TSDA Robotics
BMI160 Initial
Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks
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bmi160_defs.h
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00001 /** 00002 * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * 00007 * Redistributions of source code must retain the above copyright 00008 * notice, this list of conditions and the following disclaimer. 00009 * 00010 * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * 00014 * Neither the name of the copyright holder nor the names of the 00015 * contributors may be used to endorse or promote products derived from 00016 * this software without specific prior written permission. 00017 * 00018 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 00019 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR 00020 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00022 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER 00023 * OR CONTRIBUTORS BE LIABLE FOR ANY 00024 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, 00025 * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, 00026 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 00028 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00029 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00030 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS 00032 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 00033 * 00034 * The information provided is believed to be accurate and reliable. 00035 * The copyright holder assumes no responsibility 00036 * for the consequences of use 00037 * of such information nor for any infringement of patents or 00038 * other rights of third parties which may result from its use. 00039 * No license is granted by implication or otherwise under any patent or 00040 * patent rights of the copyright holder. 00041 * 00042 * @file bmi160_defs.h 00043 * @date 11 Jan 2018 00044 * @version 3.7.5 00045 * @brief 00046 * 00047 */ 00048 00049 /*! 00050 * @defgroup bmi160_defs 00051 * @brief 00052 * @{*/ 00053 00054 #ifndef BMI160_DEFS_H_ 00055 #define BMI160_DEFS_H_ 00056 00057 /*************************** C types headers *****************************/ 00058 #ifdef __KERNEL__ 00059 #include <linux/types.h> 00060 #include <linux/kernel.h> 00061 #else 00062 #include <stdint.h> 00063 #include <stddef.h> 00064 #endif 00065 00066 /*************************** Common macros *****************************/ 00067 00068 #if !defined(UINT8_C) && !defined(INT8_C) 00069 #define INT8_C(x) S8_C(x) 00070 #define UINT8_C(x) U8_C(x) 00071 #endif 00072 00073 #if !defined(UINT16_C) && !defined(INT16_C) 00074 #define INT16_C(x) S16_C(x) 00075 #define UINT16_C(x) U16_C(x) 00076 #endif 00077 00078 #if !defined(INT32_C) && !defined(UINT32_C) 00079 #define INT32_C(x) S32_C(x) 00080 #define UINT32_C(x) U32_C(x) 00081 #endif 00082 00083 #if !defined(INT64_C) && !defined(UINT64_C) 00084 #define INT64_C(x) S64_C(x) 00085 #define UINT64_C(x) U64_C(x) 00086 #endif 00087 00088 /**@}*/ 00089 00090 /**\name C standard macros */ 00091 #ifndef NULL 00092 #ifdef __cplusplus 00093 #define NULL 0 00094 #else 00095 #define NULL ((void *) 0) 00096 #endif 00097 #endif 00098 00099 /*************************** Sensor macros *****************************/ 00100 /* Test for an endian machine */ 00101 #if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__ 00102 #define LITTLE_ENDIAN 1 00103 #elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__ 00104 #define BIG_ENDIAN 1 00105 #else 00106 #error "Code does not support Endian format of the processor" 00107 #endif 00108 00109 /** Mask definitions */ 00110 #define BMI160_ACCEL_BW_MASK UINT8_C(0x70) 00111 #define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F) 00112 #define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80) 00113 #define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F) 00114 #define BMI160_GYRO_BW_MASK UINT8_C(0x30) 00115 #define BMI160_GYRO_ODR_MASK UINT8_C(0x0F) 00116 #define BMI160_GYRO_RANGE_MSK UINT8_C(0x07) 00117 00118 /** Mask definitions for INT_EN registers */ 00119 #define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01) 00120 #define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01) 00121 #define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01) 00122 #define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02) 00123 #define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02) 00124 #define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02) 00125 #define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04) 00126 #define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04) 00127 #define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04) 00128 #define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07) 00129 #define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07) 00130 #define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08) 00131 #define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10) 00132 #define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20) 00133 #define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20) 00134 #define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40) 00135 #define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40) 00136 #define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08) 00137 #define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08) 00138 #define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80) 00139 #define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10) 00140 00141 /** PMU status Macros */ 00142 #define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00) 00143 #define BMI160_AUX_PMU_NORMAL UINT8_C(0x01) 00144 #define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02) 00145 00146 #define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00) 00147 #define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01) 00148 #define BMI160_GYRO_PMU_FSU UINT8_C(0x03) 00149 00150 #define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00) 00151 #define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01) 00152 #define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02) 00153 00154 /** Mask definitions for INT_OUT_CTRL register */ 00155 #define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01) 00156 #define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04) 00157 #define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02) 00158 #define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08) 00159 #define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10) 00160 #define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40) 00161 #define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20) 00162 #define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80) 00163 00164 /** Mask definitions for INT_LATCH register */ 00165 #define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10) 00166 #define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20) 00167 #define BMI160_INT_LATCH_MASK UINT8_C(0x0F) 00168 00169 /** Mask definitions for INT_MAP register */ 00170 #define BMI160_INT1_LOW_G_MASK UINT8_C(0x01) 00171 #define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02) 00172 #define BMI160_INT1_SLOPE_MASK UINT8_C(0x04) 00173 #define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08) 