/** * 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_legacy.c * @date 2021-09-30 * @version v2.71.8 * */ /* BMI270_legacy offers same low-power features as in BMI160 */ /***************************************************************************/ /*! Header files ****************************************************************************/ #include "bmi270_legacy.h" /******************************************************************************/ /*! @name Structure Declaration */ /******************************************************************************/ /*! @name Structure to define tap configuration */ struct bmi2_tap_config *bmi270_legacy_config; /***************************************************************************/ /*! Global Variable ****************************************************************************/ /*! @name Global array that stores the configuration file of BMI270_LEGACY */ const uint8_t bmi270_legacy_config_file[] = { 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3c, 0xb2, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9b, 0x03, 0x80, 0x2e, 0xa4, 0xb3, 0x80, 0x2e, 0xb8, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xc4, 0xb2, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x4a, 0xf1, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xe5, 0x01, 0x00, 0x5d, 0x01, 0x00, 0x22, 0x00, 0x77, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0x45, 0xf5, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 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.start_addr = BMI270_LEGACY_CRT_GYRO_SELF_TEST_STRT_ADDR }, { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_ABORT_STRT_ADDR }, { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_AXIS_MAP_STRT_ADDR }, { .type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_GYRO_SELF_OFF_STRT_ADDR }, { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_NVM_PROG_PREP_STRT_ADDR }, { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_ANY_MOT_STRT_ADDR }, { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_LEGACY_NO_MOT_STRT_ADDR }, { .type = BMI2_ORIENTATION, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_ORIENT_STRT_ADDR }, { .type = BMI2_HIGH_G, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_HIGH_G_STRT_ADDR }, { .type = BMI2_LOW_G, .page = BMI2_PAGE_2, .start_addr = BMI270_LEGACY_LOW_G_STRT_ADDR }, { .type = BMI2_FLAT, .page = BMI2_PAGE_3, .start_addr = BMI270_LEGACY_FLAT_STRT_ADDR }, { .type = BMI2_SIG_MOTION, .page = BMI2_PAGE_3, .start_addr = BMI270_LEGACY_SIG_MOT_STRT_ADDR }, { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR }, { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR }, { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_STEP_COUNT_STRT_ADDR }, { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_4, .start_addr = BMI270_LEGACY_GYRO_USERGAIN_UPDATE_STRT_ADDR }, { .type = BMI2_SINGLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR }, { .type = BMI2_DOUBLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR }, { .type = BMI2_TRIPLE_TAP, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR }, { .type = BMI2_TAP_DETECTOR_1, .page = BMI2_PAGE_5, .start_addr = BMI270_LEGACY_TAP_DETECT_1_STRT_ADDR }, { .type = BMI2_TAP_DETECTOR_2, .page = BMI2_PAGE_6, .start_addr = BMI270_LEGACY_TAP_DETECT_2_STRT_ADDR }, }; /*! @name Global array that stores the feature output configuration */ const struct bmi2_feature_config bmi270_legacy_feat_out[BMI270_LEGACY_MAX_FEAT_OUT] = { { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_STEP_CNT_OUT_STRT_ADDR }, { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_STEP_ACT_OUT_STRT_ADDR }, { .type = BMI2_ORIENTATION, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_ORIENT_HIGH_G_OUT_STRT_ADDR }, { .type = BMI2_HIGH_G, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_ORIENT_HIGH_G_OUT_STRT_ADDR }, { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_GYR_USER_GAIN_OUT_STRT_ADDR }, { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_GYRO_CROSS_SENSE_STRT_ADDR }, { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_NVM_VFRM_OUT_STRT_ADDR }, { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_LEGACY_NVM_VFRM_OUT_STRT_ADDR } }; /*! @name Global array that stores the feature interrupts of BMI270_LEGACY */ struct bmi2_map_int bmi270_legacy_map_int[BMI270_LEGACY_MAX_INT_MAP] = { { .type = BMI2_SIG_MOTION, .sens_map_int = BMI270_LEGACY_INT_SIG_MOT_MASK }, { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_LEGACY_INT_STEP_COUNTER_MASK }, { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_LEGACY_INT_STEP_DETECTOR_MASK }, { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_LEGACY_INT_STEP_ACTIVITY_MASK }, { .type = BMI2_HIGH_G, .sens_map_int = BMI270_LEGACY_INT_HIGH_G_MASK }, { .type = BMI2_LOW_G, .sens_map_int = BMI270_LEGACY_INT_LOW_G_MASK }, { .type = BMI2_TAP, .sens_map_int = BMI270_LEGACY_INT_TAP_MASK }, { .type = BMI2_FLAT, .sens_map_int = BMI270_LEGACY_INT_FLAT_MASK }, { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_LEGACY_INT_NO_MOT_MASK }, { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_LEGACY_INT_ANY_MOT_MASK }, { .type = BMI2_ORIENTATION, .sens_map_int = BMI270_LEGACY_INT_ORIENT_MASK }, { .type = BMI2_SINGLE_TAP, .sens_map_int = BMI270_LEGACY_INT_SINGLE_TAP_MASK }, { .type = BMI2_DOUBLE_TAP, .sens_map_int = BMI270_LEGACY_INT_DOUBLE_TAP_MASK }, { .type = BMI2_TRIPLE_TAP, .sens_map_int = BMI270_LEGACY_INT_TRIPLE_TAP_MASK } }; /******************************************************************************/ /*! Local Function Prototypes ******************************************************************************/ /*! * @brief This internal API gets tap configurations like data register enable, * tap sensitivity threshold, max gesture duration, quite time after gesture, * axis selection and wait for timeout. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_tap_config(void *tap, void *bmi2_dev); /*! * @brief This internal API gets tap configurations like data register enable, * tap sensitivity threshold, max gesture duration and quite time after gesture * from primary page of tap detector. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @verbatim *----------------------------------------------------------------------------- * bmi2_tap_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | By enabling this bit, accel data according to the * data_reg_en | user defined accel configuration is taken for tap * | detector feature. * -------------------------|--------------------------------------------------- * tap_sens_thres | Scaling factor of additional threshold increment * | for detection of positive and negative peak of tap. * -------------------------|--------------------------------------------------- * max_gest_dur | Maximum duration after the first tap within which the * | second and/or third tap have to be performed for being * | detected as double-tap. * -------------------------|--------------------------------------------------- * quite_time_after_gest | Minimum quite time between the two gesture detection. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_config_page_primary(void *tap, void *bmi2_dev); /*! * @brief This internal API gets tap configurations like time out and * axis selection from secondary page of tap detector. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @verbatim *----------------------------------------------------------------------------- * bmi2_tap_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * wait_for_timeout | Wait for the duration set by max_gest_dur after the * | first tap and report the tap-gesture based on number * | of taps detected. * -------------------------|--------------------------------------------------- * | Selection of axis from 3D-acceleration signal vector * axis_sel | for tap detection. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_config_page_secondary(void *tap, void *bmi2_dev); /*! * @brief This internal API sets tap configurations like data register enable, * tap sensitivity threshold, max gesture duration, quite time after gesture, * axis selection and wait for timeout. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_tap_config(void *tap, void *bmi2_dev); /*! * @brief This internal API sets tap configurations like data register enable, * tap sensitivity threshold, max gesture duration and quite time after gesture * from primary page of tap detector. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @verbatim *----------------------------------------------------------------------------- * bmi2_tap_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | By enabling this bit, accel data according to the * data_reg_en | user defined accel configuration is taken for tap * | detector feature. * -------------------------|--------------------------------------------------- * tap_sens_thres | Scaling factor of additional threshold increment * | for detection of positive and negative peak of tap. * -------------------------|--------------------------------------------------- * max_gest_dur | Maximum duration after the first tap within which the * | second and/or third tap have to be performed for being * | detected as double-tap. * -------------------------|--------------------------------------------------- * quite_time_after_gest | Minimum quite time between the two gesture detection. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_config_page_primary(void *tap, void *bmi2_dev); /*! * @brief This internal API sets the tap configurations like time out and * axis selection to secondary page of tap detector. * * @param[out] tap : Void pointer to store bmi2_tap_config structure. * @param[in, out] bmi2_dev : Void pointer to store bmi2_dev structure. * * @verbatim *----------------------------------------------------------------------------- * bmi2_tap_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * wait_for_timeout | Wait for the duration set by max_gest_dur after the * | first tap and report the tap-gesture based on number * | of taps detected. * -------------------------|--------------------------------------------------- * | Selection of axis from 3D-acceleration signal vector * axis_sel | for tap detection. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_config_page_secondary(void *tap, void *bmi2_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 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 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 is used to enable/disable any-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables any-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables any-motion. * BMI2_ENABLE | Enables any-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable no-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables no-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables no-motion. * BMI2_ENABLE | Enables no-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable sig-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables sig-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables sig-motion. * BMI2_ENABLE | Enables sig-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable step detector feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step-detector. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step detector * BMI2_ENABLE | Enables step detector * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable step counter feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step counter. