1145 lines
40 KiB
C
1145 lines
40 KiB
C
/**
|
|
* 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 bma4_defs.h
|
|
* @date 2020-05-08
|
|
* @version V2.14.13
|
|
*
|
|
*/
|
|
|
|
/*! \file bma4_defs.h
|
|
* \brief Sensor Driver for BMA4 family of sensors
|
|
*/
|
|
#ifndef BMA4_DEFS_H__
|
|
#define BMA4_DEFS_H__
|
|
|
|
/*********************************************************************/
|
|
/**\ header files */
|
|
#ifdef __KERNEL__
|
|
#include <linux/types.h>
|
|
#else
|
|
#include <stdint.h>
|
|
#include <stddef.h>
|
|
#include <math.h>
|
|
#endif
|
|
|
|
/*********************************************************************/
|
|
/* macro definitions */
|
|
|
|
#ifdef __KERNEL__
|
|
|
|
#if (!defined(UINT8_C) && !defined(INT8_C))
|
|
#define INT8_C(x) S8_C(x)
|
|
#define UINT8_C(x) U8_C(x)
|
|
#endif
|
|
|
|
#if (!defined(UINT16_C) && !defined(INT16_C))
|
|
#define INT16_C(x) S16_C(x)
|
|
#define UINT16_C(x) U16_C(x)
|
|
#endif
|
|
|
|
#if (!defined(INT32_C) && !defined(UINT32_C))
|
|
#define INT32_C(x) S32_C(x)
|
|
#define UINT32_C(x) U32_C(x)
|
|
#endif
|
|
|
|
#if (!defined(INT64_C) && !defined(UINT64_C))
|
|
#define INT64_C(x) S64_C(x)
|
|
#define UINT64_C(x) U64_C(x)
|
|
#endif
|
|
|
|
#else /* __KERNEL__ */
|
|
|
|
#if (!defined(UINT8_C) && !defined(INT8_C))
|
|
#define INT8_C(x) (x)
|
|
#define UINT8_C(x) (x##U)
|
|
#endif
|
|
|
|
#if (!defined(UINT16_C) && !defined(INT16_C))
|
|
#define INT16_C(x) (x)
|
|
#define UINT16_C(x) (x##U)
|
|
#endif
|
|
|
|
#if (!defined(INT32_C) && !defined(UINT32_C))
|
|
#define INT32_C(x) (x)
|
|
#define UINT32_C(x) (x##U)
|
|
#endif
|
|
|
|
#if (!defined(INT64_C) && !defined(UINT64_C))
|
|
#define INT64_C(x) (x##LL)
|
|
#define UINT64_C(x) (x##ULL)
|
|
#endif
|
|
|
|
#endif /* __KERNEL__ */
|
|
|
|
/**\name CHIP ID ADDRESS*/
|
|
#define BMA4_CHIP_ID_ADDR UINT8_C(0x00)
|
|
|
|
/**\name ERROR STATUS*/
|
|
#define BMA4_ERROR_ADDR UINT8_C(0X02)
|
|
|
|
/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/
|
|
#define BMA4_STATUS_ADDR UINT8_C(0X03)
|
|
|
|
/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/
|
|
#define BMA4_DATA_0_ADDR UINT8_C(0X0A)
|
|
#define BMA4_DATA_8_ADDR UINT8_C(0X12)
|
|
|
|
/**\name SENSOR TIME REGISTERS*/
|
|
#define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18)
|
|
|
|
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
|
|
#define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C)
|
|
|
|
/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
|
|
#define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D)
|
|
|
|
/**\name TEMPERATURE REGISTERS*/
|
|
#define BMA4_TEMPERATURE_ADDR UINT8_C(0X22)
|
|
|
|
/**\name FIFO REGISTERS*/
|
|
#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24)
|
|
#define BMA4_FIFO_DATA_ADDR UINT8_C(0X26)
|
|
|
|
/**\name ACCEL CONFIG REGISTERS*/
|
|
#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40)
|
|
|
|
/**\name ACCEL RANGE ADDRESS*/
|
|
#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41)
|
|
|
|
/**\name AUX CONFIG REGISTERS*/
|
|
#define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44)
|
|
|
|
/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/
|
|
#define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45)
|
|
|
|
/**\name FIFO WATERMARK REGISTER ADDRESS*/
|
|
#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46)
|
|
|
|
/**\name FIFO CONFIG REGISTERS*/
|
|
#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48)
|
|
#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49)
|
|
|
|
/**\name MAG INTERFACE REGISTERS*/
|
|
#define BMA4_AUX_DEV_ID_ADDR UINT8_C(0X4B)
|
|
#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C)
|
|
#define BMA4_AUX_RD_ADDR UINT8_C(0X4D)
|
|
#define BMA4_AUX_WR_ADDR UINT8_C(0X4E)
|
|
#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F)
|
|
|
|
/**\name INTERRUPT ENABLE REGISTERS*/
|
|
#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53)
|
|
#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54)
|
|
|
|
/**\name LATCH DURATION REGISTERS*/
|
|
#define BMA4_INTR_LATCH_ADDR UINT8_C(0X55)
|
|
|
|
/**\name MAP INTERRUPT 1 and 2 REGISTERS*/
|
|
#define BMA4_INT_MAP_1_ADDR UINT8_C(0X56)
|
|
#define BMA4_INT_MAP_2_ADDR UINT8_C(0X57)
|
|
#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58)
|
|
#define BMA4_INIT_CTRL_ADDR UINT8_C(0x59)
|
|
|
|
/**\name FEATURE CONFIG RELATED */
|
|
#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B)
|
|
#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C)
|
|
#define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E)
|
|
#define BMA4_INTERNAL_ERROR UINT8_C(0x5F)
|
|
|
|
/**\name SERIAL INTERFACE SETTINGS REGISTER*/
|
|
#define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B)
|
|
|
|
/**\name SELF_TEST REGISTER*/
|
|
#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D)
|
|
|
|
/**\name Macro to define accelerometer configuration value for FOC */
|
|
#define BMA4_FOC_ACC_CONF_VAL UINT8_C(0xB7)
|
|
|
|
/**\name SPI,I2C SELECTION REGISTER*/
|
|
#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70)
|
|
|
|
/**\name ACCEL OFFSET REGISTERS*/
|
|
#define BMA4_OFFSET_0_ADDR UINT8_C(0X71)
|
|
#define BMA4_OFFSET_1_ADDR UINT8_C(0X72)
|
|
#define BMA4_OFFSET_2_ADDR UINT8_C(0X73)
|
|
|
|
/**\name POWER_CTRL REGISTER*/
|
|
#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C)
|
|
#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D)
|
|
|
|
/**\name COMMAND REGISTER*/
|
|
#define BMA4_CMD_ADDR UINT8_C(0X7E)
|
|
|
|
/**\name GPIO REGISTERS*/
|
|
#define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E)
|
|
#define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F)
|
|
#define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27)
|
|
#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28)
|
|
#define BMA4_INTERNAL_STAT UINT8_C(0x2A)
|
|
|
|
/*!
