TSDA Robotics
BMI160 Initial
Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks
Revision 21:0b28b9d13164, committed 2018-12-04
- Comitter:
- CharlesMaxim
- Date:
- Tue Dec 04 09:50:52 2018 +0000
- Parent:
- 20:a521606048bb
- Commit message:
- Initial Release for BMI160
Changed in this revision
| bmi160.h | Show annotated file Show diff for this revision Revisions of this file |
| bmi160_defs.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r a521606048bb -r 0b28b9d13164 bmi160.h
--- a/bmi160.h Fri May 04 13:35:59 2018 +0300
+++ b/bmi160.h Tue Dec 04 09:50:52 2018 +0000
@@ -36,6 +36,19 @@
#include "mbed.h"
+#include "bmi160_defs.h"
+
+#include <math.h>
+//#include <bmi160_math.h>
+/*
+#ifdef __KERNEL__
+
+#else
+
+#include <string.h>
+*/
+#include <stdlib.h>
+
/**
@brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
unit designed for use in mobile applications like augmented reality or indoor
@@ -71,7 +84,7 @@
Y_AXIS,
Z_AXIS
};
-
+
///Structure for axis data
struct AxisData
{
@@ -136,7 +149,7 @@
FIFO_DATA, ///<FIFO data read out register, burst read
ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
ACC_RANGE, ///<Sets accelerometer g-range
- GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
+ GYR_CONF = 0x42, ///<Set ODR, bandwidth, and read mode of gyroscope
GYR_RANGE, ///<Sets gyroscope angular rate measurement range
MAG_CONF, ///<Sets ODR of magnetometer interface
FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
@@ -186,20 +199,20 @@
///<interrupt
INT_FLAT_0, ///<Contains the configuration for the flat interrupt
INT_FLAT_1, ///<Contains the configuration for the flat interrupt
- FOC_CONF, ///<Contains configuration for the fast offset
+ FOC_CONF = 0x69, ///<Contains configuration for the fast offset
///<compensation for the accelerometer and gyroscope
CONF, ///<Configuration of sensor, nvm_prog_en bit
IF_CONF, ///<Contains settings for the digital interface
PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
SELF_TEST, ///<Self test configuration
NV_CONF = 0x70, ///<Contains settings for the digital interface
- OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
- OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
- OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
- OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
- OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
- OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
- OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
+ OFFSET_0 = 0x71, ///<Contains offset comp values for acc_off_x7:0
+ OFFSET_1 = 0x71, ///<Contains offset comp values for acc_off_y7:0
+ OFFSET_2 = 0x71, ///<Contains offset comp values for acc_off_z7:0
+ OFFSET_3 = 0x74, ///<Contains offset comp values for gyr_off_x7:0
+ OFFSET_4 = 0x75, ///<Contains offset comp values for gyr_off_y7:0
+ OFFSET_5 = 0x76, ///<Contains offset comp values for gyr_off_z7:0
+ OFFSET_6 = 0x77, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
STEP_CNT_0, ///<Step counter bits 15:8
STEP_CNT_1, ///<Step counter bits 7:0
STEP_CONF_0, ///<Contains configuration of the step detector
@@ -224,6 +237,10 @@
static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
static const uint8_t MAG_DRDY_ERR_POS = 0x08;
+ static const uint8_t FOC_VALUE = 0x7D;
+ static const uint8_t FOC_START = 0x03;
+ static const uint8_t FOC_ENABLE_GYR_ACC = 0xC0;
+
///Enumerated error codes
enum ErrorCodes
{
@@ -251,6 +268,7 @@
static const uint8_t ACC_US_POS = 0x07;
static const uint8_t ACC_RANGE_MASK = 0x0F;
static const uint8_t ACC_RANGE_POS = 0x00;
+ static const uint8_t GYRO_RANGE_500 = 0x02;
///Accelerometer output data rates
enum AccOutputDataRate
@@ -298,6 +316,10 @@
SENS_16G = 0x0C ///<Accelerometer range +-16G
};
+
+
+
+
///Accelerometer configuration data structure
struct AccConfig
{
@@ -586,7 +608,9 @@
int32_t getSensorTime(SensorTime &sensorTime);
- ///@brief Get die temperature.\n
+
+
+ ///@brief Get die temperature.\n
///
///On Entry:
///@param[in] temp - pointer to float for temperature
@@ -788,3 +812,7 @@
///@param[out] none
///
///@returns none
+int8_t start_foc(struct bmi160_dev *dev);
+
+int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf, struct bmi160_offsets *offset,
+ struct bmi160_dev const *dev);
\ No newline at end of file
diff -r a521606048bb -r 0b28b9d13164 bmi160_defs.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bmi160_defs.h Tue Dec 04 09:50:52 2018 +0000
@@ -0,0 +1,1465 @@
+/**
+ * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * Neither the name of the copyright holder nor the names of the
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
+ * OR CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+ * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
+ *
+ * The information provided is believed to be accurate and reliable.
+ * The copyright holder assumes no responsibility
+ * for the consequences of use
+ * of such information nor for any infringement of patents or
+ * other rights of third parties which may result from its use.
+ * No license is granted by implication or otherwise under any patent or
+ * patent rights of the copyright holder.
+ *
+ * @file bmi160_defs.h
+ * @date 11 Jan 2018
+ * @version 3.7.5
+ * @brief
+ *
+ */
+
+/*!
