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atbetaflight/lib/main/BoschSensortec/BMI270-Sensor-API/bmi2.c

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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 bmi2.c
* @date 2020-11-04
* @version v2.63.1
*
*/
/******************************************************************************/
/*! @name Header Files */
/******************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Local structures
****************************************************************************/
/*! @name Structure to define the difference in accelerometer values */
struct bmi2_selftest_delta_limit
{
/*! X data */
int32_t x;
/*! Y data */
int32_t y;
/*! Z data */
int32_t z;
};
/*! @name Structure to store temporary accelerometer/gyroscope values */
struct bmi2_foc_temp_value
{
/*! X data */
int32_t x;
/*! Y data */
int32_t y;
/*! Z data */
int32_t z;
};
/*! @name Structure to store accelerometer data deviation from ideal value */
struct bmi2_offset_delta
{
/*! X axis */
int16_t x;
/*! Y axis */
int16_t y;
/*! Z axis */
int16_t z;
};
/*! @name Structure to store accelerometer offset values */
struct bmi2_accel_offset
{
/*! offset X data */
uint8_t x;
/*! offset Y data */
uint8_t y;
/*! offset Z data */
uint8_t z;
};
/******************************************************************************/
/*! Local Function Prototypes
******************************************************************************/
/*!
* @brief This internal API writes the configuration file.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_config_file(struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables the loading of the configuration
* file.
*
* @param[in] enable : To enable/disable configuration load.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API loads the configuration file.
*
* @param[in] config_data : Pointer to the configuration file.
* @param[in] index : Variable to define array index.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev);
/*!
* @brief This internal API sets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*
* @param[in,out] config : Structure instance of bmi2_accel_config.
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates bandwidth and performance mode of the
* accelerometer set by the user.
*
* @param[in, out] bandwidth : Pointer to bandwidth value set by the user.
* @param[in, out] perf_mode : Pointer to performance mode set by the user.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev);
/*!
* @brief This internal API validates ODR and range of the accelerometer set by
* the user.
*
* @param[in, out] odr : Pointer to ODR value set by the user.
* @param[in, out] range : Pointer to range value set by the user.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev);
/*!
* @brief This internal API sets gyroscope configurations like ODR, bandwidth,
* low power/high performance mode, performance mode and range.
*
* @param[in,out] config : Structure instance of bmi2_gyro_config.
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates bandwidth, performance mode, low power/
* high performance mode, ODR, and range set by the user.
*
* @param[in] config : Structure instance of bmi2_gyro_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API shows the error status when illegal sensor
* configuration is set.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t cfg_error_status(struct bmi2_dev *dev);
/*!
* @brief This internal API:
* 1) Enables/Disables auxiliary interface.
* 2) Sets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3)It maps/un-maps data interrupts to that of hardware interrupt line.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*
* @param[in] config : Structure instance of bmi2_gyro_user_gain_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_gyro_user_gain_config|
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* ratio_x | Gain update value for x-axis
* -------------------------|---------------------------------------------------
* ratio_y | Gain update value for y-axis
* -------------------------|---------------------------------------------------
* ratio_z | Gain update value for z-axis
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables auxiliary interface.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
* man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API triggers read out offset and sets ODR of the
* auxiliary sensor.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates auxiliary configuration set by the user.
*
* @param[in, out] config : Structure instance of bmi2_aux_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*
* @param[out] config : Structure instance of bmi2_accel_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets gyroscope configurations like ODR, bandwidth,
* low power/ high performance mode, performance mode and range.
*
* @param[out] config : Structure instance of bmi2_gyro_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API:
* 1) Gets the status of auxiliary interface enable.
* 2) Gets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3) Gets ODR and offset.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*
* @param[out] config : Structure instance of bmi2_gyro_user_gain_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_gyro_user_gain_config|
* Structure parameters | Description
*-------------------------|--------------------------------------------------
* ratio_x | Gain update value for x-axis
* ------------------------|---------------------------------------------------
* ratio_y | Gain update value for y-axis
* ------------------------|---------------------------------------------------
* ratio_z | Gain update value for z-axis
*
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the enable status of auxiliary interface.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets read out offset and ODR of the auxiliary
* sensor.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the saturation status for the gyroscope user
* gain update.
*
* @param[out] user_gain_stat : Stores the saturation status of the axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to extract the output feature configuration
* details like page and start address from the look-up table.
*
* @param[out] feat_output : Structure that stores output feature
* configurations.
* @param[in] type : Type of feature or sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Returns the feature found flag.
*
* @retval BMI2_FALSE : Feature not found
* BMI2_TRUE : Feature found
*/
static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
uint8_t type,
const struct bmi2_dev *dev);
/*!
* @brief This internal API gets the cross sensitivity coefficient between
* gyroscope's X and Z axes.
*
* @param[out] cross_sense : Pointer to the stored cross sensitivity
* coefficient.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the accelerometer data from the register.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_addr : Register address where data is stored.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the gyroscope data from the register.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_addr : Register address where data is stored.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the accelerometer/gyroscope data.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_data : Data stored in the register.
*
* @return None
*
* @retval None
*/
static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data);
/*!
* @brief This internal API gets the re-mapped accelerometer/gyroscope data.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
*
* @retval None
*/
static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev);
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in data mode.
*
* @param[out] aux_data : Pointer to the stored auxiliary data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev);
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in manual mode.
*
* @param[in] reg_addr : AUX address from where data is read.
* @param[out] aux_data : Pointer to the stored auxiliary data.
* @param[in] len : Total bytes to be read.
* @param[in] burst_len : Bytes of data to be read in bursts.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev);
/*!
* @brief This internal API checks the busy status of auxiliary sensor and sets
* the auxiliary register addresses when not busy.
*
* @param[in] reg_addr : Address in which AUX register address is
* set.
* @param[in] reg_data : Auxiliary register address to be set when AUX is
* not busy.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
/*!
* @brief his internal API maps the actual burst read length with that of the
* register value set by user.
*
* @param[out] len : Actual burst length.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev);
/*!
* @brief This internal API writes AUX write address and the user-defined bytes
* of data to the AUX sensor in manual mode.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*
* @param[in] reg_addr : AUX address in which data is to be written.
* @param[in] reg_data : Data to be written
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
/*!
* @brief This internal API maps/unmaps feature interrupts to that of interrupt
* pins.
*
* @param[in] int_pin : Interrupt pin selected.
* @param[in] feat_int : Type of feature interrupt to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask);
/*!
* @brief This internal API computes the number of bytes of accelerometer FIFO
* data which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] acc_count : Number of accelerometer frames to be read.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_accel_len(uint16_t *start_idx,
uint16_t *len,
const uint16_t *acc_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse accelerometer data from the FIFO
* data in header mode.
*
* @param[out] acc : Structure instance of bmi2_sens_axes_data where
* the parsed accelerometer data bytes are stored.
* @param[in] accel_length : Number of accelerometer frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse the accelerometer data from the
* FIFO data in both header and header-less mode. It updates the current data
* byte to be parsed.
*
* @param[in,out] acc : Structure instance of bmi2_sens_axes_data where
* where the parsed data bytes are stored.
* @param[in,out] idx : Index value of number of bytes parsed.
* @param[in,out] acc_idx : Index value of accelerometer data (x,y,z axes)
* frame to be parsed.
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
uint16_t *idx,
uint16_t *acc_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse accelerometer data from the FIFO
* data.
*
* @param[out] acc : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in] data_start_index : Index value of the accelerometer data bytes
* which is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API computes the number of bytes of gyroscope FIFO data
* which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] gyr_count : Number of gyroscope frames to be read.
* @param[in] frame : Either data enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *gyr_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse the gyroscope data from the FIFO
* data in both header and header-less mode It updates the current data byte to
* be parsed.
*
* @param[in,out] gyr : Structure instance of bmi2_sens_axes_data.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] gyr_idx : Index value of gyroscope data (x,y,z axes)
* frame to be parsed.
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
uint16_t *idx,
uint16_t *gyr_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse gyroscope data from the FIFO data.
*
* @param[out] gyr : Structure instance of bmi2_sens_axes_data where
* the parsed gyroscope data bytes are stored.
* @param[in] data_start_index : Index value of the gyroscope data bytes
* which is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse the gyroscope data from the
* FIFO data in header mode.
*
* @param[out] gyr : Structure instance of bmi2_sens_axes_data where
* the parsed gyroscope data bytes are stored.
* @param[in] gyro_length : Number of gyroscope frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API computes the number of bytes of auxiliary FIFO data
* which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] aux_count : Number of accelerometer frames to be read.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_aux_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *aux_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This API is used to parse auxiliary data from the FIFO data.
*
* @param[out] aux : Pointer to buffer where the parsed auxiliary data
* bytes are stored.
* @param[in] aux_length : Number of auxiliary frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API is used to parse the auxiliary data from the FIFO data in
* both header and header-less mode. It updates the current data byte to be
* parsed.
*
* @param[out] aux : Pointer to structure where the parsed auxiliary data
* bytes are stored.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
* frame to be parsed
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
uint16_t *idx,
uint16_t *aux_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API is used to parse auxiliary data from the FIFO data.
*
* @param[out] aux : Pointer to structure where the parsed
* auxiliary data bytes are stored.
* @param[in] data_start_index : Index value of the auxiliary data bytes which
* is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return None
* @retval None
*/
static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to reset the FIFO related configurations
* in the FIFO frame structure for the next FIFO read.
*
* @param[in, out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
/*!
* @brief This internal API checks whether the FIFO data read is an empty frame.
* If empty frame, index is moved to the last byte.
*
* @param[in,out] data_index : The index of the current data to be parsed from
* FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
*
* @retval BMI2_OK - Success.
* @retval BMI2_W_FIFO_EMPTY - Warning : FIFO is empty
* @retval BMI2_W_PARTIAL_READ - Warning : There are more frames to be read
*/
static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to move the data index ahead of the
* current frame length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*
* @param[in,out] data_index : Index of the FIFO data which is to be
* moved ahead of the current frame length
* @param[in] current_frame_length : Number of bytes in the current frame.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse and store the sensor time from the
* FIFO data.
*
* @param[in,out] data_index : Index of the FIFO data which has the sensor time.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse and store the skipped frame count
* from the FIFO data.
*
* @param[in,out] data_index : Index of the FIFO data which contains skipped
* frame count.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API enables and configures the accelerometer which is
* needed for self-test operation. It also sets the amplitude for the self-test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t pre_self_test_config(struct bmi2_dev *dev);
/*!
* @brief This internal API performs the steps needed for self-test operation
* before reading the accelerometer self-test data.
*
* @param[in] sign : Selects sign of self-test excitation
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | positive excitation
* BMI2_DISABLE | negative excitation
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev);
/*!
* @brief This internal API enables or disables the accelerometer self-test
* feature in the sensor.
*
* @param[in] enable : Enables/ Disables self-test.
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | Enables self-test
* BMI2_DISABLE | Disables self-test
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API selects the sign for accelerometer self-test
* excitation.
*
* @param[in] sign : Selects sign of self-test excitation
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | positive excitation
* BMI2_DISABLE | negative excitation
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev);
/*!
* @brief This internal API sets the amplitude of the accelerometer self-test
* deflection in the sensor.
*
* @param[in] amp : Select amplitude of the self-test deflection.
* @param[in] dev : Structure instance of bmi2_dev.
*
* amp | Description
* -------------|---------------
* BMI2_ENABLE | self-test amplitude is high
* BMI2_DISABLE | self-test amplitude is low
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev);
/*!
* @brief This internal API reads the accelerometer data for x,y and z axis from
* the sensor. The data units is in LSB format.
*
* @param[out] accel : Buffer to store the acceleration value.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev);
/*!
* @brief This internal API converts LSB value of accelerometer axes to form
* 'g' to 'mg' for self-test.
*
* @param[in] acc_data_diff : Stores the acceleration value difference in g.
* @param[out]acc_data_diff_mg : Stores the acceleration value difference in mg.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
struct bmi2_selftest_delta_limit *acc_data_diff_mg,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to calculate the power of a value.
*
* @param[in] base : base for power calculation.
* @param[in] resolution : exponent for power calculation.
*
* @return the calculated power
* @retval the power value
*/
static int32_t power(int16_t base, uint8_t resolution);
/*!
* @brief This internal API validates the accelerometer self-test data and
* decides the result of self-test operation.
*
* @param[in] accel_data_diff : Stores the acceleration value difference.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff);
/*!
* @brief This internal API gets the re-mapped x, y and z axes from the sensor.
*
* @param[out] remap : Structure that stores local copy of re-mapped axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
/*!
* @brief This internal API sets the re-mapped x, y and z axes in the sensor.
*
* @param[in] remap : Structure that stores local copy of re-mapped axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev);
/*!
* @brief Interface to get max burst length
*
* @param[in] max_burst_len : Pointer to store max burst length
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev);
/*!
* @brief This internal API sets the max burst length.
*
* @param[in] write_len_byte : read & write length
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev);
/*!
* @brief This internal API parses virtual frame header from the FIFO data.
*
* @param[in, out] frame_header : FIFO frame header.
* @param[in, out] data_index : Index value of the FIFO data bytes
* from which sensor frame header is to be parsed
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return None
* @retval None
*/
static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API gets sensor time from the accelerometer and
* gyroscope virtual frames and updates in the data structure.
*
* @param[out] sens : Sensor data structure
* @param[in, out] idx : Index of FIFO from where the data is to retrieved.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return None
* @retval None
*/
static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API gets sensor time from the auxiliary virtual
* frames and updates in the data structure.
*
* @param[out] aux : Auxiliary sensor data structure
* @param[in, out] idx : Index of FIFO from where the data is to retrieved.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return None
* @retval None
*/
static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
uint16_t *idx,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API corrects the gyroscope cross-axis sensitivity
* between the z and the x axis.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[out] gyr_data : Structure instance of gyroscope data
*
* @return Result of API execution status
*
* @return None
* @retval None
*/
static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev);
/*!
* @brief This internal API saves the configurations before performing FOC.
*
* @param[out] acc_cfg : Accelerometer configuration value
* @param[out] aps : Advance power mode value
* @param[out] acc_en : Accelerometer enable value
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
uint8_t *aps,
uint8_t *acc_en,
struct bmi2_dev *dev);
/*!
* @brief This internal API performs Fast Offset Compensation for accelerometer.
*
* @param[in] accel_g_value : This parameter selects the accel foc
* axis to be performed
*
* input format is {x, y, z, sign}. '1' to enable. '0' to disable
*
* eg to choose x axis {1, 0, 0, 0}
* eg to choose -x axis {1, 0, 0, 1}
*
* @param[in] acc_cfg : Accelerometer configuration value
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
const struct bmi2_accel_config *acc_cfg,
struct bmi2_dev *dev);
/*!
* @brief This internal sets configurations for performing accelerometer FOC.
*
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_foc_config(struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables the offset compensation for
* filtered and un-filtered accelerometer data.
*
* @param[in] offset_en : enables/disables offset compensation.
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
/*!
* @brief This internal API converts the range value into accelerometer
* corresponding integer value.
*
* @param[in] range_in : Input range value.
* @param[out] range_out : Stores the integer value of range.
*
* @return None
* @retval None
*/
static void map_accel_range(uint8_t range_in, uint8_t *range_out);
/*!
* @brief This internal API compensate the accelerometer data against gravity.
*
* @param[in] lsb_per_g : LSB value pre 1g.
* @param[in] g_val : G reference value of all axis.
* @param[in] data : Accelerometer data
* @param[out] comp_data : Stores the data that is compensated by taking the
* difference in accelerometer data and lsb_per_g
* value.
*
* @return None
* @retval None
*/
static void comp_for_gravity(uint16_t lsb_per_g,
const struct bmi2_accel_foc_g_value *g_val,
const struct bmi2_sens_axes_data *data,
struct bmi2_offset_delta *comp_data);
/*!
* @brief This internal API scales the compensated accelerometer data according
* to the offset register resolution.
*
* @param[in] range : G-range of the accelerometer.
* @param[out] comp_data : Data that is compensated by taking the
* difference in accelerometer data and lsb_per_g
* value.
* @param[out] data : Stores offset data
*
* @return None
* @retval None
*/
static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data,
struct bmi2_accel_offset *data);
/*!
* @brief This internal API finds the bit position of 3.9mg according to given
* range and resolution.
*
* @param[in] range : G-range of the accelerometer.
*
* @return Result of API execution status
* @retval Bit position of 3.9mg
*/
static int8_t get_bit_pos_3_9mg(uint8_t range);
/*!
* @brief This internal API inverts the accelerometer offset data.
*
* @param[out] offset_data : Stores the inverted offset data
*
* @return None
* @retval None
*/
static void invert_accel_offset(struct bmi2_accel_offset *offset_data);
/*!
* @brief This internal API writes the offset data in the offset compensation
* register.
*
* @param[in] offset : offset data
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev);
/*!
* @brief This internal API restores the configurations saved before performing
* accelerometer FOC.
*
* @param[in] acc_cfg : Accelerometer configuration value
* @param[in] acc_en : Accelerometer enable value
* @param[in] aps : Advance power mode value
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
uint8_t aps,
uint8_t acc_en,
struct bmi2_dev *dev);
/*!
* @brief This internal API saves the configurations before performing gyroscope
* FOC.
*
* @param[out] gyr_cfg : Gyroscope configuration value
* @param[out] gyr_en : Gyroscope enable value
* @param[out] aps : Advance power mode value
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev);
/*!
* @brief This internal sets configurations for performing gyroscope FOC.
*
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_foc_config(struct bmi2_dev *dev);
/*!
* @brief This internal API inverts the gyroscope offset data.
*
* @param[out] offset_data : Stores the inverted offset data
*
* @return None
* @retval None
*/
static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data);
/*!
* @brief This internal API restores the gyroscope configurations saved
* before performing FOC.
*
* @param[in] gyr_cfg : Gyroscope configuration value
* @param[in] gyr_en : Gyroscope enable value
* @param[in] aps : Advance power mode value
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev);
/*!
* @brief This internal API saturates the gyroscope data value before writing to
* to 10 bit offset register.
*
* @param[in, out] gyr_off : Gyroscope data to be stored in offset register
*
* @return None
* @retval None
*/
static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off);
/*!
* @brief This internal API reads the gyroscope data for x, y and z axis from
* the sensor.
*
* @param[out] gyro : Buffer to store the gyroscope value.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to check the boundary conditions.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in,out] val : Pointer to the value to be validated.
* @param[in] min : minimum value.
* @param[in] max : maximum value.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev);
/*!
* @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);
/*!
* @brief This updates the result for CRT or gyro self-test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev);
/*!
* @brief This function is to get the st_status status.
*
* @param[in] *st_status: gets the crt running status
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev);
/*!
* @brief This function is to set crt bit to running.
*
* @param[in] enable
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev);
/*!
* @brief This function is to make the initial changes for CRT.
* Disable the gyro, OIS, aps
* Note: For the purpose of preparing CRT Gyro, OIS and APS are disabled
*
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t crt_prepare_setup(struct bmi2_dev *dev);
static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
/*!
* @brief This function is to get the rdy for dl bit status
* this will toggle from 0 to 1 and visevers according to the
* dowload status
*
* @param[in] *rdy_for_dl: gets the rdy_for_dl status
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev);
/*!
* @brief This function is to write the config file in the given location for crt.
* which inter checks the status of the rdy_for_dl bit and also the crt running, and
* wirtes the given size.
*
* @param[in] write_len: length of the words to be written
* @param[in] config_file_size: length of the words to be written
* @param[in] start_index: provide the start index from where config file has to written
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_crt_config_file(uint16_t write_len,
uint16_t config_file_size,
uint16_t start_index,
struct bmi2_dev *dev);
/*!
* @brief This function is to check for rdy_for_dl bit to toggle for CRT process
*
* @param[in] retry_complete: wait for given time to toggle
* @param[in] download_ready: get the status for rdy_for_dl
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev);
/*!
* @brief This function is to wait till the CRT or gyro self-test process is completed
*
* @param[in] retry_complete: wait for given time to complete the crt process
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev);
/*!
* @brief This function is to complete the crt process if max burst length is not zero
* this checks for the crt status and rdy_for_dl bit to toggle
*
* @param[in] last_byte_flag: to provide the last toggled state
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev);
/*!
* @brief This api is used to enable the gyro self-test or crt.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev);
/*!
* @brief This api is used to enable/disable abort.
*
* @param[in] abort_enable : variable to enable the abort feature.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev);
/*!
* @brief This api is use to wait till gyro self-test is completed and update the status of gyro
* self-test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev);
/*!
* @brief This api is used to trigger the preparation for system for NVM programming.
*
* @param[out] nvm_prep : pointer to variable to store the status of nvm_prep_prog.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev);
/*!
* @brief This api validates accel foc position as per the range
*
* @param[in] sens_list : Sensor type
* @param[in] accel_g_axis : accel axis to foc. NA for gyro foc
* @param[in] avg_foc_data : average value of sensor sample datas
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_foc_position(uint8_t sens_list,
const struct bmi2_accel_foc_g_value *accel_g_axis,
struct bmi2_sens_axes_data avg_foc_data,
struct bmi2_dev *dev);
/*!
* @brief This api validates accel foc axis given as input
*
* @param[in] avg_foc_data : average value of sensor sample datas
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev);
/*!
* @brief This api is used to verify the right position of the sensor before doing accel foc
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] sens_list: Sensor type
* @param[in] accel_g_axis: Accel Foc axis and sign input
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t verify_foc_position(uint8_t sens_list,
const struct bmi2_accel_foc_g_value *accel_g_axis,
struct bmi2_dev *dev);
/*!
* @brief This API reads and provides average for 128 samples of sensor data for foc operation
* gyro.
*
* @param[in] sens_list : Sensor type.
* @param[in] bmi2_dev: Structure instance of bmi2_dev.
* @param[in] temp_foc_data: to store data samples
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_average_of_sensor_data(uint8_t sens_list,
struct bmi2_foc_temp_value *temp_foc_data,
struct bmi2_dev *dev);
/*!
* @brief This internal api gets major and minor version for config file
*
* @param[out] config_major : Pointer to store the major version
* @param[out] config_minor : Pointer to store the minor version
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to map the interrupts to the sensor.
*
* @param[in] map_int : Structure instance of bmi2_map_int.
* @param[in] type : Type of feature or sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev);
/*!
* @brief This internal API selects the sensors/features to be enabled or
* disabled.
