/** * Copyright (c) 2022 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 bma4.h * @date 2022-07-01 * @version V2.24.1 * */ /* * @file bma4.h * @brief Source file for the BMA4 Sensor API */ /*! * @defgroup bma4xy BMA4XY */ /** * \ingroup bma4xy * \defgroup bma4 BMA4 * @brief Sensor driver for BMA4 sensor */ #ifndef BMA4_H__ #define BMA4_H__ /*********************************************************************/ /* header files */ #include "bma4_defs.h" #ifdef AKM9916 #include "aux_akm9916.h" #endif #ifdef BMM150 #include "aux_bmm150.h" #endif /*********************************************************************/ /* (extern) variable declarations */ /*********************************************************************/ /* function prototype declarations */ /** * \ingroup bma4 * \defgroup bma4ApiInit Initialization * @brief Initialize the sensor and device structure */ /*! * \ingroup bma4ApiInit * \page bma4_api_bma4_init bma4_init * \code * int8_t bma4_init(struct bma4_dev *dev); * \endcode * @details This API is the entry point. * Call this API before using all other APIs. * This API reads the chip-id of the sensor which is the first step to * verify the sensor and also it configures the read mechanism of SPI and * I2C interface. * * @param[in,out] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * * @note * While changing the parameter of the bma4 * consider the following point: * Changing the reference value of the parameter * will changes the local copy or local reference * make sure your changes will not * affect the reference value of the parameter * (Better case don't change the reference value of the parameter) */ int8_t bma4_init(struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiConfig ConfigFile * @brief Write binary configuration in the sensor */ /*! * \ingroup bma4ApiConfig * \page bma4_api_bma4_write_config_file bma4_write_config_file * \code * int8_t bma4_write_config_file(struct bma4_dev *dev); * \endcode * @details This API is used to write the binary configuration in the sensor * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_write_config_file(struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiRegisters Registers * @brief Perform read / write operation to registers of the sensor */ /*! * \ingroup bma4ApiRegisters * \page bma4_api_bma4_write_regs bma4_write_regs * \code * int8_t bma4_write_regs(uint8_t addr, uint8_t *data, uint8_t len, struct bma4_dev *dev); * \endcode * @details This API checks whether the write operation requested is for * feature config or register write and accordingly writes the data in the * sensor. * * @note user has to disable the advance power save mode in the sensor when * using this API in burst write mode. * bma4_set_advance_power_save(BMA4_DISABLE, dev); * * @param[in] addr : Register address. * @param[in] data : Write data buffer * @param[in] len : No of bytes to write * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev); /*! * \ingroup bma4ApiRegisters * \page bma4_api_bma4_read_regs bma4_read_regs * \code * int8_t bma4_write_regs(uint8_t addr, uint8_t *data, uint8_t len, struct bma4_dev *dev); * \endcode * @details This API checks whether the read operation requested is for * feature or register read and accordingly reads the data from the sensor. * * @param[in] addr : Register address. * @param[in] data : Read data buffer. * @param[in] len : No of bytes to read. * @param[in] dev : Structure instance of bma4_dev * * @note For most of the registers auto address increment applies, with the * exception of a few special registers, which trap the address. For e.g., * Register address - 0x26, 0x5E. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiErrorStatus Error Status * @brief Read error status of the sensor */ /*! * \ingroup bma4ApiErrorStatus * \page bma4_api_bma4_get_error_status bma4_get_error_status * \code * int8_t bma4_get_error_status(struct bma4_err_reg *err_reg, struct bma4_dev *dev);; * \endcode * @details This API reads the error status from the 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. *************************|*********************************************** * cmd | Command execution failed. *************************|*********************************************** * | Value Name Description * error_code | 000 no_error no error * | 001 acc_err error in * | ACC_CONF *************************|*********************************************** * | Error in FIFO detected: Input data was * fifo | discarded in stream mode. This flag * | will be reset when read. *************************|*********************************************** * mag | Error in I2C-Master detected. * | This flag will be reset when read. ************************************************************************* *@endverbatim * * @param[in,out] err_reg : Pointer to structure variable which stores the * error status read from the sensor. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_error_status(struct bma4_err_reg *err_reg, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelxyz Accel XYZ Data * @brief Read accel xyz data from the sensor */ /*! * \ingroup bma4ApiAccelxyz * \page bma4_api_bma4_read_accel_xyz bma4_read_accel_xyz * \code * int8_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev); * \endcode * @details This API reads the Accel data for x,y and z axis from the sensor. * The data units is in LSB format. * * @param[in] accel : Variable used to store the Accel data which is read * from the sensor. * @param[in] dev : Structure instance of bma4_dev. * * @note For setting the Accel configuration use the below function * bma4_set_accel_config * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiSensorTime Sensor Time * @brief Read sensor time of the sensor */ /*! * \ingroup bma4ApiSensorTime * \page bma4_api_bma4_get_sensor_time bma4_get_sensor_time * \code * int8_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev); * \endcode * @details This API reads the sensor time of Sensor time gets updated * with every update of data register or FIFO. * * @param[in] sensor_time : Pointer variable which stores sensor time * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiTemperature Temperature * @brief Read chip temperature of the sensor */ /*! * \ingroup bma4ApiTemperature * \page bma4_api_bma4_get_temperature bma4_get_temperature * \code * int8_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit, struct bma4_dev *dev); * \endcode * @details This API reads the chip temperature of sensor. * @note If Accel and Mag are disabled, the temperature value will be set * to invalid. * * @param[out] temp : Pointer variable which stores the temperature value. * @param[in] temp_unit : indicates the unit of temperature * * @verbatim * temp_unit | description * ------------|------------------- * BMA4_DEG | degrees Celsius * BMA4_FAHREN | degrees fahrenheit * BMA4_KELVIN | degrees kelvin *@endverbatim * * @param[in] dev : Structure instance of bma4_dev. * * @note Using a scaling factor of 1000, to obtain integer values, which * at the user end, are used to get accurate temperature value. * BMA4_SCALE_FARHAN = 1.8 * 1000, BMA4_SCALE_KELVIN = 273.15 * 1000 * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccel Accel Configuration * @brief Read / Write configurations of accel sensor */ /*! * \ingroup bma4ApiAccel * \page bma4_api_bma4_get_accel_config bma4_get_accel_config * \code * int8_t bma4_get_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); * \endcode * @details This API reads the Output data rate, Bandwidth, perf_mode * and Range of accel. * * @param[in,out] accel : Address of user passed structure which is used * to store the Accel configurations read from the sensor. * * @note Enums and corresponding values for structure parameters like * Odr, Bandwidth and Range are mentioned in the below tables. * *@verbatim * Value | Odr * -----------|------------------------------------ * 1 | BMA4_OUTPUT_DATA_RATE_0_78HZ * 2 | BMA4_OUTPUT_DATA_RATE_1_56HZ * 3 | BMA4_OUTPUT_DATA_RATE_3_12HZ * 4 | BMA4_OUTPUT_DATA_RATE_6_25HZ * 5 | BMA4_OUTPUT_DATA_RATE_12_5HZ * 6 | BMA4_OUTPUT_DATA_RATE_25HZ * 7 | BMA4_OUTPUT_DATA_RATE_50HZ * 8 | BMA4_OUTPUT_DATA_RATE_100HZ * 9 | BMA4_OUTPUT_DATA_RATE_200HZ * 10 | BMA4_OUTPUT_DATA_RATE_400HZ * 11 | BMA4_OUTPUT_DATA_RATE_800HZ * 12 | BMA4_OUTPUT_DATA_RATE_1600HZ *@endverbatim * *@verbatim * Value | accel_bw * ------|-------------------------- * 0 | BMA4_ACCEL_OSR4_AVG1 * 1 | BMA4_ACCEL_OSR2_AVG2 * 2 | BMA4_ACCEL_NORMAL_AVG4 * 3 | BMA4_ACCEL_CIC_AVG8 * 4 | BMA4_ACCEL_RES_AVG16 * 5 | BMA4_ACCEL_RES_AVG32 * 6 | BMA4_ACCEL_RES_AVG64 * 7 | BMA4_ACCEL_RES_AVG128 *@endverbatim * *@verbatim * Value | g_range * --------|--------------------- * 0x00 | BMA4_ACCEL_RANGE_2G * 0x01 | BMA4_ACCEL_RANGE_4G * 0x02 | BMA4_ACCEL_RANGE_8G * 0x03 | BMA4_ACCEL_RANGE_16G *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); /*! * \ingroup bma4ApiAccel * \page bma4_api_bma4_set_accel_config bma4_set_accel_config * \code * int8_t bma4_set_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); * \endcode * @details This API sets the output_data_rate, bandwidth, perf_mode * and range of Accel. * * @param[in] accel : Pointer to structure variable which specifies the * Accel configurations. * * @note Enums and corresponding values for structure parameters like * Odr, Bandwidth and Range are mentioned in the below tables. * * @verbatim * Value | ODR * --------|----------------------------------------- * 1 | BMA4_OUTPUT_DATA_RATE_0_78HZ * 2 | BMA4_OUTPUT_DATA_RATE_1_56HZ * 3 | BMA4_OUTPUT_DATA_RATE_3_12HZ * 4 | BMA4_OUTPUT_DATA_RATE_6_25HZ * 5 | BMA4_OUTPUT_DATA_RATE_12_5HZ * 6 | BMA4_OUTPUT_DATA_RATE_25HZ * 7 | BMA4_OUTPUT_DATA_RATE_50HZ * 8 | BMA4_OUTPUT_DATA_RATE_100HZ * 9 | BMA4_OUTPUT_DATA_RATE_200HZ * 10 | BMA4_OUTPUT_DATA_RATE_400HZ * 11 | BMA4_OUTPUT_DATA_RATE_800HZ * 12 | BMA4_OUTPUT_DATA_RATE_1600HZ * *@endverbatim * *@verbatim * Value | accel_bw * ------|-------------------------- * 0 | BMA4_ACCEL_OSR4_AVG1 * 1 | BMA4_ACCEL_OSR2_AVG2 * 2 | BMA4_ACCEL_NORMAL_AVG4 * 3 | BMA4_ACCEL_CIC_AVG8 * 4 | BMA4_ACCEL_RES_AVG16 * 5 | BMA4_ACCEL_RES_AVG32 * 6 | BMA4_ACCEL_RES_AVG64 * 7 | BMA4_ACCEL_RES_AVG128 *@endverbatim * *@verbatim * Value | g_range * --------|--------------------- * 0x00 | BMA4_ACCEL_RANGE_2G * 0x01 | BMA4_ACCEL_RANGE_4G * 0x02 | BMA4_ACCEL_RANGE_8G * 0x03 | BMA4_ACCEL_RANGE_16G *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_set_accel_config(const struct bma4_accel_config *accel, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAdvancedPowerMode Advanced Power Mode * @brief Read / Write advance power mode of accel sensor */ /*! * \ingroup bma4ApiAdvancedPowerMode * \page bma4_api_bma4_set_advance_power_save bma4_set_advance_power_save * \code * int8_t bma4_set_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); * \endcode * @details This API sets the advance power save mode in the sensor. * * @note If advanced power save is enabled and the Accel and/or * magnetometer operate in duty cycling mode, the length of the unlatched * DRDY interrupt pulse is longer than 1/3.2 kHz (312.5 us). * * @param[in] adv_pwr_save : The value of advance power save mode * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); /*! * \ingroup bma4ApiAdvancedPowerMode * \page bma4_api_bma4_get_advance_power_save bma4_get_advance_power_save * \code * int8_t bma4_get_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); * \endcode * @details This API reads the status of advance power save mode * from the sensor. * * @note If the advanced power save is enabled and the Accel and/or * magnetometer operate in duty cycling mode, the length of the unlatched * DRDY interrupt pulse is longer than 1/3.2 kHz (312.5 us). * * @param[out] adv_pwr_save : The value of advance power save mode * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_advance_power_save(uint8_t *adv_pwr_save, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiFIFOSelfWakeUp FIFO Self Wake up * @brief Read / Write FIFO self wake up functionality in the sensor */ /*! * \ingroup bma4ApiFIFOSelfWakeUp * \page bma4_api_bma4_set_fifo_self_wakeup bma4_set_fifo_self_wakeup * \code * int8_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup, struct bma4_dev *dev); * \endcode * @details This API sets the FIFO self wake up functionality in the sensor. * * @note Functionality related to FIFO self wake up depends upon the * advance power save mode. for more info. refer data sheet. * * @param[in] fifo_self_wakeup : Variable used to enable or disable * FIFO self wake up functionality. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup, struct bma4_dev *dev); /*! * \ingroup bma4ApiFIFOSelfWakeUp * \page bma4_api_bma4_get_fifo_self_wakeup bma4_get_fifo_self_wakeup * \code * int8_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wakeup, struct bma4_dev *dev); * \endcode * @details This API gets the status of FIFO self wake up functionality from * the sensor. * * @note Functionality related to FIFO self wake up depends upon the * advance power save mode. for more info. refer data sheet. * * @param[out] fifo_self_wake_up : Pointer variable used to store the * fifo self wake up status. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wake_up, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelEnable Accel Enable * @brief Enables / Disables accelerometer in the sensor */ /*! * \ingroup bma4ApiAccelEnable * \page bma4_api_bma4_set_accel_enable bma4_set_accel_enable * \code * int8_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev); * \endcode * @details This API enables or disables the Accel in the sensor. * * @note Before reading Accel data, user should call this API. * * @param[in] accel_en : Variable used to enable or disable the Accel. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev); /*! * \ingroup bma4ApiAccelEnable * \page bma4_api_bma4_get_accel_enable bma4_get_accel_enable * \code * int8_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev); * \endcode * @details This API checks whether Accel is enabled or not in the sensor. * * @param[out] accel_en : Pointer variable used to store the Accel enable * status * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagEnable Magnetometer Enable * @brief Enables / Disables Auxiliary Magnetometer in the sensor */ /*! * \ingroup bma4ApiMagEnable * \page bma4_api_bma4_set_mag_enable bma4_set_mag_enable * \code * int8_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev); * \endcode * @details This API is used to enable or disable auxiliary Mag * in the sensor. * * @note Before reading Mag data, user should call this API. * * @param[in] mag_en : Variable used to enable or disable the Mag. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagEnable * \page bma4_api_bma4_get_mag_enable bma4_get_mag_enable * \code * int8_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev); * \endcode * @details This API is used to check whether the auxiliary Mag is enabled * or not in the sensor. * * @param[out] mag_en : Pointer variable used to store the enable status of * Mag in the sensor. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiSpiInterface SPI interface * @brief Read / Write SPI interface mode set for primary interface */ /*! * \ingroup bma4AiSpiInterface * \page bma4_api_bma4_set_spi_interface bma4_set_spi_interface * \code * int8_t bma4_set_spi_interface(uint8_t *spi, struct bma4_dev *dev); * \endcode * @details This API reads the SPI interface mode which is set for primary * interface. * * @param[out] spi : Pointer variable which stores the SPI mode selection * * @verbatim * Value | Description * --------|------------------ * 0 | SPI 4-wire mode * 1 | SPI 3-wire mode * *@endverbatim * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_spi_interface(uint8_t *spi, struct bma4_dev *dev); /*! * \ingroup bma4ApiSpiInterface * \page bma4_api_bma4_get_spi_interface bma4_get_spi_interface * \code * int8_t bma4_get_spi_interface(uint8_t spi, struct bma4_dev *dev); * \endcode * @details This API configures the SPI interface Mode for primary interface * * @param[in] spi : The value of SPI mode selection * *@verbatim * Value | Description * --------|------------------ * 0 | SPI 4-wire mode * 1 | SPI 3-wire mode * *@endverbatim * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_spi_interface(uint8_t spi, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiCommandReg Command Register * @brief Write available sensor specific commands to the sensor */ /*! * \ingroup bma4ApiCommandReg * \page bma4_api_bma4_set_command_register bma4_set_command_register * \code * int8_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev); * \endcode * @details This API writes the available sensor specific commands * to the sensor. * * @param[in] command_reg : The command to write to the command register * *@verbatim * value | Description * --------|------------------------------------------------------ * 0xB6 | Triggers a soft reset * 0xB0 | Clears all data in the FIFO, does not change * | FIFO_CONFIG and FIFO_DOWNS registers * 0xF0 | Reset acceleration data path *@endverbatim * * * @param[in] dev : Structure instance of bma4_dev. * * @note Register will always read as 0x00 * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiI2CAddr i2C Device Address * @brief Write I2C device address of auxiliary sensor */ /*! * \ingroup bma4ApiI2CAddr * \page bma4_api_bma4_set_i2c_device_addr bma4_set_i2c_device_addr * \code * int8_t bma4_set_i2c_device_addr(struct bma4_dev *dev); * \endcode * @details This API sets the I2C device address of auxiliary sensor * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_i2c_device_addr(struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagManualEnable Mag Manual Enable * @brief Read / Write register access on magnetometer manually */ /*! * \ingroup bma4ApiMagManualEnable * \page bma4_api_bma4_set_mag_manual_enable bma4_set_mag_manual_enable * \code * int8_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev); * \endcode * @details This API sets the register access on MAG_IF[2], MAG_IF[3], * MAG_IF[4] in the sensor. This implies that the DATA registers are * not updated with Mag values automatically. * * @param[in] mag_manual : Variable used to specify the Mag manual * enable status. * *@verbatim * value | mag manual * ---------|-------------------- * 0x01 | BMA4_ENABLE * 0x00 | BMA4_DISABLE *@endverbatim * * @param[out] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagManualEnable * \page bma4_api_bma4_get_mag_manual_enable bma4_get_mag_manual_enable * \code * int8_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev); * \endcode * @details This API checks whether the Mag access is done manually or * automatically in the sensor. * If the Mag access is done through manual mode then Mag data registers * in sensor are not updated automatically. * * @param[out] mag_manual : Mag manual enable value * *@verbatim * value | mag_manual * --------|------------------- * 0x01 | BMA4_ENABLE * 0x00 | BMA4_DISABLE *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagIFMode Mag Interface Mode * @brief Set I2C interface configuration mode for auxiliary magnetometer */ /*! * \ingroup bma4ApiMagIFMode * \page bma4_api_bma4_set_aux_if_mode bma4_set_aux_if_mode * \code * int8_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev); * \endcode * @details This API sets the I2C interface configuration(if) mode * for auxiliary Mag. * * @param[in] if_mode : The value of interface configuration mode * *@verbatim * Value | Description * ------------|------------------------------------------- * 0 | p_auto_s_off Auxiliary interface:off * 1 | p_auto_s_mag Auxiliary interface:on *@endverbatim * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagRead Mag Read * @brief Set / Get address of register of Aux Mag sensor to read data */ /*! * \ingroup bma4ApiMagRead * \page bma4_api_bma4_get_mag_read_addr bma4_get_mag_read_addr * \code * int8_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev); * \endcode * @details This API gets the address of the register of Aux Mag sensor * where the data to be read. * * @param[out] mag_read_addr : Pointer variable used to store the * mag read address. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagRead * \page bma4_api_bma4_set_mag_read_addr bma4_set_mag_read_addr * \code * int8_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev); * \endcode * @details This API sets the address of the register of Aux Mag sensor * where the data to be read. * * @param[in] mag_read_addr: Value of Mag. read address in order to read * the data from the auxiliary Mag. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagWrite Mag Write * @brief Set / Get address of register of Aux Mag sensor to write data */ /*! * \ingroup bma4ApiMagWrite * \page bma4_api_bma4_get_mag_write_addr bma4_get_mag_write_addr * \code * int8_t bma4_get_mag_write_addr(uint8_t *mag_write_addr, struct bma4_dev *dev); * \endcode * @details This API gets the Aux Mag write address from the sensor. * Mag write address is where the Mag data will be written. * * @param[out] mag_write_addr: Pointer used to store the Mag write address * which is read from the sensor. * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_write_addr(uint8_t *mag_write_addr, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagWrite * \page bma4_api_bma4_set_mag_write_addr bma4_set_mag_write_addr * \code * int8_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev); * \endcode * @details This API sets the Aux Mag write address in the sensor. * Mag write address is where the Mag data will be written. * * @param[in] mag_write_addr: Write address of Mag where the data will * be written. * @param[out] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagData Mag Data * @brief Read / Write data from the Mag sensor */ /*! * \ingroup bma4ApiMagData * \page bma4_api_bma4_get_mag_write_data bma4_get_mag_write_data * \code * int8_t bma4_get_mag_write_data(uint8_t *mag_write_data, struct bma4_dev *dev); * \endcode * @details This API reads the data from the sensor which is written to the * Mag. * * @param[out] mag_write_data: Pointer variable which stores the * data which is written in Mag through sensor. * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_write_data(uint8_t *mag_write_data, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagData * \page bma4_api_bma4_set_mag_write_data bma4_set_mag_write_data * \code * int8_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev); * \endcode * @details This API sets the data in the sensor which in turn will * be written to Mag. * * @param[in] mag_write_data: variable which specify the data which is to * be written in Mag. * @param[out] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiReadMagXYZR Mag xyzr Data * @brief Read xyzr axes data from auxiliary Mag sensor */ /*! * \ingroup bma4ApiReadMagXYZR * \page bma4_api_bma4_read_mag_xyzr bma4_read_mag_xyzr * \code * int8_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev); * \endcode * @details This API reads the x,y,z and r axis data from the auxiliary * Mag BMM150/AKM9916 sensor. * * @param[out] mag : Pointer variable to store the auxiliary Mag x,y,z * and r axis data read from the sensor. * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagBurst Mag Burst * @brief Set / Get burst data length of auxiliary Mag Sensor */ /*! * \ingroup bma4ApiMagBurst * \page bma4_api_bma4_set_mag_burst bma4_set_mag_burst * \code * int8_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev); * \endcode * @details This API sets the burst data length (1,2,6,8 byte) of auxiliary * Mag sensor. * * @param[in] mag_burst : Variable used to specify the Mag burst read length * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev); /*! * \ingroup bma4ApiMagBurst * \page bma4_api_bma4_get_mag_burst bma4_get_mag_burst * \code * int8_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev); * \endcode * @details This API reads the burst data length of Mag set in the sensor. * * @param[out] mag_burst : Pointer variable used to store the burst length * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiReadFIFO Read FIFO Data * @brief Read FIFO data of accel and/or Mag sensor */ /*! * \ingroup bma4ApiReadFIFO * \page bma4_api_bma4_read_fifo_data bma4_read_fifo_data * \code * int8_t bma4_read_fifo_data(struct bma4_fifo_frame *fifo, struct bma4_dev *dev); * \endcode * @details This API reads the FIFO data of Accel and/or Mag sensor * * @param[in] fifo : Structure instance of bma4_fifo_frame * @param[in] dev : Structure instance of bma4_dev * * @note : Dummy byte (for SPI Interface) required for FIFO data read * must be given as part of data pointer in struct bma4_fifo_frame * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_read_fifo_data(struct bma4_fifo_frame *fifo, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiFIFOWM FIFO Watermark level * @brief Read / Write FIFO watermark level in the sensor */ /*! * \ingroup bma4ApiFIFOWM * \page bma4_api_bma4_get_fifo_wm bma4_get_fifo_wm * \code * int8_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev); * \endcode * @details This API reads the FIFO water mark level which is set * in the sensor. * * @note The FIFO watermark is issued when the FIFO fill level is * equal or above the watermark level. * * @param[out] fifo_wm : Pointer variable to store FIFO water mark level * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev); /*! * \ingroup bma4ApiFIFOWM * \page bma4_api_bma4_set_fifo_wm bma4_set_fifo_wm * \code * int8_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev); * \endcode * @details This API sets the FIFO watermark level in the sensor. * * @note The FIFO watermark is issued when the FIFO fill level is * equal or above the watermark level. * * @param[in] fifo_wm : Variable used to set the FIFO water mark level * @param[out] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelFIFOFilterData Accel FIFO Filter data * @brief Set / Get Filtered or unfiltered mode of Accel FIFO data */ /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_get_accel_fifo_filter_data bma4_get_accel_fifo_filter_data * \code * int8_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter, struct bma4_dev *dev); * \endcode * @details This API checks whether the Accel FIFO data is set for filtered * or unfiltered mode. * * @param[out] accel_fifo_filter : Variable used to check whether the Accel * data is filtered or unfiltered. * *@verbatim * Value | accel_fifo_filter * ---------|------------------------- * 0x00 | Unfiltered data * 0x01 | Filtered data *@endverbatim * * @param[in] dev : structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter, struct bma4_dev *dev); /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_set_accel_fifo_filter_data