/** * Copyright (C) 2018 - 2019 Bosch Sensortec GmbH * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the copyright holder nor the names of the * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER * OR CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE * * The information provided is believed to be accurate and reliable. * The copyright holder assumes no responsibility * for the consequences of use * of such information nor for any infringement of patents or * other rights of third parties which may result from its use. * No license is granted by implication or otherwise under any patent or * patent rights of the copyright holder. * * @file bmi160_defs.h * @date 13 Mar 2019 * @version 3.7.7 * @brief * */ /*! * @defgroup bmi160_defs * @brief * @{*/ #ifndef BMI160_DEFS_H_ #define BMI160_DEFS_H_ /*************************** C types headers *****************************/ #ifdef __KERNEL__ #include #include #else #include #include #include "typedefs.h" #endif /*************************** Common macros *****************************/ #if !defined(UINT8_C) && !defined(INT8_C) #define INT8_C(x) (CHAR)(x) #define UINT8_C(x) (BYTE)(x) #endif #if !defined(UINT16_C) && !defined(INT16_C) #define INT16_C(x) S16_C(x) #define UINT16_C(x) (ULONG)(x) #endif #if !defined(INT32_C) && !defined(UINT32_C) #define INT32_C(x) S32_C(x) #define UINT32_C(x) U32_C(x) #endif #if !defined(INT64_C) && !defined(UINT64_C) #define INT64_C(x) S64_C(x) #define UINT64_C(x) U64_C(x) #endif /**@}*/ /**\name C standard macros */ #ifndef NULL #ifdef __cplusplus #define NULL 0 #else #define NULL ((void *) 0) #endif #endif /*************************** Sensor macros *****************************/ /* Test for an endian machine */ #ifndef __ORDER_LITTLE_ENDIAN__ #define __ORDER_LITTLE_ENDIAN__ 0 #endif #ifndef __BYTE_ORDER__ #define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__ #endif #if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ #define LITTLE_ENDIAN 1 #elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__ #define BIG_ENDIAN 1 #else #error "Code does not support Endian format of the processor" #endif /** Mask definitions */ #define BMI160_ACCEL_BW_MASK UINT8_C(0x70) #define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F) #define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80) #define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F) #define BMI160_GYRO_BW_MASK UINT8_C(0x30) #define BMI160_GYRO_ODR_MASK UINT8_C(0x0F) #define BMI160_GYRO_RANGE_MSK UINT8_C(0x07) /** Mask definitions for INT_EN registers */ #define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01) #define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01) #define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01) #define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02) #define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02) #define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02) #define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04) #define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04) #define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04) #define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07) #define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07) #define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08) #define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10) #define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20) #define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20) #define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40) #define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40) #define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08) #define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08) #define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80) #define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10) /** PMU status Macros */ #define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00) #define BMI160_AUX_PMU_NORMAL UINT8_C(0x01) #define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02) #define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00) #define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01) #define BMI160_GYRO_PMU_FSU UINT8_C(0x03) #define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00) #define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01) #define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02) /** Mask definitions for INT_OUT_CTRL register */ #define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01) #define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04) #define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02) #define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08) #define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10) #define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40) #define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20) #define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80) /** Mask definitions for INT_LATCH register */ #define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10) #define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20) #define BMI160_INT_LATCH_MASK UINT8_C(0x0F) /** Mask definitions for INT_MAP register */ #define BMI160_INT1_LOW_G_MASK UINT8_C(0x01) #define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02) #define BMI160_INT1_SLOPE_MASK UINT8_C(0x04) #define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08) #define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10) #define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20) #define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20) #define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40) #define BMI160_INT1_ORIENT_MASK UINT8_C(0x40) #define BMI160_INT1_FLAT_MASK UINT8_C(0x80) #define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80) #define BMI160_INT2_LOW_G_MASK UINT8_C(0x01) #define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01) #define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01) #define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02) #define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02) #define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04) #define