*
* @param[in] sens_list : Pointer to select the sensor.
* @param[in] n_sens : Number of sensors selected.
* @param[out] sensor_sel : Gets the selected sensor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
/*!
* @brief This internal API enables the selected sensor/features.
*
* @param[in] sensor_sel : Selects the desired sensor.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
/*!
* @brief This internal API disables the selected sensor/features.
*
* @param[in] sensor_sel : Selects the desired sensor.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name User Interface Definitions */
/******************************************************************************/
/*!
* @brief This API is the entry point for bmi2 sensor. It selects between
* I2C/SPI interface, based on user selection. It reads and validates the
* chip-id of the sensor.
*/
int8_t bmi2_sec_init(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to assign chip id */
uint8_t chip_id = 0;
/* Structure to define the default values for axes re-mapping */
struct bmi2_axes_remap axes_remap = {
.x_axis = BMI2_MAP_X_AXIS, .x_axis_sign = BMI2_POS_SIGN, .y_axis = BMI2_MAP_Y_AXIS,
.y_axis_sign = BMI2_POS_SIGN, .z_axis = BMI2_MAP_Z_AXIS, .z_axis_sign = BMI2_POS_SIGN
};
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Perform soft-reset to bring all register values to their
* default values
*/
rslt = bmi2_soft_reset(dev);
if (rslt == BMI2_OK)
{
/* Read chip-id of the BMI2 sensor */
rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev);
if (rslt == BMI2_OK)
{
/* Validate chip-id */
if (chip_id == dev->chip_id)
{
/* Assign resolution to the structure */
dev->resolution = 16;
/* Set manual enable flag */
dev->aux_man_en = 1;
/* Set the default values for axis
* re-mapping in the device structure
*/
dev->remap = axes_remap;
}
else
{
/* Storing the chip-id value read from
* the register to identify the sensor
*/
dev->chip_id = chip_id;
rslt = BMI2_E_DEV_NOT_FOUND;
}
}
}
}
return rslt;
}
/*!
* @brief This API reads the data from the given register address of bmi2
* sensor.
*
* @note For most of the registers auto address increment applies, with the
* exception of a few special registers, which trap the address. For e.g.,
* Register address - 0x26, 0x5E.
*/
int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint16_t index = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (data != NULL))
{
/* Variable to define temporary length */
uint16_t temp_len = len + dev->dummy_byte;
/* Variable to define temporary buffer */
uint8_t temp_buf[temp_len];
/* Configuring reg_addr for SPI Interface */
if (dev->intf == BMI2_SPI_INTF)
{
reg_addr = (reg_addr | BMI2_SPI_RD_MASK);
}
dev->intf_rslt = dev->read(reg_addr, temp_buf, temp_len, dev->intf_ptr);
if (dev->aps_status == BMI2_ENABLE)
{
dev->delay_us(450, dev->intf_ptr);
}
else
{
dev->delay_us(2, dev->intf_ptr);
}
if (dev->intf_rslt == BMI2_INTF_RET_SUCCESS)
{
/* Read the data from the position next to dummy byte */
while (index < len)
{
data[index] = temp_buf[index + dev->dummy_byte];
index++;
}
}
else
{
rslt = BMI2_E_COM_FAIL;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes data to the given register address of bmi2 sensor.
*/
int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (data != NULL))
{
/* Configuring reg_addr for SPI Interface */
if (dev->intf == BMI2_SPI_INTF)
{
reg_addr = (reg_addr & BMI2_SPI_WR_MASK);
}
dev->intf_rslt = dev->write(reg_addr, data, len, dev->intf_ptr);
/* Delay for Low power mode of the sensor is 450 us */
if (dev->aps_status == BMI2_ENABLE)
{
dev->delay_us(450, dev->intf_ptr);
}
/* Delay for Normal mode of the sensor is 2 us */
else
{
dev->delay_us(2, dev->intf_ptr);
}
/* updating the advance power saver flag */
if (reg_addr == BMI2_PWR_CONF_ADDR)
{
if (*data & BMI2_ADV_POW_EN_MASK)
{
dev->aps_status = BMI2_ENABLE;
}
else
{
dev->aps_status = BMI2_DISABLE;
}
}
if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS)
{
rslt = BMI2_E_COM_FAIL;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API resets bmi2 sensor. All registers are overwritten with
* their default values.
*/
int8_t bmi2_soft_reset(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define soft reset value */
uint8_t data = BMI2_SOFT_RESET_CMD;
/* Variable to read the dummy byte */
uint8_t dummy_read = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Reset bmi2 device */
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev);
dev->delay_us(2000, dev->intf_ptr);
/* set APS flag as after soft reset the sensor is on advance power save mode */
dev->aps_status = BMI2_ENABLE;
/* Performing a dummy read to bring interface back to SPI from
* I2C after a soft-reset
*/
if ((rslt == BMI2_OK) && (dev->intf == BMI2_SPI_INTF))
{
rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &dummy_read, 1, dev);
}
if (rslt == BMI2_OK)
{
/* Write the configuration file */
rslt = bmi2_write_config_file(dev);
}
/* Reset the sensor status flag in the device structure */
if (rslt == BMI2_OK)
{
dev->sens_en_stat = 0;
}
}
return rslt;
}
/*!
* @brief This API is used to get the config file major and minor version information.
*/
int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* NULL pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (config_major != NULL) && (config_minor != NULL))
{
/* Extract the config file identification from the dmr page and get the major and minor version */
rslt = extract_config_file(config_major, config_minor, dev);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables/disables the advance power save mode in the sensor.
*/
int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ADV_POW_EN, enable);
rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
if (rslt != BMI2_OK)
{
/* Return error if enable/disable APS fails */
rslt = BMI2_E_SET_APS_FAIL;
}
if (rslt == BMI2_OK)
{
dev->aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
}
}
}
return rslt;
}
/*!
* @brief This API gets the status of advance power save mode in the sensor.
*/
int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (aps_status != NULL))
{
rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
*aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN);
dev->aps_status = *aps_status;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API loads the configuration file into the bmi2 sensor.
*/
int8_t bmi2_write_config_file(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to know the load status */
uint8_t load_status = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (dev->config_size != 0))
{
/* Bytes written are multiples of 2 */
if ((dev->read_write_len % 2) != 0)
{
dev->read_write_len = dev->read_write_len - 1;
}
if (dev->read_write_len < 2)
{
dev->read_write_len = 2;
}
/* Write the configuration file */
rslt = write_config_file(dev);
if (rslt == BMI2_OK)
{
/* Check the configuration load status */
rslt = bmi2_get_internal_status(&load_status, dev);
/* Return error if loading not successful */
if ((rslt == BMI2_OK) && (!(load_status & BMI2_CONFIG_LOAD_SUCCESS)))
{
rslt = BMI2_E_CONFIG_LOAD;
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*/
int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define data array */
uint8_t data_array[3] = { 0 };
/* Variable to store register data */
uint8_t reg_data = 0;
/* Variable to define type of interrupt pin */
uint8_t int_pin = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (int_cfg != NULL))
{
/* Copy the pin type to a local variable */
int_pin = int_cfg->pin_type;
if ((int_pin > BMI2_INT_NONE) && (int_pin < BMI2_INT_PIN_MAX))
{
/* Get the previous configuration data */
rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
if (rslt == BMI2_OK)
{
/* Set interrupt pin 1 configuration */
if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
{
/* Configure active low or high */
reg_data = BMI2_SET_BITS(data_array[0], BMI2_INT_LEVEL, int_cfg->pin_cfg[0].lvl);
/* Configure push-pull or open drain */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[0].od);
/* Configure output enable */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[0].output_en);
/* Configure input enable */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[0].input_en);
/* Copy the data to be written in the respective array */
data_array[0] = reg_data;
}
/* Set interrupt pin 2 configuration */
if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
{
/* Configure active low or high */
reg_data = BMI2_SET_BITS(data_array[1], BMI2_INT_LEVEL, int_cfg->pin_cfg[1].lvl);
/* Configure push-pull or open drain */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[1].od);
/* Configure output enable */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[1].output_en);
/* Configure input enable */
reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[1].input_en);
/* Copy the data to be written in the respective array */
data_array[1] = reg_data;
}
/* Configure the interrupt mode */
data_array[2] = BMI2_SET_BIT_POS0(data_array[2], BMI2_INT_LATCH, int_cfg->int_latch);
/* Set the configurations simultaneously as
* INT1_IO_CTRL, INT2_IO_CTRL, and INT_LATCH lie
* in consecutive addresses
*/
rslt = bmi2_set_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
}
}
else
{
rslt = BMI2_E_INVALID_INT_PIN;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*/
int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define data array */
uint8_t data_array[3] = { 0 };
/* Variable to define type of interrupt pin */
uint8_t int_pin = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (int_cfg != NULL))
{
/* Copy the pin type to a local variable */
int_pin = int_cfg->pin_type;
/* Get the previous configuration data */
rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev);
if (rslt == BMI2_OK)
{
/* Get interrupt pin 1 configuration */
if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH))
{
/* Get active low or high */
int_cfg->pin_cfg[0].lvl = BMI2_GET_BITS(data_array[0], BMI2_INT_LEVEL);
/* Get push-pull or open drain */
int_cfg->pin_cfg[0].od = BMI2_GET_BITS(data_array[0], BMI2_INT_OPEN_DRAIN);
/* Get output enable */
int_cfg->pin_cfg[0].output_en = BMI2_GET_BITS(data_array[0], BMI2_INT_OUTPUT_EN);
/* Get input enable */
int_cfg->pin_cfg[0].input_en = BMI2_GET_BITS(data_array[0], BMI2_INT_INPUT_EN);
}
/* Get interrupt pin 2 configuration */
if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH))
{
/* Get active low or high */
int_cfg->pin_cfg[1].lvl = BMI2_GET_BITS(data_array[1], BMI2_INT_LEVEL);
/* Get push-pull or open drain */
int_cfg->pin_cfg[1].od = BMI2_GET_BITS(data_array[1], BMI2_INT_OPEN_DRAIN);
/* Get output enable */
int_cfg->pin_cfg[1].output_en = BMI2_GET_BITS(data_array[1], BMI2_INT_OUTPUT_EN);
/* Get input enable */
int_cfg->pin_cfg[1].input_en = BMI2_GET_BITS(data_array[1], BMI2_INT_INPUT_EN);
}
/* Get interrupt mode */
int_cfg->int_latch = BMI2_GET_BIT_POS0(data_array[2], BMI2_INT_LATCH);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the interrupt status of both feature and data
* interrupts
*/
int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store data */
uint8_t data_array[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (int_status != NULL))
{
/* Get the interrupt status */
rslt = bmi2_get_regs(BMI2_INT_STATUS_0_ADDR, data_array, 2, dev);
if (rslt == BMI2_OK)
{
*int_status = (uint16_t) data_array[0] | ((uint16_t) data_array[1] << 8);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API selects the sensors/features to be enabled.
*/
int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to select sensor */
uint64_t sensor_sel = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sens_list != NULL))
{
/* Get the selected sensors */
rslt = select_sensor(sens_list, n_sens, &sensor_sel);
if (rslt == BMI2_OK)
{
/* Enable the selected sensors */
rslt = sensor_enable(sensor_sel, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API selects the sensors/features to be disabled.
*/
int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to select sensor */
uint64_t sensor_sel = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sens_list != NULL))
{
/* Get the selected sensors */
rslt = select_sensor(sens_list, n_sens, &sensor_sel);
if (rslt == BMI2_OK)
{
/* Disable the selected sensors */
rslt = sensor_disable(sensor_sel, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the sensor/feature configuration.
*/
int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop;
/* Variable to get the status of advance power save */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sens_cfg != NULL))
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
for (loop = 0; loop < n_sens; loop++)
{
/* Disable Advance power save if enabled for auxiliary
* and feature configurations
*/
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if
* enabled
*/
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
switch (sens_cfg[loop].type)
{
/* Set accelerometer configuration */
case BMI2_ACCEL:
rslt = set_accel_config(&sens_cfg[loop].cfg.acc, dev);
break;
/* Set gyroscope configuration */
case BMI2_GYRO:
rslt = set_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
break;
/* Set auxiliary configuration */
case BMI2_AUX:
rslt = set_aux_config(&sens_cfg[loop].cfg.aux, dev);
break;
/* Set gyroscope user gain configuration */
case BMI2_GYRO_GAIN_UPDATE:
rslt = set_gyro_user_gain_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
/* Return error if any of the set configurations fail */
if (rslt != BMI2_OK)
{
break;
}
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the sensor/feature configuration.
*/
int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop;
/* Variable to get the status of advance power save */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sens_cfg != NULL))
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
for (loop = 0; loop < n_sens; loop++)
{
/* Disable Advance power save if enabled for auxiliary
* and feature configurations
*/
if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
{
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if
* enabled
*/
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
}
if (rslt == BMI2_OK)
{
switch (sens_cfg[loop].type)
{
/* Get accelerometer configuration */
case BMI2_ACCEL:
rslt = get_accel_config(&sens_cfg[loop].cfg.acc, dev);
break;
/* Get gyroscope configuration */
case BMI2_GYRO:
rslt = get_gyro_config(&sens_cfg[loop].cfg.gyr, dev);
break;
/* Get auxiliary configuration */
case BMI2_AUX:
rslt = get_aux_config(&sens_cfg[loop].cfg.aux, dev);
break;
/* Get gyroscope user gain configuration */
case BMI2_GYRO_GAIN_UPDATE:
rslt = get_gyro_gain_update_config(&sens_cfg[loop].cfg.gyro_gain_update, dev);
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
/* Return error if any of the get configurations fail */
if (rslt != BMI2_OK)
{
break;
}
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief 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.
*/
int8_t bmi2_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop;
/* Variable to get the status of advance power save */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sensor_data != NULL))
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
for (loop = 0; loop < n_sens; loop++)
{
/* Disable Advance power save if enabled for feature
* configurations
*/
if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
{
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if
* enabled
*/
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
}
if (rslt == BMI2_OK)
{
switch (sensor_data[loop].type)
{
case BMI2_ACCEL:
/* Get accelerometer data */
rslt = get_accel_sensor_data(&sensor_data[loop].sens_data.acc, BMI2_ACC_X_LSB_ADDR, dev);
break;
case BMI2_GYRO:
/* Get gyroscope data */
rslt = get_gyro_sensor_data(&sensor_data[loop].sens_data.gyr, BMI2_GYR_X_LSB_ADDR, dev);
break;
case BMI2_AUX:
/* Get auxiliary sensor data in data mode */
rslt = read_aux_data_mode(sensor_data[loop].sens_data.aux_data, dev);
break;
case BMI2_GYRO_CROSS_SENSE:
/* Get Gyroscope cross sense value of z axis */
rslt = get_gyro_cross_sense(&sensor_data[loop].sens_data.correction_factor_zx, dev);
break;
case BMI2_GYRO_GAIN_UPDATE:
/* Get saturation status of gyroscope user gain update */
rslt = get_gyro_gain_update_status(&sensor_data[loop].sens_data.gyro_user_gain_status, dev);
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
/* Return error if any of the get sensor data fails */
if (rslt != BMI2_OK)
{
break;
}
}
/* Enable Advance power save if disabled while
* configuring and not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the FIFO configuration in the sensor.
*/
int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t data[2] = { 0 };
uint8_t max_burst_len = 0;
/* Variable to store data of FIFO configuration register 0 */
uint8_t fifo_config_0 = (uint8_t)(config & BMI2_FIFO_CONFIG_0_MASK);
/* Variable to store data of FIFO configuration register 1 */
uint8_t fifo_config_1 = (uint8_t)((config & BMI2_FIFO_CONFIG_1_MASK) >> 8);
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
if (rslt == BMI2_OK)
{
/* Get data to set FIFO configuration register 0 */
if (fifo_config_0 > 0)
{
if (enable == BMI2_ENABLE)
{
data[0] = data[0] | fifo_config_0;
}
else
{
data[0] = data[0] & (~fifo_config_0);
}
}
/* Get data to set FIFO configuration register 1 */
if (enable == BMI2_ENABLE)
{
data[1] = data[1] | fifo_config_1;
if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
{
/* Burst length is needed for CRT
* FIFO enable will reset the default values
* So configure the max burst length again.
*/
rslt = get_maxburst_len(&max_burst_len, dev);
if (rslt == BMI2_OK && max_burst_len == 0)
{
rslt = set_maxburst_len(BMI2_CRT_MIN_BURST_WORD_LENGTH, dev);
}
}
}
else
{
data[1] = data[1] & (~fifo_config_1);
}
/* Set the FIFO configurations */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_FIFO_CONFIG_0_ADDR, data, 2, dev);
}
}
}
return rslt;
}
/*!
* @brief This API reads the FIFO configuration from the sensor.
*/
int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store data */
uint8_t data[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_config != NULL))
{
/* Get the FIFO configuration value */
rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev);
if (rslt == BMI2_OK)
{
(*fifo_config) = (uint16_t)((uint16_t) data[0] & BMI2_FIFO_CONFIG_0_MASK);
(*fifo_config) |= (uint16_t)(((uint16_t) data[1] << 8) & BMI2_FIFO_CONFIG_1_MASK);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the FIFO data.
*/
int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store FIFO configuration data */
uint8_t config_data[2] = { 0 };
/* Variable to define FIFO address */
uint8_t addr = BMI2_FIFO_DATA_ADDR;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo != NULL))
{
/* Clear the FIFO data structure */
reset_fifo_frame_structure(fifo, dev);
/* Read FIFO data */
rslt = bmi2_get_regs(addr, fifo->data, fifo->length, dev);
if (rslt == BMI2_OK)
{
/* Get the set FIFO frame configurations */
rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev);
if (rslt == BMI2_OK)
{
/* Get FIFO header status */
fifo->header_enable = (uint8_t)((config_data[1]) & (BMI2_FIFO_HEADER_EN >> 8));
/* Get sensor enable status, of which the data is to be read */
fifo->data_enable =
(uint16_t)(((config_data[0]) | ((uint16_t) config_data[1] << 8)) & BMI2_FIFO_ALL_EN);
}
}
else
{
rslt = BMI2_E_COM_FAIL;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API parses and extracts the accelerometer frames from FIFO data
* read by the "bmi2_read_fifo_data" API and stores it in the "accel_data"
* structure instance.
*/
int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to index the bytes */
uint16_t data_index = 0;
/* Variable to index accelerometer frames */
uint16_t accel_index = 0;
/* Variable to store the number of bytes to be read */
uint16_t data_read_length = 0;
/* Variable to define the data enable byte */
uint8_t data_enable = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL))
{
/* Parsing the FIFO data in header-less mode */
if (fifo->header_enable == 0)
{
/* Get the number of accelerometer bytes to be read */
rslt = parse_fifo_accel_len(&data_index, &data_read_length, accel_length, fifo);
/* Convert word to byte since all sensor enables are in a byte */
data_enable = (uint8_t)(fifo->data_enable >> 8);
for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
{
/* Unpack frame to get the accelerometer data */
rslt = unpack_accel_frame(accel_data, &data_index, &accel_index, data_enable, fifo, dev);
if (rslt != BMI2_W_FIFO_EMPTY)
{
/* Check for the availability of next two bytes of FIFO data */
rslt = check_empty_fifo(&data_index, fifo);
}
}
/* Update number of accelerometer frames to be read */
(*accel_length) = accel_index;
/* Update the accelerometer byte index */
fifo->acc_byte_start_idx = data_index;
}
else
{
/* Parsing the FIFO data in header mode */
rslt = extract_accel_header_mode(accel_data, accel_length, fifo, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API parses and extracts the gyroscope frames from FIFO data
* read by the "bmi2_read_fifo_data" API and stores it in the "gyro_data"
* structure instance.
*/
int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to index the bytes */
uint16_t data_index = 0;
/* Variable to index gyroscope frames */
uint16_t gyro_index = 0;
/* Variable to store the number of bytes to be read */
uint16_t data_read_length = 0;
/* Variable to define the data enable byte */
uint8_t data_enable = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (gyro_data != NULL) && (gyro_length != NULL) && (fifo != NULL))
{
/* Parsing the FIFO data in header-less mode */
if (fifo->header_enable == 0)
{
/* Get the number of gyro bytes to be read */
rslt = parse_fifo_gyro_len(&data_index, &data_read_length, gyro_length, fifo);
/* Convert word to byte since all sensor enables are in a byte */
data_enable = (uint8_t)(fifo->data_enable >> 8);
for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
{
/* Unpack frame to get gyroscope data */
rslt = unpack_gyro_frame(gyro_data, &data_index, &gyro_index, data_enable, fifo, dev);
if (rslt != BMI2_W_FIFO_EMPTY)
{
/* Check for the availability of next two bytes of FIFO data */
rslt = check_empty_fifo(&data_index, fifo);
}
}
/* Update number of gyroscope frames to be read */
(*gyro_length) = gyro_index;
/* Update the gyroscope byte index */
fifo->acc_byte_start_idx = data_index;
}
else
{
/* Parsing the FIFO data in header mode */
rslt = extract_gyro_header_mode(gyro_data, gyro_length, fifo, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API parses and extracts the auxiliary frames from FIFO data
* read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
*/
int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to index the bytes */
uint16_t data_index = 0;
/* Variable to index auxiliary frames */
uint16_t aux_index = 0;
/* Variable to store the number of bytes to be read */
uint16_t data_read_length = 0;
/* Variable to define the data enable byte */
uint8_t data_enable = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (aux != NULL) && (aux_length != NULL) && (fifo != NULL))
{
/* Parsing the FIFO data in header-less mode */
if (fifo->header_enable == 0)
{
rslt = parse_fifo_aux_len(&data_index, &data_read_length, aux_length, fifo);
/* Convert word to byte since all sensor enables are in
* a byte
*/
data_enable = (uint8_t)(fifo->data_enable >> 8);
for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
{
/* Unpack frame to get auxiliary data */
rslt = unpack_aux_frame(aux, &data_index, &aux_index, data_enable, fifo, dev);
if (rslt != BMI2_W_FIFO_EMPTY)
{
/* Check for the availability of next
* two bytes of FIFO data
*/
rslt = check_empty_fifo(&data_index, fifo);
}
}
/* Update number of auxiliary frames to be read */
*aux_length = aux_index;
/* Update the auxiliary byte index */
fifo->aux_byte_start_idx = data_index;
}
else
{
/* Parsing the FIFO data in header mode */
rslt = extract_aux_header_mode(aux, aux_length, fifo, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes the available sensor specific commands to the sensor.
