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Grant Giansanti authoredGrant Giansanti authored
bmi055_defs.h 51.19 KiB
/**
* Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 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.
*
* Neither the name of the copyright holder nor the names of the
* 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 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
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
*
* @file bmi055_defs.h
* @date 19 Apr, 2017
* @version 1.1.0
* @brief Sensor driver for BMI055 sensor *
*/
#ifndef BMI055_DEFS_H_
#define BMI055_DEFS_H_
/******************************************************************************/
/*! Header includes */
/******************************************************************************/
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif
/******************************************************************************/
/*! C++ guard macro */
/******************************************************************************/
#ifdef __cplusplus
extern "C"
{
#endif
/******************************************************************************/
/*! Common macros *//******************************************************************************/
/*
#if (LONG_MAX) > 0x7fffffff
#define __have_long64 1
#elif (LONG_MAX) == 0x7fffffff
#define __have_long32 1
#endif
*/
#if !defined(UINT8_C)
#define INT8_C(x) x
#if (INT_MAX) > 0x7f
#define UINT8_C(x) x
#else
#define UINT8_C(x) x##U
#endif
#endif
#if !defined(UINT16_C)
#define INT16_C(x) x
#if (INT_MAX) > 0x7fff
#define UINT16_C(x) x
#else
#define UINT16_C(x) x##U
#endif
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#if __have_long32
#define INT32_C(x) x##L
#define UINT32_C(x) x##UL
#else
#define INT32_C(x) x
#define UINT32_C(x) x##U
#endif
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#if __have_long64
#define INT64_C(x) x##L
#define UINT64_C(x) x##UL
#else
#define INT64_C(x) x##LL
#define UINT64_C(x) x##ULL
#endif
#endif
/******************************************************************************/
/*! Sensor macros */
/******************************************************************************/
/* Test for an endian machine */
#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
#define LITTLE_ENDIAN 1
#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
#define BIG_ENDIAN 1
#else
#error "Code does not support Endian format of the processor"
#endif
/******************************************************************************/
/*! Utility macros */
/******************************************************************************/
#define BMI055_SET_BITS(reg_data, bitname, data) ((reg_data & ~(bitname##_MASK)) | \
((data << bitname##_POS) & bitname##_MASK))
#define BMI055_GET_BITS(reg_data, bitname) ((reg_data & (bitname##_MASK)) >> \
(bitname##_POS))
#define BMI055_SET_BIT_POS0(reg_data, bitname, data) ((reg_data & ~(bitname##_MASK)) | \
(data & bitname##_MASK))
#define BMI055_GET_BIT_POS0(reg_data, bitname) (reg_data & (bitname##_MASK))
/******************************************************************************/
/*! Macros for defining version number */
/******************************************************************************/
#define BMI055_VER_MAJOR UINT8_C(1)
#define BMI055_VER_MINOR UINT8_C(1)
#define BMI055_VER_PATCH UINT8_C(0)
/******************************************************************************/
/*! Macros for parameter settings */
/******************************************************************************/
/*! Bandwidth settings */
#define BANDWIDTH_CONFIG UINT8_C(0x01)
/*! Range settings */
#define RANGE_CONFIG UINT8_C(0x02)
/*! Range plus bandwidth settings */
#define CONFIG_ALL UINT8_C(BANDWIDTH_CONFIG | RANGE_CONFIG)
/******************************************************************************/
/*! Macros for defining enable or disable */
/******************************************************************************/
#define BMI055_ENABLE UINT8_C(0x01)
#define BMI055_DISABLE UINT8_C(0x00)
#define CODE_UNDER_MODIFICATION UINT8_C(0x00)
#define BMI055_FILTERED UINT8_C(0x00)
#define BMI055_UNFILTERED UINT8_C(0x01)
/******************************************************************************/
/*! BMI055 Accelerometer Macros */
/******************************************************************************/
/*! Macros to define the types of interrupts */
/* Slope/ Any-motion interrupt */
#define BMI055_ACC_SLOPE_INT UINT8_C(0x00)
/* double tap interrupt */
#define BMI055_ACC_DOUBLE_TAP_INT UINT8_C(0x01)
/* single tap interrupt */
#define BMI055_ACC_SINGLE_TAP_INT UINT8_C(0x02)
/* orientation interrupt */
#define BMI055_ACC_ORIENT_INT UINT8_C(0x03)
/* flat interrupt */
#define BMI055_ACC_FLAT_INT UINT8_C(0x04)
/* low-g interrupt */
#define BMI055_ACC_LOW_G_INT UINT8_C(0x05)
/* high-g interrupt */
#define BMI055_ACC_HIGH_G_INT UINT8_C(0x06)
/* slow/ no-motion interrupt */
#define BMI055_ACC_SLOW_NO_MOTION_INT UINT8_C(0x07)
/* New data interrupt */
#define BMI055_ACC_NEW_DATA_INT UINT8_C(0x08)
/* All accelerometer interrupts */
#define BMI055_ALL_ACCEL_INT UINT8_C(0x09)
/*! Macros to define the channel number of interrupts */
