rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
atbetaflight/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c

4452 lines
185 KiB
C
Raw Blame History

/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi270.c
* @date 2020-11-04
* @version v2.63.1
*
*/
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi270.h"
/***************************************************************************/
/*! Global Variable
****************************************************************************/
/*! @name Global array that stores the configuration file of BMI270 */
const uint8_t bmi270_config_file[] = {
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc,
0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22,
0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05,
0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00,
0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde,
0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2,
0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd,
0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05,
0x37, 0xfa, 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce,
0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, 0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2,
0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f,
0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87,
0x0f, 0x8a, 0x0f, 0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5,
0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x50, 0x98, 0x2e,
0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00,
0x2e, 0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0xee, 0x00,
0x00, 0xb2, 0x07, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x07,
0xcc, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e, 0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1,
0x03, 0x2e, 0xe9, 0x00, 0x40, 0xb2, 0xf0, 0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x00,
0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1, 0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50,
0x98, 0x2e, 0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xf9, 0xb4, 0x98, 0x2e, 0x54, 0xb2, 0x98,
0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2,
0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b,
0x2f, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2, 0x02, 0x2f,
0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00, 0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7,
0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7b, 0x00,
0x00, 0xb2, 0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98,
0x2e, 0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30,
0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01,
0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30,
0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98,
0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41,
0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56, 0x4a, 0x0f, 0x0c, 0x2f, 0xd1,
0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21,
0x2e, 0x5a, 0xf5, 0x18, 0x2d, 0xe1, 0x7f, 0x50, 0x30, 0x98, 0x2e, 0xfa, 0x03, 0x0f, 0x52, 0x07, 0x50, 0x50, 0x42,
0x70, 0x30, 0x0d, 0x54, 0x42, 0x42, 0x7e, 0x82, 0xe2, 0x6f, 0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0xd4,
0x00, 0x10, 0x30, 0x98, 0x2e, 0xc3, 0xb7, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x01, 0x2e, 0xd4, 0x00,
0x06, 0x90, 0x18, 0x2f, 0x01, 0x2e, 0x76, 0x00, 0x0b, 0x54, 0x07, 0x52, 0xe0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xe1,
0x6f, 0x08, 0x1a, 0x40, 0x30, 0x08, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x20, 0x30, 0x98, 0x2e, 0xaf, 0xb7, 0x50, 0x32,
0x98, 0x2e, 0xfa, 0x03, 0x05, 0x2d, 0x98, 0x2e, 0x38, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x00, 0x30, 0x21,
0x2e, 0x7c, 0x00, 0x18, 0x2d, 0x01, 0x2e, 0xd4, 0x00, 0x03, 0xaa, 0x01, 0x2f, 0x98, 0x2e, 0x45, 0x0e, 0x01, 0x2e,
0xd4, 0x00, 0x3f, 0x80, 0x03, 0xa2, 0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x5b, 0x0e, 0x30, 0x30, 0x98,
0x2e, 0xce, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x01, 0x2e, 0x77, 0x00,
0x00, 0xb2, 0x24, 0x2f, 0x98, 0x2e, 0xf5, 0xcb, 0x03, 0x2e, 0xd5, 0x00, 0x11, 0x54, 0x01, 0x0a, 0xbc, 0x84, 0x83,
0x86, 0x21, 0x2e, 0xc9, 0x01, 0xe0, 0x40, 0x13, 0x52, 0xc4, 0x40, 0x82, 0x40, 0xa8, 0xb9, 0x52, 0x42, 0x43, 0xbe,
0x53, 0x42, 0x04, 0x0a, 0x50, 0x42, 0xe1, 0x7f, 0xf0, 0x31, 0x41, 0x40, 0xf2, 0x6f, 0x25, 0xbd, 0x08, 0x08, 0x02,
0x0a, 0xd0, 0x7f, 0x98, 0x2e, 0xa8, 0xcf, 0x06, 0xbc, 0xd1, 0x6f, 0xe2, 0x6f, 0x08, 0x0a, 0x80, 0x42, 0x98, 0x2e,
0x58, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xee, 0x00, 0x21, 0x2e, 0x77, 0x00, 0x21, 0x2e, 0xdd, 0x00, 0x80, 0x2e, 0xf4,
0x01, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0xec, 0x01, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0xf3, 0x03, 0x57, 0x50,
0xfb, 0x6f, 0x01, 0x30, 0x71, 0x54, 0x11, 0x42, 0x42, 0x0e, 0xfc, 0x2f, 0xc0, 0x2e, 0x01, 0x42, 0xf0, 0x5f, 0x80,
0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x01,
0x34, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x20, 0x50, 0xe7, 0x7f, 0xf6, 0x7f, 0x06, 0x32, 0x0f, 0x2e, 0x61, 0xf5, 0xfe, 0x09, 0xc0, 0xb3, 0x04,
0x2f, 0x17, 0x30, 0x2f, 0x2e, 0xef, 0x00, 0x2d, 0x2e, 0x61, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f, 0xe0, 0x5f, 0xc8, 0x2e,
0x20, 0x50, 0xe7, 0x7f, 0xf6, 0x7f, 0x46, 0x30, 0x0f, 0x2e, 0xa4, 0xf1, 0xbe, 0x09, 0x80, 0xb3, 0x06, 0x2f, 0x0d,
0x2e, 0xd4, 0x00, 0x84, 0xaf, 0x02, 0x2f, 0x16, 0x30, 0x2d, 0x2e, 0x7b, 0x00, 0x86, 0x30, 0x2d, 0x2e, 0x60, 0xf5,
0xf6, 0x6f, 0xe7, 0x6f, 0xe0, 0x5f, 0xc8, 0x2e, 0x01, 0x2e, 0x77, 0xf7, 0x09, 0xbc, 0x0f, 0xb8, 0x00, 0xb2, 0x10,
0x50, 0xfb, 0x7f, 0x10, 0x30, 0x0b, 0x2f, 0x03, 0x2e, 0x8a, 0x00, 0x96, 0xbc, 0x9f, 0xb8, 0x40, 0xb2, 0x05, 0x2f,
0x03, 0x2e, 0x68, 0xf7, 0x9e, 0xbc, 0x9f, 0xb8, 0x40, 0xb2, 0x07, 0x2f, 0x03, 0x2e, 0x7e, 0x00, 0x41, 0x90, 0x01,
0x2f, 0x98, 0x2e, 0xdc, 0x03, 0x03, 0x2c, 0x00, 0x30, 0x21, 0x2e, 0x7e, 0x00, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e,
0x20, 0x50, 0xe0, 0x7f, 0xfb, 0x7f, 0x00, 0x2e, 0x27, 0x50, 0x98, 0x2e, 0x3b, 0xc8, 0x29, 0x50, 0x98, 0x2e, 0xa7,
0xc8, 0x01, 0x50, 0x98, 0x2e, 0x55, 0xcc, 0xe1, 0x6f, 0x2b, 0x50, 0x98, 0x2e, 0xe0, 0xc9, 0xfb, 0x6f, 0x00, 0x30,
0xe0, 0x5f, 0x21, 0x2e, 0x7e, 0x00, 0xb8, 0x2e, 0x73, 0x50, 0x01, 0x30, 0x57, 0x54, 0x11, 0x42, 0x42, 0x0e, 0xfc,
0x2f, 0xb8, 0x2e, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0xc0, 0x2e, 0x21, 0x2e, 0x4a, 0xf1, 0x90, 0x50, 0xf7, 0x7f,
0xe6, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa1, 0x7f, 0x90, 0x7f, 0x82, 0x7f, 0x7b, 0x7f, 0x98, 0x2e, 0x35,
0xb7, 0x00, 0xb2, 0x90, 0x2e, 0x97, 0xb0, 0x03, 0x2e, 0x8f, 0x00, 0x07, 0x2e, 0x91, 0x00, 0x05, 0x2e, 0xb1, 0x00,
0x3f, 0xba, 0x9f, 0xb8, 0x01, 0x2e, 0xb1, 0x00, 0xa3, 0xbd, 0x4c, 0x0a, 0x05, 0x2e, 0xb1, 0x00, 0x04, 0xbe, 0xbf,
0xb9, 0xcb, 0x0a, 0x4f, 0xba, 0x22, 0xbd, 0x01, 0x2e, 0xb3, 0x00, 0xdc, 0x0a, 0x2f, 0xb9, 0x03, 0x2e, 0xb8, 0x00,
0x0a, 0xbe, 0x9a, 0x0a, 0xcf, 0xb9, 0x9b, 0xbc, 0x01, 0x2e, 0x97, 0x00, 0x9f, 0xb8, 0x93, 0x0a, 0x0f, 0xbc, 0x91,
0x0a, 0x0f, 0xb8, 0x90, 0x0a, 0x25, 0x2e, 0x18, 0x00, 0x05, 0x2e, 0xc1, 0xf5, 0x2e, 0xbd, 0x2e, 0xb9, 0x01, 0x2e,
0x19, 0x00, 0x31, 0x30, 0x8a, 0x04, 0x00, 0x90, 0x07, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xa2, 0x03, 0x2f, 0x01,
0x2e, 0x18, 0x00, 0x00, 0xb2, 0x0c, 0x2f, 0x19, 0x50, 0x05, 0x52, 0x98, 0x2e, 0x4d, 0xb7, 0x05, 0x2e, 0x78, 0x00,
0x80, 0x90, 0x10, 0x30, 0x01, 0x2f, 0x21, 0x2e, 0x78, 0x00, 0x25, 0x2e, 0xdd, 0x00, 0x98, 0x2e, 0x3e, 0xb7, 0x00,
0xb2, 0x02, 0x30, 0x01, 0x30, 0x04, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x00, 0x2f, 0x21, 0x30, 0x01, 0x2e,
0xea, 0x00, 0x08, 0x1a, 0x0e, 0x2f, 0x23, 0x2e, 0xea, 0x00, 0x33, 0x30, 0x1b, 0x50, 0x0b, 0x09, 0x01, 0x40, 0x17,
0x56, 0x46, 0xbe, 0x4b, 0x08, 0x4c, 0x0a, 0x01, 0x42, 0x0a, 0x80, 0x15, 0x52, 0x01, 0x42, 0x00, 0x2e, 0x01, 0x2e,
0x18, 0x00, 0x00, 0xb2, 0x1f, 0x2f, 0x03, 0x2e, 0xc0, 0xf5, 0xf0, 0x30, 0x48, 0x08, 0x47, 0xaa, 0x74, 0x30, 0x07,
0x2e, 0x7a, 0x00, 0x61, 0x22, 0x4b, 0x1a, 0x05, 0x2f, 0x07, 0x2e, 0x66, 0xf5, 0xbf, 0xbd, 0xbf, 0xb9, 0xc0, 0x90,
0x0b, 0x2f, 0x1d, 0x56, 0x2b, 0x30, 0xd2, 0x42, 0xdb, 0x42, 0x01, 0x04, 0xc2, 0x42, 0x04, 0xbd, 0xfe, 0x80, 0x81,
0x84, 0x23, 0x2e, 0x7a, 0x00, 0x02, 0x42, 0x02, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x05, 0x2e, 0xd6, 0x00, 0x81, 0x84,
0x25, 0x2e, 0xd6, 0x00, 0x02, 0x31, 0x25, 0x2e, 0x60, 0xf5, 0x05, 0x2e, 0x8a, 0x00, 0x0b, 0x50, 0x90, 0x08, 0x80,
0xb2, 0x0b, 0x2f, 0x05, 0x2e, 0xca, 0xf5, 0xf0, 0x3e, 0x90, 0x08, 0x25, 0x2e, 0xca, 0xf5, 0x05, 0x2e, 0x59, 0xf5,
