BMI160 - BMI160 Initial

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BMI160 Initial

Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks

bmi160_defs.h@21:0b28b9d13164, 2018-12-04 (annotated)

Committer:: CharlesMaxim
Date:: Tue Dec 04 09:50:52 2018 +0000
Revision:: 21:0b28b9d13164

Initial Release for BMI160

Who changed what in which revision?

User	Revision	Line number	New contents of line
CharlesMaxim	21:0b28b9d13164	1	/**
CharlesMaxim	21:0b28b9d13164	2	* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
CharlesMaxim	21:0b28b9d13164	3	*
CharlesMaxim	21:0b28b9d13164	4	* Redistribution and use in source and binary forms, with or without
CharlesMaxim	21:0b28b9d13164	5	* modification, are permitted provided that the following conditions are met:
CharlesMaxim	21:0b28b9d13164	6	*
CharlesMaxim	21:0b28b9d13164	7	* Redistributions of source code must retain the above copyright
CharlesMaxim	21:0b28b9d13164	8	* notice, this list of conditions and the following disclaimer.
CharlesMaxim	21:0b28b9d13164	9	*
CharlesMaxim	21:0b28b9d13164	10	* Redistributions in binary form must reproduce the above copyright
CharlesMaxim	21:0b28b9d13164	11	* notice, this list of conditions and the following disclaimer in the
CharlesMaxim	21:0b28b9d13164	12	* documentation and/or other materials provided with the distribution.
CharlesMaxim	21:0b28b9d13164	13	*
CharlesMaxim	21:0b28b9d13164	14	* Neither the name of the copyright holder nor the names of the
CharlesMaxim	21:0b28b9d13164	15	* contributors may be used to endorse or promote products derived from
CharlesMaxim	21:0b28b9d13164	16	* this software without specific prior written permission.
CharlesMaxim	21:0b28b9d13164	17	*
CharlesMaxim	21:0b28b9d13164	18	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
CharlesMaxim	21:0b28b9d13164	19	* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
CharlesMaxim	21:0b28b9d13164	20	* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
CharlesMaxim	21:0b28b9d13164	21	* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
CharlesMaxim	21:0b28b9d13164	22	* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
CharlesMaxim	21:0b28b9d13164	23	* OR CONTRIBUTORS BE LIABLE FOR ANY
CharlesMaxim	21:0b28b9d13164	24	* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
CharlesMaxim	21:0b28b9d13164	25	* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
CharlesMaxim	21:0b28b9d13164	26	* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
CharlesMaxim	21:0b28b9d13164	27	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
CharlesMaxim	21:0b28b9d13164	28	* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
CharlesMaxim	21:0b28b9d13164	29	* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
CharlesMaxim	21:0b28b9d13164	30	* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
CharlesMaxim	21:0b28b9d13164	31	* ANY WAY OUT OF THE USE OF THIS
CharlesMaxim	21:0b28b9d13164	32	* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
CharlesMaxim	21:0b28b9d13164	33	*
CharlesMaxim	21:0b28b9d13164	34	* The information provided is believed to be accurate and reliable.
CharlesMaxim	21:0b28b9d13164	35	* The copyright holder assumes no responsibility
CharlesMaxim	21:0b28b9d13164	36	* for the consequences of use
CharlesMaxim	21:0b28b9d13164	37	* of such information nor for any infringement of patents or
CharlesMaxim	21:0b28b9d13164	38	* other rights of third parties which may result from its use.
CharlesMaxim	21:0b28b9d13164	39	* No license is granted by implication or otherwise under any patent or
CharlesMaxim	21:0b28b9d13164	40	* patent rights of the copyright holder.
CharlesMaxim	21:0b28b9d13164	41	*
CharlesMaxim	21:0b28b9d13164	42	* @file bmi160_defs.h
CharlesMaxim	21:0b28b9d13164	43	* @date 11 Jan 2018
CharlesMaxim	21:0b28b9d13164	44	* @version 3.7.5
CharlesMaxim	21:0b28b9d13164	45	* @brief
CharlesMaxim	21:0b28b9d13164	46	*
CharlesMaxim	21:0b28b9d13164	47	*/
CharlesMaxim	21:0b28b9d13164	48
CharlesMaxim	21:0b28b9d13164	49	/*!
CharlesMaxim	21:0b28b9d13164	50	* @defgroup bmi160_defs
CharlesMaxim	21:0b28b9d13164	51	* @brief
CharlesMaxim	21:0b28b9d13164	52	* @{*/
CharlesMaxim	21:0b28b9d13164	53
CharlesMaxim	21:0b28b9d13164	54	#ifndef BMI160_DEFS_H_
CharlesMaxim	21:0b28b9d13164	55	#define BMI160_DEFS_H_
CharlesMaxim	21:0b28b9d13164	56
CharlesMaxim	21:0b28b9d13164	57	/************************* C types headers ***************************/
CharlesMaxim	21:0b28b9d13164	58	#ifdef __KERNEL__
CharlesMaxim	21:0b28b9d13164	59	#include <linux/types.h>
CharlesMaxim	21:0b28b9d13164	60	#include <linux/kernel.h>
CharlesMaxim	21:0b28b9d13164	61	#else
CharlesMaxim	21:0b28b9d13164	62	#include <stdint.h>
CharlesMaxim	21:0b28b9d13164	63	#include <stddef.h>
CharlesMaxim	21:0b28b9d13164	64	#endif
CharlesMaxim	21:0b28b9d13164	65
CharlesMaxim	21:0b28b9d13164	66	/************************* Common macros ***************************/
CharlesMaxim	21:0b28b9d13164	67
CharlesMaxim	21:0b28b9d13164	68	#if !defined(UINT8_C) && !defined(INT8_C)
CharlesMaxim	21:0b28b9d13164	69	#define INT8_C(x) S8_C(x)
CharlesMaxim	21:0b28b9d13164	70	#define UINT8_C(x) U8_C(x)
CharlesMaxim	21:0b28b9d13164	71	#endif
CharlesMaxim	21:0b28b9d13164	72
CharlesMaxim	21:0b28b9d13164	73	#if !defined(UINT16_C) && !defined(INT16_C)
CharlesMaxim	21:0b28b9d13164	74	#define INT16_C(x) S16_C(x)
CharlesMaxim	21:0b28b9d13164	75	#define UINT16_C(x) U16_C(x)
CharlesMaxim	21:0b28b9d13164	76	#endif
CharlesMaxim	21:0b28b9d13164	77
CharlesMaxim	21:0b28b9d13164	78	#if !defined(INT32_C) && !defined(UINT32_C)
CharlesMaxim	21:0b28b9d13164	79	#define INT32_C(x) S32_C(x)
CharlesMaxim	21:0b28b9d13164	80	#define UINT32_C(x) U32_C(x)
CharlesMaxim	21:0b28b9d13164	81	#endif
CharlesMaxim	21:0b28b9d13164	82
CharlesMaxim	21:0b28b9d13164	83	#if !defined(INT64_C) && !defined(UINT64_C)
CharlesMaxim	21:0b28b9d13164	84	#define INT64_C(x) S64_C(x)
CharlesMaxim	21:0b28b9d13164	85	#define UINT64_C(x) U64_C(x)
CharlesMaxim	21:0b28b9d13164	86	#endif
CharlesMaxim	21:0b28b9d13164	87
CharlesMaxim	21:0b28b9d13164	88	/*@}/
CharlesMaxim	21:0b28b9d13164	89
CharlesMaxim	21:0b28b9d13164	90	/*\name C standard macros /
CharlesMaxim	21:0b28b9d13164	91	#ifndef NULL
CharlesMaxim	21:0b28b9d13164	92	#ifdef __cplusplus
CharlesMaxim	21:0b28b9d13164	93	#define NULL 0
CharlesMaxim	21:0b28b9d13164	94	#else
CharlesMaxim	21:0b28b9d13164	95	#define NULL ((void *) 0)
CharlesMaxim	21:0b28b9d13164	96	#endif
CharlesMaxim	21:0b28b9d13164	97	#endif
CharlesMaxim	21:0b28b9d13164	98
CharlesMaxim	21:0b28b9d13164	99	/************************* Sensor macros ***************************/
CharlesMaxim	21:0b28b9d13164	100	/* Test for an endian machine */
CharlesMaxim	21:0b28b9d13164	101	#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
CharlesMaxim	21:0b28b9d13164	102	#define LITTLE_ENDIAN 1
CharlesMaxim	21:0b28b9d13164	103	#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
CharlesMaxim	21:0b28b9d13164	104	#define BIG_ENDIAN 1
CharlesMaxim	21:0b28b9d13164	105	#else
CharlesMaxim	21:0b28b9d13164	106	#error "Code does not support Endian format of the processor"
CharlesMaxim	21:0b28b9d13164	107	#endif
CharlesMaxim	21:0b28b9d13164	108
CharlesMaxim	21:0b28b9d13164	109	/** Mask definitions */
CharlesMaxim	21:0b28b9d13164	110	#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
CharlesMaxim	21:0b28b9d13164	111	#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	112	#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	113	#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	114	#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	115	#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	116	#define BMI160_GYRO_RANGE_MSK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	117
CharlesMaxim	21:0b28b9d13164	118	/** Mask definitions for INT_EN registers */
CharlesMaxim	21:0b28b9d13164	119	#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	120	#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	121	#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	122	#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	123	#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	124	#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	125	#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	126	#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	127	#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	128	#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	129	#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	130	#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	131	#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	132	#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	133	#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	134	#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	135	#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	136	#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	137	#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	138	#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	139	#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	140
CharlesMaxim	21:0b28b9d13164	141	/** PMU status Macros */
CharlesMaxim	21:0b28b9d13164	142	#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	143	#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	144	#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	145
CharlesMaxim	21:0b28b9d13164	146	#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	147	#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	148	#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	149
CharlesMaxim	21:0b28b9d13164	150	#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	151	#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	152	#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	153
CharlesMaxim	21:0b28b9d13164	154	/** Mask definitions for INT_OUT_CTRL register */
CharlesMaxim	21:0b28b9d13164	155	#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	156	#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	157	#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	158	#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	159	#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	160	#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	161	#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	162	#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	163
CharlesMaxim	21:0b28b9d13164	164	/** Mask definitions for INT_LATCH register */
CharlesMaxim	21:0b28b9d13164	165	#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	166	#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	167	#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	168
CharlesMaxim	21:0b28b9d13164	169	/** Mask definitions for INT_MAP register */
CharlesMaxim	21:0b28b9d13164	170	#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	171	#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	172	#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	173	#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	174	#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	175	#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	176	#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	177	#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	178	#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	179	#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	180	#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	181	#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	182	#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	183	#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	184	#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	185	#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	186	#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	187	#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	188	#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	189	#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	190	#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	191	#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	192	#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	193	#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	194
CharlesMaxim	21:0b28b9d13164	195	/** Mask definitions for INT_DATA register */
CharlesMaxim	21:0b28b9d13164	196	#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	197	#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	198	#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	199
CharlesMaxim	21:0b28b9d13164	200	/** Mask definitions for INT_MOTION register */
CharlesMaxim	21:0b28b9d13164	201	#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	202	#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
CharlesMaxim	21:0b28b9d13164	203	#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	204
CharlesMaxim	21:0b28b9d13164	205	/** Mask definitions for INT_TAP register */
CharlesMaxim	21:0b28b9d13164	206	#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	207	#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	208	#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	209	#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
CharlesMaxim	21:0b28b9d13164	210
CharlesMaxim	21:0b28b9d13164	211	/** Mask definitions for INT_FLAT register */
CharlesMaxim	21:0b28b9d13164	212	#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
CharlesMaxim	21:0b28b9d13164	213	#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	214	#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	215
CharlesMaxim	21:0b28b9d13164	216	/** Mask definitions for INT_LOWHIGH register */
CharlesMaxim	21:0b28b9d13164	217	#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	218	#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	219	#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
CharlesMaxim	21:0b28b9d13164	220
CharlesMaxim	21:0b28b9d13164	221	/** Mask definitions for INT_SIG_MOTION register */
CharlesMaxim	21:0b28b9d13164	222	#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	223	#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	224	#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	225
CharlesMaxim	21:0b28b9d13164	226	/** Mask definitions for INT_ORIENT register */
CharlesMaxim	21:0b28b9d13164	227	#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	228	#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	229	#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
CharlesMaxim	21:0b28b9d13164	230	#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
CharlesMaxim	21:0b28b9d13164	231	#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	232	#define BMI160_AXES_EN_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	233
CharlesMaxim	21:0b28b9d13164	234	/** Mask definitions for FIFO_CONFIG register */
CharlesMaxim	21:0b28b9d13164	235	#define BMI160_FIFO_GYRO UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	236	#define BMI160_FIFO_ACCEL UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	237	#define BMI160_FIFO_AUX UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	238	#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	239	#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	240	#define BMI160_FIFO_TIME UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	241	#define BMI160_FIFO_HEADER UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	242	#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
CharlesMaxim	21:0b28b9d13164	243
CharlesMaxim	21:0b28b9d13164	244
CharlesMaxim	21:0b28b9d13164	245	/** Mask definitions for STEP_CONF register */
CharlesMaxim	21:0b28b9d13164	246	#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	247	#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
CharlesMaxim	21:0b28b9d13164	248	#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	249	#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	250
CharlesMaxim	21:0b28b9d13164	251	/** Mask definition for FIFO Header Data Tag */
CharlesMaxim	21:0b28b9d13164	252	#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
CharlesMaxim	21:0b28b9d13164	253
CharlesMaxim	21:0b28b9d13164	254	/** Fifo byte counter mask definitions */
CharlesMaxim	21:0b28b9d13164	255	#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	256
CharlesMaxim	21:0b28b9d13164	257	/** Enable/disable bit value */
CharlesMaxim	21:0b28b9d13164	258	#define BMI160_ENABLE 0x01
