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Merge pull request #10715 from mikeller/update_bmi270_config 

Switched to 'maximum FIFO' version of the BMI270 microcode.
This commit is contained in:
Michael Keller 2021-05-17 23:57:50 +12:00 committed by GitHub
parent da0b585909 53187c5367
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10
lib/main/BoschSensortec/BMI270-Sensor-API/LICENSE
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@ -6,15 +6,15 @@ Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
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

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lib/main/BoschSensortec/BMI270-Sensor-API/OIS_README.md Normal file
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@ -0,0 +1,170 @@
# Sensor API for the BMI2's OIS interface
## Table of Contents
- [Introduction](#Intro)
- [Integration details](#Integration)
- [Driver files information](#file)
- [Sensor interfaces](#interface)
- [Integration Examples](#examples)
### Introduction<a name=Intro></a>
This package contains Bosch Sensortec's BMI2 Sensor API.
### Integration details<a name=Integration></a>
- Integrate _bmi2.c_, _bmi2.h_, _bmi2_ois.c_, _bmi2_ois.h_, _bmi2_defs.h_ and the required variant files in your project.
- User has to include _bmi2_ois.h_ in the code to call OIS related APIs and a _variant header_ for initialization as
well as BMI2 related API calls, as shown below:
``` c
#include "bmi270.h"
#include "bmi2_ois.h"
````
### Driver files information<a name=file></a>
- *_bmi2_ois.c_*
* This file has function definitions of OIS related API interfaces.
- *_bmi2_ois.h_*
* This header file has necessary include files, function declarations, required to make OIS related API calls.
### Sensor interfaces<a name=interface></a>
#### _Host Interface_
- I2C interface
- SPI interface
_Note: By default, the interface is I2C._
#### _OIS Interface_
- SPI interface
### Integration examples<a name=examples></a>
#### Configuring SPI/I2C for host interface.
To configure host interface, an instance of the bmi2_dev structure should be
created for initializing BMI2 sensor. "_Refer **README** for initializing BMI2
sensor._"
#### Configuring SPI for OIS interface.
To configure OIS interface, an instance of the bmi2_ois_dev structure should be
created. The following parameters are required to be updated in the structure,
by the user.
Parameters | Details
--------------|-----------------------------------
_intf_ptr_ | device address reference of SPI interface
_ois_read_ | read through SPI interface
_ois_write_ | read through SPI interface
_ois_delay_us_| delay in micro seconds
_acc_en_ | for enabling accelerometer
_gyr_en_ | for enabling gyroscope
``` c
int8_t rslt = 0;
struct bmi2_ois_dev ois_dev = {
.intf_ptr = intf_ptr will contain the chip selection info of SPI CS pin,
.ois_read = user_spi_reg_read,
.ois_write = user_spi_reg_write,
.ois_delay_us = user_delay_us
};
```
>**_Important Note_**: For initializing and configuring BMI2 sensors, which is
done through host interface, the API's are to be used from bmi2.c file. Rest
of the API's, for OIS configurations and the reading of OIS data, which is done
through OIS interface, are to be used from bmi2_ois.c file.
##### Get accelerometer and gyroscope data through OIS interface
``` c
int8_t rslt;
/* Array to enable sensor through host interface */
uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
/* Array to enable sensor through OIS interface */
uint8_t sens_sel[2] = {BMI2_OIS_ACCEL, BMI2_OIS_GYRO};
/* Initialize the configuration structure */
struct bmi2_sens_config sens_cfg = {0};
/* Initialize BMI2 */
rslt = bmi2_init(&dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Enable accelerometer and gyroscope through host interface */
rslt = bmi270_sensor_enable(sens_list, 2, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Setting of OIS Range is done through host interface */
/* Select the gyroscope sensor for OIS Range configuration */
sens_cfg.type = BMI2_GYRO;
/* Get gyroscope configuration */
rslt = bmi2_get_sensor_config(&sens_cfg, 1, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Set the desired OIS Range */
sens_cfg.cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
/* Set gyroscope configuration for default values */
rslt = bmi2_set_sensor_config(&sens_cfg, 1, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Enable OIS through host interface */
rslt = bmi2_set_ois_interface(BMI2_ENABLE, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Disable Advance Power Save Mode through host interface */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Get configurations for OIS through OIS interface for default values */
rslt = bmi2_ois_get_config(&ois_dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
/* Enable accelerometer and gyroscope for reading OIS data */
ois_dev.acc_en = BMI2_ENABLE;
ois_dev.gyr_en = BMI2_ENABLE;
/* Set configurations for OIS through OIS interface */
rslt = bmi2_ois_set_config(&ois_dev);
if (rslt == BMI2_OK) {
/* Get OIS accelerometer and gyroscope data through OIS interface */
rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev);
if (rslt == BMI2_OK) {
/* Print accelerometer data */
printf("OIS Accel x-axis = %d\t", ois_dev.acc_data.x);
printf("OIS Accel y-axis= %d\t", ois_dev.acc_data.y);
printf("OIS Accel z-axis = %d\r\n", ois_dev.acc_data.z);
/* Print gyroscope data */
printf("OIS Gyro x-axis = %d\t", ois_dev.gyr_data.x);
printf("OIS Gyro y-axis= %d\t", ois_dev.gyr_data.y);
printf("OIS Gyro z-axis = %d\r\n", ois_dev.gyr_data.z);
}
}
if (rslt != BMI2_OK) {
printf("Error code: %d\n", rslt);
return;
}
/* Enable Advance Power Save Mode through host interface */
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, &dev);
if (rslt != BMI2_OK) {
printf("Error: %d\n", rslt);
return;
}
```

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lib/main/BoschSensortec/BMI270-Sensor-API/README.md
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@ -2,18 +2,13 @@ BMI2xy Sensor API
> This package contains BMI2xy sensor API
**Note : When updating from 2.19.0 to 2.34.0, the gyroscope offset calibration data cannot be reused. In case of a permanently stored gyroscope offset (inside the sensor NVM or on the host), please perform calibration again with API version 2.34.0.
## Sensor Overview
The BMI2xy is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
### Features
- Indoor navigation, pedestrian dead-reckoning, step-counting
For more information refer [product page](https://www.bosch-sensortec.com/bst/products/all_products/bmi270)
For more information refer product page [Link](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270.html)
---
#### Copyright (C) 2019 Bosch Sensortec GmbH
---
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lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
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@ -3,4 +3,7 @@ This library is used to support the Bosch BMI270 gyro sensor (see drivers/accgyr
Library download location:
https://github.com/BoschSensortec/BMI270-Sensor-API
The only file that is compiled as part of Betaflight is bmi270.c. This file contains the device microcode that must be uploaded during initialization.
Version:
2.63.1
The only file that is compiled as part of Betaflight is bmi270_maximum_fifo.c. This file contains the device microcode that must be uploaded during initialization.

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lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.h
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@ -30,11 +30,19 @@
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270.h
* @date 2020-01-10
* @version v2.46.1
* @file bmi270.h
* @date 2020-11-04
* @version v2.63.1
*
*/#ifndef BMI270_H_
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270 BMI270
* @brief Sensor driver for BMI270 sensor
*/
#ifndef BMI270_H_
#define BMI270_H_
/*! CPP guard */
@ -54,57 +62,82 @@ extern "C" {
****************************************************************************/
/*! @name BMI270 Chip identifier */
#define BMI270_CHIP_ID UINT8_C(0x24)
#define BMI270_CHIP_ID UINT8_C(0x24)
/*! @name BMI270 feature input start addresses */
#define BMI270_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02)
#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x03)
#define BMI270_ABORT_STRT_ADDR UINT8_C(0x03)
#define BMI270_AXIS_MAP_STRT_ADDR UINT8_C(0x04)
#define BMI270_GYRO_SELF_OFF_STRT_ADDR UINT8_C(0x05)
#define BMI270_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05)
#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06)
#define BMI270_ANY_MOT_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NO_MOT_STRT_ADDR UINT8_C(0x00)
#define BMI270_SIG_MOT_STRT_ADDR UINT8_C(0x04)
#define BMI270_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_WRIST_GEST_STRT_ADDR UINT8_C(0x06)
#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x00)
#define BMI270_CONFIG_ID_STRT_ADDR UINT8_C(0x00)
#define BMI270_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02)
#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x03)
#define BMI270_ABORT_STRT_ADDR UINT8_C(0x03)
#define BMI270_AXIS_MAP_STRT_ADDR UINT8_C(0x04)
#define BMI270_GYRO_SELF_OFF_STRT_ADDR UINT8_C(0x05)
#define BMI270_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05)
#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06)
#define BMI270_ANY_MOT_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NO_MOT_STRT_ADDR UINT8_C(0x00)
#define BMI270_SIG_MOT_STRT_ADDR UINT8_C(0x04)
#define BMI270_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_WRIST_GEST_STRT_ADDR UINT8_C(0x06)
#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x00)
/*! @name BMI270 feature output start addresses */
#define BMI270_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06)
#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08)
#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
#define BMI270_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06)
#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08)
#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
/*! @name Defines maximum number of pages */
#define BMI270_MAX_PAGE_NUM UINT8_C(8)
#define BMI270_MAX_PAGE_NUM UINT8_C(8)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_MAX_FEAT_IN UINT8_C(16)
#define BMI270_MAX_FEAT_IN UINT8_C(17)
/*! @name Defines maximum number of feature outputs */
#define BMI270_MAX_FEAT_OUT UINT8_C(7)
#define BMI270_MAX_FEAT_OUT UINT8_C(7)
/*! @name Mask definitions for feature interrupt status bits */
#define BMI270_SIG_MOT_STATUS_MASK UINT8_C(0x01)
#define BMI270_STEP_CNT_STATUS_MASK UINT8_C(0x02)
#define BMI270_STEP_ACT_STATUS_MASK UINT8_C(0x04)
#define BMI270_WRIST_WAKE_UP_STATUS_MASK UINT8_C(0x08)
#define BMI270_WRIST_GEST_STATUS_MASK UINT8_C(0x10)
#define BMI270_NO_MOT_STATUS_MASK UINT8_C(0x20)
#define BMI270_ANY_MOT_STATUS_MASK UINT8_C(0x40)
#define BMI270_SIG_MOT_STATUS_MASK UINT8_C(0x01)
#define BMI270_STEP_CNT_STATUS_MASK UINT8_C(0x02)
#define BMI270_STEP_ACT_STATUS_MASK UINT8_C(0x04)
#define BMI270_WRIST_WAKE_UP_STATUS_MASK UINT8_C(0x08)
#define BMI270_WRIST_GEST_STATUS_MASK UINT8_C(0x10)
#define BMI270_NO_MOT_STATUS_MASK UINT8_C(0x20)
#define BMI270_ANY_MOT_STATUS_MASK UINT8_C(0x40)
/*! @name Mask definitions for feature interrupt mapping bits */
#define BMI270_INT_SIG_MOT_MASK UINT8_C(0x01)
#define BMI270_INT_STEP_COUNTER_MASK UINT8_C(0x02)
#define BMI270_INT_STEP_DETECTOR_MASK UINT8_C(0x02)
#define BMI270_INT_STEP_ACT_MASK UINT8_C(0x04)
#define BMI270_INT_WRIST_WEAR_WAKEUP_MASK UINT8_C(0x08)
#define BMI270_INT_WRIST_GEST_MASK UINT8_C(0x10)
#define BMI270_INT_NO_MOT_MASK UINT8_C(0x20)
#define BMI270_INT_ANY_MOT_MASK UINT8_C(0x40)
/*! @name Defines maximum number of feature interrupts */
#define BMI270_MAX_INT_MAP UINT8_C(8)
/***************************************************************************/
/*! BMI270 User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270
* \defgroup bmi270ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* @brief This API:
* \ingroup bmi270ApiInit
* \page bmi270_api_bmi270_init bmi270_init
* \code
* int8_t bmi270_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270 sensor.
* 3) Writes the configuration file.
@ -114,14 +147,271 @@ extern "C" {
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
*
* @retval BMI2_OK - Success
* @retval BMI2_E_NULL_PTR - Error: Null pointer error
* @retval BMI2_E_COM_FAIL - Error: Communication fail
* @retval BMI2_E_DEV_NOT_FOUND - Invalid device
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_init(struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi270ApiSensor
* \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable
* \code
* int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_GYRO_SELF_OFF | 33
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiSensor
* \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable
* \code
* int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_GYRO_SELF_OFF | 33
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi270ApiSensorC
* \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config
* \code
* int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiSensorC
* \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config
* \code
* int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi270ApiSensorD
* \page bmi270_api_bmi270_get_sensor_data bmi270_get_sensor_data
* \code
* int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature data for accelerometer, gyroscope,
* auxiliary sensor, step counter, high-g, gyroscope user-gain update,
* orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
*
* @param[out] sensor_data : Structure instance of bmi2_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_NVM_STATUS | 38
* BMI2_VFRM_STATUS | 39
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiGyroUG Gyro User Gain
* @brief Set / Get Gyro User Gain of the sensor
*/
/*!
* \ingroup bmi270ApiGyroUG
* \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain
* \code
* int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
* \endcode
* @details This API updates the gyroscope user-gain.
*
* @param[in] user_gain : Structure that stores user-gain configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiGyroUG
* \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain
* \code
* int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the compensated gyroscope user-gain values.
*
* @param[out] gyr_usr_gain : Structure that stores gain values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiInt
* \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int
* \code
* int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] n_sens : Number of interrupts to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/

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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270_context.h
* @date 2020-11-04
* @version v2.63.1
*
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270_context BMI270_CONTEXT
* @brief Sensor driver for BMI270_CONTEXT sensor
*/
#ifndef BMI270_CONTEXT_H_
#define BMI270_CONTEXT_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Macro definitions
****************************************************************************/
/*! @name BMI270_CONTEXT Chip identifier */
#define BMI270_CONTEXT_CHIP_ID UINT8_C(0x24)
/*! @name BMI270_CONTEXT feature input start addresses */
#define BMI270_CONTEXT_CONFIG_ID_STRT_ADDR UINT8_C(0x06)
#define BMI270_CONTEXT_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_CONTEXT_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_CONTEXT_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x08)
#define BMI270_CONTEXT_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x09)
#define BMI270_CONTEXT_ABORT_STRT_ADDR UINT8_C(0x09)
#define BMI270_CONTEXT_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x0A)
#define BMI270_CONTEXT_ACT_RGN_SETT_STRT_ADDR UINT8_C(0x00)
#define BMI270_CONTEXT_ACT_RGN_STRT_ADDR UINT8_C(0x0A)
/*! @name BMI270_CONTEXT feature output start addresses */
#define BMI270_CONTEXT_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_CONTEXT_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_CONTEXT_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_CONTEXT_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
/*! @name Defines maximum number of pages */
#define BMI270_CONTEXT_MAX_PAGE_NUM UINT8_C(8)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_CONTEXT_MAX_FEAT_IN UINT8_C(10)
/*! @name Defines maximum number of feature outputs */
#define BMI270_CONTEXT_MAX_FEAT_OUT UINT8_C(5)
/*! @name Mask definitions for feature interrupt status bits */
#define BMI270_CONTEXT_STEP_CNT_STATUS_MASK UINT8_C(0x01)
/*! @name Mask definitions for feature interrupt mapping bits */
#define BMI270_C_INT_STEP_COUNTER_MASK UINT8_C(0x01)
#define BMI270_C_INT_STEP_DETECTOR_MASK UINT8_C(0x01)
/*! @name Defines maximum number of feature interrupts */
#define BMI270_C_MAX_INT_MAP UINT8_C(2)
/***************************************************************************/
/*! BMI270_CONTEXT User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270_context
* \defgroup bmi270_contextApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi270_contextApiInit
* \page bmi270_context_api_bmi270_context_init bmi270_context_init
* \code
* int8_t bmi270_context_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270_CONTEXT sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_init(struct bmi2_dev *dev);
/**
* \ingroup bmi270_context
* \defgroup bmi270_contextApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi270_contextApiSensor
* \page bmi270_context_api_bmi270_context_sensor_enable bmi270_context_sensor_enable
* \code
* int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_ACTIVITY_RECOGNITION | 34
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_contextApiSensor
* \page bmi270_context_api_bmi270_context_sensor_disable bmi270_context_sensor_disable
* \code
* int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_ACTIVITY_RECOGNITION | 34
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_context
* \defgroup bmi270_contextApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi270_contextApiSensorC
* \page bmi270_context_api_bmi270_context_set_sensor_config bmi270_context_set_sensor_config
* \code
* int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_contextApiSensorC
* \page bmi270_context_api_bmi270_context_get_sensor_config bmi270_context_get_sensor_config
* \code
* int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_context
* \defgroup bmi270_contextApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi270_contextApiSensorD
* \page bmi270_context_api_bmi270_context_get_sensor_data bmi270_context_get_sensor_data
* \code
* int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature data for accelerometer, gyroscope,
* auxiliary sensor, step counter, high-g, gyroscope user-gain update,
* orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
*
* @param[out] sensor_data : Structure instance of bmi2_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ---------------------|-----------
* BMI2_STEP_COUNTER | 7
* BMI2_NVM_STATUS | 38
* BMI2_VFRM_STATUS | 39
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_context
* \defgroup bmi270_contextApiARecog Activity recognition settings
* @brief Set / Get activity recognition settings of the sensor
*/
/*!
* \ingroup bmi270_contextApiARecog
* \page bmi270_context_api_bmi270_context_get_act_recg_sett bmi270_context_get_act_recg_sett
* \code
* int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
* \endcode
* @details This api is used for retrieving the following activity recognition settings currently set.
* enable/disable post processing(0/1) by default -> 1(enable),
* Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
* max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
* buffer size for post processing. range (1-0x0A) default -> (0x0A)
* min segment confidence. range (1-0x0A) default -> (0x0A)
*
* @param[in] sett : Structure instance of bmi2_act_recg_sett.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_get_act_recg_sett(struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_contextApiARecog
* \page bmi270_context_api_bmi270_context_set_act_recg_sett bmi270_context_set_act_recg_sett
* \code
* int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
* \endcode
* @details This api is used for setting the following activity recognition settings
* enable/disable post processing(0/1) by default -> 1(enable),
* Setting the min & max Gini's diversity index (GDI) threshold. min_GDI_tres(0-0XFFFF) by default ->(0x06e1)
* max_GDI_tres(0-0xFFFF) by default ->(0x0A66)
* buffer size for post processing. range (1-0x0A) default -> (0x0A)
* min segment confidence. range (1-0x0A) default -> (0x0A)
*
* @param[in] sett : Structure instance of bmi2_act_recg_sett.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_set_act_recg_sett(const struct bmi2_act_recg_sett *sett, struct bmi2_dev *dev);
/**
* \ingroup bmi270_contex
* \defgroup bmi270_contextApiactOut Activity Output
* @brief Activity output operations of the sensor
*/
/*!
* \ingroup bmi270_contextApiactOut
* \page bmi270_context_api_bmi270_context_get_act_recog_output bmi270_context_get_act_recog_output
* \code
* int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
* uint16_t *act_frm_len,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
*
* \endcode
* @details This internal API is used to parse the activity output from the
* FIFO in header mode.
*
* @param[out] act_recog : Pointer to buffer where the parsed activity data
* bytes are stored.
* @param[in] act_frm_len : Number of activity frames parsed.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
* ----------------------------------------------------------------------------
* bmi2_act_rec_output |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* time_stamp | time-stamp (expressed in 50Hz ticks)
* -------------------------|---------------------------------------------------
* type | Type of activity
* -------------------------|---------------------------------------------------
* stat | Activity status
* -------------------------|---------------------------------------------------
* @endverbatim
*
*@verbatim
* type | Activities
*----------|---------------------
* 0 | UNKNOWN
* 1 | STILL
* 2 | WALK
* 3 | RUN
* 4 | BIKE
* 5 | VEHICLE
* 6 | TILTED
*@endverbatim
*
*
*@verbatim
* stat | Activity status
*----------|---------------------
* 1 | START
* 2 | END
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
uint16_t *act_frm_len,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/**
* \ingroup bmi270_contex
* \defgroup bmi270_contextApiGyroUG Gyro User Gain
* @brief Set / Get Gyro User Gain of the sensor
*/
/*!
* \ingroup bmi270_contextApiGyroUG
* \page bmi270_context_api_bmi270_context_update_gyro_user_gain bmi270_context_update_gyro_user_gain
* \code
* int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
* \endcode
* @details This API updates the gyroscope user-gain.
*
* @param[in] user_gain : Structure that stores user-gain configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_contextApiGyroUG
* \page bmi270_context_api_bmi270_context_read_gyro_user_gain bmi270_context_read_gyro_user_gain
* \code
* int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the compensated gyroscope user-gain values.
*
* @param[out] gyr_usr_gain : Structure that stores gain values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_contextApiInt
* \page bmi270_context_api_bmi270_context_map_feat_int bmi270_context_map_feat_int
* \code
* int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] n_sens : Number of interrupts to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_context_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI270_CONTEXT_H_ */

