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993 lines
33 KiB
C
993 lines
33 KiB
C
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/**
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* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
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*
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* BSD-3-Clause
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
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* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* @file bmi160.h
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* @date 2021-10-05
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* @version v3.9.2
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*
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*/
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/*!
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* @defgroup bmi160 BMI160
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*/
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#ifndef BMI160_H_
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#define BMI160_H_
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/*************************** C++ guard macro *****************************/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "bmi160_defs.h"
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#ifdef __KERNEL__
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#include <bmi160_math.h>
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#else
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#endif
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/*********************** User function prototypes ************************/
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiInit Initialization
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* @brief Initialize the sensor and device structure
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*/
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/*!
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* \ingroup bmi160ApiInit
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* \page bmi160_api_bmi160_init bmi160_init
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* \code
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* int8_t bmi160_init(struct bmi160_dev *dev);
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* \endcode
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* @details This API is the entry point for sensor.It performs
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* the selection of I2C/SPI read mechanism according to the
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* selected interface and reads the chip-id of bmi160 sensor.
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*
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* @param[in,out] dev : Structure instance of bmi160_dev
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_init(struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiRegs Registers
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* @brief Read data from the given register address of sensor
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*/
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/*!
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* \ingroup bmi160ApiRegs
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* \page bmi160_api_bmi160_get_regs bmi160_get_regs
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* \code
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* int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
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* \endcode
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* @details This API reads the data from the given register address of sensor.
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*
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* @param[in] reg_addr : Register address from where the data to be read
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* @param[out] data : Pointer to data buffer to store the read data.
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* @param[in] len : No of bytes of data to be read.
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @note For most of the registers auto address increment applies, with the
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* exception of a few special registers, which trap the address. For e.g.,
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* Register address - 0x24(BMI160_FIFO_DATA_ADDR)
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t
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bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiRegs
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* \page bmi160_api_bmi160_set_regs bmi160_set_regs
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* \code
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* int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
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* \endcode
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* @details This API writes the given data to the register address
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* of sensor.
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*
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* @param[in] reg_addr : Register address from where the data to be written.
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* @param[in] data : Pointer to data buffer which is to be written
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* in the sensor.
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* @param[in] len : No of bytes of data to write..
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t
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bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiSoftreset Soft reset
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* @brief Perform soft reset of the sensor
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*/
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/*!
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* \ingroup bmi160ApiSoftreset
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* \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
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* \code
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* int8_t bmi160_soft_reset(struct bmi160_dev *dev);
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* \endcode
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* @details This API resets and restarts the device.
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* All register values are overwritten with default parameters.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_soft_reset(struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiConfig Configuration
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* @brief Configuration of the sensor
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*/
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/*!
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* \ingroup bmi160ApiConfig
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* \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
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* \code
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* int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
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* \endcode
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* @details This API configures the power mode, range and bandwidth
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* of sensor.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiConfig
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* \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
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* \code
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* int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
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* \endcode
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* @details This API gets accel and gyro configurations.
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*
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* @param[out] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiPowermode Power mode
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* @brief Set / Get power mode of the sensor
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*/
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/*!
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* \ingroup bmi160ApiPowermode
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* \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
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* \code
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* int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
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* \endcode
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* @details This API sets the power mode of the sensor.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiPowermode
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* \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
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* \code
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* int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
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* \endcode
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* @details This API gets the power mode of the sensor.
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*
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiData Sensor Data
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* @brief Read sensor data
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*/
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/*!
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* \ingroup bmi160ApiData
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* \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
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* \code
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* int8_t bmi160_get_sensor_data(uint8_t select_sensor,
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* struct bmi160_sensor_data *accel,
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* struct bmi160_sensor_data *gyro,
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* const struct bmi160_dev *dev);
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*
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* \endcode
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* @details This API reads sensor data, stores it in
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* the bmi160_sensor_data structure pointer passed by the user.
