. - */ -int8_t bmi08a_get_status(uint8_t *status, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (status != NULL)) - { - /* Read the status */ - rslt = get_regs(BMI08X_ACCEL_STATUS_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Updating the status */ - *status = BMI08X_GET_BITS(data, BMI08X_ACCEL_STATUS); - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API resets the accel sensor. - */ -int8_t bmi08a_soft_reset(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - data = BMI08X_SOFT_RESET_CMD; - - /* Reset accel device */ - rslt = set_regs(BMI08X_ACCEL_SOFTRESET_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Delay 1 ms after reset value is written to its register */ - dev->delay_ms(BMI08X_ACCEL_SOFTRESET_DELAY_MS); - - /* After soft reset SPI mode in the initialization phase, need to perform a dummy SPI read - * operation, The soft-reset performs a fundamental reset to the device, which is largely - * equivalent to a power cycle. */ - if (dev->intf == BMI08X_SPI_INTF) - { - /* Dummy SPI read operation of Chip-ID */ - rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &data, 1, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API reads the accel config value i.e. odr, band width and range from the sensor, - * store it in the bmi08x_dev structure instance passed by the user. - * - */ -int8_t bmi08a_get_meas_conf(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data[2]; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - rslt = get_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); - - if (rslt == BMI08X_OK) - { - dev->accel_cfg.odr = data[0] & BMI08X_ACCEL_ODR_MASK; - dev->accel_cfg.bw = (data[0] & BMI08X_ACCEL_BW_MASK) >> 4; - dev->accel_cfg.range = data[1] & BMI08X_ACCEL_RANGE_MASK; - } - } - - return rslt; -} - -/*! - * @brief This API sets the output data rate, range and bandwidth - * of accel sensor. - */ -int8_t bmi08a_set_meas_conf(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data[2] = { 0 }; - uint8_t bw, range, odr; - uint8_t is_odr_invalid = FALSE, is_bw_invalid = FALSE, is_range_invalid = FALSE; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - odr = dev->accel_cfg.odr; - bw = dev->accel_cfg.bw; - range = dev->accel_cfg.range; - - /* Check for valid ODR */ - if ((odr < BMI08X_ACCEL_ODR_12_5_HZ) || (odr > BMI08X_ACCEL_ODR_1600_HZ)) - { - /* Updating the status */ - is_odr_invalid = TRUE; - } - - /* Check for valid bandwidth */ - if (bw > BMI08X_ACCEL_BW_NORMAL) - { - /* Updating the status */ - is_bw_invalid = TRUE; - } -#if BMI08X_FEATURE_BMI085 == 1 - - /* Check for valid Range */ - if (range > BMI085_ACCEL_RANGE_16G) - { - /* Updating the status */ - is_range_invalid = TRUE; - } -#elif BMI08X_FEATURE_BMI088 == 1 - - /* Check for valid Range */ - if (range > BMI088_ACCEL_RANGE_24G) - { - /* Updating the status */ - is_range_invalid = TRUE; - } -#endif - - /* If ODR, BW and Range are valid, write it to accel config. registers */ - if ((!is_odr_invalid) && (!is_bw_invalid) && (!is_range_invalid)) - { - /* Read accel config. register */ - rslt = get_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); - if (rslt == BMI08X_OK) - { - /* Update data with new odr and bw values */ - data[0] = BMI08X_SET_BITS_POS_0(data[0], BMI08X_ACCEL_ODR, odr); - data[0] = BMI08X_SET_BITS(data[0], BMI08X_ACCEL_BW, bw); - - /* Update data with current range values */ - data[1] = BMI08X_SET_BITS_POS_0(data[1], BMI08X_ACCEL_RANGE, range); - - /* write to range register */ - rslt = set_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); - } - } - else - { - /* Invalid configuration present in ODR, BW, Range */ - rslt = BMI08X_E_INVALID_CONFIG; - } - } - - return rslt; -} - -/*! - * @brief This API reads the accel power mode from the sensor, store it in the bmi08x_dev structure - * instance passed by the user. - */ -int8_t bmi08a_get_power_mode(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - rslt = get_regs(BMI08X_ACCEL_PWR_CONF_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Updating the current power mode */ - dev->accel_cfg.power = data; - } - } - - return rslt; -} - -/*! - * @brief This API sets the power mode of the accel sensor. - */ -int8_t bmi08a_set_power_mode(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t power_mode; - uint8_t data[2]; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - power_mode = dev->accel_cfg.power; - - /* Configure data array to write to accel power configuration register */ - if (power_mode == BMI08X_ACCEL_PM_ACTIVE) - { - data[0] = BMI08X_ACCEL_PM_ACTIVE; - data[1] = BMI08X_ACCEL_POWER_ENABLE; - } - else if (power_mode == BMI08X_ACCEL_PM_SUSPEND) - { - data[0] = BMI08X_ACCEL_PM_SUSPEND; - data[1] = BMI08X_ACCEL_POWER_DISABLE; - } - else - { - /* Invalid power input */ - rslt = BMI08X_E_INVALID_INPUT; - } - - if (rslt == BMI08X_OK) - { - /*enable accel sensor*/ - rslt = set_regs(BMI08X_ACCEL_PWR_CONF_REG, &data[0], 1, dev); - - if (rslt == BMI08X_OK) - { - /*delay between power ctrl and power config*/ - dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); - - /* write to accel power configuration register */ - rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, &data[1], 1, dev); - - if (rslt == BMI08X_OK) - { - /*delay required to switch power modes*/ - dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); - } - } - - } - } - - return rslt; -} - -/*! - * @brief This API reads the accel data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - */ -int8_t bmi08a_get_data(struct bmi08x_sensor_data *accel, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data[6]; - uint8_t lsb, msb; - uint16_t msblsb; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (accel != NULL)) - { - /* Read accel sensor data */ - rslt = get_regs(BMI08X_ACCEL_X_LSB_REG, data, 6, dev); - - if (rslt == BMI08X_OK) - { - lsb = data[0]; - msb = data[1]; - msblsb = (msb << 8) | lsb; - accel->x = ((int16_t) msblsb); /* Data in X axis */ - - lsb = data[2]; - msb = data[3]; - msblsb = (msb << 8) | lsb; - accel->y = ((int16_t) msblsb); /* Data in Y axis */ - - lsb = data[4]; - msb = data[5]; - msblsb = (msb << 8) | lsb; - accel->z = ((int16_t) msblsb); /* Data in Z axis */ - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API configures the necessary accel interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - */ -int8_t bmi08a_set_int_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (int_config != NULL)) - { - switch (int_config->int_type) - { - case BMI08X_ACCEL_DATA_RDY_INT: - - /* Data ready interrupt */ - rslt = set_accel_data_ready_int(int_config, dev); - break; - case BMI08X_ACCEL_SYNC_DATA_RDY_INT: - - /* synchronized data ready interrupt */ - rslt = set_accel_sync_data_ready_int(int_config, dev); - break; - case BMI08X_ACCEL_SYNC_INPUT: - - /* input for synchronization on accel */ - rslt = set_accel_sync_input(int_config, dev); - break; - case BMI08X_ACCEL_ANYMOTION_INT: - - /* Anymotion interrupt */ - rslt = set_accel_anymotion_int(int_config, dev); - break; - case BMI08X_FIFO_WM_INT: - - /* FIFO watermark interrupt */ - rslt = set_fifo_wm_int(int_config, dev); - break; - case BMI08X_FIFO_FULL_INT: - - /* FIFO full interrupt */ - rslt = set_fifo_full_int(int_config, dev); - break; - default: - rslt = BMI08X_E_INVALID_CONFIG; - break; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API reads the temperature of the sensor in degree Celcius. - */ -int8_t bmi08a_get_sensor_temperature(const struct bmi08x_dev *dev, int32_t *sensor_temp) -{ - int8_t rslt; - uint8_t data[2] = { 0 }; - uint16_t msb, lsb; - uint16_t msblsb; - int16_t temp; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (sensor_temp != NULL)) - { - /* Read sensor temperature */ - rslt = get_regs(BMI08X_TEMP_MSB_REG, data, 2, dev); - - if (rslt == BMI08X_OK) - { - msb = (data[0] << 3); /* MSB data */ - lsb = (data[1] >> 5); /* LSB data */ - msblsb = (uint16_t) (msb + lsb); - - if (msblsb > 1023) - { - /* Updating the msblsb */ - temp = (int16_t) (msblsb - 2048); - } - else - { - temp = (int16_t) msblsb; - } - - /* sensor temperature */ - *sensor_temp = (temp * 125) + 23000; - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; - -} - -/*! - * @brief This API reads the sensor time of the accel sensor. - */ -int8_t bmi08a_get_sensor_time(const struct bmi08x_dev *dev, uint32_t *sensor_time) -{ - int8_t rslt; - uint8_t data[3] = { 0 }; - uint32_t byte2, byte1, byte0; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (sensor_time != NULL)) - { - /* Read 3-byte sensor time */ - rslt = get_regs(BMI08X_ACCEL_SENSORTIME_0_REG, data, 3, dev); - - if (rslt == BMI08X_OK) - { - byte0 = data[0]; /* Lower byte */ - byte1 = (data[1] << 8); /* Middle byte */ - byte2 = (data[2] << 16); /* Higher byte */ - - /* Sensor time */ - *sensor_time = (byte2 | byte1 | byte0); - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API checks whether the self test functionality of the sensor - * is working or not. - */ -int8_t bmi08a_perform_selftest(struct bmi08x_dev *dev) -{ - int8_t rslt; - int8_t self_test_rslt = 0; - struct bmi08x_sensor_data accel_pos, accel_neg; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* pre-requisites for self test */ - rslt = enable_self_test(dev); - - if (rslt == BMI08X_OK) - { - rslt = positive_excited_accel(&accel_pos, dev); - - if (rslt == BMI08X_OK) - { - rslt = negative_excited_accel(&accel_neg, dev); - - if (rslt == BMI08X_OK) - { - /* Validate the self test result */ - rslt = validate_accel_self_test(&accel_pos, &accel_neg); - - /* Store the status of self test result */ - self_test_rslt = rslt; - - /* Perform soft reset */ - rslt = bmi08a_soft_reset(dev); - - /* Check to ensure bus operations are success */ - if (rslt == BMI08X_OK) - { - /* Restore self_test_rslt as return value */ - rslt = self_test_rslt; - } - } - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO configuration in the sensor. - */ -int8_t bmi08a_set_fifo_config(const struct accel_fifo_config *config, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Array to store the default value of FIFO configuration - * reserved registers - */ - uint8_t data_array[2] = { 0 }; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - if (rslt == BMI08X_OK) - { - /* Get the FIFO configurations from the FIFO configure_1 and configure_2 register */ - rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_0_ADDR, data_array, 2, dev); - if (rslt == BMI08X_OK) - { - /* To set the stream mode or FIFO mode */ - data_array[0] = BMI08X_SET_BITS_POS_0(data_array[0], BMI08X_ACC_FIFO_MODE_CONFIG, config->mode); - - /* To enable the Accel in FIFO configuration */ - data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_EN, config->accel_en); - - /* To enable the interrupt_1 in FIFO configuration */ - data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_INT1_EN, config->int1_en); - - /* To enable the interrupt_2 in FIFO configuration */ - data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_INT2_EN, config->int2_en); - - rslt = bmi08a_set_regs(BMI08X_FIFO_CONFIG_0_ADDR, data_array, 2, dev); - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API reads the FIFO configuration from the sensor. - */ -int8_t bmi08a_get_fifo_config(struct accel_fifo_config *config, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Array to store data */ - uint8_t data[2] = { 0 }; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if ((rslt == BMI08X_OK) && (config != NULL)) - { - /* Get the FIFO configuration value */ - rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_0_ADDR, data, BMI08X_FIFO_CONFIG_LENGTH, dev); - if (rslt == BMI08X_OK) - { - /* Get mode selection */ - config->mode = BMI08X_GET_BITS_POS_0(data[0], BMI08X_ACC_FIFO_MODE_CONFIG); - - /* Get the accel enable */ - config->accel_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_EN); - - /* Get the interrupt_1 enable/disable */ - config->int1_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_INT1_EN); - - /* Get the interrupt_2 enable/disable */ - config->int2_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_INT2_EN); - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API reads the FIFO data. - */ -int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Array to store FIFO configuration data */ - uint8_t config_data = 0; - - /* Variable to define FIFO address */ - uint8_t addr = BMI08X_FIFO_DATA_ADDR; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if ((rslt == BMI08X_OK) && (fifo != NULL)) - { - /* Clear the FIFO data structure */ - reset_fifo_frame_structure(fifo); - - /* Read FIFO data */ - rslt = bmi08a_get_regs(addr, fifo->data, fifo->length, dev); - if (rslt == BMI08X_OK) - { - /* Get the set FIFO frame configurations */ - rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_1_ADDR, &config_data, 1, dev); - if (rslt == BMI08X_OK) - { - /* Get sensor enable status, of which the data - * is to be read - */ - fifo->data_enable = (uint16_t)((uint16_t)config_data & BMI08X_ACCEL_EN_MASK); - } - } - else - { - rslt = BMI08X_E_COM_FAIL; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API gets the length of FIFO data available in the sensor in - * bytes. - */ -int8_t bmi08a_get_fifo_length(uint16_t *fifo_length, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Array to store FIFO data length */ - uint8_t data[BMI08X_FIFO_DATA_LENGTH] = { 0 }; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if ((rslt == BMI08X_OK) && (fifo_length != NULL)) - { - /* read fifo length */ - rslt = bmi08a_get_regs(BMI08X_FIFO_LENGTH_0_ADDR, data, BMI08X_FIFO_DATA_LENGTH, dev); - if (rslt == BMI08X_OK) - { - /* Get the MSB byte of FIFO length */ - data[1] = BMI08X_GET_BITS_POS_0(data[1], BMI08X_FIFO_BYTE_COUNTER_MSB); - - /* Get total FIFO length */ - (*fifo_length) = (uint16_t)((uint16_t)(data[1] << 8) | data[0]); - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO water-mark level in the sensor. - */ -int8_t bmi08a_get_fifo_wm(uint16_t *wm, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - uint8_t data[2] = { 0 }; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - rslt = bmi08a_get_regs(BMI08X_FIFO_WTM_0_ADDR, data, BMI08X_FIFO_WTM_LENGTH, dev); - if ((rslt == BMI08X_OK) && (wm != NULL)) - { - *wm = (data[1] << 8) | (data[0]); - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO water-mark level in the sensor. - */ -int8_t bmi08a_set_fifo_wm(uint16_t wm, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Array to store data */ - uint8_t data[2] = { 0 }; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - /* Get LSB value of FIFO water-mark */ - data[0] = BMI08X_GET_LSB(wm); - - /* Get MSB value of FIFO water-mark */ - data[1] = BMI08X_GET_MSB(wm); - - /* Set the FIFO water-mark level */ - rslt = bmi08a_set_regs(BMI08X_FIFO_WTM_0_ADDR, data, BMI08X_FIFO_WTM_LENGTH, dev); - } - - return rslt; -} - -/*! - * @brief This API parses and extracts the accelerometer frames from FIFO data - * read by the "bmi08x_read_fifo_data" API and stores it in the "accel_data" - * structure instance. - */ -int8_t bmi08a_extract_accel(struct bmi08x_sensor_data *accel_data, - uint16_t *accel_length, - struct bmi08x_fifo_frame *fifo, - const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if ((rslt == BMI08X_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL)) - { - /* Parsing the FIFO data in header mode */ - rslt = extract_acc_header_mode(accel_data, accel_length, fifo, dev); - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API reads the down sampling rates which is configured for - * accelerometer FIFO data. - */ -int8_t bmi08a_get_fifo_down_sample(uint8_t *fifo_downs, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Variable to store sampling rate */ - uint8_t data = 0; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if ((rslt == BMI08X_OK) && (fifo_downs != NULL)) - { - /* Read the accelerometer FIFO down data sampling rate */ - rslt = bmi08a_get_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); - if (rslt == BMI08X_OK) - { - (*fifo_downs) = BMI08X_GET_BITS(data, BMI08X_ACC_FIFO_DOWNS); - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API sets the down-sampling rates for accelerometer - * FIFO data. - * - * @note Reduction of sample rate by a factor 2**fifo_downs - */ -int8_t bmi08a_set_fifo_down_sample(uint8_t fifo_downs, const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt; - - /* Variable to store sampling rate */ - uint8_t data = 0; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - /* Set the accelerometer FIFO down sampling rate */ - rslt = bmi08a_get_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); - if (rslt == BMI08X_OK) - { - data = BMI08X_SET_BITS(data, BMI08X_ACC_FIFO_DOWNS, fifo_downs); - rslt = bmi08a_set_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); - } - } - - return rslt; -} - -/*****************************************************************************/ -/* Static function definition */ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) - { - /* Device structure pointer is not valid */ - rslt = BMI08X_E_NULL_PTR; - } - else - { - /* Device structure is fine */ - rslt = BMI08X_OK; - } - - return rslt; -} - -/*! - * @brief This API reads the data from the given register address. - */ -static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint16_t index; - uint16_t temp_len = len + dev->dummy_byte; - uint8_t temp_buff[temp_len]; - - if (dev->intf == BMI08X_SPI_INTF) - { - /* Configuring reg_addr for SPI Interface */ - reg_addr = reg_addr | BMI08X_SPI_RD_MASK; - } - - /* Read the data from the register */ - rslt = dev->read(dev->accel_id, reg_addr, temp_buff, temp_len); - - if (rslt == BMI08X_OK) - { - for (index = 0; index < len; index++) - { - /* Updating the data buffer */ - reg_data[index] = temp_buff[index + dev->dummy_byte]; - } - } - else - { - /* Failure case */ - rslt = BMI08X_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API writes the data to the given register address. - */ -static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if (dev->intf == BMI08X_SPI_INTF) - { - /* Configuring reg_addr for SPI Interface */ - reg_addr = (reg_addr & BMI08X_SPI_WR_MASK); - } - - /* write to an accel register */ - rslt = dev->write(dev->accel_id, reg_addr, reg_data, len); - - if (rslt != BMI08X_OK) - { - /* Updating the error status */ - rslt = BMI08X_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API configures the pins which fire the - * interrupt signal when any interrupt occurs. - */ -static int8_t set_int_pin_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t reg_addr = 0, data, is_channel_invalid = FALSE; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - - /* update reg_addr based on channel inputs */ - reg_addr = BMI08X_ACCEL_INT1_IO_CONF_REG; - break; - - case BMI08X_INT_CHANNEL_2: - - /* update reg_addr based on channel inputs */ - reg_addr = BMI08X_ACCEL_INT2_IO_CONF_REG; - break; - - default: - is_channel_invalid = TRUE; - break; - } - - if (!is_channel_invalid) - { - /* Read interrupt pin configuration register */ - rslt = get_regs(reg_addr, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Update data with user configured bmi08x_int_cfg structure */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_LVL, int_config->int_pin_cfg.lvl); - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_OD, int_config->int_pin_cfg.output_mode); - - if (int_config->int_type == BMI08X_ACCEL_SYNC_INPUT) - { - data = BMI08X_SET_BITS_POS_0(data, BMI08X_ACCEL_INT_EDGE, BMI08X_ENABLE); - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_IN, int_config->int_pin_cfg.enable_int_pin); - data = BMI08X_SET_BIT_VAL_0(data, BMI08X_ACCEL_INT_IO); - } - else - { - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_IO, int_config->int_pin_cfg.enable_int_pin); - data = BMI08X_SET_BIT_VAL_0(data, BMI08X_ACCEL_INT_IN); - } - - /* Write to interrupt pin configuration register */ - rslt = set_regs(reg_addr, &data, 1, dev); - } - } - else - { - rslt = BMI08X_E_INVALID_INPUT; - } - - return rslt; -} - -/*! - * @brief This API sets the data ready interrupt for accel sensor. - */ -static int8_t set_accel_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0, conf; - - /* Read interrupt map register */ - rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - conf = int_config->int_pin_cfg.enable_int_pin; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - - /* Updating the data */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT1_DRDY, conf); - break; - - case BMI08X_INT_CHANNEL_2: - - /* Updating the data */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_DRDY, conf); - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - /* Configure interrupt pins */ - rslt = set_int_pin_config(int_config, dev); - - if (rslt == BMI08X_OK) - { - /* Write to interrupt map register */ - rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the synchronized data ready interrupt for accel sensor - */ -static int8_t set_accel_sync_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data, reg_addr = 0; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - - data = BMI08X_ACCEL_INTA_DISABLE; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - reg_addr = BMI08X_ACCEL_INT1_MAP_REG; - break; - - case BMI08X_INT_CHANNEL_2: - reg_addr = BMI08X_ACCEL_INT2_MAP_REG; - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - if (int_config->int_pin_cfg.enable_int_pin == BMI08X_ENABLE) - { - /*interrupt A mapped to INT1/INT2 */ - data = BMI08X_ACCEL_INTA_ENABLE; - } - - /* Write to interrupt map register */ - rslt = set_regs(reg_addr, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /*set input interrupt configuration*/ - rslt = set_int_pin_config(int_config, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API configures the given interrupt channel as input for accel sensor - */ -static int8_t set_accel_sync_input(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - /*set input interrupt configuration*/ - rslt = set_int_pin_config(int_config, dev); - } - - return rslt; -} - -/*! - * @brief This API sets the anymotion interrupt for accel sensor - */ -static int8_t set_accel_anymotion_int(const struct bmi08x_accel_int_channel_cfg *int_config, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data, reg_addr = 0; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - if (rslt == BMI08X_OK) - { - - data = BMI08X_ACCEL_INTB_DISABLE; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - reg_addr = BMI08X_ACCEL_INT1_MAP_REG; - break; - - case BMI08X_INT_CHANNEL_2: - reg_addr = BMI08X_ACCEL_INT2_MAP_REG; - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - if (int_config->int_pin_cfg.enable_int_pin == BMI08X_ENABLE) - { - /*interrupt B mapped to INT1/INT2 */ - data = BMI08X_ACCEL_INTB_ENABLE; - } - - /* Write to interrupt map register */ - rslt = set_regs(reg_addr, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /*set input interrupt configuration*/ - rslt = set_int_pin_config(int_config, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API writes the config stream data in memory using burst mode. - */ -static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t asic_msb = (uint8_t)((index / 2) >> 4); - uint8_t asic_lsb = ((index / 2) & 0x0F); - - /* Write to feature config register */ - rslt = set_regs(BMI08X_ACCEL_RESERVED_5B_REG, &asic_lsb, 1, dev); - if (rslt == BMI08X_OK) - { - /* Write to feature config register */ - rslt = set_regs(BMI08X_ACCEL_RESERVED_5C_REG, &asic_msb, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Write to feature config registers */ - rslt = set_regs(BMI08X_ACCEL_FEATURE_CFG_REG, (uint8_t *)stream_data, dev->read_write_len, dev); - } - } - - return rslt; -} - -/*! - * @brief This API performs the pre-requisites needed to perform the self test - */ -static int8_t enable_self_test(struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Configuring sensors to perform accel self test */ - dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; - dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; - - /*check the chip id of the accel variant and assign the range */ -#if BMI08X_FEATURE_BMI085 == 1 - dev->accel_cfg.range = BMI085_ACCEL_RANGE_16G; -#elif BMI08X_FEATURE_BMI088 == 1 - dev->accel_cfg.range = BMI088_ACCEL_RANGE_24G; -#endif - - dev->accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE; - - /* Enable Accel sensor */ - rslt = bmi08a_set_power_mode(dev); - if (rslt == BMI08X_OK) - { - /* Configure sensors with above configured settings */ - rslt = bmi08a_set_meas_conf(dev); - - if (rslt == BMI08X_OK) - { - /* Self test delay */ - dev->delay_ms(BMI08X_SELF_TEST_DELAY_MS); - } - } - - return rslt; -} - -/*! - * @brief This API reads the accel data with the positive excitation - */ -static int8_t positive_excited_accel(struct bmi08x_sensor_data *accel_pos, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t reg_data = BMI08X_ACCEL_POSITIVE_SELF_TEST; - - /* Enable positive excitation for all 3 axes */ - rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); - if (rslt == BMI08X_OK) - { - /* Read accel data after 50ms delay */ - dev->delay_ms(BMI08X_SELF_TEST_DATA_READ_MS); - rslt = bmi08a_get_data(accel_pos, dev); - } - - return rslt; -} - -/*! - * @brief This API reads the accel data with the negative excitation - */ -static int8_t negative_excited_accel(struct bmi08x_sensor_data *accel_neg, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t reg_data = BMI08X_ACCEL_NEGATIVE_SELF_TEST; - - /* Enable negative excitation for all 3 axes */ - rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); - if (rslt == BMI08X_OK) - { - /* Read accel data after 50ms delay */ - dev->delay_ms(BMI08X_SELF_TEST_DATA_READ_MS); - rslt = bmi08a_get_data(accel_neg, dev); - - if (rslt == BMI08X_OK) - { - /* Disable self test */ - reg_data = BMI08X_ACCEL_SWITCH_OFF_SELF_TEST; - rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); - } - } - - return rslt; -} - -/*! - * @brief This API validates the self test results - */ -static int8_t validate_accel_self_test(const struct bmi08x_sensor_data *accel_pos, - const struct bmi08x_sensor_data *accel_neg) -{ - int8_t rslt; - - /*! Structure for difference of accel values in g */ - struct selftest_delta_limit accel_data_diff = { 0 }; - - /*! Structure for difference of accel values in mg */ - struct selftest_delta_limit accel_data_diff_mg = { 0 }; - - accel_data_diff.x = (uint16_t) (BMI08X_ABS(accel_pos->x) + BMI08X_ABS(accel_neg->x)); - accel_data_diff.y = (uint16_t) (BMI08X_ABS(accel_pos->y) + BMI08X_ABS(accel_neg->y)); - accel_data_diff.z = (uint16_t) (BMI08X_ABS(accel_pos->z) + BMI08X_ABS(accel_neg->z)); - - /*! Converting LSB of the differences of - * accel values to mg */ - convert_lsb_g(&accel_data_diff, &accel_data_diff_mg); - - /* Validating accel data by comparing with minimum value of the axes in mg */ - /* x axis limit 1000mg, y axis limit 1000mg and z axis limit 500mg */ - if (accel_data_diff_mg.x >= 1000 && accel_data_diff_mg.y >= 1000 && accel_data_diff_mg.z >= 500) - { - /* Updating Okay status */ - rslt = BMI08X_OK; - } - else - { - /* Updating Error status */ - rslt = BMI08X_W_SELF_TEST_FAIL; - } - - return rslt; -} - -/*! - * @brief This API converts lsb value of axes to mg for self-test. - */ -static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff, - struct selftest_delta_limit *accel_data_diff_mg) -{ - /* accel x value in mg */ - accel_data_diff_mg->x = (uint16_t) ((accel_data_diff->x / (int32_t)LSB_PER_G) * 1000); - - /* accel y value in mg */ - accel_data_diff_mg->y = (uint16_t) ((accel_data_diff->y / (int32_t)LSB_PER_G) * 1000); - - /* accel z value in mg */ - accel_data_diff_mg->z = (uint16_t) ((accel_data_diff->z / (int32_t)LSB_PER_G) * 1000); -} - -/*! - * @brief This internal API is used to parse and store the skipped frame count - * from the FIFO data. - */ -static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo) -{ - /* Variables to define error */ - int8_t rslt = BMI08X_OK; - - /* Validate data index */ - if ((*data_index) >= fifo->length) - { - /* Update the data index to the last byte */ - (*data_index) = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - } - else - { - /* Update skipped frame count in the FIFO structure */ - fifo->skipped_frame_count = fifo->data[(*data_index)]; - - /* Move the data index by 1 byte */ - (*data_index) = (*data_index) + 1; - - /* More frames could be read */ - rslt = BMI08X_W_PARTIAL_READ; - } - - return rslt; -} - -/*! - * @brief This internal API is used to reset the FIFO related configurations in - * the FIFO frame structure for the next FIFO read. - */ -static void reset_fifo_frame_structure(struct bmi08x_fifo_frame *fifo) -{ - /* Reset FIFO data structure */ - fifo->acc_byte_start_idx = 0; - fifo->sensor_time = 0; - fifo->skipped_frame_count = 0; -} - -/*! - * @brief This internal API is used to parse accelerometer data from the - * FIFO data. - */ -static void unpack_accel_data(struct bmi08x_sensor_data *acc, - uint16_t data_start_index, - const struct bmi08x_fifo_frame *fifo) -{ - /* Variables to store LSB value */ - uint16_t data_lsb; - - /* Variables to store MSB value */ - uint16_t data_msb; - - /* Accelerometer raw x data */ - data_lsb = fifo->data[data_start_index++]; - data_msb = fifo->data[data_start_index++]; - acc->x = (int16_t)((data_msb << 8) | data_lsb); - - /* Accelerometer raw y data */ - data_lsb = fifo->data[data_start_index++]; - data_msb = fifo->data[data_start_index++]; - acc->y = (int16_t)((data_msb << 8) | data_lsb); - - /* Accelerometer raw z data */ - data_lsb = fifo->data[data_start_index++]; - data_msb = fifo->data[data_start_index++]; - acc->z = (int16_t)((data_msb << 8) | data_lsb); - -} - -/*! - * @brief This internal API is used to parse the accelerometer data from the - * FIFO data in header mode. It updates the current data - * byte to be parsed. - */ -static int8_t unpack_accel_frame(struct bmi08x_sensor_data *acc, - uint16_t *idx, - uint16_t *acc_idx, - uint16_t frame, - const struct bmi08x_fifo_frame *fifo) -{ - /* Variable to define error */ - int8_t rslt = BMI08X_OK; - - switch (frame) - { - /* If frame contains only accelerometer data */ - case BMI08X_FIFO_HEADER_ACC_FRM: - - /* Partially read, then skip the data */ - if (((*idx) + fifo->acc_frm_len) > fifo->length) - { - /* Update the data index as complete*/ - (*idx) = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - break; - } - - /* Get the accelerometer data */ - unpack_accel_data(&acc[(*acc_idx)], *idx, fifo); - - /* Update data index */ - (*idx) = (*idx) + BMI08X_FIFO_ACCEL_LENGTH; - - /* Update accelerometer frame index */ - (*acc_idx)++; - - break; - default: - - /* Move the data index to the last byte in case of invalid values */ - (*idx) = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - break; - } - - return rslt; -} - -/*! - * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi08x_fifo_frame *fifo) -{ - /* Variables to define error */ - int8_t rslt = BMI08X_OK; - - /* Validate data index */ - if (((*data_index) + current_frame_length) > fifo->length) - { - /* Move the data index to the last byte */ - (*data_index) = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - } - else - { - /* Move the data index to next frame */ - (*data_index) = (*data_index) + current_frame_length; - - } - - return rslt; -} - -/*! - * @brief This internal API is used to parse and store the sensor time from the - * FIFO data. - */ -static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo) -{ - /* Variables to define error */ - int8_t rslt = BMI08X_OK; - - /* Variables to define 3 bytes of sensor time */ - uint32_t sensor_time_byte3 = 0; - uint16_t sensor_time_byte2 = 0; - uint8_t sensor_time_byte1 = 0; - - /* Validate data index */ - if (((*data_index) + BMI08X_SENSOR_TIME_LENGTH) > fifo->length) - { - /* Move the data index to the last byte */ - (*data_index) = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - } - else - { - /* Get sensor time from the FIFO data */ - sensor_time_byte3 = fifo->data[(*data_index) + BMI08X_SENSOR_TIME_MSB_BYTE] << 16; - sensor_time_byte2 = fifo->data[(*data_index) + BMI08X_SENSOR_TIME_XLSB_BYTE] << 8; - sensor_time_byte1 = fifo->data[(*data_index)]; - - /* Update sensor time in the FIFO structure */ - fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); - - /* Move the data index by 3 bytes */ - (*data_index) = (*data_index) + BMI08X_SENSOR_TIME_LENGTH; - - } - - return rslt; -} - -/*! - * @brief This internal API is used to parse the accelerometer data from the - * FIFO in header mode. - */ -static int8_t extract_acc_header_mode(struct bmi08x_sensor_data *acc, - uint16_t *accel_length, - struct bmi08x_fifo_frame *fifo, - const struct bmi08x_dev *dev) -{ - /* Variable to define error */ - int8_t rslt = BMI08X_OK; - - /* Variable to define header frame */ - uint8_t frame_header = 0; - - /* Variable to index the data bytes */ - uint16_t data_index; - - /* Variable to index accelerometer frames */ - uint16_t accel_index = 0; - - /* Variable to indicate accelerometer frames read */ - uint16_t frame_to_read = *accel_length; - - /* Check if this is the first iteration of data unpacking - * if yes, then consider dummy byte on SPI - */ - if (fifo->acc_byte_start_idx == 0) - { - fifo->acc_byte_start_idx = dev->dummy_byte; - } - for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;) - { - /* Get frame header byte */ - frame_header = fifo->data[data_index]; - - /* Index shifted to next byte where data starts */ - data_index++; - switch (frame_header) - { - /* If header defines accelerometer frame */ - case BMI08X_FIFO_HEADER_ACC_FRM: - case BMI08X_FIFO_HEADER_ALL_FRM: - - /* Unpack from normal frames */ - rslt = unpack_accel_frame(acc, &data_index, &accel_index, frame_header, fifo); - break; - - /* If header defines sensor time frame */ - case BMI08X_FIFO_HEADER_SENS_TIME_FRM: - rslt = unpack_sensortime_frame(&data_index, fifo); - break; - - /* If header defines skip frame */ - case BMI08X_FIFO_HEADER_SKIP_FRM: - rslt = unpack_skipped_frame(&data_index, fifo); - break; - - /* If header defines Input configuration frame */ - case BMI08X_FIFO_HEADER_INPUT_CFG_FRM: - rslt = move_next_frame(&data_index, BMI08X_FIFO_INPUT_CFG_LENGTH, fifo); - break; - - /* If header defines sample drop frame */ - case BMI08X_FIFO_SAMPLE_DROP_FRM: - rslt = move_next_frame(&data_index, BMI08X_FIFO_INPUT_CFG_LENGTH, fifo); - break; - - /* If header defines invalid frame or end of valid data */ - case BMI08X_FIFO_HEAD_OVER_READ_MSB: - - /* Move the data index to the last byte to mark completion */ - data_index = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - break; - default: - - /* Move the data index to the last byte in case of invalid values */ - data_index = fifo->length; - - /* FIFO is empty */ - rslt = BMI08X_W_FIFO_EMPTY; - break; - } - - /* Break if Number of frames to be read is complete or FIFO is mpty */ - if ((frame_to_read == accel_index) || (rslt == BMI08X_W_FIFO_EMPTY)) - { - break; - } - } - - /* Update the accelerometer frame index */ - (*accel_length) = accel_index; - - /* Update the accelerometer byte index */ - fifo->acc_byte_start_idx = data_index; - - return rslt; -} - -/*! - * @brief This API sets the FIFO water mark interrupt for accel sensor. - */ -static int8_t set_fifo_wm_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0, conf; - - /* Read interrupt map register */ - rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - conf = int_config->int_pin_cfg.enable_int_pin; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - - /* Updating the data */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT1_FWM, conf); - break; - - case BMI08X_INT_CHANNEL_2: - - /* Updating the data */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_FWM, conf); - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - /* Configure interrupt pins */ - rslt = set_int_pin_config(int_config, dev); - - if (rslt == BMI08X_OK) - { - /* Write to interrupt map register */ - rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - } - } - } - - return rslt; -} - -/*! - * @brief This API sets the FIFO full interrupt for accel sensor. - */ -static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0, conf; - - /* Read interrupt map register */ - rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - conf = int_config->int_pin_cfg.enable_int_pin; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_1: - - /* Updating the data */ - data = BMI08X_SET_BITS_POS_0(data, BMI08X_ACCEL_INT1_FFULL, conf); - break; - - case BMI08X_INT_CHANNEL_2: - - /* Updating the data */ - data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_FFULL, conf); - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - /* Configure interrupt pins */ - rslt = set_int_pin_config(int_config, dev); - - if (rslt == BMI08X_OK) - { - /* Write to interrupt map register */ - rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); - } - } - } - - return rslt; -} - -/** @}*/ +/** +* 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 bmi08a.c +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi08a.c + * \brief Sensor Driver for BMI08x family of sensors */ + +/****************************************************************************/ + +/**\name Header files + ****************************************************************************/ +#include "bmi08x.h" + +/****************************************************************************/ + +/** \name Macros + ****************************************************************************/ +#if BMI08X_FEATURE_BMI085 == 1 + +/**\name Value of LSB_PER_G = (power(2, BMI08X_16_BIT_RESOLUTION) / (2 * range)) */ +#define LSB_PER_G UINT32_C(2048) /* for the 16-bit resolution and 16g range */ +#elif BMI08X_FEATURE_BMI088 == 1 + +/**\name Value of LSB_PER_G = (power(2, BMI08X_16_BIT_RESOLUTION) / (2 * range)) */ +#define LSB_PER_G UINT32_C(1365) /* for the 16-bit resolution and 24g range */ +#endif + +/****************************************************************************/ + +/**\name Local structures + ****************************************************************************/ + +/*! + * @brief Accel self test diff xyz data structure + */ +struct selftest_delta_limit +{ + /*! Accel X data */ + uint16_t x; + + /*! Accel Y data */ + uint16_t y; + + /*! Accel Z data */ + uint16_t z; +}; + +/**\name Feature configuration file */ +const uint8_t bmi08x_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x4b, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, + 0x2e, 0x80, 0x2e, 0xa7, 0x00, 0x80, 0x2e, 0x83, 0x00, 0x80, 0x2e, 0x15, 0x01, 0x50, 0x39, 0x21, 0x2e, 0xb0, 0xf0, + 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0x9c, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8b, 0xf6, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, + 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, + 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, + 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x50, 0x80, 0x7f, + 0xe7, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f, 0xf6, 0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, + 0x2e, 0x43, 0xf0, 0x08, 0xbc, 0x0f, 0xb8, 0x60, 0x7f, 0x00, 0x2e, 0x60, 0x6f, 0x00, 0xb2, 0x01, 0x2f, 0x98, 0x2e, + 0x12, 0xb2, 0x40, 0x30, 0x21, 0x2e, 0xb8, 0xf0, 0xf6, 0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, + 0x6f, 0xe7, 0x6f, 0x7b, 0x6f, 0x80, 0x6f, 0x60, 0x5f, 0xc8, 0x2e, 0xa0, 0x50, 0x80, 0x7f, 0xe7, 0x7f, 0xd5, 0x7f, + 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f, 0xf6, 0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x29, 0xf0, 0x08, + 0xbc, 0x0f, 0xb8, 0x60, 0x7f, 0x00, 0x2e, 0x60, 0x6f, 0x01, 0x90, 0x1b, 0x2f, 0x01, 0x2e, 0x02, 0x01, 0x0e, 0xbc, + 0x0e, 0xb8, 0x00, 0x90, 0x05, 0x2f, 0x01, 0x2e, 0x04, 0x01, 0x0f, 0xbc, 0x0f, 0xb8, 0x01, 0xb2, 0x0d, 0x2f, 0x01, + 0x2e, 0x63, 0x00, 0x01, 0x90, 0x04, 0x2f, 0x98, 0x2e, 0xa6, 0xb2, 0x00, 0x30, 0x21, 0x2e, 0x63, 0x00, 0x01, 0x2e, + 0x37, 0xf0, 0x21, 0x2e, 0x37, 0xf0, 0x02, 0x2d, 0x98, 0x2e, 0x7e, 0xb3, 0x80, 0x30, 0x21, 0x2e, 0xb8, 0xf0, 0xf6, + 0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe7, 0x6f, 0x7b, 0x6f, 0x80, 0x6f, 0x60, 0x5f, + 0xc8, 0x2e, 0x40, 0x30, 0x21, 0x2e, 0xba, 0xf0, 0xb8, 0x2e, 0x80, 0x30, 0x21, 0x2e, 0xba, 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Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the data from the given register address of accel sensor. + * + * @param[in] reg_addr : Register address from where the data to be read + * @param[out] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the given data to the register address + * of accel sensor. + * + * @param[in] reg_addr : Register address to where the data to be written. + * @param[in] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the pins which fire the + * interrupt signal when any interrupt occurs. + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_int_pin_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the data ready interrupt for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_accel_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the synchronized data ready interrupt for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_accel_sync_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the given interrupt channel as input for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_accel_sync_input(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the anymotion interrupt for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_accel_anymotion_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the config stream data in memory using burst mode + * + * @param[in] stream_data : Pointer to store data of 32 bytes + * @param[in] index : Represents value in multiple of 32 bytes + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, const struct bmi08x_dev *dev); + +/*! + * @brief This API performs the pre-requisites needed to perform the self test + * + * @param[in] dev : structure instance of bmi08x_dev + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t enable_self_test(struct bmi08x_dev *dev); + +/*! + * @brief This API reads the accel data with the positive excitation + * + * @param[out] accel_pos : Structure pointer to store accel data + * for positive excitation + * @param[in] dev : structure instance of bmi08x_dev + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t positive_excited_accel(struct bmi08x_sensor_data *accel_pos, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the accel data with the negative excitation + * + * @param[out] accel_neg : Structure pointer to store accel data + * for negative excitation + * @param[in] dev : structure instance of bmi08x_dev + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t negative_excited_accel(struct bmi08x_sensor_data *accel_neg, const struct bmi08x_dev *dev); + +/*! + * @brief This API validates the 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 -> Self test fail + */ +static int8_t validate_accel_self_test(const struct bmi08x_sensor_data *accel_pos, + const struct bmi08x_sensor_data *accel_neg); + +/*! + * @brief This API converts lsb value of axes to mg for self-test + * + * @param[in] accel_data_diff : Pointer variable used to pass accel difference + * values in g + * + * @param[out] accel_data_diff_mg : Pointer variable used to store accel + * difference values in mg + * + * @return None + */ +static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff, + struct selftest_delta_limit *accel_data_diff_mg); + +/*! + * @brief This internal API is used to parse accelerometer data from the FIFO + * data. + * + * @param[out] acc : Structure instance of bmi08x_sensor_data + * where the parsed data bytes are stored. + * @param[in] data_start_index : Index value of the accelerometer data bytes + * which is to be parsed from the FIFO data. + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return None + * @retval None + */ +static void unpack_accel_data(struct bmi08x_sensor_data *acc, + uint16_t data_start_index, + const struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal API is used to parse the accelerometer data from the + * FIFO data in both header and header-less mode. It updates the current data + * byte to be parsed. + * + * @param[in,out] acc : Structure instance of bmi08x_sensor_data where + * where the parsed data bytes are stored. + * @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) + * frame to be parsed. + * @param[in] frame : Either data is enabled by user in header-less + * mode or header frame value in header mode. + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + */ +static int8_t unpack_accel_frame(struct bmi08x_sensor_data *acc, + uint16_t *idx, + uint16_t *acc_idx, + uint16_t frame, + const struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal API is used to parse and store the skipped frame count + * from the FIFO data. + * + * @param[in,out] data_index : Index of the FIFO data which contains skipped + * frame count. + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read + */ +static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal 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 the current frame. + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read + */ +static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal API is used to parse and store the sensor time from the + * FIFO data. + * + * @param[in,out] data_index : Index of the FIFO data which has the sensor time. + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read + */ +static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal API is used to reset the FIFO related configurations + * in the FIFO frame structure for the next FIFO read. + * + * @param[in, out] fifo : Structure instance of bmi08x_fifo_frame. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return None + * @retval None + */ +static void reset_fifo_frame_structure(struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This internal API is used to parse accelerometer data from the FIFO + * data in header mode. + * + * @param[out] acc : Structure instance of bmi08x_sens_data where + * the parsed accelerometer data bytes are stored. + * @param[in] accel_length : Number of accelerometer frames (x,y,z data). + * @param[in] fifo : Structure instance of bmi08x_fifo_frame. + * + * @return Result of API execution status + * + * @retval BMIX8X_OK - Success. + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read + */ +static int8_t extract_acc_header_mode(struct bmi08x_sensor_data *acc, + uint16_t *accel_length, + struct bmi08x_fifo_frame *fifo); + +/*! + * @brief This API sets the FIFO watermark interrupt for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_fifo_wm_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the FIFO full interrupt for accel sensor + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/****************************************************************************/ + +/**\name Extern Declarations + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Globals + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point for accel sensor. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel sensor. + */ +int8_t bmi08a_init(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t chip_id = 0; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + if (dev->intf == BMI08X_SPI_INTF) + { + /* Set dummy byte in case of SPI interface */ + dev->dummy_byte = BMI08X_ENABLE; + + /* Dummy read of Chip-ID in SPI mode */ + rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &chip_id, 1, dev); + } + else + { + /* Make dummy byte 0 in case of I2C interface */ + dev->dummy_byte = BMI08X_DISABLE; + } + if (rslt == BMI08X_OK) + { + rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &chip_id, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Check for chip id validity */ + if (chip_id == BMI08X_ACCEL_CHIP_ID) + { + /* Store the chip ID in dev structure */ + dev->accel_chip_id = chip_id; + } + else + { + rslt = BMI08X_E_DEV_NOT_FOUND; + } + } + } + } + + return rslt; +} + +/*! + * @brief This API is used to write the binary configuration in the sensor. + */ +int8_t bmi08a_write_config_file(const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Config loading disable*/ + uint8_t config_load = BMI08X_DISABLE; + uint8_t current_acc_pwr_ctrl = 0; + uint16_t index = 0; + uint8_t reg_data = 0; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Check if config file pointer is not null */ + if ((rslt == BMI08X_OK) && (dev->config_file_ptr != NULL)) + { + + /* Check whether the read/write length is valid */ + if (dev->read_write_len > 0) + { + /* deactivate accel, otherwise post processing can not be enabled safely */ + rslt = get_regs(BMI08X_ACCEL_PWR_CTRL_REG, ¤t_acc_pwr_ctrl, 1, dev); + if (rslt != BMI08X_OK) + { + return rslt; + } + + rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, &config_load, 1, dev); + if (rslt == BMI08X_OK) + { + /*delay required to switch power modes*/ + dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); + } + else + { + return rslt; + } + + /* Disable config loading*/ + rslt = set_regs(BMI08X_ACCEL_INIT_CTRL_REG, &config_load, 1, dev); + + if (rslt == BMI08X_OK) + { + for (index = 0; index < BMI08X_CONFIG_STREAM_SIZE; + index += dev->read_write_len) + { + /* Write the config stream */ + rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev); + } + if (rslt == BMI08X_OK) + { + /* Enable config loading and FIFO mode */ + config_load = BMI08X_ENABLE; + + rslt = set_regs(BMI08X_ACCEL_INIT_CTRL_REG, &config_load, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Wait till ASIC is initialized. Refer the data-sheet for more information */ + dev->delay_ms(BMI08X_ASIC_INIT_TIME_MS); + + /* Check for config initialization status (1 = OK)*/ + rslt = get_regs(BMI08X_ACCEL_INTERNAL_STAT_REG, ®_data, 1, dev); + } + if (rslt == BMI08X_OK && reg_data != 1) + { + rslt = BMI08X_E_CONFIG_STREAM_ERROR; + } + else + { + /* reactivate accel */ + rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, ¤t_acc_pwr_ctrl, 1, dev); + if (rslt == BMI08X_OK) + { + /*delay required to switch power modes*/ + dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); + } + } + } + } + } + else + { + rslt = BMI08X_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API writes the feature configuration to the accel sensor. + */ +int8_t bmi08a_write_feature_config(uint8_t reg_addr, const uint16_t *reg_data, uint8_t len, + const struct bmi08x_dev *dev) +{ + + int8_t rslt; + uint16_t read_length = (reg_addr * 2) + (len * 2); + uint8_t feature_data[read_length]; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + /* Read feature space up to the given feature position */ + rslt = bmi08a_get_regs(BMI08X_ACCEL_FEATURE_CFG_REG, &feature_data[0], read_length, dev); + + if (rslt == BMI08X_OK) + { + /* Apply the given feature config. */ + for (int i = 0; i < len; ++i) + { + /* Be careful: the feature config space is 16bit aligned! */ + feature_data[(reg_addr * 2) + (i * 2)] = reg_data[i] & 0xFF; + feature_data[(reg_addr * 2) + (i * 2) + 1] = reg_data[i] >> 8; + } + + /* Write back updated feature space */ + rslt = bmi08a_set_regs(BMI08X_ACCEL_FEATURE_CFG_REG, &feature_data[0], read_length, dev); + } + } + + return rslt; +} + +/*! + * @brief This API reads the data from the given register address of accel sensor. + */ +int8_t bmi08a_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (reg_data != NULL)) + { + if (len > 0) + { + /* Reading from the register */ + rslt = get_regs(reg_addr, reg_data, len, dev); + } + else + { + rslt = BMI08X_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API writes the given data to the register address + * of accel sensor. + */ +int8_t bmi08a_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (reg_data != NULL)) + { + if (len > 0) + { + /* Writing to the register */ + rslt = set_regs(reg_addr, reg_data, len, dev); + } + else + { + rslt = BMI08X_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the error status from the accel sensor. + */ +int8_t bmi08a_get_error_status(struct bmi08x_err_reg *err_reg, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + if (err_reg != NULL) + { + /* Read the error codes */ + rslt = get_regs(BMI08X_ACCEL_ERR_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Fatal error */ + err_reg->fatal_err = BMI08X_GET_BITS_POS_0(data, BMI08X_FATAL_ERR); + + /* User error */ + err_reg->err_code = BMI08X_GET_BITS(data, BMI08X_ERR_CODE); + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + } + + return rslt; +} + +/*! + * @brief This API reads the status of the accel sensor. + */ +int8_t bmi08a_get_status(uint8_t *status, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (status != NULL)) + { + /* Read the status */ + rslt = get_regs(BMI08X_ACCEL_STATUS_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Updating the status */ + *status = BMI08X_GET_BITS(data, BMI08X_ACCEL_STATUS); + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API resets the accel sensor. + */ +int8_t bmi08a_soft_reset(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + data = BMI08X_SOFT_RESET_CMD; + + /* Reset accel device */ + rslt = set_regs(BMI08X_ACCEL_SOFTRESET_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Delay 1 ms after reset value is written to its register */ + dev->delay_ms(BMI08X_ACCEL_SOFTRESET_DELAY_MS); + + /* After soft reset SPI mode in the initialization phase, need to perform a dummy SPI read + * operation, The soft-reset performs a fundamental reset to the device, + * which is largely equivalent to a power cycle. */ + if (dev->intf == BMI08X_SPI_INTF) + { + /* Dummy SPI read operation of Chip-ID */ + rslt = get_regs(BMI08X_ACCEL_CHIP_ID_REG, &data, 1, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API reads the accel config value i.e. odr, band width and range from the sensor, + * store it in the bmi08x_dev structure instance passed by the user. + * + */ +int8_t bmi08a_get_meas_conf(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data[2]; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + rslt = get_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); + + if (rslt == BMI08X_OK) + { + dev->accel_cfg.odr = data[0] & BMI08X_ACCEL_ODR_MASK; + dev->accel_cfg.bw = (data[0] & BMI08X_ACCEL_BW_MASK) >> 4; + dev->accel_cfg.range = data[1] & BMI08X_ACCEL_RANGE_MASK; + } + } + + return rslt; +} + +/*! + * @brief This API sets the output data rate, range and bandwidth + * of accel sensor. + */ +int8_t bmi08a_set_meas_conf(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0 }; + uint8_t bw, range, odr; + uint8_t is_odr_invalid = FALSE, is_bw_invalid = FALSE, is_range_invalid = FALSE; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + odr = dev->accel_cfg.odr; + bw = dev->accel_cfg.bw; + range = dev->accel_cfg.range; + + /* Check for valid ODR */ + if ((odr < BMI08X_ACCEL_ODR_12_5_HZ) || (odr > BMI08X_ACCEL_ODR_1600_HZ)) + { + /* Updating the status */ + is_odr_invalid = TRUE; + } + + /* Check for valid bandwidth */ + if (bw > BMI08X_ACCEL_BW_NORMAL) + { + /* Updating the status */ + is_bw_invalid = TRUE; + } + +#if BMI08X_FEATURE_BMI085 == 1 + + /* Check for valid Range */ + if (range > BMI085_ACCEL_RANGE_16G) + { + /* Updating the status */ + is_range_invalid = TRUE; + } + +#elif BMI08X_FEATURE_BMI088 == 1 + + /* Check for valid Range */ + if (range > BMI088_ACCEL_RANGE_24G) + { + /* Updating the status */ + is_range_invalid = TRUE; + } + +#endif + + /* If ODR, BW and Range are valid, write it to accel config. registers */ + if ((!is_odr_invalid) && (!is_bw_invalid) && (!is_range_invalid)) + { + /* Read accel config. register */ + rslt = get_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); + if (rslt == BMI08X_OK) + { + /* Update data with new odr and bw values */ + data[0] = BMI08X_SET_BITS_POS_0(data[0], BMI08X_ACCEL_ODR, odr); + data[0] = BMI08X_SET_BITS(data[0], BMI08X_ACCEL_BW, bw); + + /* Update data with current range values */ + data[1] = BMI08X_SET_BITS_POS_0(data[1], BMI08X_ACCEL_RANGE, range); + + /* write to range register */ + rslt = set_regs(BMI08X_ACCEL_CONF_REG, data, 2, dev); + } + } + else + { + /* Invalid configuration present in ODR, BW, Range */ + rslt = BMI08X_E_INVALID_CONFIG; + } + } + + return rslt; +} + +/*! + * @brief This API reads the accel power mode from the sensor, store it in the bmi08x_dev structure + * instance passed by the user. + */ +int8_t bmi08a_get_power_mode(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + rslt = get_regs(BMI08X_ACCEL_PWR_CONF_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Updating the current power mode */ + dev->accel_cfg.power = data; + } + } + + return rslt; +} + +/*! + * @brief This API sets the power mode of the accel sensor. + */ +int8_t bmi08a_set_power_mode(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t power_mode; + uint8_t data[2]; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + power_mode = dev->accel_cfg.power; + + /* Configure data array to write to accel power configuration register */ + if (power_mode == BMI08X_ACCEL_PM_ACTIVE) + { + data[0] = BMI08X_ACCEL_PM_ACTIVE; + data[1] = BMI08X_ACCEL_POWER_ENABLE; + } + else if (power_mode == BMI08X_ACCEL_PM_SUSPEND) + { + data[0] = BMI08X_ACCEL_PM_SUSPEND; + data[1] = BMI08X_ACCEL_POWER_DISABLE; + } + else + { + /* Invalid power input */ + rslt = BMI08X_E_INVALID_INPUT; + } + + if (rslt == BMI08X_OK) + { + /*enable accel sensor*/ + rslt = set_regs(BMI08X_ACCEL_PWR_CONF_REG, &data[0], 1, dev); + + if (rslt == BMI08X_OK) + { + /*delay between power ctrl and power config*/ + dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); + + /* write to accel power configuration register */ + rslt = set_regs(BMI08X_ACCEL_PWR_CTRL_REG, &data[1], 1, dev); + + if (rslt == BMI08X_OK) + { + /*delay required to switch power modes*/ + dev->delay_ms(BMI08X_POWER_CONFIG_DELAY); + } + } + + } + } + + return rslt; +} + +/*! + * @brief This API reads the accel data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + */ +int8_t bmi08a_get_data(struct bmi08x_sensor_data *accel, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data[6]; + uint8_t lsb, msb; + uint16_t msblsb; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (accel != NULL)) + { + /* Read accel sensor data */ + rslt = get_regs(BMI08X_ACCEL_X_LSB_REG, data, 6, dev); + + if (rslt == BMI08X_OK) + { + lsb = data[0]; + msb = data[1]; + msblsb = (msb << 8) | lsb; + accel->x = ((int16_t) msblsb); /* Data in X axis */ + + lsb = data[2]; + msb = data[3]; + msblsb = (msb << 8) | lsb; + accel->y = ((int16_t) msblsb); /* Data in Y axis */ + + lsb = data[4]; + msb = data[5]; + msblsb = (msb << 8) | lsb; + accel->z = ((int16_t) msblsb); /* Data in Z axis */ + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API configures the necessary accel interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + */ +int8_t bmi08a_set_int_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (int_config != NULL)) + { + switch (int_config->int_type) + { + case BMI08X_ACCEL_DATA_RDY_INT: + + /* Data ready interrupt */ + rslt = set_accel_data_ready_int(int_config, dev); + break; + case BMI08X_ACCEL_SYNC_DATA_RDY_INT: + + /* synchronized data ready interrupt */ + rslt = set_accel_sync_data_ready_int(int_config, dev); + break; + case BMI08X_ACCEL_SYNC_INPUT: + + /* input for synchronization on accel */ + rslt = set_accel_sync_input(int_config, dev); + break; + case BMI08X_ACCEL_ANYMOTION_INT: + + /* Anymotion interrupt */ + rslt = set_accel_anymotion_int(int_config, dev); + break; + case BMI08X_FIFO_WM_INT: + + /* FIFO watermark interrupt */ + rslt = set_fifo_wm_int(int_config, dev); + break; + case BMI08X_FIFO_FULL_INT: + + /* FIFO full interrupt */ + rslt = set_fifo_full_int(int_config, dev); + break; + default: + rslt = BMI08X_E_INVALID_CONFIG; + break; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the temperature of the sensor in degree Celcius. + */ +int8_t bmi08a_get_sensor_temperature(const struct bmi08x_dev *dev, int32_t *sensor_temp) +{ + int8_t rslt; + uint8_t data[2] = { 0 }; + uint16_t msb, lsb; + uint16_t msblsb; + int16_t temp; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (sensor_temp != NULL)) + { + /* Read sensor temperature */ + rslt = get_regs(BMI08X_TEMP_MSB_REG, data, 2, dev); + + if (rslt == BMI08X_OK) + { + msb = (data[0] << 3); /* MSB data */ + lsb = (data[1] >> 5); /* LSB data */ + msblsb = (uint16_t) (msb + lsb); + + if (msblsb > 1023) + { + /* Updating the msblsb */ + temp = (int16_t) (msblsb - 2048); + } + else + { + temp = (int16_t) msblsb; + } + + /* sensor temperature */ + *sensor_temp = (temp * 125) + 23000; + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; + +} + +/*! + * @brief This API reads the sensor time of the accel sensor. + */ +int8_t bmi08a_get_sensor_time(const struct bmi08x_dev *dev, uint32_t *sensor_time) +{ + int8_t rslt; + uint8_t data[3] = { 0 }; + uint32_t byte2, byte1, byte0; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (sensor_time != NULL)) + { + /* Read 3-byte sensor time */ + rslt = get_regs(BMI08X_ACCEL_SENSORTIME_0_REG, data, 3, dev); + + if (rslt == BMI08X_OK) + { + byte0 = data[0]; /* Lower byte */ + byte1 = (data[1] << 8); /* Middle byte */ + byte2 = (data[2] << 16); /* Higher byte */ + + /* Sensor time */ + *sensor_time = (byte2 | byte1 | byte0); + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API checks whether the self test functionality of the sensor + * is working or not. + */ +int8_t bmi08a_perform_selftest(struct bmi08x_dev *dev) +{ + int8_t rslt; + int8_t self_test_rslt = 0; + struct bmi08x_sensor_data accel_pos, accel_neg; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* pre-requisites for self test */ + rslt = enable_self_test(dev); + + if (rslt == BMI08X_OK) + { + rslt = positive_excited_accel(&accel_pos, dev); + + if (rslt == BMI08X_OK) + { + rslt = negative_excited_accel(&accel_neg, dev); + + if (rslt == BMI08X_OK) + { + /* Validate the self test result */ + rslt = validate_accel_self_test(&accel_pos, &accel_neg); + + /* Store the status of self test result */ + self_test_rslt = rslt; + + /* Perform soft reset */ + rslt = bmi08a_soft_reset(dev); + + /* Check to ensure bus operations are success */ + if (rslt == BMI08X_OK) + { + /* Restore self_test_rslt as return value */ + rslt = self_test_rslt; + } + } + } + } + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO configuration in the sensor. + */ +int8_t bmi08a_set_fifo_config(const struct accel_fifo_config *config, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store the default value of FIFO configuration + * reserved registers + */ + uint8_t data_array[2] = { 0 }; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + if (rslt == BMI08X_OK) + { + /* Get the FIFO configurations from the FIFO configure_1 and configure_2 register */ + rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_0_ADDR, data_array, 2, dev); + if (rslt == BMI08X_OK) + { + /* To set the stream mode or FIFO mode */ + data_array[0] = BMI08X_SET_BITS_POS_0(data_array[0], BMI08X_ACC_FIFO_MODE_CONFIG, config->mode); + + /* To enable the Accel in FIFO configuration */ + data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_EN, config->accel_en); + + /* To enable the interrupt_1 in FIFO configuration */ + data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_INT1_EN, config->int1_en); + + /* To enable the interrupt_2 in FIFO configuration */ + data_array[1] = BMI08X_SET_BITS(data_array[1], BMI08X_ACCEL_INT2_EN, config->int2_en); + + rslt = bmi08a_set_regs(BMI08X_FIFO_CONFIG_0_ADDR, data_array, 2, dev); + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the FIFO configuration from the sensor. + */ +int8_t bmi08a_get_fifo_config(struct accel_fifo_config *config, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store data */ + uint8_t data[2] = { 0 }; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if ((rslt == BMI08X_OK) && (config != NULL)) + { + /* Get the FIFO configuration value */ + rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_0_ADDR, data, BMI08X_FIFO_CONFIG_LENGTH, dev); + if (rslt == BMI08X_OK) + { + /* Get mode selection */ + config->mode = BMI08X_GET_BITS_POS_0(data[0], BMI08X_ACC_FIFO_MODE_CONFIG); + + /* Get the accel enable */ + config->accel_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_EN); + + /* Get the interrupt_1 enable/disable */ + config->int1_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_INT1_EN); + + /* Get the interrupt_2 enable/disable */ + config->int2_en = BMI08X_GET_BITS(data[1], BMI08X_ACCEL_INT2_EN); + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the FIFO data. + */ +int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store FIFO configuration data */ + uint8_t config_data = 0; + + /* Variable to define FIFO address */ + uint8_t addr = BMI08X_FIFO_DATA_ADDR; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if ((rslt == BMI08X_OK) && (fifo != NULL)) + { + /* Clear the FIFO data structure */ + reset_fifo_frame_structure(fifo); + + /* Read FIFO data */ + rslt = bmi08a_get_regs(addr, fifo->data, fifo->length, dev); + if (rslt == BMI08X_OK) + { + /* Get the set FIFO frame configurations */ + rslt = bmi08a_get_regs(BMI08X_FIFO_CONFIG_1_ADDR, &config_data, 1, dev); + if (rslt == BMI08X_OK) + { + /* Get sensor enable status, of which the data + * is to be read + */ + fifo->data_enable = (uint16_t)((uint16_t)config_data & BMI08X_ACCEL_EN_MASK); + } + } + else + { + rslt = BMI08X_E_COM_FAIL; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the length of FIFO data available in the sensor in + * bytes. + */ +int8_t bmi08a_get_fifo_length(uint16_t *fifo_length, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store FIFO data length */ + uint8_t data[BMI08X_FIFO_DATA_LENGTH] = { 0 }; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if ((rslt == BMI08X_OK) && (fifo_length != NULL)) + { + /* read fifo length */ + rslt = bmi08a_get_regs(BMI08X_FIFO_LENGTH_0_ADDR, data, BMI08X_FIFO_DATA_LENGTH, dev); + if (rslt == BMI08X_OK) + { + /* Get the MSB byte of FIFO length */ + data[1] = BMI08X_GET_BITS_POS_0(data[1], BMI08X_FIFO_BYTE_COUNTER_MSB); + + /* Get total FIFO length */ + (*fifo_length) = (uint16_t)((uint16_t)(data[1] << 8) | data[0]); + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO water-mark level in the sensor. + */ +int8_t bmi08a_get_fifo_wm(uint16_t *wm, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + uint8_t data[2] = { 0 }; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + rslt = bmi08a_get_regs(BMI08X_FIFO_WTM_0_ADDR, data, BMI08X_FIFO_WTM_LENGTH, dev); + if ((rslt == BMI08X_OK) && (wm != NULL)) + { + *wm = (data[1] << 8) | (data[0]); + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO water-mark level in the sensor. + */ +int8_t bmi08a_set_fifo_wm(uint16_t wm, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store data */ + uint8_t data[2] = { 0 }; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + /* Get LSB value of FIFO water-mark */ + data[0] = BMI08X_GET_LSB(wm); + + /* Get MSB value of FIFO water-mark */ + data[1] = BMI08X_GET_MSB(wm); + + /* Set the FIFO water-mark level */ + rslt = bmi08a_set_regs(BMI08X_FIFO_WTM_0_ADDR, data, BMI08X_FIFO_WTM_LENGTH, dev); + } + + return rslt; +} + +/*! + * @brief This API parses and extracts the accelerometer frames from FIFO data + * read by the "bmi08x_read_fifo_data" API and stores it in the "accel_data" + * structure instance. + */ +int8_t bmi08a_extract_accel(struct bmi08x_sensor_data *accel_data, + uint16_t *accel_length, + struct bmi08x_fifo_frame *fifo, + const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if ((rslt == BMI08X_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL)) + { + /* Parsing the FIFO data in header mode */ + rslt = extract_acc_header_mode(accel_data, accel_length, fifo); + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the down sampling rates which is configured for + * accelerometer FIFO data. + */ +int8_t bmi08a_get_fifo_down_sample(uint8_t *fifo_downs, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to store sampling rate */ + uint8_t data = 0; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if ((rslt == BMI08X_OK) && (fifo_downs != NULL)) + { + /* Read the accelerometer FIFO down data sampling rate */ + rslt = bmi08a_get_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); + if (rslt == BMI08X_OK) + { + (*fifo_downs) = BMI08X_GET_BITS(data, BMI08X_ACC_FIFO_DOWNS); + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the down-sampling rates for accelerometer + * FIFO data. + * + * @note Reduction of sample rate by a factor 2**fifo_downs + */ +int8_t bmi08a_set_fifo_down_sample(uint8_t fifo_downs, const struct bmi08x_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to store sampling rate */ + uint8_t data = 0; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + /* Set the accelerometer FIFO down sampling rate */ + rslt = bmi08a_get_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); + if (rslt == BMI08X_OK) + { + data = BMI08X_SET_BITS(data, BMI08X_ACC_FIFO_DOWNS, fifo_downs); + rslt = bmi08a_set_regs(BMI08X_FIFO_DOWNS_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*****************************************************************************/ +/* Static function definition */ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) + { + /* Device structure pointer is not valid */ + rslt = BMI08X_E_NULL_PTR; + } + else + { + /* Device structure is fine */ + rslt = BMI08X_OK; + } + + return rslt; +} + +/*! + * @brief This API reads the data from the given register address. + */ +static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint16_t index; + uint16_t temp_len = len + dev->dummy_byte; + uint8_t temp_buff[temp_len]; + + if (dev->intf == BMI08X_SPI_INTF) + { + /* Configuring reg_addr for SPI Interface */ + reg_addr = reg_addr | BMI08X_SPI_RD_MASK; + } + + /* Read the data from the register */ + rslt = dev->read(dev->accel_id, reg_addr, temp_buff, temp_len); + + if (rslt == BMI08X_OK) + { + for (index = 0; index < len; index++) + { + /* Updating the data buffer */ + reg_data[index] = temp_buff[index + dev->dummy_byte]; + } + } + else + { + /* Failure case */ + rslt = BMI08X_E_COM_FAIL; + } + + return rslt; +} + +/*! + * @brief This API writes the data to the given register address. + */ +static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if (dev->intf == BMI08X_SPI_INTF) + { + /* Configuring reg_addr for SPI Interface */ + reg_addr = (reg_addr & BMI08X_SPI_WR_MASK); + } + + /* write to an accel register */ + rslt = dev->write(dev->accel_id, reg_addr, reg_data, len); + + if (rslt != BMI08X_OK) + { + /* Updating the error status */ + rslt = BMI08X_E_COM_FAIL; + } + + return rslt; +} + +/*! + * @brief This API configures the pins which fire the + * interrupt signal when any interrupt occurs. + */ +static int8_t set_int_pin_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t reg_addr = 0, data, is_channel_invalid = FALSE; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + + /* update reg_addr based on channel inputs */ + reg_addr = BMI08X_ACCEL_INT1_IO_CONF_REG; + break; + + case BMI08X_INT_CHANNEL_2: + + /* update reg_addr based on channel inputs */ + reg_addr = BMI08X_ACCEL_INT2_IO_CONF_REG; + break; + + default: + is_channel_invalid = TRUE; + break; + } + + if (!is_channel_invalid) + { + /* Read interrupt pin configuration register */ + rslt = get_regs(reg_addr, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Update data with user configured bmi08x_int_cfg structure */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_LVL, int_config->int_pin_cfg.lvl); + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_OD, int_config->int_pin_cfg.output_mode); + + if (int_config->int_type == BMI08X_ACCEL_SYNC_INPUT) + { + data = BMI08X_SET_BITS_POS_0(data, BMI08X_ACCEL_INT_EDGE, BMI08X_ENABLE); + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_IN, int_config->int_pin_cfg.enable_int_pin); + data = BMI08X_SET_BIT_VAL_0(data, BMI08X_ACCEL_INT_IO); + } + else + { + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT_IO, int_config->int_pin_cfg.enable_int_pin); + data = BMI08X_SET_BIT_VAL_0(data, BMI08X_ACCEL_INT_IN); + } + + /* Write to interrupt pin configuration register */ + rslt = set_regs(reg_addr, &data, 1, dev); + } + } + else + { + rslt = BMI08X_E_INVALID_INPUT; + } + + return rslt; +} + +/*! + * @brief This API sets the data ready interrupt for accel sensor. + */ +static int8_t set_accel_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0, conf; + + /* Read interrupt map register */ + rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + conf = int_config->int_pin_cfg.enable_int_pin; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + + /* Updating the data */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT1_DRDY, conf); + break; + + case BMI08X_INT_CHANNEL_2: + + /* Updating the data */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_DRDY, conf); + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + /* Configure interrupt pins */ + rslt = set_int_pin_config(int_config, dev); + + if (rslt == BMI08X_OK) + { + /* Write to interrupt map register */ + rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API sets the synchronized data ready interrupt for accel sensor + */ +static int8_t set_accel_sync_data_ready_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data, reg_addr = 0; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + + data = BMI08X_ACCEL_INTA_DISABLE; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + reg_addr = BMI08X_ACCEL_INT1_MAP_REG; + break; + + case BMI08X_INT_CHANNEL_2: + reg_addr = BMI08X_ACCEL_INT2_MAP_REG; + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + if (int_config->int_pin_cfg.enable_int_pin == BMI08X_ENABLE) + { + /*interrupt A mapped to INT1/INT2 */ + data = BMI08X_ACCEL_INTA_ENABLE; + } + + /* Write to interrupt map register */ + rslt = set_regs(reg_addr, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /*set input interrupt configuration*/ + rslt = set_int_pin_config(int_config, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API configures the given interrupt channel as input for accel sensor + */ +static int8_t set_accel_sync_input(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + /*set input interrupt configuration*/ + rslt = set_int_pin_config(int_config, dev); + } + + return rslt; +} + +/*! + * @brief This API sets the anymotion interrupt for accel sensor + */ +static int8_t set_accel_anymotion_int(const struct bmi08x_accel_int_channel_cfg *int_config, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data, reg_addr = 0; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + if (rslt == BMI08X_OK) + { + + data = BMI08X_ACCEL_INTB_DISABLE; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + reg_addr = BMI08X_ACCEL_INT1_MAP_REG; + break; + + case BMI08X_INT_CHANNEL_2: + reg_addr = BMI08X_ACCEL_INT2_MAP_REG; + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + if (int_config->int_pin_cfg.enable_int_pin == BMI08X_ENABLE) + { + /*interrupt B mapped to INT1/INT2 */ + data = BMI08X_ACCEL_INTB_ENABLE; + } + + /* Write to interrupt map register */ + rslt = set_regs(reg_addr, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /*set input interrupt configuration*/ + rslt = set_int_pin_config(int_config, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API writes the config stream data in memory using burst mode. + */ +static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t asic_msb = (uint8_t)((index / 2) >> 4); + uint8_t asic_lsb = ((index / 2) & 0x0F); + + /* Write to feature config register */ + rslt = set_regs(BMI08X_ACCEL_RESERVED_5B_REG, &asic_lsb, 1, dev); + if (rslt == BMI08X_OK) + { + /* Write to feature config register */ + rslt = set_regs(BMI08X_ACCEL_RESERVED_5C_REG, &asic_msb, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Write to feature config registers */ + rslt = set_regs(BMI08X_ACCEL_FEATURE_CFG_REG, (uint8_t *)stream_data, dev->read_write_len, dev); + } + } + + return rslt; +} + +/*! + * @brief This API performs the pre-requisites needed to perform the self test + */ +static int8_t enable_self_test(struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Configuring sensors to perform accel self test */ + dev->accel_cfg.odr = BMI08X_ACCEL_ODR_1600_HZ; + dev->accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL; + + /*check the chip id of the accel variant and assign the range */ +#if BMI08X_FEATURE_BMI085 == 1 + dev->accel_cfg.range = BMI085_ACCEL_RANGE_16G; +#elif BMI08X_FEATURE_BMI088 == 1 + dev->accel_cfg.range = BMI088_ACCEL_RANGE_24G; +#endif + + dev->accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE; + + /* Enable Accel sensor */ + rslt = bmi08a_set_power_mode(dev); + if (rslt == BMI08X_OK) + { + /* Configure sensors with above configured settings */ + rslt = bmi08a_set_meas_conf(dev); + + if (rslt == BMI08X_OK) + { + /* Self test delay */ + dev->delay_ms(BMI08X_SELF_TEST_DELAY_MS); + } + } + + return rslt; +} + +/*! + * @brief This API reads the accel data with the positive excitation + */ +static int8_t positive_excited_accel(struct bmi08x_sensor_data *accel_pos, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t reg_data = BMI08X_ACCEL_POSITIVE_SELF_TEST; + + /* Enable positive excitation for all 3 axes */ + rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); + if (rslt == BMI08X_OK) + { + /* Read accel data after 50ms delay */ + dev->delay_ms(BMI08X_SELF_TEST_DATA_READ_MS); + rslt = bmi08a_get_data(accel_pos, dev); + } + + return rslt; +} + +/*! + * @brief This API reads the accel data with the negative excitation + */ +static int8_t negative_excited_accel(struct bmi08x_sensor_data *accel_neg, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t reg_data = BMI08X_ACCEL_NEGATIVE_SELF_TEST; + + /* Enable negative excitation for all 3 axes */ + rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); + if (rslt == BMI08X_OK) + { + /* Read accel data after 50ms delay */ + dev->delay_ms(BMI08X_SELF_TEST_DATA_READ_MS); + rslt = bmi08a_get_data(accel_neg, dev); + + if (rslt == BMI08X_OK) + { + /* Disable self test */ + reg_data = BMI08X_ACCEL_SWITCH_OFF_SELF_TEST; + rslt = set_regs(BMI08X_ACCEL_SELF_TEST_REG, ®_data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API validates the self test results + */ +static int8_t validate_accel_self_test(const struct bmi08x_sensor_data *accel_pos, + const struct bmi08x_sensor_data *accel_neg) +{ + int8_t rslt; + + /*! Structure for difference of accel values in g */ + struct selftest_delta_limit accel_data_diff = { 0 }; + + /*! Structure for difference of accel values in mg */ + struct selftest_delta_limit accel_data_diff_mg = { 0 }; + + accel_data_diff.x = (uint16_t) (BMI08X_ABS(accel_pos->x) + BMI08X_ABS(accel_neg->x)); + accel_data_diff.y = (uint16_t) (BMI08X_ABS(accel_pos->y) + BMI08X_ABS(accel_neg->y)); + accel_data_diff.z = (uint16_t) (BMI08X_ABS(accel_pos->z) + BMI08X_ABS(accel_neg->z)); + + /*! Converting LSB of the differences of + * accel values to mg */ + convert_lsb_g(&accel_data_diff, &accel_data_diff_mg); + + /* Validating accel data by comparing with minimum value of the axes in mg */ + /* x axis limit 1000mg, y axis limit 1000mg and z axis limit 500mg */ + if (accel_data_diff_mg.x >= 1000 && accel_data_diff_mg.y >= 1000 && accel_data_diff_mg.z >= 500) + { + /* Updating Okay status */ + rslt = BMI08X_OK; + } + else + { + /* Updating Error status */ + rslt = BMI08X_W_SELF_TEST_FAIL; + } + + return rslt; +} + +/*! + * @brief This API converts lsb value of axes to mg