0xe0, 0x3f, 0x90, 0x08, 0x25, 0x2e, 0x59, 0xf5, 0x90, 0x6f, 0xa1, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe6,
0x6f, 0xf7, 0x6f, 0x7b, 0x6f, 0x82, 0x6f, 0x70, 0x5f, 0xc8, 0x2e, 0xc0, 0x50, 0x90, 0x7f, 0xe5, 0x7f, 0xd4, 0x7f,
0xc3, 0x7f, 0xb1, 0x7f, 0xa2, 0x7f, 0x87, 0x7f, 0xf6, 0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x60, 0xf5, 0x60,
0x7f, 0x98, 0x2e, 0x35, 0xb7, 0x02, 0x30, 0x63, 0x6f, 0x15, 0x52, 0x50, 0x7f, 0x62, 0x7f, 0x5a, 0x2c, 0x02, 0x32,
0x1a, 0x09, 0x00, 0xb3, 0x14, 0x2f, 0x00, 0xb2, 0x03, 0x2f, 0x09, 0x2e, 0x18, 0x00, 0x00, 0x91, 0x0c, 0x2f, 0x43,
0x7f, 0x98, 0x2e, 0x97, 0xb7, 0x1f, 0x50, 0x02, 0x8a, 0x02, 0x32, 0x04, 0x30, 0x25, 0x2e, 0x64, 0xf5, 0x15, 0x52,
0x50, 0x6f, 0x43, 0x6f, 0x44, 0x43, 0x25, 0x2e, 0x60, 0xf5, 0xd9, 0x08, 0xc0, 0xb2, 0x36, 0x2f, 0x98, 0x2e, 0x3e,
0xb7, 0x00, 0xb2, 0x06, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x02, 0x2f, 0x50, 0x6f, 0x00, 0x90, 0x0a, 0x2f,
0x01, 0x2e, 0x79, 0x00, 0x00, 0x90, 0x19, 0x2f, 0x10, 0x30, 0x21, 0x2e, 0x79, 0x00, 0x00, 0x30, 0x98, 0x2e, 0xdc,
0x03, 0x13, 0x2d, 0x01, 0x2e, 0xc3, 0xf5, 0x0c, 0xbc, 0x0f, 0xb8, 0x12, 0x30, 0x10, 0x04, 0x03, 0xb0, 0x26, 0x25,
0x21, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x4d, 0xb7, 0x10, 0x30, 0x21, 0x2e, 0xee, 0x00, 0x02, 0x30, 0x60, 0x7f, 0x25,
0x2e, 0x79, 0x00, 0x60, 0x6f, 0x00, 0x90, 0x05, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0xea, 0x00, 0x15, 0x50, 0x21, 0x2e,
0x64, 0xf5, 0x15, 0x52, 0x23, 0x2e, 0x60, 0xf5, 0x02, 0x32, 0x50, 0x6f, 0x00, 0x90, 0x02, 0x2f, 0x03, 0x30, 0x27,
0x2e, 0x78, 0x00, 0x07, 0x2e, 0x60, 0xf5, 0x1a, 0x09, 0x00, 0x91, 0xa3, 0x2f, 0x19, 0x09, 0x00, 0x91, 0xa0, 0x2f,
0x90, 0x6f, 0xa2, 0x6f, 0xb1, 0x6f, 0xc3, 0x6f, 0xd4, 0x6f, 0xe5, 0x6f, 0x7b, 0x6f, 0xf6, 0x6f, 0x87, 0x6f, 0x40,
0x5f, 0xc8, 0x2e, 0xc0, 0x50, 0xe7, 0x7f, 0xf6, 0x7f, 0x26, 0x30, 0x0f, 0x2e, 0x61, 0xf5, 0x2f, 0x2e, 0x7c, 0x00,
0x0f, 0x2e, 0x7c, 0x00, 0xbe, 0x09, 0xa2, 0x7f, 0x80, 0x7f, 0x80, 0xb3, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0x91,
0x7f, 0x7b, 0x7f, 0x0b, 0x2f, 0x23, 0x50, 0x1a, 0x25, 0x12, 0x40, 0x42, 0x7f, 0x74, 0x82, 0x12, 0x40, 0x52, 0x7f,
0x00, 0x2e, 0x00, 0x40, 0x60, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x81, 0x30, 0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00,
0xb2, 0x42, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0x89, 0x00, 0x97, 0xbc, 0x06, 0xbc, 0x9f, 0xb8, 0x0f, 0xb8,
0x00, 0x90, 0x23, 0x2e, 0xd8, 0x00, 0x10, 0x30, 0x01, 0x30, 0x2a, 0x2f, 0x03, 0x2e, 0xd4, 0x00, 0x44, 0xb2, 0x05,
0x2f, 0x47, 0xb2, 0x00, 0x30, 0x2d, 0x2f, 0x21, 0x2e, 0x7c, 0x00, 0x2b, 0x2d, 0x03, 0x2e, 0xfd, 0xf5, 0x9e, 0xbc,
0x9f, 0xb8, 0x40, 0x90, 0x14, 0x2f, 0x03, 0x2e, 0xfc, 0xf5, 0x99, 0xbc, 0x9f, 0xb8, 0x40, 0x90, 0x0e, 0x2f, 0x03,
0x2e, 0x49, 0xf1, 0x25, 0x54, 0x4a, 0x08, 0x40, 0x90, 0x08, 0x2f, 0x98, 0x2e, 0x35, 0xb7, 0x00, 0xb2, 0x10, 0x30,
0x03, 0x2f, 0x50, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x10, 0x2d, 0x98, 0x2e, 0xaf, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x7c,
0x00, 0x0a, 0x2d, 0x05, 0x2e, 0x69, 0xf7, 0x2d, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x01, 0x2f, 0x21, 0x2e, 0x7d, 0x00,
0x23, 0x2e, 0x7c, 0x00, 0xe0, 0x31, 0x21, 0x2e, 0x61, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f, 0x80, 0x6f, 0xa2, 0x6f, 0xb3,
0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0x7b, 0x6f, 0x91, 0x6f, 0x40, 0x5f, 0xc8, 0x2e, 0x60, 0x51, 0x0a, 0x25, 0x36, 0x88,
0xf4, 0x7f, 0xeb, 0x7f, 0x00, 0x32, 0x31, 0x52, 0x32, 0x30, 0x13, 0x30, 0x98, 0x2e, 0x15, 0xcb, 0x0a, 0x25, 0x33,
0x84, 0xd2, 0x7f, 0x43, 0x30, 0x05, 0x50, 0x2d, 0x52, 0x98, 0x2e, 0x95, 0xc1, 0xd2, 0x6f, 0x27, 0x52, 0x98, 0x2e,
0xd7, 0xc7, 0x2a, 0x25, 0xb0, 0x86, 0xc0, 0x7f, 0xd3, 0x7f, 0xaf, 0x84, 0x29, 0x50, 0xf1, 0x6f, 0x98, 0x2e, 0x4d,
0xc8, 0x2a, 0x25, 0xae, 0x8a, 0xaa, 0x88, 0xf2, 0x6e, 0x2b, 0x50, 0xc1, 0x6f, 0xd3, 0x6f, 0xf4, 0x7f, 0x98, 0x2e,
0xb6, 0xc8, 0xe0, 0x6e, 0x00, 0xb2, 0x32, 0x2f, 0x33, 0x54, 0x83, 0x86, 0xf1, 0x6f, 0xc3, 0x7f, 0x04, 0x30, 0x30,
0x30, 0xf4, 0x7f, 0xd0, 0x7f, 0xb2, 0x7f, 0xe3, 0x30, 0xc5, 0x6f, 0x56, 0x40, 0x45, 0x41, 0x28, 0x08, 0x03, 0x14,
0x0e, 0xb4, 0x08, 0xbc, 0x82, 0x40, 0x10, 0x0a, 0x2f, 0x54, 0x26, 0x05, 0x91, 0x7f, 0x44, 0x28, 0xa3, 0x7f, 0x98,
0x2e, 0xd9, 0xc0, 0x08, 0xb9, 0x33, 0x30, 0x53, 0x09, 0xc1, 0x6f, 0xd3, 0x6f, 0xf4, 0x6f, 0x83, 0x17, 0x47, 0x40,
0x6c, 0x15, 0xb2, 0x6f, 0xbe, 0x09, 0x75, 0x0b, 0x90, 0x42, 0x45, 0x42, 0x51, 0x0e, 0x32, 0xbc, 0x02, 0x89, 0xa1,
0x6f, 0x7e, 0x86, 0xf4, 0x7f, 0xd0, 0x7f, 0xb2, 0x7f, 0x04, 0x30, 0x91, 0x6f, 0xd6, 0x2f, 0xeb, 0x6f, 0xa0, 0x5e,
0xb8, 0x2e, 0x03, 0x2e, 0x97, 0x00, 0x1b, 0xbc, 0x60, 0x50, 0x9f, 0xbc, 0x0c, 0xb8, 0xf0, 0x7f, 0x40, 0xb2, 0xeb,
0x7f, 0x2b, 0x2f, 0x03, 0x2e, 0x7f, 0x00, 0x41, 0x40, 0x01, 0x2e, 0xc8, 0x00, 0x01, 0x1a, 0x11, 0x2f, 0x37, 0x58,
0x23, 0x2e, 0xc8, 0x00, 0x10, 0x41, 0xa0, 0x7f, 0x38, 0x81, 0x01, 0x41, 0xd0, 0x7f, 0xb1, 0x7f, 0x98, 0x2e, 0x64,
0xcf, 0xd0, 0x6f, 0x07, 0x80, 0xa1, 0x6f, 0x11, 0x42, 0x00, 0x2e, 0xb1, 0x6f, 0x01, 0x42, 0x11, 0x30, 0x01, 0x2e,
0xfc, 0x00, 0x00, 0xa8, 0x03, 0x30, 0xcb, 0x22, 0x4a, 0x25, 0x01, 0x2e, 0x7f, 0x00, 0x3c, 0x89, 0x35, 0x52, 0x05,
0x54, 0x98, 0x2e, 0xc4, 0xce, 0xc1, 0x6f, 0xf0, 0x6f, 0x98, 0x2e, 0x95, 0xcf, 0x04, 0x2d, 0x01, 0x30, 0xf0, 0x6f,
0x98, 0x2e, 0x95, 0xcf, 0xeb, 0x6f, 0xa0, 0x5f, 0xb8, 0x2e, 0x03, 0x2e, 0xb3, 0x00, 0x02, 0x32, 0xf0, 0x30, 0x03,
0x31, 0x30, 0x50, 0x8a, 0x08, 0x08, 0x08, 0xcb, 0x08, 0xe0, 0x7f, 0x80, 0xb2, 0xf3, 0x7f, 0xdb, 0x7f, 0x25, 0x2f,
0x03, 0x2e, 0xca, 0x00, 0x41, 0x90, 0x04, 0x2f, 0x01, 0x30, 0x23, 0x2e, 0xca, 0x00, 0x98, 0x2e, 0x3f, 0x03, 0xc0,
0xb2, 0x05, 0x2f, 0x03, 0x2e, 0xda, 0x00, 0x00, 0x30, 0x41, 0x04, 0x23, 0x2e, 0xda, 0x00, 0x98, 0x2e, 0x92, 0xb2,
0x10, 0x25, 0xf0, 0x6f, 0x00, 0xb2, 0x05, 0x2f, 0x01, 0x2e, 0xda, 0x00, 0x02, 0x30, 0x10, 0x04, 0x21, 0x2e, 0xda,
0x00, 0x40, 0xb2, 0x01, 0x2f, 0x23, 0x2e, 0xc8, 0x01, 0xdb, 0x6f, 0xe0, 0x6f, 0xd0, 0x5f, 0x80, 0x2e, 0x95, 0xcf,
0x01, 0x30, 0xe0, 0x6f, 0x98, 0x2e, 0x95, 0xcf, 0x11, 0x30, 0x23, 0x2e, 0xca, 0x00, 0xdb, 0x6f, 0xd0, 0x5f, 0xb8,
0x2e, 0xd0, 0x50, 0x0a, 0x25, 0x33, 0x84, 0x55, 0x50, 0xd2, 0x7f, 0xe2, 0x7f, 0x03, 0x8c, 0xc0, 0x7f, 0xbb, 0x7f,
0x00, 0x30, 0x05, 0x5a, 0x39, 0x54, 0x51, 0x41, 0xa5, 0x7f, 0x96, 0x7f, 0x80, 0x7f, 0x98, 0x2e, 0xd9, 0xc0, 0x05,
0x30, 0xf5, 0x7f, 0x20, 0x25, 0x91, 0x6f, 0x3b, 0x58, 0x3d, 0x5c, 0x3b, 0x56, 0x98, 0x2e, 0x67, 0xcc, 0xc1, 0x6f,
0xd5, 0x6f, 0x52, 0x40, 0x50, 0x43, 0xc1, 0x7f, 0xd5, 0x7f, 0x10, 0x25, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0x98,
0x2e, 0x74, 0xc0, 0x86, 0x6f, 0x30, 0x28, 0x92, 0x6f, 0x82, 0x8c, 0xa5, 0x6f, 0x6f, 0x52, 0x69, 0x0e, 0x39, 0x54,
0xdb, 0x2f, 0x19, 0xa0, 0x15, 0x30, 0x03, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x81, 0x01, 0x0a, 0x2d, 0x01, 0x2e, 0x81,
0x01, 0x05, 0x28, 0x42, 0x36, 0x21, 0x2e, 0x81, 0x01, 0x02, 0x0e, 0x01, 0x2f, 0x98, 0x2e, 0xf3, 0x03, 0x57, 0x50,
0x12, 0x30, 0x01, 0x40, 0x98, 0x2e, 0xfe, 0xc9, 0x51, 0x6f, 0x0b, 0x5c, 0x8e, 0x0e, 0x3b, 0x6f, 0x57, 0x58, 0x02,
0x30, 0x21, 0x2e, 0x95, 0x01, 0x45, 0x6f, 0x2a, 0x8d, 0xd2, 0x7f, 0xcb, 0x7f, 0x13, 0x2f, 0x02, 0x30, 0x3f, 0x50,
0xd2, 0x7f, 0xa8, 0x0e, 0x0e, 0x2f, 0xc0, 0x6f, 0x53, 0x54, 0x02, 0x00, 0x51, 0x54, 0x42, 0x0e, 0x10, 0x30, 0x59,
0x52, 0x02, 0x30, 0x01, 0x2f, 0x00, 0x2e, 0x03, 0x2d, 0x50, 0x42, 0x42, 0x42, 0x12, 0x30, 0xd2, 0x7f, 0x80, 0xb2,
0x03, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x80, 0x01, 0x12, 0x2d, 0x01, 0x2e, 0xc9, 0x00, 0x02, 0x80, 0x05, 0x2e, 0x80,
0x01, 0x11, 0x30, 0x91, 0x28, 0x00, 0x40, 0x25, 0x2e, 0x80, 0x01, 0x10, 0x0e, 0x05, 0x2f, 0x01, 0x2e, 0x7f, 0x01,
0x01, 0x90, 0x01, 0x2f, 0x98, 0x2e, 0xf3, 0x03, 0x00, 0x2e, 0xa0, 0x41, 0x01, 0x90, 0xa6, 0x7f, 0x90, 0x2e, 0xe3,
0xb4, 0x01, 0x2e, 0x95, 0x01, 0x00, 0xa8, 0x90, 0x2e, 0xe3, 0xb4, 0x5b, 0x54, 0x95, 0x80, 0x82, 0x40, 0x80, 0xb2,
0x02, 0x40, 0x2d, 0x8c, 0x3f, 0x52, 0x96, 0x7f, 0x90, 0x2e, 0xc2, 0xb3, 0x29, 0x0e, 0x76, 0x2f, 0x01, 0x2e, 0xc9,
0x00, 0x00, 0x40, 0x81, 0x28, 0x45, 0x52, 0xb3, 0x30, 0x98, 0x2e, 0x0f, 0xca, 0x5d, 0x54, 0x80, 0x7f, 0x00, 0x2e,
0xa1, 0x40, 0x72, 0x7f, 0x82, 0x80, 0x82, 0x40, 0x60, 0x7f, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0x98, 0x2e, 0x74,
0xc0, 0x62, 0x6f, 0x05, 0x30, 0x87, 0x40, 0xc0, 0x91, 0x04, 0x30, 0x05, 0x2f, 0x05, 0x2e, 0x83, 0x01, 0x80, 0xb2,
0x14, 0x30, 0x00, 0x2f, 0x04, 0x30, 0x05, 0x2e, 0xc9, 0x00, 0x73, 0x6f, 0x81, 0x40, 0xe2, 0x40, 0x69, 0x04, 0x11,
0x0f, 0xe1, 0x40, 0x16, 0x30, 0xfe, 0x29, 0xcb, 0x40, 0x02, 0x2f, 0x83, 0x6f, 0x83, 0x0f, 0x22, 0x2f, 0x47, 0x56,