+ * @defgroup bmi160_defs
+ * @brief
+ * @{*/
+
+#ifndef BMI160_DEFS_H_
+#define BMI160_DEFS_H_
+
+/*************************** C types headers *****************************/
+#ifdef __KERNEL__
+#include <linux/types.h>
+#include <linux/kernel.h>
+#else
+#include <stdint.h>
+#include <stddef.h>
+#endif
+
+/*************************** Common macros *****************************/
+
+#if !defined(UINT8_C) && !defined(INT8_C)
+#define INT8_C(x) S8_C(x)
+#define UINT8_C(x) U8_C(x)
+#endif
+
+#if !defined(UINT16_C) && !defined(INT16_C)
+#define INT16_C(x) S16_C(x)
+#define UINT16_C(x) U16_C(x)
+#endif
+
+#if !defined(INT32_C) && !defined(UINT32_C)
+#define INT32_C(x) S32_C(x)
+#define UINT32_C(x) U32_C(x)
+#endif
+
+#if !defined(INT64_C) && !defined(UINT64_C)
+#define INT64_C(x) S64_C(x)
+#define UINT64_C(x) U64_C(x)
+#endif
+
+/**@}*/
+
+/**\name C standard macros */
+#ifndef NULL
+#ifdef __cplusplus
+#define NULL 0
+#else
+#define NULL ((void *) 0)
+#endif
+#endif
+
+/*************************** Sensor macros *****************************/
+/* Test for an endian machine */
+#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
+#define LITTLE_ENDIAN 1
+#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+#define BIG_ENDIAN 1
+#else
+#error "Code does not support Endian format of the processor"
+#endif
+
+/** Mask definitions */
+#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
+#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
+#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
+#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
+#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
+#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
+#define BMI160_GYRO_RANGE_MSK UINT8_C(0x07)
+
+/** Mask definitions for INT_EN registers */
+#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
+#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
+#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
+#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
+#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
+#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
+#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
+#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
+#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
+#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
+#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
+#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
+#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
+#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
+
+/** PMU status Macros */
+#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
+
+#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
+
+#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
+#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
+#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
+
+/** Mask definitions for INT_OUT_CTRL register */
+#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
+#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
+#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
+#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
+#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
+#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
+#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
+#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_LATCH register */
+#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
+#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
+#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
+
+/** Mask definitions for INT_MAP register */
+#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
+#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
+#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
+#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
+#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
+#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
+#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
+#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
+#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
+#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
+#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
+#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
+#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
+#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
+#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
+#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
+#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
+#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
+#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
+#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
+#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
+#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
+#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
+#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_DATA register */
+#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
+#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
+#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
+
+/** Mask definitions for INT_MOTION register */
+#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
+#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
+#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
+
+/** Mask definitions for INT_TAP register */
+#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
+#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
+#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
+#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
+
+/** Mask definitions for INT_FLAT register */
+#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
+#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
+#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
+
+/** Mask definitions for INT_LOWHIGH register */
+#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
+#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
+#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
+
+/** Mask definitions for INT_SIG_MOTION register */
+#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
+#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
+#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
+
+/** Mask definitions for INT_ORIENT register */
+#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
+#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
+#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
+#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
+#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
+#define BMI160_AXES_EN_MASK UINT8_C(0x80)
+
+/** Mask definitions for FIFO_CONFIG register */
+#define BMI160_FIFO_GYRO UINT8_C(0x80)
+#define BMI160_FIFO_ACCEL UINT8_C(0x40)
+#define BMI160_FIFO_AUX UINT8_C(0x20)
+#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
+#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
+#define BMI160_FIFO_TIME UINT8_C(0x02)
+#define BMI160_FIFO_HEADER UINT8_C(0x10)
+#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
+
+
+/** Mask definitions for STEP_CONF register */
+#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
+#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
+#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
+#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
+
+/** Mask definition for FIFO Header Data Tag */
+#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
+
+/** Fifo byte counter mask definitions */
+#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
+
+/** Enable/disable bit value */
+#define BMI160_ENABLE 0x01
+#define BMI160_DISABLE UINT8_C(0x00)
+
+/** Latch Duration */
+#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
+#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
+#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
+#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
+#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
+#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
+#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
+#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
+#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
+#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
+#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
+#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
+#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
+#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
+#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
+#define BMI160_LATCHED UINT8_C(0x0F)
+
+/** BMI160 Register map */
+#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
+#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
+#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
+#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
+#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
+#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
+#define BMI160_STATUS_ADDR UINT8_C(0x1B)
+#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
+#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
+#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
+#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
+#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
+#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
+#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
+#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
+#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
+#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
+#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
+#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
+#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
+#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
+#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
+#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
+#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
+#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
