/** * 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_defs.h * @date 2022-07-01 * @version V2.24.1 * */ /*! \file bma4_defs.h * \brief Sensor Driver for BMA4 family of sensors */ #ifndef BMA4_DEFS_H__ #define BMA4_DEFS_H__ /*********************************************************************/ /**\ header files */ #ifdef __KERNEL__ #include #else #include #include #include #endif /*********************************************************************/ /* macro definitions */ #ifdef __KERNEL__ #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 #else /* __KERNEL__ */ #if (!defined(UINT8_C) && !defined(INT8_C)) #define INT8_C(x) (x) #define UINT8_C(x) (x##U) #endif #if (!defined(UINT16_C) && !defined(INT16_C)) #define INT16_C(x) (x) #define UINT16_C(x) (x##U) #endif #if (!defined(INT32_C) && !defined(UINT32_C)) #define INT32_C(x) (x) #define UINT32_C(x) (x##U) #endif #if (!defined(INT64_C) && !defined(UINT64_C)) #define INT64_C(x) (x##LL) #define UINT64_C(x) (x##ULL) #endif #endif /* __KERNEL__ */ /**\name CHIP ID ADDRESS*/ #define BMA4_CHIP_ID_ADDR UINT8_C(0x00) /**\name ERROR STATUS*/ #define BMA4_ERROR_ADDR UINT8_C(0x02) /**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/ #define BMA4_STATUS_ADDR UINT8_C(0x03) /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ #define BMA4_DATA_0_ADDR UINT8_C(0x0A) #define BMA4_DATA_8_ADDR UINT8_C(0x12) /**\name SENSOR TIME REGISTERS*/ #define BMA4_SENSORTIME_0_ADDR UINT8_C(0x18) /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ #define BMA4_INT_STAT_0_ADDR UINT8_C(0x1C) /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ #define BMA4_INT_STAT_1_ADDR UINT8_C(0x1D) /**\name TEMPERATURE REGISTERS*/ #define BMA4_TEMPERATURE_ADDR UINT8_C(0x22) /**\name FIFO REGISTERS*/ #define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0x24) #define BMA4_FIFO_DATA_ADDR UINT8_C(0x26) /**\name ACCEL CONFIG REGISTERS*/ #define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0x40) /**\name ACCEL RANGE ADDRESS*/ #define BMA4_ACCEL_RANGE_ADDR UINT8_C(0x41) /**\name AUX CONFIG REGISTERS*/ #define BMA4_AUX_CONFIG_ADDR UINT8_C(0x44) /**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/ #define BMA4_FIFO_DOWN_ADDR UINT8_C(0x45) /**\name FIFO WATERMARK REGISTER ADDRESS*/ #define BMA4_FIFO_WTM_0_ADDR UINT8_C(0x46) /**\name FIFO CONFIG REGISTERS*/ #define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0x48) #define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0x49) /**\name MAG INTERFACE REGISTERS*/ #define BMA4_AUX_DEV_ID_ADDR UINT8_C(0x4B) #define BMA4_AUX_IF_CONF_ADDR UINT8_C(0x4C) #define BMA4_AUX_RD_ADDR UINT8_C(0x4D) #define BMA4_AUX_WR_ADDR UINT8_C(0x4E) #define BMA4_AUX_WR_DATA_ADDR UINT8_C(0x4F) /**\name INTERRUPT ENABLE REGISTERS*/ #define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0x53) #define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0x54) /**\name LATCH DURATION REGISTERS*/ #define BMA4_INTR_LATCH_ADDR UINT8_C(0x55) /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ #define BMA4_INT_MAP_1_ADDR UINT8_C(0x56) #define BMA4_INT_MAP_2_ADDR UINT8_C(0x57) #define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58) #define BMA4_INIT_CTRL_ADDR UINT8_C(0x59) /**\name FEATURE CONFIG RELATED */ #define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B) #define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C) #define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E) #define BMA4_INTERNAL_ERROR UINT8_C(0x5F) /**\name SERIAL INTERFACE SETTINGS REGISTER*/ #define BMA4_IF_CONFIG_ADDR UINT8_C(0x6B) /**\name SELF_TEST REGISTER*/ #define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0x6D) /**\name Macro to define accelerometer configuration value for FOC */ #define BMA4_FOC_ACC_CONF_VAL UINT8_C(0xB7) /**\name SPI,I2C SELECTION REGISTER*/ #define BMA4_NV_CONFIG_ADDR UINT8_C(0x70) /**\name ACCEL OFFSET REGISTERS*/ #define BMA4_OFFSET_0_ADDR UINT8_C(0x71) #define BMA4_OFFSET_1_ADDR UINT8_C(0x72) #define BMA4_OFFSET_2_ADDR UINT8_C(0x73) /**\name POWER_CTRL REGISTER*/ #define BMA4_POWER_CONF_ADDR UINT8_C(0x7C) #define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D) /**\name COMMAND REGISTER*/ #define BMA4_CMD_ADDR UINT8_C(0x7E) /**\name GPIO REGISTERS*/ #define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E) #define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F) #define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27) #define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28) #define BMA4_MEMS_ID_ADDR UINT8_C(0x29) #define BMA4_INTERNAL_STAT UINT8_C(0x2A) /* Maximum length to read */ #define BMA4_MAX_LEN UINT8_C(128) /*! Macro to read sensortime byte in FIFO */ #define BMA4_SENSORTIME_OVERHEAD_BYTE UINT8_C(150) /* Sensortime resolution in seconds */ #define BMA4_SENSORTIME_RESOLUTION 0.0000390625f /*! * @brief Block size for config write */ #define BMA4_BLOCK_SIZE UINT8_C(32) /**\name I2C slave address */ #define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18) #define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19) #define BMA4_I2C_BMM150_ADDR UINT8_C(0x10) /**\name Interface selection macro */ #define BMA4_SPI_WR_MASK UINT8_C(0x7F) #define BMA4_SPI_RD_MASK UINT8_C(0x80) /**\name Chip ID macros */ #define BMA4_CHIP_ID_MIN UINT8_C(0x10) #define BMA4_CHIP_ID_MAX UINT8_C(0x15) /**\name Auxiliary sensor selection macro */ #define BMM150_SENSOR UINT8_C(1) #define AKM9916_SENSOR UINT8_C(2) #define BMA4_ASIC_INITIALIZED UINT8_C(0x01) /**\name Auxiliary sensor chip id macros */ #define BMM150_CHIP_ID UINT8_C(0x32) /**\name Auxiliary sensor other macros */ #define BMM150_POWER_CONTROL_REG UINT8_C(0x4B) #define BMM150_POWER_MODE_REG UINT8_C(0x4C) /**\name CONSTANTS */ #define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2) #define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2) #define BMA4_FIFO_WM_LENGTH UINT8_C(2) #define BMA4_NON_LATCH_MODE UINT8_C(0) #define BMA4_LATCH_MODE UINT8_C(1) #define BMA4_OPEN_DRAIN UINT8_C(1) #define BMA4_PUSH_PULL UINT8_C(0) #define BMA4_ACTIVE_HIGH UINT8_C(1) #define BMA4_ACTIVE_LOW UINT8_C(0) #define BMA4_EDGE_TRIGGER UINT8_C(1) #define BMA4_LEVEL_TRIGGER UINT8_C(0) #define BMA4_OUTPUT_ENABLE UINT8_C(1) #define BMA4_OUTPUT_DISABLE UINT8_C(0) #define BMA4_INPUT_ENABLE UINT8_C(1) #define BMA4_INPUT_DISABLE UINT8_C(0) /**\name ACCEL RANGE CHECK*/ #define BMA4_ACCEL_RANGE_2G UINT8_C(0) #define BMA4_ACCEL_RANGE_4G UINT8_C(1) #define BMA4_ACCEL_RANGE_8G UINT8_C(2) #define BMA4_ACCEL_RANGE_16G UINT8_C(3) /**\name CONDITION CHECK FOR READING AND WRTING DATA*/ #define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1) #define BMA4_MAX_VALUE_SPI3 UINT8_C(1) #define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1) #define BMA4_MAX_IF_MODE UINT8_C(3) #define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1) /**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/ #define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16) #define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6) #define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8) #define BMA4_ACCEL_DATA_LENGTH UINT8_C(6) #define BMA4_FIFO_DATA_LENGTH UINT8_C(2) #define BMA4_TEMP_DATA_SIZE UINT8_C(1) /**\name TEMPERATURE CONSTANT */ #define BMA4_OFFSET_TEMP UINT8_C(23) #define BMA4_DEG UINT8_C(1) #define BMA4_FAHREN UINT8_C(2) #define BMA4_KELVIN UINT8_C(3) /**\name DELAY DEFINITION IN MSEC*/ #define BMA4_AUX_IF_DELAY UINT8_C(5) #define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2) #define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3) #define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1) #define BMA4_GEN_READ_WRITE_DELAY UINT16_C(1000) #define BMA4_AUX_COM_DELAY UINT16_C(10000) /**\name ARRAY PARAMETER DEFINITIONS*/ #define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2) #define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1) #define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0) #define BMA4_MAG_X_LSB_BYTE UINT8_C(0) #define BMA4_MAG_X_MSB_BYTE UINT8_C(1) #define BMA4_MAG_Y_LSB_BYTE UINT8_C(2) #define BMA4_MAG_Y_MSB_BYTE UINT8_C(3) #define BMA4_MAG_Z_LSB_BYTE UINT8_C(4) #define BMA4_MAG_Z_MSB_BYTE UINT8_C(5) #define BMA4_MAG_R_LSB_BYTE UINT8_C(6) #define BMA4_MAG_R_MSB_BYTE UINT8_C(7) #define BMA4_TEMP_BYTE UINT8_C(0) #define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1) /*! @name To define success code */ #define BMA4_OK INT8_C(0) /*! @name To define error codes */ #define BMA4_E_NULL_PTR INT8_C(-1) #define BMA4_E_COM_FAIL INT8_C(-2) #define BMA4_E_DEV_NOT_FOUND INT8_C(-3) #define BMA4_E_INVALID_SENSOR INT8_C(-4) #define BMA4_E_CONFIG_STREAM_ERROR INT8_C(-5) #define BMA4_E_SELF_TEST_FAIL INT8_C(-6) #define BMA4_E_INVALID_STATUS INT8_C(-7) #define BMA4_E_OUT_OF_RANGE INT8_C(-8) #define BMA4_E_INT_LINE_INVALID INT8_C(-9) #define BMA4_E_RD_WR_LENGTH_INVALID INT8_C(-10) #define BMA4_E_AUX_CONFIG_FAIL INT8_C(-11) #define BMA4_E_SC_FIFO_HEADER_ERR INT8_C(-12) #define BMA4_E_SC_FIFO_CONFIG_ERR INT8_C(-13) #define BMA4_E_REMAP_ERROR INT8_C(-14) #define BMA4_E_AVG_MODE_INVALID_CONF INT8_C(-15) #define BMA4_E_INVALID_MEMS_ID INT8_C(-16) /**\name UTILITY MACROS */ #define BMA4_SET_LOW_BYTE UINT16_C(0x00FF) #define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00) #define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F) /* Macros for variant information */ #define