|
|
* @brief Block size for config write
|
|
*/
|
|
#define BMA4_BLOCK_SIZE UINT8_C(32)
|
|
|
|
/**\name I2C slave address */
|
|
#define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18)
|
|
#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19)
|
|
#define BMA4_I2C_BMM150_ADDR UINT8_C(0x10)
|
|
|
|
/**\name Interface selection macro */
|
|
#define BMA4_SPI_WR_MASK UINT8_C(0x7F)
|
|
#define BMA4_SPI_RD_MASK UINT8_C(0x80)
|
|
|
|
/**\name Chip ID macros */
|
|
#define BMA4_CHIP_ID_MIN UINT8_C(0x10)
|
|
#define BMA4_CHIP_ID_MAX UINT8_C(0x15)
|
|
|
|
/**\name Auxiliary sensor selection macro */
|
|
#define BMM150_SENSOR UINT8_C(1)
|
|
#define AKM9916_SENSOR UINT8_C(2)
|
|
#define BMA4_ASIC_INITIALIZED UINT8_C(0x01)
|
|
|
|
/**\name Auxiliary sensor chip id macros */
|
|
#define BMM150_CHIP_ID UINT8_C(0x32)
|
|
|
|
/**\name Auxiliary sensor other macros */
|
|
#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B)
|
|
#define BMM150_POWER_MODE_REG UINT8_C(0x4C)
|
|
|
|
/**\name CONSTANTS */
|
|
#define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2)
|
|
#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2)
|
|
#define BMA4_FIFO_WM_LENGTH UINT8_C(2)
|
|
#define BMA4_NON_LATCH_MODE UINT8_C(0)
|
|
#define BMA4_LATCH_MODE UINT8_C(1)
|
|
#define BMA4_OPEN_DRAIN UINT8_C(1)
|
|
#define BMA4_PUSH_PULL UINT8_C(0)
|
|
#define BMA4_ACTIVE_HIGH UINT8_C(1)
|
|
#define BMA4_ACTIVE_LOW UINT8_C(0)
|
|
#define BMA4_EDGE_TRIGGER UINT8_C(1)
|
|
#define BMA4_LEVEL_TRIGGER UINT8_C(0)
|
|
#define BMA4_OUTPUT_ENABLE UINT8_C(1)
|
|
#define BMA4_OUTPUT_DISABLE UINT8_C(0)
|
|
#define BMA4_INPUT_ENABLE UINT8_C(1)
|
|
#define BMA4_INPUT_DISABLE UINT8_C(0)
|
|
|
|
/**\name ACCEL RANGE CHECK*/
|
|
#define BMA4_ACCEL_RANGE_2G UINT8_C(0)
|
|
#define BMA4_ACCEL_RANGE_4G UINT8_C(1)
|
|
#define BMA4_ACCEL_RANGE_8G UINT8_C(2)
|
|
#define BMA4_ACCEL_RANGE_16G UINT8_C(3)
|
|
|
|
/**\name CONDITION CHECK FOR READING AND WRITING DATA*/
|
|
#define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1)
|
|
#define BMA4_MAX_VALUE_SPI3 UINT8_C(1)
|
|
#define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1)
|
|
#define BMA4_MAX_IF_MODE UINT8_C(3)
|
|
#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1)
|
|
|
|
/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/
|
|
#define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16)
|
|
#define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6)
|
|
#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8)
|
|
#define BMA4_ACCEL_DATA_LENGTH UINT8_C(6)
|
|
#define BMA4_FIFO_DATA_LENGTH UINT8_C(2)
|
|
#define BMA4_TEMP_DATA_SIZE UINT8_C(1)
|
|
|
|
/**\name TEMPERATURE CONSTANT */
|
|
#define BMA4_OFFSET_TEMP UINT8_C(23)
|
|
#define BMA4_DEG UINT8_C(1)
|
|
#define BMA4_FAHREN UINT8_C(2)
|
|
#define BMA4_KELVIN UINT8_C(3)
|
|
|
|
/**\name DELAY DEFINITION IN MSEC*/
|
|
#define BMA4_AUX_IF_DELAY UINT8_C(5)
|
|
#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2)
|
|
#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3)
|
|
#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1)
|
|
#define BMA4_GEN_READ_WRITE_DELAY UINT16_C(1000)
|
|
#define BMA4_AUX_COM_DELAY UINT16_C(10000)
|
|
|
|
/**\name ARRAY PARAMETER DEFINITIONS*/
|
|
#define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2)
|
|
#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
|
|
#define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0)
|
|
#define BMA4_MAG_X_LSB_BYTE UINT8_C(0)
|
|
#define BMA4_MAG_X_MSB_BYTE UINT8_C(1)
|
|
#define BMA4_MAG_Y_LSB_BYTE UINT8_C(2)
|
|
#define BMA4_MAG_Y_MSB_BYTE UINT8_C(3)
|
|
#define BMA4_MAG_Z_LSB_BYTE UINT8_C(4)
|
|
#define BMA4_MAG_Z_MSB_BYTE UINT8_C(5)
|
|
#define BMA4_MAG_R_LSB_BYTE UINT8_C(6)
|
|
#define BMA4_MAG_R_MSB_BYTE UINT8_C(7)
|
|
#define BMA4_TEMP_BYTE UINT8_C(0)
|
|
#define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1)
|
|
|
|
/*! @name To define success code */
|
|
#define BMA4_OK INT8_C(0)
|
|
|
|
/*! @name To define error codes */
|
|
#define BMA4_E_NULL_PTR INT8_C(-1)
|
|
#define BMA4_E_COM_FAIL INT8_C(-2)
|
|
#define BMA4_E_DEV_NOT_FOUND INT8_C(-3)
|
|
#define BMA4_E_INVALID_SENSOR INT8_C(-4)
|
|
#define BMA4_E_CONFIG_STREAM_ERROR INT8_C(-5)
|
|
#define BMA4_E_SELF_TEST_FAIL INT8_C(-6)
|
|
#define BMA4_E_FOC_FAIL INT8_C(-7)
|
|
#define BMA4_E_OUT_OF_RANGE INT8_C(-8)
|
|