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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270_hc.h
* @date 2020-11-04
* @version v2.63.1
*
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270_hc BMI270_HC
* @brief Sensor driver for BMI270_HC sensor
*/
#ifndef BMI270_HC_H_
#define BMI270_HC_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Macro definitions
****************************************************************************/
/*! @name BMI270_HC Chip identifier */
#define BMI270_HC_CHIP_ID UINT8_C(0x24)
/*! @name BMI270_HC feature input start addresses */
#define BMI270_HC_CONFIG_ID_STRT_ADDR UINT8_C(0x06)
#define BMI270_HC_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_HC_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_HC_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x08)
#define BMI270_HC_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x09)
#define BMI270_HC_ABORT_STRT_ADDR UINT8_C(0x09)
#define BMI270_HC_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x0A)
#define BMI270_HC_ACT_RGN_SETT_STRT_ADDR UINT8_C(0x02)
#define BMI270_HC_ACT_RGN_STRT_ADDR UINT8_C(0x00)
/*! @name BMI270_HC feature output start addresses */
#define BMI270_HC_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_HC_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_HC_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_HC_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
/*! @name Defines maximum number of pages */
#define BMI270_HC_MAX_PAGE_NUM UINT8_C(8)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_HC_MAX_FEAT_IN UINT8_C(10)
/*! @name Defines maximum number of feature outputs */
#define BMI270_HC_MAX_FEAT_OUT UINT8_C(5)
/*! @name Mask definitions for feature interrupt status bits */
#define BMI270_HC_STEP_CNT_STATUS_MASK UINT8_C(0x01)
/*! @name Mask definitions for feature interrupt mapping bits */
#define BMI270_HC_INT_STEP_COUNTER_MASK UINT8_C(0x01)
#define BMI270_HC_INT_STEP_DETECTOR_MASK UINT8_C(0x01)
/*! @name Defines maximum number of feature interrupts */
#define BMI270_HC_MAX_INT_MAP UINT8_C(2)
/***************************************************************************/
/*! BMI270_HC User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi270_hcApiInit
* \page bmi270_hc_api_bmi270_hc_init bmi270_hc_init
* \code
* int8_t bmi270_hc_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270_HC sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_init(struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi270_hcApiSensor
* \page bmi270_hc_api_bmi270_hc_sensor_enable bmi270_hc_sensor_enable
* \code
* int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_ACTIVITY_RECOGNITION | 34
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_hcApiSensor
* \page bmi270_hc_api_bmi270_hc_sensor_disable bmi270_hc_sensor_disable
* \code
* int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_ACTIVITY_RECOGNITION | 34
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi270_hcApiSensorC
* \page bmi270_hc_api_bmi270_hc_set_sensor_config bmi270_hc_set_sensor_config
* \code
* int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_hcApiSensorC
* \page bmi270_hc_api_bmi270_hc_get_sensor_config bmi270_hc_get_sensor_config
* \code
* int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi270_hcApiSensorD
* \page bmi270_hc_api_bmi270_hc_get_sensor_data bmi270_hc_get_sensor_data
* \code
* int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature data for accelerometer, gyroscope,
* auxiliary sensor, step counter, high-g, gyroscope user-gain update,
* orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
*
* @param[out] sensor_data : Structure instance of bmi2_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ---------------------|-----------
* BMI2_STEP_COUNTER | 7
* BMI2_NVM_STATUS | 38
* BMI2_VFRM_STATUS | 39
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiARecoghc Activity recognition settings
* @brief Set / Get activity recognition settings of bmi270hc sensor
*/
/*!
* \ingroup bmi270_hcApiARecoghc
* \page bmi270_hc_api_bmi270_hc_get_act_recg_sett bmi270_hc_get_act_recg_sett
* \code
* int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
* \endcode
* @details This api is used for retrieving the following activity recognition settings currently set.
*
* @param[in] sett : Structure instance of bmi2_hc_act_recg_sett.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_get_act_recg_sett(struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_hcApiARecoghc
* \page bmi270_hc_api_bmi270_hc_set_act_recg_sett bmi270_hc_set_act_recg_sett
* \code
* int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
* \endcode
* @details This api is used for setting the following activity recognition settings
*
* @param[in] sett : Structure instance of bmi2_hc_act_recg_sett.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_set_act_recg_sett(const struct bmi2_hc_act_recg_sett *sett, struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiactOut Activity Output
* @brief Activity output operations of the sensor
*/
/*!
* \ingroup bmi270_hcApiactOut
* \page bmi270_hc_api_bmi270_hc_get_act_recog_output bmi270_hc_get_act_recog_output
* \code
* int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
* uint16_t *act_frm_len,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
*
* \endcode
* @details This internal API is used to parse the activity output from the
* FIFO in header mode.
*
* @param[out] act_recog : Pointer to buffer where the parsed activity data
* bytes are stored.
* @param[in] act_frm_len : Number of activity frames parsed.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
* ----------------------------------------------------------------------------
* bmi2_act_rec_output |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* time_stamp | time-stamp (expressed in 50Hz ticks)
* -------------------------|---------------------------------------------------
* type | Type of activity
* -------------------------|---------------------------------------------------
* stat | Activity status
* -------------------------|---------------------------------------------------
* @endverbatim
*
*@verbatim
* type | Activities
*----------|---------------------
* 0 | UNKNOWN
* 1 | STILL
* 2 | WALK
* 3 | RUN
* 4 | BIKE
* 5 | VEHICLE
* 6 | TILTED
*@endverbatim
*
*
*@verbatim
* stat | Activity status
*----------|---------------------
* 1 | START
* 2 | END
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_get_act_recog_output(struct bmi2_act_recog_output *act_recog,
uint16_t *act_frm_len,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/**
* \ingroup bmi270_hc
* \defgroup bmi270_hcApiGyroUG Gyro User Gain
* @brief Set / Get Gyro User Gain of the sensor
*/
/*!
* \ingroup bmi270_hcApiGyroUG
* \page bmi270_hc_api_bmi270_hc_update_gyro_user_gain bmi270_hc_update_gyro_user_gain
* \code
* int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
* \endcode
* @details This API updates the gyroscope user-gain.
*
* @param[in] user_gain : Structure that stores user-gain configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_hcApiGyroUG
* \page bmi270_hc_api_bmi270_hc_read_gyro_user_gain bmi270_hc_read_gyro_user_gain
* \code
* int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the compensated gyroscope user-gain values.
*
* @param[out] gyr_usr_gain : Structure that stores gain values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_hcApiInt
* \page bmi270_hc_api_bmi270_hc_map_feat_int bmi270_hc_map_feat_int
* \code
* int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] n_sens : Number of interrupts to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_hc_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI270_HC_H_ */

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@ -0,0 +1,212 @@
/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270_maximum_fifo.c
* @date 2020-11-04
* @version v2.63.1
*
*/
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi270_maximum_fifo.h"
/***************************************************************************/
/*! Global Variable
****************************************************************************/
/*! @name Global array that stores the configuration file of BMI270 */
const uint8_t bmi270_maximum_fifo_config_file[] = {
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
0xf5, 0xeb, 0x2c, 0xe1, 0x6f
};
// The rest of this is not needed, avoid compiler errors due to pedantic settings
#if false
/*! @name Global array that stores the feature input configuration of BMI270 */
const struct bmi2_feature_config bmi270_maximum_fifo_feat_in[BMI270_MAXIMUM_FIFO_MAX_FEAT_IN] = {
};
/*! @name Global array that stores the feature output configuration */
const struct bmi2_feature_config bmi270_maximum_fifo_feat_out[BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT] = {
};
/******************************************************************************/
/*! Local Function Prototypes
******************************************************************************/
/*!
* @brief This internal API is used to validate the device pointer for
* null conditions.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t null_ptr_check(const struct bmi2_dev *dev);
/***************************************************************************/
/*! User Interface Definitions
****************************************************************************/
/*!
* @brief This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270 sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*/
int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev)
{
/* Variable to define result */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Assign chip id of BMI270 */
dev->chip_id = BMI270_MAXIMUM_FIFO_CHIP_ID;
dev->config_size = sizeof(bmi270_maximum_fifo_config_file);
/* Enable the variant specific features if any */
dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_MAXIMUM_FIFO_VARIANT;
/* An extra dummy byte is read during SPI read */
if (dev->intf == BMI2_SPI_INTF)
{
dev->dummy_byte = 1;
}
else
{
dev->dummy_byte = 0;
}
/* If configuration file pointer is not assigned any address */
if (!dev->config_file_ptr)
{
/* Give the address of the configuration file array to
* the device pointer
*/
dev->config_file_ptr = bmi270_maximum_fifo_config_file;
}
/* Initialize BMI2 sensor */
rslt = bmi2_sec_init(dev);
if (rslt == BMI2_OK)
{
/* Assign the offsets of the feature input
* configuration to the device structure
*/
dev->feat_config = bmi270_maximum_fifo_feat_in;
/* Assign the offsets of the feature output to
* the device structure
*/
dev->feat_output = bmi270_maximum_fifo_feat_out;
/* Assign the maximum number of pages to the
* device structure
*/
dev->page_max = BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM;
/* Assign maximum number of input sensors/
* features to device structure
*/
dev->input_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_IN;
/* Assign maximum number of output sensors/
* features to device structure
*/
dev->out_sens = BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT;
/* Get the gyroscope cross axis sensitivity */
rslt = bmi2_get_gyro_cross_sense(dev);
}
}
return rslt;
}
/***************************************************************************/
/*! Local Function Definitions
****************************************************************************/
/*!
* @brief This internal API is used to validate the device structure pointer for
* null conditions.
*/
static int8_t null_ptr_check(const struct bmi2_dev *dev)
{
/* Variable to define result */
int8_t rslt = BMI2_OK;
if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
{
/* Device structure pointer is not valid */
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
#endif

117
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270_maximum_fifo.h
* @date 2020-11-04
* @version v2.63.1
*
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270_maximum_fifo BMI270_MAXIMUM_FIFO
* @brief Sensor driver for BMI270_MAXIMUM_FIFO sensor
*/
#ifndef BMI270_MAXIMUM_FIFO_H_
#define BMI270_MAXIMUM_FIFO_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Macro definitions
****************************************************************************/
/*! @name BMI270 Chip identifier */
#define BMI270_MAXIMUM_FIFO_CHIP_ID UINT8_C(0x24)
/*! @name Defines maximum number of pages */
#define BMI270_MAXIMUM_FIFO_MAX_PAGE_NUM UINT8_C(0)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_MAXIMUM_FIFO_MAX_FEAT_IN UINT8_C(0)
/*! @name Defines maximum number of feature outputs */
#define BMI270_MAXIMUM_FIFO_MAX_FEAT_OUT UINT8_C(0)
/*! @name Mask definitions for feature interrupt status bits */
/***************************************************************************/
/*! BMI270 User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270_maximum_fifo
* \defgroup bmi270_maximum_fifoApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi270_maximum_fifoApiInit
* \page bmi270_maximum_fifo_api_bmi270_maximum_fifo_init bmi270_maximum_fifo_init
* \code
* int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270 sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_maximum_fifo_init(struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI270_MAXIMUM_FIFO_H_ */

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lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.c Normal file
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lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_wh.h Normal file
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270_wh.h
* @date 2020-11-04
* @version v2.63.1
*
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270_wh BMI270_WH
* @brief Sensor driver for BMI270_WH sensor
*/
#ifndef BMI270_WH_H_
#define BMI270_WH_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Macro definitions
****************************************************************************/
/*! @name BMI270_WH Chip identifier */
#define BMI270_WH_CHIP_ID UINT8_C(0x24)
/*! @name BMI270_WH feature input start addresses */
#define BMI270_WH_CONFIG_ID_STRT_ADDR UINT8_C(0x00)
#define BMI270_WH_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02)
#define BMI270_WH_AXIS_MAP_STRT_ADDR UINT8_C(0x04)
#define BMI270_WH_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05)
#define BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06)
#define BMI270_WH_ANY_MOT_STRT_ADDR UINT8_C(0x0C)
#define BMI270_WH_NO_MOT_STRT_ADDR UINT8_C(0x00)
#define BMI270_WH_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_WH_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x04)
/*! @name BMI270_WH feature output start addresses */
#define BMI270_WH_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_WH_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_WH_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06)
#define BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08)
#define BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_WH_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
/*! @name Defines maximum number of pages */
#define BMI270_WH_MAX_PAGE_NUM UINT8_C(8)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_WH_MAX_FEAT_IN UINT8_C(12)
/*! @name Defines maximum number of feature outputs */
#define BMI270_WH_MAX_FEAT_OUT UINT8_C(6)
/*! @name Mask definitions for feature interrupt status bits */
#define BMI270_WH_STEP_CNT_STATUS_MASK UINT8_C(0x02)
#define BMI270_WH_STEP_ACT_STATUS_MASK UINT8_C(0x04)
#define BMI270_WH_WRIST_WEAR_WAKEUP_WH_STATUS_MASK UINT8_C(0x08)
#define BMI270_WH_NO_MOT_STATUS_MASK UINT8_C(0x20)
#define BMI270_WH_ANY_MOT_STATUS_MASK UINT8_C(0x40)
/*! @name Mask definitions for feature interrupt mapping bits */
#define BMI270_WH_INT_STEP_COUNTER_MASK UINT8_C(0x02)
#define BMI270_WH_INT_STEP_DETECTOR_MASK UINT8_C(0x02)
#define BMI270_WH_INT_STEP_ACT_MASK UINT8_C(0x04)
#define BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK UINT8_C(0x08)
#define BMI270_WH_INT_NO_MOT_MASK UINT8_C(0x20)
#define BMI270_WH_INT_ANY_MOT_MASK UINT8_C(0x40)
/*! @name Defines maximum number of feature interrupts */
#define BMI270_WH_MAX_INT_MAP UINT8_C(6)
/***************************************************************************/
/*! BMI270_WH User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270_wh
* \defgroup bmi270_whApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi270_whApiInit
* \page bmi270_wh_api_bmi270_wh_init bmi270_wh_init
* \code
* int8_t bmi270_wh_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270_WH sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_init(struct bmi2_dev *dev);
/**
* \ingroup bmi270_wh
* \defgroup bmi270_whApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi270_whApiSensor
* \page bmi270_wh_api_bmi270_wh_sensor_enable bmi270_wh_sensor_enable
* \code
* int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_WEAR_WAKE_UP_WH | 21
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_whApiSensor
* \page bmi270_wh_api_bmi270_wh_sensor_disable bmi270_wh_sensor_disable
* \code
* int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_WEAR_WAKE_UP_WH | 21
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_wh
* \defgroup bmi270_whApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi270_whApiSensorC
* \page bmi270_wh_api_bmi270_wh_set_sensor_config bmi270_wh_set_sensor_config
* \code
* int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_WEAR_WAKE_UP_WH | 21
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_whApiSensorC
* \page bmi270_wh_api_bmi270_wh_get_sensor_config bmi270_wh_get_sensor_config
* \code
* int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_WEAR_WAKE_UP_WH | 21
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_wh
* \defgroup bmi270_whApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi270_whApiSensorD
* \page bmi270_wh_api_bmi270_wh_get_sensor_data bmi270_wh_get_sensor_data
* \code
* int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature data for accelerometer, gyroscope,
* auxiliary sensor, step counter, high-g, gyroscope user-gain update,
* orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
*
* @param[out] sensor_data : Structure instance of bmi2_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ---------------------|-----------
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_NVM_STATUS | 38
* BMI2_VFRM_STATUS | 39
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270_wh
* \defgroup bmi270_whApiGyroUG Gyro User Gain
* @brief Set / Get Gyro User Gain of the sensor
*/
/*!
* \ingroup bmi270_whApiGyroUG
* \page bmi270_wh_api_bmi270_wh_update_gyro_user_gain bmi270_wh_update_gyro_user_gain
* \code
* int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
* \endcode
* @details This API updates the gyroscope user-gain.
*
* @param[in] user_gain : Structure that stores user-gain configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_whApiGyroUG
* \page bmi270_wh_api_bmi270_wh_read_gyro_user_gain bmi270_wh_read_gyro_user_gain
* \code
* int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the compensated gyroscope user-gain values.
*
* @param[out] gyr_usr_gain : Structure that stores gain values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270_whApiInt
* \page bmi270_wh_api_bmi270_wh_map_feat_int bmi270_wh_map_feat_int
* \code
* int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] n_sens : Number of interrupts to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI270_WH_H_ */