for self-test. + */ +static void convert_lsb_g(const struct selftest_delta_limit *accel_data_diff, + struct selftest_delta_limit *accel_data_diff_mg) +{ + /* accel x value in mg */ + accel_data_diff_mg->x = (uint16_t) ((accel_data_diff->x / (int32_t)LSB_PER_G) * 1000); + + /* accel y value in mg */ + accel_data_diff_mg->y = (uint16_t) ((accel_data_diff->y / (int32_t)LSB_PER_G) * 1000); + + /* accel z value in mg */ + accel_data_diff_mg->z = (uint16_t) ((accel_data_diff->z / (int32_t)LSB_PER_G) * 1000); +} + +/*! + * @brief This internal API is used to parse and store the skipped frame count + * from the FIFO data. + */ +static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo) +{ + /* Variables to define error */ + int8_t rslt = BMI08X_OK; + + /* Validate data index */ + if ((*data_index) >= fifo->length) + { + /* Update the data index to the last byte */ + (*data_index) = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + } + else + { + /* Update skipped frame count in the FIFO structure */ + fifo->skipped_frame_count = fifo->data[(*data_index)]; + + /* Move the data index by 1 byte */ + (*data_index) = (*data_index) + 1; + + /* More frames could be read */ + rslt = BMI08X_W_PARTIAL_READ; + } + + return rslt; +} + +/*! + * @brief This internal API is used to reset the FIFO related configurations in + * the FIFO frame structure for the next FIFO read. + */ +static void reset_fifo_frame_structure(struct bmi08x_fifo_frame *fifo) +{ + /* Reset FIFO data structure */ + fifo->acc_byte_start_idx = 0; + fifo->sensor_time = 0; + fifo->skipped_frame_count = 0; +} + +/*! + * @brief This internal API is used to parse accelerometer data from the + * FIFO data. + */ +static void unpack_accel_data(struct bmi08x_sensor_data *acc, + uint16_t data_start_index, + const struct bmi08x_fifo_frame *fifo) +{ + /* Variables to store LSB value */ + uint16_t data_lsb; + + /* Variables to store MSB value */ + uint16_t data_msb; + + /* Accelerometer raw x data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + acc->x = (int16_t)((data_msb << 8) | data_lsb); + + /* Accelerometer raw y data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + acc->y = (int16_t)((data_msb << 8) | data_lsb); + + /* Accelerometer raw z data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + acc->z = (int16_t)((data_msb << 8) | data_lsb); + +} + +/*! + * @brief This internal API is used to parse the accelerometer data from the + * FIFO data in header mode. It updates the current data + * byte to be parsed. + */ +static int8_t unpack_accel_frame(struct bmi08x_sensor_data *acc, + uint16_t *idx, + uint16_t *acc_idx, + uint16_t frame, + const struct bmi08x_fifo_frame *fifo) +{ + /* Variable to define error */ + int8_t rslt = BMI08X_OK; + + switch (frame) + { + /* If frame contains only accelerometer data */ + case BMI08X_FIFO_HEADER_ACC_FRM: + + /* Partially read, then skip the data */ + if (((*idx) + fifo->acc_frm_len) > fifo->length) + { + /* Update the data index as complete*/ + (*idx) = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + break; + } + + /* Get the accelerometer data */ + unpack_accel_data(&acc[(*acc_idx)], *idx, fifo); + + /* Update data index */ + (*idx) = (*idx) + BMI08X_FIFO_ACCEL_LENGTH; + + /* Update accelerometer frame index */ + (*acc_idx)++; + + break; + default: + + /* Move the data index to the last byte in case of invalid values */ + (*idx) = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + break; + } + + return rslt; +} + +/*! + * @brief This internal 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 int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi08x_fifo_frame *fifo) +{ + /* Variables to define error */ + int8_t rslt = BMI08X_OK; + + /* Validate data index */ + if (((*data_index) + current_frame_length) > fifo->length) + { + /* Move the data index to the last byte */ + (*data_index) = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + } + else + { + /* Move the data index to next frame */ + (*data_index) = (*data_index) + current_frame_length; + } + + return rslt; +} + +/*! + * @brief This internal API is used to parse and store the sensor time from the + * FIFO data. + */ +static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi08x_fifo_frame *fifo) +{ + /* Variables to define error */ + int8_t rslt = BMI08X_OK; + + /* Variables to define 3 bytes of sensor time */ + uint32_t sensor_time_byte3 = 0; + uint16_t sensor_time_byte2 = 0; + uint8_t sensor_time_byte1 = 0; + + /* Validate data index */ + if (((*data_index) + BMI08X_SENSOR_TIME_LENGTH) > fifo->length) + { + /* Move the data index to the last byte */ + (*data_index) = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + } + else + { + /* Get sensor time from the FIFO data */ + sensor_time_byte3 = fifo->data[(*data_index) + BMI08X_SENSOR_TIME_MSB_BYTE] << 16; + sensor_time_byte2 = fifo->data[(*data_index) + BMI08X_SENSOR_TIME_XLSB_BYTE] << 8; + sensor_time_byte1 = fifo->data[(*data_index)]; + + /* Update sensor time in the FIFO structure */ + fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); + + /* Move the data index by 3 bytes */ + (*data_index) = (*data_index) + BMI08X_SENSOR_TIME_LENGTH; + + } + + return rslt; +} + +/*! + * @brief This internal API is used to parse the accelerometer data from the + * FIFO in header mode. + */ +static int8_t extract_acc_header_mode(struct bmi08x_sensor_data *acc, + uint16_t *accel_length, + struct bmi08x_fifo_frame *fifo) +{ + /* Variable to define error */ + int8_t rslt = BMI08X_OK; + + /* Variable to define header frame */ + uint8_t frame_header = 0; + + /* Variable to index the data bytes */ + uint16_t data_index; + + /* Variable to index accelerometer frames */ + uint16_t accel_index = 0; + + /* Variable to indicate accelerometer frames read */ + uint16_t frame_to_read = *accel_length; + + for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;) + { + /* Get frame header byte */ + frame_header = fifo->data[data_index]; + + /* Index shifted to next byte where data starts */ + data_index++; + switch (frame_header) + { + /* If header defines accelerometer frame */ + case BMI08X_FIFO_HEADER_ACC_FRM: + case BMI08X_FIFO_HEADER_ALL_FRM: + + /* Unpack from normal frames */ + rslt = unpack_accel_frame(acc, &data_index, &accel_index, frame_header, fifo); + break; + + /* If header defines sensor time frame */ + case BMI08X_FIFO_HEADER_SENS_TIME_FRM: + rslt = unpack_sensortime_frame(&data_index, fifo); + break; + + /* If header defines skip frame */ + case BMI08X_FIFO_HEADER_SKIP_FRM: + rslt = unpack_skipped_frame(&data_index, fifo); + break; + + /* If header defines Input configuration frame */ + case BMI08X_FIFO_HEADER_INPUT_CFG_FRM: + rslt = move_next_frame(&data_index, BMI08X_FIFO_INPUT_CFG_LENGTH, fifo); + break; + + /* If header defines sample drop frame */ + case BMI08X_FIFO_SAMPLE_DROP_FRM: + rslt = move_next_frame(&data_index, BMI08X_FIFO_INPUT_CFG_LENGTH, fifo); + break; + + /* If header defines invalid frame or end of valid data */ + case BMI08X_FIFO_HEAD_OVER_READ_MSB: + + /* Move the data index to the last byte to mark completion */ + data_index = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + break; + default: + + /* Move the data index to the last byte in case of invalid values */ + data_index = fifo->length; + + /* FIFO is empty */ + rslt = BMI08X_W_FIFO_EMPTY; + break; + } + + /* Break if Number of frames to be read is complete or FIFO is mpty */ + if ((frame_to_read == accel_index) || (rslt == BMI08X_W_FIFO_EMPTY)) + { + break; + } + } + + /* Update the accelerometer frame index */ + (*accel_length) = accel_index; + + /* Update the accelerometer byte index */ + fifo->acc_byte_start_idx = data_index; + + return rslt; +} + +/*! + * @brief This API sets the FIFO water mark interrupt for accel sensor. + */ +static int8_t set_fifo_wm_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0, conf; + + /* Read interrupt map register */ + rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + conf = int_config->int_pin_cfg.enable_int_pin; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + + /* Updating the data */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT1_FWM, conf); + break; + + case BMI08X_INT_CHANNEL_2: + + /* Updating the data */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_FWM, conf); + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + /* Configure interrupt pins */ + rslt = set_int_pin_config(int_config, dev); + + if (rslt == BMI08X_OK) + { + /* Write to interrupt map register */ + rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO full interrupt for accel sensor. + */ +static int8_t set_fifo_full_int(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0, conf; + + /* Read interrupt map register */ + rslt = get_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + conf = int_config->int_pin_cfg.enable_int_pin; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_1: + + /* Updating the data */ + data = BMI08X_SET_BITS_POS_0(data, BMI08X_ACCEL_INT1_FFULL, conf); + break; + + case BMI08X_INT_CHANNEL_2: + + /* Updating the data */ + data = BMI08X_SET_BITS(data, BMI08X_ACCEL_INT2_FFULL, conf); + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + /* Configure interrupt pins */ + rslt = set_int_pin_config(int_config, dev); + + if (rslt == BMI08X_OK) + { + /* Write to interrupt map register */ + rslt = set_regs(BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG, &data, 1, dev); + } + } + } + + return rslt; +} + +/** @}*/ diff --git a/bmi08g.c b/bmi08g.c index 97ce1b4..958dd4e 100644 --- a/bmi08g.c +++ b/bmi08g.c @@ -1,859 +1,849 @@ -/**\mainpage - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi08g.c - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi08g.c - * \brief Sensor Driver for BMI08X family of sensors */ - -/****************************************************************************/ - -/**\name Header files - ****************************************************************************/ -#include "bmi08x.h" - -/****************************************************************************/ - -/**\name Local structures - ****************************************************************************/ - -/****************************************************************************/ - -/*! Static Function Declarations - ****************************************************************************/ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the data from the given register address of gyro sensor. - * - * @param[in] reg_addr : Register address from where the data to be read - * @param[out]reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the given data to the register address - * of gyro sensor. - * - * @param[in] reg_addr : Register address to where the data to be written. - * @param[in] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the data ready interrupt for gyro sensor. - * - * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_gyro_data_ready_int(const struct bmi08x_gyro_int_channel_cfg *int_config, - const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the pins which fire the - * interrupt signal when any interrupt occurs. - * - * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -static int8_t set_int_pin_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API enables or disables the Gyro Self test feature in the - * sensor. - * - * @param[in] selftest : Variable used to enable or disable - * the Gyro self test feature - * Value | Description - * --------|--------------- - * 0x00 | BMI08X_DISABLE - * 0x01 | BMI08X_ENABLE - * - * @param[in] dev : Structure instance of bmi08x_dev - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -static int8_t set_gyro_selftest(uint8_t selftest, const struct bmi08x_dev *dev); - -/****************************************************************************/ - -/**\name Extern Declarations - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Globals - ****************************************************************************/ - -/****************************************************************************/ - -/**\name Function definitions - ****************************************************************************/ - -/*! - * @brief This API is the entry point for gyro sensor. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of gyro sensor. - */ -int8_t bmi08g_init(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t chip_id = 0; - - /* Check for null pointer in the device structure */ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Read gyro chip id */ - rslt = get_regs(BMI08X_GYRO_CHIP_ID_REG, &chip_id, 1, dev); - - if (rslt == BMI08X_OK) - { - if (chip_id == BMI08X_GYRO_CHIP_ID) - { - /* Store the chip ID in dev structure */ - dev->gyro_chip_id = chip_id; - } - else - { - rslt = BMI08X_E_DEV_NOT_FOUND; - } - } - } - - return rslt; -} - -/*! - * @brief This API reads the data from the given register address - * of gyro sensor. - */ -int8_t bmi08g_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (reg_data != NULL)) - { - if (len > 0) - { - /* Reading from the register */ - rslt = get_regs(reg_addr, reg_data, len, dev); - } - else - { - rslt = BMI08X_E_RD_WR_LENGTH_INVALID; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API writes the given data to the register address - * of gyro sensor. - */ -int8_t bmi08g_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (reg_data != NULL)) - { - if (len > 0) - { - /* Writing to the register */ - rslt = set_regs(reg_addr, reg_data, len, dev); - } - else - { - rslt = BMI08X_E_RD_WR_LENGTH_INVALID; - } - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API resets the gyro sensor. - */ -int8_t bmi08g_soft_reset(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Reset gyro device */ - data = BMI08X_SOFT_RESET_CMD; - rslt = set_regs(BMI08X_GYRO_SOFTRESET_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* delay 30 ms after writing reset value to its register */ - dev->delay_ms(BMI08X_GYRO_SOFTRESET_DELAY); - } - } - - return rslt; -} - -/*! - * @brief This API reads the gyro odr and range from the sensor, store it in the bmi08x_dev - * structure instance passed by the user. - */ -int8_t bmi08g_get_meas_conf(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data[2]; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - rslt = get_regs(BMI08X_GYRO_RANGE_REG, data, 2, dev); - - if (rslt == BMI08X_OK) - { - dev->gyro_cfg.range = data[0]; - dev->gyro_cfg.odr = (data[1] & BMI08X_GYRO_BW_MASK); - dev->gyro_cfg.bw = dev->gyro_cfg.odr; - } - } - - return rslt; -} - -/*! - * @brief This API sets the output data rate, range and bandwidth - * of gyro sensor. - */ -int8_t bmi08g_set_meas_conf(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - uint8_t odr, range; - uint8_t is_range_invalid = FALSE, is_odr_invalid = FALSE; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - odr = dev->gyro_cfg.odr; - range = dev->gyro_cfg.range; - - if (odr > BMI08X_GYRO_BW_32_ODR_100_HZ) - { - /* Updating the status */ - is_odr_invalid = TRUE; - } - - if (range > BMI08X_GYRO_RANGE_125_DPS) - { - /* Updating the status */ - is_range_invalid = TRUE; - } - - /* If ODR and Range is valid, write it to gyro config. registers */ - if ((!is_odr_invalid) && (!is_range_invalid)) - { - /* Read range value from the range register */ - rslt = get_regs(BMI08X_GYRO_BANDWIDTH_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_BW, odr); - - /* Write odr value to odr register */ - rslt = set_regs(BMI08X_GYRO_BANDWIDTH_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Read range value from the range register */ - rslt = get_regs(BMI08X_GYRO_RANGE_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_RANGE, range); - - /* Write range value to range register */ - rslt = set_regs(BMI08X_GYRO_RANGE_REG, &data, 1, dev); - } - } - } - - } - else - { - /* Invalid configuration present in ODR, Range */ - rslt = BMI08X_E_INVALID_CONFIG; - } - } - - return rslt; -} - -/*! - * @brief This API reads the gyro power mode from the sensor, - * store it in the bmi08x_dev structure instance - * passed by the user. - * - */ -int8_t bmi08g_get_power_mode(struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - rslt = get_regs(BMI08X_GYRO_LPM1_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Updating the power mode in the dev structure */ - dev->gyro_cfg.power = data; - } - } - - return rslt; -} - -/*! - * @brief This API sets the power mode of the gyro sensor. - */ -int8_t bmi08g_set_power_mode(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t power_mode, data; - uint8_t is_power_switching_mode_valid = TRUE; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /*read the previous power state*/ - rslt = get_regs(BMI08X_GYRO_LPM1_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - power_mode = dev->gyro_cfg.power; - - /*switching between normal mode and the suspend modes is allowed, it is not possible to switch - * between suspend and deep suspend and vice versa. Check for invalid power switching (i.e) - * deep suspend to suspend */ - if ((power_mode == BMI08X_GYRO_PM_SUSPEND) && (data == BMI08X_GYRO_PM_DEEP_SUSPEND)) - { - /* Updating the status */ - is_power_switching_mode_valid = FALSE; - } - - /* Check for invalid power switching (i.e) from suspend to deep suspend */ - if ((power_mode == BMI08X_GYRO_PM_DEEP_SUSPEND) && (data == BMI08X_GYRO_PM_SUSPEND)) - { - /* Updating the status */ - is_power_switching_mode_valid = FALSE; - } - - /* Check if power switching mode is valid*/ - if (is_power_switching_mode_valid) - { - /* Write power to power register */ - rslt = set_regs(BMI08X_GYRO_LPM1_REG, &power_mode, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Time required to switch the power mode */ - dev->delay_ms(BMI08X_GYRO_POWER_MODE_CONFIG_DELAY); - } - - } - else - { - /* Updating the error */ - rslt = BMI08X_E_INVALID_INPUT; - } - } - } - - return rslt; -} - -/*! - * @brief This API reads the gyro data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - */ -int8_t bmi08g_get_data(struct bmi08x_sensor_data *gyro, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data[6]; - uint8_t lsb, msb; - uint16_t msblsb; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (gyro != NULL)) - { - /* read gyro sensor data */ - rslt = get_regs(BMI08X_GYRO_X_LSB_REG, data, 6, dev); - - if (rslt == BMI08X_OK) - { - lsb = data[0]; - msb = data[1]; - msblsb = (msb << 8) | lsb; - gyro->x = (int16_t)msblsb; /* Data in X axis */ - - lsb = data[2]; - msb = data[3]; - msblsb = (msb << 8) | lsb; - gyro->y = (int16_t)msblsb; /* Data in Y axis */ - - lsb = data[4]; - msb = data[5]; - msblsb = (msb << 8) | lsb; - gyro->z = (int16_t)msblsb; /* Data in Z axis */ - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API configures the necessary gyro interrupt - * based on the user settings in the bmi08x_int_cfg - * structure instance. - */ -int8_t bmi08g_set_int_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if ((rslt == BMI08X_OK) && (int_config != NULL)) - { - - switch (int_config->int_type) - { - case BMI08X_GYRO_DATA_RDY_INT: - { - /* Data ready interrupt */ - rslt = set_gyro_data_ready_int(int_config, dev); - } - break; - - default: - rslt = BMI08X_E_INVALID_CONFIG; - break; - } - - } - else - { - rslt = BMI08X_E_NULL_PTR; - } - - return rslt; -} - -/*! - * @brief This API checks whether the self test functionality of the - * gyro sensor is working or not. - */ -int8_t bmi08g_perform_selftest(const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0, loop_break = 1; - - /* Check for null pointer in the device structure*/ - rslt = null_ptr_check(dev); - - /* Proceed if null check is fine */ - if (rslt == BMI08X_OK) - { - /* Enable the gyro self-test */ - rslt = set_gyro_selftest(BMI08X_ENABLE, dev); - - if (rslt == BMI08X_OK) - { - /* Loop till self-test ready bit is set */ - while (loop_break) - { - /* Read self-test register to check if self-test ready bit is set */ - rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - data = BMI08X_GET_BITS(data, BMI08X_GYRO_SELF_TEST_RDY); - - if (data) - { - /* If self-test ready bit is set, exit the loop */ - loop_break = 0; - } - - } - else - { - /* Exit the loop in case of communication failure */ - loop_break = 0; - } - } - - if (rslt == BMI08X_OK) - { - /* Read self-test register to check for self-test Ok bit */ - rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - data = BMI08X_GET_BITS(data, BMI08X_GYRO_SELF_TEST_RESULT); - - rslt = bmi08g_soft_reset(dev); - - if (rslt == BMI08X_OK) - { - /* Updating the self test result */ - rslt = (int8_t) data; - } - } - } - } - } - - return rslt; -} - -/*****************************************************************************/ -/* Static function definition */ - -/*! - * @brief This API is used to validate the device structure pointer for - * null conditions. - */ -static int8_t null_ptr_check(const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) - { - /* Device structure pointer is not valid */ - rslt = BMI08X_E_NULL_PTR; - } - else - { - /* Device structure is fine */ - rslt = BMI08X_OK; - } - - return rslt; -} - -/*! - * @brief This API reads the data from the given register address of gyro sensor. - */ -static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if (dev->intf == BMI08X_SPI_INTF) - { - /* Configuring reg_addr for SPI Interface */ - reg_addr = (reg_addr | BMI08X_SPI_RD_MASK); - } - - /* read a gyro register */ - rslt = dev->read(dev->gyro_id, reg_addr, reg_data, len); - - if (rslt != BMI08X_OK) - { - /* Updating the error */ - rslt = BMI08X_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API writes the given data to the register address of gyro sensor. - */ -static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) -{ - int8_t rslt; - - if (dev->intf == BMI08X_SPI_INTF) - { - /* Configuring reg_addr for SPI Interface */ - reg_addr = (reg_addr & BMI08X_SPI_WR_MASK); - } - - /* write to a gyro register */ - rslt = dev->write(dev->gyro_id, reg_addr, reg_data, len); - - if (rslt != BMI08X_OK) - { - /* Updating the error */ - rslt = BMI08X_E_COM_FAIL; - } - - return rslt; -} - -/*! - * @brief This API sets the data ready interrupt for gyro sensor. - */ -static int8_t set_gyro_data_ready_int(const struct bmi08x_gyro_int_channel_cfg *int_config, - const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t conf, data[2] = { 0 }; - - /* read interrupt map register */ - rslt = get_regs(BMI08X_GYRO_INT3_INT4_IO_MAP_REG, &data[0], 1, dev); - - if (rslt == BMI08X_OK) - { - conf = int_config->int_pin_cfg.enable_int_pin; - - switch (int_config->int_channel) - { - case BMI08X_INT_CHANNEL_3: - - /* Data to enable new data ready interrupt */ - data[0] = BMI08X_SET_BITS_POS_0(data[0], BMI08X_GYRO_INT3_MAP, conf); - break; - - case BMI08X_INT_CHANNEL_4: - - /* Data to enable new data ready interrupt */ - data[0] = BMI08X_SET_BITS(data[0], BMI08X_GYRO_INT4_MAP, conf); - break; - - default: - rslt = BMI08X_E_INVALID_INPUT; - break; - } - - if (rslt == BMI08X_OK) - { - /*condition to check disabling the interrupt in single channel when both interrupts channels - * are enabled*/ - if (data[0] & BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4) - { - /* Updating the data */ - /* Data to enable new data ready interrupt */ - data[1] = BMI08X_GYRO_DRDY_INT_ENABLE_VAL; - } - else - { - data[1] = BMI08X_GYRO_DRDY_INT_DISABLE_VAL; - } - - /* write data to interrupt map register */ - rslt = set_regs(BMI08X_GYRO_INT3_INT4_IO_MAP_REG, &data[0], 1, dev); - - if (rslt == BMI08X_OK) - { - /* Configure interrupt pin */ - rslt = set_int_pin_config(int_config, dev); - - if (rslt == BMI08X_OK) - { - /* write data to interrupt control register */ - rslt = set_regs(BMI08X_GYRO_INT_CTRL_REG, &data[1], 1, dev); - } - - } - } - - } - - return rslt; -} - -/*! - * @brief This API configures the pins which fire the - * interrupt signal when any interrupt occurs. - */ -static int8_t set_int_pin_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data; - - /* Read interrupt configuration register */ - rslt = get_regs(BMI08X_GYRO_INT3_INT4_IO_CONF_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - switch (int_config->int_channel) - { - /* Interrupt pin or channel 3 */ - case BMI08X_INT_CHANNEL_3: - - /* Update data with user configured bmi08x_int_cfg structure */ - data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_INT3_LVL, int_config->int_pin_cfg.lvl); - data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT3_OD, int_config->int_pin_cfg.output_mode); - break; - - case BMI08X_INT_CHANNEL_4: - - /* Update data with user configured bmi08x_int_cfg structure */ - data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT4_LVL, int_config->int_pin_cfg.lvl); - data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT4_OD, int_config->int_pin_cfg.output_mode); - break; - - default: - break; - } - - /* write to interrupt configuration register */ - rslt = set_regs(BMI08X_GYRO_INT3_INT4_IO_CONF_REG, &data, 1, dev); - } - - return rslt; -} - -/*! - * @brief This API enables or disables the Gyro Self test feature in the - * sensor. - */ -static int8_t set_gyro_selftest(uint8_t selftest, const struct bmi08x_dev *dev) -{ - int8_t rslt; - uint8_t data = 0; - - /* Check for valid selftest input */ - if ((selftest == BMI08X_ENABLE) || (selftest == BMI08X_DISABLE)) - { - /* Read self test register */ - rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); - - if (rslt == BMI08X_OK) - { - /* Enable self-test */ - data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_SELF_TEST_EN, selftest); - - /* write self test input value to self-test register */ - rslt = set_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); - } - - } - else - { - rslt = BMI08X_E_INVALID_INPUT; - } - - return rslt; -} - -/** @}*/ +/** +* 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 bmi08g.c +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi08g.c + * \brief Sensor Driver for BMI08X family of sensors */ + +/****************************************************************************/ + +/**\name Header files + ****************************************************************************/ +#include "bmi08x.h" + +/****************************************************************************/ + +/**\name Local structures + ****************************************************************************/ + +/****************************************************************************/ + +/*! Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the data from the given register address of gyro sensor. + * + * @param[in] reg_addr : Register address from where the data to be read + * @param[out]reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the given data to the register address + * of gyro sensor. + * + * @param[in] reg_addr : Register address to where the data to be written. + * @param[in] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the data ready interrupt for gyro sensor. + * + * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_gyro_data_ready_int(const struct bmi08x_gyro_int_channel_cfg *int_config, + const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the pins which fire the + * interrupt signal when any interrupt occurs. + * + * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +static int8_t set_int_pin_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API enables or disables the Gyro Self test feature in the + * sensor. + * + * @param[in] selftest : Variable used to enable or disable + * the Gyro self test feature + * Value | Description + * --------|--------------- + * 0x00 | BMI08X_DISABLE + * 0x01 | BMI08X_ENABLE + * + * @param[in] dev : Structure instance of bmi08x_dev + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + */ +static int8_t set_gyro_selftest(uint8_t selftest, const struct bmi08x_dev *dev); + +/****************************************************************************/ + +/**\name Extern Declarations + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Globals + ****************************************************************************/ + +/****************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point for gyro sensor. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of gyro sensor. + */ +int8_t bmi08g_init(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t chip_id = 0; + + /* Check for null pointer in the device structure */ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Read gyro chip id */ + rslt = get_regs(BMI08X_GYRO_CHIP_ID_REG, &chip_id, 1, dev); + + if (rslt == BMI08X_OK) + { + if (chip_id == BMI08X_GYRO_CHIP_ID) + { + /* Store the chip ID in dev structure */ + dev->gyro_chip_id = chip_id; + } + else + { + rslt = BMI08X_E_DEV_NOT_FOUND; + } + } + } + + return rslt; +} + +/*! + * @brief This API reads the data from the given register address + * of gyro sensor. + */ +int8_t bmi08g_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (reg_data != NULL)) + { + if (len > 0) + { + /* Reading from the register */ + rslt = get_regs(reg_addr, reg_data, len, dev); + } + else + { + rslt = BMI08X_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API writes the given data to the register address + * of gyro sensor. + */ +int8_t bmi08g_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (reg_data != NULL)) + { + if (len > 0) + { + /* Writing to the register */ + rslt = set_regs(reg_addr, reg_data, len, dev); + } + else + { + rslt = BMI08X_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API resets the gyro sensor. + */ +int8_t bmi08g_soft_reset(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Reset gyro device */ + data = BMI08X_SOFT_RESET_CMD; + rslt = set_regs(BMI08X_GYRO_SOFTRESET_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* delay 30 ms after writing reset value to its register */ + dev->delay_ms(BMI08X_GYRO_SOFTRESET_DELAY); + } + } + + return rslt; +} + +/*! + * @brief This API reads the gyro odr and range from the sensor, store it in the bmi08x_dev + * structure instance passed by the user. + */ +int8_t bmi08g_get_meas_conf(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data[2]; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + rslt = get_regs(BMI08X_GYRO_RANGE_REG, data, 2, dev); + + if (rslt == BMI08X_OK) + { + dev->gyro_cfg.range = data[0]; + dev->gyro_cfg.odr = (data[1] & BMI08X_GYRO_BW_MASK); + dev->gyro_cfg.bw = dev->gyro_cfg.odr; + } + } + + return rslt; +} + +/*! + * @brief This API sets the output data rate, range and bandwidth + * of gyro sensor. + */ +int8_t bmi08g_set_meas_conf(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + uint8_t odr, range; + uint8_t is_range_invalid = FALSE, is_odr_invalid = FALSE; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + odr = dev->gyro_cfg.odr; + range = dev->gyro_cfg.range; + + if (odr > BMI08X_GYRO_BW_32_ODR_100_HZ) + { + /* Updating the status */ + is_odr_invalid = TRUE; + } + + if (range > BMI08X_GYRO_RANGE_125_DPS) + { + /* Updating the status */ + is_range_invalid = TRUE; + } + + /* If ODR and Range is valid, write it to gyro config. registers */ + if ((!is_odr_invalid) && (!is_range_invalid)) + { + /* Read range value from the range register */ + rslt = get_regs(BMI08X_GYRO_BANDWIDTH_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_BW, odr); + + /* Write odr value to odr register */ + rslt = set_regs(BMI08X_GYRO_BANDWIDTH_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Read range value from the range register */ + rslt = get_regs(BMI08X_GYRO_RANGE_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_RANGE, range); + + /* Write range value to range register */ + rslt = set_regs(BMI08X_GYRO_RANGE_REG, &data, 1, dev); + } + } + } + + } + else + { + /* Invalid configuration present in ODR, Range */ + rslt = BMI08X_E_INVALID_CONFIG; + } + } + + return rslt; +} + +/*! + * @brief This API reads the gyro power mode from the sensor, + * store it in the bmi08x_dev structure instance + * passed by the user. + * + */ +int8_t bmi08g_get_power_mode(struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + rslt = get_regs(BMI08X_GYRO_LPM1_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Updating the power mode in the dev structure */ + dev->gyro_cfg.power = data; + } + } + + return rslt; +} + +/*! + * @brief This API sets the power mode of the gyro sensor. + */ +int8_t bmi08g_set_power_mode(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t power_mode, data; + uint8_t is_power_switching_mode_valid = TRUE; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /*read the previous power state*/ + rslt = get_regs(BMI08X_GYRO_LPM1_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + power_mode = dev->gyro_cfg.power; + + /*switching between normal mode and the suspend modes is allowed, it is not possible to switch + * between suspend and deep suspend and vice versa. Check for invalid power switching (i.e) + * deep suspend to suspend */ + if ((power_mode == BMI08X_GYRO_PM_SUSPEND) && (data == BMI08X_GYRO_PM_DEEP_SUSPEND)) + { + /* Updating the status */ + is_power_switching_mode_valid = FALSE; + } + + /* Check for invalid power switching (i.e) from suspend to deep suspend */ + if ((power_mode == BMI08X_GYRO_PM_DEEP_SUSPEND) && (data == BMI08X_GYRO_PM_SUSPEND)) + { + /* Updating the status */ + is_power_switching_mode_valid = FALSE; + } + + /* Check if power switching mode is valid*/ + if (is_power_switching_mode_valid) + { + /* Write power to power register */ + rslt = set_regs(BMI08X_GYRO_LPM1_REG, &power_mode, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Time required to switch the power mode */ + dev->delay_ms(BMI08X_GYRO_POWER_MODE_CONFIG_DELAY); + } + + } + else + { + /* Updating the error */ + rslt = BMI08X_E_INVALID_INPUT; + } + } + } + + return rslt; +} + +/*! + * @brief This API reads the gyro data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + */ +int8_t bmi08g_get_data(struct bmi08x_sensor_data *gyro, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data[6]; + uint8_t lsb, msb; + uint16_t msblsb; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (gyro != NULL)) + { + /* read gyro sensor data */ + rslt = get_regs(BMI08X_GYRO_X_LSB_REG, data, 6, dev); + + if (rslt == BMI08X_OK) + { + lsb = data[0]; + msb = data[1]; + msblsb = (msb << 8) | lsb; + gyro->x = (int16_t)msblsb; /* Data in X axis */ + + lsb = data[2]; + msb = data[3]; + msblsb = (msb << 8) | lsb; + gyro->y = (int16_t)msblsb; /* Data in Y axis */ + + lsb = data[4]; + msb = data[5]; + msblsb = (msb << 8) | lsb; + gyro->z = (int16_t)msblsb; /* Data in Z axis */ + } + + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API configures the necessary gyro interrupt + * based on the user settings in the bmi08x_int_cfg + * structure instance. + */ +int8_t bmi08g_set_int_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if ((rslt == BMI08X_OK) && (int_config != NULL)) + { + + switch (int_config->int_type) + { + case BMI08X_GYRO_DATA_RDY_INT: + { + /* Data ready interrupt */ + rslt = set_gyro_data_ready_int(int_config, dev); + } + break; + + default: + rslt = BMI08X_E_INVALID_CONFIG; + break; + } + } + else + { + rslt = BMI08X_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API checks whether the self test functionality of the + * gyro sensor is working or not. + */ +int8_t bmi08g_perform_selftest(const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0, loop_break = 1; + + /* Check for null pointer in the device structure*/ + rslt = null_ptr_check(dev); + + /* Proceed if null check is fine */ + if (rslt == BMI08X_OK) + { + /* Enable the gyro self-test */ + rslt = set_gyro_selftest(BMI08X_ENABLE, dev); + + if (rslt == BMI08X_OK) + { + /* Loop till self-test ready bit is set */ + while (loop_break) + { + /* Read self-test register to check if self-test ready bit is set */ + rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + data = BMI08X_GET_BITS(data, BMI08X_GYRO_SELF_TEST_RDY); + + if (data) + { + /* If self-test ready bit is set, exit the loop */ + loop_break = 0; + } + + } + else + { + /* Exit the loop in case of communication failure */ + loop_break = 0; + } + } + + if (rslt == BMI08X_OK) + { + /* Read self-test register to check for self-test Ok bit */ + rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + data = BMI08X_GET_BITS(data, BMI08X_GYRO_SELF_TEST_RESULT); + + rslt = bmi08g_soft_reset(dev); + + if (rslt == BMI08X_OK) + { + /* Updating the self test result */ + rslt = (int8_t) data; + } + } + } + } + } + + return rslt; +} + +/*****************************************************************************/ +/* Static function definition */ + +/*! + * @brief This API is used to validate the device structure pointer for + * null conditions. + */ +static int8_t null_ptr_check(const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_ms == NULL)) + { + /* Device structure pointer is not valid */ + rslt = BMI08X_E_NULL_PTR; + } + else + { + /* Device structure is fine */ + rslt = BMI08X_OK; + } + + return rslt; +} + +/*! + * @brief This API reads the data from the given register address of gyro sensor. + */ +static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if (dev->intf == BMI08X_SPI_INTF) + { + /* Configuring reg_addr for SPI Interface */ + reg_addr = (reg_addr | BMI08X_SPI_RD_MASK); + } + + /* read a gyro register */ + rslt = dev->read(dev->gyro_id, reg_addr, reg_data, len); + + if (rslt != BMI08X_OK) + { + /* Updating the error */ + rslt = BMI08X_E_COM_FAIL; + } + + return rslt; +} + +/*! + * @brief This API writes the given data to the register address of gyro sensor. + */ +static int8_t set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev) +{ + int8_t rslt; + + if (dev->intf == BMI08X_SPI_INTF) + { + /* Configuring reg_addr for SPI Interface */ + reg_addr = (reg_addr & BMI08X_SPI_WR_MASK); + } + + /* write to a gyro register */ + rslt = dev->write(dev->gyro_id, reg_addr, reg_data, len); + + if (rslt != BMI08X_OK) + { + /* Updating the error */ + rslt = BMI08X_E_COM_FAIL; + } + + return rslt; +} + +/*! + * @brief This API sets the data ready interrupt for gyro sensor. + */ +static int8_t set_gyro_data_ready_int(const struct bmi08x_gyro_int_channel_cfg *int_config, + const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t conf, data[2] = { 0 }; + + /* read interrupt map register */ + rslt = get_regs(BMI08X_GYRO_INT3_INT4_IO_MAP_REG, &data[0], 1, dev); + + if (rslt == BMI08X_OK) + { + conf = int_config->int_pin_cfg.enable_int_pin; + + switch (int_config->int_channel) + { + case BMI08X_INT_CHANNEL_3: + + /* Data to enable new data ready interrupt */ + data[0] = BMI08X_SET_BITS_POS_0(data[0], BMI08X_GYRO_INT3_MAP, conf); + break; + + case BMI08X_INT_CHANNEL_4: + + /* Data to enable new data ready interrupt */ + data[0] = BMI08X_SET_BITS(data[0], BMI08X_GYRO_INT4_MAP, conf); + break; + + default: + rslt = BMI08X_E_INVALID_INPUT; + break; + } + + if (rslt == BMI08X_OK) + { + /*condition to check disabling the interrupt in single channel when both + * interrupts channels are enabled*/ + if (data[0] & BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4) + { + /* Updating the data */ + /* Data to enable new data ready interrupt */ + data[1] = BMI08X_GYRO_DRDY_INT_ENABLE_VAL; + } + else + { + data[1] = BMI08X_GYRO_DRDY_INT_DISABLE_VAL; + } + + /* write data to interrupt map register */ + rslt = set_regs(BMI08X_GYRO_INT3_INT4_IO_MAP_REG, &data[0], 1, dev); + + if (rslt == BMI08X_OK) + { + /* Configure interrupt pin */ + rslt = set_int_pin_config(int_config, dev); + + if (rslt == BMI08X_OK) + { + /* write data to interrupt control register */ + rslt = set_regs(BMI08X_GYRO_INT_CTRL_REG, &data[1], 1, dev); + } + + } + } + + } + + return rslt; +} + +/*! + * @brief This API configures the pins which fire the + * interrupt signal when any interrupt occurs. + */ +static int8_t set_int_pin_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data; + + /* Read interrupt configuration register */ + rslt = get_regs(BMI08X_GYRO_INT3_INT4_IO_CONF_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + switch (int_config->int_channel) + { + /* Interrupt pin or channel 3 */ + case BMI08X_INT_CHANNEL_3: + + /* Update data with user configured bmi08x_int_cfg structure */ + data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_INT3_LVL, int_config->int_pin_cfg.lvl); + data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT3_OD, int_config->int_pin_cfg.output_mode); + break; + + case BMI08X_INT_CHANNEL_4: + + /* Update data with user configured bmi08x_int_cfg structure */ + data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT4_LVL, int_config->int_pin_cfg.lvl); + data = BMI08X_SET_BITS(data, BMI08X_GYRO_INT4_OD, int_config->int_pin_cfg.output_mode); + break; + + default: + break; + } + + /* write to interrupt configuration register */ + rslt = set_regs(BMI08X_GYRO_INT3_INT4_IO_CONF_REG, &data, 1, dev); + } + + return rslt; +} + +/*! + * @brief This API enables or disables the Gyro Self test feature in the + * sensor. + */ +static int8_t set_gyro_selftest(uint8_t selftest, const struct bmi08x_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check for valid selftest input */ + if ((selftest == BMI08X_ENABLE) || (selftest == BMI08X_DISABLE)) + { + /* Read self test register */ + rslt = get_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); + + if (rslt == BMI08X_OK) + { + /* Enable self-test */ + data = BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_SELF_TEST_EN, selftest); + + /* write self test input value to self-test register */ + rslt = set_regs(BMI08X_GYRO_SELF_TEST_REG, &data, 1, dev); + } + + } + else + { + rslt = BMI08X_E_INVALID_INPUT; + } + + return rslt; +} + +/** @}*/ diff --git a/bmi08x.h b/bmi08x.h index ce446da..0149f63 100644 --- a/bmi08x.h +++ b/bmi08x.h @@ -1,624 +1,615 @@ -/** - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi08x.h - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi08x.h - * \brief Sensor Driver for BMI08x family of sensors */ -#ifndef BMI08X_H_ -#define BMI08X_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/*********************************************************************/ -/* header files */ -#include "bmi08x_defs.h" - -/*********************************************************************/ -/* (extern) variable declarations */ -/*********************************************************************/ -/* function prototype declarations */ -/*********************** BMI08x Accelerometer function prototypes ************************/ - -/*! - * @brief This API is the entry point for accel sensor. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of accel sensor. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success /-ve value -> Error - */ -int8_t bmi08a_init(struct bmi08x_dev *dev); - -/*! - * @brief This API is used to write the binary configuration in the sensor - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_write_config_file(const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the feature configuration to the accel sensor. - * - * @param[in] reg_addr : Address offset of the feature setting inside the feature conf region. - * @param[in] reg_data : Feature settings. - * @param[in] len : Number of 16 bit words to be written. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_write_feature_config(uint8_t reg_addr, const uint16_t *reg_data, uint8_t len, - const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the data from the given register address of accel sensor. - * - * @param[in] reg_addr : Register address from where the data to be read - * @param[out] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the given data to the register address - * of accel sensor. - * - * @param[in] reg_addr : Register address to where the data to be written. - * @param[in] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the error status from the accel sensor. - * - * Below table mention the types of error which can occur in the sensor - *@verbatim - ************************************************************************* - * Error | Description - *************************|*********************************************** - * | Fatal Error, chip is not in operational - * fatal | state (Boot-, power-system). - * | This flag will be reset only by - * | power-on-reset or soft reset. - *************************|*********************************************** - * | Value Name Description - * error_code | 000 no_error no error - * | 001 accel_err error in - * | ACCEL_CONF - ************************************************************************* - *@endverbatim - * @param[out] err_reg : Pointer to structure variable which stores the - * error status read from the sensor. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_get_error_status(struct bmi08x_err_reg *err_reg, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the status of the accel sensor. - * - * Below table lists the sensor status flags - *@verbatim - ************************************************************************* - * Status | Description - ***********************************|************************************* - * drdy_accel | Data ready for Accel. - ************************************************************************* - *@endverbatim - * - * @param[out] status : Variable used to store the sensor status flags - * which is read from the sensor. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -int8_t bmi08a_get_status(uint8_t *status, const struct bmi08x_dev *dev); - -/*! - * @brief This API resets the accel sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_soft_reset(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the accel config values ie odr, band width and range from the sensor, - * store it in the bmi08x_dev structure instance - * passed by the user. - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -int8_t bmi08a_get_meas_conf(struct bmi08x_dev *dev); - -/*! - * @brief This API sets the Output data rate, range and bandwidth - * of accel sensor. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @note : The user must select one among the following macros to - * select range value for BMI085 accel - * config | value - * -------------------------------|--------------------------- - * BMI085_ACCEL_RANGE_2G | 0x00 - * BMI085_ACCEL_RANGE_4G | 0x01 - * BMI085_ACCEL_RANGE_8G | 0x02 - * BMI085_ACCEL_RANGE_16G | 0x03 - * - * @note : The user must select one among the following macros to - * select range value for BMI088 accel - * config | value - * -------------------------------|--------------------------- - * BMI088_ACCEL_RANGE_3G | 0x00 - * BMI088_ACCEL_RANGE_6G | 0x01 - * BMI088_ACCEL_RANGE_12G | 0x02 - * BMI088_ACCEL_RANGE_24G | 0x03 - * - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_set_meas_conf(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the accel power mode from the sensor, - * store it in the bmi08x_dev structure instance - * passed by the user. - * @param[in,out] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -int8_t bmi08a_get_power_mode(struct bmi08x_dev *dev); - -/*! - * @brief This API sets the power mode of the accel sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_set_power_mode(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the accel data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - * - * @param[out] accel : Structure pointer to store accel data - * @param[in] dev : Structure instance of bmi08x_dev. - * - * - * @return Result of API execution status - * @retval zero -> Success /-ve value -> Error - */ -int8_t bmi08a_get_data(struct bmi08x_sensor_data *accel, const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the necessary accel interrupt - * based on the user settings in the bmi08x_accel_int_channel_cfg - * structure instance. - * - * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_set_int_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the temperature of the sensor in degree Celcius. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * @param[out] sensor_temp : Pointer to store sensor temperature in degree Celcius - * - * @note Temperature data output must be divided by a factor of 1000 - * - * Consider sensor_temp = 19520 , Then the actual temperature is 19.520 degree Celsius - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_get_sensor_temperature(const struct bmi08x_dev *dev, int32_t *sensor_temp); - -/*! - * @brief This API reads the sensor time of the accel sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * @param[out] sensor_time : Pointer to store sensor time - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08a_get_sensor_time(const struct bmi08x_dev *dev, uint32_t *sensor_time); - -/*! - * @brief This API checks whether the self test functionality of the sensor - * is working or not - * - * @param[in] dev : Structure instance of bmi08x_dev - * - * @return results of self test - * @retval zero -> Success / +ve value -> Warning / -ve value -> Error - * - * Return value | Result of self test - * --------------------------------|--------------------------------- - * BMI08X_OK | Self test success - * BMI08X_W_SELF_TEST_FAIL | self test fail - */ -int8_t bmi08a_perform_selftest(struct bmi08x_dev *dev); - -/*********************** BMI088 Gyroscope function prototypes ****************************/ - -/*! - * @brief This API is the entry point for gyro sensor. - * It performs the selection of I2C/SPI read mechanism according to the - * selected interface and reads the chip-id of gyro sensor. - * - * @param[in,out] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_init(struct bmi08x_dev *dev); - -/*! - * @brief This API reads the data from the given register address of gyro sensor. - * - * @param[in] reg_addr : Register address from where the data to be read - * @param[out] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API writes the given data to the register address - * of gyro sensor. - * - * @param[in] reg_addr : Register address to where the data to be written. - * @param[in] reg_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 bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); - -/*! - * @brief This API resets the gyro sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - */ -int8_t bmi08g_soft_reset(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the gyro odr and range from the sensor, - * store it in the bmi08x_dev structure instance - * passed by the user. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - * @note : band width also updated, which is same as odr - * Refer user guide for detailed info. - */ -int8_t bmi08g_get_meas_conf(struct bmi08x_dev *dev); - -/*! - * @brief This API sets the output data rate, range and bandwidth - * of gyro sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - * - * @note : No need to give the band width parameter, - * odr will update the band width. - * Refer user guide for detailed info. - */ -int8_t bmi08g_set_meas_conf(const struct bmi08x_dev *dev); - -/*! - * @brief This API gets the power mode of the gyro sensor and store it - * inside the instance of bmi08x_dev passed by the user. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_get_power_mode(struct bmi08x_dev *dev); - -/*! - * @brief This API sets the power mode of the gyro sensor. - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_set_power_mode(const struct bmi08x_dev *dev); - -/*! - * @brief This API reads the gyro data from the sensor, - * store it in the bmi08x_sensor_data structure instance - * passed by the user. - * - * @param[out] gyro : Structure pointer to store gyro data - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_get_data(struct bmi08x_sensor_data *gyro, const struct bmi08x_dev *dev); - -/*! - * @brief This API configures the necessary gyro interrupt - * based on the user settings in the bmi08x_gyro_int_channel_cfg - * structure instance. - * - * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. - * @param[in] dev : Structure instance of bmi08x_dev. - * @note : Refer user guide for detailed info. - * - * @return Result of API execution status - * @retval zero -> Success / -ve value -> Error - */ -int8_t bmi08g_set_int_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev); - -/*! - * @brief This API checks whether the self test functionality of the - * gyro sensor is working or not - * - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * @retval zero -> Success / +ve value -> Warning / -ve value -> Error - * - * Return value | Result of self test - * --------------------------------|--------------------------------- - * BMI08X_OK | Self test success - * BMI08X_W_SELF_TEST_FAIL | self test fail - */ -int8_t bmi08g_perform_selftest(const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the FIFO configuration in the sensor. - * - * @param[in] config : Structure instance of FIFO configurations. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_set_fifo_config(const struct accel_fifo_config *config, const struct bmi08x_dev *dev); - -/*! - * @brief This API gets the FIFO configuration from the sensor. - * - * @param[out] config : Structure instance to get FIFO configuration value. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_get_fifo_config(struct accel_fifo_config *config, const struct bmi08x_dev *dev); - -/*! - * @brief This API reads FIFO data. - * - * @param[in, out] fifo : Structure instance of bmi08x_fifo_frame. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @note APS has to be disabled before calling this function. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, const struct bmi08x_dev *dev); - -/*! - * @brief This API gets the length of FIFO data available in the sensor in - * bytes. - * - * @param[out] fifo_length : Pointer variable to store the value of FIFO byte - * counter. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @note The byte counter is updated each time a complete frame is read or - * written. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_get_fifo_length(uint16_t *fifo_length, const struct bmi08x_dev *dev); - -/*! - * @brief This API gets the FIFO water mark level which is set in the sensor. - * - * @param[out] wm : Pointer variable to store FIFO water-mark level. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_get_fifo_wm(uint16_t *wm, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the FIFO water mark level which is set in the sensor. - * - * @param[out] wm : Pointer variable to store FIFO water-mark level. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ -int8_t bmi08a_set_fifo_wm(uint16_t wm, const struct bmi08x_dev *dev); - -/*! - * This API parses and extracts the accelerometer frames from FIFO data read by - * the "bmi08x_read_fifo_data" API and stores it in the "accel_data" structure - * instance. - * - * @param[out] accel_data : Structure instance of bmi08x_sensor_data - * where the parsed data bytes are stored. - * @param[in,out] accel_length : Number of accelerometer frames. - * @param[in,out] fifo : Structure instance of bmi08x_fifo_frame. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty - * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read - */ -int8_t bmi08a_extract_accel(struct bmi08x_sensor_data *accel_data, - uint16_t *accel_length, - struct bmi08x_fifo_frame *fifo, - const struct bmi08x_dev *dev); - -/*! - * @brief This API gets the down sampling rate, configured for FIFO - * accelerometer. - * - * @param[out] fifo_downs : Pointer variable to store the down sampling rate - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - */ - -int8_t bmi08a_get_fifo_down_sample(uint8_t *fifo_downs, const struct bmi08x_dev *dev); - -/*! - * @brief This API sets the down sampling rate for FIFO accelerometer FIFO data. - * - * @param[in] fifo_downs : Variable to set the down sampling rate. - * @param[in] dev : Structure instance of bmi08x_dev. - * - * @return Result of API execution status - * - * @retval BMI08X_OK - Success. - * @retval BMI08X_E_NULL_PTR - Error: Null pointer error - * @retval BMI08X_E_COM_FAIL - Error: Communication fail - * @retval BMI08X_E_OUT_OF_RANGE - Error: Out of range - */ -int8_t bmi08a_set_fifo_down_sample(uint8_t fifo_downs, const struct bmi08x_dev *dev); - -#ifdef __cplusplus -} -#endif - -#endif /* BMI08X_H_ */ - -/** @}*/ +/** +* 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 bmi08x.h +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi08x.h + * \brief Sensor Driver for BMI08x family of sensors */ +#ifndef BMI08X_H_ +#define BMI08X_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/*********************************************************************/ +/* header files */ +#include "bmi08x_defs.h" + +/*********************************************************************/ +/* (extern) variable declarations */ +/*********************************************************************/ +/* function prototype declarations */ +/*********************** BMI08x Accelerometer function prototypes ************************/ + +/*! + * @brief This API is the entry point for accel sensor. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of accel sensor. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success /-ve value -> Error + */ +int8_t bmi08a_init(struct bmi08x_dev *dev); + +/*! + * @brief This API is used to write the binary configuration in the sensor + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_write_config_file(const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the feature configuration to the accel sensor. + * + * @param[in] reg_addr : Address offset of the feature setting inside the feature conf region. + * @param[in] reg_data : Feature settings. + * @param[in] len : Number of 16 bit words to be written. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_write_feature_config(uint8_t reg_addr, const uint16_t *reg_data, uint8_t len, + const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the data from the given register address of accel sensor. + * + * @param[in] reg_addr : Register address from where the data to be read + * @param[out] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the given data to the register address + * of accel sensor. + * + * @param[in] reg_addr : Register address to where the data to be written. + * @param[in] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the error status from the accel sensor. + * + * Below table mention the types of error which can occur in the sensor + *@verbatim + ************************************************************************* + * Error | Description + *************************|*********************************************** + * | Fatal Error, chip is not in operational + * fatal | state (Boot-, power-system). + * | This flag will be reset only by + * | power-on-reset or soft reset. + *************************|*********************************************** + * | Value Name Description + * error_code | 000 no_error no error + * | 001 accel_err error in + * | ACCEL_CONF + ************************************************************************* + *@endverbatim + * @param[out] err_reg : Pointer to structure variable which stores the + * error status read from the sensor. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_get_error_status(struct bmi08x_err_reg *err_reg, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the status of the accel sensor. + * + * Below table lists the sensor status flags + *@verbatim + ************************************************************************* + * Status | Description + ***********************************|************************************* + * drdy_accel | Data ready for Accel. + ************************************************************************* + *@endverbatim + * + * @param[out] status : Variable used to store the sensor status flags + * which is read from the sensor. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + */ +int8_t bmi08a_get_status(uint8_t *status, const struct bmi08x_dev *dev); + +/*! + * @brief This API resets the accel sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_soft_reset(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the accel config values ie odr, band width and range from the sensor, + * store it in the bmi08x_dev structure instance + * passed by the user. + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + */ +int8_t bmi08a_get_meas_conf(struct bmi08x_dev *dev); + +/*! + * @brief This API sets the Output data rate, range and bandwidth + * of accel sensor. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @note : The user must select one among the following macros to + * select range value for BMI085 accel + * config | value + * -------------------------------|--------------------------- + * BMI085_ACCEL_RANGE_2G | 0x00 + * BMI085_ACCEL_RANGE_4G | 0x01 + * BMI085_ACCEL_RANGE_8G | 0x02 + * BMI085_ACCEL_RANGE_16G | 0x03 + * + * @note : The user must select one among the following macros to + * select range value for BMI088 accel + * config | value + * -------------------------------|--------------------------- + * BMI088_ACCEL_RANGE_3G | 0x00 + * BMI088_ACCEL_RANGE_6G | 0x01 + * BMI088_ACCEL_RANGE_12G | 0x02 + * BMI088_ACCEL_RANGE_24G | 0x03 + * + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_set_meas_conf(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the accel power mode from the sensor, + * store it in the bmi08x_dev structure instance + * passed by the user. + * @param[in,out] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + */ +int8_t bmi08a_get_power_mode(struct bmi08x_dev *dev); + +/*! + * @brief This API sets the power mode of the accel sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_set_power_mode(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the accel data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + * + * @param[out] accel : Structure pointer to store accel data + * @param[in] dev : Structure instance of bmi08x_dev. + * + * + * @return Result of API execution status + * @retval zero -> Success /-ve value -> Error + */ +int8_t bmi08a_get_data(struct bmi08x_sensor_data *accel, const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the necessary accel interrupt + * based on the user settings in the bmi08x_accel_int_channel_cfg + * structure instance. + * + * @param[in] int_config : Structure instance of bmi08x_accel_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_set_int_config(const struct bmi08x_accel_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the temperature of the sensor in degree Celcius. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * @param[out] sensor_temp : Pointer to store sensor temperature in degree Celcius + * + * @note Temperature data output must be divided by a factor of 1000 + * + * Consider sensor_temp = 19520 , Then the actual temperature is 19.520 degree Celsius + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_get_sensor_temperature(const struct bmi08x_dev *dev, int32_t *sensor_temp); + +/*! + * @brief This API reads the sensor time of the accel sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * @param[out] sensor_time : Pointer to store sensor time + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08a_get_sensor_time(const struct bmi08x_dev *dev, uint32_t *sensor_time); + +/*! + * @brief This API checks whether the self test functionality of the sensor + * is working or not + * + * @param[in] dev : Structure instance of bmi08x_dev + * + * @return results of self test + * @retval zero -> Success / +ve value -> Warning / -ve value -> Error + * + * Return value | Result of self test + * --------------------------------|--------------------------------- + * BMI08X_OK | Self test success + * BMI08X_W_SELF_TEST_FAIL | self test fail + */ +int8_t bmi08a_perform_selftest(struct bmi08x_dev *dev); + +/*********************** BMI088 Gyroscope function prototypes ****************************/ + +/*! + * @brief This API is the entry point for gyro sensor. + * It performs the selection of I2C/SPI read mechanism according to the + * selected interface and reads the chip-id of gyro sensor. + * + * @param[in,out] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_init(struct bmi08x_dev *dev); + +/*! + * @brief This API reads the data from the given register address of gyro sensor. + * + * @param[in] reg_addr : Register address from where the data to be read + * @param[out] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API writes the given data to the register address + * of gyro sensor. + * + * @param[in] reg_addr : Register address to where the data to be written. + * @param[in] reg_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 bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_set_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t len, const struct bmi08x_dev *dev); + +/*! + * @brief This API resets the gyro sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + */ +int8_t bmi08g_soft_reset(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the gyro odr and range from the sensor, + * store it in the bmi08x_dev structure instance + * passed by the user. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + * @note : band width also updated, which is same as odr + * Refer user guide for detailed info. + */ +int8_t bmi08g_get_meas_conf(struct bmi08x_dev *dev); + +/*! + * @brief This API sets the output data rate, range and bandwidth + * of gyro sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + * + * @note : No need to give the band width parameter, + * odr will update the band width. + * Refer user guide for detailed info. + */ +int8_t bmi08g_set_meas_conf(const struct bmi08x_dev *dev); + +/*! + * @brief This API gets the power mode of the gyro sensor and store it + * inside the instance of bmi08x_dev passed by the user. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_get_power_mode(struct bmi08x_dev *dev); + +/*! + * @brief This API sets the power mode of the gyro sensor. + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_set_power_mode(const struct bmi08x_dev *dev); + +/*! + * @brief This API reads the gyro data from the sensor, + * store it in the bmi08x_sensor_data structure instance + * passed by the user. + * + * @param[out] gyro : Structure pointer to store gyro data + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_get_data(struct bmi08x_sensor_data *gyro, const struct bmi08x_dev *dev); + +/*! + * @brief This API configures the necessary gyro interrupt + * based on the user settings in the bmi08x_gyro_int_channel_cfg + * structure instance. + * + * @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg. + * @param[in] dev : Structure instance of bmi08x_dev. + * @note : Refer user guide for detailed info. + * + * @return Result of API execution status + * @retval zero -> Success / -ve value -> Error + */ +int8_t bmi08g_set_int_config(const struct bmi08x_gyro_int_channel_cfg *int_config, const struct bmi08x_dev *dev); + +/*! + * @brief This API checks whether the self test functionality of the + * gyro sensor is working or not + * + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * @retval zero -> Success / +ve value -> Warning / -ve value -> Error + * + * Return value | Result of self test + * --------------------------------|--------------------------------- + * BMI08X_OK | Self test success + * BMI08X_W_SELF_TEST_FAIL | self test fail + */ +int8_t bmi08g_perform_selftest(const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the FIFO configuration in the sensor. + * + * @param[in] config : Structure instance of FIFO configurations. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_set_fifo_config(const struct accel_fifo_config *config, const struct bmi08x_dev *dev); + +/*! + * @brief This API gets the FIFO configuration from the sensor. + * + * @param[out] config : Structure instance to get FIFO configuration value. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_get_fifo_config(struct accel_fifo_config *config, const struct bmi08x_dev *dev); + +/*! + * @brief This API reads FIFO data. + * + * @param[in, out] fifo : Structure instance of bmi08x_fifo_frame. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @note APS has to be disabled before calling this function. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_read_fifo_data(struct bmi08x_fifo_frame *fifo, const struct bmi08x_dev *dev); + +/*! + * @brief This API gets the length of FIFO data available in the sensor in + * bytes. + * + * @param[out] fifo_length : Pointer variable to store the value of FIFO byte + * counter. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @note The byte counter is updated each time a complete frame is read or + * written. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_get_fifo_length(uint16_t *fifo_length, const struct bmi08x_dev *dev); + +/*! + * @brief This API gets the FIFO water mark level which is set in the sensor. + * + * @param[out] wm : Pointer variable to store FIFO water-mark level. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_get_fifo_wm(uint16_t *wm, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the FIFO water mark level which is set in the sensor. + * + * @param[out] wm : Pointer variable to store FIFO water-mark level. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ +int8_t bmi08a_set_fifo_wm(uint16_t wm, const struct bmi08x_dev *dev); + +/*! + * This API parses and extracts the accelerometer frames from FIFO data read by + * the "bmi08x_read_fifo_data" API and stores it in the "accel_data" structure + * instance. + * + * @param[out] accel_data : Structure instance of bmi08x_sensor_data + * where the parsed data bytes are stored. + * @param[in,out] accel_length : Number of accelerometer frames. + * @param[in,out] fifo : Structure instance of bmi08x_fifo_frame. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_W_FIFO_EMPTY - Warning : FIFO is empty + * @retval BMI08X_W_PARTIAL_READ - Warning : There are more frames to be read + */ +int8_t bmi08a_extract_accel(struct bmi08x_sensor_data *accel_data, + uint16_t *accel_length, + struct bmi08x_fifo_frame *fifo, + const struct bmi08x_dev *dev); + +/*! + * @brief This API gets the down sampling rate, configured for FIFO + * accelerometer. + * + * @param[out] fifo_downs : Pointer variable to store the down sampling rate + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + */ + +int8_t bmi08a_get_fifo_down_sample(uint8_t *fifo_downs, const struct bmi08x_dev *dev); + +/*! + * @brief This API sets the down sampling rate for FIFO accelerometer FIFO data. + * + * @param[in] fifo_downs : Variable to set the down sampling rate. + * @param[in] dev : Structure instance of bmi08x_dev. + * + * @return Result of API execution status + * + * @retval BMI08X_OK - Success. + * @retval BMI08X_E_NULL_PTR - Error: Null pointer error + * @retval BMI08X_E_COM_FAIL - Error: Communication fail + * @retval BMI08X_E_OUT_OF_RANGE - Error: Out of range + */ +int8_t bmi08a_set_fifo_down_sample(uint8_t fifo_downs, const struct bmi08x_dev *dev); + +#ifdef __cplusplus +} +#endif + +#endif /* BMI08X_H_ */ + +/** @}*/ diff --git a/bmi08x_defs.h b/bmi08x_defs.h index 7663edf..8b6ffef 100644 --- a/bmi08x_defs.h +++ b/bmi08x_defs.h @@ -1,1084 +1,1073 @@ -/** - * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of the copyright holder nor the names of the - * 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 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 - * - * The information provided is believed to be accurate and reliable. - * The copyright holder assumes no responsibility - * for the consequences of use - * of such information nor for any infringement of patents or - * other rights of third parties which may result from its use. - * No license is granted by implication or otherwise under any patent or - * patent rights of the copyright holder. - * - * @file bmi08x_defs.h - * @date 25 Sep 2019 - * @version 1.4.0 - * - */ - -/*! \file bmi08x_defs.h */ - -/*! - * @defgroup BMI08 SENSOR API - * @brief - * @{*/ -#ifndef BMI08X_DEFS_H_ -#define BMI08X_DEFS_H_ - -/*********************************************************************/ -/**\ header files */ -#ifdef __KERNEL__ -#include -#include -#else -#include -#include -#include -#endif - -/*********************************************************************/ -/** \name 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 - -#ifndef TRUE -#define TRUE UINT8_C(1) -#endif - -#ifndef FALSE -#define FALSE UINT8_C(0) -#endif - -/** \name enable bmi085 sensor */ -#ifndef BMI08X_ENABLE_BMI085 -#define BMI08X_ENABLE_BMI085 1 -#endif - -/** \name enable bmi088 sensor */ -#ifndef BMI08X_ENABLE_BMI088 -#define BMI08X_ENABLE_BMI088 0 -#endif - -/** \name enable bmi08x sensor */ -#if BMI08X_ENABLE_BMI085 == 1 - -/** \name enable bmi085 sensor */ -#define BMI08X_FEATURE_BMI085 1 - -/** \name disable bmi088 accel sensor */ -#define BMI08X_FEATURE_BMI088 0 - -#elif BMI08X_ENABLE_BMI088 == 1 - -/** \name disable bmi085 sensor */ -#define BMI08X_FEATURE_BMI085 0 - -/** \name enable bmi088 accel sensor */ -#define BMI08X_FEATURE_BMI088 1 -#endif - -/*************************** BMI08 Accelerometer Macros *****************************/ - -/** Register map */ -/* Accel registers */ - -/**\name Accel Chip Id register */ -#define BMI08X_ACCEL_CHIP_ID_REG UINT8_C(0x00) - -/**\name Accel Error condition register */ -#define BMI08X_ACCEL_ERR_REG UINT8_C(0x02) - -/**\name Accel Status flag register */ -#define BMI08X_ACCEL_STATUS_REG UINT8_C(0x03) - -/**\name Accel X LSB data register */ -#define BMI08X_ACCEL_X_LSB_REG UINT8_C(0x12) - -/**\name Accel X MSB data register */ -#define BMI08X_ACCEL_X_MSB_REG UINT8_C(0x13) - -/**\name Accel Y LSB data register */ -#define BMI08X_ACCEL_Y_LSB_REG UINT8_C(0x14) - -/**\name Accel Y MSB data register */ -#define BMI08X_ACCEL_Y_MSB_REG UINT8_C(0x15) - -/**\name Accel Z LSB data register */ -#define BMI08X_ACCEL_Z_LSB_REG UINT8_C(0x16) - -/**\name Accel Z MSB data register */ -#define BMI08X_ACCEL_Z_MSB_REG UINT8_C(0x17) - -/**\name Sensor time byte 0 register */ -#define BMI08X_ACCEL_SENSORTIME_0_REG UINT8_C(0x18) - -/**\name Sensor time byte 1 register */ -#define BMI08X_ACCEL_SENSORTIME_1_REG UINT8_C(0x19) - -/**\name Sensor time byte 2 register */ -#define BMI08X_ACCEL_SENSORTIME_2_REG UINT8_C(0x1A) - -/**\name Accel Interrupt status0 register */ -#define BMI08X_ACCEL_INT_STAT_0_REG UINT8_C(0x1C) - -/**\name Accel Interrupt status1 register */ -#define BMI08X_ACCEL_INT_STAT_1_REG UINT8_C(0x1D) - -/**\name Accel general purpose register 0*/ -#define BMI08X_ACCEL_GP_0_REG UINT8_C(0x1E) - -/**\name Sensor temperature MSB data register */ -#define BMI08X_TEMP_MSB_REG UINT8_C(0x22) - -/**\name Sensor temperature LSB data register */ -#define BMI08X_TEMP_LSB_REG UINT8_C(0x23) - -/**\name Accel general purpose register 4*/ -#define BMI08X_ACCEL_GP_4_REG UINT8_C(0x27) - -/**\name Accel Internal status register */ -#define BMI08X_ACCEL_INTERNAL_STAT_REG UINT8_C(0x2A) - -/**\name Accel configuration register */ -#define BMI08X_ACCEL_CONF_REG UINT8_C(0x40) - -/**\name Accel range setting register */ -#define BMI08X_ACCEL_RANGE_REG UINT8_C(0x41) - -/**\name Accel Interrupt pin 1 configuration register */ -#define BMI08X_ACCEL_INT1_IO_CONF_REG UINT8_C(0x53) - -/**\name Accel Interrupt pin 2 configuration register */ -#define BMI08X_ACCEL_INT2_IO_CONF_REG UINT8_C(0x54) - -/**\name Accel Interrupt latch configuration register */ -#define BMI08X_ACCEL_INT_LATCH_CONF_REG UINT8_C(0x55) - -/**\name Accel Interrupt pin1 mapping register */ -#define BMI08X_ACCEL_INT1_MAP_REG UINT8_C(0x56) - -/**\name Accel Interrupt pin2 mapping register */ -#define BMI08X_ACCEL_INT2_MAP_REG UINT8_C(0x57) - -/**\name Accel Interrupt map register */ -#define BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG UINT8_C(0x58) - -/**\name Accel Init control register */ -#define BMI08X_ACCEL_INIT_CTRL_REG UINT8_C(0x59) - -/**\name Accel Self test register */ -#define BMI08X_ACCEL_SELF_TEST_REG UINT8_C(0x6D) - -/**\name Accel Power mode configuration register */ -#define BMI08X_ACCEL_PWR_CONF_REG UINT8_C(0x7C) - -/**\name Accel Power control (switch on or off ) register */ -#define BMI08X_ACCEL_PWR_CTRL_REG UINT8_C(0x7D) - -/**\name Accel Soft reset register */ -#define BMI08X_ACCEL_SOFTRESET_REG UINT8_C(0x7E) - -#if BMI08X_FEATURE_BMI085 == 1 - -/**\name BMI085 Accel unique chip identifier */ -#define BMI08X_ACCEL_CHIP_ID UINT8_C(0x1F) -#elif BMI08X_FEATURE_BMI088 == 1 - -/**\name BMI088 Accel unique chip identifier */ -#define BMI08X_ACCEL_CHIP_ID UINT8_C(0x1E) -#endif - -/**\name Accel I2C slave address */ -#define BMI08X_ACCEL_I2C_ADDR_PRIMARY UINT8_C(0x18) -#define BMI08X_ACCEL_I2C_ADDR_SECONDARY UINT8_C(0x19) - -/**\name Feature Config related Registers */ -#define BMI08X_ACCEL_RESERVED_5B_REG UINT8_C(0x5B) -#define BMI08X_ACCEL_RESERVED_5C_REG UINT8_C(0x5C) -#define BMI08X_ACCEL_FEATURE_CFG_REG UINT8_C(0x5E) - -/**\name Interrupt masks */ -#define BMI08X_ACCEL_DATA_READY_INT UINT8_C(0x80) - -/**\name Accel Bandwidth */ -#define BMI08X_ACCEL_BW_OSR4 UINT8_C(0x00) -#define BMI08X_ACCEL_BW_OSR2 UINT8_C(0x01) -#define BMI08X_ACCEL_BW_NORMAL UINT8_C(0x02) - -#if BMI08X_FEATURE_BMI085 == 1 - -/**\name BMI085 Accel Range */ -#define BMI085_ACCEL_RANGE_2G UINT8_C(0x00) -#define BMI085_ACCEL_RANGE_4G UINT8_C(0x01) -#define BMI085_ACCEL_RANGE_8G UINT8_C(0x02) -#define BMI085_ACCEL_RANGE_16G UINT8_C(0x03) - -#elif BMI08X_FEATURE_BMI088 == 1 - -/**\name BMI088 Accel Range */ -#define BMI088_ACCEL_RANGE_3G UINT8_C(0x00) -#define BMI088_ACCEL_RANGE_6G UINT8_C(0x01) -#define BMI088_ACCEL_RANGE_12G UINT8_C(0x02) -#define BMI088_ACCEL_RANGE_24G UINT8_C(0x03) -#endif - -/**\name Accel Output data rate */ -#define BMI08X_ACCEL_ODR_12_5_HZ UINT8_C(0x05) -#define BMI08X_ACCEL_ODR_25_HZ UINT8_C(0x06) -#define BMI08X_ACCEL_ODR_50_HZ UINT8_C(0x07) -#define BMI08X_ACCEL_ODR_100_HZ UINT8_C(0x08) -#define BMI08X_ACCEL_ODR_200_HZ UINT8_C(0x09) -#define BMI08X_ACCEL_ODR_400_HZ UINT8_C(0x0A) -#define BMI08X_ACCEL_ODR_800_HZ UINT8_C(0x0B) -#define BMI08X_ACCEL_ODR_1600_HZ UINT8_C(0x0C) - -/**\name Accel Self test */ -#define BMI08X_ACCEL_SWITCH_OFF_SELF_TEST UINT8_C(0x00) -#define BMI08X_ACCEL_POSITIVE_SELF_TEST UINT8_C(0x0D) -#define BMI08X_ACCEL_NEGATIVE_SELF_TEST UINT8_C(0x09) - -/**\name Accel Power mode */ -#define BMI08X_ACCEL_PM_ACTIVE UINT8_C(0x00) -#define BMI08X_ACCEL_PM_SUSPEND UINT8_C(0x03) - -/**\name Accel Power control settings */ -#define BMI08X_ACCEL_POWER_DISABLE UINT8_C(0x00) -#define BMI08X_ACCEL_POWER_ENABLE UINT8_C(0x04) - -/**\name Accel internal interrupt pin mapping */ -#define BMI08X_ACCEL_INTA_DISABLE UINT8_C(0x00) -#define BMI08X_ACCEL_INTA_ENABLE UINT8_C(0x01) -#define BMI08X_ACCEL_INTB_DISABLE UINT8_C(0x00) -#define BMI08X_ACCEL_INTB_ENABLE UINT8_C(0x02) - -/**\name Accel Soft reset delay */ -#define BMI08X_ACCEL_SOFTRESET_DELAY_MS UINT8_C(1) - -/**\name Mask definitions for ACCEL_ERR_REG register */ -#define BMI08X_FATAL_ERR_MASK UINT8_C(0x01) -#define BMI08X_ERR_CODE_MASK UINT8_C(0x1C) - -/**\name Position definitions for ACCEL_ERR_REG register */ -#define BMI08X_CMD_ERR_POS UINT8_C(1) -#define BMI08X_ERR_CODE_POS UINT8_C(2) - -/**\name Mask definition for ACCEL_STATUS_REG register */ -#define BMI08X_ACCEL_STATUS_MASK UINT8_C(0x80) - -/**\name Position definitions for ACCEL_STATUS_REG */ -#define BMI08X_ACCEL_STATUS_POS UINT8_C(7) - -/**\name Mask definitions for odr, bandwidth and range */ -#define BMI08X_ACCEL_ODR_MASK UINT8_C(0x0F) -#define BMI08X_ACCEL_BW_MASK UINT8_C(0x70) -#define BMI08X_ACCEL_RANGE_MASK UINT8_C(0x03) - -/**\name Position