+#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
+#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
+#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
+#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
+#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
+#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
+#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
+#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
+#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
+#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
+#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
+#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
+#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
+#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
+#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
+#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
+#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
+#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
+#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
+#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
+#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
+#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
+#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
+#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
+#define BMI160_CONF_ADDR UINT8_C(0x6A)
+
+#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
+#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
+#define BMI160_OFFSET_ADDR UINT8_C(0x71)
+#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
+#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
+#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
+#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
+#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
+#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
+#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
+
+/** Error code definitions */
+#define BMI160_OK 0
+#define BMI160_E_NULL_PTR INT8_C(-1)
+#define BMI160_E_COM_FAIL INT8_C(-2)
+#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
+#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
+#define BMI160_E_INVALID_INPUT INT8_C(-5)
+#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
+#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
+#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
+#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
+#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
+#define BMI160_FOC_FAILURE INT8_C(-11)
+
+/**\name API warning codes */
+#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
+#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
+
+/** BMI160 unique chip identifier */
+#define BMI160_CHIP_ID UINT8_C(0xD1)
+
+/** Soft reset command */
+#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
+#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(15)
+/** Start FOC command */
+#define BMI160_START_FOC_CMD UINT8_C(0x03)
+/** NVM backup enabling command */
+#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
+
+/* Delay in ms settings */
+#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
+#define BMI160_GYRO_DELAY_MS UINT8_C(81)
+#define BMI160_ONE_MS_DELAY UINT8_C(1)
+#define BMI160_AUX_COM_DELAY UINT8_C(10)
+#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
+#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
+
+/** Self test configurations */
+#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
+#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
+#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
+#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
+
+/** Power mode settings */
+/* Accel power mode */
+#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
+#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
+#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
+
+/* Gyro power mode */
+#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
+#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
+#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
+
+/* Aux power mode */
+#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
+#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
+#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
+
+/** Range settings */
+/* Accel Range */
+#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
+#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
+#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
+#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
+
+/* Gyro Range */
+#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
+#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
+#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
+#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
+#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
+
+/** Bandwidth settings */
+/* Accel Bandwidth */
+#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
+#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
+#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
+#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
+#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
+#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
+#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
+#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
+
+#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
+#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
+#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
+
+/* Output Data Rate settings */
+/* Accel Output data rate */
+#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
+#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
+#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
+#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
+#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
+#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
+#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
+#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
+#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
+#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
+#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
+#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
+#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
+#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
+
+/* Gyro Output data rate */
+#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
+#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
+#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
+#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
+#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
+#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
+#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
+
+/* Auxiliary sensor Output data rate */
+#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
+#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
+#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
+#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
+#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
+#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
+#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
+#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
+#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
+#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
+#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
+#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
+
+/* Maximum limits definition */
+#define BMI160_ACCEL_ODR_MAX UINT8_C(15)
+#define BMI160_ACCEL_BW_MAX UINT8_C(2)
+#define BMI160_ACCEL_RANGE_MAX UINT8_C(12)
+#define BMI160_GYRO_ODR_MAX UINT8_C(13)
+#define BMI160_GYRO_BW_MAX UINT8_C(2)
+#define BMI160_GYRO_RANGE_MAX UINT8_C(4)
+
+/** FIFO_CONFIG Definitions */
+#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
+#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
+#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
+#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
+#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
+#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
+#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
+#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
+#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
+#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
+#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
+
+/* Macro to specify the number of bytes over-read from the
+ * FIFO in order to get the sensor time at the end of FIFO */
+#ifndef BMI160_FIFO_BYTES_OVERREAD
+#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
+#endif
+
+
+
+/* Accel, gyro and aux. sensor length and also their combined
+ * length definitions in FIFO */
+#define BMI160_FIFO_G_LENGTH UINT8_C(6)
+#define BMI160_FIFO_A_LENGTH UINT8_C(6)
+#define BMI160_FIFO_M_LENGTH UINT8_C(8)
+#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
+#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
+#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
+#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
+
+
+/** FIFO Header Data definitions */
+#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
+#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
+#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
+#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
+#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
+#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
+#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
+#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
+#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
+#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
+#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
+
+
+/** FIFO sensor time length definitions */
+#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
+
+
+/** FIFO DOWN selection */
+/* Accel fifo down-sampling values*/
+#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