*/
int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Set the command in the command register */
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &command, 1, dev);
}
return rslt;
}
/*
* @brief This API sets the FIFO self wake up functionality in the sensor.
*/
int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Set FIFO self wake-up */
rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_FIFO_SELF_WAKE_UP, fifo_self_wake_up);
rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API gets the status of FIFO self wake up functionality from
* the sensor.
*/
int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_self_wake_up != NULL))
{
/* Get the status of FIFO self wake-up */
rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
(*fifo_self_wake_up) = BMI2_GET_BITS(data, BMI2_FIFO_SELF_WAKE_UP);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the FIFO water-mark level in the sensor.
*/
int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store data */
uint8_t data[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Get LSB value of FIFO water-mark */
data[0] = BMI2_GET_LSB(fifo_wm);
/* Get MSB value of FIFO water-mark */
data[1] = BMI2_GET_MSB(fifo_wm);
/* Set the FIFO water-mark level */
rslt = bmi2_set_regs(BMI2_FIFO_WTM_0_ADDR, data, 2, dev);
}
return rslt;
}
/*!
* @brief This API reads the FIFO water mark level set in the sensor.
*/
int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to to store data */
uint8_t data[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_wm != NULL))
{
/* Read the FIFO water mark level */
rslt = bmi2_get_regs(BMI2_FIFO_WTM_0_ADDR, data, BMI2_FIFO_WM_LENGTH, dev);
if (rslt == BMI2_OK)
{
(*fifo_wm) = (uint16_t)((uint16_t) data[1] << 8) | (data[0]);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets either filtered or un-filtered FIFO accelerometer or
* gyroscope data.
*/
int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
switch (sens_sel)
{
case BMI2_ACCEL:
/* Validate filter mode */
if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
{
/* Set the accelerometer FIFO filter data */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_FILT_DATA, fifo_filter_data);
rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
}
}
else
{
rslt = BMI2_E_OUT_OF_RANGE;
}
break;
case BMI2_GYRO:
/* Validate filter mode */
if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER)
{
/* Set the gyroscope FIFO filter data */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_GYR_FIFO_FILT_DATA, fifo_filter_data);
rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
}
}
else
{
rslt = BMI2_E_OUT_OF_RANGE;
}
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
return rslt;
}
/*!
* @brief This API gets the FIFO accelerometer or gyroscope filter data.
*/
int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store FIFO filter mode */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_filter_data != NULL))
{
switch (sens_sel)
{
case BMI2_ACCEL:
/* Read the accelerometer FIFO filter data */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
(*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_FILT_DATA);
}
break;
case BMI2_GYRO:
/* Read the gyroscope FIFO filter data */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
(*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_GYR_FIFO_FILT_DATA);
}
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the down-sampling rates for accelerometer or gyroscope
* FIFO data.
*/
int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store sampling rate */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
switch (sens_sel)
{
case BMI2_ACCEL:
/* Set the accelerometer FIFO down sampling rate */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_DOWNS, fifo_down_samp);
rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
}
break;
case BMI2_GYRO:
/* Set the gyroscope FIFO down sampling rate */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS, fifo_down_samp);
rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
}
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
return rslt;
}
/*!
* @brief This API reads the down sampling rates which is configured for
* accelerometer or gyroscope FIFO data.
*/
int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store sampling rate */
uint8_t data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_down_samp != NULL))
{
switch (sens_sel)
{
case BMI2_ACCEL:
/* Read the accelerometer FIFO down data sampling rate */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
(*fifo_down_samp) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_DOWNS);
}
break;
case BMI2_GYRO:
/* Read the gyroscope FIFO down data sampling rate */
rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
(*fifo_down_samp) = BMI2_GET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS);
}
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the length of FIFO data available in the sensor in
* bytes.
*/
int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define byte index */
uint8_t index = 0;
/* Array to store FIFO data length */
uint8_t data[BMI2_FIFO_DATA_LENGTH] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (fifo_length != NULL))
{
/* Read FIFO length */
rslt = bmi2_get_regs(BMI2_FIFO_LENGTH_0_ADDR, data, BMI2_FIFO_DATA_LENGTH, dev);
if (rslt == BMI2_OK)
{
/* Get the MSB byte index */
index = BMI2_FIFO_LENGTH_MSB_BYTE;
/* Get the MSB byte of FIFO length */
data[index] = BMI2_GET_BIT_POS0(data[index], BMI2_FIFO_BYTE_COUNTER_MSB);
/* Get total FIFO length */
(*fifo_length) = ((data[index] << 8) | data[index - 1]);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the user-defined bytes of data from the given register
* address of auxiliary sensor in manual mode.
*
* @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
*/
int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store burst length */
uint8_t burst_len = 0;
/* Variable to define APS status */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (aux_data != NULL))
{
/* Validate if manual mode */
if (dev->aux_man_en)
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable APS if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Map the register value set to that of burst
* length
*/
rslt = map_read_len(&burst_len, dev);
if (rslt == BMI2_OK)
{
/* Read auxiliary data */
rslt = read_aux_data(reg_addr, aux_data, len, burst_len, dev);
}
}
/* Enable Advance power save if disabled for reading
* data and not when already disabled
*/
if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
else
{
rslt = BMI2_E_AUX_INVALID_CFG;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes the user-defined bytes of data and the address of
* auxiliary sensor where data is to be written in manual mode.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*/
int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop = 0;
/* Variable to define APS status */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (aux_data != NULL))
{
/* Validate if manual mode */
if (dev->aux_man_en)
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable APS if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
/* Byte write data in the corresponding address */
if (rslt == BMI2_OK)
{
for (; ((loop < len) && (rslt == BMI2_OK)); loop++)
{
rslt = write_aux_data((reg_addr + loop), aux_data[loop], dev);
dev->delay_us(1000, dev->intf_ptr);
}
}
/* Enable Advance power save if disabled for writing
* data and not when already disabled
*/
if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
else
{
rslt = BMI2_E_AUX_INVALID_CFG;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes the user-defined bytes of data and the address of
* auxiliary sensor where data is to be written, from an interleaved input,
* in manual mode.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*/
int8_t bmi2_write_aux_interleaved(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop = 1;
/* Variable to define APS status */
uint8_t aps_stat = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (aux_data != NULL))
{
/* Validate if manual mode */
if (dev->aux_man_en)
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable APS if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Write the start register address extracted
* from the interleaved data
*/
rslt = write_aux_data(reg_addr, aux_data[0], dev);
/* Extract the remaining address and data from
* the interleaved data and write it in the
* corresponding addresses byte by byte
*/
for (; ((loop < len) && (rslt == BMI2_OK)); loop += 2)
{
rslt = write_aux_data(aux_data[loop], aux_data[loop + 1], dev);
dev->delay_us(1000, dev->intf_ptr);
}
/* Enable Advance power save if disabled for
* writing data and not when already disabled
*/
if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
}
else
{
rslt = BMI2_E_AUX_INVALID_CFG;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the data ready status of accelerometer, gyroscope,
* auxiliary, command decoder and busy status of auxiliary.
*/
int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (status != NULL))
{
rslt = bmi2_get_regs(BMI2_STATUS_ADDR, status, 1, dev);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables/disables OIS interface.
*/
int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Enable/Disable OIS interface */
reg_data = BMI2_SET_BITS(reg_data, BMI2_OIS_IF_EN, enable);
if (enable)
{
/* Disable auxiliary interface if OIS is enabled */
reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_IF_EN);
}
/* Set the OIS interface configurations */
rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API can be used to write sync commands like ODR, sync period,
* frequency and phase, resolution ratio, sync time and delay time.
*/
int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (command != NULL))
{
rslt = bmi2_set_regs(BMI2_SYNC_COMMAND_ADDR, command, n_comm, dev);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API performs self-test to check the proper functionality of the
* accelerometer sensor.
*/
int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store self-test result */
int8_t st_rslt = 0;
/* Structure to define positive accelerometer axes */
struct bmi2_sens_axes_data positive = { 0, 0, 0, 0 };
/* Structure to define negative accelerometer axes */
struct bmi2_sens_axes_data negative = { 0, 0, 0, 0 };
/* Structure for difference of accelerometer values in g */
struct bmi2_selftest_delta_limit accel_data_diff = { 0, 0, 0 };
/* Structure for difference of accelerometer values in mg */
struct bmi2_selftest_delta_limit accel_data_diff_mg = { 0, 0, 0 };
/* Initialize the polarity of self-test as positive */
int8_t sign = BMI2_ENABLE;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Sets the configuration required before enabling self-test */
rslt = pre_self_test_config(dev);
/* Wait for greater than 2 milliseconds */
dev->delay_us(3000, dev->intf_ptr);
if (rslt == BMI2_OK)
{
do
{
/* Select positive first, then negative polarity
* after enabling self-test
*/
rslt = self_test_config((uint8_t) sign, dev);
if (rslt == BMI2_OK)
{
/* Wait for greater than 50 milli-sec */
dev->delay_us(51000, dev->intf_ptr);
/* If polarity is positive */
if (sign == BMI2_ENABLE)
{
/* Read and store positive acceleration value */
rslt = read_accel_xyz(&positive, dev);
}
/* If polarity is negative */
else if (sign == BMI2_DISABLE)
{
/* Read and store negative acceleration value */
rslt = read_accel_xyz(&negative, dev);
}
}
else
{
/* Break if error */
break;
}
/* Break if error */
if (rslt != BMI2_OK)
{
break;
}
/* Turn the polarity of self-test negative */
sign--;
} while (sign >= 0);
if (rslt == BMI2_OK)
{
/* Subtract -ve acceleration values from that of +ve values */
accel_data_diff.x = (positive.x) - (negative.x);
accel_data_diff.y = (positive.y) - (negative.y);
accel_data_diff.z = (positive.z) - (negative.z);
/* Convert differences of acceleration values
* from 'g' to 'mg'
*/
convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev);
/* Validate self-test for acceleration values
* in mg and get the self-test result
*/
st_rslt = validate_self_test(&accel_data_diff_mg);
/* Trigger a soft reset after performing self-test */
rslt = bmi2_soft_reset(dev);
/* Return the self-test result */
if (rslt == BMI2_OK)
{
rslt = st_rslt;
}
}
}
}
return rslt;
}
/*!
* @brief This API maps/unmaps feature interrupts to that of interrupt pins.
*/
int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define the value of feature interrupts */
uint8_t feat_int = 0;
/* Array to store the interrupt mask bits */
uint8_t data_array[2] = { 0 };
/* Structure to define map the interrupts */
struct bmi2_map_int map_int = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Read interrupt map1 and map2 and register */
rslt = bmi2_get_regs(BMI2_INT1_MAP_FEAT_ADDR, data_array, 2, dev);
if (rslt == BMI2_OK)
{
/* Get the value of the feature interrupt to be mapped */
extract_feat_int_map(&map_int, type, dev);
feat_int = map_int.sens_map_int;
/* Map the interrupts */
rslt = map_feat_int(data_array, hw_int_pin, feat_int);
/* Map the interrupts to INT1 and INT2 map register */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_INT1_MAP_FEAT_ADDR, &data_array[0], 1, dev);
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_INT2_MAP_FEAT_ADDR, &data_array[1], 1, dev);
}
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API maps/un-maps data interrupts to that of interrupt pins.
*/
int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to mask interrupt pin 1 - lower nibble */
uint8_t int1_mask = data_int;
/* Variable to mask interrupt pin 2 - higher nibble */
uint8_t int2_mask = (uint8_t)(data_int << 4);
/* Variable to store register data */
uint8_t reg_data = 0;
/* Read interrupt map1 and map2 and register */
rslt = bmi2_get_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
if (int_pin < BMI2_INT_PIN_MAX)
{
switch (int_pin)
{
case BMI2_INT_NONE:
/* Un-Map the corresponding data
* interrupt to both interrupt pin 1 and 2
*/
reg_data &= ~(int1_mask | int2_mask);
break;
case BMI2_INT1:
/* Map the corresponding data interrupt to
* interrupt pin 1
*/
reg_data |= int1_mask;
break;
case BMI2_INT2:
/* Map the corresponding data interrupt to
* interrupt pin 2
*/
reg_data |= int2_mask;
break;
case BMI2_INT_BOTH:
/* Map the corresponding data
* interrupt to both interrupt pin 1 and 2
*/
reg_data |= (int1_mask | int2_mask);
break;
default:
break;
}
/* Set the interrupts in the map register */
rslt = bmi2_set_regs(BMI2_INT_MAP_DATA_ADDR, &reg_data, 1, dev);
}
else
{
/* Return error if invalid pin selection */
rslt = BMI2_E_INVALID_INT_PIN;
}
}
return rslt;
}
/*!
* @brief This API gets the re-mapped x, y and z axes from the sensor and
* updates the values in the device structure.
*/
int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Initialize the local structure for axis re-mapping */
struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (remapped_axis != NULL))
{
/* Get the re-mapped axes from the sensor */
rslt = get_remap_axes(&remap, dev);
if (rslt == BMI2_OK)
{
/* Store the re-mapped x-axis value in device structure
* and its user-value in the interface structure
*/
switch (remap.x_axis)
{
case BMI2_MAP_X_AXIS:
/* If mapped to x-axis */
dev->remap.x_axis = BMI2_MAP_X_AXIS;
remapped_axis->x = BMI2_X;
break;
case BMI2_MAP_Y_AXIS:
/* If mapped to y-axis */
dev->remap.x_axis = BMI2_MAP_Y_AXIS;
remapped_axis->x = BMI2_Y;
break;
case BMI2_MAP_Z_AXIS:
/* If mapped to z-axis */
dev->remap.x_axis = BMI2_MAP_Z_AXIS;
remapped_axis->x = BMI2_Z;
break;
default:
break;
}
/* Store the re-mapped x-axis sign in device structure
* and its user-value in the interface structure
*/
if (remap.x_axis_sign)
{
/* If x-axis is mapped to -ve sign */
dev->remap.x_axis_sign = BMI2_NEG_SIGN;
remapped_axis->x |= BMI2_AXIS_SIGN;
}
else
{
dev->remap.x_axis_sign = BMI2_POS_SIGN;
}
/* Store the re-mapped y-axis value in device structure
* and its user-value in the interface structure
*/
switch (remap.y_axis)
{
case BMI2_MAP_X_AXIS:
/* If mapped to x-axis */
dev->remap.y_axis = BMI2_MAP_X_AXIS;
remapped_axis->y = BMI2_X;
break;
case BMI2_MAP_Y_AXIS:
/* If mapped to y-axis */
dev->remap.y_axis = BMI2_MAP_Y_AXIS;
remapped_axis->y = BMI2_Y;
break;
case BMI2_MAP_Z_AXIS:
/* If mapped to z-axis */
dev->remap.y_axis = BMI2_MAP_Z_AXIS;
remapped_axis->y = BMI2_Z;
break;
default:
break;
}
/* Store the re-mapped y-axis sign in device structure
* and its user-value in the interface structure
*/
if (remap.y_axis_sign)
{
/* If y-axis is mapped to -ve sign */
dev->remap.y_axis_sign = BMI2_NEG_SIGN;
remapped_axis->y |= BMI2_AXIS_SIGN;
}
else
{
dev->remap.y_axis_sign = BMI2_POS_SIGN;
}
/* Store the re-mapped z-axis value in device structure
* and its user-value in the interface structure
*/
switch (remap.z_axis)
{
case BMI2_MAP_X_AXIS:
/* If mapped to x-axis */
dev->remap.z_axis = BMI2_MAP_X_AXIS;
remapped_axis->z = BMI2_X;
break;
case BMI2_MAP_Y_AXIS:
/* If mapped to y-axis */
dev->remap.z_axis = BMI2_MAP_Y_AXIS;
remapped_axis->z = BMI2_Y;
break;
case BMI2_MAP_Z_AXIS:
/* If mapped to z-axis */
dev->remap.z_axis = BMI2_MAP_Z_AXIS;
remapped_axis->z = BMI2_Z;
break;
default:
break;
}
/* Store the re-mapped z-axis sign in device structure
* and its user-value in the interface structure
*/
if (remap.z_axis_sign)
{
/* If z-axis is mapped to -ve sign */
dev->remap.z_axis_sign = BMI2_NEG_SIGN;
remapped_axis->z |= BMI2_AXIS_SIGN;
}
else
{
dev->remap.z_axis_sign = BMI2_POS_SIGN;
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API sets the re-mapped x, y and z axes to the sensor and
* updates the them in the device structure.
*/
int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store all the re-mapped axes */
uint8_t remap_axes = 0;
/* Variable to store the re-mapped x-axes */
uint8_t remap_x = 0;
/* Variable to store the re-mapped y-axes */
uint8_t remap_y = 0;
/* Variable to store the re-mapped z-axes */
uint8_t remap_z = 0;
/* Initialize the local structure for axis re-mapping */
struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (remapped_axis != NULL))
{
/* Check whether all the axes are re-mapped */
remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z;
/* If all the axes are re-mapped */
if ((remap_axes & BMI2_AXIS_MASK) == BMI2_AXIS_MASK)
{
/* Get the re-mapped value of x, y and z axis */
remap_x = remapped_axis->x & BMI2_AXIS_MASK;
remap_y = remapped_axis->y & BMI2_AXIS_MASK;
remap_z = remapped_axis->z & BMI2_AXIS_MASK;
/* Store the value of re-mapped x-axis in both
* device structure and the local structure
*/
switch (remap_x)
{
case BMI2_X:
/* If mapped to x-axis */
dev->remap.x_axis = BMI2_MAP_X_AXIS;
remap.x_axis = BMI2_MAP_X_AXIS;
break;
case BMI2_Y:
/* If mapped to y-axis */
dev->remap.x_axis = BMI2_MAP_Y_AXIS;
remap.x_axis = BMI2_MAP_Y_AXIS;
break;
case BMI2_Z:
/* If mapped to z-axis */
dev->remap.x_axis = BMI2_MAP_Z_AXIS;
remap.x_axis = BMI2_MAP_Z_AXIS;
break;
default:
break;
}
/* Store the re-mapped x-axis sign in the device
* structure and its value in local structure
*/
if (remapped_axis->x & BMI2_AXIS_SIGN)
{
/* If x-axis is mapped to -ve sign */
dev->remap.x_axis_sign = BMI2_NEG_SIGN;
remap.x_axis_sign = BMI2_MAP_NEGATIVE;
}
else
{
dev->remap.x_axis_sign = BMI2_POS_SIGN;
remap.x_axis_sign = BMI2_MAP_POSITIVE;
}
/* Store the value of re-mapped y-axis in both
* device structure and the local structure
*/
switch (remap_y)
{
case BMI2_X:
/* If mapped to x-axis */
dev->remap.y_axis = BMI2_MAP_X_AXIS;
remap.y_axis = BMI2_MAP_X_AXIS;
break;
case BMI2_Y:
/* If mapped to y-axis */
dev->remap.y_axis = BMI2_MAP_Y_AXIS;
remap.y_axis = BMI2_MAP_Y_AXIS;
break;
case BMI2_Z:
/* If mapped to z-axis */
dev->remap.y_axis = BMI2_MAP_Z_AXIS;
remap.y_axis = BMI2_MAP_Z_AXIS;
break;
default:
break;
}
/* Store the re-mapped y-axis sign in the device
* structure and its value in local structure
*/
if (remapped_axis->y & BMI2_AXIS_SIGN)
{
/* If y-axis is mapped to -ve sign */
dev->remap.y_axis_sign = BMI2_NEG_SIGN;
remap.y_axis_sign = BMI2_MAP_NEGATIVE;
}
else
{
dev->remap.y_axis_sign = BMI2_POS_SIGN;
remap.y_axis_sign = BMI2_MAP_POSITIVE;
}
/* Store the value of re-mapped z-axis in both
* device structure and the local structure
*/
switch (remap_z)
{
case BMI2_X:
/* If mapped to x-axis */
dev->remap.z_axis = BMI2_MAP_X_AXIS;
remap.z_axis = BMI2_MAP_X_AXIS;
break;
case BMI2_Y:
/* If mapped to y-axis */
dev->remap.z_axis = BMI2_MAP_Y_AXIS;
remap.z_axis = BMI2_MAP_Y_AXIS;
break;
case BMI2_Z:
/* If mapped to z-axis */
dev->remap.z_axis = BMI2_MAP_Z_AXIS;
remap.z_axis = BMI2_MAP_Z_AXIS;
break;
default:
break;
}
/* Store the re-mapped z-axis sign in the device
* structure and its value in local structure
*/
if (remapped_axis->z & BMI2_AXIS_SIGN)
{
/* If z-axis is mapped to -ve sign */
dev->remap.z_axis_sign = BMI2_NEG_SIGN;
remap.z_axis_sign = BMI2_MAP_NEGATIVE;
}
else
{
dev->remap.z_axis_sign = BMI2_POS_SIGN;
remap.z_axis_sign = BMI2_MAP_POSITIVE;
}
/* Set the re-mapped axes in the sensor */
rslt = set_remap_axes(&remap, dev);
}
else
{
rslt = BMI2_E_REMAP_ERROR;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables/disables gyroscope offset compensation. It adds the
* offsets defined in the offset register with gyroscope data.
*/
int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define register data */
uint8_t reg_data = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Get the status of gyroscope offset enable */
rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN, enable);
/* Enable/Disable gyroscope offset compensation */
rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the gyroscope bias values for each axis which is used
* for gyroscope offset compensation.
*/
int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define register data */
uint8_t reg_data[4] = { 0 };
/* Variable to store LSB value of offset compensation for x-axis */
uint8_t gyr_off_lsb_x;
/* Variable to store LSB value of offset compensation for y-axis */
uint8_t gyr_off_lsb_y;
/* Variable to store LSB value of offset compensation for z-axis */
uint8_t gyr_off_lsb_z;
/* Variable to store MSB value of offset compensation for x-axis */
uint8_t gyr_off_msb_x;
/* Variable to store MSB value of offset compensation for y-axis */
uint8_t gyr_off_msb_y;
/* Variable to store MSB value of offset compensation for z-axis */
uint8_t gyr_off_msb_z;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
{
/* Get the gyroscope compensated offset values */
rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
if (rslt == BMI2_OK)
{
/* Get LSB and MSB values of offset compensation for
* x, y and z axis
*/
gyr_off_lsb_x = reg_data[0];
gyr_off_lsb_y = reg_data[1];
gyr_off_lsb_z = reg_data[2];
gyr_off_msb_x = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_X_MASK;
gyr_off_msb_y = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Y_MASK;
gyr_off_msb_z = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Z_MASK;
/* Gyroscope offset compensation value for x-axis */
gyr_off_comp_axes->x = (int16_t)(((uint16_t) gyr_off_msb_x << 8) | gyr_off_lsb_x);
/* Gyroscope offset compensation value for y-axis */
gyr_off_comp_axes->y = (int16_t)(((uint16_t) gyr_off_msb_y << 6) | gyr_off_lsb_y);
/* Gyroscope offset compensation value for z-axis */
gyr_off_comp_axes->z = (int16_t)(((uint16_t) gyr_off_msb_z << 4) | gyr_off_lsb_z);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes the gyroscope bias values for each axis which is used
* for gyroscope offset compensation.
