/** * Copyright (c) 2021 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 2021-09-30 * @version v2.71.8 * */ /******************************************************************************/ /*! @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 parses the accelerometer/gyroscope data. * * @param[out] data : Structure instance of bmi2_sens_axes_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 bmi2_sens_axes_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 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[out] skip_length : Number of bytes to skip if dummy frame is obtained * @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, uint8_t *skip_length, 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 accelerometer data from the FIFO * data in headerless 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_headerless_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 skip dummy frames in FIFO headerless mode * * @param[in] dummy_frame_header : Dummy frame header byte value in FIFO headerless mode * * ----------------------------------|-------------------- * dummy_frame_header | Applicable to * ----------------------------------|-------------------- * BMI2_FIFO_HEADERLESS_DUMMY_ACC | ACCEL * BMI2_FIFO_HEADERLESS_DUMMY_GYR | GYRO * BMI2_FIFO_HEADERLESS_DUMMY_AUX | AUX * ----------------------------------|-------------------- * * @param[in] data_index : Index value of number of bytes parsed. * @param[in] skip_length : Number of bytes to skip if dummy frame is obtained * @param[in] fifo : Structure instance of bmi2_fifo_frame. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t check_dummy_frame(uint8_t dummy_frame_header, uint16_t *data_index, uint8_t skip_length, const struct bmi2_fifo_frame *fifo); /*! * @brief This internal API is used to parse the accelerometer data from the * FIFO data in header 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_header_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 the accelerometer data from the * FIFO data in 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_headerless_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[out] skip_length : Number of bytes to skip if dummy frame is obtained * @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, uint8_t *skip_length, 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 header 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_header_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 the gyroscope data from the FIFO * data in 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_headerless_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 internal API is used to parse gyroscope data from the FIFO * data in headerless 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_headerless_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[out] skip_length : Number of bytes to skip if dummy frame is obtained * @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, uint8_t *skip_length, 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 internal API is used to parse auxiliary data from the FIFO * data in headerless mode. * * @param[out] aux : Structure instance of bmi2_sens_axes_data 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_headerless_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. * * @param[in] amp : Select amplitude of the self-test deflection. * @param[in] dev : Structure instance of bmi2_dev. * * amp | Description * -------------|--------------- * BMI2_ENABLE | self-test amplitude is high * BMI2_DISABLE | self-test amplitude is low * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev); /*! * @brief This internal API reads the accelerometer data for x,y and z axis from * the sensor. The data units is in LSB format. * * @param[out] accel : Buffer to store the acceleration value. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev); /*! * @brief This internal API converts LSB value of accelerometer axes to form * 'g' to 'mg' for self-test. * * @param[in] acc_data_diff : Stores the acceleration value difference in g. * @param[out]acc_data_diff_mg : Stores the acceleration value difference in mg. * @param[in] dev : Structure instance of bmi2_dev. * * @return None * @retval None */ static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff, struct bmi2_selftest_delta_limit *acc_data_diff_mg, const struct bmi2_dev *dev); /*! * @brief This internal API is used to calculate the power of a value. * * @param[in] base : base for power calculation. * @param[in] resolution : exponent for power calculation. * * @return the calculated power * @retval the power value */ static int32_t power(int16_t base, uint8_t resolution); /*! * @brief This internal API validates the accelerometer self-test data and * decides the result of self-test operation. * * @param[in] accel_data_diff : Stores the acceleration value difference. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff); /*! * @brief This internal API gets the re-mapped x, y and z axes from the sensor. * * @param[out] remap : Structure that stores local copy of re-mapped 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_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev); /*! * @brief This internal API sets the re-mapped x, y and z axes in the sensor. * * @param[in] remap : Structure that stores local copy of re-mapped axes. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev); /*! * @brief Interface to get max burst length * * @param[in] max_burst_len : Pointer to store max 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 get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev); /*! * @brief This internal API sets the max burst length. * * @param[in] write_len_byte : read & write length * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev); /*! * @brief This internal API parses virtual frame header from the FIFO data. * * @param[in, out] frame_header : FIFO frame header. * @param[in, out] data_index : Index value of the FIFO data bytes * from which sensor frame header is to be parsed * @param[in] fifo : Structure instance of bmi2_fifo_frame. * * @return None * @retval None */ static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo); /*! * @brief This internal API gets sensor time from the accelerometer and * gyroscope virtual frames and updates in the data structure. * * @param[out] sens : Sensor data structure * @param[in, out] idx : Index of FIFO from where the data is to retrieved. * @param[in] fifo : Structure instance of bmi2_fifo_frame. * * @return None * @retval None */ static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx, const struct bmi2_fifo_frame *fifo); /*! * @brief This internal API gets sensor time from the auxiliary virtual * frames and updates in the data structure. * * @param[out] aux : Auxiliary sensor data structure * @param[in, out] idx : Index of FIFO from where the data is to retrieved. * @param[in] fifo : Structure instance of bmi2_fifo_frame. * * @return None * @retval None */ static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux, uint16_t *idx, const struct bmi2_fifo_frame *fifo); /*! * @brief This internal API clips the gyroscope cross-axis sensitivity within signed 16-bit limit * * @param[in] value : Gyro cross-axis sensitivity value to be saturated. * @param[out] saturation_val : Saturation value to be clipped. * * @return Result of API execution status * * @return Result of API execution status * @retval Saturated gyro cross-axis sensitivity value */ static int16_t saturate(int32_t value, uint16_t saturation_val); /*! * @brief This internal API corrects the gyroscope cross-axis sensitivity * between the z and the x axis. * * @param[in] dev : Structure instance of bmi2_dev. * @param[out] gyr_data : Structure instance of gyroscope data * * @return Result of API execution status * * @return None * @retval None */ static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev); /*! * @brief This internal API saves the configurations before performing FOC. * * @param[out] acc_cfg : Accelerometer configuration value * @param[out] aps : Advance power mode value * @param[out] acc_en : Accelerometer enable value * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg, uint8_t *aps, uint8_t *acc_en, struct bmi2_dev *dev); /*! * @brief This internal API performs Fast Offset Compensation for accelerometer. * * @param[in] accel_g_value : This parameter selects the accel foc * axis to be performed * * input format is {x, y, z, sign}. '1' to enable. '0' to disable * * eg to choose x axis {1, 0, 0, 0} * eg to choose -x axis {1, 0, 0, 1} * * @param[in] acc_cfg : Accelerometer configuration value * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, const struct bmi2_accel_config *acc_cfg, struct bmi2_dev *dev); /*! * @brief This internal sets configurations for performing accelerometer FOC. * * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_accel_foc_config(struct bmi2_dev *dev); /*! * @brief This internal API enables/disables the offset compensation for * filtered and un-filtered accelerometer data. * * @param[in] offset_en : enables/disables offset compensation. * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev); /*! * @brief This internal API converts the range value into accelerometer * corresponding integer value. * * @param[in] range_in : Input range value. * @param[out] range_out : Stores the integer value of range. * * @return None * @retval None */ static void map_accel_range(uint8_t range_in, uint8_t *range_out); /*! * @brief This internal API compensate the accelerometer data against gravity. * * @param[in] lsb_per_g : LSB value pre 1g. * @param[in] g_val : G reference value of all axis. * @param[in] data : Accelerometer data * @param[out] comp_data : Stores the data that is compensated by taking the * difference in accelerometer data and lsb_per_g * value. * * @return None * @retval None */ static void comp_for_gravity(uint16_t lsb_per_g, const struct bmi2_accel_foc_g_value *g_val, const struct bmi2_sens_axes_data *data, struct bmi2_offset_delta *comp_data); /*! * @brief This internal API scales the compensated accelerometer data according * to the offset register resolution. * * @param[in] range : G-range of the accelerometer. * @param[out] comp_data : Data that is compensated by taking the * difference in accelerometer data and lsb_per_g * value. * @param[out] data : Stores offset data * * @return None * @retval None */ static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data, struct bmi2_accel_offset *data); /*! * @brief This internal API finds the bit position of 3.9mg according to given * range and resolution. * * @param[in] range : G-range of the accelerometer. * * @return Result of API execution status * @retval Bit position of 3.9mg */ static int8_t get_bit_pos_3_9mg(uint8_t range); /*! * @brief This internal API inverts the accelerometer offset data. * * @param[out] offset_data : Stores the inverted offset data * * @return None * @retval None */ static void invert_accel_offset(struct bmi2_accel_offset *offset_data); /*! * @brief This internal API writes the offset data in the offset compensation * register. * * @param[in] offset : offset data * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev); /*! * @brief This internal API restores the configurations saved before performing * accelerometer FOC. * * @param[in] acc_cfg : Accelerometer configuration value * @param[in] acc_en : Accelerometer enable value * @param[in] aps : Advance power mode value * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg, uint8_t aps, uint8_t acc_en, struct bmi2_dev *dev); /*! * @brief This internal API saves the configurations before performing gyroscope * FOC. * * @param[out] gyr_cfg : Gyroscope configuration value * @param[out] gyr_en : Gyroscope enable value * @param[out] aps : Advance power mode value * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev); /*! * @brief This internal sets configurations for performing gyroscope FOC. * * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_gyro_foc_config(struct bmi2_dev *dev); /*! * @brief This internal API inverts the gyroscope offset data. * * @param[out] offset_data : Stores the inverted offset data * * @return None * @retval None */ static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data); /*! * @brief This internal API restores the gyroscope configurations saved * before performing FOC. * * @param[in] gyr_cfg : Gyroscope configuration value * @param[in] gyr_en : Gyroscope enable value * @param[in] aps : Advance power mode value * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev); /*! * @brief This internal API saturates the gyroscope data value before writing to * to 10 bit offset register. * * @param[in, out] gyr_off : Gyroscope data to be stored in offset register * * @return None * @retval None */ static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off); /*! * @brief This internal API reads the gyroscope data for x, y and z axis from * the sensor. * * @param[out] gyro : Buffer to store the gyroscope value. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev); /*! * @brief This internal API is used to check the boundary conditions. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in,out] val : Pointer to the value to be validated. * @param[in] min : minimum value. * @param[in] max : maximum value. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev); /*! * @brief This internal API is used to validate the device pointer for * null conditions. * * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t null_ptr_check(const struct bmi2_dev *dev); /*! * @brief This updates the result for CRT or gyro 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 crt_gyro_st_update_result(struct bmi2_dev *dev); /*! * @brief This function is to get the st_status status. * * @param[in] *st_status: gets the crt running status * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev); /*! * @brief This function is to set crt bit to running. * * @param[in] enable * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev); /*! * @brief This function is to make the initial changes for CRT. * Disable the gyro, OIS, aps * Note: For the purpose of preparing CRT Gyro, OIS and APS are disabled * * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t crt_prepare_setup(struct bmi2_dev *dev); /*! * @brief This API is to run the crt process for both max burst length 0 and non zero condition. * * @param[in] gyro_st_crt : Update the gyro self-test crt enable bit * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev); /*! * @brief This function is to get the rdy for dl bit status * this will toggle from 0 to 1 and visevers according to the * dowload status * * @param[in] *rdy_for_dl: gets the rdy_for_dl status * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev); /*! * @brief This function is to write the config file in the given location for crt. * which inter checks the status of the rdy_for_dl bit and also the crt running, and * wirtes the given size. * * @param[in] write_len: length of the words to be written * @param[in] config_file_size: length of the words to be written * @param[in] start_index: provide the start index from where config file has to written * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t write_crt_config_file(uint16_t write_len, uint16_t config_file_size, uint16_t start_index, struct bmi2_dev *dev); /*! * @brief This function is to check for rdy_for_dl bit to toggle for CRT process * * @param[in] retry_complete: wait for given time to toggle * @param[in] download_ready: get the status for rdy_for_dl * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev); /*! * @brief This function is to wait till the CRT or gyro self-test process is completed * * @param[in] retry_complete: wait for given time to complete the crt process * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev); /*! * @brief This function is to complete the crt process if max burst length is not zero * this checks for the crt status and rdy_for_dl bit to toggle * * @param[in] last_byte_flag: to provide the last toggled state * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev); /*! * @brief This api is used to enable the gyro self-test or crt. * * @param[in] gyro_st_crt : Update the gyro self-test crt enable bit * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev); /*! * @brief This api is used to enable/disable abort. * * @param[in] abort_enable : Variable to enable the abort feature. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev); /*! * @brief This api is use to wait till gyro self-test is completed and update the status of gyro * 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 gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev); /*! * @brief This api is used to trigger the preparation for system for NVM programming. * * @param[out] nvm_prep : Pointer to variable to store the status of nvm_prep_prog. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev); /*! * @brief This internal api gets major and minor version for config file * * @param[out] config_major : Pointer to store the major version * @param[out] config_minor : Pointer to store the minor version * @param[in] dev : Structure instance of bmi2_dev * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev); /*! * @brief This internal API is used to map the interrupts to the sensor. * * @param[in] map_int : Structure instance of bmi2_map_int. * @param[in] type : Type of feature or sensor. * @param[in] dev : Structure instance of bmi2_dev. * * @return None * @retval None */ static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev); /*! * @brief This internal API selects the sensors/features to be enabled or * disabled. * * @param[in] sens_list : Pointer to select the sensor. * @param[in] n_sens : Number of sensors selected. * @param[out] sensor_sel : Gets the selected sensor. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel); /*! * @brief This internal API enables the selected sensor/features. * * @param[in] sensor_sel : Selects the desired sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API disables the selected sensor/features. * * @param[in] sensor_sel : Selects the desired sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API reads accelerometer, gyroscope and auxiliary sensor data. * * @param[in] aux_len : Length of auxiliary sensor data * @param[in] acc_len : Length of accelerometer sensor data * @param[in] gyr_len : Length of gyroscope sensor data * @param[out] sensor_data : Sensor data from register. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t read_sensor_data(uint8_t aux_len, uint8_t acc_len, uint8_t gyr_len, uint8_t *sensor_data, struct bmi2_dev *dev); /*! * @brief This internal API parses accelerometer, gyroscope and auxiliary sensor data with sensortime * * @param[in] aux_len : Length of auxiliary sensor data * @param[in] acc_len : Length of accelerometer sensor data * @param[in] gyr_len : Length of gyroscope sensor data * @param[in] data : Structure instance of bmi2_sens_data. * @param[in] sensor_data : Sensor data from register. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t parse_data(uint8_t aux_len, uint8_t acc_len, uint8_t gyr_len, struct bmi2_sens_data *data, const uint8_t *sensor_data, struct bmi2_dev *dev); /*! * @brief This internal API is used to test gyro CRT. * * @param[in] max_burst_length : Variable to store maximum burst length. * @param[in] gyro_st_crt : Update the gyro self-test crt enable bit. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t gyro_crt_test(uint8_t max_burst_length, uint8_t gyro_st_crt, struct bmi2_dev *dev); /*! * @brief This internal API is used to unpack virtual auxillary sensortime data. * * @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] fifo : Structure instance of bmi2_fifo_frame. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static void unpack_virtual_aux_data(struct bmi2_aux_fifo_data *aux, uint16_t *idx, const uint16_t *aux_idx, const struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev); /******************************************************************************/ /*! @name User Interface Definitions */ /******************************************************************************/ /*! * @brief This API is the entry point for bmi2 sensor. It selects between * I2C/SPI interface, based on user selection. It reads and validates the * chip-id of the sensor. */ int8_t bmi2_sec_init(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to assign chip id */ uint8_t chip_id = 0; /* Structure to define the default values for axes re-mapping */ struct bmi2_axes_remap axes_remap = { .x_axis = BMI2_MAP_X_AXIS, .x_axis_sign = BMI2_POS_SIGN, .y_axis = BMI2_MAP_Y_AXIS, .y_axis_sign = BMI2_POS_SIGN, .z_axis = BMI2_MAP_Z_AXIS, .z_axis_sign = BMI2_POS_SIGN }; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Set APS flag as after reset, the sensor is on advance power save mode */ dev->aps_status = BMI2_ENABLE; /* Performing a dummy read to bring interface back to SPI from I2C interface */ if (dev->intf == BMI2_SPI_INTF) { rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev); } if (rslt == BMI2_OK) { /* Read chip-id of the BMI2 sensor */ rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, dev); if (rslt == BMI2_OK) { /* Validate chip-id */ if (chip_id == dev->chip_id) { /* Assign resolution to the structure */ dev->resolution = 16; /* Set manual enable flag */ dev->aux_man_en = 1; /* Set the default values for axis * re-mapping in the device structure */ dev->remap = axes_remap; /* Perform soft-reset to bring all register values to their * default values */ rslt = bmi2_soft_reset(dev); } else { /* Storing the chip-id value read from * the register to identify the sensor */ dev->chip_id = chip_id; rslt = BMI2_E_DEV_NOT_FOUND; } } } } return rslt; } /*! * @brief This API reads the data from the given register address of bmi2 * sensor. * * @note For most of the registers auto address increment applies, with the * exception of a few special registers, which trap the address. For e.g., * Register address - 0x26, 0x5E. */ int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint16_t index = 0; /* Variable to define temporary buffer */ uint8_t temp_buf[BMI2_MAX_LEN]; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (data != NULL)) { /* Configuring reg_addr for SPI Interface */ if (dev->intf == BMI2_SPI_INTF) { reg_addr = (reg_addr | BMI2_SPI_RD_MASK); } dev->intf_rslt = dev->read(reg_addr, temp_buf, (len + dev->dummy_byte), dev->intf_ptr); if (dev->aps_status == BMI2_ENABLE) { dev->delay_us(450, dev->intf_ptr); } else { dev->delay_us(2, dev->intf_ptr); } if (dev->intf_rslt == BMI2_INTF_RET_SUCCESS) { /* Read the data from the position next to dummy byte */ while (index < len) { data[index] = temp_buf[index + dev->dummy_byte]; index++; } } else { rslt = BMI2_E_COM_FAIL; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API writes data to the given register address of bmi2 sensor. */ int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (data != NULL)) { /* Configuring reg_addr for SPI Interface */ if (dev->intf == BMI2_SPI_INTF) { reg_addr = (reg_addr & BMI2_SPI_WR_MASK); } dev->intf_rslt = dev->write(reg_addr, data, len, dev->intf_ptr); /* Delay for Low power mode of the sensor is 450 us */ if (dev->aps_status == BMI2_ENABLE) { dev->delay_us(450, dev->intf_ptr); } /* Delay for Normal mode of the sensor is 2 us */ else { dev->delay_us(2, dev->intf_ptr); } /* Updating the advance power saver flag */ if (reg_addr == BMI2_PWR_CONF_ADDR) { if (*data & BMI2_ADV_POW_EN_MASK) { dev->aps_status = BMI2_ENABLE; } else { dev->aps_status = BMI2_DISABLE; } } if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS) { rslt = BMI2_E_COM_FAIL; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API resets bmi2 sensor. All registers are overwritten with * their default values. */ int8_t bmi2_soft_reset(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define soft reset value */ uint8_t data = BMI2_SOFT_RESET_CMD; /* Variable to read the dummy byte */ uint8_t dummy_read = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Reset bmi2 device */ rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev); dev->delay_us(2000, dev->intf_ptr); /* Set APS flag as after soft reset the sensor is on advance power save mode */ dev->aps_status = BMI2_ENABLE; /* Performing a dummy read to bring interface back to SPI from * I2C after a soft-reset */ if ((rslt == BMI2_OK) && (dev->intf == BMI2_SPI_INTF)) { rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &dummy_read, 1, dev); } if (rslt == BMI2_OK) { /* Write the configuration file */ rslt = bmi2_write_config_file(dev); } /* Reset the sensor status flag in the device structure */ if (rslt == BMI2_OK) { dev->sens_en_stat = 0; } } return rslt; } /*! * @brief This API is used to get the config file major and minor version information. */ int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* NULL pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (config_major != NULL) && (config_minor != NULL)) { /* Extract the config file identification from the dmr page and get the major and minor version */ rslt = extract_config_file(config_major, config_minor, dev); } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API enables/disables the advance power save mode in the sensor. */ int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ADV_POW_EN, enable); rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, ®_data, 1, dev); if (rslt != BMI2_OK) { /* Return error if enable/disable APS fails */ rslt = BMI2_E_SET_APS_FAIL; } if (rslt == BMI2_OK) { dev->aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN); } } } return rslt; } /*! * @brief This API gets the status of advance power save mode in the sensor. */ int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (aps_status != NULL)) { rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { *aps_status = BMI2_GET_BIT_POS0(reg_data, BMI2_ADV_POW_EN); dev->aps_status = *aps_status; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API loads the configuration file into the bmi2 sensor. */ int8_t bmi2_write_config_file(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to know the load status */ uint8_t load_status = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (dev->config_size != 0)) { /* Bytes written are multiples of 2 */ if ((dev->read_write_len % 2) != 0) { dev->read_write_len = dev->read_write_len - 1; } if (dev->read_write_len < 2) { dev->read_write_len = 2; } /* Write the configuration file */ rslt = write_config_file(dev); if (rslt == BMI2_OK) { /* Check the configuration load status */ rslt = bmi2_get_internal_status(&load_status, dev); /* Return error if loading not successful */ if ((rslt == BMI2_OK) && (!