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lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_defs.h
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lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.c
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@ -1,40 +1,42 @@
/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2_ois.c
* @date 2020-01-10
* @version v2.46.1
*
*//******************************************************************************/
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2_ois.c
* @date 2020-05-05
* @version v2.23.2
*
*/
/******************************************************************************/
/*! @name Header Files */
/******************************************************************************/
@ -55,11 +57,12 @@
* bmi2xy_init(), refer the example ois_accel_gyro.c for more info"
*
* @return Result of API execution status
* @retval zero -> Success / +ve value -> Warning / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
uint8_t reg_addr,
const struct bmi2_ois_dev *ois_dev,
struct bmi2_ois_dev *ois_dev,
int16_t ois_gyr_cross_sens_zx);
/*!
@ -69,7 +72,8 @@ static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
* @param[in] ois_dev : Structure instance of bmi2_ois_dev.
*
* @return Result of API execution status
* @retval zero -> Success / +ve value -> Warning / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev);
@ -92,10 +96,7 @@ static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois
* @brief This API reads the data from the given OIS register address of bmi2
* sensor.
*/
int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
uint8_t *ois_reg_data,
uint16_t data_len,
const struct bmi2_ois_dev *ois_dev)
int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev)
{
/* Variable to define error */
int8_t rslt;
@ -120,8 +121,8 @@ int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
ois_reg_addr = (ois_reg_addr | BMI2_OIS_SPI_RD_MASK);
/* Read from OIS register through OIS interface */
rslt = ois_dev->ois_read(ois_dev->dev_id, ois_reg_addr, temp_buf, temp_len);
if (rslt == BMI2_OIS_OK)
ois_dev->intf_rslt = ois_dev->ois_read(ois_reg_addr, temp_buf, temp_len, ois_dev->intf_ptr);
if (ois_dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
{
/* Read the data from the position next to dummy byte */
while (index < data_len)
@ -147,9 +148,9 @@ int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
* @brief This API writes data to the given OIS register address of bmi2 sensor.
*/
int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
uint8_t *ois_reg_data,
const uint8_t *ois_reg_data,
uint16_t data_len,
const struct bmi2_ois_dev *ois_dev)
struct bmi2_ois_dev *ois_dev)
{
/* Variable to define error */
int8_t rslt;
@ -162,8 +163,8 @@ int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
ois_reg_addr = (ois_reg_addr & BMI2_OIS_SPI_WR_MASK);
/* Burst write to OIS register through OIS interface */
rslt = ois_dev->ois_write(ois_dev->dev_id, ois_reg_addr, ois_reg_data, data_len);
if (rslt != BMI2_OIS_OK)
ois_dev->intf_rslt = ois_dev->ois_write(ois_reg_addr, ois_reg_data, data_len, ois_dev->intf_ptr);
if (ois_dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
{
rslt = BMI2_OIS_E_COM_FAIL;
}
@ -180,7 +181,7 @@ int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
* @brief This API enables/disables accelerometer/gyroscope data read through
* OIS interface.
*/
int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev)
int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev)
{
/* Variable to define error */
int8_t rslt;
@ -324,12 +325,17 @@ int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
/*! Local Function Definitions
****************************************************************************/
/*! @cond DOXYGEN_SUPRESS */
/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
* directories */
/*!
* @brief This internal API gets the accelerometer and the gyroscope data.
*/
static int8_t get_ois_acc_gyr_data(struct bmi2_ois_sens_axes_data *ois_data,
uint8_t reg_addr,
const struct bmi2_ois_dev *ois_dev,
struct bmi2_ois_dev *ois_dev,
int16_t ois_gyr_cross_sens_zx)
{
/* Variable to define error */
@ -388,7 +394,7 @@ static int8_t null_ptr_check(const struct bmi2_ois_dev *ois_dev)
int8_t rslt = BMI2_OIS_OK;
if ((ois_dev == NULL) || (ois_dev->ois_read == NULL) || (ois_dev->ois_write == NULL) ||
(ois_dev->ois_delay_ms == NULL))
(ois_dev->ois_delay_us == NULL))
{
/* Device structure pointer is NULL */
rslt = BMI2_OIS_E_NULL_PTR;
@ -407,3 +413,5 @@ static void comp_gyro_cross_axis_sensitivity(struct bmi2_ois_sens_axes_data *ois
/* Get the compensated gyroscope x-axis */
ois_data->x = ois_data->x - (int16_t)(((int32_t)ois_gyr_cross_sens_zx * (int32_t)ois_data->z) / 512);
}
/*! @endcond */

334
lib/main/BoschSensortec/BMI270-Sensor-API/bmi2_ois.h
View File

@ -1,79 +1,48 @@
/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2_ois.h
* @date 2020-01-10
* @version v2.46.1
*
*//**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2_ois.h
* @date 10/01/2020
* @version
*
*/
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2_ois.h
* @date 2020-05-05
* @version v2.23.2
*
*/
#ifndef BMI2_OIS_H_
#define BMI2_OIS_H_
/**
* \ingroup bmi2xy
* \defgroup bmi2_ois BMI2_OIS
* @brief Sensor driver for BMI2_OIS sensor
*/
#ifndef _BMI2_OIS_H
#define _BMI2_OIS_H
/*! CPP guard */
#ifdef __cplusplus
@ -95,6 +64,11 @@ extern "C" {
/******************************************************************************/
/*! @name Macros */
/******************************************************************************/
#ifndef BMI2_INTF_RETURN_TYPE
#define BMI2_INTF_RETURN_TYPE int8_t
#endif
/*! @name Utility macros */
#define BMI2_OIS_SET_BITS(reg_data, bitname, data) \
((reg_data & ~(bitname##_MASK)) | \
@ -108,58 +82,105 @@ extern "C" {
((reg_data & ~(bitname##_MASK)) | \
(data & bitname##_MASK))
#define BMI2_GET_BIT_POS0(reg_data, bitname) (reg_data & (bitname##_MASK))
#define BMI2_GET_BIT_POS0(reg_data, bitname) (reg_data & (bitname##_MASK))
/*! @name For enable and disable */
#define BMI2_OIS_ENABLE UINT8_C(1)
#define BMI2_OIS_DISABLE UINT8_C(0)
/*! @name To define sensor interface success code */
#define BMI2_INTF_RET_SUCCESS INT8_C(0)
/*! @name To define success code */
#define BMI2_OIS_OK UINT8_C(0)
#define BMI2_OIS_OK UINT8_C(0)
/*! @name To define error codes */
#define BMI2_OIS_E_NULL_PTR INT8_C(-1)
#define BMI2_OIS_E_COM_FAIL INT8_C(-2)
#define BMI2_OIS_E_INVALID_SENSOR INT8_C(-8)
#define BMI2_OIS_E_NULL_PTR INT8_C(-1)
#define BMI2_OIS_E_COM_FAIL INT8_C(-2)
#define BMI2_OIS_E_INVALID_SENSOR INT8_C(-8)
/*! @name Mask definitions for SPI read/write address for OIS */
#define BMI2_OIS_SPI_RD_MASK UINT8_C(0x80)
#define BMI2_OIS_SPI_WR_MASK UINT8_C(0x7F)
#define BMI2_OIS_SPI_RD_MASK UINT8_C(0x80)
#define BMI2_OIS_SPI_WR_MASK UINT8_C(0x7F)
/*! @name BMI2 OIS data bytes */
#define BMI2_OIS_ACC_GYR_NUM_BYTES UINT8_C(6)
#define BMI2_OIS_ACC_GYR_NUM_BYTES UINT8_C(6)
/*! @name Macros to select sensor for OIS data read */
#define BMI2_OIS_ACCEL UINT8_C(0x01)
#define BMI2_OIS_GYRO UINT8_C(0x02)
#define BMI2_OIS_ACCEL UINT8_C(0x01)
#define BMI2_OIS_GYRO UINT8_C(0x02)
/*! @name Macros to define OIS register addresses */
#define BMI2_OIS_CONFIG_ADDR UINT8_C(0x40)
#define BMI2_OIS_ACC_X_LSB_ADDR UINT8_C(0x0C)
#define BMI2_OIS_GYR_X_LSB_ADDR UINT8_C(0x12)
#define BMI2_OIS_CONFIG_ADDR UINT8_C(0x40)
#define BMI2_OIS_ACC_X_LSB_ADDR UINT8_C(0x0C)
#define BMI2_OIS_GYR_X_LSB_ADDR UINT8_C(0x12)
/*! @name Mask definitions for OIS configurations */
#define BMI2_OIS_GYR_EN_MASK UINT8_C(0x40)
#define BMI2_OIS_ACC_EN_MASK UINT8_C(0x80)
#define BMI2_OIS_GYR_EN_MASK UINT8_C(0x40)
#define BMI2_OIS_ACC_EN_MASK UINT8_C(0x80)
/*! @name Bit Positions for OIS configurations */
#define BMI2_OIS_GYR_EN_POS UINT8_C(0x06)
#define BMI2_OIS_ACC_EN_POS UINT8_C(0x07)
#define BMI2_OIS_GYR_EN_POS UINT8_C(0x06)
#define BMI2_OIS_ACC_EN_POS UINT8_C(0x07)
/*! Low pass filter configuration position and mask */
#define BMI2_OIS_LP_FILTER_EN_POS UINT8_C(0x00)
#define BMI2_OIS_LP_FILTER_EN_MASK UINT8_C(0x01)
#define BMI2_OIS_LP_FILTER_EN_POS UINT8_C(0x00)
#define BMI2_OIS_LP_FILTER_EN_MASK UINT8_C(0x01)
#define BMI2_OIS_LP_FILTER_CONFIG_POS UINT8_C(0x01)
#define BMI2_OIS_LP_FILTER_CONFIG_MASK UINT8_C(0x06)
#define BMI2_OIS_LP_FILTER_CONFIG_POS UINT8_C(0x01)
#define BMI2_OIS_LP_FILTER_CONFIG_MASK UINT8_C(0x06)
#define BMI2_OIS_LP_FILTER_MUTE_POS UINT8_C(0x05)
#define BMI2_OIS_LP_FILTER_MUTE_MASK UINT8_C(0x20)
#define BMI2_OIS_LP_FILTER_MUTE_POS UINT8_C(0x05)
#define BMI2_OIS_LP_FILTER_MUTE_MASK UINT8_C(0x20)
/******************************************************************************/
/*! @name Function Pointers */
/******************************************************************************/
/*! For interfacing to the I2C or SPI read and write functions */
typedef int8_t (*bmi2_ois_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
/*! For interfacing to the delay function */
typedef void (*bmi2_ois_delay_fptr_t)(uint32_t period);
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific read functions of the user
*
* @param[in] reg_addr : Register address from which data is read.
* @param[out] reg_data : Pointer to data buffer where read data is stored.
* @param[in] len : Number of bytes of data to be read.
* @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related call backs.
*
* retval = BMI2_INTF_RET_SUCCESS -> Success
* retval != BMI2_INTF_RET_SUCCESS -> Failure
*
*/
typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_read_fptr_t)(uint8_t reg_addr, uint8_t *data, uint32_t len, void *intf_ptr);
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific write functions of the user
*
* @param[in] reg_addr : Register address to which the data is written.
* @param[in] reg_data : Pointer to data buffer in which data to be written
* is stored.
* @param[in] len : Number of bytes of data to be written.
* @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related call backs
*
* retval = BMI2_INTF_RET_SUCCESS -> Success
* retval != BMI2_INTF_RET_SUCCESS -> Failure
*
*/
typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_write_fptr_t)(uint8_t reg_addr, const uint8_t *data, uint32_t len,
void *intf_ptr);
/*!
* @brief Delay function pointer which should be mapped to
* delay function of the user
*
* @param[in] period : Delay in microseconds.
* @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related call backs
*
*/
typedef void (*bmi2_ois_delay_fptr_t)(uint32_t period, void *intf_ptr);
/******************************************************************************/
/*! @name Structure Declarations */
@ -181,21 +202,24 @@ struct bmi2_ois_sens_axes_data
/*! @name Structure to define bmi2 OIS sensor configurations */
struct bmi2_ois_dev
{
/*! Device id of BMI2 */
uint8_t dev_id;
/*! Read function pointer */
bmi2_ois_com_fptr_t ois_read;
bmi2_ois_read_fptr_t ois_read;
/*! Write function pointer */
bmi2_ois_com_fptr_t ois_write;
bmi2_ois_write_fptr_t ois_write;
/*! Delay function pointer */
bmi2_ois_delay_fptr_t ois_delay_ms;
bmi2_ois_delay_fptr_t ois_delay_us;
/*! Low pass filter en/dis */
uint8_t lp_filter_en;
/*! Void interface pointer */
void *intf_ptr;
/*! To store interface pointer error */
int8_t intf_rslt;
/*! Low pass filter cut-off frequency */
uint8_t lp_filter_config;
@ -213,7 +237,6 @@ struct bmi2_ois_dev
/*! Gyroscope data axes */
struct bmi2_ois_sens_axes_data gyr_data;
};
/***************************************************************************/
@ -221,8 +244,22 @@ struct bmi2_ois_dev
/*! BMI2 OIS User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi2_ois
* \defgroup bmi2_oisApiRegs Registers
* @brief Read data from the given OIS register address of bmi2
*/
/*!
* @brief This API reads the data from the given OIS register address of bmi2
* \ingroup bmi2_oisApiRegs
* \page bmi2_ois_api_bmi2_ois_get_regs bmi2_ois_get_regs
* \code
* int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
* uint8_t *ois_reg_data,
* uint16_t data_len,
* const struct bmi2_ois_dev *ois_dev);
* \endcode
* @details This API reads the data from the given OIS register address of bmi2
* sensor.
*
* @param[in] ois_reg_addr : OIS register address from which data is read.
@ -231,15 +268,21 @@ struct bmi2_ois_dev
* @param[in] ois_dev : Structure instance of bmi2_ois_dev.
*
* @return Result of API execution status
* @retval zero -> Success / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
uint8_t *ois_reg_data,
uint16_t data_len,
const struct bmi2_ois_dev *ois_dev);
int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev);
/*!
* @brief This API writes data to the given OIS register address of bmi2 sensor.
* \ingroup bmi2_oisApiRegs
* \page bmi2_ois_api_bmi2_ois_set_regs bmi2_ois_set_regs
* \code
* int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
* uint8_t *ois_reg_data,
* uint16_t data_len,
* const struct bmi2_ois_dev *ois_dev);
* \endcode
* @details This API writes data to the given OIS register address of bmi2 sensor.
*
* @param[in] ois_reg_addr : OIS register address to which the data is written.
* @param[in] ois_reg_data : Pointer to data buffer in which data to be written
@ -248,26 +291,44 @@ int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr,
* @param[in] ois_dev : Structure instance of bmi2_ois_dev.
*
* @return Result of API execution status
* @retval zero -> Success / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr,
uint8_t *ois_reg_data,
const uint8_t *ois_reg_data,
uint16_t data_len,
const struct bmi2_ois_dev *ois_dev);
struct bmi2_ois_dev *ois_dev);
/**
* \ingroup bmi2_ois
* \defgroup bmi2_oisApiConfig Status update
* @brief Get / Set the status of Enable / Disable accelerometer / gyroscope data read through OIS interface
*/
/*!
* @brief This API enables/disables accelerometer/gyroscope data read through
* \ingroup bmi2_oisApiConfig
* \page bmi2_ois_api_bmi2_ois_set_config bmi2_ois_set_config
* \code
* int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev);
* \endcode
* @details This API sets the status of enable/disable accelerometer/gyroscope data read through
* OIS interface.
*
* @param[in] ois_dev : Structure instance of bmi2_ois_dev.
*
* @return Result of API execution status
* @retval zero -> Success / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev);
int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev);
/*!
* @brief This API gets the status of accelerometer/gyroscope enable for data
* \ingroup bmi2_oisApiConfig
* \page bmi2_ois_api_bmi2_ois_get_config bmi2_ois_get_config
* \code
* int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
* \endcode
* @details This API gets the status of accelerometer/gyroscope enable for data
* read through OIS interface.
*
* @param[in, out] ois_dev : Structure instance of bmi2_ois_dev.
@ -275,12 +336,27 @@ int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev);
* @note Enabling and disabling is done during OIS structure initialization.
*
* @return Result of API execution status
* @retval zero -> Success / -ve value -> Error
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
/**
* \ingroup bmi2_ois
* \defgroup bmi2_oisApiRead Data read
* @brief Read accelerometer / gyroscope data through OIS interface
*/
/*!
* @brief This API reads accelerometer/gyroscope data through OIS interface.
* \ingroup bmi2_oisApiRead
* \page bmi2_ois_api_bmi2_ois_read_data bmi2_ois_read_data
* \code
* int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
* uint8_t n_sens,
* struct bmi2_ois_dev *ois_dev,
* int16_t gyr_cross_sens_zx);
* \endcode
* @details This API reads accelerometer/gyroscope data through OIS interface.
*
* @param[in] sens_sel : Select sensor whose data is to be read.
* @param[in] n_sens : Number of sensors selected.
@ -288,24 +364,24 @@ int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev);
* @param[in] gyr_cross_sens_zx : Store the gyroscope cross sensitivity values taken from the bmi2xy
* (refer bmi2_ois example).
*
*@verbatim
* sens_sel | Value
* ---------------|---------------
* BMI2_OIS_ACCEL | 0x01
* BMI2_OIS_GYRO | 0x02
*@endverbatim
*
* @return Result of API execution status
* @retval zero -> Success / -ve value -> Error.
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_ois_read_data(const uint8_t *sens_sel,
uint8_t n_sens,
struct bmi2_ois_dev *ois_dev,
int16_t gyr_cross_sens_zx);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI2_OIS_H_ */
#endif /* End of _BMI2_OIS_H */

