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bmi270.h
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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 bmi270.h
* @date 2020-11-04
* @version v2.63.1
*
*/
/**
* \ingroup bmi2xy
* \defgroup bmi270 BMI270
* @brief Sensor driver for BMI270 sensor
*/
#ifndef BMI270_H_
#define BMI270_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2.h"
/***************************************************************************/
/*! Macro definitions
****************************************************************************/
/*! @name BMI270 Chip identifier */
#define BMI270_CHIP_ID UINT8_C(0x24)
/*! @name BMI270 feature input start addresses */
#define BMI270_CONFIG_ID_STRT_ADDR UINT8_C(0x00)
#define BMI270_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02)
#define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x03)
#define BMI270_ABORT_STRT_ADDR UINT8_C(0x03)
#define BMI270_AXIS_MAP_STRT_ADDR UINT8_C(0x04)
#define BMI270_GYRO_SELF_OFF_STRT_ADDR UINT8_C(0x05)
#define BMI270_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05)
#define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06)
#define BMI270_ANY_MOT_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NO_MOT_STRT_ADDR UINT8_C(0x00)
#define BMI270_SIG_MOT_STRT_ADDR UINT8_C(0x04)
#define BMI270_STEP_CNT_1_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_CNT_4_STRT_ADDR UINT8_C(0x02)
#define BMI270_WRIST_GEST_STRT_ADDR UINT8_C(0x06)
#define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x00)
/*! @name BMI270 feature output start addresses */
#define BMI270_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00)
#define BMI270_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04)
#define BMI270_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06)
#define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08)
#define BMI270_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C)
#define BMI270_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E)
/*! @name Defines maximum number of pages */
#define BMI270_MAX_PAGE_NUM UINT8_C(8)
/*! @name Defines maximum number of feature input configurations */
#define BMI270_MAX_FEAT_IN UINT8_C(17)
/*! @name Defines maximum number of feature outputs */
#define BMI270_MAX_FEAT_OUT UINT8_C(7)
/*! @name Mask definitions for feature interrupt status bits */
#define BMI270_SIG_MOT_STATUS_MASK UINT8_C(0x01)
#define BMI270_STEP_CNT_STATUS_MASK UINT8_C(0x02)
#define BMI270_STEP_ACT_STATUS_MASK UINT8_C(0x04)
#define BMI270_WRIST_WAKE_UP_STATUS_MASK UINT8_C(0x08)
#define BMI270_WRIST_GEST_STATUS_MASK UINT8_C(0x10)
#define BMI270_NO_MOT_STATUS_MASK UINT8_C(0x20)
#define BMI270_ANY_MOT_STATUS_MASK UINT8_C(0x40)
/*! @name Mask definitions for feature interrupt mapping bits */
#define BMI270_INT_SIG_MOT_MASK UINT8_C(0x01)
#define BMI270_INT_STEP_COUNTER_MASK UINT8_C(0x02)
#define BMI270_INT_STEP_DETECTOR_MASK UINT8_C(0x02)
#define BMI270_INT_STEP_ACT_MASK UINT8_C(0x04)
#define BMI270_INT_WRIST_WEAR_WAKEUP_MASK UINT8_C(0x08)
#define BMI270_INT_WRIST_GEST_MASK UINT8_C(0x10)
#define BMI270_INT_NO_MOT_MASK UINT8_C(0x20)
#define BMI270_INT_ANY_MOT_MASK UINT8_C(0x40)
/*! @name Defines maximum number of feature interrupts */
#define BMI270_MAX_INT_MAP UINT8_C(8)
/***************************************************************************/
/*! BMI270 User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi270
* \defgroup bmi270ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi270ApiInit
* \page bmi270_api_bmi270_init bmi270_init
* \code
* int8_t bmi270_init(struct bmi2_dev *dev);
* \endcode
* @details This API:
* 1) updates the device structure with address of the configuration file.
* 2) Initializes BMI270 sensor.
* 3) Writes the configuration file.
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_init(struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi270ApiSensor
* \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable
* \code
* int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_GYRO_SELF_OFF | 33
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiSensor
* \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable
* \code
* int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_GYRO_GAIN_UPDATE | 9
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_GYRO_SELF_OFF | 33
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi270ApiSensorC
* \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config
* \code
* int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiSensorC
* \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config
* \code
* int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_SIG_MOTION | 3
* BMI2_ANY_MOTION | 4
* BMI2_NO_MOTION | 5
* BMI2_STEP_DETECTOR | 6
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_WRIST_WEAR_WAKE_UP | 20
* BMI2_STEP_COUNTER_PARAMS | 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi270ApiSensorD
* \page bmi270_api_bmi270_get_sensor_data bmi270_get_sensor_data
* \code
* int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature data for accelerometer, gyroscope,
* auxiliary sensor, step counter, high-g, gyroscope user-gain update,
* orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
*
* @param[out] sensor_data : Structure instance of bmi2_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_STEP_COUNTER | 7
* BMI2_STEP_ACTIVITY | 8
* BMI2_WRIST_GESTURE | 19
* BMI2_NVM_STATUS | 38
* BMI2_VFRM_STATUS | 39
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi270
* \defgroup bmi270ApiGyroUG Gyro User Gain
* @brief Set / Get Gyro User Gain of the sensor
*/
/*!
* \ingroup bmi270ApiGyroUG
* \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain
* \code
* int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
* \endcode
* @details This API updates the gyroscope user-gain.
*
* @param[in] user_gain : Structure that stores user-gain configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiGyroUG
* \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain
* \code
* int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the compensated gyroscope user-gain values.
*
* @param[out] gyr_usr_gain : Structure that stores gain values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi270ApiInt
* \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int
* \code
* int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] n_sens : Number of interrupts to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev);
/******************************************************************************/
/*! @name C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI270_H_ */