(load_status & BMI2_CONFIG_LOAD_SUCCESS))) { rslt = BMI2_E_CONFIG_LOAD; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets: * 1) The input output configuration of the selected interrupt pin: * INT1 or INT2. * 2) The interrupt mode: permanently latched or non-latched. */ int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define data array */ uint8_t data_array[3] = { 0 }; /* Variable to store register data */ uint8_t reg_data = 0; /* Variable to define type of interrupt pin */ uint8_t int_pin = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (int_cfg != NULL)) { /* Copy the pin type to a local variable */ int_pin = int_cfg->pin_type; if ((int_pin > BMI2_INT_NONE) && (int_pin < BMI2_INT_PIN_MAX)) { /* Get the previous configuration data */ rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev); if (rslt == BMI2_OK) { /* Set interrupt pin 1 configuration */ if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH)) { /* Configure active low or high */ reg_data = BMI2_SET_BITS(data_array[0], BMI2_INT_LEVEL, int_cfg->pin_cfg[0].lvl); /* Configure push-pull or open drain */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[0].od); /* Configure output enable */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[0].output_en); /* Configure input enable */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[0].input_en); /* Copy the data to be written in the respective array */ data_array[0] = reg_data; } /* Set interrupt pin 2 configuration */ if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH)) { /* Configure active low or high */ reg_data = BMI2_SET_BITS(data_array[1], BMI2_INT_LEVEL, int_cfg->pin_cfg[1].lvl); /* Configure push-pull or open drain */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OPEN_DRAIN, int_cfg->pin_cfg[1].od); /* Configure output enable */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_OUTPUT_EN, int_cfg->pin_cfg[1].output_en); /* Configure input enable */ reg_data = BMI2_SET_BITS(reg_data, BMI2_INT_INPUT_EN, int_cfg->pin_cfg[1].input_en); /* Copy the data to be written in the respective array */ data_array[1] = reg_data; } /* Configure the interrupt mode */ data_array[2] = BMI2_SET_BIT_POS0(data_array[2], BMI2_INT_LATCH, int_cfg->int_latch); /* Set the configurations simultaneously as * INT1_IO_CTRL, INT2_IO_CTRL, and INT_LATCH lie * in consecutive addresses */ rslt = bmi2_set_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev); } } else { rslt = BMI2_E_INVALID_INT_PIN; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets: * 1) The input output configuration of the selected interrupt pin: * INT1 or INT2. * 2) The interrupt mode: permanently latched or non-latched. */ int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define data array */ uint8_t data_array[3] = { 0 }; /* Variable to define type of interrupt pin */ uint8_t int_pin = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (int_cfg != NULL)) { /* Copy the pin type to a local variable */ int_pin = int_cfg->pin_type; /* Get the previous configuration data */ rslt = bmi2_get_regs(BMI2_INT1_IO_CTRL_ADDR, data_array, 3, dev); if (rslt == BMI2_OK) { /* Get interrupt pin 1 configuration */ if ((int_pin == BMI2_INT1) || (int_pin == BMI2_INT_BOTH)) { /* Get active low or high */ int_cfg->pin_cfg[0].lvl = BMI2_GET_BITS(data_array[0], BMI2_INT_LEVEL); /* Get push-pull or open drain */ int_cfg->pin_cfg[0].od = BMI2_GET_BITS(data_array[0], BMI2_INT_OPEN_DRAIN); /* Get output enable */ int_cfg->pin_cfg[0].output_en = BMI2_GET_BITS(data_array[0], BMI2_INT_OUTPUT_EN); /* Get input enable */ int_cfg->pin_cfg[0].input_en = BMI2_GET_BITS(data_array[0], BMI2_INT_INPUT_EN); } /* Get interrupt pin 2 configuration */ if ((int_pin == BMI2_INT2) || (int_pin == BMI2_INT_BOTH)) { /* Get active low or high */ int_cfg->pin_cfg[1].lvl = BMI2_GET_BITS(data_array[1], BMI2_INT_LEVEL); /* Get push-pull or open drain */ int_cfg->pin_cfg[1].od = BMI2_GET_BITS(data_array[1], BMI2_INT_OPEN_DRAIN); /* Get output enable */ int_cfg->pin_cfg[1].output_en = BMI2_GET_BITS(data_array[1], BMI2_INT_OUTPUT_EN); /* Get input enable */ int_cfg->pin_cfg[1].input_en = BMI2_GET_BITS(data_array[1], BMI2_INT_INPUT_EN); } /* Get interrupt mode */ int_cfg->int_latch = BMI2_GET_BIT_POS0(data_array[2], BMI2_INT_LATCH); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the interrupt status of both feature and data * interrupts */ int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store data */ uint8_t data_array[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (int_status != NULL)) { /* Get the interrupt status */ rslt = bmi2_get_regs(BMI2_INT_STATUS_0_ADDR, data_array, 2, dev); if (rslt == BMI2_OK) { *int_status = (uint16_t) data_array[0] | ((uint16_t) data_array[1] << 8); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API selects the sensors/features to be enabled. */ int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint64_t sensor_sel = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_list != NULL)) { /* Get the selected sensors */ rslt = select_sensor(sens_list, n_sens, &sensor_sel); if (rslt == BMI2_OK) { /* Enable the selected sensors */ rslt = sensor_enable(sensor_sel, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API selects the sensors/features to be disabled. */ int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint64_t sensor_sel = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_list != NULL)) { /* Get the selected sensors */ rslt = select_sensor(sens_list, n_sens, &sensor_sel); if (rslt == BMI2_OK) { /* Disable the selected sensors */ rslt = sensor_disable(sensor_sel, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the sensor/feature configuration. */ int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_cfg != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { /* Disable Advance power save if enabled for auxiliary * and feature configurations */ if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { switch (sens_cfg[loop].type) { /* Set accelerometer configuration */ case BMI2_ACCEL: rslt = set_accel_config(&sens_cfg[loop].cfg.acc, dev); break; /* Set gyroscope configuration */ case BMI2_GYRO: rslt = set_gyro_config(&sens_cfg[loop].cfg.gyr, dev); break; /* Set auxiliary configuration */ case BMI2_AUX: rslt = set_aux_config(&sens_cfg[loop].cfg.aux, dev); break; /* Set gyroscope user gain configuration */ case BMI2_GYRO_GAIN_UPDATE: rslt = set_gyro_user_gain_config(&sens_cfg[loop].cfg.gyro_gain_update, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } /* Return error if any of the set configurations fail */ if (rslt != BMI2_OK) { break; } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the sensor/feature configuration. */ int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_cfg != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { /* Disable Advance power save if enabled for auxiliary * and feature configurations */ if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX)) { if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } if (rslt == BMI2_OK) { switch (sens_cfg[loop].type) { /* Get accelerometer configuration */ case BMI2_ACCEL: rslt = get_accel_config(&sens_cfg[loop].cfg.acc, dev); break; /* Get gyroscope configuration */ case BMI2_GYRO: rslt = get_gyro_config(&sens_cfg[loop].cfg.gyr, dev); break; /* Get auxiliary configuration */ case BMI2_AUX: rslt = get_aux_config(&sens_cfg[loop].cfg.aux, dev); break; /* Get gyroscope user gain configuration */ case BMI2_GYRO_GAIN_UPDATE: rslt = get_gyro_gain_update_config(&sens_cfg[loop].cfg.gyro_gain_update, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } /* Return error if any of the get configurations fail */ if (rslt != BMI2_OK) { break; } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the feature data gyroscope user-gain update and gyroscope cross sensitivity. */ int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (feat_sensor_data != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { /* Disable Advance power save if enabled for feature * configurations */ if (feat_sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM) { if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } if (rslt == BMI2_OK) { switch (feat_sensor_data[loop].type) { case BMI2_GYRO_CROSS_SENSE: /* Get Gyroscope cross sense value of z axis */ rslt = get_gyro_cross_sense(&feat_sensor_data[loop].sens_data.correction_factor_zx, dev); break; case BMI2_GYRO_GAIN_UPDATE: /* Get saturation status of gyroscope user gain update */ rslt = get_gyro_gain_update_status(&feat_sensor_data[loop].sens_data.gyro_user_gain_status, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } /* Return error if any of the get sensor data fails */ if (rslt != BMI2_OK) { break; } } /* Enable Advance power save if disabled while * configuring and not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the sensor data for accelerometer, gyroscope, * auxiliary sensor with sensortime */ int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; uint8_t reg_data = 0; uint8_t aux_len = 0, acc_len = 0, gyr_len = 0; /* Array to define data stored in register */ uint8_t sensor_data[BMI2_ACC_GYR_AUX_NUM_BYTES] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (data != NULL)) { rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Update auxiliary sensor data length */ if (reg_data & BMI2_AUX_EN_MASK) { aux_len = BMI2_AUX_NUM_BYTES; } /* Update accelerometer sensor data length */ if (reg_data & BMI2_ACC_EN_MASK) { acc_len = aux_len + BMI2_ACC_NUM_BYTES; } /* Update gyroscope sensor data length */ if (reg_data & BMI2_GYR_EN_MASK) { gyr_len = aux_len + acc_len + BMI2_GYR_NUM_BYTES; } /* Read sensor data */ rslt = read_sensor_data(aux_len, acc_len, gyr_len, sensor_data, dev); if (rslt == BMI2_OK) { /* Parse read sensor data */ rslt = parse_data(aux_len, acc_len, gyr_len, data, sensor_data, dev); } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the FIFO configuration in the sensor. */ int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev) { int8_t rslt; uint8_t data[2] = { 0 }; uint8_t max_burst_len = 0; /* Variable to store data of FIFO configuration register 0 */ uint8_t fifo_config_0 = (uint8_t)(config & BMI2_FIFO_CONFIG_0_MASK); /* Variable to store data of FIFO configuration register 1 */ uint8_t fifo_config_1 = (uint8_t)((config & BMI2_FIFO_CONFIG_1_MASK) >> 8); rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev); if (rslt == BMI2_OK) { /* Get data to set FIFO configuration register 0 */ if (fifo_config_0 > 0) { if (enable == BMI2_ENABLE) { data[0] = data[0] | fifo_config_0; } else { data[0] = data[0] & (~fifo_config_0); } } /* Get data to set FIFO configuration register 1 */ if (enable == BMI2_ENABLE) { data[1] = data[1] | fifo_config_1; if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE) { /* Burst length is needed for CRT * FIFO enable will reset the default values * So configure the max burst length again. */ rslt = get_maxburst_len(&max_burst_len, dev); if (rslt == BMI2_OK && max_burst_len == 0) { rslt = set_maxburst_len(BMI2_CRT_MIN_BURST_WORD_LENGTH, dev); } } } else { data[1] = data[1] & (~fifo_config_1); } /* Set the FIFO configurations */ if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_FIFO_CONFIG_0_ADDR, data, 2, dev); } } } return rslt; } /*! * @brief This API reads the FIFO configuration from the sensor. */ int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store data */ uint8_t data[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_config != NULL)) { /* Get the FIFO configuration value */ rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, data, BMI2_FIFO_CONFIG_LENGTH, dev); if (rslt == BMI2_OK) { (*fifo_config) = (uint16_t)((uint16_t) data[0] & BMI2_FIFO_CONFIG_0_MASK); (*fifo_config) |= (uint16_t)(((uint16_t) data[1] << 8) & BMI2_FIFO_CONFIG_1_MASK); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the FIFO data. * NOTE : Dummy byte (for SPI Interface) required for FIFO data read * must be given as part of data pointer in struct bmi2_fifo_frame */ int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store FIFO configuration data */ uint8_t config_data[2] = { 0 }; /* Variable to define FIFO address */ uint8_t addr = BMI2_FIFO_DATA_ADDR; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo != NULL)) { /* Clear the FIFO data structure */ reset_fifo_frame_structure(fifo, dev); /* Configuring reg_addr for SPI Interface */ if (dev->intf == BMI2_SPI_INTF) { addr = (addr | BMI2_SPI_RD_MASK); } /* Read FIFO data */ dev->intf_rslt = dev->read(addr, fifo->data, (uint32_t)fifo->length, dev->intf_ptr); /* Provide delay based on advanced power saving mode status */ if (dev->aps_status == BMI2_ENABLE) { dev->delay_us(450, dev->intf_ptr); } else { dev->delay_us(2, dev->intf_ptr); } /* If interface read fails, update rslt variable with communication failure */ if (dev->intf_rslt != BMI2_INTF_RET_SUCCESS) { rslt = BMI2_E_COM_FAIL; } if (rslt == BMI2_OK) { /* Get the set FIFO frame configurations */ rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev); if (rslt == BMI2_OK) { /* Get FIFO header status */ fifo->header_enable = (uint8_t)((config_data[1]) & (BMI2_FIFO_HEADER_EN >> 8)); /* Get sensor enable status, of which the data is to be read */ fifo->data_enable = (uint16_t)(((config_data[0]) | ((uint16_t) config_data[1] << 8)) & BMI2_FIFO_ALL_EN); } } else { rslt = BMI2_E_COM_FAIL; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API parses and extracts the accelerometer frames from FIFO data * read by the "bmi2_read_fifo_data" API and stores it in the "accel_data" * structure instance. */ int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data, uint16_t *accel_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL)) { /* Check if this is the first iteration of data unpacking * if yes, then consider dummy byte on SPI */ if (fifo->acc_byte_start_idx == 0) { /* Dummy byte included */ fifo->acc_byte_start_idx = dev->dummy_byte; } /* Parsing the FIFO data in header-less mode */ if (fifo->header_enable == 0) { /* Parsing the FIFO data in headerless mode */ rslt = extract_accel_headerless_mode(accel_data, accel_length, fifo, dev); } else { /* Parsing the FIFO data in header mode */ rslt = extract_accel_header_mode(accel_data, accel_length, fifo, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API parses and extracts the gyroscope frames from FIFO data * read by the "bmi2_read_fifo_data" API and stores it in the "gyro_data" * structure instance. */ int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data, uint16_t *gyro_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (gyro_data != NULL) && (gyro_length != NULL) && (fifo != NULL)) { /* Check if this is the first iteration of data unpacking * if yes, then consider dummy byte on SPI */ if (fifo->gyr_byte_start_idx == 0) { /* Dummy byte included */ fifo->gyr_byte_start_idx = dev->dummy_byte; } /* Parsing the FIFO data in header-less mode */ if (fifo->header_enable == 0) { /* Parsing the FIFO data in headerless mode */ rslt = extract_gyro_headerless_mode(gyro_data, gyro_length, fifo, dev); } else { /* Parsing the FIFO data in header mode */ rslt = extract_gyro_header_mode(gyro_data, gyro_length, fifo, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API parses and extracts the auxiliary frames from FIFO data * read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer. */ int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux, uint16_t *aux_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (aux != NULL) && (aux_length != NULL) && (fifo != NULL)) { /* Check if this is the first iteration of data unpacking * if yes, then consider dummy byte on SPI */ if (fifo->aux_byte_start_idx == 0) { /* Dummy byte included */ fifo->aux_byte_start_idx = dev->dummy_byte; } /* Parsing the FIFO data in header-less mode */ if (fifo->header_enable == 0) { /* Parsing the FIFO data in headerless mode */ rslt = extract_aux_headerless_mode(aux, aux_length, fifo, dev); } else { /* Parsing the FIFO data in header mode */ rslt = extract_aux_header_mode(aux, aux_length, fifo, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API writes the available sensor specific commands to the sensor. */ int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Set the command in the command register */ rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &command, 1, dev); } return rslt; } /* * @brief This API sets the FIFO self wake up functionality in the sensor. */ int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Set FIFO self wake-up */ rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_FIFO_SELF_WAKE_UP, fifo_self_wake_up); rslt = bmi2_set_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev); } } return rslt; } /*! * @brief This API gets the status of FIFO self wake up functionality from * the sensor. */ int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_self_wake_up != NULL)) { /* Get the status of FIFO self wake-up */ rslt = bmi2_get_regs(BMI2_PWR_CONF_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { (*fifo_self_wake_up) = BMI2_GET_BITS(data, BMI2_FIFO_SELF_WAKE_UP); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the FIFO water-mark level in the sensor. */ int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store data */ uint8_t data[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Get LSB value of FIFO water-mark */ data[0] = BMI2_GET_LSB(fifo_wm); /* Get MSB value of FIFO water-mark */ data[1] = BMI2_GET_MSB(fifo_wm); /* Set the FIFO water-mark level */ rslt = bmi2_set_regs(BMI2_FIFO_WTM_0_ADDR, data, 2, dev); } return rslt; } /*! * @brief This API reads the FIFO water mark level set in the sensor. */ int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to to store data */ uint8_t data[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_wm != NULL)) { /* Read the FIFO water mark level */ rslt = bmi2_get_regs(BMI2_FIFO_WTM_0_ADDR, data, BMI2_FIFO_WM_LENGTH, dev); if (rslt == BMI2_OK) { (*fifo_wm) = (uint16_t)((uint16_t) data[1] << 8) | (data[0]); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets either filtered or un-filtered FIFO accelerometer or * gyroscope data. */ int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { switch (sens_sel) { case BMI2_ACCEL: /* Validate filter mode */ if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER) { /* Set the accelerometer FIFO filter data */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_FILT_DATA, fifo_filter_data); rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); } } else { rslt = BMI2_E_OUT_OF_RANGE; } break; case BMI2_GYRO: /* Validate filter mode */ if (fifo_filter_data <= BMI2_MAX_VALUE_FIFO_FILTER) { /* Set the gyroscope FIFO filter data */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_GYR_FIFO_FILT_DATA, fifo_filter_data); rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); } } else { rslt = BMI2_E_OUT_OF_RANGE; } break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } return rslt; } /*! * @brief This API gets the FIFO accelerometer or gyroscope filter data. */ int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store FIFO filter mode */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_filter_data != NULL)) { switch (sens_sel) { case BMI2_ACCEL: /* Read the accelerometer FIFO filter data */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_FILT_DATA); } break; case BMI2_GYRO: /* Read the gyroscope FIFO filter data */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { (*fifo_filter_data) = BMI2_GET_BITS(data, BMI2_GYR_FIFO_FILT_DATA); } break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the down-sampling rates for accelerometer or gyroscope * FIFO data. */ int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store sampling rate */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { switch (sens_sel) { case BMI2_ACCEL: /* Set the accelerometer FIFO down sampling rate */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_ACC_FIFO_DOWNS, fifo_down_samp); rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); } break; case BMI2_GYRO: /* Set the gyroscope FIFO down sampling rate */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS, fifo_down_samp); rslt = bmi2_set_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); } break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } return rslt; } /*! * @brief This API reads the down sampling rates which is configured for * accelerometer or gyroscope FIFO data. */ int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store sampling rate */ uint8_t data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_down_samp != NULL)) { switch (sens_sel) { case BMI2_ACCEL: /* Read the accelerometer FIFO down data sampling rate */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { (*fifo_down_samp) = BMI2_GET_BITS(data, BMI2_ACC_FIFO_DOWNS); } break; case BMI2_GYRO: /* Read the gyroscope FIFO down data sampling rate */ rslt = bmi2_get_regs(BMI2_FIFO_DOWNS_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { (*fifo_down_samp) = BMI2_GET_BIT_POS0(data, BMI2_GYR_FIFO_DOWNS); } break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the length of FIFO data available in the sensor in * bytes. */ int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define byte index */ uint8_t index = 0; /* Array to store FIFO data length */ uint8_t data[BMI2_FIFO_DATA_LENGTH] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (fifo_length != NULL)) { /* Read FIFO length */ rslt = bmi2_get_regs(BMI2_FIFO_LENGTH_0_ADDR, data, BMI2_FIFO_DATA_LENGTH, dev); if (rslt == BMI2_OK) { /* Get the MSB byte index */ index = BMI2_FIFO_LENGTH_MSB_BYTE; /* Get the MSB byte of FIFO length */ data[index] = BMI2_GET_BIT_POS0(data[index], BMI2_FIFO_BYTE_COUNTER_MSB); /* Get total FIFO length */ (*fifo_length) = ((data[index] << 8) | data[index - 1]); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the user-defined bytes of data from the given register * address of auxiliary sensor in manual mode. * * @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy. */ int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store