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step counter * BMI2_ENABLE | Enables step counter * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable tap feature through * single tap. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables single tap. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables single tap. * BMI2_ENABLE | Enables single tap * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_single_tap(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable tap feature through * double tap. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables double tap. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables double tap. * BMI2_ENABLE | Enables double tap * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_double_tap(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable tap feature through * triple tap. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables triple tap. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables triple tap. * BMI2_ENABLE | Enables triple tap * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_triple_tap(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable orientation feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables orientation. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables orientation * BMI2_ENABLE | Enables orientation * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_orientation(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable high-g feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables high-g. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables high-g * BMI2_ENABLE | Enables high-g * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_high_g(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable low-g feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables low-g. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables low-g * BMI2_ENABLE | Enables low-g * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_low_g(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable flat feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables flat. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables flat * BMI2_ENABLE | Enables flat * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_flat(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API gives an option to enable offset correction * feature of gyroscope, either internally or by the host. * * @param[in] enable : Enables/Disables self-offset correction. * @param[in] dev : Structure instance of bmi2_dev. * * enable | Description * -------------|--------------- * BMI2_ENABLE | gyroscope offset correction values are set internally * BMI2_DISABLE | gyroscope offset correction values has to be set by host * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable gyroscope user gain * feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables gyroscope user gain. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables gyroscope user gain * BMI2_ENABLE | Enables gyroscope user gain * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API sets any-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[in] config : Structure instance of bmi2_any_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_any_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0xAA = 83mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets no-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[in] config : Structure instance of bmi2_no_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_no_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for no-motion detection. * threshold | Range is 0 to 1g. * | Default value is 0x90 = 70mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets sig-motion configurations like block-size, * output-configuration and other parameters. * * @param[in] config : Structure instance of bmi2_sig_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * *---------------------------------------------------------------------------- * bmi2_sig_motion_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * | Defines the duration after which the significant * block_size | motion interrupt is triggered. It is expressed in * | 50 Hz samples (20 ms). Default value is 0xFA=5sec. *--------------------------|--------------------------------------------------- * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets step counter/detector/activity configurations. * * @param[in] config : Structure instance of bmi2_step_config. * @param[in] dev : Structure instance of bmi2_dev. * *--------------------------------------------------------------------------- * bmi2_step_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | The Step-counter will trigger output every time * | the number of steps are counted. Holds implicitly * water-mark level | a 20x factor, so the range is 0 to 10230, * | with resolution of 20 steps. * -------------------------|--------------------------------------------------- * reset counter | Flag to reset the counted steps. * -------------------------|--------------------------------------------------- * step_buffer_size | Step counter buffer size * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets tap configurations like sensitivity, * single, double and triple tap enable and output-configuration. * * @param[in] config : Structure instance of bmi2_tap_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_tap_detector_config(struct bmi2_tap_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets orientation configurations like upside/down * detection, symmetrical modes, blocking mode, theta, hysteresis and output * configuration. * * @param[in] config : Structure instance of bmi2_orient_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_orient_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * upside/down | Enables upside/down detection, if set to 1. * detection | * -------------------------|--------------------------------------------------- * | Sets the mode: * mode | Values 0 or 3 - symmetrical. * | Value 1 - high asymmetrical * | Value 2 - low asymmetrical * -------------------------|--------------------------------------------------- * | Enable - no orientation interrupt will be set. * blocking | Default value: 3, the most restrictive blocking. * -------------------------|--------------------------------------------------- * | Threshold angle used in blocking mode. * theta | Theta = 64 * (tan(angle)^2) * | Default value: 40, equivalent to 38 degrees angle. * -------------------------|--------------------------------------------------- * | Acceleration hysteresis for Orientation detection * | is expressed in 5.11g format. * hysteresis | Default value is 128 = 0.0625g. * | Range is 0 to 1g. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_orient_config(const struct bmi2_orient_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets high-g configurations like threshold, * hysteresis, duration, and output configuration. * * @param[in] config : Structure instance of bmi2_high_g_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_high_g_config | * Structure parameter | Description *--------------------------|-------------------------------------------------- * threshold | The acceleration threshold above which the * | high_g motion is signaled. * | Threshold value for high_g feature. * | Range is 0 to 16g. * | Default value is 10000 = 4.9g. * -------------------------|--------------------------------------------------- * | Hysteresis value for high_g feature. * hysteresis | Range is 0 to 2g. * | Default value is 1000 = 0.49g. * -------------------------|--------------------------------------------------- * | Holds the duration in 200 Hz samples (5 ms) for * | which the threshold has to be exceeded. * duration | Default value 4 = 20 msec. * | Range is 0 to 20sec. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_high_g_config(const struct bmi2_high_g_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets low-g configurations like threshold, * hysteresis, duration, and output configuration. * * @param[in] config : Structure instance of bmi2_low_g_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_low_g_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * threshold | The acceleration threshold above which the * | low-g motion is signaled. * | Range is 0 to 1g. * | Default value is 512 = 0.25g. * -------------------------|--------------------------------------------------- * | Hysteresis value for low_g feature. * | Range is 0 to 0.5g. * hysteresis | Default value is 256 = 0.125g. * -------------------------|--------------------------------------------------- * | Holds the duration in 50 Hz samples (20 ms) for * | which the threshold has to be exceeded. * duration | Range is 0 to 82 sec. * | Default value is 0 = 0 ms. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_low_g_config(const struct bmi2_low_g_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets flat configurations like theta, blocking, * hold-time, hysteresis, and output configuration. * * @param[in] config : Structure instance of bmi2_flat_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_flat_config | * Structure parameters| Description *--------------------------|-------------------------------------------------- * | Sets the theta angle, used for detecting flat * | position. * theta | Theta = 64 * (tan(angle)^2); * | Default value is 8, equivalent to 20 degrees angle * -------------------------|--------------------------------------------------- * | Hysteresis for Theta Flat detection. * hysteresis | Default value is 9 = 2.5 degrees, corresponding * | to the default Theta angle of 20 degrees. * -------------------------|--------------------------------------------------- * | Sets the blocking mode. If blocking is set, no * | Flat interrupt will be triggered. * blocking | Default value is 2, the most restrictive blocking * | mode. * -------------------------|--------------------------------------------------- * | Holds the duration in 50Hz samples for which the * | condition has to be respected. * hold-time | Default value is 32 = 640 msec. * | Range is 0 to 5.1 sec. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_flat_config(const struct bmi2_flat_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets any-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[out] config : Structure instance of bmi2_any_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_any_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0xAA = 83mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets no-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[out] config : Structure instance of bmi2_no_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_no_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for no-motion detection. * threshold | Range is 0 to 1g. * | Default value is 0x90 = 70mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets sig-motion configurations like block-size, * output-configuration and other parameters. * * @param[out] config : Structure instance of bmi2_sig_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * *---------------------------------------------------------------------------- * bmi2_sig_motion_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * | Defines the duration after which the significant * block_size | motion interrupt is triggered. It is expressed in * | 50 Hz samples (20 ms). Default value is 0xFA=5sec. *--------------------------|--------------------------------------------------- * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets step counter/detector/activity configurations. * * @param[out] config : Structure instance of bmi2_step_config. * @param[in] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_step_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | The Step-counter will trigger output every time * | the number of steps are counted. Holds implicitly * water-mark level | a 20x factor, so the range is 0 to 10230, * | with resolution of 20 steps. * -------------------------|--------------------------------------------------- * reset counter | Flag to reset the counted steps. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets tap configurations like sensitivity, * single, double and triple tap enable and output-configuration. * * @param[out] config : Structure instance of bmi2_tap_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 get_tap_detector_config(struct bmi2_tap_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets orientation configurations like upside/down * detection, symmetrical modes, blocking mode, theta, hysteresis and output * configuration. * * @param[out] config : Structure instance of bmi2_orient_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_orient_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * upside/down | Enables upside/down detection, if set to 1. * detection | * -------------------------|--------------------------------------------------- * | Sets the mode: * mode | Values 0 or 3 - symmetrical. * | Value 1 - high asymmetrical * | Value 2 - low asymmetrical * -------------------------|--------------------------------------------------- * | Enable - no orientation interrupt will be set. * blocking | Default value: 3, the most restrictive blocking. * -------------------------|--------------------------------------------------- * | Threshold angle used in blocking mode. * theta | Theta = 64 * (tan(angle)^2) * | Default value: 40, equivalent to 38 degrees angle. * -------------------------|--------------------------------------------------- * | Acceleration hysteresis for Orientation detection * | is expressed in 5.11g format. * hysteresis | Default value is 128 = 0.0625g. * | Range is 0 to 1g. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_orient_config(struct bmi2_orient_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets high-g configurations like threshold, * hysteresis, duration, and output configuration. * * @param[out] config : Structure instance of bmi2_high_g_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_high_g_config | * Structure parameter | Description *--------------------------|-------------------------------------------------- * threshold | The acceleration threshold above which the * | high_g motion is signaled. * | Holds threshold in 5.11 g format. * | Default is 3072 = 1.5 g. * | Range is 0 to 16g. * -------------------------|--------------------------------------------------- * | Acceleration hysteresis for high-g detection * | is expressed in 1.11g format. * hysteresis | Default value is 256 = 0.125 g. * | Range is 0 to 2g. * | Should be smaller than threshold. * -------------------------|--------------------------------------------------- * | Holds the duration in 200 Hz samples (5 ms) for * | which the threshold has to be exceeded. * duration |Default value 4 = 20 msec. * | Range is 0 to 20sec. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_high_g_config(struct bmi2_high_g_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets low-g configurations like threshold, * hysteresis, duration, and output configuration. * * @param[out] config : Structure instance of bmi2_low_g_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim * bmi2_low_g_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * threshold | The acceleration threshold above which the * | low-g motion is signaled. * | Holds threshold in 5.11 g format. * | Default is 3072 = 1.5 g. * -------------------------|--------------------------------------------------- * | Acceleration hysteresis for low-g detection * hysteresis | is expressed in 1.11g format. * | Default value is 512 = 0.250 g. * | Should be smaller than threshold. * -------------------------|--------------------------------------------------- * | Holds the duration in 50 Hz samples (20 ms) for * | which the threshold has to be exceeded. * duration | Default value 0 = 1 validation sample = (0+1)*20 * | = 20 ms. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_low_g_config(struct bmi2_low_g_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets flat configurations like theta, blocking, * hold-time, hysteresis, and output configuration. * * @param[out] config : Structure instance of bmi2_flat_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_flat_config | * Structure parameters| Description *--------------------------|-------------------------------------------------- * | Theta angle, used for detecting flat * | position. * theta | Theta = 64 * (tan(angle)^2); * | Default value is 8, equivalent to 20 degrees angle * -------------------------|--------------------------------------------------- * | Hysteresis for Theta Flat detection. * hysteresis | Default value is 9 = 2.5 degrees, corresponding * | to the default Theta angle of 20 degrees. * -------------------------|--------------------------------------------------- * | Sets the blocking mode. If blocking is set, no * | Flat interrupt will be triggered. * blocking | Default value is 2, the most restrictive blocking * | mode. * -------------------------|--------------------------------------------------- * | Holds the duration in 50Hz samples for which the * | condition has to be respected. * hold-time | Default value is 32 = 640 m-sec. * | Range is 0 to 5.1 sec. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_flat_config(struct bmi2_flat_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of high-g. * * @param[out] high_g_out : Pointer to the stored high-g output. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_high_g_output(uint8_t *high_g_out, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of step activity. * * @param[out] step_act : Pointer to the stored step activity data. * @param[in] dev : Structure instance of bmi2_dev. * * *step_act | Output * -----------|------------ * 0x00 | STILL * 0x01 | WALKING * 0x02 | RUNNING * 0x03 | UNKNOWN * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of orientation: portrait- * landscape and face up-down. * * @param[out] orient_out : Structure pointer to the orientation data. * @param[in] dev : Structure instance of bmi2_dev. * * * portrait | * landscape | Output * -----------|------------ * 0x00 | PORTRAIT UPRIGHT * 0x01 | LANDSCAPE LEFT * 0x02 | PORTRAIT UPSIDE DOWN * 0x03 | LANDSCAPE RIGHT * * Face | * up-down | Output * -----------|------------ * 0x00 | FACE-UP * 0x01 | FACE-DOWN * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_orient_output(struct bmi2_orientation_output *orient_out, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of step counter. * * @param[out] step_count : Pointer to the stored step counter data. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev); /*! * @brief This internal API gets the error status related to NVM. * * @param[out] nvm_err_stat : Stores the NVM error 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_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev); /*! * @brief This internal API gets the error status related to virtual frames. * * @param[out] vfrm_err_stat : Stores the VFRM related error 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_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev); /*! * @brief This internal API is used to get enable status of gyroscope user gain * update. * * @param[out] status : Stores status of gyroscope user gain update. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev); /*! * @brief This internal API enables/disables compensation of the gain defined * in the GAIN register. * * @param[in] enable : Enables/Disables gain compensation * @param[in] dev : Structure instance of bmi2_dev. * * enable | Description * -------------|--------------- * BMI2_ENABLE | Enable gain compensation. * BMI2_DISABLE | Disable gain compensation. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t enable_gyro_gain(uint8_t enable, 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 is used to enable/disable step activity detection. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step activity. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step activity * BMI2_ENABLE | Enables step activity * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API sets feature configuration to the sensor. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] loop : Variable to loop the sensor feature. * @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_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev); /*! * @brief This internal API gets feature configuration from the sensor. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] loop : Variable to loop the sensor feature. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, 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] count : Number of sensors selected. * @param[in] sensor_sel : Gets the selected sensor. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t sens_select(const uint8_t *sens_list, uint8_t count, uint64_t *sensor_sel); /*! * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature. * * @param[in] sensor_sel : Gets the selected 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 enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable sensor features. * * @param[in] sensor_sel : Gets the selected 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 enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature. * * @param[in] sensor_sel : Gets the selected 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 disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to disable sensor features. * * @param[in] sensor_sel : Gets the selected 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 disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev); /***************************************************************************/ /*! User Interface Definitions ****************************************************************************/ /*! * @brief This API: * 1) Updates the device structure with address of the configuration file. * 2) Initializes BMI270_LEGACY 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. */ int8_t bmi270_legacy_init(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Assign chip id of BMI270_LEGACY */ dev->chip_id = BMI270_LEGACY_CHIP_ID; /* Get the size of config array */ dev->config_size = sizeof(bmi270_legacy_config_file); /* Enable the variant specific features if any */ dev->variant_feature = BMI2_CRT_RTOSK_ENABLE | BMI2_GYRO_CROSS_SENS_ENABLE; /* An extra dummy byte is read during SPI read */ if (dev->intf == BMI2_SPI_INTF) { dev->dummy_byte = 1; } else { dev->dummy_byte = 0; } /* If configuration file pointer is not assigned any address */ if (!dev->config_file_ptr) { /* Give the address of the configuration file array to * the device pointer */ dev->config_file_ptr = bmi270_legacy_config_file; } /* Initialize