/* Interrupt Channel 1 for accelerometer sensor */
#define BMI055_INT_CHANNEL_1 UINT8_C(0x00)
/* Interrupt Channel 2 for accelerometer sensor */
#define BMI055_INT_CHANNEL_2 UINT8_C(0x01)
/*! Register map of accelerometer registers */
#define BMI055_ACC_CHIP_ID_ADDR UINT8_C(0x00)
#define BMI055_ACC_X_L_ADDR UINT8_C(0x02)
#define BMI055_ACC_X_H_ADDR UINT8_C(0x03)
#define BMI055_ACC_Y_L_ADDR UINT8_C(0x04)
#define BMI055_ACC_Y_H_ADDR UINT8_C(0x05)
#define BMI055_ACC_Z_L_ADDR UINT8_C(0x06)
#define BMI055_ACC_Z_H_ADDR UINT8_C(0x07)
#define BMI055_ACC_TEMP_ADDR UINT8_C(0x08)#define BMI055_ACC_INT_STATUS_0_ADDR UINT8_C(0x09)
#define BMI055_ACC_INT_STATUS_1_ADDR UINT8_C(0x0A)
#define BMI055_ACC_INT_STATUS_2_ADDR UINT8_C(0x0B)
#define BMI055_ACC_INT_STATUS_3_ADDR UINT8_C(0x0C)
#define BMI055_ACC_FIFO_STATUS_ADDR UINT8_C(0x0E)
#define BMI055_ACC_RANGE_ADDR UINT8_C(0x0F)
#define BMI055_ACC_BW_ADDR UINT8_C(0x10)
#define BMI055_ACC_PMU_LPW_ADDR UINT8_C(0x11)
#define BMI055_ACC_PMU_LOW_POWER_ADDR UINT8_C(0x12)
#define BMI055_ACC_DATA_CTRL_ADDR UINT8_C(0x13)
#define BMI055_ACC_SOFTRESET_ADDR UINT8_C(0x14)
#define BMI055_ACC_INT_EN_0_ADDR UINT8_C(0x16)
#define BMI055_ACC_INT_EN_1_ADDR UINT8_C(0x17)
#define BMI055_ACC_INT_EN_2_ADDR UINT8_C(0x18)
#define BMI055_ACC_INT_MAP_0_ADDR UINT8_C(0x19)
#define BMI055_ACC_INT_MAP_1_ADDR UINT8_C(0x1A)
#define BMI055_ACC_INT_MAP_2_ADDR UINT8_C(0x1B)
#define BMI055_ACC_INT_SRC_ADDR UINT8_C(0x1E)
#define BMI055_ACC_INT_OUT_CTRL_ADDR UINT8_C(0x20)
#define BMI055_ACC_INT_LATCH_ADDR UINT8_C(0x21)
#define BMI055_ACC_INT_LH_0_ADDR UINT8_C(0x22)
#define BMI055_ACC_INT_LH_1_ADDR UINT8_C(0x23)
#define BMI055_ACC_INT_LH_2_ADDR UINT8_C(0x24)
#define BMI055_ACC_INT_LH_3_ADDR UINT8_C(0x25)
#define BMI055_ACC_INT_LH_4_ADDR UINT8_C(0x26)
#define BMI055_ACC_INT_MOT_0_ADDR UINT8_C(0x27)
#define BMI055_ACC_INT_MOT_1_ADDR UINT8_C(0x28)
#define BMI055_ACC_INT_MOT_2_ADDR UINT8_C(0x29)
#define BMI055_ACC_INT_TAP_0_ADDR UINT8_C(0x2A)
#define BMI055_ACC_INT_TAP_1_ADDR UINT8_C(0x2B)
#define BMI055_ACC_INT_ORIENT_0_ADDR UINT8_C(0x2C)
#define BMI055_ACC_INT_ORIENT_1_ADDR UINT8_C(0x2D)
#define BMI055_ACC_INT_FLAT_0_ADDR UINT8_C(0x2E)
#define BMI055_ACC_INT_FLAT_1_ADDR UINT8_C(0x2F)
#define BMI055_ACC_FIFO_CONFIG_0_ADDR UINT8_C(0x30)
#define BMI055_ACC_SELFTEST_ADDR UINT8_C(0x32)
#define BMI055_ACC_EEPROM_CTRL_ADDR UINT8_C(0x33)
#define BMI055_ACC_SERIAL_CTRL_ADDR UINT8_C(0x34)
#define BMI055_ACC_OFFSET_CTRL_ADDR UINT8_C(0x36)
#define BMI055_ACC_OFC_SETTING_ADDR UINT8_C(0x37)
#define BMI055_ACC_OFFSET_X_ADDR UINT8_C(0x38)
#define BMI055_ACC_OFFSET_Y_ADDR UINT8_C(0x39)
#define BMI055_ACC_OFFSET_Z_ADDR UINT8_C(0x3A)
#define BMI055_ACC_TRIM_GPO_ADDR UINT8_C(0x3B)
#define BMI055_ACC_TRIM_GP1_ADDR UINT8_C(0x3C)
#define BMI055_ACC_FIFO_CONFIG_1_ADDR UINT8_C(0x3E)
#define BMI055_ACC_FIFO_DATA_ADDR UINT8_C(0x3F)
/*! Mask definitions for range, bandwidth and power */
#define BMI055_ACC_RANGE_MASK UINT8_C(0x0F)
#define BMI055_ACC_BW_MASK UINT8_C(0x1F)
#define BMI055_ACC_POWER_MASK UINT8_C(0xE0)
/*! Bit positions for range, bandwidth and power */
#define BMI055_ACC_POWER_POS UINT8_C(0x05)
/*! Mask definitions for INT_EN 0 registers */
#define BMI055_ACC_ANY_MOTION_X_INT_EN_0_MASK UINT8_C(0x01)
#define BMI055_ACC_ANY_MOTION_Y_INT_EN_0_MASK UINT8_C(0x02)
#define BMI055_ACC_ANY_MOTION_Z_INT_EN_0_MASK UINT8_C(0x04)
#define BMI055_ACC_DOUBLE_TAP_INT_EN_0_MASK UINT8_C(0x10)
#define BMI055_ACC_SINGLE_TAP_INT_EN_0_MASK UINT8_C(0x20)
#define BMI055_ACC_ORIENT_INT_EN_0_MASK UINT8_C(0x40)
#define BMI055_ACC_FLAT_INT_EN_0_MASK UINT8_C(0x80)
/*! Bit positions for INT_EN 0 registers */
#define BMI055_ACC_ANY_MOTION_Y_INT_EN_0_POS UINT8_C(0x01)
#define BMI055_ACC_ANY_MOTION_Z_INT_EN_0_POS UINT8_C(0x02)
#define BMI055_ACC_ORIENT_INT_EN_0_POS UINT8_C(0x06)
/*! Mask definitions for INT_EN 1 registers */
#define BMI055_ACC_HIGH_G_X_INT_EN_1_MASK UINT8_C(0x01)
#define BMI055_ACC_HIGH_G_Y_INT_EN_1_MASK UINT8_C(0x02)
#define BMI055_ACC_HIGH_G_Z_INT_EN_1_MASK UINT8_C(0x04)
#define BMI055_ACC_LOW_G_INT_EN_1_MASK UINT8_C(0x08)
#define BMI055_ACC_NEW_DATA_INT_EN_1_MASK UINT8_C(0x10)
#define BMI055_ACC_FIFO_FULL_INT_EN_1_MASK UINT8_C(0x20)
#define BMI055_ACC_FIFO_WM_INT_EN_1_MASK UINT8_C(0x40)
/*! Bit positions for INT_EN 1 registers */
#define BMI055_ACC_NEW_DATA_INT_EN_1_POS UINT8_C(0x04)
#define BMI055_ACC_LOW_G_INT_EN_1_POS UINT8_C(0x03)
#define BMI055_ACC_HIGH_G_Y_INT_EN_1_POS UINT8_C(0x01)
#define BMI055_ACC_HIGH_G_Z_INT_EN_1_POS UINT8_C(0x02)
/*! Mask definitions for INT_EN 2 registers */
#define BMI055_ACC_SLOW_NO_MOT_X_INT_EN_2_MASK UINT8_C(0x01)
#define BMI055_ACC_SLOW_NO_MOT_Y_INT_EN_2_MASK UINT8_C(0x02)
#define BMI055_ACC_SLOW_NO_MOT_Z_INT_EN_2_MASK UINT8_C(0x04)
#define BMI055_ACC_SLOW_NO_MOT_SEL_INT_EN_2_MASK UINT8_C(0x08)
/*! Bit positions for INT_EN 2 registers */
#define BMI055_ACC_SLOW_NO_MOT_X_INT_EN_2_POS0
#define BMI055_ACC_SLOW_NO_MOT_Y_INT_EN_2_POS UINT8_C(0x01)
#define BMI055_ACC_SLOW_NO_MOT_Z_INT_EN_2_POS UINT8_C(0x02)
#define BMI055_ACC_SLOW_NO_MOT_SEL_INT_EN_2_POS UINT8_C(0x03)
/*! Mask definitions for INT_MAP 0 registers */
#define BMI055_ACC_INT1_MAP_0_LOW_G_MASK UINT8_C(0x01)
#define BMI055_ACC_INT1_MAP_0_HIGH_G_MASK UINT8_C(0x02)