burst length */ uint8_t burst_len = 0; /* Variable to define APS status */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (aux_data != NULL)) { /* Validate if manual mode */ if (dev->aux_man_en) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable APS if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Map the register value set to that of burst * length */ rslt = map_read_len(&burst_len, dev); if (rslt == BMI2_OK) { /* Read auxiliary data */ rslt = read_aux_data(reg_addr, aux_data, len, burst_len, dev); } } /* Enable Advance power save if disabled for reading * data and not when already disabled */ if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_AUX_INVALID_CFG; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API writes the user-defined bytes of data and the address of * auxiliary sensor where data is to be written in manual mode. * * @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy. */ int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop = 0; /* Variable to define APS status */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (aux_data != NULL)) { /* Validate if manual mode */ if (dev->aux_man_en) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable APS if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } /* Byte write data in the corresponding address */ if (rslt == BMI2_OK) { for (; ((loop < len) && (rslt == BMI2_OK)); loop++) { rslt = write_aux_data((reg_addr + loop), aux_data[loop], dev); dev->delay_us(1000, dev->intf_ptr); } } /* Enable Advance power save if disabled for writing * data and not when already disabled */ if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_AUX_INVALID_CFG; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the data ready status of accelerometer, gyroscope, * auxiliary, command decoder and busy status of auxiliary. */ int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (status != NULL)) { rslt = bmi2_get_regs(BMI2_STATUS_ADDR, status, 1, dev); } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API enables/disables OIS interface. */ int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Enable/Disable OIS interface */ reg_data = BMI2_SET_BITS(reg_data, BMI2_OIS_IF_EN, enable); if (enable) { /* Disable auxiliary interface if OIS is enabled */ reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_IF_EN); } /* Set the OIS interface configurations */ rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This API can be used to write sync commands like ODR, sync period, * frequency and phase, resolution ratio, sync time and delay time. */ int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (command != NULL)) { rslt = bmi2_set_regs(BMI2_SYNC_COMMAND_ADDR, command, n_comm, dev); } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API performs self-test to check the proper functionality of the * accelerometer sensor. */ int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store self-test result */ int8_t st_rslt = 0; /* Structure to define positive accelerometer axes */ struct bmi2_sens_axes_data positive = { 0, 0, 0, 0 }; /* Structure to define negative accelerometer axes */ struct bmi2_sens_axes_data negative = { 0, 0, 0, 0 }; /* Structure for difference of accelerometer values in g */ struct bmi2_selftest_delta_limit accel_data_diff = { 0, 0, 0 }; /* Structure for difference of accelerometer values in mg */ struct bmi2_selftest_delta_limit accel_data_diff_mg = { 0, 0, 0 }; /* Initialize the polarity of self-test as positive */ int8_t sign = BMI2_ENABLE; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Sets the configuration required before enabling self-test */ rslt = pre_self_test_config(dev); /* Wait for greater than 2 milliseconds */ dev->delay_us(3000, dev->intf_ptr); if (rslt == BMI2_OK) { do { /* Select positive first, then negative polarity * after enabling self-test */ rslt = self_test_config((uint8_t) sign, dev); if (rslt == BMI2_OK) { /* Wait for greater than 50 milli-sec */ dev->delay_us(51000, dev->intf_ptr); /* If polarity is positive */ if (sign == BMI2_ENABLE) { /* Read and store positive acceleration value */ rslt = read_accel_xyz(&positive, dev); } /* If polarity is negative */ else if (sign == BMI2_DISABLE) { /* Read and store negative acceleration value */ rslt = read_accel_xyz(&negative, dev); } } else { /* Break if error */ break; } /* Break if error */ if (rslt != BMI2_OK) { break; } /* Turn the polarity of self-test negative */ sign--; } while (sign >= 0); if (rslt == BMI2_OK) { /* Subtract -ve acceleration values from that of +ve values */ accel_data_diff.x = (positive.x) - (negative.x); accel_data_diff.y = (positive.y) - (negative.y); accel_data_diff.z = (positive.z) - (negative.z); /* Convert differences of acceleration values * from 'g' to 'mg' */ convert_lsb_g(&accel_data_diff, &accel_data_diff_mg, dev); /* Validate self-test for acceleration values * in mg and get the self-test result */ st_rslt = validate_self_test(&accel_data_diff_mg); /* Trigger a soft reset after performing self-test */ rslt = bmi2_soft_reset(dev); /* Return the self-test result */ if (rslt == BMI2_OK) { rslt = st_rslt; } } } } return rslt; } /*! * @brief This API maps/unmaps feature interrupts to that of interrupt pins. */ int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define the value of feature interrupts */ uint8_t feat_int = 0; /* Array to store the interrupt mask bits */ uint8_t data_array[2] = { 0 }; /* Structure to define map the interrupts */ struct bmi2_map_int map_int = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Read interrupt map1 and map2 and register */ rslt = bmi2_get_regs(BMI2_INT1_MAP_FEAT_ADDR, data_array, 2, dev); if (rslt == BMI2_OK) { /* Get the value of the feature interrupt to be mapped */ extract_feat_int_map(&map_int, type, dev); feat_int = map_int.sens_map_int; /* Map the interrupts */ rslt = map_feat_int(data_array, hw_int_pin, feat_int); /* Map the interrupts to INT1 and INT2 map register */ if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_INT1_MAP_FEAT_ADDR, &data_array[0], 1, dev); if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_INT2_MAP_FEAT_ADDR, &data_array[1], 1, dev); } } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API maps/un-maps data interrupts to that of interrupt pins. */ int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to mask interrupt pin 1 - lower nibble */ uint8_t int1_mask = data_int; /* Variable to mask interrupt pin 2 - higher nibble */ uint8_t int2_mask = (uint8_t)(data_int << 4); /* Variable to store register data */ uint8_t reg_data = 0; /* Read interrupt map1 and map2 and register */ rslt = bmi2_get_regs(BMI2_INT_MAP_DATA_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { if (int_pin < BMI2_INT_PIN_MAX) { switch (int_pin) { case BMI2_INT_NONE: /* Un-Map the corresponding data * interrupt to both interrupt pin 1 and 2 */ reg_data &= ~(int1_mask | int2_mask); break; case BMI2_INT1: /* Map the corresponding data interrupt to * interrupt pin 1 */ reg_data |= int1_mask; break; case BMI2_INT2: /* Map the corresponding data interrupt to * interrupt pin 2 */ reg_data |= int2_mask; break; case BMI2_INT_BOTH: /* Map the corresponding data * interrupt to both interrupt pin 1 and 2 */ reg_data |= (int1_mask | int2_mask); break; default: break; } /* Set the interrupts in the map register */ rslt = bmi2_set_regs(BMI2_INT_MAP_DATA_ADDR, ®_data, 1, dev); } else { /* Return error if invalid pin selection */ rslt = BMI2_E_INVALID_INT_PIN; } } return rslt; } /*! * @brief This API gets the re-mapped x, y and z axes from the sensor and * updates the values in the device structure. */ int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Initialize the local structure for axis re-mapping */ struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (remapped_axis != NULL)) { /* Get the re-mapped axes from the sensor */ rslt = get_remap_axes(&remap, dev); if (rslt == BMI2_OK) { /* Store the re-mapped x-axis value in device structure * and its user-value in the interface structure */ switch (remap.x_axis) { case BMI2_MAP_X_AXIS: /* If mapped to x-axis */ dev->remap.x_axis = BMI2_MAP_X_AXIS; remapped_axis->x = BMI2_X; break; case BMI2_MAP_Y_AXIS: /* If mapped to y-axis */ dev->remap.x_axis = BMI2_MAP_Y_AXIS; remapped_axis->x = BMI2_Y; break; case BMI2_MAP_Z_AXIS: /* If mapped to z-axis */ dev->remap.x_axis = BMI2_MAP_Z_AXIS; remapped_axis->x = BMI2_Z; break; default: break; } /* Store the re-mapped x-axis sign in device structure * and its user-value in the interface structure */ if (remap.x_axis_sign) { /* If x-axis is mapped to -ve sign */ dev->remap.x_axis_sign = BMI2_NEG_SIGN; remapped_axis->x |= BMI2_AXIS_SIGN; } else { dev->remap.x_axis_sign = BMI2_POS_SIGN; } /* Store the re-mapped y-axis value in device structure * and its user-value in the interface structure */ switch (remap.y_axis) { case BMI2_MAP_X_AXIS: /* If mapped to x-axis */ dev->remap.y_axis = BMI2_MAP_X_AXIS; remapped_axis->y = BMI2_X; break; case BMI2_MAP_Y_AXIS: /* If mapped to y-axis */ dev->remap.y_axis = BMI2_MAP_Y_AXIS; remapped_axis->y = BMI2_Y; break; case BMI2_MAP_Z_AXIS: /* If mapped to z-axis */ dev->remap.y_axis = BMI2_MAP_Z_AXIS; remapped_axis->y = BMI2_Z; break; default: break; } /* Store the re-mapped y-axis sign in device structure * and its user-value in the interface structure */ if (remap.y_axis_sign) { /* If y-axis is mapped to -ve sign */ dev->remap.y_axis_sign = BMI2_NEG_SIGN; remapped_axis->y |= BMI2_AXIS_SIGN; } else { dev->remap.y_axis_sign = BMI2_POS_SIGN; } /* Store the re-mapped z-axis value in device structure * and its user-value in the interface structure */ switch (remap.z_axis) { case BMI2_MAP_X_AXIS: /* If mapped to x-axis */ dev->remap.z_axis = BMI2_MAP_X_AXIS; remapped_axis->z = BMI2_X; break; case BMI2_MAP_Y_AXIS: /* If mapped to y-axis */ dev->remap.z_axis = BMI2_MAP_Y_AXIS; remapped_axis->z = BMI2_Y; break; case BMI2_MAP_Z_AXIS: /* If mapped to z-axis */ dev->remap.z_axis = BMI2_MAP_Z_AXIS; remapped_axis->z = BMI2_Z; break; default: break; } /* Store the re-mapped z-axis sign in device structure * and its user-value in the interface structure */ if (remap.z_axis_sign) { /* If z-axis is mapped to -ve sign */ dev->remap.z_axis_sign = BMI2_NEG_SIGN; remapped_axis->z |= BMI2_AXIS_SIGN; } else { dev->remap.z_axis_sign = BMI2_POS_SIGN; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the re-mapped x, y and z axes to the sensor and * updates the them in the device structure. */ int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store all the re-mapped axes */ uint8_t remap_axes = 0; /* Variable to store the re-mapped x-axes */ uint8_t remap_x = 0; /* Variable to store the re-mapped y-axes */ uint8_t remap_y = 0; /* Variable to store the re-mapped z-axes */ uint8_t remap_z = 0; /* Initialize the local structure for axis re-mapping */ struct bmi2_axes_remap remap = { 0, 0, 0, 0, 0, 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (remapped_axis != NULL)) { /* Check whether all the axes are re-mapped */ remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z; /* If all the axes are re-mapped */ if ((remap_axes & BMI2_AXIS_MASK) == BMI2_AXIS_MASK) { /* Get the re-mapped value of x, y and z axis */ remap_x = remapped_axis->x & BMI2_AXIS_MASK; remap_y = remapped_axis->y & BMI2_AXIS_MASK; remap_z = remapped_axis->z & BMI2_AXIS_MASK; /* Store the value of re-mapped x-axis in both * device structure and the local structure */ switch (remap_x) { case BMI2_X: /* If mapped to x-axis */ dev->remap.x_axis = BMI2_MAP_X_AXIS; remap.x_axis = BMI2_MAP_X_AXIS; break; case BMI2_Y: /* If mapped to y-axis */ dev->remap.x_axis = BMI2_MAP_Y_AXIS; remap.x_axis = BMI2_MAP_Y_AXIS; break; case BMI2_Z: /* If mapped to z-axis */ dev->remap.x_axis = BMI2_MAP_Z_AXIS; remap.x_axis = BMI2_MAP_Z_AXIS; break; default: break; } /* Store the re-mapped x-axis sign in the device * structure and its value in local structure */ if (remapped_axis->x & BMI2_AXIS_SIGN) { /* If x-axis is mapped to -ve sign */ dev->remap.x_axis_sign = BMI2_NEG_SIGN; remap.x_axis_sign = BMI2_MAP_NEGATIVE; } else { dev->remap.x_axis_sign = BMI2_POS_SIGN; remap.x_axis_sign = BMI2_MAP_POSITIVE; } /* Store the value of re-mapped y-axis in both * device structure and the local structure */ switch (remap_y) { case BMI2_X: /* If mapped to x-axis */ dev->remap.y_axis = BMI2_MAP_X_AXIS; remap.y_axis = BMI2_MAP_X_AXIS; break; case BMI2_Y: /* If mapped to y-axis */ dev->remap.y_axis = BMI2_MAP_Y_AXIS; remap.y_axis = BMI2_MAP_Y_AXIS; break; case BMI2_Z: /* If mapped to z-axis */ dev->remap.y_axis = BMI2_MAP_Z_AXIS; remap.y_axis = BMI2_MAP_Z_AXIS; break; default: break; } /* Store the re-mapped y-axis sign in the device * structure and its value in local structure */ if (remapped_axis->y & BMI2_AXIS_SIGN) { /* If y-axis is mapped to -ve sign */ dev->remap.y_axis_sign = BMI2_NEG_SIGN; remap.y_axis_sign = BMI2_MAP_NEGATIVE; } else { dev->remap.y_axis_sign = BMI2_POS_SIGN; remap.y_axis_sign = BMI2_MAP_POSITIVE; } /* Store the value of re-mapped z-axis in both * device structure and the local structure */ switch (remap_z) { case BMI2_X: /* If mapped to x-axis */ dev->remap.z_axis = BMI2_MAP_X_AXIS; remap.z_axis = BMI2_MAP_X_AXIS; break; case BMI2_Y: /* If mapped to y-axis */ dev->remap.z_axis = BMI2_MAP_Y_AXIS; remap.z_axis = BMI2_MAP_Y_AXIS; break; case BMI2_Z: /* If mapped to z-axis */ dev->remap.z_axis = BMI2_MAP_Z_AXIS; remap.z_axis = BMI2_MAP_Z_AXIS; break; default: break; } /* Store the re-mapped z-axis sign in the device * structure and its value in local structure */ if (remapped_axis->z & BMI2_AXIS_SIGN) { /* If z-axis is mapped to -ve sign */ dev->remap.z_axis_sign = BMI2_NEG_SIGN; remap.z_axis_sign = BMI2_MAP_NEGATIVE; } else { dev->remap.z_axis_sign = BMI2_POS_SIGN; remap.z_axis_sign = BMI2_MAP_POSITIVE; } /* Set the re-mapped axes in the sensor */ rslt = set_remap_axes(&remap, dev); } else { rslt = BMI2_E_REMAP_ERROR; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API enables/disables gyroscope offset compensation. It adds the * offsets defined in the offset register with gyroscope data. */ int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Get the status of gyroscope offset enable */ rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_OFF_COMP_EN, enable); /* Enable/Disable gyroscope offset compensation */ rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, ®_data, 1, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the gyroscope bias values for each axis which is used * for gyroscope offset compensation. */ int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data[4] = { 0 }; /* Variable to store LSB value of offset compensation for x-axis */ uint8_t gyr_off_lsb_x; /* Variable to store LSB value of offset compensation for y-axis */ uint8_t gyr_off_lsb_y; /* Variable to store LSB value of offset compensation for z-axis */ uint8_t gyr_off_lsb_z; /* Variable to store MSB value of offset compensation for x-axis */ uint8_t gyr_off_msb_x; /* Variable to store MSB value of offset compensation for y-axis */ uint8_t gyr_off_msb_y; /* Variable to store MSB value of offset compensation for z-axis */ uint8_t gyr_off_msb_z; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL)) { /* Get the gyroscope compensated offset values */ rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev); if (rslt == BMI2_OK) { /* Get LSB and MSB values of offset compensation for * x, y and z axis */ gyr_off_lsb_x = reg_data[0]; gyr_off_lsb_y = reg_data[1]; gyr_off_lsb_z = reg_data[2]; gyr_off_msb_x = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_X_MASK; gyr_off_msb_y = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Y_MASK; gyr_off_msb_z = reg_data[3] & BMI2_GYR_OFF_COMP_MSB_Z_MASK; /* Gyroscope offset compensation value for x-axis */ gyr_off_comp_axes->x = (int16_t)(((uint16_t) gyr_off_msb_x << 8) | gyr_off_lsb_x); /* Gyroscope offset compensation value for y-axis */ gyr_off_comp_axes->y = (int16_t)(((uint16_t) gyr_off_msb_y << 6) | gyr_off_lsb_y); /* Gyroscope offset compensation value for z-axis */ gyr_off_comp_axes->z = (int16_t)(((uint16_t) gyr_off_msb_z << 4) | gyr_off_lsb_z); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API writes the gyroscope bias values for each axis which is used * for gyroscope offset compensation. */ int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data[4] = { 0 }; /* Variable to store MSB value of offset compensation for x-axis */ uint8_t gyr_off_msb_x; /* Variable to store MSB value of offset compensation for y-axis */ uint8_t gyr_off_msb_y; /* Variable to store MSB value of offset compensation for z-axis */ uint8_t gyr_off_msb_z; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (gyr_off_comp_axes != NULL)) { /* Get the gyroscope offset compensation values of axes */ rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev); if (rslt == BMI2_OK) { /* Get MSB value of x-axis from user-input */ gyr_off_msb_x = (uint8_t)((gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8); /* Get MSB value of y-axis from user-input */ gyr_off_msb_y = (uint8_t)((gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8); /* Get MSB value of z-axis from user-input */ gyr_off_msb_z = (uint8_t)((gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_MSB_MASK) >> 8); /* Get LSB value of x-axis from user-input */ reg_data[0] = (uint8_t)(gyr_off_comp_axes->x & BMI2_GYR_OFF_COMP_LSB_MASK); /* Get LSB value of y-axis from user-input */ reg_data[1] = (uint8_t)(gyr_off_comp_axes->y & BMI2_GYR_OFF_COMP_LSB_MASK); /* Get LSB value of z-axis from user-input */ reg_data[2] = (uint8_t)(gyr_off_comp_axes->z & BMI2_GYR_OFF_COMP_LSB_MASK); /* Get MSB value of x-axis to be set */ reg_data[3] = BMI2_SET_BIT_POS0(reg_data[3], BMI2_GYR_OFF_COMP_MSB_X, gyr_off_msb_x); /* Get MSB value of y-axis to be set */ reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Y, gyr_off_msb_y); /* Get MSB value of z-axis to be set */ reg_data[3] = BMI2_SET_BITS(reg_data[3], BMI2_GYR_OFF_COMP_MSB_Z, gyr_off_msb_z); /* Set the offset compensation values of axes */ rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_3_ADDR, reg_data, 4, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API updates the cross sensitivity coefficient between gyroscope's * X and Z axes. */ int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; struct bmi2_feat_sensor_data data; /* Check if the feature is supported by this variant */ if (dev->variant_feature & BMI2_GYRO_CROSS_SENS_ENABLE) { rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Select the feature whose data is to be acquired */ data.type = BMI2_GYRO_CROSS_SENSE; /* Get the respective data */ rslt = bmi2_get_feature_data(&data, 1, dev); if (rslt == BMI2_OK) { /* Update the gyroscope cross sense value of z axis * in the device structure */ dev->gyr_cross_sens_zx = data.sens_data.correction_factor_zx; } } else { rslt = BMI2_E_NULL_PTR; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This API gets Error bits and message indicating internal status. */ int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (int_stat != NULL)) { /* Wait till ASIC is initialized */ dev->delay_us(BMI2_INTERNAL_STATUS_READ_DELAY_MS, dev->intf_ptr); /* Get the error bits and message */ rslt = bmi2_get_regs(BMI2_INTERNAL_STATUS_ADDR, int_stat, 1, dev); } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API performs Fast Offset Compensation for accelerometer. */ int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Structure to define the accelerometer configurations */ struct bmi2_accel_config acc_cfg = { 0, 0, 0, 0 }; /* Variable to store status of advance power save */ uint8_t aps = 0; /* Variable to store status of accelerometer enable */ uint8_t acc_en = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (accel_g_value != NULL)) { /* Check for input validity */ if ((((BMI2_ABS(accel_g_value->x)) + (BMI2_ABS(accel_g_value->y)) + (BMI2_ABS(accel_g_value->z))) == 1) && ((accel_g_value->sign == 1) || (accel_g_value->sign == 0))) { /* Save accelerometer configurations, accelerometer * enable status and advance power save status */ rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev); /* Set configurations for FOC */ if (rslt == BMI2_OK) { rslt = set_accel_foc_config(dev); } /* Perform accelerometer FOC */ if (rslt == BMI2_OK) { rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev); } /* Restore the saved configurations */ if (rslt == BMI2_OK) { rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev); } } else { rslt = BMI2_E_INVALID_INPUT; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API performs Fast Offset Compensation for gyroscope. */ int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Structure to define the gyroscope configurations */ struct bmi2_gyro_config gyr_cfg = { 0, 0, 0, 0, 0, 0 }; /* Variable to store status of advance power save */ uint8_t aps = 0; /* Variable to store status of gyroscope enable */ uint8_t gyr_en = 0; /* Array of structure to store gyroscope data */ struct bmi2_sens_axes_data gyr_value[128]; /* Structure to store gyroscope data temporarily */ struct bmi2_foc_temp_value temp = { 0, 0, 0 }; /* Variable to store status read from the status register */ uint8_t reg_status = 0; /* Variable to define count */ uint8_t loop = 0; /* Structure to store the offset values to be stored in the register */ struct bmi2_sens_axes_data gyro_offset = { 0, 0, 0, 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Save gyroscope configurations, gyroscope enable * status and advance power save status */ rslt = save_gyro_config(&gyr_cfg, &aps, &gyr_en, dev); /* Set configurations for gyroscope FOC */ if (rslt == BMI2_OK) { rslt = set_gyro_foc_config(dev); } /* Perform FOC */ if (rslt == BMI2_OK) { for (loop = 0; loop < 128; loop++) { /* Giving a delay of more than 40ms since ODR is configured as 25Hz */ dev->delay_us(50000, dev->intf_ptr); /* Get gyroscope data ready interrupt status */ rslt = bmi2_get_status(®_status, dev); /* Read 128 samples of gyroscope data on data ready interrupt */ if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_GYR)) { rslt = read_gyro_xyz(&gyr_value[loop], dev); if (rslt == BMI2_OK) { /* Store the data in a temporary structure */ temp.x = temp.x + (int32_t)gyr_value[loop].x; temp.y = temp.y + (int32_t)gyr_value[loop].y; temp.z = temp.z + (int32_t)gyr_value[loop].z; } } if (rslt != BMI2_OK) { break; } else if ((reg_status & BMI2_DRDY_GYR) != BMI2_DRDY_GYR) { rslt = BMI2_E_INVALID_STATUS; break; } } if (rslt == BMI2_OK) { /* Take average of x, y and z data for lesser * noise. It is same as offset data since lsb/dps * is same for both data and offset register */ gyro_offset.x = (int16_t)(temp.x / 128); gyro_offset.y = (int16_t)(temp.y / 128); gyro_offset.z = (int16_t)(temp.z / 128); /* Saturate gyroscope data since the offset * registers are of 10 bit value where as the * gyroscope data is of 16 bit value */ saturate_gyro_data(&gyro_offset); /* Invert the gyroscope offset data */ invert_gyro_offset(&gyro_offset); /* Write offset data in the gyroscope offset * compensation register */ rslt = bmi2_write_gyro_offset_comp_axes(&gyro_offset, dev); } /* Enable gyroscope offset compensation */ if (rslt == BMI2_OK) { rslt = bmi2_set_gyro_offset_comp(BMI2_ENABLE, dev); } /* Restore the saved gyroscope configurations */ if (rslt == BMI2_OK) { rslt = restore_gyro_config(&gyr_cfg, aps, gyr_en, dev); } } } return rslt; } /*! * @brief This API is used to get the feature configuration from the * selected page. */ int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define bytes remaining to read */ uint8_t bytes_remain = BMI2_FEAT_SIZE_IN_BYTES; /* Variable to define the read-write length */ uint8_t read_write_len = 0; /* Variable to define the feature configuration address */ uint8_t addr = BMI2_FEATURES_REG_ADDR; /* Variable to define index */ uint8_t index = 0; if ((feat_config == NULL) || (dev == NULL)) { rslt = BMI2_E_NULL_PTR; } else { /* Check whether the page is valid */ if (sw_page < dev->page_max) { /* Switch page */ rslt = bmi2_set_regs(BMI2_FEAT_PAGE_ADDR, &sw_page, 1, dev); /* If user length is less than feature length */ if ((rslt == BMI2_OK) && (dev->read_write_len < BMI2_FEAT_SIZE_IN_BYTES)) { /* Read-write should be even */ if ((dev->read_write_len % 2) != 0) { dev->read_write_len--; } while (bytes_remain > 0) { if (bytes_remain >= dev->read_write_len) { /* Read from the page */ rslt = bmi2_get_regs(addr, &feat_config[index], dev->read_write_len, dev); /* Update