definitions for odr, bandwidth and range */ -#define BMI08X_ACCEL_BW_POS UINT8_C(4) - -/**\name Mask definitions for INT1_IO_CONF register */ -#define BMI08X_ACCEL_INT_EDGE_MASK UINT8_C(0x01) -#define BMI08X_ACCEL_INT_LVL_MASK UINT8_C(0x02) -#define BMI08X_ACCEL_INT_OD_MASK UINT8_C(0x04) -#define BMI08X_ACCEL_INT_IO_MASK UINT8_C(0x08) -#define BMI08X_ACCEL_INT_IN_MASK UINT8_C(0x10) - -/**\name Position definitions for INT1_IO_CONF register */ -#define BMI08X_ACCEL_INT_EDGE_POS UINT8_C(0) -#define BMI08X_ACCEL_INT_LVL_POS UINT8_C(1) -#define BMI08X_ACCEL_INT_OD_POS UINT8_C(2) -#define BMI08X_ACCEL_INT_IO_POS UINT8_C(3) -#define BMI08X_ACCEL_INT_IN_POS UINT8_C(4) - -/**\name Mask definitions for INT1/INT2 mapping register */ -#define BMI08X_ACCEL_MAP_INTA_MASK UINT8_C(0x01) - -/**\name Mask definitions for INT1/INT2 mapping register */ -#define BMI08X_ACCEL_MAP_INTA_POS UINT8_C(0x00) - -/**\name Mask definitions for INT1_INT2_MAP_DATA register */ -#define BMI08X_ACCEL_INT1_DRDY_MASK UINT8_C(0x04) -#define BMI08X_ACCEL_INT2_DRDY_MASK UINT8_C(0x40) - -/**\name Position definitions for INT1_INT2_MAP_DATA register */ -#define BMI08X_ACCEL_INT1_DRDY_POS UINT8_C(2) -#define BMI08X_ACCEL_INT2_DRDY_POS UINT8_C(6) - -/**\name Asic Initialization value */ -#define BMI08X_ASIC_INITIALIZED UINT8_C(0x01) - -/*************************** BMI08 Gyroscope Macros *****************************/ -/** Register map */ -/* Gyro registers */ - -/**\name Gyro Chip Id register */ -#define BMI08X_GYRO_CHIP_ID_REG UINT8_C(0x00) - -/**\name Gyro X LSB data register */ -#define BMI08X_GYRO_X_LSB_REG UINT8_C(0x02) - -/**\name Gyro X MSB data register */ -#define BMI08X_GYRO_X_MSB_REG UINT8_C(0x03) - -/**\name Gyro Y LSB data register */ -#define BMI08X_GYRO_Y_LSB_REG UINT8_C(0x04) - -/**\name Gyro Y MSB data register */ -#define BMI08X_GYRO_Y_MSB_REG UINT8_C(0x05) - -/**\name Gyro Z LSB data register */ -#define BMI08X_GYRO_Z_LSB_REG UINT8_C(0x06) - -/**\name Gyro Z MSB data register */ -#define BMI08X_GYRO_Z_MSB_REG UINT8_C(0x07) - -/**\name Gyro Interrupt status register */ -#define BMI08X_GYRO_INT_STAT_1_REG UINT8_C(0x0A) - -/**\name Gyro Range register */ -#define BMI08X_GYRO_RANGE_REG UINT8_C(0x0F) - -/**\name Gyro Bandwidth register */ -#define BMI08X_GYRO_BANDWIDTH_REG UINT8_C(0x10) - -/**\name Gyro Power register */ -#define BMI08X_GYRO_LPM1_REG UINT8_C(0x11) - -/**\name Gyro Soft reset register */ -#define BMI08X_GYRO_SOFTRESET_REG UINT8_C(0x14) - -/**\name Gyro Interrupt control register */ -#define BMI08X_GYRO_INT_CTRL_REG UINT8_C(0x15) - -/**\name Gyro Interrupt Pin configuration register */ -#define BMI08X_GYRO_INT3_INT4_IO_CONF_REG UINT8_C(0x16) - -/**\name Gyro Interrupt Map register */ -#define BMI08X_GYRO_INT3_INT4_IO_MAP_REG UINT8_C(0x18) - -/**\name Gyro Self test register */ -#define BMI08X_GYRO_SELF_TEST_REG UINT8_C(0x3C) - -/**\name Gyro unique chip identifier */ -#define BMI08X_GYRO_CHIP_ID UINT8_C(0x0F) - -/**\name Gyro I2C slave address */ -#define BMI08X_GYRO_I2C_ADDR_PRIMARY UINT8_C(0x68) -#define BMI08X_GYRO_I2C_ADDR_SECONDARY UINT8_C(0x69) - -/**\name Gyro Range */ -#define BMI08X_GYRO_RANGE_2000_DPS UINT8_C(0x00) -#define BMI08X_GYRO_RANGE_1000_DPS UINT8_C(0x01) -#define BMI08X_GYRO_RANGE_500_DPS UINT8_C(0x02) -#define BMI08X_GYRO_RANGE_250_DPS UINT8_C(0x03) -#define BMI08X_GYRO_RANGE_125_DPS UINT8_C(0x04) - -/**\name Gyro Output data rate and bandwidth */ -#define BMI08X_GYRO_BW_532_ODR_2000_HZ UINT8_C(0x00) -#define BMI08X_GYRO_BW_230_ODR_2000_HZ UINT8_C(0x01) -#define BMI08X_GYRO_BW_116_ODR_1000_HZ UINT8_C(0x02) -#define BMI08X_GYRO_BW_47_ODR_400_HZ UINT8_C(0x03) -#define BMI08X_GYRO_BW_23_ODR_200_HZ UINT8_C(0x04) -#define BMI08X_GYRO_BW_12_ODR_100_HZ UINT8_C(0x05) -#define BMI08X_GYRO_BW_64_ODR_200_HZ UINT8_C(0x06) -#define BMI08X_GYRO_BW_32_ODR_100_HZ UINT8_C(0x07) -#define BMI08X_GYRO_ODR_RESET_VAL UINT8_C(0x80) - -/**\name Gyro Power mode */ -#define BMI08X_GYRO_PM_NORMAL UINT8_C(0x00) -#define BMI08X_GYRO_PM_DEEP_SUSPEND UINT8_C(0x20) -#define BMI08X_GYRO_PM_SUSPEND UINT8_C(0x80) - -/**\name Gyro data ready interrupt enable value */ -#define BMI08X_GYRO_DRDY_INT_DISABLE_VAL UINT8_C(0x00) -#define BMI08X_GYRO_DRDY_INT_ENABLE_VAL UINT8_C(0x80) - -/**\name Gyro data ready map values */ -#define BMI08X_GYRO_MAP_DRDY_TO_INT3 UINT8_C(0x01) -#define BMI08X_GYRO_MAP_DRDY_TO_INT4 UINT8_C(0x80) -#define BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4 UINT8_C(0x81) - -/**\name Gyro Soft reset delay */ -#define BMI08X_GYRO_SOFTRESET_DELAY UINT8_C(30) - -/**\name Gyro power mode config delay */ -#define BMI08X_GYRO_POWER_MODE_CONFIG_DELAY UINT8_C(30) - -/** Mask definitions for range, bandwidth and power */ -#define BMI08X_GYRO_RANGE_MASK UINT8_C(0x07) -#define BMI08X_GYRO_BW_MASK UINT8_C(0x0F) -#define BMI08X_GYRO_POWER_MASK UINT8_C(0xA0) - -/** Position definitions for range, bandwidth and power */ -#define BMI08X_GYRO_POWER_POS UINT8_C(5) - -/**\name Mask definitions for BMI08X_GYRO_INT_CTRL_REG register */ -#define BMI08X_GYRO_DATA_EN_MASK UINT8_C(0x80) - -/**\name Position definitions for BMI08X_GYRO_INT_CTRL_REG register */ -#define BMI08X_GYRO_DATA_EN_POS UINT8_C(7) - -/**\name Mask definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ -#define BMI08X_GYRO_INT3_LVL_MASK UINT8_C(0x01) -#define BMI08X_GYRO_INT3_OD_MASK UINT8_C(0x02) -#define BMI08X_GYRO_INT4_LVL_MASK UINT8_C(0x04) -#define BMI08X_GYRO_INT4_OD_MASK UINT8_C(0x08) - -/**\name Position definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ -#define BMI08X_GYRO_INT3_OD_POS UINT8_C(1) -#define BMI08X_GYRO_INT4_LVL_POS UINT8_C(2) -#define BMI08X_GYRO_INT4_OD_POS UINT8_C(3) - -/**\name Mask definitions for BMI08X_GYRO_INT_EN_REG register */ -#define BMI08X_GYRO_INT_EN_MASK UINT8_C(0x80) - -/**\name Position definitions for BMI08X_GYRO_INT_EN_REG register */ -#define BMI08X_GYRO_INT_EN_POS UINT8_C(7) - -/**\name Mask definitions for BMI088_GYRO_INT_MAP_REG register */ -#define BMI08X_GYRO_INT3_MAP_MASK UINT8_C(0x01) -#define BMI08X_GYRO_INT4_MAP_MASK UINT8_C(0x80) - -/**\name Position definitions for BMI088_GYRO_INT_MAP_REG register */ -#define BMI08X_GYRO_INT3_MAP_POS UINT8_C(0) -#define BMI08X_GYRO_INT4_MAP_POS UINT8_C(7) - -/**\name Mask definitions for BMI088_GYRO_INT_MAP_REG register */ -#define BMI088_GYRO_INT3_MAP_MASK UINT8_C(0x01) -#define BMI088_GYRO_INT4_MAP_MASK UINT8_C(0x80) - -/**\name Position definitions for BMI088_GYRO_INT_MAP_REG register */ -#define BMI088_GYRO_INT3_MAP_POS UINT8_C(0) -#define BMI088_GYRO_INT4_MAP_POS UINT8_C(7) - -/**\name Mask definitions for GYRO_SELF_TEST register */ -#define BMI08X_GYRO_SELF_TEST_EN_MASK UINT8_C(0x01) -#define BMI08X_GYRO_SELF_TEST_RDY_MASK UINT8_C(0x02) -#define BMI08X_GYRO_SELF_TEST_RESULT_MASK UINT8_C(0x04) -#define BMI08X_GYRO_SELF_TEST_FUNCTION_MASK UINT8_C(0x08) - -/**\name Position definitions for GYRO_SELF_TEST register */ -#define BMI08X_GYRO_SELF_TEST_RDY_POS UINT8_C(1) -#define BMI08X_GYRO_SELF_TEST_RESULT_POS UINT8_C(2) -#define BMI08X_GYRO_SELF_TEST_FUNCTION_POS UINT8_C(3) - -/*************************** Common Macros for both Accel and Gyro *****************************/ -/**\name SPI read/write mask to configure address */ -#define BMI08X_SPI_RD_MASK UINT8_C(0x80) -#define BMI08X_SPI_WR_MASK UINT8_C(0x7F) - -/**\name API success code */ -#define BMI08X_OK INT8_C(0) - -/**\name API error codes */ -#define BMI08X_E_NULL_PTR INT8_C(-1) -#define BMI08X_E_COM_FAIL INT8_C(-2) -#define BMI08X_E_DEV_NOT_FOUND INT8_C(-3) -#define BMI08X_E_OUT_OF_RANGE INT8_C(-4) -#define BMI08X_E_INVALID_INPUT INT8_C(-5) -#define BMI08X_E_CONFIG_STREAM_ERROR INT8_C(-6) -#define BMI08X_E_RD_WR_LENGTH_INVALID INT8_C(-7) -#define BMI08X_E_INVALID_CONFIG INT8_C(-8) -#define BMI08X_E_FEATURE_NOT_SUPPORTED INT8_C(-9) - -/**\name API warning codes */ -#define BMI08X_W_SELF_TEST_FAIL INT8_C(1) - -/***\name Soft reset Value */ -#define BMI08X_SOFT_RESET_CMD UINT8_C(0xB6) - -/**\name Enable/disable macros */ -#define BMI08X_DISABLE UINT8_C(0) -#define BMI08X_ENABLE UINT8_C(1) - -/*! @name To define warnings for FIFO activity */ -#define BMI08X_W_FIFO_EMPTY INT8_C(1) -#define BMI08X_W_PARTIAL_READ INT8_C(2) - -/**\name Constant values macros */ -#define BMI08X_SENSOR_DATA_SYNC_TIME_MS UINT8_C(1) -#define BMI08X_DELAY_BETWEEN_WRITES_MS UINT8_C(1) -#define BMI08X_SELF_TEST_DELAY_MS UINT8_C(3) -#define BMI08X_POWER_CONFIG_DELAY UINT8_C(5) -#define BMI08X_SENSOR_SETTLE_TIME_MS UINT8_C(30) -#define BMI08X_SELF_TEST_DATA_READ_MS UINT8_C(50) -#define BMI08X_ASIC_INIT_TIME_MS UINT8_C(150) - -#define BMI08X_CONFIG_STREAM_SIZE UINT16_C(6144) - -/**\name Sensor time array parameter definitions */ -#define BMI08X_SENSOR_TIME_MSB_BYTE UINT8_C(2) -#define BMI08X_SENSOR_TIME_XLSB_BYTE UINT8_C(1) -#define BMI08X_SENSOR_TIME_LSB_BYTE UINT8_C(0) - -/**\name int pin active state */ -#define BMI08X_INT_ACTIVE_LOW UINT8_C(0) -#define BMI08X_INT_ACTIVE_HIGH UINT8_C(1) - -/**\name interrupt pin output definition */ -#define BMI08X_INT_MODE_PUSH_PULL UINT8_C(0) -#define BMI08X_INT_MODE_OPEN_DRAIN UINT8_C(1) - -/**\name Sensor bit resolution */ -#define BMI08X_16_BIT_RESOLUTION UINT8_C(16) - -/*********************************BMI08X FIFO Macros**********************************/ -/** Register map */ -/*! @name FIFO Header Mask definitions */ -#define BMI08X_FIFO_HEADER_ACC_FRM UINT8_C(0x84) -#define BMI08X_FIFO_HEADER_ALL_FRM UINT8_C(0x9C) -#define BMI08X_FIFO_HEADER_SENS_TIME_FRM UINT8_C(0x44) -#define BMI08X_FIFO_HEADER_SKIP_FRM UINT8_C(0x40) -#define BMI08X_FIFO_HEADER_INPUT_CFG_FRM UINT8_C(0x48) -#define BMI08X_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) -#define BMI08X_FIFO_SAMPLE_DROP_FRM UINT8_C(0x50) - -/* Accel registers */ -#define BMI08X_FIFO_LENGTH_0_ADDR UINT8_C(0x24) -#define BMI08X_FIFO_LENGTH_1_ADDR UINT8_C(0x25) -#define BMI08X_FIFO_DATA_ADDR UINT8_C(0x26) -#define BMI08X_FIFO_DOWNS_ADDR UINT8_C(0x45) -#define BMI08X_FIFO_WTM_0_ADDR UINT8_C(0x46) -#define BMI08X_FIFO_WTM_1_ADDR UINT8_C(0x47) -#define BMI08X_FIFO_CONFIG_0_ADDR UINT8_C(0x48) -#define BMI08X_FIFO_CONFIG_1_ADDR UINT8_C(0x49) - -/*! @name FIFO sensor data lengths */ -#define BMI08X_FIFO_ACCEL_LENGTH UINT8_C(6) -#define BMI08X_FIFO_WTM_LENGTH UINT8_C(2) -#define BMI08X_FIFO_LENGTH_MSB_BYTE UINT8_C(1) -#define BMI08X_FIFO_DATA_LENGTH UINT8_C(2) -#define BMI08X_FIFO_CONFIG_LENGTH UINT8_C(2) -#define BMI08X_SENSOR_TIME_LENGTH UINT8_C(3) -#define BMI08X_FIFO_SKIP_FRM_LENGTH UINT8_C(1) -#define BMI08X_FIFO_INPUT_CFG_LENGTH UINT8_C(1) - -/*! @name FIFO byte counter mask definition */ -#define BMI08X_FIFO_BYTE_COUNTER_MSB_MASK UINT8_C(0x3F) - -/*! @name FIFO frame masks */ -#define BMI08X_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) -#define BMI08X_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) -#define BMI08X_FIFO_INTR_MASK UINT8_C(0x5C) - -/*name FIFO config modes */ -#define BMI08X_ACC_STREAM_MODE UINT8_C(0x00) -#define BMI08X_ACC_FIFO_MODE UINT8_C(0x01) - -/*name Mask definitions for FIFO configuration modes */ -#define BMI08X_ACC_FIFO_MODE_CONFIG_MASK UINT8_C(0x01) - -/*! @name Mask definitions for FIFO_CONFIG_1 register */ -#define BMI08X_ACCEL_EN_MASK UINT8_C(0x40) -#define BMI08X_ACCEL_INT1_EN_MASK UINT8_C(0x08) -#define BMI08X_ACCEL_INT2_EN_MASK UINT8_C(0x04) - -/*name Position definitions for FIFO_CONFIG_1 register */ -#define BMI08X_ACCEL_EN_POS UINT8_C(6) -#define BMI08X_ACCEL_INT1_EN_POS UINT8_C(3) -#define BMI08X_ACCEL_INT2_EN_POS UINT8_C(2) - -/*! @name Position definitions for FIFO_DOWNS register */ -#define BMI08X_ACC_FIFO_DOWNS_MASK UINT8_C(0xF0) - -/*! @name FIFO down sampling bit positions */ -#define BMI08X_ACC_FIFO_DOWNS_POS UINT8_C(0x04) - -/*! @name FIFO down sampling user macros */ -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_0 UINT8_C(0) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_1 UINT8_C(1) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_2 UINT8_C(2) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_3 UINT8_C(3) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_4 UINT8_C(4) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_5 UINT8_C(5) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_6 UINT8_C(6) -#define BMI08X_ACC_FIFO_DOWN_SAMPLE_7 UINT8_C(7) - -/*! @name Mask definitions for INT1_INT2_MAP_DATA register */ -#define BMI08X_ACCEL_INT2_FWM_MASK UINT8_C(0x20) -#define BMI08X_ACCEL_INT2_FFULL_MASK UINT8_C(0x10) -#define BMI08X_ACCEL_INT1_FWM_MASK UINT8_C(0x02) -#define BMI08X_ACCEL_INT1_FFULL_MASK UINT8_C(0x01) - -/*! @name Positions definitions for INT1_INT2_MAP_DATA register */ -#define BMI08X_ACCEL_INT1_FWM_POS UINT8_C(1) -#define BMI08X_ACCEL_INT2_FFULL_POS UINT8_C(4) -#define BMI08X_ACCEL_INT2_FWM_POS UINT8_C(5) - -/**\name Absolute value */ -#ifndef BMI08X_ABS -#define BMI08X_ABS(a) ((a) > 0 ? (a) : -(a)) -#endif - -/**\name Utility Macros */ -#define BMI08X_SET_LOW_BYTE UINT16_C(0x00FF) -#define BMI08X_SET_HIGH_BYTE UINT16_C(0xFF00) -#define BMI08X_SET_LOW_NIBBLE UINT8_C(0x0F) - -/**\name Macro to SET and GET BITS of a register */ -#define BMI08X_SET_BITS(reg_var, bitname, val) \ - ((reg_var & ~(bitname##_MASK)) | \ - ((val << bitname##_POS) & bitname##_MASK)) - -#define BMI08X_GET_BITS(reg_var, bitname) ((reg_var & (bitname##_MASK)) >> \ - (bitname##_POS)) - -#define BMI08X_SET_BITS_POS_0(reg_var, bitname, val) \ - ((reg_var & ~(bitname##_MASK)) | \ - (val & bitname##_MASK)) - -#define BMI08X_GET_BITS_POS_0(reg_var, bitname) (reg_var & (bitname##_MASK)) - -#define BMI08X_SET_BIT_VAL_0(reg_var, bitname) (reg_var & ~(bitname##_MASK)) - -/**\name Macro definition for difference between 2 values */ -#define BMI08X_GET_DIFF(x, y) ((x) - (y)) - -/**\name Macro definition to get LSB of 16 bit variable */ -#define BMI08X_GET_LSB(var) (uint8_t)(var & BMI08X_SET_LOW_BYTE) - -/**\name Macro definition to get MSB of 16 bit variable */ -#define BMI08X_GET_MSB(var) (uint8_t)((var & BMI08X_SET_HIGH_BYTE) >> 8) - -/*************************************************************************/ - -/*! - * @brief Interface selection enums - */ -enum bmi08x_intf { - /*! I2C interface */ - BMI08X_I2C_INTF, - - /*! SPI interface */ - BMI08X_SPI_INTF -}; - -/*************************** Data structures *****************************/ - -/**\name Typedef definitions */ - -/*! - * @brief Bus communication function pointer which should be mapped to - * the platform specific read and write functions of the user - * - * @note : dev_addr is used for I2C read/write operations only. - * For SPI read/write operations this is dummy variable. - */ -typedef int8_t (*bmi08x_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len); - -/**\name delay function pointer */ -typedef void (*bmi08x_delay_fptr_t)(uint32_t period); - -/**\name Structure Definitions */ - -/*! - * @brief Sensor XYZ data structure - */ -struct bmi08x_sensor_data -{ - /*! X-axis sensor data */ - int16_t x; - - /*! Y-axis sensor data */ - int16_t y; - - /*! Z-axis sensor data */ - int16_t z; -}; - -/*! - * @brief Sensor XYZ data structure in float representation - */ -struct bmi08x_sensor_data_f -{ - /*! X-axis sensor data */ - float x; - - /*! Y-axis sensor data */ - float y; - - /*! Z-axis sensor data */ - float z; -}; - -/*! - * @brief Sensor configuration structure - */ -struct bmi08x_cfg -{ - /*! power mode */ - uint8_t power; - - /*! range */ - uint8_t range; - - /*! bandwidth */ - uint8_t bw; - - /*! output data rate */ - uint8_t odr; -}; - -/*! - * @brief Error Status structure - */ -struct bmi08x_err_reg -{ - /*! Indicates fatal error */ - uint8_t fatal_err; - - /*! Indicates error code */ - uint8_t err_code; -}; - -#define BMI08X_ACCEL_ANYMOTION_ADR 0x00 -#define BMI08X_ACCEL_ANYMOTION_LEN 2 -#define BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK 0x07FF -#define BMI08X_ACCEL_ANYMOTION_THRESHOLD_SHIFT 0 -#define BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK 0x0800 -#define BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT 11 -#define BMI08X_ACCEL_ANYMOTION_DURATION_MASK 0x1FFF -#define BMI08X_ACCEL_ANYMOTION_DURATION_SHIFT 0 -#define BMI08X_ACCEL_ANYMOTION_X_EN_MASK 0x2000 -#define BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT 13 -#define BMI08X_ACCEL_ANYMOTION_Y_EN_MASK 0x4000 -#define BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT 14 -#define BMI08X_ACCEL_ANYMOTION_Z_EN_MASK 0x8000 -#define BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT 15 - -/*! - * @brief Anymotion config structure - */ -struct bmi08x_anymotion_cfg -{ - /* 11 bit threshold of anymotion detection (threshold = X mg * 2,048 (5.11 format)) */ - uint16_t threshold; - - /* 1 bit select between any- and nomotion behavior */ - uint16_t nomotion_sel; - - /* 13 bit set the duration for any- and nomotion (time = duration * 20ms (@50Hz)) */ - uint16_t duration; - - /* enable anymotion detection for x axis */ - uint16_t x_en; - - /* enable anymotion detection for y axis */ - uint16_t y_en; - - /* enable anymotion detection for z axis */ - uint16_t z_en; -}; - -#define BMI08X_ACCEL_DATA_SYNC_ADR 0x02 -#define BMI08X_ACCEL_DATA_SYNC_LEN 1 -#define BMI08X_ACCEL_DATA_SYNC_MODE_MASK 0x0003 -#define BMI08X_ACCEL_DATA_SYNC_MODE_SHIFT 0 - -#define BMI08X_ACCEL_DATA_SYNC_MODE_OFF 0x00 -#define BMI08X_ACCEL_DATA_SYNC_MODE_400HZ 0x01 -#define BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ 0x02 -#define BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ 0x03 - -/*! - * @brief Data Sync config structure - */ -struct bmi08x_data_sync_cfg -{ - /*! Mode (0 = off, 1 = 400Hz, 2 = 1kHz, 3 = 2kHz) */ - uint8_t mode; -}; - -/*! - * @brief Enum to select accelerometer Interrupt pins - */ -enum bmi08x_accel_int_channel { - /* interrupt Channel 1 for accel sensor */ - BMI08X_INT_CHANNEL_1, - - /* interrupt Channel 2 for accel sensor */ - BMI08X_INT_CHANNEL_2 -}; - -/*! - * @brief Enum to select gyroscope Interrupt pins - */ -enum bmi08x_gyro_int_channel { - - /* interrupt Channel 3 for gyro sensor */ - BMI08X_INT_CHANNEL_3, - - /* interrupt Channel 4 for gyro sensor */ - BMI08X_INT_CHANNEL_4 -}; - -/*! - * @brief Enum to select accelerometer interrupts - */ -enum bmi08x_accel_int_types { - BMI08X_ACCEL_DATA_RDY_INT, - - /* Accel data ready interrupt */ - BMI08X_ACCEL_SYNC_DATA_RDY_INT, - - /* Accel synchronized data ready interrupt */ - BMI08X_ACCEL_SYNC_INPUT, - - /* Accel anymotion interrupt for BMI085*/ - BMI08X_ACCEL_ANYMOTION_INT, - - /* Accel FIFO watermark interrupt */ - BMI08X_FIFO_WM_INT, - - /* Accel FIFO full interrupt */ - BMI08X_FIFO_FULL_INT -}; - -/*! - * @brief Enum to select gyroscope interrupts - */ -enum bmi08x_gyro_int_types { - - /* Gyro data ready interrupt */ - BMI08X_GYRO_DATA_RDY_INT -}; - -/*! - * @brief Interrupt pin configuration structure - */ -struct bmi08x_int_pin_cfg -{ - - /*! interrupt pin level configuration - * Assignable macros : - * - BMI08X_INT_ACTIVE_LOW - * - BMI08X_INT_ACTIVE_HIGH - */ - uint8_t lvl : 1; - - /*! interrupt pin mode configuration - * Assignable macros : - * - BMI08X_INT_MODE_PUSH_PULL - * - BMI08X_INT_MODE_OPEN_DRAIN - */ - uint8_t output_mode : 1; - - /*! Enable interrupt pin - * Assignable Macros : - * - BMI08X_ENABLE - * - BMI08X_DISABLE - */ - uint8_t enable_int_pin : 1; -}; - -/*! - * @brief Interrupt channel structure for accel - */ -struct bmi08x_accel_int_channel_cfg -{ - /*! Accel Interrupt channel */ - enum bmi08x_accel_int_channel int_channel; - - /*! Select Accel Interrupt type */ - enum bmi08x_accel_int_types int_type; - - /*! Structure to configure accel interrupt pins */ - struct bmi08x_int_pin_cfg int_pin_cfg; -}; - -/*! - * @brief Interrupt channel structure for gyro - */ -struct bmi08x_gyro_int_channel_cfg -{ - /*! Gyro Interrupt channel */ - enum bmi08x_gyro_int_channel int_channel; - - /*! Select Gyro Interrupt type */ - enum bmi08x_gyro_int_types int_type; - - /*! Structure to configure gyro interrupt pins */ - struct bmi08x_int_pin_cfg int_pin_cfg; -}; - -/*! - * @brief Interrupt Configuration structure - */ -struct bmi08x_int_cfg -{ - /*! Configuration of first accel interrupt channel */ - struct bmi08x_accel_int_channel_cfg accel_int_config_1; - - /*! Configuration of second accel interrupt channel */ - struct bmi08x_accel_int_channel_cfg accel_int_config_2; - - /*! Configuration of first gyro interrupt channel */ - struct bmi08x_gyro_int_channel_cfg gyro_int_config_1; - - /*! Configuration of second gyro interrupt channel */ - struct bmi08x_gyro_int_channel_cfg gyro_int_config_2; -}; - -/*! - * @brief accel fifo configurations - */ -struct accel_fifo_config -{ - /*! Configure the fifo mode (0 = Stream mode, 1 = FIFO mode) */ - uint8_t mode; - - /*! To enable the accel */ - uint8_t accel_en; - - /*! To enable the interrupt_1 */ - uint8_t int1_en; - - /*! To enable the interrupt_2 */ - uint8_t int2_en; -}; - -/*! @name Structure to define FIFO frame configuration */ -struct bmi08x_fifo_frame -{ - /*! Pointer to FIFO data */ - uint8_t *data; - - /*! Number of user defined bytes of FIFO to be read */ - uint16_t length; - - /*! Enables type of data to be streamed - accelerometer */ - uint16_t data_enable; - - /*! To index accelerometer bytes */ - uint16_t acc_byte_start_idx; - - /*! FIFO sensor time */ - uint32_t sensor_time; - - /*! Skipped frame count */ - uint8_t skipped_frame_count; - - /*! Type of data interrupt to be mapped */ - uint8_t data_int_map; - - /*! Water-mark level for water-mark interrupt */ - uint16_t wm_lvl; - - /*! Accelerometer frame length */ - uint8_t acc_frm_len; - - /*! Accelerometer frame length */ - uint8_t all_frm_len; - - /*! FIFO accelerometer configurations */ - struct accel_fifo_config fifo_conf; -}; - -/*! - * @brief - * This structure holds all relevant information about BMI08 - */ -struct bmi08x_dev -{ - - /*! Accel chip Id */ - uint8_t accel_chip_id; - - /*! Gyro chip Id */ - uint8_t gyro_chip_id; - - /*! Accel device Id */ - uint8_t accel_id; - - /*! Gyro device Id */ - uint8_t gyro_id; - - /*! 0 - I2C , 1 - SPI Interface */ - enum bmi08x_intf intf; - - /*! Decide SPI or I2C read mechanism */ - uint8_t dummy_byte; - - /*! Structure to configure accel sensor */ - struct bmi08x_cfg accel_cfg; - - /*! Structure to configure gyro sensor */ - struct bmi08x_cfg gyro_cfg; - - /*! Config stream data buffer address will be assigned */ - const uint8_t *config_file_ptr; - - /*! Max read/write length (maximum supported length is 32). - * To be set by the user */ - uint8_t read_write_len; - - /*! Read function pointer */ - bmi08x_com_fptr_t read; - - /*! Write function pointer */ - bmi08x_com_fptr_t write; - - /*! Delay function pointer */ - bmi08x_delay_fptr_t delay_ms; -}; - -#endif /* BMI08X_DEFS_H_ */ - -/** @}*/ +/** +* 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 bmi08x_defs.h +* @date 10/01/2020 +* @version 1.4.4 +* +*/ + +/*! \file bmi08x_defs.h */ + +/*! + * @defgroup BMI08 SENSOR API + * @brief + * @{*/ +#ifndef BMI08X_DEFS_H_ +#define BMI08X_DEFS_H_ + +/*********************************************************************/ +/**\ header files */ +#ifdef __KERNEL__ +#include +#include +#else +#include +#include +#include +#endif + +/*********************************************************************/ +/** \name 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 + +#ifndef TRUE +#define TRUE UINT8_C(1) +#endif + +#ifndef FALSE +#define FALSE UINT8_C(0) +#endif + +/** \name enable bmi085 sensor */ +#ifndef BMI08X_ENABLE_BMI085 +#define BMI08X_ENABLE_BMI085 1 +#endif + +/** \name enable bmi088 sensor */ +#ifndef BMI08X_ENABLE_BMI088 +#define BMI08X_ENABLE_BMI088 0 +#endif + +/** \name enable bmi08x sensor */ +#if BMI08X_ENABLE_BMI085 == 1 + +/** \name enable bmi085 sensor */ +#define BMI08X_FEATURE_BMI085 1 + +/** \name disable bmi088 accel sensor */ +#define BMI08X_FEATURE_BMI088 0 + +#elif BMI08X_ENABLE_BMI088 == 1 + +/** \name disable bmi085 sensor */ +#define BMI08X_FEATURE_BMI085 0 + +/** \name enable bmi088 accel sensor */ +#define BMI08X_FEATURE_BMI088 1 +#endif + +/*************************** BMI08 Accelerometer Macros *****************************/ + +/** Register map */ +/* Accel registers */ + +/**\name Accel Chip Id register */ +#define BMI08X_ACCEL_CHIP_ID_REG UINT8_C(0x00) + +/**\name Accel Error condition register */ +#define BMI08X_ACCEL_ERR_REG UINT8_C(0x02) + +/**\name Accel Status flag register */ +#define BMI08X_ACCEL_STATUS_REG UINT8_C(0x03) + +/**\name Accel X LSB data register */ +#define BMI08X_ACCEL_X_LSB_REG UINT8_C(0x12) + +/**\name Accel X MSB data register */ +#define BMI08X_ACCEL_X_MSB_REG UINT8_C(0x13) + +/**\name Accel Y LSB data register */ +#define BMI08X_ACCEL_Y_LSB_REG UINT8_C(0x14) + +/**\name Accel Y MSB data register */ +#define BMI08X_ACCEL_Y_MSB_REG UINT8_C(0x15) + +/**\name Accel Z LSB data register */ +#define BMI08X_ACCEL_Z_LSB_REG UINT8_C(0x16) + +/**\name Accel Z MSB data register */ +#define BMI08X_ACCEL_Z_MSB_REG UINT8_C(0x17) + +/**\name Sensor time byte 0 register */ +#define BMI08X_ACCEL_SENSORTIME_0_REG UINT8_C(0x18) + +/**\name Sensor time byte 1 register */ +#define BMI08X_ACCEL_SENSORTIME_1_REG UINT8_C(0x19) + +/**\name Sensor time byte 2 register */ +#define BMI08X_ACCEL_SENSORTIME_2_REG UINT8_C(0x1A) + +/**\name Accel Interrupt status0 register */ +#define BMI08X_ACCEL_INT_STAT_0_REG UINT8_C(0x1C) + +/**\name Accel Interrupt status1 register */ +#define BMI08X_ACCEL_INT_STAT_1_REG UINT8_C(0x1D) + +/**\name Accel general purpose register 0*/ +#define BMI08X_ACCEL_GP_0_REG UINT8_C(0x1E) + +/**\name Sensor temperature MSB data register */ +#define BMI08X_TEMP_MSB_REG UINT8_C(0x22) + +/**\name Sensor temperature LSB data register */ +#define BMI08X_TEMP_LSB_REG UINT8_C(0x23) + +/**\name Accel general purpose register 4*/ +#define BMI08X_ACCEL_GP_4_REG UINT8_C(0x27) + +/**\name Accel Internal status register */ +#define BMI08X_ACCEL_INTERNAL_STAT_REG UINT8_C(0x2A) + +/**\name Accel configuration register */ +#define BMI08X_ACCEL_CONF_REG UINT8_C(0x40) + +/**\name Accel range setting register */ +#define BMI08X_ACCEL_RANGE_REG UINT8_C(0x41) + +/**\name Accel Interrupt pin 1 configuration register */ +#define BMI08X_ACCEL_INT1_IO_CONF_REG UINT8_C(0x53) + +/**\name Accel Interrupt pin 2 configuration register */ +#define BMI08X_ACCEL_INT2_IO_CONF_REG UINT8_C(0x54) + +/**\name Accel Interrupt latch configuration register */ +#define BMI08X_ACCEL_INT_LATCH_CONF_REG UINT8_C(0x55) + +/**\name Accel Interrupt pin1 mapping register */ +#define BMI08X_ACCEL_INT1_MAP_REG UINT8_C(0x56) + +/**\name Accel Interrupt pin2 mapping register */ +#define