00174 #define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10) 00175 #define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20) 00176 #define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20) 00177 #define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40) 00178 #define BMI160_INT1_ORIENT_MASK UINT8_C(0x40) 00179 #define BMI160_INT1_FLAT_MASK UINT8_C(0x80) 00180 #define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80) 00181 #define BMI160_INT2_LOW_G_MASK UINT8_C(0x01) 00182 #define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01) 00183 #define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01) 00184 #define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02) 00185 #define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02) 00186 #define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04) 00187 #define BMI160_INT2_SLOPE_MASK UINT8_C(0x04) 00188 #define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08) 00189 #define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08) 00190 #define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10) 00191 #define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20) 00192 #define BMI160_INT2_ORIENT_MASK UINT8_C(0x40) 00193 #define BMI160_INT2_FLAT_MASK UINT8_C(0x80) 00194 00195 /** Mask definitions for INT_DATA register */ 00196 #define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08) 00197 #define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80) 00198 #define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80) 00199 00200 /** Mask definitions for INT_MOTION register */ 00201 #define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03) 00202 #define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC) 00203 #define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01) 00204 00205 /** Mask definitions for INT_TAP register */ 00206 #define BMI160_TAP_DUR_MASK UINT8_C(0x07) 00207 #define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40) 00208 #define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80) 00209 #define BMI160_TAP_THRES_MASK UINT8_C(0x1F) 00210 00211 /** Mask definitions for INT_FLAT register */ 00212 #define BMI160_FLAT_THRES_MASK UINT8_C(0x3F) 00213 #define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30) 00214 #define BMI160_FLAT_HYST_MASK UINT8_C(0x07) 00215 00216 /** Mask definitions for INT_LOWHIGH register */ 00217 #define BMI160_LOW_G_HYST_MASK UINT8_C(0x03) 00218 #define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04) 00219 #define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0) 00220 00221 /** Mask definitions for INT_SIG_MOTION register */ 00222 #define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02) 00223 #define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C) 00224 #define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30) 00225 00226 /** Mask definitions for INT_ORIENT register */ 00227 #define BMI160_ORIENT_MODE_MASK UINT8_C(0x03) 00228 #define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C) 00229 #define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0) 00230 #define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F) 00231 #define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40) 00232 #define BMI160_AXES_EN_MASK UINT8_C(0x80) 00233 00234 /** Mask definitions for FIFO_CONFIG register */ 00235 #define BMI160_FIFO_GYRO UINT8_C(0x80) 00236 #define BMI160_FIFO_ACCEL UINT8_C(0x40) 00237 #define BMI160_FIFO_AUX UINT8_C(0x20) 00238 #define BMI160_FIFO_TAG_INT1 UINT8_C(0x08) 00239 #define BMI160_FIFO_TAG_INT2 UINT8_C(0x04) 00240 #define BMI160_FIFO_TIME UINT8_C(0x02) 00241 #define BMI160_FIFO_HEADER UINT8_C(0x10) 00242 #define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE) 00243 00244 00245 /** Mask definitions for STEP_CONF register */ 00246 #define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08) 00247 #define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18) 00248 #define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07) 00249 #define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07) 00250 00251 /** Mask definition for FIFO Header Data Tag */ 00252 #define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC) 00253 00254 /** Fifo byte counter mask definitions */ 00255 #define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07) 00256 00257 /** Enable/disable bit value */ 00258 #define BMI160_ENABLE 0x01 00259 #define BMI160_DISABLE UINT8_C(0x00) 00260 00261 /** Latch Duration */ 00262 #define BMI160_LATCH_DUR_NONE UINT8_C(0x00) 00263 #define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01) 00264 #define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02) 00265 #define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03) 00266 #define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04) 00267 #define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05) 00268 #define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06) 00269 #define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07) 00270 #define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08) 00271 #define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09) 00272 #define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A) 00273 #define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B) 00274 #define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C) 00275 #define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D) 00276 #define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E) 00277 #define BMI160_LATCHED UINT8_C(0x0F) 00278 00279 /** BMI160 Register map */ 00280 #define BMI160_CHIP_ID_ADDR UINT8_C(0x00) 00281 #define BMI160_ERROR_REG_ADDR UINT8_C(0x02) 00282 #define BMI160_PMU_STATUS_ADDR UINT8_C(0x03) 00283 #define BMI160_AUX_DATA_ADDR UINT8_C(0x04) 00284 #define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C) 00285 #define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12) 00286 #define BMI160_STATUS_ADDR UINT8_C(0x1B) 00287 #define BMI160_INT_STATUS_ADDR UINT8_C(0x1C) 00288 #define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22) 00289 #define BMI160_FIFO_DATA_ADDR UINT8_C(0x24) 00290 #define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40) 00291 #define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41) 00292 #define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42) 00293 #define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43) 00294 #define BMI160_AUX_ODR_ADDR UINT8_C(0x44) 00295 #define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45) 00296 #define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46) 00297 #define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47) 00298 #define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B) 00299 #define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C) 00300 #define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D) 00301 #define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E) 00302 #define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F) 00303 #define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50) 00304 #define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51) 00305 #define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52) 00306 #define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53) 