0x13, 0x0f, 0x12, 0x30, 0x77, 0x2f, 0x49, 0x54, 0x42, 0x0e, 0x12, 0x30, 0x73, 0x2f, 0x00, 0x91, 0x0a, 0x2f, 0x01,
0x2e, 0x8b, 0x01, 0x19, 0xa8, 0x02, 0x30, 0x6c, 0x2f, 0x63, 0x50, 0x00, 0x2e, 0x17, 0x42, 0x05, 0x42, 0x68, 0x2c,
0x12, 0x30, 0x0b, 0x25, 0x08, 0x0f, 0x50, 0x30, 0x02, 0x2f, 0x21, 0x2e, 0x83, 0x01, 0x03, 0x2d, 0x40, 0x30, 0x21,
0x2e, 0x83, 0x01, 0x2b, 0x2e, 0x85, 0x01, 0x5a, 0x2c, 0x12, 0x30, 0x00, 0x91, 0x2b, 0x25, 0x04, 0x2f, 0x63, 0x50,
0x02, 0x30, 0x17, 0x42, 0x17, 0x2c, 0x02, 0x42, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0x98, 0x2e, 0x74, 0xc0, 0x05,
0x2e, 0xc9, 0x00, 0x81, 0x84, 0x5b, 0x30, 0x82, 0x40, 0x37, 0x2e, 0x83, 0x01, 0x02, 0x0e, 0x07, 0x2f, 0x5f, 0x52,
0x40, 0x30, 0x62, 0x40, 0x41, 0x40, 0x91, 0x0e, 0x01, 0x2f, 0x21, 0x2e, 0x83, 0x01, 0x05, 0x30, 0x2b, 0x2e, 0x85,
0x01, 0x12, 0x30, 0x36, 0x2c, 0x16, 0x30, 0x15, 0x25, 0x81, 0x7f, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0x98, 0x2e,
0x74, 0xc0, 0x19, 0xa2, 0x16, 0x30, 0x15, 0x2f, 0x05, 0x2e, 0x97, 0x01, 0x80, 0x6f, 0x82, 0x0e, 0x05, 0x2f, 0x01,
0x2e, 0x86, 0x01, 0x06, 0x28, 0x21, 0x2e, 0x86, 0x01, 0x0b, 0x2d, 0x03, 0x2e, 0x87, 0x01, 0x5f, 0x54, 0x4e, 0x28,
0x91, 0x42, 0x00, 0x2e, 0x82, 0x40, 0x90, 0x0e, 0x01, 0x2f, 0x21, 0x2e, 0x88, 0x01, 0x02, 0x30, 0x13, 0x2c, 0x05,
0x30, 0xc0, 0x6f, 0x08, 0x1c, 0xa8, 0x0f, 0x16, 0x30, 0x05, 0x30, 0x5b, 0x50, 0x09, 0x2f, 0x02, 0x80, 0x2d, 0x2e,
0x82, 0x01, 0x05, 0x42, 0x05, 0x80, 0x00, 0x2e, 0x02, 0x42, 0x3e, 0x80, 0x00, 0x2e, 0x06, 0x42, 0x02, 0x30, 0x90,
0x6f, 0x3e, 0x88, 0x01, 0x40, 0x04, 0x41, 0x4c, 0x28, 0x01, 0x42, 0x07, 0x80, 0x10, 0x25, 0x24, 0x40, 0x00, 0x40,
0x00, 0xa8, 0xf5, 0x22, 0x23, 0x29, 0x44, 0x42, 0x7a, 0x82, 0x7e, 0x88, 0x43, 0x40, 0x04, 0x41, 0x00, 0xab, 0xf5,
0x23, 0xdf, 0x28, 0x43, 0x42, 0xd9, 0xa0, 0x14, 0x2f, 0x00, 0x90, 0x02, 0x2f, 0xd2, 0x6f, 0x81, 0xb2, 0x05, 0x2f,
0x63, 0x54, 0x06, 0x28, 0x90, 0x42, 0x85, 0x42, 0x09, 0x2c, 0x02, 0x30, 0x5b, 0x50, 0x03, 0x80, 0x29, 0x2e, 0x7e,
0x01, 0x2b, 0x2e, 0x82, 0x01, 0x05, 0x42, 0x12, 0x30, 0x2b, 0x2e, 0x83, 0x01, 0x45, 0x82, 0x00, 0x2e, 0x40, 0x40,
0x7a, 0x82, 0x02, 0xa0, 0x08, 0x2f, 0x63, 0x50, 0x3b, 0x30, 0x15, 0x42, 0x05, 0x42, 0x37, 0x80, 0x37, 0x2e, 0x7e,
0x01, 0x05, 0x42, 0x12, 0x30, 0x01, 0x2e, 0xc9, 0x00, 0x02, 0x8c, 0x40, 0x40, 0x84, 0x41, 0x7a, 0x8c, 0x04, 0x0f,
0x03, 0x2f, 0x01, 0x2e, 0x8b, 0x01, 0x19, 0xa4, 0x04, 0x2f, 0x2b, 0x2e, 0x82, 0x01, 0x98, 0x2e, 0xf3, 0x03, 0x12,
0x30, 0x81, 0x90, 0x61, 0x52, 0x08, 0x2f, 0x65, 0x42, 0x65, 0x42, 0x43, 0x80, 0x39, 0x84, 0x82, 0x88, 0x05, 0x42,
0x45, 0x42, 0x85, 0x42, 0x05, 0x43, 0x00, 0x2e, 0x80, 0x41, 0x00, 0x90, 0x90, 0x2e, 0xe1, 0xb4, 0x65, 0x54, 0xc1,
0x6f, 0x80, 0x40, 0x00, 0xb2, 0x43, 0x58, 0x69, 0x50, 0x44, 0x2f, 0x55, 0x5c, 0xb7, 0x87, 0x8c, 0x0f, 0x0d, 0x2e,
0x96, 0x01, 0xc4, 0x40, 0x36, 0x2f, 0x41, 0x56, 0x8b, 0x0e, 0x2a, 0x2f, 0x0b, 0x52, 0xa1, 0x0e, 0x0a, 0x2f, 0x05,
0x2e, 0x8f, 0x01, 0x14, 0x25, 0x98, 0x2e, 0xfe, 0xc9, 0x4b, 0x54, 0x02, 0x0f, 0x69, 0x50, 0x05, 0x30, 0x65, 0x54,
0x15, 0x2f, 0x03, 0x2e, 0x8e, 0x01, 0x4d, 0x5c, 0x8e, 0x0f, 0x3a, 0x2f, 0x05, 0x2e, 0x8f, 0x01, 0x98, 0x2e, 0xfe,
0xc9, 0x4f, 0x54, 0x82, 0x0f, 0x05, 0x30, 0x69, 0x50, 0x65, 0x54, 0x30, 0x2f, 0x6d, 0x52, 0x15, 0x30, 0x42, 0x8c,
0x45, 0x42, 0x04, 0x30, 0x2b, 0x2c, 0x84, 0x43, 0x6b, 0x52, 0x42, 0x8c, 0x00, 0x2e, 0x85, 0x43, 0x15, 0x30, 0x24,
0x2c, 0x45, 0x42, 0x8e, 0x0f, 0x20, 0x2f, 0x0d, 0x2e, 0x8e, 0x01, 0xb1, 0x0e, 0x1c, 0x2f, 0x23, 0x2e, 0x8e, 0x01,
0x1a, 0x2d, 0x0e, 0x0e, 0x17, 0x2f, 0xa1, 0x0f, 0x15, 0x2f, 0x23, 0x2e, 0x8d, 0x01, 0x13, 0x2d, 0x98, 0x2e, 0x74,
0xc0, 0x43, 0x54, 0xc2, 0x0e, 0x0a, 0x2f, 0x65, 0x50, 0x04, 0x80, 0x0b, 0x30, 0x06, 0x82, 0x0b, 0x42, 0x79, 0x80,
0x41, 0x40, 0x12, 0x30, 0x25, 0x2e, 0x8c, 0x01, 0x01, 0x42, 0x05, 0x30, 0x69, 0x50, 0x65, 0x54, 0x84, 0x82, 0x43,
0x84, 0xbe, 0x8c, 0x84, 0x40, 0x86, 0x41, 0x26, 0x29, 0x94, 0x42, 0xbe, 0x8e, 0xd5, 0x7f, 0x19, 0xa1, 0x43, 0x40,
0x0b, 0x2e, 0x8c, 0x01, 0x84, 0x40, 0xc7, 0x41, 0x5d, 0x29, 0x27, 0x29, 0x45, 0x42, 0x84, 0x42, 0xc2, 0x7f, 0x01,
0x2f, 0xc0, 0xb3, 0x1d, 0x2f, 0x05, 0x2e, 0x94, 0x01, 0x99, 0xa0, 0x01, 0x2f, 0x80, 0xb3, 0x13, 0x2f, 0x80, 0xb3,
0x18, 0x2f, 0xc0, 0xb3, 0x16, 0x2f, 0x12, 0x40, 0x01, 0x40, 0x92, 0x7f, 0x98, 0x2e, 0x74, 0xc0, 0x92, 0x6f, 0x10,
0x0f, 0x20, 0x30, 0x03, 0x2f, 0x10, 0x30, 0x21, 0x2e, 0x7e, 0x01, 0x0a, 0x2d, 0x21, 0x2e, 0x7e, 0x01, 0x07, 0x2d,
0x20, 0x30, 0x21, 0x2e, 0x7e, 0x01, 0x03, 0x2d, 0x10, 0x30, 0x21, 0x2e, 0x7e, 0x01, 0xc2, 0x6f, 0x01, 0x2e, 0xc9,
0x00, 0xbc, 0x84, 0x02, 0x80, 0x82, 0x40, 0x00, 0x40, 0x90, 0x0e, 0xd5, 0x6f, 0x02, 0x2f, 0x15, 0x30, 0x98, 0x2e,
0xf3, 0x03, 0x41, 0x91, 0x05, 0x30, 0x07, 0x2f, 0x67, 0x50, 0x3d, 0x80, 0x2b, 0x2e, 0x8f, 0x01, 0x05, 0x42, 0x04,
0x80, 0x00, 0x2e, 0x05, 0x42, 0x02, 0x2c, 0x00, 0x30, 0x00, 0x30, 0xa2, 0x6f, 0x98, 0x8a, 0x86, 0x40, 0x80, 0xa7,
0x05, 0x2f, 0x98, 0x2e, 0xf3, 0x03, 0xc0, 0x30, 0x21, 0x2e, 0x95, 0x01, 0x06, 0x25, 0x1a, 0x25, 0xe2, 0x6f, 0x76,
0x82, 0x96, 0x40, 0x56, 0x43, 0x51, 0x0e, 0xfb, 0x2f, 0xbb, 0x6f, 0x30, 0x5f, 0xb8, 0x2e, 0x01, 0x2e, 0xb8, 0x00,
0x01, 0x31, 0x41, 0x08, 0x40, 0xb2, 0x20, 0x50, 0xf2, 0x30, 0x02, 0x08, 0xfb, 0x7f, 0x01, 0x30, 0x10, 0x2f, 0x05,
0x2e, 0xcc, 0x00, 0x81, 0x90, 0xe0, 0x7f, 0x03, 0x2f, 0x23, 0x2e, 0xcc, 0x00, 0x98, 0x2e, 0x55, 0xb6, 0x98, 0x2e,
0x1d, 0xb5, 0x10, 0x25, 0xfb, 0x6f, 0xe0, 0x6f, 0xe0, 0x5f, 0x80, 0x2e, 0x95, 0xcf, 0x98, 0x2e, 0x95, 0xcf, 0x10,
0x30, 0x21, 0x2e, 0xcc, 0x00, 0xfb, 0x6f, 0xe0, 0x5f, 0xb8, 0x2e, 0x00, 0x51, 0x05, 0x58, 0xeb, 0x7f, 0x2a, 0x25,
0x89, 0x52, 0x6f, 0x5a, 0x89, 0x50, 0x13, 0x41, 0x06, 0x40, 0xb3, 0x01, 0x16, 0x42, 0xcb, 0x16, 0x06, 0x40, 0xf3,
0x02, 0x13, 0x42, 0x65, 0x0e, 0xf5, 0x2f, 0x05, 0x40, 0x14, 0x30, 0x2c, 0x29, 0x04, 0x42, 0x08, 0xa1, 0x00, 0x30,
0x90, 0x2e, 0x52, 0xb6, 0xb3, 0x88, 0xb0, 0x8a, 0xb6, 0x84, 0xa4, 0x7f, 0xc4, 0x7f, 0xb5, 0x7f, 0xd5, 0x7f, 0x92,
0x7f, 0x73, 0x30, 0x04, 0x30, 0x55, 0x40, 0x42, 0x40, 0x8a, 0x17, 0xf3, 0x08, 0x6b, 0x01, 0x90, 0x02, 0x53, 0xb8,
0x4b, 0x82, 0xad, 0xbe, 0x71, 0x7f, 0x45, 0x0a, 0x09, 0x54, 0x84, 0x7f, 0x98, 0x2e, 0xd9, 0xc0, 0xa3, 0x6f, 0x7b,
0x54, 0xd0, 0x42, 0xa3, 0x7f, 0xf2, 0x7f, 0x60, 0x7f, 0x20, 0x25, 0x71, 0x6f, 0x75, 0x5a, 0x77, 0x58, 0x79, 0x5c,
0x75, 0x56, 0x98, 0x2e, 0x67, 0xcc, 0xb1, 0x6f, 0x62, 0x6f, 0x50, 0x42, 0xb1, 0x7f, 0xb3, 0x30, 0x10, 0x25, 0x98,
0x2e, 0x0f, 0xca, 0x84, 0x6f, 0x20, 0x29, 0x71, 0x6f, 0x92, 0x6f, 0xa5, 0x6f, 0x76, 0x82, 0x6a, 0x0e, 0x73, 0x30,
0x00, 0x30, 0xd0, 0x2f, 0xd2, 0x6f, 0xd1, 0x7f, 0xb4, 0x7f, 0x98, 0x2e, 0x2b, 0xb7, 0x15, 0xbd, 0x0b, 0xb8, 0x02,
0x0a, 0xc2, 0x6f, 0xc0, 0x7f, 0x98, 0x2e, 0x2b, 0xb7, 0x15, 0xbd, 0x0b, 0xb8, 0x42, 0x0a, 0xc0, 0x6f, 0x08, 0x17,
0x41, 0x18, 0x89, 0x16, 0xe1, 0x18, 0xd0, 0x18, 0xa1, 0x7f, 0x27, 0x25, 0x16, 0x25, 0x98, 0x2e, 0x79, 0xc0, 0x8b,
0x54, 0x90, 0x7f, 0xb3, 0x30, 0x82, 0x40, 0x80, 0x90, 0x0d, 0x2f, 0x7d, 0x52, 0x92, 0x6f, 0x98, 0x2e, 0x0f, 0xca,
0xb2, 0x6f, 0x90, 0x0e, 0x06, 0x2f, 0x8b, 0x50, 0x14, 0x30, 0x42, 0x6f, 0x51, 0x6f, 0x14, 0x42, 0x12, 0x42, 0x01,
0x42, 0x00, 0x2e, 0x31, 0x6f, 0x98, 0x2e, 0x74, 0xc0, 0x41, 0x6f, 0x80, 0x7f, 0x98, 0x2e, 0x74, 0xc0, 0x82, 0x6f,
0x10, 0x04, 0x43, 0x52, 0x01, 0x0f, 0x05, 0x2e, 0xcb, 0x00, 0x00, 0x30, 0x04, 0x30, 0x21, 0x2f, 0x51, 0x6f, 0x43,
0x58, 0x8c, 0x0e, 0x04, 0x30, 0x1c, 0x2f, 0x85, 0x88, 0x41, 0x6f, 0x04, 0x41, 0x8c, 0x0f, 0x04, 0x30, 0x16, 0x2f,
0x84, 0x88, 0x00, 0x2e, 0x04, 0x41, 0x04, 0x05, 0x8c, 0x0e, 0x04, 0x30, 0x0f, 0x2f, 0x82, 0x88, 0x31, 0x6f, 0x04,
0x41, 0x04, 0x05, 0x8c, 0x0e, 0x04, 0x30, 0x08, 0x2f, 0x83, 0x88, 0x00, 0x2e, 0x04, 0x41, 0x8c, 0x0f, 0x04, 0x30,
0x02, 0x2f, 0x21, 0x2e, 0xad, 0x01, 0x14, 0x30, 0x00, 0x91, 0x14, 0x2f, 0x03, 0x2e, 0xa1, 0x01, 0x41, 0x90, 0x0e,
0x2f, 0x03, 0x2e, 0xad, 0x01, 0x14, 0x30, 0x4c, 0x28, 0x23, 0x2e, 0xad, 0x01, 0x46, 0xa0, 0x06, 0x2f, 0x81, 0x84,
0x8d, 0x52, 0x48, 0x82, 0x82, 0x40, 0x21, 0x2e, 0xa1, 0x01, 0x42, 0x42, 0x5c, 0x2c, 0x02, 0x30, 0x05, 0x2e, 0xaa,
0x01, 0x80, 0xb2, 0x02, 0x30, 0x55, 0x2f, 0x03, 0x2e, 0xa9, 0x01, 0x92, 0x6f, 0xb3, 0x30, 0x98, 0x2e, 0x0f, 0xca,
0xb2, 0x6f, 0x90, 0x0f, 0x00, 0x30, 0x02, 0x30, 0x4a, 0x2f, 0xa2, 0x6f, 0x87, 0x52, 0x91, 0x00, 0x85, 0x52, 0x51,
0x0e, 0x02, 0x2f, 0x00, 0x2e, 0x43, 0x2c, 0x02, 0x30, 0xc2, 0x6f, 0x7f, 0x52, 0x91, 0x0e, 0x02, 0x30, 0x3c, 0x2f,
0x51, 0x6f, 0x81, 0x54, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0xb3, 0x30, 0x21, 0x25, 0x98, 0x2e, 0x0f, 0xca, 0x32,
0x6f, 0xc0, 0x7f, 0xb3, 0x30, 0x12, 0x25, 0x98, 0x2e, 0x0f, 0xca, 0x42, 0x6f, 0xb0, 0x7f, 0xb3, 0x30, 0x12, 0x25,
0x98, 0x2e, 0x0f, 0xca, 0xb2, 0x6f, 0x90, 0x28, 0x83, 0x52, 0x98, 0x2e, 0xfe, 0xc9, 0xc2, 0x6f, 0x90, 0x0f, 0x00,