*/
int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define register data */
uint8_t reg_data[4] = { 0 };
/* Variable to store MSB value of offset compensation for x-axis */
uint8_t gyr_off_msb_x;
/* Variable to store MSB value of offset compensation for y-axis */
uint8_t gyr_off_msb_y;
/* Variable to store MSB value of offset compensation for z-axis */
uint8_t gyr_off_msb_z;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL))
{
/* Get the MSB values of gyroscope compensated offset values */
rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data[3], 1, dev);
if (rslt == BMI2_OK)
{
/* Get MSB value of x-axis from user-input */
gyr_off_msb_x = (uint8_t)((gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
/* Get MSB value of y-axis from user-input */
gyr_off_msb_y = (uint8_t)((gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
/* Get MSB value of z-axis from user-input */
gyr_off_msb_z = (uint8_t)((gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8);
/* Get LSB value of x-axis from user-input */
reg_data[0] = (uint8_t)(gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_LSB_MASK);
/* Get LSB value of y-axis from user-input */
reg_data[1] = (uint8_t)(gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_LSB_MASK);
/* Get LSB value of z-axis from user-input */
reg_data[2] = (uint8_t)(gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_LSB_MASK);
/* Get MSB value of x-axis to be set */
reg_data[3] = BMI2_SET_BIT_POS0(reg_data[3], BMI2_GYR_OFF_COMP_MSB_X, gyr_off_msb_x);
/* Get MSB value of y-axis to be set */
reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Y, gyr_off_msb_y);
/* Get MSB value of z-axis to be set */
reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Z, gyr_off_msb_z);
/* Set the offset compensation values of axes */
rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API updates the cross sensitivity coefficient between gyroscope's
* X and Z axes.
*/
int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
struct bmi2_sensor_data data;
/* Check if the feature is supported by this variant */
if (dev->variant_feature & BMI2_GYRO_CROSS_SENS_ENABLE)
{
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Select the feature whose data is to be acquired */
data.type = BMI2_GYRO_CROSS_SENSE;
/* Get the respective data */
rslt = bmi2_get_sensor_data(&data, 1, dev);
if (rslt == BMI2_OK)
{
/* Update the gyroscope cross sense value of z axis
* in the device structure
*/
dev->gyr_cross_sens_zx = data.sens_data.correction_factor_zx;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
}
return rslt;
}
/*!
* @brief This API gets Error bits and message indicating internal status.
*/
int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (int_stat != NULL))
{
/* Delay to read the internal status */
dev->delay_us(20000, dev->intf_ptr);
/* Get the error bits and message */
rslt = bmi2_get_regs(BMI2_INTERNAL_STATUS_ADDR, int_stat, 1, dev);
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*! @cond DOXYGEN_SUPRESS */
/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
* directories */
/*!
* @brief This API verifies and allows only the correct position to do Fast Offset Compensation for
* accelerometer & gyro.
*/
static int8_t verify_foc_position(uint8_t sens_list,
const struct bmi2_accel_foc_g_value *accel_g_axis,
struct bmi2_dev *dev)
{
int8_t rslt;
struct bmi2_sens_axes_data avg_foc_data = { 0 };
struct bmi2_foc_temp_value temp_foc_data = { 0 };
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Enable sensor */
rslt = bmi2_sensor_enable(&sens_list, 1, dev);
}
if (rslt == BMI2_OK)
{
rslt = get_average_of_sensor_data(sens_list, &temp_foc_data, dev);
if (rslt == BMI2_OK)
{
if (sens_list == BMI2_ACCEL)
{
/* Taking modulus to make negative values as positive */
if ((accel_g_axis->x == 1) && (accel_g_axis->sign == 1))
{
temp_foc_data.x = temp_foc_data.x * -1;
}
else if ((accel_g_axis->y == 1) && (accel_g_axis->sign == 1))
{
temp_foc_data.y = temp_foc_data.y * -1;
}
else if ((accel_g_axis->z == 1) && (accel_g_axis->sign == 1))
{
temp_foc_data.z = temp_foc_data.z * -1;
}
}
/* Typecasting into 16bit */
avg_foc_data.x = (int16_t)(temp_foc_data.x);
avg_foc_data.y = (int16_t)(temp_foc_data.y);
avg_foc_data.z = (int16_t)(temp_foc_data.z);
rslt = validate_foc_position(sens_list, accel_g_axis, avg_foc_data, dev);
}
}
return rslt;
}
/*! @endcond */
/*!
* @brief This API performs Fast Offset Compensation for accelerometer.
*/
int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Structure to define the accelerometer configurations */
struct bmi2_accel_config acc_cfg = { 0, 0, 0, 0 };
/* Variable to store status of advance power save */
uint8_t aps = 0;
/* Variable to store status of accelerometer enable */
uint8_t acc_en = 0;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (accel_g_value != NULL))
{
/* Check for input validity */
if ((((BMI2_ABS(accel_g_value->x)) + (BMI2_ABS(accel_g_value->y)) + (BMI2_ABS(accel_g_value->z))) == 1) &&
((accel_g_value->sign == 1) || (accel_g_value->sign == 0)))
{
rslt = verify_foc_position(BMI2_ACCEL, accel_g_value, dev);
if (rslt == BMI2_OK)
{
/* Save accelerometer configurations, accelerometer
* enable status and advance power save status
*/
rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev);
}
/* Set configurations for FOC */
if (rslt == BMI2_OK)
{
rslt = set_accel_foc_config(dev);
}
/* Perform accelerometer FOC */
if (rslt == BMI2_OK)
{
rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev);
}
/* Restore the saved configurations */
if (rslt == BMI2_OK)
{
rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev);
}
}
else
{
rslt = BMI2_E_INVALID_INPUT;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API performs Fast Offset Compensation for gyroscope.
*/
int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Structure to define the gyroscope configurations */
struct bmi2_gyro_config gyr_cfg = { 0, 0, 0, 0, 0, 0 };
/* Variable to store status of advance power save */
uint8_t aps = 0;
/* Variable to store status of gyroscope enable */
uint8_t gyr_en = 0;
/* Array of structure to store gyroscope data */
struct bmi2_sens_axes_data gyr_value[128];
/* Structure to store gyroscope data temporarily */
struct bmi2_foc_temp_value temp = { 0, 0, 0 };
/* Variable to store status read from the status register */
uint8_t reg_status = 0;
/* Variable to define count */
uint8_t loop = 0;
/* Structure to store the offset values to be stored in the register */
struct bmi2_sens_axes_data gyro_offset = { 0, 0, 0, 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Argument2 is not applicable for gyro */
rslt = verify_foc_position(BMI2_GYRO, 0, dev);
if (rslt == BMI2_OK)
{
/* Save gyroscope configurations, gyroscope enable
* status and advance power save status
*/
rslt = save_gyro_config(&gyr_cfg, &aps, &gyr_en, dev);
/* Set configurations for gyroscope FOC */
if (rslt == BMI2_OK)
{
rslt = set_gyro_foc_config(dev);
}
/* Perform FOC */
if (rslt == BMI2_OK)
{
for (loop = 0; loop < 128; loop++)
{
/* Giving a delay of more than 40ms since ODR is configured as 25Hz */
dev->delay_us(50000, dev->intf_ptr);
/* Get gyroscope data ready interrupt status */
rslt = bmi2_get_status(&reg_status, dev);
/* Read 128 samples of gyroscope data on data ready interrupt */
if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_GYR))
{
rslt = read_gyro_xyz(&gyr_value[loop], dev);
if (rslt == BMI2_OK)
{
/* Store the data in a temporary structure */
temp.x = temp.x + (int32_t)gyr_value[loop].x;
temp.y = temp.y + (int32_t)gyr_value[loop].y;
temp.z = temp.z + (int32_t)gyr_value[loop].z;
}
}
if (rslt != BMI2_OK)
{
break;
}
else if ((reg_status & BMI2_DRDY_GYR) != BMI2_DRDY_GYR)
{
rslt = BMI2_E_INVALID_STATUS;
break;
}
}
if (rslt == BMI2_OK)
{
/* Take average of x, y and z data for lesser
* noise. It is same as offset data since lsb/dps
* is same for both data and offset register
*/
gyro_offset.x = (int16_t)(temp.x / 128);
gyro_offset.y = (int16_t)(temp.y / 128);
gyro_offset.z = (int16_t)(temp.z / 128);
/* Saturate gyroscope data since the offset
* registers are of 10 bit value where as the
* gyroscope data is of 16 bit value
*/
saturate_gyro_data(&gyro_offset);
/* Invert the gyroscope offset data */
invert_gyro_offset(&gyro_offset);
/* Write offset data in the gyroscope offset
* compensation register
*/
rslt = bmi2_write_gyro_offset_comp_axes(&gyro_offset, dev);
}
/* Enable gyroscope offset compensation */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_gyro_offset_comp(BMI2_ENABLE, dev);
}
/* Restore the saved gyroscope configurations */
if (rslt == BMI2_OK)
{
rslt = restore_gyro_config(&gyr_cfg, aps, gyr_en, dev);
}
}
}
}
return rslt;
}
/*!
* @brief This API is used to get the feature configuration from the
* selected page.
*/
int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define bytes remaining to read */
uint8_t bytes_remain = BMI2_FEAT_SIZE_IN_BYTES;
/* Variable to define the read-write length */
uint8_t read_write_len = 0;
/* Variable to define the feature configuration address */
uint8_t addr = BMI2_FEATURES_REG_ADDR;
/* Variable to define index */
uint8_t index = 0;
if ((feat_config == NULL) || (dev == NULL))
{
rslt = BMI2_E_NULL_PTR;
}
else
{
/* Check whether the page is valid */
if (sw_page < dev->page_max)
{
/* Switch page */
rslt = bmi2_set_regs(BMI2_FEAT_PAGE_ADDR, &sw_page, 1, dev);
/* If user length is less than feature length */
if ((rslt == BMI2_OK) && (dev->read_write_len < BMI2_FEAT_SIZE_IN_BYTES))
{
/* Read-write should be even */
if ((dev->read_write_len % 2) != 0)
{
dev->read_write_len--;
}
while (bytes_remain > 0)
{
if (bytes_remain >= dev->read_write_len)
{
/* Read from the page */
rslt = bmi2_get_regs(addr, &feat_config[index], dev->read_write_len, dev);
/* Update index */
index += (uint8_t) dev->read_write_len;
/* Update address */
addr += (uint8_t) dev->read_write_len;
/* Update read-write length */
read_write_len += (uint8_t) dev->read_write_len;
}
else
{
/* Read from the page */
rslt = bmi2_get_regs(addr, (uint8_t *) (feat_config + index), (uint16_t) bytes_remain, dev);
/* Update read-write length */
read_write_len += bytes_remain;
}
/* Remaining bytes */
bytes_remain = BMI2_FEAT_SIZE_IN_BYTES - read_write_len;
if (rslt != BMI2_OK)
{
break;
}
}
}
else if (rslt == BMI2_OK)
{
/* Get configuration from the page */
rslt = bmi2_get_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
}
}
else
{
rslt = BMI2_E_INVALID_PAGE;
}
}
return rslt;
}
/*!
* @brief This API is used to extract the input feature configuration
* details from the look-up table.
*/
uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
const struct bmi2_dev *dev)
{
/* Variable to define loop */
uint8_t loop = 0;
/* Variable to set flag */
uint8_t feat_found = BMI2_FALSE;
/* Search for the input feature from the input configuration array */
while (loop < dev->input_sens)
{
if (dev->feat_config[loop].type == type)
{
*feat_config = dev->feat_config[loop];
feat_found = BMI2_TRUE;
break;
}
loop++;
}
/* Return flag */
return feat_found;
}
/***************************************************************************/
/*! 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 writes the configuration file.
*/
static int8_t write_config_file(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to update the configuration file index */
uint16_t index = 0;
/* config file size */
uint16_t config_size = dev->config_size;
/* Variable to get the remainder */
uint8_t remain = (uint8_t)(config_size % dev->read_write_len);
/* Variable to get the balance bytes */
uint16_t bal_byte = 0;
/* Variable to define temporary read/write length */
uint16_t read_write_len = 0;
/* Disable advanced power save mode */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
/* Disable loading of the configuration */
rslt = set_config_load(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
if (!remain)
{
/* Write the configuration file */
for (index = 0; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
}
}
else
{
/* Get the balance bytes */
bal_byte = (uint16_t) config_size - (uint16_t) remain;
/* Write the configuration file for the balancem bytes */
for (index = 0; (index < bal_byte) && (rslt == BMI2_OK); index += dev->read_write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
}
if (rslt == BMI2_OK)
{
/* Update length in a temporary variable */
read_write_len = dev->read_write_len;
/* Write the remaining bytes in 2 bytes length */
dev->read_write_len = 2;
/* Write the configuration file for the remaining bytes */
for (index = bal_byte;
(index < config_size) && (rslt == BMI2_OK);
index += dev->read_write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev);
}
/* Restore the user set length back from the temporary variable */
dev->read_write_len = read_write_len;
}
}
if (rslt == BMI2_OK)
{
/* Enable loading of the configuration */
rslt = set_config_load(BMI2_ENABLE, dev);
/* Wait till ASIC is initialized */
dev->delay_us(150000, dev->intf_ptr);
if (rslt == BMI2_OK)
{
/* Enable advanced power save mode */
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
}
}
return rslt;
}
/*!
* @brief This internal API enables/disables the loading of the configuration
* file.
*/
static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data = 0;
rslt = bmi2_get_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_CONF_LOAD_EN, enable);
rslt = bmi2_set_regs(BMI2_INIT_CTRL_ADDR, &reg_data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API loads the configuration file.
*/
static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store address */
uint8_t addr_array[2] = { 0 };
if (config_data != NULL)
{
/* Store 0 to 3 bits of address in first byte */
addr_array[0] = (uint8_t)((index / 2) & 0x0F);
/* Store 4 to 11 bits of address in the second byte */
addr_array[1] = (uint8_t)((index / 2) >> 4);
/* Write the 2 bytes of address in consecutive locations */
rslt = bmi2_set_regs(BMI2_INIT_ADDR_0, addr_array, 2, dev);
if (rslt == BMI2_OK)
{
/* Burst write configuration file data corresponding to user set length */
rslt = bmi2_set_regs(BMI2_INIT_DATA_ADDR, (uint8_t *)config_data, write_len, dev);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API validates bandwidth and performance mode of the
* accelerometer set by the user.
*/
static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Validate and auto-correct performance mode */
rslt = check_boundary_val(perf_mode, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct bandwidth parameter */
if (*perf_mode == BMI2_PERF_OPT_MODE)
{
/* Validate for continuous filter mode */
rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_CIC_AVG8, dev);
}
else
{
/* Validate for CIC averaging mode */
rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_RES_AVG128, dev);
}
}
return rslt;
}
/*!
* @brief This internal API validates ODR and range of the accelerometer set by
* the user.
*/
static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Validate and auto correct ODR */
rslt = check_boundary_val(odr, BMI2_ACC_ODR_0_78HZ, BMI2_ACC_ODR_1600HZ, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto correct Range */
rslt = check_boundary_val(range, BMI2_ACC_RANGE_2G, BMI2_ACC_RANGE_16G, dev);
}
return rslt;
}
/*!
* @brief This internal API validates bandwidth, performance mode, low power/
* high performance mode, ODR, and range set by the user.
*/
static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Validate and auto-correct performance mode */
rslt = check_boundary_val(&config->filter_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct bandwidth parameter */
rslt = check_boundary_val(&config->bwp, BMI2_GYR_OSR4_MODE, BMI2_GYR_CIC_MODE, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct low power/high-performance parameter */
rslt = check_boundary_val(&config->noise_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct ODR parameter */
rslt = check_boundary_val(&config->odr, BMI2_GYR_ODR_25HZ, BMI2_GYR_ODR_3200HZ, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct OIS range */
rslt = check_boundary_val(&config->ois_range, BMI2_GYR_OIS_250, BMI2_GYR_OIS_2000, dev);
if (rslt == BMI2_OK)
{
/* Validate and auto-correct range parameter */
rslt = check_boundary_val(&config->range, BMI2_GYR_RANGE_2000, BMI2_GYR_RANGE_125, dev);
}
}
}
}
}
return rslt;
}
/*!
* @brief This internal API shows the error status when illegal sensor
* configuration is set.
*/
static int8_t cfg_error_status(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
/* Get error status of the set sensor configuration */
rslt = bmi2_get_regs(BMI2_EVENT_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_GET_BITS(reg_data, BMI2_EVENT_FLAG);
switch (reg_data)
{
case BMI2_NO_ERROR:
rslt = BMI2_OK;
break;
case BMI2_ACC_ERROR:
rslt = BMI2_E_ACC_INVALID_CFG;
break;
case BMI2_GYR_ERROR:
rslt = BMI2_E_GYRO_INVALID_CFG;
break;
case BMI2_ACC_GYR_ERROR:
rslt = BMI2_E_ACC_GYR_INVALID_CFG;
break;
default:
break;
}
}
return rslt;
}
/*!
* @brief This internal API:
* 1) Enables/Disables auxiliary interface.
* 2) Sets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3)It maps/un-maps data interrupts to that of hardware interrupt line.
*/
static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Validate auxiliary configurations */
rslt = validate_aux_config(config, dev);
if (rslt == BMI2_OK)
{
/* Enable/Disable auxiliary interface */
rslt = set_aux_interface(config, dev);
if (rslt == BMI2_OK)
{
/* Set the auxiliary interface configurations */
rslt = config_aux_interface(config, dev);
if (rslt == BMI2_OK)
{
/* Set read out offset and ODR */
rslt = config_aux(config, dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API sets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*/
static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to define index */
uint8_t index = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for user-gain */
struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for user-gain feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
if (feat_found)
{
/* Get the configuration from the page where user-gain feature resides */
rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for user-gain select */
idx = user_gain_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set ratio_x */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_X, config->ratio_x);
/* Increment offset by 1 word to set ratio_y */
idx++;
/* Set ratio_y */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Y, config->ratio_y);
/* Increment offset by 1 word to set ratio_z */
idx++;
/* Set ratio_z */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Z, config->ratio_z);
/* Increment offset by 1 more word to get the total length in words */
idx++;
/* Get total length in bytes to copy from local pointer to the array */
idx = (uint8_t)(idx * 2) - user_gain_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[user_gain_config.start_addr +
index] = *((uint8_t *) data_p + user_gain_config.start_addr + index);
}
/* Set the configuration back to the page */
rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API enables/disables auxiliary interface.
*/
static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_IF_EN, config->aux_en);
/* Enable/Disable auxiliary interface */
rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API sets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*
* @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
* man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
*/
static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data[2] = { 0 };
/* Variable to store status */
uint8_t status = 0;
/* Variable to define count */
uint8_t count = 0;
rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
if (rslt == BMI2_OK)
{
/* Set I2C address for AUX sensor */
reg_data[0] = BMI2_SET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR, config->i2c_device_addr);
/* Set the AUX IF to either manual or auto mode */
reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN, config->manual_en);
/* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN, config->fcu_write_en);
/* Set the burst read length for manual mode */
reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST, config->man_rd_burst);
/* Set the burst read length for data mode */
reg_data[1] = BMI2_SET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST, config->aux_rd_burst);
for (;;)
{
/* Check if auxiliary sensor is busy */
rslt = bmi2_get_status(&status, dev);
if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
{
/* Set the configurations if AUX is not busy */
rslt = bmi2_set_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
dev->delay_us(1000, dev->intf_ptr);
if (rslt == BMI2_OK)
{
/* If data mode */
if (!config->manual_en)
{
/* Disable manual enable flag in device structure */
dev->aux_man_en = 0;
/* Set the read address of the AUX sensor */
rslt = bmi2_set_regs(BMI2_AUX_RD_ADDR, (uint8_t *) &config->read_addr, 1, dev);
dev->delay_us(1000, dev->intf_ptr);
}
else
{
/* Enable manual enable flag in device structure */
dev->aux_man_en = 1;
/* Update manual read burst length in device structure */
dev->aux_man_rd_burst_len = config->man_rd_burst;
}
}
/* Break after setting the register */
break;
}
/* Increment count after every 10 seconds */
dev->delay_us(10000, dev->intf_ptr);
count++;
/* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
if (count > 20)
{
rslt = BMI2_E_AUX_BUSY;
break;
}
}
}
return rslt;
}
/*!
* @brief This internal API triggers read out offset and sets ODR of the
* auxiliary sensor.
*/
static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Trigger read out offset */
reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT, config->offset);
/* Set ODR */
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN, config->odr);
/* Set auxiliary configuration register */
rslt = bmi2_set_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
dev->delay_us(1000, dev->intf_ptr);
}
return rslt;
}
/*!
* @brief This internal API checks the busy status of auxiliary sensor and sets
* the auxiliary register addresses when not busy.
*/
static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to get status of AUX_BUSY */
uint8_t status = 0;
/* Variable to define count for time-out */
uint8_t count = 0;
for (;;)
{
/* Check if AUX is busy */
rslt = bmi2_get_status(&status, dev);
/* Set the registers if not busy */
if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY)))
{
rslt = bmi2_set_regs(reg_addr, &reg_data, 1, dev);
dev->delay_us(1000, dev->intf_ptr);
/* Break after setting the register */
break;
}
/* Increment count after every 10 seconds */
dev->delay_us(10000, dev->intf_ptr);
count++;
/* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/
if (count > 20)
{
rslt = BMI2_E_AUX_BUSY;
break;
}
}
return rslt;
}
/*!
* @brief This internal API validates auxiliary configuration set by the user.
*/
static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Validate ODR for auxiliary sensor */
rslt = check_boundary_val(&config->odr, BMI2_AUX_ODR_0_78HZ, BMI2_AUX_ODR_800HZ, dev);
return rslt;
}
/*!
