mirror of https://github.com/rusefi/bldc.git
1686 lines
53 KiB
C
1686 lines
53 KiB
C
/**
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* Copyright (C) 2018 - 2019 Bosch Sensortec GmbH
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* Neither the name of the copyright holder nor the names of the
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
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* OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
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*
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* The information provided is believed to be accurate and reliable.
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* The copyright holder assumes no responsibility
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* for the consequences of use
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* of such information nor for any infringement of patents or
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* other rights of third parties which may result from its use.
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* No license is granted by implication or otherwise under any patent or
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* patent rights of the copyright holder.
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*
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* @file bmi160_defs.h
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* @date 13 Mar 2019
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* @version 3.7.7
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* @brief
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*
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*/
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/*!
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* @defgroup bmi160_defs
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* @brief
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* @{*/
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#ifndef BMI160_DEFS_H_
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#define BMI160_DEFS_H_
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/*************************** C types headers *****************************/
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#ifdef __KERNEL__
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#include <linux/types.h>
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#include <linux/kernel.h>
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#else
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#include <stdint.h>
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#include <stddef.h>
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#endif
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/*************************** Common macros *****************************/
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#if !defined(UINT8_C) && !defined(INT8_C)
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#define INT8_C(x) S8_C(x)
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#define UINT8_C(x) U8_C(x)
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#endif
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#if !defined(UINT16_C) && !defined(INT16_C)
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#define INT16_C(x) S16_C(x)
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#define UINT16_C(x) U16_C(x)
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#endif
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#if !defined(INT32_C) && !defined(UINT32_C)
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#define INT32_C(x) S32_C(x)
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#define UINT32_C(x) U32_C(x)
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#endif
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#if !defined(INT64_C) && !defined(UINT64_C)
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#define INT64_C(x) S64_C(x)
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#define UINT64_C(x) U64_C(x)
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#endif
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/**@}*/
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/**\name C standard macros */
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#ifndef NULL
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#ifdef __cplusplus
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#define NULL 0
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#else
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#define NULL ((void *) 0)
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#endif
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#endif
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/*************************** Sensor macros *****************************/
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/* Test for an endian machine */
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#ifndef __ORDER_LITTLE_ENDIAN__
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#define __ORDER_LITTLE_ENDIAN__ 0
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#endif
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#ifndef __BYTE_ORDER__
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#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
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#endif
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#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
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#define LITTLE_ENDIAN 1
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#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
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#define BIG_ENDIAN 1
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#else
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#error "Code does not support Endian format of the processor"
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#endif
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/** Mask definitions */
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#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
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#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
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#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
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#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
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#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
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#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
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#define BMI160_GYRO_RANGE_MSK UINT8_C(0x07)
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/** Mask definitions for INT_EN registers */
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#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
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#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
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#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
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#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
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#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
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#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
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#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
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#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
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#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
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#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
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#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
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#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
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#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
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#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
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#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
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#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
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#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
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#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
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#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
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#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
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#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
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/** PMU status Macros */
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#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
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#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
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#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
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#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
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#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
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#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
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#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
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#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
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#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
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/** Mask definitions for INT_OUT_CTRL register */
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#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
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#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
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#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
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#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
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#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
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#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
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#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
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#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
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/** Mask definitions for INT_LATCH register */
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#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
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#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
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#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
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/** Mask definitions for INT_MAP register */
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#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
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#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
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#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
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#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
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#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
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#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
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#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
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#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
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#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
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#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
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#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
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#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
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#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
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#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
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#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
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#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
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#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
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#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
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#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
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#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
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#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
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#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
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#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
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#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
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/** Mask definitions for INT_DATA register */
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#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
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#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
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#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
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/** Mask definitions for INT_MOTION register */
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#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
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#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
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#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
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/** Mask definitions for INT_TAP register */