index */ index += (uint8_t) dev->read_write_len; /* Update address */ addr += (uint8_t) dev->read_write_len; /* Update read-write length */ read_write_len += (uint8_t) dev->read_write_len; } else { /* Read from the page */ rslt = bmi2_get_regs(addr, (uint8_t *) (feat_config + index), (uint16_t) bytes_remain, dev); /* Update read-write length */ read_write_len += bytes_remain; } /* Remaining bytes */ bytes_remain = BMI2_FEAT_SIZE_IN_BYTES - read_write_len; if (rslt != BMI2_OK) { break; } } } else if (rslt == BMI2_OK) { /* Get configuration from the page */ rslt = bmi2_get_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_PAGE; } } return rslt; } /*! * @brief This API is used to extract the input feature configuration * details from the look-up table. */ uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type, const struct bmi2_dev *dev) { /* Variable to define loop */ uint8_t loop = 0; /* Variable to set flag */ uint8_t feat_found = BMI2_FALSE; /* Search for the input feature from the input configuration array */ while (loop < dev->input_sens) { if (dev->feat_config[loop].type == type) { *feat_config = dev->feat_config[loop]; feat_found = BMI2_TRUE; break; } loop++; } /* Return flag */ return feat_found; } /***************************************************************************/ /*! Local Function Definitions ****************************************************************************/ /*! @cond DOXYGEN_SUPRESS */ /* Suppressing doxygen warnings triggered for same static function names present across various sensor variant * directories */ /*! * @brief This internal API writes the configuration file. */ static int8_t write_config_file(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to update the configuration file index */ uint16_t index = 0; /* config file size */ uint16_t config_size = dev->config_size; /* Variable to get the remainder */ uint8_t remain = (uint8_t)(config_size % dev->read_write_len); /* Variable to get the balance bytes */ uint16_t bal_byte = 0; /* Variable to define temporary read/write length */ uint16_t read_write_len = 0; /* Disable advanced power save mode */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); if (rslt == BMI2_OK) { /* Disable loading of the configuration */ rslt = set_config_load(BMI2_DISABLE, dev); if (rslt == BMI2_OK) { if (!remain) { /* Write the configuration file */ for (index = 0; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len) { rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev); } } else { /* Get the balance bytes */ bal_byte = (uint16_t) config_size - (uint16_t) remain; /* Write the configuration file for the balancem bytes */ for (index = 0; (index < bal_byte) && (rslt == BMI2_OK); index += dev->read_write_len) { rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev); } if (rslt == BMI2_OK) { /* Update length in a temporary variable */ read_write_len = dev->read_write_len; /* Write the remaining bytes in 2 bytes length */ dev->read_write_len = 2; /* Write the configuration file for the remaining bytes */ for (index = bal_byte; (index < config_size) && (rslt == BMI2_OK); index += dev->read_write_len) { rslt = upload_file((dev->config_file_ptr + index), index, dev->read_write_len, dev); } /* Restore the user set length back from the temporary variable */ dev->read_write_len = read_write_len; } } if (rslt == BMI2_OK) { /* Enable loading of the configuration */ rslt = set_config_load(BMI2_ENABLE, dev); if (rslt == BMI2_OK) { /* Enable advanced power save mode */ rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } } } return rslt; } /*! * @brief This internal API enables/disables the loading of the configuration * file. */ static int8_t set_config_load(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data = 0; rslt = bmi2_get_regs(BMI2_INIT_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_CONF_LOAD_EN, enable); rslt = bmi2_set_regs(BMI2_INIT_CTRL_ADDR, ®_data, 1, dev); } return rslt; } /*! * @brief This internal API loads the configuration file. */ static int8_t upload_file(const uint8_t *config_data, uint16_t index, uint16_t write_len, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store address */ uint8_t addr_array[2] = { 0 }; if (config_data != NULL) { /* Store 0 to 3 bits of address in first byte */ addr_array[0] = (uint8_t)((index / 2) & 0x0F); /* Store 4 to 11 bits of address in the second byte */ addr_array[1] = (uint8_t)((index / 2) >> 4); /* Write the 2 bytes of address in consecutive locations */ rslt = bmi2_set_regs(BMI2_INIT_ADDR_0, addr_array, 2, dev); if (rslt == BMI2_OK) { /* Burst write configuration file data corresponding to user set length */ rslt = bmi2_set_regs(BMI2_INIT_DATA_ADDR, (uint8_t *)config_data, write_len, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API validates bandwidth and performance mode of the * accelerometer set by the user. */ static int8_t validate_bw_perf_mode(uint8_t *bandwidth, uint8_t *perf_mode, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Validate and auto-correct performance mode */ rslt = check_boundary_val(perf_mode, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct bandwidth parameter */ if (*perf_mode == BMI2_PERF_OPT_MODE) { /* Validate for continuous filter mode */ rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_CIC_AVG8, dev); } else { /* Validate for CIC averaging mode */ rslt = check_boundary_val(bandwidth, BMI2_ACC_OSR4_AVG1, BMI2_ACC_RES_AVG128, dev); } } return rslt; } /*! * @brief This internal API validates ODR and range of the accelerometer set by * the user. */ static int8_t validate_odr_range(uint8_t *odr, uint8_t *range, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Validate and auto correct ODR */ rslt = check_boundary_val(odr, BMI2_ACC_ODR_0_78HZ, BMI2_ACC_ODR_1600HZ, dev); if (rslt == BMI2_OK) { /* Validate and auto correct Range */ rslt = check_boundary_val(range, BMI2_ACC_RANGE_2G, BMI2_ACC_RANGE_16G, dev); } return rslt; } /*! * @brief This internal API validates bandwidth, performance mode, low power/ * high performance mode, ODR, and range set by the user. */ static int8_t validate_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Validate and auto-correct performance mode */ rslt = check_boundary_val(&config->filter_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct bandwidth parameter */ rslt = check_boundary_val(&config->bwp, BMI2_GYR_OSR4_MODE, BMI2_GYR_CIC_MODE, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct low power/high-performance parameter */ rslt = check_boundary_val(&config->noise_perf, BMI2_POWER_OPT_MODE, BMI2_PERF_OPT_MODE, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct ODR parameter */ rslt = check_boundary_val(&config->odr, BMI2_GYR_ODR_25HZ, BMI2_GYR_ODR_3200HZ, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct OIS range */ rslt = check_boundary_val(&config->ois_range, BMI2_GYR_OIS_250, BMI2_GYR_OIS_2000, dev); if (rslt == BMI2_OK) { /* Validate and auto-correct range parameter */ rslt = check_boundary_val(&config->range, BMI2_GYR_RANGE_2000, BMI2_GYR_RANGE_125, dev); } } } } } return rslt; } /*! * @brief This internal API shows the error status when illegal sensor * configuration is set. */ static int8_t cfg_error_status(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; /* Get error status of the set sensor configuration */ rslt = bmi2_get_regs(BMI2_EVENT_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_GET_BITS(reg_data, BMI2_EVENT_FLAG); switch (reg_data) { case BMI2_NO_ERROR: rslt = BMI2_OK; break; case BMI2_ACC_ERROR: rslt = BMI2_E_ACC_INVALID_CFG; break; case BMI2_GYR_ERROR: rslt = BMI2_E_GYRO_INVALID_CFG; break; case BMI2_ACC_GYR_ERROR: rslt = BMI2_E_ACC_GYR_INVALID_CFG; break; default: break; } } return rslt; } /*! * @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. */ static int8_t set_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Validate auxiliary configurations */ rslt = validate_aux_config(config, dev); if (rslt == BMI2_OK) { /* Enable/Disable auxiliary interface */ rslt = set_aux_interface(config, dev); if (rslt == BMI2_OK) { /* Set the auxiliary interface configurations */ rslt = config_aux_interface(config, dev); if (rslt == BMI2_OK) { /* Set read out offset and ODR */ rslt = config_aux(config, dev); } } } return rslt; } /*! * @brief This internal API sets gyroscope user-gain configurations like gain * update value for x, y and z-axis. */ static int8_t set_gyro_user_gain_config(const struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for user-gain */ struct bmi2_feature_config user_gain_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for user-gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Get the configuration from the page where user-gain feature resides */ rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for user-gain select */ idx = user_gain_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set ratio_x */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_X, config->ratio_x); /* Increment offset by 1 word to set ratio_y */ idx++; /* Set ratio_y */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Y, config->ratio_y); /* Increment offset by 1 word to set ratio_z */ idx++; /* Set ratio_z */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_GYR_USER_GAIN_RATIO_Z, config->ratio_z); /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - user_gain_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[user_gain_config.start_addr + index] = *((uint8_t *) data_p + user_gain_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API enables/disables auxiliary interface. */ static int8_t set_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_IF_EN, config->aux_en); /* Enable/Disable auxiliary interface */ rslt = bmi2_set_regs(BMI2_IF_CONF_ADDR, ®_data, 1, dev); } return rslt; } /*! * @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. * * @note Auxiliary sensor should not be busy when configuring aux_i2c_addr, * man_rd_burst_len, aux_rd_burst_len and aux_rd_addr. */ static int8_t config_aux_interface(const struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data[2] = { 0 }; /* Variable to store status */ uint8_t status = 0; /* Variable to define count */ uint8_t count = 0; rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev); if (rslt == BMI2_OK) { /* Set I2C address for AUX sensor */ reg_data[0] = BMI2_SET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR, config->i2c_device_addr); /* Set the AUX IF to either manual or auto mode */ reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN, config->manual_en); /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */ reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN, config->fcu_write_en); /* Set the burst read length for manual mode */ reg_data[1] = BMI2_SET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST, config->man_rd_burst); /* Set the burst read length for data mode */ reg_data[1] = BMI2_SET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST, config->aux_rd_burst); for (;;) { /* Check if auxiliary sensor is busy */ rslt = bmi2_get_status(&status, dev); if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY))) { /* Set the configurations if AUX is not busy */ rslt = bmi2_set_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev); dev->delay_us(1000, dev->intf_ptr); if (rslt == BMI2_OK) { /* If data mode */ if (!config->manual_en) { /* Disable manual enable flag in device structure */ dev->aux_man_en = 0; /* Set the read address of the AUX sensor */ rslt = bmi2_set_regs(BMI2_AUX_RD_ADDR, (uint8_t *) &config->read_addr, 1, dev); dev->delay_us(1000, dev->intf_ptr); } else { /* Enable manual enable flag in device structure */ dev->aux_man_en = 1; /* Update manual read burst length in device structure */ dev->aux_man_rd_burst_len = config->man_rd_burst; } } /* Break after setting the register */ break; } /* Increment count after every 10 seconds */ dev->delay_us(10000, dev->intf_ptr); count++; /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/ if (count > 20) { rslt = BMI2_E_AUX_BUSY; break; } } } return rslt; } /*! * @brief This internal API triggers read out offset and sets ODR of the * auxiliary sensor. */ static int8_t config_aux(const struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Trigger read out offset */ reg_data = BMI2_SET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT, config->offset); /* Set ODR */ reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN, config->odr); /* Set auxiliary configuration register */ rslt = bmi2_set_regs(BMI2_AUX_CONF_ADDR, ®_data, 1, dev); dev->delay_us(1000, dev->intf_ptr); } return rslt; } /*! * @brief This internal API checks the busy status of auxiliary sensor and sets * the auxiliary register addresses when not busy. */ static int8_t set_if_aux_not_busy(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get status of AUX_BUSY */ uint8_t status = 0; /* Variable to define count for time-out */ uint8_t count = 0; for (;;) { /* Check if AUX is busy */ rslt = bmi2_get_status(&status, dev); /* Set the registers if not busy */ if ((rslt == BMI2_OK) && (!(status & BMI2_AUX_BUSY))) { rslt = bmi2_set_regs(reg_addr, ®_data, 1, dev); dev->delay_us(1000, dev->intf_ptr); /* Break after setting the register */ break; } /* Increment count after every 10 seconds */ dev->delay_us(10000, dev->intf_ptr); count++; /* Break after 2 seconds if AUX still busy - since slowest ODR is 0.78Hz*/ if (count > 20) { rslt = BMI2_E_AUX_BUSY; break; } } return rslt; } /*! * @brief This internal API validates auxiliary configuration set by the user. */ static int8_t validate_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Validate ODR for auxiliary sensor */ rslt = check_boundary_val(&config->odr, BMI2_AUX_ODR_0_78HZ, BMI2_AUX_ODR_800HZ, dev); return rslt; } /*! * @brief This internal API gets accelerometer configurations like ODR, * bandwidth, performance mode and g-range. */ static int8_t get_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store data */ uint8_t data_array[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (config != NULL)) { /* Read the sensor configuration details */ rslt = bmi2_get_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev); if (rslt == BMI2_OK) { /* Get accelerometer performance mode */ config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE); /* Get accelerometer bandwidth */ config->bwp = BMI2_GET_BITS(data_array[0], BMI2_ACC_BW_PARAM); /* Get accelerometer ODR */ config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_ACC_ODR); /* Get accelerometer range */ config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_ACC_RANGE); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API gets gyroscope configurations like ODR, bandwidth, * low power/high performance mode, performance mode and range. */ static int8_t get_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store data */ uint8_t data_array[2] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (config != NULL)) { /* Read the sensor configuration details */ rslt = bmi2_get_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev); if (rslt == BMI2_OK) { /* Get gyroscope performance mode */ config->filter_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE); /* Get gyroscope noise performance mode */ config->noise_perf = BMI2_GET_BITS(data_array[0], BMI2_GYR_NOISE_PERF_MODE); /* Get gyroscope bandwidth */ config->bwp = BMI2_GET_BITS(data_array[0], BMI2_GYR_BW_PARAM); /* Get gyroscope ODR */ config->odr = BMI2_GET_BIT_POS0(data_array[0], BMI2_GYR_ODR); /* Get gyroscope OIS range */ config->ois_range = BMI2_GET_BITS(data_array[1], BMI2_GYR_OIS_RANGE); /* Get gyroscope range */ config->range = BMI2_GET_BIT_POS0(data_array[1], BMI2_GYR_RANGE); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @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. */ static int8_t get_aux_config(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (config != NULL)) { /* Get enable status of auxiliary interface */ rslt = get_aux_interface(config, dev); if (rslt == BMI2_OK) { /* Get the auxiliary interface configurations */ rslt = get_aux_interface_config(config, dev); if (rslt == BMI2_OK) { /* Get read out offset and ODR */ rslt = get_aux_cfg(config, dev); } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API gets gyroscope user-gain configurations like gain * update value for x, y and z-axis. */ static int8_t get_gyro_gain_update_config(struct bmi2_gyro_user_gain_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for user-gain */ struct bmi2_feature_config user_gain_config = { 0, 0, 0 }; /* Search for user-gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&user_gain_config, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Get the configuration from the page where user-gain feature resides */ rslt = bmi2_get_feat_config(user_gain_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for user-gain select */ idx = user_gain_config.start_addr; /* Get word to calculate ratio_x */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get ratio_x */ config->ratio_x = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_X_MASK; /* Get word to calculate ratio_y */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get ratio_y */ config->ratio_y = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Y_MASK; /* Get word to calculate ratio_z */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get ratio_z */ config->ratio_z = lsb_msb & BMI2_GYR_USER_GAIN_RATIO_Z_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the enable status of auxiliary interface. */ static int8_t get_aux_interface(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; /* Get the enable status of auxiliary interface */ rslt = bmi2_get_regs(BMI2_IF_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { config->aux_en = BMI2_GET_BITS(reg_data, BMI2_AUX_IF_EN); } return rslt; } /*! * @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. */ static int8_t get_aux_interface_config(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data[2] = { 0 }; rslt = bmi2_get_regs(BMI2_AUX_DEV_ID_ADDR, reg_data, 2, dev); if (rslt == BMI2_OK) { /* Get I2C address for auxiliary sensor */ config->i2c_device_addr = BMI2_GET_BITS(reg_data[0], BMI2_AUX_SET_I2C_ADDR); /* Get the AUX IF to either manual or auto mode */ config->manual_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_MODE_EN); /* Enables FCU write command on AUX IF for auxiliary sensors that need a trigger */ config->fcu_write_en = BMI2_GET_BITS(reg_data[1], BMI2_AUX_FCU_WR_EN); /* Get the burst read length for manual mode */ config->man_rd_burst = BMI2_GET_BITS(reg_data[1], BMI2_AUX_MAN_READ_BURST); /* Get the burst read length for data mode */ config->aux_rd_burst = BMI2_GET_BIT_POS0(reg_data[1], BMI2_AUX_READ_BURST); /* If data mode, get the read address of the auxiliary sensor from where data is to be read */ if (!config->manual_en) { rslt = bmi2_get_regs(BMI2_AUX_RD_ADDR, &config->read_addr, 1, dev); } } return rslt; } /*! * @brief This internal API gets read out offset and ODR of the auxiliary * sensor. */ static int8_t get_aux_cfg(struct bmi2_aux_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; rslt = bmi2_get_regs(BMI2_AUX_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Get read out offset */ config->offset = BMI2_GET_BITS(reg_data, BMI2_AUX_OFFSET_READ_OUT); /* Get ODR */ config->odr = BMI2_GET_BIT_POS0(reg_data, BMI2_AUX_ODR_EN); } return rslt; } /*! * @brief This internal API maps/un-maps feature interrupts to that of interrupt * pins. */ static int8_t map_feat_int(uint8_t *reg_data_array, enum bmi2_hw_int_pin int_pin, uint8_t int_mask) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Check for NULL error */ if (reg_data_array != NULL) { /* Check validity on interrupt pin selection */ if (int_pin < BMI2_INT_PIN_MAX) { switch (int_pin) { case BMI2_INT_NONE: /* Un-Map the corresponding feature interrupt to interrupt pin 1 and 2 */ reg_data_array[0] &= ~(int_mask); reg_data_array[1] &= ~(int_mask); break; case BMI2_INT1: /* Map the corresponding feature interrupt to interrupt pin 1 */ reg_data_array[0] |= int_mask; /* Un-map the corresponding feature interrupt to interrupt pin 2 */ reg_data_array[1] &= ~(int_mask); break; case BMI2_INT2: /* Map the corresponding feature interrupt to interrupt pin 2 */ reg_data_array[1] |= int_mask; /* Un-map the corresponding feature interrupt to interrupt pin 1 */ reg_data_array[0] &= ~(int_mask); break; case BMI2_INT_BOTH: /* Map the corresponding feature interrupt to interrupt pin 1 and 2 */ reg_data_array[0] |= int_mask; reg_data_array[1] |= int_mask; break; default: break; } } else { /* Return error if invalid pin selection */ rslt = BMI2_E_INVALID_INT_PIN; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API gets the accelerometer/gyroscope data. */ static void get_acc_gyr_data(struct bmi2_sens_axes_data *data, const uint8_t *reg_data) { /* Variables to store msb value */ uint8_t msb; /* Variables to store lsb value */ uint8_t lsb; /* Variables to store both msb and lsb value */ uint16_t msb_lsb; /* Variables to define index */ uint8_t index = 0; /* Read x-axis data */ lsb = reg_data[index++]; msb = reg_data[index++]; msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb; data->x = (int16_t) msb_lsb; /* Read y-axis data */ lsb = reg_data[index++]; msb = reg_data[index++]; msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb; data->y = (int16_t) msb_lsb; /* Read z-axis data */ lsb = reg_data[index++]; msb = reg_data[index++]; msb_lsb = ((uint16_t) msb << 8) | (uint16_t) lsb; data->z = (int16_t) msb_lsb; } /*! * @brief This internal API gets the re-mapped accelerometer/gyroscope data. */ static void get_remapped_data(struct bmi2_sens_axes_data *data, const struct bmi2_dev *dev) { /* Array to defined the re-mapped sensor data */ int16_t remap_data[3] = { 0 }; int16_t pos_multiplier = INT16_C(1); int16_t neg_multiplier = INT16_C(-1); /* Fill the array with the un-mapped sensor data */ remap_data[0] = data->x; remap_data[1] = data->y; remap_data[2] = data->z; /* Get the re-mapped x axis data */ if (dev->remap.x_axis_sign == BMI2_POS_SIGN) { data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier); } else { data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier); } /* Get the re-mapped y axis data */ if (dev->remap.y_axis_sign == BMI2_POS_SIGN) { data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier); } else { data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier); } /* Get the re-mapped z axis data */ if (dev->remap.z_axis_sign == BMI2_POS_SIGN) { data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier); } else { data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier); } } /*! * @brief This internal API reads the user-defined bytes of data from the given * register address of auxiliary sensor in manual mode. */ 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) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to store the register data */ uint8_t reg_data[15] = { 0 }; /* Variable to define number of bytes to read */ uint16_t read_length = 0; /* Variable to define loop */ uint8_t loop = 0; /* Variable to define counts to get the correct array index */ uint8_t count = 0; /* Variable to define index for the array */ uint8_t idx = 0; while (len > 0) { /* Set the read address if AUX is not busy */ rslt = set_if_aux_not_busy(BMI2_AUX_RD_ADDR, reg_addr, dev); if (rslt == BMI2_OK) { /* Read data from bmi2 data register */ rslt = bmi2_get_regs(BMI2_AUX_X_LSB_ADDR, reg_data, (uint16_t) burst_len, dev); dev->delay_us(1000, dev->intf_ptr); if (rslt == BMI2_OK) { /* Get number of bytes to be read */ if (len < burst_len) { read_length = (uint8_t) len; } else { read_length = burst_len; } /* Update array index and store the data */ for (loop = 0; loop < read_length; loop++) { idx = loop + count; aux_data[idx] = reg_data[loop]; } } } /* Update address for the next read */ reg_addr += burst_len; /* Update count for the array index */ count += burst_len; /* Update no of bytes left to read */ len -= read_length; } return rslt; } /*! * @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. */ static int8_t write_aux_data(uint8_t reg_addr, uint8_t reg_data, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Write data to be written to the AUX sensor in bmi2 register */ rslt = bmi2_set_regs(BMI2_AUX_WR_DATA_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Write the AUX