mirror of https://github.com/rusefi/bldc.git
694 lines
26 KiB
C
694 lines
26 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.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
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* @brief
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* @{*/
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#ifndef BMI160_H_
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#define BMI160_H_
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/*************************** C++ guard macro *****************************/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "bmi160_defs.h"
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#ifdef __KERNEL__
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#include <bmi160_math.h>
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#else
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#endif
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/*********************** User function prototypes ************************/
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/*!
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* @brief This API is the entry point for sensor.It performs
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* the selection of I2C/SPI read mechanism according to the
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* selected interface and reads the chip-id of bmi160 sensor.
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*
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* @param[in,out] dev : Structure instance of bmi160_dev
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_init(struct bmi160_dev *dev);
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/*!
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* @brief This API reads the data from the given register address of sensor.
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*
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* @param[in] reg_addr : Register address from where the data to be read
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* @param[out] data : Pointer to data buffer to store the read data.
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* @param[in] len : No of bytes of data to be read.
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @note For most of the registers auto address increment applies, with the
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* exception of a few special registers, which trap the address. For e.g.,
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* Register address - 0x24(BMI160_FIFO_DATA_ADDR)
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
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/*!
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* @brief This API writes the given data to the register address
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* of sensor.
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*
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* @param[in] reg_addr : Register address from where the data to be written.
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* @param[in] data : Pointer to data buffer which is to be written
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* in the sensor.
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* @param[in] len : No of bytes of data to write..
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
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/*!
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* @brief This API resets and restarts the device.
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* All register values are overwritten with default parameters.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error.
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*/
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int8_t bmi160_soft_reset(struct bmi160_dev *dev);
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/*!
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* @brief This API configures the power mode, range and bandwidth
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* of sensor.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error.
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*/
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int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
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/*!
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* @brief This API sets the power mode of the sensor.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error.
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*/
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int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
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/*!
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* @brief This API gets the power mode of the sensor.
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*
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* @param[in] power_mode : Power mode of the sensor
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* power_mode Macros possible values for pmu_status->aux_pmu_status :
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* - BMI160_AUX_PMU_SUSPEND
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* - BMI160_AUX_PMU_NORMAL
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* - BMI160_AUX_PMU_LOW_POWER
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*
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* power_mode Macros possible values for pmu_status->gyro_pmu_status :
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* - BMI160_GYRO_PMU_SUSPEND
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* - BMI160_GYRO_PMU_NORMAL
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* - BMI160_GYRO_PMU_FSU
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*
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* power_mode Macros possible values for pmu_status->accel_pmu_status :
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* - BMI160_ACCEL_PMU_SUSPEND
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* - BMI160_ACCEL_PMU_NORMAL
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* - BMI160_ACCEL_PMU_LOW_POWER
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error.
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*/
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int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
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/*!
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* @brief This API reads sensor data, stores it in
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* the bmi160_sensor_data structure pointer passed by the user.
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* The user can ask for accel data ,gyro data or both sensor
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* data using bmi160_select_sensor enum
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*
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* @param[in] select_sensor : enum to choose accel,gyro or both sensor data
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* @param[out] accel : Structure pointer to store accel data
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* @param[out] gyro : Structure pointer to store gyro data
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_get_sensor_data(uint8_t select_sensor,
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struct bmi160_sensor_data *accel,
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struct bmi160_sensor_data *gyro,
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const struct bmi160_dev *dev);
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/*!
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* @brief This API configures the necessary interrupt based on
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* the user settings in the bmi160_int_settg structure instance.
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*
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* @param[in] int_config : Structure instance of bmi160_int_settg.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
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/*!
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* @brief This API enables the step counter feature.
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*
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* @param[in] step_cnt_enable : value to enable or disable
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
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/*!
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* @brief This API reads the step counter value.
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*
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* @param[in] step_val : Pointer to store the step counter value.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
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/*!
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* @brief This API reads the mention no of byte of data from the given
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* register address of auxiliary sensor.
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*
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* @param[in] reg_addr : Address of register to read.
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* @param[in] aux_data : Pointer to store the read data.
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* @param[in] len : No of bytes to read.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
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/*!
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* @brief This API writes the mention no of byte of data to the given
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* register address of auxiliary sensor.
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*
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* @param[in] reg_addr : Address of register to write.
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* @param[in] aux_data : Pointer to write data.
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* @param[in] len : No of bytes to write.
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
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/*!
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* @brief This API initialize the auxiliary sensor
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* in order to access it.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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* @note : Refer user guide for detailed info.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_aux_init(const struct bmi160_dev *dev);
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/*!