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#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
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#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
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#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
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#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
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/** Mask definitions for INT_FLAT register */
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#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
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#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
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#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
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/** Mask definitions for INT_LOWHIGH register */
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#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
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#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
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#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
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/** Mask definitions for INT_SIG_MOTION register */
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#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
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#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
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#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
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/** Mask definitions for INT_ORIENT register */
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#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
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#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
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#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
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#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
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#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
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#define BMI160_AXES_EN_MASK UINT8_C(0x80)
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/** Mask definitions for FIFO_CONFIG register */
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#define BMI160_FIFO_GYRO UINT8_C(0x80)
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#define BMI160_FIFO_ACCEL UINT8_C(0x40)
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#define BMI160_FIFO_AUX UINT8_C(0x20)
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#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
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#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
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#define BMI160_FIFO_TIME UINT8_C(0x02)
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#define BMI160_FIFO_HEADER UINT8_C(0x10)
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#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
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/** Mask definitions for STEP_CONF register */
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#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
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#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
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#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
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#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
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/** Mask definition for FIFO Header Data Tag */
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#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
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/** Fifo byte counter mask definitions */
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#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
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/** Enable/disable bit value */
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#define BMI160_ENABLE UINT8_C(0x01)
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#define BMI160_DISABLE UINT8_C(0x00)
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/** Latch Duration */
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#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
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#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
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#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
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#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
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#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
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#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
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#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
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#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
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#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
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#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
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#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
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#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
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#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
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#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
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#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
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#define BMI160_LATCHED UINT8_C(0x0F)
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/** BMI160 Register map */
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#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
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#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
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#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
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#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
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#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
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#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
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#define BMI160_STATUS_ADDR UINT8_C(0x1B)
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#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
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#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
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#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
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#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
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#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
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#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
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#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
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#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
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#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
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#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
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#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
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#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
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#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
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#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
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#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
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#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
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#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
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#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
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#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
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#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
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#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
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#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
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#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
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#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
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#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
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#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
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#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
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#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
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#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
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#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
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#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
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#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
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#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
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#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
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#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
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#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
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#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
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#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
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#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
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#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
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#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
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#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
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#define BMI160_CONF_ADDR UINT8_C(0x6A)
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#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
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#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
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#define BMI160_OFFSET_ADDR UINT8_C(0x71)
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#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
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#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
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#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
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#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
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#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
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#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
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#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
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/** Error code definitions */
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#define BMI160_OK INT8_C(0)
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#define BMI160_E_NULL_PTR INT8_C(-1)
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#define BMI160_E_COM_FAIL INT8_C(-2)
|
|
#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
|
|
#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
|
|
#define BMI160_E_INVALID_INPUT INT8_C(-5)
|
|
#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
|
|
#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
|
|
#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
|
|
#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
|
|
#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
|
|
#define BMI160_FOC_FAILURE INT8_C(-11)
|
|
|
|
/**\name API warning codes */
|
|
#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
|
|
#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
|
|
|
|
/** BMI160 unique chip identifier */
|
|
#define BMI160_CHIP_ID UINT8_C(0xD1)
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|
|
|
/** Soft reset command */
|
|
#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
|
|
#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1)
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|
|
|
/** Start FOC command */
|
|
#define BMI160_START_FOC_CMD UINT8_C(0x03)
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|
|
|
/** NVM backup enabling command */
|
|
#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
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|
|
|
/* Delay in ms settings */
|
|
#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
|
|
#define BMI160_GYRO_DELAY_MS UINT8_C(81)
|
|
#define BMI160_ONE_MS_DELAY UINT8_C(1)
|
|
#define BMI160_AUX_COM_DELAY UINT8_C(10)
|
|
#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
|
|
#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
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|
|
|
/** Self test configurations */
|
|
#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
|
|
#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
|
|
#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
|
|
#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
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|
|
|
/** Power mode settings */
|
|
/* Accel power mode */
|
|