0x30, 0x02, 0x30, 0x1d, 0x2f, 0x05, 0x2e, 0xa1, 0x01, 0x80, 0xb2, 0x12, 0x30, 0x0f, 0x2f, 0x42, 0x6f, 0x03, 0x2e,
0xab, 0x01, 0x91, 0x0e, 0x02, 0x30, 0x12, 0x2f, 0x52, 0x6f, 0x03, 0x2e, 0xac, 0x01, 0x91, 0x0f, 0x02, 0x30, 0x0c,
0x2f, 0x21, 0x2e, 0xaa, 0x01, 0x0a, 0x2c, 0x12, 0x30, 0x03, 0x2e, 0xcb, 0x00, 0x8d, 0x58, 0x08, 0x89, 0x41, 0x40,
0x11, 0x43, 0x00, 0x43, 0x25, 0x2e, 0xa1, 0x01, 0xd4, 0x6f, 0x8f, 0x52, 0x00, 0x43, 0x3a, 0x89, 0x00, 0x2e, 0x10,
0x43, 0x10, 0x43, 0x61, 0x0e, 0xfb, 0x2f, 0x03, 0x2e, 0xa0, 0x01, 0x11, 0x1a, 0x02, 0x2f, 0x02, 0x25, 0x21, 0x2e,
0xa0, 0x01, 0xeb, 0x6f, 0x00, 0x5f, 0xb8, 0x2e, 0x91, 0x52, 0x10, 0x30, 0x02, 0x30, 0x95, 0x56, 0x52, 0x42, 0x4b,
0x0e, 0xfc, 0x2f, 0x8d, 0x54, 0x88, 0x82, 0x93, 0x56, 0x80, 0x42, 0x53, 0x42, 0x40, 0x42, 0x42, 0x86, 0x83, 0x54,
0xc0, 0x2e, 0xc2, 0x42, 0x00, 0x2e, 0xa3, 0x52, 0x00, 0x51, 0x52, 0x40, 0x47, 0x40, 0x1a, 0x25, 0x01, 0x2e, 0x97,
0x00, 0x8f, 0xbe, 0x72, 0x86, 0xfb, 0x7f, 0x0b, 0x30, 0x7c, 0xbf, 0xa5, 0x50, 0x10, 0x08, 0xdf, 0xba, 0x70, 0x88,
0xf8, 0xbf, 0xcb, 0x42, 0xd3, 0x7f, 0x6c, 0xbb, 0xfc, 0xbb, 0xc5, 0x0a, 0x90, 0x7f, 0x1b, 0x7f, 0x0b, 0x43, 0xc0,
0xb2, 0xe5, 0x7f, 0xb7, 0x7f, 0xa6, 0x7f, 0xc4, 0x7f, 0x90, 0x2e, 0x1c, 0xb7, 0x07, 0x2e, 0xd2, 0x00, 0xc0, 0xb2,
0x0b, 0x2f, 0x97, 0x52, 0x01, 0x2e, 0xcd, 0x00, 0x82, 0x7f, 0x98, 0x2e, 0xbb, 0xcc, 0x0b, 0x30, 0x37, 0x2e, 0xd2,
0x00, 0x82, 0x6f, 0x90, 0x6f, 0x1a, 0x25, 0x00, 0xb2, 0x8b, 0x7f, 0x14, 0x2f, 0xa6, 0xbd, 0x25, 0xbd, 0xb6, 0xb9,
0x2f, 0xb9, 0x80, 0xb2, 0xd4, 0xb0, 0x0c, 0x2f, 0x99, 0x54, 0x9b, 0x56, 0x0b, 0x30, 0x0b, 0x2e, 0xb1, 0x00, 0xa1,
0x58, 0x9b, 0x42, 0xdb, 0x42, 0x6c, 0x09, 0x2b, 0x2e, 0xb1, 0x00, 0x8b, 0x42, 0xcb, 0x42, 0x86, 0x7f, 0x73, 0x84,
0xa7, 0x56, 0xc3, 0x08, 0x39, 0x52, 0x05, 0x50, 0x72, 0x7f, 0x63, 0x7f, 0x98, 0x2e, 0xc2, 0xc0, 0xe1, 0x6f, 0x62,
0x6f, 0xd1, 0x0a, 0x01, 0x2e, 0xcd, 0x00, 0xd5, 0x6f, 0xc4, 0x6f, 0x72, 0x6f, 0x97, 0x52, 0x9d, 0x5c, 0x98, 0x2e,
0x06, 0xcd, 0x23, 0x6f, 0x90, 0x6f, 0x99, 0x52, 0xc0, 0xb2, 0x04, 0xbd, 0x54, 0x40, 0xaf, 0xb9, 0x45, 0x40, 0xe1,
0x7f, 0x02, 0x30, 0x06, 0x2f, 0xc0, 0xb2, 0x02, 0x30, 0x03, 0x2f, 0x9b, 0x5c, 0x12, 0x30, 0x94, 0x43, 0x85, 0x43,
0x03, 0xbf, 0x6f, 0xbb, 0x80, 0xb3, 0x20, 0x2f, 0x06, 0x6f, 0x26, 0x01, 0x16, 0x6f, 0x6e, 0x03, 0x45, 0x42, 0xc0,
0x90, 0x29, 0x2e, 0xce, 0x00, 0x9b, 0x52, 0x14, 0x2f, 0x9b, 0x5c, 0x00, 0x2e, 0x93, 0x41, 0x86, 0x41, 0xe3, 0x04,
0xae, 0x07, 0x80, 0xab, 0x04, 0x2f, 0x80, 0x91, 0x0a, 0x2f, 0x86, 0x6f, 0x73, 0x0f, 0x07, 0x2f, 0x83, 0x6f, 0xc0,
0xb2, 0x04, 0x2f, 0x54, 0x42, 0x45, 0x42, 0x12, 0x30, 0x04, 0x2c, 0x11, 0x30, 0x02, 0x2c, 0x11, 0x30, 0x11, 0x30,
0x02, 0xbc, 0x0f, 0xb8, 0xd2, 0x7f, 0x00, 0xb2, 0x0a, 0x2f, 0x01, 0x2e, 0xfc, 0x00, 0x05, 0x2e, 0xc7, 0x01, 0x10,
0x1a, 0x02, 0x2f, 0x21, 0x2e, 0xc7, 0x01, 0x03, 0x2d, 0x02, 0x2c, 0x01, 0x30, 0x01, 0x30, 0xb0, 0x6f, 0x98, 0x2e,
0x95, 0xcf, 0xd1, 0x6f, 0xa0, 0x6f, 0x98, 0x2e, 0x95, 0xcf, 0xe2, 0x6f, 0x9f, 0x52, 0x01, 0x2e, 0xce, 0x00, 0x82,
0x40, 0x50, 0x42, 0x0c, 0x2c, 0x42, 0x42, 0x11, 0x30, 0x23, 0x2e, 0xd2, 0x00, 0x01, 0x30, 0xb0, 0x6f, 0x98, 0x2e,
0x95, 0xcf, 0xa0, 0x6f, 0x01, 0x30, 0x98, 0x2e, 0x95, 0xcf, 0x00, 0x2e, 0xfb, 0x6f, 0x00, 0x5f, 0xb8, 0x2e, 0x83,
0x86, 0x01, 0x30, 0x00, 0x30, 0x94, 0x40, 0x24, 0x18, 0x06, 0x00, 0x53, 0x0e, 0x4f, 0x02, 0xf9, 0x2f, 0xb8, 0x2e,
0xa9, 0x52, 0x00, 0x2e, 0x60, 0x40, 0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0xab,
0x52, 0x53, 0x3c, 0x52, 0x40, 0x40, 0x40, 0x4b, 0x00, 0x82, 0x16, 0x26, 0xb9, 0x01, 0xb8, 0x41, 0x40, 0x10, 0x08,
0x97, 0xb8, 0x01, 0x08, 0xc0, 0x2e, 0x11, 0x30, 0x01, 0x08, 0x43, 0x86, 0x25, 0x40, 0x04, 0x40, 0xd8, 0xbe, 0x2c,
0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e, 0x9f, 0x50, 0x10, 0x50, 0xad, 0x52,
0x05, 0x2e, 0xd3, 0x00, 0xfb, 0x7f, 0x00, 0x2e, 0x13, 0x40, 0x93, 0x42, 0x41, 0x0e, 0xfb, 0x2f, 0x98, 0x2e, 0xa5,
0xb7, 0x98, 0x2e, 0x87, 0xcf, 0x01, 0x2e, 0xd9, 0x00, 0x00, 0xb2, 0xfb, 0x6f, 0x0b, 0x2f, 0x01, 0x2e, 0x69, 0xf7,
0xb1, 0x3f, 0x01, 0x08, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd9, 0x00, 0x21, 0x2e, 0x69, 0xf7, 0x80, 0x2e, 0x7a,
0xb7, 0xf0, 0x5f, 0xb8, 0x2e, 0x01, 0x2e, 0xc0, 0xf8, 0x03, 0x2e, 0xfc, 0xf5, 0x15, 0x54, 0xaf, 0x56, 0x82, 0x08,
0x0b, 0x2e, 0x69, 0xf7, 0xcb, 0x0a, 0xb1, 0x58, 0x80, 0x90, 0xdd, 0xbe, 0x4c, 0x08, 0x5f, 0xb9, 0x59, 0x22, 0x80,
0x90, 0x07, 0x2f, 0x03, 0x34, 0xc3, 0x08, 0xf2, 0x3a, 0x0a, 0x08, 0x02, 0x35, 0xc0, 0x90, 0x4a, 0x0a, 0x48, 0x22,
0xc0, 0x2e, 0x23, 0x2e, 0xfc, 0xf5, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x56, 0xc7, 0x98, 0x2e, 0x49, 0xc3, 0x10,
0x30, 0xfb, 0x6f, 0xf0, 0x5f, 0x21, 0x2e, 0xcc, 0x00, 0x21, 0x2e, 0xca, 0x00, 0xb8, 0x2e, 0x03, 0x2e, 0xd3, 0x00,
0x16, 0xb8, 0x02, 0x34, 0x4a, 0x0c, 0x21, 0x2e, 0x2d, 0xf5, 0xc0, 0x2e, 0x23, 0x2e, 0xd3, 0x00, 0x03, 0xbc, 0x21,
0x2e, 0xd5, 0x00, 0x03, 0x2e, 0xd5, 0x00, 0x40, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x30, 0x05, 0x2f,
0x05, 0x2e, 0xd8, 0x00, 0x80, 0x90, 0x01, 0x2f, 0x23, 0x2e, 0x6f, 0xf5, 0xc0, 0x2e, 0x21, 0x2e, 0xd9, 0x00, 0x11,
0x30, 0x81, 0x08, 0x01, 0x2e, 0x6a, 0xf7, 0x71, 0x3f, 0x23, 0xbd, 0x01, 0x08, 0x02, 0x0a, 0xc0, 0x2e, 0x21, 0x2e,
0x6a, 0xf7, 0x30, 0x25, 0x00, 0x30, 0x21, 0x2e, 0x5a, 0xf5, 0x10, 0x50, 0x21, 0x2e, 0x7b, 0x00, 0x21, 0x2e, 0x7c,
0x00, 0xfb, 0x7f, 0x98, 0x2e, 0xc3, 0xb7, 0x40, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0xfb, 0x6f, 0xf0, 0x5f, 0x03, 0x25,
0x80, 0x2e, 0xaf, 0xb7, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x01, 0x2e, 0x5d, 0xf7, 0x08, 0xbc, 0x80, 0xac, 0x0e, 0xbb, 0x02, 0x2f,
0x00, 0x30, 0x41, 0x04, 0x82, 0x06, 0xc0, 0xa4, 0x00, 0x30, 0x11, 0x2f, 0x40, 0xa9, 0x03, 0x2f, 0x40, 0x91, 0x0d,
0x2f, 0x00, 0xa7, 0x0b, 0x2f, 0x80, 0xb3, 0xb3, 0x58, 0x02, 0x2f, 0x90, 0xa1, 0x26, 0x13, 0x20, 0x23, 0x80, 0x90,
0x10, 0x30, 0x01, 0x2f, 0xcc, 0x0e, 0x00, 0x2f, 0x00, 0x30, 0xb8, 0x2e, 0xb5, 0x50, 0x18, 0x08, 0x08, 0xbc, 0x88,
0xb6, 0x0d, 0x17, 0xc6, 0xbd, 0x56, 0xbc, 0xb7, 0x58, 0xda, 0xba, 0x04, 0x01, 0x1d, 0x0a, 0x10, 0x50, 0x05, 0x30,
0x32, 0x25, 0x45, 0x03, 0xfb, 0x7f, 0xf6, 0x30, 0x21, 0x25, 0x98, 0x2e, 0x37, 0xca, 0x16, 0xb5, 0x9a, 0xbc, 0x06,
0xb8, 0x80, 0xa8, 0x41, 0x0a, 0x0e, 0x2f, 0x80, 0x90, 0x02, 0x2f, 0x2d, 0x50, 0x48, 0x0f, 0x09, 0x2f, 0xbf, 0xa0,
0x04, 0x2f, 0xbf, 0x90, 0x06, 0x2f, 0xb7, 0x54, 0xca, 0x0f, 0x03, 0x2f, 0x00, 0x2e, 0x02, 0x2c, 0xb7, 0x52, 0x2d,
0x52, 0xf2, 0x33, 0x98, 0x2e, 0xd9, 0xc0, 0xfb, 0x6f, 0xf1, 0x37, 0xc0, 0x2e, 0x01, 0x08, 0xf0, 0x5f, 0xbf, 0x56,
0xb9, 0x54, 0xd0, 0x40, 0xc4, 0x40, 0x0b, 0x2e, 0xfd, 0xf3, 0xbf, 0x52, 0x90, 0x42, 0x94, 0x42, 0x95, 0x42, 0x05,
0x30, 0xc1, 0x50, 0x0f, 0x88, 0x06, 0x40, 0x04, 0x41, 0x96, 0x42, 0xc5, 0x42, 0x48, 0xbe, 0x73, 0x30, 0x0d, 0x2e,
0xd8, 0x00, 0x4f, 0xba, 0x84, 0x42, 0x03, 0x42, 0x81, 0xb3, 0x02, 0x2f, 0x2b, 0x2e, 0x6f, 0xf5, 0x06, 0x2d, 0x05,
0x2e, 0x77, 0xf7, 0xbd, 0x56, 0x93, 0x08, 0x25, 0x2e, 0x77, 0xf7, 0xbb, 0x54, 0x25, 0x2e, 0xc2, 0xf5, 0x07, 0x2e,
0xfd, 0xf3, 0x42, 0x30, 0xb4, 0x33, 0xda, 0x0a, 0x4c, 0x00, 0x27, 0x2e, 0xfd, 0xf3, 0x43, 0x40, 0xd4, 0x3f, 0xdc,
0x08, 0x43, 0x42, 0x00, 0x2e, 0x00, 0x2e, 0x43, 0x40, 0x24, 0x30, 0xdc, 0x0a, 0x43, 0x42, 0x04, 0x80, 0x03, 0x2e,
0xfd, 0xf3, 0x4a, 0x0a, 0x23, 0x2e, 0xfd, 0xf3, 0x61, 0x34, 0xc0, 0x2e, 0x01, 0x42, 0x00, 0x2e, 0x60, 0x50, 0x1a,
0x25, 0x7a, 0x86, 0xe0, 0x7f, 0xf3, 0x7f, 0x03, 0x25, 0xc3, 0x52, 0x41, 0x84, 0xdb, 0x7f, 0x33, 0x30, 0x98, 0x2e,
0x16, 0xc2, 0x1a, 0x25, 0x7d, 0x82, 0xf0, 0x6f, 0xe2, 0x6f, 0x32, 0x25, 0x16, 0x40, 0x94, 0x40, 0x26, 0x01, 0x85,
0x40, 0x8e, 0x17, 0xc4, 0x42, 0x6e, 0x03, 0x95, 0x42, 0x41, 0x0e, 0xf4, 0x2f, 0xdb, 0x6f, 0xa0, 0x5f, 0xb8, 0x2e,
0xb0, 0x51, 0xfb, 0x7f, 0x98, 0x2e, 0xe8, 0x0d, 0x5a, 0x25, 0x98, 0x2e, 0x0f, 0x0e, 0xcb, 0x58, 0x32, 0x87, 0xc4,
0x7f, 0x65, 0x89, 0x6b, 0x8d, 0xc5, 0x5a, 0x65, 0x7f, 0xe1, 0x7f, 0x83, 0x7f, 0xa6, 0x7f, 0x74, 0x7f, 0xd0, 0x7f,
0xb6, 0x7f, 0x94, 0x7f, 0x17, 0x30, 0xc7, 0x52, 0xc9, 0x54, 0x51, 0x7f, 0x00, 0x2e, 0x85, 0x6f, 0x42, 0x7f, 0x00,
0x2e, 0x51, 0x41, 0x45, 0x81, 0x42, 0x41, 0x13, 0x40, 0x3b, 0x8a, 0x00, 0x40, 0x4b, 0x04, 0xd0, 0x06, 0xc0, 0xac,
0x85, 0x7f, 0x02, 0x2f, 0x02, 0x30, 0x51, 0x04, 0xd3, 0x06, 0x41, 0x84, 0x05, 0x30, 0x5d, 0x02, 0xc9, 0x16, 0xdf,
0x08, 0xd3, 0x00, 0x8d, 0x02, 0xaf, 0xbc, 0xb1, 0xb9, 0x59, 0x0a, 0x65, 0x6f, 0x11, 0x43, 0xa1, 0xb4, 0x52, 0x41,
0x53, 0x41, 0x01, 0x43, 0x34, 0x7f, 0x65, 0x7f, 0x26, 0x31, 0xe5, 0x6f, 0xd4, 0x6f, 0x98, 0x2e, 0x37, 0xca, 0x32,
0x6f, 0x75, 0x6f, 0x83, 0x40, 0x42, 0x41, 0x23, 0x7f, 0x12, 0x7f, 0xf6, 0x30, 0x40, 0x25, 0x51, 0x25, 0x98, 0x2e,
0x37, 0xca, 0x14, 0x6f, 0x20, 0x05, 0x70, 0x6f, 0x25, 0x6f, 0x69, 0x07, 0xa2, 0x6f, 0x31, 0x6f, 0x0b, 0x30, 0x04,