#define BMA4_E_INT_LINE_INVALID INT8_C(-9)
|
|
#define BMA4_E_RD_WR_LENGTH_INVALID INT8_C(-10)
|
|
#define BMA4_E_AUX_CONFIG_FAIL INT8_C(-11)
|
|
#define BMA4_E_SC_FIFO_HEADER_ERR INT8_C(-12)
|
|
#define BMA4_E_SC_FIFO_CONFIG_ERR INT8_C(-13)
|
|
|
|
/**\name UTILITY MACROS */
|
|
#define BMA4_SET_LOW_BYTE UINT16_C(0x00FF)
|
|
#define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00)
|
|
#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F)
|
|
|
|
/* Macros used for Self test (BMA42X_VARIANT) */
|
|
/* Self-test: Resulting minimum difference signal in mg for BMA42X */
|
|
#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400)
|
|
#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800)
|
|
#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400)
|
|
|
|
/* Macros used for Self test (BMA42X_B_VARIANT) */
|
|
/* Self-test: Resulting minimum difference signal in mg for BMA42X_B */
|
|
#define BMA42X_B_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
#define BMA42X_B_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
#define BMA42X_B_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
|
|
/* Macros used for Self test (BMA45X_VARIANT) */
|
|
/* Self-test: Resulting minimum difference signal in mg for BMA45X */
|
|
#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800)
|
|
|
|
/**\name BOOLEAN TYPES*/
|
|
#ifndef TRUE
|
|
#define TRUE UINT8_C(0x01)
|
|
#endif
|
|
|
|
#ifndef FALSE
|
|
#define FALSE UINT8_C(0x00)
|
|
#endif
|
|
|
|
#ifndef NULL
|
|
#define NULL UINT8_C(0x00)
|
|
#endif
|
|
|
|
/**\name ERROR STATUS POSITION AND MASK*/
|
|
#define BMA4_FATAL_ERR_MSK UINT8_C(0x01)
|
|
#define BMA4_CMD_ERR_POS UINT8_C(1)
|
|
#define BMA4_CMD_ERR_MSK UINT8_C(0x02)
|
|
#define BMA4_ERR_CODE_POS UINT8_C(2)
|
|
#define BMA4_ERR_CODE_MSK UINT8_C(0x1C)
|
|
#define BMA4_FIFO_ERR_POS UINT8_C(6)
|
|
#define BMA4_FIFO_ERR_MSK UINT8_C(0x40)
|
|
#define BMA4_AUX_ERR_POS UINT8_C(7)
|
|
#define BMA4_AUX_ERR_MSK UINT8_C(0x80)
|
|
|
|
/**\name NV_CONFIG POSITION AND MASK*/
|
|
/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */
|
|
#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3)
|
|
#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08)
|
|
|
|
/**\name MAG DATA XYZ POSITION AND MASK*/
|
|
#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3)
|
|
#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8)
|
|
#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3)
|
|
#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8)
|
|
#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1)
|
|
#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE)
|
|
#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2)
|
|
#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC)
|
|
|
|
/**\name ACCEL DATA READY POSITION AND MASK*/
|
|
#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7)
|
|
#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80)
|
|
|
|
/**\name MAG DATA READY POSITION AND MASK*/
|
|
#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5)
|
|
#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20)
|
|
|
|
/**\name ADVANCE POWER SAVE POSITION AND MASK*/
|
|
#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01)
|
|
|
|
/**\name ACCELEROMETER ENABLE POSITION AND MASK*/
|
|
#define BMA4_ACCEL_ENABLE_POS UINT8_C(2)
|
|
#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04)
|
|
|
|
/**\name MAGNETOMETER ENABLE POSITION AND MASK*/
|
|
#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01)
|
|
|
|
/**\name ACCEL CONFIGURATION POSITION AND MASK*/
|
|
#define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F)
|
|
#define BMA4_ACCEL_BW_POS UINT8_C(4)
|
|
#define BMA4_ACCEL_BW_MSK UINT8_C(0x70)
|
|
#define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03)
|
|
#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7)
|
|
#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80)
|
|
|
|
/**\name MAG CONFIGURATION POSITION AND MASK*/
|
|
#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4)
|
|
#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4)
|
|
#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0)
|
|
#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR)
|
|
|
|
/**\name FIFO SELF WAKE UP POSITION AND MASK*/
|
|
#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1)
|
|
#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02)