#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
|
|
#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
|
|
#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
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|
|
|
/* Gyro power mode */
|
|
#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
|
|
#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
|
|
#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
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|
|
|
/* Aux power mode */
|
|
#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
|
|
#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
|
|
#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
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|
|
|
/** Range settings */
|
|
/* Accel Range */
|
|
#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
|
|
#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
|
|
#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
|
|
#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
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|
|
|
/* Gyro Range */
|
|
#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
|
|
#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
|
|
#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
|
|
#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
|
|
#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
|
|
|
|
/** Bandwidth settings */
|
|
/* Accel Bandwidth */
|
|
#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
|
|
#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
|
|
#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
|
|
#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
|
|
#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
|
|
#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
|
|
#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
|
|
#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
|
|
|
|
#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
|
|
#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
|
|
#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
|
|
|
|
/* Output Data Rate settings */
|
|
/* Accel Output data rate */
|
|
#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
|
|
#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
|
|
#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
|
|
#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
|
|
#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
|
|
#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
|
|
#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
|
|
#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
|
|
#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
|
|
#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
|
|
#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
|
|
#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
|
|
#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
|
|
#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
|
|
#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
|
|
#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
|
|
|
|
/* Gyro Output data rate */
|
|
#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
|
|
#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
|
|
#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
|
|
#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
|
|
#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
|
|
#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
|
|
#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
|
|
#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
|
|
#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
|
|
|
|
/* Auxiliary sensor Output data rate */
|
|
#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
|
|
#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
|
|
#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
|
|
#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
|
|
#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
|
|
#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
|
|
#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
|
|
#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
|
|
#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
|
|
#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
|
|
#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
|
|
#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
|
|
|
|
/* Maximum limits definition */
|
|
#define BMI160_ACCEL_ODR_MAX UINT8_C(15)
|
|
#define BMI160_ACCEL_BW_MAX UINT8_C(2)
|
|
#define BMI160_ACCEL_RANGE_MAX UINT8_C(12)
|
|
#define BMI160_GYRO_ODR_MAX UINT8_C(13)
|
|
#define BMI160_GYRO_BW_MAX UINT8_C(2)
|
|
#define BMI160_GYRO_RANGE_MAX UINT8_C(4)
|
|
|
|
/** FIFO_CONFIG Definitions */
|
|
#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
|
|
#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
|
|
#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
|
|
#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
|
|
#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
|
|
#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
|
|
#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
|
|
#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
|
|
#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
|
|
#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
|
|
#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
|
|
|
|
/* Macro to specify the number of bytes over-read from the
|
|
* FIFO in order to get the sensor time at the end of FIFO */
|
|
#ifndef BMI160_FIFO_BYTES_OVERREAD
|
|
#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
|
|
#endif
|
|
|
|
/* Accel, gyro and aux. sensor length and also their combined
|
|
* length definitions in FIFO */
|
|
#define BMI160_FIFO_G_LENGTH UINT8_C(6)
|
|
#define BMI160_FIFO_A_LENGTH UINT8_C(6)
|
|
#define BMI160_FIFO_M_LENGTH UINT8_C(8)
|
|
#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
|
|
#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
|
|
#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
|
|
#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
|
|
|
|
/** FIFO Header Data definitions */
|
|
#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
|
|
#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
|
|
#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
|
|
#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
|
|
#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
|
|
#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
|
|
#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
|
|
#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
|
|
#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
|
|
#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
|
|
#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
|
|
|
|
/** FIFO sensor time length definitions */
|
|
#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
|
|
|
|
/** FIFO DOWN selection */
|
|
/* Accel fifo down-sampling values*/
|
|
#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
|
|
#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
|
|
#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
|
|
#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
|
|
#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
|
|
#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
|
|
#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
|
|
#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
|
|
|
|
/* Gyro fifo down-smapling values*/
|
|
#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
|
|
#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
|
|
#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
|
|
#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
|
|
#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
|
|
#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
|
|
#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
|
|
#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
|
|
|
|
/* Accel Fifo filter enable*/
|
|
#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
|
|
|
|
/* Gyro Fifo filter enable*/
|
|
#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
|
|
|
|
/** Definitions to check validity of FIFO frames */
|
|
#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
|
|
#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
|
|
|
|
/*! BMI160 accel FOC configurations */
|
|
#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
|
|
#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01)
|
|
#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02)
|
|
#define BMI160_FOC_ACCEL_0G UINT8_C(0x03)
|
|
|
|
/** Array Parameter DefinItions */
|
|
#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
|
|
#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
|
|
#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
|
|
|
|
/** Interface settings */
|
|
#define BMI160_SPI_INTF UINT8_C(1)
|
|
#define BMI160_I2C_INTF UINT8_C(0)
|
|
#define BMI160_SPI_RD_MASK UINT8_C(0x80)
|
|
#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
|
|
|
|
/* Sensor & time select definition*/
|
|
#define BMI160_ACCEL_SEL UINT8_C(0x01)
|
|
#define BMI160_GYRO_SEL UINT8_C(0x02)
|
|
#define BMI160_TIME_SEL UINT8_C(0x04)
|
|
|
|
/* Sensor select mask*/
|
|
#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
|
|
|
|
/* Error code mask */
|
|
#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
|
|
|
|
/* BMI160 I2C address */
|
|
#define BMI160_I2C_ADDR UINT8_C(0x68)
|
|
|
|
/* BMI160 secondary IF address */
|
|
#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
|
|
|
|
/** BMI160 Length definitions */
|
|
#define BMI160_ONE UINT8_C(1)
|
|
#define BMI160_TWO UINT8_C(2)
|
|
#define BMI160_THREE UINT8_C(3)
|
|
#define BMI160_FOUR UINT8_C(4)
|
|
#define BMI160_FIVE UINT8_C(5)
|
|
|
|
/** BMI160 fifo level Margin */
|
|
#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
|
|
|
|
/** BMI160 fifo flush Command */
|
|
#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
|
|
|
|
/** BMI160 offset values for xyz axes of accel */
|
|
#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
|
|
#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
|
|
|
|
/** BMI160 offset values for xyz axes of gyro */
|
|
#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
|
|
#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
|
|
|
|
/** BMI160 fifo full interrupt position and mask */
|
|
#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
|
|
#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
|
|
#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
|
|
#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
|
|
|
|
#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
|
|
#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
|
|
#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
|
|
#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
|
|
|
|
#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
|
|
#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
|
|
#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
|
|
#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
|
|
|
|
#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
|
|
#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
|
|
#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
|
|
#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
|
|
|
|
#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
|
|
#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
|
|
#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
|
|
#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
|
|
|
|
#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
|
|
#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
|
|
|
|
#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
|
|
#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
|
|
|
|
#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
|
|
#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
|
|
|
|
#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
|
|
|
|
#define BMI160_FOC_STATUS_POS UINT8_C(3)
|
|
#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
|
|
|
|
#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
|
|
|
|
#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
|
|
#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
|
|
|
|
#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
|
|
#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
|
|
|
|
#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
|
|
#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
|
|
|
|
#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
|
|
#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
|
|
|
|
#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
|
|
#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
|
|
|
|
#define BMI160_NVM_UPDATE_POS UINT8_C(1)
|
|
#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
|
|
|
|
#define BMI160_NVM_STATUS_POS UINT8_C(4)
|
|
#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
|
|
|
|
#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
|
|
|
|
#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
|
|
#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
|
|
|
|
#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
|
|
#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
|
|
|
|
/* BIT SLICE GET AND SET FUNCTIONS */
|
|
#define BMI160_GET_BITS(regvar, bitname) \
|
|
((regvar & bitname##_MSK) >> bitname##_POS)
|
|
#define BMI160_SET_BITS(regvar, bitname, val) \
|
|
((regvar & ~bitname##_MSK) | \
|
|
((val << bitname##_POS) & bitname##_MSK))
|
|
|
|
#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
|
|
((reg_data & ~(bitname##_MSK)) | \
|
|
(data & bitname##_MSK))
|
|
|
|
#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
|
|
|
|
/**\name UTILITY MACROS */
|
|
#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
|
|
#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
|
|
|
|
#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
|
|
#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
|
|
|
|
/*****************************************************************************/
|
|
/* type definitions */
|
|
typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
|
|
typedef void (*bmi160_delay_fptr_t)(uint32_t period);
|
|
|
|
/*************************** Data structures *********************************/
|
|
struct bmi160_pmu_status
|
|
{
|
|
/*! Power mode status of Accel
|
|
* Possible values :
|
|
* - BMI160_ACCEL_PMU_SUSPEND
|
|
* - BMI160_ACCEL_PMU_NORMAL
|
|
* - BMI160_ACCEL_PMU_LOW_POWER
|
|
*/
|
|
uint8_t accel_pmu_status;
|
|
|
|
/*! Power mode status of Gyro
|
|
* Possible values :
|
|
* - BMI160_GYRO_PMU_SUSPEND
|
|
* - BMI160_GYRO_PMU_NORMAL
|
|
* - BMI160_GYRO_PMU_FSU
|
|
*/
|
|
uint8_t gyro_pmu_status;
|
|
|
|
/*! Power mode status of 'Auxiliary sensor interface' whereas the actual
|
|
* power mode of the aux. sensor should be configured
|
|
* according to the connected sensor specifications
|
|
* Possible values :
|
|
* - BMI160_AUX_PMU_SUSPEND
|
|
* - BMI160_AUX_PMU_NORMAL
|
|
* - BMI160_AUX_PMU_LOW_POWER
|
|
*/
|
|
uint8_t aux_pmu_status;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 interrupt status selection enum.