+#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
+#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
+#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
+#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
+#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
+#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
+#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
+
+/* Gyro fifo down-smapling values*/
+#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
+#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
+#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
+#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
+#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
+#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
+#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
+#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
+
+/* Accel Fifo filter enable*/
+#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
+
+/* Gyro Fifo filter enable*/
+#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
+
+/** Definitions to check validity of FIFO frames */
+#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
+#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
+
+/*! BMI160 accel FOC configurations */
+#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
+#define BMI160_FOC_ACCEL_POSITIVE_G 0x01
+#define BMI160_FOC_ACCEL_NEGATIVE_G 0x02
+#define BMI160_FOC_ACCEL_0G 0x03
+
+/** Array Parameter DefinItions */
+#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
+#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
+#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
+
+
+/** Interface settings */
+#define BMI160_SPI_INTF UINT8_C(1)
+#define BMI160_I2C_INTF UINT8_C(0)
+#define BMI160_SPI_RD_MASK UINT8_C(0x80)
+#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
+
+/* Sensor & time select definition*/
+#define BMI160_ACCEL_SEL UINT8_C(0x01)
+#define BMI160_GYRO_SEL UINT8_C(0x02)
+#define BMI160_TIME_SEL UINT8_C(0x04)
+
+/* Sensor select mask*/
+#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
+
+/* Error code mask */
+#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
+
+/* BMI160 I2C address */
+#define BMI160_I2C_ADDR UINT8_C(0x68)
+
+/* BMI160 secondary IF address */
+#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
+
+/** BMI160 Length definitions */
+#define BMI160_ONE UINT8_C(1)
+#define BMI160_TWO UINT8_C(2)
+#define BMI160_THREE UINT8_C(3)
+#define BMI160_FOUR UINT8_C(4)
+#define BMI160_FIVE UINT8_C(5)
+
+/** BMI160 fifo level Margin */
+#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
+
+/** BMI160 fifo flush Command */
+#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
+
+/** BMI160 offset values for xyz axes of accel */
+#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
+#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
+
+/** BMI160 offset values for xyz axes of gyro */
+#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
+#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
+
+/** BMI160 fifo full interrupt position and mask */
+#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
+#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
+
+#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
+#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
+#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
+#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
+
+#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
+#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
+#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
+#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
+
+#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
+#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
+#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
+#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
+
+#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
+#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
+#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
+#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
+
+#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
+#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
+
+#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
+#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
+
+#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
+#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
+
+#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
+
+#define BMI160_FOC_STATUS_POS UINT8_C(3)
+#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
+
+#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
+
+#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
+#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
+
+#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
+#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
+
+#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
+#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
+
+#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
+#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
+
+#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
+#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
+
+#define BMI160_NVM_UPDATE_POS UINT8_C(1)
+#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
+
+#define BMI160_NVM_STATUS_POS UINT8_C(4)
+#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
+
+#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
+
+#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
+#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
+
+#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
+#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
+
+
+/* BIT SLICE GET AND SET FUNCTIONS */
+#define BMI160_GET_BITS(regvar, bitname)\
+ ((regvar & bitname##_MSK) >> bitname##_POS)
+#define BMI160_SET_BITS(regvar, bitname, val)\
+ ((regvar & ~bitname##_MSK) | \
+ ((val<<bitname##_POS)&bitname##_MSK))
+
+#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
+ ((reg_data & ~(bitname##_MSK)) | \
+ (data & bitname##_MSK))
+
+#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
+
+/**\name UTILITY MACROS */
+#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
+#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
+
+#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
+#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
+
+/*****************************************************************************/
+/* type definitions */
+typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
+ uint8_t *data, uint16_t len);
+
+typedef void (*bmi160_delay_fptr_t)(uint32_t period);
+
+/*************************** Data structures *********************************/
+
+struct bmi160_pmu_status {
+ /*! Power mode status of Accel
+ * Possible values :
+ * - BMI160_ACCEL_PMU_SUSPEND
+ * - BMI160_ACCEL_PMU_NORMAL
+ * - BMI160_ACCEL_PMU_LOW_POWER
+ */
+ uint8_t accel_pmu_status;
+ /*! Power mode status of Gyro
+ * Possible values :
+ * - BMI160_GYRO_PMU_SUSPEND
+ * - BMI160_GYRO_PMU_NORMAL
+ * - BMI160_GYRO_PMU_FSU
+ */
+ uint8_t gyro_pmu_status;
+ /*! Power mode status of 'Auxiliary sensor interface' whereas the actual
+ * power mode of the aux. sensor should be configured
+ * according to the connected sensor specifications
+ * Possible values :
+ * - BMI160_AUX_PMU_SUSPEND
+ * - BMI160_AUX_PMU_NORMAL
+ * - BMI160_AUX_PMU_LOW_POWER
+ */
+ uint8_t aux_pmu_status;
+};
+/*!
+ * @brief bmi160 interrupt status selection enum.
+ */
+enum bmi160_int_status_sel {
+ BMI160_INT_STATUS_0 = 1,
+ BMI160_INT_STATUS_1 = 2,
+ BMI160_INT_STATUS_2 = 4,
+ BMI160_INT_STATUS_3 = 8,
+ BMI160_INT_STATUS_ALL = 15
+};
+
+/*!
+ * @brief bmi160 interrupt status bits structure
+ */
+struct bmi160_int_status_bits {
+#if LITTLE_ENDIAN == 1
+ uint32_t step :1;
+ uint32_t sigmot :1;
+ uint32_t anym :1;
+ /* pmu trigger will be handled later */
+ uint32_t pmu_trigger_reserved :1;
+ uint32_t d_tap :1;
+ uint32_t s_tap :1;
+ uint32_t orient :1;
+ uint32_t flat_int :1;
+ uint32_t reserved :2;
+ uint32_t high_g :1;
+ uint32_t low_g :1;
+ uint32_t drdy :1;
+ uint32_t ffull :1;
+ uint32_t fwm :1;
+ uint32_t nomo :1;
+ uint32_t anym_first_x :1;
+ uint32_t anym_first_y :1;
+ uint32_t anym_first_z :1;
+ uint32_t anym_sign :1;
+ uint32_t tap_first_x :1;
+ uint32_t tap_first_y :1;
+ uint32_t tap_first_z :1;
+ uint32_t tap_sign :1;
+ uint32_t high_first_x :1;
+ uint32_t high_first_y :1;
+ uint32_t high_first_z :1;
+ uint32_t high_sign :1;
+ uint32_t orient_1_0 :2;
+ uint32_t orient_2 :1;
+ uint32_t flat :1;
+#elif BIG_ENDIAN == 1
+ uint32_t high_first_x :1;
+ uint32_t high_first_y :1;
+ uint32_t high_first_z :1;
+ uint32_t high_sign :1;
+ uint32_t orient_1_0 :2;
+ uint32_t orient_2 :1;
+ uint32_t flat :1;
+ uint32_t anym_first_x :1;
+ uint32_t anym_first_y :1;
+ uint32_t anym_first_z :1;
+ uint32_t anym_sign :1;
+ uint32_t tap_first_x :1;
+ uint32_t tap_first_y :1;
+ uint32_t tap_first_z :1;
+ uint32_t tap_sign :1;
+ uint32_t reserved :2;
+ uint32_t high_g :1;
+ uint32_t low_g :1;
+ uint32_t drdy :1;
+ uint32_t ffull :1;
+ uint32_t fwm :1;
+ uint32_t nomo :1;
+ uint32_t step :1;
+ uint32_t sigmot :1;
+ uint32_t anym :1;
+ /* pmu trigger will be handled later */
+ uint32_t pmu_trigger_reserved :1;
+ uint32_t d_tap :1;
+ uint32_t s_tap :1;
+ uint32_t orient :1;
+ uint32_t flat_int :1;
+#endif
+};
+
+/*!
+ * @brief bmi160 interrupt status structure
+ */
+union bmi160_int_status {
+ uint8_t data[4];
+ struct bmi160_int_status_bits bit;
+};
+
+/*!
+ * @brief bmi160 sensor data structure which comprises of accel data
+ */
+struct bmi160_sensor_data {
+ /*! X-axis sensor data */
+ int16_t x;
+ /*! Y-axis sensor data */
+ int16_t y;
+ /*! Z-axis sensor data */
+ int16_t z;
+ /*! sensor time */
+ uint32_t sensortime;
+};
+
+/*!
+ * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
+ */
+struct bmi160_aux_data {
+ /*! Auxiliary data */
+ uint8_t data[8];
+};
+
+/*!