CharlesMaxim	21:0b28b9d13164	259	#define BMI160_DISABLE UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	260
CharlesMaxim	21:0b28b9d13164	261	/** Latch Duration */
CharlesMaxim	21:0b28b9d13164	262	#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	263	#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	264	#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	265	#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	266	#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	267	#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	268	#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	269	#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	270	#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	271	#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
CharlesMaxim	21:0b28b9d13164	272	#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
CharlesMaxim	21:0b28b9d13164	273	#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
CharlesMaxim	21:0b28b9d13164	274	#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	275	#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
CharlesMaxim	21:0b28b9d13164	276	#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
CharlesMaxim	21:0b28b9d13164	277	#define BMI160_LATCHED UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	278
CharlesMaxim	21:0b28b9d13164	279	/** BMI160 Register map */
CharlesMaxim	21:0b28b9d13164	280	#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	281	#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	282	#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	283	#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	284	#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	285	#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
CharlesMaxim	21:0b28b9d13164	286	#define BMI160_STATUS_ADDR UINT8_C(0x1B)
CharlesMaxim	21:0b28b9d13164	287	#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
CharlesMaxim	21:0b28b9d13164	288	#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
CharlesMaxim	21:0b28b9d13164	289	#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
CharlesMaxim	21:0b28b9d13164	290	#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	291	#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
CharlesMaxim	21:0b28b9d13164	292	#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
CharlesMaxim	21:0b28b9d13164	293	#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
CharlesMaxim	21:0b28b9d13164	294	#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
CharlesMaxim	21:0b28b9d13164	295	#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
CharlesMaxim	21:0b28b9d13164	296	#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
CharlesMaxim	21:0b28b9d13164	297	#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
CharlesMaxim	21:0b28b9d13164	298	#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
CharlesMaxim	21:0b28b9d13164	299	#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
CharlesMaxim	21:0b28b9d13164	300	#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
CharlesMaxim	21:0b28b9d13164	301	#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
CharlesMaxim	21:0b28b9d13164	302	#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
CharlesMaxim	21:0b28b9d13164	303	#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
CharlesMaxim	21:0b28b9d13164	304	#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
CharlesMaxim	21:0b28b9d13164	305	#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
CharlesMaxim	21:0b28b9d13164	306	#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
CharlesMaxim	21:0b28b9d13164	307	#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
CharlesMaxim	21:0b28b9d13164	308	#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
CharlesMaxim	21:0b28b9d13164	309	#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
CharlesMaxim	21:0b28b9d13164	310	#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
CharlesMaxim	21:0b28b9d13164	311	#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
CharlesMaxim	21:0b28b9d13164	312	#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
CharlesMaxim	21:0b28b9d13164	313	#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
CharlesMaxim	21:0b28b9d13164	314	#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
CharlesMaxim	21:0b28b9d13164	315	#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
CharlesMaxim	21:0b28b9d13164	316	#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
CharlesMaxim	21:0b28b9d13164	317	#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
CharlesMaxim	21:0b28b9d13164	318	#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
CharlesMaxim	21:0b28b9d13164	319	#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
CharlesMaxim	21:0b28b9d13164	320	#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
CharlesMaxim	21:0b28b9d13164	321	#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
CharlesMaxim	21:0b28b9d13164	322	#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
CharlesMaxim	21:0b28b9d13164	323	#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
CharlesMaxim	21:0b28b9d13164	324	#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
CharlesMaxim	21:0b28b9d13164	325	#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
CharlesMaxim	21:0b28b9d13164	326	#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
CharlesMaxim	21:0b28b9d13164	327	#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
CharlesMaxim	21:0b28b9d13164	328	#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
CharlesMaxim	21:0b28b9d13164	329	#define BMI160_CONF_ADDR UINT8_C(0x6A)
CharlesMaxim	21:0b28b9d13164	330
CharlesMaxim	21:0b28b9d13164	331	#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
CharlesMaxim	21:0b28b9d13164	332	#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
CharlesMaxim	21:0b28b9d13164	333	#define BMI160_OFFSET_ADDR UINT8_C(0x71)
CharlesMaxim	21:0b28b9d13164	334	#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
CharlesMaxim	21:0b28b9d13164	335	#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
CharlesMaxim	21:0b28b9d13164	336	#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
CharlesMaxim	21:0b28b9d13164	337	#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
CharlesMaxim	21:0b28b9d13164	338	#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
CharlesMaxim	21:0b28b9d13164	339	#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
CharlesMaxim	21:0b28b9d13164	340	#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
CharlesMaxim	21:0b28b9d13164	341
CharlesMaxim	21:0b28b9d13164	342	/** Error code definitions */
CharlesMaxim	21:0b28b9d13164	343	#define BMI160_OK 0
CharlesMaxim	21:0b28b9d13164	344	#define BMI160_E_NULL_PTR INT8_C(-1)
CharlesMaxim	21:0b28b9d13164	345	#define BMI160_E_COM_FAIL INT8_C(-2)
CharlesMaxim	21:0b28b9d13164	346	#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
CharlesMaxim	21:0b28b9d13164	347	#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
CharlesMaxim	21:0b28b9d13164	348	#define BMI160_E_INVALID_INPUT INT8_C(-5)
CharlesMaxim	21:0b28b9d13164	349	#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
CharlesMaxim	21:0b28b9d13164	350	#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
CharlesMaxim	21:0b28b9d13164	351	#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
CharlesMaxim	21:0b28b9d13164	352	#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
CharlesMaxim	21:0b28b9d13164	353	#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
CharlesMaxim	21:0b28b9d13164	354	#define BMI160_FOC_FAILURE INT8_C(-11)
CharlesMaxim	21:0b28b9d13164	355
CharlesMaxim	21:0b28b9d13164	356	/*\name API warning codes /
CharlesMaxim	21:0b28b9d13164	357	#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
CharlesMaxim	21:0b28b9d13164	358	#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
CharlesMaxim	21:0b28b9d13164	359
CharlesMaxim	21:0b28b9d13164	360	/** BMI160 unique chip identifier */
CharlesMaxim	21:0b28b9d13164	361	#define BMI160_CHIP_ID UINT8_C(0xD1)
CharlesMaxim	21:0b28b9d13164	362
CharlesMaxim	21:0b28b9d13164	363	/** Soft reset command */
CharlesMaxim	21:0b28b9d13164	364	#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
CharlesMaxim	21:0b28b9d13164	365	#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(15)
CharlesMaxim	21:0b28b9d13164	366	/** Start FOC command */
CharlesMaxim	21:0b28b9d13164	367	#define BMI160_START_FOC_CMD UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	368	/** NVM backup enabling command */
CharlesMaxim	21:0b28b9d13164	369	#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
CharlesMaxim	21:0b28b9d13164	370
CharlesMaxim	21:0b28b9d13164	371	/* Delay in ms settings */
CharlesMaxim	21:0b28b9d13164	372	#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
CharlesMaxim	21:0b28b9d13164	373	#define BMI160_GYRO_DELAY_MS UINT8_C(81)
CharlesMaxim	21:0b28b9d13164	374	#define BMI160_ONE_MS_DELAY UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	375	#define BMI160_AUX_COM_DELAY UINT8_C(10)
CharlesMaxim	21:0b28b9d13164	376	#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
CharlesMaxim	21:0b28b9d13164	377	#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
CharlesMaxim	21:0b28b9d13164	378
CharlesMaxim	21:0b28b9d13164	379	/** Self test configurations */
CharlesMaxim	21:0b28b9d13164	380	#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
CharlesMaxim	21:0b28b9d13164	381	#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
CharlesMaxim	21:0b28b9d13164	382	#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
CharlesMaxim	21:0b28b9d13164	383	#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
CharlesMaxim	21:0b28b9d13164	384
CharlesMaxim	21:0b28b9d13164	385	/** Power mode settings */
CharlesMaxim	21:0b28b9d13164	386	/* Accel power mode */
CharlesMaxim	21:0b28b9d13164	387	#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
CharlesMaxim	21:0b28b9d13164	388	#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
CharlesMaxim	21:0b28b9d13164	389	#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	390
CharlesMaxim	21:0b28b9d13164	391	/* Gyro power mode */
CharlesMaxim	21:0b28b9d13164	392	#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
CharlesMaxim	21:0b28b9d13164	393	#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
CharlesMaxim	21:0b28b9d13164	394	#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
CharlesMaxim	21:0b28b9d13164	395
CharlesMaxim	21:0b28b9d13164	396	/* Aux power mode */
CharlesMaxim	21:0b28b9d13164	397	#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
CharlesMaxim	21:0b28b9d13164	398	#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
CharlesMaxim	21:0b28b9d13164	399	#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
CharlesMaxim	21:0b28b9d13164	400
CharlesMaxim	21:0b28b9d13164	401	/** Range settings */
CharlesMaxim	21:0b28b9d13164	402	/* Accel Range */
CharlesMaxim	21:0b28b9d13164	403	#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	404	#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	405	#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	406	#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	407
CharlesMaxim	21:0b28b9d13164	408	/* Gyro Range */
CharlesMaxim	21:0b28b9d13164	409	#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	410	#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	411	#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	412	#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	413	#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	414
CharlesMaxim	21:0b28b9d13164	415	/** Bandwidth settings */
CharlesMaxim	21:0b28b9d13164	416	/* Accel Bandwidth */
CharlesMaxim	21:0b28b9d13164	417	#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	418	#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	419	#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	420	#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	421	#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	422	#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	423	#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	424	#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	425
CharlesMaxim	21:0b28b9d13164	426	#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	427	#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	428	#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	429
CharlesMaxim	21:0b28b9d13164	430	/* Output Data Rate settings */
CharlesMaxim	21:0b28b9d13164	431	/* Accel Output data rate */
CharlesMaxim	21:0b28b9d13164	432	#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	433	#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	434	#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	435	#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	436	#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	437	#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	438	#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	439	#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	440	#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	441	#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
CharlesMaxim	21:0b28b9d13164	442	#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
CharlesMaxim	21:0b28b9d13164	443	#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
CharlesMaxim	21:0b28b9d13164	444	#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	445	#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
CharlesMaxim	21:0b28b9d13164	446	#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
CharlesMaxim	21:0b28b9d13164	447	#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	448
CharlesMaxim	21:0b28b9d13164	449	/* Gyro Output data rate */
CharlesMaxim	21:0b28b9d13164	450	#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	451	#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	452	#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	453	#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	454	#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
CharlesMaxim	21:0b28b9d13164	455	#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
CharlesMaxim	21:0b28b9d13164	456	#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
CharlesMaxim	21:0b28b9d13164	457	#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	458	#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
CharlesMaxim	21:0b28b9d13164	459
CharlesMaxim	21:0b28b9d13164	460	/* Auxiliary sensor Output data rate */
CharlesMaxim	21:0b28b9d13164	461	#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	462	#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	463	#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	464	#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	465	#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	466	#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	467	#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	468	#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	469	#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	470	#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
CharlesMaxim	21:0b28b9d13164	471	#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
CharlesMaxim	21:0b28b9d13164	472	#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
CharlesMaxim	21:0b28b9d13164	473
CharlesMaxim	21:0b28b9d13164	474	/* Maximum limits definition */
CharlesMaxim	21:0b28b9d13164	475	#define BMI160_ACCEL_ODR_MAX UINT8_C(15)
CharlesMaxim	21:0b28b9d13164	476	#define BMI160_ACCEL_BW_MAX UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	477	#define BMI160_ACCEL_RANGE_MAX UINT8_C(12)
CharlesMaxim	21:0b28b9d13164	478	#define BMI160_GYRO_ODR_MAX UINT8_C(13)
CharlesMaxim	21:0b28b9d13164	479	#define BMI160_GYRO_BW_MAX UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	480	#define BMI160_GYRO_RANGE_MAX UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	481
CharlesMaxim	21:0b28b9d13164	482	/** FIFO_CONFIG Definitions */
CharlesMaxim	21:0b28b9d13164	483	#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	484	#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	485	#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	486	#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	487	#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	488	#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	489	#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