BMI160_INT2_SLOPE_MASK UINT8_C(0x04) #define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08) #define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08) #define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10) #define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20) #define BMI160_INT2_ORIENT_MASK UINT8_C(0x40) #define BMI160_INT2_FLAT_MASK UINT8_C(0x80) /** Mask definitions for INT_DATA register */ #define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08) #define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80) #define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80) /** Mask definitions for INT_MOTION register */ #define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03) #define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC) #define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01) /** Mask definitions for INT_TAP register */ #define BMI160_TAP_DUR_MASK UINT8_C(0x07) #define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40) #define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80) #define BMI160_TAP_THRES_MASK UINT8_C(0x1F) /** Mask definitions for INT_FLAT register */ #define BMI160_FLAT_THRES_MASK UINT8_C(0x3F) #define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30) #define BMI160_FLAT_HYST_MASK UINT8_C(0x07) /** Mask definitions for INT_LOWHIGH register */ #define BMI160_LOW_G_HYST_MASK UINT8_C(0x03) #define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04) #define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0) /** Mask definitions for INT_SIG_MOTION register */ #define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02) #define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C) #define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30) /** Mask definitions for INT_ORIENT register */ #define BMI160_ORIENT_MODE_MASK UINT8_C(0x03) #define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C) #define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0) #define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F) #define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40) #define BMI160_AXES_EN_MASK UINT8_C(0x80) /** Mask definitions for FIFO_CONFIG register */ #define BMI160_FIFO_GYRO UINT8_C(0x80) #define BMI160_FIFO_ACCEL UINT8_C(0x40) #define BMI160_FIFO_AUX UINT8_C(0x20) #define BMI160_FIFO_TAG_INT1 UINT8_C(0x08) #define BMI160_FIFO_TAG_INT2 UINT8_C(0x04) #define BMI160_FIFO_TIME UINT8_C(0x02) #define BMI160_FIFO_HEADER UINT8_C(0x10) #define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE) /** Mask definitions for STEP_CONF register */ #define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08) #define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18) #define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07) #define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07) /** Mask definition for FIFO Header Data Tag */ #define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC) /** Fifo byte counter mask definitions */ #define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07) /** Enable/disable bit value */ #define BMI160_ENABLE UINT8_C(0x01) #define BMI160_DISABLE UINT8_C(0x00) /** Latch Duration */ #define BMI160_LATCH_DUR_NONE UINT8_C(0x00) #define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01) #define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02) #define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03) #define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04) #define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05) #define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06) #define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07) #define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08) #define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09) #define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A) #define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B) #define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C) #define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D) #define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E) #define BMI160_LATCHED UINT8_C(0x0F) /** BMI160 Register map */ #define BMI160_CHIP_ID_ADDR UINT8_C(0x00) #define BMI160_ERROR_REG_ADDR UINT8_C(0x02) #define BMI160_PMU_STATUS_ADDR UINT8_C(0x03) #define BMI160_AUX_DATA_ADDR UINT8_C(0x04) #define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C) #define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12) #define BMI160_STATUS_ADDR UINT8_C(0x1B) #define BMI160_INT_STATUS_ADDR UINT8_C(0x1C) #define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22) #define BMI160_FIFO_DATA_ADDR UINT8_C(0x24) #define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40) #define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41) #define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42) #define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43) #define BMI160_AUX_ODR_ADDR UINT8_C(0x44) #define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45) #define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46) #define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47) #define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B) #define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C) #define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D) #define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E) #define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F) #define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50) #define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51) #define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52) #define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53) #define BMI160_INT_LATCH_ADDR UINT8_C(0x54) #define BMI160_INT_MAP_0_ADDR UINT8_C(0x55) #define BMI160_INT_MAP_1_ADDR UINT8_C(0x56) #define BMI160_INT_MAP_2_ADDR UINT8_C(0x57) #define BMI160_INT_DATA_0_ADDR UINT8_C(0x58) #define BMI160_INT_DATA_1_ADDR