address where data is to be stored when AUX is not busy */ rslt = set_if_aux_not_busy(BMI2_AUX_WR_ADDR, reg_addr, dev); } return rslt; } /*! * @brief This internal API maps the actual burst read length with that of the * register value set by user. */ static int8_t map_read_len(uint8_t *len, const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Get the burst read length against the values set by the user */ switch (dev->aux_man_rd_burst_len) { case BMI2_AUX_READ_LEN_0: *len = 1; break; case BMI2_AUX_READ_LEN_1: *len = 2; break; case BMI2_AUX_READ_LEN_2: *len = 6; break; case BMI2_AUX_READ_LEN_3: *len = 8; break; default: rslt = BMI2_E_AUX_INVALID_CFG; break; } return rslt; } /*! * @brief This internal API computes the number of bytes of accelerometer FIFO * data which is to be parsed in header-less mode. */ static int8_t parse_fifo_accel_len(uint16_t *start_idx, uint16_t *len, uint8_t *skip_length, const uint16_t *acc_count, const struct bmi2_fifo_frame *fifo) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Data start index */ (*start_idx) = fifo->acc_byte_start_idx; /* If only accelerometer is enabled */ if (fifo->data_enable == BMI2_FIFO_ACC_EN) { /* Number of bytes to be read */ (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ACC_LENGTH; } /* If only accelerometer and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_AUX_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_AUX_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ACC_AUX_LENGTH; /* Data start index */ (*start_idx) = fifo->acc_byte_start_idx + BMI2_FIFO_AUX_LENGTH; } /* If only accelerometer and gyroscope are enabled */ else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ACC_GYR_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ACC_GYR_LENGTH; /* Data start index */ (*start_idx) = fifo->acc_byte_start_idx + BMI2_FIFO_GYR_LENGTH; } /* If only accelerometer, gyroscope and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*acc_count) * BMI2_FIFO_ALL_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ALL_LENGTH; /* Data start index */ (*start_idx) = fifo->acc_byte_start_idx + BMI2_FIFO_GYR_AUX_LENGTH; } else { /* Move the data index to the last byte to mark completion when * no sensors or sensors apart from accelerometer are enabled */ (*start_idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; } /* If more data is requested than available */ if ((*len) > fifo->length) { (*len) = fifo->length; } return rslt; } /*! * @brief This internal API is used to skip dummy frames in FIFO headerless mode */ static int8_t check_dummy_frame(uint8_t dummy_frame_header, uint16_t *data_index, uint8_t skip_length, const struct bmi2_fifo_frame *fifo) { int8_t rslt; /* Validate data index */ if (((*data_index) + 6) < fifo->length) { /* Check if FIFO contains dummy frame */ if (((fifo->data[(*data_index)] == dummy_frame_header) && (fifo->data[(*data_index) + 1] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_1) && (fifo->data[(*data_index) + 2] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_2)) && ((fifo->data[(*data_index) + 3] == BMI2_FIFO_HEADERLESS_DUMMY_BYTE_3))) { /* Move the data index to next frame */ (*data_index) = (*data_index) + skip_length; /* Dummy byte parsed */ rslt = BMI2_W_DUMMY_BYTE; } else { /* Valid frame */ rslt = BMI2_OK; } } else { /* Move the data index to the last byte to mark completion */ (*data_index) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; } return rslt; } /*! * @brief This internal API is used to parse the accelerometer data from the * FIFO in headerless mode. */ static int8_t extract_accel_headerless_mode(struct bmi2_sens_axes_data *acc, uint16_t *accel_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { int8_t rslt; /* Variable to index the bytes */ uint16_t data_index = 0; /* Variable to define the data enable byte */ uint8_t data_enable; /* Variable to index accelerometer frames */ uint16_t accel_index = 0; /* Variable to store the number of bytes to be read */ uint16_t data_read_length = 0; /* Number of bytes to skip in case dummy frame is obtained */ uint8_t skip_length = 0; /* Get the number of accelerometer bytes to be read */ rslt = parse_fifo_accel_len(&data_index, &data_read_length, &skip_length, accel_length, fifo); /* Convert word to byte since all sensor enables are in a byte */ data_enable = (uint8_t)(fifo->data_enable >> 8); for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);) { rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_ACC, &data_index, skip_length, fifo); /* Unpack only if Valid frame is present */ if (rslt == BMI2_OK) { /* Unpack frame to get the accelerometer data */ rslt = unpack_accel_headerless_frame(acc, &data_index, &accel_index, data_enable, fifo, dev); if (rslt != BMI2_W_FIFO_EMPTY) { /* Check for the availability of next two bytes of FIFO data */ rslt = check_empty_fifo(&data_index, fifo); } } } /* Update number of accelerometer frames to be read */ (*accel_length) = accel_index; /* Update the accelerometer byte index */ fifo->acc_byte_start_idx = data_index; return rslt; } /*! * @brief This internal API is used to parse the accelerometer data from the * FIFO in header mode. */ 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) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Variable to define header frame */ uint8_t frame_header = 0; /* Variable to index the data bytes */ uint16_t data_index; /* Variable to index accelerometer frames */ uint16_t accel_index = 0; /* Variable to indicate accelerometer frames read */ uint16_t frame_to_read = *accel_length; for (data_index = fifo->acc_byte_start_idx; data_index < fifo->length;) { /* Get frame header byte */ frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK; /* Parse virtual header if S4S is enabled */ parse_if_virtual_header(&frame_header, &data_index, fifo); /* Index shifted to next byte where data starts */ data_index++; switch (frame_header) { /* If header defines accelerometer frame */ case BMI2_FIFO_HEADER_ACC_FRM: case BMI2_FIFO_HEADER_AUX_ACC_FRM: case BMI2_FIFO_HEADER_GYR_ACC_FRM: case BMI2_FIFO_HEADER_ALL_FRM: /* Unpack from normal frames */ rslt = unpack_accel_header_frame(acc, &data_index, &accel_index, frame_header, fifo, dev); break; /* If header defines only gyroscope frame */ case BMI2_FIFO_HEADER_GYR_FRM: rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo); break; /* If header defines only auxiliary frame */ case BMI2_FIFO_HEADER_AUX_FRM: rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo); break; /* If header defines only auxiliary and gyroscope frame */ case BMI2_FIFO_HEADER_AUX_GYR_FRM: rslt = move_next_frame(&data_index, fifo->aux_gyr_frm_len, fifo); break; /* If header defines sensor time frame */ case BMI2_FIFO_HEADER_SENS_TIME_FRM: rslt = unpack_sensortime_frame(&data_index, fifo); break; /* If header defines skip frame */ case BMI2_FIFO_HEADER_SKIP_FRM: rslt = unpack_skipped_frame(&data_index, fifo); break; /* If header defines Input configuration frame */ case BMI2_FIFO_HEADER_INPUT_CFG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo); break; /* If header defines invalid frame or end of valid data */ case BMI2_FIFO_HEAD_OVER_READ_MSB: /* Move the data index to the last byte to mark completion */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; case BMI2_FIFO_VIRT_ACT_RECOG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo); break; default: /* Move the data index to the last byte in case of invalid values */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } /* Break if Number of frames to be read is complete or FIFO is mpty */ if ((frame_to_read == accel_index) || (rslt == BMI2_W_FIFO_EMPTY)) { break; } } /* Update the accelerometer frame index */ (*accel_length) = accel_index; /* Update the accelerometer byte index */ fifo->acc_byte_start_idx = data_index; return rslt; } /*! * @brief This internal API is used to parse the accelerometer data from the * FIFO data in header-less mode. It updates the current data * byte to be parsed. */ static int8_t unpack_accel_headerless_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) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (frame) { /* If frame contains only accelerometer data */ case BMI2_FIFO_HEAD_LESS_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_frm_len) > fifo->length) { /* Update the data index as complete*/ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and gyroscope data */ case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and auxiliary data */ case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_aux_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer, gyroscope and auxiliary data */ case BMI2_FIFO_HEAD_LESS_ALL_FRM: /* Partially read, then skip the data*/ if ((*idx + fifo->all_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains gyroscope and auxiliary data */ case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only auxiliary data */ case BMI2_FIFO_HEAD_LESS_AUX_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only gyroscope data */ case BMI2_FIFO_HEAD_LESS_GYR_FRM: /* Update data index */ (*idx) = (*idx) + fifo->gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; default: /* Move the data index to the last byte in case of invalid values */ (*idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } return rslt; } /*! * @brief This internal API is used to parse the accelerometer data from the * FIFO data in header mode. It updates the current data * byte to be parsed. */ static int8_t unpack_accel_header_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) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (frame) { /* If frame contains only accelerometer data */ case BMI2_FIFO_HEADER_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_frm_len) > fifo->length) { /* Update the data index as complete*/ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and gyroscope data */ case BMI2_FIFO_HEADER_GYR_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_LENGTH), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and auxiliary data */ case BMI2_FIFO_HEADER_AUX_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_aux_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer, gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_ALL_FRM: /* Partially read, then skip the data*/ if ((*idx + fifo->all_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the accelerometer data */ unpack_accel_data(&acc[(*acc_idx)], ((*idx) + BMI2_FIFO_GYR_AUX_LENGTH), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&acc[(*acc_idx)], idx, fifo); } /* Update accelerometer frame index */ (*acc_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_AUX_GYR_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only auxiliary data */ case BMI2_FIFO_HEADER_AUX_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only gyroscope data */ case BMI2_FIFO_HEADER_GYR_FRM: /* Update data index */ (*idx) = (*idx) + fifo->gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; default: /* Move the data index to the last byte in case of invalid values */ (*idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } return rslt; } /*! * @brief This internal API is used to parse accelerometer data from the * FIFO data. */ 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) { /* Variables to store LSB value */ uint16_t data_lsb; /* Variables to store MSB value */ uint16_t data_msb; /* Accelerometer raw x data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; acc->x = (int16_t)((data_msb << 8) | data_lsb); /* Accelerometer raw y data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; acc->y = (int16_t)((data_msb << 8) | data_lsb); /* Accelerometer raw z data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; acc->z = (int16_t)((data_msb << 8) | data_lsb); /* Get the re-mapped accelerometer data */ get_remapped_data(acc, dev); } /*! * @brief This internal API computes the number of bytes of gyroscope FIFO data * which is to be parsed in header-less mode. */ static int8_t parse_fifo_gyro_len(uint16_t *start_idx, uint16_t *len, uint8_t *skip_length, const uint16_t *gyr_count, const struct bmi2_fifo_frame *fifo) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Data start index */ (*start_idx) = fifo->gyr_byte_start_idx; /* If only gyroscope is enabled */ if (fifo->data_enable == BMI2_FIFO_GYR_EN) { /* Number of bytes to be read */ (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_GYR_LENGTH; } /* If only gyroscope and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_GYR_AUX_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_GYR_AUX_LENGTH; /* Data start index */ (*start_idx) = fifo->gyr_byte_start_idx + BMI2_FIFO_AUX_LENGTH; } /* If only accelerometer and gyroscope are enabled */ else if (fifo->data_enable == (BMI2_FIFO_ACC_EN | BMI2_FIFO_GYR_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ACC_GYR_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ACC_GYR_LENGTH; } /* If only accelerometer, gyroscope and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_GYR_EN | BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*gyr_count) * BMI2_FIFO_ALL_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ALL_LENGTH; /* Data start index */ (*start_idx) = fifo->gyr_byte_start_idx + BMI2_FIFO_AUX_LENGTH; } else { /* Move the data index to the last byte to mark completion when * no sensors or sensors apart from gyroscope are enabled */ (*start_idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; } /* If more data is requested than available */ if (((*len)) > fifo->length) { (*len) = fifo->length; } return rslt; } /*! * @brief This internal API is used to parse the gyroscope data from the * FIFO in headerless mode. */ static int8_t extract_gyro_headerless_mode(struct bmi2_sens_axes_data *gyr, uint16_t *gyro_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { int8_t rslt; /* Variable to index the bytes */ uint16_t data_index = 0; /* Variable to index gyroscope frames */ uint16_t gyro_index = 0; /* Variable to store the number of bytes to be read */ uint16_t data_read_length = 0; /* Variable to define the data enable byte */ uint8_t data_enable; /* Variable to hold number of bytes to skip in case dummy frame is obtained */ uint8_t skip_length = 0; /* Get the number of gyro bytes to be read */ rslt = parse_fifo_gyro_len(&data_index, &data_read_length, &skip_length, gyro_length, fifo); /* Convert word to byte since all sensor enables are in a byte */ data_enable = (uint8_t)(fifo->data_enable >> 8); for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);) { rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_GYR, &data_index, skip_length, fifo); /* Unpack only if Valid frame is present */ if (rslt == BMI2_OK) { /* Unpack frame to get gyroscope data */ rslt = unpack_gyro_headerless_frame(gyr, &data_index, &gyro_index, data_enable, fifo, dev); if (rslt != BMI2_W_FIFO_EMPTY) { /* Check for the availability of next two bytes of FIFO data */ rslt = check_empty_fifo(&data_index, fifo); } } } /* Update number of gyroscope frames to be read */ (*gyro_length) = gyro_index; /* Update the gyroscope byte index */ fifo->gyr_byte_start_idx = data_index; return rslt; } /*! * @brief This internal API is used to parse the gyroscope data from the * FIFO data in header mode. */ 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) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Variable to define header frame */ uint8_t frame_header = 0; /* Variable to index the data bytes */ uint16_t data_index; /* Variable to index gyroscope frames */ uint16_t gyro_index = 0; /* Variable to indicate gyroscope frames read */ uint16_t frame_to_read = (*gyro_length); for (data_index = fifo->gyr_byte_start_idx; data_index < fifo->length;) { /* Get frame header byte */ frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK; /* Parse virtual header if S4S is enabled */ parse_if_virtual_header(&frame_header, &data_index, fifo); /* Index shifted to next byte where data starts */ data_index++; switch (frame_header) { /* If header defines gyroscope frame */ case BMI2_FIFO_HEADER_GYR_FRM: case BMI2_FIFO_HEADER_GYR_ACC_FRM: case BMI2_FIFO_HEADER_AUX_GYR_FRM: case BMI2_FIFO_HEADER_ALL_FRM: /* Unpack from normal frames */ rslt = unpack_gyro_header_frame(gyr, &data_index, &gyro_index, frame_header, fifo, dev); break; /* If header defines only accelerometer frame */ case BMI2_FIFO_HEADER_ACC_FRM: rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo); break; /* If header defines only auxiliary frame */ case BMI2_FIFO_HEADER_AUX_FRM: rslt = move_next_frame(&data_index, fifo->aux_frm_len, fifo); break; /* If header defines only auxiliary and accelerometer frame */ case BMI2_FIFO_HEADER_AUX_ACC_FRM: rslt = move_next_frame(&data_index, fifo->acc_aux_frm_len, fifo); break; /* If header defines sensor time frame */ case BMI2_FIFO_HEADER_SENS_TIME_FRM: rslt = unpack_sensortime_frame(&data_index, fifo); break; /* If header defines skip frame */ case BMI2_FIFO_HEADER_SKIP_FRM: rslt = unpack_skipped_frame(&data_index, fifo); break; /* If header defines Input configuration frame */ case BMI2_FIFO_HEADER_INPUT_CFG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo); break; /* If header defines invalid frame or end of valid data */ case BMI2_FIFO_HEAD_OVER_READ_MSB: /* Move the data index to the last byte */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; case BMI2_FIFO_VIRT_ACT_RECOG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo); break; default: /* Move the data index to the last byte in case of invalid values */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } /* Break if number of frames to be read is complete or FIFO is empty */ if ((frame_to_read == gyro_index) || (rslt == BMI2_W_FIFO_EMPTY)) { break; } } /* Update the gyroscope frame index */ (*gyro_length) = gyro_index; /* Update the gyroscope byte index */ fifo->gyr_byte_start_idx = data_index; return rslt; } /*! * @brief This internal API is used to parse the gyroscope data from the FIFO * data in header mode. It updates the current data byte to * be parsed. */ static int8_t unpack_gyro_header_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) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (frame) { /* If frame contains only gyroscope data */ case BMI2_FIFO_HEADER_GYR_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->gyr_frm_len) > fifo->length) { /* Update the data index as complete*/ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and gyroscope data */ case BMI2_FIFO_HEADER_GYR_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_AUX_GYR_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer, gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_ALL_FRM: /* Partially read, then skip the data*/ if ((*idx + fifo->all_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], ((*idx) + BMI2_FIFO_AUX_LENGTH), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and auxiliary data */ case BMI2_FIFO_HEADER_AUX_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only auxiliary data */ case BMI2_FIFO_HEADER_AUX_FRM: case BMI2_FIFO_HEAD_LESS_AUX_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only accelerometer data */ case BMI2_FIFO_HEADER_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; default: /* Move the data index to the last byte in case of invalid values */ (*idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } return rslt; } /*! * @brief This internal API is used to parse the gyroscope data from the FIFO * data in header-less mode. It updates the current data byte to * be parsed. */ static int8_t unpack_gyro_headerless_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) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (frame) { /* If frame contains only gyroscope data */ case BMI2_FIFO_HEAD_LESS_GYR_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->gyr_frm_len) > fifo->length) { /* Update the data index as complete*/ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], *idx, fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and gyroscope data */ case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_GYR_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains gyroscope and auxiliary data */ case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer, gyroscope and auxiliary data */ case BMI2_FIFO_HEAD_LESS_ALL_FRM: /* Partially read, then skip the data*/ if ((*idx + fifo->all_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the gyroscope data */ unpack_gyro_data(&gyr[(*gyr_idx)], (*idx), fifo, dev); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH; /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_sensor_time(&gyr[(*gyr_idx)], idx, fifo); } /* Update gyroscope frame index */ (*gyr_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and auxiliary data */ case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only auxiliary data */ case BMI2_FIFO_HEAD_LESS_AUX_FRM: /* Update data index */ (*idx) = (*idx) + fifo->aux_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only accelerometer data */ case BMI2_FIFO_HEAD_LESS_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; default: /* Move the data index to the last byte in case of invalid values */ (*idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } return rslt; } /*! * @brief This internal API is used to parse gyroscope data from the FIFO data. */ 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) { /* Variables to store LSB value */ uint16_t data_lsb; /* Variables to store MSB value */ uint16_t data_msb; /* Gyroscope raw x data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; gyr->x = (int16_t)((data_msb << 8) | data_lsb); /* Gyroscope raw y data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; gyr->y = (int16_t)((data_msb << 8) | data_lsb); /* Gyroscope raw z data */ data_lsb = fifo->data[data_start_index++]; data_msb = fifo->data[data_start_index++]; gyr->z = (int16_t)((data_msb << 8) | data_lsb); /* Get the compensated gyroscope data */ comp_gyro_cross_axis_sensitivity(gyr, dev); /* Get the re-mapped gyroscope data */ get_remapped_data(gyr, dev); } /*! * @brief This API computes the number of bytes of auxiliary FIFO data which is * to be parsed in header-less mode. */ static int8_t parse_fifo_aux_len(uint16_t *start_idx, uint16_t *len, uint8_t *skip_length, const uint16_t *aux_count, const struct bmi2_fifo_frame *fifo) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Data start index */ *start_idx = fifo->aux_byte_start_idx; /* If only auxiliary is enabled */ if (fifo->data_enable == BMI2_FIFO_AUX_EN) { /* Number of bytes to be read */ (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_AUX_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_AUX_LENGTH; } /* If only accelerometer and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_ACC_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ACC_AUX_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ACC_AUX_LENGTH; } /* If only accelerometer and gyroscope are enabled */ else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_GYR_AUX_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_GYR_AUX_LENGTH; } /* If only accelerometer, gyroscope and auxiliary are enabled */ else if (fifo->data_enable == (BMI2_FIFO_AUX_EN | BMI2_FIFO_GYR_EN | BMI2_FIFO_ACC_EN)) { /* Number of bytes to be read */ (*len) = (uint16_t)((*aux_count) * BMI2_FIFO_ALL_LENGTH); /* Number of bytes to skip in case dummy frame is obtained */ (*skip_length) = BMI2_FIFO_ALL_LENGTH; } else { /* Move the data index to the last byte to mark completion */ (*start_idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; } /* If more data is requested than available */ if (((*len)) > fifo->length) { (*len) = fifo->length; } return rslt; } /*! * @brief This internal API is used to parse the auxiliary data from the * FIFO in headerless mode. */ static int8_t extract_aux_headerless_mode(struct bmi2_aux_fifo_data *aux, uint16_t *aux_length, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { int8_t rslt; /* Variable to index the bytes */ uint16_t data_index = 0; /* Variable to index auxiliary frames */ uint16_t aux_index = 0; /* Variable to store the number of bytes to be read */ uint16_t data_read_length = 0; /* Variable to define the data enable byte */ uint8_t data_enable; /* Number of bytes to skip in case dummy frame is obtained */ uint8_t skip_length = 0; rslt = parse_fifo_aux_len(&data_index, &data_read_length, &skip_length, aux_length, fifo); /* Convert word to byte since