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* @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
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* Thus enabling the auto update of 8 bytes of data from auxiliary sensor
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* to BMI160 register address 0x04 to 0x0B
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*
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* @param[in] data_addr : Starting address of aux. sensor's data register
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* (BMI160 registers 0x04 to 0x0B will be updated
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* with 8 bytes of data from auxiliary sensor
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* starting from this register address.)
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @note : Set the value of auxiliary polling rate by setting
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* dev->aux_cfg.aux_odr to the required value from the table
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* before calling this API
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*
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* dev->aux_cfg.aux_odr | Auxiliary ODR (Hz)
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* -----------------------|-----------------------
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* BMI160_AUX_ODR_0_78HZ | 25/32
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* BMI160_AUX_ODR_1_56HZ | 25/16
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* BMI160_AUX_ODR_3_12HZ | 25/8
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* BMI160_AUX_ODR_6_25HZ | 25/4
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* BMI160_AUX_ODR_12_5HZ | 25/2
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* BMI160_AUX_ODR_25HZ | 25
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* BMI160_AUX_ODR_50HZ | 50
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* BMI160_AUX_ODR_100HZ | 100
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* BMI160_AUX_ODR_200HZ | 200
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* BMI160_AUX_ODR_400HZ | 400
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* BMI160_AUX_ODR_800HZ | 800
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*
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* @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
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/*!
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* @brief This API configures the 0x4C register and settings like
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* Auxiliary sensor manual enable/ disable and aux burst read length.
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
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/*!
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* @brief This API is used to read the raw uncompensated auxiliary sensor
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* data of 8 bytes from BMI160 register address 0x04 to 0x0B
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*
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* @param[in] aux_data : Pointer to user array of length 8 bytes
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* Ensure that the aux_data array is of
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* length 8 bytes
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*/
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int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
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/*!
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* @brief This is used to perform self test of accel/gyro of the BMI160 sensor
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*
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* @param[in] select_sensor : enum to choose accel or gyro for self test
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* @note self test can be performed either for accel/gyro at any instant.
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*
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* value of select_sensor | Inference
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*----------------------------------|--------------------------------
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* BMI160_ACCEL_ONLY | Accel self test enabled
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* BMI160_GYRO_ONLY | Gyro self test enabled
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* BMI160_BOTH_ACCEL_AND_GYRO | NOT TO BE USED
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*
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* @note The return value of this API gives us the result of self test.
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*
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* @note Performing self test does soft reset of the sensor, User can
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* set the desired settings after performing the self test.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error / +ve value -> Self-test fail
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*
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* Return value | Result of self test
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* --------------------------------|---------------------------------
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* BMI160_OK | Self test success
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* BMI160_W_GYRO_SELF_TEST_FAIL | Gyro self test fail
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* BMI160_W_ACCEl_SELF_TEST_FAIL | Accel self test fail
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*/
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int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
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/*!
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* @brief This API reads data from the fifo buffer.
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*
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* @note User has to allocate the FIFO buffer along with
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* corresponding fifo length from his side before calling this API
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* as mentioned in the readme.md
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*
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* @note User must specify the number of bytes to read from the FIFO in
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* dev->fifo->length , It will be updated by the number of bytes actually
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* read from FIFO after calling this API
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return Result of API execution status
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* @retval zero -> Success / -ve value -> Error
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*
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*/
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int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
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/*!
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* @brief This API writes fifo_flush command to command register.This
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* action clears all data in the Fifo without changing fifo configuration
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* settings.
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*
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* @return Result of API execution status
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* @retval 0 -> Success
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* @retval Any non zero value -> Fail
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*
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*/
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int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
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/*! @brief This API sets the FIFO configuration in the sensor.
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*
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* @param[in] config : variable used to specify the FIFO
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* configurations which are to be enabled or disabled in the sensor.
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*
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* @note : User can set either set one or more or all FIFO configurations
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* by ORing the below mentioned macros.
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* config | Value
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* ------------------------|---------------------------
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* BMI160_FIFO_TIME | 0x02
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* BMI160_FIFO_TAG_INT2 | 0x04
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* BMI160_FIFO_TAG_INT1 | 0x08
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* BMI160_FIFO_HEADER | 0x10
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* BMI160_FIFO_AUX | 0x20
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* BMI160_FIFO_ACCEL | 0x40
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* BMI160_FIFO_GYRO | 0x80
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*
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* @param[in] enable : Parameter used to enable or disable the above
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* FIFO configuration
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return status of bus communication result
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* @retval 0 -> Success
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* @retval Any non zero value -> Fail
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*
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*/
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int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
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/*! @brief This API is used to configure the down sampling ratios of
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* the accel and gyro data for FIFO.Also, it configures filtered or
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* pre-filtered data for the fifo for accel and gyro.