177
lib/main/BoschSensortec/BMI270-Sensor-API/example/basic.c
View File

@ -1,177 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length);
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
/* Variable to define rslt */
int8_t rslt;
struct bmi2_dev dev;
/*To enable I2C interface*/
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/* To enable SPI interface*/
/* dev.read = spi_reg_read;
* dev.write = spi_reg_write;
* dev.delay_us = delay_us;
* dev.read_write_len = 4096;
* dev.intf = BMI2_SPI_INTERFACE;
* dev.dev_id = SPI_CS;
* dev.dummy_byte = 1;
*/
dev.config_file_ptr = NULL;
/* Initialize BMI2 */
rslt = bmi270_init(&dev);
print_rslt(rslt);
return 0;
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of us*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

219
lib/main/BoschSensortec/BMI270-Sensor-API/example/crt_ex.c
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@ -1,219 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_read(uint8_t i2c_add, uint8_t reg_add, uint8_t *regd_data, uint16_t length);
int8_t i2c_reg_write(uint8_t i2c_add, uint8_t reg_add, const uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_add, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_add, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
struct bmi2_dev dev;
/*! @name Structure to define type of sensor and their respective data */
struct bmi2_sensor_data sensor_data;
uint8_t sens_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/*variable to define rslt*/
int8_t rslt;
/*to enable i2c interface*/
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/*to enable spi interface*/
/* dev.read = spi_reg_read;
dev.write = spi_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 4096;
dev.intf = BMI2_SPI_INTERFACE;
dev.dev_id = SPI_CS;
dev.dummy_byte = 1;
*/
dev.config_file_ptr = NULL;
/*to Initialize bmi270*/
rslt = bmi270_init(&dev);
print_rslt(rslt);
rslt = bmi2_sensor_enable(&sens_sel[0], 1, &dev);
print_rslt(rslt);
rslt = bmi2_sensor_disable(&sens_sel[1], 1, &dev);
print_rslt(rslt);
sensor_data.type = BMI2_ACCEL;
dev.delay_us(100000);
printf("\nbefore CRT Accel x,y,z values\n");
/* read the accel data before CRT*/
rslt = bmi2_get_sensor_data(&sensor_data, 1, &dev);
print_rslt(rslt);
printf("\nX axes: %d, Y axes: %d, Z axes: %d \n", sensor_data.sens_data.acc.x, sensor_data.sens_data.acc.y, sensor_data.sens_data.acc.z );
/*brief This API is to run the CRT process*/
rslt = bmi2_do_crt(&dev);
print_rslt(rslt);
if(rslt == BMI2_OK)
{
printf("\nAfter CRT Accel x,y,z values\n");
/* read the accel data after CRT*/
rslt = bmi2_get_sensor_data(&sensor_data, 1, &dev);
print_rslt(rslt);
printf("X axes: %d, Y axes: %d, Z axes: %d",sensor_data.sens_data.acc.x, sensor_data.sens_data.acc.y, sensor_data.sens_data.acc.z );
}
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of us*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
case BMI2_E_CRT_ERROR:
printf("warning[%d] : CRT fail\r\n", rslt);
break;
case BMI2_E_ABORT_ERROR:
printf("warning[%d] : Abort eror\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

230
lib/main/BoschSensortec/BMI270-Sensor-API/example/motion_interrupt.c
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@ -1,230 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length);
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
/* Variable to define rslt */
int8_t rslt;
struct bmi2_dev dev;
struct bmi2_sens_config config;
/* Array to select sensors */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
/* Variable to get any-motion status */
uint16_t no_mot_status = 0;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
/*to enable the i2c interface*/
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/*to enable spi interface*/
/*
* ac_setup_interface(AC_SPI_STD);
* dev.read = ac_spi_read;
* dev.write = ac_spi_write;
* dev.delay_us = delay_us;
* dev.read_write_len = 4096;
* dev.intf = BMI2_SPI_INTERFACE;
* dev.dev_id = SPI_CS;
* dev.dummy_byte = 1;
*/
dev.config_file_ptr = NULL;
/*initialize bmi270 */
rslt = bmi270_init(&dev);
print_rslt(rslt);
/* Enable the selected sensors */
rslt = bmi2_sensor_enable(sens_list, 2, &dev);
print_rslt(rslt);
/* Configure type of feature */
config.type = BMI2_NO_MOTION;
/* Get default configurations for the type of feature selected */
rslt = bmi2_get_sensor_config(&config, 1, &dev);
print_rslt(rslt);
/* Set the new configuration */
rslt = bmi2_set_sensor_config(&config, 1, &dev);
print_rslt(rslt);
/* Set the new configuration */
rslt = bmi2_map_feat_int(&sens_int, 1, &dev);
print_rslt(rslt);
printf("Do not move the board\n");
while (1)
{
/* Clear buffer */
no_mot_status = 0;
dev.delay_us(50000);
/* Check the interrupt status of the no-motion */
rslt = bmi2_get_int_status(&no_mot_status, &dev);
print_rslt(rslt);
if (no_mot_status & BMI270_NO_MOT_STATUS_MASK)
{
printf("no_mot_status = %x\n", no_mot_status);
printf("No-motion interrupt generated");
break;
}
dev.delay_us(50000);
}
return 0;
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of us*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

238
lib/main/BoschSensortec/BMI270-Sensor-API/example/step_counter.c
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@ -1,238 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length);
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
struct bmi2_dev dev;
struct bmi2_sensor_data sensor_data;
struct bmi2_sens_config config;
int8_t rslt;
/* Sensor type of sensor to select sensor */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
/* For status */
uint16_t step_status = 0;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
/* Sensor type of sensor to get data */
sensor_data.type = BMI2_STEP_COUNTER;
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/* To enable SPI interface*/
/*
* dev.read = spi_reg_read;
* dev.write = spi_reg_write;
* dev.delay_us = delay_us;
* dev.read_write_len = 4096;
* dev.intf = BMI2_SPI_INTERFACE;
* dev.dev_id = SPI_CS;
* dev.dummy_byte = 1;
*/
/* Initialize by enabling firmware download */
dev.config_file_ptr = NULL;
rslt = bmi270_init(&dev);
print_rslt(rslt);
/* Enable the accelerometer and step-counter sensor */
rslt = bmi2_sensor_enable(sensor_sel, 2, &dev);
print_rslt(rslt);
/* Update the type of sensor for setting the configurations */
config.type = BMI2_STEP_COUNTER;
/* Get default configurations for the type of feature selected */
rslt = bmi2_get_sensor_config(&config, 1, &dev);
print_rslt(rslt);
/* Enable water-mark level for to get interrupt after 20 step counts */
config.cfg.step_counter.watermark_level = 1;
/* Set the configurations */
rslt = bmi2_set_sensor_config(&config, 1, &dev);
print_rslt(rslt);
/* Map the feature interrupt */
rslt = bmi2_map_feat_int(&sens_int, 1, &dev);
print_rslt(rslt);
printf("Move the board for step counter\n");
while (1)
{
/* Check the interrupt status of the step counter */
rslt = bmi2_get_int_status(&step_status, &dev);
print_rslt(rslt);
if (rslt == BMI2_OK)
{
if (step_status == BMI270_STEP_CNT_STATUS_MASK)
{
printf("Step detected\n");
/* Get step counter output */
rslt = bmi2_get_sensor_data(&sensor_data, 1, &dev);
print_rslt(rslt);
/* Print the step counter output */
printf("No of steps counted = %ld", sensor_data.sens_data.step_counter_output);
break;
}
}
dev.delay_us(50000);
}
return 0;
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of us*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

244
lib/main/BoschSensortec/BMI270-Sensor-API/example/wrist_gesture.c
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@ -1,244 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length);
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
struct bmi2_dev dev;
/* Variable to define rslt */
int8_t rslt;
/* Array to select sensors */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_GESTURE };
/* Variable to get wrist gesture status */
uint16_t wrist_gest_status = 0;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_GESTURE, .hw_int_pin = BMI2_INT1 };
/* Sensor configuration structure */
struct bmi2_sens_config config = { 0 };
/* Sensor data structure */
struct bmi2_sensor_data sens_data = { 0 };
/*To enable I2C interface*/
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/* To enable SPI interface*/
/*
* dev.read = spi_reg_read;
* dev.write = spi_reg_write;
* dev.delay_us = delay_us;
* dev.read_write_len = 4096;
* dev.intf = BMI2_SPI_INTERFACE;
* dev.dev_id = SPI_CS;
* dev.dummy_byte = 1;
*/
dev.config_file_ptr = NULL;
/* Initialize BMI270 */
rslt = bmi270_init(&dev);
print_rslt(rslt);
/* Enable the selected sensors */
rslt = bmi2_sensor_enable(sens_list, 2, &dev);
print_rslt(rslt);
/* Configure type of feature */
config.type = BMI2_WRIST_GESTURE;
/* Get default configurations for the type of feature selected */
rslt = bmi2_get_sensor_config(&config, 1, &dev);
print_rslt(rslt);
if (rslt == BMI2_OK)
{
/* Arm Position where the device is attached */
config.cfg.wrist_gest.wearable_arm = BMI2_ARM_LEFT;
/* Set the new configuration along with interrupt mapping */
rslt = bmi2_set_sensor_config(&config, 1, &dev);
print_rslt(rslt);
}
/* Map the feature interrupt */
rslt = bmi2_map_feat_int(&sens_int, 1, &dev);
print_rslt(rslt);
printf("Flip the board in portrait landscape mode:\n");
while (1)
{
/* Check the interrupt status of the wrist gesture */
rslt = bmi2_get_int_status(&wrist_gest_status, &dev);
print_rslt(rslt);
if (rslt == BMI2_OK)
{
if (wrist_gest_status & BMI270_WRIST_GEST_STATUS_MASK)
{
printf("Wrist gesture detected\n");
/* Get wrist gesture output */
rslt = bmi2_get_sensor_data(&sens_data, 1, &dev);
print_rslt(rslt);
/* Print the wrist gesture output */
printf("wrist gesture = %d\r\n", sens_data.sens_data.wrist_gesture_output);
break;
}
dev.delay_us(100000);
}
return 0;
}
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of us*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

235
lib/main/BoschSensortec/BMI270-Sensor-API/example/wrist_wear_wakeup.c
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@ -1,235 +0,0 @@
#include <stdio.h>
#include "bmi2.h"
#include "bmi270.h"
void delay_us(uint32_t period);
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length);
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length);
void print_rslt(int8_t rslt);
int main(void)
{
struct bmi2_dev dev;
/* Variable to define rslt */
int8_t rslt;
/* Array to select sensors */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP };
/* Variable to get wrist gesture status */
uint16_t wrist_wear_wakeup_status = 0;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT1 };
/* Sensor configuration structure */
struct bmi2_sens_config config = { 0 };
/* Sensor data structure */
struct bmi2_sensor_data sens_data = { 0 };
dev.read = i2c_reg_read;
dev.write = i2c_reg_write;
dev.delay_us = delay_us;
dev.read_write_len = 128;
dev.intf = BMI2_I2C_INTERFACE;
dev.dev_id = BMI2_I2C_PRIM_ADDR;
/* To enable SPI interface*/
/* dev.read = spi_reg_read;
* dev.write = spi_reg_write;
* dev.delay_us = delay_us;
* dev.read_write_len = 4096;
* dev.intf = BMI2_SPI_INTERFACE;
* dev.dev_id = SPI_CS;
* dev.dummy_byte = 1;
*/
dev.config_file_ptr = NULL;
/* Initialize BMI2 */
rslt = bmi270_init(&dev);
print_rslt(rslt);
/* Enable the selected sensors */
rslt = bmi2_sensor_enable(sens_list, 2, &dev);
print_rslt(rslt);
/* Configure type of feature */
config.type = BMI2_WRIST_WEAR_WAKE_UP;
/* Get default configurations for the type of feature selected */
rslt = bmi2_get_sensor_config(&config, 1, &dev);
print_rslt(rslt);
if (rslt == BMI2_OK)
{
/* Set the new configuration along with interrupt mapping */
rslt = bmi2_set_sensor_config(&config, 1, &dev);
print_rslt(rslt);
}
/* Map the feature interrupt */
rslt = bmi2_map_feat_int(&sens_int, 1, &dev);
print_rslt(rslt);
printf("Lift the board in portrait landscape position and tilt in a particular direction\n");
while (1)
{
/* Check the interrupt status of the wrist gesture */
rslt = bmi2_get_int_status(&wrist_wear_wakeup_status, &dev);
print_rslt(rslt);
if (rslt == BMI2_OK)
{
if (wrist_wear_wakeup_status & BMI270_WRIST_WAKE_UP_STATUS_MASK)
{
printf("Wrist wear wakeup detected\n");
/* Get wrist gesture output */
rslt = bmi2_get_sensor_data(&sens_data, 1, &dev);
print_rslt(rslt);
/* Print the wrist gesture output */
printf("wrist gesture = %d\r\n", sens_data.sens_data.wrist_gesture_output);
break;
}
dev.delay_us(100000);
}
return 0;
}
}
/*!
* @brief Function that creates a mandatory delay required in some of the APIs such as "bma4_write_config_file",
* "bma4_write_regs", "bma4_set_accel_config" and so on.
*
* @param[in] period_us : the required wait time in microseconds.
* @return void.
*
*/
void delay_us(uint32_t period)
{
/* Wait for a period amount of ms*/
}
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, const uint8_t *reg_data, uint16_t length)
{
/* Write to registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] i2c_addr : Sensor I2C address.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using I2C. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_write(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Write to registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] cs : Chip select to enable the sensor.
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
*
* @return Status of execution
* @retval 0 -> Success
* @retval >0 -> Failure Info
*
*/
int8_t spi_reg_read(uint8_t cs, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
/* Read from registers using SPI. Return 0 for a successful execution. */
return 0;
}
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] api_name : name of the API whose execution status has to be printed.
* @param[in] rslt : error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void print_rslt(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_E_NULL_PTR:
printf("Error [%d] : Null pointer\r\n", rslt);
break;
case BMI2_E_COM_FAIL:
printf("Error [%d] : Communication failure\r\n", rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found\r\n", rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf("Error [%d] : Invalid sensor\r\n", rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf("Warning [%d] : Self test failed\r\n", rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf("warning [%d] : invalid int pin\r\n", rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

200
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel/accel.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 20;
/* Assign accel sensor to variable. */
uint8_t sensor_list = BMI2_ACCEL;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data = { 0 };
/* Initialize the interrupt status of accel. */
uint16_t int_status = 0;
uint8_t indx = 0;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel sensor. */
rslt = bmi270_sensor_enable(&sensor_list, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel configuration settings. */
rslt = set_accel_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel sensor. */
sensor_data.type = BMI2_ACCEL;
printf("Accel and m/s2 data \n");
printf("Accel data collected at 2G Range with 16-bit resolution\n");
/* Loop to print the accel data when interrupt occurs. */
while (indx <= limit)
{
/* To get the status of accel data ready interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the accel data ready interrupt status and print the status for 10 samples. */
if (int_status & BMI2_ACC_DRDY_INT_MASK)
{
/* Get accelerometer data for x, y and z axis. */
rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer configuration. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_ACCEL;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config.cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel configurations. */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel_gyro.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