+ * @brief bmi160 FOC configuration structure
+ */
+struct bmi160_foc_conf {
+ /*! Enabling FOC in gyro
+ * Assignable macros :
+ * - BMI160_ENABLE
+ * - BMI160_DISABLE
+ */
+ uint8_t foc_gyr_en;
+
+ /*! Accel FOC configurations
+ * Assignable macros :
+ * - BMI160_FOC_ACCEL_DISABLED
+ * - BMI160_FOC_ACCEL_POSITIVE_G
+ * - BMI160_FOC_ACCEL_NEGATIVE_G
+ * - BMI160_FOC_ACCEL_0G
+ */
+ uint8_t foc_acc_x;
+ uint8_t foc_acc_y;
+ uint8_t foc_acc_z;
+
+ /*! Enabling offset compensation for accel in data registers
+ * Assignable macros :
+ * - BMI160_ENABLE
+ * - BMI160_DISABLE
+ */
+ uint8_t acc_off_en;
+
+ /*! Enabling offset compensation for gyro in data registers
+ * Assignable macros :
+ * - BMI160_ENABLE
+ * - BMI160_DISABLE
+ */
+ uint8_t gyro_off_en;
+};
+
+/*!
+ * @brief bmi160 accel gyro offsets
+ */
+struct bmi160_offsets {
+ /*! Accel offset for x axis */
+ int8_t off_acc_x;
+ /*! Accel offset for y axis */
+ int8_t off_acc_y;
+ /*! Accel offset for z axis */
+ int8_t off_acc_z;
+ /*! Gyro offset for x axis */
+ int16_t off_gyro_x;
+ /*! Gyro offset for y axis */
+ int16_t off_gyro_y;
+ /*! Gyro offset for z axis */
+ int16_t off_gyro_z;
+};
+
+/*!
+ * @brief FIFO aux. sensor data structure
+ */
+struct bmi160_aux_fifo_data {
+ /*! The value of aux. sensor x LSB data */
+ uint8_t aux_x_lsb;
+ /*! The value of aux. sensor x MSB data */
+ uint8_t aux_x_msb;
+ /*! The value of aux. sensor y LSB data */
+ uint8_t aux_y_lsb;
+ /*! The value of aux. sensor y MSB data */
+ uint8_t aux_y_msb;
+ /*! The value of aux. sensor z LSB data */
+ uint8_t aux_z_lsb;
+ /*! The value of aux. sensor z MSB data */
+ uint8_t aux_z_msb;
+ /*! The value of aux. sensor r for BMM150 LSB data */
+ uint8_t aux_r_y2_lsb;
+ /*! The value of aux. sensor r for BMM150 MSB data */
+ uint8_t aux_r_y2_msb;
+};
+
+/*!
+ * @brief bmi160 sensor select structure
+ */
+enum bmi160_select_sensor {
+ BMI160_ACCEL_ONLY = 1,
+ BMI160_GYRO_ONLY,
+ BMI160_BOTH_ACCEL_AND_GYRO
+};
+
+/*!
+ * @brief bmi160 sensor step detector mode structure
+ */
+enum bmi160_step_detect_mode {
+ BMI160_STEP_DETECT_NORMAL,
+ BMI160_STEP_DETECT_SENSITIVE,
+ BMI160_STEP_DETECT_ROBUST,
+ /*! Non recommended User defined setting */
+ BMI160_STEP_DETECT_USER_DEFINE
+};
+
+/*!
+ * @brief enum for auxiliary burst read selection
+ */
+enum bm160_aux_read_len {
+ BMI160_AUX_READ_LEN_0,
+ BMI160_AUX_READ_LEN_1,
+ BMI160_AUX_READ_LEN_2,
+ BMI160_AUX_READ_LEN_3
+};
+/*!
+ * @brief bmi160 sensor configuration structure
+ */
+struct bmi160_cfg {
+ /*! power mode */
+ uint8_t power;
+ /*! output data rate */
+ uint8_t odr;
+ /*! range */
+ uint8_t range;
+ /*! bandwidth */
+ uint8_t bw;
+};
+
+/*!
+ * @brief Aux sensor configuration structure
+ */
+struct bmi160_aux_cfg {
+ /*! Aux sensor, 1 - enable 0 - disable */
+ uint8_t aux_sensor_enable : 1;
+ /*! Aux manual/auto mode status */
+ uint8_t manual_enable : 1;
+ /*! Aux read burst length */
+ uint8_t aux_rd_burst_len : 2;
+ /*! output data rate */
+ uint8_t aux_odr :4;
+ /*! i2c addr of auxiliary sensor */
+ uint8_t aux_i2c_addr;
+};
+
+/*!
+ * @brief bmi160 interrupt channel selection structure
+ */
+enum bmi160_int_channel {
+ /*! Un-map both channels */
+ BMI160_INT_CHANNEL_NONE,
+ /*! interrupt Channel 1 */
+ BMI160_INT_CHANNEL_1,
+ /*! interrupt Channel 2 */
+ BMI160_INT_CHANNEL_2,
+ /*! Map both channels */
+ BMI160_INT_CHANNEL_BOTH
+};
+
+enum bmi160_int_types {
+ /*! Slope/Any-motion interrupt */
+ BMI160_ACC_ANY_MOTION_INT,
+ /*! Significant motion interrupt */
+ BMI160_ACC_SIG_MOTION_INT,
+ /*! Step detector interrupt */
+ BMI160_STEP_DETECT_INT,
+ /*! double tap interrupt */
+ BMI160_ACC_DOUBLE_TAP_INT,
+ /*! single tap interrupt */
+ BMI160_ACC_SINGLE_TAP_INT,
+ /*! orientation interrupt */
+ BMI160_ACC_ORIENT_INT,
+ /*! flat interrupt */
+ BMI160_ACC_FLAT_INT,
+ /*! high-g interrupt */
+ BMI160_ACC_HIGH_G_INT,
+ /*! low-g interrupt */
+ BMI160_ACC_LOW_G_INT,
+ /*! slow/no-motion interrupt */
+ BMI160_ACC_SLOW_NO_MOTION_INT,
+ /*! data ready interrupt */
+ BMI160_ACC_GYRO_DATA_RDY_INT,
+ /*! fifo full interrupt */
+ BMI160_ACC_GYRO_FIFO_FULL_INT,
+ /*! fifo watermark interrupt */
+ BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
+ /*! fifo tagging feature support */
+ BMI160_FIFO_TAG_INT_PIN
+};
+
+/*!