|
|
*/
|
|
enum bmi160_int_status_sel {
|
|
BMI160_INT_STATUS_0 = 1,
|
|
BMI160_INT_STATUS_1 = 2,
|
|
BMI160_INT_STATUS_2 = 4,
|
|
BMI160_INT_STATUS_3 = 8,
|
|
BMI160_INT_STATUS_ALL = 15
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 interrupt status bits structure
|
|
*/
|
|
struct bmi160_int_status_bits
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
uint32_t step : 1;
|
|
uint32_t sigmot : 1;
|
|
uint32_t anym : 1;
|
|
|
|
/* pmu trigger will be handled later */
|
|
uint32_t pmu_trigger_reserved : 1;
|
|
uint32_t d_tap : 1;
|
|
uint32_t s_tap : 1;
|
|
uint32_t orient : 1;
|
|
uint32_t flat_int : 1;
|
|
uint32_t reserved : 2;
|
|
uint32_t high_g : 1;
|
|
uint32_t low_g : 1;
|
|
uint32_t drdy : 1;
|
|
uint32_t ffull : 1;
|
|
uint32_t fwm : 1;
|
|
uint32_t nomo : 1;
|
|
uint32_t anym_first_x : 1;
|
|
uint32_t anym_first_y : 1;
|
|
uint32_t anym_first_z : 1;
|
|
uint32_t anym_sign : 1;
|
|
uint32_t tap_first_x : 1;
|
|
uint32_t tap_first_y : 1;
|
|
uint32_t tap_first_z : 1;
|
|
uint32_t tap_sign : 1;
|
|
uint32_t high_first_x : 1;
|
|
uint32_t high_first_y : 1;
|
|
uint32_t high_first_z : 1;
|
|
uint32_t high_sign : 1;
|
|
uint32_t orient_1_0 : 2;
|
|
uint32_t orient_2 : 1;
|
|
uint32_t flat : 1;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
uint32_t high_first_x : 1;
|
|
uint32_t high_first_y : 1;
|
|
uint32_t high_first_z : 1;
|
|
uint32_t high_sign : 1;
|
|
uint32_t orient_1_0 : 2;
|
|
uint32_t orient_2 : 1;
|
|
uint32_t flat : 1;
|
|
uint32_t anym_first_x : 1;
|
|
uint32_t anym_first_y : 1;
|
|
uint32_t anym_first_z : 1;
|
|
uint32_t anym_sign : 1;
|
|
uint32_t tap_first_x : 1;
|
|
uint32_t tap_first_y : 1;
|
|
uint32_t tap_first_z : 1;
|
|
uint32_t tap_sign : 1;
|
|
uint32_t reserved : 2;
|
|
uint32_t high_g : 1;
|
|
uint32_t low_g : 1;
|
|
uint32_t drdy : 1;
|
|
uint32_t ffull : 1;
|
|
uint32_t fwm : 1;
|
|
uint32_t nomo : 1;
|
|
uint32_t step : 1;
|
|
uint32_t sigmot : 1;
|
|
uint32_t anym : 1;
|
|
|
|
/* pmu trigger will be handled later */
|
|
uint32_t pmu_trigger_reserved : 1;
|
|
uint32_t d_tap : 1;
|
|
uint32_t s_tap : 1;
|
|
uint32_t orient : 1;
|
|
uint32_t flat_int : 1;
|
|
#endif
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 interrupt status structure
|
|
*/
|
|
union bmi160_int_status
|
|
{
|
|
uint8_t data[4];
|
|
struct bmi160_int_status_bits bit;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 sensor data structure which comprises of accel data
|
|
*/
|
|
struct bmi160_sensor_data
|
|
{
|
|
/*! X-axis sensor data */
|
|
int16_t x;
|
|
|
|
/*! Y-axis sensor data */
|
|
int16_t y;
|
|
|
|
/*! Z-axis sensor data */
|
|
int16_t z;
|
|
|
|
/*! sensor time */
|
|
uint32_t sensortime;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 aux data structure which comprises of 8 bytes of accel data
|
|
*/
|
|
struct bmi160_aux_data
|
|
{
|
|
/*! Auxiliary data */
|
|
uint8_t data[8];
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 FOC configuration structure
|
|
*/
|
|
struct bmi160_foc_conf
|
|
{
|
|
/*! Enabling FOC in gyro
|
|
* Assignable macros :
|
|
* - BMI160_ENABLE
|
|
* - BMI160_DISABLE
|
|
*/
|
|
uint8_t foc_gyr_en;
|
|
|
|
/*! Accel FOC configurations
|
|
* Assignable macros :
|
|
* - BMI160_FOC_ACCEL_DISABLED
|
|
* - BMI160_FOC_ACCEL_POSITIVE_G
|
|
* - BMI160_FOC_ACCEL_NEGATIVE_G
|
|
* - BMI160_FOC_ACCEL_0G
|
|
*/
|
|
uint8_t foc_acc_x;
|
|
uint8_t foc_acc_y;
|
|
uint8_t foc_acc_z;
|
|
|
|
/*! Enabling offset compensation for accel in data registers
|
|
* Assignable macros :
|
|
* - BMI160_ENABLE
|
|
* - BMI160_DISABLE
|
|
*/
|
|
uint8_t acc_off_en;
|
|
|
|
/*! Enabling offset compensation for gyro in data registers
|
|
* Assignable macros :
|
|
* - BMI160_ENABLE
|
|
* - BMI160_DISABLE
|
|
*/
|
|
uint8_t gyro_off_en;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 accel gyro offsets
|
|
*/
|
|
struct bmi160_offsets
|
|
{
|
|
/*! Accel offset for x axis */
|
|
int8_t off_acc_x;
|
|
|
|
/*! Accel offset for y axis */
|
|
int8_t off_acc_y;
|
|
|
|
/*! Accel offset for z axis */
|
|
int8_t off_acc_z;
|
|
|
|
/*! Gyro offset for x axis */
|
|
int16_t off_gyro_x;
|
|
|
|
/*! Gyro offset for y axis */
|
|
int16_t off_gyro_y;
|
|
|
|
/*! Gyro offset for z axis */
|
|
int16_t off_gyro_z;
|
|
};
|
|
|
|
/*!