268
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/accel_gyro/accel_gyro.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*! Macros to select the sensors */
#define ACCEL UINT8_C(0x00)
#define GYRO UINT8_C(0x01)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 10;
/* Assign accel and gyro sensor to variable. */
uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data[2] = { { 0 } };
/* Initialize the interrupt status of accel and gyro. */
uint16_t int_status = 0;
uint8_t indx = 1;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_SPI_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel and gyro sensor. */
rslt = bmi270_sensor_enable(sensor_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel and gyro configuration settings. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel and gyro sensor. */
sensor_data[ACCEL].type = BMI2_ACCEL;
sensor_data[GYRO].type = BMI2_GYRO;
/* Loop to print accel and gyro data when interrupt occurs. */
while (indx <= limit)
{
/* To get the data ready interrupt status of accel and gyro. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the data ready interrupt status and print the status for 10 samples. */
if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
{
/* Get accel and gyro data for x, y and z axis. */
rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\n******* Accel(Raw and m/s2) Gyro(Raw and dps) data : %d *******\n", indx);
printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
printf("Gyr_Z= %d\n", sensor_data[GYRO].sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer and gyro configuration. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[ACCEL].type = BMI2_ACCEL;
config[GYRO].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel and gyro configurations. */
rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/any_motion_interrupt/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= any_motion_interrupt.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for any-motion.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Accel sensor and any-motion feature are listed in array. */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_ANY_MOTION };
/* Variable to get any-motion interrupt status. */
uint16_t int_status = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_ANY_MOTION, .hw_int_pin = BMI2_INT1 };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors. */
rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set feature configurations for any-motion. */
rslt = set_feature_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt for any-motion. */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Move the board\n");
/* Loop to get any-motion interrupt. */
do
{
/* Clear buffer. */
int_status = 0;
/* To get the interrupt status of any-motion. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of any-motion. */
if (int_status & BMI270_ANY_MOT_STATUS_MASK)
{
printf("Any-motion interrupt is generated\n");
break;
}
} while (rslt == BMI2_OK);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for any-motion.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_ANY_MOTION;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
config.cfg.any_motion.duration = 0x04;
/* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
config.cfg.any_motion.threshold = 0x68;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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/**
* Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "coines.h"
#include "bmi2_defs.h"
/******************************************************************************/
/*! Macro definitions */
#define BMI2XY_SHUTTLE_ID UINT16_C(0x1B8)
/*! Macro that defines read write length */
#define READ_WRITE_LEN UINT8_C(46)
/******************************************************************************/
/*! Static variable definition */
/*! Variable that holds the I2C device address or SPI chip selection */
static uint8_t dev_addr;
/******************************************************************************/
/*! User interface functions */
/*!
* I2C read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* I2C write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* SPI read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* SPI write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* Delay function map to COINES platform
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr)
{
coines_delay_usec(period);
}
/*!
* @brief Function to select the interface between SPI and I2C.
* Also to initialize coines platform
*/
int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
{
int8_t rslt = BMI2_OK;
struct coines_board_info board_info;
if (bmi != NULL)
{
int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
if (result < COINES_SUCCESS)
{
printf(
"\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
" 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
exit(result);
}
result = coines_get_board_info(&board_info);
#if defined(PC)
setbuf(stdout, NULL);
#endif
if (result == COINES_SUCCESS)
{
if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
{
printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
exit(COINES_E_FAILURE);
}
}
coines_set_shuttleboard_vdd_vddio_config(0, 0);
coines_delay_msec(100);
/* Bus configuration : I2C */
if (intf == BMI2_I2C_INTF)
{
printf("I2C Interface \n");
/* To initialize the user I2C function */
dev_addr = BMI2_I2C_PRIM_ADDR;
bmi->intf = BMI2_I2C_INTF;
bmi->read = bmi2_i2c_read;
bmi->write = bmi2_i2c_write;
coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
}
/* Bus configuration : SPI */
else if (intf == BMI2_SPI_INTF)
{
printf("SPI Interface \n");
/* To initialize the user SPI function */
dev_addr = COINES_SHUTTLE_PIN_7;
bmi->intf = BMI2_SPI_INTF;
bmi->read = bmi2_spi_read;
bmi->write = bmi2_spi_write;
coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
}
/* Assign device address to interface pointer */
bmi->intf_ptr = &dev_addr;
/* Configure delay in microseconds */
bmi->delay_us = bmi2_delay_us;
/* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
bmi->read_write_len = READ_WRITE_LEN;
/* Assign to NULL to load the default config file. */
bmi->config_file_ptr = NULL;
coines_delay_usec(10000);
coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
coines_delay_usec(10000);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief Prints the execution status of the APIs.
*/
void bmi2_error_codes_print_result(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_W_FIFO_EMPTY:
printf("Warning [%d] : FIFO empty\r\n", rslt);
break;
case BMI2_W_PARTIAL_READ:
printf("Warning [%d] : FIFO partial read\r\n", rslt);
break;
case BMI2_E_NULL_PTR:
printf(
"Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
rslt);
break;
case BMI2_E_COM_FAIL:
printf(
"Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf(
"Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf(
"Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf(
"Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
rslt);
break;
case BMI2_E_OUT_OF_RANGE:
printf(
"Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
rslt);
break;
case BMI2_E_ACC_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
rslt);
break;
case BMI2_E_GYRO_INVALID_CFG:
printf(
"Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
rslt);
break;
case BMI2_E_ACC_GYR_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
rslt);
break;
case BMI2_E_CONFIG_LOAD:
printf(
"Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
rslt);
break;
case BMI2_E_INVALID_PAGE:
printf(
"Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
rslt);
break;
case BMI2_E_SET_APS_FAIL:
printf(
"Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
rslt);
break;
case BMI2_E_AUX_INVALID_CFG:
printf(
"Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
rslt);
break;
case BMI2_E_AUX_BUSY:
printf(
"Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
rslt);
break;
case BMI2_E_REMAP_ERROR:
printf(
"Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
rslt);
break;
case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
printf(
"Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_NOT_DONE:
printf(
"Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
rslt);
break;
case BMI2_E_INVALID_INPUT:
printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
break;
case BMI2_E_INVALID_STATUS:
printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
break;
case BMI2_E_CRT_ERROR:
printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
break;
case BMI2_E_ST_ALREADY_RUNNING:
printf(
"Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
rslt);
break;
case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
printf(
"Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
rslt);
break;
case BMI2_E_DL_ERROR:
printf(
"Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
rslt);
break;
case BMI2_E_PRECON_ERROR:
printf(
"Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
rslt);
break;
case BMI2_E_ABORT_ERROR:
printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
break;
case BMI2_E_WRITE_CYCLE_ONGOING:
printf(
"Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
rslt);
break;
case BMI2_E_ST_NOT_RUNING:
printf(
"Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
rslt);
break;
case BMI2_E_DATA_RDY_INT_FAILED:
printf(
"Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
rslt);
break;
case BMI2_E_INVALID_FOC_POSITION:
printf(
"Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void)
{
coines_close_comm_intf(COINES_COMM_INTF_USB);
}

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
#ifndef _COMMON_H
#define _COMMON_H
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
#include <stdio.h>
#include "bmi2.h"
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
* APIs.
*
* @param[in] period_us : The required wait time in microsecond.
* @param[in] intf_ptr : Interface pointer
*
* @return void.
*
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr);
/*!
* @brief Function to select the interface between SPI and I2C.
*
* @param[in] bma : Structure instance of bmi2_dev
* @param[in] intf : Interface selection parameter
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] rslt : Error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void bmi2_error_codes_print_result(int8_t rslt);
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* _COMMON_H */

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= component_retrim.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

52
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* This API runs the CRT process. */
rslt = bmi2_do_crt(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Do not move the board while doing CRT. If so, it will throw an abort error. */
if (rslt == BMI2_OK)
{
printf("CRT successfully completed.");
}
}
bmi2_coines_deinit();
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data. */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO. */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO. */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
* totaling to 13) which equals to 157.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(157)
/*! Number of gyro frames to be extracted from FIFO. */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(157)
/*! Macro to read sensortime byte in FIFO. */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t config = 0;
/* To read sensortime, extra 3 bytes are added to fifo buffer. */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
int8_t try = 1;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is in FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

304
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
* 12) which equals to 170.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(169)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(169)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint8_t try = 1;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set FIFO configuration by enabling accel, gyro.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("FIFO is configured in headerless mode\n");
/* To enable headerless mode, disable the header. */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
}
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
}
try++;
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

335
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_header_mode/fifo_watermark_header_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*!
* Calculation:
* fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
* fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
* NOTE: Extra frames are read in order to get sensor time
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(55)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(55)
/*! Setting a watermark level in FIFO */
#define BMI270_FIFO_WATERMARK_LEVEL UINT16_C(650)
/*! Macro to read sensortime byte in FIFO */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Variable to index bytes. */
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
uint8_t try = 1;
/* To read sensortime, extra 3 bytes are added to fifo buffer */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Variable to get fifo water-mark interrupt status. */
uint16_t int_status = 0;
uint16_t watermark = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* FIFO water-mark interrupt is enabled. */
fifoframe.data_int_map = BMI2_FWM_INT;
/* Map water-mark interrupt to the required interrupt pin. */
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Set water-mark level. */
fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
/* Set the water-mark level if water-mark interrupt is mapped. */
rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO watermark level is %d\n", watermark);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the status of FIFO watermark interrupt. */
if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
printf("\nWatermark interrupt occurred\n");
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

331
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*!
* Calculation:
* fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
* fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(55)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(55)
/*! Setting a watermark level in FIFO */
#define BMI270_FIFO_WATERMARK_LEVEL UINT16_C(650)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to index bytes. */
uint16_t index = 0;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
uint16_t fifo_length = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
uint8_t try = 1;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 50 * (6 axes bytes) = 300 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 50 * (6 axes bytes) = 300 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Variable to get fifo water-mark interrupt status. */
uint16_t int_status = 0;
uint16_t watermark = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set FIFO configuration by enabling accel, gyro.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("FIFO is configured in headerless mode\n");
/* To enable headerless mode, disable the header. */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
}
/* FIFO water-mark interrupt is enabled. */
fifoframe.data_int_map = BMI2_FWM_INT;
/* Map water-mark interrupt to the required interrupt pin. */
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Set water-mark level. */
fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set the water-mark level if water-mark interrupt is mapped. */
rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO watermark level is %d\n", watermark);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the status of FIFO watermark interrupt. */
if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
printf("\nWatermark interrupt occurred\n");
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
}
try++;
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameter according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= gyro.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

195
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/gyro/gyro.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for gyro.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_gyro_config(struct bmi2_dev *dev);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print gyro data. */
uint8_t limit = 10;
uint8_t indx = 0;
float x = 0, y = 0, z = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data = { 0 };
/* Assign gyro sensor to variable. */
uint8_t sens_list = BMI2_GYRO;
/* Initialize the interrupt status of gyro. */
uint16_t int_status = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors. */
rslt = bmi270_sensor_enable(&sens_list, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Gyro configuration settings. */
rslt = set_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Select gyro sensor. */
sensor_data.type = BMI2_GYRO;
printf("Gyro and DPS data\n");
printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
/* Loop to print gyro data when interrupt occurs. */
while (indx <= limit)
{
/* To get the data ready interrupt status of gyro. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the data ready interrupt status and print the status for 10 samples. */
if (int_status & BMI2_GYR_DRDY_INT_MASK)
{
/* Get gyro data for x, y and z axis. */
rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for gyro.
*/
static int8_t set_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config.cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the gyro configurations. */
rslt = bmi270_set_sensor_config(&config, 1, dev);
}
return rslt;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= no_motion_interrupt.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/no_motion_interrupt/no_motion_interrupt.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for no-motion.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Accel sensor and no-motion feature are listed in array. */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_NO_MOTION };
/* Variable to get no-motion interrupt status. */
uint16_t int_status = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_NO_MOTION, .hw_int_pin = BMI2_INT1 };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors. */
rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set feature configurations for no-motion. */
rslt = set_feature_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt for no-motion. */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Do not move the board\n");
/* Loop to get no-motion interrupt. */
do
{
/* Clear buffer. */
int_status = 0;
/* To get the interrupt status of no-motion. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of no-motion. */
if (int_status & BMI270_NO_MOT_STATUS_MASK)
{
printf("No-motion interrupt is generated\n");
break;
}
} while (rslt == BMI2_OK);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for no-motion.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_NO_MOTION;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* 1LSB equals 20ms. Default is 100ms, setting to 80ms. */
config.cfg.no_motion.duration = 0x04;
/* 1LSB equals to 0.48mg. Default is 83mg, setting to 50mg. */
config.cfg.no_motion.threshold = 0x68;
/* Set new configurations. */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

23
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= read_aux_data_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
BMM150_SOURCE ?= ../../../bmm150
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(BMM150_SOURCE)/bmm150.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(BMM150_SOURCE) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

327
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_data_mode/read_aux_data_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "bmm150.h"
#include "coines.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Macros to select the sensors */
#define ACCEL UINT8_C(0x00)
#define GYRO UINT8_C(0x01)
#define AUX UINT8_C(0x02)
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*****************************************************************************/
/*! Structure declaration */
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/*******************************************************************************/
/*! Functions */
/**
* user_aux_read - Reads data from auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Register address.
* @param[out] aux_data : Aux data pointer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
/**
* user_aux_write - Writes data to the auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Register address.
* @param[out] aux_data : Aux data pointer to store the data being written.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
/*!
* @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
* APIs.
*
* @param[in] period_us : The required wait time in microsecond.
* @param[in] intf_ptr : Interface pointer
*
* @return void.
*/
static void user_delay_us(uint32_t period, void *intf_ptr);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to select the pull-up resistor which is set to trim register */
uint8_t regdata;
/* Variable to define limit to print aux data. */
uint8_t limit = 20;
/* Accel, Gyro and Aux sensors are listed in array. */
uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
/* Structure to define the type of the sensor and its configurations. */
struct bmi2_sens_config config[3];
/* Sensor initialization configuration. */
struct bmm150_dev bmm150_dev;
/* bmm150 settings configuration */
struct bmm150_settings settings;
/* bmm150 magnetometer data */
struct bmm150_mag_data mag_data;
/* Structure to define type of sensor and their respective data. */
struct bmi2_sensor_data sensor_data[3];
/* Variables to define read the accel and gyro data in float */
float x = 0, y = 0, z = 0;
config[ACCEL].type = BMI2_ACCEL;
config[GYRO].type = BMI2_GYRO;
config[AUX].type = BMI2_AUX;
/* To enable the i2c interface settings for bmm150. */
uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
bmm150_dev.intf_ptr = &bmm150_dev_addr;
bmm150_dev.read = user_aux_read;
bmm150_dev.write = user_aux_write;
bmm150_dev.delay_us = user_delay_us;
/* As per datasheet, aux interface with bmi270 will support only for I2C */
bmm150_dev.intf = BMM150_I2C_INTF;
sensor_data[ACCEL].type = BMI2_ACCEL;
sensor_data[GYRO].type = BMI2_GYRO;
sensor_data[AUX].type = BMI2_AUX;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Pull-up resistor 2k is set to the trim regiter */
regdata = BMI2_ASDA_PUPSEL_2K;
rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable the accel, gyro and aux sensor. */
rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configurations for accel. */
config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* Configurations for gyro. */
config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
/* Configurations for aux. */
config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
config[AUX].cfg.aux.read_addr = BMM150_REG_DATA_X_LSB;
/* Set new configurations for accel, gyro and aux. */
rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initialize bmm150. */
rslt = bmm150_init(&bmm150_dev);
bmi2_error_codes_print_result(rslt);
/* Set the power mode to normal mode. */
settings.pwr_mode = BMM150_POWERMODE_NORMAL;
rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Disable manual mode so that the data mode is enabled. */
config[AUX].cfg.aux.manual_en = BMI2_DISABLE;
/* Set the aux configurations. */
rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("MAGNETOMETER, ACCEL, AND GYRO DATA IN DATA MODE\n");
if (bmm150_dev.chip_id == BMM150_CHIP_ID)
{
while (limit--)
{
/* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
rslt = bmi270_get_sensor_data(sensor_data, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
printf("Gyr_Z= %d", sensor_data[GYRO].sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
/* Compensating the raw auxiliary data available from the BMM150 API. */
rslt = bmm150_aux_mag_data(sensor_data[AUX].sens_data.aux_data, &mag_data, &bmm150_dev);
bmi2_error_codes_print_result(rslt);
printf("\nMag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n",
mag_data.x,
mag_data.y,
mag_data.z);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This function reads the data from auxiliary sensor in manual mode.
*/
static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
{
int8_t rslt;
/* Discarding the parameter id as it is redundant */
rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
return rslt;
}
/*!
* @brief This function writes the data to auxiliary sensor in manual mode.
*/
static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
{
int8_t rslt;
/* Discarding the parameter id as it is redundant */
rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
return rslt;
}
/*!
* Delay function map to COINES platform
*/
static void user_delay_us(uint32_t period, void *intf_ptr)
{
coines_delay_usec(period);
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/read_aux_manual_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= read_aux_manual_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
BMM150_SOURCE ?= ../../../bmm150
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(BMM150_SOURCE)/bmm150.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(BMM150_SOURCE) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

322
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "bmm150.h"
#include "coines.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Macros to select the sensors */
#define ACCEL UINT8_C(0x00)
#define GYRO UINT8_C(0x01)
#define AUX UINT8_C(0x02)
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*****************************************************************************/
/*! Structure declaration */
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/******************************************************************************/
/*! Functions */
/**
* user_aux_read - Reads data from auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Register address.
* @param[out] aux_data : Aux data pointer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
static int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr);
/**
* user_aux_write - Writes data to the auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Register address.
* @param[out] aux_data : Aux data pointer to store the data being written.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
static int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr);
/*!
* @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
* APIs.
*
* @param[in] period_us : The required wait time in microsecond.
* @param[in] intf_ptr : Interface pointer
*
* @return void.
*/
static void user_delay_us(uint32_t period, void *intf_ptr);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to select the pull-up resistor which is set to trim register */
uint8_t regdata;
/* Variable to define limit to print aux data. */
uint8_t limit = 20;
/* Accel, Gyro and Aux sensors are listed in array. */
uint8_t sensor_list[3] = { BMI2_ACCEL, BMI2_GYRO, BMI2_AUX };
/* Sensor initialization configuration. */
struct bmm150_dev bmm150_dev;
/* bmm150 settings configuration */
struct bmm150_settings settings;
/* bmm150 magnetometer data */
struct bmm150_mag_data mag_data;
/* Structure to define the type of the sensor and its configurations. */
struct bmi2_sens_config config[3];
/* Structure to define type of sensor and their respective data. */
struct bmi2_sensor_data sensor_data[2];
/* Variables to define read the accel and gyro data in float */
float x = 0, y = 0, z = 0;
config[ACCEL].type = BMI2_ACCEL;
config[GYRO].type = BMI2_GYRO;
config[AUX].type = BMI2_AUX;
sensor_data[ACCEL].type = BMI2_ACCEL;
sensor_data[GYRO].type = BMI2_GYRO;
/* Array of eight bytes to store x, y, z and r axis aux data. */
uint8_t aux_data[8] = { 0 };
/* To enable the i2c interface settings for bmm150. */
uint8_t bmm150_dev_addr = BMM150_DEFAULT_I2C_ADDRESS;
bmm150_dev.intf_ptr = &bmm150_dev_addr;
bmm150_dev.read = user_aux_read;
bmm150_dev.write = user_aux_write;
bmm150_dev.delay_us = user_delay_us;
/* As per datasheet, aux interface with bmi270 will support only for I2C */
bmm150_dev.intf = BMM150_I2C_INTF;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Pull-up resistor 2k is set to the trim register */
regdata = BMI2_ASDA_PUPSEL_2K;
rslt = bmi2_set_regs(BMI2_AUX_IF_TRIM, &regdata, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable the accel, gyro and aux sensor. */
rslt = bmi270_sensor_enable(sensor_list, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configurations for accel. */
config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
config[ACCEL].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* Configurations for gyro. */
config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
config[GYRO].cfg.gyr.noise_perf = BMI2_GYR_RANGE_2000;
config[GYRO].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
config[GYRO].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
/* Configurations for aux. */
config[AUX].cfg.aux.odr = BMI2_AUX_ODR_100HZ;
config[AUX].cfg.aux.aux_en = BMI2_ENABLE;
config[AUX].cfg.aux.i2c_device_addr = BMM150_DEFAULT_I2C_ADDRESS;
config[AUX].cfg.aux.manual_en = BMI2_ENABLE;
config[AUX].cfg.aux.fcu_write_en = BMI2_ENABLE;
config[AUX].cfg.aux.man_rd_burst = BMI2_AUX_READ_LEN_3;
/* Set new configurations for accel, gyro and aux. */
rslt = bmi270_set_sensor_config(config, 3, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initialize bmm150. */
rslt = bmm150_init(&bmm150_dev);
bmi2_error_codes_print_result(rslt);
/* Set the power mode to normal mode. */
settings.pwr_mode = BMM150_POWERMODE_NORMAL;
rslt = bmm150_set_op_mode(&settings, &bmm150_dev);
bmi2_error_codes_print_result(rslt);
printf("MAGNETOMETER, ACCEL AND GYRO DATA IN MANUAL MODE\n");
if (bmm150_dev.chip_id == BMM150_CHIP_ID)
{
while (limit--)
{
/* Delay has been added to get aux, accel and gyro data at the interval of every 0.05 second. */
bmi2_dev.delay_us(50000, bmi2_dev.intf_ptr);
rslt = bmi270_get_sensor_data(sensor_data, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
printf("Gyr_Z = %d", sensor_data[GYRO].sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("\nGyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
}
/* Read aux data from the bmm150 data registers. */
rslt = bmi2_read_aux_man_mode(BMM150_REG_DATA_X_LSB, aux_data, 8, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Compensating the raw auxiliary data available from the BMM150 API. */
rslt = bmm150_aux_mag_data(aux_data, &mag_data, &bmm150_dev);
bmi2_error_codes_print_result(rslt);
printf("Mag_x_axis = %d \t Mag_y_axis = %d \t Mag_z_axis = %d \t\n", mag_data.x, mag_data.y,
mag_data.z);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This function reads the data from auxiliary sensor in manual mode.
*/
int8_t user_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint32_t len, void *intf_ptr)
{
int8_t rslt;
/* Discarding the parameter id as it is redundant */
rslt = bmi2_read_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
return rslt;
}
/*!
* @brief This function writes the data to auxiliary sensor in manual mode.
*/
int8_t user_aux_write(uint8_t reg_addr, const uint8_t *aux_data, uint32_t len, void *intf_ptr)
{
int8_t rslt;
/* Discarding the parameter id as it is redundant */
rslt = bmi2_write_aux_man_mode(reg_addr, aux_data, len, &bmi2_dev);
return rslt;
}
/*!
* Delay function map to COINES platform
*/
static void user_delay_us(uint32_t period, void *intf_ptr)
{
coines_delay_usec(period);
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