* @brief This internal API gets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*/
static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store data */
uint8_t data_array[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (config != NULL))
{
/* Read the sensor configuration details */
rslt = bmi2_get_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
if (rslt == BMI2_OK)
{
/* Get accelerometer performance mode */
config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE);
/* Get accelerometer bandwidth */
config->bwp = BMI2_GET_BITS(data_array[0], BMI2_ACC_BW_PARAM);
/* Get accelerometer ODR */
config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_ACC_ODR);
/* Get accelerometer range */
config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_ACC_RANGE);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API gets gyroscope configurations like ODR, bandwidth,
* low power/high performance mode, performance mode and range.
*/
static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store data */
uint8_t data_array[2] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (config != NULL))
{
/* Read the sensor configuration details */
rslt = bmi2_get_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
if (rslt == BMI2_OK)
{
/* Get gyroscope performance mode */
config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE);
/* Get gyroscope noise performance mode */
config->noise_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_NOISE_PERF_MODE);
/* Get gyroscope bandwidth */
config->bwp = BMI2_GET_BITS(data_array[0], BMI2_GYR_BW_PARAM);
/* Get gyroscope ODR */
config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_GYR_ODR);
/* Get gyroscope OIS range */
config->ois_range = BMI2_GET_BITS(data_array[1], BMI2_GYR_OIS_RANGE);
/* Get gyroscope range */
config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_GYR_RANGE);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API:
* 1) Gets the status of auxiliary interface enable.
* 2) Gets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3) Gets ODR and offset.
*/
static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (config != NULL))
{
/* Get enable status of auxiliary interface */
rslt = get_aux_interface(config, dev);
if (rslt == BMI2_OK)
{
/* Get the auxiliary interface configurations */
rslt = get_aux_interface_config(config, dev);
if (rslt == BMI2_OK)
{
/* Get read out offset and ODR */
rslt = get_aux_cfg(config, dev);
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API gets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*/
static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define a word */
uint16_t lsb_msb = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for user-gain */
struct bmi2_feature_config user_gain_config = { 0, 0, 0 };
/* Search for user-gain feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev);
if (feat_found)
{
/* Get the configuration from the page where user-gain feature resides */
rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for user-gain select */
idx = user_gain_config.start_addr;
/* Get word to calculate ratio_x */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get ratio_x */
config->ratio_x = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_X_MASK;
/* Get word to calculate ratio_y */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get ratio_y */
config->ratio_y = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Y_MASK;
/* Get word to calculate ratio_z */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get ratio_z */
config->ratio_z = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Z_MASK;
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets the enable status of auxiliary interface.
*/
static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
/* Get the enable status of auxiliary interface */
rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
config->aux_en = BMI2_GET_BITS(reg_data, BMI2_AUX_IF_EN);
}
return rslt;
}
/*!
* @brief This internal API gets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*/
static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data[2] = { 0 };
rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev);
if (rslt == BMI2_OK)
{
/* Get I2C address for auxiliary sensor */
config->i2c_device_addr = BMI2_GET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR);
/* Get the AUX IF to either manual or auto mode */
config->manual_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN);
/* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */
config->fcu_write_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN);
/* Get the burst read length for manual mode */
config->man_rd_burst = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST);
/* Get the burst read length for data mode */
config->aux_rd_burst = BMI2_GET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST);
/* If data mode, get the read address of the auxiliary sensor from where data is to be read */
if (!config->manual_en)
{
rslt = bmi2_get_regs(BMI2_AUX_RD_ADDR, &config->read_addr, 1, dev);
}
}
return rslt;
}
/*!
* @brief This internal API gets read out offset and ODR of the auxiliary
* sensor.
*/
static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Get read out offset */
config->offset = BMI2_GET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT);
/* Get ODR */
config->odr = BMI2_GET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN);
}
return rslt;
}
/*!
* @brief This internal API maps/un-maps feature interrupts to that of interrupt
* pins.
*/
static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Check for NULL error */
if (reg_data_array != NULL)
{
/* Check validity on interrupt pin selection */
if (int_pin < BMI2_INT_PIN_MAX)
{
switch (int_pin)
{
case BMI2_INT_NONE:
/* Un-Map the corresponding feature interrupt to interrupt pin 1 and 2 */
reg_data_array[0] &= ~(int_mask);
reg_data_array[1] &= ~(int_mask);
break;
case BMI2_INT1:
/* Map the corresponding feature interrupt to interrupt pin 1 */
reg_data_array[0] |= int_mask;
/* Un-map the corresponding feature interrupt to interrupt pin 2 */
reg_data_array[1] &= ~(int_mask);
break;
case BMI2_INT2:
/* Map the corresponding feature interrupt to interrupt pin 2 */
reg_data_array[1] |= int_mask;
/* Un-map the corresponding feature interrupt to interrupt pin 1 */
reg_data_array[0] &= ~(int_mask);
break;
case BMI2_INT_BOTH:
/* Map the corresponding feature interrupt to interrupt pin 1 and 2 */
reg_data_array[0] |= int_mask;
reg_data_array[1] |= int_mask;
break;
default:
break;
}
}
else
{
/* Return error if invalid pin selection */
rslt = BMI2_E_INVALID_INT_PIN;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API gets the accelerometer data from the register.
*/
static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define data stored in register */
uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
/* Read the sensor data */
rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
if (rslt == BMI2_OK)
{
/* Get accelerometer data from the register */
get_acc_gyr_data(data, reg_data);
/* Get the re-mapped accelerometer data */
get_remapped_data(data, dev);
}
return rslt;
}
/*!
* @brief This internal API gets the gyroscope data from the register.
*/
static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define data stored in register */
uint8_t reg_data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
/* Read the sensor data */
rslt = bmi2_get_regs(reg_addr, reg_data, BMI2_ACC_GYR_NUM_BYTES, dev);
if (rslt == BMI2_OK)
{
/* Get gyroscope data from the register */
get_acc_gyr_data(data, reg_data);
/* Get the compensated gyroscope data */
comp_gyro_cross_axis_sensitivity(data, dev);
/* Get the re-mapped gyroscope data */
get_remapped_data(data, dev);
}
return rslt;
}
/*!
* @brief This internal API gets the accelerometer/gyroscope data.
*/
static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data)
{
/* Variables to store msb value */
uint8_t msb;
/* Variables to store lsb value */
uint8_t lsb;
/* Variables to store both msb and lsb value */
uint16_t msb_lsb;
/* Variables to define index */
uint8_t index = 0;
/* Read x-axis data */
lsb = reg_data[index++];
msb = reg_data[index++];
msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
data->x = (int16_t) msb_lsb;
/* Read y-axis data */
lsb = reg_data[index++];
msb = reg_data[index++];
msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
data->y = (int16_t) msb_lsb;
/* Read z-axis data */
lsb = reg_data[index++];
msb = reg_data[index++];
msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb;
data->z = (int16_t) msb_lsb;
}
/*!
* @brief This internal API gets the re-mapped accelerometer/gyroscope data.
*/
static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev)
{
/* Array to defined the re-mapped sensor data */
int16_t remap_data[3] = { 0 };
int16_t pos_multiplier = INT16_C(1);
int16_t neg_multiplier = INT16_C(-1);
/* Fill the array with the un-mapped sensor data */
remap_data[0] = data->x;
remap_data[1] = data->y;
remap_data[2] = data->z;
/* Get the re-mapped x axis data */
if (dev->remap.x_axis_sign == BMI2_POS_SIGN)
{
data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier);
}
else
{
data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier);
}
/* Get the re-mapped y axis data */
if (dev->remap.y_axis_sign == BMI2_POS_SIGN)
{
data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier);
}
else
{
data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier);
}
/* Get the re-mapped z axis data */
if (dev->remap.z_axis_sign == BMI2_POS_SIGN)
{
data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier);
}
else
{
data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier);
}
}
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in manual mode.
*/
static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Array to store the register data */
uint8_t reg_data[15] = { 0 };
/* Variable to define number of bytes to read */
uint16_t read_length = 0;
/* Variable to define loop */
uint8_t loop = 0;
/* Variable to define counts to get the correct array index */
uint8_t count = 0;
/* Variable to define index for the array */
uint8_t idx = 0;
while (len > 0)
{
/* Set the read address if AUX is not busy */
rslt = set_if_aux_not_busy(BMI2_AUX_RD_ADDR, reg_addr, dev);
if (rslt == BMI2_OK)
{
/* Read data from bmi2 data register */
rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, (uint16_t) burst_len, dev);
dev->delay_us(1000, dev->intf_ptr);
if (rslt == BMI2_OK)
{
/* Get number of bytes to be read */
if (len < burst_len)
{
read_length = (uint8_t) len;
}
else
{
read_length = burst_len;
}
/* Update array index and store the data */
for (loop = 0; loop < read_length; loop++)
{
idx = loop + count;
aux_data[idx] = reg_data[loop];
}
}
}
/* Update address for the next read */
reg_addr += burst_len;
/* Update count for the array index */
count += burst_len;
/* Update no of bytes left to read */
len -= read_length;
}
return rslt;
}
/*!
* @brief This internal API writes AUX write address and the user-defined bytes
* of data to the AUX sensor in manual mode.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*/
static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Write data to be written to the AUX sensor in bmi2 register */
rslt = bmi2_set_regs(BMI2_AUX_WR_DATA_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Write the AUX address where data is to be stored when AUX is not busy */
rslt = set_if_aux_not_busy(BMI2_AUX_WR_ADDR, reg_addr, dev);
}
return rslt;
}
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in data mode.
*/
static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variables to define loop */
uint8_t count = 0;
/* Variables to define index */
uint8_t index = 0;
/* Array to define data stored in register */
uint8_t reg_data[BMI2_AUX_NUM_BYTES] = { 0 };
/* Check if data mode */
if (!dev->aux_man_en)
{
/* Read the auxiliary sensor data */
rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, BMI2_AUX_NUM_BYTES, dev);
if (rslt == BMI2_OK)
{
/* Get the 8 bytes of auxiliary data */
do
{
*(aux_data + count++) = *(reg_data + index++);
} while (count < BMI2_AUX_NUM_BYTES);
}
}
else
{
rslt = BMI2_E_AUX_INVALID_CFG;
}
return rslt;
}
/*!
* @brief This internal API maps the actual burst read length with that of the
* register value set by user.
*/
static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Get the burst read length against the values set by the user */
switch (dev->aux_man_rd_burst_len)
{
case BMI2_AUX_READ_LEN_0:
*len = 1;
break;
case BMI2_AUX_READ_LEN_1:
*len = 2;
break;
case BMI2_AUX_READ_LEN_2:
*len = 6;
break;
case BMI2_AUX_READ_LEN_3:
*len = 8;
break;
default:
rslt = BMI2_E_AUX_INVALID_CFG;
break;
}
return rslt;
}
/*!
* @brief This internal API computes the number of bytes of accelerometer FIFO
* data which is to be parsed in header-less mode.
*/
static int8_t parse_fifo_accel_len(uint16_t *start_idx,
uint16_t *len,
const uint16_t *acc_count,
const struct bmi2_fifo_frame *fifo)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Data start index */
(*start_idx) = fifo->acc_byte_start_idx;
/* If only accelerometer is enabled */
if (fifo->data_enable == BMI2_FIFO_ACC_EN)
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_LENGTH);
}
/* If only accelerometer and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_AUX_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_AUX_LENGTH);
}
/* If only accelerometer and gyroscope are enabled */
else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_GYR_LENGTH);
}
/* If only accelerometer, gyroscope and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ALL_LENGTH);
}
else
{
/* Move the data index to the last byte to mark completion when
* no sensors or sensors apart from accelerometer are enabled
*/
(*start_idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
/* If more data is requested than available */
if ((*len) > fifo->length)
{
(*len) = fifo->length;
}
return rslt;
}
/*!
* @brief This internal API is used to parse the accelerometer data from the
* FIFO in header mode.
*/
static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Variable to define header frame */
uint8_t frame_header = 0;
/* Variable to index the data bytes */
uint16_t data_index;
/* Variable to index accelerometer frames */
uint16_t accel_index = 0;
/* Variable to indicate accelerometer frames read */
uint16_t frame_to_read = *accel_length;
for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;)
{
/* Get frame header byte */
frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
/* Parse virtual header if S4S is enabled */
parse_if_virtual_header(&frame_header, &data_index, fifo);
/* Index shifted to next byte where data starts */
data_index++;
switch (frame_header)
{
/* If header defines accelerometer frame */
case BMI2_FIFO_HEADER_ACC_FRM:
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
case BMI2_FIFO_HEADER_ALL_FRM:
/* Unpack from normal frames */
rslt = unpack_accel_frame(acc, &data_index, &accel_index, frame_header, fifo, dev);
break;
/* If header defines only gyroscope frame */
case BMI2_FIFO_HEADER_GYR_FRM:
rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
break;
/* If header defines only auxiliary frame */
case BMI2_FIFO_HEADER_AUX_FRM:
rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
break;
/* If header defines only auxiliary and gyroscope frame */
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo);
break;
/* If header defines sensor time frame */
case BMI2_FIFO_HEADER_SENS_TIME_FRM:
rslt = unpack_sensortime_frame(&data_index, fifo);
break;
/* If header defines skip frame */
case BMI2_FIFO_HEADER_SKIP_FRM:
rslt = unpack_skipped_frame(&data_index, fifo);
break;
/* If header defines Input configuration frame */
case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
break;
/* If header defines invalid frame or end of valid data */
case BMI2_FIFO_HEAD_OVER_READ_MSB:
/* Move the data index to the last byte to mark completion */
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
break;
default:
/* Move the data index to the last byte in case of invalid values */
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Break if Number of frames to be read is complete or FIFO is mpty */
if ((frame_to_read == accel_index) || (rslt == BMI2_W_FIFO_EMPTY))
{
break;
}
}
/* Update the accelerometer frame index */
(*accel_length) = accel_index;
/* Update the accelerometer byte index */
fifo->acc_byte_start_idx = data_index;
return rslt;
}
/*!
* @brief This internal API is used to parse the accelerometer data from the
* FIFO data in both header and header-less mode. It updates the current data
* byte to be parsed.
*/
static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
uint16_t *idx,
uint16_t *acc_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
switch (frame)
{
/* If frame contains only accelerometer data */
case BMI2_FIFO_HEADER_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_ACC_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->acc_frm_len) > fifo->length)
{
/* Update the data index as complete*/
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the accelerometer data */
unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
}
/* Update accelerometer frame index */
(*acc_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and gyroscope data */
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the accelerometer data */
unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_LENGTH), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
}
/* Update accelerometer frame index */
(*acc_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and auxiliary data */
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the accelerometer data */
unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
}
/* Update accelerometer frame index */
(*acc_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer, gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_ALL_FRM:
case BMI2_FIFO_HEAD_LESS_ALL_FRM:
/* Partially read, then skip the data*/
if ((*idx + fifo->all_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the accelerometer data */
unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_AUX_LENGTH), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo);
}
/* Update accelerometer frame index */
(*acc_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->aux_gyr_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only auxiliary data */
case BMI2_FIFO_HEADER_AUX_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->aux_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only gyroscope data */
case BMI2_FIFO_HEADER_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->gyr_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
default:
/* Move the data index to the last byte in case of invalid values */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
return rslt;
}
/*!
* @brief This internal API is used to parse accelerometer data from the
* FIFO data.
*/
static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variables to store LSB value */
uint16_t data_lsb;
/* Variables to store MSB value */
uint16_t data_msb;
/* Accelerometer raw x data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->x = (int16_t)((data_msb << 8) | data_lsb);
/* Accelerometer raw y data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->y = (int16_t)((data_msb << 8) | data_lsb);
/* Accelerometer raw z data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
acc->z = (int16_t)((data_msb << 8) | data_lsb);
/* Get the re-mapped accelerometer data */
get_remapped_data(acc, dev);
}
/*!
* @brief This internal API computes the number of bytes of gyroscope FIFO data
* which is to be parsed in header-less mode.
*/
static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *gyr_count,
const struct bmi2_fifo_frame *fifo)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Data start index */
(*start_idx) = fifo->gyr_byte_start_idx;
/* If only gyroscope is enabled */
if (fifo->data_enable == BMI2_FIFO_GYR_EN)
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_LENGTH);
}
/* If only gyroscope and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_AUX_LENGTH);
}
/* If only accelerometer and gyroscope are enabled */
else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ACC_GYR_LENGTH);
}
/* If only accelerometer, gyroscope and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ALL_LENGTH);
}
else
{
/* Move the data index to the last byte to mark completion when
* no sensors or sensors apart from gyroscope are enabled
*/
(*start_idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
/* If more data is requested than available */
if (((*len)) > fifo->length)
{
(*len) = fifo->length;
}
return rslt;
}
/*!
* @brief This internal API is used to parse the gyroscope data from the
* FIFO data in header mode.
*/
static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Variable to define header frame */
uint8_t frame_header = 0;
/* Variable to index the data bytes */
uint16_t data_index;
/* Variable to index gyroscope frames */
uint16_t gyro_index = 0;
/* Variable to indicate gyroscope frames read */
uint16_t frame_to_read = (*gyro_length);
for (data_index = fifo->gyr_byte_start_idx; data_index < fifo->length;)
{
/* Get frame header byte */
frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
/* Parse virtual header if S4S is enabled */
parse_if_virtual_header(&frame_header, &data_index, fifo);
/* Index shifted to next byte where data starts */
data_index++;
switch (frame_header)
{
/* If header defines gyroscope frame */
case BMI2_FIFO_HEADER_GYR_FRM:
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
case BMI2_FIFO_HEADER_ALL_FRM:
/* Unpack from normal frames */
rslt = unpack_gyro_frame(gyr, &data_index, &gyro_index, frame_header, fifo, dev);
break;
/* If header defines only accelerometer frame */
case BMI2_FIFO_HEADER_ACC_FRM:
rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
break;
/* If header defines only auxiliary frame */
case BMI2_FIFO_HEADER_AUX_FRM:
rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo);
break;
/* If header defines only auxiliary and accelerometer frame */
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo);
break;
/* If header defines sensor time frame */
case BMI2_FIFO_HEADER_SENS_TIME_FRM:
rslt = unpack_sensortime_frame(&data_index, fifo);
break;
/* If header defines skip frame */
case BMI2_FIFO_HEADER_SKIP_FRM:
rslt = unpack_skipped_frame(&data_index, fifo);
break;
/* If header defines Input configuration frame */
case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
break;
/* If header defines invalid frame or end of valid data */
case BMI2_FIFO_HEAD_OVER_READ_MSB:
/* Move the data index to the last byte */
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
break;
default:
/* Move the data index to the last byte in case of invalid values */
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Break if number of frames to be read is complete or FIFO is empty */
if ((frame_to_read == gyro_index) || (rslt == BMI2_W_FIFO_EMPTY))
{
break;
}
}
/* Update the gyroscope frame index */
(*gyro_length) = gyro_index;
/* Update the gyroscope byte index */
fifo->gyr_byte_start_idx = data_index;
return rslt;
}
/*!
* @brief This internal API is used to parse the gyroscope data from the FIFO
* data in both header and header-less mode. It updates the current data byte to
* be parsed.
*/
static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
uint16_t *idx,
uint16_t *gyr_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
switch (frame)
{
/* If frame contains only gyroscope data */
case BMI2_FIFO_HEADER_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->gyr_frm_len) > fifo->length)
{
/* Update the data index as complete*/
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the gyroscope data */
unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
}
/* Update gyroscope frame index */
(*gyr_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and gyroscope data */
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the gyroscope data */
unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
}
/* Update gyroscope frame index */
(*gyr_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the gyroscope data */
unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
}
/* Update gyroscope frame index */
(*gyr_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer, gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_ALL_FRM:
case BMI2_FIFO_HEAD_LESS_ALL_FRM:
/* Partially read, then skip the data*/
if ((*idx + fifo->all_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the gyroscope data */
unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo);
}
/* Update gyroscope frame index */
(*gyr_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and auxiliary data */
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->acc_aux_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only auxiliary data */
case BMI2_FIFO_HEADER_AUX_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->aux_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only accelerometer data */
case BMI2_FIFO_HEADER_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_ACC_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->acc_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
default:
/* Move the data index to the last byte in case of invalid values */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
return rslt;
}
/*!
* @brief This internal API is used to parse gyroscope data from the FIFO data.
*/
static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variables to store LSB value */
uint16_t data_lsb;
/* Variables to store MSB value */
uint16_t data_msb;
/* Gyroscope raw x data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
gyr->x = (int16_t)((data_msb << 8) | data_lsb);
/* Gyroscope raw y data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
gyr->y = (int16_t)((data_msb << 8) | data_lsb);
/* Gyroscope raw z data */
data_lsb = fifo->data[data_start_index++];
data_msb = fifo->data[data_start_index++];
gyr->z = (int16_t)((data_msb << 8) | data_lsb);
/* Get the compensated gyroscope data */
comp_gyro_cross_axis_sensitivity(gyr, dev);
/* Get the re-mapped gyroscope data */
get_remapped_data(gyr, dev);
}
/*!
* @brief This API computes the number of bytes of auxiliary FIFO data which is
* to be parsed in header-less mode.
*/
static int8_t parse_fifo_aux_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *aux_count,
const struct bmi2_fifo_frame *fifo)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Data start index */
*start_idx = fifo->aux_byte_start_idx;
/* If only auxiliary is enabled */
if (fifo->data_enable == BMI2_FIFO_AUX_EN)
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*aux_count) * BMI2_FIFO_AUX_LENGTH);
}
/* If only accelerometer and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ACC_AUX_LENGTH);
}
/* If only accelerometer and gyroscope are enabled */
else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*aux_count) * BMI2_FIFO_GYR_AUX_LENGTH);
}
/* If only accelerometer, gyroscope and auxiliary are enabled */
else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_ACC_EN))
{
/* Number of bytes to be read */
(*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ALL_LENGTH);
}
else
{
/* Move the data index to the last byte to mark completion when
* no sensors or sensors apart from gyroscope are enabled
*/
(*start_idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
/* If more data is requested than available */
if (((*len)) > fifo->length)
{
(*len) = fifo->length;
}
return rslt;
}
/*!
* @brief This API is used to parse the auxiliary data from the FIFO data in
* header mode.