|
|
|
|
/**\name FIFO BYTE COUNTER POSITION AND MASK*/
|
|
#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F)
|
|
|
|
/**\name FIFO DATA POSITION AND MASK*/
|
|
#define BMA4_FIFO_DATA_POS UINT8_C(0)
|
|
#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF)
|
|
|
|
/**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/
|
|
#define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4)
|
|
#define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70)
|
|
#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7)
|
|
#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80)
|
|
|
|
/**\name FIFO HEADER DATA DEFINITIONS */
|
|
#define BMA4_FIFO_HEAD_A UINT8_C(0x84)
|
|
#define BMA4_FIFO_HEAD_M UINT8_C(0x90)
|
|
#define BMA4_FIFO_HEAD_M_A UINT8_C(0x94)
|
|
#define BMA4_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
|
|
#define BMA4_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
|
|
#define BMA4_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
|
|
#define BMA4_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80)
|
|
#define BMA4_FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50)
|
|
|
|
/**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */
|
|
#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60)
|
|
#define BMA4_FIFO_A_ENABLE UINT8_C(0x40)
|
|
#define BMA4_FIFO_M_ENABLE UINT8_C(0x20)
|
|
|
|
/**\name FIFO CONFIGURATION SELECTION */
|
|
#define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01)
|
|
#define BMA4_FIFO_TIME UINT8_C(0x02)
|
|
#define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04)
|
|
#define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08)
|
|
#define BMA4_FIFO_HEADER UINT8_C(0x10)
|
|
#define BMA4_FIFO_MAG UINT8_C(0x20)
|
|
#define BMA4_FIFO_ACCEL UINT8_C(0x40)
|
|
#define BMA4_FIFO_ALL UINT8_C(0x7F)
|
|
#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03)
|
|
#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC)
|
|
|
|
/**\name FIFO FRAME COUNT DEFINITION */
|
|
#define BMA4_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00)
|
|
#define BMA4_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80)
|
|
#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
|
|
|
|
/**\name FIFO DROPPED FRAME DEFINITION */
|
|
#define BMA4_AUX_FIFO_DROP UINT8_C(0x04)
|
|
#define BMA4_ACCEL_AUX_FIFO_DROP UINT8_C(0x05)
|
|
#define BMA4_ACCEL_FIFO_DROP UINT8_C(0x01)
|
|
|
|
/**\name FIFO MAG DEFINITION*/
|
|
#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8)
|
|
|
|
/**\name FIFO sensor time length definitions*/
|
|
#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3)
|
|
|
|
/**\name FIFO LENGTH DEFINITION*/
|
|
#define BMA4_FIFO_A_LENGTH UINT8_C(6)
|
|
#define BMA4_FIFO_M_LENGTH UINT8_C(8)
|
|
#define BMA4_FIFO_MA_LENGTH UINT8_C(14)
|
|
|
|
/**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/
|
|
#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1)
|
|
#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE)
|
|
|
|
/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/
|
|
#define BMA4_MAG_BURST_MSK UINT8_C(0x03)
|
|
#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7)
|
|
#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80)
|
|
#define BMA4_READ_ADDR_MSK UINT8_C(0xFF)
|
|
#define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF)
|
|
#define BMA4_WRITE_DATA_MSK UINT8_C(0xFF)
|
|
|
|
/**\name OUTPUT TYPE ENABLE POSITION AND MASK*/
|
|
#define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01)
|
|
#define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00)
|
|
#define BMA4_INT_LEVEL_MASK UINT8_C(0x02)
|
|
#define BMA4_INT_LEVEL_POS UINT8_C(0x01)
|
|
#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04)
|
|
#define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02)
|
|
#define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08)
|
|
#define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03)
|
|
#define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10)
|
|
#define BMA4_INT_INPUT_EN_POS UINT8_C(0x04)
|
|
|
|
/**\name IF CONFIG POSITION AND MASK*/
|
|
#define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01)
|
|
#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4)
|
|
#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10)
|
|
|
|
/**\name ACCEL SELF TEST POSITION AND MASK*/
|
|
#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01)
