/** * 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.h * @date 13 Mar 2019 * @version 3.7.7 * @brief * */ /*! * @defgroup bmi160 * @brief * @{*/ #ifndef BMI160_H_ #define BMI160_H_ /*************************** C++ guard macro *****************************/ #ifdef __cplusplus extern "C" { #endif #include "bmi160_defs.h" #ifdef __KERNEL__ #include #else #include #include #include #endif /*********************** User function prototypes ************************/ int8_t bmi160_read(uint8_t id, uint8_t reg_addr, uint8_t *data, uint16_t len); int8_t bmi160_write(uint8_t id, uint8_t reg_addr, uint8_t *data, uint16_t len); /*! * @brief This API is the entry point for sensor.It performs * the selection of I2C/SPI read mechanism according to the * selected interface and reads the chip-id of bmi160 sensor. * * @param[in,out] dev : Structure instance of bmi160_dev * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_init(struct bmi160_dev *dev); /*! * @brief This API reads the data from the given register address of sensor. * * @param[in] reg_addr : Register address from where the data to be read * @param[out] data : Pointer to data buffer to store the read data. * @param[in] len : No of bytes of data to be read. * @param[in] dev : Structure instance of bmi160_dev. * * @note For most of the registers auto address increment applies, with the * exception of a few special registers, which trap the address. For e.g., * Register address - 0x24(BMI160_FIFO_DATA_ADDR) * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev); /*! * @brief This API writes the given data to the register address * of sensor. * * @param[in] reg_addr : Register address from where the data to be written. * @param[in] data : Pointer to data buffer which is to be written * in the sensor. * @param[in] len : No of bytes of data to write.. * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev); /*! * @brief This API resets and restarts the device. * All register values are overwritten with default parameters. * * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error. */ int8_t bmi160_soft_reset(struct bmi160_dev *dev); /*! * @brief This API configures the power mode, range and bandwidth * of sensor. * * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error. */ int8_t bmi160_set_sens_conf(struct bmi160_dev *dev); /*! * @brief This API sets the power mode of the sensor. * * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error. */ int8_t bmi160_set_power_mode(struct bmi160_dev *dev); /*! * @brief This API gets the power mode of the sensor. * * @param[in] power_mode : Power mode of the sensor * @param[in] dev : Structure instance of bmi160_dev * * power_mode Macros possible values for pmu_status->aux_pmu_status : * - BMI160_AUX_PMU_SUSPEND * - BMI160_AUX_PMU_NORMAL * - BMI160_AUX_PMU_LOW_POWER * * power_mode Macros possible values for pmu_status->gyro_pmu_status : * - BMI160_GYRO_PMU_SUSPEND * - BMI160_GYRO_PMU_NORMAL * - BMI160_GYRO_PMU_FSU * * power_mode Macros possible values for pmu_status->accel_pmu_status : * - BMI160_ACCEL_PMU_SUSPEND * - BMI160_ACCEL_PMU_NORMAL * - BMI160_ACCEL_PMU_LOW_POWER * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error. */ int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev); /*! * @brief This API reads sensor data, stores it in * the bmi160_sensor_data structure pointer passed by the user. * The user can ask for accel data ,gyro data or both sensor * data using bmi160_select_sensor enum * * @param[in] select_sensor : enum to choose accel,gyro or both sensor data * @param[out] accel : Structure pointer to store accel data * @param[out] gyro : Structure pointer to store gyro data * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_get_sensor_data(uint8_t select_sensor, struct bmi160_sensor_data *accel, struct bmi160_sensor_data *gyro, const struct bmi160_dev *dev); /*! * @brief This API configures the necessary interrupt based on * the user settings in the bmi160_int_settg structure instance. * * @param[in] int_config : Structure instance of bmi160_int_settg. * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev); /*! * @brief This API enables the step counter feature. * * @param[in] step_cnt_enable : value to enable or disable * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev); /*! * @brief This API reads the step counter value. * * @param[in] step_val : Pointer to store the step counter value. * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev); /*! * @brief This API reads the mention no of byte of data from the given * register address of auxiliary sensor. * * @param[in] reg_addr : Address of register to read. * @param[in] aux_data : Pointer to store the read data. * @param[in] len : No of bytes to read. * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev); /*! * @brief This API writes the mention no of byte of data to the given * register address of auxiliary sensor. * * @param[in] reg_addr : Address of register to write. * @param[in] aux_data : Pointer to write data. * @param[in] len : No of bytes to write. * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev); /*! * @brief This API initialize the auxiliary sensor * in order to access it. * * @param[in] dev : Structure instance of bmi160_dev. * @note : Refer user guide for detailed info. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_aux_init(const struct bmi160_dev *dev); /*! * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode * Thus enabling the auto update of 8 bytes of data from auxiliary sensor * to BMI160 register address 0x04 to 0x0B * * @param[in] data_addr : Starting address of aux. sensor's data register * (BMI160 registers 0x04 to 0x0B will be updated * with 8 bytes of data from auxiliary sensor * starting from this register address.) * @param[in] dev : Structure instance of bmi160_dev. * * @note : Set the value of auxiliary polling rate by setting * dev->aux_cfg.aux_odr to the required value from the table * before calling this API * * dev->aux_cfg.aux_odr | Auxiliary ODR (Hz) * -----------------------|----------------------- * BMI160_AUX_ODR_0_78HZ | 25/32 * BMI160_AUX_ODR_1_56HZ | 25/16 * BMI160_AUX_ODR_3_12HZ | 25/8 * BMI160_AUX_ODR_6_25HZ | 25/4 * BMI160_AUX_ODR_12_5HZ | 25/2 * BMI160_AUX_ODR_25HZ | 25 * BMI160_AUX_ODR_50HZ | 50 * BMI160_AUX_ODR_100HZ | 100 * BMI160_AUX_ODR_200HZ | 200 * BMI160_AUX_ODR_400HZ | 400 * BMI160_AUX_ODR_800HZ | 800 * * @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev); /*! * @brief This API configures the 0x4C register and settings like * Auxiliary sensor manual enable/ disable and aux burst read length. * * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev); /*! * @brief This API is used to read the raw uncompensated auxiliary sensor * data of 8 bytes from BMI160 register address 0x04 to 0x0B * * @param[in] aux_data : Pointer to user array of length 8 bytes * Ensure that the aux_data array is of * length 8 bytes * @param[in] dev : Structure instance of bmi160_dev * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error */ int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev); /*! * @brief This is used to perform self test of accel/gyro of the BMI160 sensor * * @param[in] select_sensor : enum to choose accel or gyro for self test * @param[in] dev : Structure instance of bmi160_dev * * @note self test can be performed either for accel/gyro at any instant. * * value of select_sensor | Inference *----------------------------------|-------------------------------- * BMI160_ACCEL_ONLY | Accel self test enabled * BMI160_GYRO_ONLY | Gyro self test enabled * BMI160_BOTH_ACCEL_AND_GYRO | NOT TO BE USED * * @note The return value of this API gives us the result of self test. * * @note Performing self test does soft reset of the sensor, User can * set the desired settings after performing the self test. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error / +ve value -> Self-test fail * * Return value | Result of self test * --------------------------------|--------------------------------- * BMI160_OK | Self test success * BMI160_W_GYRO_SELF_TEST_FAIL | Gyro self test fail * BMI160_W_ACCEl_SELF_TEST_FAIL | Accel self test fail */ int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev); /*! * @brief This API reads data from the fifo buffer. * * @note User has to allocate the FIFO buffer along with * corresponding fifo length from his side before calling this API * as mentioned in the readme.md * * @note User must specify the number of bytes to read from the FIFO in * dev->fifo->length , It will be updated by the number of bytes actually * read from FIFO after calling this API * * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval zero -> Success / -ve value -> Error * */ int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev); /*! * @brief This API writes fifo_flush command to command register.This * action clears all data in the Fifo without changing fifo configuration * settings. * * @param[in] dev : Structure instance of bmi160_dev * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev); /*! @brief This API sets the