BMA4_MEMS_SPN_281 UINT8_C(0x00) #define BMA4_MEMS_SPN_013 UINT8_C(0x01) /* Macros used for Self test (BMA42X_VARIANT) */ /* Self-test: Resulting minimum difference signal in mg for BMA42X */ #define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400) #define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800) #define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400) /* Macros used for Self test (BMA42X_B_VARIANT) */ /* Self-test: Resulting minimum difference signal in mg for BMA42X_B */ #define BMA42X_B_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA42X_B_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA42X_B_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) /* Macros used for Self test (BMA45X_VARIANT) */ /* Self-test: Resulting minimum difference signal in mg for BMA45X */ #define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) /**\name BOOLEAN TYPES*/ #ifndef TRUE #define TRUE UINT8_C(0x01) #endif #ifndef FALSE #define FALSE UINT8_C(0x00) #endif #ifndef NULL #define NULL UINT8_C(0x00) #endif /**\name ERROR STATUS POSITION AND MASK*/ #define BMA4_FATAL_ERR_MSK UINT8_C(0x01) #define BMA4_CMD_ERR_POS UINT8_C(1) #define BMA4_CMD_ERR_MSK UINT8_C(0x02) #define BMA4_ERR_CODE_POS UINT8_C(2) #define BMA4_ERR_CODE_MSK UINT8_C(0x1C) #define BMA4_FIFO_ERR_POS UINT8_C(6) #define BMA4_FIFO_ERR_MSK UINT8_C(0x40) #define BMA4_AUX_ERR_POS UINT8_C(7) #define BMA4_AUX_ERR_MSK UINT8_C(0x80) /**\name Mask definition for config version */ #define BMA4_CONFIG_MAJOR_MSK UINT16_C(0x3C0) #define BMA4_CONFIG_MINOR_MSK UINT8_C(0x3F) /**\name Bit position for major version from config */ #define BMA4_CONFIG_MAJOR_POS UINT8_C(0x06) /**\name NV_CONFIG POSITION AND MASK*/ /* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */ #define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3) #define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08) /**\name MAG DATA XYZ POSITION AND MASK*/ #define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3) #define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8) #define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3) #define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8) #define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1) #define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE) #define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2) #define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC) /**\name ACCEL DATA READY POSITION AND MASK*/ #define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7) #define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80) /**\name MAG DATA READY POSITION AND MASK*/ #define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5) #define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20) /**\name ADVANCE POWER SAVE POSITION AND MASK*/ #define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01) /**\name ACCELEROMETER ENABLE POSITION AND MASK*/ #define BMA4_ACCEL_ENABLE_POS UINT8_C(2) #define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04) /**\name MAGNETOMETER ENABLE POSITION AND MASK*/ #define BMA4_MAG_ENABLE_MSK UINT8_C(0x01) /**\name ACCEL CONFIGURATION POSITION AND MASK*/ #define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F) #define BMA4_ACCEL_BW_POS UINT8_C(4) #define BMA4_ACCEL_BW_MSK UINT8_C(0x70) #define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03) #define BMA4_ACCEL_PERFMODE_POS UINT8_C(7) #define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80) /**\name MAG CONFIGURATION POSITION AND MASK*/ #define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4) #define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4) #define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0) #define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR) /**\name FIFO SELF WAKE UP POSITION AND MASK*/ #define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1) #define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02) /**\name FIFO BYTE COUNTER POSITION AND MASK*/ #define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F) /**\name FIFO DATA POSITION AND MASK*/ #define BMA4_FIFO_DATA_POS UINT8_C(0) #define BMA4_FIFO_DATA_MSK UINT8_C(0xFF) /**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/ #define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4) #define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70) #define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7) #define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80) /**\name FIFO HEADER DATA DEFINITIONS */ #define BMA4_FIFO_HEAD_A UINT8_C(0x84) #define BMA4_FIFO_HEAD_M UINT8_C(0x90) #define BMA4_FIFO_HEAD_M_A UINT8_C(0x94) #define