00307 #define BMI160_INT_LATCH_ADDR UINT8_C(0x54) 00308 #define BMI160_INT_MAP_0_ADDR UINT8_C(0x55) 00309 #define BMI160_INT_MAP_1_ADDR UINT8_C(0x56) 00310 #define BMI160_INT_MAP_2_ADDR UINT8_C(0x57) 00311 #define BMI160_INT_DATA_0_ADDR UINT8_C(0x58) 00312 #define BMI160_INT_DATA_1_ADDR UINT8_C(0x59) 00313 #define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A) 00314 #define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B) 00315 #define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C) 00316 #define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D) 00317 #define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E) 00318 #define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F) 00319 #define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60) 00320 #define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61) 00321 #define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62) 00322 #define BMI160_INT_TAP_0_ADDR UINT8_C(0x63) 00323 #define BMI160_INT_TAP_1_ADDR UINT8_C(0x64) 00324 #define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65) 00325 #define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66) 00326 #define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67) 00327 #define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68) 00328 #define BMI160_FOC_CONF_ADDR UINT8_C(0x69) 00329 #define BMI160_CONF_ADDR UINT8_C(0x6A) 00330 00331 #define BMI160_IF_CONF_ADDR UINT8_C(0x6B) 00332 #define BMI160_SELF_TEST_ADDR UINT8_C(0x6D) 00333 #define BMI160_OFFSET_ADDR UINT8_C(0x71) 00334 #define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77) 00335 #define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78) 00336 #define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A) 00337 #define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B) 00338 #define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E) 00339 #define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F) 00340 #define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85) 00341 00342 /** Error code definitions */ 00343 #define BMI160_OK 0 00344 #define BMI160_E_NULL_PTR INT8_C(-1) 00345 #define BMI160_E_COM_FAIL INT8_C(-2) 00346 #define BMI160_E_DEV_NOT_FOUND INT8_C(-3) 00347 #define BMI160_E_OUT_OF_RANGE INT8_C(-4) 00348 #define BMI160_E_INVALID_INPUT INT8_C(-5) 00349 #define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6) 00350 #define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7) 00351 #define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8) 00352 #define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9) 00353 #define BMI160_E_AUX_NOT_FOUND INT8_C(-10) 00354 #define BMI160_FOC_FAILURE INT8_C(-11) 00355 00356 /**\name API warning codes */ 00357 #define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1) 00358 #define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2) 00359 00360 /** BMI160 unique chip identifier */ 00361 #define BMI160_CHIP_ID UINT8_C(0xD1) 00362 00363 /** Soft reset command */ 00364 #define BMI160_SOFT_RESET_CMD UINT8_C(0xb6) 00365 #define BMI160_SOFT_RESET_DELAY_MS UINT8_C(15) 00366 /** Start FOC command */ 00367 #define BMI160_START_FOC_CMD UINT8_C(0x03) 00368 /** NVM backup enabling command */ 00369 #define BMI160_NVM_BACKUP_EN UINT8_C(0xA0) 00370 00371 /* Delay in ms settings */ 00372 #define BMI160_ACCEL_DELAY_MS UINT8_C(5) 00373 #define BMI160_GYRO_DELAY_MS UINT8_C(81) 00374 #define BMI160_ONE_MS_DELAY UINT8_C(1) 00375 #define BMI160_AUX_COM_DELAY UINT8_C(10) 00376 #define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20) 00377 #define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50) 00378 00379 /** Self test configurations */ 00380 #define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C) 00381 #define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D) 00382 #define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09) 00383 #define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192) 00384 00385 /** Power mode settings */ 00386 /* Accel power mode */ 00387 #define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11) 00388 #define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12) 00389 #define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10) 00390 00391 /* Gyro power mode */ 00392 #define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14) 00393 #define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15) 00394 #define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17) 00395 00396 /* Aux power mode */ 00397 #define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18) 00398 #define BMI160_AUX_NORMAL_MODE UINT8_C(0x19) 00399 #define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A) 00400 00401 /** Range settings */ 00402 /* Accel Range */ 00403 #define BMI160_ACCEL_RANGE_2G UINT8_C(0x03) 00404 #define BMI160_ACCEL_RANGE_4G UINT8_C(0x05) 00405 #define BMI160_ACCEL_RANGE_8G UINT8_C(0x08) 00406 #define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C) 00407 00408 /* Gyro Range */ 00409 #define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00) 00410 #define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01) 00411 #define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02) 00412 #define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03) 00413 #define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04) 00414 00415 /** Bandwidth settings */ 00416 /* Accel Bandwidth */ 00417 #define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00) 00418 #define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01) 00419 #define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02) 00420 #define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03) 00421 #define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04) 00422 #define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05) 00423 #define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06) 00424 #define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07) 00425 00426 #define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00) 00427 #define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01) 00428 #define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02) 00429 00430 /* Output Data Rate settings */ 00431 /* Accel Output data rate */ 00432 #define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00) 00433 #define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01) 00434 #define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02) 00435 #define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03) 00436 #define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04) 00437 #define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05) 00438 #define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06) 00439 #define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07) 00440 #define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08) 00441 #define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09) 00442 #define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A) 00443 #define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B) 00444 #define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C) 00445 #define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D) 00446 #define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E) 00447 #define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F) 00448 00449 /* Gyro Output data rate */ 00450 #define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00) 00451 #define BMI160_GYRO_ODR_25HZ UINT8_C(0x06) 00452 #define BMI160_GYRO_ODR_50HZ UINT8_C(0x07) 00453 #define BMI160_GYRO_ODR_100HZ UINT8_C(0x08) 00454 #define BMI160_GYRO_ODR_200HZ UINT8_C(0x09) 00455 #define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A) 00456 #define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B) 00457 #define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C) 00458 #define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D) 00459 00460 /* Auxiliary sensor Output data rate */ 00461 #define BMI160_AUX_ODR_RESERVED UINT8_C(0x00) 00462 #define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01) 00463 #define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02) 00464 #define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03) 00465 #define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04) 00466 #define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05) 00467 #define BMI160_AUX_ODR_25HZ UINT8_C(0x06) 00468 #define BMI160_AUX_ODR_50HZ UINT8_C(0x07) 00469 #define BMI160_AUX_ODR_100HZ UINT8_C(0x08) 00470 #define BMI160_AUX_ODR_200HZ UINT8_C(0x09) 00471 #define BMI160_AUX_ODR_400HZ UINT8_C(0x0A) 00472 #define BMI160_AUX_ODR_800HZ UINT8_C(0x0B) 00473 00474 /* Maximum limits definition */ 00475 #define BMI160_ACCEL_ODR_MAX UINT8_C(15) 00476 #define BMI160_ACCEL_BW_MAX UINT8_C(2) 00477 #define BMI160_ACCEL_RANGE_MAX UINT8_C(12) 00478 #define BMI160_GYRO_ODR_MAX UINT8_C(13) 00479 #define BMI160_GYRO_BW_MAX UINT8_C(2) 00480 #define BMI160_GYRO_RANGE_MAX UINT8_C(4) 00481 00482 /** FIFO_CONFIG Definitions */ 00483 #define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02) 00484 #define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04) 00485 #define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08) 00486 #define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10) 00487 #define BMI160_FIFO_M_ENABLE UINT8_C(0x20) 00488 #define BMI160_FIFO_A_ENABLE UINT8_C(0x40) 00489 #define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60) 00490 #define BMI160_FIFO_G_ENABLE UINT8_C(0x80) 00491 #define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0) 00492 #define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0) 00493 #define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0) 00494 00495 /* Macro to specify the number of bytes over-read from the 00496 * FIFO in order to get the sensor time at the end of FIFO */ 00497 #ifndef BMI160_FIFO_BYTES_OVERREAD 00498 #define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25) 00499 #endif 00500 00501 00502 00503 /* Accel, gyro and aux. sensor length and also their combined 00504 * length definitions in FIFO */ 00505 #define BMI160_FIFO_G_LENGTH UINT8_C(6) 00506 #define BMI160_FIFO_A_LENGTH UINT8_C(6) 00507 #define BMI160_FIFO_M_LENGTH UINT8_C(8) 00508 #define BMI160_FIFO_GA_LENGTH UINT8_C(12) 00509 #define BMI160_FIFO_MA_LENGTH UINT8_C(14) 00510 #define BMI160_FIFO_MG_LENGTH UINT8_C(14) 00511 #define BMI160_FIFO_MGA_LENGTH UINT8_C(20) 00512 00513 00514 /** FIFO Header Data definitions */ 00515 #define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) 00516 #define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) 00517 #define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) 00518 #define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80) 00519 #define BMI160_FIFO_HEAD_A UINT8_C(0x84) 00520 #define BMI160_FIFO_HEAD_G UINT8_C(0x88) 00521 #define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C) 00522 #define BMI160_FIFO_HEAD_M UINT8_C(0x90) 00523 #define BMI160_FIFO_HEAD_M_A UINT8_C(0x94) 00524 #define BMI160_FIFO_HEAD_M_G UINT8_C(0x98) 00525 #define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C) 00526 00527 00528 /** FIFO sensor time length definitions */ 00529 #define BMI160_SENSOR_TIME_LENGTH UINT8_C(3) 00530 00531 00532 /** FIFO DOWN selection */ 00533 /* Accel fifo down-sampling values*/ 00534 #define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00) 00535 #define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10) 00536 #define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20) 00537 #define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30) 00538 #define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40) 00539 #define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50) 00540 #define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60) 00541 #define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70) 00542 00543 /* Gyro fifo down-smapling values*/ 00544 #define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00) 00545 #define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01) 00546 #define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02) 00547 #define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03) 00548 #define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04) 00549 #define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05) 00550 #define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06) 00551 #define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07) 00552 00553 /* Accel Fifo filter enable*/ 00554 #define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80) 00555 00556 /* Gyro Fifo filter enable*/ 00557 #define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08) 00558 00559 /** Definitions to check validity of FIFO frames */ 00560 #define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80) 00561 #define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00) 00562 00563 /*! BMI160 accel FOC configurations */ 00564 #define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00) 00565 #define BMI160_FOC_ACCEL_POSITIVE_G 0x01 00566 #define BMI160_FOC_ACCEL_NEGATIVE_G 0x02 00567 #define BMI160_FOC_ACCEL_0G 0x03 00568 00569 /** Array Parameter DefinItions */ 00570 #define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0) 00571 #define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1) 00572 #define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2) 00573 00574 00575 /** Interface settings */ 00576 #define BMI160_SPI_INTF UINT8_C(1) 00577 #define BMI160_I2C_INTF UINT8_C(0) 00578 #define BMI160_SPI_RD_MASK UINT8_C(0x80) 00579 #define BMI160_SPI_WR_MASK UINT8_C(0x7F) 00580 00581 /* Sensor & time select definition*/ 00582 #define BMI160_ACCEL_SEL UINT8_C(0x01) 00583 #define BMI160_GYRO_SEL UINT8_C(0x02) 00584 #define BMI160_TIME_SEL UINT8_C(0x04) 00585 00586 /* Sensor select mask*/ 00587 #define BMI160_SEN_SEL_MASK UINT8_C(0x07) 00588 00589 /* Error code mask */ 00590 #define BMI160_ERR_REG_MASK UINT8_C(0x0F) 00591 00592 /* BMI160 I2C address */ 00593 #define BMI160_I2C_ADDR UINT8_C(0x68) 00594 00595 /* BMI160 secondary IF address */ 00596 #define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10) 00597 00598 /** BMI160 Length definitions */ 00599 #define BMI160_ONE UINT8_C(1) 00600 #define BMI160_TWO UINT8_C(2) 00601 #define BMI160_THREE UINT8_C(3) 00602 #define BMI160_FOUR UINT8_C(4) 00603 #define BMI160_FIVE UINT8_C(5) 00604 00605 /** BMI160 fifo level Margin */ 00606 #define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16) 00607 00608 /** BMI160 fifo flush Command */ 00609 #define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0) 00610 00611 /** BMI160 offset values for xyz axes of accel */ 00612 #define BMI160_ACCEL_MIN_OFFSET INT8_C(-128) 00613 #define BMI160_ACCEL_MAX_OFFSET INT8_C(127) 00614 00615 /** BMI160 offset values for xyz axes of gyro */ 00616 #define BMI160_GYRO_MIN_OFFSET INT16_C(-512) 00617 #define BMI160_GYRO_MAX_OFFSET INT16_C(511) 00618 00619 /** BMI160 fifo full interrupt position and mask */ 00620 #define BMI160_FIFO_FULL_INT_POS UINT8_C(5) 00621 #define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20) 00622 #define BMI160_FIFO_WTM_INT_POS UINT8_C(6) 00623 #define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40) 00624 00625 #define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5) 00626 #define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20) 00627 #define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1) 00628 #define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02) 00629 00630 #define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6) 00631 #define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40) 00632 #define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2) 00633 #define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04) 00634 00635 #define BMI160_MANUAL_MODE_EN_POS UINT8_C(7) 00636 #define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80) 00637 #define BMI160_AUX_READ_BURST_POS UINT8_C(0) 00638 #define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03) 00639 00640 #define BMI160_GYRO_SELF_TEST_POS UINT8_C(4) 00641 #define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10) 00642 #define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1) 00643 #define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02) 00644 00645 #define BMI160_GYRO_FOC_EN_POS UINT8_C(6) 00646 #define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40) 00647 00648 #define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4) 00649 #define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30) 00650 00651 #define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2) 00652 #define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C) 00653 00654 #define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03) 00655 00656 #define BMI160_FOC_STATUS_POS UINT8_C(3) 00657 #define BMI160_FOC_STATUS_MSK UINT8_C(0x08) 00658 00659 #define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03) 00660 00661 #define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2) 00662 #define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C) 00663 00664 #define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4) 00665 #define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30) 00666 00667 #define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7) 00668 #define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80) 00669 00670 #define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6) 00671 #define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40) 00672 00673 #define BMI160_GYRO_OFFSET_POS UINT16_C(8) 00674 #define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300) 00675 00676 #define BMI160_NVM_UPDATE_POS UINT8_C(1) 00677 #define BMI160_NVM_UPDATE_MSK UINT8_C(0x02) 00678 00679 #define BMI160_NVM_STATUS_POS UINT8_C(4) 00680 #define BMI160_NVM_STATUS_MSK UINT8_C(0x10) 00681 00682 #define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03) 00683 00684 #define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30) 00685 #define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4) 00686 00687 #define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C) 00688 #define BMI160_GYRO_POWER_MODE_POS UINT8_C(2) 00689 00690 00691 /* BIT SLICE GET AND SET FUNCTIONS */ 00692 #define BMI160_GET_BITS(regvar, bitname)\ 00693 ((regvar & bitname##_MSK) >> bitname##_POS) 00694 #define BMI160_SET_BITS(regvar, bitname, val)\ 00695 ((regvar & ~bitname##_MSK) | \ 00696 ((val<<bitname##_POS)&bitname##_MSK)) 00697 00698 #define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \ 00699 ((reg_data & ~(bitname##_MSK)) | \ 00700 (data & bitname##_MSK)) 00701 00702 #define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) 00703 00704 /**\name UTILITY MACROS */ 00705 #define BMI160_SET_LOW_BYTE UINT16_C(0x00FF) 00706 #define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00) 00707 00708 #define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE) 00709 #define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8) 00710 00711 /*****************************************************************************/ 00712 /* type definitions */ 00713 typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, 00714 uint8_t *data, uint16_t len); 00715 00716 typedef void (*bmi160_delay_fptr_t)(uint32_t period); 00717 00718 /*************************** Data structures *********************************/ 00719 00720 struct bmi160_pmu_status { 00721 /*! Power mode status of Accel 00722 * Possible values : 00723 * - BMI160_ACCEL_PMU_SUSPEND 00724 * - BMI160_ACCEL_PMU_NORMAL 00725 * - BMI160_ACCEL_PMU_LOW_POWER 00726 */ 00727 uint8_t accel_pmu_status; 00728 /*! Power mode status of Gyro 00729 * Possible values : 00730 * - BMI160_GYRO_PMU_SUSPEND 00731 * - BMI160_GYRO_PMU_NORMAL 00732 * - BMI160_GYRO_PMU_FSU 00733 */ 00734 uint8_t gyro_pmu_status; 00735 /*! Power mode status of 'Auxiliary sensor interface' whereas the actual 00736 * power mode of the aux. sensor should be configured 00737 * according to the connected sensor specifications 00738 * Possible values : 00739 * - BMI160_AUX_PMU_SUSPEND 00740 * - BMI160_AUX_PMU_NORMAL 00741 * - BMI160_AUX_PMU_LOW_POWER 00742 */ 00743 uint8_t aux_pmu_status; 00744 }; 00745 /*! 00746 * @brief bmi160 interrupt status selection enum. 00747 */ 00748 enum bmi160_int_status_sel { 00749 BMI160_INT_STATUS_0 = 1, 00750 BMI160_INT_STATUS_1 = 2, 00751 BMI160_INT_STATUS_2 = 4, 00752 BMI160_INT_STATUS_3 = 8, 00753 BMI160_INT_STATUS_ALL = 15 00754 }; 00755 00756 /*! 00757 * @brief bmi160 interrupt status bits structure 00758 */ 00759 struct bmi160_int_status_bits { 00760 #if LITTLE_ENDIAN == 1 00761 uint32_t step :1; 00762 uint32_t sigmot :1; 00763 uint32_t anym :1; 00764 /* pmu trigger will be handled later */ 00765 uint32_t pmu_trigger_reserved :1; 00766 uint32_t d_tap :1; 00767 uint32_t s_tap :1; 00768 uint32_t orient :1; 00769 uint32_t flat_int :1; 00770 uint32_t reserved :2; 00771 uint32_t high_g :1; 00772 uint32_t low_g :1; 00773 uint32_t drdy :1; 00774 uint32_t ffull :1; 00775 uint32_t fwm :1; 00776 uint32_t nomo :1; 00777 uint32_t anym_first_x :1; 00778 uint32_t anym_first_y :1; 00779 uint32_t anym_first_z :1; 00780 uint32_t anym_sign :1; 00781 uint32_t tap_first_x :1; 00782 uint32_t tap_first_y :1; 00783 uint32_t tap_first_z :1; 00784 uint32_t tap_sign :1; 00785 uint32_t high_first_x :1; 00786 uint32_t high_first_y :1; 00787 uint32_t high_first_z :1; 00788 uint32_t high_sign :1; 00789 uint32_t orient_1_0 :2; 00790 uint32_t orient_2 :1; 00791 uint32_t flat :1; 00792 #elif BIG_ENDIAN == 1 00793 uint32_t high_first_x :1; 00794 uint32_t high_first_y :1; 00795 uint32_t high_first_z :1; 00796 uint32_t high_sign :1; 00797 uint32_t orient_1_0 :2; 00798 uint32_t orient_2 :1; 00799 uint32_t flat :1; 00800 uint32_t anym_first_x :1; 00801 uint32_t anym_first_y :1; 00802 uint32_t anym_first_z :1; 00803 uint32_t anym_sign :1; 00804 uint32_t tap_first_x :1; 00805 uint32_t tap_first_y :1; 00806 uint32_t tap_first_z :1; 00807 uint32_t tap_sign :1; 00808 uint32_t reserved :2; 00809 uint32_t high_g :1; 00810 uint32_t low_g :1; 00811 uint32_t drdy :1; 00812 uint32_t ffull :1; 00813 uint32_t fwm :1; 00814 uint32_t nomo :1; 00815 uint32_t step :1; 00816 uint32_t sigmot :1; 00817 uint32_t anym :1; 00818 /* pmu trigger will be handled later */ 00819 uint32_t pmu_trigger_reserved :1; 00820 uint32_t d_tap :1; 00821 uint32_t s_tap :1; 00822 uint32_t orient :1; 00823 uint32_t flat_int :1; 00824 #endif 00825 }; 00826 00827 /*! 