CharlesMaxim	21:0b28b9d13164	490	#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	491	#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
CharlesMaxim	21:0b28b9d13164	492	#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
CharlesMaxim	21:0b28b9d13164	493	#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
CharlesMaxim	21:0b28b9d13164	494
CharlesMaxim	21:0b28b9d13164	495	/* Macro to specify the number of bytes over-read from the
CharlesMaxim	21:0b28b9d13164	496	* FIFO in order to get the sensor time at the end of FIFO */
CharlesMaxim	21:0b28b9d13164	497	#ifndef BMI160_FIFO_BYTES_OVERREAD
CharlesMaxim	21:0b28b9d13164	498	#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
CharlesMaxim	21:0b28b9d13164	499	#endif
CharlesMaxim	21:0b28b9d13164	500
CharlesMaxim	21:0b28b9d13164	501
CharlesMaxim	21:0b28b9d13164	502
CharlesMaxim	21:0b28b9d13164	503	/* Accel, gyro and aux. sensor length and also their combined
CharlesMaxim	21:0b28b9d13164	504	* length definitions in FIFO */
CharlesMaxim	21:0b28b9d13164	505	#define BMI160_FIFO_G_LENGTH UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	506	#define BMI160_FIFO_A_LENGTH UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	507	#define BMI160_FIFO_M_LENGTH UINT8_C(8)
CharlesMaxim	21:0b28b9d13164	508	#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
CharlesMaxim	21:0b28b9d13164	509	#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
CharlesMaxim	21:0b28b9d13164	510	#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
CharlesMaxim	21:0b28b9d13164	511	#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
CharlesMaxim	21:0b28b9d13164	512
CharlesMaxim	21:0b28b9d13164	513
CharlesMaxim	21:0b28b9d13164	514	/** FIFO Header Data definitions */
CharlesMaxim	21:0b28b9d13164	515	#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	516	#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
CharlesMaxim	21:0b28b9d13164	517	#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
CharlesMaxim	21:0b28b9d13164	518	#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	519	#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
CharlesMaxim	21:0b28b9d13164	520	#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
CharlesMaxim	21:0b28b9d13164	521	#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
CharlesMaxim	21:0b28b9d13164	522	#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
CharlesMaxim	21:0b28b9d13164	523	#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
CharlesMaxim	21:0b28b9d13164	524	#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
CharlesMaxim	21:0b28b9d13164	525	#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
CharlesMaxim	21:0b28b9d13164	526
CharlesMaxim	21:0b28b9d13164	527
CharlesMaxim	21:0b28b9d13164	528	/** FIFO sensor time length definitions */
CharlesMaxim	21:0b28b9d13164	529	#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
CharlesMaxim	21:0b28b9d13164	530
CharlesMaxim	21:0b28b9d13164	531
CharlesMaxim	21:0b28b9d13164	532	/** FIFO DOWN selection */
CharlesMaxim	21:0b28b9d13164	533	/* Accel fifo down-sampling values*/
CharlesMaxim	21:0b28b9d13164	534	#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	535	#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	536	#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	537	#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	538	#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	539	#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
CharlesMaxim	21:0b28b9d13164	540	#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
CharlesMaxim	21:0b28b9d13164	541	#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
CharlesMaxim	21:0b28b9d13164	542
CharlesMaxim	21:0b28b9d13164	543	/* Gyro fifo down-smapling values*/
CharlesMaxim	21:0b28b9d13164	544	#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	545	#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	546	#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	547	#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	548	#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	549	#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
CharlesMaxim	21:0b28b9d13164	550	#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
CharlesMaxim	21:0b28b9d13164	551	#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	552
CharlesMaxim	21:0b28b9d13164	553	/* Accel Fifo filter enable*/
CharlesMaxim	21:0b28b9d13164	554	#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	555
CharlesMaxim	21:0b28b9d13164	556	/* Gyro Fifo filter enable*/
CharlesMaxim	21:0b28b9d13164	557	#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	558
CharlesMaxim	21:0b28b9d13164	559	/** Definitions to check validity of FIFO frames */
CharlesMaxim	21:0b28b9d13164	560	#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	561	#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	562
CharlesMaxim	21:0b28b9d13164	563	/! BMI160 accel FOC configurations /
CharlesMaxim	21:0b28b9d13164	564	#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
CharlesMaxim	21:0b28b9d13164	565	#define BMI160_FOC_ACCEL_POSITIVE_G 0x01
CharlesMaxim	21:0b28b9d13164	566	#define BMI160_FOC_ACCEL_NEGATIVE_G 0x02
CharlesMaxim	21:0b28b9d13164	567	#define BMI160_FOC_ACCEL_0G 0x03
CharlesMaxim	21:0b28b9d13164	568
CharlesMaxim	21:0b28b9d13164	569	/** Array Parameter DefinItions */
CharlesMaxim	21:0b28b9d13164	570	#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
CharlesMaxim	21:0b28b9d13164	571	#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	572	#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	573
CharlesMaxim	21:0b28b9d13164	574
CharlesMaxim	21:0b28b9d13164	575	/** Interface settings */
CharlesMaxim	21:0b28b9d13164	576	#define BMI160_SPI_INTF UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	577	#define BMI160_I2C_INTF UINT8_C(0)
CharlesMaxim	21:0b28b9d13164	578	#define BMI160_SPI_RD_MASK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	579	#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
CharlesMaxim	21:0b28b9d13164	580
CharlesMaxim	21:0b28b9d13164	581	/* Sensor & time select definition*/
CharlesMaxim	21:0b28b9d13164	582	#define BMI160_ACCEL_SEL UINT8_C(0x01)
CharlesMaxim	21:0b28b9d13164	583	#define BMI160_GYRO_SEL UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	584	#define BMI160_TIME_SEL UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	585
CharlesMaxim	21:0b28b9d13164	586	/* Sensor select mask*/
CharlesMaxim	21:0b28b9d13164	587	#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
CharlesMaxim	21:0b28b9d13164	588
CharlesMaxim	21:0b28b9d13164	589	/* Error code mask */
CharlesMaxim	21:0b28b9d13164	590	#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
CharlesMaxim	21:0b28b9d13164	591
CharlesMaxim	21:0b28b9d13164	592	/* BMI160 I2C address */
CharlesMaxim	21:0b28b9d13164	593	#define BMI160_I2C_ADDR UINT8_C(0x68)
CharlesMaxim	21:0b28b9d13164	594
CharlesMaxim	21:0b28b9d13164	595	/* BMI160 secondary IF address */
CharlesMaxim	21:0b28b9d13164	596	#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	597
CharlesMaxim	21:0b28b9d13164	598	/** BMI160 Length definitions */
CharlesMaxim	21:0b28b9d13164	599	#define BMI160_ONE UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	600	#define BMI160_TWO UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	601	#define BMI160_THREE UINT8_C(3)
CharlesMaxim	21:0b28b9d13164	602	#define BMI160_FOUR UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	603	#define BMI160_FIVE UINT8_C(5)
CharlesMaxim	21:0b28b9d13164	604
CharlesMaxim	21:0b28b9d13164	605	/** BMI160 fifo level Margin */
CharlesMaxim	21:0b28b9d13164	606	#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
CharlesMaxim	21:0b28b9d13164	607
CharlesMaxim	21:0b28b9d13164	608	/** BMI160 fifo flush Command */
CharlesMaxim	21:0b28b9d13164	609	#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
CharlesMaxim	21:0b28b9d13164	610
CharlesMaxim	21:0b28b9d13164	611	/** BMI160 offset values for xyz axes of accel */
CharlesMaxim	21:0b28b9d13164	612	#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
CharlesMaxim	21:0b28b9d13164	613	#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
CharlesMaxim	21:0b28b9d13164	614
CharlesMaxim	21:0b28b9d13164	615	/** BMI160 offset values for xyz axes of gyro */
CharlesMaxim	21:0b28b9d13164	616	#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
CharlesMaxim	21:0b28b9d13164	617	#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
CharlesMaxim	21:0b28b9d13164	618
CharlesMaxim	21:0b28b9d13164	619	/** BMI160 fifo full interrupt position and mask */
CharlesMaxim	21:0b28b9d13164	620	#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
CharlesMaxim	21:0b28b9d13164	621	#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	622	#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	623	#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	624
CharlesMaxim	21:0b28b9d13164	625	#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
CharlesMaxim	21:0b28b9d13164	626	#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
CharlesMaxim	21:0b28b9d13164	627	#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	628	#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	629
CharlesMaxim	21:0b28b9d13164	630	#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	631	#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	632	#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	633	#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
CharlesMaxim	21:0b28b9d13164	634
CharlesMaxim	21:0b28b9d13164	635	#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
CharlesMaxim	21:0b28b9d13164	636	#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	637	#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
CharlesMaxim	21:0b28b9d13164	638	#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	639
CharlesMaxim	21:0b28b9d13164	640	#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	641	#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	642	#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	643	#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	644
CharlesMaxim	21:0b28b9d13164	645	#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	646	#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	647
CharlesMaxim	21:0b28b9d13164	648	#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	649	#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	650
CharlesMaxim	21:0b28b9d13164	651	#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	652	#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	653
CharlesMaxim	21:0b28b9d13164	654	#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	655
CharlesMaxim	21:0b28b9d13164	656	#define BMI160_FOC_STATUS_POS UINT8_C(3)
CharlesMaxim	21:0b28b9d13164	657	#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
CharlesMaxim	21:0b28b9d13164	658
CharlesMaxim	21:0b28b9d13164	659	#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	660
CharlesMaxim	21:0b28b9d13164	661	#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	662	#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	663
CharlesMaxim	21:0b28b9d13164	664	#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	665	#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	666
CharlesMaxim	21:0b28b9d13164	667	#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
CharlesMaxim	21:0b28b9d13164	668	#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
CharlesMaxim	21:0b28b9d13164	669
CharlesMaxim	21:0b28b9d13164	670	#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
CharlesMaxim	21:0b28b9d13164	671	#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
CharlesMaxim	21:0b28b9d13164	672
CharlesMaxim	21:0b28b9d13164	673	#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
CharlesMaxim	21:0b28b9d13164	674	#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
CharlesMaxim	21:0b28b9d13164	675
CharlesMaxim	21:0b28b9d13164	676	#define BMI160_NVM_UPDATE_POS UINT8_C(1)
CharlesMaxim	21:0b28b9d13164	677	#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
CharlesMaxim	21:0b28b9d13164	678
CharlesMaxim	21:0b28b9d13164	679	#define BMI160_NVM_STATUS_POS UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	680	#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
CharlesMaxim	21:0b28b9d13164	681
CharlesMaxim	21:0b28b9d13164	682	#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
CharlesMaxim	21:0b28b9d13164	683
CharlesMaxim	21:0b28b9d13164	684	#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
CharlesMaxim	21:0b28b9d13164	685	#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
CharlesMaxim	21:0b28b9d13164	686
CharlesMaxim	21:0b28b9d13164	687	#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
CharlesMaxim	21:0b28b9d13164	688	#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
CharlesMaxim	21:0b28b9d13164	689
CharlesMaxim	21:0b28b9d13164	690
CharlesMaxim	21:0b28b9d13164	691	/* BIT SLICE GET AND SET FUNCTIONS */
CharlesMaxim	21:0b28b9d13164	692	#define BMI160_GET_BITS(regvar, bitname)\
CharlesMaxim	21:0b28b9d13164	693	((regvar & bitname##_MSK) >> bitname##_POS)
CharlesMaxim	21:0b28b9d13164	694	#define BMI160_SET_BITS(regvar, bitname, val)\
CharlesMaxim	21:0b28b9d13164	695	((regvar & ~bitname##_MSK) \| \
CharlesMaxim	21:0b28b9d13164	696	((val<<bitname##_POS)&bitname##_MSK))
CharlesMaxim	21:0b28b9d13164	697
CharlesMaxim	21:0b28b9d13164	698	#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
CharlesMaxim	21:0b28b9d13164	699	((reg_data & ~(bitname##_MSK)) \| \
CharlesMaxim	21:0b28b9d13164	700	(data & bitname##_MSK))
CharlesMaxim	21:0b28b9d13164	701
CharlesMaxim	21:0b28b9d13164	702	#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
CharlesMaxim	21:0b28b9d13164	703
CharlesMaxim	21:0b28b9d13164	704	/*\name UTILITY MACROS /
CharlesMaxim	21:0b28b9d13164	705	#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
CharlesMaxim	21:0b28b9d13164	706	#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
CharlesMaxim	21:0b28b9d13164	707
CharlesMaxim	21:0b28b9d13164	708	#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
CharlesMaxim	21:0b28b9d13164	709	#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
CharlesMaxim	21:0b28b9d13164	710
CharlesMaxim	21:0b28b9d13164	711	/*****************************************************************************/
CharlesMaxim	21:0b28b9d13164	712	/* type definitions */
CharlesMaxim	21:0b28b9d13164	713	typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
CharlesMaxim	21:0b28b9d13164	714	uint8_t *data, uint16_t len);
CharlesMaxim	21:0b28b9d13164	715
CharlesMaxim	21:0b28b9d13164	716	typedef void (*bmi160_delay_fptr_t)(uint32_t period);
CharlesMaxim	21:0b28b9d13164	717
CharlesMaxim	21:0b28b9d13164	718	/************************* Data structures *******************************/
CharlesMaxim	21:0b28b9d13164	719
CharlesMaxim	21:0b28b9d13164	720	struct bmi160_pmu_status {
CharlesMaxim	21:0b28b9d13164	721	/*! Power mode status of Accel
CharlesMaxim	21:0b28b9d13164	722	* Possible values :
CharlesMaxim	21:0b28b9d13164	723	* - BMI160_ACCEL_PMU_SUSPEND
CharlesMaxim	21:0b28b9d13164	724	* - BMI160_ACCEL_PMU_NORMAL
CharlesMaxim	21:0b28b9d13164	725	* - BMI160_ACCEL_PMU_LOW_POWER
CharlesMaxim	21:0b28b9d13164	726	*/
CharlesMaxim	21:0b28b9d13164	727	uint8_t accel_pmu_status;
CharlesMaxim	21:0b28b9d13164	728	/*! Power mode status of Gyro
CharlesMaxim	21:0b28b9d13164	729	* Possible values :
CharlesMaxim	21:0b28b9d13164	730	* - BMI160_GYRO_PMU_SUSPEND
CharlesMaxim	21:0b28b9d13164	731	* - BMI160_GYRO_PMU_NORMAL
CharlesMaxim	21:0b28b9d13164	732	* - BMI160_GYRO_PMU_FSU
CharlesMaxim	21:0b28b9d13164	733	*/
CharlesMaxim	21:0b28b9d13164	734	uint8_t gyro_pmu_status;
CharlesMaxim	21:0b28b9d13164	735	/*! Power mode status of 'Auxiliary sensor interface' whereas the actual
CharlesMaxim	21:0b28b9d13164	736	* power mode of the aux. sensor should be configured
CharlesMaxim	21:0b28b9d13164	737	* according to the connected sensor specifications
CharlesMaxim	21:0b28b9d13164	738	* Possible values :
CharlesMaxim	21:0b28b9d13164	739	* - BMI160_AUX_PMU_SUSPEND
CharlesMaxim	21:0b28b9d13164	740	* - BMI160_AUX_PMU_NORMAL
CharlesMaxim	21:0b28b9d13164	741	* - BMI160_AUX_PMU_LOW_POWER
CharlesMaxim	21:0b28b9d13164	742	*/
CharlesMaxim	21:0b28b9d13164	743	uint8_t aux_pmu_status;
CharlesMaxim	21:0b28b9d13164	744	};
CharlesMaxim	21:0b28b9d13164	745	/*!