*/
static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_len,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Variable to define header frame */
uint8_t frame_header = 0;
/* Variable to index the data bytes */
uint16_t data_index;
/* Variable to index gyroscope frames */
uint16_t aux_index = 0;
/* Variable to indicate auxiliary frames read */
uint16_t frame_to_read = *aux_len;
for (data_index = fifo->aux_byte_start_idx; data_index < fifo->length;)
{
/* Get frame header byte */
frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK;
/* Parse virtual header if S4S is enabled */
parse_if_virtual_header(&frame_header, &data_index, fifo);
/* Index shifted to next byte where data starts */
data_index++;
switch (frame_header)
{
/* If header defines auxiliary frame */
case BMI2_FIFO_HEADER_AUX_FRM:
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
case BMI2_FIFO_HEADER_ALL_FRM:
/* Unpack from normal frames */
rslt = unpack_aux_frame(aux, &data_index, &aux_index, frame_header, fifo, dev);
break;
/* If header defines only accelerometer frame */
case BMI2_FIFO_HEADER_ACC_FRM:
rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo);
break;
/* If header defines only gyroscope frame */
case BMI2_FIFO_HEADER_GYR_FRM:
rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo);
break;
/* If header defines only gyroscope and accelerometer frame */
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo);
break;
/* If header defines sensor time frame */
case BMI2_FIFO_HEADER_SENS_TIME_FRM:
rslt = unpack_sensortime_frame(&data_index, fifo);
break;
/* If header defines skip frame */
case BMI2_FIFO_HEADER_SKIP_FRM:
rslt = unpack_skipped_frame(&data_index, fifo);
break;
/* If header defines Input configuration frame */
case BMI2_FIFO_HEADER_INPUT_CFG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo);
break;
/* If header defines invalid frame or end of valid data */
case BMI2_FIFO_HEAD_OVER_READ_MSB:
/* Move the data index to the last byte */
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
case BMI2_FIFO_VIRT_ACT_RECOG_FRM:
rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo);
break;
default:
/* Move the data index to the last byte in case
* of invalid values
*/
data_index = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Break if number of frames to be read is complete or FIFO is
* empty
*/
if ((frame_to_read == aux_index) || (rslt == BMI2_W_FIFO_EMPTY))
{
break;
}
}
/* Update the gyroscope frame index */
(*aux_len) = aux_index;
/* Update the gyroscope byte index */
fifo->aux_byte_start_idx = data_index;
return rslt;
}
/*!
* @brief This API is used to parse the auxiliary frame from the FIFO data in
* both header mode and header-less mode and update the data_index value which
* is used to store the index of the current data byte which is parsed.
*/
static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
uint16_t *idx,
uint16_t *aux_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
switch (frame)
{
/* If frame contains only auxiliary data */
case BMI2_FIFO_HEADER_AUX_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->aux_frm_len) > fifo->length)
{
/* Update the data index as complete*/
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the auxiliary data */
unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_AUX_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
}
/* Update auxiliary frame index */
(*aux_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and auxiliary data */
case BMI2_FIFO_HEADER_AUX_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->acc_aux_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the auxiliary data */
unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
}
/* Update auxiliary frame index */
(*aux_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_AUX_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM:
/* Partially read, then skip the data */
if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the auxiliary data */
unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
}
/* Update auxiliary frame index */
(*aux_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer, gyroscope and auxiliary data */
case BMI2_FIFO_HEADER_ALL_FRM:
case BMI2_FIFO_HEAD_LESS_ALL_FRM:
/* Partially read, then skip the data */
if ((*idx + fifo->all_frm_len) > fifo->length)
{
/* Move the data index to the last byte */
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
/* Get the auxiliary data */
unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo);
/* Update data index */
(*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH;
/* Get virtual sensor time if S4S is enabled */
if (dev->sens_en_stat & BMI2_EXT_SENS_SEL)
{
unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo);
}
/* Update auxiliary frame index */
(*aux_idx)++;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only accelerometer data */
case BMI2_FIFO_HEADER_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_ACC_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->acc_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains only gyroscope data */
case BMI2_FIFO_HEADER_GYR_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->gyr_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
/* If frame contains accelerometer and gyroscope data */
case BMI2_FIFO_HEADER_GYR_ACC_FRM:
case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM:
/* Update data index */
(*idx) = (*idx) + fifo->acc_gyr_frm_len;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
break;
default:
/* Move the data index to the last byte in case of
* invalid values
*/
(*idx) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
break;
}
return rslt;
}
/*!
* @brief This internal API is used to parse auxiliary data from the FIFO data.
*/
static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo)
{
/* Variables to store index */
uint16_t idx = 0;
/* Get auxiliary data */
for (; idx < 8; idx++)
{
aux->data[idx] = fifo->data[data_start_index++];
}
}
/*!
* @brief This internal API parses virtual frame header from the FIFO data.
*/
static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
{
/* Variable to extract virtual header byte */
uint8_t virtual_header_mode;
/* Extract virtual header mode from the frame header */
virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE);
/* If the extracted header byte is a virtual header */
if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE)
{
/* If frame header is not activity recognition header */
if (*frame_header != 0xC8)
{
/* Index shifted to next byte where sensor frame is present */
(*data_index) = (*data_index) + 1;
/* Get the sensor frame header */
*frame_header = fifo->data[*data_index] & BMI2_FIFO_TAG_INTR_MASK;
}
}
}
/*!
* @brief This internal API gets sensor time from the accelerometer and
* gyroscope virtual frames and updates in the data structure.
*/
static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx, const struct bmi2_fifo_frame *fifo)
{
/* Variables to define 3 bytes of sensor time */
uint32_t sensor_time_byte3;
uint16_t sensor_time_byte2;
uint8_t sensor_time_byte1;
/* Get sensor time from the FIFO data */
sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
sensor_time_byte1 = fifo->data[(*idx)];
/* Store sensor time in the sensor data structure */
sens->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
/* Move the data index by 3 bytes */
(*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
}
/*!
* @brief This internal API gets sensor time from the auxiliary virtual
* frames and updates in the data structure.
*/
static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux,
uint16_t *idx,
const struct bmi2_fifo_frame *fifo)
{
/* Variables to define 3 bytes of sensor time */
uint32_t sensor_time_byte3;
uint16_t sensor_time_byte2;
uint8_t sensor_time_byte1;
/* Get sensor time from the FIFO data */
sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16);
sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
sensor_time_byte1 = fifo->data[(*idx)];
/* Store sensor time in the sensor data structure */
aux->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
/* Move the data index by 3 bytes */
(*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH;
}
/*!
* @brief This internal API is used to reset the FIFO related configurations in
* the FIFO frame structure for the next FIFO read.
*/
static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev)
{
/* Reset FIFO data structure */
fifo->acc_byte_start_idx = 0;
fifo->aux_byte_start_idx = 0;
fifo->gyr_byte_start_idx = 0;
fifo->sensor_time = 0;
fifo->skipped_frame_count = 0;
fifo->act_recog_byte_start_idx = 0;
/* If S4S is enabled */
if ((dev->sens_en_stat & BMI2_EXT_SENS_SEL) == BMI2_EXT_SENS_SEL)
{
fifo->acc_frm_len = BMI2_FIFO_VIRT_ACC_LENGTH;
fifo->gyr_frm_len = BMI2_FIFO_VIRT_GYR_LENGTH;
fifo->aux_frm_len = BMI2_FIFO_VIRT_AUX_LENGTH;
fifo->acc_gyr_frm_len = BMI2_FIFO_VIRT_ACC_GYR_LENGTH;
fifo->acc_aux_frm_len = BMI2_FIFO_VIRT_ACC_AUX_LENGTH;
fifo->aux_gyr_frm_len = BMI2_FIFO_VIRT_GYR_AUX_LENGTH;
fifo->all_frm_len = BMI2_FIFO_VIRT_ALL_LENGTH;
/* If S4S is not enabled */
}
else
{
fifo->acc_frm_len = BMI2_FIFO_ACC_LENGTH;
fifo->gyr_frm_len = BMI2_FIFO_GYR_LENGTH;
fifo->aux_frm_len = BMI2_FIFO_AUX_LENGTH;
fifo->acc_gyr_frm_len = BMI2_FIFO_ACC_GYR_LENGTH;
fifo->acc_aux_frm_len = BMI2_FIFO_ACC_AUX_LENGTH;
fifo->aux_gyr_frm_len = BMI2_FIFO_GYR_AUX_LENGTH;
fifo->all_frm_len = BMI2_FIFO_ALL_LENGTH;
}
}
/*!
* @brief This API internal checks whether the FIFO data read is an empty frame.
* If empty frame, index is moved to the last byte.
*/
static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo)
{
/* Variables to define error */
int8_t rslt = BMI2_OK;
/* Validate data index */
if (((*data_index) + 6) < fifo->length)
{
/* Check if FIFO is empty */
if (((fifo->data[(*data_index)] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
(fifo->data[(*data_index) + 1] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
((fifo->data[(*data_index) + 2] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
(fifo->data[(*data_index) + 3] == BMI2_FIFO_LSB_CONFIG_CHECK)) &&
((fifo->data[(*data_index) + 4] == BMI2_FIFO_MSB_CONFIG_CHECK) &&
(fifo->data[(*data_index) + 5] == BMI2_FIFO_LSB_CONFIG_CHECK)))
{
/* Move the data index to the last byte to mark completion */
(*data_index) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
else
{
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
}
}
return rslt;
}
/*!
* @brief This internal API is used to move the data index ahead of the
* current_frame_length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*/
static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo)
{
/* Variables to define error */
int8_t rslt = BMI2_OK;
/* Validate data index */
if (((*data_index) + current_frame_length) > fifo->length)
{
/* Move the data index to the last byte */
(*data_index) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
else
{
/* Move the data index to next frame */
(*data_index) = (*data_index) + current_frame_length;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
}
return rslt;
}
/*!
* @brief This internal API is used to parse and store the sensor time from the
* FIFO data.
*/
static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
{
/* Variables to define error */
int8_t rslt = BMI2_OK;
/* Variables to define 3 bytes of sensor time */
uint32_t sensor_time_byte3 = 0;
uint16_t sensor_time_byte2 = 0;
uint8_t sensor_time_byte1 = 0;
/* Validate data index */
if (((*data_index) + BMI2_SENSOR_TIME_LENGTH) > fifo->length)
{
/* Move the data index to the last byte */
(*data_index) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
else
{
/* Get sensor time from the FIFO data */
sensor_time_byte3 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_MSB_BYTE] << 16;
sensor_time_byte2 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8;
sensor_time_byte1 = fifo->data[(*data_index)];
/* Update sensor time in the FIFO structure */
fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1);
/* Move the data index by 3 bytes */
(*data_index) = (*data_index) + BMI2_SENSOR_TIME_LENGTH;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
}
return rslt;
}
/*!
* @brief This internal API is used to parse and store the skipped frame count
* from the FIFO data.
*/
static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo)
{
/* Variables to define error */
int8_t rslt = BMI2_OK;
/* Validate data index */
if ((*data_index) >= fifo->length)
{
/* Update the data index to the last byte */
(*data_index) = fifo->length;
/* FIFO is empty */
rslt = BMI2_W_FIFO_EMPTY;
}
else
{
/* Update skipped frame count in the FIFO structure */
fifo->skipped_frame_count = fifo->data[(*data_index)];
/* Move the data index by 1 byte */
(*data_index) = (*data_index) + 1;
/* More frames could be read */
rslt = BMI2_W_PARTIAL_READ;
}
return rslt;
}
/*!
* @brief This internal API enables and configures the accelerometer which is
* needed for self-test operation. It also sets the amplitude for the self-test.
*/
static int8_t pre_self_test_config(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Structure to define sensor configurations */
struct bmi2_sens_config sens_cfg;
/* List the sensors to be selected */
uint8_t sens_sel = BMI2_ACCEL;
/* Enable accelerometer */
rslt = bmi2_sensor_enable(&sens_sel, 1, dev);
dev->delay_us(1000, dev->intf_ptr);
/* Enable self-test amplitude */
if (rslt == BMI2_OK)
{
rslt = set_accel_self_test_amp(BMI2_ENABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Select accelerometer for sensor configurations */
sens_cfg.type = BMI2_ACCEL;
/* Get the default values */
rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
if (rslt == BMI2_OK)
{
/* Set the configurations required for self-test */
sens_cfg.cfg.acc.odr = BMI2_ACC_ODR_1600HZ;
sens_cfg.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
sens_cfg.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
sens_cfg.cfg.acc.range = BMI2_ACC_RANGE_16G;
/* Set accelerometer configurations */
rslt = bmi2_set_sensor_config(&sens_cfg, 1, dev);
}
}
return rslt;
}
/*!
* @brief This internal API performs the steps needed for self-test operation
* before reading the accelerometer self-test data.
*/
static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Enable the accelerometer self-test feature */
rslt = set_accel_self_test_enable(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
/* Selects the sign of accelerometer self-test excitation */
rslt = set_acc_self_test_sign(sign, dev);
}
return rslt;
}
/*!
* @brief This internal API enables or disables the accelerometer self-test
* feature in the sensor.
*/
static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define data */
uint8_t data = 0;
/* Enable/Disable self-test feature */
rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BIT_POS0(data, BMI2_ACC_SELF_TEST_EN, enable);
rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API selects the sign for accelerometer self-test
* excitation.
*/
static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define data */
uint8_t data = 0;
/* Select the sign for self-test excitation */
rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_SIGN, sign);
rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API sets the amplitude of the accelerometer self-test
* deflection in the sensor.
*/
static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define data */
uint8_t data = 0;
/* Select amplitude of the self-test deflection */
rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_AMP, amp);
rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API reads the accelerometer data for x,y and z axis from
* the sensor. The data units is in LSB format.
*/
static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Array to define data buffer */
uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
rslt = bmi2_get_regs(BMI2_ACC_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
if (rslt == BMI2_OK)
{
/* Accelerometer data x axis */
msb = data[1];
lsb = data[0];
accel->x = (int16_t)((msb << 8) | lsb);
/* Accelerometer data y axis */
msb = data[3];
lsb = data[2];
accel->y = (int16_t)((msb << 8) | lsb);
/* Accelerometer data z axis */
msb = data[5];
lsb = data[4];
accel->z = (int16_t)((msb << 8) | lsb);
}
return rslt;
}
/*!
* @brief This internal API reads the gyroscope data for x, y and z axis from
* the sensor. The data units is in LSB format.
*/
static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Array to define data buffer */
uint8_t data[BMI2_ACC_GYR_NUM_BYTES] = { 0 };
rslt = bmi2_get_regs(BMI2_GYR_X_LSB_ADDR, data, BMI2_ACC_GYR_NUM_BYTES, dev);
if (rslt == BMI2_OK)
{
/* Gyroscope data x axis */
msb = data[1];
lsb = data[0];
gyro->x = (int16_t)((msb << 8) | lsb);
/* Gyroscope data y axis */
msb = data[3];
lsb = data[2];
gyro->y = (int16_t)((msb << 8) | lsb);
/* Gyroscope data z axis */
msb = data[5];
lsb = data[4];
gyro->z = (int16_t)((msb << 8) | lsb);
}
return rslt;
}
/*!
* @brief This internal API converts LSB value of accelerometer axes to form
* 'g' to 'mg' for self-test.
*/
static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff,
struct bmi2_selftest_delta_limit *acc_data_diff_mg,
const struct bmi2_dev *dev)
{
/* Variable to define LSB/g value of axes */
uint32_t lsb_per_g;
/* Range considered for self-test is +/-16g */
uint8_t range = BMI2_ACC_SELF_TEST_RANGE;
/* lsb_per_g for the respective resolution and 16g range */
lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range));
/* Accelerometer x value in mg */
acc_data_diff_mg->x = (acc_data_diff->x / (int32_t) lsb_per_g) * 1000;
/* Accelerometer y value in mg */
acc_data_diff_mg->y = (acc_data_diff->y / (int32_t) lsb_per_g) * 1000;
/* Accelerometer z value in mg */
acc_data_diff_mg->z = (acc_data_diff->z / (int32_t) lsb_per_g) * 1000;
}
/*!
* @brief This internal API is used to calculate the power of a value.
*/
static int32_t power(int16_t base, uint8_t resolution)
{
/* Initialize loop */
uint8_t loop = 1;
/* Initialize variable to store the power of 2 value */
int32_t value = 1;
for (; loop <= resolution; loop++)
{
value = (int32_t)(value * base);
}
return value;
}
/*!
* @brief This internal API validates the accelerometer self-test data and
* decides the result of self-test operation.
*/
static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff)
{
/* Variable to define error */
int8_t rslt;
/* As per the data sheet, The actually measured signal differences should be significantly
* larger than the minimum differences for each axis in order for the self-test to pass.
*/
if ((accel_data_diff->x > BMI2_ST_ACC_X_SIG_MIN_DIFF) && (accel_data_diff->y < BMI2_ST_ACC_Y_SIG_MIN_DIFF) &&
(accel_data_diff->z > BMI2_ST_ACC_Z_SIG_MIN_DIFF))
{
/* Self-test pass */
rslt = BMI2_OK;
}
else
{
/* Self-test fail*/
rslt = BMI2_E_SELF_TEST_FAIL;
}
return rslt;
}
/*!
* @brief This internal API gets the re-mapped x, y and z axes from the sensor.
*/
static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for axis re-mapping */
struct bmi2_feature_config remap_config = { 0, 0, 0 };
/* Variable to get the status of advance power save */
uint8_t aps_stat;
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Search for axis re-mapping and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
if (feat_found)
{
rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for axis re-mapping */
idx = remap_config.start_addr;
/* Get the re-mapped x-axis */
remap->x_axis = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_X_AXIS);
/* Get the re-mapped x-axis polarity */
remap->x_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_X_AXIS_SIGN);
/* Get the re-mapped y-axis */
remap->y_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS);
/* Get the re-mapped y-axis polarity */
remap->y_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS_SIGN);
/* Get the re-mapped z-axis */
remap->z_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Z_AXIS);
/* Increment byte to fetch the next data */
idx++;
/* Get the re-mapped z-axis polarity */
remap->z_axis_sign = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
return rslt;
}
/*!
* @brief This internal API sets the re-mapped x, y and z axes in the sensor.
*/
static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to define the register address */
uint8_t reg_addr = 0;
/* Variable to set the re-mapped x-axes in the sensor */
uint8_t x_axis = 0;
/* Variable to set the re-mapped y-axes in the sensor */
uint8_t y_axis = 0;
/* Variable to set the re-mapped z-axes in the sensor */
uint8_t z_axis = 0;
/* Variable to set the re-mapped x-axes sign in the sensor */
uint8_t x_axis_sign = 0;
/* Variable to set the re-mapped y-axes sign in the sensor */
uint8_t y_axis_sign = 0;
/* Variable to set the re-mapped z-axes sign in the sensor */
uint8_t z_axis_sign = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for axis re-mapping */
struct bmi2_feature_config remap_config = { 0, 0, 0 };
/* Variable to get the status of advance power save */
uint8_t aps_stat;
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Search for axis-re-mapping and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev);
if (feat_found)
{
/* Get the configuration from the page where axis re-mapping feature resides */
rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes */
idx = remap_config.start_addr;
/* Set the value of re-mapped x-axis */
x_axis = remap->x_axis & BMI2_X_AXIS_MASK;
/* Set the value of re-mapped x-axis sign */
x_axis_sign = ((remap->x_axis_sign << BMI2_X_AXIS_SIGN_POS) & BMI2_X_AXIS_SIGN_MASK);
/* Set the value of re-mapped y-axis */
y_axis = ((remap->y_axis << BMI2_Y_AXIS_POS) & BMI2_Y_AXIS_MASK);
/* Set the value of re-mapped y-axis sign */
y_axis_sign = ((remap->y_axis_sign << BMI2_Y_AXIS_SIGN_POS) & BMI2_Y_AXIS_SIGN_MASK);
/* Set the value of re-mapped z-axis */
z_axis = ((remap->z_axis << BMI2_Z_AXIS_POS) & BMI2_Z_AXIS_MASK);
/* Set the value of re-mapped z-axis sign */
z_axis_sign = remap->z_axis_sign & BMI2_Z_AXIS_SIGN_MASK;
/* Arrange axes in the first byte */
feat_config[idx] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis;
/* Increment the index */
idx++;
/* Cannot OR in the second byte since it holds
* gyroscope self-offset correction bit
*/
feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN, z_axis_sign);
/* Update the register address */
reg_addr = BMI2_FEATURES_REG_ADDR + remap_config.start_addr;
/* Set the configuration back to the page */
rslt = bmi2_set_regs(reg_addr, &feat_config[remap_config.start_addr], 2, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
return rslt;
}
/*!
* @brief This internal API corrects the gyroscope cross-axis sensitivity
* between the z and the x axis.
*/
static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev)
{
/* Get the compensated gyroscope x-axis */
gyr_data->x = gyr_data->x - (int16_t)(((int32_t) dev->gyr_cross_sens_zx * (int32_t) gyr_data->z) / 512);
}
/*!
* @brief This internal API is used to validate the boundary conditions.
*/
static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
if (val != NULL)
{
/* Check if value is below minimum value */
if (*val < min)
{
/* Auto correct the invalid value to minimum value */
*val = min;
dev->info |= BMI2_I_MIN_VALUE;
}
/* Check if value is above maximum value */
if (*val > max)
{
/* Auto correct the invalid value to maximum value */
*val = max;
dev->info |= BMI2_I_MAX_VALUE;
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This internal API saves the configurations before performing FOC.
*/
static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg,
uint8_t *aps,
uint8_t *acc_en,
struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to get the status from PWR_CTRL register */
uint8_t pwr_ctrl_data = 0;
/* Get accelerometer configurations to be saved */
rslt = get_accel_config(acc_cfg, dev);
if (rslt == BMI2_OK)
{
/* Get accelerometer enable status to be saved */
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
*acc_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_ACC_EN);
/* Get advance power save mode to be saved */
if (rslt == BMI2_OK)
{
rslt = bmi2_get_adv_power_save(aps, dev);
}
}
return rslt;
}
/*!
* @brief This internal sets configurations for performing accelerometer FOC.
*/
static int8_t set_accel_foc_config(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to select the sensor */
uint8_t sens_list = BMI2_ACCEL;
/* Variable to set the accelerometer configuration value */
uint8_t acc_conf_data = BMI2_FOC_ACC_CONF_VAL;
/* Disabling offset compensation */
rslt = set_accel_offset_comp(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
/* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */
rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, &acc_conf_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Set accelerometer to normal mode by enabling it */
rslt = bmi2_sensor_enable(&sens_list, 1, dev);
if (rslt == BMI2_OK)
{
/* Disable advance power save mode */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API performs Fast Offset Compensation for accelerometer.