+ * @brief bmi160 active state of any & sig motion interrupt.
+ */
+enum bmi160_any_sig_motion_active_interrupt_state {
+ /*! Both any & sig motion are disabled */
+ BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
+ /*! Any-motion selected */
+ BMI160_ANY_MOTION_ENABLED,
+ /*! Sig-motion selected */
+ BMI160_SIG_MOTION_ENABLED
+};
+
+struct bmi160_acc_tap_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! tap threshold */
+ uint16_t tap_thr :5;
+ /*! tap shock */
+ uint16_t tap_shock :1;
+ /*! tap quiet */
+ uint16_t tap_quiet :1;
+ /*! tap duration */
+ uint16_t tap_dur :3;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint16_t tap_data_src :1;
+ /*! tap enable, 1 - enable, 0 - disable */
+ uint16_t tap_en :1;
+#elif BIG_ENDIAN == 1
+ /*! tap enable, 1 - enable, 0 - disable */
+ uint16_t tap_en :1;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint16_t tap_data_src :1;
+ /*! tap duration */
+ uint16_t tap_dur : 3;
+ /*! tap quiet */
+ uint16_t tap_quiet : 1;
+ /*! tap shock */
+ uint16_t tap_shock : 1;
+ /*! tap threshold */
+ uint16_t tap_thr : 5;
+#endif
+};
+
+struct bmi160_acc_any_mot_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! 1 any-motion enable, 0 - any-motion disable */
+ uint8_t anymotion_en :1;
+ /*! slope interrupt x, 1 - enable, 0 - disable */
+ uint8_t anymotion_x :1;
+ /*! slope interrupt y, 1 - enable, 0 - disable */
+ uint8_t anymotion_y :1;
+ /*! slope interrupt z, 1 - enable, 0 - disable */
+ uint8_t anymotion_z :1;
+ /*! slope duration */
+ uint8_t anymotion_dur :2;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint8_t anymotion_data_src :1;
+ /*! slope threshold */
+ uint8_t anymotion_thr;
+#elif BIG_ENDIAN == 1
+ /*! slope threshold */
+ uint8_t anymotion_thr;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint8_t anymotion_data_src :1;
+ /*! slope duration */
+ uint8_t anymotion_dur : 2;
+ /*! slope interrupt z, 1 - enable, 0 - disable */
+ uint8_t anymotion_z : 1;
+ /*! slope interrupt y, 1 - enable, 0 - disable */
+ uint8_t anymotion_y : 1;
+ /*! slope interrupt x, 1 - enable, 0 - disable */
+ uint8_t anymotion_x : 1;
+ /*! 1 any-motion enable, 0 - any-motion disable */
+ uint8_t anymotion_en :1;
+#endif
+};
+
+struct bmi160_acc_sig_mot_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! skip time of sig-motion interrupt */
+ uint8_t sig_mot_skip :2;
+ /*! proof time of sig-motion interrupt */
+ uint8_t sig_mot_proof :2;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint8_t sig_data_src :1;
+ /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+ uint8_t sig_en :1;
+ /*! sig-motion threshold */
+ uint8_t sig_mot_thres;
+#elif BIG_ENDIAN == 1
+ /*! sig-motion threshold */
+ uint8_t sig_mot_thres;
+ /*! 1 - enable sig, 0 - disable sig & enable anymotion */
+ uint8_t sig_en :1;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint8_t sig_data_src :1;
+ /*! proof time of sig-motion interrupt */
+ uint8_t sig_mot_proof : 2;
+ /*! skip time of sig-motion interrupt */
+ uint8_t sig_mot_skip : 2;
+#endif
+};
+
+struct bmi160_acc_step_detect_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! 1- step detector enable, 0- step detector disable */
+ uint16_t step_detector_en :1;
+ /*! minimum threshold */
+ uint16_t min_threshold :2;
+ /*! minimal detectable step time */
+ uint16_t steptime_min :3;
+ /*! enable step counter mode setting */
+ uint16_t step_detector_mode :2;
+ /*! minimum step buffer size*/
+ uint16_t step_min_buf :3;
+#elif BIG_ENDIAN == 1
+ /*! minimum step buffer size*/
+ uint16_t step_min_buf :3;
+ /*! enable step counter mode setting */
+ uint16_t step_detector_mode : 2;
+ /*! minimal detectable step time */
+ uint16_t steptime_min : 3;
+ /*! minimum threshold */
+ uint16_t min_threshold : 2;
+ /*! 1- step detector enable, 0- step detector disable */
+ uint16_t step_detector_en :1;
+#endif
+};
+
+struct bmi160_acc_no_motion_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! no motion interrupt x */
+ uint16_t no_motion_x :1;
+ /*! no motion interrupt y */
+ uint16_t no_motion_y :1;
+ /*! no motion interrupt z */
+ uint16_t no_motion_z :1;
+ /*! no motion duration */
+ uint16_t no_motion_dur :6;
+ /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+ uint16_t no_motion_sel :1;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint16_t no_motion_src :1;
+ /*! no motion threshold */
+ uint8_t no_motion_thres;
+#elif BIG_ENDIAN == 1
+ /*! no motion threshold */
+ uint8_t no_motion_thres;