CharlesMaxim	21:0b28b9d13164	746	* @brief bmi160 interrupt status selection enum.
CharlesMaxim	21:0b28b9d13164	747	*/
CharlesMaxim	21:0b28b9d13164	748	enum bmi160_int_status_sel {
CharlesMaxim	21:0b28b9d13164	749	BMI160_INT_STATUS_0 = 1,
CharlesMaxim	21:0b28b9d13164	750	BMI160_INT_STATUS_1 = 2,
CharlesMaxim	21:0b28b9d13164	751	BMI160_INT_STATUS_2 = 4,
CharlesMaxim	21:0b28b9d13164	752	BMI160_INT_STATUS_3 = 8,
CharlesMaxim	21:0b28b9d13164	753	BMI160_INT_STATUS_ALL = 15
CharlesMaxim	21:0b28b9d13164	754	};
CharlesMaxim	21:0b28b9d13164	755
CharlesMaxim	21:0b28b9d13164	756	/*!
CharlesMaxim	21:0b28b9d13164	757	* @brief bmi160 interrupt status bits structure
CharlesMaxim	21:0b28b9d13164	758	*/
CharlesMaxim	21:0b28b9d13164	759	struct bmi160_int_status_bits {
CharlesMaxim	21:0b28b9d13164	760	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	761	uint32_t step :1;
CharlesMaxim	21:0b28b9d13164	762	uint32_t sigmot :1;
CharlesMaxim	21:0b28b9d13164	763	uint32_t anym :1;
CharlesMaxim	21:0b28b9d13164	764	/* pmu trigger will be handled later */
CharlesMaxim	21:0b28b9d13164	765	uint32_t pmu_trigger_reserved :1;
CharlesMaxim	21:0b28b9d13164	766	uint32_t d_tap :1;
CharlesMaxim	21:0b28b9d13164	767	uint32_t s_tap :1;
CharlesMaxim	21:0b28b9d13164	768	uint32_t orient :1;
CharlesMaxim	21:0b28b9d13164	769	uint32_t flat_int :1;
CharlesMaxim	21:0b28b9d13164	770	uint32_t reserved :2;
CharlesMaxim	21:0b28b9d13164	771	uint32_t high_g :1;
CharlesMaxim	21:0b28b9d13164	772	uint32_t low_g :1;
CharlesMaxim	21:0b28b9d13164	773	uint32_t drdy :1;
CharlesMaxim	21:0b28b9d13164	774	uint32_t ffull :1;
CharlesMaxim	21:0b28b9d13164	775	uint32_t fwm :1;
CharlesMaxim	21:0b28b9d13164	776	uint32_t nomo :1;
CharlesMaxim	21:0b28b9d13164	777	uint32_t anym_first_x :1;
CharlesMaxim	21:0b28b9d13164	778	uint32_t anym_first_y :1;
CharlesMaxim	21:0b28b9d13164	779	uint32_t anym_first_z :1;
CharlesMaxim	21:0b28b9d13164	780	uint32_t anym_sign :1;
CharlesMaxim	21:0b28b9d13164	781	uint32_t tap_first_x :1;
CharlesMaxim	21:0b28b9d13164	782	uint32_t tap_first_y :1;
CharlesMaxim	21:0b28b9d13164	783	uint32_t tap_first_z :1;
CharlesMaxim	21:0b28b9d13164	784	uint32_t tap_sign :1;
CharlesMaxim	21:0b28b9d13164	785	uint32_t high_first_x :1;
CharlesMaxim	21:0b28b9d13164	786	uint32_t high_first_y :1;
CharlesMaxim	21:0b28b9d13164	787	uint32_t high_first_z :1;
CharlesMaxim	21:0b28b9d13164	788	uint32_t high_sign :1;
CharlesMaxim	21:0b28b9d13164	789	uint32_t orient_1_0 :2;
CharlesMaxim	21:0b28b9d13164	790	uint32_t orient_2 :1;
CharlesMaxim	21:0b28b9d13164	791	uint32_t flat :1;
CharlesMaxim	21:0b28b9d13164	792	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	793	uint32_t high_first_x :1;
CharlesMaxim	21:0b28b9d13164	794	uint32_t high_first_y :1;
CharlesMaxim	21:0b28b9d13164	795	uint32_t high_first_z :1;
CharlesMaxim	21:0b28b9d13164	796	uint32_t high_sign :1;
CharlesMaxim	21:0b28b9d13164	797	uint32_t orient_1_0 :2;
CharlesMaxim	21:0b28b9d13164	798	uint32_t orient_2 :1;
CharlesMaxim	21:0b28b9d13164	799	uint32_t flat :1;
CharlesMaxim	21:0b28b9d13164	800	uint32_t anym_first_x :1;
CharlesMaxim	21:0b28b9d13164	801	uint32_t anym_first_y :1;
CharlesMaxim	21:0b28b9d13164	802	uint32_t anym_first_z :1;
CharlesMaxim	21:0b28b9d13164	803	uint32_t anym_sign :1;
CharlesMaxim	21:0b28b9d13164	804	uint32_t tap_first_x :1;
CharlesMaxim	21:0b28b9d13164	805	uint32_t tap_first_y :1;
CharlesMaxim	21:0b28b9d13164	806	uint32_t tap_first_z :1;
CharlesMaxim	21:0b28b9d13164	807	uint32_t tap_sign :1;
CharlesMaxim	21:0b28b9d13164	808	uint32_t reserved :2;
CharlesMaxim	21:0b28b9d13164	809	uint32_t high_g :1;
CharlesMaxim	21:0b28b9d13164	810	uint32_t low_g :1;
CharlesMaxim	21:0b28b9d13164	811	uint32_t drdy :1;
CharlesMaxim	21:0b28b9d13164	812	uint32_t ffull :1;
CharlesMaxim	21:0b28b9d13164	813	uint32_t fwm :1;
CharlesMaxim	21:0b28b9d13164	814	uint32_t nomo :1;
CharlesMaxim	21:0b28b9d13164	815	uint32_t step :1;
CharlesMaxim	21:0b28b9d13164	816	uint32_t sigmot :1;
CharlesMaxim	21:0b28b9d13164	817	uint32_t anym :1;
CharlesMaxim	21:0b28b9d13164	818	/* pmu trigger will be handled later */
CharlesMaxim	21:0b28b9d13164	819	uint32_t pmu_trigger_reserved :1;
CharlesMaxim	21:0b28b9d13164	820	uint32_t d_tap :1;
CharlesMaxim	21:0b28b9d13164	821	uint32_t s_tap :1;
CharlesMaxim	21:0b28b9d13164	822	uint32_t orient :1;
CharlesMaxim	21:0b28b9d13164	823	uint32_t flat_int :1;
CharlesMaxim	21:0b28b9d13164	824	#endif
CharlesMaxim	21:0b28b9d13164	825	};
CharlesMaxim	21:0b28b9d13164	826
CharlesMaxim	21:0b28b9d13164	827	/*!
CharlesMaxim	21:0b28b9d13164	828	* @brief bmi160 interrupt status structure
CharlesMaxim	21:0b28b9d13164	829	*/
CharlesMaxim	21:0b28b9d13164	830	union bmi160_int_status {
CharlesMaxim	21:0b28b9d13164	831	uint8_t data[4];
CharlesMaxim	21:0b28b9d13164	832	struct bmi160_int_status_bits bit;
CharlesMaxim	21:0b28b9d13164	833	};
CharlesMaxim	21:0b28b9d13164	834
CharlesMaxim	21:0b28b9d13164	835	/*!
CharlesMaxim	21:0b28b9d13164	836	* @brief bmi160 sensor data structure which comprises of accel data
CharlesMaxim	21:0b28b9d13164	837	*/
CharlesMaxim	21:0b28b9d13164	838	struct bmi160_sensor_data {
CharlesMaxim	21:0b28b9d13164	839	/! X-axis sensor data /
CharlesMaxim	21:0b28b9d13164	840	int16_t x;
CharlesMaxim	21:0b28b9d13164	841	/! Y-axis sensor data /
CharlesMaxim	21:0b28b9d13164	842	int16_t y;
CharlesMaxim	21:0b28b9d13164	843	/! Z-axis sensor data /
CharlesMaxim	21:0b28b9d13164	844	int16_t z;
CharlesMaxim	21:0b28b9d13164	845	/! sensor time /
CharlesMaxim	21:0b28b9d13164	846	uint32_t sensortime;
CharlesMaxim	21:0b28b9d13164	847	};
CharlesMaxim	21:0b28b9d13164	848
CharlesMaxim	21:0b28b9d13164	849	/*!
CharlesMaxim	21:0b28b9d13164	850	* @brief bmi160 aux data structure which comprises of 8 bytes of accel data
CharlesMaxim	21:0b28b9d13164	851	*/
CharlesMaxim	21:0b28b9d13164	852	struct bmi160_aux_data {
CharlesMaxim	21:0b28b9d13164	853	/! Auxiliary data /
CharlesMaxim	21:0b28b9d13164	854	uint8_t data[8];
CharlesMaxim	21:0b28b9d13164	855	};
CharlesMaxim	21:0b28b9d13164	856
CharlesMaxim	21:0b28b9d13164	857	/*!