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*
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* @param[in] fifo_down : variable used to specify the FIFO down
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* configurations which are to be enabled or disabled in the sensor.
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*
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* @note The user must select one among the following macros to
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* select down-sampling ratio for accel
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* config | Value
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* -------------------------------------|---------------------------
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* BMI160_ACCEL_FIFO_DOWN_ZERO | 0x00
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* BMI160_ACCEL_FIFO_DOWN_ONE | 0x10
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* BMI160_ACCEL_FIFO_DOWN_TWO | 0x20
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* BMI160_ACCEL_FIFO_DOWN_THREE | 0x30
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* BMI160_ACCEL_FIFO_DOWN_FOUR | 0x40
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* BMI160_ACCEL_FIFO_DOWN_FIVE | 0x50
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* BMI160_ACCEL_FIFO_DOWN_SIX | 0x60
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* BMI160_ACCEL_FIFO_DOWN_SEVEN | 0x70
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*
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* @note The user must select one among the following macros to
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* select down-sampling ratio for gyro
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*
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* config | Value
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* -------------------------------------|---------------------------
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* BMI160_GYRO_FIFO_DOWN_ZERO | 0x00
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* BMI160_GYRO_FIFO_DOWN_ONE | 0x01
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* BMI160_GYRO_FIFO_DOWN_TWO | 0x02
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* BMI160_GYRO_FIFO_DOWN_THREE | 0x03
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* BMI160_GYRO_FIFO_DOWN_FOUR | 0x04
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* BMI160_GYRO_FIFO_DOWN_FIVE | 0x05
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* BMI160_GYRO_FIFO_DOWN_SIX | 0x06
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* BMI160_GYRO_FIFO_DOWN_SEVEN | 0x07
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*
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* @note The user can enable filtered accel data by the following macro
|
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* config | Value
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|
* -------------------------------------|---------------------------
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* BMI160_ACCEL_FIFO_FILT_EN | 0x80
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*
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* @note The user can enable filtered gyro data by the following macro
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* config | Value
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|
* -------------------------------------|---------------------------
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* BMI160_GYRO_FIFO_FILT_EN | 0x08
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*
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* @note : By ORing the above mentioned macros, the user can select
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* the required FIFO down config settings
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*
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* @param[in] dev : Structure instance of bmi160_dev.
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*
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* @return status of bus communication result
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* @retval 0 -> Success
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* @retval Any non zero value -> Fail
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*
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|
*/
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int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
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/*!
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* @brief This API sets the FIFO watermark level in the sensor.
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*
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* @note The FIFO watermark is issued when the FIFO fill level is
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* equal or above the watermark level and units of watermark is 4 bytes.
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*
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* @param[in] fifo_wm : Variable used to set the FIFO water mark level
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* @param[in] dev : Structure instance of bmi160_dev
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*
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* @return Result of API execution status
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* @retval 0 -> Success
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* @retval Any non zero value -> Fail
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|
*
|
|
*/
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int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
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|
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/*!
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* @brief This API parses and extracts the accelerometer frames from
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* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
|
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* the "accel_data" structure instance.
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*
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* @note The bmi160_extract_accel API should be called only after
|
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* reading the FIFO data by calling the bmi160_get_fifo_data() API.
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*
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* @param[out] accel_data : Structure instance of bmi160_sensor_data
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* where the accelerometer data in FIFO is stored.
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* @param[in,out] accel_length : Number of valid accelerometer frames
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* (x,y,z axes data) read out from fifo.
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* @param[in] dev : Structure instance of bmi160_dev.
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*
|
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* @note accel_length is updated with the number of valid accelerometer
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* frames extracted from fifo (1 accel frame = 6 bytes) at the end of
|
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* execution of this API.
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*
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|
* @return Result of API execution status
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* @retval 0 -> Success
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* @retval Any non zero value -> Fail
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*
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|
*/
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int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
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|
|
|
/*!
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|
* @brief This API parses and extracts the gyro frames from
|
|
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
|
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* the "gyro_data" structure instance.
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|
*
|
|
* @note The bmi160_extract_gyro API should be called only after
|
|
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
|
|
*
|
|
* @param[out] gyro_data : Structure instance of bmi160_sensor_data
|
|
* where the gyro data in FIFO is stored.
|
|
* @param[in,out] gyro_length : Number of valid gyro frames
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|
* (x,y,z axes data) read out from fifo.