BMI2 sensor */ rslt = bmi2_sec_init(dev); if (rslt == BMI2_OK) { /* Assign the offsets of the feature input * configuration to the device structure */ dev->feat_config = bmi270_legacy_feat_in; /* Assign the offsets of the feature output to * the device structure */ dev->feat_output = bmi270_legacy_feat_out; /* Assign the maximum number of pages to the * device structure */ dev->page_max = BMI270_LEGACY_MAX_PAGE_NUM; /* Assign maximum number of input sensors * features to device structure */ dev->input_sens = BMI270_LEGACY_MAX_FEAT_IN; /* Assign maximum number of output sensors * features to device structure */ dev->out_sens = BMI270_LEGACY_MAX_FEAT_OUT; /* Assign the tap get configurations to function pointer */ dev->get_tap_config = get_tap_config; /* Assign the tap set configurations to function pointer */ dev->set_tap_config = set_tap_config; /* Assign the offsets of the feature interrupt * to the device structure */ dev->map_int = bmi270_legacy_map_int; /* Assign maximum number of feature interrupts * to device structure */ dev->sens_int_map = BMI270_LEGACY_MAX_INT_MAP; /* Get the gyroscope cross axis sensitivity */ rslt = bmi2_get_gyro_cross_sense(dev); } } return rslt; } /*! * @brief This API selects the sensors/features to be enabled. */ int8_t bmi270_legacy_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 bmi270_legacy_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 bmi270_legacy_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++) { if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) || (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE)) { rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev); } else { /* 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) { rslt = set_feat_config(sens_cfg, loop, dev); } /* Return error if any of the set configurations fail */ else { 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 bmi270_legacy_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++) { if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) || (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE)) { rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev); } else { /* 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) { rslt = get_feat_config(sens_cfg, loop, dev); } /* Return error if any of the get configurations fail */ else { 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. */ int8_t bmi270_legacy_get_feature_data(struct bmi2_feat_sensor_data *feature_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) && (feature_data != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { if ((feature_data[loop].type == BMI2_GYRO_GAIN_UPDATE) || (feature_data[loop].type == BMI2_GYRO_CROSS_SENSE)) { rslt = bmi2_get_feature_data(&feature_data[loop], 1, dev); } else { /* Disable Advance power save if enabled for feature * configurations */ if (feature_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 (feature_data[loop].type) { case BMI2_STEP_COUNTER: /* Get step counter output */ rslt = get_step_counter_output(&feature_data[loop].sens_data.step_counter_output, dev); break; case BMI2_STEP_ACTIVITY: /* Get step activity output */ rslt = get_step_activity_output(&feature_data[loop].sens_data.activity_output, dev); break; case BMI2_ORIENTATION: /* Get orientation output */ rslt = get_orient_output(&feature_data[loop].sens_data.orient_output, dev); break; case BMI2_HIGH_G: /* Get high-g output */ rslt = get_high_g_output(&feature_data[loop].sens_data.high_g_output, dev); break; case BMI2_NVM_STATUS: /* Get NVM error status */ rslt = get_nvm_error_status(&feature_data[loop].sens_data.nvm_status, dev); break; case BMI2_VFRM_STATUS: /* Get VFRM error status */ rslt = get_vfrm_error_status(&feature_data[loop].sens_data.vfrm_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 updates the gyroscope user-gain. */ int8_t bmi270_legacy_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE }; /* Structure to define sensor configurations */ struct bmi2_sens_config sens_cfg; /* Variable to store status of user-gain update module */ uint8_t status = 0; /* Variable to define count */ uint8_t count = 100; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (user_gain != NULL)) { /* Select type of feature */ sens_cfg.type = BMI2_GYRO_GAIN_UPDATE; /* Get the user gain configurations */ rslt = bmi270_legacy_get_sensor_config(&sens_cfg, 1, dev); if (rslt == BMI2_OK) { /* Get the user-defined ratio */ sens_cfg.cfg.gyro_gain_update = *user_gain; /* Set rate ratio for all axes */ rslt = bmi270_legacy_set_sensor_config(&sens_cfg, 1, dev); } /* Disable gyroscope */ if (rslt == BMI2_OK) { rslt = bmi270_legacy_sensor_disable(&sens_sel[0], 1, dev); } /* Enable gyroscope user-gain update module */ if (rslt == BMI2_OK) { rslt = bmi270_legacy_sensor_enable(&sens_sel[1], 1, dev); } /* Set the command to trigger the computation */ if (rslt == BMI2_OK) { rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev); } if (rslt == BMI2_OK) { /* Poll until enable bit of user-gain update is 0 */ while (count--) { rslt = get_user_gain_upd_status(&status, dev); if ((rslt == BMI2_OK) && (status == 0)) { /* Enable compensation of gain defined * in the GAIN register */ rslt = enable_gyro_gain(BMI2_ENABLE, dev); /* Enable gyroscope */ if (rslt == BMI2_OK) { rslt = bmi270_legacy_sensor_enable(&sens_sel[0], 1, dev); } break; } dev->delay_us(10000, dev->intf_ptr); } /* Return error if user-gain update is failed */ if ((rslt == BMI2_OK) && (status != 0)) { rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the compensated gyroscope user-gain values. */ int8_t bmi270_legacy_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data[3] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL)) { /* Get the gyroscope compensated gain values */ rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev); if (rslt == BMI2_OK) { /* Gyroscope user gain correction X-axis */ gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X); /* Gyroscope user gain correction Y-axis */ gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y); /* Gyroscope user gain correction z-axis */ gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API maps/unmaps feature interrupts to that of interrupt pins. */ int8_t bmi270_legacy_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_int != NULL)) { for (loop = 0; loop < n_sens; loop++) { switch (sens_int[loop].type) { case BMI2_SIG_MOTION: case BMI2_TAP: case BMI2_ORIENTATION: case BMI2_HIGH_G: case BMI2_LOW_G: case BMI2_FLAT: case BMI2_ANY_MOTION: case BMI2_NO_MOTION: case BMI2_STEP_COUNTER: case BMI2_STEP_DETECTOR: case BMI2_STEP_ACTIVITY: rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } /* Return error if interrupt mapping fails */ if (rslt != BMI2_OK) { break; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /***************************************************************************/ /*! Local Function Definitions ****************************************************************************/ /*! * @brief This internal API is used to get the tap configurations. */ static int8_t get_tap_config(void *tap, void *bmi2_dev) { /* Variable to define error */ int8_t rslt; rslt = get_config_page_primary(tap, bmi2_dev); if (rslt == BMI2_OK) { rslt = get_config_page_secondary(tap, bmi2_dev); } return rslt; } /*! * @brief This internal API is used to get the tap configurations * from primary page. */ static int8_t get_config_page_primary(void *tap, void *bmi2_dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Structure to define BMI2 sensor configurations */ struct bmi2_dev *dev = (struct bmi2_dev *)bmi2_dev; /* 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 */ uint8_t lsb = 0; /* Variable to define MSB */ uint8_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 tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Structure to define tap configurations */ bmi270_legacy_config = (struct bmi2_tap_config *)tap; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_1, dev); if (feat_found == BMI2_TRUE) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for tap select */ idx = tap_config.start_addr; /* Get word to calculate single tap, double tap, triple tap, data register * enable and output configuration */ lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Get filtered tap data */ bmi270_legacy_config->data_reg_en = (lsb_msb & BMI2_TAP_DATA_REG_EN_MASK) >> BMI2_TAP_DATA_REG_EN_POS; /* Get word to calculate tap_sens_thres */ idx = 4; lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Get scaling factor of threshold */ bmi270_legacy_config->tap_sens_thres = lsb_msb; /* Get word to calculate max_gest_dur */ idx = 6; lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Get maximum duration between each taps */ bmi270_legacy_config->max_gest_dur = lsb_msb; /* Get word to calculate quite_time_after_gest */ idx = 14; lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Get minimum quite time between the two gesture detection */ bmi270_legacy_config->quite_time_after_gest = lsb_msb; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to get the tap configurations * from secondary page. */ static int8_t get_config_page_secondary(void *tap, void *bmi2_dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Structure to define BMI2 sensor configurations */ struct bmi2_dev *dev = (struct bmi2_dev *)bmi2_dev; /* 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 */ uint8_t lsb = 0; /* Variable to define MSB */ uint8_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 tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_2, dev); /* Structure to define tap configurations */ bmi270_legacy_config = (struct bmi2_tap_config *)tap; if (feat_found == BMI2_TRUE) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for tap select */ idx = tap_config.start_addr; /* Get word to calculate wait_for_timeout */ lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Get number of taps detected based on wait time */ bmi270_legacy_config->wait_for_timeout = lsb_msb; idx = 4; /* Get word to calculate axis_sel */ lsb = feat_config[idx++]; msb = feat_config[idx++]; lsb_msb = ((uint16_t)msb << 8) | lsb; /* Select axis for tap detection */ bmi270_legacy_config->axis_sel = (lsb_msb & BMI2_TAP_AXIS_SEL_MASK); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to set the tap configurations. */ static int8_t set_tap_config(void *tap, void *bmi2_dev) { /* Variable to define error */ int8_t rslt; rslt = set_config_page_primary(tap, bmi2_dev); if (rslt == BMI2_OK) { rslt = set_config_page_secondary(tap, bmi2_dev); } return rslt; } /*! * @brief This internal API is used to set the tap configurations * to primary page. */ static int8_t set_config_page_primary(void *tap, void *bmi2_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 index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Structure to define BMI2 sensor configurations */ struct bmi2_dev *dev = (struct bmi2_dev *)bmi2_dev; /* Initialize feature configuration for tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Structure to define tap configurations */ bmi270_legacy_config = (struct bmi2_tap_config *)tap; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_1, dev); if (feat_found == BMI2_TRUE) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for tap select */ idx = tap_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set filtered tap data */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_TAP_DATA_REG_EN, bmi270_legacy_config->data_reg_en); /* Starting