CharlesMaxim	21:0b28b9d13164	858	* @brief bmi160 FOC configuration structure
CharlesMaxim	21:0b28b9d13164	859	*/
CharlesMaxim	21:0b28b9d13164	860	struct bmi160_foc_conf {
CharlesMaxim	21:0b28b9d13164	861	/*! Enabling FOC in gyro
CharlesMaxim	21:0b28b9d13164	862	* Assignable macros :
CharlesMaxim	21:0b28b9d13164	863	* - BMI160_ENABLE
CharlesMaxim	21:0b28b9d13164	864	* - BMI160_DISABLE
CharlesMaxim	21:0b28b9d13164	865	*/
CharlesMaxim	21:0b28b9d13164	866	uint8_t foc_gyr_en;
CharlesMaxim	21:0b28b9d13164	867
CharlesMaxim	21:0b28b9d13164	868	/*! Accel FOC configurations
CharlesMaxim	21:0b28b9d13164	869	* Assignable macros :
CharlesMaxim	21:0b28b9d13164	870	* - BMI160_FOC_ACCEL_DISABLED
CharlesMaxim	21:0b28b9d13164	871	* - BMI160_FOC_ACCEL_POSITIVE_G
CharlesMaxim	21:0b28b9d13164	872	* - BMI160_FOC_ACCEL_NEGATIVE_G
CharlesMaxim	21:0b28b9d13164	873	* - BMI160_FOC_ACCEL_0G
CharlesMaxim	21:0b28b9d13164	874	*/
CharlesMaxim	21:0b28b9d13164	875	uint8_t foc_acc_x;
CharlesMaxim	21:0b28b9d13164	876	uint8_t foc_acc_y;
CharlesMaxim	21:0b28b9d13164	877	uint8_t foc_acc_z;
CharlesMaxim	21:0b28b9d13164	878
CharlesMaxim	21:0b28b9d13164	879	/*! Enabling offset compensation for accel in data registers
CharlesMaxim	21:0b28b9d13164	880	* Assignable macros :
CharlesMaxim	21:0b28b9d13164	881	* - BMI160_ENABLE
CharlesMaxim	21:0b28b9d13164	882	* - BMI160_DISABLE
CharlesMaxim	21:0b28b9d13164	883	*/
CharlesMaxim	21:0b28b9d13164	884	uint8_t acc_off_en;
CharlesMaxim	21:0b28b9d13164	885
CharlesMaxim	21:0b28b9d13164	886	/*! Enabling offset compensation for gyro in data registers
CharlesMaxim	21:0b28b9d13164	887	* Assignable macros :
CharlesMaxim	21:0b28b9d13164	888	* - BMI160_ENABLE
CharlesMaxim	21:0b28b9d13164	889	* - BMI160_DISABLE
CharlesMaxim	21:0b28b9d13164	890	*/
CharlesMaxim	21:0b28b9d13164	891	uint8_t gyro_off_en;
CharlesMaxim	21:0b28b9d13164	892	};
CharlesMaxim	21:0b28b9d13164	893
CharlesMaxim	21:0b28b9d13164	894	/*!
CharlesMaxim	21:0b28b9d13164	895	* @brief bmi160 accel gyro offsets
CharlesMaxim	21:0b28b9d13164	896	*/
CharlesMaxim	21:0b28b9d13164	897	struct bmi160_offsets {
CharlesMaxim	21:0b28b9d13164	898	/! Accel offset for x axis /
CharlesMaxim	21:0b28b9d13164	899	int8_t off_acc_x;
CharlesMaxim	21:0b28b9d13164	900	/! Accel offset for y axis /
CharlesMaxim	21:0b28b9d13164	901	int8_t off_acc_y;
CharlesMaxim	21:0b28b9d13164	902	/! Accel offset for z axis /
CharlesMaxim	21:0b28b9d13164	903	int8_t off_acc_z;
CharlesMaxim	21:0b28b9d13164	904	/! Gyro offset for x axis /
CharlesMaxim	21:0b28b9d13164	905	int16_t off_gyro_x;
CharlesMaxim	21:0b28b9d13164	906	/! Gyro offset for y axis /
CharlesMaxim	21:0b28b9d13164	907	int16_t off_gyro_y;
CharlesMaxim	21:0b28b9d13164	908	/! Gyro offset for z axis /
CharlesMaxim	21:0b28b9d13164	909	int16_t off_gyro_z;
CharlesMaxim	21:0b28b9d13164	910	};
CharlesMaxim	21:0b28b9d13164	911
CharlesMaxim	21:0b28b9d13164	912	/*!
CharlesMaxim	21:0b28b9d13164	913	* @brief FIFO aux. sensor data structure
CharlesMaxim	21:0b28b9d13164	914	*/
CharlesMaxim	21:0b28b9d13164	915	struct bmi160_aux_fifo_data {
CharlesMaxim	21:0b28b9d13164	916	/! The value of aux. sensor x LSB data /
CharlesMaxim	21:0b28b9d13164	917	uint8_t aux_x_lsb;
CharlesMaxim	21:0b28b9d13164	918	/! The value of aux. sensor x MSB data /
CharlesMaxim	21:0b28b9d13164	919	uint8_t aux_x_msb;
CharlesMaxim	21:0b28b9d13164	920	/! The value of aux. sensor y LSB data /
CharlesMaxim	21:0b28b9d13164	921	uint8_t aux_y_lsb;
CharlesMaxim	21:0b28b9d13164	922	/! The value of aux. sensor y MSB data /
CharlesMaxim	21:0b28b9d13164	923	uint8_t aux_y_msb;
CharlesMaxim	21:0b28b9d13164	924	/! The value of aux. sensor z LSB data /
CharlesMaxim	21:0b28b9d13164	925	uint8_t aux_z_lsb;
CharlesMaxim	21:0b28b9d13164	926	/! The value of aux. sensor z MSB data /
CharlesMaxim	21:0b28b9d13164	927	uint8_t aux_z_msb;
CharlesMaxim	21:0b28b9d13164	928	/! The value of aux. sensor r for BMM150 LSB data /
CharlesMaxim	21:0b28b9d13164	929	uint8_t aux_r_y2_lsb;
CharlesMaxim	21:0b28b9d13164	930	/! The value of aux. sensor r for BMM150 MSB data /
CharlesMaxim	21:0b28b9d13164	931	uint8_t aux_r_y2_msb;
CharlesMaxim	21:0b28b9d13164	932	};
CharlesMaxim	21:0b28b9d13164	933
CharlesMaxim	21:0b28b9d13164	934	/*!
CharlesMaxim	21:0b28b9d13164	935	* @brief bmi160 sensor select structure
CharlesMaxim	21:0b28b9d13164	936	*/
CharlesMaxim	21:0b28b9d13164	937	enum bmi160_select_sensor {
CharlesMaxim	21:0b28b9d13164	938	BMI160_ACCEL_ONLY = 1,
CharlesMaxim	21:0b28b9d13164	939	BMI160_GYRO_ONLY,
CharlesMaxim	21:0b28b9d13164	940	BMI160_BOTH_ACCEL_AND_GYRO
CharlesMaxim	21:0b28b9d13164	941	};
CharlesMaxim	21:0b28b9d13164	942
CharlesMaxim	21:0b28b9d13164	943	/*!
CharlesMaxim	21:0b28b9d13164	944	* @brief bmi160 sensor step detector mode structure
CharlesMaxim	21:0b28b9d13164	945	*/
CharlesMaxim	21:0b28b9d13164	946	enum bmi160_step_detect_mode {
CharlesMaxim	21:0b28b9d13164	947	BMI160_STEP_DETECT_NORMAL,
CharlesMaxim	21:0b28b9d13164	948	BMI160_STEP_DETECT_SENSITIVE,
CharlesMaxim	21:0b28b9d13164	949	BMI160_STEP_DETECT_ROBUST,
CharlesMaxim	21:0b28b9d13164	950	/! Non recommended User defined setting /
CharlesMaxim	21:0b28b9d13164	951	BMI160_STEP_DETECT_USER_DEFINE
CharlesMaxim	21:0b28b9d13164	952	};
CharlesMaxim	21:0b28b9d13164	953
CharlesMaxim	21:0b28b9d13164	954	/*!
CharlesMaxim	21:0b28b9d13164	955	* @brief enum for auxiliary burst read selection
CharlesMaxim	21:0b28b9d13164	956	*/
CharlesMaxim	21:0b28b9d13164	957	enum bm160_aux_read_len {
CharlesMaxim	21:0b28b9d13164	958	BMI160_AUX_READ_LEN_0,
CharlesMaxim	21:0b28b9d13164	959	BMI160_AUX_READ_LEN_1,
CharlesMaxim	21:0b28b9d13164	960	BMI160_AUX_READ_LEN_2,
CharlesMaxim	21:0b28b9d13164	961	BMI160_AUX_READ_LEN_3
CharlesMaxim	21:0b28b9d13164	962	};
CharlesMaxim	21:0b28b9d13164	963	/*!
CharlesMaxim	21:0b28b9d13164	964	* @brief bmi160 sensor configuration structure
CharlesMaxim	21:0b28b9d13164	965	*/
CharlesMaxim	21:0b28b9d13164	966	struct bmi160_cfg {
CharlesMaxim	21:0b28b9d13164	967	/! power mode /
CharlesMaxim	21:0b28b9d13164	968	uint8_t power;
CharlesMaxim	21:0b28b9d13164	969	/! output data rate /
CharlesMaxim	21:0b28b9d13164	970	uint8_t odr;
CharlesMaxim	21:0b28b9d13164	971	/! range /
CharlesMaxim	21:0b28b9d13164	972	uint8_t range;
CharlesMaxim	21:0b28b9d13164	973	/! bandwidth /
CharlesMaxim	21:0b28b9d13164	974	uint8_t bw;
CharlesMaxim	21:0b28b9d13164	975	};
CharlesMaxim	21:0b28b9d13164	976
CharlesMaxim	21:0b28b9d13164	977	/*!
CharlesMaxim	21:0b28b9d13164	978	* @brief Aux sensor configuration structure
CharlesMaxim	21:0b28b9d13164	979	*/
CharlesMaxim	21:0b28b9d13164	980	struct bmi160_aux_cfg {
CharlesMaxim	21:0b28b9d13164	981	/! Aux sensor, 1 - enable 0 - disable /
CharlesMaxim	21:0b28b9d13164	982	uint8_t aux_sensor_enable : 1;
CharlesMaxim	21:0b28b9d13164	983	/! Aux manual/auto mode status /
CharlesMaxim	21:0b28b9d13164	984	uint8_t manual_enable : 1;
CharlesMaxim	21:0b28b9d13164	985	/! Aux read burst length /
CharlesMaxim	21:0b28b9d13164	986	uint8_t aux_rd_burst_len : 2;
CharlesMaxim	21:0b28b9d13164	987	/! output data rate /
CharlesMaxim	21:0b28b9d13164	988	uint8_t aux_odr :4;
CharlesMaxim	21:0b28b9d13164	989	/! i2c addr of auxiliary sensor /
CharlesMaxim	21:0b28b9d13164	990	uint8_t aux_i2c_addr;
CharlesMaxim	21:0b28b9d13164	991	};
CharlesMaxim	21:0b28b9d13164	992
CharlesMaxim	21:0b28b9d13164	993	/*!