#define BMI055_ACC_INT1_MAP_0_SLOPE_MASK UINT8_C(0x04)
#define BMI055_ACC_INT1_MAP_0_SLOW_NO_MOT_MASK UINT8_C(0x08)
#define BMI055_ACC_INT1_MAP_0_DOUBLE_TAP_MASK UINT8_C(0x10)
#define BMI055_ACC_INT1_MAP_0_SINGLE_TAP_MASK UINT8_C(0x20)
#define BMI055_ACC_INT1_MAP_0_ORIENT_MASK UINT8_C(0x40)
#define BMI055_ACC_INT1_MAP_0_FLAT_MASK UINT8_C(0x80)
/*! Bit positions for INT_MAP 0 registers */
#define BMI055_ACC_INT1_MAP_0_HIGH_G_POS UINT8_C(0x01)
#define BMI055_ACC_INT1_MAP_0_SLOW_NO_MOT_POS UINT8_C(0x03)
#define BMI055_ACC_INT1_MAP_0_SLOPE_POS UINT8_C(0x02)
#define BMI055_ACC_INT1_MAP_0_ORIENT_POS UINT8_C(0x06)
/*! Mask definitions for INT_MAP 1 registers */
#define BMI055_ACC_INT1_MAP_1_NEW_DATA_MASK UINT8_C(0x01)
#define BMI055_ACC_INT1_MAP_1_FIFO_WM_MASK UINT8_C(0x02)
#define BMI055_ACC_INT1_MAP_1_FIFO_FULL_MASK UINT8_C(0x04)
#define BMI055_ACC_INT2_MAP_1_FIFO_FULL_MASK UINT8_C(0x20)
#define BMI055_ACC_INT2_MAP_1_FIFO_WM_MASK UINT8_C(0x40)
#define BMI055_ACC_INT2_MAP_1_NEW_DATA_MASK UINT8_C(0x80)
/*! Bit positions for INT_MAP 1 registers */
#define BMI055_ACC_INT2_MAP_1_NEW_DATA_POS UINT8_C(0x07)
/*! Mask definitions for INT_MAP 2 registers */
#define BMI055_ACC_INT2_MAP_2_LOW_G_MASK UINT8_C(0x01)
#define BMI055_ACC_INT2_MAP_2_HIGH_G_MASK UINT8_C(0x02)
#define BMI055_ACC_INT2_MAP_2_SLOPE_MASK UINT8_C(0x04)
#define BMI055_ACC_INT2_MAP_2_SLOW_NO_MOT_MASK UINT8_C(0x08)
#define BMI055_ACC_INT2_MAP_2_DOUBLE_TAP_MASK UINT8_C(0x10)
#define BMI055_ACC_INT2_MAP_2_SINGLE_TAP_MASK UINT8_C(0x20)
#define BMI055_ACC_INT2_MAP_2_ORIENT_MASK UINT8_C(0x40)
#define BMI055_ACC_INT2_MAP_2_FLAT_MASK UINT8_C(0x80)
/*! Bit positions for INT_MAP 2 registers */
#define BMI055_ACC_INT2_MAP_2_HIGH_G_POS UINT8_C(0x01)
#define BMI055_ACC_INT2_MAP_2_SLOW_NO_MOT_POS UINT8_C(0x03)
#define BMI055_ACC_INT2_MAP_2_SLOPE_POS UINT8_C(0x02)
#define BMI055_ACC_INT2_MAP_2_ORIENT_POS UINT8_C(0x06)
/*! Mask definitions for INT_OUT_CTRL register */
#define BMI055_ACC_INT1_LVL_MASK UINT8_C(0x01)
#define BMI055_ACC_INT1_OD_MASK UINT8_C(0x02)
#define BMI055_ACC_INT2_LVL_MASK UINT8_C(0x04)
#define BMI055_ACC_INT2_OD_MASK UINT8_C(0x08)
/*! Bit position for INT_OUT_CTRL register */
#define BMI055_ACC_INT1_OD_POS UINT8_C(0x01)
#define BMI055_ACC_INT2_LVL_POS UINT8_C(0x02)
#define BMI055_ACC_INT2_OD_POS UINT8_C(0x03)
/*! Mask definitions for INT_RST_LATCH register */
#define BMI055_ACC_LATCH_DUR_MASK UINT8_C(0x0F)
#define BMI055_ACC_RESET_INT_MASK UINT8_C(0x80)
/*! Bit position for INT_RST_LATCH register */
#define BMI055_ACC_RESET_INT_POS UINT8_C(0x07)
/*! Mask definitions for INT_SRC register */
#define BMI055_ACC_SRC_LOW_G_MASK UINT8_C(0x01)
#define BMI055_ACC_SRC_HIGH_G_MASK UINT8_C(0x02)
#define BMI055_ACC_SRC_SLOPE_MASK UINT8_C(0x04)
#define BMI055_ACC_SRC_SLOW_NO_MOT_MASK UINT8_C(0x08)
#define BMI055_ACC_SRC_TAP_MASK UINT8_C(0x10)
#define BMI055_ACC_SRC_NEW_DATA_MASK UINT8_C(0x20)
/*! Bit positions for INT_SRC register */
#define BMI055_ACC_SRC_NEW_DATA_POS UINT8_C(0x05)
#define BMI055_ACC_SRC_HIGH_G_POS UINT8_C(0x01)
#define BMI055_ACC_SRC_SLOW_NO_MOT_POS UINT8_C(0x03)
#define BMI055_ACC_SRC_SLOPE_POS UINT8_C(0x02)
/*! Mask definitions for slope/ Any-motion Interrupt */
#define BMI055_ACC_SLOPE_DUR_MASK UINT8_C(0x03)
/*! Mask definitions for single/ double tap Interrupts */
#define BMI055_ACC_TAP_DUR_MASK UINT8_C(0x07)
#define BMI055_ACC_TAP_SHOCK_MASK UINT8_C(0x40)
#define BMI055_ACC_TAP_QUIET_MASK UINT8_C(0x80)
#define BMI055_ACC_TAP_THRES_MASK UINT8_C(0x1F)
#define BMI055_ACC_TAP_SAMP_MASK UINT8_C(0xC0)
/*! Mask definitions for Orientation Interrupt */
#define BMI055_ACC_ORIENT_MODE_MASK UINT8_C(0x03)
#define BMI055_ACC_ORIENT_BLOCKING_MASK UINT8_C(0x0C)
#define BMI055_ACC_ORIENT_HYST_MASK UINT8_C(0x70)
#define BMI055_ACC_ORIENT_THETA_MASK UINT8_C(0x3F)
#define BMI055_ACC_ORIENT_UD_EN_MASK UINT8_C(0x40)
/*! Bit position for Orientation Interrupt */
#define BMI055_ACC_ORIENT_BLOCKING_POS UINT8_C(0x02)
#define BMI055_ACC_ORIENT_HYST_POS UINT8_C(0x04)
#define BMI055_ACC_ORIENT_UD_EN_POS UINT8_C(0x06)
/*! Mask definitions for Flat Interrupt */
#define BMI055_ACC_FLAT_THETA_MASK UINT8_C(0x3F)
#define BMI055_ACC_FLAT_HYST_MASK UINT8_C(0x07)
#define BMI055_ACC_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
/*! Mask definitions for Low-g Interrupt */
#define BMI055_ACC_LOW_MODE_MASK UINT8_C(0x04)
#define BMI055_ACC_LOW_HYST_MASK UINT8_C(0x03)
/*! Bit position for Low-g Interrupt */
#define BMI055_ACC_LOW_MODE_POS UINT8_C(0x02)
/*! Mask definitions for High-g Interrupt */
#define BMI055_ACC_HIGH_HYST_MASK UINT8_C(0xC0)
/*! Bit position for High-g Interrupt */#define BMI055_ACC_HIGH_HYST_POS UINT8_C(0x06)
/*! Mask definitions for Slow/ No motion Interrupt */
/* Defines no of consecutive slope data points */
#define BMI055_ACC_SLOW_DUR_MASK UINT8_C(0x0C)
/* Defines delay before interrupt is triggered */
#define BMI055_ACC_NO_MOTION_DUR_MASK UINT8_C(0xFC)
/*! Bit position for Slow/ No motion Interrupt */
#define BMI055_ACC_SLOW_DUR_POS UINT8_C(0x02)
#define BMI055_ACC_NO_MOTION_DUR_POS UINT8_C(0x02)
/*! Mask definitions for FIFO water-mark Interrupt */
#define BMI055_ACC_FIFO_WM_LEVEL_TRIG_MASK UINT8_C(0x3F)
/*! Mask definitions for Interrupt status bits */
