/** * 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 bmi270.h * @date 2021-09-30 * @version v2.71.8 * */ /** * \ingroup bmi2xy * \defgroup bmi270 BMI270 * @brief Sensor driver for BMI270 sensor */ #ifndef BMI270_H_ #define BMI270_H_ /*! CPP guard */ #ifdef __cplusplus extern "C" { #endif /***************************************************************************/ /*! Header files ****************************************************************************/ #include "bmi2.h" /***************************************************************************/ /*! Macro definitions ****************************************************************************/ /*! @name BMI270 Chip identifier */ #define BMI270_CHIP_ID UINT8_C(0x24) /*! @name BMI270 feature input start addresses */ #define BMI270_CONFIG_ID_STRT_ADDR UINT8_C(0x00) #define BMI270_MAX_BURST_LEN_STRT_ADDR UINT8_C(0x02) #define BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR UINT8_C(0x03) #define BMI270_ABORT_STRT_ADDR UINT8_C(0x03) #define BMI270_AXIS_MAP_STRT_ADDR UINT8_C(0x04) #define BMI270_GYRO_SELF_OFF_STRT_ADDR UINT8_C(0x05) #define BMI270_NVM_PROG_PREP_STRT_ADDR UINT8_C(0x05) #define BMI270_GYRO_GAIN_UPDATE_STRT_ADDR UINT8_C(0x06) #define BMI270_ANY_MOT_STRT_ADDR UINT8_C(0x0C) #define BMI270_NO_MOT_STRT_ADDR UINT8_C(0x00) #define BMI270_SIG_MOT_STRT_ADDR UINT8_C(0x04) #define BMI270_STEP_CNT_1_STRT_ADDR UINT8_C(0x00) #define BMI270_STEP_CNT_4_STRT_ADDR UINT8_C(0x02) #define BMI270_WRIST_GEST_STRT_ADDR UINT8_C(0x06) #define BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR UINT8_C(0x00) /*! @name BMI270 feature output start addresses */ #define BMI270_STEP_CNT_OUT_STRT_ADDR UINT8_C(0x00) #define BMI270_STEP_ACT_OUT_STRT_ADDR UINT8_C(0x04) #define BMI270_WRIST_GEST_OUT_STRT_ADDR UINT8_C(0x06) #define BMI270_GYR_USER_GAIN_OUT_STRT_ADDR UINT8_C(0x08) #define BMI270_GYRO_CROSS_SENSE_STRT_ADDR UINT8_C(0x0C) #define BMI270_NVM_VFRM_OUT_STRT_ADDR UINT8_C(0x0E) /*! @name Defines maximum number of pages */ #define BMI270_MAX_PAGE_NUM UINT8_C(8) /*! @name Defines maximum number of feature input configurations */ #define BMI270_MAX_FEAT_IN UINT8_C(17) /*! @name Defines maximum number of feature outputs */ #define BMI270_MAX_FEAT_OUT UINT8_C(7) /*! @name Mask definitions for feature interrupt status bits */ #define BMI270_SIG_MOT_STATUS_MASK UINT8_C(0x01) #define BMI270_STEP_CNT_STATUS_MASK UINT8_C(0x02) #define BMI270_STEP_ACT_STATUS_MASK UINT8_C(0x04) #define BMI270_WRIST_WAKE_UP_STATUS_MASK UINT8_C(0x08) #define BMI270_WRIST_GEST_STATUS_MASK UINT8_C(0x10) #define BMI270_NO_MOT_STATUS_MASK UINT8_C(0x20) #define BMI270_ANY_MOT_STATUS_MASK UINT8_C(0x40) /*! @name Mask definitions for feature interrupt mapping bits */ #define BMI270_INT_SIG_MOT_MASK UINT8_C(0x01) #define BMI270_INT_STEP_COUNTER_MASK UINT8_C(0x02) #define BMI270_INT_STEP_DETECTOR_MASK UINT8_C(0x02) #define BMI270_INT_STEP_ACT_MASK UINT8_C(0x04) #define BMI270_INT_WRIST_WEAR_WAKEUP_MASK UINT8_C(0x08) #define BMI270_INT_WRIST_GEST_MASK UINT8_C(0x10) #define BMI270_INT_NO_MOT_MASK UINT8_C(0x20) #define BMI270_INT_ANY_MOT_MASK UINT8_C(0x40) /*! @name Defines maximum number of feature interrupts */ #define BMI270_MAX_INT_MAP UINT8_C(8) /***************************************************************************/ /*! BMI270 User Interface function prototypes ****************************************************************************/ /** * \ingroup bmi270 * \defgroup