CharlesMaxim	21:0b28b9d13164	994	* @brief bmi160 interrupt channel selection structure
CharlesMaxim	21:0b28b9d13164	995	*/
CharlesMaxim	21:0b28b9d13164	996	enum bmi160_int_channel {
CharlesMaxim	21:0b28b9d13164	997	/! Un-map both channels /
CharlesMaxim	21:0b28b9d13164	998	BMI160_INT_CHANNEL_NONE,
CharlesMaxim	21:0b28b9d13164	999	/! interrupt Channel 1 /
CharlesMaxim	21:0b28b9d13164	1000	BMI160_INT_CHANNEL_1,
CharlesMaxim	21:0b28b9d13164	1001	/! interrupt Channel 2 /
CharlesMaxim	21:0b28b9d13164	1002	BMI160_INT_CHANNEL_2,
CharlesMaxim	21:0b28b9d13164	1003	/! Map both channels /
CharlesMaxim	21:0b28b9d13164	1004	BMI160_INT_CHANNEL_BOTH
CharlesMaxim	21:0b28b9d13164	1005	};
CharlesMaxim	21:0b28b9d13164	1006
CharlesMaxim	21:0b28b9d13164	1007	enum bmi160_int_types {
CharlesMaxim	21:0b28b9d13164	1008	/! Slope/Any-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1009	BMI160_ACC_ANY_MOTION_INT,
CharlesMaxim	21:0b28b9d13164	1010	/! Significant motion interrupt /
CharlesMaxim	21:0b28b9d13164	1011	BMI160_ACC_SIG_MOTION_INT,
CharlesMaxim	21:0b28b9d13164	1012	/! Step detector interrupt /
CharlesMaxim	21:0b28b9d13164	1013	BMI160_STEP_DETECT_INT,
CharlesMaxim	21:0b28b9d13164	1014	/! double tap interrupt /
CharlesMaxim	21:0b28b9d13164	1015	BMI160_ACC_DOUBLE_TAP_INT,
CharlesMaxim	21:0b28b9d13164	1016	/! single tap interrupt /
CharlesMaxim	21:0b28b9d13164	1017	BMI160_ACC_SINGLE_TAP_INT,
CharlesMaxim	21:0b28b9d13164	1018	/! orientation interrupt /
CharlesMaxim	21:0b28b9d13164	1019	BMI160_ACC_ORIENT_INT,
CharlesMaxim	21:0b28b9d13164	1020	/! flat interrupt /
CharlesMaxim	21:0b28b9d13164	1021	BMI160_ACC_FLAT_INT,
CharlesMaxim	21:0b28b9d13164	1022	/! high-g interrupt /
CharlesMaxim	21:0b28b9d13164	1023	BMI160_ACC_HIGH_G_INT,
CharlesMaxim	21:0b28b9d13164	1024	/! low-g interrupt /
CharlesMaxim	21:0b28b9d13164	1025	BMI160_ACC_LOW_G_INT,
CharlesMaxim	21:0b28b9d13164	1026	/! slow/no-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1027	BMI160_ACC_SLOW_NO_MOTION_INT,
CharlesMaxim	21:0b28b9d13164	1028	/! data ready interrupt /
CharlesMaxim	21:0b28b9d13164	1029	BMI160_ACC_GYRO_DATA_RDY_INT,
CharlesMaxim	21:0b28b9d13164	1030	/! fifo full interrupt /
CharlesMaxim	21:0b28b9d13164	1031	BMI160_ACC_GYRO_FIFO_FULL_INT,
CharlesMaxim	21:0b28b9d13164	1032	/! fifo watermark interrupt /
CharlesMaxim	21:0b28b9d13164	1033	BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
CharlesMaxim	21:0b28b9d13164	1034	/! fifo tagging feature support /
CharlesMaxim	21:0b28b9d13164	1035	BMI160_FIFO_TAG_INT_PIN
CharlesMaxim	21:0b28b9d13164	1036	};
CharlesMaxim	21:0b28b9d13164	1037
CharlesMaxim	21:0b28b9d13164	1038	/*!
CharlesMaxim	21:0b28b9d13164	1039	* @brief bmi160 active state of any & sig motion interrupt.
CharlesMaxim	21:0b28b9d13164	1040	*/
CharlesMaxim	21:0b28b9d13164	1041	enum bmi160_any_sig_motion_active_interrupt_state {
CharlesMaxim	21:0b28b9d13164	1042	/! Both any & sig motion are disabled /
CharlesMaxim	21:0b28b9d13164	1043	BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
CharlesMaxim	21:0b28b9d13164	1044	/! Any-motion selected /
CharlesMaxim	21:0b28b9d13164	1045	BMI160_ANY_MOTION_ENABLED,
CharlesMaxim	21:0b28b9d13164	1046	/! Sig-motion selected /
CharlesMaxim	21:0b28b9d13164	1047	BMI160_SIG_MOTION_ENABLED
CharlesMaxim	21:0b28b9d13164	1048	};
CharlesMaxim	21:0b28b9d13164	1049
CharlesMaxim	21:0b28b9d13164	1050	struct bmi160_acc_tap_int_cfg {
CharlesMaxim	21:0b28b9d13164	1051	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1052	/! tap threshold /
CharlesMaxim	21:0b28b9d13164	1053	uint16_t tap_thr :5;
CharlesMaxim	21:0b28b9d13164	1054	/! tap shock /
CharlesMaxim	21:0b28b9d13164	1055	uint16_t tap_shock :1;
CharlesMaxim	21:0b28b9d13164	1056	/! tap quiet /
CharlesMaxim	21:0b28b9d13164	1057	uint16_t tap_quiet :1;
CharlesMaxim	21:0b28b9d13164	1058	/! tap duration /
CharlesMaxim	21:0b28b9d13164	1059	uint16_t tap_dur :3;
CharlesMaxim	21:0b28b9d13164	1060	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1061	uint16_t tap_data_src :1;
CharlesMaxim	21:0b28b9d13164	1062	/! tap enable, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1063	uint16_t tap_en :1;
CharlesMaxim	21:0b28b9d13164	1064	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1065	/! tap enable, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1066	uint16_t tap_en :1;
CharlesMaxim	21:0b28b9d13164	1067	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1068	uint16_t tap_data_src :1;
CharlesMaxim	21:0b28b9d13164	1069	/! tap duration /
CharlesMaxim	21:0b28b9d13164	1070	uint16_t tap_dur : 3;
CharlesMaxim	21:0b28b9d13164	1071	/! tap quiet /
CharlesMaxim	21:0b28b9d13164	1072	uint16_t tap_quiet : 1;
CharlesMaxim	21:0b28b9d13164	1073	/! tap shock /
CharlesMaxim	21:0b28b9d13164	1074	uint16_t tap_shock : 1;
CharlesMaxim	21:0b28b9d13164	1075	/! tap threshold /
CharlesMaxim	21:0b28b9d13164	1076	uint16_t tap_thr : 5;
CharlesMaxim	21:0b28b9d13164	1077	#endif
CharlesMaxim	21:0b28b9d13164	1078	};
CharlesMaxim	21:0b28b9d13164	1079
CharlesMaxim	21:0b28b9d13164	1080	struct bmi160_acc_any_mot_int_cfg {
CharlesMaxim	21:0b28b9d13164	1081	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1082	/! 1 any-motion enable, 0 - any-motion disable /
CharlesMaxim	21:0b28b9d13164	1083	uint8_t anymotion_en :1;
CharlesMaxim	21:0b28b9d13164	1084	/! slope interrupt x, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1085	uint8_t anymotion_x :1;
CharlesMaxim	21:0b28b9d13164	1086	/! slope interrupt y, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1087	uint8_t anymotion_y :1;
CharlesMaxim	21:0b28b9d13164	1088	/! slope interrupt z, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1089	uint8_t anymotion_z :1;
CharlesMaxim	21:0b28b9d13164	1090	/! slope duration /
CharlesMaxim	21:0b28b9d13164	1091	uint8_t anymotion_dur :2;
CharlesMaxim	21:0b28b9d13164	1092	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1093	uint8_t anymotion_data_src :1;
CharlesMaxim	21:0b28b9d13164	1094	/! slope threshold /
CharlesMaxim	21:0b28b9d13164	1095	uint8_t anymotion_thr;
CharlesMaxim	21:0b28b9d13164	1096	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1097	/! slope threshold /
CharlesMaxim	21:0b28b9d13164	1098	uint8_t anymotion_thr;
CharlesMaxim	21:0b28b9d13164	1099	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1100	uint8_t anymotion_data_src :1;
CharlesMaxim	21:0b28b9d13164	1101	/! slope duration /
CharlesMaxim	21:0b28b9d13164	1102	uint8_t anymotion_dur : 2;
CharlesMaxim	21:0b28b9d13164	1103	/! slope interrupt z, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1104	uint8_t anymotion_z : 1;
CharlesMaxim	21:0b28b9d13164	1105	/! slope interrupt y, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1106	uint8_t anymotion_y : 1;
CharlesMaxim	21:0b28b9d13164	1107	/! slope interrupt x, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1108	uint8_t anymotion_x : 1;
CharlesMaxim	21:0b28b9d13164	1109	/! 1 any-motion enable, 0 - any-motion disable /
CharlesMaxim	21:0b28b9d13164	1110	uint8_t anymotion_en :1;
CharlesMaxim	21:0b28b9d13164	1111	#endif
CharlesMaxim	21:0b28b9d13164	1112	};
CharlesMaxim	21:0b28b9d13164	1113
CharlesMaxim	21:0b28b9d13164	1114	struct bmi160_acc_sig_mot_int_cfg {
CharlesMaxim	21:0b28b9d13164	1115	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1116	/! skip time of sig-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1117	uint8_t sig_mot_skip :2;
CharlesMaxim	21:0b28b9d13164	1118	/! proof time of sig-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1119	uint8_t sig_mot_proof :2;
CharlesMaxim	21:0b28b9d13164	1120	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1121	uint8_t sig_data_src :1;
CharlesMaxim	21:0b28b9d13164	1122	/! 1 - enable sig, 0 - disable sig & enable anymotion /
CharlesMaxim	21:0b28b9d13164	1123	uint8_t sig_en :1;
CharlesMaxim	21:0b28b9d13164	1124	/! sig-motion threshold /
CharlesMaxim	21:0b28b9d13164	1125	uint8_t sig_mot_thres;
CharlesMaxim	21:0b28b9d13164	1126	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1127	/! sig-motion threshold /
CharlesMaxim	21:0b28b9d13164	1128	uint8_t sig_mot_thres;
CharlesMaxim	21:0b28b9d13164	1129	/! 1 - enable sig, 0 - disable sig & enable anymotion /
CharlesMaxim	21:0b28b9d13164	1130	uint8_t sig_en :1;
CharlesMaxim	21:0b28b9d13164	1131	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1132	uint8_t sig_data_src :1;
CharlesMaxim	21:0b28b9d13164	1133	/! proof time of sig-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1134	uint8_t sig_mot_proof : 2;
CharlesMaxim	21:0b28b9d13164	1135	/! skip time of sig-motion interrupt /
CharlesMaxim	21:0b28b9d13164	1136	uint8_t sig_mot_skip : 2;
CharlesMaxim	21:0b28b9d13164	1137	#endif
CharlesMaxim	21:0b28b9d13164	1138	};
CharlesMaxim	21:0b28b9d13164	1139
CharlesMaxim	21:0b28b9d13164	1140	struct bmi160_acc_step_detect_int_cfg {
CharlesMaxim	21:0b28b9d13164	1141	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1142	/! 1- step detector enable, 0- step detector disable /
CharlesMaxim	21:0b28b9d13164	1143	uint16_t step_detector_en :1;
CharlesMaxim	21:0b28b9d13164	1144	/! minimum threshold /
CharlesMaxim	21:0b28b9d13164	1145	uint16_t min_threshold :2;
CharlesMaxim	21:0b28b9d13164	1146	/! minimal detectable step time /
CharlesMaxim	21:0b28b9d13164	1147	uint16_t steptime_min :3;
CharlesMaxim	21:0b28b9d13164	1148	/! enable step counter mode setting /
CharlesMaxim	21:0b28b9d13164	1149	uint16_t step_detector_mode :2;
CharlesMaxim	21:0b28b9d13164	1150	/! minimum step buffer size/
CharlesMaxim	21:0b28b9d13164	1151	uint16_t step_min_buf :3;
CharlesMaxim	21:0b28b9d13164	1152	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1153	/! minimum step buffer size/
CharlesMaxim	21:0b28b9d13164	1154	uint16_t step_min_buf :3;
CharlesMaxim	21:0b28b9d13164	1155	/! enable step counter mode setting /
CharlesMaxim	21:0b28b9d13164	1156	uint16_t step_detector_mode : 2;
CharlesMaxim	21:0b28b9d13164	1157	/! minimal detectable step time /
CharlesMaxim	21:0b28b9d13164	1158	uint16_t steptime_min : 3;
CharlesMaxim	21:0b28b9d13164	1159	/! minimum threshold /
CharlesMaxim	21:0b28b9d13164	1160	uint16_t min_threshold : 2;
CharlesMaxim	21:0b28b9d13164	1161	/! 1- step detector enable, 0- step detector disable /
CharlesMaxim	21:0b28b9d13164	1162	uint16_t step_detector_en :1;
CharlesMaxim	21:0b28b9d13164	1163	#endif
CharlesMaxim	21:0b28b9d13164	1164	};