all sensor enables are in a byte */ data_enable = (uint8_t)(fifo->data_enable >> 8); for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);) { rslt = check_dummy_frame(BMI2_FIFO_HEADERLESS_DUMMY_AUX, &data_index, skip_length, fifo); /* Unpack only if Valid frame is present */ if (rslt == BMI2_OK) { /* Unpack frame to get auxiliary data */ rslt = unpack_aux_frame(aux, &data_index, &aux_index, data_enable, fifo, dev); if (rslt != BMI2_W_FIFO_EMPTY) { /* Check for the availability of next two bytes of FIFO data */ rslt = check_empty_fifo(&data_index, fifo); } } } /* Update number of auxiliary frames to be read */ *aux_length = aux_index; /* Update the auxiliary byte index */ fifo->aux_byte_start_idx = data_index; return rslt; } /*! * @brief This API is used to parse the auxiliary data from the FIFO data in * header mode. */ static int8_t extract_aux_header_mode(struct bmi2_aux_fifo_data *aux, uint16_t *aux_len, struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Variable to define header frame */ uint8_t frame_header = 0; /* Variable to index the data bytes */ uint16_t data_index; /* Variable to index gyroscope frames */ uint16_t aux_index = 0; /* Variable to indicate auxiliary frames read */ uint16_t frame_to_read = *aux_len; for (data_index = fifo->aux_byte_start_idx; data_index < fifo->length;) { /* Get frame header byte */ frame_header = fifo->data[data_index] & BMI2_FIFO_TAG_INTR_MASK; /* Parse virtual header if S4S is enabled */ parse_if_virtual_header(&frame_header, &data_index, fifo); /* Index shifted to next byte where data starts */ data_index++; switch (frame_header) { /* If header defines auxiliary frame */ case BMI2_FIFO_HEADER_AUX_FRM: case BMI2_FIFO_HEADER_AUX_ACC_FRM: case BMI2_FIFO_HEADER_AUX_GYR_FRM: case BMI2_FIFO_HEADER_ALL_FRM: /* Unpack from normal frames */ rslt = unpack_aux_frame(aux, &data_index, &aux_index, frame_header, fifo, dev); break; /* If header defines only accelerometer frame */ case BMI2_FIFO_HEADER_ACC_FRM: rslt = move_next_frame(&data_index, fifo->acc_frm_len, fifo); break; /* If header defines only gyroscope frame */ case BMI2_FIFO_HEADER_GYR_FRM: rslt = move_next_frame(&data_index, fifo->gyr_frm_len, fifo); break; /* If header defines only gyroscope and accelerometer frame */ case BMI2_FIFO_HEADER_GYR_ACC_FRM: rslt = move_next_frame(&data_index, fifo->acc_gyr_frm_len, fifo); break; /* If header defines sensor time frame */ case BMI2_FIFO_HEADER_SENS_TIME_FRM: rslt = unpack_sensortime_frame(&data_index, fifo); break; /* If header defines skip frame */ case BMI2_FIFO_HEADER_SKIP_FRM: rslt = unpack_skipped_frame(&data_index, fifo); break; /* If header defines Input configuration frame */ case BMI2_FIFO_HEADER_INPUT_CFG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_INPUT_CFG_LENGTH, fifo); break; /* If header defines invalid frame or end of valid data */ case BMI2_FIFO_HEAD_OVER_READ_MSB: /* Move the data index to the last byte */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; case BMI2_FIFO_VIRT_ACT_RECOG_FRM: rslt = move_next_frame(&data_index, BMI2_FIFO_VIRT_ACT_DATA_LENGTH, fifo); break; default: /* Move the data index to the last byte in case * of invalid values */ data_index = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } /* Break if number of frames to be read is complete or FIFO is * empty */ if ((frame_to_read == aux_index) || (rslt == BMI2_W_FIFO_EMPTY)) { break; } } /* Update the gyroscope frame index */ (*aux_len) = aux_index; /* Update the gyroscope byte index */ fifo->aux_byte_start_idx = data_index; return rslt; } /*! * @brief This API is used to parse the auxiliary frame from the FIFO data in * both header mode and header-less mode and update the data_index value which * is used to store the index of the current data byte which is parsed. */ 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) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (frame) { /* If frame contains only auxiliary data */ case BMI2_FIFO_HEADER_AUX_FRM: case BMI2_FIFO_HEAD_LESS_AUX_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->aux_frm_len) > fifo->length) { /* Update the data index as complete*/ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the auxiliary data */ unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_AUX_LENGTH; unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev); /* Update auxiliary frame index */ (*aux_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and auxiliary data */ case BMI2_FIFO_HEADER_AUX_ACC_FRM: case BMI2_FIFO_HEAD_LESS_AUX_ACC_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->acc_aux_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the auxiliary data */ unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ACC_AUX_LENGTH; unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev); /* Update auxiliary frame index */ (*aux_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_AUX_GYR_FRM: case BMI2_FIFO_HEAD_LESS_GYR_AUX_FRM: /* Partially read, then skip the data */ if (((*idx) + fifo->aux_gyr_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the auxiliary data */ unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_GYR_AUX_LENGTH; unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev); /* Update auxiliary frame index */ (*aux_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer, gyroscope and auxiliary data */ case BMI2_FIFO_HEADER_ALL_FRM: case BMI2_FIFO_HEAD_LESS_ALL_FRM: /* Partially read, then skip the data */ if ((*idx + fifo->all_frm_len) > fifo->length) { /* Move the data index to the last byte */ (*idx) = fifo->length; rslt = BMI2_OK; break; } /* Get the auxiliary data */ unpack_aux_data(&aux[(*aux_idx)], (*idx), fifo); /* Update data index */ (*idx) = (*idx) + BMI2_FIFO_ALL_LENGTH; unpack_virtual_aux_data(&aux[(*aux_idx)], idx, aux_idx, fifo, dev); /* Update auxiliary frame index */ (*aux_idx)++; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only accelerometer data */ case BMI2_FIFO_HEADER_ACC_FRM: case BMI2_FIFO_HEAD_LESS_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains only gyroscope data */ case BMI2_FIFO_HEADER_GYR_FRM: case BMI2_FIFO_HEAD_LESS_GYR_FRM: /* Update data index */ (*idx) = (*idx) + fifo->gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; /* If frame contains accelerometer and gyroscope data */ case BMI2_FIFO_HEADER_GYR_ACC_FRM: case BMI2_FIFO_HEAD_LESS_GYR_ACC_FRM: /* Update data index */ (*idx) = (*idx) + fifo->acc_gyr_frm_len; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; break; default: /* Move the data index to the last byte in case of * invalid values */ (*idx) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; break; } return rslt; } /*! * @brief This internal API is used to unpack virtual auxillary sensortime data. */ static void unpack_virtual_aux_data(struct bmi2_aux_fifo_data *aux, uint16_t *idx, const uint16_t *aux_idx, const struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Get virtual sensor time if S4S is enabled */ if (dev->sens_en_stat & BMI2_EXT_SENS_SEL) { unpack_virt_aux_sensor_time(&aux[(*aux_idx)], idx, fifo); } } /*! * @brief This internal API is used to parse auxiliary data from the FIFO data. */ static void unpack_aux_data(struct bmi2_aux_fifo_data *aux, uint16_t data_start_index, const struct bmi2_fifo_frame *fifo) { /* Variables to store index */ uint16_t idx = 0; /* Get auxiliary data */ for (; idx < 8; idx++) { aux->data[idx] = fifo->data[data_start_index++]; } } /*! * @brief This internal API parses virtual frame header from the FIFO data. */ static void parse_if_virtual_header(uint8_t *frame_header, uint16_t *data_index, const struct bmi2_fifo_frame *fifo) { /* Variable to extract virtual header byte */ uint8_t virtual_header_mode; /* Extract virtual header mode from the frame header */ virtual_header_mode = BMI2_GET_BITS(*frame_header, BMI2_FIFO_VIRT_FRM_MODE); /* If the extracted header byte is a virtual header */ if (virtual_header_mode == BMI2_FIFO_VIRT_FRM_MODE) { /* If frame header is not activity recognition header */ if (*frame_header != 0xC8) { /* Index shifted to next byte where sensor frame is present */ (*data_index) = (*data_index) + 1; /* Get the sensor frame header */ *frame_header = fifo->data[*data_index] & BMI2_FIFO_TAG_INTR_MASK; } } } /*! * @brief This internal API gets sensor time from the accelerometer and * gyroscope virtual frames and updates in the data structure. */ static void unpack_virt_sensor_time(struct bmi2_sens_axes_data *sens, uint16_t *idx, const struct bmi2_fifo_frame *fifo) { /* Variables to define 3 bytes of sensor time */ uint32_t sensor_time_byte3; uint16_t sensor_time_byte2; uint8_t sensor_time_byte1; /* Get sensor time from the FIFO data */ sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16); sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8; sensor_time_byte1 = fifo->data[(*idx)]; /* Store sensor time in the sensor data structure */ sens->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); /* Move the data index by 3 bytes */ (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH; } /*! * @brief This internal API gets sensor time from the auxiliary virtual * frames and updates in the data structure. */ static void unpack_virt_aux_sensor_time(struct bmi2_aux_fifo_data *aux, uint16_t *idx, const struct bmi2_fifo_frame *fifo) { /* Variables to define 3 bytes of sensor time */ uint32_t sensor_time_byte3; uint16_t sensor_time_byte2; uint8_t sensor_time_byte1; /* Get sensor time from the FIFO data */ sensor_time_byte3 = (uint32_t)(fifo->data[(*idx) + BMI2_SENSOR_TIME_MSB_BYTE] << 16); sensor_time_byte2 = (uint16_t) fifo->data[(*idx) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8; sensor_time_byte1 = fifo->data[(*idx)]; /* Store sensor time in the sensor data structure */ aux->virt_sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); /* Move the data index by 3 bytes */ (*idx) = (*idx) + BMI2_SENSOR_TIME_LENGTH; } /*! * @brief This internal API is used to reset the FIFO related configurations in * the FIFO frame structure for the next FIFO read. */ static void reset_fifo_frame_structure(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev) { /* Reset FIFO data structure */ fifo->acc_byte_start_idx = 0; fifo->aux_byte_start_idx = 0; fifo->gyr_byte_start_idx = 0; fifo->sensor_time = 0; fifo->skipped_frame_count = 0; fifo->act_recog_byte_start_idx = 0; /* If S4S is enabled */ if ((dev->sens_en_stat & BMI2_EXT_SENS_SEL) == BMI2_EXT_SENS_SEL) { fifo->acc_frm_len = BMI2_FIFO_VIRT_ACC_LENGTH; fifo->gyr_frm_len = BMI2_FIFO_VIRT_GYR_LENGTH; fifo->aux_frm_len = BMI2_FIFO_VIRT_AUX_LENGTH; fifo->acc_gyr_frm_len = BMI2_FIFO_VIRT_ACC_GYR_LENGTH; fifo->acc_aux_frm_len = BMI2_FIFO_VIRT_ACC_AUX_LENGTH; fifo->aux_gyr_frm_len = BMI2_FIFO_VIRT_GYR_AUX_LENGTH; fifo->all_frm_len = BMI2_FIFO_VIRT_ALL_LENGTH; /* If S4S is not enabled */ } else { fifo->acc_frm_len = BMI2_FIFO_ACC_LENGTH; fifo->gyr_frm_len = BMI2_FIFO_GYR_LENGTH; fifo->aux_frm_len = BMI2_FIFO_AUX_LENGTH; fifo->acc_gyr_frm_len = BMI2_FIFO_ACC_GYR_LENGTH; fifo->acc_aux_frm_len = BMI2_FIFO_ACC_AUX_LENGTH; fifo->aux_gyr_frm_len = BMI2_FIFO_GYR_AUX_LENGTH; fifo->all_frm_len = BMI2_FIFO_ALL_LENGTH; } } /*! * @brief This API internal checks whether the FIFO data read is an empty frame. * If empty frame, index is moved to the last byte. */ static int8_t check_empty_fifo(uint16_t *data_index, const struct bmi2_fifo_frame *fifo) { /* Variables to define error */ int8_t rslt = BMI2_OK; /* Validate data index */ if (((*data_index) + 6) < fifo->length) { /* Check if FIFO is empty */ if (((fifo->data[(*data_index)] == BMI2_FIFO_LSB_CONFIG_CHECK) && (fifo->data[(*data_index) + 1] == BMI2_FIFO_MSB_CONFIG_CHECK) && (fifo->data[(*data_index) + 2] == BMI2_FIFO_LSB_CONFIG_CHECK)) && ((fifo->data[(*data_index) + 3] == BMI2_FIFO_MSB_CONFIG_CHECK) && (fifo->data[(*data_index) + 4] == BMI2_FIFO_LSB_CONFIG_CHECK)) && ((fifo->data[(*data_index) + 5] == BMI2_FIFO_MSB_CONFIG_CHECK))) { /* Move the data index to the last byte to mark completion */ (*data_index) = fifo->length; /* FIFO is empty */ rslt = BMI2_W_FIFO_EMPTY; } else { /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; } } return rslt; } /*! * @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. */ static int8_t move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bmi2_fifo_frame *fifo) { /* Variables to define error */ int8_t rslt = BMI2_OK; /* Validate data index */ if (((*data_index) + current_frame_length) > fifo->length) { /* Move the data index to the last byte */ (*data_index) = fifo->length; rslt = BMI2_OK; } else { /* Move the data index to next frame */ (*data_index) = (*data_index) + current_frame_length; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; } return rslt; } /*! * @brief This internal API is used to parse and store the sensor time from the * FIFO data. */ static int8_t unpack_sensortime_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo) { /* Variables to define error */ int8_t rslt = BMI2_OK; /* Variables to define 3 bytes of sensor time */ uint32_t sensor_time_byte3 = 0; uint16_t sensor_time_byte2 = 0; uint8_t sensor_time_byte1 = 0; /* Validate data index */ if (((*data_index) + BMI2_SENSOR_TIME_LENGTH) > fifo->length) { /* Move the data index to the last byte */ (*data_index) = fifo->length; rslt = BMI2_OK; } else { /* Get sensor time from the FIFO data */ sensor_time_byte3 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_MSB_BYTE] << 16; sensor_time_byte2 = fifo->data[(*data_index) + BMI2_SENSOR_TIME_XLSB_BYTE] << 8; sensor_time_byte1 = fifo->data[(*data_index)]; /* Update sensor time in the FIFO structure */ fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); /* Move the data index by 3 bytes */ (*data_index) = (*data_index) + BMI2_SENSOR_TIME_LENGTH; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; } return rslt; } /*! * @brief This internal API is used to parse and store the skipped frame count * from the FIFO data. */ static int8_t unpack_skipped_frame(uint16_t *data_index, struct bmi2_fifo_frame *fifo) { /* Variables to define error */ int8_t rslt = BMI2_OK; /* Validate data index */ if ((*data_index) >= fifo->length) { /* Update the data index to the last byte */ (*data_index) = fifo->length; rslt = BMI2_OK; } else { /* Update skipped frame count in the FIFO structure */ fifo->skipped_frame_count = fifo->data[(*data_index)]; /* Move the data index by 1 byte */ (*data_index) = (*data_index) + 1; /* More frames could be read */ rslt = BMI2_W_PARTIAL_READ; } return rslt; } /*! * @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. */ static int8_t pre_self_test_config(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Structure to define sensor configurations */ struct bmi2_sens_config sens_cfg; /* List the sensors to be selected */ uint8_t sens_sel = BMI2_ACCEL; /* Enable accelerometer */ rslt = bmi2_sensor_enable(&sens_sel, 1, dev); dev->delay_us(1000, dev->intf_ptr); /* Enable self-test amplitude */ if (rslt == BMI2_OK) { rslt = set_accel_self_test_amp(BMI2_ENABLE, dev); } if (rslt == BMI2_OK) { /* Select accelerometer for sensor configurations */ sens_cfg.type = BMI2_ACCEL; /* Get the default values */ rslt = bmi2_get_sensor_config(&sens_cfg, 1, dev); if (rslt == BMI2_OK) { /* Set the configurations required for self-test */ sens_cfg.cfg.acc.odr = BMI2_ACC_ODR_1600HZ; sens_cfg.cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4; sens_cfg.cfg.acc.filter_perf = BMI2_PERF_OPT_MODE; sens_cfg.cfg.acc.range = BMI2_ACC_RANGE_16G; /* Set accelerometer configurations */ rslt = bmi2_set_sensor_config(&sens_cfg, 1, dev); } } return rslt; } /*! * @brief This internal API performs the steps needed for self-test operation * before reading the accelerometer self-test data. */ static int8_t self_test_config(uint8_t sign, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Enable the accelerometer self-test feature */ rslt = set_accel_self_test_enable(BMI2_ENABLE, dev); if (rslt == BMI2_OK) { /* Selects the sign of accelerometer self-test excitation */ rslt = set_acc_self_test_sign(sign, dev); } return rslt; } /*! * @brief This internal API enables or disables the accelerometer self-test * feature in the sensor. */ static int8_t set_accel_self_test_enable(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define data */ uint8_t data = 0; /* Enable/Disable self-test feature */ rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BIT_POS0(data, BMI2_ACC_SELF_TEST_EN, enable); rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); } return rslt; } /*! * @brief This internal API selects the sign for accelerometer self-test * excitation. */ static int8_t set_acc_self_test_sign(uint8_t sign, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define data */ uint8_t data = 0; /* Select the sign for self-test excitation */ rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_SIGN, sign); rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); } return rslt; } /*! * @brief This internal API sets the amplitude of the accelerometer self-test * deflection in the sensor. */ static int8_t set_accel_self_test_amp(uint8_t amp, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define data */ uint8_t data = 0; /* Select amplitude of the self-test deflection */ rslt = bmi2_get_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_ACC_SELF_TEST_AMP, amp); rslt = bmi2_set_regs(BMI2_ACC_SELF_TEST_ADDR, &data, 1, dev); } return rslt; } /*! * @brief This internal API reads the accelerometer data for x,y and z axis from * the sensor. The data units is in LSB format. */ static int8_t read_accel_xyz(struct bmi2_sens_axes_data *accel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Array to define data buffer */ uint8_t data[BMI2_ACC_NUM_BYTES] = { 0 }; rslt = bmi2_get_regs(BMI2_ACC_X_LSB_ADDR, data, BMI2_ACC_NUM_BYTES, dev); if (rslt == BMI2_OK) { /* Accelerometer data x axis */ msb = data[1]; lsb = data[0]; accel->x = (int16_t)((msb << 8) | lsb); /* Accelerometer data y axis */ msb = data[3]; lsb = data[2]; accel->y = (int16_t)((msb << 8) | lsb); /* Accelerometer data z axis */ msb = data[5]; lsb = data[4]; accel->z = (int16_t)((msb << 8) | lsb); } return rslt; } /*! * @brief This internal API reads the gyroscope data for x, y and z axis from * the sensor. The data units is in LSB format. */ static int8_t read_gyro_xyz(struct bmi2_sens_axes_data *gyro, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Array to define data buffer */ uint8_t data[BMI2_GYR_NUM_BYTES] = { 0 }; rslt = bmi2_get_regs(BMI2_GYR_X_LSB_ADDR, data, BMI2_GYR_NUM_BYTES, dev); if (rslt == BMI2_OK) { /* Gyroscope data x axis */ msb = data[1]; lsb = data[0]; gyro->x = (int16_t)((msb << 8) | lsb); /* Gyroscope data y axis */ msb = data[3]; lsb = data[2]; gyro->y = (int16_t)((msb << 8) | lsb); /* Gyroscope data z axis */ msb = data[5]; lsb = data[4]; gyro->z = (int16_t)((msb << 8) | lsb); } return rslt; } /*! * @brief This internal API converts LSB value of accelerometer axes to form * 'g' to 'mg' for self-test. */ static void convert_lsb_g(const struct bmi2_selftest_delta_limit *acc_data_diff, struct bmi2_selftest_delta_limit *acc_data_diff_mg, const struct bmi2_dev *dev) { /* Variable to define LSB/g value of axes */ uint32_t lsb_per_g; /* Range considered for self-test is +/-16g */ uint8_t range = BMI2_ACC_SELF_TEST_RANGE; /* lsb_per_g for the respective resolution and 16g range */ lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range)); /* Accelerometer x value in mg */ acc_data_diff_mg->x = (acc_data_diff->x / (int32_t) lsb_per_g) * 1000; /* Accelerometer y value in mg */ acc_data_diff_mg->y = (acc_data_diff->y / (int32_t) lsb_per_g) * 1000; /* Accelerometer z value in mg */ acc_data_diff_mg->z = (acc_data_diff->z / (int32_t) lsb_per_g) * 1000; } /*! * @brief This internal API is used to calculate the power of a value. */ static int32_t power(int16_t base, uint8_t resolution) { /* Initialize loop */ uint8_t loop = 1; /* Initialize variable to store the power of 2 value */ int32_t value = 1; for (; loop <= resolution; loop++) { value = (int32_t)(value * base); } return value; } /*! * @brief This internal API validates the accelerometer self-test data and * decides the result of self-test operation. */ static int8_t validate_self_test(const struct bmi2_selftest_delta_limit *accel_data_diff) { /* Variable to define error */ int8_t rslt; /* As per the data sheet, The actually measured signal differences should be significantly * larger than the minimum differences for each axis in order for the self-test to pass. */ if ((accel_data_diff->x > BMI2_ST_ACC_X_SIG_MIN_DIFF) && (accel_data_diff->y < BMI2_ST_ACC_Y_SIG_MIN_DIFF) && (accel_data_diff->z > BMI2_ST_ACC_Z_SIG_MIN_DIFF)) { /* Self-test pass */ rslt = BMI2_OK; } else { /* Self-test fail*/ rslt = BMI2_E_SELF_TEST_FAIL; } return rslt; } /*! * @brief This internal API gets the re-mapped x, y and z axes from the sensor. */ static int8_t get_remap_axes(struct bmi2_axes_remap *remap, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for axis re-mapping */ struct bmi2_feature_config remap_config = { 0, 0, 0 }; /* Variable to get the status of advance power save */ uint8_t aps_stat; /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Search for axis re-mapping and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev); if (feat_found) { rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for axis re-mapping */ idx = remap_config.start_addr; /* Get the re-mapped x-axis */ remap->x_axis = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_X_AXIS); /* Get the re-mapped x-axis polarity */ remap->x_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_X_AXIS_SIGN); /* Get the re-mapped y-axis */ remap->y_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS); /* Get the re-mapped y-axis polarity */ remap->y_axis_sign = BMI2_GET_BITS(feat_config[idx], BMI2_Y_AXIS_SIGN); /* Get the re-mapped z-axis */ remap->z_axis = BMI2_GET_BITS(feat_config[idx], BMI2_Z_AXIS); /* Increment byte to fetch the next data */ idx++; /* Get the re-mapped z-axis polarity */ remap->z_axis_sign = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN); } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } return rslt; } /*! * @brief This internal API sets the re-mapped x, y and z axes in the sensor. */ static int8_t set_remap_axes(const struct bmi2_axes_remap *remap, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define the register address */ uint8_t reg_addr = 0; /* Variable to set the re-mapped x-axes in the sensor */ uint8_t x_axis = 0; /* Variable to set the re-mapped y-axes in the sensor */ uint8_t y_axis = 0; /* Variable to set the re-mapped z-axes in the sensor */ uint8_t z_axis = 0; /* Variable to set the re-mapped x-axes sign in the sensor */ uint8_t x_axis_sign = 0; /* Variable to set the re-mapped y-axes sign in the sensor */ uint8_t y_axis_sign = 0; /* Variable to set the re-mapped z-axes sign in the sensor */ uint8_t z_axis_sign = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for axis re-mapping */ struct bmi2_feature_config remap_config = { 0, 0, 0 }; /* Variable to get the status of advance power save */ uint8_t aps_stat; /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Search for axis-re-mapping and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&remap_config, BMI2_AXIS_MAP, dev); if (feat_found) { /* Get the configuration from the page where axis re-mapping feature resides */ rslt = bmi2_get_feat_config(remap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = remap_config.start_addr; /* Set the value of re-mapped x-axis */ x_axis = remap->x_axis & BMI2_X_AXIS_MASK; /* Set the value of re-mapped x-axis sign */ x_axis_sign = ((remap->x_axis_sign << BMI2_X_AXIS_SIGN_POS) & BMI2_X_AXIS_SIGN_MASK); /* Set the value of re-mapped y-axis */ y_axis = ((remap->y_axis << BMI2_Y_AXIS_POS) & BMI2_Y_AXIS_MASK); /* Set the value of re-mapped y-axis sign */ y_axis_sign = ((remap->y_axis_sign << BMI2_Y_AXIS_SIGN_POS) & BMI2_Y_AXIS_SIGN_MASK); /* Set the value of re-mapped z-axis */ z_axis = ((remap->z_axis << BMI2_Z_AXIS_POS) & BMI2_Z_AXIS_MASK); /* Set the value of re-mapped z-axis sign */ z_axis_sign = remap->z_axis_sign & BMI2_Z_AXIS_SIGN_MASK; /* Arrange axes in the first byte */ feat_config[idx] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis; /* Increment the index */ idx++; /* Cannot OR in the second byte since it holds * gyroscope self-offset correction bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_Z_AXIS_SIGN, z_axis_sign); /* Update