BMA4_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) #define BMA4_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) #define BMA4_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) #define BMA4_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) #define BMA4_FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50) /**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */ #define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60) #define BMA4_FIFO_A_ENABLE UINT8_C(0x40) #define BMA4_FIFO_M_ENABLE UINT8_C(0x20) /**\name FIFO CONFIGURATION SELECTION */ #define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01) #define BMA4_FIFO_TIME UINT8_C(0x02) #define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04) #define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08) #define BMA4_FIFO_HEADER UINT8_C(0x10) #define BMA4_FIFO_MAG UINT8_C(0x20) #define BMA4_FIFO_ACCEL UINT8_C(0x40) #define BMA4_FIFO_ALL UINT8_C(0x7F) #define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03) #define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC) /**\name FIFO FRAME COUNT DEFINITION */ #define BMA4_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) #define BMA4_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) #define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC) /**\name FIFO DROPPED FRAME DEFINITION */ #define BMA4_AUX_FIFO_DROP UINT8_C(0x04) #define BMA4_ACCEL_AUX_FIFO_DROP UINT8_C(0x05) #define BMA4_ACCEL_FIFO_DROP UINT8_C(0x01) /**\name FIFO MAG DEFINITION*/ #define BMA4_MA_FIFO_A_X_LSB UINT8_C(8) /**\name FIFO sensor time length definitions*/ #define BMA4_SENSOR_TIME_LENGTH UINT8_C(3) /**\name FIFO LENGTH DEFINITION*/ #define BMA4_FIFO_A_LENGTH UINT8_C(6) #define BMA4_FIFO_M_LENGTH UINT8_C(8) #define BMA4_FIFO_MA_LENGTH UINT8_C(14) /**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/ #define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1) #define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE) /**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/ #define BMA4_MAG_BURST_MSK UINT8_C(0x03) #define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7) #define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80) #define BMA4_READ_ADDR_MSK UINT8_C(0xFF) #define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF) #define BMA4_WRITE_DATA_MSK UINT8_C(0xFF) /**\name OUTPUT TYPE ENABLE POSITION AND MASK*/ #define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01) #define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00) #define BMA4_INT_LEVEL_MASK UINT8_C(0x02) #define BMA4_INT_LEVEL_POS UINT8_C(0x01) #define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04) #define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02) #define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08) #define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03) #define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10) #define BMA4_INT_INPUT_EN_POS UINT8_C(0x04) /**\name IF CONFIG POSITION AND MASK*/ #define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01) #define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4) #define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10) /**\name ACCEL SELF TEST POSITION AND MASK*/ #define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01) #define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2) #define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04) #define BMA4_SELFTEST_AMP_POS UINT8_C(3) #define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08) /**\name ACCEL ODR */ #define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01) #define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02) #define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03) #define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04) #define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05) #define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06) #define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07) #define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08) #define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09) #define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A) #define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B) #define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C) /**\name ACCEL BANDWIDTH PARAMETER */ #define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0) #define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1) #define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2) #define BMA4_ACCEL_CIC_AVG8 UINT8_C(3) #define BMA4_ACCEL_RES_AVG16 UINT8_C(4) #define