|
|
#define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2)
|
|
#define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04)
|
|
#define BMA4_SELFTEST_AMP_POS UINT8_C(3)
|
|
#define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08)
|
|
|
|
/**\name ACCEL ODR */
|
|
#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01)
|
|
#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02)
|
|
#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03)
|
|
#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04)
|
|
#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05)
|
|
#define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06)
|
|
#define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07)
|
|
#define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08)
|
|
#define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09)
|
|
#define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A)
|
|
#define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B)
|
|
#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C)
|
|
|
|
/**\name ACCEL BANDWIDTH PARAMETER */
|
|
#define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0)
|
|
#define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1)
|
|
#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2)
|
|
#define BMA4_ACCEL_CIC_AVG8 UINT8_C(3)
|
|
#define BMA4_ACCEL_RES_AVG16 UINT8_C(4)
|
|
#define BMA4_ACCEL_RES_AVG32 UINT8_C(5)
|
|
#define BMA4_ACCEL_RES_AVG64 UINT8_C(6)
|
|
#define BMA4_ACCEL_RES_AVG128 UINT8_C(7)
|
|
|
|
/**\name ACCEL PERFMODE PARAMETER */
|
|
#define BMA4_CIC_AVG_MODE UINT8_C(0)
|
|
#define BMA4_CONTINUOUS_MODE UINT8_C(1)
|
|
|
|
/**\name MAG OFFSET */
|
|
#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00)
|
|
|
|
/**\name ENABLE/DISABLE SELECTIONS */
|
|
#define BMA4_X_AXIS UINT8_C(0)
|
|
#define BMA4_Y_AXIS UINT8_C(1)
|
|
#define BMA4_Z_AXIS UINT8_C(2)
|
|
|
|
/**\name SELF TEST*/
|
|
#define BMA4_SELFTEST_PASS INT8_C(0)
|
|
#define BMA4_SELFTEST_FAIL INT8_C(1)
|
|
|
|
#define BMA4_SELFTEST_DIFF_X_AXIS_FAILED INT8_C(1)
|
|
#define BMA4_SELFTEST_DIFF_Y_AXIS_FAILED INT8_C(2)
|
|
#define BMA4_SELFTEST_DIFF_Z_AXIS_FAILED INT8_C(3)
|
|
#define BMA4_SELFTEST_DIFF_X_AND_Y_AXIS_FAILED INT8_C(4)
|
|
#define BMA4_SELFTEST_DIFF_X_AND_Z_AXIS_FAILED INT8_C(5)
|
|
#define BMA4_SELFTEST_DIFF_Y_AND_Z_AXIS_FAILED INT8_C(6)
|
|
#define BMA4_SELFTEST_DIFF_X_Y_AND_Z_AXIS_FAILED INT8_C(7)
|
|
|
|
/**\name INTERRUPT MAPS */
|
|
#define BMA4_INTR1_MAP UINT8_C(0)
|
|
#define BMA4_INTR2_MAP UINT8_C(1)
|
|
|
|
/**\name INTERRUPT MASKS */
|
|
#define BMA4_FIFO_FULL_INT UINT16_C(0x0100)
|
|
#define BMA4_FIFO_WM_INT UINT16_C(0x0200)
|
|
#define BMA4_DATA_RDY_INT UINT16_C(0x0400)
|
|
#define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000)
|
|
#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000)
|
|
|
|
/**\name AKM POWER MODE SELECTION */
|
|
#define BMA4_AKM_POWER_DOWN_MODE UINT8_C(0)
|
|
#define BMA4_AKM_SINGLE_MEAS_MODE UINT8_C(1)
|
|
|
|
/**\name SECONDARY_MAG POWER MODE SELECTION */
|
|
#define BMA4_MAG_FORCE_MODE UINT8_C(0)
|
|
#define BMA4_MAG_SUSPEND_MODE UINT8_C(1)
|
|
|
|
/**\name MAG POWER MODE SELECTION */
|
|
#define BMA4_FORCE_MODE UINT8_C(0)
|
|
#define BMA4_SUSPEND_MODE UINT8_C(1)
|
|
|
|
/**\name ACCEL POWER MODE */
|
|
#define BMA4_ACCEL_MODE_NORMAL UINT8_C(0x11)
|
|
|
|
/**\name MAG POWER MODE */
|
|
#define BMA4_MAG_MODE_SUSPEND UINT8_C(0x18)
|
|
|
|
/**\name ENABLE/DISABLE BIT VALUES */
|
|
#define BMA4_ENABLE UINT8_C(0x01)
|
|
#define BMA4_DISABLE UINT8_C(0x00)
|
|
|
|
/**\name DEFINITION USED FOR DIFFERENT WRITE */
|
|
#define BMA4_MANUAL_DISABLE UINT8_C(0x00)
|
|
#define BMA4_MANUAL_ENABLE UINT8_C(0x01)
|
|
#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01)
|
|
#define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A)
|
|
#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06)
|
|
#define BMA4_SEC_IF_NULL UINT8_C(0)
|
|
#define BMA4_SEC_IF_BMM150 UINT8_C(1)
|
|
#define BMA4_SEC_IF_AKM09916 UINT8_C(2)
|
|
#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01)
|
|
|
|
/**\name SENSOR RESOLUTION */
|
|
#define BMA4_12_BIT_RESOLUTION UINT8_C(12)
|
|
#define BMA4_14_BIT_RESOLUTION UINT8_C(14)
|
|
#define BMA4_16_BIT_RESOLUTION UINT8_C(16)
|
|
|
|
/**\name FOC MACROS */
|
|
#define BMA4_FOC_SAMPLE_LIMIT UINT8_C(128)