0x42, 0x9b, 0x42, 0x8b, 0x42, 0x55, 0x42, 0x32, 0x7f, 0x40, 0xa9, 0xc3, 0x6f, 0x71, 0x7f, 0x02, 0x30, 0xd0, 0x40,
0xc3, 0x7f, 0x03, 0x2f, 0x40, 0x91, 0x15, 0x2f, 0x00, 0xa7, 0x13, 0x2f, 0x00, 0xa4, 0x11, 0x2f, 0x84, 0xbd, 0x98,
0x2e, 0x79, 0xca, 0x55, 0x6f, 0xb7, 0x54, 0x54, 0x41, 0x82, 0x00, 0xf3, 0x3f, 0x45, 0x41, 0xcb, 0x02, 0xf6, 0x30,
0x98, 0x2e, 0x37, 0xca, 0x35, 0x6f, 0xa4, 0x6f, 0x41, 0x43, 0x03, 0x2c, 0x00, 0x43, 0xa4, 0x6f, 0x35, 0x6f, 0x17,
0x30, 0x42, 0x6f, 0x51, 0x6f, 0x93, 0x40, 0x42, 0x82, 0x00, 0x41, 0xc3, 0x00, 0x03, 0x43, 0x51, 0x7f, 0x00, 0x2e,
0x94, 0x40, 0x41, 0x41, 0x4c, 0x02, 0xc4, 0x6f, 0xd1, 0x56, 0x63, 0x0e, 0x74, 0x6f, 0x51, 0x43, 0xa5, 0x7f, 0x8a,
0x2f, 0x09, 0x2e, 0xd8, 0x00, 0x01, 0xb3, 0x21, 0x2f, 0xcb, 0x58, 0x90, 0x6f, 0x13, 0x41, 0xb6, 0x6f, 0xe4, 0x7f,
0x00, 0x2e, 0x91, 0x41, 0x14, 0x40, 0x92, 0x41, 0x15, 0x40, 0x17, 0x2e, 0x6f, 0xf5, 0xb6, 0x7f, 0xd0, 0x7f, 0xcb,
0x7f, 0x98, 0x2e, 0x00, 0x0c, 0x07, 0x15, 0xc2, 0x6f, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0xc3, 0xa3, 0xc1, 0x8f,
0xe4, 0x6f, 0xd0, 0x6f, 0xe6, 0x2f, 0x14, 0x30, 0x05, 0x2e, 0x6f, 0xf5, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0x18,
0x2d, 0xcd, 0x56, 0x04, 0x32, 0xb5, 0x6f, 0x1c, 0x01, 0x51, 0x41, 0x52, 0x41, 0xc3, 0x40, 0xb5, 0x7f, 0xe4, 0x7f,
0x98, 0x2e, 0x1f, 0x0c, 0xe4, 0x6f, 0x21, 0x87, 0x00, 0x43, 0x04, 0x32, 0xcf, 0x54, 0x5a, 0x0e, 0xef, 0x2f, 0x15,
0x54, 0x09, 0x2e, 0x77, 0xf7, 0x22, 0x0b, 0x29, 0x2e, 0x77, 0xf7, 0xfb, 0x6f, 0x50, 0x5e, 0xb8, 0x2e, 0x10, 0x50,
0x01, 0x2e, 0xd4, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x51, 0x2f, 0x01, 0xb2, 0x48, 0x2f, 0x02, 0xb2, 0x42, 0x2f, 0x03,
0x90, 0x56, 0x2f, 0xd7, 0x52, 0x79, 0x80, 0x42, 0x40, 0x81, 0x84, 0x00, 0x40, 0x42, 0x42, 0x98, 0x2e, 0x93, 0x0c,
0xd9, 0x54, 0xd7, 0x50, 0xa1, 0x40, 0x98, 0xbd, 0x82, 0x40, 0x3e, 0x82, 0xda, 0x0a, 0x44, 0x40, 0x8b, 0x16, 0xe3,
0x00, 0x53, 0x42, 0x00, 0x2e, 0x43, 0x40, 0x9a, 0x02, 0x52, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x15, 0x54, 0x4a, 0x0e,
0x3a, 0x2f, 0x3a, 0x82, 0x00, 0x30, 0x41, 0x40, 0x21, 0x2e, 0x85, 0x0f, 0x40, 0xb2, 0x0a, 0x2f, 0x98, 0x2e, 0xb1,
0x0c, 0x98, 0x2e, 0x45, 0x0e, 0x98, 0x2e, 0x5b, 0x0e, 0xfb, 0x6f, 0xf0, 0x5f, 0x00, 0x30, 0x80, 0x2e, 0xce, 0xb7,
0xdd, 0x52, 0xd3, 0x54, 0x42, 0x42, 0x4f, 0x84, 0x73, 0x30, 0xdb, 0x52, 0x83, 0x42, 0x1b, 0x30, 0x6b, 0x42, 0x23,
0x30, 0x27, 0x2e, 0xd7, 0x00, 0x37, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0xd6, 0x00, 0x7a, 0x84, 0x17, 0x2c, 0x42, 0x42,
0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b,
0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0xd4, 0x00,
0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39,
0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f,
0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0xcb,
0x52, 0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08,
0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50, 0x03,
0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4, 0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a,
0x08, 0xb6, 0x89, 0x16, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01,
0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e,
0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54, 0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5,
0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00, 0x50, 0x42,
0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00,
0x30, 0x40, 0x42, 0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54, 0x40,
0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e,
0x82, 0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90,
0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77,
0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e,
0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc0,
0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40, 0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f,
0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e, 0x12, 0x42, 0xd3, 0x7f, 0xeb,
0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41,
0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f, 0x94, 0x09,
0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42, 0xc0, 0x5f, 0x50, 0x50,
0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01,
0x42, 0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52, 0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f,
0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f, 0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30, 0x98,
0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30,
0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e, 0x00, 0x2e, 0xd0,
0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e,
0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e, 0x5d, 0xc0, 0xed, 0x50, 0x98,
0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b,
0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42,
0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc,
0x84, 0x0b, 0x40, 0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x58, 0xb7, 0xd1, 0x6f,
0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f, 0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62,
0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00,
0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff,
0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
0x2e, 0x00, 0xc1
};
/*! @name Global array that stores the feature input configuration of BMI270 */
const struct bmi2_feature_config bmi270_feat_in[BMI270_MAX_FEAT_IN] = {
{ .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_CONFIG_ID_STRT_ADDR },
{ .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_MAX_BURST_LEN_STRT_ADDR },
{ .type = BMI2_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR },
{ .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_ABORT_STRT_ADDR },
{ .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_AXIS_MAP_STRT_ADDR },
{ .type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_SELF_OFF_STRT_ADDR },
{ .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_NVM_PROG_PREP_STRT_ADDR },
{ .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_GAIN_UPDATE_STRT_ADDR },
{ .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_ANY_MOT_STRT_ADDR },
{ .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_NO_MOT_STRT_ADDR },
{ .type = BMI2_SIG_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_SIG_MOT_STRT_ADDR },
{ .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_STEP_CNT_1_STRT_ADDR },
{ .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
{ .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
{ .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR },
{ .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_6, .start_addr = BMI270_WRIST_GEST_STRT_ADDR },
{ .type = BMI2_WRIST_WEAR_WAKE_UP, .page = BMI2_PAGE_7, .start_addr = BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR },
};
/*! @name Global array that stores the feature output configuration */
const struct bmi2_feature_config bmi270_feat_out[BMI270_MAX_FEAT_OUT] = {
{ .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_CNT_OUT_STRT_ADDR },
{ .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_ACT_OUT_STRT_ADDR },
{ .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_0, .start_addr = BMI270_WRIST_GEST_OUT_STRT_ADDR },
{ .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYR_USER_GAIN_OUT_STRT_ADDR },
{ .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYRO_CROSS_SENSE_STRT_ADDR },
{ .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR },
{ .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR }
};
/*! @name Global array that stores the feature interrupts of BMI270 */
struct bmi2_map_int bmi270_map_int[BMI270_MAX_INT_MAP] = {
{ .type = BMI2_SIG_MOTION, .sens_map_int = BMI270_INT_SIG_MOT_MASK },
{ .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_INT_STEP_COUNTER_MASK },
{ .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_INT_STEP_DETECTOR_MASK },
{ .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_INT_STEP_ACT_MASK },
{ .type = BMI2_WRIST_GESTURE, .sens_map_int = BMI270_INT_WRIST_GEST_MASK },
{ .type = BMI2_WRIST_WEAR_WAKE_UP, .sens_map_int = BMI270_INT_WRIST_WEAR_WAKEUP_MASK },
{ .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_INT_ANY_MOT_MASK },
{ .type = BMI2_NO_MOTION, .sens_map_int = BMI270_INT_NO_MOT_MASK },
};
/******************************************************************************/
/*! Local Function Prototypes
******************************************************************************/
/*!