the register address */ reg_addr = BMI2_FEATURES_REG_ADDR + remap_config.start_addr; /* Set the configuration back to the page */ rslt = bmi2_set_regs(reg_addr, &feat_config[remap_config.start_addr], 2, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } return rslt; } /*! * @brief This internal API clips the gyroscope cross-axis sensitivity within signed 16-bit limit */ static int16_t saturate(int32_t value, uint16_t saturation_val) { int16_t retval = (int16_t)value; if (value > (int32_t)saturation_val) { retval = (int16_t)saturation_val; } else if (value < (-(int32_t)saturation_val - 1)) { retval = -(int16_t)saturation_val - 1; } return retval; } /*! * @brief This internal API corrects the gyroscope cross-axis sensitivity * between the z and the x axis. */ static void comp_gyro_cross_axis_sensitivity(struct bmi2_sens_axes_data *gyr_data, const struct bmi2_dev *dev) { uint16_t int16_max = UINT16_C(32767); /* Get the compensated gyroscope x-axis */ gyr_data->x = saturate((int32_t)(gyr_data->x - (int16_t)(((int32_t) dev->gyr_cross_sens_zx * (int32_t) gyr_data->z) / 512)), int16_max); } /*! * @brief This internal API is used to validate the boundary conditions. */ static int8_t check_boundary_val(uint8_t *val, uint8_t min, uint8_t max, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; if (val != NULL) { /* Check if value is below minimum value */ if (*val < min) { /* Auto correct the invalid value to minimum value */ *val = min; dev->info |= BMI2_I_MIN_VALUE; } /* Check if value is above maximum value */ if (*val > max) { /* Auto correct the invalid value to maximum value */ *val = max; dev->info |= BMI2_I_MAX_VALUE; } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API saves the configurations before performing FOC. */ static int8_t save_accel_foc_config(struct bmi2_accel_config *acc_cfg, uint8_t *aps, uint8_t *acc_en, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get the status from PWR_CTRL register */ uint8_t pwr_ctrl_data = 0; /* Get accelerometer configurations to be saved */ rslt = get_accel_config(acc_cfg, dev); if (rslt == BMI2_OK) { /* Get accelerometer enable status to be saved */ rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); *acc_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_ACC_EN); /* Get advance power save mode to be saved */ if (rslt == BMI2_OK) { rslt = bmi2_get_adv_power_save(aps, dev); } } return rslt; } /*! * @brief This internal sets configurations for performing accelerometer FOC. */ static int8_t set_accel_foc_config(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select the sensor */ uint8_t sens_list = BMI2_ACCEL; /* Variable to set the accelerometer configuration value */ uint8_t acc_conf_data = BMI2_FOC_ACC_CONF_VAL; /* Disabling offset compensation */ rslt = set_accel_offset_comp(BMI2_DISABLE, dev); if (rslt == BMI2_OK) { /* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */ rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, &acc_conf_data, 1, dev); if (rslt == BMI2_OK) { /* Set accelerometer to normal mode by enabling it */ rslt = bmi2_sensor_enable(&sens_list, 1, dev); if (rslt == BMI2_OK) { /* Disable advance power save mode */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } } return rslt; } /*! * @brief This internal API performs Fast Offset Compensation for accelerometer. */ static int8_t perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, const struct bmi2_accel_config *acc_cfg, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_E_INVALID_STATUS; /* Variable to define count */ uint8_t loop; /* Variable to store status read from the status register */ uint8_t reg_status = 0; /* Array of structure to store accelerometer data */ struct bmi2_sens_axes_data accel_value[128] = { { 0 } }; /* Structure to store accelerometer data temporarily */ struct bmi2_foc_temp_value temp = { 0, 0, 0 }; /* Structure to store the average of accelerometer data */ struct bmi2_sens_axes_data accel_avg = { 0, 0, 0, 0 }; /* Variable to define LSB per g value */ uint16_t lsb_per_g = 0; /* Variable to define range */ uint8_t range = 0; /* Structure to store accelerometer data deviation from ideal value */ struct bmi2_offset_delta delta = { 0, 0, 0 }; /* Structure to store accelerometer offset values */ struct bmi2_accel_offset offset = { 0, 0, 0 }; /* Variable tries max 5 times for interrupt then generates timeout */ uint8_t try_cnt; for (loop = 0; loop < 128; loop++) { try_cnt = 5; while (try_cnt && (!(reg_status & BMI2_DRDY_ACC))) { /* 20ms delay for 50Hz ODR */ dev->delay_us(20000, dev->intf_ptr); rslt = bmi2_get_status(®_status, dev); try_cnt--; } if ((rslt == BMI2_OK) && (reg_status & BMI2_DRDY_ACC)) { rslt = read_accel_xyz(&accel_value[loop], dev); } if (rslt == BMI2_OK) { rslt = read_accel_xyz(&accel_value[loop], dev); } if (rslt == BMI2_OK) { /* Store the data in a temporary structure */ temp.x = temp.x + (int32_t)accel_value[loop].x; temp.y = temp.y + (int32_t)accel_value[loop].y; temp.z = temp.z + (int32_t)accel_value[loop].z; } else { break; } } if (rslt == BMI2_OK) { /* Take average of x, y and z data for lesser noise */ accel_avg.x = (int16_t)(temp.x / 128); accel_avg.y = (int16_t)(temp.y / 128); accel_avg.z = (int16_t)(temp.z / 128); /* Get the exact range value */ map_accel_range(acc_cfg->range, &range); /* Get the smallest possible measurable acceleration level given the range and * resolution */ lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range)); /* Compensate acceleration data against gravity */ comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta); /* Scale according to offset register resolution */ scale_accel_offset(range, &delta, &offset); /* Invert the accelerometer offset data */ invert_accel_offset(&offset); /* Write offset data in the offset compensation register */ rslt = write_accel_offset(&offset, dev); /* Enable offset compensation */ if (rslt == BMI2_OK) { rslt = set_accel_offset_comp(BMI2_ENABLE, dev); } } return rslt; } /*! * @brief This internal API enables/disables the offset compensation for * filtered and un-filtered accelerometer data. */ static int8_t set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t data = 0; /* Enable/Disable offset compensation */ rslt = bmi2_get_regs(BMI2_NV_CONF_ADDR, &data, 1, dev); if (rslt == BMI2_OK) { data = BMI2_SET_BITS(data, BMI2_NV_ACC_OFFSET, offset_en); rslt = bmi2_set_regs(BMI2_NV_CONF_ADDR, &data, 1, dev); } return rslt; } /*! * @brief This internal API converts the accelerometer range value into * corresponding integer value. */ static void map_accel_range(uint8_t range_in, uint8_t *range_out) { switch (range_in) { case BMI2_ACC_RANGE_2G: *range_out = 2; break; case BMI2_ACC_RANGE_4G: *range_out = 4; break; case BMI2_ACC_RANGE_8G: *range_out = 8; break; case BMI2_ACC_RANGE_16G: *range_out = 16; break; default: /* By default RANGE 8G is set */ *range_out = 8; break; } } /*! * @brief This internal API compensate the accelerometer data against gravity. */ static void comp_for_gravity(uint16_t lsb_per_g, const struct bmi2_accel_foc_g_value *g_val, const struct bmi2_sens_axes_data *data, struct bmi2_offset_delta *comp_data) { /* Array to store the accelerometer values in LSB */ int16_t accel_value_lsb[3] = { 0 }; /* Convert g-value to LSB */ accel_value_lsb[BMI2_X_AXIS] = (int16_t)(lsb_per_g * g_val->x); accel_value_lsb[BMI2_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y); accel_value_lsb[BMI2_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z); /* Get the compensated values for X, Y and Z axis */ comp_data->x = (data->x - accel_value_lsb[BMI2_X_AXIS]); comp_data->y = (data->y - accel_value_lsb[BMI2_Y_AXIS]); comp_data->z = (data->z - accel_value_lsb[BMI2_Z_AXIS]); } /*! * @brief This internal API scales the compensated accelerometer data according * to the offset register resolution. * * @note The bit position is always greater than 0 since accelerometer data is * 16 bit wide. */ static void scale_accel_offset(uint8_t range, const struct bmi2_offset_delta *comp_data, struct bmi2_accel_offset *data) { /* Variable to store the position of bit having 3.9mg resolution */ int8_t bit_pos_3_9mg; /* Variable to store the position previous of bit having 3.9mg resolution */ int8_t bit_pos_3_9mg_prev_bit; /* Variable to store the round-off value */ uint8_t round_off; /* Find the bit position of 3.9mg */ bit_pos_3_9mg = get_bit_pos_3_9mg(range); /* Round off, consider if the next bit is high */ bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1; round_off = (uint8_t)(power(2, ((uint8_t) bit_pos_3_9mg_prev_bit))); /* Scale according to offset register resolution */ data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); } /*! * @brief This internal API finds the bit position of 3.9mg according to given * range and resolution. */ static int8_t get_bit_pos_3_9mg(uint8_t range) { /* Variable to store the bit position of 3.9mg resolution */ int8_t bit_pos_3_9mg; /* Variable to shift the bits according to the resolution */ uint32_t divisor = 1; /* Scaling factor to get the bit position of 3.9 mg resolution */ int16_t scale_factor = -1; /* Variable to store temporary value */ uint16_t temp; /* Shift left by the times of resolution */ divisor = divisor << 16; /* Get the bit position to be shifted */ temp = (uint16_t)(divisor / (range * 256)); /* Get the scaling factor until bit position is shifted to last bit */ while (temp != 1) { scale_factor++; temp = temp >> 1; } /* Scaling factor is the bit position of 3.9 mg resolution */ bit_pos_3_9mg = (int8_t) scale_factor; return bit_pos_3_9mg; } /*! * @brief This internal API inverts the accelerometer offset data. */ static void invert_accel_offset(struct bmi2_accel_offset *offset_data) { /* Get the offset data */ offset_data->x = (uint8_t)((offset_data->x) * (-1)); offset_data->y = (uint8_t)((offset_data->y) * (-1)); offset_data->z = (uint8_t)((offset_data->z) * (-1)); } /*! * @brief This internal API writes the offset data in the offset compensation * register. */ static int8_t write_accel_offset(const struct bmi2_accel_offset *offset, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to store the offset data */ uint8_t data_array[3] = { 0 }; data_array[0] = offset->x; data_array[1] = offset->y; data_array[2] = offset->z; /* Offset values are written in the offset register */ rslt = bmi2_set_regs(BMI2_ACC_OFF_COMP_0_ADDR, data_array, 3, dev); return rslt; } /*! * @brief This internal API restores the configurations saved before performing * accelerometer FOC. */ static int8_t restore_accel_foc_config(struct bmi2_accel_config *acc_cfg, uint8_t aps, uint8_t acc_en, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get the status from PWR_CTRL register */ uint8_t pwr_ctrl_data = 0; /* Restore the saved accelerometer configurations */ rslt = set_accel_config(acc_cfg, dev); if (rslt == BMI2_OK) { /* Restore the saved accelerometer enable status */ rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); if (rslt == BMI2_OK) { pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_ACC_EN, acc_en); rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); /* Restore the saved advance power save */ if (rslt == BMI2_OK) { rslt = bmi2_set_adv_power_save(aps, dev); } } } return rslt; } /*! * @brief This internal API sets accelerometer configurations like ODR, * bandwidth, performance mode and g-range. */ static int8_t set_accel_config(struct bmi2_accel_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; /* Array to store the default value of accelerometer configuration * reserved registers */ uint8_t data_array[2] = { 0 }; /* Validate bandwidth and performance mode */ rslt = validate_bw_perf_mode(&config->bwp, &config->filter_perf, dev); if (rslt == BMI2_OK) { /* Validate ODR and range */ rslt = validate_odr_range(&config->odr, &config->range, dev); if (rslt == BMI2_OK) { /* Set accelerometer performance mode */ reg_data = BMI2_SET_BITS(data_array[0], BMI2_ACC_FILTER_PERF_MODE, config->filter_perf); /* Set accelerometer bandwidth */ reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_BW_PARAM, config->bwp); /* Set accelerometer ODR */ reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_ACC_ODR, config->odr); /* Copy the register data to the array */ data_array[0] = reg_data; /* Set accelerometer range */ reg_data = BMI2_SET_BIT_POS0(data_array[1], BMI2_ACC_RANGE, config->range); /* Copy the register data to the array */ data_array[1] = reg_data; /* Write accelerometer configuration to ACC_CONFand * ACC_RANGE registers simultaneously as they lie in consecutive places */ rslt = bmi2_set_regs(BMI2_ACC_CONF_ADDR, data_array, 2, dev); /* Get error status to check for invalid configurations */ if (rslt == BMI2_OK) { rslt = cfg_error_status(dev); } } } return rslt; } /*! * @brief This internal API sets gyroscope configurations like ODR, bandwidth, * low power/high performance mode, performance mode and range. It also * maps/un-maps data interrupts to that of hardware interrupt line. */ static int8_t set_gyro_config(struct bmi2_gyro_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store data */ uint8_t reg_data; /* Array to store the default value of gyroscope configuration reserved registers */ uint8_t data_array[2] = { 0 }; /* Validate gyroscope configurations */ rslt = validate_gyro_config(config, dev); if (rslt == BMI2_OK) { /* Set gyroscope performance mode */ reg_data = BMI2_SET_BITS(data_array[0], BMI2_GYR_FILTER_PERF_MODE, config->filter_perf); /* Set gyroscope noise performance mode */ reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_NOISE_PERF_MODE, config->noise_perf); /* Set gyroscope bandwidth */ reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_BW_PARAM, config->bwp); /* Set gyroscope ODR */ reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_ODR, config->odr); /* Copy the register data to the array */ data_array[0] = reg_data; /* Set gyroscope OIS range */ reg_data = BMI2_SET_BITS(data_array[1], BMI2_GYR_OIS_RANGE, config->ois_range); /* Set gyroscope range */ reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_GYR_RANGE, config->range); /* Copy the register data to the array */ data_array[1] = reg_data; /* Write accelerometer configuration to GYR_CONF and GYR_RANGE * registers simultaneously as they lie in consecutive places */ rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, data_array, 2, dev); /* Get error status to check for invalid configurations */ if (rslt == BMI2_OK) { rslt = cfg_error_status(dev); } } return rslt; } /*! * @brief This internal API saves the configurations before performing gyroscope * FOC. */ static int8_t save_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t *aps, uint8_t *gyr_en, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get the status from PWR_CTRL register */ uint8_t pwr_ctrl_data = 0; /* Get gyroscope configurations to be saved */ rslt = get_gyro_config(gyr_cfg, dev); if (rslt == BMI2_OK) { /* Get gyroscope enable status to be saved */ rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); *gyr_en = BMI2_GET_BITS(pwr_ctrl_data, BMI2_GYR_EN); /* Get advance power save mode to be saved */ if (rslt == BMI2_OK) { rslt = bmi2_get_adv_power_save(aps, dev); } } return rslt; } /*! * @brief This internal sets configurations for performing gyroscope FOC. */ static int8_t set_gyro_foc_config(struct bmi2_dev *dev) { int8_t rslt; /* Variable to select the sensor */ uint8_t sens_list = BMI2_GYRO; /* Array to set the gyroscope configuration value (ODR, Performance mode * and bandwidth) and gyroscope range */ uint8_t gyr_conf_data[2] = { BMI2_FOC_GYR_CONF_VAL, BMI2_GYR_RANGE_2000 }; /* Disabling gyroscope offset compensation */ rslt = bmi2_set_gyro_offset_comp(BMI2_DISABLE, dev); if (rslt == BMI2_OK) { /* Set gyroscope configurations to 25Hz, continuous mode, * CIC mode, and 2000 dps range */ rslt = bmi2_set_regs(BMI2_GYR_CONF_ADDR, gyr_conf_data, 2, dev); if (rslt == BMI2_OK) { /* Set gyroscope to normal mode by enabling it */ rslt = bmi2_sensor_enable(&sens_list, 1, dev); if (rslt == BMI2_OK) { /* Disable advance power save mode */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } } return rslt; } /*! * @brief This internal API inverts the gyroscope offset data. */ static void invert_gyro_offset(struct bmi2_sens_axes_data *offset_data) { /* Invert the values */ offset_data->x = (int16_t)((offset_data->x) * (-1)); offset_data->y = (int16_t)((offset_data->y) * (-1)); offset_data->z = (int16_t)((offset_data->z) * (-1)); } /*! * @brief This internal API restores the gyroscope configurations saved * before performing FOC. */ static int8_t restore_gyro_config(struct bmi2_gyro_config *gyr_cfg, uint8_t aps, uint8_t gyr_en, struct bmi2_dev *dev) { int8_t rslt; uint8_t pwr_ctrl_data = 0; /* Restore the saved gyroscope configurations */ rslt = set_gyro_config(gyr_cfg, dev); if (rslt == BMI2_OK) { /* Restore the saved gyroscope enable status */ rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); if (rslt == BMI2_OK) { pwr_ctrl_data = BMI2_SET_BITS(pwr_ctrl_data, BMI2_GYR_EN, gyr_en); rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &pwr_ctrl_data, 1, dev); /* Restore the saved advance power save */ if (rslt == BMI2_OK) { rslt = bmi2_set_adv_power_save(aps, dev); } } } return rslt; } /*! * @brief This internal API saturates the gyroscope data value before writing to * to 10 bit offset register. */ static void saturate_gyro_data(struct bmi2_sens_axes_data *gyr_off) { if (gyr_off->x > 511) { gyr_off->x = 511; } if (gyr_off->x < -512) { gyr_off->x = -512; } if (gyr_off->y > 511) { gyr_off->y = 511; } if (gyr_off->y < -512) { gyr_off->y = -512; } if (gyr_off->z > 511) { gyr_off->z = 511; } if (gyr_off->z < -512) { gyr_off->z = -512; } } /*! * @brief This internal API is used to validate the device structure pointer for * null conditions. */ static int8_t null_ptr_check(const struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL)) { /* Device structure pointer is not valid */ rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API is to get the status of st_status from gry_crt_conf register */ static int8_t get_st_running(uint8_t *st_status, struct bmi2_dev *dev) { int8_t rslt; uint8_t reg_data = 0; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Get the status of crt running */ rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { (*st_status) = BMI2_GET_BITS(reg_data, BMI2_GYR_CRT_RUNNING); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API enables/disables the CRT running. */ static int8_t set_st_running(uint8_t st_status, struct bmi2_dev *dev) { int8_t rslt; uint8_t reg_data = 0; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_CRT_RUNNING, st_status); rslt = bmi2_set_regs(BMI2_GYR_CRT_CONF_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This API gets the status of rdy for dl bit. */ static int8_t get_rdy_for_dl(uint8_t *rdy_for_dl, struct bmi2_dev *dev) { int8_t rslt; uint8_t reg_data = 0; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Get the status of rdy_fo_dl */ rslt = bmi2_get_regs(BMI2_GYR_CRT_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { (*rdy_for_dl) = BMI2_GET_BITS(reg_data, BMI2_GYR_RDY_FOR_DL); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API does the crt process if max burst length is not zero. */ static int8_t process_crt_download(uint8_t last_byte_flag, struct bmi2_dev *dev) { int8_t rslt; uint8_t rdy_for_dl = 0; uint8_t cmd = BMI2_G_TRIGGER_CMD; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { rslt = get_rdy_for_dl(&rdy_for_dl, dev); } /* Trigger next CRT command */ if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev); } if ((!last_byte_flag) && (rslt == BMI2_OK)) { rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, rdy_for_dl, dev); } return rslt; } /*! * @brief This API to write the 2kb size of crt configuration */ static int8_t write_crt_config_file(uint16_t write_len, uint16_t config_file_size, uint16_t start_index, struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; uint16_t index = 0; uint8_t last_byte_flag = 0; uint8_t remain = (uint8_t)(config_file_size % write_len); uint16_t balance_byte = 0; if (!remain) { /* Write the configuration file */ for (index = start_index; (index < (start_index + config_file_size)) && (rslt == BMI2_OK); index += write_len) { rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev); if (index >= ((start_index + config_file_size) - (write_len))) { last_byte_flag = 1; } if (rslt == BMI2_OK) { rslt = process_crt_download(last_byte_flag, dev); } } } else { /* Get the balance bytes */ balance_byte = (uint16_t)start_index + (uint16_t)config_file_size - (uint16_t)remain; /* Write the configuration file for the balance bytes */ for (index = start_index; (index < balance_byte) && (rslt == BMI2_OK); index += write_len) { rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev); if (rslt == BMI2_OK) { rslt = process_crt_download(last_byte_flag, dev); } } if (rslt == BMI2_OK) { /* Write the remaining bytes in 2 bytes length */ write_len = 2; rslt = set_maxburst_len(write_len, dev); /* Write the configuration file for the remaining bytes */ for (index = balance_byte; (index < (start_index + config_file_size)) && (rslt == BMI2_OK); index += write_len) { rslt = upload_file((dev->config_file_ptr + index), index, write_len, dev); if (index < ((start_index + config_file_size) - write_len)) { last_byte_flag = 1; } if (rslt == BMI2_OK) { rslt = process_crt_download(last_byte_flag, dev); } } } } return rslt; } /*! * @brief This API is to wait till the rdy for dl bit toggles after every pack of bytes. */ static int8_t wait_rdy_for_dl_toggle(uint8_t retry_complete, uint8_t download_ready, struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; uint8_t dl_ready = 0; uint8_t st_status = 0; while ((rslt == BMI2_OK) && (retry_complete--)) { rslt = get_rdy_for_dl(&dl_ready, dev); if (download_ready != dl_ready) { break; } dev->delay_us(BMI2_CRT_READY_FOR_DOWNLOAD_US, dev->intf_ptr); } if ((rslt == BMI2_OK) && (download_ready == dl_ready)) { rslt = BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT; } if (rslt == BMI2_OK) { rslt = get_st_running(&st_status, dev); if ((rslt == BMI2_OK) && (st_status == 0)) { rslt = BMI2_E_ST_ALREADY_RUNNING; } } return rslt; } /*! * @brief This API is to wait till crt status complete. */ static int8_t wait_st_running(uint8_t retry_complete, struct bmi2_dev *dev) { uint8_t st_status = 1; int8_t rslt = BMI2_OK; while (retry_complete--) { rslt = get_st_running(&st_status, dev); if ((rslt == BMI2_OK) && (st_status == 0)) { break; } dev->delay_us(BMI2_CRT_WAIT_RUNNING_US, dev->intf_ptr); } if ((rslt == BMI2_OK) && (st_status == 1)) { rslt = BMI2_E_ST_ALREADY_RUNNING; } return rslt; } /*! * @brief This api is used to perform gyroscope self-test. */ int8_t bmi2_do_gyro_st(struct bmi2_dev *dev) { int8_t rslt; rslt = do_gtrigger_test(BMI2_SELECT_GYRO_SELF_TEST, dev); return rslt; } /*! * @brief This API is to run the CRT process for both max burst length 0 and non zero condition. */ int8_t bmi2_do_crt(struct bmi2_dev *dev) { int8_t rslt; rslt = do_gtrigger_test(BMI2_SELECT_CRT, dev); return rslt; } /*! * @brief This API is to run the crt process for both max burst length 0 and non zero condition. */ static int8_t do_gtrigger_test(uint8_t gyro_st_crt, struct bmi2_dev *dev) { int8_t rslt; uint8_t st_status = 0; uint8_t max_burst_length = 0; struct bmi2_gyro_self_test_status gyro_st_result = { 0 }; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Check if the variant supports this feature */ if (dev->variant_feature & BMI2_CRT_RTOSK_ENABLE) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } /* Get max burst length */ if (rslt == BMI2_OK) { rslt = get_maxburst_len(&max_burst_length, dev); } /* Checking for CRT running status */ if (rslt == BMI2_OK) { rslt = get_st_running(&st_status, dev); } /* CRT is not running and Max burst length is zero */ if (st_status == 0) { rslt = gyro_crt_test(max_burst_length, gyro_st_crt, dev); } else { rslt = BMI2_E_ST_ALREADY_RUNNING; } if (rslt == BMI2_OK) { if (gyro_st_crt == BMI2_SELECT_GYRO_SELF_TEST) { rslt = gyro_self_test_completed(&gyro_st_result, dev); } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } } return rslt; } /*! * @brief This API to set up environment for processing the crt. */ static int8_t crt_prepare_setup(struct bmi2_dev *dev) { int8_t rslt; /* Variable to select the sensor */ uint8_t sens_list = BMI2_GYRO; rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Disable gyroscope */ rslt = bmi2_sensor_disable(&sens_list, 1, dev); } /* Disable FIFO for all sensors */ if (rslt == BMI2_OK) { rslt = bmi2_set_fifo_config(BMI2_FIFO_ALL_EN, BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Enable accelerometer */ sens_list = BMI2_ACCEL; rslt = bmi2_sensor_enable(&sens_list, 1, dev); } if (rslt == BMI2_OK) { /* Disable Abort after 1 msec */ dev->delay_us(1000, dev->intf_ptr); rslt = abort_bmi2(BMI2_DISABLE, dev); } return rslt; } /*! * @brief This API is to update the CRT or gyro self-test final result. */ static int8_t crt_gyro_st_update_result(struct bmi2_dev *dev) { int8_t rslt; struct bmi2_gyr_user_gain_status user_gain_stat = { 0, 0, 0, 0 }; rslt = null_ptr_check(dev); /* CRT status has to be read from the config register map */ if (rslt == BMI2_OK) { rslt = get_gyro_gain_update_status(&user_gain_stat, dev); } if (rslt == BMI2_OK) { switch (user_gain_stat.g_trigger_status) { case BMI2_G_TRIGGER_NO_ERROR: /* CRT is successful - Reset the Max Burst Length */ rslt = set_maxburst_len(0, dev); break; case BMI2_G_TRIGGER_DL_ERROR: /* CRT is Download Error - Keep non zero value for Max Burst Length */ rslt = set_maxburst_len(dev->read_write_len, dev); if (rslt == BMI2_OK) { rslt = BMI2_E_DL_ERROR; } break; case BMI2_G_TRIGGER_ABORT_ERROR: /* Command is aborted either by host via the block bit or due to motion * detection. Keep non zero value for Max Burst Length */ rslt = set_maxburst_len(dev->read_write_len, dev); if (rslt == BMI2_OK) { rslt = BMI2_E_ABORT_ERROR; } break; case BMI2_G_TRIGGER_PRECON_ERROR: /* Pre-condition to start the feature was not completed. */ rslt = BMI2_E_PRECON_ERROR; break; default: rslt = BMI2_E_INVALID_STATUS; break; } } return rslt; } /*! * @brief This internal API gets the max burst length. */ static int8_t get_maxburst_len(uint8_t *max_burst_len, struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; uint8_t idx = 0; uint8_t feat_found = 0; struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 }; uint8_t aps_stat; if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0) { *max_burst_len = 0; return BMI2_OK; } /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Search for max burst length */ feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev); if (feat_found) { rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for max burst length */ idx = maxburst_length_bytes.start_addr; /* Get the max burst length */ *max_burst_len = feat_config[idx]; } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } return rslt; } /*! * @brief This internal API sets the max burst length. */ static int8_t set_maxburst_len(const uint16_t write_len_byte, struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; uint8_t idx = 0; uint8_t reg_addr = 0; uint8_t max_burst_len = 0; uint8_t feat_found = 0; struct bmi2_feature_config maxburst_length_bytes = { 0, 0, 0 }; uint8_t aps_stat; uint16_t burst_len = write_len_byte / 2; /* for variant that support crt outside fifo, do not modify the max burst len */ if ((dev->variant_feature & BMI2_CRT_IN_FIFO_NOT_REQ) != 0) { return BMI2_OK; } /* Max burst length is only 1 byte */ if (burst_len > BMI2_CRT_MAX_BURST_WORD_LENGTH) { max_burst_len = UINT8_C(0xFF); } else { max_burst_len = (uint8_t)burst_len; } /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Search for axis-re-mapping and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&maxburst_length_bytes, BMI2_MAX_BURST_LEN, dev); if (feat_found) { /* Get the configuration from the page where axis * re-mapping feature resides */ rslt = bmi2_get_feat_config(maxburst_length_bytes.