*/
static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value,
const struct bmi2_accel_config *acc_cfg,
struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_E_INVALID_STATUS;
/* Variable to define count */
uint8_t loop;
/* Variable to store status read from the status register */
uint8_t reg_status = 0;
/* Array of structure to store accelerometer data */
struct bmi2_sens_axes_data accel_value[128] = { { 0 } };
/* Structure to store accelerometer data temporarily */
struct bmi2_foc_temp_value temp = { 0, 0, 0 };
/* Structure to store the average of accelerometer data */
struct bmi2_sens_axes_data accel_avg = { 0, 0, 0, 0 };
/* Variable to define LSB per g value */
uint16_t lsb_per_g = 0;
/* Variable to define range */
uint8_t range = 0;
/* Structure to store accelerometer data deviation from ideal value */
struct bmi2_offset_delta delta = { 0, 0, 0 };
/* Structure to store accelerometer offset values */
struct bmi2_accel_offset offset = { 0, 0, 0 };
/* Variable tries max 5 times for interrupt then generates timeout */
uint8_t try_cnt;
for (loop = 0; loop < 128; loop++)
{
try_cnt = 5;
while (try_cnt && (!(reg_status & BMI2_DRDY_ACC)))
{
/* 20ms delay for 50Hz ODR */
dev->delay_us(20000, dev->intf_ptr);
rslt = bmi2_get_status(&reg_status, dev);
try_cnt--;
}
if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_ACC))
{
rslt = read_accel_xyz(&accel_value[loop], dev);
}
if (rslt == BMI2_OK)
{
rslt = read_accel_xyz(&accel_value[loop], dev);
}
if (rslt == BMI2_OK)
{
/* Store the data in a temporary structure */
temp.x = temp.x + (int32_t)accel_value[loop].x;
temp.y = temp.y + (int32_t)accel_value[loop].y;
temp.z = temp.z + (int32_t)accel_value[loop].z;
}
else
{
break;
}
}
if (rslt == BMI2_OK)
{
/* Take average of x, y and z data for lesser noise */
accel_avg.x = (int16_t)(temp.x / 128);
accel_avg.y = (int16_t)(temp.y / 128);
accel_avg.z = (int16_t)(temp.z / 128);
/* Get the exact range value */
map_accel_range(acc_cfg->range, &range);
/* Get the smallest possible measurable acceleration level given the range and
* resolution */
lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range));
/* Compensate acceleration data against gravity */
comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta);
/* Scale according to offset register resolution */
scale_accel_offset(range, &delta, &offset);
/* Invert the accelerometer offset data */
invert_accel_offset(&offset);
/* Write offset data in the offset compensation register */
rslt = write_accel_offset(&offset, dev);
/* Enable offset compensation */
if (rslt == BMI2_OK)
{
rslt = set_accel_offset_comp(BMI2_ENABLE, dev);
}
}
return rslt;
}
/*!
* @brief This internal API enables/disables the offset compensation for
* filtered and un-filtered accelerometer data.
*/
static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t data = 0;
/* Enable/Disable offset compensation */
rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
if (rslt == BMI2_OK)
{
data = BMI2_SET_BITS(data, BMI2_NV_ACC_OFFSET, offset_en);
rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev);
}
return rslt;
}
/*!
* @brief This internal API converts the accelerometer range value into
* corresponding integer value.
*/
static void map_accel_range(uint8_t range_in, uint8_t *range_out)
{
switch (range_in)
{
case BMI2_ACC_RANGE_2G:
*range_out = 2;
break;
case BMI2_ACC_RANGE_4G:
*range_out = 4;
break;
case BMI2_ACC_RANGE_8G:
*range_out = 8;
break;
case BMI2_ACC_RANGE_16G:
*range_out = 16;
break;
default:
/* By default RANGE 8G is set */
*range_out = 8;
break;
}
}
/*!
* @brief This internal API compensate the accelerometer data against gravity.
*/
static void comp_for_gravity(uint16_t lsb_per_g,
const struct bmi2_accel_foc_g_value *g_val,
const struct bmi2_sens_axes_data *data,
struct bmi2_offset_delta *comp_data)
{
/* Array to store the accelerometer values in LSB */
int16_t accel_value_lsb[3] = { 0 };
/* Convert g-value to LSB */
accel_value_lsb[BMI2_X_AXIS] = (int16_t)(lsb_per_g * g_val->x);
accel_value_lsb[BMI2_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y);
accel_value_lsb[BMI2_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z);
/* Get the compensated values for X, Y and Z axis */
comp_data->x = (data->x - accel_value_lsb[BMI2_X_AXIS]);
comp_data->y = (data->y - accel_value_lsb[BMI2_Y_AXIS]);
comp_data->z = (data->z - accel_value_lsb[BMI2_Z_AXIS]);
}
/*!
* @brief This internal API scales the compensated accelerometer data according
* to the offset register resolution.
*
* @note The bit position is always greater than 0 since accelerometer data is
* 16 bit wide.
*/
static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data, struct bmi2_accel_offset *data)
{
/* Variable to store the position of bit having 3.9mg resolution */
int8_t bit_pos_3_9mg;
/* Variable to store the position previous of bit having 3.9mg resolution */
int8_t bit_pos_3_9mg_prev_bit;
/* Variable to store the round-off value */
uint8_t round_off;
/* Find the bit position of 3.9mg */
bit_pos_3_9mg = get_bit_pos_3_9mg(range);
/* Round off, consider if the next bit is high */
bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1;
round_off = (uint8_t)(power(2, ((uint8_t) bit_pos_3_9mg_prev_bit)));
/* Scale according to offset register resolution */
data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t) bit_pos_3_9mg)));
}
/*!
* @brief This internal API finds the bit position of 3.9mg according to given
* range and resolution.
*/
static int8_t get_bit_pos_3_9mg(uint8_t range)
{
/* Variable to store the bit position of 3.9mg resolution */
int8_t bit_pos_3_9mg;
/* Variable to shift the bits according to the resolution */
uint32_t divisor = 1;
/* Scaling factor to get the bit position of 3.9 mg resolution */
int16_t scale_factor = -1;
/* Variable to store temporary value */
uint16_t temp;
/* Shift left by the times of resolution */
divisor = divisor << 16;
/* Get the bit position to be shifted */
temp = (uint16_t)(divisor / (range * 256));
/* Get the scaling factor until bit position is shifted to last bit */
while (temp != 1)
{
scale_factor++;
temp = temp >> 1;
}
/* Scaling factor is the bit position of 3.9 mg resolution */
bit_pos_3_9mg = (int8_t) scale_factor;
return bit_pos_3_9mg;
}
/*!
* @brief This internal API inverts the accelerometer offset data.
*/
static void invert_accel_offset(struct bmi2_accel_offset *offset_data)
{
/* Get the offset data */
offset_data->x = (uint8_t)((offset_data->x) * (-1));
offset_data->y = (uint8_t)((offset_data->y) * (-1));
offset_data->z = (uint8_t)((offset_data->z) * (-1));
}
/*!
* @brief This internal API writes the offset data in the offset compensation
* register.
*/
static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to store the offset data */
uint8_t data_array[3] = { 0 };
data_array[0] = offset->x;
data_array[1] = offset->y;
data_array[2] = offset->z;
/* Offset values are written in the offset register */
rslt = bmi2_set_regs(BMI2_ACC_OFF_COMP_0_ADDR, data_array, 3, dev);
return rslt;
}
/*!
* @brief This internal API restores the configurations saved before performing
* accelerometer FOC.
*/
static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg,
uint8_t aps,
uint8_t acc_en,
struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to get the status from PWR_CTRL register */
uint8_t pwr_ctrl_data = 0;
/* Restore the saved accelerometer configurations */
rslt = set_accel_config(acc_cfg, dev);
if (rslt == BMI2_OK)
{
/* Restore the saved accelerometer enable status */
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
if (rslt == BMI2_OK)
{
pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_ACC_EN, acc_en);
rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
/* Restore the saved advance power save */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_adv_power_save(aps, dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API sets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*/
static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
/* Array to store the default value of accelerometer configuration
* reserved registers
*/
uint8_t data_array[2] = { 0 };
/* Validate bandwidth and performance mode */
rslt = validate_bw_perf_mode(&config->bwp, &config->filter_perf, dev);
if (rslt == BMI2_OK)
{
/* Validate ODR and range */
rslt = validate_odr_range(&config->odr, &config->range, dev);
if (rslt == BMI2_OK)
{
/* Set accelerometer performance mode */
reg_data = BMI2_SET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE, config->filter_perf);
/* Set accelerometer bandwidth */
reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_BW_PARAM, config->bwp);
/* Set accelerometer ODR */
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ACC_ODR, config->odr);
/* Copy the register data to the array */
data_array[0] = reg_data;
/* Set accelerometer range */
reg_data = BMI2_SET_BIT_POS0(data_array[1], BMI2_ACC_RANGE, config->range);
/* Copy the register data to the array */
data_array[1] = reg_data;
/* Write accelerometer configuration to ACC_CONFand
* ACC_RANGE registers simultaneously as they lie in consecutive places
*/
rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev);
/* Get error status to check for invalid configurations */
if (rslt == BMI2_OK)
{
rslt = cfg_error_status(dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API sets gyroscope configurations like ODR, bandwidth,
* low power/high performance mode, performance mode and range. It also
* maps/un-maps data interrupts to that of hardware interrupt line.
*/
static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store data */
uint8_t reg_data;
/* Array to store the default value of gyroscope configuration reserved registers */
uint8_t data_array[2] = { 0 };
/* Validate gyroscope configurations */
rslt = validate_gyro_config(config, dev);
if (rslt == BMI2_OK)
{
/* Set gyroscope performance mode */
reg_data = BMI2_SET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE, config->filter_perf);
/* Set gyroscope noise performance mode */
reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_NOISE_PERF_MODE, config->noise_perf);
/* Set gyroscope bandwidth */
reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_BW_PARAM, config->bwp);
/* Set gyroscope ODR */
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_ODR, config->odr);
/* Copy the register data to the array */
data_array[0] = reg_data;
/* Set gyroscope OIS range */
reg_data = BMI2_SET_BITS(data_array[1], BMI2_GYR_OIS_RANGE, config->ois_range);
/* Set gyroscope range */
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_RANGE, config->range);
/* Copy the register data to the array */
data_array[1] = reg_data;
/* Write accelerometer configuration to GYR_CONF and GYR_RANGE
* registers simultaneously as they lie in consecutive places
*/
rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev);
/* Get error status to check for invalid configurations */
if (rslt == BMI2_OK)
{
rslt = cfg_error_status(dev);
}
}
return rslt;
}
/*!
* @brief This internal API saves the configurations before performing gyroscope
* FOC.
*/
static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to get the status from PWR_CTRL register */
uint8_t pwr_ctrl_data = 0;
/* Get gyroscope configurations to be saved */
rslt = get_gyro_config(gyr_cfg, dev);
if (rslt == BMI2_OK)
{
/* Get gyroscope enable status to be saved */
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
*gyr_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_GYR_EN);
/* Get advance power save mode to be saved */
if (rslt == BMI2_OK)
{
rslt = bmi2_get_adv_power_save(aps, dev);
}
}
return rslt;
}
/*!
* @brief This internal sets configurations for performing gyroscope FOC.
*/
static int8_t set_gyro_foc_config(struct bmi2_dev *dev)
{
int8_t rslt;
/* Variable to select the sensor */
uint8_t sens_list = BMI2_GYRO;
/* Array to set the gyroscope configuration value (ODR, Performance mode
* and bandwidth) and gyroscope range
*/
uint8_t gyr_conf_data[2] = { BMI2_FOC_GYR_CONF_VAL, BMI2_GYR_RANGE_2000 };
/* Disabling gyroscope offset compensation */
rslt = bmi2_set_gyro_offset_comp(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
/* Set gyroscope configurations to 25Hz, continuous mode,
* CIC mode, and 2000 dps range
*/
rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, gyr_conf_data, 2, dev);
if (rslt == BMI2_OK)
{
/* Set gyroscope to normal mode by enabling it */
rslt = bmi2_sensor_enable(&sens_list, 1, dev);
if (rslt == BMI2_OK)
{
/* Disable advance power save mode */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API inverts the gyroscope offset data.
*/
static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data)
{
/* Invert the values */
offset_data->x = (int16_t)((offset_data->x) * (-1));
offset_data->y = (int16_t)((offset_data->y) * (-1));
offset_data->z = (int16_t)((offset_data->z) * (-1));
}
/*!
* @brief This internal API restores the gyroscope configurations saved
* before performing FOC.
*/
static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t pwr_ctrl_data = 0;
/* Restore the saved gyroscope configurations */
rslt = set_gyro_config(gyr_cfg, dev);
if (rslt == BMI2_OK)
{
/* Restore the saved gyroscope enable status */
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
if (rslt == BMI2_OK)
{
pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_GYR_EN, gyr_en);
rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev);
/* Restore the saved advance power save */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_adv_power_save(aps, dev);
}
}
}
return rslt;
}
/*!
* @brief This internal API saturates the gyroscope data value before writing to
* to 10 bit offset register.
*/
static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off)
{
if (gyr_off->x > 511)
{
gyr_off->x = 511;
}
if (gyr_off->x < -512)
{
gyr_off->x = -512;
}
if (gyr_off->y > 511)
{
gyr_off->y = 511;
}
if (gyr_off->y < -512)
{
gyr_off->y = -512;
}
if (gyr_off->z > 511)
{
gyr_off->z = 511;
}
if (gyr_off->z < -512)
{
gyr_off->z = -512;
}
}
/*!
* @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)
{
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;
}
/*!
* @brief This internal API is to get the status of st_status from gry_crt_conf register
*/
static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t reg_data = 0;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Get the status of crt running */
rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
(*st_status) = BMI2_GET_BITS(reg_data, BMI2_GYR_CRT_RUNNING);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API enables/disables the CRT running.
*/
static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t reg_data = 0;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_CRT_RUNNING, st_status);
rslt = bmi2_set_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This API gets the status of rdy for dl bit.
*/
static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t reg_data = 0;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Get the status of rdy_fo_dl */
rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
(*rdy_for_dl) = BMI2_GET_BITS(reg_data, BMI2_GYR_RDY_FOR_DL);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API does the crt process if max burst length is not zero.
*/
static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t rdy_for_dl = 0;
uint8_t cmd = BMI2_G_TRIGGER_CMD;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
rslt = get_rdy_for_dl(&rdy_for_dl, dev);
}
/* Trigger next CRT command */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
}
if ((!last_byte_flag) && (rslt == BMI2_OK))
{
rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, rdy_for_dl, dev);
}
return rslt;
}
/*!
* @brief This API to write the 2kb size of crt configuration
*/
static int8_t write_crt_config_file(uint16_t write_len,
uint16_t config_file_size,
uint16_t start_index,
struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
uint16_t index = 0;
uint8_t last_byte_flag = 0;
uint8_t remain = (uint8_t)(config_file_size % write_len);
uint16_t balance_byte = 0;
if (!remain)
{
/* Write the configuration file */
for (index = start_index;
(index < (start_index + config_file_size)) && (rslt == BMI2_OK);
index += write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
if (index >= ((start_index + config_file_size) - (write_len)))
{
last_byte_flag = 1;
}
if (rslt == BMI2_OK)
{
rslt = process_crt_download(last_byte_flag, dev);
}
}
}
else
{
/* Get the balance bytes */
balance_byte = (uint16_t)start_index + (uint16_t)config_file_size - (uint16_t)remain;
/* Write the configuration file for the balance bytes */
for (index = start_index; (index < balance_byte) && (rslt == BMI2_OK); index += write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
if (rslt == BMI2_OK)
{
rslt = process_crt_download(last_byte_flag, dev);
}
}
if (rslt == BMI2_OK)
{
/* Write the remaining bytes in 2 bytes length */
write_len = 2;
rslt = set_maxburst_len(write_len, dev);
/* Write the configuration file for the remaining bytes */
for (index = balance_byte;
(index < (start_index + config_file_size)) && (rslt == BMI2_OK);
index += write_len)
{
rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev);
if (index < ((start_index + config_file_size) - write_len))
{
last_byte_flag = 1;
}
if (rslt == BMI2_OK)
{
rslt = process_crt_download(last_byte_flag, dev);
}
}
}
}
return rslt;
}
/*!
* @brief This API is to wait till the rdy for dl bit toggles after every pack of bytes.
*/
static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
uint8_t dl_ready = 0;
uint8_t st_status = 0;
while ((rslt == BMI2_OK) && (retry_complete--))
{
rslt = get_rdy_for_dl(&dl_ready, dev);
if (download_ready != dl_ready)
{
break;
}
dev->delay_us(BMI2_CRT_READY_FOR_DOWNLOAD_US, dev->intf_ptr);
}
if ((rslt == BMI2_OK) && (download_ready == dl_ready))
{
rslt = BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT;
}
if (rslt == BMI2_OK)
{
rslt = get_st_running(&st_status, dev);
if ((rslt == BMI2_OK) && (st_status == 0))
{
rslt = BMI2_E_ST_ALREADY_RUNNING;
}
}
return rslt;
}
/*!
* @brief This API is to wait till crt status complete.
*/
static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev)
{
uint8_t st_status = 1;
int8_t rslt = BMI2_OK;
while (retry_complete--)
{
rslt = get_st_running(&st_status, dev);
if ((rslt == BMI2_OK) && (st_status == 0))
{
break;
}
dev->delay_us(BMI2_CRT_WAIT_RUNNING_US, dev->intf_ptr);
}
if ((rslt == BMI2_OK) && (st_status == 1))
{
rslt = BMI2_E_ST_ALREADY_RUNNING;
}
return rslt;
}
/*!
* @brief This api is used to perform gyroscope self-test.
*/
int8_t bmi2_do_gyro_st(struct bmi2_dev *dev)
{
int8_t rslt;
rslt = do_gtrigger_test(BMI2_SELECT_GYRO_SELF_TEST, dev);
return rslt;
}
/*!
* @brief This API is to run the CRT process for both max burst length 0 and non zero condition.
*/
int8_t bmi2_do_crt(struct bmi2_dev *dev)
{
int8_t rslt;
rslt = do_gtrigger_test(BMI2_SELECT_CRT, dev);
return rslt;
}
/*!
* @brief This API is to run the crt process for both max burst length 0 and non zero condition.
*/
static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
{
int8_t rslt;
int8_t rslt_crt = BMI2_OK;
uint8_t st_status = 0;
uint8_t max_burst_length = 0;
uint8_t download_ready = 0;
uint8_t cmd = BMI2_G_TRIGGER_CMD;
struct bmi2_gyro_self_test_status gyro_st_result = { 0 };
/* Variable to get the status of advance power save */
uint8_t aps_stat = 0;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Check if the variant supports this feature */
if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE)
{
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
/* Get max burst length */
if (rslt == BMI2_OK)
{
rslt = get_maxburst_len(&max_burst_length, dev);
}
/* Checking for CRT running status */
if (rslt == BMI2_OK)
{
rslt = get_st_running(&st_status, dev);
}
/* CRT is not running and Max burst length is zero */
if (st_status == 0)
{
if (rslt == BMI2_OK)
{
rslt = set_st_running(BMI2_ENABLE, dev);
}
/* Preparing the setup */
if (rslt == BMI2_OK)
{
rslt = crt_prepare_setup(dev);
}
/* Enable the gyro self-test, CRT */
if (rslt == BMI2_OK)
{
rslt = select_self_test(gyro_st_crt, dev);
}
/* Check if FIFO is unchanged by checking the max burst length */
if ((rslt == BMI2_OK) && (max_burst_length == 0))
{
/* Trigger CRT */
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
if (rslt == BMI2_OK)
{
/* Wait until st_status = 0 or time out is 2 seconds */
rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
/* CRT Running wait & check is successful */
if (rslt == BMI2_OK)
{
rslt = crt_gyro_st_update_result(dev);
}
}
}
else
{
/* FIFO may be used */
if (rslt == BMI2_OK)
{
if (dev->read_write_len < 2)
{
dev->read_write_len = 2;
}
if (dev->read_write_len > (BMI2_CRT_MAX_BURST_WORD_LENGTH * 2))
{
dev->read_write_len = BMI2_CRT_MAX_BURST_WORD_LENGTH * 2;
}
/* Reset the max burst length to default value */
rslt = set_maxburst_len(dev->read_write_len, dev);
}
if (rslt == BMI2_OK)
{
rslt = get_rdy_for_dl(&download_ready, dev);
}
/* Trigger CRT */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
}
/* Wait till either ready for download toggle or crt running = 0 */
if (rslt == BMI2_OK)
{
rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, download_ready, dev);
if (rslt == BMI2_OK)
{
rslt = write_crt_config_file(dev->read_write_len, BMI2_CRT_CONFIG_FILE_SIZE, 0x1800, dev);
}
if (rslt == BMI2_OK)
{
rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
rslt_crt = crt_gyro_st_update_result(dev);
if (rslt == BMI2_OK)
{
rslt = rslt_crt;
}
}
}
}
}
else
{
rslt = BMI2_E_ST_ALREADY_RUNNING;
}
if (rslt == BMI2_OK)
{
if (gyro_st_crt == BMI2_SELECT_GYRO_SELF_TEST)
{
rslt = gyro_self_test_completed(&gyro_st_result, dev);
}
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
}
return rslt;
}
/*!
* @brief This API to set up environment for processing the crt.
*/
static int8_t crt_prepare_setup(struct bmi2_dev *dev)
{
int8_t rslt;
/* Variable to select the sensor */
uint8_t sens_list = BMI2_GYRO;
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Disable gyroscope */
rslt = bmi2_sensor_disable(&sens_list, 1, dev);
}
/* Disable FIFO for all sensors */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Enable accelerometer */
sens_list = BMI2_ACCEL;
rslt = bmi2_sensor_enable(&sens_list, 1, dev);
}
if (rslt == BMI2_OK)
{
/* Disable Abort after 1 msec */
dev->delay_us(1000, dev->intf_ptr);
rslt = abort_bmi2(BMI2_DISABLE, dev);
}
return rslt;
}
/*!
* @brief This API is to update the CRT or gyro self-test final result.