#define BMI055_ACC_LOW_G_INT_STATUS_MASK UINT32_C(1)
#define BMI055_ACC_HIGH_G_INT_STATUS_MASK UINT32_C(1 << 1)
#define BMI055_ACC_SLOPE_INT_STATUS_MASK UINT32_C(1 << 2)
#define BMI055_ACC_SLOW_NO_MOT_INT_STATUS_MASK UINT32_C(1 << 3)
#define BMI055_ACC_DOUBLE_TAP_INT_STATUS_MASK UINT32_C(1 << 4)
#define BMI055_ACC_SINGLE_TAP_INT_STATUS_MASK UINT32_C(1 << 5)
#define BMI055_ACC_ORIENT_INT_STATUS_MASK UINT32_C(1 << 6)
#define BMI055_ACC_TAP_INT_STATUS_MASK UINT32_C(1 << 7)
#define BMI055_ACC_FIFO_FULL_INT_STATUS_MASK UINT32_C(1 << 13)
#define BMI055_ACC_FIFO_WM_INT_STATUS_MASK UINT32_C(1 << 14)
#define BMI055_ACC_NEW_DATA_INT_STATUS_MASK UINT32_C(1 << 15)
#define BMI055_ACC_SLOPE_X_INT_STATUS_MASK UINT32_C(1 << 16)
#define BMI055_ACC_SLOPE_Y_INT_STATUS_MASK UINT32_C(1 << 17)
#define BMI055_ACC_SLOPE_Z_INT_STATUS_MASK UINT32_C(1 << 18)
#define BMI055_ACC_SLOPE_SIGN_INT_STATUS_MASK UINT32_C(1 << 19)
#define BMI055_ACC_TAP_X_INT_STATUS_MASK UINT32_C(1 << 20)
#define BMI055_ACC_TAP_Y_INT_STATUS_MASK UINT32_C(1 << 21)
#define BMI055_ACC_TAP_Z_INT_STATUS_MASK UINT32_C(1 << 22)
#define BMI055_ACC_TAP_SIGN_INT_STATUS_MASK UINT32_C(1 << 23)
#define BMI055_ACC_HIGH_G_X_INT_STATUS_MASK UINT32_C(1 << 24)
#define BMI055_ACC_HIGH_G_Y_INT_STATUS_MASK UINT32_C(1 << 25)
#define BMI055_ACC_HIGH_G_Z_INT_STATUS_MASK UINT32_C(1 << 26)
#define BMI055_ACC_HIGH_G_SIGN_INT_STATUS_MASK UINT32_C(1 << 27)
#define BMI055_ACC_ORIENT_BIT_MASK UINT32_C(7 << 28)
#define BMI055_ACC_ORIENT_PORTRAIT_UPRIGHT_MASK UINT32_C(0 << 28)
#define BMI055_ACC_ORIENT_PORTRAIT_DOWN_MASK UINT32_C(1 << 28)
#define BMI055_ACC_ORIENT_LANDSACPE_LEFT_MASK UINT32_C(2 << 28)
#define BMI055_ACC_ORIENT_LANDSACPE_RIGHT_MASK UINT32_C(3 << 28)
#define BMI055_ACC_ORIENT_Z_AXIS_DIR_MASK UINT32_C(1 << 30)
#define BMI055_ACC_FLAT_INT_STATUS_MASK UINT32_C(1 << 31)
/*! BMI055 Accelerometer unique chip identifier */
#define BMI055_ACCEL_CHIP_ID UINT8_C(0xFA)
/*! BMI055 Accelerometer Bandwidth */
#define BMI055_ACCEL_BW_7_81_HZ UINT8_C(0x08)
#define BMI055_ACCEL_BW_15_63_HZ UINT8_C(0x09)
#define BMI055_ACCEL_BW_31_25_HZ UINT8_C(0x0A)
#define BMI055_ACCEL_BW_62_5_HZ UINT8_C(0x0B)
#define BMI055_ACCEL_BW_125_HZ UINT8_C(0x0C)
#define BMI055_ACCEL_BW_250_HZ UINT8_C(0x0D)
#define BMI055_ACCEL_BW_500_HZ UINT8_C(0x0E)
#define BMI055_ACCEL_BW_1000_HZ UINT8_C(0x0F)
/*! BMI055 Accelerometer Range */
#define BMI055_ACCEL_RANGE_2G UINT8_C(0x03)
#define BMI055_ACCEL_RANGE_4G UINT8_C(0x05)
#define BMI055_ACCEL_RANGE_8G UINT8_C(0x08)
#define BMI055_ACCEL_RANGE_16G UINT8_C(0x0C)
/*! BMI055 Accelerometer Power */
#define BMI055_ACCEL_PM_NORMAL UINT8_C(0x00)
#define BMI055_ACCEL_PM_DEEP_SUSPEND UINT8_C(0x01)
#define BMI055_ACCEL_PM_LOW_POWER UINT8_C(0x02)#define BMI055_ACCEL_INVALID_POWER UINT8_C(0x03)
#define BMI055_ACCEL_PM_SUSPEND UINT8_C(0x04)
/*! Maximum limits definition */
#define BMI055_ACC_BW_MAX UINT8_C(0x1F)
#define BMI055_ACC_POWER_MAX UINT8_C(0x05)
/******************************************************************************/
/*! BMI055 Gyroscope Macros */
/******************************************************************************/
/*! Interrupt types of gyroscope */
/* Slope/ Any-motion interrupt */
#define BMI055_GYRO_ANY_MOTION_INT UINT8_C(0x00)
/* High-rate Interrupt */
#define BMI055_GYRO_HIGH_RATE_INT UINT8_C(0x01)
/* data-ready interrupt */
#define BMI055_GYRO_DATA_RDY_INT UINT8_C(0x02)
/* Auto-offset interrupt */
#define BMI055_GYRO_AUTO_OFFSET_INT UINT8_C(0x03)
/* Slow-offset interrupt */
#define BMI055_GYRO_SLOW_OFFSET_INT UINT8_C(0x04)
/* Fast-offset interrupt */
#define BMI055_GYRO_FAST_OFFSET_INT UINT8_C(0x05)
/*! Interrupt channels of gyroscope */
/* Interrupt Channel 3 for gyroscope sensor*/
#define BMI055_INT_CHANNEL_3 UINT8_C(0x00)
/* Interrupt Channel 4 for gyroscope sensor*/
#define BMI055_INT_CHANNEL_4 UINT8_C(0x01)
/*! Register map of Gyroscope registers */
#define BMI055_GYR_CHIP_ID_ADDR UINT8_C(0x00)
#define BMI055_GYR_X_L_ADDR UINT8_C(0x02)
#define BMI055_GYR_X_H_ADDR UINT8_C(0x03)
#define BMI055_GYR_Y_L_ADDR UINT8_C(0x04)
#define BMI055_GYR_Y_H_ADDR UINT8_C(0x05)
#define BMI055_GYR_Z_L_ADDR UINT8_C(0x06)
#define BMI055_GYR_Z_H_ADDR UINT8_C(0x07)
#define BMI055_GYR_INT_STATUS_0_ADDR UINT8_C(0x09)
#define BMI055_GYR_INT_STATUS_1_ADDR UINT8_C(0x0A)
#define BMI055_GYR_INT_STATUS_2_ADDR UINT8_C(0x0B)
#define BMI055_GYR_INT_STATUS_3_ADDR UINT8_C(0x0C)
#define BMI055_GYR_FIFO_STATUS_ADDR UINT8_C(0x0E)
#define BMI055_GYR_RANGE_ADDR UINT8_C(0x0F)
#define BMI055_GYR_BW_ADDR UINT8_C(0x10)
#define BMI055_GYR_LPM1_ADDR UINT8_C(0x11)
#define BMI055_GYR_LPM2_ADDR UINT8_C(0x12)
#define BMI055_GYR_RATE_HBW_ADDR UINT8_C(0x13)
#define BMI055_GYR_SOFTRESET_ADDR UINT8_C(0x14)
#define BMI055_GYR_INT_EN_0_ADDR UINT8_C(0x15)
#define BMI055_GYR_INT_EN_1_ADDR UINT8_C(0x16)
#define BMI055_GYR_INT_MAP_0_ADDR UINT8_C(0x17)
#define BMI055_GYR_INT_MAP_1_ADDR UINT8_C(0x18)
#define BMI055_GYR_INT_MAP_2_ADDR UINT8_C(0x19)
#define BMI055_GYRO_0_REG UINT8_C(0x1A)
#define BMI055_GYRO_1_REG UINT8_C(0x1B)
#define BMI055_GYRO_2_REG UINT8_C(0x1C)
#define BMI055_GYRO_3_REG UINT8_C(0x1E)
#define BMI055_GYR_INT_LATCH_ADDR UINT8_C(0x21)
#define BMI055_GYR_INT_HR_0_ADDR UINT8_C(0x22)
#define BMI055_GYR_INT_HR_1_ADDR UINT8_C(0x23)