* @brief This internal API is used to validate the device pointer for
* null conditions.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t null_ptr_check(const struct bmi2_dev *dev);
/*!
* @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);
/*!
* @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 is used to enable/disable any-motion feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables any-motion.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables any-motion.
* BMI2_ENABLE | Enables any-motion.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable no-motion feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables no-motion.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables no-motion.
* BMI2_ENABLE | Enables no-motion.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable sig-motion feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables sig-motion.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables sig-motion.
* BMI2_ENABLE | Enables sig-motion.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable step detector feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables step-detector.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables step detector
* BMI2_ENABLE | Enables step detector
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable step counter feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables step counter.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables step counter
* BMI2_ENABLE | Enables step counter
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable step activity detection.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables step activity.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables step activity
* BMI2_ENABLE | Enables step activity
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API gives an option to enable offset correction
* feature of gyroscope, either internally or by the host.
*
* @param[in] enable : Enables/Disables self-offset correction.
* @param[in] dev : Structure instance of bmi2_dev.
*
* enable | Description
* -------------|---------------
* BMI2_ENABLE | gyroscope offset correction values are set internally
* BMI2_DISABLE | gyroscope offset correction values has to be set by host
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to enable/disable gyroscope user gain
* feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables gyroscope user gain.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables gyroscope user gain
* BMI2_ENABLE | Enables gyroscope user gain
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API enables the wrist gesture feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables wrist gesture.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables wrist gesture
* BMI2_ENABLE | Enables wrist gesture
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API enables the wrist wear wake up feature.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[in] enable : Enables/Disables wrist wear wake up.
*
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables wrist wear wake up
* BMI2_ENABLE | Enables wrist wear wake up
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API sets any-motion configurations like axes select,
* duration, threshold and output-configuration.
*
* @param[in] config : Structure instance of bmi2_any_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_any_motion_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Defines the number of consecutive data points for
* | which the threshold condition must be respected,
* | for interrupt assertion. It is expressed in 50 Hz
* duration | samples (20 msec).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* -------------------------|---------------------------------------------------
* | Slope threshold value for in 5.11g format.
* threshold | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* -------------------------|---------------------------------------------------
* x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets no-motion configurations like axes select,
* duration, threshold and output-configuration.
*
* @param[in] config : Structure instance of bmi2_no_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_no_motion_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Defines the number of consecutive data points for
* | which the threshold condition must be respected,
* | for interrupt assertion. It is expressed in 50 Hz
* duration | samples (20 msec).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* -------------------------|---------------------------------------------------
* | Slope threshold value for in 5.11g format.
* threshold | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* -------------------------|---------------------------------------------------
* x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets sig-motion configurations like block-size,
* output-configuration and other parameters.
*
* @param[in] config : Structure instance of bmi2_sig_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
*----------------------------------------------------------------------------
* bmi2_sig_motion_config |
* Structure parameters | Description
* -------------------------|---------------------------------------------------
* | Defines the duration after which the significant
* block_size | motion interrupt is triggered. It is expressed in
* | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
*--------------------------|---------------------------------------------------
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets step counter parameter configurations.
*
* @param[in] step_count_params : Array that stores parameters 1 to 25.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
/*!
* @brief This internal API sets step counter/detector/activity configurations.
*
* @param[in] config : Structure instance of bmi2_step_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
*---------------------------------------------------------------------------
* bmi2_step_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | The Step-counter will trigger output every time
* | the number of steps are counted. Holds implicitly
* water-mark level | a 20x factor, so the range is 0 to 10230,
* | with resolution of 20 steps.
* -------------------------|---------------------------------------------------
* reset counter | Flag to reset the counted steps.
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets wrist gesture configurations like wearable-arm,
* and output-configuration.
*
* @param[in] config : Structure instance of bmi2_wrist_gest_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*-----------------------------------------------------------------------------
* bmi2_wrist_gest_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Device in left (0) or right (1) arm. By default,
* wear_arm | the wearable device is assumed to be in left arm
* | i.e. default value is 0.
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets wrist wear wake-up configurations like
* output-configuration.
*
* @param[in] config : Structure instance of
* bmi2_wrist_wear_wake_up_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*-----------------------------------------------------------------------------
* bmi2_wrist_wear_wake_up_config |
* Structure parameters | Description
*----------------------------------|-------------------------------------------
* | To set the wrist wear wake-up parameters like
* | min_angle_focus, min_angle_nonfocus,
* wrist_wear_wakeup_params | angle_landscape_left, angle_landscape_right,
* | angle_potrait_up and down.
* ---------------------------------|-------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets any-motion configurations like axes select,
* duration, threshold and output-configuration.
*
* @param[out] config : Structure instance of bmi2_any_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_any_motion_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Defines the number of consecutive data points for
* | which the threshold condition must be respected,
* | for interrupt assertion. It is expressed in 50 Hz
* duration | samples (20 msec).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* -------------------------|---------------------------------------------------
* | Slope threshold value for in 5.11g format.
* threshold | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* -------------------------|---------------------------------------------------
* x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets no-motion configurations like axes select,
* duration, threshold and output-configuration.
*
* @param[out] config : Structure instance of bmi2_no_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_no_motion_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Defines the number of consecutive data points for
* | which the threshold condition must be respected,
* | for interrupt assertion. It is expressed in 50 Hz
* duration | samples (20 msec).
* | Range is 0 to 163sec.
* | Default value is 5 = 100ms.
* -------------------------|---------------------------------------------------
* | Slope threshold value for in 5.11g format.
* threshold | Range is 0 to 1g.
* | Default value is 0xAA = 83mg.
* -------------------------|---------------------------------------------------
* x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets sig-motion configurations like block-size,
* output-configuration and other parameters.
*
* @param[out] config : Structure instance of bmi2_sig_motion_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
*----------------------------------------------------------------------------
* bmi2_sig_motion_config |
* Structure parameters | Description
* -------------------------|---------------------------------------------------
* | Defines the duration after which the significant
* block_size | motion interrupt is triggered. It is expressed in
* | 50 Hz samples (20 ms). Default value is 0xFA=5sec.
*--------------------------|---------------------------------------------------
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets step counter parameter configurations.
*
* @param[in] step_count_params : Array that stores parameters 1 to 25.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
/*!
* @brief This internal API gets step counter/detector/activity configurations.
*
* @param[out] config : Structure instance of bmi2_step_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_step_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | The Step-counter will trigger output every time
* | the number of steps are counted. Holds implicitly
* water-mark level | a 20x factor, so the range is 0 to 10230,
* | with resolution of 20 steps.
* -------------------------|---------------------------------------------------
* reset counter | Flag to reset the counted steps.
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets wrist gesture configurations like wearable-arm,
* and output-configuration.
*
* @param[out] config : Structure instance of bmi2_wrist_gest_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*-----------------------------------------------------------------------------
* bmi2_wrist_gest_config |
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* | Device in left (0) or right (1) arm. By default,
* wear_arm | the wearable device is assumed to be in left arm
* | i.e. default value is 0.
* -------------------------|---------------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets wrist wear wake-up configurations like
* output-configuration.
*
* @param[out] config : Structure instance of
* bmi2_wrist_wear_wake_up_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @verbatim
*------------------------------------|---------------------------------------
* bmi2_wrist_wear_wake_up_wh_config |
* Structure parameters | Description
*------------------------------------|-------------------------------------------
* | To get the wrist wear wake-up parameters like
* | min_angle_focus, min_angle_nonfocus,
* wrist_wear_wake_params | angle_landscape_left, angle_landscape_right,
* | angle_potrait_up and down.
* -----------------------------------|-------------------------------------------
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the output values of wrist gesture.
*
* @param[out] wrist_gest : Pointer to the stored wrist gesture.
* @param[in] dev : Structure instance of bmi2_dev.
*
* *wrist_gest | Output
* -------------|------------
* 0x00 | UNKNOWN
* 0x01 | PUSH_ARM_DOWN
* 0x02 | PIVOT_UP
* 0x03 | WRIST_SHAKE_JIGGLE
* 0x04 | FLICK_IN
* 0x05 | FLICK_OUT
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the output values of step activity.
*
* @param[out] step_act : Pointer to the stored step activity data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* *step_act | Output
* -----------|------------
* 0x00 | STILL
* 0x01 | WALKING
* 0x02 | RUNNING
* 0x03 | UNKNOWN
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fails
*/
static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the output values of step counter.
*
* @param[out] step_count : Pointer to the stored step counter data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the error status related to NVM.
*
* @param[out] nvm_err_stat : Stores the NVM error 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_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the error status related to virtual frames.
*
* @param[out] vfrm_err_stat : Stores the VFRM related error 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_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to get enable status of gyroscope user gain
* update.
*
* @param[out] status : Stores status of gyroscope user gain update.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables compensation of the gain defined
* in the GAIN register.
*
* @param[in] enable : Enables/Disables gain compensation
* @param[in] dev : Structure instance of bmi2_dev.
*
* enable | Description
* -------------|---------------
* BMI2_ENABLE | Enable gain compensation.
* BMI2_DISABLE | Disable gain compensation.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t enable_gyro_gain(uint8_t enable, 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);
/***************************************************************************/
/*! User Interface Definitions
****************************************************************************/
/*!
* @brief This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270 sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*/
int8_t bmi270_init(struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if (rslt == BMI2_OK)
{
/* Assign chip id of BMI270 */
dev->chip_id = BMI270_CHIP_ID;
/* get the size of config array */
dev->config_size = sizeof(bmi270_config_file);
/* Enable the variant specific features if any */
dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
/* An extra dummy byte is read during SPI read */
if (dev->intf == BMI2_SPI_INTF)
{
dev->dummy_byte = 1;
}
else
{
dev->dummy_byte = 0;
}
/* If configuration file pointer is not assigned any address */
if (!dev->config_file_ptr)
{
/* Give the address of the configuration file array to
* the device pointer
*/
dev->config_file_ptr = bmi270_config_file;
}
/* Initialize BMI2 sensor */
rslt = bmi2_sec_init(dev);
if (rslt == BMI2_OK)
{
/* Assign the offsets of the feature input
* configuration to the device structure
*/
dev->feat_config = bmi270_feat_in;
/* Assign the offsets of the feature output to
* the device structure
*/
dev->feat_output = bmi270_feat_out;
/* Assign the maximum number of pages to the
* device structure
*/
dev->page_max = BMI270_MAX_PAGE_NUM;
/* Assign maximum number of input sensors/
* features to device structure
*/
dev->input_sens = BMI270_MAX_FEAT_IN;
/* Assign maximum number of output sensors/
* features to device structure
*/
dev->out_sens = BMI270_MAX_FEAT_OUT;
/* Assign the offsets of the feature interrupt
* to the device structure
*/
dev->map_int = bmi270_map_int;
/* Assign maximum number of feature interrupts
* to device structure
*/
dev->sens_int_map = BMI270_MAX_INT_MAP;
/* Get the gyroscope cross axis sensitivity */
rslt = bmi2_get_gyro_cross_sense(dev);
}
}
return rslt;
}
/*!
* @brief This API selects the sensors/features to be enabled.
*/
int8_t bmi270_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 bmi270_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 bmi270_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++)
{
if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
(sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
{
rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
}
else
{
/* 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 any motion configuration */
case BMI2_ANY_MOTION:
rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
break;
/* Set no motion configuration */
case BMI2_NO_MOTION:
rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
break;
/* Set sig-motion configuration */
case BMI2_SIG_MOTION:
rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
break;
/* Set the step counter parameters */
case BMI2_STEP_COUNTER_PARAMS:
rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
break;
/* Set step counter/detector/activity configuration */
case BMI2_STEP_DETECTOR:
case BMI2_STEP_COUNTER:
case BMI2_STEP_ACTIVITY:
rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
break;
/* Set the wrist gesture configuration */
case BMI2_WRIST_GESTURE:
rslt = set_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
break;
/* Set the wrist wear wake-up configuration */
case BMI2_WRIST_WEAR_WAKE_UP:
rslt = set_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, 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 bmi270_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++)
{
if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
(sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
{
rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
}
else
{
/* 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 sig-motion configuration */
case BMI2_SIG_MOTION:
rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev);
break;
/* Get any motion configuration */
case BMI2_ANY_MOTION:
rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
break;
/* Get no motion configuration */
case BMI2_NO_MOTION:
rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
break;
/* Set the step counter parameters */
case BMI2_STEP_COUNTER_PARAMS:
rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
break;
/* Get step counter/detector/activity configuration */
case BMI2_STEP_DETECTOR:
case BMI2_STEP_COUNTER:
case BMI2_STEP_ACTIVITY:
rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
break;
/* Get the wrist gesture configuration */
case BMI2_WRIST_GESTURE:
rslt = get_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev);
break;
/* Get the wrist wear wake-up configuration */
case BMI2_WRIST_WEAR_WAKE_UP:
rslt = get_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, 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 bmi270_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++)
{
if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
(sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
(sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
{
rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
}
else
{
/* 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_STEP_COUNTER:
/* Get step counter output */
rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
break;
case BMI2_STEP_ACTIVITY:
/* Get step activity output */
rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
break;
case BMI2_NVM_STATUS:
/* Get NVM error status */
rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
break;
case BMI2_VFRM_STATUS:
/* Get VFRM error status */
rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
break;
case BMI2_WRIST_GESTURE:
/* Get wrist gesture status */
rslt = get_wrist_gest_status(&sensor_data[loop].sens_data.wrist_gesture_output, 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 updates the gyroscope user-gain.