FIFO configuration in the sensor. * * @param[in] config : variable used to specify the FIFO * configurations which are to be enabled or disabled in the sensor. * * @note : User can set either set one or more or all FIFO configurations * by ORing the below mentioned macros. * config | Value * ------------------------|--------------------------- * BMI160_FIFO_TIME | 0x02 * BMI160_FIFO_TAG_INT2 | 0x04 * BMI160_FIFO_TAG_INT1 | 0x08 * BMI160_FIFO_HEADER | 0x10 * BMI160_FIFO_AUX | 0x20 * BMI160_FIFO_ACCEL | 0x40 * BMI160_FIFO_GYRO | 0x80 * * @param[in] enable : Parameter used to enable or disable the above * FIFO configuration * @param[in] dev : Structure instance of bmi160_dev. * * @return status of bus communication result * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev); /*! @brief This API is used to configure the down sampling ratios of * the accel and gyro data for FIFO.Also, it configures filtered or * pre-filtered data for the fifo for accel and gyro. * * @param[in] fifo_down : variable used to specify the FIFO down * configurations which are to be enabled or disabled in the sensor. * * @note The user must select one among the following macros to * select down-sampling ratio for accel * config | Value * -------------------------------------|--------------------------- * BMI160_ACCEL_FIFO_DOWN_ZERO | 0x00 * BMI160_ACCEL_FIFO_DOWN_ONE | 0x10 * BMI160_ACCEL_FIFO_DOWN_TWO | 0x20 * BMI160_ACCEL_FIFO_DOWN_THREE | 0x30 * BMI160_ACCEL_FIFO_DOWN_FOUR | 0x40 * BMI160_ACCEL_FIFO_DOWN_FIVE | 0x50 * BMI160_ACCEL_FIFO_DOWN_SIX | 0x60 * BMI160_ACCEL_FIFO_DOWN_SEVEN | 0x70 * * @note The user must select one among the following macros to * select down-sampling ratio for gyro * * config | Value * -------------------------------------|--------------------------- * BMI160_GYRO_FIFO_DOWN_ZERO | 0x00 * BMI160_GYRO_FIFO_DOWN_ONE | 0x01 * BMI160_GYRO_FIFO_DOWN_TWO | 0x02 * BMI160_GYRO_FIFO_DOWN_THREE | 0x03 * BMI160_GYRO_FIFO_DOWN_FOUR | 0x04 * BMI160_GYRO_FIFO_DOWN_FIVE | 0x05 * BMI160_GYRO_FIFO_DOWN_SIX | 0x06 * BMI160_GYRO_FIFO_DOWN_SEVEN | 0x07 * * @note The user can enable filtered accel data by the following macro * config | Value * -------------------------------------|--------------------------- * BMI160_ACCEL_FIFO_FILT_EN | 0x80 * * @note The user can enable filtered gyro data by the following macro * config | Value * -------------------------------------|--------------------------- * BMI160_GYRO_FIFO_FILT_EN | 0x08 * * @note : By ORing the above mentioned macros, the user can select * the required FIFO down config settings * * @param[in] dev : Structure instance of bmi160_dev. * * @return status of bus communication result * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev); /*! * @brief This API sets the FIFO watermark level in the sensor. * * @note The FIFO watermark is issued when the FIFO fill level is * equal or above the watermark level and units of watermark is 4 bytes. * * @param[in] fifo_wm : Variable used to set the FIFO water mark level * @param[in] dev : Structure instance of bmi160_dev * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev); /*! * @brief This API parses and extracts the accelerometer frames from * FIFO data read by the "bmi160_get_fifo_data" API and stores it in * the "accel_data" structure instance. * * @note The bmi160_extract_accel API should be called only after * reading the FIFO data by calling the bmi160_get_fifo_data() API. * * @param[out] accel_data : Structure instance of bmi160_sensor_data * where the accelerometer data in FIFO is stored. * @param[in,out] accel_length : Number of valid accelerometer frames * (x,y,z axes data) read out from fifo. * @param[in] dev : Structure instance of bmi160_dev. * * @note accel_length is updated with the number of valid accelerometer * frames extracted from fifo (1 accel frame = 6 bytes) at the end of * execution of this API. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev); /*! * @brief This API parses and extracts the gyro frames from * FIFO data read by the "bmi160_get_fifo_data" API and stores it in * the "gyro_data" structure instance. * * @note The bmi160_extract_gyro API should be called only after * reading the FIFO data by calling the bmi160_get_fifo_data() API. * * @param[out] gyro_data : Structure instance of bmi160_sensor_data * where the gyro data in FIFO is stored. * @param[in,out] gyro_length : Number of valid gyro frames * (x,y,z axes data) read out from fifo. * @param[in] dev : Structure instance of bmi160_dev. * * @note gyro_length is updated with the number of valid gyro * frames extracted from fifo (1 gyro frame = 6 bytes) at the end of * execution of this API. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev); /*! * @brief This API parses and extracts the aux frames from * FIFO data read by the "bmi160_get_fifo_data" API and stores it in * the bmi160_aux_data structure instance. * * @note The bmi160_extract_aux API should be called only after * reading the FIFO data by calling the bmi160_get_fifo_data() API. * * @param[out] aux_data : Structure instance of bmi160_aux_data * where the aux data in FIFO is stored. * @param[in,out] aux_len : Number of valid aux frames (8bytes) * read out from FIFO. * @param[in] dev : Structure instance of bmi160_dev. * * @note aux_len is updated with the number of valid aux * frames extracted from fifo (1 aux frame = 8 bytes) at the end of * execution of this API. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail * */ int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev); /*! * @brief This API starts the FOC of accel and gyro * * @note FOC should not be used in low-power mode of sensor * * @note Accel FOC targets values of +1g , 0g , -1g * Gyro FOC always targets value of 0 dps * * @param[in] foc_conf : Structure instance of bmi160_foc_conf which * has the FOC configuration * @param[in,out] offset : Structure instance to store Offset * values read from sensor * @param[in] dev : Structure instance of bmi160_dev. * * @note Pre-requisites for triggering FOC in accel , Set the following, * Enable the acc_off_en * Ex : foc_conf.acc_off_en = BMI160_ENABLE; * * Set the desired target values of FOC to each axes (x,y,z) by using the * following macros * - BMI160_FOC_ACCEL_DISABLED * - BMI160_FOC_ACCEL_POSITIVE_G * - BMI160_FOC_ACCEL_NEGATIVE_G * - BMI160_FOC_ACCEL_0G * * Ex : foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G; * foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G; * foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G; * * @note Pre-requisites for triggering FOC in gyro , * Set the following parameters, * * Ex : foc_conf.foc_gyr_en = BMI160_ENABLE; * foc_conf.gyro_off_en = BMI160_ENABLE; * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail */ int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf, struct bmi160_offsets *offset, struct bmi160_dev const *dev); /*! * @brief This API reads and stores the offset values of accel and gyro * * @param[in,out] offset : Structure instance of bmi160_offsets in which * the offset values are read and stored * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail */ int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev); /*! * @brief This API writes the offset values of accel and gyro to * the sensor but these values will be reset on POR or soft reset. * * @param[in] foc_conf : Structure instance of bmi160_foc_conf which * has the FOC configuration * @param[in] offset : Structure instance in which user updates offset * values which are to be written in the sensor * @param[in] dev : Structure instance of bmi160_dev. * * @note Offsets can be set by user like offset->off_acc_x = 10; * where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second * * @note BMI160 offset values for xyz axes of accel should be within range of * BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127) * * @note BMI160 offset values for xyz axes of gyro should be within range of * BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511) * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail */ int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf, const struct bmi160_offsets *offset, struct bmi160_dev const *dev); /*! * @brief This API writes the image registers values to NVM which is * stored even after POR or soft reset * * @param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail */ int8_t bmi160_update_nvm(struct bmi160_dev const *dev); /*! * @brief This API gets the interrupt status from the sensor. * * @param[in] int_status_sel : Enum variable to select either individual or all the * interrupt status bits. * @param[in] int_status : pointer variable to get the interrupt status * from the sensor. * param[in] dev : Structure instance of bmi160_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval Any non zero value -> Fail */ int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel, union bmi160_int_status *int_status, struct bmi160_dev const *dev); /*************************** C++ guard macro *****************************/ #ifdef __cplusplus } #endif #endif /* BMI160_H_ */ /** @}*/