BMA4_ACCEL_RES_AVG32 UINT8_C(5) #define BMA4_ACCEL_RES_AVG64 UINT8_C(6) #define BMA4_ACCEL_RES_AVG128 UINT8_C(7) /**\name ACCEL PERFMODE PARAMETER */ #define BMA4_CIC_AVG_MODE UINT8_C(0) #define BMA4_CONTINUOUS_MODE UINT8_C(1) /**\name MAG OFFSET */ #define BMA4_MAG_OFFSET_MAX UINT8_C(0x00) /**\name ENABLE/DISABLE SELECTIONS */ #define BMA4_X_AXIS UINT8_C(0) #define BMA4_Y_AXIS UINT8_C(1) #define BMA4_Z_AXIS UINT8_C(2) /**\name SELF TEST*/ #define BMA4_SELFTEST_PASS INT8_C(0) #define BMA4_SELFTEST_FAIL INT8_C(1) #define BMA4_SELFTEST_DIFF_X_AXIS_FAILED INT8_C(1) #define BMA4_SELFTEST_DIFF_Y_AXIS_FAILED INT8_C(2) #define BMA4_SELFTEST_DIFF_Z_AXIS_FAILED INT8_C(3) #define BMA4_SELFTEST_DIFF_X_AND_Y_AXIS_FAILED INT8_C(4) #define BMA4_SELFTEST_DIFF_X_AND_Z_AXIS_FAILED INT8_C(5) #define BMA4_SELFTEST_DIFF_Y_AND_Z_AXIS_FAILED INT8_C(6) #define BMA4_SELFTEST_DIFF_X_Y_AND_Z_AXIS_FAILED INT8_C(7) /**\name INTERRUPT MAPS */ #define BMA4_INTR1_MAP UINT8_C(0) #define BMA4_INTR2_MAP UINT8_C(1) /**\name INTERRUPT MASKS */ #define BMA4_FIFO_FULL_INT UINT16_C(0x0100) #define BMA4_FIFO_WM_INT UINT16_C(0x0200) #define BMA4_DATA_RDY_INT UINT16_C(0x0400) #define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000) #define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000) /**\name AKM POWER MODE SELECTION */ #define BMA4_AKM_POWER_DOWN_MODE UINT8_C(0) #define BMA4_AKM_SINGLE_MEAS_MODE UINT8_C(1) /**\name SECONDARY_MAG POWER MODE SELECTION */ #define BMA4_MAG_FORCE_MODE UINT8_C(0) #define BMA4_MAG_SUSPEND_MODE UINT8_C(1) /**\name MAG POWER MODE SELECTION */ #define BMA4_FORCE_MODE UINT8_C(0) #define BMA4_SUSPEND_MODE UINT8_C(1) /**\name ACCEL POWER MODE */ #define BMA4_ACCEL_MODE_NORMAL UINT8_C(0x11) /**\name MAG POWER MODE */ #define BMA4_MAG_MODE_SUSPEND UINT8_C(0x18) /**\name ENABLE/DISABLE BIT VALUES */ #define BMA4_ENABLE UINT8_C(0x01) #define BMA4_DISABLE UINT8_C(0x00) /**\name DEFINITION USED FOR DIFFERENT WRITE */ #define BMA4_MANUAL_DISABLE UINT8_C(0x00) #define BMA4_MANUAL_ENABLE UINT8_C(0x01) #define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01) #define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A) #define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06) #define BMA4_SEC_IF_NULL UINT8_C(0) #define BMA4_SEC_IF_BMM150 UINT8_C(1) #define BMA4_SEC_IF_AKM09916 UINT8_C(2) #define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01) /**\name SENSOR RESOLUTION */ #define BMA4_12_BIT_RESOLUTION UINT8_C(12) #define BMA4_14_BIT_RESOLUTION UINT8_C(14) #define BMA4_16_BIT_RESOLUTION UINT8_C(16) /*************** FOC Macros ******************/ /* Reference value with positive and negative noise range in lsb */ /* Resolution : 16 bit */ /* * As per datasheet, Zero-g offset : +/- 20mg * * In range 2G, 1G is 16384. so, 16384 x 20 x (10 ^ -3) = 328 * In range 4G, 1G is 8192. so, 8192 x 20 x (10 ^ -3) = 164 * In range 8G, 1G is 4096. so, 4096 x 20 x (10 ^ -3) = 82 * In range 16G, 1G is 2048. so, 2048 x 20 x (10 ^ -3) = 41 */ #define BMA4_16BIT_ACC_FOC_2G_REF UINT16_C(16384) #define BMA4_16BIT_ACC_FOC_4G_REF UINT16_C(8192) #define BMA4_16BIT_ACC_FOC_8G_REF UINT16_C(4096) #define BMA4_16BIT_ACC_FOC_16G_REF UINT16_C(2048) #define BMA4_16BIT_ACC_FOC_2G_OFFSET UINT16_C(328) #define BMA4_16BIT_ACC_FOC_4G_OFFSET UINT16_C(164) #define BMA4_16BIT_ACC_FOC_8G_OFFSET UINT16_C(82) #define BMA4_16BIT_ACC_FOC_16G_OFFSET UINT16_C(41) #define BMA4_16BIT_ACC_2G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_2G_REF + BMA4_16BIT_ACC_FOC_2G_OFFSET) #define BMA4_16BIT_ACC_2G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_2G_REF - BMA4_16BIT_ACC_FOC_2G_OFFSET) #define BMA4_16BIT_ACC_4G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_4G_REF + BMA4_16BIT_ACC_FOC_4G_OFFSET) #define BMA4_16BIT_ACC_4G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_4G_REF - BMA4_16BIT_ACC_FOC_4G_OFFSET) #define BMA4_16BIT_ACC_8G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_8G_REF + BMA4_16BIT_ACC_FOC_8G_OFFSET) #define BMA4_16BIT_ACC_8G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_8G_REF - BMA4_16BIT_ACC_FOC_8G_OFFSET) #define BMA4_16BIT_ACC_16G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_16G_REF + BMA4_16BIT_ACC_FOC_16G_OFFSET) #define BMA4_16BIT_ACC_16G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_16G_REF - BMA4_16BIT_ACC_FOC_16G_OFFSET) /* Resolution : 12 bit */ /* * As per datasheet, Zero-g offset : +/- 80mg * * In range 2G, 1G is 1024. so, 1024 x 80 x (10 ^ -3) = 82 * In range 4G, 1G is 512. so, 512 x 80 x (10 ^ -3) = 41 * In range 8G, 1G is 256. so, 256 x 80 x (10 ^ -3) = 20 * In range 16G, 1G is 128. so, 128 x 80 x (10 ^ -3) = 10 */ #define BMA4_12BIT_ACC_FOC_2G_REF