address of tap_sens_thres represented in word length */ idx = 2; /* Set scaling factor of threshold */ *(data_p + idx) = bmi270_legacy_config->tap_sens_thres; /* Starting address of max_gest_dur represented in word length */ idx = 3; /* Set maximum duration between each taps */ *(data_p + idx) = bmi270_legacy_config->max_gest_dur; /* Starting address of quite_time_after_gest represented in word length */ idx = 7; /* Set minimum quite time between the two gesture detection */ *(data_p + idx) = bmi270_legacy_config->quite_time_after_gest; /* 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) - tap_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index <= idx; index++) { feat_config[tap_config.start_addr + index] = *((uint8_t *) data_p + tap_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 is used to set the tap configurations * to secondary page. */ static int8_t set_config_page_secondary(void *tap, void *bmi2_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 index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Structure to define BMI2 sensor configurations */ struct bmi2_dev *dev = (struct bmi2_dev *)bmi2_dev; /* Initialize feature configuration for tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Structure to define tap configurations */ bmi270_legacy_config = (struct bmi2_tap_config *)tap; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TAP_DETECTOR_2, dev); if (feat_found == BMI2_TRUE) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for tap select */ idx = tap_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set wait time */ *(data_p + idx) = bmi270_legacy_config->wait_for_timeout; /* Starting address of axis_sel represented in word length */ idx = 2; /* Select axis for tap detection */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_TAP_AXIS_SEL, bmi270_legacy_config->axis_sel); /* 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) - tap_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[tap_config.start_addr + index] = *((uint8_t *) data_p + tap_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 is used to validate the device structure pointer for * null conditions. */ static int8_t null_ptr_check(const struct bmi2_dev *dev) { /* Variable to define error */ 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 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;) { if (sens_list[count] == BMI2_ACCEL) { *sensor_sel |= BMI2_ACCEL_SENS_SEL; count++; } if (sens_list[count] == BMI2_GYRO) { *sensor_sel |= BMI2_GYRO_SENS_SEL; count++; } if (sens_list[count] == BMI2_AUX) { *sensor_sel |= BMI2_AUX_SENS_SEL; count++; } if (sens_list[count] == BMI2_TEMP) { *sensor_sel |= BMI2_TEMP_SENS_SEL; count++; } if (count < n_sens) { rslt = sens_select(sens_list, count, sensor_sel); count++; } } 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 get the status of advance power save */ uint8_t aps_stat = 0; rslt = enable_main_sensors(sensor_sel, dev); if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS))) { /* 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) { rslt = enable_sensor_features(sensor_sel, 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 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 get the status of advance power save */ uint8_t aps_stat = 0; rslt = disable_main_sensors(sensor_sel, dev); if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS))) { /* 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) { rslt = disable_sensor_features(sensor_sel, 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 is used to enable/disable any motion feature. */ static int8_t set_any_motion(uint8_t 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; /* Initialize feature configuration for any-motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Search for any-motion feature and extract its configurations details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of any-motion axes */ idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_ANY_MOT_SEL; } else { dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable no-motion feature. */ static int8_t set_no_motion(uint8_t 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; /* Initialize feature configuration for no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Search for no-motion feature and extract its configurations details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any/no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of no-motion axes */ idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_NO_MOT_SEL; } else { dev->sens_en_stat &= ~BMI2_NO_MOT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step detector feature. */ static int8_t set_step_detector(uint8_t 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; /* Initialize feature configuration for step detector */ struct bmi2_feature_config step_det_config = { 0, 0, 0 }; /* Search for step detector feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev); if (feat_found) { /* Get the configuration from the page where step detector feature resides */ rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step detector */ idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_DETECT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step counter feature. */ static int8_t set_step_counter(uint8_t 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; /* Initialize feature configuration for step counter */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Search for step counter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step-counter feature resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step counter */ idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_COUNT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step activity detection. */ static int8_t set_step_activity(uint8_t 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; /* Initialize feature configuration for step activity */ struct bmi2_feature_config step_act_config = { 0, 0, 0 }; /* Search for step activity feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev); if (feat_found) { /* Get the configuration from the page where step-activity * feature resides */ rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step activity */ idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_ACT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable sig-motion feature. */ static int8_t set_sig_motion(uint8_t 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; /* Initialize feature configuration for sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of sig-motion */ idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_SIG_MOTION_SEL; } else { dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable tap feature through * single tap. */ static int8_t set_single_tap(uint8_t 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; /* Initialize feature configuration for tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_SINGLE_TAP, dev); if (feat_found) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of tap */ idx = tap_config.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_TAP_SINGLE_TAP_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_SINGLE_TAP_SEL; } else { dev->sens_en_stat &= ~BMI2_SINGLE_TAP_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable tap feature through * double tap. */ static int8_t set_double_tap(uint8_t 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; /* Initialize feature configuration for tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_DOUBLE_TAP, dev); if (feat_found) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of tap */ idx = tap_config.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_TAP_DOUBLE_TAP_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_DOUBLE_TAP_SEL; } else { dev->sens_en_stat &= ~BMI2_DOUBLE_TAP_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable tap feature through * triple tap. */ static int8_t set_triple_tap(uint8_t 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; /* Initialize feature configuration for tap */ struct bmi2_feature_config tap_config = { 0, 0, 0 }; /* Search for tap feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&tap_config, BMI2_TRIPLE_TAP, dev); if (feat_found) { /* Get the configuration from the page where tap feature resides */ rslt = bmi2_get_feat_config(tap_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of tap */ idx = tap_config.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_TAP_TRIPLE_TAP_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_TRIPLE_TAP_SEL; } else { dev->sens_en_stat &= ~BMI2_TRIPLE_TAP_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable orientation feature. */ static int8_t set_orientation(uint8_t 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; /* Initialize feature configuration for orientation */ struct bmi2_feature_config orient_config = { 0, 0, 0 }; /* Search for orientation feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev); if (feat_found) { /* Get the configuration from the page where orientation feature resides */ rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of orientation */ idx = orient_config.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ORIENT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_ORIENT_SEL; } else { dev->sens_en_stat &= ~BMI2_ORIENT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable high-g feature. */ static int8_t set_high_g(uint8_t 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; /* Initialize feature configuration for high-g */ struct bmi2_feature_config high_g_config = { 0, 0, 0 }; /* Search for high-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev); if (feat_found) { /* Get the configuration from the page where high-g feature resides */ rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of high-g */ idx = high_g_config.start_addr + BMI2_HIGH_G_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_HIGH_G_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_HIGH_G_SEL; } else { dev->sens_en_stat &= ~BMI2_HIGH_G_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable low-g feature. */ static int8_t set_low_g(uint8_t 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; /* Initialize feature configuration for low-g */ struct bmi2_feature_config low_g_config = { 0, 0, 0 }; /* Search for low-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev); if (feat_found) { /* Get the configuration from the page where low-g feature resides */ rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of low-g */ idx = low_g_config.start_addr + BMI2_LOW_G_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_LOW_G_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_LOW_G_SEL; } else { dev->sens_en_stat &= ~BMI2_LOW_G_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable flat feature. */ static int8_t set_flat(uint8_t 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; /* Initialize feature configuration for flat */ struct bmi2_feature_config flat_config = { 0, 0, 0 }; /* Search for flat feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev); if (feat_found) { /* Get the configuration from the page where flat feature resides */ rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of flat */ idx = flat_config.