|
|
#define BMA4_MAX_NOISE_LIMIT(RANGE_VALUE) (RANGE_VALUE + UINT16_C(255))
|
|
#define BMA4_MIN_NOISE_LIMIT(RANGE_VALUE) (RANGE_VALUE - UINT16_C(255))
|
|
|
|
/*! for handling float temperature values */
|
|
#define BMA4_SCALE_TEMP INT32_C(1000)
|
|
|
|
/* BMA4_FAHREN_SCALED = 1.8 * 1000 */
|
|
#define BMA4_FAHREN_SCALED INT32_C(1800)
|
|
|
|
/* BMA4_KELVIN_SCALED = 273.15 * 1000 */
|
|
#define BMA4_KELVIN_SCALED INT32_C(273150)
|
|
|
|
/**\name MAP BURST READ LENGTHS */
|
|
#define BMA4_AUX_READ_LEN_0 UINT8_C(0)
|
|
#define BMA4_AUX_READ_LEN_1 UINT8_C(1)
|
|
#define BMA4_AUX_READ_LEN_2 UINT8_C(2)
|
|
#define BMA4_AUX_READ_LEN_3 UINT8_C(3)
|
|
|
|
#define BMA4_CONFIG_STREAM_MESSAGE_MSK UINT8_C(0x0F)
|
|
|
|
#define BMA4_SOFT_RESET UINT8_C(0XB6)
|
|
|
|
#define BMA4_MS_TO_US(X) (X * 1000)
|
|
|
|
#ifndef ABS
|
|
#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */
|
|
#endif
|
|
|
|
/**\name BIT SLICE GET AND SET FUNCTIONS */
|
|
#define BMA4_GET_BITSLICE(regvar, bitname) \
|
|
((regvar & bitname##_MSK) >> bitname##_POS)
|
|
|
|
#define BMA4_SET_BITSLICE(regvar, bitname, val) \
|
|
((regvar & ~bitname##_MSK) | \
|
|
((val << bitname##_POS) & bitname##_MSK))
|
|
|
|
#define BMA4_GET_DIFF(x, y) ((x) - (y))
|
|
|
|
#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE)
|
|
#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8)
|
|
|
|
#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))
|
|
|
|
#define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \
|
|
((reg_data & ~(bitname##_MSK)) | \
|
|
(data & bitname##_MSK))
|
|
|
|
#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
|
|
|
|
/**
|
|
* BMA4_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system.
|
|
* The default is set to int8_t.
|
|
*/
|
|
#ifndef BMA4_INTF_RET_TYPE
|
|
#define BMA4_INTF_RET_TYPE int8_t
|
|
#endif
|
|
|
|
/**
|
|
* BST_INTF_RET_SUCCESS is the success return value read/write interface return type which can be
|
|
* overwritten by the build system. The default is set to 0. It is used to check for a successful
|
|
* execution of the read/write functions
|
|
*/
|
|
#ifndef BMA4_INTF_RET_SUCCESS
|
|
#define BMA4_INTF_RET_SUCCESS INT8_C(0)
|
|
#endif
|
|
|
|
/******************************************************************************/
|
|
/*! @name TYPEDEF DEFINITIONS */
|
|
/******************************************************************************/
|
|
|
|
/*!
|
|
* @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] read_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 = BMA4_INTF_RET_SUCCESS -> Success
|
|
* @retval != BMA4_INTF_RET_SUCCESS -> Failure Info
|
|
*
|
|
*/
|
|
typedef BMA4_INTF_RET_TYPE (*bma4_read_fptr_t)(uint8_t reg_addr, uint8_t *read_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] read_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 = BMA4_INTF_RET_SUCCESS -> Success
|
|
* @retval != BMA4_INTF_RET_SUCCESS -> Failure Info
|
|
*
|
|
*/
|
|
typedef BMA4_INTF_RET_TYPE (*bma4_write_fptr_t)(uint8_t reg_addr, const uint8_t *read_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 (*bma4_delay_us_fptr_t)(uint32_t period, void *intf_ptr);
|
|
|
|
/******************************************************************************/
|
|
/*! @name Enum Declarations */
|
|
/******************************************************************************/
|
|
/*! @name Enum to define BMA4 variants */
|
|
enum bma4_variant {
|
|
BMA42X_VARIANT = 1,
|
|
BMA42X_B_VARIANT,
|
|
BMA45X_VARIANT
|
|
};
|
|
|
|
/* Enumerator describing interfaces */
|
|
enum bma4_intf {
|
|
BMA4_SPI_INTF,
|
|
BMA4_I2C_INTF
|
|
};
|
|
|
|
/**\name STRUCTURE DEFINITIONS*/
|
|
|
|
/*!
|
|
* @brief
|
|
* This structure holds asic info. for feature configuration.
|
|
*/
|
|
struct bma4_asic_data
|
|
{
|
|
/* Feature config start addr (0-3 bits)*/
|
|
uint8_t asic_lsb;
|
|
|
|
/* Feature config start addr (4-11 bits)*/
|
|
uint8_t asic_msb;
|
|
};
|
|
|
|
/*!
|
|
* @brief Auxiliary configuration structure for user settings
|
|
*/
|
|
struct bma4_aux_config
|
|
{
|
|
/*! Device address of auxiliary sensor */
|
|
uint8_t aux_dev_addr;
|
|
|
|
/*! To enable manual or auto mode */
|
|
uint8_t manual_enable;
|
|
|
|
/*! No of bytes to be read at a time */
|
|
uint8_t burst_read_length;
|
|
|
|
/*! Variable to set the auxiliary interface */
|
|
uint8_t if_mode;
|
|
};
|
|
|
|
/*!