UINT8_C(0x59) #define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A) #define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B) #define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C) #define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D) #define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E) #define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F) #define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60) #define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61) #define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62) #define BMI160_INT_TAP_0_ADDR UINT8_C(0x63) #define BMI160_INT_TAP_1_ADDR UINT8_C(0x64) #define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65) #define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66) #define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67) #define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68) #define BMI160_FOC_CONF_ADDR UINT8_C(0x69) #define BMI160_CONF_ADDR UINT8_C(0x6A) #define BMI160_IF_CONF_ADDR UINT8_C(0x6B) #define BMI160_SELF_TEST_ADDR UINT8_C(0x6D) #define BMI160_OFFSET_ADDR UINT8_C(0x71) #define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77) #define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78) #define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A) #define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B) #define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E) #define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F) #define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85) /** Error code definitions */ #define BMI160_OK INT8_C(0) #define BMI160_E_NULL_PTR INT8_C(-1) #define BMI160_E_COM_FAIL INT8_C(-2) #define BMI160_E_DEV_NOT_FOUND INT8_C(-3) #define BMI160_E_OUT_OF_RANGE INT8_C(-4) #define BMI160_E_INVALID_INPUT INT8_C(-5) #define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6) #define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7) #define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8) #define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9) #define BMI160_E_AUX_NOT_FOUND INT8_C(-10) #define BMI160_FOC_FAILURE INT8_C(-11) /**\name API warning codes */ #define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1) #define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2) /** BMI160 unique chip identifier */ #define BMI160_CHIP_ID UINT8_C(0xD8) /** Soft reset command */ #define BMI160_SOFT_RESET_CMD UINT8_C(0xb6) #define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1) /** Start FOC command */ #define BMI160_START_FOC_CMD UINT8_C(0x03) /** NVM backup enabling command */ #define BMI160_NVM_BACKUP_EN UINT8_C(0xA0) /* Delay in ms settings */ #define BMI160_ACCEL_DELAY_MS UINT8_C(5) #define BMI160_GYRO_DELAY_MS UINT8_C(81) #define BMI160_ONE_MS_DELAY UINT8_C(1) #define BMI160_AUX_COM_DELAY UINT8_C(10) #define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20) #define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50) /** Self test configurations */ #define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C) #define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D) #define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09) #define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192) /** Power mode settings */ /* Accel power mode */ #define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11) #define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12) #define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10) /* Gyro power mode */ #define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14) #define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15) #define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17) /* Aux power mode */ #define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18) #define BMI160_AUX_NORMAL_MODE UINT8_C(0x19) #define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A) /** Range settings */ /* Accel Range */ #define BMI160_ACCEL_RANGE_2G UINT8_C(0x03) #define BMI160_ACCEL_RANGE_4G UINT8_C(0x05) #define BMI160_ACCEL_RANGE_8G UINT8_C(0x08) #define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C) /* Gyro Range */ #define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00) #define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01) #define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02) #define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03) #define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04) /** Bandwidth settings */ /* Accel Bandwidth */ #define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00) #define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01) #define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02) #define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03) #define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04) #define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05) #define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06) #define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07) #define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00) #define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01) #define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02) /* Output Data Rate settings */ /* Accel Output data rate */ #define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00) #define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01) #define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02) #define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03) #define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04) #define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05) #define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06) #define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07) #define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08) #define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09) #define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A) #define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B) #define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C) #define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D) #define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E) #define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F) /* Gyro