UINT16_C(1024) #define BMA4_12BIT_ACC_FOC_4G_REF UINT16_C(512) #define BMA4_12BIT_ACC_FOC_8G_REF UINT16_C(256) #define BMA4_12BIT_ACC_FOC_16G_REF UINT16_C(128) #define BMA4_12BIT_ACC_FOC_2G_OFFSET UINT8_C(82) #define BMA4_12BIT_ACC_FOC_4G_OFFSET UINT8_C(41) #define BMA4_12BIT_ACC_FOC_8G_OFFSET UINT8_C(20) #define BMA4_12BIT_ACC_FOC_16G_OFFSET UINT8_C(10) #define BMA4_12BIT_ACC_2G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_2G_REF + BMA4_12BIT_ACC_FOC_2G_OFFSET) #define BMA4_12BIT_ACC_2G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_2G_REF - BMA4_12BIT_ACC_FOC_2G_OFFSET) #define BMA4_12BIT_ACC_4G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_4G_REF + BMA4_12BIT_ACC_FOC_4G_OFFSET) #define BMA4_12BIT_ACC_4G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_4G_REF - BMA4_12BIT_ACC_FOC_4G_OFFSET) #define BMA4_12BIT_ACC_8G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_8G_REF + BMA4_12BIT_ACC_FOC_8G_OFFSET) #define BMA4_12BIT_ACC_8G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_8G_REF - BMA4_12BIT_ACC_FOC_8G_OFFSET) #define BMA4_12BIT_ACC_16G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_16G_REF + BMA4_12BIT_ACC_FOC_16G_OFFSET) #define BMA4_12BIT_ACC_16G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_16G_REF - BMA4_12BIT_ACC_FOC_16G_OFFSET) /*! for handling float temperature values */ #define BMA4_SCALE_TEMP INT32_C(1000) /* BMA4_FAHREN_SCALED = 1.8 * 1000 */ #define BMA4_FAHREN_SCALED INT32_C(1800) /* BMA4_KELVIN_SCALED = 273.15 * 1000 */ #define BMA4_KELVIN_SCALED INT32_C(273150) /**\name MAP BURST READ LENGTHS */ #define BMA4_AUX_READ_LEN_0 UINT8_C(0) #define BMA4_AUX_READ_LEN_1 UINT8_C(1) #define BMA4_AUX_READ_LEN_2 UINT8_C(2) #define BMA4_AUX_READ_LEN_3 UINT8_C(3) #define BMA4_CONFIG_STREAM_MESSAGE_MSK UINT8_C(0x0F) #define BMA4_SOFT_RESET UINT8_C(0xB6) #define BMA4_FIFO_FLUSH UINT8_C(0xB0) /*********************************************************************/ /*! @name Macro Definitions for Axes re-mapping */ /*********************************************************************/ /**\name Define values of axis and its sign for re-map settings */ #define BMA4_MAP_X_AXIS UINT8_C(0x00) #define BMA4_MAP_Y_AXIS UINT8_C(0x01) #define BMA4_MAP_Z_AXIS UINT8_C(0x02) #define BMA4_MAP_POSITIVE UINT8_C(0x00) #define BMA4_MAP_NEGATIVE UINT8_C(0x01) /*! @name Macros for the user-defined values of axes and their polarities */ #define BMA4_X UINT8_C(0x01) #define BMA4_NEG_X UINT8_C(0x09) #define BMA4_Y UINT8_C(0x02) #define BMA4_NEG_Y UINT8_C(0x0A) #define BMA4_Z UINT8_C(0x04) #define BMA4_NEG_Z UINT8_C(0x0C) #define BMA4_AXIS_MASK UINT8_C(0x07) #define BMA4_AXIS_SIGN UINT8_C(0x08) /**\name Mask definitions for axes re-mapping */ #define BMA4_X_AXIS_MSK UINT8_C(0x03) #define BMA4_X_AXIS_SIGN_MSK UINT8_C(0x04) #define BMA4_Y_AXIS_MSK UINT8_C(0x18) #define BMA4_Y_AXIS_SIGN_MSK UINT8_C(0x20) #define BMA4_Z_AXIS_MSK UINT8_C(0xC0) #define BMA4_Z_AXIS_SIGN_MSK UINT8_C(0x01) /**\name Bit position for axes re-mapping */ #define BMA4_X_AXIS_SIGN_POS UINT8_C(0x02) #define BMA4_Y_AXIS_POS UINT8_C(0x03) #define BMA4_Y_AXIS_SIGN_POS UINT8_C(0x05) #define BMA4_Z_AXIS_POS UINT8_C(0x06) #define BMA4_MS_TO_US(X) (X * 1000) #ifndef ABS #define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */ #endif /**\name BIT SLICE GET AND SET FUNCTIONS */ #define BMA4_GET_BITSLICE(regvar, bitname) \ ((regvar & bitname##_MSK) >> bitname##_POS) #define BMA4_SET_BITSLICE(regvar, bitname, val) \ ((regvar & ~bitname##_MSK) | \ ((val << bitname##_POS) & bitname##_MSK)) #define BMA4_GET_DIFF(x, y) ((x) - (y)) #define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE) #define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8) #define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK)) #define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \ ((reg_data & ~(bitname##_MSK)) | \ (data & bitname##_MSK)) #define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) /** * BMA4_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system. * The default is set to int8_t. */ #ifndef BMA4_INTF_RET_TYPE #define BMA4_INTF_RET_TYPE int8_t #endif /** * BST_INTF_RET_SUCCESS is the success return value read/write interface return type which can be * overwritten by the build system. The default is set to 0. It is used to check for a successful * execution of the read/write functions */ #ifndef BMA4_INTF_RET_SUCCESS #define BMA4_INTF_RET_SUCCESS INT8_C(0) #endif /******************************************************************************/ /*! @name TYPEDEF DEFINITIONS */ /******************************************************************************/ /*! * @brief Bus communication function pointer which should be mapped to * the platform specific read functions of the user * * @param[in] reg_addr : Register address from which data is read. * @param[out] read_data : Pointer to data buffer where read data is stored. * @param[in] len : Number of bytes of data to be read. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs. * * @retval 0 for Success * @retval Non-zero for Failure */ typedef BMA4_INTF_RET_TYPE (*bma4_read_fptr_t)(uint8_t reg_addr, uint8_t *read_data, uint32_t len, void *intf_ptr); /*! * @brief Bus communication function pointer which should be mapped to * the platform specific write functions of the user * * @param[in] reg_addr : Register address to which the data is written. * @param[in] read_data : Pointer to data buffer in which data to be written * is stored. * @param[in] len : Number of bytes of data to be written. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs * * @retval 0 for Success * @retval Non-zero for Failure */ typedef BMA4_INTF_RET_TYPE (*bma4_write_fptr_t)(uint8_t reg_addr, const uint8_t *read_data, uint32_t len, void *intf_ptr); /*! * @brief Delay function pointer which should be mapped to * delay function of the user * * @param[in] period : Delay in microseconds. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs * */ typedef void (*bma4_delay_us_fptr_t)(uint32_t period, void *intf_ptr); /******************************************************************************/ /*! @name Enum Declarations */ /******************************************************************************/ /*! @name Enum to define BMA4 variants */ enum bma4_variant { BMA42X_VARIANT = UINT8_C(1), BMA42X_B_VARIANT, BMA45X_VARIANT }; /* Enumerator describing interfaces */ enum bma4_intf { BMA4_SPI_INTF, BMA4_I2C_INTF }; /**\name STRUCTURE DEFINITIONS*/ /*! * @brief * This structure holds asic info. for feature configuration. */ struct bma4_asic_data { /* Feature config start addr (0-3 bits)*/ uint8_t asic_lsb; /* Feature config start addr (4-11 bits)*/ uint8_t asic_msb; }; /*! * @brief Auxiliary configuration structure for user settings */ struct bma4_aux_config { /*! Device address of auxiliary sensor */ uint8_t aux_dev_addr; /*! To enable manual or auto mode */ uint8_t manual_enable; /*! No of bytes to be read at a time */ uint8_t burst_read_length; /*! Variable to set the auxiliary interface */ uint8_t if_mode; }; /*! @name Structure to store the re-mapped axis */ struct bma4_remap { /*! Re-mapped x-axis */ uint8_t x; /*! Re-mapped y-axis */ uint8_t y; /*! Re-mapped z-axis */ uint8_t z; }; /*! * @brief Axes re-mapping configuration */ struct bma4_axes_remap { /*! Re-mapped x-axis */ uint8_t x_axis; /*! Re-mapped y-axis */ uint8_t y_axis; /*! Re-mapped z-axis */ uint8_t z_axis; /*! Re-mapped x-axis sign */ uint8_t x_axis_sign; /*! Re-mapped y-axis sign */ uint8_t y_axis_sign; /*! Re-mapped z-axis sign */ uint8_t z_axis_sign; }; /*! * @brief * This structure holds all relevant information about BMA4 */ struct bma4_dev { /*! Chip id of BMA4 */ uint8_t chip_id; /*! Chip id of auxiliary sensor */ uint8_t aux_chip_id; /*! Interface pointer */ void *intf_ptr; /*! Interface detail */ enum bma4_intf intf; /*! Variable that holds error code */ BMA4_INTF_RET_TYPE intf_rslt; /*! Auxiliary sensor information */ uint8_t aux_sensor; /*! Decide SPI or I2C read mechanism */ uint8_t dummy_byte; /*! Resolution for FOC */ uint8_t resolution; /*! Define the BMA4 variant */ enum bma4_variant variant; /*! Used to check mag manual/auto mode status * int8_t mag_manual_enable; */ /*! Config stream data buffer address will be assigned*/ const uint8_t *config_file_ptr; /*! Read/write length */ uint16_t read_write_len; /*! Feature len */ uint8_t feature_len; /*! Contains asic information */ struct bma4_asic_data asic_data; /*! Contains aux configuration settings */ struct bma4_aux_config aux_config; /*! Structure to maintain a copy of the re-mapped axis */ struct bma4_axes_remap remap; /*! Bus read function pointer */ bma4_read_fptr_t bus_read; /*! Bus write function pointer */ bma4_write_fptr_t bus_write; /*! Delay(in microsecond) function pointer */ bma4_delay_us_fptr_t delay_us; /*! Variable to store the size of config file */ uint16_t config_size; /*! Variable to store the status of performance mode */ uint8_t perf_mode_status; }; /*! * @brief This structure holds the information for usage of * FIFO by the user. */ struct bma4_fifo_frame { /*! Data buffer of user defined length is to be mapped here */ uint8_t *data; /*! Number of bytes of FIFO to be read as specified by the user */ uint16_t length; /*! Enabling of the FIFO header to stream in header mode */ uint8_t fifo_header_enable; /*! Streaming