bma4_set_accel_fifo_filter_data * \code * int8_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter, struct bma4_dev *dev); * \endcode * @details This API sets the condition of Accel FIFO data either to * filtered or unfiltered mode. * * @param[in] accel_fifo_filter : Variable used to set the filtered or * unfiltered condition of Accel FIFO data. * *@verbatim * value | accel_fifo_filter_data * -----------|------------------------- * 0x00 | Unfiltered data * 0x01 | Filtered data *@endverbatim * * @param[out] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelFIFODown Accel FIFO Down Sampling * @brief Read / Write Down sampling rates configured for Accel FIFO Data */ /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_get_fifo_down_accel bma4_get_fifo_down_accel * \code * int8_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev); * \endcode * @details This API reads the down sampling rates which is configured * for Accel FIFO data. * * @param[out] fifo_down : Variable used to specify the Accel FIFO * down-sampling rates * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev); /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_set_fifo_down_accel bma4_set_fifo_down_accel * \code * int8_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev); * \endcode * @details This API sets the down-sampling rates for Accel FIFO. * * @param[in] fifo_down : Variable used to specify the Accel FIFO * down-sampling rates. * @param[in] dev : structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiFIFOLength FIFO Length * @brief Read length of FIFO data available in the sensor (unit of bytes) */ /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_get_fifo_length bma4_get_fifo_length * \code * int8_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev); * \endcode * @details This API reads the length of FIFO data available in the sensor * in the units of bytes. * * @note This byte counter is updated each time a complete frame was read * or written * * @param[in] fifo_length : Pointer variable used to store the value of * fifo byte counter * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiMagCompensate Compensate Mag data * @brief Aligns and Compensates Mag Data of BMM150 / AKM9916 */ /*! * \ingroup bma4ApiAccelFIFOFilterData * \page bma4_api_bma4_second_if_mag_compensate_xyz bma4_second_if_mag_compensate_xyz * \code * int8_t bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data, * uint8_t mag_second_if, * const struct bma4_mag *compensated_mag_data); * * \endcode * @details This API aligns and compensates the Mag data of BMM150/AKM9916 * sensor. * * @param[in] mag_fifo_data: Structure object which stores the Mag x,yand z * axis FIFO data which is to be aligned and/or compensated. * @param[in] mag_second_if: Variable used to select the Mag sensor. * *@verbatim * Value | mag_second_if * --------|---------------------- * 1 | BMA4_SEC_IF_BMM150 * 2 | BMA4_SEC_IF_AKM09916 *@endverbatim * * @param[out] compensated_mag_data: Pointer variable used to store the * compensated Mag xyz axis data * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data, uint8_t mag_second_if, const struct bma4_mag *compensated_mag_data); /** * \ingroup bma4 * \defgroup bma4ApiMagXYZ Mag XYZ * @brief Read x, y and z axes data from either BMM150 or AKM9916 sensor */ /*! * \ingroup bma4ApiMagXYZ * \page bma4_api_bma4_read_mag_xyz bma4_read_mag_xyz * \code * int8_t bma4_read_mag_xyz(const struct bma4_mag *mag, uint8_t sensor_select, const struct bma4_dev *dev); * \endcode * @details This API reads Mag. x,y and z axis data from either BMM150 or * AKM9916 sensor * * @param[out] mag : Structure pointer used to store the Mag x,y, and z axis * data read from the sensor. * * @param[in] sensor_select : Variable used to select the Mag sensor * *@verbatim * Value | Sensor * ---------|---------------------- * 0 | BMA4_SEC_IF_NULL * 1 | BMA4_SEC_IF_BMM150 * 2 | BMA4_SEC_IF_AKM09916 *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_read_mag_xyz(const struct bma4_mag *mag, uint8_t sensor_select, const struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiIFMode I2C interface configuration * @brief Set / Get auxiliary I2C interface configuration set in the sensor */ /*! * \ingroup bma4ApiIFMode * \page bma4_api_bma4_get_if_mode bma4_get_if_mode * \code * int8_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev); * \endcode * @details This API reads the auxiliary I2C interface configuration which * is set in the sensor. * * @param[out] if_mode : Pointer variable used to store the auxiliary * interface configuration. * *@verbatim * Value | Description * ----- |---------------------------------- * 0x00 | auxiliary interface:off * 0x01 | auxiliary interface:on *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev); /*! * \ingroup bma4ApiIFMode * \page bma4_api_bma4_set_if_mode bma4_set_if_mode * \code * int8_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev); * \endcode * @details This API sets the auxiliary interface configuration in the sensor. * * @param[in] if_mode : Variable used to select the auxiliary interface * configuration. * *@verbatim * Value | Description * ----- |-------------------------- * 0x00 | auxiliary interface:off * 0x01 | auxiliary interface:on *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiASICStatus ASIC status * @brief Read ASIC status from the sensor */ /*! * \ingroup bma4ApiASICStatus * \page bma4_api_bma4_get_asic_status bma4_get_asic_status * \code * int8_t bma4_get_asic_status(struct bma4_asic_status *asic_status, struct bma4_dev *dev); * \endcode * @details This API reads the ASIC status from the sensor. * The status information is mentioned in the below table. * *@verbatim ******************************************************************************* * Status | Description **************************|**************************************************** * sleep | ASIC is in sleep/halt state. * irq_ovrn | Dedicated interrupt is set again before previous * | interrupt was acknowledged. * wc_event | Watchcell event detected (ASIC stopped). * stream_transfer_active | stream transfer has started. ******************************************************************************* *@endverbatim * * @param[out] asic_status : Structure pointer used to store the ASIC * status read from the sensor. * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_asic_status(struct bma4_asic_status *asic_status, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiOffsetComp Accel Offset Compensation * @brief Set / Get Accel Offset Compensation */ /*! * \ingroup bma4ApiOffsetComp * \page bma4_api_bma4_set_offset_comp bma4_set_offset_comp * \code * int8_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev); * \endcode * @details This API enables the offset compensation for filtered and * unfiltered Accel data. * * @param[in] offset_en : Variable used to enable or disable offset * compensation * *@verbatim * offset_en | Description * ------------|---------------------- * 0 | BMA4_DISABLE * 1 | BMA4_ENABLE *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev); /*! * \ingroup bma4ApiOffsetComp * \page bma4_api_bma4_get_offset_comp bma4_get_offset_comp * \code * int8_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev); * \endcode * @details This API gets the status of Accel offset compensation * * @param[out] offset_en : Pointer variable used to store the Accel offset * enable or disable status. * *@verbatim * offset_en | Description * ----------|-------------- * 0 | BMA4_DISABLE * 1 | BMA4_ENABLE *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiExtractAccel Accel Extract and Parse Frames * @brief Parse and Extract Accel frames from FIFO data read */ /*! * \ingroup bma4ApiExtractAccel * \page bma4_api_bma4_extract_accel bma4_extract_accel * \code * int8_t bma4_extract_accel(struct bma4_accel *accel_data, * uint16_t *accel_length, * struct bma4_fifo_frame *fifo, * const struct bma4_dev *dev); * \endcode * @details This API parses and extracts the accelerometer frames from * FIFO data read by the "bma4_read_fifo_data" API and stores it in the * "accel_data" structure instance. * * @note The bma4_extract_accel API should be called only after reading * the FIFO data by calling the bma4_read_fifo_data() API * * @param[in,out] accel_data : Structure instance of bma4_accel where * the accelerometer data in FIFO is stored. * @param[in,out] accel_length : Number of accelerometer frames * (x,y,z axes data) * @param[in,out] dev : Structure instance of bma4_dev. * * @note accel_length has the number of accelerometer frames * (1 accel frame = 6 bytes) which the user needs to extract and store is * provided as input parameter by the user and the Number of valid * accelerometer frames extracted and stored is updated in * "accel_length" at the end of execution of this API. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_extract_accel(struct bma4_accel *accel_data, uint16_t *accel_length, struct bma4_fifo_frame *fifo, const struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiExtractMag Mag Extract and Parse Frames * @brief Parse and Extract Accel frames from FIFO data read */ /*! * \ingroup bma4ApiExtractMag * \page bma4_api_bma4_extract_mag bma4_extract_mag * \code * int8_t bma4_extract_mag(const struct bma4_mag *mag_data, * uint16_t *mag_length, * struct bma4_fifo_frame *fifo, * const struct bma4_dev *dev); * \endcode * @details This API parses and extracts the magnetometer frames from * FIFO data read by the "bma4_read_fifo_data" API and stores it in the * "mag_data" structure instance parameter of this API * * @note The bma4_extract_mag API should be called only after reading * the FIFO data by calling the bma4_read_fifo_data() API * * @param[in,out] mag_data : Structure instance of bma4_mag_xyzr where * the magnetometer data in FIFO is stored. * @param[in,out] mag_length : Number of magnetometer frames (x,y,z,r data) * @param[in,out] dev : Structure instance of bma4_dev. * * @note mag_length has the number of magnetometer frames(x,y,z,r data) * (1 mag frame = 8 bytes) which the user needs to extract and store,It is * provided as input parameter by the user and the number of valid * magnetometer frames extracted and stored is updated in * "mag_length" at the end of execution of this API. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_extract_mag(const struct bma4_mag *mag_data, uint16_t *mag_length, struct bma4_fifo_frame *fifo, const struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelSelftest Accel Self test * @brief Self test for accel */ /*! * \ingroup bma4ApiAccelSelftest * \page bma4_api_bma4_perform_accel_selftest bma4_perform_accel_selftest * \code * int8_t bma4_perform_accel_selftest(int8_t *result, struct bma4_dev *dev); * \endcode * @details This API checks whether the self test functionality of the sensor * is working or not * * @param[in] result : Pointer variable used to store the result of self test * operation * *@verbatim * result | Description * ---------|-------------------- * 0x00 | BMA4_SELFTEST_PASS * 0x01 | BMA4_SELFTEST_FAIL *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_perform_accel_selftest(int8_t *result, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiInterrupt Interrupt Functions * @brief Interrupt mapping and set/get interrupt mode */ /*! * \ingroup bma4ApiInterrupt * \page bma4_api_bma4_map_interrupt bma4_map_interrupt * \code * int8_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); * \endcode * @details API sets the interrupt to either interrupt1 or * interrupt2 pin in the sensor. * * @param[in] int_line: Variable used to select interrupt pin1 or pin2 * *@verbatim * int_line | interrupt selection * ---------|------------------- * 0 | BMA4_INTR1_MAP * 1 | BMA4_INTR2_MAP *@endverbatim * * @param[in] int_map: Variable used to select a particular interrupt * in the sensor * * @param[in] enable : Variable used to enable or disable the interrupt * *@verbatim * Value | Behaviour * ---------|------------------- * 0x01 | BMA4_ENABLE * 0x00 | BMA4_DISABLE *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); /*! * \ingroup bma4ApiInterrupt * \page bma4_api_bma4_set_interrupt_mode bma4_set_interrupt_mode * \code * int8_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev); * \endcode * @details This API sets the interrupt mode in the sensor. * * @param[in] mode: Variable used to specify the interrupt mode which * is to be set in the sensor. * *@verbatim * Mode | Value * ----------------------- |--------- * BMA4_NON_LATCH_MODE | 0 * BMA4_LATCH_MODE | 1 *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev); /*! * \ingroup bma4ApiInterrupt * \page bma4_api_bma4_get_interrupt_mode bma4_get_interrupt_mode * \code * int8_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev); * \endcode * @details This API gets the interrupt mode which is set in the sensor. * * @param[out] mode: Pointer variable used to store the interrupt mode set in * in the sensor. * *@verbatim * Mode | Value * ---------------------|--------------- * BMA4_NON_LATCH_MODE | 0 * BMA4_LATCH_MODE | 1 *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAuxMagConfig Auxiliary Mag Config * @brief Set / Get Auxiliary Mag(BMM150 or AKM9916) output data rate and offset */ /*! * \ingroup bma4ApiAuxMagConfig * \page bma4_api_bma4_set_aux_mag_config bma4_set_aux_mag_config * \code * int8_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); * \endcode * @details This API sets the auxiliary Mag(BMM150 or AKM9916) output data * rate and offset. * * @param[in] aux_mag : Pointer to structure variable used to specify * the auxiliary Mag configuration. * *@verbatim *------------------------------------------------------------------------------ * Odr | Value *----------------------------------------|--------------------------------- * BMA4_OUTPUT_DATA_RATE_0_78HZ | 0x01 * BMA4_OUTPUT_DATA_RATE_1_56HZ | 0x02 * BMA4_OUTPUT_DATA_RATE_3_12HZ | 0x03 * BMA4_OUTPUT_DATA_RATE_6_25HZ | 0x04 * BMA4_OUTPUT_DATA_RATE_12_5HZ | 0x05 * BMA4_OUTPUT_DATA_RATE_25HZ | 0x06 * BMA4_OUTPUT_DATA_RATE_50HZ | 0x07 * BMA4_OUTPUT_DATA_RATE_100HZ | 0x08 * BMA4_OUTPUT_DATA_RATE_200HZ | 0x09 * BMA4_OUTPUT_DATA_RATE_400HZ | 0x0A * BMA4_OUTPUT_DATA_RATE_800HZ | 0x0B * BMA4_OUTPUT_DATA_RATE_1600HZ | 0x0C *------------------------------------------------------------------------------ * Offset | Value *--------------------------------------------|--------------------------------- * BMA4_MAG_OFFSET_MAX | 0x00 *--------------------------------------------|--------------------------------- *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); /*! * \ingroup bma4ApiAuxMagConfig * \page bma4_api_bma4_get_aux_mag_config bma4_get_aux_mag_config * \code * int8_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); * \endcode * @details This API reads the auxiliary Mag(BMM150 or AKM9916) output data * rate and offset. * @note : Valid output data rates are mentioned in the below table * * @param[out] aux_mag : Pointer to structure variable used to store the * auxiliary Mag configuration read from the sensor * *@verbatim *------------------------------------------------------------------------ * Odr | Value *----------------------------------------|------------------------------- * BMA4_OUTPUT_DATA_RATE_0_78HZ | 0x01 * BMA4_OUTPUT_DATA_RATE_1_56HZ | 0x02 * BMA4_OUTPUT_DATA_RATE_3_12HZ | 0x03 * BMA4_OUTPUT_DATA_RATE_6_25HZ | 0x04 * BMA4_OUTPUT_DATA_RATE_12_5HZ | 0x05 * BMA4_OUTPUT_DATA_RATE_25HZ | 0x06 * BMA4_OUTPUT_DATA_RATE_50HZ | 0x07 * BMA4_OUTPUT_DATA_RATE_100HZ | 0x08 * BMA4_OUTPUT_DATA_RATE_200HZ | 0x09 * BMA4_OUTPUT_DATA_RATE_400HZ | 0x0A * BMA4_OUTPUT_DATA_RATE_800HZ | 0x0B * BMA4_OUTPUT_DATA_RATE_1600HZ | 0x0C *------------------------------------------------------------------------- * Offset | Value *----------------------------------------|-------------------------------- * BMA4_MAG_OFFSET_MAX | 0x00 *------------------------------------------------------------------------- *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiFIFOConfig FIFO Configuration * @brief Set / Get FIFO Configuration in the sensor */ /*! * \ingroup bma4ApiFIFOConfig * \page bma4_api_bma4_set_fifo_config bma4_set_fifo_config * \code * int8_t bma4_set_fifo_config(uint8_t config, uint8_t enable, struct bma4_dev *dev); * \endcode * @details This API sets the FIFO configuration in the sensor. * * @param[in] config : Enum variable used to specify the FIFO * configurations which are to be enabled or disabled in the sensor. * * @note : User can set either one or more or all FIFO configurations * by ORing the below mentioned enums. * *@verbatim * config | Value * ------------------------|--------------------------- * BMA4_FIFO_STOP_ON_FULL | 0x01 * BMA4_FIFO_TIME | 0x02 * BMA4_FIFO_TAG_INTR2 | 0x04 * BMA4_FIFO_TAG_INTR1 | 0x08 * BMA4_FIFO_HEADER | 0x10 * BMA4_FIFO_MAG | 0x20 * BMA4_FIFO_ACCEL | 0x40 * BMA4_FIFO_ALL | 0x7F *@endverbatim * * @param[in] enable : Parameter used to enable or disable the above * FIFO configuration * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_set_fifo_config(uint8_t config, uint8_t enable, struct bma4_dev *dev); /*! * \ingroup bma4ApiFIFOConfig * \page bma4_api_bma4_get_fifo_config bma4_get_fifo_config * \code * int8_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev); * \endcode * @details This API reads the FIFO configuration from the sensor. * * @param[in] fifo_config : Enum variable used to get the below fifo * configuration from the sensor. * * @note After calling this function user should do the AND operation with * the enum value populated by this function to know which FIFO * configuration is enabled. * *@verbatim * fifo_config | Value * -------------------------|-------------------------- * BMA4_FIFO_STOP_ON_FULL | 0x01 * BMA4_FIFO_TIME | 0x02 * BMA4_FIFO_TAG_INTR2 | 0x04 * BMA4_FIFO_TAG_INTR1 | 0x08 * BMA4_FIFO_HEADER | 0x10 * BMA4_FIFO_MAG | 0x20 * BMA4_FIFO_ACCEL | 0x40 * BMA4_FIFO_ALL | 0x7F *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiIntConfig Interrupt Pin Config * @brief Set / Get Electrical behavior of interrupt pin1 or pin2 of the sensor */ /*! * \ingroup bma4ApiIntConfig * \page bma4_api_bma4_set_int_pin_config bma4_set_int_pin_config * \code * int8_t bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config, * uint8_t int_line, * struct bma4_dev *dev); * * \endcode * @details This function sets the electrical behaviour of interrupt pin1 or * pin2 in the sensor. * * @param[in] int_pin_config : Pointer to structure variable which specifies * the configuration data of either interrupt pin1 or 2. * *@verbatim * ************************************************************************ * Structure field members | Macros * ********************************|*************************************** * edge_ctrl | BMA4_LEVEL_TRIGGER(0) * | BMA4_EDGE_TRIGGER(1) * ********************************|*************************************** * lvl | BMA4_ACTIVE_LOW(0) * | BMA4_ACTIVE_HIGH(1) * ********************************|*************************************** * od | BMA4_PUSH_PULL(0) * | BMA4_OPEN_DRAIN(1) * ********************************|*************************************** * output_en | BMA4_OUTPUT_DISABLE(0) * | BMA4_OUTPUT_ENABLE(1) * ********************************|*************************************** * input_en | BMA4_INPUT_DISABLE(0) * | BMA4_INPUT_ENABLE(1) * ************************************************************************ *@endverbatim * * @param[in] int_line : Variable used to select the interrupt pin1 or * pin2 for interrupt configuration. * *@verbatim * int_line | Value * ----------------|---------------------- * BMA4_INTR1_MAP | 0 * BMA4_INTR2_MAP | 1 *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev); /*! * \ingroup bma4ApiIntConfig * \page bma4_api_bma4_get_int_pin_config bma4_get_int_pin_config * \code * int8_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev); * \endcode * @details This API reads the electrical behavior of interrupt pin1 or pin2 * from the sensor. * * @param[out] int_pin_config : Pointer to structure