+ /*! data source 0- filter & 1 pre-filter*/
+ uint16_t no_motion_src :1;
+ /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
+ uint16_t no_motion_sel : 1;
+ /*! no motion duration */
+ uint16_t no_motion_dur : 6;
+ /* no motion interrupt z */
+ uint16_t no_motion_z :1;
+ /*! no motion interrupt y */
+ uint16_t no_motion_y :1;
+ /*! no motion interrupt x */
+ uint16_t no_motion_x :1;
+#endif
+};
+
+struct bmi160_acc_orient_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! thresholds for switching between the different orientations */
+ uint16_t orient_mode :2;
+ /*! blocking_mode */
+ uint16_t orient_blocking :2;
+ /*! Orientation interrupt hysteresis */
+ uint16_t orient_hyst :4;
+ /*! Orientation interrupt theta */
+ uint16_t orient_theta :6;
+ /*! Enable/disable Orientation interrupt */
+ uint16_t orient_ud_en :1;
+ /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+ uint16_t axes_ex :1;
+ /*! 1 - orient enable, 0 - orient disable */
+ uint8_t orient_en :1;
+#elif BIG_ENDIAN == 1
+ /*! 1 - orient enable, 0 - orient disable */
+ uint8_t orient_en :1;
+ /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
+ uint16_t axes_ex : 1;
+ /*! Enable/disable Orientation interrupt */
+ uint16_t orient_ud_en : 1;
+ /*! Orientation interrupt theta */
+ uint16_t orient_theta : 6;
+ /*! Orientation interrupt hysteresis */
+ uint16_t orient_hyst : 4;
+ /*! blocking_mode */
+ uint16_t orient_blocking : 2;
+ /*! thresholds for switching between the different orientations */
+ uint16_t orient_mode : 2;
+#endif
+};
+
+struct bmi160_acc_flat_detect_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! flat threshold */
+ uint16_t flat_theta :6;
+ /*! flat interrupt hysteresis */
+ uint16_t flat_hy :3;
+ /*! delay time for which the flat value must remain stable for the
+ * flat interrupt to be generated */
+ uint16_t flat_hold_time :2;
+ /*! 1 - flat enable, 0 - flat disable */
+ uint16_t flat_en :1;
+#elif BIG_ENDIAN == 1
+ /*! 1 - flat enable, 0 - flat disable */
+ uint16_t flat_en :1;
+ /*! delay time for which the flat value must remain stable for the
+ * flat interrupt to be generated */
+ uint16_t flat_hold_time : 2;
+ /*! flat interrupt hysteresis */
+ uint16_t flat_hy : 3;
+ /*! flat threshold */
+ uint16_t flat_theta : 6;
+#endif
+};
+
+struct bmi160_acc_low_g_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! low-g interrupt trigger delay */
+ uint8_t low_dur;
+ /*! low-g interrupt trigger threshold */
+ uint8_t low_thres;
+ /*! hysteresis of low-g interrupt */
+ uint8_t low_hyst :2;
+ /*! 0 - single-axis mode ,1 - axis-summing mode */
+ uint8_t low_mode :1;
+ /*! data source 0- filter & 1 pre-filter */
+ uint8_t low_data_src :1;
+ /*! 1 - enable low-g, 0 - disable low-g */
+ uint8_t low_en :1;
+#elif BIG_ENDIAN == 1
+ /*! 1 - enable low-g, 0 - disable low-g */
+ uint8_t low_en :1;
+ /*! data source 0- filter & 1 pre-filter */
+ uint8_t low_data_src :1;
+ /*! 0 - single-axis mode ,1 - axis-summing mode */
+ uint8_t low_mode : 1;
+ /*! hysteresis of low-g interrupt */
+ uint8_t low_hyst : 2;
+ /*! low-g interrupt trigger threshold */
+ uint8_t low_thres;
+ /*! low-g interrupt trigger delay */
+ uint8_t low_dur;
+#endif
+};
+
+struct bmi160_acc_high_g_int_cfg {
+#if LITTLE_ENDIAN == 1
+ /*! High-g interrupt x, 1 - enable, 0 - disable */
+ uint8_t high_g_x :1;
+ /*! High-g interrupt y, 1 - enable, 0 - disable */
+ uint8_t high_g_y :1;
+ /*! High-g interrupt z, 1 - enable, 0 - disable */
+ uint8_t high_g_z :1;
+ /*! High-g hysteresis */
+ uint8_t high_hy :2;
+ /*! data source 0- filter & 1 pre-filter */
+ uint8_t high_data_src :1;
+ /*! High-g threshold */
+ uint8_t high_thres;
+ /*! High-g duration */
+ uint8_t high_dur;
+#elif BIG_ENDIAN == 1
+ /*! High-g duration */
+ uint8_t high_dur;
+ /*! High-g threshold */
+ uint8_t high_thres;
+ /*! data source 0- filter & 1 pre-filter */
+ uint8_t high_data_src :1;
+ /*! High-g hysteresis */
+ uint8_t high_hy : 2;
+ /*! High-g interrupt z, 1 - enable, 0 - disable */
+ uint8_t high_g_z : 1;
+ /*! High-g interrupt y, 1 - enable, 0 - disable */
+ uint8_t high_g_y : 1;
+ /*! High-g interrupt x, 1 - enable, 0 - disable */
+ uint8_t high_g_x : 1;
+#endif
+};
+
+struct bmi160_int_pin_settg {
+#if LITTLE_ENDIAN == 1
+ /*! To enable either INT1 or INT2 pin as output.
+ * 0- output disabled ,1- output enabled */
+ uint16_t output_en :1;
+ /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
+ uint16_t output_mode :1;
+ /*! 0 - active low , 1 - active high level.