00828 * @brief bmi160 interrupt status structure 00829 */ 00830 union bmi160_int_status { 00831 uint8_t data[4]; 00832 struct bmi160_int_status_bits bit; 00833 }; 00834 00835 /*! 00836 * @brief bmi160 sensor data structure which comprises of accel data 00837 */ 00838 struct bmi160_sensor_data { 00839 /*! X-axis sensor data */ 00840 int16_t x ; 00841 /*! Y-axis sensor data */ 00842 int16_t y ; 00843 /*! Z-axis sensor data */ 00844 int16_t z ; 00845 /*! sensor time */ 00846 uint32_t sensortime ; 00847 }; 00848 00849 /*! 00850 * @brief bmi160 aux data structure which comprises of 8 bytes of accel data 00851 */ 00852 struct bmi160_aux_data { 00853 /*! Auxiliary data */ 00854 uint8_t data [8]; 00855 }; 00856 00857 /*! 00858 * @brief bmi160 FOC configuration structure 00859 */ 00860 struct bmi160_foc_conf { 00861 /*! Enabling FOC in gyro 00862 * Assignable macros : 00863 * - BMI160_ENABLE 00864 * - BMI160_DISABLE 00865 */ 00866 uint8_t foc_gyr_en ; 00867 00868 /*! Accel FOC configurations 00869 * Assignable macros : 00870 * - BMI160_FOC_ACCEL_DISABLED 00871 * - BMI160_FOC_ACCEL_POSITIVE_G 00872 * - BMI160_FOC_ACCEL_NEGATIVE_G 00873 * - BMI160_FOC_ACCEL_0G 00874 */ 00875 uint8_t foc_acc_x ; 00876 uint8_t foc_acc_y; 00877 uint8_t foc_acc_z; 00878 00879 /*! Enabling offset compensation for accel in data registers 00880 * Assignable macros : 00881 * - BMI160_ENABLE 00882 * - BMI160_DISABLE 00883 */ 00884 uint8_t acc_off_en ; 00885 00886 /*! Enabling offset compensation for gyro in data registers 00887 * Assignable macros : 00888 * - BMI160_ENABLE 00889 * - BMI160_DISABLE 00890 */ 00891 uint8_t gyro_off_en ; 00892 }; 00893 00894 /*! 00895 * @brief bmi160 accel gyro offsets 00896 */ 00897 struct bmi160_offsets { 00898 /*! Accel offset for x axis */ 00899 int8_t off_acc_x ; 00900 /*! Accel offset for y axis */ 00901 int8_t off_acc_y ; 00902 /*! Accel offset for z axis */ 00903 int8_t off_acc_z ; 00904 /*! Gyro offset for x axis */ 00905 int16_t off_gyro_x ; 00906 /*! Gyro offset for y axis */ 00907 int16_t off_gyro_y ; 00908 /*! Gyro offset for z axis */ 00909 int16_t off_gyro_z ; 00910 }; 00911 00912 /*! 00913 * @brief FIFO aux. sensor data structure 00914 */ 00915 struct bmi160_aux_fifo_data { 00916 /*! The value of aux. sensor x LSB data */ 00917 uint8_t aux_x_lsb ; 00918 /*! The value of aux. sensor x MSB data */ 00919 uint8_t aux_x_msb ; 00920 /*! The value of aux. sensor y LSB data */ 00921 uint8_t aux_y_lsb ; 00922 /*! The value of aux. sensor y MSB data */ 00923 uint8_t aux_y_msb ; 00924 /*! The value of aux. sensor z LSB data */ 00925 uint8_t aux_z_lsb ; 00926 /*! The value of aux. sensor z MSB data */ 00927 uint8_t aux_z_msb ; 00928 /*! The value of aux. sensor r for BMM150 LSB data */ 00929 uint8_t aux_r_y2_lsb ; 00930 /*! The value of aux. sensor r for BMM150 MSB data */ 00931 uint8_t aux_r_y2_msb ; 00932 }; 00933 00934 /*! 00935 * @brief bmi160 sensor select structure 00936 */ 00937 enum bmi160_select_sensor { 00938 BMI160_ACCEL_ONLY = 1, 00939 BMI160_GYRO_ONLY, 00940 BMI160_BOTH_ACCEL_AND_GYRO 00941 }; 00942 00943 /*! 00944 * @brief bmi160 sensor step detector mode structure 00945 */ 00946 enum bmi160_step_detect_mode { 00947 BMI160_STEP_DETECT_NORMAL, 00948 BMI160_STEP_DETECT_SENSITIVE, 00949 BMI160_STEP_DETECT_ROBUST, 00950 /*! Non recommended User defined setting */ 00951 BMI160_STEP_DETECT_USER_DEFINE 00952 }; 00953 00954 /*! 00955 * @brief enum for auxiliary burst read selection 00956 */ 00957 enum bm160_aux_read_len { 00958 BMI160_AUX_READ_LEN_0, 00959 BMI160_AUX_READ_LEN_1, 00960 BMI160_AUX_READ_LEN_2, 00961 BMI160_AUX_READ_LEN_3 00962 }; 00963 /*! 00964 * @brief bmi160 sensor configuration structure 00965 */ 00966 struct bmi160_cfg { 00967 /*! power mode */ 00968 uint8_t power ; 00969 /*! output data rate */ 00970 uint8_t odr ; 00971 /*! range */ 00972 uint8_t range ; 00973 /*! bandwidth */ 00974 uint8_t bw ; 00975 }; 00976 00977 /*! 00978 * @brief Aux sensor configuration structure 00979 */ 00980 struct bmi160_aux_cfg { 00981 /*! Aux sensor, 1 - enable 0 - disable */ 00982 uint8_t aux_sensor_enable : 1; 00983 /*! Aux manual/auto mode status */ 00984 uint8_t manual_enable : 1; 00985 /*! Aux read burst length */ 00986 uint8_t aux_rd_burst_len : 2; 00987 /*! output data rate */ 00988 uint8_t aux_odr :4; 00989 /*! i2c addr of auxiliary sensor */ 00990 uint8_t aux_i2c_addr ; 00991 }; 00992 00993 /*! 00994 * @brief bmi160 interrupt channel selection structure 00995 */ 00996 enum bmi160_int_channel { 00997 /*! Un-map both channels */ 00998 BMI160_INT_CHANNEL_NONE , 00999 /*! interrupt Channel 1 */ 01000 BMI160_INT_CHANNEL_1 , 01001 /*! interrupt Channel 2 */ 01002 BMI160_INT_CHANNEL_2 , 01003 /*! Map both channels */ 01004 BMI160_INT_CHANNEL_BOTH 01005 }; 01006 01007 enum bmi160_int_types { 01008 /*! Slope/Any-motion interrupt */ 01009 BMI160_ACC_ANY_MOTION_INT , 01010 /*! Significant motion interrupt */ 01011 BMI160_ACC_SIG_MOTION_INT , 01012 /*! Step detector interrupt */ 01013 BMI160_STEP_DETECT_INT , 01014 /*! double tap interrupt */ 01015 BMI160_ACC_DOUBLE_TAP_INT , 01016 /*! single tap interrupt */ 01017 BMI160_ACC_SINGLE_TAP_INT , 01018 /*! orientation interrupt */ 01019 BMI160_ACC_ORIENT_INT , 01020 /*! flat interrupt */ 01021 BMI160_ACC_FLAT_INT , 01022 /*! high-g interrupt */ 01023 BMI160_ACC_HIGH_G_INT , 01024 /*! low-g interrupt */ 01025 BMI160_ACC_LOW_G_INT , 01026 /*! slow/no-motion interrupt */ 01027 BMI160_ACC_SLOW_NO_MOTION_INT , 01028 /*! data ready interrupt */ 01029 BMI160_ACC_GYRO_DATA_RDY_INT , 01030 /*! fifo full interrupt */ 01031 BMI160_ACC_GYRO_FIFO_FULL_INT , 01032 /*! fifo watermark interrupt */ 01033 BMI160_ACC_GYRO_FIFO_WATERMARK_INT , 01034 /*! fifo tagging feature support */ 01035 BMI160_FIFO_TAG_INT_PIN 01036 }; 01037 01038 /*! 01039 * @brief bmi160 active state of any & sig motion interrupt. 01040 */ 01041 enum bmi160_any_sig_motion_active_interrupt_state { 01042 /*! Both any & sig motion are disabled */ 01043 BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1, 01044 /*! Any-motion selected */ 01045 BMI160_ANY_MOTION_ENABLED , 01046 /*! Sig-motion selected */ 01047 BMI160_SIG_MOTION_ENABLED 01048 }; 01049 01050 struct bmi160_acc_tap_int_cfg { 01051 #if LITTLE_ENDIAN == 1 01052 /*! tap threshold */ 01053 uint16_t tap_thr :5; 01054 /*! tap shock */ 01055 uint16_t tap_shock :1; 01056 /*! tap quiet */ 01057 uint16_t tap_quiet :1; 01058 /*! tap duration */ 01059 uint16_t tap_dur :3; 01060 /*! data source 0- filter & 1 pre-filter*/ 01061 uint16_t tap_data_src :1; 01062 /*! tap enable, 1 - enable, 0 - disable */ 01063 uint16_t tap_en :1; 01064 #elif BIG_ENDIAN == 1 01065 /*! tap enable, 1 - enable, 0 - disable */ 01066 uint16_t tap_en :1; 01067 /*! data source 0- filter & 1 pre-filter*/ 01068 uint16_t tap_data_src :1; 01069 /*! tap duration */ 01070 uint16_t tap_dur : 3; 01071 /*! tap quiet */ 01072 uint16_t tap_quiet : 1; 01073 /*! tap shock */ 01074 uint16_t tap_shock : 1; 01075 /*! tap threshold */ 01076 uint16_t tap_thr : 5; 01077 #endif 01078 }; 01079 01080 struct bmi160_acc_any_mot_int_cfg { 01081 #if LITTLE_ENDIAN == 1 01082 /*! 