|
|
* @brief
|
|
* This structure holds all relevant information about BMA4
|
|
*/
|
|
struct bma4_dev
|
|
{
|
|
/*! Chip id of BMA4 */
|
|
uint8_t chip_id;
|
|
|
|
/*! Chip id of auxiliary sensor */
|
|
uint8_t aux_chip_id;
|
|
|
|
/*! Interface pointer */
|
|
void *intf_ptr;
|
|
|
|
/*! Interface detail */
|
|
enum bma4_intf intf;
|
|
|
|
/*! Variable that holds error code */
|
|
BMA4_INTF_RET_TYPE intf_rslt;
|
|
|
|
/*! Auxiliary sensor information */
|
|
uint8_t aux_sensor;
|
|
|
|
/*! Decide SPI or I2C read mechanism */
|
|
uint8_t dummy_byte;
|
|
|
|
/*! Resolution for FOC */
|
|
uint8_t resolution;
|
|
|
|
/*! Define the BMA4 variant BMA42X or BMA45X */
|
|
enum bma4_variant variant;
|
|
|
|
/*! Used to check mag manual/auto mode status
|
|
* int8_t mag_manual_enable;
|
|
*/
|
|
|
|
/*! Config stream data buffer address will be assigned*/
|
|
const uint8_t *config_file_ptr;
|
|
|
|
/*! Read/write length */
|
|
uint16_t read_write_len;
|
|
|
|
/*! Feature len */
|
|
uint8_t feature_len;
|
|
|
|
/*! Contains asic information */
|
|
struct bma4_asic_data asic_data;
|
|
|
|
/*! Contains aux configuration settings */
|
|
struct bma4_aux_config aux_config;
|
|
|
|
/*! Bus read function pointer */
|
|
bma4_read_fptr_t bus_read;
|
|
|
|
/*! Bus write function pointer */
|
|
bma4_write_fptr_t bus_write;
|
|
|
|
/*! Delay(in microsecond) function pointer */
|
|
bma4_delay_us_fptr_t delay_us;
|
|
|
|
/*! Variable to store the size of config file */
|
|
uint16_t config_size;
|
|
|
|
/*! Variable to store the status of performance mode */
|
|
uint8_t perf_mode_status;
|
|
};
|
|
|
|
/*!
|
|
* @brief This structure holds the information for usage of
|
|
* FIFO by the user.
|
|
*/
|
|
struct bma4_fifo_frame
|
|
{
|
|
/*! Data buffer of user defined length is to be mapped here */
|
|
uint8_t *data;
|
|
|
|
/*! Number of bytes of FIFO to be read as specified by the user */
|
|
uint16_t length;
|
|
|
|
/*! Enabling of the FIFO header to stream in header mode */
|
|
uint8_t fifo_header_enable;
|
|
|
|
/*! Streaming of the Accelerometer, Auxiliary
|
|
* sensor data or both in FIFO
|
|
*/
|
|
uint8_t fifo_data_enable;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t accel_byte_start_idx;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t mag_byte_start_idx;
|
|
|
|
/*! Will be equal to length when no more frames are there to parse */
|
|
uint16_t sc_frame_byte_start_idx;
|
|
|
|
/*! Value of FIFO sensor time time */
|
|
uint32_t sensor_time;
|
|
|
|
/*! Value of Skipped frame counts */
|
|
uint8_t skipped_frame_count;
|
|
|
|
/*! Value of accel dropped frame count */
|
|
uint8_t accel_dropped_frame_count;
|
|
|
|
/*! Value of mag dropped frame count */
|
|
uint8_t mag_dropped_frame_count;
|
|
};
|
|
|
|
/*!
|
|
* @brief Error Status structure
|
|
*/
|
|
struct bma4_err_reg
|
|
{
|
|
/*! Indicates fatal error */
|
|
uint8_t fatal_err;
|
|
|
|
/*! Indicates command error */
|
|
uint8_t cmd_err;
|
|
|
|
/*! Indicates error code */
|
|
uint8_t err_code;
|
|
|
|
/*! Indicates fifo error */
|
|
uint8_t fifo_err;
|
|
|
|
/*! Indicates mag error */
|
|
uint8_t aux_err;
|
|
};
|
|
|
|
/*!
|
|
* @brief Asic Status structure
|
|
*/
|
|
struct bma4_asic_status
|
|
{
|
|
/*! Asic is in sleep/halt state */
|
|
uint8_t sleep;
|
|
|
|
/*! Dedicated interrupt is set again before previous interrupt
|
|
* was acknowledged
|
|
*/
|
|
uint8_t irq_ovrn;
|
|
|
|
/*! Watchcell event detected (asic stopped) */
|
|
uint8_t wc_event;
|
|
|
|
/*! Stream transfer has started and transactions are ongoing */
|
|
uint8_t stream_transfer_active;
|
|
};
|
|
|
|
/*!
|
|
* @brief Interrupt Pin Configuration structure
|
|
*/
|
|
struct bma4_int_pin_config
|
|
{
|
|
/*! Trigger condition of interrupt pin */
|
|
uint8_t edge_ctrl;
|
|
|
|
/*! Level of interrupt pin */
|
|
uint8_t lvl;
|
|
|
|
/*! Behaviour of interrupt pin to open drain */
|
|
uint8_t od;
|
|
|
|
/*! Output enable for interrupt pin */
|
|
uint8_t output_en;
|
|
|
|
/*! Input enable for interrupt pin */
|
|
uint8_t input_en;
|
|
};
|
|
|
|
/*!