variable which stores the * configuration data of either interrupt pin1 or pin2 read from the sensor * *@verbatim * ************************************************************************ * Structure field members | Macros * ************************|*********************************************** * edge_ctrl | BMA4_LEVEL_TRIGGER(0) * | BMA4_EDGE_TRIGGER(1) * ************************|*********************************************** * lvl | BMA4_ACTIVE_LOW(0) * | BMA4_ACTIVE_HIGH(1) * ************************|*********************************************** * od | BMA4_PUSH_PULL(0) * | BMA4_OPEN_DRAIN(1) * ************************|*********************************************** * output_en | BMA4_OUTPUT_DISABLE(0) * | BMA4_OUTPUT_ENABLE(1) * ************************|*********************************************** * input_en | BMA4_INPUT_DISABLE(0) * | BMA4_INPUT_ENABLE(1) * ************************************************************************ *@endverbatim * * @param[in] int_line : Variable used to select the interrupt pin1 or * pin2 for interrupt configuration. * *@verbatim * int_line | Value * -------------------|--------------- * BMA4_INTR1_MAP | 0 * BMA4_INTR2_MAP | 1 *@endverbatim * * @param[in] dev : Structure instance of bma4_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiIntStatus Interrupt Status * @brief Read Feature interrupt and/or Hardware interrupt status from the sensor */ /*! * \ingroup bma4ApiIntStatus * \page bma4_api_bma4_read_int_status bma4_read_int_status * \code * int8_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev); * \endcode * @details This API reads the Feature and Hardware interrupt status from the sensor. * * @param[out] int_status : Variable used to get the interrupt status. * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAux Auxiliary interface * @brief Initialize and read/write data to auxiliary interface */ /*! * \ingroup bma4ApiAux * \page bma4_api_bma4_aux_interface_init bma4_aux_interface_init * \code * int8_t bma4_aux_interface_init(struct bma4_dev *dev); * \endcode * @details This API initializes the auxiliary interface to access * auxiliary sensor * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_aux_interface_init(struct bma4_dev *dev); /*! * \ingroup bma4ApiAux * \page bma4_api_bma4_aux_read bma4_aux_read * \code * int8_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); * \endcode * @details This API reads the data from the auxiliary sensor * * @param[in] dev : Structure instance of bma4_dev. * @param[in] len : User specified data length * @param[out] aux_data : Pointer variable to store data read * @param[in] aux_reg_addr : Variable to pass address from where * data is to be read * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); /*! * \ingroup bma4ApiAux * \page bma4_api_bma4_aux_write bma4_aux_write * \code * int8_t bma4_aux_write(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); * \endcode * @details This API writes the data into the auxiliary sensor * * @param[in] dev : Structure instance of bma4_dev. * @param[in] len : User specified data length * @param[out] aux_data : Pointer variable to store data read * @param[in] aux_reg_addr : Variable to pass address from where * data is to be written * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_aux_write(uint8_t aux_reg_addr, const uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiSoftReset Soft Reset * @brief Perform Soft Reset of the sensor */ /*! * \ingroup bma4ApiSoftReset * \page bma4_api_bma4_soft_reset bma4_soft_reset * \code * int8_t bma4_soft_reset(struct bma4_dev *dev); * \endcode * @details This API commands to do soft reset * * @param[in] dev : Structure instance of bma4_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail * */ int8_t bma4_soft_reset(struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAccelFoc Accel FOC * @brief Performs Fast Offset Compensation for accel */ /*! * \ingroup bma4ApiAccelFoc * \page bma4_api_bma4_perform_accel_foc bma4_perform_accel_foc * \code * int8_t bma4_perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, struct bma4_dev *dev); * \endcode * @details This API performs Fast Offset Compensation for Accel. * @param[in] accel_g_value : Array which stores the Accel g units * for x,y and z-axis. * *@verbatim * accel_g_value | Description * --------------------------|--------------------------------------- * accel_g_value[0] | x-axis g units * accel_g_value[1] | y-axis g units * accel_g_value[2] | z-axis g units *@endverbatim * * @param[in] dev : Structure instance of dev. * * @return Result of API execution status. * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bma4_perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, struct bma4_dev *dev); /** * \ingroup bma4 * \defgroup bma4ApiAxisRemap Axis Remap * @brief Functions of axis re-mapping of bma4 sensors */ /*! * \ingroup bma4ApiAxisRemap * @brief Set / Get x, y and z axis re-mapping in the sensor * \page bma4_api_bma4_set_remap_axes bma4_set_remap_axes * \code * int8_t bma4_set_remap_axes(const struct bma4_remap *remapped_axis, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); * \endcode * @details This API sets the re-mapped x, y and z axes to the sensor and * updates them in the device structure. * * @param[in] remap_data : Structure instance of bma4_remap * @param[in] feature_config : Array data containing feature configurations * @param[in] index : Index to which mapping has to be applied * @param[in] feature_len : Length of feature configurations * @param[in, out] dev : Structure instance of bma4_dev * * @return Result of API execution status. * * @return 0 -> Success * @return < 0 -> Fail * */ int8_t bma4_set_remap_axes(const struct bma4_remap *remapped_axis, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); /*! * \ingroup bma4ApiAxisRemap * \page bma4_api_bma4_get_remap_axes bma4_get_remap_axes * \code * int8_t bma4_get_remap_axes(struct bma4_remap *remapped_axis, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); * \endcode * @details This API gets the re-mapped x, y and z axes from the sensor and * updates the values in the device structure. * * @param[out] remap_data : Structure instance of bma4_remap * @param[in] feature_config : Array data containing feature configurations * @param[in] index : Index to which mapping has to be applied * @param[in] feature_len : Length of feature configurations * @param[in, out] dev : Structure instance of bma4_dev * * @return Result of API execution status. * * @return 0 -> Success * @return < 0 -> Fail * */ int8_t bma4_get_remap_axes(struct bma4_remap *remap_data, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); #endif /* End of __BMA4_H__ */