|
|
* @brief FIFO aux. sensor data structure
|
|
*/
|
|
struct bmi160_aux_fifo_data
|
|
{
|
|
/*! The value of aux. sensor x LSB data */
|
|
uint8_t aux_x_lsb;
|
|
|
|
/*! The value of aux. sensor x MSB data */
|
|
uint8_t aux_x_msb;
|
|
|
|
/*! The value of aux. sensor y LSB data */
|
|
uint8_t aux_y_lsb;
|
|
|
|
/*! The value of aux. sensor y MSB data */
|
|
uint8_t aux_y_msb;
|
|
|
|
/*! The value of aux. sensor z LSB data */
|
|
uint8_t aux_z_lsb;
|
|
|
|
/*! The value of aux. sensor z MSB data */
|
|
uint8_t aux_z_msb;
|
|
|
|
/*! The value of aux. sensor r for BMM150 LSB data */
|
|
uint8_t aux_r_y2_lsb;
|
|
|
|
/*! The value of aux. sensor r for BMM150 MSB data */
|
|
uint8_t aux_r_y2_msb;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 sensor select structure
|
|
*/
|
|
enum bmi160_select_sensor {
|
|
BMI160_ACCEL_ONLY = 1,
|
|
BMI160_GYRO_ONLY,
|
|
BMI160_BOTH_ACCEL_AND_GYRO
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 sensor step detector mode structure
|
|
*/
|
|
enum bmi160_step_detect_mode {
|
|
BMI160_STEP_DETECT_NORMAL,
|
|
BMI160_STEP_DETECT_SENSITIVE,
|
|
BMI160_STEP_DETECT_ROBUST,
|
|
|
|
/*! Non recommended User defined setting */
|
|
BMI160_STEP_DETECT_USER_DEFINE
|
|
};
|
|
|
|
/*!
|
|
* @brief enum for auxiliary burst read selection
|
|
*/
|
|
enum bm160_aux_read_len {
|
|
BMI160_AUX_READ_LEN_0,
|
|
BMI160_AUX_READ_LEN_1,
|
|
BMI160_AUX_READ_LEN_2,
|
|
BMI160_AUX_READ_LEN_3
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 sensor configuration structure
|
|
*/
|
|
struct bmi160_cfg
|
|
{
|
|
/*! power mode */
|
|
uint8_t power;
|
|
|
|
/*! output data rate */
|
|
uint8_t odr;
|
|
|
|
/*! range */
|
|
uint8_t range;
|
|
|
|
/*! bandwidth */
|
|
uint8_t bw;
|
|
};
|
|
|
|
/*!
|
|
* @brief Aux sensor configuration structure
|
|
*/
|
|
struct bmi160_aux_cfg
|
|
{
|
|
/*! Aux sensor, 1 - enable 0 - disable */
|
|
uint8_t aux_sensor_enable : 1;
|
|
|
|
/*! Aux manual/auto mode status */
|
|
uint8_t manual_enable : 1;
|
|
|
|
/*! Aux read burst length */
|
|
uint8_t aux_rd_burst_len : 2;
|
|
|
|
/*! output data rate */
|
|
uint8_t aux_odr : 4;
|
|
|
|
/*! i2c addr of auxiliary sensor */
|
|
uint8_t aux_i2c_addr;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 interrupt channel selection structure
|
|
*/
|
|
enum bmi160_int_channel {
|
|
/*! Un-map both channels */
|
|
BMI160_INT_CHANNEL_NONE,
|
|
|
|
/*! interrupt Channel 1 */
|
|
BMI160_INT_CHANNEL_1,
|
|
|
|
/*! interrupt Channel 2 */
|
|
BMI160_INT_CHANNEL_2,
|
|
|
|
/*! Map both channels */
|
|
BMI160_INT_CHANNEL_BOTH
|
|
};
|
|
enum bmi160_int_types {
|
|
/*! Slope/Any-motion interrupt */
|
|
BMI160_ACC_ANY_MOTION_INT,
|
|
|
|
/*! Significant motion interrupt */
|
|
BMI160_ACC_SIG_MOTION_INT,
|
|
|
|
/*! Step detector interrupt */
|
|
BMI160_STEP_DETECT_INT,
|
|
|
|
/*! double tap interrupt */
|
|
BMI160_ACC_DOUBLE_TAP_INT,
|
|
|
|
/*! single tap interrupt */
|
|
BMI160_ACC_SINGLE_TAP_INT,
|
|
|
|
/*! orientation interrupt */
|
|
BMI160_ACC_ORIENT_INT,
|
|
|
|
/*! flat interrupt */
|
|
BMI160_ACC_FLAT_INT,
|
|
|
|
/*! high-g interrupt */
|
|
BMI160_ACC_HIGH_G_INT,
|
|
|
|
/*! low-g interrupt */
|
|
BMI160_ACC_LOW_G_INT,
|
|
|
|
/*! slow/no-motion interrupt */
|
|
BMI160_ACC_SLOW_NO_MOTION_INT,
|
|
|
|
/*! data ready interrupt */
|
|
BMI160_ACC_GYRO_DATA_RDY_INT,
|
|
|
|
/*! fifo full interrupt */
|
|
BMI160_ACC_GYRO_FIFO_FULL_INT,
|
|
|
|
/*! fifo watermark interrupt */
|
|
BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
|
|
|
|
/*! fifo tagging feature support */
|
|
BMI160_FIFO_TAG_INT_PIN
|
|
};
|
|
|
|
/*!
|
|
* @brief bmi160 active state of any & sig motion interrupt.