*/
int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to select sensor */
uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
/* Structure to define sensor configurations */
struct bmi2_sens_config sens_cfg;
/* Variable to store status of user-gain update module */
uint8_t status = 0;
/* Variable to define count */
uint8_t count = 100;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (user_gain != NULL))
{
/* Select type of feature */
sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
/* Get the user gain configurations */
rslt = bmi270_get_sensor_config(&sens_cfg, 1, dev);
if (rslt == BMI2_OK)
{
/* Get the user-defined ratio */
sens_cfg.cfg.gyro_gain_update = *user_gain;
/* Set rate ratio for all axes */
rslt = bmi270_set_sensor_config(&sens_cfg, 1, dev);
}
/* Disable gyroscope */
if (rslt == BMI2_OK)
{
rslt = bmi270_sensor_disable(&sens_sel[0], 1, dev);
}
/* Enable gyroscope user-gain update module */
if (rslt == BMI2_OK)
{
rslt = bmi270_sensor_enable(&sens_sel[1], 1, dev);
}
/* Set the command to trigger the computation */
if (rslt == BMI2_OK)
{
rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
}
if (rslt == BMI2_OK)
{
/* Poll until enable bit of user-gain update is 0 */
while (count--)
{
rslt = get_user_gain_upd_status(&status, dev);
if ((rslt == BMI2_OK) && (status == 0))
{
/* Enable compensation of gain defined
* in the GAIN register
*/
rslt = enable_gyro_gain(BMI2_ENABLE, dev);
/* Enable gyroscope */
if (rslt == BMI2_OK)
{
rslt = bmi270_sensor_enable(&sens_sel[0], 1, dev);
}
break;
}
dev->delay_us(10000, dev->intf_ptr);
}
/* Return error if user-gain update is failed */
if ((rslt == BMI2_OK) && (status != 0))
{
rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API reads the compensated gyroscope user-gain values.
*/
int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define register data */
uint8_t reg_data[3] = { 0 };
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
{
/* Get the gyroscope compensated gain values */
rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
if (rslt == BMI2_OK)
{
/* Gyroscope user gain correction X-axis */
gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
/* Gyroscope user gain correction Y-axis */
gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
/* Gyroscope user gain correction z-axis */
gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API maps/unmaps feature interrupts to that of interrupt pins.
*/
int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define loop */
uint8_t loop;
/* Null-pointer check */
rslt = null_ptr_check(dev);
if ((rslt == BMI2_OK) && (sens_int != NULL))
{
for (loop = 0; loop < n_sens; loop++)
{
switch (sens_int[loop].type)
{
case BMI2_SIG_MOTION:
case BMI2_WRIST_GESTURE:
case BMI2_ANY_MOTION:
case BMI2_NO_MOTION:
case BMI2_STEP_COUNTER:
case BMI2_STEP_DETECTOR:
case BMI2_STEP_ACTIVITY:
case BMI2_WRIST_WEAR_WAKE_UP:
rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
break;
default:
rslt = BMI2_E_INVALID_SENSOR;
break;
}
/* Return error if interrupt mapping fails */
if (rslt != BMI2_OK)
{
break;
}
}
}
else
{
rslt = BMI2_E_NULL_PTR;
}
return rslt;
}
/***************************************************************************/
/*! Local Function Definitions
****************************************************************************/
/*!
* @brief This internal API is used to validate the device structure pointer for
* null conditions.
*/
static int8_t null_ptr_check(const struct bmi2_dev *dev)
{
/* Variable to define error */
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 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;
case BMI2_SIG_MOTION:
*sensor_sel |= BMI2_SIG_MOTION_SEL;
break;
case BMI2_ANY_MOTION:
*sensor_sel |= BMI2_ANY_MOT_SEL;
break;
case BMI2_NO_MOTION:
*sensor_sel |= BMI2_NO_MOT_SEL;
break;
case BMI2_STEP_DETECTOR:
*sensor_sel |= BMI2_STEP_DETECT_SEL;
break;
case BMI2_STEP_COUNTER:
*sensor_sel |= BMI2_STEP_COUNT_SEL;
break;
case BMI2_STEP_ACTIVITY:
*sensor_sel |= BMI2_STEP_ACT_SEL;
break;
case BMI2_GYRO_GAIN_UPDATE:
*sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
break;
case BMI2_GYRO_SELF_OFF:
*sensor_sel |= BMI2_GYRO_SELF_OFF_SEL;
break;
case BMI2_WRIST_GESTURE:
*sensor_sel |= BMI2_WRIST_GEST_SEL;
break;
case BMI2_WRIST_WEAR_WAKE_UP:
*sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_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;
/* Variable to define loop */
uint8_t loop = 1;
/* Variable to get the status of advance power save */
uint8_t aps_stat = 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);
}
}
if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
{
/* 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)
{
while (loop--)
{
/* Enable sig-motion feature */
if (sensor_sel & BMI2_SIG_MOTION_SEL)
{
rslt = set_sig_motion(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_SIG_MOTION_SEL;
}
else
{
break;
}
}
/* Enable any motion feature */
if (sensor_sel & BMI2_ANY_MOT_SEL)
{
rslt = set_any_motion(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
}
else
{
break;
}
}
/* Enable no motion feature */
if (sensor_sel & BMI2_NO_MOT_SEL)
{
rslt = set_no_motion(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_NO_MOT_SEL;
}
else
{
break;
}
}
/* Enable step detector feature */
if (sensor_sel & BMI2_STEP_DETECT_SEL)
{
rslt = set_step_detector(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
}
else
{
break;
}
}
/* Enable step counter feature */
if (sensor_sel & BMI2_STEP_COUNT_SEL)
{
rslt = set_step_counter(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
}
else
{
break;
}
}
/* Enable step activity feature */
if (sensor_sel & BMI2_STEP_ACT_SEL)
{
rslt = set_step_activity(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
}
else
{
break;
}
}
/* Enable gyroscope user gain */
if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
{
rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
}
else
{
break;
}
}
/* Enable gyroscope self-offset correction feature */
if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
{
rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL;
}
else
{
break;
}
}
/* Enable wrist gesture feature for wearable variant */
if (sensor_sel & BMI2_WRIST_GEST_SEL)
{
rslt = set_wrist_gesture(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_WRIST_GEST_SEL;
}
else
{
break;
}
}
/* Enable wrist wear wake-up feature */
if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
{
rslt = set_wrist_wear_wake_up(BMI2_ENABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_SEL;
}
else
{
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);
}
}
}
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;
/* Variable to define loop */
uint8_t loop = 1;
/* Variable to get the status of advance power save */
uint8_t aps_stat = 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);
}
/* Disable 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);
}
}
if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
{
/* 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)
{
while (loop--)
{
/* Disable sig-motion feature */
if (sensor_sel & BMI2_SIG_MOTION_SEL)
{
rslt = set_sig_motion(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL;
}
else
{
break;
}
}
/* Disable any-motion feature */
if (sensor_sel & BMI2_ANY_MOT_SEL)
{
rslt = set_any_motion(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
}
else
{
break;
}
}
/* Disable no-motion feature */
if (sensor_sel & BMI2_NO_MOT_SEL)
{
rslt = set_no_motion(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
}
else
{
break;
}
}
/* Disable step detector feature */
if (sensor_sel & BMI2_STEP_DETECT_SEL)
{
rslt = set_step_detector(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
}
else
{
break;
}
}
/* Disable step counter feature */
if (sensor_sel & BMI2_STEP_COUNT_SEL)
{
rslt = set_step_counter(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
}
else
{
break;
}
}
/* Disable step activity feature */
if (sensor_sel & BMI2_STEP_ACT_SEL)
{
rslt = set_step_activity(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
}
else
{
break;
}
}
/* Disable gyroscope user gain */
if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
{
rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
}
else
{
break;
}
}
/* Disable gyroscope self-offset correction feature */
if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL)
{
rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL;
}
else
{
break;
}
}
/* Disable wrist gesture feature for wearable variant*/
if (sensor_sel & BMI2_WRIST_GEST_SEL)
{
rslt = set_wrist_gesture(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_WRIST_GEST_SEL;
}
else
{
break;
}
}
/* Enable wrist wear wake-up feature */
if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL)
{
rslt = set_wrist_wear_wake_up(BMI2_DISABLE, dev);
if (rslt == BMI2_OK)
{
dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_SEL;
}
else
{
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);
}
}
}
}
return rslt;
}
/*!
* @brief This internal API is used to enable/disable any motion feature.
*/
static int8_t set_any_motion(uint8_t 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;
/* Initialize feature configuration for any-motion */
struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
/* Search for any-motion feature and extract its configurations details */
feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where any-motion feature resides */
rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of any-motion axes */
idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
/* 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 is used to enable/disable no-motion feature.
*/
static int8_t set_no_motion(uint8_t 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;
/* Initialize feature configuration for no-motion */
struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
/* Search for no-motion feature and extract its configurations details */
feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where any/no-motion feature resides */
rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of no-motion axes */
idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
/* 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 is used to enable/disable step detector feature.
*/
static int8_t set_step_detector(uint8_t 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;
/* Initialize feature configuration for step detector */
struct bmi2_feature_config step_det_config = { 0, 0, 0 };
/* Search for step detector feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
if (feat_found)
{
/* Get the configuration from the page where step detector feature resides */
rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of step detector */
idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
/* 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 is used to enable/disable step counter feature.
*/
static int8_t set_step_counter(uint8_t 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;
/* Initialize feature configuration for step counter */
struct bmi2_feature_config step_count_config = { 0, 0, 0 };
/* Search for step counter feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
if (feat_found)
{
/* Get the configuration from the page where step-counter feature resides */
rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of step counter */
idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
/* 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 is used to enable/disable sig-motion feature.
*/
static int8_t set_sig_motion(uint8_t 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;
/* Initialize feature configuration for sig-motion */
struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
/* Search for sig-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where sig-motion feature resides */
rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of sig-motion */
idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable);
/* 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 is used to enable/disable step activity detection.
*/
static int8_t set_step_activity(uint8_t 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;
/* Initialize feature configuration for step activity */
struct bmi2_feature_config step_act_config = { 0, 0, 0 };
/* Search for step activity feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
if (feat_found)
{
/* Get the configuration from the page where step-activity
* feature resides
*/
rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of step activity */
idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
/* 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 gives an option to enable self-offset correction
* feature of gyroscope, either internally or by the host.
*/
static int8_t set_gyro_self_offset_corr(uint8_t 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;
/* Initialize feature configuration for self-offset correction */
struct bmi2_feature_config self_off_corr_cfg = { 0, 0, 0 };
/* Search for self-offset correction and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev);
if (feat_found)
{
/* Get the configuration from the page where self-offset
* correction feature resides
*/
rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of self-offset correction */
idx = self_off_corr_cfg.start_addr;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable);
/* 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 the wrist gesture feature.
*/
static int8_t set_wrist_gesture(uint8_t 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;
/* Initialize feature configuration for wrist gesture */
struct bmi2_feature_config wrist_gest_cfg = { 0, 0, 0 };
/* Search for wrist gesture and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_gest_cfg, BMI2_WRIST_GESTURE, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist gesture feature resides */
rslt = bmi2_get_feat_config(wrist_gest_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of wrist gesture */
idx = wrist_gest_cfg.start_addr;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_GEST_FEAT_EN, enable);
/* 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 the wrist wear wake up feature.
*/
static int8_t set_wrist_wear_wake_up(uint8_t 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;
/* Initialize feature configuration for wrist wear wake up */
struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
/* Search for wrist wear wake up and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist wear wake up
* feature resides
*/
rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of wrist wear wake up */
idx = wrist_wake_up_cfg.start_addr;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
/* 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 is used to enable/disable gyroscope user gain
* feature.
*/
static int8_t set_gyro_user_gain(uint8_t 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;
/* Initialize feature configuration for gyroscope user gain */
struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
/* Search for user gain feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
if (feat_found)
{
/* Get the configuration from the page where user gain feature resides */
rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of user gain */
idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
/* Set the feature enable bit */
feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
/* 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 sets any-motion configurations like axes select,
* duration, threshold and output-configuration.
*/
static int8_t set_any_motion_config(const struct bmi2_any_motion_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 count */
uint8_t index = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for any motion */
struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for any-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where any-motion feature resides */
rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for any-motion select */
idx = any_mot_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set duration */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
/* Set x-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
/* Set y-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
/* Set z-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
/* Increment offset by 1 word to set threshold and output configuration */
idx++;
/* Set threshold */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
/* 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) - any_mot_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[any_mot_config.start_addr +
index] = *((uint8_t *) data_p + any_mot_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 sets no-motion configurations like axes select,
* duration, threshold and output-configuration.
*/
static int8_t set_no_motion_config(const struct bmi2_no_motion_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 count */
uint8_t index = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for no-motion */
struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for no-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where no-motion feature resides */
rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for no-motion select */
idx = no_mot_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set duration */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
/* Set x-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
/* Set y-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
/* Set z-select */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
/* Increment offset by 1 word to set threshold and output configuration */
idx++;
/* Set threshold */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
/* 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) - no_mot_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[no_mot_config.start_addr +
index] = *((uint8_t *) data_p + no_mot_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 sets sig-motion configurations like block-size,
* output-configuration and other parameters.
*/
static int8_t set_sig_motion_config(const struct bmi2_sig_motion_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 sig-motion */
struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for sig-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where sig-motion feature resides */
rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for sig-motion select */
idx = sig_mot_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set parameter 1 */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size);
/* Increment offset by 1 word to set parameter 2 */
idx++;
/* Set parameter 2 */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_2, config->param_2);
/* Increment offset by 1 word to set parameter 3 */
idx++;
/* Set parameter 3 */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_3, config->param_3);
/* Increment offset by 1 word to set parameter 4 */
idx++;
/* Set parameter 4 */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_4, config->param_4);
/* Increment offset by 1 word to set parameter 5 */
idx++;
/* Set parameter 5 */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_5, config->param_5);
/* Increment offset by 1 word to set output- configuration */
idx++;
/* Get total length in bytes to copy from local pointer to the array */
idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[sig_mot_config.start_addr +
index] = *((uint8_t *) data_p + sig_mot_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 sets step counter parameter configurations.
*/
static int8_t set_step_count_params_config(const uint16_t *step_count_params, 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 index */
uint8_t index = 0;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for step counter parameters */
struct bmi2_feature_config step_params_config = { 0, 0, 0 };
/* Variable to index the page number */
uint8_t page_idx;
/* Variable to define the start page */
uint8_t start_page;
/* Variable to define start address of the parameters */
uint8_t start_addr;
/* Variable to define number of bytes */
uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
/* Variable to store number of pages */
uint8_t n_pages = (n_bytes / 16);
/* Variable to define the end page */
uint8_t end_page;
/* Variable to define the remaining bytes to be read */
uint8_t remain_len;
/* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
uint8_t max_len = 8;
/* Variable index bytes in a page */
uint8_t page_byte_idx;
/* Variable to index the parameters */
uint8_t param_idx = 0;
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for step counter parameter feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
if (feat_found)
{
/* Get the start page for the step counter parameters */
start_page = step_params_config.page;
/* Get the end page for the step counter parameters */
end_page = start_page + n_pages;
/* Get the start address for the step counter parameters */
start_addr = step_params_config.start_addr;
/* Get the remaining length of bytes to be read */
remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
for (page_idx = start_page; page_idx <= end_page; page_idx++)
{
/* Get the configuration from the respective page */
rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Start from address 0x00 when switched to next page */
if (page_idx > start_page)
{
start_addr = 0;
}
/* Remaining number of words to be read in the page */
if (page_idx == end_page)
{
max_len = (remain_len / 2);
}
/* Get offset in words since all the features are set in words length */
page_byte_idx = start_addr / 2;
for (; page_byte_idx < max_len;)
{
/* Set parameters 1 to 25 */
*(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
BMI2_STEP_COUNT_PARAMS,
step_count_params[param_idx]);
/* Increment offset by 1 word to set to the next parameter */
page_byte_idx++;
/* Increment to next parameter */
param_idx++;
}
/* Get total length in bytes to copy from local pointer to the array */
page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < page_byte_idx; index++)
{
feat_config[step_params_config.start_addr +
index] = *((uint8_t *) data_p + step_params_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 sets step counter configurations like water-mark
* level, reset-counter and output-configuration step detector and activity.