18
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= sig_motion.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Accel sensor and significant-motion feature are listed in array. */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_SIG_MOTION };
/* Variable to get significant-motion interrupt status. */
uint16_t int_status = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_SIG_MOTION, .hw_int_pin = BMI2_INT1 };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors. */
rslt = bmi270_sensor_enable(sens_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configure the type of feature. */
config.type = BMI2_SIG_MOTION;
if (rslt == BMI2_OK)
{
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt for significant-motion. */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* By default the significant-motion interrupt occurs when the sensor is in motion for about 5 seconds.
* */
printf("Move the board for 5 secs in any direction\n");
do
{
/* To get the interrupt status of significant-motion. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of significant-motion. */
if (int_status & BMI270_SIG_MOT_STATUS_MASK)
{
printf("Significant motion interrupt is generated\n");
break;
}
} while (rslt == BMI2_OK);
}
}
}
bmi2_coines_deinit();
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= step_activity.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_activity/step_activity.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Structure to define the type of sensor and their respective data. */
struct bmi2_sensor_data sensor_data;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Accel sensor and step activity feature are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_ACTIVITY };
/* Type of sensor to get step activity data. */
sensor_data.type = BMI2_STEP_ACTIVITY;
/* Variable to get step activity interrupt status. */
uint16_t int_status = 0;
uint16_t loop = 10;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_ACTIVITY, .hw_int_pin = BMI2_INT2 };
/* The step activities are listed in array. */
const char *activity_output[4] = { "BMI2_STILL", "BMI2_WALK", "BMI2_RUN", "BMI2_UNKNOWN" };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configure the type of sensor. */
config.type = BMI2_STEP_ACTIVITY;
if (rslt == BMI2_OK)
{
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt for step activity. */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nMove the board in steps to perform step activity:\n");
/* Loop to get step activity. */
while (loop)
{
/* To get the interrupt status of step detector. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of step detector. */
if (int_status & BMI270_STEP_ACT_STATUS_MASK)
{
printf("Step detected\n");
/* Get step activity output. */
rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Print the step activity output. */
printf("Step activity = %s\n", activity_output[sensor_data.sens_data.activity_output]);
loop--;
}
}
}
}
}
bmi2_coines_deinit();
return rslt;
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= step_counter.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/step_counter/step_counter.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set configurations for step counter.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Structure to define type of sensor and their respective data. */
struct bmi2_sensor_data sensor_data;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Accel sensor and step counter feature are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
/* Variable to get step counter interrupt status. */
uint16_t int_status = 0;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
/* Type of sensor to get step counter data. */
sensor_data.type = BMI2_STEP_COUNTER;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensor. */
rslt = bmi270_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set the feature configuration for step counter. */
rslt = set_feature_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Step counter watermark level set to 1 (20 steps)\n");
if (rslt == BMI2_OK)
{
/* Map the step counter feature interrupt. */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Move the board in steps for 20 times to get step counter interrupt. */
printf("Move the board in steps\n");
/* Loop to get number of steps counted. */
do
{
/* To get the interrupt status of the step counter. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of the step counter. */
if (int_status & BMI270_STEP_CNT_STATUS_MASK)
{
printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
/* Get step counter output. */
rslt = bmi270_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Print the step counter output. */
printf("No of steps counted = %ld", sensor_data.sens_data.step_counter_output);
break;
}
} while (rslt == BMI2_OK);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for step counter.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of sensor. */
config.type = BMI2_STEP_COUNTER;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
* output triggers. */
config.cfg.step_counter.watermark_level = 1;
/* Set new configuration. */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= wrist_gesture.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

147
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_gesture/wrist_gesture.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set the sensor configuration.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program */
int main(void)
{
/* Variable to define result */
int8_t rslt;
/* Initialize status of wrist gesture interrupt */
uint16_t int_status = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_GESTURE, .hw_int_pin = BMI2_INT1 };
/* Sensor data structure */
struct bmi2_sensor_data sens_data = { 0 };
/* The gesture movements are listed in array */
const char *gesture_output[6] =
{ "unknown_gesture", "push_arm_down", "pivot_up", "wrist_shake_jiggle", "flick_in", "flick_out" };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
sens_data.type = BMI2_WRIST_GESTURE;
/* Set the sensor configuration */
rslt = bmi2_set_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("Flip the board in portrait/landscape mode:\n");
/* Loop to print the wrist gesture data when interrupt occurs */
while (1)
{
/* Get the interrupt status of the wrist gesture */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_GEST_STATUS_MASK))
{
printf("Wrist gesture detected\n");
/* Get wrist gesture output */
rslt = bmi270_get_sensor_data(&sens_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Wrist gesture = %d\r\n", sens_data.sens_data.wrist_gesture_output);
printf("Gesture output = %s\n", gesture_output[sens_data.sens_data.wrist_gesture_output]);
break;
}
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API sets the sensor configuration
*/
static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
{
/* Variable to define result */
int8_t rslt;
/* List the sensors which are required to enable */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_GESTURE };
/* Structure to define the type of the sensor and its configurations */
struct bmi2_sens_config config;
/* Configure type of feature */
config.type = BMI2_WRIST_GESTURE;
/* Enable the selected sensors */
rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Get default configurations for the type of feature selected */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
config.cfg.wrist_gest.wearable_arm = BMI2_ARM_LEFT;
/* Set the new configuration along with interrupt mapping */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= wrist_wear_wakeup.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

131
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270/wrist_wear_wakeup/wrist_wear_wakeup.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set the sensor configuration.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program */
int main(void)
{
/* Variable to define result */
int8_t rslt;
/* Initialize status of wrist wear wakeup interrupt */
uint16_t int_status = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Select features and their pins to be mapped to */
struct bmi2_sens_int_config sens_int = { .type = BMI2_WRIST_WEAR_WAKE_UP, .hw_int_pin = BMI2_INT1 };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270. */
rslt = bmi270_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set the sensor configuration */
rslt = bmi2_set_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Map the feature interrupt */
rslt = bmi270_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("Tilt the board in landscape position to trigger wrist wear wakeup\n");
/* Loop to print the wrist wear wakeup data when interrupt occurs */
while (1)
{
int_status = 0;
/* To get the interrupt status of the wrist wear wakeup */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of the wrist gesture */
if ((rslt == BMI2_OK) && (int_status & BMI270_WRIST_WAKE_UP_STATUS_MASK))
{
printf("Wrist wear wakeup detected\n");
break;
}
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API sets the sensor configuration
*/
static int8_t bmi2_set_config(struct bmi2_dev *bmi2_dev)
{
/* Variable to define result */
int8_t rslt;
/* List the sensors which are required to enable */
uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_WRIST_WEAR_WAKE_UP };
/* Structure to define the type of the sensor and its configurations */
struct bmi2_sens_config config;
/* Configure type of feature */
config.type = BMI2_WRIST_WEAR_WAKE_UP;
/* Enable the selected sensors */
rslt = bmi270_sensor_enable(sens_list, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Get default configurations for the type of feature selected */
rslt = bmi270_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set the new configuration */
rslt = bmi270_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

200
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/accel/accel.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 20;
/* Assign accel sensor to variable. */
uint8_t sensor_list = BMI2_ACCEL;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data = { 0 };
/* Initialize the interrupt status of accel. */
uint16_t int_status = 0;
uint8_t indx = 0;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel sensor. */
rslt = bmi270_context_sensor_enable(&sensor_list, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel configuration settings. */
rslt = set_accel_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel sensor. */
sensor_data.type = BMI2_ACCEL;
printf("Accel and m/s2 data \n");
printf("Accel data collected at 2G Range with 16-bit resolution\n");
/* Loop to print the accel data when interrupt occurs. */
while (indx <= limit)
{
/* To get the status of accel data ready interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the accel data ready interrupt status and print the status for 10 samples. */
if (int_status & BMI2_ACC_DRDY_INT_MASK)
{
/* Get accelerometer data for x, y and z axis. */
rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer configuration. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_ACCEL;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config.cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel configurations. */
rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}

18
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel_gyro.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

268
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*! Macros to select the sensors */
#define ACCEL UINT8_C(0x00)
#define GYRO UINT8_C(0x01)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 10;
/* Assign accel and gyro sensor to variable. */
uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data[2] = { { 0 } };
/* Initialize the interrupt status of accel and gyro. */
uint16_t int_status = 0;
uint8_t indx = 1;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel and gyro sensor. */
rslt = bmi270_context_sensor_enable(sensor_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel and gyro configuration settings. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel and gyro sensor. */
sensor_data[ACCEL].type = BMI2_ACCEL;
sensor_data[GYRO].type = BMI2_GYRO;
/* Loop to print accel and gyro data when interrupt occurs. */
while (indx <= limit)
{
/* To get the data ready interrupt status of accel and gyro. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the data ready interrupt status and print the status for 10 samples. */
if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
{
/* Get accel and gyro data for x, y and z axis. */
rslt = bmi270_context_get_sensor_data(sensor_data, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\n******* Accel(Raw and m/s2) Gyro(Raw and dps) data : %d *******\n", indx);
printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer and gyro configuration. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[ACCEL].type = BMI2_ACCEL;
config[GYRO].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel and gyro configurations. */
rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

18
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= activity_recognition.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

154
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/activity_recognition/activity_recognition.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set configurations for step counter.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define index for FIFO data */
uint8_t count;
/* Various Activity recognitions are listed in array. */
const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
/* Accel sensor and step activity feature are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
/* Array to define FIFO data */
uint8_t fifo_data[516] = { 0 };
/* Variable to store number of activity frames */
uint16_t act_frames;
/* Structure to define a FIFO */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Structure to define output for activity recognition */
struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
uint16_t fifo_length;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
rslt = set_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Update FIFO structure */
fifoframe.data = fifo_data;
fifoframe.length = 516;
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
printf("Fifo length = %d \n", fifo_length);
/* Read FIFO data */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (rslt != BMI2_W_FIFO_EMPTY)
{
/* Provide the number of frames to be read */
act_frames = 5;
printf("Requested FIFO data frames : %d\n", act_frames);
/* Get the activity output */
rslt = bmi270_context_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Parsed FIFO data frames : %d\r\n", act_frames);
for (count = 0; count < act_frames; count++)
{
printf(
"Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
count,
act_recog_data[count].time_stamp,
activity_reg_output[act_recog_data[count].prev_act],
activity_reg_output[act_recog_data[count].curr_act]);
}
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
static int8_t set_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint8_t temp_data[2];
/* Disable advanced power save */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Reset FIFO */
rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Move the board for activity recognition for 30 sec :\n");
bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
}
return rslt;
}

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/**
* Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "coines.h"
#include "bmi2_defs.h"
/******************************************************************************/
/*! Macro definitions */
#define BMI2XY_SHUTTLE_ID UINT16_C(0x1B8)
/*! Macro that defines read write length */
#define READ_WRITE_LEN UINT8_C(46)
/******************************************************************************/
/*! Static variable definition */
/*! Variable that holds the I2C device address or SPI chip selection */
static uint8_t dev_addr;
/******************************************************************************/
/*! User interface functions */
/*!
* I2C read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* I2C write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* SPI read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* SPI write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* Delay function map to COINES platform
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr)
{
coines_delay_usec(period);
}
/*!
* @brief Function to select the interface between SPI and I2C.
* Also to initialize coines platform
*/
int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
{
int8_t rslt = BMI2_OK;
struct coines_board_info board_info;
if (bmi != NULL)
{
int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
if (result < COINES_SUCCESS)
{
printf(
"\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
" 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
exit(result);
}
result = coines_get_board_info(&board_info);
#if defined(PC)
setbuf(stdout, NULL);
#endif
if (result == COINES_SUCCESS)
{
if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
{
printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
exit(COINES_E_FAILURE);
}
}
coines_set_shuttleboard_vdd_vddio_config(0, 0);
coines_delay_msec(100);
/* Bus configuration : I2C */
if (intf == BMI2_I2C_INTF)
{
printf("I2C Interface \n");
/* To initialize the user I2C function */
dev_addr = BMI2_I2C_PRIM_ADDR;
bmi->intf = BMI2_I2C_INTF;
bmi->read = bmi2_i2c_read;
bmi->write = bmi2_i2c_write;
coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
}
/* Bus configuration : SPI */
else if (intf == BMI2_SPI_INTF)
{
printf("SPI Interface \n");
/* To initialize the user SPI function */
dev_addr = COINES_SHUTTLE_PIN_7;
bmi->intf = BMI2_SPI_INTF;
bmi->read = bmi2_spi_read;
bmi->write = bmi2_spi_write;
coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
}
/* Assign device address to interface pointer */
bmi->intf_ptr = &dev_addr;
/* Configure delay in microseconds */
bmi->delay_us = bmi2_delay_us;
/* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
bmi->read_write_len = READ_WRITE_LEN;
/* Assign to NULL to load the default config file. */
bmi->config_file_ptr = NULL;
coines_delay_usec(10000);
coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
coines_delay_usec(10000);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief Prints the execution status of the APIs.
*/
void bmi2_error_codes_print_result(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_W_FIFO_EMPTY:
printf("Warning [%d] : FIFO empty\r\n", rslt);
break;
case BMI2_W_PARTIAL_READ:
printf("Warning [%d] : FIFO partial read\r\n", rslt);
break;
case BMI2_E_NULL_PTR:
printf(
"Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
rslt);
break;
case BMI2_E_COM_FAIL:
printf(
"Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf(
"Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf(
"Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf(
"Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
rslt);
break;
case BMI2_E_OUT_OF_RANGE:
printf(
"Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
rslt);
break;
case BMI2_E_ACC_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
rslt);
break;
case BMI2_E_GYRO_INVALID_CFG:
printf(
"Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
rslt);
break;
case BMI2_E_ACC_GYR_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
rslt);
break;
case BMI2_E_CONFIG_LOAD:
printf(
"Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
rslt);
break;
case BMI2_E_INVALID_PAGE:
printf(
"Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
rslt);
break;
case BMI2_E_SET_APS_FAIL:
printf(
"Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
rslt);
break;
case BMI2_E_AUX_INVALID_CFG:
printf(
"Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
rslt);
break;
case BMI2_E_AUX_BUSY:
printf(
"Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
rslt);
break;
case BMI2_E_REMAP_ERROR:
printf(
"Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
rslt);
break;
case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
printf(
"Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_NOT_DONE:
printf(
"Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
rslt);
break;
case BMI2_E_INVALID_INPUT:
printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
break;
case BMI2_E_INVALID_STATUS:
printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
break;
case BMI2_E_CRT_ERROR:
printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
break;
case BMI2_E_ST_ALREADY_RUNNING:
printf(
"Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
rslt);
break;
case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
printf(
"Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
rslt);
break;
case BMI2_E_DL_ERROR:
printf(
"Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
rslt);
break;
case BMI2_E_PRECON_ERROR:
printf(
"Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
rslt);
break;
case BMI2_E_ABORT_ERROR:
printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
break;
case BMI2_E_WRITE_CYCLE_ONGOING:
printf(
"Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
rslt);
break;
case BMI2_E_ST_NOT_RUNING:
printf(
"Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
rslt);
break;
case BMI2_E_DATA_RDY_INT_FAILED:
printf(
"Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
rslt);
break;
case BMI2_E_INVALID_FOC_POSITION:
printf(
"Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void)
{
coines_close_comm_intf(COINES_COMM_INTF_USB);
}

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
#ifndef _COMMON_H
#define _COMMON_H
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
#include <stdio.h>
#include "bmi2.h"
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
* APIs.
*
* @param[in] period_us : The required wait time in microsecond.
* @param[in] intf_ptr : Interface pointer
*
* @return void.
*
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr);
/*!
* @brief Function to select the interface between SPI and I2C.
*
* @param[in] bma : Structure instance of bmi2_dev
* @param[in] intf : Interface selection parameter
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] rslt : Error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void bmi2_error_codes_print_result(int8_t rslt);
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* _COMMON_H */

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= component_retrim.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* This API runs the CRT process. */
rslt = bmi2_do_crt(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Do not move the board while doing CRT. If so, it will throw an abort error. */
if (rslt == BMI2_OK)
{
printf("CRT successfully completed.");
}
}
bmi2_coines_deinit();
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data. */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO. */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO. */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
* totaling to 13) which equals to 157.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(157)
/*! Number of gyro frames to be extracted from FIFO. */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(157)
/*! Macro to read sensortime byte in FIFO. */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t config = 0;
/* To read sensortime, extra 3 bytes are added to fifo buffer. */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
int8_t try = 1;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is in FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_50HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

304
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
* 12) which equals to 170.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(169)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(169)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint8_t try = 1;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set FIFO configuration by enabling accel, gyro.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("FIFO is configured in headerless mode\n");
/* To enable headerless mode, disable the header. */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
}
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
}
try++;
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_context_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