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_FLAT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_FLAT_SEL; } else { dev->sens_en_stat &= ~BMI2_FLAT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gives an option to enable self-offset correction * feature of gyroscope, either internally or by the host. */ static int8_t set_gyro_self_offset_corr(uint8_t 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; /* Initialize feature configuration for self-offset correction */ struct bmi2_feature_config self_off_corr_cfg = { 0, 0, 0 }; /* Search for self-offset correction and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev); if (feat_found) { /* Get the configuration from the page where self-offset * correction feature resides */ rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of self-offset correction */ idx = self_off_corr_cfg.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL; } else { dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable gyroscope user gain * feature. */ static int8_t set_gyro_user_gain(uint8_t 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; /* Initialize feature configuration for gyroscope user gain */ struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 }; /* Search for user gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Get the configuration from the page where user gain feature resides */ rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of user gain */ idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL; } else { dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets any-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t set_any_motion_config(const struct bmi2_any_motion_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 count */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for any motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for any-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for any-motion select */ idx = any_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration); /* Set x-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x); /* Set y-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y); /* Set z-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z); /* Increment offset by 1 word to set threshold and output configuration */ idx++; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold); /* 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) - any_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[any_mot_config.start_addr + index] = *((uint8_t *) data_p + any_mot_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 sets no-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t set_no_motion_config(const struct bmi2_no_motion_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 count */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for no-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for no-motion select */ idx = no_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration); /* Set x-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x); /* Set y-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y); /* Set z-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z); /* Increment offset by 1 word to set threshold and output configuration */ idx++; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold); /* 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) - no_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[no_mot_config.start_addr + index] = *((uint8_t *) data_p + no_mot_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 sets sig-motion configurations like block-size, * output-configuration and other parameters. */ static int8_t set_sig_motion_config(const struct bmi2_sig_motion_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 sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for sig-motion select */ idx = sig_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set parameter 1 */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size); /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[sig_mot_config.start_addr + index] = *((uint8_t *) data_p + sig_mot_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 sets step counter configurations like water-mark * level, reset-counter and output-configuration step detector and activity. */ static int8_t set_step_config(const struct bmi2_step_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 step counter 4 */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for step counter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step counter resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = step_count_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set water-mark level */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level); /* Set reset-counter */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter); /* Increment offset by 1 word to set output * configuration of step detector and step activity */ idx++; /* Set step buffer size */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size); /* 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) - step_count_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[step_count_config.start_addr + index] = *((uint8_t *) data_p + step_count_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 sets tap configurations like sensitivity, * single, double and triple tap enable and output-configuration. */ static int8_t set_tap_detector_config(struct bmi2_tap_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; rslt = dev->set_tap_config(config, dev); return rslt; } /*! * @brief This internal API sets orientation configurations like upside/down * detection, symmetrical modes, blocking mode, theta, hysteresis and output * configuration. */ static int8_t set_orient_config(const struct bmi2_orient_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 orient */ struct bmi2_feature_config orient_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for orient feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev); if (feat_found) { /* Get the configuration from the page where orient feature resides */ rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for orient select */ idx = orient_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set upside/down detection */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_UP_DOWN, config->ud_en); /* Set symmetrical modes */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_SYMM_MODE, config->mode); /* Set blocking mode */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_BLOCK_MODE, config->blocking); /* Set theta */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ORIENT_THETA, config->theta); /* Increment offset by 1 more word to set hysteresis and output configuration */ idx++; /* Set hysteresis */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ORIENT_HYST, config->hysteresis); /* 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) - orient_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[orient_config.start_addr + index] = *((uint8_t *) data_p + orient_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 sets high-g configurations like threshold, * hysteresis, duration, and out0put configuration. */ static int8_t set_high_g_config(const struct bmi2_high_g_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 high-g */ struct bmi2_feature_config high_g_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for high-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev); if (feat_found) { /* Get the configuration from the page where high-g feature resides */ rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for high-g select */ idx = high_g_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_THRES, config->threshold); /* Increment offset by 1 more word to set hysteresis */ idx++; /* Set hysteresis */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_HYST, config->hysteresis); /* Set x-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_X_SEL, config->select_x); /* Set y-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_Y_SEL, config->select_y); /* Set z-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_HIGH_G_Z_SEL, config->select_z); /* Increment offset by 1 more word to set duration and output configuration */ idx++; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_HIGH_G_DUR, config->duration); /* 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) - high_g_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[high_g_config.start_addr + index] = *((uint8_t *) data_p + high_g_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 sets low-g configurations like threshold, * hysteresis, duration, and output configuration. */ static int8_t set_low_g_config(const struct bmi2_low_g_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 low-g */ struct bmi2_feature_config low_g_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for low-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev); if (feat_found) { /* Get the configuration from the page where low-g feature resides */ rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for low-g select */ idx = low_g_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_THRES, config->threshold); /* Increment offset by 1 more word to set hysteresis */ idx++; /* Set hysteresis */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_HYST, config->hysteresis); /* Increment offset by 1 more word to set duration and output configuration */ idx++; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_LOW_G_DUR, config->duration); /* 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) - low_g_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[low_g_config.start_addr + index] = *((uint8_t *) data_p + low_g_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 sets flat configurations like theta, blocking, * hold-time, hysteresis, and output configuration. */ static int8_t set_flat_config(const struct bmi2_flat_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 flat */ struct bmi2_feature_config flat_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for flat feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev); if (feat_found) { /* Get the configuration from the page where flat feature resides */ rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for flat select */ idx = flat_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set theta */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_THETA, config->theta); /* Set blocking */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_BLOCK, config->blocking); /* Increment offset by 1 more word to set hysteresis and hold-time */ idx++; /* Set hysteresis */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_FLAT_HYST, config->hysteresis); /* Set hold-time */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_FLAT_HOLD_TIME, config->hold_time); /* 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) - flat_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[flat_config.start_addr + index] = *((uint8_t *) data_p + flat_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 gets any-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t get_any_motion_config(struct bmi2_any_motion_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; /* Variable to define MSB */ uint16_t msb; /* Variable to define a word */ uint16_t lsb_msb; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for any-motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Search for any-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for any-motion */ idx = any_mot_config.start_addr; /* Get word to calculate