1 any-motion enable, 0 - any-motion disable */ 01083 uint8_t anymotion_en :1; 01084 /*! slope interrupt x, 1 - enable, 0 - disable */ 01085 uint8_t anymotion_x :1; 01086 /*! slope interrupt y, 1 - enable, 0 - disable */ 01087 uint8_t anymotion_y :1; 01088 /*! slope interrupt z, 1 - enable, 0 - disable */ 01089 uint8_t anymotion_z :1; 01090 /*! slope duration */ 01091 uint8_t anymotion_dur :2; 01092 /*! data source 0- filter & 1 pre-filter*/ 01093 uint8_t anymotion_data_src :1; 01094 /*! slope threshold */ 01095 uint8_t anymotion_thr; 01096 #elif BIG_ENDIAN == 1 01097 /*! slope threshold */ 01098 uint8_t anymotion_thr; 01099 /*! data source 0- filter & 1 pre-filter*/ 01100 uint8_t anymotion_data_src :1; 01101 /*! slope duration */ 01102 uint8_t anymotion_dur : 2; 01103 /*! slope interrupt z, 1 - enable, 0 - disable */ 01104 uint8_t anymotion_z : 1; 01105 /*! slope interrupt y, 1 - enable, 0 - disable */ 01106 uint8_t anymotion_y : 1; 01107 /*! slope interrupt x, 1 - enable, 0 - disable */ 01108 uint8_t anymotion_x : 1; 01109 /*! 1 any-motion enable, 0 - any-motion disable */ 01110 uint8_t anymotion_en :1; 01111 #endif 01112 }; 01113 01114 struct bmi160_acc_sig_mot_int_cfg { 01115 #if LITTLE_ENDIAN == 1 01116 /*! skip time of sig-motion interrupt */ 01117 uint8_t sig_mot_skip :2; 01118 /*! proof time of sig-motion interrupt */ 01119 uint8_t sig_mot_proof :2; 01120 /*! data source 0- filter & 1 pre-filter*/ 01121 uint8_t sig_data_src :1; 01122 /*! 1 - enable sig, 0 - disable sig & enable anymotion */ 01123 uint8_t sig_en :1; 01124 /*! sig-motion threshold */ 01125 uint8_t sig_mot_thres; 01126 #elif BIG_ENDIAN == 1 01127 /*! sig-motion threshold */ 01128 uint8_t sig_mot_thres; 01129 /*! 1 - enable sig, 0 - disable sig & enable anymotion */ 01130 uint8_t sig_en :1; 01131 /*! data source 0- filter & 1 pre-filter*/ 01132 uint8_t sig_data_src :1; 01133 /*! proof time of sig-motion interrupt */ 01134 uint8_t sig_mot_proof : 2; 01135 /*! skip time of sig-motion interrupt */ 01136 uint8_t sig_mot_skip : 2; 01137 #endif 01138 }; 01139 01140 struct bmi160_acc_step_detect_int_cfg { 01141 #if LITTLE_ENDIAN == 1 01142 /*! 1- step detector enable, 0- step detector disable */ 01143 uint16_t step_detector_en :1; 01144 /*! minimum threshold */ 01145 uint16_t min_threshold :2; 01146 /*! minimal detectable step time */ 01147 uint16_t steptime_min :3; 01148 /*! enable step counter mode setting */ 01149 uint16_t step_detector_mode :2; 01150 /*! minimum step buffer size*/ 01151 uint16_t step_min_buf :3; 01152 #elif BIG_ENDIAN == 1 01153 /*! minimum step buffer size*/ 01154 uint16_t step_min_buf :3; 01155 /*! enable step counter mode setting */ 01156 uint16_t step_detector_mode : 2; 01157 /*! minimal detectable step time */ 01158 uint16_t steptime_min : 3; 01159 /*! minimum threshold */ 01160 uint16_t min_threshold : 2; 01161 /*! 1- step detector enable, 0- step detector disable */ 01162 uint16_t step_detector_en :1; 01163 #endif 01164 }; 01165 01166 struct bmi160_acc_no_motion_int_cfg { 01167 #if LITTLE_ENDIAN == 1 01168 /*! no motion interrupt x */ 01169 uint16_t no_motion_x :1; 01170 /*! no motion interrupt y */ 01171 uint16_t no_motion_y :1; 01172 /*! no motion interrupt z */ 01173 uint16_t no_motion_z :1; 01174 /*! no motion duration */ 01175 uint16_t no_motion_dur :6; 01176 /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ 01177 uint16_t no_motion_sel :1; 01178 /*! data source 0- filter & 1 pre-filter*/ 01179 uint16_t no_motion_src :1; 01180 /*! no motion threshold */ 01181 uint8_t no_motion_thres; 01182 #elif BIG_ENDIAN == 1 01183 /*! no motion threshold */ 01184 uint8_t no_motion_thres; 01185 /*! data source 0- filter & 1 pre-filter*/ 01186 uint16_t no_motion_src :1; 01187 /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */ 01188 uint16_t no_motion_sel : 1; 01189 /*! no motion duration */ 01190 uint16_t no_motion_dur : 6; 01191 /* no motion interrupt z */ 01192 uint16_t no_motion_z :1; 01193 /*! no motion interrupt y */ 01194 uint16_t no_motion_y :1; 01195 /*! no motion interrupt x */ 01196 uint16_t no_motion_x :1; 01197 #endif 01198 }; 01199 01200 struct bmi160_acc_orient_int_cfg { 01201 #if LITTLE_ENDIAN == 1 01202 /*! thresholds for switching between the different orientations */ 01203 uint16_t orient_mode :2; 01204 /*! blocking_mode */ 01205 uint16_t orient_blocking :2; 01206 /*! Orientation interrupt hysteresis */ 01207 uint16_t orient_hyst :4; 01208 /*! Orientation interrupt theta */ 01209 uint16_t orient_theta :6; 01210 /*! Enable/disable Orientation interrupt */ 01211 uint16_t orient_ud_en :1; 01212 /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ 01213 uint16_t axes_ex :1; 01214 /*! 1 - orient enable, 0 - orient disable */ 01215 uint8_t orient_en :1; 01216 #elif BIG_ENDIAN == 1 01217 /*! 1 - orient enable, 0 - orient disable */ 01218 uint8_t orient_en :1; 01219 /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */ 01220 uint16_t axes_ex : 1; 01221 /*! Enable/disable Orientation interrupt */ 01222 uint16_t orient_ud_en : 1; 01223 /*! Orientation interrupt theta */ 01224 uint16_t orient_theta : 6; 01225 /*! Orientation interrupt hysteresis */ 01226 uint16_t orient_hyst : 4; 01227 /*! blocking_mode */ 01228 uint16_t orient_blocking : 2; 01229 /*! thresholds for switching between the different orientations */ 01230 uint16_t orient_mode : 2; 01231 #endif 01232 }; 01233 01234 struct bmi160_acc_flat_detect_int_cfg { 01235 #if LITTLE_ENDIAN == 1 01236 /*! flat threshold */ 01237 uint16_t flat_theta :6; 01238 /*! flat interrupt hysteresis */ 01239 uint16_t flat_hy :3; 01240 /*! delay time for which the flat value must remain stable for the 01241 * flat interrupt to be generated */ 01242 uint16_t flat_hold_time :2; 01243 /*! 1 - flat enable, 0 - flat disable */ 01244 uint16_t flat_en :1; 01245 #elif BIG_ENDIAN == 1 01246 /*! 1 - flat enable, 0 - flat disable */ 01247 uint16_t flat_en :1; 01248 /*! delay time for which the flat value must remain stable for the 01249 * flat interrupt to be generated */ 01250 uint16_t flat_hold_time : 2; 01251 /*! flat interrupt hysteresis */ 01252 uint16_t flat_hy : 3; 01253 /*! flat threshold */ 01254 uint16_t flat_theta : 6; 01255 #endif 01256 }; 01257 01258 struct bmi160_acc_low_g_int_cfg { 01259 #if LITTLE_ENDIAN == 1 01260 /*! low-g interrupt trigger delay */ 01261 uint8_t low_dur; 01262 /*! low-g interrupt trigger threshold */ 01263 uint8_t low_thres; 01264 /*! hysteresis of low-g interrupt */ 01265 uint8_t low_hyst :2; 01266 /*! 0 - single-axis mode ,1 - axis-summing mode */ 01267 uint8_t low_mode :1; 01268 /*! data source 0- filter & 1 pre-filter */ 01269 uint8_t low_data_src :1; 01270 /*! 1 - enable low-g, 0 - disable low-g */ 01271 uint8_t low_en :1; 01272 #elif BIG_ENDIAN == 1 01273 /*! 1 - enable low-g, 0 - disable low-g */ 01274 uint8_t low_en :1; 01275 /*! data source 0- filter & 1 pre-filter */ 01276 uint8_t low_data_src :1; 01277 /*! 