335
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_header_mode/fifo_watermark_header_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*!
* Calculation:
* fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
* fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
* NOTE: Extra frames are read in order to get sensor time
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(55)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(55)
/*! Setting a watermark level in FIFO */
#define BMI270_FIFO_WATERMARK_LEVEL UINT16_C(650)
/*! Macro to read sensortime byte in FIFO */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Variable to index bytes. */
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
uint8_t try = 1;
/* To read sensortime, extra 3 bytes are added to fifo buffer */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Variable to get fifo water-mark interrupt status. */
uint16_t int_status = 0;
uint16_t watermark = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* FIFO water-mark interrupt is enabled. */
fifoframe.data_int_map = BMI2_FWM_INT;
/* Map water-mark interrupt to the required interrupt pin. */
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Set water-mark level. */
fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
/* Set the water-mark level if water-mark interrupt is mapped. */
rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO watermark level is %d\n", watermark);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the status of FIFO watermark interrupt. */
if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
printf("\nWatermark interrupt occurred\n");
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_context_set_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

331
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/fifo_watermark_headerless_mode/fifo_watermark_headerless_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*!
* Calculation:
* fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6.
* fifo_accel_frame_count = (650 / (6 + 6 )) = 54 frames
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(55)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(55)
/*! Setting a watermark level in FIFO */
#define BMI270_FIFO_WATERMARK_LEVEL UINT16_C(650)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to index bytes. */
uint16_t index = 0;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
uint16_t fifo_length = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
uint8_t try = 1;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 50 * (6 axes bytes) = 300 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 50 * (6 axes bytes) = 300 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Variable to get fifo water-mark interrupt status. */
uint16_t int_status = 0;
uint16_t watermark = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set FIFO configuration by enabling accel, gyro.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("FIFO is configured in headerless mode\n");
/* To enable headerless mode, disable the header. */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
}
/* FIFO water-mark interrupt is enabled. */
fifoframe.data_int_map = BMI2_FWM_INT;
/* Map water-mark interrupt to the required interrupt pin. */
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Set water-mark level. */
fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set the water-mark level if water-mark interrupt is mapped. */
rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO watermark level is %d\n", watermark);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the status of FIFO watermark interrupt. */
if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
printf("\nWatermark interrupt occurred\n");
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
}
try++;
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameter according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_context_set_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= gyro.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

195
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/gyro/gyro.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for gyro.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_gyro_config(struct bmi2_dev *dev);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print gyro data. */
uint8_t limit = 10;
uint8_t indx = 0;
float x = 0, y = 0, z = 0;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data = { 0 };
/* Assign gyro sensor to variable. */
uint8_t sens_list = BMI2_GYRO;
/* Initialize the interrupt status of gyro. */
uint16_t int_status = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors. */
rslt = bmi270_context_sensor_enable(&sens_list, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Gyro configuration settings. */
rslt = set_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Select gyro sensor. */
sensor_data.type = BMI2_GYRO;
printf("Gyro and DPS data\n");
printf("Gyro data collected at Range 2000 dps with 16-bit resolution\n");
/* Loop to print gyro data when interrupt occurs. */
while (indx <= limit)
{
/* To get the data ready interrupt status of gyro. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the data ready interrupt status and print the status for 10 samples. */
if (int_status & BMI2_GYR_DRDY_INT_MASK)
{
/* Get gyro data for x, y and z axis. */
rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nGyr_X = %d\t", sensor_data.sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data.sens_data.gyr.y);
printf("Gyr_Z = %d\r\n", sensor_data.sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data.sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data.sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data.sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("Gyr_DPS_X = %4.2f, Gyr_DPS_Y = %4.2f, Gyr_DPS_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for gyro.
*/
static int8_t set_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(&config, 1, dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config.cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config.cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config.cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config.cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config.cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the gyro configurations. */
rslt = bmi270_context_set_sensor_config(&config, 1, dev);
}
return rslt;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= step_counter.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_context.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

146
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_context/step_counter/step_counter.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_context.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set configurations for step counter.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Structure to define type of sensor and their respective data. */
struct bmi2_sensor_data sensor_data;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Accel sensor and step counter feature are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_STEP_COUNTER };
/* Variable to get step counter interrupt status. */
uint16_t int_status = 0;
/* Select features and their pins to be mapped to. */
struct bmi2_sens_int_config sens_int = { .type = BMI2_STEP_COUNTER, .hw_int_pin = BMI2_INT2 };
/* Type of sensor to get step counter data. */
sensor_data.type = BMI2_STEP_COUNTER;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_context. */
rslt = bmi270_context_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensor. */
rslt = bmi270_context_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Set the feature configuration for step counter. */
rslt = set_feature_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Step counter watermark level set to 1 (20 steps)\n");
if (rslt == BMI2_OK)
{
/* Map the step counter feature interrupt. */
rslt = bmi270_context_map_feat_int(&sens_int, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Move the board in steps for 20 times to get step counter interrupt. */
printf("Move the board in steps\n");
/* Loop to get number of steps counted. */
do
{
/* To get the interrupt status of the step counter. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the interrupt status of the step counter. */
if (int_status & BMI270_CONTEXT_STEP_CNT_STATUS_MASK)
{
printf("Step counter interrupt occurred when watermark level (20 steps) is reached\n");
/* Get step counter output. */
rslt = bmi270_context_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Print the step counter output. */
printf("No of steps counted = %ld", sensor_data.sens_data.step_counter_output);
break;
}
} while (rslt == BMI2_OK);
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for step counter.
*/
static int8_t set_feature_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define the type of sensor and its configurations. */
struct bmi2_sens_config config;
/* Configure the type of sensor. */
config.type = BMI2_STEP_COUNTER;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_context_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Setting water-mark level to 1 for step counter to get interrupt after 20 step counts. Every 20 steps once
* output triggers. */
config.cfg.step_counter.watermark_level = 1;
/* Set new configuration. */
rslt = bmi270_context_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

201
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/accel/accel.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 20;
/* Assign accel sensor to variable. */
uint8_t sensor_list = BMI2_ACCEL;
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data = { 0 };
/* Initialize the interrupt status of accel. */
uint16_t int_status = 0;
uint8_t indx = 0;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel sensor. */
rslt = bmi270_hc_sensor_enable(&sensor_list, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel configuration settings. */
rslt = set_accel_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel sensor. */
sensor_data.type = BMI2_ACCEL;
printf("Accel and m/s2 data \n");
printf("Accel data collected at 2G Range with 16-bit resolution\n");
/* Loop to print the accel data when interrupt occurs. */
while (indx <= limit)
{
/* To get the status of accel data ready interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the accel data ready interrupt status and print the status for 10 samples. */
if (int_status & BMI2_ACC_DRDY_INT_MASK)
{
/* Get accelerometer data for x, y and z axis. */
rslt = bmi270_hc_get_sensor_data(&sensor_data, 1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nAcc_X = %d\t", sensor_data.sens_data.acc.x);
printf("Acc_Y = %d\t", sensor_data.sens_data.acc.y);
printf("Acc_Z = %d\r\n", sensor_data.sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data.sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data.sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data.sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel.
*/
static int8_t set_accel_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer configuration. */
struct bmi2_sens_config config;
/* Configure the type of feature. */
config.type = BMI2_ACCEL;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_hc_get_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config.cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config.cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel configurations. */
rslt = bmi270_hc_set_sensor_config(&config, 1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= accel_gyro.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

268
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Macro definition */
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
/*! Macros to select the sensors */
#define ACCEL UINT8_C(0x00)
#define GYRO UINT8_C(0x01)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev);
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*
* @param[in] val : LSB from each axis.
* @param[in] g_range : Gravity range.
* @param[in] bit_width : Resolution for accel.
*
* @return Gravity.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*
* @param[in] val : LSB from each axis.
* @param[in] dps : Degree per second.
* @param[in] bit_width : Resolution for gyro.
*
* @return Degree per second.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define limit to print accel data. */
uint8_t limit = 10;
/* Assign accel and gyro sensor to variable. */
uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Create an instance of sensor data structure. */
struct bmi2_sensor_data sensor_data[2] = { { 0 } };
/* Initialize the interrupt status of accel and gyro. */
uint16_t int_status = 0;
uint8_t indx = 1;
float x = 0, y = 0, z = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the accel and gyro sensor. */
rslt = bmi270_hc_sensor_enable(sensor_list, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Accel and gyro configuration settings. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Assign accel and gyro sensor. */
sensor_data[ACCEL].type = BMI2_ACCEL;
sensor_data[GYRO].type = BMI2_GYRO;
/* Loop to print accel and gyro data when interrupt occurs. */
while (indx <= limit)
{
/* To get the data ready interrupt status of accel and gyro. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the data ready interrupt status and print the status for 10 samples. */
if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK))
{
/* Get accel and gyro data for x, y and z axis. */
rslt = bmi270_hc_get_sensor_data(sensor_data, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\n******* Accel(Raw and m/s2) Gyro(Raw and dps) data : %d *******\n", indx);
printf("\nAcc_x = %d\t", sensor_data[ACCEL].sens_data.acc.x);
printf("Acc_y = %d\t", sensor_data[ACCEL].sens_data.acc.y);
printf("Acc_z = %d", sensor_data[ACCEL].sens_data.acc.z);
/* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */
x = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.x, 2, bmi2_dev.resolution);
y = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.y, 2, bmi2_dev.resolution);
z = lsb_to_mps2(sensor_data[ACCEL].sens_data.acc.z, 2, bmi2_dev.resolution);
/* Print the data in m/s2. */
printf("\nAcc_ms2_X = %4.2f, Acc_ms2_Y = %4.2f, Acc_ms2_Z = %4.2f\n", x, y, z);
printf("\nGyr_X = %d\t", sensor_data[GYRO].sens_data.gyr.x);
printf("Gyr_Y = %d\t", sensor_data[GYRO].sens_data.gyr.y);
printf("Gyr_Z = %d\n", sensor_data[GYRO].sens_data.gyr.z);
/* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */
x = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.x, 2000, bmi2_dev.resolution);
y = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.y, 2000, bmi2_dev.resolution);
z = lsb_to_dps(sensor_data[GYRO].sens_data.gyr.z, 2000, bmi2_dev.resolution);
/* Print the data in dps. */
printf("Gyro_DPS_X = %4.2f, Gyro_DPS_Y = %4.2f, Gyro_DPS_Z = %4.2f\n", x, y, z);
indx++;
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accelerometer and gyro configuration. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[ACCEL].type = BMI2_ACCEL;
config[GYRO].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map data ready interrupt to interrupt pin. */
rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples.
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* The user can change the following configuration parameters according to their requirement. */
/* Set Output Data Rate */
config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set the accel and gyro configurations. */
rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = ((float)(1 << bit_width) / 2.0f);
return (dps / ((half_scale) + BMI2_GYR_RANGE_2000)) * (val);
}

18
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= activity_recognition.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

154
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/activity_recognition/activity_recognition.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Static function declaration */
/*!
* @brief This internal API is used to set configurations for step counter.
*
* @param[in] bmi2_dev : Structure instance of bmi2_dev.
*
* @return Status of execution.
*/
static int8_t set_config(struct bmi2_dev *bmi2_dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to define index for FIFO data */
uint8_t count;
/* Various Activity recognitions are listed in array. */
const char *activity_reg_output[6] = { "OTHERS", "STILL", "WALKING", "RUNNING", "ON_BICYCLE", "IN_VEHICLE" };
/* Accel sensor and step activity feature are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_ACTIVITY_RECOGNITION };
/* Array to define FIFO data */
uint8_t fifo_data[516] = { 0 };
/* Variable to store number of activity frames */
uint16_t act_frames;
/* Structure to define a FIFO */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Structure to define output for activity recognition */
struct bmi2_act_recog_output act_recog_data[5] = { { 0 } };
uint16_t fifo_length;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Enable the selected sensor. */
rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
rslt = set_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Update FIFO structure */
fifoframe.data = fifo_data;
fifoframe.length = 516;
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
printf("Fifo length = %d \n", fifo_length);
/* Read FIFO data */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (rslt != BMI2_W_FIFO_EMPTY)
{
/* Provide the number of frames to be read */
act_frames = 5;
printf("Requested FIFO data frames : %d\n", act_frames);
/* Get the activity output */
rslt = bmi270_hc_get_act_recog_output(act_recog_data, &act_frames, &fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Parsed FIFO data frames : %d\r\n", act_frames);
for (count = 0; count < act_frames; count++)
{
printf(
"Activity Recognition output[%d]:Sensor time: %lu\t Previous activity: %s\t current: %s\n",
count,
act_recog_data[count].time_stamp,
activity_reg_output[act_recog_data[count].prev_act],
activity_reg_output[act_recog_data[count].curr_act]);
}
}
}
}
}
bmi2_coines_deinit();
return rslt;
}
static int8_t set_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint8_t temp_data[2];
/* Disable advanced power save */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* Reset FIFO */
rslt = bmi2_set_command_register(BMI2_FIFO_FLUSH_CMD, bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("Move the board for activity recognition for 30 sec :\n");
bmi2_dev->delay_us(30000000, bmi2_dev->intf_ptr);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, temp_data, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
}
return rslt;
}

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/**
* Copyright (C) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "coines.h"
#include "bmi2_defs.h"
/******************************************************************************/
/*! Macro definitions */
#define BMI2XY_SHUTTLE_ID UINT16_C(0x1B8)
/*! Macro that defines read write length */
#define READ_WRITE_LEN UINT8_C(46)
/******************************************************************************/
/*! Static variable definition */
/*! Variable that holds the I2C device address or SPI chip selection */
static uint8_t dev_addr;
/******************************************************************************/
/*! User interface functions */
/*!
* I2C read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_i2c(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* I2C write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_i2c(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* SPI read function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_read_spi(dev_addr, reg_addr, reg_data, (uint16_t)len);
}
/*!
* SPI write function map to COINES platform
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr)
{
uint8_t dev_addr = *(uint8_t*)intf_ptr;
return coines_write_spi(dev_addr, reg_addr, (uint8_t *)reg_data, (uint16_t)len);
}
/*!
* Delay function map to COINES platform
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr)
{
coines_delay_usec(period);
}
/*!
* @brief Function to select the interface between SPI and I2C.
* Also to initialize coines platform
*/
int8_t bmi2_interface_init(struct bmi2_dev *bmi, uint8_t intf)
{
int8_t rslt = BMI2_OK;
struct coines_board_info board_info;
if (bmi != NULL)
{
int16_t result = coines_open_comm_intf(COINES_COMM_INTF_USB);
if (result < COINES_SUCCESS)
{
printf(
"\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
" 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
exit(result);
}
result = coines_get_board_info(&board_info);
#if defined(PC)
setbuf(stdout, NULL);
#endif
if (result == COINES_SUCCESS)
{
if ((board_info.shuttle_id != BMI2XY_SHUTTLE_ID))
{
printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
exit(COINES_E_FAILURE);
}
}
coines_set_shuttleboard_vdd_vddio_config(0, 0);
coines_delay_msec(100);
/* Bus configuration : I2C */
if (intf == BMI2_I2C_INTF)
{
printf("I2C Interface \n");
/* To initialize the user I2C function */
dev_addr = BMI2_I2C_PRIM_ADDR;
bmi->intf = BMI2_I2C_INTF;
bmi->read = bmi2_i2c_read;
bmi->write = bmi2_i2c_write;
coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
}
/* Bus configuration : SPI */
else if (intf == BMI2_SPI_INTF)
{
printf("SPI Interface \n");
/* To initialize the user SPI function */
dev_addr = COINES_SHUTTLE_PIN_7;
bmi->intf = BMI2_SPI_INTF;
bmi->read = bmi2_spi_read;
bmi->write = bmi2_spi_write;
coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
}
/* Assign device address to interface pointer */
bmi->intf_ptr = &dev_addr;
/* Configure delay in microseconds */
bmi->delay_us = bmi2_delay_us;
/* Configure max read/write length (in bytes) ( Supported length depends on target machine) */
bmi->read_write_len = READ_WRITE_LEN;
/* Assign to NULL to load the default config file. */
bmi->config_file_ptr = NULL;
coines_delay_usec(10000);
coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
coines_delay_usec(10000);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief Prints the execution status of the APIs.
*/
void bmi2_error_codes_print_result(int8_t rslt)
{
switch (rslt)
{
case BMI2_OK:
/* Do nothing */
break;
case BMI2_W_FIFO_EMPTY:
printf("Warning [%d] : FIFO empty\r\n", rslt);
break;
case BMI2_W_PARTIAL_READ:
printf("Warning [%d] : FIFO partial read\r\n", rslt);
break;
case BMI2_E_NULL_PTR:
printf(
"Error [%d] : Null pointer error. It occurs when the user tries to assign value (not address) to a pointer," " which has been initialized to NULL.\r\n",
rslt);
break;
case BMI2_E_COM_FAIL:
printf(
"Error [%d] : Communication failure error. It occurs due to read/write operation failure and also due " "to power failure during communication\r\n",
rslt);
break;
case BMI2_E_DEV_NOT_FOUND:
printf("Error [%d] : Device not found error. It occurs when the device chip id is incorrectly read\r\n",
rslt);
break;
case BMI2_E_INVALID_SENSOR:
printf(
"Error [%d] : Invalid sensor error. It occurs when there is a mismatch in the requested feature with the " "available one\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_FAIL:
printf(
"Error [%d] : Self-test failed error. It occurs when the validation of accel self-test data is " "not satisfied\r\n",
rslt);
break;
case BMI2_E_INVALID_INT_PIN:
printf(
"Error [%d] : Invalid interrupt pin error. It occurs when the user tries to configure interrupt pins " "apart from INT1 and INT2\r\n",
rslt);
break;
case BMI2_E_OUT_OF_RANGE:
printf(
"Error [%d] : Out of range error. It occurs when the data exceeds from filtered or unfiltered data from " "fifo and also when the range exceeds the maximum range for accel and gyro while performing FOC\r\n",
rslt);
break;
case BMI2_E_ACC_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel configuration error. It occurs when there is an error in accel configuration" " register which could be one among range, BW or filter performance in reg address 0x40\r\n",
rslt);
break;
case BMI2_E_GYRO_INVALID_CFG:
printf(
"Error [%d] : Invalid Gyro configuration error. It occurs when there is a error in gyro configuration" "register which could be one among range, BW or filter performance in reg address 0x42\r\n",
rslt);
break;
case BMI2_E_ACC_GYR_INVALID_CFG:
printf(
"Error [%d] : Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 " "and 0x42\r\n",
rslt);
break;
case BMI2_E_CONFIG_LOAD:
printf(
"Error [%d] : Configuration load error. It occurs when failure observed while loading the configuration " "into the sensor\r\n",
rslt);
break;
case BMI2_E_INVALID_PAGE:
printf(
"Error [%d] : Invalid page error. It occurs due to failure in writing the correct feature configuration " "from selected page\r\n",
rslt);
break;
case BMI2_E_SET_APS_FAIL:
printf(
"Error [%d] : APS failure error. It occurs due to failure in write of advance power mode configuration " "register\r\n",
rslt);
break;
case BMI2_E_AUX_INVALID_CFG:
printf(
"Error [%d] : Invalid AUX configuration error. It occurs when the auxiliary interface settings are not " "enabled properly\r\n",
rslt);
break;
case BMI2_E_AUX_BUSY:
printf(
"Error [%d] : AUX busy error. It occurs when the auxiliary interface buses are engaged while configuring" " the AUX\r\n",
rslt);
break;
case BMI2_E_REMAP_ERROR:
printf(
"Error [%d] : Remap error. It occurs due to failure in assigning the remap axes data for all the axes " "after change in axis position\r\n",
rslt);
break;
case BMI2_E_GYR_USER_GAIN_UPD_FAIL:
printf(
"Error [%d] : Gyro user gain update fail error. It occurs when the reading of user gain update status " "fails\r\n",
rslt);
break;
case BMI2_E_SELF_TEST_NOT_DONE:
printf(
"Error [%d] : Self-test not done error. It occurs when the self-test process is ongoing or not " "completed\r\n",
rslt);
break;
case BMI2_E_INVALID_INPUT:
printf("Error [%d] : Invalid input error. It occurs when the sensor input validity fails\r\n", rslt);
break;
case BMI2_E_INVALID_STATUS:
printf("Error [%d] : Invalid status error. It occurs when the feature/sensor validity fails\r\n", rslt);
break;
case BMI2_E_CRT_ERROR:
printf("Error [%d] : CRT error. It occurs when the CRT test has failed\r\n", rslt);
break;
case BMI2_E_ST_ALREADY_RUNNING:
printf(
"Error [%d] : Self-test already running error. It occurs when the self-test is already running and " "another has been initiated\r\n",
rslt);
break;
case BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT:
printf(
"Error [%d] : CRT ready for download fail abort error. It occurs when download in CRT fails due to wrong " "address location\r\n",
rslt);
break;
case BMI2_E_DL_ERROR:
printf(
"Error [%d] : Download error. It occurs when write length exceeds that of the maximum burst length\r\n",
rslt);
break;
case BMI2_E_PRECON_ERROR:
printf(
"Error [%d] : Pre-conditional error. It occurs when precondition to start the feature was not " "completed\r\n",
rslt);
break;
case BMI2_E_ABORT_ERROR:
printf("Error [%d] : Abort error. It occurs when the device was shaken during CRT test\r\n", rslt);
break;
case BMI2_E_WRITE_CYCLE_ONGOING:
printf(
"Error [%d] : Write cycle ongoing error. It occurs when the write cycle is already running and another " "has been initiated\r\n",
rslt);
break;
case BMI2_E_ST_NOT_RUNING:
printf(
"Error [%d] : Self-test is not running error. It occurs when self-test running is disabled while it's " "running\r\n",
rslt);
break;
case BMI2_E_DATA_RDY_INT_FAILED:
printf(
"Error [%d] : Data ready interrupt error. It occurs when the sample count exceeds the FOC sample limit " "and data ready status is not updated\r\n",
rslt);
break;
case BMI2_E_INVALID_FOC_POSITION:
printf(
"Error [%d] : Invalid FOC position error. It occurs when average FOC data is obtained for the wrong" " axes\r\n",
rslt);
break;
default:
printf("Error [%d] : Unknown error code\r\n", rslt);
break;
}
}
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void)
{
coines_close_comm_intf(COINES_COMM_INTF_USB);
}