#define BMI055_GYR_INT_HR_2_ADDR UINT8_C(0x24)
#define BMI055_GYR_INT_HR_3_ADDR UINT8_C(0x25)
#define BMI055_GYR_INT_HR_4_ADDR UINT8_C(0x26)
#define BMI055_GYR_INT_HR_5_ADDR UINT8_C(0x27)
#define BMI055_GYR_SOC_ADDR UINT8_C(0x31)
#define BMI055_GYR_A_FOC_ADDR UINT8_C(0x32)
#define BMI055_GYR_TRIM_NVM_CTRL_ADDR UINT8_C(0x33)
#define BMI055_BGW_SPI3_WDT_ADDR UINT8_C(0x34)
#define BMI055_GYR_OFFSET_COMP_ADDR UINT8_C(0x36)#define BMI055_GYR_OFFSET_COMP_X_ADDR UINT8_C(0x37)
#define BMI055_GYR_OFFSET_COMP_Y_ADDR UINT8_C(0x38)
#define BMI055_GYR_OFFSET_COMP_Z_ADDR UINT8_C(0x39)
#define BMI055_GYR_TRIM_GPO_ADDR UINT8_C(0x3A)
#define BMI055_GYR_TRIM_GP1_ADDR UINT8_C(0x3B)
#define BMI055_GYR_SELFTEST_ADDR UINT8_C(0x3C)
#define BMI055_GYR_FIFO_CONFIG_0_ADDR UINT8_C(0x3D)
#define BMI055_GYR_FIFO_CONFIG_1_ADDR UINT8_C(0x3E)
#define BMI055_GYR_FIFO_DATA_ADDR UINT8_C(0x3F)
/*! Mask definitions for range, bandwidth and power */
#define BMI055_GYRO_RANGE_MASK UINT8_C(0x07)
#define BMI055_GYRO_BW_MASK UINT8_C(0x0F)
#define BMI055_GYRO_POWER_MASK UINT8_C(0xA0)
/*! Mask definitions for INT_EN 0 register */
#define BMI055_GYR_AUTO_OFF_INT_EN_0_MASK UINT8_C(0x04)
#define BMI055_GYR_FIFO_INT_EN_0_MASK UINT8_C(0x40)
#define BMI055_GYR_DATA_INT_EN_0_MASK UINT8_C(0x80)
/*! Mask definitions for INT_EN 1 register */
#define BMI055_GYR_INT1_LVL_INT_EN_1_MASK UINT8_C(0x01)
#define BMI055_GYR_INT1_OD_INT_EN_1_MASK UINT8_C(0x02)
#define BMI055_GYR_INT2_LVL_INT_EN_1_MASK UINT8_C(0x04)
#define BMI055_GYR_INT2_OD_INT_EN_1_MASK UINT8_C(0x08)
/*! Mask definitions for INT_MAP 0 register */
#define BMI055_GYR_INT1_MAP_0_ANY_MOT_MASK UINT8_C(0x02)
#define BMI055_GYR_INT1_MAP_0_HIGHRATE_MASK UINT8_C(0x08)
/*! Mask definitions for INT_MAP 1 register */
#define BMI055_GYR_INT1_MAP_1_DATA_MASK UINT8_C(0x01)
#define BMI055_GYR_INT1_MAP_1_FAST_OFF_MASK UINT8_C(0x02)
#define BMI055_GYR_INT1_MAP_1_FIFO_MASK UINT8_C(0x04)
#define BMI055_GYR_INT1_MAP_1_AUTO_OFF_MASK UINT8_C(0x08)
#define BMI055_GYR_INT2_MAP_1_AUTO_OFF_MASK UINT8_C(0x10)
#define BMI055_GYR_INT2_MAP_1_FIFO_MASK UINT8_C(0x20)
#define BMI055_GYR_INT2_MAP_1_FAST_OFF_MASK UINT8_C(0x40)
#define BMI055_GYR_INT2_MAP_1_DATA_MASK UINT8_C(0x80)
/*! Mask definitions for INT_MAP 2 register */
#define BMI055_GYR_INT2_MAP_2_ANY_MOT_MASK UINT8_C(0x02)
#define BMI055_GYR_INT2_MAP_2_HIGHRATE_MASK UINT8_C(0x08)
/*! Mask definitions for Data Source 0 Register */
#define BMI055_GYR_SRC_ANY_MOT_MASK UINT8_C(0x02)
#define BMI055_GYR_SRC_HIGHRATE_MASK UINT8_C(0x08)
#define BMI055_GYR_SRC_SLOW_OFFSET_MASK UINT8_C(0x20)
/*! Mask definitions for Data Source 1 Register */
#define BMI055_GYR_SRC_FAST_OFFSET_MASK UINT8_C(0x80)
/*! Mask definitions for INT_RST_LATCH */
#define BMI055_GYR_LATCH_DUR_MASK UINT8_C(0x0F)
#define BMI055_GYR_OFFSET_RESET_MASK UINT8_C(0x40)
#define BMI055_GYR_RESET_INT_MASK UINT8_C(0x80)
/*! Mask definitions for GYRO_3_REG */
#define BMI055_GYR_FIFO_WM_EN_MASK UINT8_C(0x80)
/*! Mask definitions for Any-motion Interrupt */
#define BMI055_GYR_ANY_THRES_MASK UINT8_C(0x7F)
#define BMI055_GYR_ANY_EN_X_MASK UINT8_C(0x01)
#define BMI055_GYR_ANY_EN_Y_MASK UINT8_C(0x02)
#define BMI055_GYR_ANY_EN_Z_MASK UINT8_C(0x04)
#define BMI055_GYR_ANY_DURSAMPLE_MASK UINT8_C(0x30)
#define BMI055_GYR_AWAKE_DUR_MASK UINT8_C(0xC0)
/*! Mask definitions for High-Rate Interrupt */#define BMI055_GYR_HIGH_EN_X_MASK UINT8_C(0x01)
#define BMI055_GYR_HIGH_TH_X_MASK UINT8_C(0x3E)
#define BMI055_GYR_HIGH_HY_X_MASK UINT8_C(0xC0)
#define BMI055_GYR_HIGH_EN_Y_MASK UINT8_C(0x01)
#define BMI055_GYR_HIGH_TH_Y_MASK UINT8_C(0x3E)
#define BMI055_GYR_HIGH_HY_Y_MASK UINT8_C(0xC0)
#define BMI055_GYR_HIGH_EN_Z_MASK UINT8_C(0x01)
#define BMI055_GYR_HIGH_TH_Z_MASK UINT8_C(0x3E)
#define BMI055_GYR_HIGH_HY_Z_MASK UINT8_C(0xC0)
/*! Mask definitions for Auto-offset Interrupt */
#define BMI055_GYR_AUTO_OFF_WORD_LEN_MASK UINT8_C(0xC0)
/*! Mask definitions for Slow-offset Interrupt */
#define BMI055_GYR_SLOW_OFF_EN_X_MASK UINT8_C(0x01)
#define BMI055_GYR_SLOW_OFF_EN_Y_MASK UINT8_C(0x02)
#define BMI055_GYR_SLOW_OFF_EN_Z_MASK UINT8_C(0x04)
#define BMI055_GYR_SLOW_OFF_DUR_MASK UINT8_C(0x38)
#define BMI055_GYR_SLOW_OFF_THR_MASK UINT8_C(0xC0)
/*! Mask definitions for Fast-offset Interrupt */
#define BMI055_GYR_FAST_OFF_EN_X_MASK UINT8_C(0x01)
#define BMI055_GYR_FAST_OFF_EN_Y_MASK UINT8_C(0x02)
#define BMI055_GYR_FAST_OFF_EN_Z_MASK UINT8_C(0x04)
#define BMI055_GYR_FAST_OFF_EN_MASK UINT8_C(0x08)
#define BMI055_GYR_FAST_OFF_WORD_LEN_MASK UINT8_C(0x30)
/*! Mask definitions for FIFO Water-mark Interrupt */
#define BMI055_FIFO_WATERMARK_LEVEL_MASK UINT8_C(0x7F)
/*! BMI055 Gyroscope unique chip identifier */
#define BMI055_GYRO_CHIP_ID UINT8_C(0x0F)
/*! BMI055 Gyroscope Bandwidth */
#define BMI055_GYRO_BW_32_HZ UINT8_C(0x07)
#define BMI055_GYRO_BW_64_HZ UINT8_C(0x06)
#define BMI055_GYRO_BW_12_HZ UINT8_C(0x05)
#define BMI055_GYRO_BW_23_HZ UINT8_C(0x04)
#define BMI055_GYRO_BW_47_HZ UINT8_C(0x03)
#define BMI055_GYRO_BW_116_HZ UINT8_C(0x02)
#define BMI055_GYRO_BW_230_HZ UINT8_C(0x01)
#define BMI055_GYRO_BW_523_HZ UINT8_C(0x00)
/*! BMI055 Gyroscope range */
#define BMI055_GYRO_RANGE_2000_DPS UINT8_C(0x00)
#define BMI055_GYRO_RANGE_1000_DPS UINT8_C(0x01)