0 - single-axis mode ,1 - axis-summing mode */ 01278 uint8_t low_mode : 1; 01279 /*! hysteresis of low-g interrupt */ 01280 uint8_t low_hyst : 2; 01281 /*! low-g interrupt trigger threshold */ 01282 uint8_t low_thres; 01283 /*! low-g interrupt trigger delay */ 01284 uint8_t low_dur; 01285 #endif 01286 }; 01287 01288 struct bmi160_acc_high_g_int_cfg { 01289 #if LITTLE_ENDIAN == 1 01290 /*! High-g interrupt x, 1 - enable, 0 - disable */ 01291 uint8_t high_g_x :1; 01292 /*! High-g interrupt y, 1 - enable, 0 - disable */ 01293 uint8_t high_g_y :1; 01294 /*! High-g interrupt z, 1 - enable, 0 - disable */ 01295 uint8_t high_g_z :1; 01296 /*! High-g hysteresis */ 01297 uint8_t high_hy :2; 01298 /*! data source 0- filter & 1 pre-filter */ 01299 uint8_t high_data_src :1; 01300 /*! High-g threshold */ 01301 uint8_t high_thres; 01302 /*! High-g duration */ 01303 uint8_t high_dur; 01304 #elif BIG_ENDIAN == 1 01305 /*! High-g duration */ 01306 uint8_t high_dur; 01307 /*! High-g threshold */ 01308 uint8_t high_thres; 01309 /*! data source 0- filter & 1 pre-filter */ 01310 uint8_t high_data_src :1; 01311 /*! High-g hysteresis */ 01312 uint8_t high_hy : 2; 01313 /*! High-g interrupt z, 1 - enable, 0 - disable */ 01314 uint8_t high_g_z : 1; 01315 /*! High-g interrupt y, 1 - enable, 0 - disable */ 01316 uint8_t high_g_y : 1; 01317 /*! High-g interrupt x, 1 - enable, 0 - disable */ 01318 uint8_t high_g_x : 1; 01319 #endif 01320 }; 01321 01322 struct bmi160_int_pin_settg { 01323 #if LITTLE_ENDIAN == 1 01324 /*! To enable either INT1 or INT2 pin as output. 01325 * 0- output disabled ,1- output enabled */ 01326 uint16_t output_en :1; 01327 /*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */ 01328 uint16_t output_mode :1; 01329 /*! 0 - active low , 1 - active high level. 01330 * if output_en is 1,this applies to interrupts,else PMU_trigger */ 01331 uint16_t output_type :1; 01332 /*! 0 - level trigger , 1 - edge trigger */ 01333 uint16_t edge_ctrl :1; 01334 /*! To enable either INT1 or INT2 pin as input. 01335 * 0 - input disabled ,1 - input enabled */ 01336 uint16_t input_en :1; 01337 /*! latch duration*/ 01338 uint16_t latch_dur :4; 01339 #elif BIG_ENDIAN == 1 01340 /*! latch duration*/ 01341 uint16_t latch_dur : 4; 01342 /*! Latched,non-latched or temporary interrupt modes */ 01343 uint16_t input_en : 1; 01344 /*! 1 - edge trigger, 0 - level trigger */ 01345 uint16_t edge_ctrl : 1; 01346 /*! 0 - active low , 1 - active high level. 01347 * if output_en is 1,this applies to interrupts,else PMU_trigger */ 01348 uint16_t output_type : 1; 01349 /*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */ 01350 uint16_t output_mode : 1; 01351 /*! To enable either INT1 or INT2 pin as output. 01352 * 0 - output disabled , 1 - output enabled */ 01353 uint16_t output_en : 1; 01354 #endif 01355 }; 01356 01357 union bmi160_int_type_cfg { 01358 /*! Tap interrupt structure */ 01359 struct bmi160_acc_tap_int_cfg acc_tap_int; 01360 /*! Slope interrupt structure */ 01361 struct bmi160_acc_any_mot_int_cfg acc_any_motion_int; 01362 /*! Significant motion interrupt structure */ 01363 struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int; 01364 /*! Step detector interrupt structure */ 01365 struct bmi160_acc_step_detect_int_cfg acc_step_detect_int; 01366 /*! No motion interrupt structure */ 01367 struct bmi160_acc_no_motion_int_cfg acc_no_motion_int; 01368 /*! Orientation interrupt structure */ 01369 struct bmi160_acc_orient_int_cfg acc_orient_int; 01370 /*! Flat interrupt structure */ 01371 struct bmi160_acc_flat_detect_int_cfg acc_flat_int; 01372 /*! Low-g interrupt structure */ 01373 struct bmi160_acc_low_g_int_cfg acc_low_g_int; 01374 /*! High-g interrupt structure */ 01375 struct bmi160_acc_high_g_int_cfg acc_high_g_int; 01376 }; 01377 01378 struct bmi160_int_settg { 01379 /*! Interrupt channel */ 01380 enum bmi160_int_channel int_channel; 01381 /*! Select Interrupt */ 01382 enum bmi160_int_types int_type; 01383 /*! Structure configuring Interrupt pins */ 01384 struct bmi160_int_pin_settg int_pin_settg; 01385 /*! Union configures required interrupt */ 01386 union bmi160_int_type_cfg int_type_cfg; 01387 /*! FIFO FULL INT 1-enable, 0-disable */ 01388 uint8_t fifo_full_int_en :1; 01389 /*! FIFO WTM INT 1-enable, 0-disable */ 01390 uint8_t fifo_WTM_int_en :1; 01391 }; 01392 01393 /*! 01394 * @brief This structure holds the information for usage of 01395 * FIFO by the user. 01396 */ 01397 struct bmi160_fifo_frame { 01398 /*! Data buffer of user defined length is to be mapped here */ 01399 uint8_t *data ; 01400 /*! While calling the API "bmi160_get_fifo_data" , length stores 01401 * number of bytes in FIFO to be read (specified by user as input) 01402 * and after execution of the API ,number of FIFO data bytes 01403 * available is provided as an output to user 01404 */ 01405 uint16_t length ; 01406 /*! FIFO time enable */ 01407 uint8_t fifo_time_enable ; 01408 /*! Enabling of the FIFO header to stream in header mode */ 01409 uint8_t fifo_header_enable ; 01410 /*! Streaming of the Accelerometer, Gyroscope 01411 sensor data or both in FIFO */ 01412 uint8_t fifo_data_enable ; 01413 /*! Will be equal to length when no more frames are there to parse */ 01414 uint16_t accel_byte_start_idx ; 01415 /*! Will be equal to length when no more frames are there to parse */ 01416 uint16_t gyro_byte_start_idx ; 01417 /*! Will be equal to length when no more frames are there to parse */ 01418 uint16_t aux_byte_start_idx ; 01419 /*! Value of FIFO sensor time time */ 01420 uint32_t sensor_time ; 01421 /*! Value of Skipped frame counts */ 01422 uint8_t skipped_frame_count ; 01423 }; 01424 01425 struct bmi160_dev { 01426 /*! Chip Id */ 01427 uint8_t chip_id; 01428 /*! Device Id */ 01429 uint8_t id; 01430 /*! 0 - I2C , 1 - SPI Interface */ 01431 uint8_t interface; 01432 /*! Hold active interrupts status for any and sig motion 01433 * 0 - Any-motion enable, 1 - Sig-motion enable, 01434 * -1 neither any-motion nor sig-motion selected */ 01435 enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel; 01436 /*! Structure to configure Accel sensor */ 01437 struct bmi160_cfg accel_cfg; 01438 /*! Structure to hold previous/old accel config parameters. 01439 * This is used at driver level to prevent overwriting of same 01440 * data, hence user does not change it in the code */ 01441 struct bmi160_cfg prev_accel_cfg; 01442 /*! Structure to configure Gyro sensor */ 01443 struct bmi160_cfg gyro_cfg; 01444 /*! Structure to hold previous/old gyro config parameters. 01445 * This is used at driver level to prevent overwriting of same 01446 * data, hence user does not change it in the code */ 01447 struct bmi160_cfg prev_gyro_cfg; 01448 /*! Structure to configure the auxiliary sensor */ 01449 struct bmi160_aux_cfg aux_cfg; 01450 /*! Structure to hold previous/old aux config parameters. 01451 * This is used at driver level to prevent overwriting of same 01452 * data, hence user does not change it in the code */ 01453 struct bmi160_aux_cfg prev_aux_cfg; 01454 /*! FIFO related configurations */ 01455 struct bmi160_fifo_frame *fifo; 01456 /*! Read function pointer */ 01457 bmi160_com_fptr_t read; 01458 /*! Write function pointer */ 01459 bmi160_com_fptr_t write; 01460 /*! Delay function pointer */ 01461 bmi160_delay_fptr_t delay_ms; 01462 }; 01463 01464 01465 #endif /* BMI160_DEFS_H_ */
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