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
#ifndef _COMMON_H
#define _COMMON_H
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
#include <stdio.h>
#include "bmi2.h"
/*!
* @brief Function for reading the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through I2C bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose value is to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for reading the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[out] reg_data : Pointer to the data buffer to store the read data.
* @param[in] length : No of bytes to read.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief Function for writing the sensor's registers through SPI bus.
*
* @param[in] reg_addr : Register address.
* @param[in] reg_data : Pointer to the data buffer whose data has to be written.
* @param[in] length : No of bytes to write.
* @param[in] intf_ptr : Interface pointer
*
* @return Status of execution
* @retval = BMI2_INTF_RET_SUCCESS -> Success
* @retval != BMI2_INTF_RET_SUCCESS -> Failure Info
*
*/
BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, void *intf_ptr);
/*!
* @brief This function provides the delay for required time (Microsecond) as per the input provided in some of the
* APIs.
*
* @param[in] period_us : The required wait time in microsecond.
* @param[in] intf_ptr : Interface pointer
*
* @return void.
*
*/
void bmi2_delay_us(uint32_t period, void *intf_ptr);
/*!
* @brief Function to select the interface between SPI and I2C.
*
* @param[in] bma : Structure instance of bmi2_dev
* @param[in] intf : Interface selection parameter
*
* @return Status of execution
* @retval 0 -> Success
* @retval < 0 -> Failure Info
*/
int8_t bmi2_interface_init(struct bmi2_dev *bma, uint8_t intf);
/*!
* @brief Prints the execution status of the APIs.
*
* @param[in] rslt : Error code returned by the API whose execution status has to be printed.
*
* @return void.
*/
void bmi2_error_codes_print_result(int8_t rslt);
/*!
* @brief Deinitializes coines platform
*
* @return void.
*/
void bmi2_coines_deinit(void);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* _COMMON_H */

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= component_retrim.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

52
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Status of api are returned to this variable. */
int8_t rslt;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* This API runs the CRT process. */
rslt = bmi2_do_crt(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Do not move the board while doing CRT. If so, it will throw an abort error. */
if (rslt == BMI2_OK)
{
printf("CRT successfully completed.");
}
}
bmi2_coines_deinit();
return rslt;
}

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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data. */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO. */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO. */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro and 1 header,
* totaling to 13) which equals to 157.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(157)
/*! Number of gyro frames to be extracted from FIFO. */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(157)
/*! Macro to read sensortime byte in FIFO. */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t config = 0;
/* To read sensortime, extra 3 bytes are added to fifo buffer. */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
uint16_t gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
int8_t try = 1;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 157 * (6 axes + 1 header bytes) = 1099 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_get_fifo_config(&config, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is in FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("\nSkipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

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lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_full_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

304
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_full_headerless_mode/fifo_full_headerless_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*! Calculation for frame count: Total frame count = Fifo buffer size(2048)/ Total frames(6 Accel, 6 Gyro totaling to
* 12) which equals to 170.
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(169)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(169)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
uint16_t index = 0;
uint16_t fifo_length = 0;
uint8_t try = 1;
/* Variable to get fifo full interrupt status. */
uint16_t int_status = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[BMI2_FIFO_RAW_DATA_BUFFER_SIZE] = { 0 };
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 170 * (6 axes bytes) = 1020 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH;
/* Set FIFO configuration by enabling accel, gyro.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("FIFO is configured in headerless mode\n");
/* To enable headerless mode, disable the header. */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_HEADER_EN, BMI2_DISABLE, &bmi2_dev);
}
/* Map FIFO full interrupt. */
fifoframe.data_int_map = BMI2_FFULL_INT;
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if ((rslt == BMI2_OK) && (int_status & BMI2_FFULL_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExtracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
}
try++;
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_hc_get_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_hc_set_sensor_config(config, 2, bmi2_dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/Makefile Normal file
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COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_header_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

335
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_header_mode/fifo_watermark_header_mode.c Normal file
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/**\
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
**/
/******************************************************************************/
/*! Header Files */
#include <stdio.h>
#include "bmi270_hc.h"
#include "common.h"
/******************************************************************************/
/*! Macros */
/*! Buffer size allocated to store raw FIFO data */
#define BMI2_FIFO_RAW_DATA_BUFFER_SIZE UINT16_C(2048)
/*! Length of data to be read from FIFO */
#define BMI2_FIFO_RAW_DATA_USER_LENGTH UINT16_C(2048)
/*! Number of accel frames to be extracted from FIFO */
/*!
* Calculation:
* fifo_watermark_level = 650, accel_frame_len = 6, gyro_frame_len = 6 header_byte = 1.
* fifo_accel_frame_count = (650 / (6 + 6 + 1 )) = 50 frames
* NOTE: Extra frames are read in order to get sensor time
*/
#define BMI2_FIFO_ACCEL_FRAME_COUNT UINT8_C(55)
/*! Number of gyro frames to be extracted from FIFO */
#define BMI2_FIFO_GYRO_FRAME_COUNT UINT8_C(55)
/*! Setting a watermark level in FIFO */
#define BMI270_FIFO_WATERMARK_LEVEL UINT16_C(650)
/*! Macro to read sensortime byte in FIFO */
#define SENSORTIME_OVERHEAD_BYTE UINT8_C(3)
/******************************************************************************/
/*! Static Function Declaration */
/*!
* @brief This internal API is used to set configurations for accel and gyro.
* @param[in] dev : Structure instance of bmi2_dev.
* @return Status of execution.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev);
/******************************************************************************/
/*! Functions */
/* This function starts the execution of program. */
int main(void)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Variable to store the available frame length count in FIFO */
uint8_t frame_count;
/* Variable to index bytes. */
uint16_t index = 0;
uint16_t fifo_length = 0;
uint16_t accel_frame_length;
uint16_t gyro_frame_length;
uint8_t try = 1;
/* To read sensortime, extra 3 bytes are added to fifo buffer */
uint16_t fifo_buffer_size = BMI2_FIFO_RAW_DATA_BUFFER_SIZE + SENSORTIME_OVERHEAD_BYTE;
/* Number of bytes of FIFO data. */
uint8_t fifo_data[fifo_buffer_size];
/* Sensor initialization configuration. */
struct bmi2_dev bmi2_dev;
/* Array of accelerometer frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_accel_data[BMI2_FIFO_ACCEL_FRAME_COUNT] = { { 0 } };
/* Array of gyro frames -> Total bytes =
* 55 * (6 axes bytes) = 330 bytes */
struct bmi2_sens_axes_data fifo_gyro_data[BMI2_FIFO_GYRO_FRAME_COUNT] = { { 0 } };
/* Initialize FIFO frame structure. */
struct bmi2_fifo_frame fifoframe = { 0 };
/* Accel and gyro sensor are listed in array. */
uint8_t sensor_sel[2] = { BMI2_ACCEL, BMI2_GYRO };
/* Variable to get fifo water-mark interrupt status. */
uint16_t int_status = 0;
uint16_t watermark = 0;
/* Interface reference is given as a parameter
* For I2C : BMI2_I2C_INTF
* For SPI : BMI2_SPI_INTF
*/
rslt = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF);
bmi2_error_codes_print_result(rslt);
/* Initialize bmi270_hc. */
rslt = bmi270_hc_init(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Enable accel and gyro sensor. */
rslt = bmi270_hc_sensor_enable(sensor_sel, 2, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Configuration settings for accel and gyro. */
rslt = set_accel_gyro_config(&bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Before setting FIFO, disable the advance power save mode. */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Initially disable all configurations in fifo. */
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Update FIFO structure. */
/* Mapping the buffer to store the fifo data. */
fifoframe.data = fifo_data;
/* Length of FIFO frame. */
/* To read sensortime, extra 3 bytes are added to fifo user length. */
fifoframe.length = BMI2_FIFO_RAW_DATA_USER_LENGTH + SENSORTIME_OVERHEAD_BYTE;
/* Set FIFO configuration by enabling accel, gyro and timestamp.
* NOTE 1: The header mode is enabled by default.
* NOTE 2: By default the FIFO operating mode is FIFO mode.
* NOTE 3: Sensortime is enabled by default */
printf("FIFO is configured in header mode\n");
rslt = bmi2_set_fifo_config(BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN, BMI2_ENABLE, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* FIFO water-mark interrupt is enabled. */
fifoframe.data_int_map = BMI2_FWM_INT;
/* Map water-mark interrupt to the required interrupt pin. */
rslt = bmi2_map_data_int(fifoframe.data_int_map, BMI2_INT1, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Set water-mark level. */
fifoframe.wm_lvl = BMI270_FIFO_WATERMARK_LEVEL;
/* Set the water-mark level if water-mark interrupt is mapped. */
rslt = bmi2_set_fifo_wm(fifoframe.wm_lvl, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
rslt = bmi2_get_fifo_wm(&watermark, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
printf("\nFIFO watermark level is %d\n", watermark);
while (try <= 10)
{
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* To check the status of FIFO watermark interrupt. */
if ((rslt == BMI2_OK) && (int_status & BMI2_FWM_INT_STATUS_MASK))
{
printf("\nIteration : %d\n", try);
printf("\nWatermark interrupt occurred\n");
rslt = bmi2_get_fifo_length(&fifo_length, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
accel_frame_length = BMI2_FIFO_ACCEL_FRAME_COUNT;
gyro_frame_length = BMI2_FIFO_GYRO_FRAME_COUNT;
printf("\nFIFO data bytes available : %d \n", fifo_length);
printf("\nFIFO data bytes requested : %d \n", fifoframe.length);
/* Read FIFO data. */
rslt = bmi2_read_fifo_data(&fifoframe, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
/* Read FIFO data on interrupt. */
rslt = bmi2_get_int_status(&int_status, &bmi2_dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
printf("\nFIFO accel frames requested : %d \n", accel_frame_length);
/* Parse the FIFO data to extract accelerometer data from the FIFO buffer. */
rslt = bmi2_extract_accel(fifo_accel_data, &accel_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO accel frames extracted : %d \n", accel_frame_length);
printf("\nFIFO gyro frames requested : %d \n", gyro_frame_length);
/* Parse the FIFO data to extract gyro data from the FIFO buffer. */
rslt = bmi2_extract_gyro(fifo_gyro_data, &gyro_frame_length, &fifoframe, &bmi2_dev);
printf("\nFIFO gyro frames extracted : %d \n", gyro_frame_length);
/* Calculating the frame count from the available bytes in FIFO
* frame_length = (available_fifo_bytes / (acc_frame_len + gyro_frame_len + header_byte)) */
frame_count = (fifo_length / (BMI2_FIFO_ACC_GYR_LENGTH + 1));
printf("\nAvailable frame count from available bytes: %d\n", frame_count);
printf("\nExracted accel frames\n");
if (accel_frame_length > frame_count)
{
accel_frame_length = frame_count;
}
/* Print the parsed accelerometer data from the FIFO buffer. */
for (index = 0; index < accel_frame_length; index++)
{
printf("ACCEL[%d] X : %d\t Y : %d\t Z : %d\n", index, fifo_accel_data[index].x,
fifo_accel_data[index].y, fifo_accel_data[index].z);
}
printf("\nExtracted gyro frames\n");
if (gyro_frame_length > frame_count)
{
gyro_frame_length = frame_count;
}
/* Print the parsed gyro data from the FIFO buffer. */
for (index = 0; index < gyro_frame_length; index++)
{
printf("GYRO[%d] X : %d\t Y : %d\t Z : %d\n",
index,
fifo_gyro_data[index].x,
fifo_gyro_data[index].y,
fifo_gyro_data[index].z);
}
/* Print control frames like sensor time and skipped frame count. */
printf("Skipped frame count = %d\n", fifoframe.skipped_frame_count);
printf("Sensor time = %lu\r\n", fifoframe.sensor_time);
try++;
}
}
}
bmi2_coines_deinit();
return rslt;
}
/*!
* @brief This internal API is used to set configurations for accel and gyro.
*/
static int8_t set_accel_gyro_config(struct bmi2_dev *dev)
{
/* Status of api are returned to this variable. */
int8_t rslt;
/* Structure to define accel and gyro configurations. */
struct bmi2_sens_config config[2];
/* Configure the type of feature. */
config[0].type = BMI2_ACCEL;
config[1].type = BMI2_GYRO;
/* Get default configurations for the type of feature selected. */
rslt = bmi270_hc_get_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
if (rslt == BMI2_OK)
{
/* NOTE: The user can change the following configuration parameters according to their requirement. */
/* Accel configuration settings. */
/* Set Output Data Rate */
config[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
/* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
config[0].cfg.acc.range = BMI2_ACC_RANGE_2G;
/* The bandwidth parameter is used to configure the number of sensor samples that are averaged
* if it is set to 2, then 2^(bandwidth parameter) samples
* are averaged, resulting in 4 averaged samples
* Note1 : For more information, refer the datasheet.
* Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
* this has an adverse effect on the power consumed.
*/
config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
/* Enable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
* For more info refer datasheet.
*/
config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
/* Gyro configuration settings. */
/* Set Output Data Rate */
config[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
/* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
/* Gyroscope Bandwidth parameters. By default the gyro bandwidth is in normal mode. */
config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
/* Enable/Disable the noise performance mode for precision yaw rate sensing
* There are two modes
* 0 -> Ultra low power mode(Default)
* 1 -> High performance mode
*/
config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
/* Enable/Disable the filter performance mode where averaging of samples
* will be done based on above set bandwidth and ODR.
* There are two modes
* 0 -> Ultra low power mode
* 1 -> High performance mode(Default)
*/
config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
/* Set new configurations. */
rslt = bmi270_hc_set_sensor_config(config, 2, dev);
bmi2_error_codes_print_result(rslt);
}
return rslt;
}

18
lib/main/BoschSensortec/BMI270-Sensor-API/examples/bmi270_hc/fifo_watermark_headerless_mode/Makefile Normal file
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@ -0,0 +1,18 @@
COINES_INSTALL_PATH ?= ../../../..
EXAMPLE_FILE ?= fifo_watermark_headerless_mode.c
API_LOCATION ?= ../..
COMMON_LOCATION ?= ..
C_SRCS += \
$(API_LOCATION)/bmi2.c \
$(API_LOCATION)/bmi270_hc.c \
$(COMMON_LOCATION)/common/common.c
INCLUDEPATHS += \
$(API_LOCATION) \
$(COMMON_LOCATION)/common
include $(COINES_INSTALL_PATH)/coines.mk

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