Output data rate */ #define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00) #define BMI160_GYRO_ODR_25HZ UINT8_C(0x06) #define BMI160_GYRO_ODR_50HZ UINT8_C(0x07) #define BMI160_GYRO_ODR_100HZ UINT8_C(0x08) #define BMI160_GYRO_ODR_200HZ UINT8_C(0x09) #define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A) #define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B) #define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C) #define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D) /* Auxiliary sensor Output data rate */ #define BMI160_AUX_ODR_RESERVED UINT8_C(0x00) #define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01) #define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02) #define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03) #define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04) #define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05) #define BMI160_AUX_ODR_25HZ UINT8_C(0x06) #define BMI160_AUX_ODR_50HZ UINT8_C(0x07) #define BMI160_AUX_ODR_100HZ UINT8_C(0x08) #define BMI160_AUX_ODR_200HZ UINT8_C(0x09) #define BMI160_AUX_ODR_400HZ UINT8_C(0x0A) #define BMI160_AUX_ODR_800HZ UINT8_C(0x0B) /* Maximum limits definition */ #define BMI160_ACCEL_ODR_MAX UINT8_C(15) #define BMI160_ACCEL_BW_MAX UINT8_C(2) #define BMI160_ACCEL_RANGE_MAX UINT8_C(12) #define BMI160_GYRO_ODR_MAX UINT8_C(13) #define BMI160_GYRO_BW_MAX UINT8_C(2) #define BMI160_GYRO_RANGE_MAX UINT8_C(4) /** FIFO_CONFIG Definitions */ #define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02) #define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04) #define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08) #define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10) #define BMI160_FIFO_M_ENABLE UINT8_C(0x20) #define BMI160_FIFO_A_ENABLE UINT8_C(0x40) #define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60) #define BMI160_FIFO_G_ENABLE UINT8_C(0x80) #define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0) #define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0) #define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0) /* Macro to specify the number of bytes over-read from the * FIFO in order to get the sensor time at the end of FIFO */ #ifndef BMI160_FIFO_BYTES_OVERREAD #define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25) #endif /* Accel, gyro and aux. sensor length and also their combined * length definitions in FIFO */ #define BMI160_FIFO_G_LENGTH UINT8_C(6) #define BMI160_FIFO_A_LENGTH UINT8_C(6) #define BMI160_FIFO_M_LENGTH UINT8_C(8) #define BMI160_FIFO_GA_LENGTH UINT8_C(12) #define BMI160_FIFO_MA_LENGTH UINT8_C(14) #define BMI160_FIFO_MG_LENGTH UINT8_C(14) #define BMI160_FIFO_MGA_LENGTH UINT8_C(20) /** FIFO Header Data definitions */ #define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) #define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) #define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) #define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80) #define BMI160_FIFO_HEAD_A UINT8_C(0x84) #define BMI160_FIFO_HEAD_G UINT8_C(0x88) #define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C) #define BMI160_FIFO_HEAD_M UINT8_C(0x90) #define BMI160_FIFO_HEAD_M_A UINT8_C(0x94) #define BMI160_FIFO_HEAD_M_G UINT8_C(0x98) #define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C) /** FIFO sensor time length definitions */ #define BMI160_SENSOR_TIME_LENGTH UINT8_C(3) /** FIFO DOWN selection */ /* Accel fifo down-sampling values*/ #define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00) #define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10) #define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20) #define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30) #define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40) #define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50) #define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60) #define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70) /* Gyro fifo down-smapling values*/ #define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00) #define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01) #define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02) #define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03) #define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04) #define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05) #define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06) #define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07) /* Accel Fifo filter enable*/ #define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80) /* Gyro Fifo filter enable*/ #define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08) /** Definitions to check validity of FIFO frames */ #define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80) #define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00) /*! BMI160 accel FOC configurations */ #define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00) #define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01) #define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02) #define BMI160_FOC_ACCEL_0G UINT8_C(0x03) /** Array Parameter DefinItions */ #define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0) #define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1) #define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2) /** Interface settings */ #define BMI160_SPI_INTF UINT8_C(1) #define BMI160_I2C_INTF UINT8_C(0) #define BMI160_SPI_RD_MASK UINT8_C(0x80) #define BMI160_SPI_WR_MASK UINT8_C(0x7F) /* Sensor & time select definition*/ #define BMI160_ACCEL_SEL UINT8_C(0x01) #define BMI160_GYRO_SEL UINT8_C(0x02) #define BMI160_TIME_SEL UINT8_C(0x04) /* Sensor select mask*/ #define BMI160_SEN_SEL_MASK UINT8_C(0x07) /* Error code mask */ #define BMI160_ERR_REG_MASK UINT8_C(0x0F) /* BMI160 I2C address */ #define BMI160_I2C_ADDR UINT8_C(0x68) /* BMI160 