#define BMI055_GYRO_RANGE_500_DPS UINT8_C(0x02)
#define BMI055_GYRO_RANGE_250_DPS UINT8_C(0x03)
#define BMI055_GYRO_RANGE_125_DPS UINT8_C(0x04)
/*! BMI055 Gyroscope power */
#define BMI055_GYRO_PM_NORMAL UINT8_C(0x00)
#define BMI055_GYRO_PM_DEEP_SUSPEND UINT8_C(0x01)
#define BMI055_GYRO_PM_SUSPEND UINT8_C(0x02)
/******************************************************************************/
/*! Common macros for both accelerometer and gyroscope */
/******************************************************************************/
/*! Delay in ms settings */
#define BMI055_ONE_MS_DELAY UINT8_C(1)
/*! Interface settings */
#define BMI055_SPI_INTF UINT8_C(1)
#define BMI055_I2C_INTF UINT8_C(0)
/*! SPI read/write mask to configure address */
#define BMI055_SPI_RD_MASK UINT8_C(0x80)
#define BMI055_SPI_WR_MASK UINT8_C(0x7F)
/*! BMI055 I2C addresses */
#define BMI055_ACCEL_I2C_ADDR UINT8_C(0x18)
#define BMI055_GYRO_I2C_ADDR UINT8_C(0x68)
/*! Error Codes */
#define BMI055_OK INT8_C(0)
#define BMI055_E_NULL_PTR INT8_C(-1)
#define BMI055_E_COM_FAIL INT8_C(-2)
#define BMI055_E_DEV_NOT_FOUND INT8_C(-3)
#define BMI055_E_OUT_OF_RANGE INT8_C(-4)
#define BMI055_E_INVALID_INPUT INT8_C(-5)
#define BMI055_E_CONFIG_FAIL INT8_C(-6)
#define BMI055_E_INVALID_CHANNEL INT8_C(-6)
/*! Soft reset Value */
#define BMI055_SOFT_RESET_VAL UINT8_C(0xB6)
/*! Interrupt pin configuration macros */
/*! Open drain */
#define BMI055_INT_PIN_OPEN_DRAIN UINT8_C(0x01)
#define BMI055_INT_PIN_PUSH_PULL UINT8_C(0x00)
/*! Level */
#define BMI055_INT_PIN_ACTIVE_HIGH UINT8_C(0x01)
#define BMI055_INT_PIN_ACTIVE_LOW UINT8_C(0x00)
/*! Latch */
#define BMI055_INT_PIN_LATCH UINT8_C(0x01)
#define BMI055_INT_PIN_NON_LATCH UINT8_C(0x00)
/*! Reset */
#define BMI055_INT_LATCH_CLEAR UINT8_C(0x01)
#define BMI055_INT_LATCH_ACTIVE UINT8_C(0x00)
/*! Interrupt Latch duration */
#define BMI055_LATCH_DUR_NONE_1 UINT8_C(0x00)
#define BMI055_LATCH_DUR_250_MS UINT8_C(0x01)
#define BMI055_LATCH_DUR_500_MS UINT8_C(0x02)
#define BMI055_LATCH_DUR_1_S UINT8_C(0x03)
#define BMI055_LATCH_DUR_2_S UINT8_C(0x04)
#define BMI055_LATCH_DUR_4_S UINT8_C(0x05)
#define BMI055_LATCH_DUR_8_S UINT8_C(0x06)
#define BMI055_LATCHED_1 UINT8_C(0x07)
#define BMI055_LATCH_DUR_NONE_2 UINT8_C(0x08)
#define BMI055_LATCH_DUR_250_US UINT8_C(0x09)
#define BMI055_LATCH_DUR_500_US UINT8_C(0x0A)
#define BMI055_LATCH_DUR_1_MS UINT8_C(0x0B)
#define BMI055_LATCH_DUR_12_5_MS UINT8_C(0x0C)
#define BMI055_LATCH_DUR_25_MS UINT8_C(0x0D)
#define BMI055_LATCH_DUR_50_MS UINT8_C(0x0E)
#define BMI055_LATCHED_2 UINT8_C(0x0F)
/******************************************************************************/
/*! Function Pointers*/
/******************************************************************************/
/* For read and write communication through i2c or spi */
typedef int8_t (*bmi055_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
/* For delay */
typedef void (*bmi055_delay_fptr_t)(uint32_t period);
/******************************************************************************/
/*! Data Structures */
/******************************************************************************/
/*! Structure to define x, y and z axis of the sensor */
struct bmi055_sensor_data {
/*! X-axis sensor data */
int16_t x;
/*! Y-axis sensor data */
int16_t y;
/*! Z-axis sensor data */ int16_t z;
};
/*! Structure to define bmi055 configuration details */
struct bmi055_cfg {
/*! power mode */
uint8_t power;
/*! range */
uint8_t range;
/*! bandwidth */
uint8_t bw;
};
/*! Structure to define bmi055 interrupt pin settings, for both
* little and big endian.
*/
struct bmi055_int_pin_sett {
#ifdef LITTLE_ENDIAN
/*! 0 - push-pull, 1 - open drain */
uint8_t output_mode : 1;
/*! 0 - active low, 1 - active high level */
uint8_t output_type : 1;
/*! 1 - clears any latched interrupts, 0 - keeps latched
interrupts active */
uint8_t reset_int : 1;
/*! 1 - resets offset value calculated with FastOffset,
SlowOffset & AutoOffset */
uint8_t offset_reset : 1;
/*! latch duration */
uint8_t latch_dur : 4;
#else
/*! latch duration */
uint8_t latch_dur : 4;
/*! 1 - resets offset value calculated with FastOffset,
SlowOffset & AutoOffset */
uint8_t offset_reset : 1;
/*! 1 - clears any latched interrupts, 0 - keeps latched
interrupts active */
uint8_t reset_int : 1;
/*! 0 - active low, 1 - active high level */
uint8_t output_type : 1;
/*! 0 - push-pull, 1 - open drain */
uint8_t output_mode : 1;
#endif
};
/*! Structure to define bmi055 accelerometer slope interrupt configurations,
* for both little and big endian.
*/
struct bmi055_acc_slop_int_cfg {
#ifdef LITTLE_ENDIAN
/*! slope interrupt, x-axis */
uint8_t slope_en_x : 1;
/*! slope interrupt, y-axis */
uint8_t slope_en_y : 1;
/*! slope interrupt, z-axis */
uint8_t slope_en_z : 1;
/*! slope duration */
uint8_t slope_dur : 2;
/*! slope threshold */
uint8_t slope_thr;
#else
/*! slope threshold */
uint8_t slope_thr;
/*! slope duration */
uint8_t slope_dur : 2;
/*! slope interrupt, z-axis */
uint8_t slope_en_z : 1;
/*! slope interrupt, y-axis */
uint8_t slope_en_y : 1; /*! slope interrupt, x-axis */
uint8_t slope_en_x : 1;
#endif
};
/*! Structure to define bmi055 accelerometer tap interrupt configurations,
* for both little and big endian.
