/** * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. * * BSD-3-Clause * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * @file bmi2_ois.h * @date 2020-05-05 * @version v2.23.2 * */ /** * \ingroup bmi2xy * \defgroup bmi2_ois BMI2_OIS * @brief Sensor driver for BMI2_OIS sensor */ #ifndef _BMI2_OIS_H #define _BMI2_OIS_H /*! CPP guard */ #ifdef __cplusplus extern "C" { #endif /***************************************************************************/ /*! Header files ****************************************************************************/ #ifdef __KERNEL__ #include #include #else #include #include #endif /******************************************************************************/ /*! @name Macros */ /******************************************************************************/ #ifndef BMI2_INTF_RETURN_TYPE #define BMI2_INTF_RETURN_TYPE int8_t #endif /*! @name Utility macros */ #define BMI2_OIS_SET_BITS(reg_data, bitname, data) \ ((reg_data & ~(bitname##_MASK)) | \ ((data << bitname##_POS) & bitname##_MASK)) #define BMI2_OIS_GET_BITS(reg_data, bitname) \ ((reg_data & (bitname##_MASK)) >> \ (bitname##_POS)) #define BMI2_SET_BIT_POS0(reg_data, bitname, data) \ ((reg_data & ~(bitname##_MASK)) | \ (data & bitname##_MASK)) #define BMI2_GET_BIT_POS0(reg_data, bitname) (reg_data & (bitname##_MASK)) /*! @name For enable and disable */ #define BMI2_OIS_ENABLE UINT8_C(1) #define BMI2_OIS_DISABLE UINT8_C(0) /*! @name To define sensor interface success code */ #define BMI2_INTF_RET_SUCCESS INT8_C(0) /*! @name To define success code */ #define BMI2_OIS_OK UINT8_C(0) /*! @name To define error codes */ #define BMI2_OIS_E_NULL_PTR INT8_C(-1) #define BMI2_OIS_E_COM_FAIL INT8_C(-2) #define BMI2_OIS_E_INVALID_SENSOR INT8_C(-8) /*! @name Mask definitions for SPI read/write address for OIS */ #define BMI2_OIS_SPI_RD_MASK UINT8_C(0x80) #define BMI2_OIS_SPI_WR_MASK UINT8_C(0x7F) /*! @name BMI2 OIS data bytes */ #define BMI2_OIS_ACC_GYR_NUM_BYTES UINT8_C(6) /*! @name Macros to select sensor for OIS data read */ #define BMI2_OIS_ACCEL UINT8_C(0x01) #define BMI2_OIS_GYRO UINT8_C(0x02) /*! @name Macros to define OIS register addresses */ #define BMI2_OIS_CONFIG_ADDR UINT8_C(0x40) #define BMI2_OIS_ACC_X_LSB_ADDR UINT8_C(0x0C) #define BMI2_OIS_GYR_X_LSB_ADDR UINT8_C(0x12) /*! @name Mask definitions for OIS configurations */ #define BMI2_OIS_GYR_EN_MASK UINT8_C(0x40) #define BMI2_OIS_ACC_EN_MASK UINT8_C(0x80) /*! @name Bit Positions for OIS configurations */ #define BMI2_OIS_GYR_EN_POS UINT8_C(0x06) #define BMI2_OIS_ACC_EN_POS UINT8_C(0x07) /*! Low pass filter configuration position and mask */ #define BMI2_OIS_LP_FILTER_EN_POS UINT8_C(0x00) #define BMI2_OIS_LP_FILTER_EN_MASK UINT8_C(0x01) #define BMI2_OIS_LP_FILTER_CONFIG_POS UINT8_C(0x01) #define BMI2_OIS_LP_FILTER_CONFIG_MASK UINT8_C(0x06) #define BMI2_OIS_LP_FILTER_MUTE_POS UINT8_C(0x05) #define BMI2_OIS_LP_FILTER_MUTE_MASK UINT8_C(0x20) /******************************************************************************/ /*! @name Function Pointers */ /******************************************************************************/ /*! * @brief Bus communication function pointer which should be mapped to * the platform specific read functions of the user * * @param[in] reg_addr : Register address from which data is read. * @param[out] reg_data : Pointer to data buffer where read data is stored. * @param[in] len : Number of bytes of data to be read. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs. * * retval = BMI2_INTF_RET_SUCCESS -> Success * retval != BMI2_INTF_RET_SUCCESS -> Failure * */ typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_read_fptr_t)(uint8_t reg_addr, uint8_t *data, uint32_t len, void *intf_ptr); /*! * @brief Bus communication function pointer which should be mapped to * the platform specific write functions of the user * * @param[in] reg_addr : Register address to which the data is written. * @param[in] reg_data : Pointer to data buffer in which data to be written * is stored. * @param[in] len : Number of bytes of data to be written. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs * * retval = BMI2_INTF_RET_SUCCESS -> Success * retval != BMI2_INTF_RET_SUCCESS -> Failure * */ typedef BMI2_INTF_RETURN_TYPE (*bmi2_ois_write_fptr_t)(uint8_t reg_addr, const uint8_t *data, uint32_t len, void *intf_ptr); /*! * @brief Delay function pointer which should be mapped to * delay function of the user * * @param[in] period : Delay in microseconds. * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors * for interface related call backs * */ typedef void (*bmi2_ois_delay_fptr_t)(uint32_t period, void *intf_ptr); /******************************************************************************/ /*! @name Structure Declarations */ /******************************************************************************/ /*! @name Structure to define accelerometer and gyroscope sensor axes for OIS */ struct bmi2_ois_sens_axes_data { /*! Data in x-axis */ int16_t x; /*! Data in y-axis */ int16_t y; /*! Data in z-axis */ int16_t z; }; /*! @name Structure to define bmi2 OIS sensor configurations */ struct bmi2_ois_dev { /*! Read function pointer */ bmi2_ois_read_fptr_t ois_read; /*! Write function pointer */ bmi2_ois_write_fptr_t ois_write; /*! Delay function pointer */ bmi2_ois_delay_fptr_t ois_delay_us; /*! Low pass filter en/dis */ uint8_t lp_filter_en; /*! Void interface pointer */ void *intf_ptr; /*! To store interface pointer error */ int8_t intf_rslt; /*! Low pass filter cut-off frequency */ uint8_t lp_filter_config; /*! Low pass filter mute */ uint8_t lp_filter_mute; /*! Accelerometer enable for OIS */ uint8_t acc_en; /*! Gyroscope enable for OIS */ uint8_t gyr_en; /*! Accelerometer data axes */ struct bmi2_ois_sens_axes_data acc_data; /*! Gyroscope data axes */ struct bmi2_ois_sens_axes_data gyr_data; }; /***************************************************************************/ /*! BMI2 OIS User Interface function prototypes ****************************************************************************/ /** * \ingroup bmi2_ois * \defgroup bmi2_oisApiRegs Registers * @brief Read data from the given OIS register address of bmi2 */ /*! * \ingroup bmi2_oisApiRegs * \page bmi2_ois_api_bmi2_ois_get_regs bmi2_ois_get_regs * \code * int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, * uint8_t *ois_reg_data, * uint16_t data_len, * const struct bmi2_ois_dev *ois_dev); * \endcode * @details This API reads the data from the given OIS register address of bmi2 * sensor. * * @param[in] ois_reg_addr : OIS register address from which data is read. * @param[out] ois_reg_data : Pointer to data buffer where read data is stored. * @param[in] data_len : No. of bytes of data to be read. * @param[in] ois_dev : Structure instance of bmi2_ois_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi2_ois_get_regs(uint8_t ois_reg_addr, uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev); /*! * \ingroup bmi2_oisApiRegs * \page bmi2_ois_api_bmi2_ois_set_regs bmi2_ois_set_regs * \code * int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr, * uint8_t *ois_reg_data, * uint16_t data_len, * const struct bmi2_ois_dev *ois_dev); * \endcode * @details This API writes data to the given OIS register address of bmi2 sensor. * * @param[in] ois_reg_addr : OIS register address to which the data is written. * @param[in] ois_reg_data : Pointer to data buffer in which data to be written * is stored. * @param[in] data_len : No. of bytes of data to be written. * @param[in] ois_dev : Structure instance of bmi2_ois_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi2_ois_set_regs(uint8_t ois_reg_addr, const uint8_t *ois_reg_data, uint16_t data_len, struct bmi2_ois_dev *ois_dev); /** * \ingroup bmi2_ois * \defgroup bmi2_oisApiConfig Status update * @brief Get / Set the status of Enable / Disable accelerometer / gyroscope data read through OIS interface */ /*! * \ingroup bmi2_oisApiConfig * \page bmi2_ois_api_bmi2_ois_set_config bmi2_ois_set_config * \code * int8_t bmi2_ois_set_config(const struct bmi2_ois_dev *ois_dev); * \endcode * @details This API sets the status of enable/disable accelerometer/gyroscope data read through * OIS interface. * * @param[in] ois_dev : Structure instance of bmi2_ois_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi2_ois_set_config(struct bmi2_ois_dev *ois_dev); /*! * \ingroup bmi2_oisApiConfig * \page bmi2_ois_api_bmi2_ois_get_config bmi2_ois_get_config * \code * int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev); * \endcode * @details This API gets the status of accelerometer/gyroscope enable for data * read through OIS interface. * * @param[in, out] ois_dev : Structure instance of bmi2_ois_dev. * * @note Enabling and disabling is done during OIS structure initialization. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi2_ois_get_config(struct bmi2_ois_dev *ois_dev); /** * \ingroup bmi2_ois * \defgroup bmi2_oisApiRead Data read * @brief Read accelerometer / gyroscope data through OIS interface */ /*! * \ingroup bmi2_oisApiRead * \page bmi2_ois_api_bmi2_ois_read_data bmi2_ois_read_data * \code * int8_t bmi2_ois_read_data(const uint8_t *sens_sel, * uint8_t n_sens, * struct bmi2_ois_dev *ois_dev, * int16_t gyr_cross_sens_zx); * \endcode * @details This API reads accelerometer/gyroscope data through OIS interface. * * @param[in] sens_sel : Select sensor whose data is to be read. * @param[in] n_sens : Number of sensors selected. * @param[in, out] ois_dev : Structure instance of bmi2_ois_dev. * @param[in] gyr_cross_sens_zx : Store the gyroscope cross sensitivity values taken from the bmi2xy * (refer bmi2_ois example). * *@verbatim * sens_sel | Value * ---------------|--------------- * BMI2_OIS_ACCEL | 0x01 * BMI2_OIS_GYRO | 0x02 *@endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ int8_t bmi2_ois_read_data(const uint8_t *sens_sel, uint8_t n_sens, struct bmi2_ois_dev *ois_dev, int16_t gyr_cross_sens_zx); #ifdef __cplusplus } #endif /* End of CPP guard */ #endif /* End of _BMI2_OIS_H */