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = maxburst_length_bytes.start_addr; /* update Max burst length */ feat_config[idx] = max_burst_len; /* Update the register address */ reg_addr = BMI2_FEATURES_REG_ADDR + maxburst_length_bytes.start_addr; /* Set the configuration back to the page */ rslt = bmi2_set_regs(reg_addr, &feat_config[maxburst_length_bytes.start_addr], 2, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } return rslt; } /*! * @brief This api is used to trigger the preparation for system for NVM programming. */ static int8_t set_nvm_prep_prog(uint8_t nvm_prep, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; uint8_t reg_addr = 0; /* Initialize feature configuration for nvm preparation*/ struct bmi2_feature_config nvm_config = { 0, 0, 0 }; /* Search for bmi2 gyro self offset correction feature as nvm program preparation feature is * present in the same Word and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&nvm_config, BMI2_NVM_PROG_PREP, dev); if (feat_found) { /* Get the configuration from the page where nvm preparation feature enable feature * resides */ rslt = bmi2_get_feat_config(nvm_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for nvm preparation feature enable */ idx = nvm_config.start_addr; /* update nvm_prog_prep enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_NVM_PREP_FEATURE_EN, nvm_prep); /* Update the register address */ reg_addr = BMI2_FEATURES_REG_ADDR + nvm_config.start_addr - 1; /* Set the configuration back to the page */ rslt = bmi2_set_regs(reg_addr, &feat_config[nvm_config.start_addr - 1], 2, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This api is used to enable the CRT. */ static int8_t select_self_test(uint8_t gyro_st_crt, struct bmi2_dev *dev) { int8_t rslt; uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; uint8_t idx = 0; uint8_t feat_found; uint8_t reg_addr = 0; struct bmi2_feature_config gyro_self_test_crt_config = { 0, 0, 0 }; /* Search for bmi2 crt gyro self-test feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&gyro_self_test_crt_config, BMI2_CRT_GYRO_SELF_TEST, dev); if (feat_found) { /* Get the configuration from the page where gyro self-test and crt enable feature * resides */ rslt = bmi2_get_feat_config(gyro_self_test_crt_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = gyro_self_test_crt_config.start_addr; /* Update the gyro self-test crt enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_GYRO_SELF_TEST_CRT_EN, gyro_st_crt); /* Update the register address */ reg_addr = BMI2_FEATURES_REG_ADDR + (gyro_self_test_crt_config.start_addr - 1); /* Set the configuration back to the page */ rslt = bmi2_set_regs(reg_addr, &feat_config[gyro_self_test_crt_config.start_addr - 1], 2, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This api is used to abort ongoing crt or gyro self-test. */ int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; uint8_t aps_stat; uint8_t st_running = 0; uint8_t cmd = BMI2_G_TRIGGER_CMD; /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } /* Checking for ST running status */ if (rslt == BMI2_OK) { rslt = get_st_running(&st_running, dev); if (rslt == BMI2_OK) { /* ST is not running */ if (st_running == 0) { rslt = BMI2_E_ST_NOT_RUNING; } } } if (rslt == BMI2_OK) { rslt = abort_bmi2(BMI2_ENABLE, dev); } /* send the g trigger command */ if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev); } if (rslt == BMI2_OK) { /* wait until st_status = 0 or time out is 2 seconds */ rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev); } /* Check G trigger status for error */ if (rslt == BMI2_OK) { rslt = crt_gyro_st_update_result(dev); if (rslt == BMI2_E_ABORT_ERROR) { rslt = BMI2_OK; } else { rslt = BMI2_E_ABORT_ERROR; } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This api is used to enable/disable abort. */ static int8_t abort_bmi2(uint8_t abort_enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; uint8_t reg_addr = 0; /* Initialize feature configuration for blocking a feature */ struct bmi2_feature_config block_config = { 0, 0, 0 }; /* Search for bmi2 Abort feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&block_config, BMI2_ABORT_CRT_GYRO_SELF_TEST, dev); if (feat_found) { /* Get the configuration from the page where abort(block) feature resides */ rslt = bmi2_get_feat_config(block_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = block_config.start_addr; /* update the gyro self-test crt abort enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ABORT_FEATURE_EN, abort_enable); /* Update the register address */ reg_addr = BMI2_FEATURES_REG_ADDR + (block_config.start_addr - 1); /* Set the configuration back to the page */ rslt = bmi2_set_regs(reg_addr, &feat_config[block_config.start_addr - 1], 2, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This api is use to wait till gyro self-test is completed and update the status of gyro * self-test. */ static int8_t gyro_self_test_completed(struct bmi2_gyro_self_test_status *gyro_st_result, struct bmi2_dev *dev) { int8_t rslt; uint8_t reg_data; rslt = bmi2_get_regs(BMI2_GYR_SELF_TEST_AXES_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { gyro_st_result->gyr_st_axes_done = BMI2_GET_BIT_POS0(reg_data, BMI2_GYR_ST_AXES_DONE); if (gyro_st_result->gyr_st_axes_done == 0x01) { gyro_st_result->gyr_axis_x_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_X_OK); gyro_st_result->gyr_axis_y_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Y_OK); gyro_st_result->gyr_axis_z_ok = BMI2_GET_BITS(reg_data, BMI2_GYR_AXIS_Z_OK); } else { rslt = BMI2_E_SELF_TEST_NOT_DONE; } } return rslt; } /*! @brief This api is used for programming the non volatile memory(nvm) */ int8_t bmi2_nvm_prog(struct bmi2_dev *dev) { int8_t rslt = BMI2_OK; /* Variable to get the status of advance power save */ uint8_t aps_stat; uint8_t status; uint8_t cmd_rdy; uint8_t reg_data; uint8_t write_timeout = 100; /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } /* Check the Write status and proceed only if there is no ongoing write cycle */ if (rslt == BMI2_OK) { rslt = bmi2_get_status(&status, dev); cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY); if (cmd_rdy) { rslt = set_nvm_prep_prog(BMI2_ENABLE, dev); if (rslt == BMI2_OK) { dev->delay_us(40000, dev->intf_ptr); /* Set the NVM_CONF.nvm_prog_en bit in order to enable the NVM * programming */ reg_data = BMI2_NVM_UNLOCK_ENABLE; rslt = bmi2_set_regs(BMI2_NVM_CONF_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Send NVM prog command to command register */ reg_data = BMI2_NVM_PROG_CMD; rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, ®_data, 1, dev); } /* Wait till write operation is completed */ if (rslt == BMI2_OK) { while (write_timeout--) { rslt = bmi2_get_status(&status, dev); if (rslt == BMI2_OK) { cmd_rdy = BMI2_GET_BITS(status, BMI2_CMD_RDY); /* Nvm is complete once cmd_rdy is 1, break if 1 */ if (cmd_rdy) { break; } /* Wait till cmd_rdy becomes 1 indicating * nvm process completes */ dev->delay_us(20000, dev->intf_ptr); } } } if ((rslt == BMI2_OK) && (cmd_rdy != BMI2_TRUE)) { rslt = BMI2_E_WRITE_CYCLE_ONGOING; } } } else { rslt = BMI2_E_WRITE_CYCLE_ONGOING; } } if (rslt == BMI2_OK) { /* perform soft reset */ rslt = bmi2_soft_reset(dev); } /* Enable Advance power save if disabled while configuring and not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This internal API extract the identification feature from the DMR page * and retrieve the config file major and minor version. */ static int8_t extract_config_file(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev) { /* Variable to define the result */ int8_t rslt = BMI2_OK; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Variable to set flag */ uint8_t feat_found; /* Variable to define advance power save mode status */ uint8_t aps_stat; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Initialize feature configuration for config file identification */ struct bmi2_feature_config config_id = { 0, 0, 0 }; /* Check the power mode status */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Search for config file identification feature and extract its configuration * details */ feat_found = bmi2_extract_input_feat_config(&config_id, BMI2_CONFIG_ID, dev); if (feat_found) { /* Get the configuration from the page where config file identification * feature resides */ rslt = bmi2_get_feat_config(config_id.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for config file identification */ idx = config_id.start_addr; /* Get word to calculate config file identification */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get major and minor version */ *config_major = BMI2_GET_BITS(lsb_msb, BMI2_CONFIG_MAJOR); *config_minor = BMI2_GET_BIT_POS0(lsb, BMI2_CONFIG_MINOR); } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! *@brief This internal API is used to map the interrupts to the sensor. */ static void extract_feat_int_map(struct bmi2_map_int *map_int, uint8_t type, const struct bmi2_dev *dev) { /* Variable to define loop */ uint8_t loop = 0; /* Search for the interrupts from the input configuration array */ while (loop < dev->sens_int_map) { if (dev->map_int[loop].type == type) { *map_int = dev->map_int[loop]; break; } loop++; } } /*! * @brief This internal API gets the saturation status for the gyroscope user * gain update. */ static int8_t get_gyro_gain_update_status(struct bmi2_gyr_user_gain_status *user_gain_stat, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for gyroscope user gain status */ struct bmi2_feature_config user_gain_cfg = { 0, 0, 0 }; /* Search for gyroscope user gain status output feature and extract its * configuration details */ feat_found = extract_output_feat_config(&user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Get the feature output configuration for gyroscope user gain status */ rslt = bmi2_get_feat_config(user_gain_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for gyroscope user gain status */ idx = user_gain_cfg.start_addr; /* Get the saturation status for x-axis */ user_gain_stat->sat_x = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_X); /* Get the saturation status for y-axis */ user_gain_stat->sat_y = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Y); /* Get the saturation status for z-axis */ user_gain_stat->sat_z = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_SAT_STAT_Z); /* Get g trigger status */ user_gain_stat->g_trigger_status = BMI2_GET_BITS(feat_config[idx], BMI2_G_TRIGGER_STAT); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to extract the output feature configuration * details from the look-up table. */ static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output, uint8_t type, const struct bmi2_dev *dev) { /* Variable to define loop */ uint8_t loop = 0; /* Variable to set flag */ uint8_t feat_found = BMI2_FALSE; /* Search for the output feature from the output configuration array */ while (loop < dev->out_sens) { if (dev->feat_output[loop].type == type) { *feat_output = dev->feat_output[loop]; feat_found = BMI2_TRUE; break; } loop++; } /* Return flag */ return feat_found; } /*! * @brief This internal API gets the cross sensitivity coefficient between * gyroscope's X and Z axes. */ static int8_t get_gyro_cross_sense(int16_t *cross_sense, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; uint8_t corr_fact_zx; /* Initialize feature output for gyroscope cross sensitivity */ struct bmi2_feature_config cross_sense_out_config = { 0, 0, 0 }; if (dev->variant_feature & BMI2_MAXIMUM_FIFO_VARIANT) { /* For maximum_fifo variant fetch the correction factor from GPIO0 */ rslt = bmi2_get_regs(BMI2_GYR_CAS_GPIO0_ADDR, &corr_fact_zx, 1, dev); if (rslt == BMI2_OK) { /* Get the gyroscope cross sensitivity coefficient */ if (corr_fact_zx & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK) { *cross_sense = (int16_t)(((int16_t)corr_fact_zx) - 128); } else { *cross_sense = (int16_t)(corr_fact_zx); } } } else { /* Search for gyroscope cross sensitivity feature and extract its configuration details */ feat_found = extract_output_feat_config(&cross_sense_out_config, BMI2_GYRO_CROSS_SENSE, dev); if (feat_found) { /* Get the feature output configuration for gyroscope cross sensitivity * feature */ rslt = bmi2_get_feat_config(cross_sense_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for gyroscope cross sensitivity output */ idx = cross_sense_out_config.start_addr; /* discard the MSB as GYR_CAS is of only 7 bit */ feat_config[idx] = feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_MASK; /* Get the gyroscope cross sensitivity coefficient */ if (feat_config[idx] & BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK) { *cross_sense = (int16_t)(((int16_t)feat_config[idx]) - 128); } else { *cross_sense = (int16_t)(feat_config[idx]); } } } else { rslt = BMI2_E_INVALID_SENSOR; } } return rslt; } /*! * @brief This internal API selects the sensor/features to be enabled or * disabled. */ static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Variable to define loop */ uint8_t count; for (count = 0; count < n_sens; count++) { switch (sens_list[count]) { case BMI2_ACCEL: *sensor_sel |= BMI2_ACCEL_SENS_SEL; break; case BMI2_GYRO: *sensor_sel |= BMI2_GYRO_SENS_SEL; break; case BMI2_AUX: *sensor_sel |= BMI2_AUX_SENS_SEL; break; case BMI2_TEMP: *sensor_sel |= BMI2_TEMP_SENS_SEL; break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } return rslt; } /*! * @brief This internal API enables the selected sensor/features. */ static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data = 0; rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Enable accelerometer */ if (sensor_sel & BMI2_ACCEL_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE); } /* Enable gyroscope */ if (sensor_sel & BMI2_GYRO_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE); } /* Enable auxiliary sensor */ if (sensor_sel & BMI2_AUX_SENS_SEL) { reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE); } /* Enable temperature sensor */ if (sensor_sel & BMI2_TEMP_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE); } /* Enable the sensors that are set in the power control register */ if (sensor_sel & BMI2_MAIN_SENSORS) { rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This internal API disables the selected sensors/features. */ static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data = 0; rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Disable accelerometer */ if (sensor_sel & BMI2_ACCEL_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN); } /* Disable gyroscope */ if (sensor_sel & BMI2_GYRO_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN); } /* Disable auxiliary sensor */ if (sensor_sel & BMI2_AUX_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN); } /* Disable temperature sensor */ if (sensor_sel & BMI2_TEMP_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN); } /* Enable the sensors that are set in the power control register */ if (sensor_sel & BMI2_MAIN_SENSORS) { rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This internal API reads accelerometer, gyroscope and auxiliary sensor data. */ static int8_t read_sensor_data(uint8_t aux_len, uint8_t acc_len, uint8_t gyr_len, uint8_t *sensor_data, struct bmi2_dev *dev) { int8_t rslt; uint8_t start_addr = 0; uint8_t len = 0; /* Read data with auxiliary sensor data */ if (aux_len != 0) { /* Read auxiliary, accelerometer and gyroscope sensor data */ if ((acc_len != 0) && (gyr_len != 0)) { start_addr = BMI2_AUX_X_LSB_ADDR; len = BMI2_ACC_GYR_AUX_NUM_BYTES; } /* Read auxiliary and accelerometer sensor data */ else if ((acc_len != 0) && (gyr_len == 0)) { start_addr = BMI2_AUX_X_LSB_ADDR; len = BMI2_AUX_ACC_NUM_BYTES; } /* Read auxiliary and gyroscope sensor data */ else if ((gyr_len != 0) && (acc_len == 0)) { start_addr = BMI2_AUX_X_LSB_ADDR; len = BMI2_ACC_GYR_AUX_NUM_BYTES; } /* Read only auxiliary sensor data */ else if ((acc_len == 0) && (gyr_len == 0)) { start_addr = BMI2_AUX_X_LSB_ADDR; len = BMI2_AUX_NUM_BYTES; } } /* Read data without auxiliary sensor data */ else { /* Read accelerometer and gyroscope sensor data */ if ((acc_len != 0) && (gyr_len != 0)) { start_addr = BMI2_ACC_X_LSB_ADDR; len = BMI2_ACC_GYR_NUM_BYTES; } /* Read only accelerometer sensor data */ else if ((acc_len != 0) && (gyr_len == 0)) { start_addr = BMI2_ACC_X_LSB_ADDR; len = BMI2_ACC_NUM_BYTES; } /* Read only gyroscope sensor data */ else if ((gyr_len != 0) && (acc_len == 0)) { start_addr = BMI2_GYR_X_LSB_ADDR; len = BMI2_GYR_NUM_BYTES; } } /* Read data with start_addr and len determined */ rslt = bmi2_get_regs(start_addr, sensor_data, len, dev); return rslt; } /*! * @brief This internal API parses accelerometer, gyroscope and auxiliary sensor data with sensortime */ static int8_t parse_data(uint8_t aux_len, uint8_t acc_len, uint8_t gyr_len, struct bmi2_sens_data *data, const uint8_t *sensor_data, struct bmi2_dev *dev) { int8_t rslt; uint8_t sens_time[3] = { 0 }; /* Variables to define loop */ uint8_t count = 0; /* Variables to define index */ uint8_t index = 0; uint32_t sensor_time_byte3 = 0; uint16_t sensor_time_byte2 = 0; uint8_t sensor_time_byte1 = 0; /* Parse auxiliary sensor data */ if (aux_len != 0) { /* Get the 8 bytes of auxiliary data */ do { *(data->aux_data + count++) = *(sensor_data + index++); } while (count < BMI2_AUX_NUM_BYTES); } /* Parse auxiliary(if enabled) and accelerometer sensor data */ if (acc_len != 0) { /* Get accelerometer data from the register */ get_acc_gyr_data(&data->acc, sensor_data + (acc_len - BMI2_ACC_NUM_BYTES)); /* Get the re-mapped accelerometer data */ get_remapped_data(&data->acc, dev); } /* Parse auxiliary(if enabled), acceleromter(if enabled) and gyroscope sensor data */ if (gyr_len != 0) { if ((aux_len != 0) && (acc_len != 0)) { /* Get gyroscope data from the register */ get_acc_gyr_data(&data->gyr, sensor_data + BMI2_AUX_ACC_NUM_BYTES); } if ((aux_len != 0) && (acc_len == 0)) { /* Get gyroscope data from the register */ get_acc_gyr_data(&data->gyr, sensor_data + BMI2_AUX_ACC_NUM_BYTES); } if ((acc_len != 0) && (aux_len == 0)) { /* Get gyroscope data from the register */ get_acc_gyr_data(&data->gyr, sensor_data + BMI2_ACC_NUM_BYTES); } if ((acc_len == 0) && (aux_len == 0)) { /* Get gyroscope data from the register */ get_acc_gyr_data(&data->gyr, sensor_data); } /* Get the compensated gyroscope data */ comp_gyro_cross_axis_sensitivity(&data->gyr, dev); /* Get the re-mapped gyroscope data */ get_remapped_data(&data->gyr, dev); } /* Read sensortime */ rslt = bmi2_get_regs(BMI2_SENSORTIME_ADDR, sens_time, 3, dev); if (rslt == BMI2_OK) { sensor_time_byte3 = sens_time[BMI2_SENSOR_TIME_MSB_BYTE] << 16; sensor_time_byte2 = sens_time[BMI2_SENSOR_TIME_XLSB_BYTE] << 8; sensor_time_byte1 = sens_time[0]; data->sens_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); } return rslt; } /*! * @brief This internal API is used to test gyro CRT. */ static int8_t gyro_crt_test(uint8_t max_burst_length, uint8_t gyro_st_crt, struct bmi2_dev *dev) { int8_t rslt; int8_t rslt_crt = BMI2_OK; uint8_t cmd = BMI2_G_TRIGGER_CMD; uint8_t download_ready = 0; rslt = set_st_running(BMI2_ENABLE, dev); /* Preparing the setup */ if (rslt == BMI2_OK) { rslt = crt_prepare_setup(dev); } /* Enable the gyro self-test, CRT */ if (rslt == BMI2_OK) { rslt = select_self_test(gyro_st_crt, dev); } /* Check if FIFO is unchanged by checking the max burst length */ if ((rslt == BMI2_OK) && (max_burst_length == 0)) { /* Trigger CRT */ rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev); if (rslt == BMI2_OK) { /* Wait until st_status = 0 or time out is 2 seconds */ rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev); /* CRT Running wait & check is successful */ if (rslt == BMI2_OK) { rslt = crt_gyro_st_update_result(dev); } } } else { /* FIFO may be used */ if (rslt == BMI2_OK) { if (dev->read_write_len < 2) { dev->read_write_len = 2; } if (dev->read_write_len > (BMI2_CRT_MAX_BURST_WORD_LENGTH * 2)) { dev->read_write_len = BMI2_CRT_MAX_BURST_WORD_LENGTH * 2; } /* Reset the max burst length to default value */ rslt = set_maxburst_len(dev->read_write_len, dev); } if (rslt == BMI2_OK) { rslt = get_rdy_for_dl(&download_ready, dev); } /* Trigger CRT */ if (rslt == BMI2_OK) { rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &cmd, 1, dev); } /* Wait till either ready for download toggle or crt running = 0 */ if (rslt == BMI2_OK) { rslt = wait_rdy_for_dl_toggle(BMI2_CRT_READY_FOR_DOWNLOAD_RETRY, download_ready, dev); if (rslt == BMI2_OK) { rslt = write_crt_config_file(dev->read_write_len, BMI2_CRT_CONFIG_FILE_SIZE, 0x1800, dev); } if (rslt == BMI2_OK) { rslt = wait_st_running(BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION, dev); rslt_crt = crt_gyro_st_update_result(dev); if (rslt == BMI2_OK) { rslt = rslt_crt; } } } } return rslt; } /*! @endcond */