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bmi2.c
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder nor the names of its
* 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 THE
* 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.
*
* @file bmi2.c
* @date 2020-11-04
* @version v2.63.1
*
*/
/******************************************************************************/
/*! @name Header Files */
/******************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Local structures
****************************************************************************/
/*! @name Structure to define the difference in accelerometer values */
struct bmi2_selftest_delta_limit
{
/*! X data */
int32_t x;
/*! Y data */
int32_t y;
/*! Z data */
int32_t z;
};
/*! @name Structure to store temporary accelerometer/gyroscope values */
struct bmi2_foc_temp_value
{
/*! X data */
int32_t x;
/*! Y data */
int32_t y;
/*! Z data */
int32_t z;
};
/*! @name Structure to store accelerometer data deviation from ideal value */
struct bmi2_offset_delta
{
/*! X axis */
int16_t x;
/*! Y axis */
int16_t y;
/*! Z axis */
int16_t z;
};
/*! @name Structure to store accelerometer offset values */
struct bmi2_accel_offset
{
/*! offset X data */
uint8_t x;
/*! offset Y data */
uint8_t y;
/*! offset Z data */
uint8_t z;
};
/******************************************************************************/
/*! Local Function Prototypes
******************************************************************************/
/*!
* @brief This internal API writes the configuration file.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_config_file(struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables the loading of the configuration
* file.
*
* @param[in] enable : To enable/disable configuration load.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API loads the configuration file.
*
* @param[in] config_data : Pointer to the configuration file.
* @param[in] index : Variable to define array index.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev);
/*!
* @brief This internal API sets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*
* @param[in,out] config : Structure instance of bmi2_accel_config.
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates bandwidth and performance mode of the
* accelerometer set by the user.
*
* @param[in, out] bandwidth : Pointer to bandwidth value set by the user.
* @param[in, out] perf_mode : Pointer to performance mode set by the user.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev);
/*!
* @brief This internal API validates ODR and range of the accelerometer set by
* the user.
*
* @param[in, out] odr : Pointer to ODR value set by the user.
* @param[in, out] range : Pointer to range value set by the user.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev);
/*!
* @brief This internal API sets gyroscope configurations like ODR, bandwidth,
* low power/high performance mode, performance mode and range.
*
* @param[in,out] config : Structure instance of bmi2_gyro_config.
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates bandwidth, performance mode, low power/
* high performance mode, ODR, and range set by the user.
*
* @param[in] config : Structure instance of bmi2_gyro_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API shows the error status when illegal sensor
* configuration is set.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t cfg_error_status(struct bmi2_dev *dev);
/*!
* @brief This internal API:
* 1) Enables/Disables auxiliary interface.
* 2) Sets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3)It maps/un-maps data interrupts to that of hardware interrupt line.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*
* @param[in] config : Structure instance of bmi2_gyro_user_gain_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_gyro_user_gain_config|
* Structure parameters | Description
*--------------------------|--------------------------------------------------
* ratio_x | Gain update value for x-axis
* -------------------------|---------------------------------------------------
* ratio_y | Gain update value for y-axis
* -------------------------|---------------------------------------------------
* ratio_z | Gain update value for z-axis
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API enables/disables auxiliary interface.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API sets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Auxiliary sensor should not be busy when configuring aux_i2c_addr,
* man_rd_burst_len, aux_rd_burst_len and aux_rd_addr.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API triggers read out offset and sets ODR of the
* auxiliary sensor.
*
* @param[in] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API validates auxiliary configuration set by the user.
*
* @param[in, out] config : Structure instance of bmi2_aux_config.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note dev->info contains two warnings: BMI2_I_MIN_VALUE and BMI2_I_MAX_VALUE
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets accelerometer configurations like ODR,
* bandwidth, performance mode and g-range.
*
* @param[out] config : Structure instance of bmi2_accel_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets gyroscope configurations like ODR, bandwidth,
* low power/ high performance mode, performance mode and range.
*
* @param[out] config : Structure instance of bmi2_gyro_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API:
* 1) Gets the status of auxiliary interface enable.
* 2) Gets auxiliary interface configurations like I2C address, manual/auto
* mode enable, manual burst read length, AUX burst read length and AUX read
* address.
* 3) Gets ODR and offset.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets gyroscope user-gain configurations like gain
* update value for x, y and z-axis.
*
* @param[out] config : Structure instance of bmi2_gyro_user_gain_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @verbatim
*----------------------------------------------------------------------------
* bmi2_gyro_user_gain_config|
* Structure parameters | Description
*-------------------------|--------------------------------------------------
* ratio_x | Gain update value for x-axis
* ------------------------|---------------------------------------------------
* ratio_y | Gain update value for y-axis
* ------------------------|---------------------------------------------------
* ratio_z | Gain update value for z-axis
*
* @endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the enable status of auxiliary interface.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets auxiliary configurations like manual/auto mode
* FCU write command enable and read burst length for both data and manual mode.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets read out offset and ODR of the auxiliary
* sensor.