*/
static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev)
{
int8_t rslt;
struct bmi2_gyr_user_gain_status user_gain_stat = { 0, 0, 0, 0 };
rslt = null_ptr_check(dev);
/* CRT status has to be read from the config register map */
if (rslt == BMI2_OK)
{
rslt = get_gyro_gain_update_status(&user_gain_stat, dev);
}
if (rslt == BMI2_OK)
{
switch (user_gain_stat.g_trigger_status)
{
case BMI2_G_TRIGGER_NO_ERROR:
/* CRT is successful - Reset the Max Burst Length */
rslt = set_maxburst_len(0, dev);
break;
case BMI2_G_TRIGGER_DL_ERROR:
/* CRT is Download Error - Keep non zero value for Max Burst Length */
rslt = set_maxburst_len(dev->read_write_len, dev);
if (rslt == BMI2_OK)
{
rslt = BMI2_E_DL_ERROR;
}
break;
case BMI2_G_TRIGGER_ABORT_ERROR:
/* Command is aborted either by host via the block bit or due to motion
* detection. Keep non zero value for Max Burst Length
*/
rslt = set_maxburst_len(dev->read_write_len, dev);
if (rslt == BMI2_OK)
{
rslt = BMI2_E_ABORT_ERROR;
}
break;
case BMI2_G_TRIGGER_PRECON_ERROR:
/* Pre-condition to start the feature was not completed. */
rslt = BMI2_E_PRECON_ERROR;
break;
default:
rslt = BMI2_E_INVALID_STATUS;
break;
}
}
return rslt;
}
/*!
* @brief This internal API gets the max burst length.
*/
static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
uint8_t idx = 0;
uint8_t feat_found = 0;
struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
uint8_t aps_stat;
if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
{
*max_burst_len = 0;
return BMI2_OK;
}
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Search for max burst length */
feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
if (feat_found)
{
rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for max burst length */
idx = maxburst_length_bytes.start_addr;
/* Get the max burst length */
*max_burst_len = feat_config[idx];
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
return rslt;
}
/*!
* @brief This internal API sets the max burst length.
*/
static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
uint8_t idx = 0;
uint8_t reg_addr = 0;
uint8_t max_burst_len = 0;
uint8_t feat_found = 0;
struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 };
uint8_t aps_stat;
uint16_t burst_len = write_len_byte / 2;
/* for variant that support crt outside fifo, do not modify the max burst len */
if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0)
{
return BMI2_OK;
}
/* Max burst length is only 1 byte */
if (burst_len > BMI2_CRT_MAX_BURST_WORD_LENGTH)
{
max_burst_len = UINT8_C(0xFF);
}
else
{
max_burst_len = (uint8_t)burst_len;
}
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Search for axis-re-mapping and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev);
if (feat_found)
{
/* Get the configuration from the page where axis
* re-mapping feature resides
*/
rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes */
idx = maxburst_length_bytes.start_addr;
/* update Max burst length */
feat_config[idx] = max_burst_len;
/* Update the register address */
reg_addr = BMI2_FEATURES_REG_ADDR + maxburst_length_bytes.start_addr;
/* Set the configuration back to the page */
rslt = bmi2_set_regs(reg_addr, &feat_config[maxburst_length_bytes.start_addr], 2, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
return rslt;
}
/*!
* @brief This api is used to trigger the preparation for system for NVM programming.
*/
static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to set flag */
uint8_t feat_found;
uint8_t reg_addr = 0;
/* Initialize feature configuration for nvm preparation*/
struct bmi2_feature_config nvm_config = { 0, 0, 0 };
/* Search for bmi2 gyro self offset correction feature as nvm program preparation feature is
* present in the same Word and extract its configuration details
*/
feat_found = bmi2_extract_input_feat_config(&nvm_config, BMI2_NVM_PROG_PREP, dev);
if (feat_found)
{
/* Get the configuration from the page where nvm preparation feature enable feature
* resides */
rslt = bmi2_get_feat_config(nvm_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for nvm preparation feature enable */
idx = nvm_config.start_addr;
/* update nvm_prog_prep enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_NVM_PREP_FEATURE_EN, nvm_prep);
/* Update the register address */
reg_addr = BMI2_FEATURES_REG_ADDR + nvm_config.start_addr - 1;
/* Set the configuration back to the page */
rslt = bmi2_set_regs(reg_addr, &feat_config[nvm_config.start_addr - 1], 2, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This api is used to enable the CRT.
*/
static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
uint8_t idx = 0;
uint8_t feat_found;
uint8_t reg_addr = 0;
struct bmi2_feature_config gyro_self_test_crt_config = { 0, 0, 0 };
/* Search for bmi2 crt gyro self-test feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&gyro_self_test_crt_config, BMI2_CRT_GYRO_SELF_TEST, dev);
if (feat_found)
{
/* Get the configuration from the page where gyro self-test and crt enable feature
* resides */
rslt = bmi2_get_feat_config(gyro_self_test_crt_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes */
idx = gyro_self_test_crt_config.start_addr;
/* update the gyro self-test crt enable bit */
feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_GYRO_SELF_TEST_CRT_EN, gyro_st_crt);
/* Update the register address */
reg_addr = BMI2_FEATURES_REG_ADDR + (gyro_self_test_crt_config.start_addr - 1);
/* Set the configuration back to the page */
rslt = bmi2_set_regs(reg_addr, &feat_config[gyro_self_test_crt_config.start_addr - 1], 2, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This api is used to abort ongoing crt or gyro self-test.
*/
int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
uint8_t aps_stat;
uint8_t st_running = 0;
uint8_t cmd = BMI2_G_TRIGGER_CMD;
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
/* Checking for ST running status */
if (rslt == BMI2_OK)
{
rslt = get_st_running(&st_running, dev);
if (rslt == BMI2_OK)
{
/* ST is not running */
if (st_running == 0)
{
rslt = BMI2_E_ST_NOT_RUNING;
}
}
}
if (rslt == BMI2_OK)
{
rslt = abort_bmi2(BMI2_ENABLE, dev);
}
/* send the g trigger command */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev);
}
if (rslt == BMI2_OK)
{
/* wait until st_status = 0 or time out is 2 seconds */
rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev);
}
/* Check G trigger status for error */
if (rslt == BMI2_OK)
{
rslt = crt_gyro_st_update_result(dev);
if (rslt == BMI2_E_ABORT_ERROR)
{
rslt = BMI2_OK;
}
else
{
rslt = BMI2_E_ABORT_ERROR;
}
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
return rslt;
}
/*!
* @brief This api is used to enable/disable abort.
*/
static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to set flag */
uint8_t feat_found;
uint8_t reg_addr = 0;
/* Initialize feature configuration for blocking a feature */
struct bmi2_feature_config block_config = { 0, 0, 0 };
/* Search for bmi2 Abort feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&block_config, BMI2_ABORT_CRT_GYRO_SELF_TEST, dev);
if (feat_found)
{
/* Get the configuration from the page where abort(block) feature resides */
rslt = bmi2_get_feat_config(block_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes */
idx = block_config.start_addr;
/* update the gyro self-test crt abort enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ABORT_FEATURE_EN, abort_enable);
/* Update the register address */
reg_addr = BMI2_FEATURES_REG_ADDR + (block_config.start_addr - 1);
/* Set the configuration back to the page */
rslt = bmi2_set_regs(reg_addr, &feat_config[block_config.start_addr - 1], 2, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This api is use to wait till gyro self-test is completed and update the status of gyro
* self-test.
*/
static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev)
{
int8_t rslt;
uint8_t reg_data;
rslt = bmi2_get_regs(BMI2_GYR_SELF_TEST_AXES_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
gyro_st_result->gyr_st_axes_done = BMI2_GET_BIT_POS0(reg_data, BMI2_GYR_ST_AXES_DONE);
if (gyro_st_result->gyr_st_axes_done == 0x01)
{
gyro_st_result->gyr_axis_x_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_X_OK);
gyro_st_result->gyr_axis_y_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Y_OK);
gyro_st_result->gyr_axis_z_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Z_OK);
}
else
{
rslt = BMI2_E_SELF_TEST_NOT_DONE;
}
}
return rslt;
}
/*!
* @brief This api validates accel foc position as per the range
*/
static int8_t validate_foc_position(uint8_t sens_list,
const struct bmi2_accel_foc_g_value *accel_g_axis,
struct bmi2_sens_axes_data avg_foc_data,
struct bmi2_dev *dev)
{
int8_t rslt = BMI2_E_INVALID_INPUT;
if (sens_list == BMI2_ACCEL)
{
if (accel_g_axis->x == 1)
{
rslt = validate_foc_accel_axis(avg_foc_data.x, dev);
}
else if (accel_g_axis->y == 1)
{
rslt = validate_foc_accel_axis(avg_foc_data.y, dev);
}
else
{
rslt = validate_foc_accel_axis(avg_foc_data.z, dev);
}
}
else if (sens_list == BMI2_GYRO)
{
if (((avg_foc_data.x >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
(avg_foc_data.x <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
((avg_foc_data.y >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
(avg_foc_data.y <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)) &&
((avg_foc_data.z >= BMI2_GYRO_FOC_NOISE_LIMIT_NEGATIVE) &&
(avg_foc_data.z <= BMI2_GYRO_FOC_NOISE_LIMIT_POSITIVE)))
{
rslt = BMI2_OK;
}
else
{
rslt = BMI2_E_INVALID_FOC_POSITION;
}
}
return rslt;
}
/*!
* @brief This api validates depends on accel foc access input
*/
static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev)
{
struct bmi2_sens_config sens_cfg = { 0 };
uint8_t range;
int8_t rslt;
sens_cfg.type = BMI2_ACCEL;
rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev);
range = sens_cfg.cfg.acc.range;
/* reference LSB value of 16G */
if ((range == BMI2_ACC_RANGE_2G) && (avg_foc_data > BMI2_ACC_2G_MIN_NOISE_LIMIT) &&
(avg_foc_data < BMI2_ACC_2G_MAX_NOISE_LIMIT))
{
rslt = BMI2_OK;
}
/* reference LSB value of 16G */
else if ((range == BMI2_ACC_RANGE_4G) && (avg_foc_data > BMI2_ACC_4G_MIN_NOISE_LIMIT) &&
(avg_foc_data < BMI2_ACC_4G_MAX_NOISE_LIMIT))
{
rslt = BMI2_OK;
}
/* reference LSB value of 16G */
else if ((range == BMI2_ACC_RANGE_8G) && (avg_foc_data > BMI2_ACC_8G_MIN_NOISE_LIMIT) &&
(avg_foc_data < BMI2_ACC_8G_MAX_NOISE_LIMIT))
{
rslt = BMI2_OK;
}
/* reference LSB value of 16G */
else if ((range == BMI2_ACC_RANGE_16G) && (avg_foc_data > BMI2_ACC_16G_MIN_NOISE_LIMIT) &&
(avg_foc_data < BMI2_ACC_16G_MAX_NOISE_LIMIT))
{
rslt = BMI2_OK;
}
else
{
rslt = BMI2_E_INVALID_FOC_POSITION;
}
return rslt;
}
/*! @brief This api is used for programming the non volatile memory(nvm) */
int8_t bmi2_nvm_prog(struct bmi2_dev *dev)
{
int8_t rslt = BMI2_OK;
/* Variable to get the status of advance power save */
uint8_t aps_stat;
uint8_t status;
uint8_t cmd_rdy;
uint8_t reg_data;
uint8_t write_timeout = 100;
/* Get status of advance power save mode */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
/* Check the Write status and proceed only if there is no ongoing write cycle */
if (rslt == BMI2_OK)
{
rslt = bmi2_get_status(&status, dev);
cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
if (cmd_rdy)
{
rslt = set_nvm_prep_prog(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->delay_us(40000, dev->intf_ptr);
/* Set the NVM_CONF.nvm_prog_en bit in order to enable the NVM
* programming */
reg_data = BMI2_NVM_UNLOCK_ENABLE;
rslt = bmi2_set_regs(BMI2_NVM_CONF_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Send NVM prog command to command register */
reg_data = BMI2_NVM_PROG_CMD;
rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &reg_data, 1, dev);
}
/* Wait till write operation is completed */
if (rslt == BMI2_OK)
{
while (write_timeout--)
{
rslt = bmi2_get_status(&status, dev);
if (rslt == BMI2_OK)
{
cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY);
/* Nvm is complete once cmd_rdy is 1, break if 1 */
if (cmd_rdy)
{
break;
}
/* Wait till cmd_rdy becomes 1 indicating
* nvm process completes */
dev->delay_us(20000, dev->intf_ptr);
}
}
}
if ((rslt == BMI2_OK) && (cmd_rdy != BMI2_TRUE))
{
rslt = BMI2_E_WRITE_CYCLE_ONGOING;
}
}
}
else
{
rslt = BMI2_E_WRITE_CYCLE_ONGOING;
}
}
if (rslt == BMI2_OK)
{
/* perform soft reset */
rslt = bmi2_soft_reset(dev);
}
/* Enable Advance power save if disabled while configuring and not when already disabled */
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
return rslt;
}
/*!
* @brief This API reads and provides average for 128 samples of sensor data for foc operation
* gyro.
*/
static int8_t get_average_of_sensor_data(uint8_t sens_list,
struct bmi2_foc_temp_value *temp_foc_data,
struct bmi2_dev *dev)
{
int8_t rslt = 0;
struct bmi2_sensor_data sensor_data = { 0 };
uint8_t sample_count = 0;
uint8_t datardy_try_cnt;
uint8_t drdy_status = 0;
uint8_t sensor_drdy = 0;
sensor_data.type = sens_list;
if (sens_list == BMI2_ACCEL)
{
sensor_drdy = BMI2_DRDY_ACC;
}
else
{
sensor_drdy = BMI2_DRDY_GYR;
}
/* Read sensor values before FOC */
while (sample_count < BMI2_FOC_SAMPLE_LIMIT)
{
datardy_try_cnt = 5;
do
{
dev->delay_us(20000, dev->intf_ptr);
rslt = bmi2_get_status(&drdy_status, dev);
datardy_try_cnt--;
} while ((rslt == BMI2_OK) && (!(drdy_status & sensor_drdy)) && (datardy_try_cnt));
if ((rslt != BMI2_OK) || (datardy_try_cnt == 0))
{
rslt = BMI2_E_DATA_RDY_INT_FAILED;
break;
}
rslt = bmi2_get_sensor_data(&sensor_data, 1, dev);
if (rslt == BMI2_OK)
{
if (sensor_data.type == BMI2_ACCEL)
{
temp_foc_data->x += sensor_data.sens_data.acc.x;
temp_foc_data->y += sensor_data.sens_data.acc.y;
temp_foc_data->z += sensor_data.sens_data.acc.z;
}
else if (sensor_data.type == BMI2_GYRO)
{
temp_foc_data->x += sensor_data.sens_data.gyr.x;
temp_foc_data->y += sensor_data.sens_data.gyr.y;
temp_foc_data->z += sensor_data.sens_data.gyr.z;
}
}
else
{
break;
}
sample_count++;
}
if (rslt == BMI2_OK)
{
temp_foc_data->x = (temp_foc_data->x / BMI2_FOC_SAMPLE_LIMIT);
temp_foc_data->y = (temp_foc_data->y / BMI2_FOC_SAMPLE_LIMIT);
temp_foc_data->z = (temp_foc_data->z / BMI2_FOC_SAMPLE_LIMIT);
}
return rslt;
}
/*!
* @brief This internal API extract the identification feature from the DMR page
* and retrieve the config file major and minor version.
*/
static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev)
{
/* Variable to define the result */
int8_t rslt = BMI2_OK;
/* Variable to define the array offset */
uint8_t idx = 0;
/* Variable to define LSB */
uint16_t lsb = 0;
/* Variable to define MSB */
uint16_t msb = 0;
/* Variable to define a word */
uint16_t lsb_msb = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Variable to define advance power save mode status */
uint8_t aps_stat;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Initialize feature configuration for config file identification */
struct bmi2_feature_config config_id = { 0, 0, 0 };
/* Check the power mode status */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
/* Disable advance power save if enabled */
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Search for config file identification feature and extract its configuration
* details */
feat_found = bmi2_extract_input_feat_config(&config_id, BMI2_CONFIG_ID, dev);
if (feat_found)
{
/* Get the configuration from the page where config file identification
* feature resides */
rslt = bmi2_get_feat_config(config_id.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for config file identification */
idx = config_id.start_addr;
/* Get word to calculate config file identification */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get major and minor version */
*config_major = BMI2_GET_BITS(lsb_msb, BMI2_CONFIG_MAJOR);
*config_minor = BMI2_GET_BIT_POS0(lsb, BMI2_CONFIG_MINOR);
}
}
/* Enable Advance power save if disabled while configuring and
* not when already disabled
*/
if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
*@brief This internal API is used to map the interrupts to the sensor.
*/
static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev)
{
/* Variable to define loop */
uint8_t loop = 0;
/* Search for the interrupts from the input configuration array */
while (loop < dev->sens_int_map)
{
if (dev->map_int[loop].type == type)
{
*map_int = dev->map_int[loop];
break;
}
loop++;
}
}
/*!
* @brief This internal API gets the saturation status for the gyroscope user
* gain update.
*/
static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain_stat, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variables to define index */
uint8_t idx = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature output for gyroscope user gain status */
struct bmi2_feature_config user_gain_cfg = { 0, 0, 0 };
/* Search for gyroscope user gain status output feature and extract its
* configuration details
*/
feat_found = extract_output_feat_config(&user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
if (feat_found)
{
/* Get the feature output configuration for gyroscope user gain status */
rslt = bmi2_get_feat_config(user_gain_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for gyroscope user gain status */
idx = user_gain_cfg.start_addr;
/* Get the saturation status for x-axis */
user_gain_stat->sat_x = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_X);
/* Get the saturation status for y-axis */
user_gain_stat->sat_y = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Y);
/* Get the saturation status for z-axis */
user_gain_stat->sat_z = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Z);
/* Get g trigger status */
user_gain_stat->g_trigger_status = BMI2_GET_BITS(feat_config[idx], BMI2_G_TRIGGER_STAT);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API is used to extract the output feature configuration
* details from the look-up table.
*/
static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
uint8_t type,
const struct bmi2_dev *dev)
{
/* Variable to define loop */
uint8_t loop = 0;
/* Variable to set flag */
uint8_t feat_found = BMI2_FALSE;
/* Search for the output feature from the output configuration array */
while (loop < dev->out_sens)
{
if (dev->feat_output[loop].type == type)
{
*feat_output = dev->feat_output[loop];
feat_found = BMI2_TRUE;
break;
}
loop++;
}
/* Return flag */
return feat_found;
}
/*!
* @brief This internal API gets the cross sensitivity coefficient between
* gyroscope's X and Z axes.
*/
static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
/* Variable to define index */
uint8_t idx = 0;
/* Variable to set flag */
uint8_t feat_found;
uint8_t corr_fact_zx;
/* Initialize feature output for gyroscope cross sensitivity */
struct bmi2_feature_config cross_sense_out_config = { 0, 0, 0 };
if (dev->variant_feature & BMI2_MAXIMUM_FIFO_VARIANT)
{
/* For maximum_fifo variant fetch the correction factor from GPIO0 */
rslt = bmi2_get_regs(BMI2_GYR_CAS_GPIO0_ADDR, &corr_fact_zx, 1, dev);
if (rslt == BMI2_OK)
{
/* Get the gyroscope cross sensitivity coefficient */
if (corr_fact_zx & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
{
*cross_sense = (int16_t)(((int16_t)corr_fact_zx) - 128);
}
else
{
*cross_sense = (int16_t)(corr_fact_zx);
}
}
}
else
{
/* Search for gyroscope cross sensitivity feature and extract its configuration details */
feat_found = extract_output_feat_config(&cross_sense_out_config, BMI2_GYRO_CROSS_SENSE, dev);
if (feat_found)
{
/* Get the feature output configuration for gyroscope cross sensitivity
* feature */
rslt = bmi2_get_feat_config(cross_sense_out_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for gyroscope cross sensitivity output */
idx = cross_sense_out_config.start_addr;
/* discard the MSB as GYR_CAS is of only 7 bit */
feat_config[idx] = feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_MASK;
/* Get the gyroscope cross sensitivity coefficient */
if (feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK)
{
*cross_sense = (int16_t)(((int16_t)feat_config[idx]) - 128);
}
else
{
*cross_sense = (int16_t)(feat_config[idx]);
}
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
}
return rslt;
}
/*!
* @brief This internal API selects the sensor/features to be enabled or
* disabled.
*/
static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
{
/* Variable to define error */
int8_t rslt = BMI2_OK;
/* Variable to define loop */
uint8_t count;
for (count = 0; count < n_sens; count++)
{
switch (sens_list[count])
{
case BMI2_ACCEL:
*sensor_sel |= BMI2_ACCEL_SENS_SEL;
break;
case BMI2_GYRO:
*sensor_sel |= BMI2_GYRO_SENS_SEL;
break;
case BMI2_AUX:
*sensor_sel |= BMI2_AUX_SENS_SEL;
break;
case BMI2_TEMP:
*sensor_sel |= BMI2_TEMP_SENS_SEL;
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
}
return rslt;
}
/*!
* @brief This internal API enables the selected sensor/features.
*/
static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store register values */
uint8_t reg_data = 0;
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Enable accelerometer */
if (sensor_sel & BMI2_ACCEL_SENS_SEL)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
}
/* Enable gyroscope */
if (sensor_sel & BMI2_GYRO_SENS_SEL)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
}
/* Enable auxiliary sensor */
if (sensor_sel & BMI2_AUX_SENS_SEL)
{
reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
}
/* Enable temperature sensor */
if (sensor_sel & BMI2_TEMP_SENS_SEL)
{
reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
}
/* Enable the sensors that are set in the power control register */
if (sensor_sel & BMI2_MAIN_SENSORS)
{
rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
}
}
return rslt;
}
/*!
* @brief This internal API disables the selected sensors/features.
*/
static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to store register values */
uint8_t reg_data = 0;
rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
if (rslt == BMI2_OK)
{
/* Disable accelerometer */
if (sensor_sel & BMI2_ACCEL_SENS_SEL)
{
reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
}
/* Disable gyroscope */
if (sensor_sel & BMI2_GYRO_SENS_SEL)
{
reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
}
/* Disable auxiliary sensor */
if (sensor_sel & BMI2_AUX_SENS_SEL)
{
reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
}
/* Disable temperature sensor */
if (sensor_sel & BMI2_TEMP_SENS_SEL)
{
reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
}
/* Enable the sensors that are set in the power control register */
if (sensor_sel & BMI2_MAIN_SENSORS)
{
rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
}
}
return rslt;
}
/*! @endcond */
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