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* The user can ask for accel data ,gyro data or both sensor
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* data using bmi160_select_sensor enum
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*
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* @param[in] select_sensor : enum to choose accel,gyro or both sensor data
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* @param[out] accel : Structure pointer to store accel data
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* @param[out] gyro : Structure pointer to store gyro data
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_get_sensor_data(
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uint8_t select_sensor,
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struct bmi160_sensor_data* accel,
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struct bmi160_sensor_data* gyro,
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const struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiInt Interrupt configuration
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* @brief Set interrupt configuration of the sensor
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*/
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/*!
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* \ingroup bmi160ApiInt
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* \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
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* \code
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* int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
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* \endcode
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* @details This API configures the necessary interrupt based on
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* the user settings in the bmi160_int_settg structure instance.
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*
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* @param[in] int_config : Structure instance of bmi160_int_settg.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiStepC Step counter
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* @brief Step counter operations
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*/
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/*!
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* \ingroup bmi160ApiStepC
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* \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
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* \code
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* int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
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* \endcode
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* @details This API enables the step counter feature.
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*
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* @param[in] step_cnt_enable : value to enable or disable
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiStepC
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* \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
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* \code
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* int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
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* \endcode
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* @details This API reads the step counter value.
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*
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* @param[in] step_val : Pointer to store the step counter value.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
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/**
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* \ingroup bmi160
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* \defgroup bmi160ApiAux Auxiliary sensor
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* @brief Auxiliary sensor operations
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*/
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/*!
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* \ingroup bmi160ApiAux
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* \page bmi160_api_bmi160_aux_read bmi160_aux_read
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* \code
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* int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
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* \endcode
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* @details This API reads the mention no of byte of data from the given
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* register address of auxiliary sensor.
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*
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* @param[in] reg_addr : Address of register to read.
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* @param[in] aux_data : Pointer to store the read data.
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* @param[in] len : No of bytes to read.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_aux_read(
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uint8_t reg_addr,
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uint8_t* aux_data,
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uint16_t len,
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const struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiAux
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* \page bmi160_api_bmi160_aux_write bmi160_aux_write
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* \code
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* int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
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* \endcode
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* @details This API writes the mention no of byte of data to the given
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* register address of auxiliary sensor.
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*
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* @param[in] reg_addr : Address of register to write.
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* @param[in] aux_data : Pointer to write data.
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* @param[in] len : No of bytes to write.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval Zero Success
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* @retval Negative Error
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*/
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int8_t bmi160_aux_write(
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uint8_t reg_addr,
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uint8_t* aux_data,
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uint16_t len,
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const struct bmi160_dev* dev);
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/*!
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* \ingroup bmi160ApiAux
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* \page bmi160_api_bmi160_aux_init bmi160_aux_init
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* \code
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* int8_t bmi160_aux_init(const struct bmi160_dev *dev);
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* \endcode
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* @details This API initialize the auxiliary sensor
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* in order to access it.
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*
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||
|
* @param[in] dev : Structure instance of bmi160_dev.
|
||
|
* @note : Refer user guide for detailed info.
|
||
|
*
|
||
|
* @return Result of API execution status
|
||
|
* @retval Zero Success
|
||
|
* @retval Negative Error
|
||
|
*/
|
||
|
int8_t bmi160_aux_init(const struct bmi160_dev* dev);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiAux
|
||
|
* \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
|
||
|
* \code
|
||
|
* int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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
|
||
|
*
|
||
|
*@verbatim
|
||
|
* 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
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use
|
||
|
*
|
||
|
* @return Result of API execution status
|
||
|
* @retval Zero Success
|
||
|
* @retval Negative Error
|
||
|
*/
|
||
|
int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiAux
|
||
|
* \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
|
||
|
* \code
|
||
|
* int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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
|
||
|
* @retval Negative Error
|
||
|
*/
|
||
|
int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiAux
|
||
|
* \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
|
||
|
* \code
|
||
|
* int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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
|
||
|
*
|
||
|
* @retval zero -> Success / -ve value -> Error
|
||
|
* @retval Zero Success
|
||
|
* @retval Negative Error
|
||
|
*/
|
||
|
int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiSelfTest Self test
|
||
|
* @brief Perform self test of the sensor
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiSelfTest
|
||
|
* \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
|
||
|
* \code
|
||
|
* int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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.