|
|
* @brief Accelerometer configuration structure
|
|
*/
|
|
struct bma4_accel_config
|
|
{
|
|
/*! Output data rate in Hz */
|
|
uint8_t odr;
|
|
|
|
/*! Bandwidth parameter, determines filter configuration */
|
|
uint8_t bandwidth;
|
|
|
|
/*! Filter performance mode */
|
|
uint8_t perf_mode;
|
|
|
|
/*! G-range */
|
|
uint8_t range;
|
|
};
|
|
|
|
/*!
|
|
* @brief Auxiliary magnetometer configuration structure
|
|
*/
|
|
struct bma4_aux_mag_config
|
|
{
|
|
/*! Poll rate for the sensor attached to the Magnetometer interface */
|
|
uint8_t odr;
|
|
|
|
/*! Trigger-readout offset in units of 2.5 ms.
|
|
* If set to zero, the offset is maximum, i.e. after readout a trigger
|
|
* is issued immediately
|
|
*/
|
|
uint8_t offset;
|
|
};
|
|
|
|
/*!
|
|
* @brief ASIC Config structure
|
|
*/
|
|
struct bma4_asic_config
|
|
{
|
|
/*! Enable/Disable ASIC Wake Up */
|
|
uint8_t asic_en;
|
|
|
|
/*! Configure stream_transfer/FIFO mode */
|
|
uint8_t fifo_mode_en;
|
|
|
|
/*! Mapping of instance RAM1 */
|
|
uint8_t mem_conf_ram1;
|
|
|
|
/*! Mapping of instance RAM2 */
|
|
uint8_t mem_conf_ram2;
|
|
|
|
/*! Mapping of instance RAM3 */
|
|
uint8_t mem_conf_ram3;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmm150 or akm09916
|
|
* magnetometer values structure
|
|
*/
|
|
struct bma4_mag
|
|
{
|
|
/*! BMM150 and AKM09916 X raw data */
|
|
int32_t x;
|
|
|
|
/*! BMM150 and AKM09916 Y raw data */
|
|
int32_t y;
|
|
|
|
/*! BMM150 and AKM09916 Z raw data */
|
|
int32_t z;
|
|
};
|
|
|
|
/*!
|
|
* @brief bmm150 xyz data structure
|
|
*/
|
|
struct bma4_mag_xyzr
|
|
{
|
|
/*! BMM150 X raw data */
|
|
int16_t x;
|
|
|
|
/*! BMM150 Y raw data */
|
|
int16_t y;
|
|
|
|
/*! BMM150 Z raw data */
|
|
int16_t z;
|
|
|
|
/*! BMM150 R raw data */
|
|
uint16_t r;
|
|
};
|
|
|
|
/*!
|
|
* @brief Accel xyz data structure
|
|
*/
|
|
struct bma4_accel
|
|
{
|
|
/*! Accel X data */
|
|
int16_t x;
|
|
|
|
/*! Accel Y data */
|
|
int16_t y;
|
|
|
|
/*! Accel Z data */
|
|
int16_t z;
|
|
};
|
|
|
|
/*!
|
|
* @brief FIFO mag data structure
|
|
*/
|
|
struct bma4_mag_fifo_data
|
|
{
|
|
/*! The value of mag x LSB data */
|
|
uint8_t mag_x_lsb;
|
|
|
|
/*! The value of mag x MSB data */
|
|
uint8_t mag_x_msb;
|
|
|
|
/*! The value of mag y LSB data */
|
|
uint8_t mag_y_lsb;
|
|
|
|
/*! The value of mag y MSB data */
|
|
uint8_t mag_y_msb;
|
|
|
|
/*! The value of mag z LSB data */
|
|
uint8_t mag_z_lsb;
|
|
|
|
/*! The value of mag z MSB data */
|
|
uint8_t mag_z_msb;
|
|
|
|
/*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */
|
|
uint8_t mag_r_y2_lsb;
|
|
|
|
/*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */
|
|
uint8_t mag_r_y2_msb;
|
|
};
|
|
|
|
/*!
|
|
* @brief Accel self test difference data structure
|
|
*/
|
|
struct bma4_selftest_delta_limit
|
|
{
|
|
/*! Accel X data */
|
|
int32_t x;
|
|
|
|
/*! Accel Y data */
|
|
int32_t y;
|
|
|
|
/*! Accel Z data */
|
|
int32_t z;
|
|
};
|
|
|
|
/*! @name Structure to enable an accel axis for FOC */
|
|
struct bma4_accel_foc_g_value
|
|
{
|
|
/* '0' to disable x-axis and '1' to enable x-axis */
|
|
uint8_t x;
|
|
|
|
/* '0' to disable y-axis and '1' to enable y-axis */
|
|
uint8_t y;
|
|
|
|
/* '0' to disable z-axis and '1' to enable z-axis */
|
|
uint8_t z;
|
|
|
|
/* '0' for positive input and '1' for negative input */
|
|
uint8_t sign;
|
|
};
|
|
|
|
/*! @name Structure to store temporary accelerometer values */
|
|
struct bma4_foc_temp_value
|
|
{
|
|
/*! X data */
|
|
int32_t x;
|
|
|
|
/*! Y data */
|
|
int32_t y;
|
|
|
|
/*! Z data */
|
|
int32_t z;
|
|
};
|
|
|
|
/* Structure to store temporary axes data values */
|
|
struct bma4_temp_axes_val
|
|
{
|
|
/* X data */
|
|
int32_t x;
|
|
|
|
/* Y data */
|
|
int32_t y;
|
|
|
|
/* Z data */
|
|
int32_t z;
|
|
};
|
|
|
|
#endif /* End of BMA4_DEFS_H__ */
|