secondary IF address */ #define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10) /** BMI160 Length definitions */ #define BMI160_ONE UINT8_C(1) #define BMI160_TWO UINT8_C(2) #define BMI160_THREE UINT8_C(3) #define BMI160_FOUR UINT8_C(4) #define BMI160_FIVE UINT8_C(5) /** BMI160 fifo level Margin */ #define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16) /** BMI160 fifo flush Command */ #define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0) /** BMI160 offset values for xyz axes of accel */ #define BMI160_ACCEL_MIN_OFFSET INT8_C(-128) #define BMI160_ACCEL_MAX_OFFSET INT8_C(127) /** BMI160 offset values for xyz axes of gyro */ #define BMI160_GYRO_MIN_OFFSET INT16_C(-512) #define BMI160_GYRO_MAX_OFFSET INT16_C(511) /** BMI160 fifo full interrupt position and mask */ #define BMI160_FIFO_FULL_INT_POS UINT8_C(5) #define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20) #define BMI160_FIFO_WTM_INT_POS UINT8_C(6) #define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40) #define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5) #define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20) #define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1) #define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02) #define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6) #define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40) #define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2) #define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04) #define BMI160_MANUAL_MODE_EN_POS UINT8_C(7) #define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80) #define BMI160_AUX_READ_BURST_POS UINT8_C(0) #define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03) #define BMI160_GYRO_SELF_TEST_POS UINT8_C(4) #define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10) #define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1) #define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02) #define BMI160_GYRO_FOC_EN_POS UINT8_C(6) #define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40) #define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4) #define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30) #define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2) #define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C) #define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03) #define BMI160_FOC_STATUS_POS UINT8_C(3) #define BMI160_FOC_STATUS_MSK UINT8_C(0x08) #define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03) #define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2) #define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C) #define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4) #define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30) #define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7) #define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80) #define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6) #define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40) #define BMI160_GYRO_OFFSET_POS UINT16_C(8) #define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300) #define BMI160_NVM_UPDATE_POS UINT8_C(1) #define BMI160_NVM_UPDATE_MSK UINT8_C(0x02) #define BMI160_NVM_STATUS_POS UINT8_C(4) #define BMI160_NVM_STATUS_MSK UINT8_C(0x10) #define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03) #define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30) #define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4) #define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C) #define BMI160_GYRO_POWER_MODE_POS UINT8_C(2) /* BIT SLICE GET AND SET FUNCTIONS */ #define BMI160_GET_BITS(regvar, bitname) \ ((regvar & bitname##_MSK) >> bitname##_POS) #define BMI160_SET_BITS(regvar, bitname, val) \ ((regvar & ~bitname##_MSK) | \ ((val << bitname##_POS) & bitname##_MSK)) #define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \ ((reg_data & ~(bitname##_MSK)) | \ (data & bitname##_MSK)) #define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) /**\name UTILITY MACROS */ #define BMI160_SET_LOW_BYTE UINT16_C(0x00FF) #define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00) #define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE) #define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8) /*****************************************************************************/ /* type definitions */ typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len); typedef void (*bmi160_delay_fptr_t)(uint32_t period); /*************************** Data structures *********************************/ struct bmi160_pmu_status { /*! Power mode status of Accel * Possible values : * - BMI160_ACCEL_PMU_SUSPEND * - BMI160_ACCEL_PMU_NORMAL * - BMI160_ACCEL_PMU_LOW_POWER */ uint8_t accel_pmu_status; /*! Power mode status of Gyro * Possible values : * - BMI160_GYRO_PMU_SUSPEND * - BMI160_GYRO_PMU_NORMAL * - BMI160_GYRO_PMU_FSU */ uint8_t gyro_pmu_status; /*! Power mode status of 'Auxiliary sensor interface' whereas the actual * power mode of the aux. sensor should be configured * according to the connected sensor specifications * Possible values : * - BMI160_AUX_PMU_SUSPEND * - BMI160_AUX_PMU_NORMAL * - BMI160_AUX_PMU_LOW_POWER */ uint8_t aux_pmu_status; }; /*! * @brief bmi160 interrupt status selection enum. */ enum bmi160_int_status_sel { BMI160_INT_STATUS_0 = 1, BMI160_INT_STATUS_1 = 2, BMI160_INT_STATUS_2 = 4, BMI160_INT_STATUS_3 = 8, BMI160_INT_STATUS_ALL = 15 }; /*! * @brief bmi160 interrupt status bits structure */ struct bmi160_int_status_bits { #if LITTLE_ENDIAN == 1 uint32_t step : 1; uint32_t sigmot : 1; uint32_t anym : 1; /* pmu trigger will be handled later */ uint32_t pmu_trigger_reserved : 1; uint32_t d_tap : 1; uint32_t s_tap : 1; uint32_t orient : 1; uint32_t flat_int : 1; uint32_t reserved : 2; uint32_t high_g : 1; uint32_t low_g : 1; uint32_t drdy : 1; uint32_t ffull : 1; uint32_t fwm : 1; uint32_t nomo : 1; uint32_t anym_first_x : 1; uint32_t anym_first_y : 1; uint32_t anym_first_z : 1; uint32_t anym_sign : 1; uint32_t tap_first_x : 1; uint32_t tap_first_y : 1; uint32_t tap_first_z : 1; uint32_t tap_sign : 1; uint32_t high_first_x : 1; uint32_t high_first_y : 1; uint32_t high_first_z : 1; uint32_t high_sign : 1; uint32_t orient_1_0 : 2; uint32_t orient_2 : 1; uint32_t flat : 1; #elif BIG_ENDIAN == 1 uint32_t high_first_x : 1; uint32_t high_first_y : 1; uint32_t high_first_z : 1; uint32_t high_sign : 1; uint32_t orient_1_0 : 2; uint32_t orient_2 : 1; uint32_t flat : 1; uint32_t anym_first_x : 1; uint32_t anym_first_y : 1; uint32_t anym_first_z : 1; uint32_t anym_sign : 1; uint32_t tap_first_x : 1; uint32_t tap_first_y : 1; uint32_t tap_first_z : 1; uint32_t tap_sign : 1; uint32_t reserved : 2; uint32_t high_g : 1; uint32_t low_g : 1; uint32_t drdy : 1; uint32_t ffull : 1; uint32_t fwm : 1; uint32_t nomo : 1; uint32_t step : 1; uint32_t sigmot : 1; uint32_t anym : 1; /* pmu trigger will be handled later */ uint32_t pmu_trigger_reserved : 1; uint32_t d_tap : 1; uint32_t s_tap : 1; uint32_t orient : 1; uint32_t flat_int : 1; #endif }; /*! * @brief bmi160 interrupt status structure */ union bmi160_int_status { uint8_t data[4]; struct bmi160_int_status_bits bit; }; /*! * @brief bmi160 sensor data structure which comprises of accel data */ struct bmi160_sensor_data { /*! X-axis sensor data */ int16_t x; /*! Y-axis sensor data */ int16_t y; /*! Z-axis sensor data */ int16_t z; /*! sensor time */ uint32_t sensortime; }; /*! * @brief bmi160 aux data structure which comprises of 8 bytes of accel data */ struct bmi160_aux_data { /*! Auxiliary data */ uint8_t data[8]; }; /*! * @brief bmi160 FOC configuration structure */ struct bmi160_foc_conf { /*! Enabling FOC in gyro * Assignable macros : * - BMI160_ENABLE * - BMI160_DISABLE */ uint8_t foc_gyr_en; /*! Accel FOC configurations * Assignable macros : * - BMI160_FOC_ACCEL_DISABLED * - BMI160_FOC_ACCEL_POSITIVE_G * - BMI160_FOC_ACCEL_NEGATIVE_G * - BMI160_FOC_ACCEL_0G */ uint8_t foc_acc_x; uint8_t foc_acc_y; uint8_t foc_acc_z; /*! Enabling offset compensation for accel in data registers * Assignable macros : * - BMI160_ENABLE * - BMI160_DISABLE */ uint8_t acc_off_en; /*! Enabling offset compensation for gyro in data registers * Assignable macros : * - BMI160_ENABLE * - BMI160_DISABLE */ uint8_t gyro_off_en; }; /*! * @brief bmi160 accel gyro offsets */ struct bmi160_offsets { /*! Accel offset for x axis */ int8_t off_acc_x; /*! Accel offset for y axis */ int8_t off_acc_y; /*! Accel offset for z axis */ int8_t off_acc_z; /*! Gyro offset for x axis */ int16_t off_gyro_x; /*! Gyro offset for y axis */ int16_t off_gyro_y; /*! Gyro offset for z axis */ int16_t off_gyro_z; }; /*! * @brief FIFO aux. sensor data structure */ struct bmi160_aux_fifo_data { /*! The value of aux. sensor x LSB data */ uint8_t aux_x_lsb; /*! The value of aux. sensor x MSB data */ uint8_t aux_x_msb; /*! The value of aux. sensor y LSB data */ uint8_t aux_y_lsb; /*! The value of aux. sensor y MSB data */ uint8_t aux_y_msb; /*! The value of aux. sensor z LSB data */ uint8_t aux_z_lsb; /*! The value of aux. sensor z MSB data */ uint8_t aux_z_msb; /*! The value of aux. sensor r for BMM150 LSB data */ uint8_t aux_r_y2_lsb; /*! The value of aux. sensor r for BMM150 MSB data */ uint8_t aux_r_y2_msb; }; /*! * @brief bmi160 sensor select structure */ enum bmi160_select_sensor { BMI160_ACCEL_ONLY = 1, BMI160_GYRO_ONLY, BMI160_BOTH_ACCEL_AND_GYRO }; /*! * @brief bmi160 sensor step detector mode structure */ enum bmi160_step_detect_mode { BMI160_STEP_DETECT_NORMAL, BMI160_STEP_DETECT_SENSITIVE, BMI160_STEP_DETECT_ROBUST, /*! Non recommended User defined setting */ BMI160_STEP_DETECT_USER_DEFINE }; /*! * @brief enum for auxiliary burst read selection */ enum bm160_aux_read_len { BMI160_AUX_READ_LEN_0, BMI160_AUX_READ_LEN_1, BMI160_AUX_READ_LEN_2, BMI160_AUX_READ_LEN_3 }; /*! * @brief bmi160 sensor configuration structure */ struct bmi160_cfg { /*! power mode */ uint8_t power; /*! output data rate */ uint8_t odr; /*! range */ uint8_t range; /*! bandwidth */ uint8_t bw; }; /*! * @brief Aux sensor configuration structure */ struct bmi160_aux_cfg { /*! Aux sensor, 1 - enable 0 - disable */ uint8_t aux_sensor_enable : 1; /*! Aux manual/auto mode status */ uint8_t manual_enable : 1; /*! Aux read burst length */ uint8_t aux_rd_burst_len : 2; /*! output data rate */ uint8_t aux_odr : 4; /*! i2c addr of auxiliary sensor */ uint8_t aux_i2c_addr; }; /*! * @brief bmi160 interrupt channel selection structure */ enum bmi160_int_channel { /*! Un-map both channels */ BMI160_INT_CHANNEL_NONE, /*! interrupt Channel 1 */ BMI160_INT_CHANNEL_1, /*! interrupt Channel 2 */ BMI160_INT_CHANNEL_2, /*! Map both channels */ BMI160_INT_CHANNEL_BOTH }; enum bmi160_int_types { /*! Slope/Any-motion interrupt */ BMI160_ACC_ANY_MOTION_INT, /*! Significant motion interrupt */ BMI160_ACC_SIG_MOTION_INT, /*! Step detector interrupt */ BMI160_STEP_DETECT_INT, /*! double tap interrupt */ BMI160_ACC_DOUBLE_TAP_INT, /*! single tap interrupt */ BMI160_ACC_SINGLE_TAP_INT, /*! orientation interrupt */ BMI160_ACC_ORIENT_INT, /*! flat interrupt */ BMI160_ACC_FLAT_INT, /*! high-g interrupt */ BMI160_ACC_HIGH_G_INT, /*! low-g interrupt */ BMI160_ACC_LOW_G_INT, /*! slow/no-motion interrupt */ BMI160_ACC_SLOW_NO_MOTION_INT, /*! data ready interrupt */ BMI160_ACC_GYRO_DATA_RDY_INT, /*! fifo full interrupt */ BMI160_ACC_GYRO_FIFO_FULL_INT, /*! fifo watermark interrupt */ BMI160_ACC_GYRO_FIFO_WATERMARK_INT, /*! fifo tagging feature support */ BMI160_FIFO_TAG_INT_PIN }; /*! * @brief bmi160 active state of any & sig motion interrupt. */ enum bmi160_any_sig_motion_active_interrupt_state { /*! Both any & sig motion are disabled */ BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1, /*! Any-motion selected */ BMI160_ANY_MOTION_ENABLED, /*! Sig-motion selected */ BMI160_SIG_MOTION_ENABLED }; struct bmi160_acc_tap_int_cfg { #if LITTLE_ENDIAN == 1 /*! tap threshold */ uint16_t tap_thr : 5; /*! tap shock */ uint16_t tap_shock : 1; /*! tap quiet */ uint16_t tap_quiet : 1; /*! tap duration */ uint16_t tap_dur : 3; /*! data source 0- filter & 1 pre-filter*/ uint16_t tap_data_src : 1; /*! tap enable, 1 - enable, 0 - disable */ uint16_t tap_en : 1; #elif BIG_ENDIAN == 1 /*! tap enable, 1 - enable, 0 - disable */ uint16_t tap_en : 1; /*! data source 0- filter & 1 pre-filter*/ uint16_t tap_data_src : 1; /*! tap duration */ uint16_t tap_dur : 3; /*! tap quiet */ uint16_t tap_quiet : 1; /*! tap shock */ uint16_t tap_shock : 1; /*! tap threshold */ uint16_t tap_thr : 5; #endif }; struct bmi160_acc_any_mot_int_cfg { #if LITTLE_ENDIAN == 1 /*! 