|
||
|
*
|
||
|
*@verbatim
|
||
|
* 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
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @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 BMI160_OK Self test success
|
||
|
* @retval BMI160_W_GYRO_SELF_TEST_FAIL Gyro self test fail
|
||
|
* @retval BMI160_W_ACCEl_SELF_TEST_FAIL Accel self test fail
|
||
|
*/
|
||
|
int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiFIFO FIFO
|
||
|
* @brief FIFO operations of the sensor
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
|
||
|
* \code
|
||
|
* int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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
|
||
|
* @retval Negative Error
|
||
|
*/
|
||
|
int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
|
||
|
* \code
|
||
|
* int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
|
||
|
* \code
|
||
|
* int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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.
|
||
|
*
|
||
|
*@verbatim
|
||
|
* 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
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
|
||
|
* \code
|
||
|
* int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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
|
||
|
*
|
||
|
*@verbatim
|
||
|
* 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
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @note The user must select one among the following macros to
|
||
|
* select down-sampling ratio for gyro
|
||
|
*
|
||
|
*@verbatim
|
||
|
* 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
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @note The user can enable filtered accel data by the following macro
|
||
|
*
|
||
|
*@verbatim
|
||
|
* config | Value
|
||
|
* -------------------------------------|---------------------------
|
||
|
* BMI160_ACCEL_FIFO_FILT_EN | 0x80
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @note The user can enable filtered gyro data by the following macro
|
||
|
*
|
||
|
*@verbatim
|
||
|
* config | Value
|
||
|
* -------------------------------------|---------------------------
|
||
|
* BMI160_GYRO_FIFO_FILT_EN | 0x08
|
||
|
*@endverbatim
|
||
|
*
|
||
|
* @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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
|
||
|
* \code
|
||
|
* int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details This API sets the FIFO watermark level in the sensor.
|
||
|
*
|
||
|
* @note The FIFO watermark is issued when the FIFO fill level is
|
||
|
* equal or above the watermark level 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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
|
||
|
* \code
|
||
|
* int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
|
||
|
**dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
|
||
|
* \code
|
||
|
* int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFIFO
|
||
|
* \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
|
||
|
* \code
|
||
|
* int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiFOC FOC
|
||
|
* @brief Start FOC of accel and gyro sensors
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiFOC
|
||
|
* \page bmi160_api_bmi160_start_foc bmi160_start_foc
|
||
|
* \code
|
||
|
* int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiOffsets Offsets
|
||
|
* @brief Set / Get offset values of accel and gyro sensors
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiOffsets
|
||
|
* \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
|
||
|
* \code
|
||
|
* int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiOffsets
|
||
|
* \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
|
||
|
* \code
|
||
|
* int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
|
||
|
* const struct bmi160_offsets *offset,
|
||
|
* struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiNVM NVM
|
||
|
* @brief Write image registers values to NVM
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiNVM
|
||
|
* \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
|
||
|
* \code
|
||
|
* int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
|
||
|
* \endcode
|
||
|
* @details 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);
|
||
|
|
||
|
/**
|
||
|
* \ingroup bmi160
|
||
|
* \defgroup bmi160ApiInts Interrupt status
|
||
|
* @brief Read interrupt status from the sensor
|
||
|
*/
|
||
|
|
||
|
/*!
|
||
|
* \ingroup bmi160ApiInts
|
||
|
* \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
|
||
|
* \code
|
||
|
* 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);
|
||
|
* \endcode
|
||
|
* @details 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_ */
|