*/
struct bmi055_acc_tap_int_cfg {
#ifdef LITTLE_ENDIAN
/*! tap duration */
uint16_t tap_dur : 3;
/*! tap shock */
uint16_t tap_shock : 1;
/*! tap quiet */
uint16_t tap_quiet : 1;
/*! tap threshold */
uint16_t tap_thr : 5;
/*! tap sample */
uint16_t tap_sample : 2;
#else
/*! tap sample */
uint16_t tap_sample : 2;
/*! tap threshold */
uint16_t tap_thr : 5;
/*! tap quiet */
uint16_t tap_quiet : 1;
/*! tap shock */
uint16_t tap_shock : 1;
/*! tap duration */
uint16_t tap_dur : 3;
#endif
};
/*! Structure to define bmi055 accelerometer orient interrupt configurations,
* for both little and big endian.
*/
struct bmi055_acc_orient_int_cfg {
#ifdef LITTLE_ENDIAN
/*! Enable orientation interrupt */
uint16_t orient_en : 1;
/*! thresholds for switching between the different orientations */
uint16_t orient_mode : 2;
/*! blocking_mode */
uint16_t orient_blocking : 2;
/*! Orientation interrupt hysteresis */
uint16_t orient_hyst : 3;
/*! Orientation interrupt theta */
uint16_t orient_theta : 6;
/*! 1 / 0 - Enable/ disable Orientation interrupt */
uint16_t orient_ud_en : 1;
#else
/*! 1 / 0 - Enable/ disable Orientation interrupt */
uint16_t orient_ud_en : 1;
/*! Orientation interrupt theta */
uint16_t orient_theta : 6;
/*! Orientation interrupt hysteresis */
uint16_t orient_hyst : 3;
/*! blocking_mode */
uint16_t orient_blocking : 2;
/*! thresholds for switching between the different orientations */
uint16_t orient_mode : 2;
/*! Enable orientation interrupt */
uint16_t orient_en : 1;
#endif
};
/*! Structure to define bmi055 accelerometer flat detect interrupt
* configurations, for both little and big endian.
*/struct bmi055_acc_flat_detect_int_cfg {
#ifdef LITTLE_ENDIAN
/*! flat threshold */
uint16_t flat_theta : 6;
/*! flat interrupt hysteresis */
uint16_t flat_hy : 3;
/*! delay time for which the flat value must remain stable
for the flat interrupt to be generated */
uint16_t flat_hold_time : 2;
#else
/*! delay time for which the flat value must remain stable
for the flat interrupt to be generated */
uint16_t flat_hold_time : 2;
/*! flat interrupt hysteresis */
uint16_t flat_hy : 3;
/*! flat threshold */
uint16_t flat_theta : 6;
#endif
};
/*! Structure to define bmi055 accelerometer low-g interrupt configurations,
* for both little and big endian.
*/
struct bmi055_acc_low_g_int_cfg {
#ifdef LITTLE_ENDIAN
/*! low-g interrupt enable */
uint8_t low_g_en : 1;
/*! low-g interrupt trigger delay */
uint8_t low_dur;
/*! low-g interrupt trigger threshold */
uint8_t low_thres;
/*! hysteresis of low-g interrupt */
uint8_t low_hyst : 2;
/*! 0 - single-axis mode, 1 - axis-summing mode */
uint8_t low_mode : 1;
#else
/*! 0 - single-axis mode, 1 - axis-summing mode */
uint8_t low_mode : 1;
/*! hysteresis of low-g interrupt */
uint8_t low_hyst : 2;
/*! low-g interrupt trigger threshold - ranges from 0 to 1992 mg*/
uint16_t low_thres;
/*! low-g interrupt trigger delay ranges from 2 to 512 msec */
uint16_t low_dur;
/*! low-g interrupt enable */
uint8_t low_g_en : 1;
#endif
};
/*! Structure to define bmi055 accelerometer high-g interrupt configurations,
* for both little and big endian.
*/
struct bmi055_acc_high_g_int_cfg {
#ifdef LITTLE_ENDIAN
/*! High-g interrupt x */
uint8_t high_g_en_x : 1;
/*! High-g interrupt y */
uint8_t high_g_en_y : 1;
/*! High-g interrupt z */
uint8_t high_g_en_z : 1;
/*! High-g hysteresis */
uint8_t high_hy : 2;
/*! High-g threshold */
uint8_t high_thres;
/*! High-g duration */
uint8_t high_dur;
#else
/*! High-g duration */
uint8_t high_dur;
/*! High-g threshold */ uint8_t high_thres;
/*! High-g hysteresis */
uint8_t high_hy : 2;
/*! High-g interrupt z */
uint8_t high_g_en_z : 1;
/*! High-g interrupt y */
uint8_t high_g_en_y : 1;
/*! High-g interrupt x */
uint8_t high_g_en_x : 1;
#endif
};
/*! Structure to define bmi055 accelerometer slow/no motion interrupt
* configurations, for both little and big endian.
*/
struct bmi055_acc_slow_no_mot_int_cfg {
#ifdef LITTLE_ENDIAN
/*! slow/ no motion interrupt, x-axis */
uint16_t slow_no_mot_en_x :1;
/*! slow/ no motion interrupt, y-axis */
uint16_t slow_no_mot_en_y :1;
/*! slow/ no motion interrupt, z-axis */
uint16_t slow_no_mot_en_z :1;
/*! 1 - enable no-motion, 0 - enable slow-motion */
uint16_t slow_no_mot_sel : 1;
/*! Slow motion duration */
uint16_t slow_mot_dur : 2;
/*! No motion duration */
uint16_t no_mot_dur : 6;
/*! slow/ no motion threshold */
uint8_t slow_no_mot_thres;
#else
/*! slow/ no motion threshold */
uint8_t slow_no_mot_thres;
/*! No motion duration */
uint16_t no_mot_dur : 6;
/*! Slow motion duration */
uint16_t slow_mot_dur : 2;
/*! 1 - enable no-motion, 0 - enable slow-motion */
uint16_t slow_no_mot_sel : 1;
/*! slow/no motion interrupt, z-axis */
uint16_t slow_no_mot_en_z :1;
/*! slow/no motion interrupt, y-axis */
uint16_t slow_no_mot_en_y :1;
/*! slow/no motion interrupt, x-axis */
uint16_t slow_no_mot_en_x :1;
#endif
};
/*! Structure to define bmi055 gyroscope any motion interrupt configurations,
* for both little and big endian.
*/
struct bmi055_gyr_any_mot_int_cfg {
#ifdef LITTLE_ENDIAN
/*! any motion interrupt, x-axis */
uint8_t any_en_x : 1;
/*! any motion interrupt, y-axis */
uint8_t any_en_y : 1;
/*! any motion interrupt, z-axis */
uint8_t any_en_z : 1;
/*! any motion sample duration */
uint8_t any_dursample : 2;
/*! awake duration */
uint8_t awake_dur : 2;
/*! any motion threshold */
uint8_t any_thr;
#else
/*! any motion threshold */
uint8_t any_thr;
/*! awake duration */ uint8_t awake_dur : 2;
/*! any motion sample duration */
uint8_t any_dursample : 2;
/*! any motion interrupt, z-axis */
uint8_t any_en_z : 1;
/*! any motion interrupt, y-axis */
uint8_t any_en_y : 1;
/*! any motion interrupt, x-axis */
uint8_t any_en_x : 1;
#endif
};
/*! Structure to define bmi055 gyroscope high rate interrupt configurations,
* for both little and big endian.