bmi270ApiInit Initialization * @brief Initialize the sensor and device structure */ /*! * \ingroup bmi270ApiInit * \page bmi270_api_bmi270_init bmi270_init * \code * int8_t bmi270_init(struct bmi2_dev *dev); * \endcode * @details This API: * 1) updates the device structure with address of the configuration file. * 2) Initializes BMI270 sensor. * 3) Writes the configuration file. * 4) Updates the feature offset parameters in the device structure. * 5) Updates the maximum number of pages, in the device structure. * * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_init(struct bmi2_dev *dev); /** * \ingroup bmi270 * \defgroup bmi270ApiSensor Feature Set * @brief Enable / Disable features of the sensor */ /*! * \ingroup bmi270ApiSensor * \page bmi270_api_bmi270_sensor_enable bmi270_sensor_enable * \code * int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev); * \endcode * @details This API selects the sensors/features to be enabled. * * @param[in] sens_list : Pointer to select the sensor/feature. * @param[in] n_sens : Number of sensors selected. * @param[in, out] dev : Structure instance of bmi2_dev. * * @note Sensors/features that can be enabled. * *@verbatim * sens_list | Values * ----------------------------|----------- * BMI2_ACCEL | 0 * BMI2_GYRO | 1 * BMI2_AUX | 2 * BMI2_SIG_MOTION | 3 * BMI2_ANY_MOTION | 4 * BMI2_NO_MOTION | 5 * BMI2_STEP_DETECTOR | 6 * BMI2_STEP_COUNTER | 7 * BMI2_STEP_ACTIVITY | 8 * BMI2_GYRO_GAIN_UPDATE | 9 * BMI2_WRIST_GESTURE | 19 * BMI2_WRIST_WEAR_WAKE_UP | 20 * BMI2_GYRO_SELF_OFF | 33 *@endverbatim * * @note : * example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO}; * uint8_t n_sens = 2; * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev); /*! * \ingroup bmi270ApiSensor * \page bmi270_api_bmi270_sensor_disable bmi270_sensor_disable * \code * int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev); * \endcode * @details This API selects the sensors/features to be disabled. * * @param[in] sens_list : Pointer to select the sensor/feature. * @param[in] n_sens : Number of sensors selected. * @param[in, out] dev : Structure instance of bmi2_dev. * * @note Sensors/features that can be disabled. * *@verbatim * sens_list | Values * ----------------------------|----------- * BMI2_ACCEL | 0 * BMI2_GYRO | 1 * BMI2_AUX | 2 * BMI2_SIG_MOTION | 3 * BMI2_ANY_MOTION | 4 * BMI2_NO_MOTION | 5 * BMI2_STEP_DETECTOR | 6 * BMI2_STEP_COUNTER | 7 * BMI2_STEP_ACTIVITY | 8 * BMI2_GYRO_GAIN_UPDATE | 9 * BMI2_WRIST_GESTURE | 19 * BMI2_WRIST_WEAR_WAKE_UP | 20 * BMI2_GYRO_SELF_OFF | 33 *@endverbatim * * @note : * example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO}; * uint8_t n_sens = 2; * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev); /** * \ingroup bmi270 * \defgroup bmi270ApiSensorC Sensor Configuration * @brief Enable / Disable feature configuration of the sensor */ /*! * \ingroup bmi270ApiSensorC * \page bmi270_api_bmi270_set_sensor_config bmi270_set_sensor_config * \code * int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev); * \endcode * @details This API sets the sensor/feature configuration. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] n_sens : Number of sensors selected. * @param[in, out] dev : Structure instance of bmi2_dev. * * @note Sensors/features that can be configured * *@verbatim * sens_list | Values * ----------------------------|----------- * BMI2_SIG_MOTION | 3 * BMI2_ANY_MOTION | 4 * BMI2_NO_MOTION | 5 * BMI2_STEP_DETECTOR | 6 * BMI2_STEP_COUNTER | 7 * BMI2_STEP_ACTIVITY | 8 * BMI2_WRIST_GESTURE | 19 * BMI2_WRIST_WEAR_WAKE_UP | 20 * BMI2_STEP_COUNTER_PARAMS | 28 *@endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev); /*! * \ingroup bmi270ApiSensorC * \page bmi270_api_bmi270_get_sensor_config bmi270_get_sensor_config * \code * int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev); * \endcode * @details This API gets the sensor/feature configuration. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] n_sens : Number of sensors selected. * @param[in, out] dev : Structure instance of bmi2_dev. * * @note Sensors/features whose configurations can be read. * *@verbatim * sens_list | Values * ----------------------------|----------- * BMI2_SIG_MOTION | 3 * BMI2_ANY_MOTION | 4 * BMI2_NO_MOTION | 5 * BMI2_STEP_DETECTOR | 6 * BMI2_STEP_COUNTER | 7 * BMI2_STEP_ACTIVITY | 8 * BMI2_WRIST_GESTURE | 19 * BMI2_WRIST_WEAR_WAKE_UP | 20 * BMI2_STEP_COUNTER_PARAMS | 28 *@endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev); /** * \ingroup bmi270 * \defgroup bmi270ApiSensorD Feature Sensor Data * @brief Get feature sensor data */ /*! * \ingroup bmi270ApiSensorD * \page bmi270_api_bmi270_get_feature_data bmi270_get_feature_data * \code * int8_t bmi270_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev); * \endcode * @details This API gets the feature data. * * @param[out] feature_data : Structure instance of bmi2_feat_sensor_data. * @param[in] n_sens : Number of sensors selected. * @param[in] dev : Structure instance of bmi2_dev. * * @note Sensors/features whose data can be read * *@verbatim * sens_list | Values * ----------------------------|----------- * BMI2_STEP_COUNTER | 7 * BMI2_STEP_ACTIVITY | 8 * BMI2_WRIST_GESTURE | 19 * BMI2_NVM_STATUS | 38 * BMI2_VFRM_STATUS | 39 *@endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev); /** * \ingroup bmi270 * \defgroup bmi270ApiGyroUG Gyro User Gain * @brief Set / Get Gyro User Gain of the sensor */ /*! * \ingroup bmi270ApiGyroUG * \page bmi270_api_bmi270_update_gyro_user_gain bmi270_update_gyro_user_gain * \code * int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev); * \endcode * @details This API updates the gyroscope user-gain. * * @param[in] user_gain : Structure that stores user-gain configurations. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev); /*! * \ingroup bmi270ApiGyroUG * \page bmi270_api_bmi270_read_gyro_user_gain bmi270_read_gyro_user_gain * \code * int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, const struct bmi2_dev *dev); * \endcode * @details This API reads the compensated gyroscope user-gain values. * * @param[out] gyr_usr_gain : Structure that stores gain values. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev); /*! * \ingroup bmi270ApiInt * \page bmi270_api_bmi270_map_feat_int bmi270_map_feat_int * \code * int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev) * \endcode * @details This API maps/unmaps feature interrupts to that of interrupt pins. * * @param[in] sens_int : Structure instance of bmi2_sens_int_config. * @param[in] n_sens : Number of interrupts to be mapped. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev); /******************************************************************************/ /*! @name C++ Guard Macros */ /******************************************************************************/ #ifdef __cplusplus } #endif /* End of CPP guard */ #endif /* BMI270_H_ */