*
* @param[out] config : Structure instance of bmi2_aux_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the saturation status for the gyroscope user
* gain update.
*
* @param[out] user_gain_stat : Stores the saturation status of the axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain, struct bmi2_dev *dev);
/*!
* @brief This internal API is used to extract the output feature configuration
* details like page and start address from the look-up table.
*
* @param[out] feat_output : Structure that stores output feature
* configurations.
* @param[in] type : Type of feature or sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Returns the feature found flag.
*
* @retval BMI2_FALSE : Feature not found
* BMI2_TRUE : Feature found
*/
static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
uint8_t type,
const struct bmi2_dev *dev);
/*!
* @brief This internal API gets the cross sensitivity coefficient between
* gyroscope's X and Z axes.
*
* @param[out] cross_sense : Pointer to the stored cross sensitivity
* coefficient.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the accelerometer data from the register.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_addr : Register address where data is stored.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_accel_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the gyroscope data from the register.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_addr : Register address where data is stored.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg_addr, struct bmi2_dev *dev);
/*!
* @brief This internal API gets the accelerometer/gyroscope data.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] reg_data : Data stored in the register.
*
* @return None
*
* @retval None
*/
static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data);
/*!
* @brief This internal API gets the re-mapped accelerometer/gyroscope data.
*
* @param[out] data : Structure instance of sensor_data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
*
* @retval None
*/
static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev);
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in data mode.
*
* @param[out] aux_data : Pointer to the stored auxiliary data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_aux_data_mode(uint8_t *aux_data, struct bmi2_dev *dev);
/*!
* @brief This internal API reads the user-defined bytes of data from the given
* register address of auxiliary sensor in manual mode.
*
* @param[in] reg_addr : AUX address from where data is read.
* @param[out] aux_data : Pointer to the stored auxiliary data.
* @param[in] len : Total bytes to be read.
* @param[in] burst_len : Bytes of data to be read in bursts.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t read_aux_data(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, uint8_t burst_len, struct bmi2_dev *dev);
/*!
* @brief This internal API checks the busy status of auxiliary sensor and sets
* the auxiliary register addresses when not busy.
*
* @param[in] reg_addr : Address in which AUX register address is
* set.
* @param[in] reg_data : Auxiliary register address to be set when AUX is
* not busy.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
/*!
* @brief his internal API maps the actual burst read length with that of the
* register value set by user.
*
* @param[out] len : Actual burst length.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev);
/*!
* @brief This internal API writes AUX write address and the user-defined bytes
* of data to the AUX sensor in manual mode.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*
* @param[in] reg_addr : AUX address in which data is to be written.
* @param[in] reg_data : Data to be written
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev);
/*!
* @brief This internal API maps/unmaps feature interrupts to that of interrupt
* pins.
*
* @param[in] int_pin : Interrupt pin selected.
* @param[in] feat_int : Type of feature interrupt to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask);
/*!
* @brief This internal API computes the number of bytes of accelerometer FIFO
* data which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] acc_count : Number of accelerometer frames to be read.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_accel_len(uint16_t *start_idx,
uint16_t *len,
const uint16_t *acc_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse accelerometer data from the FIFO
* data in header mode.
*
* @param[out] acc : Structure instance of bmi2_sens_axes_data where
* the parsed accelerometer data bytes are stored.
* @param[in] accel_length : Number of accelerometer frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_accel_header_mode(struct bmi2_sens_axes_data *acc,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse the accelerometer data from the
* FIFO data in both header and header-less mode. It updates the current data
* byte to be parsed.
*
* @param[in,out] acc : Structure instance of bmi2_sens_axes_data where
* where the parsed data bytes are stored.
* @param[in,out] idx : Index value of number of bytes parsed.
* @param[in,out] acc_idx : Index value of accelerometer data (x,y,z axes)
* frame to be parsed.
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_accel_frame(struct bmi2_sens_axes_data *acc,
uint16_t *idx,
uint16_t *acc_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse accelerometer data from the FIFO
* data.
*
* @param[out] acc : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in] data_start_index : Index value of the accelerometer data bytes
* which is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void unpack_accel_data(struct bmi2_sens_axes_data *acc,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API computes the number of bytes of gyroscope FIFO data
* which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] gyr_count : Number of gyroscope frames to be read.
* @param[in] frame : Either data enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_gyro_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *gyr_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse the gyroscope data from the FIFO
* data in both header and header-less mode It updates the current data byte to
* be parsed.
*
* @param[in,out] gyr : Structure instance of bmi2_sens_axes_data.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] gyr_idx : Index value of gyroscope data (x,y,z axes)
* frame to be parsed.