|
|
*/
|
|
enum bmi160_any_sig_motion_active_interrupt_state {
|
|
/*! Both any & sig motion are disabled */
|
|
BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
|
|
|
|
/*! Any-motion selected */
|
|
BMI160_ANY_MOTION_ENABLED,
|
|
|
|
/*! Sig-motion selected */
|
|
BMI160_SIG_MOTION_ENABLED
|
|
};
|
|
struct bmi160_acc_tap_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! tap threshold */
|
|
uint16_t tap_thr : 5;
|
|
|
|
/*! tap shock */
|
|
uint16_t tap_shock : 1;
|
|
|
|
/*! tap quiet */
|
|
uint16_t tap_quiet : 1;
|
|
|
|
/*! tap duration */
|
|
uint16_t tap_dur : 3;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint16_t tap_data_src : 1;
|
|
|
|
/*! tap enable, 1 - enable, 0 - disable */
|
|
uint16_t tap_en : 1;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! tap enable, 1 - enable, 0 - disable */
|
|
uint16_t tap_en : 1;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint16_t tap_data_src : 1;
|
|
|
|
/*! tap duration */
|
|
uint16_t tap_dur : 3;
|
|
|
|
/*! tap quiet */
|
|
uint16_t tap_quiet : 1;
|
|
|
|
/*! tap shock */
|
|
uint16_t tap_shock : 1;
|
|
|
|
/*! tap threshold */
|
|
uint16_t tap_thr : 5;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_any_mot_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! 1 any-motion enable, 0 - any-motion disable */
|
|
uint8_t anymotion_en : 1;
|
|
|
|
/*! slope interrupt x, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_x : 1;
|
|
|
|
/*! slope interrupt y, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_y : 1;
|
|
|
|
/*! slope interrupt z, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_z : 1;
|
|
|
|
/*! slope duration */
|
|
uint8_t anymotion_dur : 2;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint8_t anymotion_data_src : 1;
|
|
|
|
/*! slope threshold */
|
|
uint8_t anymotion_thr;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! slope threshold */
|
|
uint8_t anymotion_thr;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint8_t anymotion_data_src : 1;
|
|
|
|
/*! slope duration */
|
|
uint8_t anymotion_dur : 2;
|
|
|
|
/*! slope interrupt z, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_z : 1;
|
|
|
|
/*! slope interrupt y, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_y : 1;
|
|
|
|
/*! slope interrupt x, 1 - enable, 0 - disable */
|
|
uint8_t anymotion_x : 1;
|
|
|
|
/*! 1 any-motion enable, 0 - any-motion disable */
|
|
uint8_t anymotion_en : 1;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_sig_mot_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! skip time of sig-motion interrupt */
|
|
uint8_t sig_mot_skip : 2;
|
|
|
|
/*! proof time of sig-motion interrupt */
|
|
uint8_t sig_mot_proof : 2;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint8_t sig_data_src : 1;
|
|
|
|
/*! 1 - enable sig, 0 - disable sig & enable anymotion */
|
|
uint8_t sig_en : 1;
|
|
|
|
/*! sig-motion threshold */
|
|
uint8_t sig_mot_thres;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! sig-motion threshold */
|
|
uint8_t sig_mot_thres;
|
|
|
|
/*! 1 - enable sig, 0 - disable sig & enable anymotion */
|
|
uint8_t sig_en : 1;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint8_t sig_data_src : 1;
|
|
|
|
/*! proof time of sig-motion interrupt */
|
|
uint8_t sig_mot_proof : 2;
|
|
|
|
/*! skip time of sig-motion interrupt */
|
|
uint8_t sig_mot_skip : 2;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_step_detect_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! 1- step detector enable, 0- step detector disable */
|
|
uint16_t step_detector_en : 1;
|
|
|
|
/*! minimum threshold */
|
|
uint16_t min_threshold : 2;
|
|
|
|
/*! minimal detectable step time */
|
|
uint16_t steptime_min : 3;
|
|
|
|
/*! enable step counter mode setting */
|
|
uint16_t step_detector_mode : 2;
|
|
|
|
/*! minimum step buffer size*/
|
|
uint16_t step_min_buf : 3;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! minimum step buffer size*/
|
|
uint16_t step_min_buf : 3;
|
|
|
|
/*! enable step counter mode setting */
|
|
uint16_t step_detector_mode : 2;
|
|
|
|
/*! minimal detectable step time */
|
|
uint16_t steptime_min : 3;
|
|
|
|
/*! minimum threshold */
|
|
uint16_t min_threshold : 2;
|
|
|
|
/*! 1- step detector enable, 0- step detector disable */
|
|
uint16_t step_detector_en : 1;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_no_motion_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! no motion interrupt x */
|
|
uint16_t no_motion_x : 1;
|
|
|
|
/*! no motion interrupt y */
|
|
uint16_t no_motion_y : 1;
|
|
|
|
/*! no motion interrupt z */
|
|
uint16_t no_motion_z : 1;
|
|
|
|
/*! no motion duration */
|
|
uint16_t no_motion_dur : 6;
|
|
|
|
/*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
|
|
uint16_t no_motion_sel : 1;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint16_t no_motion_src : 1;
|
|
|
|
/*! no motion threshold */
|
|
uint8_t no_motion_thres;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! no motion threshold */
|
|
uint8_t no_motion_thres;
|
|
|
|
/*! data source 0- filter & 1 pre-filter*/
|
|
uint16_t no_motion_src : 1;
|
|
|
|
/*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
|
|
uint16_t no_motion_sel : 1;
|
|
|
|
/*! no motion duration */
|
|
uint16_t no_motion_dur : 6;
|
|
|
|
/* no motion interrupt z */
|
|
uint16_t no_motion_z : 1;
|
|
|
|
/*! no motion interrupt y */
|
|
uint16_t no_motion_y : 1;
|
|
|
|
/*! no motion interrupt x */