of the Accelerometer, Auxiliary * sensor data or both in FIFO */ uint8_t fifo_data_enable; /*! Will be equal to length when no more frames are there to parse */ uint16_t accel_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t mag_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t sc_frame_byte_start_idx; /*! Value of FIFO sensor time time */ uint32_t sensor_time; /*! Value of Skipped frame counts */ uint8_t skipped_frame_count; /*! Value of accel dropped frame count */ uint8_t accel_dropped_frame_count; /*! Value of mag dropped frame count */ uint8_t mag_dropped_frame_count; }; /*! * @brief Error Status structure */ struct bma4_err_reg { /*! Indicates fatal error */ uint8_t fatal_err; /*! Indicates command error */ uint8_t cmd_err; /*! Indicates error code */ uint8_t err_code; /*! Indicates fifo error */ uint8_t fifo_err; /*! Indicates mag error */ uint8_t aux_err; }; /*! * @brief Asic Status structure */ struct bma4_asic_status { /*! Asic is in sleep/halt state */ uint8_t sleep; /*! Dedicated interrupt is set again before previous interrupt * was acknowledged */ uint8_t irq_ovrn; /*! Watchcell event detected (asic stopped) */ uint8_t wc_event; /*! Stream transfer has started and transactions are ongoing */ uint8_t stream_transfer_active; }; /*! * @brief Interrupt Pin Configuration structure */ struct bma4_int_pin_config { /*! Trigger condition of interrupt pin */ uint8_t edge_ctrl; /*! Level of interrupt pin */ uint8_t lvl; /*! Behaviour of interrupt pin to open drain */ uint8_t od; /*! Output enable for interrupt pin */ uint8_t output_en; /*! Input enable for interrupt pin */ uint8_t input_en; }; /*! * @brief Accelerometer configuration structure */ struct bma4_accel_config { /*! Output data rate in Hz */ uint8_t odr; /*! Bandwidth parameter, determines filter configuration */ uint8_t bandwidth; /*! Filter performance mode */ uint8_t perf_mode; /*! G-range */ uint8_t range; }; /*! * @brief Auxiliary magnetometer configuration structure */ struct bma4_aux_mag_config { /*! Poll rate for the sensor attached to the Magnetometer interface */ uint8_t odr; /*! Trigger-readout offset in units of 2.5 ms. * If set to zero, the offset is maximum, i.e. after readout a trigger * is issued immediately */ uint8_t offset; }; /*! * @brief ASIC Config structure */ struct bma4_asic_config { /*! Enable/Disable ASIC Wake Up */ uint8_t asic_en; /*! Configure stream_transfer/FIFO mode */ uint8_t fifo_mode_en; /*! Mapping of instance RAM1 */ uint8_t mem_conf_ram1; /*! Mapping of instance RAM2 */ uint8_t mem_conf_ram2; /*! Mapping of instance RAM3 */ uint8_t mem_conf_ram3; }; /*! * @brief bmm150 or akm09916 * magnetometer values structure */ struct bma4_mag { /*! BMM150 and AKM09916 X raw data */ int32_t x; /*! BMM150 and AKM09916 Y raw data */ int32_t y; /*! BMM150 and AKM09916 Z raw data */ int32_t z; }; /*! * @brief bmm150 xyz data structure */ struct bma4_mag_xyzr { /*! BMM150 X raw data */ int16_t x; /*! BMM150 Y raw data */ int16_t y; /*! BMM150 Z raw data */ int16_t z; /*! BMM150 R raw data */ uint16_t r; }; /*! * @brief Accel xyz data structure */ struct bma4_accel { /*! Accel X data */ int16_t x; /*! Accel Y data */ int16_t y; /*! Accel Z data */ int16_t z; }; /*! * @brief FIFO mag data structure */ struct bma4_mag_fifo_data { /*! The value of mag x LSB data */ uint8_t mag_x_lsb; /*! The value of mag x MSB data */ uint8_t mag_x_msb; /*! The value of mag y LSB data */ uint8_t mag_y_lsb; /*! The value of mag y MSB data */ uint8_t mag_y_msb; /*! The value of mag z LSB data */ uint8_t mag_z_lsb; /*! The value of mag z MSB data */ uint8_t mag_z_msb; /*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */ uint8_t mag_r_y2_lsb; /*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */ uint8_t mag_r_y2_msb; }; /*! * @brief Accel self test difference data structure */ struct bma4_selftest_delta_limit { /*! Accel X data */ int32_t x; /*! Accel Y data */ int32_t y; /*! Accel Z data */ int32_t z; }; /*! @name Structure to enable an accel axis for FOC */ struct bma4_accel_foc_g_value { /* '0' to disable x-axis and '1' to enable x-axis */ uint8_t x; /* '0' to disable y-axis and '1' to enable y-axis */ uint8_t y; /* '0' to disable z-axis and '1' to enable z-axis */ uint8_t z; /* '0' for positive input and '1' for negative input */ uint8_t sign; }; /*! @name Structure to store temporary accelerometer values */ struct bma4_foc_temp_value { /*! X data */ int32_t x; /*! Y data */ int32_t y; /*! Z data */ int32_t z; }; /* Structure to store temporary axes data values */ struct bma4_temp_axes_val { /* X data */ int32_t x; /* Y data */ int32_t y; /* Z data */ int32_t z; }; #endif /* End of BMA4_DEFS_H__ */