1 any-motion enable, 0 - any-motion disable */ uint8_t anymotion_en : 1; /*! slope interrupt x, 1 - enable, 0 - disable */ uint8_t anymotion_x : 1; /*! slope interrupt y, 1 - enable, 0 - disable */ uint8_t anymotion_y : 1; /*! slope interrupt z, 1 - enable, 0 - disable */ uint8_t anymotion_z : 1; /*! slope duration */ uint8_t anymotion_dur : 2; /*! data source 0- filter & 1 pre-filter*/ uint8_t anymotion_data_src : 1; /*! slope threshold */ uint8_t anymotion_thr; #elif BIG_ENDIAN == 1 /*! slope threshold */ uint8_t anymotion_thr; /*! data source 0- filter & 1 pre-filter*/ uint8_t anymotion_data_src : 1; /*! slope duration */ uint8_t anymotion_dur : 2; /*! slope interrupt z, 1 - enable, 0 - disable */ uint8_t anymotion_z : 1; /*! slope interrupt y, 1 - enable, 0 - disable */ uint8_t anymotion_y : 1; /*! slope interrupt x, 1 - enable, 0 - disable */ uint8_t anymotion_x : 1; /*! 1 any-motion enable, 0 - any-motion disable */ uint8_t anymotion_en : 1; #endif }; struct bmi160_acc_sig_mot_int_cfg { #if LITTLE_ENDIAN == 1 /*! skip time of sig-motion interrupt */ uint8_t sig_mot_skip : 2; /*! proof time of sig-motion interrupt */ uint8_t sig_mot_proof : 2; /*! data source 0- filter & 1 pre-filter*/ uint8_t sig_data_src : 1; /*! 1 - enable sig, 0 - disable sig & enable anymotion */ uint8_t sig_en : 1; /*! sig-motion threshold */ uint8_t sig_mot_thres; #elif BIG_ENDIAN == 1 /*! sig-motion threshold */ uint8_t sig_mot_thres; /*! 1 - enable sig, 0 - disable sig & enable anymotion */ uint8_t sig_en : 1; /*! data source 0- filter & 1 pre-filter*/ uint8_t sig_data_src : 1; /*! proof time of sig-motion interrupt */ uint8_t sig_mot_proof : 2; /*! skip time of sig-motion interrupt */ uint8_t sig_mot_skip : 2; #endif }; struct bmi160_acc_step_detect_int_cfg { #if LITTLE_ENDIAN == 1 /*! 1- step detector enable, 0- step detector disable */ uint16_t step_detector_en : 1; /*! minimum threshold */ uint16_t min_threshold : 2; /*! minimal detectable step time */ uint16_t steptime_min : 3; /*! enable step counter mode setting */ uint16_t step_detector_mode : 2; /*! minimum step buffer size*/ uint16_t step_min_buf : 3; #elif BIG_ENDIAN == 1 /*! minimum step buffer size*/ uint16_t step_min_buf : 3; /*! enable step counter mode setting */ uint16_t step_detector_mode : 2; /*! minimal detectable step time */ uint16_t steptime_min : 3; /*! minimum threshold */ uint16_t min_threshold : 2; /*! 1- step detector enable, 0- step detector disable */ uint16_t step_detector_en : 1; #endif }; struct bmi160_acc_no_motion_int_cfg { #if LITTLE_ENDIAN == 1 /*! no motion interrupt x */ uint16_t no_motion_x : 1; /*! no motion interrupt y */ uint16_t no_motion_y : 1; /*! no motion interrupt z */ uint16_t no_motion_z : 1; /*! no motion duration */ uint16_t no_motion_dur : 6; /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ uint16_t no_motion_sel : 1; /*! data source 0- filter & 1 pre-filter*/ uint16_t no_motion_src : 1; /*! no motion threshold */ uint8_t no_motion_thres; #elif BIG_ENDIAN == 1 /*! no motion threshold */ uint8_t no_motion_thres; /*! data source 0- filter & 1 pre-filter*/ uint16_t no_motion_src : 1; /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ uint16_t no_motion_sel : 1; /*! no motion duration */ uint16_t no_motion_dur : 6; /* no motion interrupt z */ uint16_t no_motion_z : 1; /*! no motion interrupt y */ uint16_t no_motion_y : 1; /*! no motion interrupt x */ uint16_t no_motion_x : 1; #endif }; struct bmi160_acc_orient_int_cfg { #if LITTLE_ENDIAN == 1 /*! thresholds for switching between the different orientations */ uint16_t orient_mode : 2; /*! blocking_mode */ uint16_t orient_blocking : 2; /*! Orientation interrupt hysteresis */ uint16_t orient_hyst : 4; /*! Orientation interrupt theta */ uint16_t orient_theta : 6; /*! Enable/disable Orientation interrupt */ uint16_t orient_ud_en : 1; /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ uint16_t axes_ex : 1; /*! 1 - orient enable, 0 - orient disable */ uint8_t orient_en : 1; #elif BIG_ENDIAN == 1 /*! 1 - orient enable, 0 - orient disable */ uint8_t orient_en : 1; /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ uint16_t axes_ex : 1; /*! Enable/disable Orientation interrupt */ uint16_t orient_ud_en : 1; /*! Orientation interrupt theta */ uint16_t orient_theta : 6; /*! Orientation interrupt hysteresis */ uint16_t orient_hyst : 4; /*! blocking_mode */ uint16_t orient_blocking : 2; /*! thresholds for switching between the different orientations */ uint16_t orient_mode : 2; #endif }; struct bmi160_acc_flat_detect_int_cfg { #if LITTLE_ENDIAN == 1 /*! flat threshold */ uint16_t flat_theta : 6; /*! flat interrupt hysteresis */ uint16_t flat_hy : 3; /*! delay time for which the flat value must remain stable for the * flat interrupt to be generated */ uint16_t flat_hold_time : 2; /*! 1 - flat enable, 0 - flat disable */ uint16_t flat_en : 1; #elif BIG_ENDIAN == 1 /*! 1 - flat enable, 0 - flat disable */ uint16_t flat_en : 1; /*! delay time for which the flat value must remain stable for the * flat interrupt to be generated */ uint16_t flat_hold_time : 2; /*! flat interrupt hysteresis */ uint16_t flat_hy : 3; /*! flat threshold */ uint16_t flat_theta : 6; #endif }; struct bmi160_acc_low_g_int_cfg { #if LITTLE_ENDIAN == 1 /*! low-g interrupt trigger delay */ uint8_t low_dur; /*! low-g interrupt trigger threshold */ uint8_t low_thres; /*! hysteresis of low-g interrupt */ uint8_t low_hyst : 2; /*! 0 - single-axis mode ,1 - axis-summing mode */ uint8_t low_mode : 1; /*! data source 0- filter & 1 pre-filter */ uint8_t low_data_src : 1; /*! 1 - enable low-g, 0 - disable low-g */ uint8_t low_en : 1; #elif BIG_ENDIAN == 1 /*! 1 - enable low-g, 0 - disable low-g */ uint8_t low_en : 1; /*! data source 0- filter & 1 pre-filter */ uint8_t low_data_src : 1; /*! 