|
|
uint16_t no_motion_x : 1;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_orient_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! thresholds for switching between the different orientations */
|
|
uint16_t orient_mode : 2;
|
|
|
|
/*! blocking_mode */
|
|
uint16_t orient_blocking : 2;
|
|
|
|
/*! Orientation interrupt hysteresis */
|
|
uint16_t orient_hyst : 4;
|
|
|
|
/*! Orientation interrupt theta */
|
|
uint16_t orient_theta : 6;
|
|
|
|
/*! Enable/disable Orientation interrupt */
|
|
uint16_t orient_ud_en : 1;
|
|
|
|
/*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
|
|
uint16_t axes_ex : 1;
|
|
|
|
/*! 1 - orient enable, 0 - orient disable */
|
|
uint8_t orient_en : 1;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! 1 - orient enable, 0 - orient disable */
|
|
uint8_t orient_en : 1;
|
|
|
|
/*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
|
|
uint16_t axes_ex : 1;
|
|
|
|
/*! Enable/disable Orientation interrupt */
|
|
uint16_t orient_ud_en : 1;
|
|
|
|
/*! Orientation interrupt theta */
|
|
uint16_t orient_theta : 6;
|
|
|
|
/*! Orientation interrupt hysteresis */
|
|
uint16_t orient_hyst : 4;
|
|
|
|
/*! blocking_mode */
|
|
uint16_t orient_blocking : 2;
|
|
|
|
/*! thresholds for switching between the different orientations */
|
|
uint16_t orient_mode : 2;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_flat_detect_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! flat threshold */
|
|
uint16_t flat_theta : 6;
|
|
|
|
/*! flat interrupt hysteresis */
|
|
uint16_t flat_hy : 3;
|
|
|
|
/*! delay time for which the flat value must remain stable for the
|
|
* flat interrupt to be generated */
|
|
uint16_t flat_hold_time : 2;
|
|
|
|
/*! 1 - flat enable, 0 - flat disable */
|
|
uint16_t flat_en : 1;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! 1 - flat enable, 0 - flat disable */
|
|
uint16_t flat_en : 1;
|
|
|
|
/*! delay time for which the flat value must remain stable for the
|
|
* flat interrupt to be generated */
|
|
uint16_t flat_hold_time : 2;
|
|
|
|
/*! flat interrupt hysteresis */
|
|
uint16_t flat_hy : 3;
|
|
|
|
/*! flat threshold */
|
|
uint16_t flat_theta : 6;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_low_g_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! low-g interrupt trigger delay */
|
|
uint8_t low_dur;
|
|
|
|
/*! low-g interrupt trigger threshold */
|
|
uint8_t low_thres;
|
|
|
|
/*! hysteresis of low-g interrupt */
|
|
uint8_t low_hyst : 2;
|
|
|
|
/*! 0 - single-axis mode ,1 - axis-summing mode */
|
|
uint8_t low_mode : 1;
|
|
|
|
/*! data source 0- filter & 1 pre-filter */
|
|
uint8_t low_data_src : 1;
|
|
|
|
/*! 1 - enable low-g, 0 - disable low-g */
|
|
uint8_t low_en : 1;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! 1 - enable low-g, 0 - disable low-g */
|
|
uint8_t low_en : 1;
|
|
|
|
/*! data source 0- filter & 1 pre-filter */
|
|
uint8_t low_data_src : 1;
|
|
|
|
/*! 0 - single-axis mode ,1 - axis-summing mode */
|
|
uint8_t low_mode : 1;
|
|
|
|
/*! hysteresis of low-g interrupt */
|
|
uint8_t low_hyst : 2;
|
|
|
|
/*! low-g interrupt trigger threshold */
|
|
uint8_t low_thres;
|
|
|
|
/*! low-g interrupt trigger delay */
|
|
uint8_t low_dur;
|
|
#endif
|
|
};
|
|
struct bmi160_acc_high_g_int_cfg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! High-g interrupt x, 1 - enable, 0 - disable */
|
|
uint8_t high_g_x : 1;
|
|
|
|
/*! High-g interrupt y, 1 - enable, 0 - disable */
|
|
uint8_t high_g_y : 1;
|
|
|
|
/*! High-g interrupt z, 1 - enable, 0 - disable */
|
|
uint8_t high_g_z : 1;
|
|
|
|
/*! High-g hysteresis */
|
|
uint8_t high_hy : 2;
|
|
|
|
/*! data source 0- filter & 1 pre-filter */
|
|
uint8_t high_data_src : 1;
|
|
|
|
/*! High-g threshold */
|
|
uint8_t high_thres;
|
|
|
|
/*! High-g duration */
|
|
uint8_t high_dur;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! High-g duration */
|
|
uint8_t high_dur;
|
|
|
|
/*! High-g threshold */
|
|
uint8_t high_thres;
|
|
|
|
/*! data source 0- filter & 1 pre-filter */
|
|
uint8_t high_data_src : 1;
|
|
|
|
/*! High-g hysteresis */
|
|
uint8_t high_hy : 2;
|
|
|
|
/*! High-g interrupt z, 1 - enable, 0 - disable */
|
|
uint8_t high_g_z : 1;
|
|
|
|
/*! High-g interrupt y, 1 - enable, 0 - disable */
|
|
uint8_t high_g_y : 1;
|
|
|
|
/*! High-g interrupt x, 1 - enable, 0 - disable */
|
|
uint8_t high_g_x : 1;
|
|
#endif
|
|
};
|
|
struct bmi160_int_pin_settg
|
|
{
|
|
#ifdef LITTLE_ENDIAN
|
|
|
|
/*! To enable either INT1 or INT2 pin as output.
|
|
* 0- output disabled ,1- output enabled */
|
|
uint16_t output_en : 1;
|
|
|
|
/*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
|
|
uint16_t output_mode : 1;
|
|
|
|
/*! 0 - active low , 1 - active high level.
|
|
* if output_en is 1,this applies to interrupts,else PMU_trigger */
|
|
uint16_t output_type : 1;
|
|
|
|
/*! 0 - level trigger , 1 - edge trigger */
|
|
uint16_t edge_ctrl : 1;
|
|
|
|
/*! To enable either INT1 or INT2 pin as input.
|
|
* 0 - input disabled ,1 - input enabled */
|
|
uint16_t input_en : 1;
|
|
|
|
/*! latch duration*/
|
|
uint16_t latch_dur : 4;
|
|
#endif
|
|
#ifdef BIG_ENDIAN
|
|
|
|
/*! latch duration*/
|
|
uint16_t latch_dur : 4;
|
|
|
|
/*! Latched,non-latched or temporary interrupt modes */
|
|
uint16_t input_en : 1;
|
|
|
|
/*! 1 - edge trigger, 0 - level trigger */
|
|
uint16_t edge_ctrl : 1;
|
|
|
|
/*! 0 - active low , 1 - active high level.