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_gyro_frame(struct bmi2_sens_axes_data *gyr,
uint16_t *idx,
uint16_t *gyr_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse gyroscope data from the FIFO data.
*
* @param[out] gyr : Structure instance of bmi2_sens_axes_data where
* the parsed gyroscope data bytes are stored.
* @param[in] data_start_index : Index value of the gyroscope data bytes
* which is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void unpack_gyro_data(struct bmi2_sens_axes_data *gyr,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This internal API is used to parse the gyroscope data from the
* FIFO data in header mode.
*
* @param[out] gyr : Structure instance of bmi2_sens_axes_data where
* the parsed gyroscope data bytes are stored.
* @param[in] gyro_length : Number of gyroscope frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_gyro_header_mode(struct bmi2_sens_axes_data *gyr,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API computes the number of bytes of auxiliary FIFO data
* which is to be parsed in header-less mode.
*
* @param[out] start_idx : The start index for parsing data.
* @param[out] len : Number of bytes to be parsed.
* @param[in] aux_count : Number of accelerometer frames to be read.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t parse_fifo_aux_len(uint16_t *start_idx,
uint16_t(*len),
const uint16_t *aux_count,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This API is used to parse auxiliary data from the FIFO data.
*
* @param[out] aux : Pointer to buffer where the parsed auxiliary data
* bytes are stored.
* @param[in] aux_length : Number of auxiliary frames (x,y,z data).
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API is used to parse the auxiliary data from the FIFO data in
* both header and header-less mode. It updates the current data byte to be
* parsed.
*
* @param[out] aux : Pointer to structure where the parsed auxiliary data
* bytes are stored.
* @param[in,out] idx : Index value of number of bytes parsed
* @param[in,out] aux_idx : Index value of auxiliary data (x,y,z axes)
* frame to be parsed
* @param[in] frame : Either data is enabled by user in header-less
* mode or header frame value in header mode.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_aux_frame(struct bmi2_aux_fifo_data *aux,
uint16_t *idx,
uint16_t *aux_idx,
uint8_t frame,
const struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* @brief This API is used to parse auxiliary data from the FIFO data.
*
* @param[out] aux : Pointer to structure where the parsed
* auxiliary data bytes are stored.
* @param[in] data_start_index : Index value of the auxiliary data bytes which
* is to be parsed from the FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return None
* @retval None
*/
static void unpack_aux_data(struct bmi2_aux_fifo_data *aux,
uint16_t data_start_index,
const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to reset the FIFO related configurations
* in the FIFO frame structure for the next FIFO read.
*
* @param[in, out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return None
* @retval None
*/
static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
/*!
* @brief This internal API checks whether the FIFO data read is an empty frame.
* If empty frame, index is moved to the last byte.
*
* @param[in,out] data_index : The index of the current data to be parsed from
* FIFO data.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
*
* @retval BMI2_OK - Success.
* @retval BMI2_W_FIFO_EMPTY - Warning : FIFO is empty
* @retval BMI2_W_PARTIAL_READ - Warning : There are more frames to be read
*/
static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to move the data index ahead of the
* current frame length parameter when unnecessary FIFO data appears while
* extracting the user specified data.
*
* @param[in,out] data_index : Index of the FIFO data which is to be
* moved ahead of the current frame length
* @param[in] current_frame_length : Number of bytes in the current frame.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse and store the sensor time from the
* FIFO data.
*
* @param[in,out] data_index : Index of the FIFO data which has the sensor time.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API is used to parse and store the skipped frame count
* from the FIFO data.
*
* @param[in,out] data_index : Index of the FIFO data which contains skipped
* frame count.
* @param[in] fifo : Structure instance of bmi2_fifo_frame.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo);
/*!
* @brief This internal API enables and configures the accelerometer which is
* needed for self-test operation. It also sets the amplitude for the self-test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t pre_self_test_config(struct bmi2_dev *dev);
/*!
* @brief This internal API performs the steps needed for self-test operation
* before reading the accelerometer self-test data.
*
* @param[in] sign : Selects sign of self-test excitation
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | positive excitation
* BMI2_DISABLE | negative excitation
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev);
/*!
* @brief This internal API enables or disables the accelerometer self-test
* feature in the sensor.
*
* @param[in] enable : Enables/ Disables self-test.
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | Enables self-test
* BMI2_DISABLE | Disables self-test
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev);
/*!
* @brief This internal API selects the sign for accelerometer self-test
* excitation.
*
* @param[in] sign : Selects sign of self-test excitation
* @param[in] dev : Structure instance of bmi2_dev.
*
* sign | Description
* -------------|---------------
* BMI2_ENABLE | positive excitation
* BMI2_DISABLE | negative excitation
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev);
/*!
* @brief This internal API sets the amplitude of the accelerometer self-test
* deflection in the sensor.
*