*/
struct bmi055_gyr_high_rate_int_cfg {
#ifdef LITTLE_ENDIAN
/*! 1 / 0 - enables/disables high-rate interrupt for x-axis */
uint8_t high_en_x : 1;
/*! high rate threshold for x-axis */
uint8_t high_thr_x : 5;
/*! high rate hysteresis for x-axis*/
uint8_t high_hy_x : 2;
/*! High rate duration for x-axis*/
uint8_t high_dur_x;
/*! 1 / 0 - enables/disables high-rate interrupt for y-axis */
uint8_t high_en_y : 1;
/*! high rate threshold for y-axis */
uint8_t high_thr_y : 5;
/*! high rate hysteresis for y-axis*/
uint8_t high_hy_y : 2;
/*! High rate duration for y-axis*/
uint8_t high_dur_y;
/*! 1 / 0 - enables/disables high-rate interrupt for z-axis */
uint8_t high_en_z : 1;
/*! high rate threshold for z-axis */
uint8_t high_thr_z : 5;
/*! high rate hysteresis for z-axis*/
uint8_t high_hy_z : 2;
/*! High rate duration for z-axis*/
uint8_t high_dur_z;
#else
/*! High rate duration for z-axis*/
uint8_t high_dur_z;
/*! high rate hysteresis for z-axis*/
uint8_t high_hy_z : 2;
/*! high rate threshold for z-axis */
uint8_t high_thr_z : 5;
/*! 1 / 0 - enables/disables high-rate interrupt for z-axis */
uint8_t high_en_z : 1;
/*! High rate duration for y-axis*/
uint8_t high_dur_y;
/*! high rate hysteresis for y-axis*/
uint8_t high_hy_y : 2;
/*! high rate threshold for y-axis */
uint8_t high_thr_y : 5;
/*! 1 / 0 - enables/disables high-rate interrupt for y-axis */
uint8_t high_en_y : 1;
/*! High rate duration for x-axis*/
uint8_t high_dur_x;
/*! high rate hysteresis for x-axis*/
uint8_t high_hy_x : 2;
/*! high rate threshold for x-axis */
uint8_t high_thr_x : 5;
/*! 1 / 0 - enables/disables high-rate interrupt for x-axis */
uint8_t high_en_x : 1;
#endif
};
/*! Structure to define bmi055 gyroscope auto offset interrupt configurations,
* for both little and big endian.
*/
struct bmi055_gyr_auto_offset_int_cfg {
/*! Auto-offset word length */
uint8_t auto_offset_wordlen;
};
struct bmi055_gyr_slow_offset_int_cfg {
#ifdef LITTLE_ENDIAN
/*! 1 / 0 - enables/disables slow offset compensation for x-axis */
uint8_t slow_offset_en_x : 1;
/*! 1 / 0 - enables/disables slow offset compensation for y-axis */
uint8_t slow_offset_en_y : 1;
/*! 1 / 0 - enables/disables slow offset compensation for z-axis */
uint8_t slow_offset_en_z : 1;
/*! Slow offset duration */
uint8_t slow_offset_dur : 3;
/*! Slow_offset threshold */
uint8_t slow_offset_thres : 2;
#else
/*! Slow_offset threshold */
uint8_t slow_offset_thres : 2;
/*! Slow offset duration */
uint8_t slow_offset_dur : 3;
/*! 1 / 0 - enables/disables slow offset compensation for z-axis */
uint8_t slow_offset_en_z : 1;
/*! 1 / 0 - enables/disables slow offset compensation for y-axis */
uint8_t slow_offset_en_y : 1;
/*! 1 / 0 - enables/disables slow offset compensation for x-axis */
uint8_t slow_offset_en_x : 1;
#endif
};
/*! Structure to define bmi055 gyroscope fast offset interrupt configurations,
* for both little and big endian.
*/
struct bmi055_gyr_fast_offset_int_cfg {
#ifdef LITTLE_ENDIAN
/*! 1 / 0 - enables/disables fast offset compensation for x-axis */
uint8_t fast_offset_en_x : 1;
/*! 1 / 0 - enables/disables fast offset compensation for y-axis */
uint8_t fast_offset_en_y : 1;
/*! 1 / 0 - enables/disables fast offset compensation for z-axis */
uint8_t fast_offset_en_z : 1;
/*! triggers fast offset compensation for the enabled axes */
uint8_t fast_offset_en : 1;
/*! fast_offset wordlength */
uint8_t fast_offset_wordlen : 2;
#else
/*! fast_offset wordlength */
uint8_t fast_offset_wordlen : 2;
/*! triggers fast offset compensation for the enabled axes */
uint8_t fast_offset_en : 1;
/*! 1 / 0 - enables/disables fast offset compensation for z-axis */
uint8_t fast_offset_en_z : 1;
/*! 1 / 0 - enables/disables fast offset compensation for y-axis */
uint8_t fast_offset_en_y : 1;
/*! 1 / 0 - enables/disables fast offset compensation for x-axis */
uint8_t fast_offset_en_x : 1;
#endif
};
/*!
* Union that defines bmi055 structures for accelerometer interrupt
* configurations.
*/
union bmi055_accel_int_type_cfg { /*! New data enable */
uint8_t accel_new_data_en;
/*! Tap interrupt structure */
struct bmi055_acc_tap_int_cfg acc_tap_int;
/*! Slope/ Any motion interrupt structure */
struct bmi055_acc_slop_int_cfg acc_slope_int;
/*! No-motion/ Slow motion interrupt structure */
struct bmi055_acc_slow_no_mot_int_cfg acc_slow_no_mot_int;
/*! Orientation interrupt structure */
struct bmi055_acc_orient_int_cfg acc_orient_int;
/*! Flat interrupt structure */
struct bmi055_acc_flat_detect_int_cfg acc_flat_int;
/*! Low-g interrupt structure */
struct bmi055_acc_low_g_int_cfg acc_low_g_int;
/*! High-g interrupt structure */
struct bmi055_acc_high_g_int_cfg acc_high_g_int;
};
/*!
* Union that defines bmi055 structures for gyroscope interrupt configurations.
*/
union bmi055_gyro_int_type_cfg {
/*! New data enable */
uint8_t gyro_new_data_en;
/*! Any-motion interrupt structure */
struct bmi055_gyr_any_mot_int_cfg gyr_any_mot_int;
/*! High-Rate interrupt structure */
struct bmi055_gyr_high_rate_int_cfg gyr_high_rate_int;
/*! Auto-Offset interrupt structure */
struct bmi055_gyr_auto_offset_int_cfg gyr_auto_offset_int;
/*! Slow-Offset interrupt structure */
struct bmi055_gyr_slow_offset_int_cfg gyr_slow_offset_int;
/*! Fast-Offset interrupt structure */
struct bmi055_gyr_fast_offset_int_cfg gyr_fast_offset_int;
};
/*!
* Structure to define bmi055 accelerometer interrupt settings
*/
struct bmi055_accel_int_sett {
/*! Select Interrupt channel */
uint8_t acc_int_channel;
/*! Select Interrupt type */
uint8_t acc_int_types;
/*! Select interrupt source type */
uint8_t int_data_src_type;
/*! Structure configuring Interrupt pins */
struct bmi055_int_pin_sett int_pin_sett;
/*! Union configures required interrupt */
union bmi055_accel_int_type_cfg acc_int_type_cfg;
};
/*!
* Structure to define bmi055 gyroscope interrupt settings
*/
struct bmi055_gyro_int_sett {
/*! Select Interrupt channel */
uint8_t gyr_int_channel;
/*! Select Interrupt type */
uint8_t gyr_int_types;
/*! Select interrupt source type */
uint8_t int_data_src_type;
/*! Structure configuring Interrupt pins */
struct bmi055_int_pin_sett int_pin_sett;
/*! Union configures required interrupt */
union bmi055_gyro_int_type_cfg gyro_int_type_cfg;
};
/*!
* Structure to define bmi055 sensor configurations */
struct bmi055_dev {
/*! Accel chip Id */
uint8_t accel_chip_id;
/*! Gyro chip Id */
uint8_t gyro_chip_id;
/*! Accel device Id */
uint8_t accel_id;
/*! Gyro device Id */
uint8_t gyro_id;
/*! 0 - I2C , 1 - SPI Interface */
uint8_t interface;
/*! Structure to configure accelerometer sensor */
struct bmi055_cfg accel_cfg;
/*! Structure to configure gyroscope sensor */
struct bmi055_cfg gyro_cfg;
/*! Read function pointer */
bmi055_com_fptr_t read;
/*! Write function pointer */
bmi055_com_fptr_t write;
/*! Delay function pointer */
bmi055_delay_fptr_t delay_ms;
};
/******************************************************************************/
/*! C++ Guard Macros */
/******************************************************************************/
#ifdef __cplusplus
}
#endif
#endif /* BMI055_DEFS_H_ */