|
|
* if output_en is 1,this applies to interrupts,else PMU_trigger */
|
|
uint16_t output_type : 1;
|
|
|
|
/*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
|
|
uint16_t output_mode : 1;
|
|
|
|
/*! To enable either INT1 or INT2 pin as output.
|
|
* 0 - output disabled , 1 - output enabled */
|
|
uint16_t output_en : 1;
|
|
#endif
|
|
};
|
|
union bmi160_int_type_cfg
|
|
{
|
|
/*! Tap interrupt structure */
|
|
struct bmi160_acc_tap_int_cfg acc_tap_int;
|
|
|
|
/*! Slope interrupt structure */
|
|
struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
|
|
|
|
/*! Significant motion interrupt structure */
|
|
struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
|
|
|
|
/*! Step detector interrupt structure */
|
|
struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
|
|
|
|
/*! No motion interrupt structure */
|
|
struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
|
|
|
|
/*! Orientation interrupt structure */
|
|
struct bmi160_acc_orient_int_cfg acc_orient_int;
|
|
|
|
/*! Flat interrupt structure */
|
|
struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
|
|
|
|
/*! Low-g interrupt structure */
|
|
struct bmi160_acc_low_g_int_cfg acc_low_g_int;
|
|
|
|
/*! High-g interrupt structure */
|
|
struct bmi160_acc_high_g_int_cfg acc_high_g_int;
|
|
};
|
|
struct bmi160_int_settg
|
|
{
|
|
/*! Interrupt channel */
|
|
enum bmi160_int_channel int_channel;
|
|
|
|
/*! Select Interrupt */
|
|
enum bmi160_int_types int_type;
|
|
|
|
/*! Structure configuring Interrupt pins */
|
|
struct bmi160_int_pin_settg int_pin_settg;
|
|
|
|
/*! Union configures required interrupt */
|
|
union bmi160_int_type_cfg int_type_cfg;
|
|
|
|
/*! FIFO FULL INT 1-enable, 0-disable */
|
|
uint8_t fifo_full_int_en : 1;
|
|
|
|
/*! FIFO WTM INT 1-enable, 0-disable */
|
|
uint8_t fifo_WTM_int_en : 1;
|
|
};
|
|
|
|
/*!
|
|
* @brief This structure holds the information for usage of
|
|
* FIFO by the user.
|
|
*/
|
|
struct bmi160_fifo_frame
|
|
{
|
|
/*! Data buffer of user defined length is to be mapped here */
|
|
uint8_t *data;
|
|
|
|
/*! While calling the API "bmi160_get_fifo_data" , length stores
|
|
* number of bytes in FIFO to be read (specified by user as input)
|
|
* and after execution of the API ,number of FIFO data bytes
|
|
* available is provided as an output to user
|
|
*/
|
|
uint16_t length;
|
|
|
|
/*! FIFO time enable */
|
|
uint8_t fifo_time_enable;
|
|
|
|
/*! Enabling of the FIFO header to stream in header mode */
|
|
uint8_t fifo_header_enable;
|
|
|
|
/*! Streaming of the Accelerometer, Gyroscope
|
|
* sensor data or both in FIFO */
|
|
uint8_t fifo_data_enable;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t accel_byte_start_idx;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t gyro_byte_start_idx;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t aux_byte_start_idx;
|
|
|
|
/*! Value of FIFO sensor time time */
|
|
uint32_t sensor_time;
|
|
|
|
/*! Value of Skipped frame counts */
|
|
uint8_t skipped_frame_count;
|
|
};
|
|
struct bmi160_dev
|
|
{
|
|
/*! Chip Id */
|
|
uint8_t chip_id;
|
|
|
|
/*! Device Id */
|
|
uint8_t id;
|
|
|
|
/*! 0 - I2C , 1 - SPI Interface */
|
|
uint8_t interface;
|
|
|
|
/*! Hold active interrupts status for any and sig motion
|
|
* 0 - Any-motion enable, 1 - Sig-motion enable,
|
|
* -1 neither any-motion nor sig-motion selected */
|
|
enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
|
|
|
|
/*! Structure to configure Accel sensor */
|
|
struct bmi160_cfg accel_cfg;
|
|
|
|
/*! Structure to hold previous/old accel config parameters.
|
|
* This is used at driver level to prevent overwriting of same
|
|
* data, hence user does not change it in the code */
|
|
struct bmi160_cfg prev_accel_cfg;
|
|
|
|
/*! Structure to configure Gyro sensor */
|
|
struct bmi160_cfg gyro_cfg;
|
|
|
|
/*! Structure to hold previous/old gyro config parameters.
|
|
* This is used at driver level to prevent overwriting of same
|
|
* data, hence user does not change it in the code */
|
|
struct bmi160_cfg prev_gyro_cfg;
|
|
|
|
/*! Structure to configure the auxiliary sensor */
|
|
struct bmi160_aux_cfg aux_cfg;
|
|
|
|
/*! Structure to hold previous/old aux config parameters.
|
|
* This is used at driver level to prevent overwriting of same
|
|
* data, hence user does not change it in the code */
|
|
struct bmi160_aux_cfg prev_aux_cfg;
|
|
|
|
/*! FIFO related configurations */
|
|
struct bmi160_fifo_frame *fifo;
|
|
|
|
/*! Read function pointer */
|
|
bmi160_com_fptr_t read;
|
|
|
|
/*! Write function pointer */
|
|
bmi160_com_fptr_t write;
|
|
|
|
/*! Delay function pointer */
|
|
bmi160_delay_fptr_t delay_ms;
|
|
};
|
|
|
|
#endif /* BMI160_DEFS_H_ */
|