duration, x, y and z select */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK; /* Get x-select */ config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS; /* Get y-select */ config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS; /* Get z-select */ config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS; /* Get word to calculate threshold, output configuration from the same word */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets no-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t get_no_motion_config(struct bmi2_no_motion_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 no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Search for no-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for no-motion */ idx = no_mot_config.start_addr; /* Get word to calculate duration, x, y and z select */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK; /* Get x-select */ config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS; /* Get y-select */ config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS; /* Get z-select */ config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS; /* Get word to calculate threshold, output configuration from the same word */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets sig-motion configurations like block-size, * output-configuration and other parameters. */ static int8_t get_sig_motion_config(struct bmi2_sig_motion_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 sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for sig-motion */ idx = sig_mot_config.start_addr; /* Get word to calculate parameter 1 */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get parameter 1 */ config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets step counter/detector/activity configurations. */ static int8_t get_step_config(struct bmi2_step_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 step counter */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Search for step counter 4 feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step counter 4 parameter resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for step counter/detector/activity */ idx = step_count_config.start_addr; /* Get word to calculate water-mark level and reset counter */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get water-mark level */ config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK; /* Get reset counter */ config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS; /* Get word to calculate output configuration of step detector and activity */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets tap configurations like sensitivity, * single, double and triple tap enable and output-configuration. */ static int8_t get_tap_detector_config(struct bmi2_tap_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; rslt = dev->get_tap_config(config, dev); return rslt; } /*! * @brief This internal API gets orientation configurations like upside/down * detection, symmetrical modes, blocking mode, theta, hysteresis and output * configuration. */ static int8_t get_orient_config(struct bmi2_orient_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 orient */ struct bmi2_feature_config orient_config = { 0, 0, 0 }; /* Search for orient feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&orient_config, BMI2_ORIENTATION, dev); if (feat_found) { /* Get the configuration from the page where orient feature resides */ rslt = bmi2_get_feat_config(orient_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for orient select */ idx = orient_config.start_addr; /* Get word to calculate upside/down detection, * symmetrical modes, blocking mode and theta */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get upside/down detection */ config->ud_en = (lsb_msb & BMI2_ORIENT_UP_DOWN_MASK) >> BMI2_ORIENT_UP_DOWN_POS; /* Get symmetrical modes */ config->mode = (lsb_msb & BMI2_ORIENT_SYMM_MODE_MASK) >> BMI2_ORIENT_SYMM_MODE_POS; /* Get blocking mode */ config->blocking = (lsb_msb & BMI2_ORIENT_BLOCK_MODE_MASK) >> BMI2_ORIENT_BLOCK_MODE_POS; /* Get theta */ config->theta = (lsb_msb & BMI2_ORIENT_THETA_MASK) >> BMI2_ORIENT_THETA_POS; /* Get the next word to calculate hysteresis and output configuration */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get hysteresis */ config->hysteresis = lsb_msb & BMI2_ORIENT_HYST_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets high-g configurations like threshold, * hysteresis, duration, and output configuration. */ static int8_t get_high_g_config(struct bmi2_high_g_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 high-g */ struct bmi2_feature_config high_g_config = { 0, 0, 0 }; /* Search for high-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&high_g_config, BMI2_HIGH_G, dev); if (feat_found) { /* Get the configuration from the page where high-g feature resides */ rslt = bmi2_get_feat_config(high_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for high-g select */ idx = high_g_config.start_addr; /* Get word to calculate threshold */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_HIGH_G_THRES_MASK; /* Get word to calculate hysteresis */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get hysteresis */ config->hysteresis = lsb_msb & BMI2_HIGH_G_HYST_MASK; /* Get x_select */ config->select_x = (lsb_msb & BMI2_HIGH_G_X_SEL_MASK) >> BMI2_HIGH_G_X_SEL_POS; /* Get y_select */ config->select_y = (lsb_msb & BMI2_HIGH_G_Y_SEL_MASK) >> BMI2_HIGH_G_Y_SEL_POS; /* Get z_select */ config->select_z = (lsb_msb & BMI2_HIGH_G_Z_SEL_MASK) >> BMI2_HIGH_G_Z_SEL_POS; /* Get word to calculate duration and output configuration */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_HIGH_G_DUR_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets low-g configurations like threshold, * hysteresis, duration, and output configuration. */ static int8_t get_low_g_config(struct bmi2_low_g_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 low-g */ struct bmi2_feature_config low_g_config = { 0, 0, 0 }; /* Search for low-g feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&low_g_config, BMI2_LOW_G, dev); if (feat_found) { /* Get the configuration from the page where low-g feature resides */ rslt = bmi2_get_feat_config(low_g_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for low-g select */ idx = low_g_config.start_addr; /* Get word to calculate threshold */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_LOW_G_THRES_MASK; /* Get word to calculate hysteresis */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get hysteresis */ config->hysteresis = lsb_msb & BMI2_LOW_G_HYST_MASK; /* Get word to calculate duration and output configuration */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_LOW_G_DUR_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets flat configurations like theta, blocking, * hold-time, hysteresis, and output configuration. */ static int8_t get_flat_config(struct bmi2_flat_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 flat */ struct bmi2_feature_config flat_config = { 0, 0, 0 }; /* Search for flat feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&flat_config, BMI2_FLAT, dev); if (feat_found) { /* Get the configuration from the page where flat feature resides */ rslt = bmi2_get_feat_config(flat_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for flat select */ idx = flat_config.start_addr; /* Get word to calculate theta, blocking mode and output configuration */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get theta */ config->theta = (lsb_msb & BMI2_FLAT_THETA_MASK) >> BMI2_FLAT_THETA_POS; /* Get blocking mode */ config->blocking = (lsb_msb & BMI2_FLAT_BLOCK_MASK) >> BMI2_FLAT_BLOCK_POS; /* Get word to calculate hysteresis and hold-time */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get hysteresis */ config->hysteresis = lsb_msb & BMI2_FLAT_HYST_MASK; /* Get hold-time */ config->hold_time = (lsb_msb & BMI2_FLAT_HOLD_TIME_MASK) >> BMI2_FLAT_HOLD_TIME_POS; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the output values of high-g. */ static int8_t get_high_g_output(uint8_t *high_g_out, 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 high-g */ struct bmi2_feature_config high_g_out_config = { 0, 0, 0 }; /* Search for high-g output feature and extract its configuration details */ feat_found = extract_output_feat_config(&high_g_out_config, BMI2_HIGH_G, dev); if (feat_found) { /* Get the feature output configuration for high-g */ rslt = bmi2_get_feat_config(high_g_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for high-g output */ idx = high_g_out_config.start_addr; /* Get the high-g output byte */ *high_g_out = feat_config[idx]; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the output values of step counter. */ static int8_t get_step_counter_output(uint32_t *step_count, 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 step counter */ struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 }; /* Search for step counter output feature and extract its configuration details */ feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the feature output configuration for step-counter */ rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for step counter output */ idx = step_cnt_out_config.start_addr; /* Get the step counter output in 4 bytes */ *step_count = (uint32_t) feat_config[idx++]; *step_count |= ((uint32_t) feat_config[idx++] << 8); *step_count |= ((uint32_t) feat_config[idx++] << 16); *step_count |= ((uint32_t) feat_config[idx++] << 24); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the error status related to NVM. */ static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_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 NVM error status */ struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 }; /* Search for NVM error status feature and extract its configuration details */ feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev); if (feat_found) { /* Get the feature output configuration for NVM error status */ rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for NVM error status */ idx = nvm_err_cfg.start_addr; /* Increment index to get the error status */ idx++; /* Error when NVM load action fails */ nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS); /* Error when NVM program action fails */ nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS); /* Error when NVM erase action fails */ nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS); /* Error when NVM program limit is exceeded */ nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS); /* Error when NVM privilege mode is not acquired */ nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to get enable status of gyroscope user gain * update. */ static int8_t get_user_gain_upd_status(uint8_t *status, 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; /* Variable to check APS status */ uint8_t aps_stat = 0; /* Initialize feature configuration for gyroscope user gain */ struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 }; /* Search for user gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Disable advance power save */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Get the configuration from the page where user gain feature resides */ rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of user gain */ idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET; /* Set the feature enable status */ *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN); } } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and not when already disabled */ if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This internal API gets the output values of step activity. */ static int8_t get_step_activity_output(uint8_t *step_act, 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 step activity */ struct bmi2_feature_config step_act_out_config = { 0, 0, 0 }; /* Search for step activity output feature and extract its configuration details */ feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev); if (feat_found) { /* Get the feature output configuration for step-activity */ rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for step activity output */ idx = step_act_out_config.start_addr; /* Get the step activity output */ *step_act = feat_config[idx]; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the output values of orientation: portrait- * landscape and face up-down. */ static int8_t get_orient_output(struct bmi2_orientation_output *orient_out, 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 orientation */ struct bmi2_feature_config orient_out_config = { 0, 0, 0 }; /* Search for orientation output feature and extract its configuration details */ feat_found = extract_output_feat_config(&orient_out_config, BMI2_ORIENTATION, dev); if (feat_found) { /* Get the feature output configuration for orientation */ rslt = bmi2_get_feat_config(orient_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for orientation output */ idx = orient_out_config.start_addr; /* Get the output value of the orientation detection feature */ orient_out->portrait_landscape = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_ORIENT_DETECT); /* Get the output value of the orientation face up-down feature */ orient_out->faceup_down = BMI2_GET_BITS(feat_config[idx], BMI2_ORIENT_FACE_UP_DWN); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API enables/disables compensation of the gain defined * in the GAIN register. */ static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data = 0; 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_GAIN_EN, enable); rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, ®_data, 1, dev); } 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 error status related to virtual frames. */ static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_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 VFRM error status */ struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 }; /* Search for VFRM error status feature and extract its configuration details */ feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev); if (feat_found) { /* Get the feature output configuration for VFRM error status */ rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for VFRM error status */ idx = vfrm_err_cfg.start_addr; /* Increment index to get the error status */ idx++; /* Internal error while acquiring lock for FIFO */ vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS); /* Internal error while writing byte into FIFO */ vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS); /* Internal error while writing into FIFO */ vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets feature configuration to the sensor. */ static int8_t set_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; switch (sens_cfg[loop].type) { /* Set any-motion configuration */ case BMI2_ANY_MOTION: rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev); break; /* Set no-motion configuration */ case BMI2_NO_MOTION: rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev); break; /* Set sig-motion configuration */ case BMI2_SIG_MOTION: rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev); break; /* Set step counter/detector/activity configuration */ case BMI2_STEP_DETECTOR: case BMI2_STEP_COUNTER: case BMI2_STEP_ACTIVITY: rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev); break; /* Set tap configuration */ case BMI2_TAP: rslt = set_tap_detector_config(&sens_cfg[loop].cfg.tap_conf, dev); break; /* Set orientation configuration */ case BMI2_ORIENTATION: rslt = set_orient_config(&sens_cfg[loop].cfg.orientation, dev); break; /* Set high-g configuration */ case BMI2_HIGH_G: rslt = set_high_g_config(&sens_cfg[loop].cfg.high_g, dev); break; /* Set low-g configuration */ case BMI2_LOW_G: rslt = set_low_g_config(&sens_cfg[loop].cfg.low_g, dev); break; /* Set flat configuration */ case BMI2_FLAT: rslt = set_flat_config(&sens_cfg[loop].cfg.flat, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } return rslt; } /*! * @brief This internal API gets feature configuration from the sensor. */ static int8_t get_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; switch (sens_cfg[loop].type) { /* Get sig-motion configuration */ case BMI2_SIG_MOTION: rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev); break; /* Get any motion configuration */ case BMI2_ANY_MOTION: rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev); break; /* Get no motion configuration */ case BMI2_NO_MOTION: rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev); break; /* Get step counter/detector/activity configuration */ case BMI2_STEP_DETECTOR: case BMI2_STEP_COUNTER: case BMI2_STEP_ACTIVITY: rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev); break; /* Get tap configuration */ case BMI2_TAP: rslt = get_tap_detector_config(&sens_cfg[loop].cfg.tap_conf, dev); break; /* Get orientation configuration */ case BMI2_ORIENTATION: rslt = get_orient_config(&sens_cfg[loop].cfg.orientation, dev); break; /* Get high-g configuration */ case BMI2_HIGH_G: rslt = get_high_g_config(&sens_cfg[loop].cfg.high_g, dev); break; /* Get low-g configuration */ case BMI2_LOW_G: rslt = get_low_g_config(&sens_cfg[loop].cfg.low_g, dev); break; /* Get flat configuration */ case BMI2_FLAT: rslt = get_flat_config(&sens_cfg[loop].cfg.flat, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } return rslt; } /*! * @brief This internal API is used to select the sensor feature. */ static int8_t sens_select(const uint8_t *sens_list, uint8_t count, uint64_t *sensor_sel) { /* Variable to define error */ int8_t rslt = BMI2_OK; switch (sens_list[count]) { case BMI2_SIG_MOTION: *sensor_sel |= BMI2_SIG_MOTION_SEL; break; case BMI2_ANY_MOTION: *sensor_sel |= BMI2_ANY_MOT_SEL; break; case BMI2_NO_MOTION: *sensor_sel |= BMI2_NO_MOT_SEL; break; case BMI2_STEP_DETECTOR: *sensor_sel |= BMI2_STEP_DETECT_SEL; break; case BMI2_STEP_COUNTER: *sensor_sel |= BMI2_STEP_COUNT_SEL; break; case BMI2_STEP_ACTIVITY: *sensor_sel |= BMI2_STEP_ACT_SEL; break; case BMI2_GYRO_GAIN_UPDATE: *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL; break; case BMI2_SINGLE_TAP: *sensor_sel |= BMI2_SINGLE_TAP_SEL; break; case BMI2_DOUBLE_TAP: *sensor_sel |= BMI2_DOUBLE_TAP_SEL; break; case BMI2_TRIPLE_TAP: *sensor_sel |= BMI2_TRIPLE_TAP_SEL; break; case BMI2_ORIENTATION: *sensor_sel |= BMI2_ORIENT_SEL; break; case BMI2_HIGH_G: *sensor_sel |= BMI2_HIGH_G_SEL; break; case BMI2_LOW_G: *sensor_sel |= BMI2_LOW_G_SEL; break; case BMI2_FLAT: *sensor_sel |= BMI2_FLAT_SEL; break; case BMI2_GYRO_SELF_OFF: *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL; break; default: rslt = BMI2_E_INVALID_SENSOR; break; } return rslt; } /*! * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature. */ static int8_t enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data; 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 is used to enable sensor features. */ static int8_t enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Enable sig-motion feature */ if (sensor_sel & BMI2_SIG_MOTION_SEL) { rslt = set_sig_motion(BMI2_ENABLE, dev); } /* Enable any motion feature */ if (sensor_sel & BMI2_ANY_MOT_SEL) { rslt = set_any_motion(BMI2_ENABLE, dev); } /* Enable no motion feature */ if (sensor_sel & BMI2_NO_MOT_SEL) { rslt = set_no_motion(BMI2_ENABLE, dev); } /* Enable step detector feature */ if (sensor_sel & BMI2_STEP_DETECT_SEL) { rslt = set_step_detector(BMI2_ENABLE, dev); } /* Enable step counter feature */ if (sensor_sel & BMI2_STEP_COUNT_SEL) { rslt = set_step_counter(BMI2_ENABLE, dev); } /* Enable step activity feature */ if (sensor_sel & BMI2_STEP_ACT_SEL) { rslt = set_step_activity(BMI2_ENABLE, dev); } /* Enable gyroscope user gain */ if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL) { rslt = set_gyro_user_gain(BMI2_ENABLE, dev); } /* Enable single tap feature */ if (sensor_sel & BMI2_SINGLE_TAP_SEL) { rslt = set_single_tap(BMI2_ENABLE, dev); } /* Enable double tap feature */ if (sensor_sel & BMI2_DOUBLE_TAP_SEL) { rslt = set_double_tap(BMI2_ENABLE, dev); } /* Enable triple tap feature */ if (sensor_sel & BMI2_TRIPLE_TAP_SEL) { rslt = set_triple_tap(BMI2_ENABLE, dev); } /* Enable orientation feature */ if (sensor_sel & BMI2_ORIENT_SEL) { rslt = set_orientation(BMI2_ENABLE, dev); } /* Enable high-g feature */ if (sensor_sel & BMI2_HIGH_G_SEL) { rslt = set_high_g(BMI2_ENABLE, dev); } /* Enable low-g feature */ if (sensor_sel & BMI2_LOW_G_SEL) { rslt = set_low_g(BMI2_ENABLE, dev); } /* Enable flat feature */ if (sensor_sel & BMI2_FLAT_SEL) { rslt = set_flat(BMI2_ENABLE, dev); } /* Enable gyroscope self-offset correction feature */ if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL) { rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature. */ static int8_t disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data; 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); } /* Disable 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 is used to disable sensor features. */ static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Disable sig-motion feature */ if (sensor_sel & BMI2_SIG_MOTION_SEL) { rslt = set_sig_motion(BMI2_DISABLE, dev); } /* Disable any-motion feature */ if (sensor_sel & BMI2_ANY_MOT_SEL) { rslt = set_any_motion(BMI2_DISABLE, dev); } /* Disable no-motion feature */ if (sensor_sel & BMI2_NO_MOT_SEL) { rslt = set_no_motion(BMI2_DISABLE, dev); } /* Disable step detector feature */ if (sensor_sel & BMI2_STEP_DETECT_SEL) { rslt = set_step_detector(BMI2_DISABLE, dev); } /* Disable step counter feature */ if (sensor_sel & BMI2_STEP_COUNT_SEL) { rslt = set_step_counter(BMI2_DISABLE, dev); } /* Disable step activity feature */ if (sensor_sel & BMI2_STEP_ACT_SEL) { rslt = set_step_activity(BMI2_DISABLE, dev); } /* Disable gyroscope user gain */ if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL) { rslt = set_gyro_user_gain(BMI2_DISABLE, dev); } /* Disable single tap feature */ if (sensor_sel & BMI2_SINGLE_TAP_SEL) { rslt = set_single_tap(BMI2_DISABLE, dev); } /* Disable double tap feature */ if (sensor_sel & BMI2_DOUBLE_TAP_SEL) { rslt = set_double_tap(BMI2_DISABLE, dev); } /* Disable triple tap feature */ if (sensor_sel & BMI2_TRIPLE_TAP_SEL) { rslt = set_triple_tap(BMI2_DISABLE, dev); } /* Disable orientation feature */ if (sensor_sel & BMI2_ORIENT_SEL) { rslt = set_orientation(BMI2_DISABLE, dev); } /* Disable high-g feature */ if (sensor_sel & BMI2_HIGH_G_SEL) { rslt = set_high_g(BMI2_DISABLE, dev); } /* Disable low-g feature */ if (sensor_sel & BMI2_LOW_G_SEL) { rslt = set_low_g(BMI2_DISABLE, dev); } /* Disable flat feature */ if (sensor_sel & BMI2_FLAT_SEL) { rslt = set_flat(BMI2_DISABLE, dev); } /* Disable gyroscope self-offset correction feature */ if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL) { rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev); } return rslt; }