+ * if output_en is 1,this applies to interrupts,else PMU_trigger */
+ uint16_t output_type :1;
+ /*! 0 - level trigger , 1 - edge trigger */
+ uint16_t edge_ctrl :1;
+ /*! To enable either INT1 or INT2 pin as input.
+ * 0 - input disabled ,1 - input enabled */
+ uint16_t input_en :1;
+ /*! latch duration*/
+ uint16_t latch_dur :4;
+#elif BIG_ENDIAN == 1
+ /*! latch duration*/
+ uint16_t latch_dur : 4;
+ /*! Latched,non-latched or temporary interrupt modes */
+ uint16_t input_en : 1;
+ /*! 1 - edge trigger, 0 - level trigger */
+ uint16_t edge_ctrl : 1;
+ /*! 0 - active low , 1 - active high level.
+ * if output_en is 1,this applies to interrupts,else PMU_trigger */
+ uint16_t output_type : 1;
+ /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
+ uint16_t output_mode : 1;
+ /*! To enable either INT1 or INT2 pin as output.
+ * 0 - output disabled , 1 - output enabled */
+ uint16_t output_en : 1;
+#endif
+};
+
+union bmi160_int_type_cfg {
+ /*! Tap interrupt structure */
+ struct bmi160_acc_tap_int_cfg acc_tap_int;
+ /*! Slope interrupt structure */
+ struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
+ /*! Significant motion interrupt structure */
+ struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
+ /*! Step detector interrupt structure */
+ struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
+ /*! No motion interrupt structure */
+ struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
+ /*! Orientation interrupt structure */
+ struct bmi160_acc_orient_int_cfg acc_orient_int;
+ /*! Flat interrupt structure */
+ struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
+ /*! Low-g interrupt structure */
+ struct bmi160_acc_low_g_int_cfg acc_low_g_int;
+ /*! High-g interrupt structure */
+ struct bmi160_acc_high_g_int_cfg acc_high_g_int;
+};
+
+struct bmi160_int_settg {
+ /*! Interrupt channel */
+ enum bmi160_int_channel int_channel;
+ /*! Select Interrupt */
+ enum bmi160_int_types int_type;
+ /*! Structure configuring Interrupt pins */
+ struct bmi160_int_pin_settg int_pin_settg;
+ /*! Union configures required interrupt */
+ union bmi160_int_type_cfg int_type_cfg;
+ /*! FIFO FULL INT 1-enable, 0-disable */
+ uint8_t fifo_full_int_en :1;
+ /*! FIFO WTM INT 1-enable, 0-disable */
+ uint8_t fifo_WTM_int_en :1;
+};
+
+/*!
+ * @brief This structure holds the information for usage of
+ * FIFO by the user.
+ */
+struct bmi160_fifo_frame {
+ /*! Data buffer of user defined length is to be mapped here */
+ uint8_t *data;
+ /*! While calling the API "bmi160_get_fifo_data" , length stores
+ * number of bytes in FIFO to be read (specified by user as input)
+ * and after execution of the API ,number of FIFO data bytes
+ * available is provided as an output to user
+ */
+ uint16_t length;
+ /*! FIFO time enable */
+ uint8_t fifo_time_enable;
+ /*! Enabling of the FIFO header to stream in header mode */
+ uint8_t fifo_header_enable;
+ /*! Streaming of the Accelerometer, Gyroscope
+ sensor data or both in FIFO */
+ uint8_t fifo_data_enable;
+ /*! Will be equal to length when no more frames are there to parse */
+ uint16_t accel_byte_start_idx;
+ /*! Will be equal to length when no more frames are there to parse */
+ uint16_t gyro_byte_start_idx;
+ /*! Will be equal to length when no more frames are there to parse */
+ uint16_t aux_byte_start_idx;
+ /*! Value of FIFO sensor time time */
+ uint32_t sensor_time;
+ /*! Value of Skipped frame counts */
+ uint8_t skipped_frame_count;
+};
+
+struct bmi160_dev {
+ /*! Chip Id */
+ uint8_t chip_id;
+ /*! Device Id */
+ uint8_t id;
+ /*! 0 - I2C , 1 - SPI Interface */
+ uint8_t interface;
+ /*! Hold active interrupts status for any and sig motion
+ * 0 - Any-motion enable, 1 - Sig-motion enable,
+ * -1 neither any-motion nor sig-motion selected */
+ enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
+ /*! Structure to configure Accel sensor */
+ struct bmi160_cfg accel_cfg;
+ /*! Structure to hold previous/old accel config parameters.
+ * This is used at driver level to prevent overwriting of same
+ * data, hence user does not change it in the code */
+ struct bmi160_cfg prev_accel_cfg;
+ /*! Structure to configure Gyro sensor */
+ struct bmi160_cfg gyro_cfg;
+ /*! Structure to hold previous/old gyro config parameters.
+ * This is used at driver level to prevent overwriting of same
+ * data, hence user does not change it in the code */
+ struct bmi160_cfg prev_gyro_cfg;
+ /*! Structure to configure the auxiliary sensor */
+ struct bmi160_aux_cfg aux_cfg;
+ /*! Structure to hold previous/old aux config parameters.
+ * This is used at driver level to prevent overwriting of same
+ * data, hence user does not change it in the code */
+ struct bmi160_aux_cfg prev_aux_cfg;
+ /*! FIFO related configurations */
+ struct bmi160_fifo_frame *fifo;
+ /*! Read function pointer */
+ bmi160_com_fptr_t read;
+ /*! Write function pointer */
+ bmi160_com_fptr_t write;
+ /*! Delay function pointer */
+ bmi160_delay_fptr_t delay_ms;
+};
+
+
+#endif /* BMI160_DEFS_H_ */
\ No newline at end of file