BMI08X_ACCEL_INT2_MAP_REG UINT8_C(0x57) + +/**\name Accel Interrupt map register */ +#define BMI08X_ACCEL_INT1_INT2_MAP_DATA_REG UINT8_C(0x58) + +/**\name Accel Init control register */ +#define BMI08X_ACCEL_INIT_CTRL_REG UINT8_C(0x59) + +/**\name Accel Self test register */ +#define BMI08X_ACCEL_SELF_TEST_REG UINT8_C(0x6D) + +/**\name Accel Power mode configuration register */ +#define BMI08X_ACCEL_PWR_CONF_REG UINT8_C(0x7C) + +/**\name Accel Power control (switch on or off ) register */ +#define BMI08X_ACCEL_PWR_CTRL_REG UINT8_C(0x7D) + +/**\name Accel Soft reset register */ +#define BMI08X_ACCEL_SOFTRESET_REG UINT8_C(0x7E) + +#if BMI08X_FEATURE_BMI085 == 1 + +/**\name BMI085 Accel unique chip identifier */ +#define BMI08X_ACCEL_CHIP_ID UINT8_C(0x1F) +#elif BMI08X_FEATURE_BMI088 == 1 + +/**\name BMI088 Accel unique chip identifier */ +#define BMI08X_ACCEL_CHIP_ID UINT8_C(0x1E) +#endif + +/**\name Accel I2C slave address */ +#define BMI08X_ACCEL_I2C_ADDR_PRIMARY UINT8_C(0x18) +#define BMI08X_ACCEL_I2C_ADDR_SECONDARY UINT8_C(0x19) + +/**\name Feature Config related Registers */ +#define BMI08X_ACCEL_RESERVED_5B_REG UINT8_C(0x5B) +#define BMI08X_ACCEL_RESERVED_5C_REG UINT8_C(0x5C) +#define BMI08X_ACCEL_FEATURE_CFG_REG UINT8_C(0x5E) + +/**\name Interrupt masks */ +#define BMI08X_ACCEL_DATA_READY_INT UINT8_C(0x80) + +/**\name Accel Bandwidth */ +#define BMI08X_ACCEL_BW_OSR4 UINT8_C(0x00) +#define BMI08X_ACCEL_BW_OSR2 UINT8_C(0x01) +#define BMI08X_ACCEL_BW_NORMAL UINT8_C(0x02) + +#if BMI08X_FEATURE_BMI085 == 1 + +/**\name BMI085 Accel Range */ +#define BMI085_ACCEL_RANGE_2G UINT8_C(0x00) +#define BMI085_ACCEL_RANGE_4G UINT8_C(0x01) +#define BMI085_ACCEL_RANGE_8G UINT8_C(0x02) +#define BMI085_ACCEL_RANGE_16G UINT8_C(0x03) + +#elif BMI08X_FEATURE_BMI088 == 1 + +/**\name BMI088 Accel Range */ +#define BMI088_ACCEL_RANGE_3G UINT8_C(0x00) +#define BMI088_ACCEL_RANGE_6G UINT8_C(0x01) +#define BMI088_ACCEL_RANGE_12G UINT8_C(0x02) +#define BMI088_ACCEL_RANGE_24G UINT8_C(0x03) +#endif + +/**\name Accel Output data rate */ +#define BMI08X_ACCEL_ODR_12_5_HZ UINT8_C(0x05) +#define BMI08X_ACCEL_ODR_25_HZ UINT8_C(0x06) +#define BMI08X_ACCEL_ODR_50_HZ UINT8_C(0x07) +#define BMI08X_ACCEL_ODR_100_HZ UINT8_C(0x08) +#define BMI08X_ACCEL_ODR_200_HZ UINT8_C(0x09) +#define BMI08X_ACCEL_ODR_400_HZ UINT8_C(0x0A) +#define BMI08X_ACCEL_ODR_800_HZ UINT8_C(0x0B) +#define BMI08X_ACCEL_ODR_1600_HZ UINT8_C(0x0C) + +/**\name Accel Self test */ +#define BMI08X_ACCEL_SWITCH_OFF_SELF_TEST UINT8_C(0x00) +#define BMI08X_ACCEL_POSITIVE_SELF_TEST UINT8_C(0x0D) +#define BMI08X_ACCEL_NEGATIVE_SELF_TEST UINT8_C(0x09) + +/**\name Accel Power mode */ +#define BMI08X_ACCEL_PM_ACTIVE UINT8_C(0x00) +#define BMI08X_ACCEL_PM_SUSPEND UINT8_C(0x03) + +/**\name Accel Power control settings */ +#define BMI08X_ACCEL_POWER_DISABLE UINT8_C(0x00) +#define BMI08X_ACCEL_POWER_ENABLE UINT8_C(0x04) + +/**\name Accel internal interrupt pin mapping */ +#define BMI08X_ACCEL_INTA_DISABLE UINT8_C(0x00) +#define BMI08X_ACCEL_INTA_ENABLE UINT8_C(0x01) +#define BMI08X_ACCEL_INTB_DISABLE UINT8_C(0x00) +#define BMI08X_ACCEL_INTB_ENABLE UINT8_C(0x02) + +/**\name Accel Soft reset delay */ +#define BMI08X_ACCEL_SOFTRESET_DELAY_MS UINT8_C(1) + +/**\name Mask definitions for ACCEL_ERR_REG register */ +#define BMI08X_FATAL_ERR_MASK UINT8_C(0x01) +#define BMI08X_ERR_CODE_MASK UINT8_C(0x1C) + +/**\name Position definitions for ACCEL_ERR_REG register */ +#define BMI08X_CMD_ERR_POS UINT8_C(1) +#define BMI08X_ERR_CODE_POS UINT8_C(2) + +/**\name Mask definition for ACCEL_STATUS_REG register */ +#define BMI08X_ACCEL_STATUS_MASK UINT8_C(0x80) + +/**\name Position definitions for ACCEL_STATUS_REG */ +#define BMI08X_ACCEL_STATUS_POS UINT8_C(7) + +/**\name Mask definitions for odr, bandwidth and range */ +#define BMI08X_ACCEL_ODR_MASK UINT8_C(0x0F) +#define BMI08X_ACCEL_BW_MASK UINT8_C(0x70) +#define BMI08X_ACCEL_RANGE_MASK UINT8_C(0x03) + +/**\name Position definitions for odr, bandwidth and range */ +#define BMI08X_ACCEL_BW_POS UINT8_C(4) + +/**\name Mask definitions for INT1_IO_CONF register */ +#define BMI08X_ACCEL_INT_EDGE_MASK UINT8_C(0x01) +#define BMI08X_ACCEL_INT_LVL_MASK UINT8_C(0x02) +#define BMI08X_ACCEL_INT_OD_MASK UINT8_C(0x04) +#define BMI08X_ACCEL_INT_IO_MASK UINT8_C(0x08) +#define BMI08X_ACCEL_INT_IN_MASK UINT8_C(0x10) + +/**\name Position definitions for INT1_IO_CONF register */ +#define BMI08X_ACCEL_INT_EDGE_POS UINT8_C(0) +#define BMI08X_ACCEL_INT_LVL_POS UINT8_C(1) +#define BMI08X_ACCEL_INT_OD_POS UINT8_C(2) +#define BMI08X_ACCEL_INT_IO_POS UINT8_C(3) +#define BMI08X_ACCEL_INT_IN_POS UINT8_C(4) + +/**\name Mask definitions for INT1/INT2 mapping register */ +#define BMI08X_ACCEL_MAP_INTA_MASK UINT8_C(0x01) + +/**\name Mask definitions for INT1/INT2 mapping register */ +#define BMI08X_ACCEL_MAP_INTA_POS UINT8_C(0x00) + +/**\name Mask definitions for INT1_INT2_MAP_DATA register */ +#define BMI08X_ACCEL_INT1_DRDY_MASK UINT8_C(0x04) +#define BMI08X_ACCEL_INT2_DRDY_MASK UINT8_C(0x40) + +/**\name Position definitions for INT1_INT2_MAP_DATA register */ +#define BMI08X_ACCEL_INT1_DRDY_POS UINT8_C(2) +#define BMI08X_ACCEL_INT2_DRDY_POS UINT8_C(6) + +/**\name Asic Initialization value */ +#define BMI08X_ASIC_INITIALIZED UINT8_C(0x01) + +/*************************** BMI08 Gyroscope Macros *****************************/ +/** Register map */ +/* Gyro registers */ + +/**\name Gyro Chip Id register */ +#define BMI08X_GYRO_CHIP_ID_REG UINT8_C(0x00) + +/**\name Gyro X LSB data register */ +#define BMI08X_GYRO_X_LSB_REG UINT8_C(0x02) + +/**\name Gyro X MSB data register */ +#define BMI08X_GYRO_X_MSB_REG UINT8_C(0x03) + +/**\name Gyro Y LSB data register */ +#define BMI08X_GYRO_Y_LSB_REG UINT8_C(0x04) + +/**\name Gyro Y MSB data register */ +#define BMI08X_GYRO_Y_MSB_REG UINT8_C(0x05) + +/**\name Gyro Z LSB data register */ +#define BMI08X_GYRO_Z_LSB_REG UINT8_C(0x06) + +/**\name Gyro Z MSB data register */ +#define BMI08X_GYRO_Z_MSB_REG UINT8_C(0x07) + +/**\name Gyro Interrupt status register */ +#define BMI08X_GYRO_INT_STAT_1_REG UINT8_C(0x0A) + +/**\name Gyro Range register */ +#define BMI08X_GYRO_RANGE_REG UINT8_C(0x0F) + +/**\name Gyro Bandwidth register */ +#define BMI08X_GYRO_BANDWIDTH_REG UINT8_C(0x10) + +/**\name Gyro Power register */ +#define BMI08X_GYRO_LPM1_REG UINT8_C(0x11) + +/**\name Gyro Soft reset register */ +#define BMI08X_GYRO_SOFTRESET_REG UINT8_C(0x14) + +/**\name Gyro Interrupt control register */ +#define BMI08X_GYRO_INT_CTRL_REG UINT8_C(0x15) + +/**\name Gyro Interrupt Pin configuration register */ +#define BMI08X_GYRO_INT3_INT4_IO_CONF_REG UINT8_C(0x16) + +/**\name Gyro Interrupt Map register */ +#define BMI08X_GYRO_INT3_INT4_IO_MAP_REG UINT8_C(0x18) + +/**\name Gyro Self test register */ +#define BMI08X_GYRO_SELF_TEST_REG UINT8_C(0x3C) + +/**\name Gyro unique chip identifier */ +#define BMI08X_GYRO_CHIP_ID UINT8_C(0x0F) + +/**\name Gyro I2C slave address */ +#define BMI08X_GYRO_I2C_ADDR_PRIMARY UINT8_C(0x68) +#define BMI08X_GYRO_I2C_ADDR_SECONDARY UINT8_C(0x69) + +/**\name Gyro Range */ +#define BMI08X_GYRO_RANGE_2000_DPS UINT8_C(0x00) +#define BMI08X_GYRO_RANGE_1000_DPS UINT8_C(0x01) +#define BMI08X_GYRO_RANGE_500_DPS UINT8_C(0x02) +#define BMI08X_GYRO_RANGE_250_DPS UINT8_C(0x03) +#define BMI08X_GYRO_RANGE_125_DPS UINT8_C(0x04) + +/**\name Gyro Output data rate and bandwidth */ +#define BMI08X_GYRO_BW_532_ODR_2000_HZ UINT8_C(0x00) +#define BMI08X_GYRO_BW_230_ODR_2000_HZ UINT8_C(0x01) +#define BMI08X_GYRO_BW_116_ODR_1000_HZ UINT8_C(0x02) +#define BMI08X_GYRO_BW_47_ODR_400_HZ UINT8_C(0x03) +#define BMI08X_GYRO_BW_23_ODR_200_HZ UINT8_C(0x04) +#define BMI08X_GYRO_BW_12_ODR_100_HZ UINT8_C(0x05) +#define BMI08X_GYRO_BW_64_ODR_200_HZ UINT8_C(0x06) +#define BMI08X_GYRO_BW_32_ODR_100_HZ UINT8_C(0x07) +#define BMI08X_GYRO_ODR_RESET_VAL UINT8_C(0x80) + +/**\name Gyro Power mode */ +#define BMI08X_GYRO_PM_NORMAL UINT8_C(0x00) +#define BMI08X_GYRO_PM_DEEP_SUSPEND UINT8_C(0x20) +#define BMI08X_GYRO_PM_SUSPEND UINT8_C(0x80) + +/**\name Gyro data ready interrupt enable value */ +#define BMI08X_GYRO_DRDY_INT_DISABLE_VAL UINT8_C(0x00) +#define BMI08X_GYRO_DRDY_INT_ENABLE_VAL UINT8_C(0x80) + +/**\name Gyro data ready map values */ +#define BMI08X_GYRO_MAP_DRDY_TO_INT3 UINT8_C(0x01) +#define BMI08X_GYRO_MAP_DRDY_TO_INT4 UINT8_C(0x80) +#define BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4 UINT8_C(0x81) + +/**\name Gyro Soft reset delay */ +#define BMI08X_GYRO_SOFTRESET_DELAY UINT8_C(30) + +/**\name Gyro power mode config delay */ +#define BMI08X_GYRO_POWER_MODE_CONFIG_DELAY UINT8_C(30) + +/** Mask definitions for range, bandwidth and power */ +#define BMI08X_GYRO_RANGE_MASK UINT8_C(0x07) +#define BMI08X_GYRO_BW_MASK UINT8_C(0x0F) +#define BMI08X_GYRO_POWER_MASK UINT8_C(0xA0) + +/** Position definitions for range, bandwidth and power */ +#define BMI08X_GYRO_POWER_POS UINT8_C(5) + +/**\name Mask definitions for BMI08X_GYRO_INT_CTRL_REG register */ +#define BMI08X_GYRO_DATA_EN_MASK UINT8_C(0x80) + +/**\name Position definitions for BMI08X_GYRO_INT_CTRL_REG register */ +#define BMI08X_GYRO_DATA_EN_POS UINT8_C(7) + +/**\name Mask definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ +#define BMI08X_GYRO_INT3_LVL_MASK UINT8_C(0x01) +#define BMI08X_GYRO_INT3_OD_MASK UINT8_C(0x02) +#define BMI08X_GYRO_INT4_LVL_MASK UINT8_C(0x04) +#define BMI08X_GYRO_INT4_OD_MASK UINT8_C(0x08) + +/**\name Position definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ +#define BMI08X_GYRO_INT3_OD_POS UINT8_C(1) +#define BMI08X_GYRO_INT4_LVL_POS UINT8_C(2) +#define BMI08X_GYRO_INT4_OD_POS UINT8_C(3) + +/**\name Mask definitions for BMI08X_GYRO_INT_EN_REG register */ +#define BMI08X_GYRO_INT_EN_MASK UINT8_C(0x80) + +/**\name Position definitions for BMI08X_GYRO_INT_EN_REG register */ +#define BMI08X_GYRO_INT_EN_POS UINT8_C(7) + +/**\name Mask definitions for BMI088_GYRO_INT_MAP_REG register */ +#define BMI08X_GYRO_INT3_MAP_MASK UINT8_C(0x01) +#define BMI08X_GYRO_INT4_MAP_MASK UINT8_C(0x80) + +/**\name Position definitions for BMI088_GYRO_INT_MAP_REG register */ +#define BMI08X_GYRO_INT3_MAP_POS UINT8_C(0) +#define BMI08X_GYRO_INT4_MAP_POS UINT8_C(7) + +/**\name Mask definitions for BMI088_GYRO_INT_MAP_REG register */ +#define BMI088_GYRO_INT3_MAP_MASK UINT8_C(0x01) +#define BMI088_GYRO_INT4_MAP_MASK UINT8_C(0x80) + +/**\name Position definitions for BMI088_GYRO_INT_MAP_REG register */ +#define BMI088_GYRO_INT3_MAP_POS UINT8_C(0) +#define BMI088_GYRO_INT4_MAP_POS UINT8_C(7) + +/**\name Mask definitions for GYRO_SELF_TEST register */ +#define BMI08X_GYRO_SELF_TEST_EN_MASK UINT8_C(0x01) +#define BMI08X_GYRO_SELF_TEST_RDY_MASK UINT8_C(0x02) +#define BMI08X_GYRO_SELF_TEST_RESULT_MASK UINT8_C(0x04) +#define BMI08X_GYRO_SELF_TEST_FUNCTION_MASK UINT8_C(0x08) + +/**\name Position definitions for GYRO_SELF_TEST register */ +#define BMI08X_GYRO_SELF_TEST_RDY_POS UINT8_C(1) +#define BMI08X_GYRO_SELF_TEST_RESULT_POS UINT8_C(2) +#define BMI08X_GYRO_SELF_TEST_FUNCTION_POS UINT8_C(3) + +/*************************** Common Macros for both Accel and Gyro *****************************/ +/**\name SPI read/write mask to configure address */ +#define BMI08X_SPI_RD_MASK UINT8_C(0x80) +#define BMI08X_SPI_WR_MASK UINT8_C(0x7F) + +/**\name API success code */ +#define BMI08X_OK INT8_C(0) + +/**\name API error codes */ +#define BMI08X_E_NULL_PTR INT8_C(-1) +#define BMI08X_E_COM_FAIL INT8_C(-2) +#define BMI08X_E_DEV_NOT_FOUND INT8_C(-3) +#define BMI08X_E_OUT_OF_RANGE INT8_C(-4) +#define BMI08X_E_INVALID_INPUT INT8_C(-5) +#define BMI08X_E_CONFIG_STREAM_ERROR INT8_C(-6) +#define BMI08X_E_RD_WR_LENGTH_INVALID INT8_C(-7) +#define BMI08X_E_INVALID_CONFIG INT8_C(-8) +#define BMI08X_E_FEATURE_NOT_SUPPORTED INT8_C(-9) + +/**\name API warning codes */ +#define BMI08X_W_SELF_TEST_FAIL INT8_C(1) + +/***\name Soft reset Value */ +#define BMI08X_SOFT_RESET_CMD UINT8_C(0xB6) + +/**\name Enable/disable macros */ +#define BMI08X_DISABLE UINT8_C(0) +#define BMI08X_ENABLE UINT8_C(1) + +/*! @name To define warnings for FIFO activity */ +#define BMI08X_W_FIFO_EMPTY INT8_C(1) +#define BMI08X_W_PARTIAL_READ INT8_C(2) + +/**\name Constant values macros */ +#define BMI08X_SENSOR_DATA_SYNC_TIME_MS UINT8_C(1) +#define BMI08X_DELAY_BETWEEN_WRITES_MS UINT8_C(1) +#define BMI08X_SELF_TEST_DELAY_MS UINT8_C(3) +#define BMI08X_POWER_CONFIG_DELAY UINT8_C(5) +#define BMI08X_SENSOR_SETTLE_TIME_MS UINT8_C(30) +#define BMI08X_SELF_TEST_DATA_READ_MS UINT8_C(50) +#define BMI08X_ASIC_INIT_TIME_MS UINT8_C(150) + +#define BMI08X_CONFIG_STREAM_SIZE UINT16_C(6144) + +/**\name Sensor time array parameter definitions */ +#define BMI08X_SENSOR_TIME_MSB_BYTE UINT8_C(2) +#define BMI08X_SENSOR_TIME_XLSB_BYTE UINT8_C(1) +#define BMI08X_SENSOR_TIME_LSB_BYTE UINT8_C(0) + +/**\name int pin active state */ +#define BMI08X_INT_ACTIVE_LOW UINT8_C(0) +#define BMI08X_INT_ACTIVE_HIGH UINT8_C(1) + +/**\name interrupt pin output definition */ +#define BMI08X_INT_MODE_PUSH_PULL UINT8_C(0) +#define BMI08X_INT_MODE_OPEN_DRAIN UINT8_C(1) + +/**\name Sensor bit resolution */ +#define BMI08X_16_BIT_RESOLUTION UINT8_C(16) + +/*********************************BMI08X FIFO Macros**********************************/ +/** Register map */ +/*! @name FIFO Header Mask definitions */ +#define BMI08X_FIFO_HEADER_ACC_FRM UINT8_C(0x84) +#define BMI08X_FIFO_HEADER_ALL_FRM UINT8_C(0x9C) +#define BMI08X_FIFO_HEADER_SENS_TIME_FRM UINT8_C(0x44) +#define BMI08X_FIFO_HEADER_SKIP_FRM UINT8_C(0x40) +#define BMI08X_FIFO_HEADER_INPUT_CFG_FRM UINT8_C(0x48) +#define BMI08X_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) +#define BMI08X_FIFO_SAMPLE_DROP_FRM UINT8_C(0x50) + +/* Accel registers */ +#define BMI08X_FIFO_LENGTH_0_ADDR UINT8_C(0x24) +#define BMI08X_FIFO_LENGTH_1_ADDR UINT8_C(0x25) +#define BMI08X_FIFO_DATA_ADDR UINT8_C(0x26) +#define BMI08X_FIFO_DOWNS_ADDR UINT8_C(0x45) +#define BMI08X_FIFO_WTM_0_ADDR UINT8_C(0x46) +#define BMI08X_FIFO_WTM_1_ADDR UINT8_C(0x47) +#define BMI08X_FIFO_CONFIG_0_ADDR UINT8_C(0x48) +#define BMI08X_FIFO_CONFIG_1_ADDR UINT8_C(0x49) + +/*! @name FIFO sensor data lengths */ +#define BMI08X_FIFO_ACCEL_LENGTH UINT8_C(6) +#define BMI08X_FIFO_WTM_LENGTH UINT8_C(2) +#define BMI08X_FIFO_LENGTH_MSB_BYTE UINT8_C(1) +#define BMI08X_FIFO_DATA_LENGTH UINT8_C(2) +#define BMI08X_FIFO_CONFIG_LENGTH UINT8_C(2) +#define BMI08X_SENSOR_TIME_LENGTH UINT8_C(3) +#define BMI08X_FIFO_SKIP_FRM_LENGTH UINT8_C(1) +#define BMI08X_FIFO_INPUT_CFG_LENGTH UINT8_C(1) + +/*! @name FIFO byte counter mask definition */ +#define BMI08X_FIFO_BYTE_COUNTER_MSB_MASK UINT8_C(0x3F) + +/*! @name FIFO frame masks */ +#define BMI08X_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) +#define BMI08X_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) +#define BMI08X_FIFO_INTR_MASK UINT8_C(0x5C) + +/*name FIFO config modes */ +#define BMI08X_ACC_STREAM_MODE UINT8_C(0x00) +#define BMI08X_ACC_FIFO_MODE UINT8_C(0x01) + +/*name Mask definitions for FIFO configuration modes */ +#define BMI08X_ACC_FIFO_MODE_CONFIG_MASK UINT8_C(0x01) + +/*! @name Mask definitions for FIFO_CONFIG_1 register */ +#define BMI08X_ACCEL_EN_MASK UINT8_C(0x40) +#define BMI08X_ACCEL_INT1_EN_MASK UINT8_C(0x08) +#define BMI08X_ACCEL_INT2_EN_MASK UINT8_C(0x04) + +/*name Position definitions for FIFO_CONFIG_1 register */ +#define BMI08X_ACCEL_EN_POS UINT8_C(6) +#define BMI08X_ACCEL_INT1_EN_POS UINT8_C(3) +#define BMI08X_ACCEL_INT2_EN_POS UINT8_C(2) + +/*! @name Position definitions for FIFO_DOWNS register */ +#define BMI08X_ACC_FIFO_DOWNS_MASK UINT8_C(0xF0) + +/*! @name FIFO down sampling bit positions */ +#define BMI08X_ACC_FIFO_DOWNS_POS UINT8_C(0x04) + +/*! @name FIFO down sampling user macros */ +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_0 UINT8_C(0) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_1 UINT8_C(1) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_2 UINT8_C(2) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_3 UINT8_C(3) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_4 UINT8_C(4) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_5 UINT8_C(5) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_6 UINT8_C(6) +#define BMI08X_ACC_FIFO_DOWN_SAMPLE_7 UINT8_C(7) + +/*! @name Mask definitions for INT1_INT2_MAP_DATA register */ +#define BMI08X_ACCEL_INT2_FWM_MASK UINT8_C(0x20) +#define BMI08X_ACCEL_INT2_FFULL_MASK UINT8_C(0x10) +#define BMI08X_ACCEL_INT1_FWM_MASK UINT8_C(0x02) +#define BMI08X_ACCEL_INT1_FFULL_MASK UINT8_C(0x01) + +/*! @name Positions definitions for INT1_INT2_MAP_DATA register */ +#define BMI08X_ACCEL_INT1_FWM_POS UINT8_C(1) +#define BMI08X_ACCEL_INT2_FFULL_POS UINT8_C(4) +#define BMI08X_ACCEL_INT2_FWM_POS UINT8_C(5) + +/**\name Absolute value */ +#ifndef BMI08X_ABS +#define BMI08X_ABS(a) ((a) > 0 ? (a) : -(a)) +#endif + +/**\name Utility Macros */ +#define BMI08X_SET_LOW_BYTE UINT16_C(0x00FF) +#define BMI08X_SET_HIGH_BYTE UINT16_C(0xFF00) +#define BMI08X_SET_LOW_NIBBLE UINT8_C(0x0F) + +/**\name Macro to SET and GET BITS of a register */ +#define BMI08X_SET_BITS(reg_var, bitname, val) \ + ((reg_var & ~(bitname##_MASK)) | \ + ((val << bitname##_POS) & bitname##_MASK)) + +#define BMI08X_GET_BITS(reg_var, bitname) ((reg_var & (bitname##_MASK)) >> \ + (bitname##_POS)) + +#define BMI08X_SET_BITS_POS_0(reg_var, bitname, val) \ + ((reg_var & ~(bitname##_MASK)) | \ + (val & bitname##_MASK)) + +#define BMI08X_GET_BITS_POS_0(reg_var, bitname) (reg_var & (bitname##_MASK)) + +#define BMI08X_SET_BIT_VAL_0(reg_var, bitname) (reg_var & ~(bitname##_MASK)) + +/**\name Macro definition for difference between 2 values */ +#define BMI08X_GET_DIFF(x, y) ((x) - (y)) + +/**\name Macro definition to get LSB of 16 bit variable */ +#define BMI08X_GET_LSB(var) (uint8_t)(var & BMI08X_SET_LOW_BYTE) + +/**\name Macro definition to get MSB of 16 bit variable */ +#define BMI08X_GET_MSB(var) (uint8_t)((var & BMI08X_SET_HIGH_BYTE) >> 8) + +/*************************************************************************/ + +/*! + * @brief Interface selection enums + */ +enum bmi08x_intf { + /*! I2C interface */ + BMI08X_I2C_INTF, + + /*! SPI interface */ + BMI08X_SPI_INTF +}; + +/*************************** Data structures *****************************/ + +/**\name Typedef definitions */ + +/*! + * @brief Bus communication function pointer which should be mapped to + * the platform specific read and write functions of the user + * + * @note : dev_addr is used for I2C read/write operations only. + * For SPI read/write operations this is dummy variable. + */ +typedef int8_t (*bmi08x_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len); + +/**\name delay function pointer */ +typedef void (*bmi08x_delay_fptr_t)(uint32_t period); + +/**\name Structure Definitions */ + +/*! + * @brief Sensor XYZ data structure + */ +struct bmi08x_sensor_data +{ + /*! X-axis sensor data */ + int16_t x; + + /*! Y-axis sensor data */ + int16_t y; + + /*! Z-axis sensor data */ + int16_t z; +}; + +/*! + * @brief Sensor XYZ data structure in float representation + */ +struct bmi08x_sensor_data_f +{ + /*! X-axis sensor data */ + float x; + + /*! Y-axis sensor data */ + float y; + + /*! Z-axis sensor data */ + float z; +}; + +/*! + * @brief Sensor configuration structure + */ +struct bmi08x_cfg +{ + /*! power mode */ + uint8_t power; + + /*! range */ + uint8_t range; + + /*! bandwidth */ + uint8_t bw; + + /*! output data rate */ + uint8_t odr; +}; + +/*! + * @brief Error Status structure + */ +struct bmi08x_err_reg +{ + /*! Indicates fatal error */ + uint8_t fatal_err; + + /*! Indicates error code */ + uint8_t err_code; +}; + +#define BMI08X_ACCEL_ANYMOTION_ADR 0x00 +#define BMI08X_ACCEL_ANYMOTION_LEN 2 +#define BMI08X_ACCEL_ANYMOTION_THRESHOLD_MASK 0x07FF +#define BMI08X_ACCEL_ANYMOTION_THRESHOLD_SHIFT 0 +#define BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_MASK 0x0800 +#define BMI08X_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT 11 +#define BMI08X_ACCEL_ANYMOTION_DURATION_MASK 0x1FFF +#define BMI08X_ACCEL_ANYMOTION_DURATION_SHIFT 0 +#define BMI08X_ACCEL_ANYMOTION_X_EN_MASK 0x2000 +#define BMI08X_ACCEL_ANYMOTION_X_EN_SHIFT 13 +#define BMI08X_ACCEL_ANYMOTION_Y_EN_MASK 0x4000 +#define BMI08X_ACCEL_ANYMOTION_Y_EN_SHIFT 14 +#define BMI08X_ACCEL_ANYMOTION_Z_EN_MASK 0x8000 +#define BMI08X_ACCEL_ANYMOTION_Z_EN_SHIFT 15 + +/*! + * @brief Anymotion config structure + */ +struct bmi08x_anymotion_cfg +{ + /* 11 bit threshold of anymotion detection (threshold = X mg * 2,048 (5.11 format)) */ + uint16_t threshold; + + /* 1 bit select between any- and nomotion behavior */ + uint16_t nomotion_sel; + + /* 13 bit set the duration for any- and nomotion (time = duration * 20ms (@50Hz)) */ + uint16_t duration; + + /* enable anymotion detection for x axis */ + uint16_t x_en; + + /* enable anymotion detection for y axis */ + uint16_t y_en; + + /* enable anymotion detection for z axis */ + uint16_t z_en; +}; + +#define BMI08X_ACCEL_DATA_SYNC_ADR 0x02 +#define BMI08X_ACCEL_DATA_SYNC_LEN 1 +#define BMI08X_ACCEL_DATA_SYNC_MODE_MASK 0x0003 +#define BMI08X_ACCEL_DATA_SYNC_MODE_SHIFT 0 + +#define BMI08X_ACCEL_DATA_SYNC_MODE_OFF 0x00 +#define BMI08X_ACCEL_DATA_SYNC_MODE_400HZ 0x01 +#define BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ 0x02 +#define BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ 0x03 + +/*! + * @brief Data Sync config structure + */ +struct bmi08x_data_sync_cfg +{ + /*! Mode (0 = off, 1 = 400Hz, 2 = 1kHz, 3 = 2kHz) */ + uint8_t mode; +}; + +/*! + * @brief Enum to select accelerometer Interrupt pins + */ +enum bmi08x_accel_int_channel { + /* interrupt Channel 1 for accel sensor */ + BMI08X_INT_CHANNEL_1, + + /* interrupt Channel 2 for accel sensor */ + BMI08X_INT_CHANNEL_2 +}; + +/*! + * @brief Enum to select gyroscope Interrupt pins + */ +enum bmi08x_gyro_int_channel { + /* interrupt Channel 3 for gyro sensor */ + BMI08X_INT_CHANNEL_3, + + /* interrupt Channel 4 for gyro sensor */ + BMI08X_INT_CHANNEL_4 +}; + +/*! + * @brief Enum to select accelerometer interrupts + */ +enum bmi08x_accel_int_types { + BMI08X_ACCEL_DATA_RDY_INT, + + /* Accel data ready interrupt */ + BMI08X_ACCEL_SYNC_DATA_RDY_INT, + + /* Accel synchronized data ready interrupt */ + BMI08X_ACCEL_SYNC_INPUT, + + /* Accel anymotion interrupt for BMI085*/ + BMI08X_ACCEL_ANYMOTION_INT, + + /* Accel FIFO watermark interrupt */ + BMI08X_FIFO_WM_INT, + + /* Accel FIFO full interrupt */ + BMI08X_FIFO_FULL_INT +}; + +/*! + * @brief Enum to select gyroscope interrupts + */ +enum bmi08x_gyro_int_types { + /* Gyro data ready interrupt */ + BMI08X_GYRO_DATA_RDY_INT +}; + +/*! + * @brief Interrupt pin configuration structure + */ +struct bmi08x_int_pin_cfg +{ + + /*! interrupt pin level configuration + * Assignable macros : + * - BMI08X_INT_ACTIVE_LOW + * - BMI08X_INT_ACTIVE_HIGH + */ + uint8_t lvl : 1; + + /*! interrupt pin mode configuration + * Assignable macros : + * - BMI08X_INT_MODE_PUSH_PULL + * - BMI08X_INT_MODE_OPEN_DRAIN + */ + uint8_t output_mode : 1; + + /*! Enable interrupt pin + * Assignable Macros : + * - BMI08X_ENABLE + * - BMI08X_DISABLE + */ + uint8_t enable_int_pin : 1; +}; + +/*! + * @brief Interrupt channel structure for accel + */ +struct bmi08x_accel_int_channel_cfg +{ + /*! Accel Interrupt channel */ + enum bmi08x_accel_int_channel int_channel; + + /*! Select Accel Interrupt type */ + enum bmi08x_accel_int_types int_type; + + /*! Structure to configure accel interrupt pins */ + struct bmi08x_int_pin_cfg int_pin_cfg; +}; + +/*! + * @brief Interrupt channel structure for gyro + */ +struct bmi08x_gyro_int_channel_cfg +{ + /*! Gyro Interrupt channel */ + enum bmi08x_gyro_int_channel int_channel; + + /*! Select Gyro Interrupt type */ + enum bmi08x_gyro_int_types int_type; + + /*! Structure to configure gyro interrupt pins */ + struct bmi08x_int_pin_cfg int_pin_cfg; +}; + +/*! + * @brief Interrupt Configuration structure + */ +struct bmi08x_int_cfg +{ + /*! Configuration of first accel interrupt channel */ + struct bmi08x_accel_int_channel_cfg accel_int_config_1; + + /*! Configuration of second accel interrupt channel */ + struct bmi08x_accel_int_channel_cfg accel_int_config_2; + + /*! Configuration of first gyro interrupt channel */ + struct bmi08x_gyro_int_channel_cfg gyro_int_config_1; + + /*! Configuration of second gyro interrupt channel */ + struct bmi08x_gyro_int_channel_cfg gyro_int_config_2; +}; + +/*! + * @brief accel fifo configurations + */ +struct accel_fifo_config +{ + /*! Configure the fifo mode (0 = Stream mode, 1 = FIFO mode) */ + uint8_t mode; + + /*! To enable the accel */ + uint8_t accel_en; + + /*! To enable the interrupt_1 */ + uint8_t int1_en; + + /*! To enable the interrupt_2 */ + uint8_t int2_en; +}; + +/*! @name Structure to define FIFO frame configuration */ +struct bmi08x_fifo_frame +{ + /*! Pointer to FIFO data */ + uint8_t *data; + + /*! Number of user defined bytes of FIFO to be read */ + uint16_t length; + + /*! Enables type of data to be streamed - accelerometer */ + uint16_t data_enable; + + /*! To index accelerometer bytes */ + uint16_t acc_byte_start_idx; + + /*! FIFO sensor time */ + uint32_t sensor_time; + + /*! Skipped frame count */ + uint8_t skipped_frame_count; + + /*! Type of data interrupt to be mapped */ + uint8_t data_int_map; + + /*! Water-mark level for water-mark interrupt */ + uint16_t wm_lvl; + + /*! Accelerometer frame length */ + uint8_t acc_frm_len; + + /*! Accelerometer frame length */ + uint8_t all_frm_len; + + /*! FIFO accelerometer configurations */ + struct accel_fifo_config fifo_conf; +}; + +/*! + * @brief + * This structure holds all relevant information about BMI08 + */ +struct bmi08x_dev +{ + + /*! Accel chip Id */ + uint8_t accel_chip_id; + + /*! Gyro chip Id */ + uint8_t gyro_chip_id; + + /*! Accel device Id */ + uint8_t accel_id; + + /*! Gyro device Id */ + uint8_t gyro_id; + + /*! 0 - I2C , 1 - SPI Interface */ + enum bmi08x_intf intf; + + /*! Decide SPI or I2C read mechanism */ + uint8_t dummy_byte; + + /*! Structure to configure accel sensor */ + struct bmi08x_cfg accel_cfg; + + /*! Structure to configure gyro sensor */ + struct bmi08x_cfg gyro_cfg; + + /*! Config stream data buffer address will be assigned */ + const uint8_t *config_file_ptr; + + /*! Max read/write length (maximum supported length is 32). + * To be set by the user */ + uint8_t read_write_len; + + /*! Read function pointer */ + bmi08x_com_fptr_t read; + + /*! Write function pointer */ + bmi08x_com_fptr_t write; + + /*! Delay function pointer */ + bmi08x_delay_fptr_t delay_ms; +}; + +#endif /* BMI08X_DEFS_H_ */ + +/** @}*/