CharlesMaxim	21:0b28b9d13164	1165
CharlesMaxim	21:0b28b9d13164	1166	struct bmi160_acc_no_motion_int_cfg {
CharlesMaxim	21:0b28b9d13164	1167	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1168	/! no motion interrupt x /
CharlesMaxim	21:0b28b9d13164	1169	uint16_t no_motion_x :1;
CharlesMaxim	21:0b28b9d13164	1170	/! no motion interrupt y /
CharlesMaxim	21:0b28b9d13164	1171	uint16_t no_motion_y :1;
CharlesMaxim	21:0b28b9d13164	1172	/! no motion interrupt z /
CharlesMaxim	21:0b28b9d13164	1173	uint16_t no_motion_z :1;
CharlesMaxim	21:0b28b9d13164	1174	/! no motion duration /
CharlesMaxim	21:0b28b9d13164	1175	uint16_t no_motion_dur :6;
CharlesMaxim	21:0b28b9d13164	1176	/! no motion sel , 1 - enable no-motion ,0- enable slow-motion /
CharlesMaxim	21:0b28b9d13164	1177	uint16_t no_motion_sel :1;
CharlesMaxim	21:0b28b9d13164	1178	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1179	uint16_t no_motion_src :1;
CharlesMaxim	21:0b28b9d13164	1180	/! no motion threshold /
CharlesMaxim	21:0b28b9d13164	1181	uint8_t no_motion_thres;
CharlesMaxim	21:0b28b9d13164	1182	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1183	/! no motion threshold /
CharlesMaxim	21:0b28b9d13164	1184	uint8_t no_motion_thres;
CharlesMaxim	21:0b28b9d13164	1185	/! data source 0- filter & 1 pre-filter/
CharlesMaxim	21:0b28b9d13164	1186	uint16_t no_motion_src :1;
CharlesMaxim	21:0b28b9d13164	1187	/! no motion sel , 1 - enable no-motion ,0- enable slow-motion /
CharlesMaxim	21:0b28b9d13164	1188	uint16_t no_motion_sel : 1;
CharlesMaxim	21:0b28b9d13164	1189	/! no motion duration /
CharlesMaxim	21:0b28b9d13164	1190	uint16_t no_motion_dur : 6;
CharlesMaxim	21:0b28b9d13164	1191	/* no motion interrupt z */
CharlesMaxim	21:0b28b9d13164	1192	uint16_t no_motion_z :1;
CharlesMaxim	21:0b28b9d13164	1193	/! no motion interrupt y /
CharlesMaxim	21:0b28b9d13164	1194	uint16_t no_motion_y :1;
CharlesMaxim	21:0b28b9d13164	1195	/! no motion interrupt x /
CharlesMaxim	21:0b28b9d13164	1196	uint16_t no_motion_x :1;
CharlesMaxim	21:0b28b9d13164	1197	#endif
CharlesMaxim	21:0b28b9d13164	1198	};
CharlesMaxim	21:0b28b9d13164	1199
CharlesMaxim	21:0b28b9d13164	1200	struct bmi160_acc_orient_int_cfg {
CharlesMaxim	21:0b28b9d13164	1201	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1202	/! thresholds for switching between the different orientations /
CharlesMaxim	21:0b28b9d13164	1203	uint16_t orient_mode :2;
CharlesMaxim	21:0b28b9d13164	1204	/! blocking_mode /
CharlesMaxim	21:0b28b9d13164	1205	uint16_t orient_blocking :2;
CharlesMaxim	21:0b28b9d13164	1206	/! Orientation interrupt hysteresis /
CharlesMaxim	21:0b28b9d13164	1207	uint16_t orient_hyst :4;
CharlesMaxim	21:0b28b9d13164	1208	/! Orientation interrupt theta /
CharlesMaxim	21:0b28b9d13164	1209	uint16_t orient_theta :6;
CharlesMaxim	21:0b28b9d13164	1210	/! Enable/disable Orientation interrupt /
CharlesMaxim	21:0b28b9d13164	1211	uint16_t orient_ud_en :1;
CharlesMaxim	21:0b28b9d13164	1212	/! exchange x- and z-axis in algorithm ,0 - z, 1 - x /
CharlesMaxim	21:0b28b9d13164	1213	uint16_t axes_ex :1;
CharlesMaxim	21:0b28b9d13164	1214	/! 1 - orient enable, 0 - orient disable /
CharlesMaxim	21:0b28b9d13164	1215	uint8_t orient_en :1;
CharlesMaxim	21:0b28b9d13164	1216	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1217	/! 1 - orient enable, 0 - orient disable /
CharlesMaxim	21:0b28b9d13164	1218	uint8_t orient_en :1;
CharlesMaxim	21:0b28b9d13164	1219	/! exchange x- and z-axis in algorithm ,0 - z, 1 - x /
CharlesMaxim	21:0b28b9d13164	1220	uint16_t axes_ex : 1;
CharlesMaxim	21:0b28b9d13164	1221	/! Enable/disable Orientation interrupt /
CharlesMaxim	21:0b28b9d13164	1222	uint16_t orient_ud_en : 1;
CharlesMaxim	21:0b28b9d13164	1223	/! Orientation interrupt theta /
CharlesMaxim	21:0b28b9d13164	1224	uint16_t orient_theta : 6;
CharlesMaxim	21:0b28b9d13164	1225	/! Orientation interrupt hysteresis /
CharlesMaxim	21:0b28b9d13164	1226	uint16_t orient_hyst : 4;
CharlesMaxim	21:0b28b9d13164	1227	/! blocking_mode /
CharlesMaxim	21:0b28b9d13164	1228	uint16_t orient_blocking : 2;
CharlesMaxim	21:0b28b9d13164	1229	/! thresholds for switching between the different orientations /
CharlesMaxim	21:0b28b9d13164	1230	uint16_t orient_mode : 2;
CharlesMaxim	21:0b28b9d13164	1231	#endif
CharlesMaxim	21:0b28b9d13164	1232	};
CharlesMaxim	21:0b28b9d13164	1233
CharlesMaxim	21:0b28b9d13164	1234	struct bmi160_acc_flat_detect_int_cfg {
CharlesMaxim	21:0b28b9d13164	1235	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1236	/! flat threshold /
CharlesMaxim	21:0b28b9d13164	1237	uint16_t flat_theta :6;
CharlesMaxim	21:0b28b9d13164	1238	/! flat interrupt hysteresis /
CharlesMaxim	21:0b28b9d13164	1239	uint16_t flat_hy :3;
CharlesMaxim	21:0b28b9d13164	1240	/*! delay time for which the flat value must remain stable for the
CharlesMaxim	21:0b28b9d13164	1241	* flat interrupt to be generated */
CharlesMaxim	21:0b28b9d13164	1242	uint16_t flat_hold_time :2;
CharlesMaxim	21:0b28b9d13164	1243	/! 1 - flat enable, 0 - flat disable /
CharlesMaxim	21:0b28b9d13164	1244	uint16_t flat_en :1;
CharlesMaxim	21:0b28b9d13164	1245	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1246	/! 1 - flat enable, 0 - flat disable /
CharlesMaxim	21:0b28b9d13164	1247	uint16_t flat_en :1;
CharlesMaxim	21:0b28b9d13164	1248	/*! delay time for which the flat value must remain stable for the
CharlesMaxim	21:0b28b9d13164	1249	* flat interrupt to be generated */
CharlesMaxim	21:0b28b9d13164	1250	uint16_t flat_hold_time : 2;
CharlesMaxim	21:0b28b9d13164	1251	/! flat interrupt hysteresis /
CharlesMaxim	21:0b28b9d13164	1252	uint16_t flat_hy : 3;
CharlesMaxim	21:0b28b9d13164	1253	/! flat threshold /
CharlesMaxim	21:0b28b9d13164	1254	uint16_t flat_theta : 6;
CharlesMaxim	21:0b28b9d13164	1255	#endif
CharlesMaxim	21:0b28b9d13164	1256	};
CharlesMaxim	21:0b28b9d13164	1257
CharlesMaxim	21:0b28b9d13164	1258	struct bmi160_acc_low_g_int_cfg {
CharlesMaxim	21:0b28b9d13164	1259	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1260	/! low-g interrupt trigger delay /
CharlesMaxim	21:0b28b9d13164	1261	uint8_t low_dur;
CharlesMaxim	21:0b28b9d13164	1262	/! low-g interrupt trigger threshold /
CharlesMaxim	21:0b28b9d13164	1263	uint8_t low_thres;
CharlesMaxim	21:0b28b9d13164	1264	/! hysteresis of low-g interrupt /
CharlesMaxim	21:0b28b9d13164	1265	uint8_t low_hyst :2;
CharlesMaxim	21:0b28b9d13164	1266	/! 0 - single-axis mode ,1 - axis-summing mode /
CharlesMaxim	21:0b28b9d13164	1267	uint8_t low_mode :1;
CharlesMaxim	21:0b28b9d13164	1268	/! data source 0- filter & 1 pre-filter /
CharlesMaxim	21:0b28b9d13164	1269	uint8_t low_data_src :1;
CharlesMaxim	21:0b28b9d13164	1270	/! 1 - enable low-g, 0 - disable low-g /
CharlesMaxim	21:0b28b9d13164	1271	uint8_t low_en :1;
CharlesMaxim	21:0b28b9d13164	1272	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1273	/! 1 - enable low-g, 0 - disable low-g /
CharlesMaxim	21:0b28b9d13164	1274	uint8_t low_en :1;
CharlesMaxim	21:0b28b9d13164	1275	/! data source 0- filter & 1 pre-filter /
CharlesMaxim	21:0b28b9d13164	1276	uint8_t low_data_src :1;
CharlesMaxim	21:0b28b9d13164	1277	/! 0 - single-axis mode ,1 - axis-summing mode /
CharlesMaxim	21:0b28b9d13164	1278	uint8_t low_mode : 1;
CharlesMaxim	21:0b28b9d13164	1279	/! hysteresis of low-g interrupt /
CharlesMaxim	21:0b28b9d13164	1280	uint8_t low_hyst : 2;
CharlesMaxim	21:0b28b9d13164	1281	/! low-g interrupt trigger threshold /
CharlesMaxim	21:0b28b9d13164	1282	uint8_t low_thres;
CharlesMaxim	21:0b28b9d13164	1283	/! low-g interrupt trigger delay /
CharlesMaxim	21:0b28b9d13164	1284	uint8_t low_dur;
CharlesMaxim	21:0b28b9d13164	1285	#endif
CharlesMaxim	21:0b28b9d13164	1286	};
CharlesMaxim	21:0b28b9d13164	1287
CharlesMaxim	21:0b28b9d13164	1288	struct bmi160_acc_high_g_int_cfg {
CharlesMaxim	21:0b28b9d13164	1289	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1290	/! High-g interrupt x, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1291	uint8_t high_g_x :1;
CharlesMaxim	21:0b28b9d13164	1292	/! High-g interrupt y, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1293	uint8_t high_g_y :1;
CharlesMaxim	21:0b28b9d13164	1294	/! High-g interrupt z, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1295	uint8_t high_g_z :1;
CharlesMaxim	21:0b28b9d13164	1296	/! High-g hysteresis /
CharlesMaxim	21:0b28b9d13164	1297	uint8_t high_hy :2;
CharlesMaxim	21:0b28b9d13164	1298	/! data source 0- filter & 1 pre-filter /
CharlesMaxim	21:0b28b9d13164	1299	uint8_t high_data_src :1;
CharlesMaxim	21:0b28b9d13164	1300	/! High-g threshold /
CharlesMaxim	21:0b28b9d13164	1301	uint8_t high_thres;
CharlesMaxim	21:0b28b9d13164	1302	/! High-g duration /
CharlesMaxim	21:0b28b9d13164	1303	uint8_t high_dur;
CharlesMaxim	21:0b28b9d13164	1304	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1305	/! High-g duration /
CharlesMaxim	21:0b28b9d13164	1306	uint8_t high_dur;
CharlesMaxim	21:0b28b9d13164	1307	/! High-g threshold /
CharlesMaxim	21:0b28b9d13164	1308	uint8_t high_thres;
CharlesMaxim	21:0b28b9d13164	1309	/! data source 0- filter & 1 pre-filter /
CharlesMaxim	21:0b28b9d13164	1310	uint8_t high_data_src :1;
CharlesMaxim	21:0b28b9d13164	1311	/! High-g hysteresis /
CharlesMaxim	21:0b28b9d13164	1312	uint8_t high_hy : 2;
CharlesMaxim	21:0b28b9d13164	1313	/! High-g interrupt z, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1314	uint8_t high_g_z : 1;
CharlesMaxim	21:0b28b9d13164	1315	/! High-g interrupt y, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1316	uint8_t high_g_y : 1;
CharlesMaxim	21:0b28b9d13164	1317	/! High-g interrupt x, 1 - enable, 0 - disable /
CharlesMaxim	21:0b28b9d13164	1318	uint8_t high_g_x : 1;
CharlesMaxim	21:0b28b9d13164	1319	#endif
CharlesMaxim	21:0b28b9d13164	1320	};
CharlesMaxim	21:0b28b9d13164	1321
CharlesMaxim	21:0b28b9d13164	1322	struct bmi160_int_pin_settg {
CharlesMaxim	21:0b28b9d13164	1323	#if LITTLE_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1324	/*! To enable either INT1 or INT2 pin as output.
CharlesMaxim	21:0b28b9d13164	1325	* 0- output disabled ,1- output enabled */
CharlesMaxim	21:0b28b9d13164	1326	uint16_t output_en :1;
CharlesMaxim	21:0b28b9d13164	1327	/! 0 - push-pull 1- open drain,only valid if output_en is set 1 /
CharlesMaxim	21:0b28b9d13164	1328	uint16_t output_mode :1;
CharlesMaxim	21:0b28b9d13164	1329	/*! 0 - active low , 1 - active high level.