0 - single-axis mode ,1 - axis-summing mode */ uint8_t low_mode : 1; /*! hysteresis of low-g interrupt */ uint8_t low_hyst : 2; /*! low-g interrupt trigger threshold */ uint8_t low_thres; /*! low-g interrupt trigger delay */ uint8_t low_dur; #endif }; struct bmi160_acc_high_g_int_cfg { #if LITTLE_ENDIAN == 1 /*! High-g interrupt x, 1 - enable, 0 - disable */ uint8_t high_g_x : 1; /*! High-g interrupt y, 1 - enable, 0 - disable */ uint8_t high_g_y : 1; /*! High-g interrupt z, 1 - enable, 0 - disable */ uint8_t high_g_z : 1; /*! High-g hysteresis */ uint8_t high_hy : 2; /*! data source 0- filter & 1 pre-filter */ uint8_t high_data_src : 1; /*! High-g threshold */ uint8_t high_thres; /*! High-g duration */ uint8_t high_dur; #elif BIG_ENDIAN == 1 /*! High-g duration */ uint8_t high_dur; /*! High-g threshold */ uint8_t high_thres; /*! data source 0- filter & 1 pre-filter */ uint8_t high_data_src : 1; /*! High-g hysteresis */ uint8_t high_hy : 2; /*! High-g interrupt z, 1 - enable, 0 - disable */ uint8_t high_g_z : 1; /*! High-g interrupt y, 1 - enable, 0 - disable */ uint8_t high_g_y : 1; /*! High-g interrupt x, 1 - enable, 0 - disable */ uint8_t high_g_x : 1; #endif }; struct bmi160_int_pin_settg { #if LITTLE_ENDIAN == 1 /*! To enable either INT1 or INT2 pin as output. * 0- output disabled ,1- output enabled */ uint16_t output_en : 1; /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */ uint16_t output_mode : 1; /*! 0 - active low , 1 - active high level. * if output_en is 1,this applies to interrupts,else PMU_trigger */ uint16_t output_type : 1; /*! 0 - level trigger , 1 - edge trigger */ uint16_t edge_ctrl : 1; /*! To enable either INT1 or INT2 pin as input. * 0 - input disabled ,1 - input enabled */ uint16_t input_en : 1; /*! latch duration*/ uint16_t latch_dur : 4; #elif BIG_ENDIAN == 1 /*! latch duration*/ uint16_t latch_dur : 4; /*! Latched,non-latched or temporary interrupt modes */ uint16_t input_en : 1; /*! 1 - edge trigger, 0 - level trigger */ uint16_t edge_ctrl : 1; /*! 0 - active low , 1 - active high level. * if output_en is 1,this applies to interrupts,else PMU_trigger */ uint16_t output_type : 1; /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */ uint16_t output_mode : 1; /*! To enable either INT1 or INT2 pin as output. * 0 - output disabled , 1 - output enabled */ uint16_t output_en : 1; #endif }; union bmi160_int_type_cfg { /*! Tap interrupt structure */ struct bmi160_acc_tap_int_cfg acc_tap_int; /*! Slope interrupt structure */ struct bmi160_acc_any_mot_int_cfg acc_any_motion_int; /*! Significant motion interrupt structure */ struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int; /*! Step detector interrupt structure */ struct bmi160_acc_step_detect_int_cfg acc_step_detect_int; /*! No motion interrupt structure */ struct bmi160_acc_no_motion_int_cfg acc_no_motion_int; /*! Orientation interrupt structure */ struct bmi160_acc_orient_int_cfg acc_orient_int; /*! Flat interrupt structure */ struct bmi160_acc_flat_detect_int_cfg acc_flat_int; /*! Low-g interrupt structure */ struct bmi160_acc_low_g_int_cfg acc_low_g_int; /*! High-g interrupt structure */ struct bmi160_acc_high_g_int_cfg acc_high_g_int; }; struct bmi160_int_settg { /*! Interrupt channel */ enum bmi160_int_channel int_channel; /*! Select Interrupt */ enum bmi160_int_types int_type; /*! Structure configuring Interrupt pins */ struct bmi160_int_pin_settg int_pin_settg; /*! Union configures required interrupt */ union bmi160_int_type_cfg int_type_cfg; /*! FIFO FULL INT 1-enable, 0-disable */ uint8_t fifo_full_int_en : 1; /*! FIFO WTM INT 1-enable, 0-disable */ uint8_t fifo_WTM_int_en : 1; }; /*! * @brief This structure holds the information for usage of * FIFO by the user. */ struct bmi160_fifo_frame { /*! Data buffer of user defined length is to be mapped here */ uint8_t *data; /*! While calling the API "bmi160_get_fifo_data" , length stores * number of bytes in FIFO to be read (specified by user as input) * and after execution of the API ,number of FIFO data bytes * available is provided as an output to user */ uint16_t length; /*! FIFO time enable */ uint8_t fifo_time_enable; /*! Enabling of the FIFO header to stream in header mode */ uint8_t fifo_header_enable; /*! Streaming of the Accelerometer, Gyroscope * sensor data or both in FIFO */ uint8_t fifo_data_enable; /*! Will be equal to length when no more frames are there to parse */ uint16_t accel_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t gyro_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t aux_byte_start_idx; /*! Value of FIFO sensor time time */ uint32_t sensor_time; /*! Value of Skipped frame counts */ uint8_t skipped_frame_count; }; struct bmi160_dev { /*! Chip Id */ uint8_t chip_id; /*! Device Id */ uint8_t id; /*! 0 - I2C , 1 - SPI Interface */ uint8_t interface; /*! Hold active interrupts status for any and sig motion * 0 - Any-motion enable, 1 - Sig-motion enable, * -1 neither any-motion nor sig-motion selected */ enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel; /*! Structure to configure Accel sensor */ struct bmi160_cfg accel_cfg; /*! Structure to hold previous/old accel config parameters. * This is used at driver level to prevent overwriting of same * data, hence user does not change it in the code */ struct bmi160_cfg prev_accel_cfg; /*! Structure to configure Gyro sensor */ struct bmi160_cfg gyro_cfg; /*! Structure to hold previous/old gyro config parameters. * This is used at driver level to prevent overwriting of same * data, hence user does not change it in the code */ struct bmi160_cfg prev_gyro_cfg; /*! Structure to configure the auxiliary sensor */ struct bmi160_aux_cfg aux_cfg; /*! Structure to hold previous/old aux config parameters. * This is used at driver level to prevent overwriting of same * data, hence user does not change it in the code */ struct bmi160_aux_cfg prev_aux_cfg; /*! FIFO related configurations */ struct bmi160_fifo_frame *fifo; /*! Read function pointer */ bmi160_com_fptr_t read; /*! Write function pointer */ bmi160_com_fptr_t write; /*! Delay function pointer */ bmi160_delay_fptr_t delay_ms; }; #endif /* BMI160_DEFS_H_ */