*/
static int8_t set_step_config(const struct bmi2_step_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 step counter 4 */
struct bmi2_feature_config step_count_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for step counter feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
if (feat_found)
{
/* Get the configuration from the page where step counter resides */
rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes */
idx = step_count_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set water-mark level */
*(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
/* Set reset-counter */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
/* Increment offset by 1 word to set output
* configuration of step detector and step activity
*/
idx++;
/* Set step buffer size */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
/* 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) - step_count_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[step_count_config.start_addr +
index] = *((uint8_t *) data_p + step_count_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 sets wrist gesture configurations like wearable-arm,
* and output-configuration.
*/
static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_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 wrist gesture */
struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for wrist gesture feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist gesture feature resides */
rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for gesture select */
idx = wrist_gest_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Set wearable arm */
*(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_GEST_WEAR_ARM, config->wearable_arm);
/* Increment offset by 1 more word to set minimum tilt angle (min_flick_peak) */
idx++;
*(data_p + idx) = config->min_flick_peak;
/* Increment offset by 1 more word to set min_flick_samples */
idx++;
*(data_p + idx) = config->min_flick_samples;
/* Increment offset by 1 more word to set max time within gesture moment has to be completed */
idx++;
*(data_p + idx) = config->max_duration;
/* 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) - wrist_gest_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[wrist_gest_config.start_addr +
index] = *((uint8_t *) data_p + wrist_gest_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 sets wrist wear wake-up configurations like
* output-configuration.
*/
static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_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 wrist wear wake-up */
struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for wrist wear wake-up feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist wear wake-up feature resides */
rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for wrist wear wake-up select */
idx = wrist_wake_up_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
*(data_p + idx) = config->min_angle_focus;
/* Increment offset by 1 more word to set min_angle_nonfocus */
idx++;
*(data_p + idx) = config->min_angle_nonfocus;
/* Increment offset by 1 more word to set max_tilt_lr */
idx++;
*(data_p + idx) = config->max_tilt_lr;
/* Increment offset by 1 more word to set max_tilt_ll */
idx++;
*(data_p + idx) = config->max_tilt_ll;
/* Increment offset by 1 more word to set max_tilt_pd */
idx++;
*(data_p + idx) = config->max_tilt_pd;
/* Increment offset by 1 more word to set max_tilt_pu */
idx++;
*(data_p + idx) = config->max_tilt_pu;
/* 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) - wrist_wake_up_config.start_addr;
/* Copy the bytes to be set back to the array */
for (index = 0; index < idx; index++)
{
feat_config[wrist_wake_up_config.start_addr +
index] = *((uint8_t *) data_p + wrist_wake_up_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 gets any-motion configurations like axes select,
* duration, threshold and output-configuration.
*/
static int8_t get_any_motion_config(struct bmi2_any_motion_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;
/* Variable to define MSB */
uint16_t msb;
/* Variable to define a word */
uint16_t lsb_msb;
/* Variable to set flag */
uint8_t feat_found;
/* Initialize feature configuration for any-motion */
struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
/* Search for any-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where any-motion feature resides */
rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for feature enable for any-motion */
idx = any_mot_config.start_addr;
/* Get word to calculate duration, x, y and z select */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get duration */
config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
/* Get x-select */
config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
/* Get y-select */
config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
/* Get z-select */
config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
/* Get word to calculate threshold, output configuration from the same word */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get threshold */
config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets no-motion configurations like axes select,
* duration, threshold and output-configuration.
*/
static int8_t get_no_motion_config(struct bmi2_no_motion_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 no-motion */
struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
/* Search for no-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where no-motion feature resides */
rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for feature enable for no-motion */
idx = no_mot_config.start_addr;
/* Get word to calculate duration, x, y and z select */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get duration */
config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
/* Get x-select */
config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
/* Get y-select */
config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
/* Get z-select */
config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
/* Get word to calculate threshold, output configuration from the same word */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get threshold */
config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets sig-motion configurations like block-size,
* output-configuration and other parameters.
*/
static int8_t get_sig_motion_config(struct bmi2_sig_motion_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 sig-motion */
struct bmi2_feature_config sig_mot_config = { 0, 0, 0 };
/* Search for sig-motion feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev);
if (feat_found)
{
/* Get the configuration from the page where sig-motion feature resides */
rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for feature enable for sig-motion */
idx = sig_mot_config.start_addr;
/* Get word to calculate parameter 1 */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get parameter 1 */
config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK;
/* Get word to calculate parameter 2 */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get parameter 2 */
config->param_2 = lsb_msb & BMI2_SIG_MOT_PARAM_2_MASK;
/* Get word to calculate parameter 3 */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get parameter 3 */
config->param_3 = lsb_msb & BMI2_SIG_MOT_PARAM_3_MASK;
/* Get word to calculate parameter 4 */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get parameter 4 */
config->param_4 = lsb_msb & BMI2_SIG_MOT_PARAM_4_MASK;
/* Get word to calculate parameter 5 */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get parameter 5 */
config->param_5 = lsb_msb & BMI2_SIG_MOT_PARAM_5_MASK;
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets step counter parameter configurations.
*/
static int8_t get_step_count_params_config(uint16_t *step_count_params, 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 set flag */
uint8_t feat_found;
/* 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;
/* Initialize feature configuration for step counter 1 */
struct bmi2_feature_config step_params_config = { 0, 0, 0 };
/* Variable to index the page number */
uint8_t page_idx;
/* Variable to define the start page */
uint8_t start_page;
/* Variable to define start address of the parameters */
uint8_t start_addr;
/* Variable to define number of bytes */
uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
/* Variable to store number of pages */
uint8_t n_pages = (n_bytes / 16);
/* Variable to define the end page */
uint8_t end_page;
/* Variable to define the remaining bytes to be read */
uint8_t remain_len;
/* Variable to define the maximum words to be read in a page */
uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
/* Variable index bytes in a page */
uint8_t page_byte_idx;
/* Variable to index the parameters */
uint8_t param_idx = 0;
/* Search for step counter parameter feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
if (feat_found)
{
/* Get the start page for the step counter parameters */
start_page = step_params_config.page;
/* Get the end page for the step counter parameters */
end_page = start_page + n_pages;
/* Get the start address for the step counter parameters */
start_addr = step_params_config.start_addr;
/* Get the remaining length of bytes to be read */
remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
for (page_idx = start_page; page_idx <= end_page; page_idx++)
{
/* Get the configuration from the respective page */
rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Start from address 0x00 when switched to next page */
if (page_idx > start_page)
{
start_addr = 0;
}
/* Remaining number of bytes to be read in the page */
if (page_idx == end_page)
{
max_len = remain_len;
}
/* Get the offset */
page_byte_idx = start_addr;
while (page_byte_idx < max_len)
{
/* Get word to calculate the parameter*/
lsb = (uint16_t) feat_config[page_byte_idx++];
if (page_byte_idx < max_len)
{
msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
}
lsb_msb = lsb | msb;
/* Get parameters 1 to 25 */
step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
/* Increment to next parameter */
param_idx++;
}
}
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets step counter/detector/activity configurations.
*/
static int8_t get_step_config(struct bmi2_step_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 step counter */
struct bmi2_feature_config step_count_config = { 0, 0, 0 };
/* Search for step counter 4 feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
if (feat_found)
{
/* Get the configuration from the page where step counter 4 parameter resides */
rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for feature enable for step counter/detector/activity */
idx = step_count_config.start_addr;
/* Get word to calculate water-mark level and reset counter */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
/* Get water-mark level */
config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
/* Get reset counter */
config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
/* Get word to calculate output configuration of step detector and activity */
lsb = (uint16_t) feat_config[idx++];
msb = ((uint16_t) feat_config[idx++] << 8);
lsb_msb = lsb | msb;
config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets wrist gesture configurations like wearable-arm,
* and output-configuration.
*/
static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_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 set flag */
uint8_t feat_found;
/* Initialize feature configuration for wrist gesture */
struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for wrist gesture feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist gesture feature resides */
rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for wrist gesture select */
idx = wrist_gest_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
/* Get wearable arm */
config->wearable_arm = (*(data_p + idx) & BMI2_WRIST_GEST_WEAR_ARM_MASK) >> BMI2_WRIST_GEST_WEAR_ARM_POS;
/* Increment the offset by 1 word to get min_flick_peak */
idx++;
config->min_flick_peak = *(data_p + idx);
/* Increment the offset by 1 word to get min_flick_samples */
idx++;
config->min_flick_samples = *(data_p + idx);
/* Increment the offset by 1 word to get max_duration */
idx++;
config->max_duration = *(data_p + idx);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets wrist wear wake-up configurations like
* output-configuration.
*/
static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_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 set flag */
uint8_t feat_found;
/* Initialize feature configuration for wrist wear wake-up */
struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
/* Copy the feature configuration address to a local pointer */
uint16_t *data_p = (uint16_t *) (void *)feat_config;
/* Search for wrist wear wake-up feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev);
if (feat_found)
{
/* Get the configuration from the page where wrist wear wake-up feature resides */
rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for wrist wear wake-up select */
idx = wrist_wake_up_config.start_addr;
/* Get offset in words since all the features are set in words length */
idx = idx / 2;
config->min_angle_focus = *(data_p + idx);
/* Increment the offset value by 1 word to get min_angle_nonfocus */
idx++;
config->min_angle_nonfocus = *(data_p + idx);
/* Increment the offset value by 1 word to get max_tilt_lr */
idx++;
config->max_tilt_lr = *(data_p + idx);
/* Increment the offset value by 1 word to get max_tilt_ll */
idx++;
config->max_tilt_ll = *(data_p + idx);
/* Increment the offset value by 1 word to get max_tilt_pd */
idx++;
config->max_tilt_pd = *(data_p + idx);
/* Increment the offset value by 1 word to get max_tilt_pu */
idx++;
config->max_tilt_pu = *(data_p + idx);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets the output values of the wrist gesture.
*/
static int8_t get_wrist_gest_status(uint8_t *wrist_gest, 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 wrist gesture */
struct bmi2_feature_config wrist_gest_out_config = { 0, 0, 0 };
/* Search for wrist gesture feature and extract its configuration details */
feat_found = extract_output_feat_config(&wrist_gest_out_config, BMI2_WRIST_GESTURE, dev);
if (feat_found)
{
/* Get the feature output configuration for wrist gesture */
rslt = bmi2_get_feat_config(wrist_gest_out_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for wrist gesture output */
idx = wrist_gest_out_config.start_addr;
/* Get the wrist gesture output */
*wrist_gest = feat_config[idx];
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets the output values of step counter.
*/
static int8_t get_step_counter_output(uint32_t *step_count, 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 step counter */
struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
/* Search for step counter output feature and extract its configuration details */
feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
if (feat_found)
{
/* Get the feature output configuration for step-counter */
rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for step counter output */
idx = step_cnt_out_config.start_addr;
/* Get the step counter output in 4 bytes */
*step_count = (uint32_t) feat_config[idx++];
*step_count |= ((uint32_t) feat_config[idx++] << 8);
*step_count |= ((uint32_t) feat_config[idx++] << 16);
*step_count |= ((uint32_t) feat_config[idx++] << 24);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets the error status related to NVM.
*/
static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_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 NVM error status */
struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
/* Search for NVM error status feature and extract its configuration details */
feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
if (feat_found)
{
/* Get the feature output configuration for NVM error status */
rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for NVM error status */
idx = nvm_err_cfg.start_addr;
/* Increment index to get the error status */
idx++;
/* Error when NVM load action fails */
nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
/* Error when NVM program action fails */
nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
/* Error when NVM erase action fails */
nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
/* Error when NVM program limit is exceeded */
nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
/* Error when NVM privilege mode is not acquired */
nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API is used to get enable status of gyroscope user gain
* update.
*/
static int8_t get_user_gain_upd_status(uint8_t *status, 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;
/* Variable to check APS status */
uint8_t aps_stat = 0;
/* Initialize feature configuration for gyroscope user gain */
struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
/* Search for user gain feature and extract its configuration details */
feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
if (feat_found)
{
/* Disable advance power save */
aps_stat = dev->aps_status;
if (aps_stat == BMI2_ENABLE)
{
rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
}
if (rslt == BMI2_OK)
{
/* Get the configuration from the page where user gain feature resides */
rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset for enable/disable of user gain */
idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
/* Set the feature enable status */
*status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
}
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
/* Enable Advance power save if disabled while configuring and not when already disabled */
if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
{
rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
}
return rslt;
}
/*!
* @brief This internal API gets the output values of step activity.
*/
static int8_t get_step_activity_output(uint8_t *step_act, 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 step activity */
struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
/* Search for step activity output feature and extract its configuration details */
feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
if (feat_found)
{
/* Get the feature output configuration for step-activity */
rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for step activity output */
idx = step_act_out_config.start_addr;
/* Get the step activity output */
*step_act = feat_config[idx];
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API gets the error status related to virtual frames.
*/
static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_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 VFRM error status */
struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
/* Search for VFRM error status feature and extract its configuration details */
feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
if (feat_found)
{
/* Get the feature output configuration for VFRM error status */
rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
if (rslt == BMI2_OK)
{
/* Define the offset in bytes for VFRM error status */
idx = vfrm_err_cfg.start_addr;
/* Increment index to get the error status */
idx++;
/* Internal error while acquiring lock for FIFO */
vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
/* Internal error while writing byte into FIFO */
vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
/* Internal error while writing into FIFO */
vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
}
}
else
{
rslt = BMI2_E_INVALID_SENSOR;
}
return rslt;
}
/*!
* @brief This internal API enables/disables compensation of the gain defined
* in the GAIN register.
*/
static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Variable to define register data */
uint8_t reg_data = 0;
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_GAIN_EN, enable);
rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
}
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;
}
Reference in New Issue View Git Blame Copy Permalink