CharlesMaxim	21:0b28b9d13164	1330	* if output_en is 1,this applies to interrupts,else PMU_trigger */
CharlesMaxim	21:0b28b9d13164	1331	uint16_t output_type :1;
CharlesMaxim	21:0b28b9d13164	1332	/! 0 - level trigger , 1 - edge trigger /
CharlesMaxim	21:0b28b9d13164	1333	uint16_t edge_ctrl :1;
CharlesMaxim	21:0b28b9d13164	1334	/*! To enable either INT1 or INT2 pin as input.
CharlesMaxim	21:0b28b9d13164	1335	* 0 - input disabled ,1 - input enabled */
CharlesMaxim	21:0b28b9d13164	1336	uint16_t input_en :1;
CharlesMaxim	21:0b28b9d13164	1337	/! latch duration/
CharlesMaxim	21:0b28b9d13164	1338	uint16_t latch_dur :4;
CharlesMaxim	21:0b28b9d13164	1339	#elif BIG_ENDIAN == 1
CharlesMaxim	21:0b28b9d13164	1340	/! latch duration/
CharlesMaxim	21:0b28b9d13164	1341	uint16_t latch_dur : 4;
CharlesMaxim	21:0b28b9d13164	1342	/! Latched,non-latched or temporary interrupt modes /
CharlesMaxim	21:0b28b9d13164	1343	uint16_t input_en : 1;
CharlesMaxim	21:0b28b9d13164	1344	/! 1 - edge trigger, 0 - level trigger /
CharlesMaxim	21:0b28b9d13164	1345	uint16_t edge_ctrl : 1;
CharlesMaxim	21:0b28b9d13164	1346	/*! 0 - active low , 1 - active high level.
CharlesMaxim	21:0b28b9d13164	1347	* if output_en is 1,this applies to interrupts,else PMU_trigger */
CharlesMaxim	21:0b28b9d13164	1348	uint16_t output_type : 1;
CharlesMaxim	21:0b28b9d13164	1349	/! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 /
CharlesMaxim	21:0b28b9d13164	1350	uint16_t output_mode : 1;
CharlesMaxim	21:0b28b9d13164	1351	/*! To enable either INT1 or INT2 pin as output.
CharlesMaxim	21:0b28b9d13164	1352	* 0 - output disabled , 1 - output enabled */
CharlesMaxim	21:0b28b9d13164	1353	uint16_t output_en : 1;
CharlesMaxim	21:0b28b9d13164	1354	#endif
CharlesMaxim	21:0b28b9d13164	1355	};
CharlesMaxim	21:0b28b9d13164	1356
CharlesMaxim	21:0b28b9d13164	1357	union bmi160_int_type_cfg {
CharlesMaxim	21:0b28b9d13164	1358	/! Tap interrupt structure /
CharlesMaxim	21:0b28b9d13164	1359	struct bmi160_acc_tap_int_cfg acc_tap_int;
CharlesMaxim	21:0b28b9d13164	1360	/! Slope interrupt structure /
CharlesMaxim	21:0b28b9d13164	1361	struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
CharlesMaxim	21:0b28b9d13164	1362	/! Significant motion interrupt structure /
CharlesMaxim	21:0b28b9d13164	1363	struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
CharlesMaxim	21:0b28b9d13164	1364	/! Step detector interrupt structure /
CharlesMaxim	21:0b28b9d13164	1365	struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
CharlesMaxim	21:0b28b9d13164	1366	/! No motion interrupt structure /
CharlesMaxim	21:0b28b9d13164	1367	struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
CharlesMaxim	21:0b28b9d13164	1368	/! Orientation interrupt structure /
CharlesMaxim	21:0b28b9d13164	1369	struct bmi160_acc_orient_int_cfg acc_orient_int;
CharlesMaxim	21:0b28b9d13164	1370	/! Flat interrupt structure /
CharlesMaxim	21:0b28b9d13164	1371	struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
CharlesMaxim	21:0b28b9d13164	1372	/! Low-g interrupt structure /
CharlesMaxim	21:0b28b9d13164	1373	struct bmi160_acc_low_g_int_cfg acc_low_g_int;
CharlesMaxim	21:0b28b9d13164	1374	/! High-g interrupt structure /
CharlesMaxim	21:0b28b9d13164	1375	struct bmi160_acc_high_g_int_cfg acc_high_g_int;
CharlesMaxim	21:0b28b9d13164	1376	};
CharlesMaxim	21:0b28b9d13164	1377
CharlesMaxim	21:0b28b9d13164	1378	struct bmi160_int_settg {
CharlesMaxim	21:0b28b9d13164	1379	/! Interrupt channel /
CharlesMaxim	21:0b28b9d13164	1380	enum bmi160_int_channel int_channel;
CharlesMaxim	21:0b28b9d13164	1381	/! Select Interrupt /
CharlesMaxim	21:0b28b9d13164	1382	enum bmi160_int_types int_type;
CharlesMaxim	21:0b28b9d13164	1383	/! Structure configuring Interrupt pins /
CharlesMaxim	21:0b28b9d13164	1384	struct bmi160_int_pin_settg int_pin_settg;
CharlesMaxim	21:0b28b9d13164	1385	/! Union configures required interrupt /
CharlesMaxim	21:0b28b9d13164	1386	union bmi160_int_type_cfg int_type_cfg;
CharlesMaxim	21:0b28b9d13164	1387	/! FIFO FULL INT 1-enable, 0-disable /
CharlesMaxim	21:0b28b9d13164	1388	uint8_t fifo_full_int_en :1;
CharlesMaxim	21:0b28b9d13164	1389	/! FIFO WTM INT 1-enable, 0-disable /
CharlesMaxim	21:0b28b9d13164	1390	uint8_t fifo_WTM_int_en :1;
CharlesMaxim	21:0b28b9d13164	1391	};
CharlesMaxim	21:0b28b9d13164	1392
CharlesMaxim	21:0b28b9d13164	1393	/*!
CharlesMaxim	21:0b28b9d13164	1394	* @brief This structure holds the information for usage of
CharlesMaxim	21:0b28b9d13164	1395	* FIFO by the user.
CharlesMaxim	21:0b28b9d13164	1396	*/
CharlesMaxim	21:0b28b9d13164	1397	struct bmi160_fifo_frame {
CharlesMaxim	21:0b28b9d13164	1398	/! Data buffer of user defined length is to be mapped here /
CharlesMaxim	21:0b28b9d13164	1399	uint8_t *data;
CharlesMaxim	21:0b28b9d13164	1400	/*! While calling the API "bmi160_get_fifo_data" , length stores
CharlesMaxim	21:0b28b9d13164	1401	* number of bytes in FIFO to be read (specified by user as input)
CharlesMaxim	21:0b28b9d13164	1402	* and after execution of the API ,number of FIFO data bytes
CharlesMaxim	21:0b28b9d13164	1403	* available is provided as an output to user
CharlesMaxim	21:0b28b9d13164	1404	*/
CharlesMaxim	21:0b28b9d13164	1405	uint16_t length;
CharlesMaxim	21:0b28b9d13164	1406	/! FIFO time enable /
CharlesMaxim	21:0b28b9d13164	1407	uint8_t fifo_time_enable;
CharlesMaxim	21:0b28b9d13164	1408	/! Enabling of the FIFO header to stream in header mode /
CharlesMaxim	21:0b28b9d13164	1409	uint8_t fifo_header_enable;
CharlesMaxim	21:0b28b9d13164	1410	/*! Streaming of the Accelerometer, Gyroscope
CharlesMaxim	21:0b28b9d13164	1411	sensor data or both in FIFO */
CharlesMaxim	21:0b28b9d13164	1412	uint8_t fifo_data_enable;
CharlesMaxim	21:0b28b9d13164	1413	/! Will be equal to length when no more frames are there to parse /
CharlesMaxim	21:0b28b9d13164	1414	uint16_t accel_byte_start_idx;
CharlesMaxim	21:0b28b9d13164	1415	/! Will be equal to length when no more frames are there to parse /
CharlesMaxim	21:0b28b9d13164	1416	uint16_t gyro_byte_start_idx;
CharlesMaxim	21:0b28b9d13164	1417	/! Will be equal to length when no more frames are there to parse /
CharlesMaxim	21:0b28b9d13164	1418	uint16_t aux_byte_start_idx;
CharlesMaxim	21:0b28b9d13164	1419	/! Value of FIFO sensor time time /
CharlesMaxim	21:0b28b9d13164	1420	uint32_t sensor_time;
CharlesMaxim	21:0b28b9d13164	1421	/! Value of Skipped frame counts /
CharlesMaxim	21:0b28b9d13164	1422	uint8_t skipped_frame_count;
CharlesMaxim	21:0b28b9d13164	1423	};
CharlesMaxim	21:0b28b9d13164	1424
CharlesMaxim	21:0b28b9d13164	1425	struct bmi160_dev {
CharlesMaxim	21:0b28b9d13164	1426	/! Chip Id /
CharlesMaxim	21:0b28b9d13164	1427	uint8_t chip_id;
CharlesMaxim	21:0b28b9d13164	1428	/! Device Id /
CharlesMaxim	21:0b28b9d13164	1429	uint8_t id;
CharlesMaxim	21:0b28b9d13164	1430	/! 0 - I2C , 1 - SPI Interface /
CharlesMaxim	21:0b28b9d13164	1431	uint8_t interface;
CharlesMaxim	21:0b28b9d13164	1432	/*! Hold active interrupts status for any and sig motion
CharlesMaxim	21:0b28b9d13164	1433	* 0 - Any-motion enable, 1 - Sig-motion enable,
CharlesMaxim	21:0b28b9d13164	1434	* -1 neither any-motion nor sig-motion selected */
CharlesMaxim	21:0b28b9d13164	1435	enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
CharlesMaxim	21:0b28b9d13164	1436	/! Structure to configure Accel sensor /
CharlesMaxim	21:0b28b9d13164	1437	struct bmi160_cfg accel_cfg;
CharlesMaxim	21:0b28b9d13164	1438	/*! Structure to hold previous/old accel config parameters.
CharlesMaxim	21:0b28b9d13164	1439	* This is used at driver level to prevent overwriting of same
CharlesMaxim	21:0b28b9d13164	1440	* data, hence user does not change it in the code */
CharlesMaxim	21:0b28b9d13164	1441	struct bmi160_cfg prev_accel_cfg;
CharlesMaxim	21:0b28b9d13164	1442	/! Structure to configure Gyro sensor /
CharlesMaxim	21:0b28b9d13164	1443	struct bmi160_cfg gyro_cfg;
CharlesMaxim	21:0b28b9d13164	1444	/*! Structure to hold previous/old gyro config parameters.
CharlesMaxim	21:0b28b9d13164	1445	* This is used at driver level to prevent overwriting of same
CharlesMaxim	21:0b28b9d13164	1446	* data, hence user does not change it in the code */
CharlesMaxim	21:0b28b9d13164	1447	struct bmi160_cfg prev_gyro_cfg;
CharlesMaxim	21:0b28b9d13164	1448	/! Structure to configure the auxiliary sensor /
CharlesMaxim	21:0b28b9d13164	1449	struct bmi160_aux_cfg aux_cfg;
CharlesMaxim	21:0b28b9d13164	1450	/*! Structure to hold previous/old aux config parameters.
CharlesMaxim	21:0b28b9d13164	1451	* This is used at driver level to prevent overwriting of same
CharlesMaxim	21:0b28b9d13164	1452	* data, hence user does not change it in the code */
CharlesMaxim	21:0b28b9d13164	1453	struct bmi160_aux_cfg prev_aux_cfg;
CharlesMaxim	21:0b28b9d13164	1454	/! FIFO related configurations /
CharlesMaxim	21:0b28b9d13164	1455	struct bmi160_fifo_frame *fifo;
CharlesMaxim	21:0b28b9d13164	1456	/! Read function pointer /
CharlesMaxim	21:0b28b9d13164	1457	bmi160_com_fptr_t read;
CharlesMaxim	21:0b28b9d13164	1458	/! Write function pointer /
CharlesMaxim	21:0b28b9d13164	1459	bmi160_com_fptr_t write;
CharlesMaxim	21:0b28b9d13164	1460	/! Delay function pointer /
CharlesMaxim	21:0b28b9d13164	1461	bmi160_delay_fptr_t delay_ms;
CharlesMaxim	21:0b28b9d13164	1462	};
CharlesMaxim	21:0b28b9d13164	1463
CharlesMaxim	21:0b28b9d13164	1464
CharlesMaxim	21:0b28b9d13164	1465	#endif /* BMI160_DEFS_H_ */

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Type:	Library
Created:	04 Dec 2018
Imports:	15
Forks:	0
Commits:	22
Dependents:	4
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bmi160_defs.h@21:0b28b9d13164, 2018-12-04 (annotated)

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