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @note gyro_length is updated with the number of valid gyro
|
|
* frames extracted from fifo (1 gyro frame = 6 bytes) at the end of
|
|
* execution of this API.
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*
|
|
*/
|
|
int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
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|
|
|
/*!
|
|
* @brief This API parses and extracts the aux frames from
|
|
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
|
|
* the bmi160_aux_data structure instance.
|
|
*
|
|
* @note The bmi160_extract_aux API should be called only after
|
|
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
|
|
*
|
|
* @param[out] aux_data : Structure instance of bmi160_aux_data
|
|
* where the aux data in FIFO is stored.
|
|
* @param[in,out] aux_len : Number of valid aux frames (8bytes)
|
|
* read out from FIFO.
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @note aux_len is updated with the number of valid aux
|
|
* frames extracted from fifo (1 aux frame = 8 bytes) at the end of
|
|
* execution of this API.
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*
|
|
*/
|
|
int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
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|
|
|
/*!
|
|
* @brief This API starts the FOC of accel and gyro
|
|
*
|
|
* @note FOC should not be used in low-power mode of sensor
|
|
*
|
|
* @note Accel FOC targets values of +1g , 0g , -1g
|
|
* Gyro FOC always targets value of 0 dps
|
|
*
|
|
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
|
|
* has the FOC configuration
|
|
* @param[in,out] offset : Structure instance to store Offset
|
|
* values read from sensor
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @note Pre-requisites for triggering FOC in accel , Set the following,
|
|
* Enable the acc_off_en
|
|
* Ex : foc_conf.acc_off_en = BMI160_ENABLE;
|
|
*
|
|
* Set the desired target values of FOC to each axes (x,y,z) by using the
|
|
* following macros
|
|
* - BMI160_FOC_ACCEL_DISABLED
|
|
* - BMI160_FOC_ACCEL_POSITIVE_G
|
|
* - BMI160_FOC_ACCEL_NEGATIVE_G
|
|
* - BMI160_FOC_ACCEL_0G
|
|
*
|
|
* Ex : foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G;
|
|
* foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G;
|
|
* foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G;
|
|
*
|
|
* @note Pre-requisites for triggering FOC in gyro ,
|
|
* Set the following parameters,
|
|
*
|
|
* Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
|
|
* foc_conf.gyro_off_en = BMI160_ENABLE;
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*/
|
|
int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
|
|
struct bmi160_offsets *offset,
|
|
struct bmi160_dev const *dev);
|
|
|
|
/*!
|
|
* @brief This API reads and stores the offset values of accel and gyro
|
|
*
|
|
* @param[in,out] offset : Structure instance of bmi160_offsets in which
|
|
* the offset values are read and stored
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*/
|
|
int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
|
|
|
|
/*!
|
|
* @brief This API writes the offset values of accel and gyro to
|
|
* the sensor but these values will be reset on POR or soft reset.
|
|
*
|
|
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
|
|
* has the FOC configuration
|
|
* @param[in] offset : Structure instance in which user updates offset
|
|
* values which are to be written in the sensor
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @note Offsets can be set by user like offset->off_acc_x = 10;
|
|
* where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
|
|
*
|
|
* @note BMI160 offset values for xyz axes of accel should be within range of
|
|
* BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
|
|
*
|
|
* @note BMI160 offset values for xyz axes of gyro should be within range of
|
|
* BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*/
|
|
int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
|
|
const struct bmi160_offsets *offset,
|
|
struct bmi160_dev const *dev);
|
|
|
|
/*!
|
|
* @brief This API writes the image registers values to NVM which is
|
|
* stored even after POR or soft reset
|
|
*
|
|
* @param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*/
|
|
int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
|
|
|
|
/*!
|
|
* @brief This API gets the interrupt status from the sensor.
|
|
*
|
|
* @param[in] int_status_sel : Enum variable to select either individual or all the
|
|
* interrupt status bits.
|
|
* @param[in] int_status : pointer variable to get the interrupt status
|
|
* from the sensor.
|
|
* param[in] dev : Structure instance of bmi160_dev.
|
|
*
|
|
* @return Result of API execution status
|
|
* @retval 0 -> Success
|
|
* @retval Any non zero value -> Fail
|
|
*/
|
|
int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
|
|
union bmi160_int_status *int_status,
|
|
struct bmi160_dev const *dev);
|
|
|
|
/*************************** C++ guard macro *****************************/
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* BMI160_H_ */
|
|
/** @}*/
|