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bmi088_mma.c
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/**
* Copyright (c) 2024 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 bmi088_mma.c
* @date 2024-07-29
* @version v1.9.0
*
*/
/*! \file bmi088_mma.c
* \brief Sensor Driver for BMI088_MM family of sensors */
/****************************************************************************/
/**\name Header files
****************************************************************************/
#include "bmi088_mm.h"
/****************************************************************************/
/** \name Macros
****************************************************************************/
/**\name Value of LSB_PER_G = (power(2, BMI088_MM_16_BIT_RESOLUTION) / (2 * range)) */
#define LSB_PER_G UINT32_C(1365) /* for the 16-bit resolution and 24g range */
/****************************************************************************/
/**\name Local structures
****************************************************************************/
/*!
* @brief Accel self-test diff xyz data structure
*/
struct bmi088_mm_selftest_delta_limit
{
/*! Accel X data */
int16_t x;
/*! Accel Y data */
int16_t y;
/*! Accel Z data */
int16_t z;
};
/**\name Feature configuration file */
const uint8_t bmi088_mm_config_file[] = {
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9b, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3f,
0x01, 0x80, 0x2e, 0xbd, 0x00, 0x80, 0x2e, 0x9c, 0x00, 0x80, 0x2e, 0xbe, 0x00, 0x50, 0x39, 0x21, 0x2e, 0xb0, 0xf0,
0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf2, 0x01, 0x4b, 0x50, 0x41, 0x30, 0x01, 0x42, 0x3c, 0x82, 0x01,
0x2e, 0x96, 0x00, 0x42, 0x40, 0x42, 0x42, 0x02, 0x30, 0x27, 0x56, 0x25, 0x2e, 0x96, 0x00, 0x03, 0x0a, 0x49, 0x82,
0xc0, 0x2e, 0x40, 0x42, 0x00, 0x2e, 0x02, 0x00, 0x04, 0x00, 0x01, 0x00, 0x02, 0x00, 0xff, 0x00, 0x00, 0x00, 0x1b,
0x23, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x01, 0x34, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x50, 0xf7, 0x7f, 0x00, 0x2e, 0x0f, 0x2e, 0x43, 0xf0, 0xf8,
0xbf, 0xff, 0xbb, 0xc0, 0xb3, 0x11, 0x2f, 0xe6, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f,
0x80, 0x7f, 0x7b, 0x7f, 0x98, 0x2e, 0xe8, 0xb2, 0x80, 0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5,
0x6f, 0xe6, 0x6f, 0x7b, 0x6f, 0x47, 0x30, 0x2f, 0x2e, 0xb8, 0xf0, 0xf7, 0x6f, 0x70, 0x5f, 0xc8, 0x2e, 0xc8, 0x2e,
0x70, 0x50, 0xd1, 0x7f, 0xf5, 0x7f, 0xe4, 0x7f, 0x34, 0x30, 0x03, 0x2e, 0x01, 0xf0, 0x9e, 0xbc, 0x9e, 0xba, 0x92,
0x7f, 0xc0, 0x7f, 0xbb, 0x7f, 0xa3, 0x7f, 0xa5, 0x04, 0x1f, 0x52, 0x21, 0x50, 0x98, 0x2e, 0xd2, 0x01, 0x10, 0x30,
0x21, 0x2e, 0x52, 0x00, 0x98, 0x2e, 0xcc, 0x01, 0x00, 0xb2, 0x01, 0x2f, 0x98, 0x2e, 0xc2, 0x01, 0x98, 0x2e, 0x86,
0xb0, 0x00, 0xb2, 0x0d, 0x2f, 0x01, 0x2e, 0x00, 0x01, 0x02, 0xbc, 0x03, 0x2e, 0x2d, 0x00, 0x0e, 0xb8, 0x01, 0x1a,
0x03, 0x2f, 0x21, 0x2e, 0x2d, 0x00, 0x98, 0x2e, 0xe1, 0x01, 0x98, 0x2e, 0xdd, 0x01, 0x00, 0x31, 0x21, 0x2e, 0xb8,
0xf0, 0xe4, 0x6f, 0xd1, 0x6f, 0xf5, 0x6f, 0xc0, 0x6f, 0x92, 0x6f, 0xa3, 0x6f, 0xbb, 0x6f, 0x90, 0x5f, 0xc8, 0x2e,
0x40, 0x30, 0xc0, 0x2e, 0x21, 0x2e, 0xba, 0xf0, 0x00, 0x31, 0xc0, 0x2e, 0x21, 0x2e, 0xba, 0xf0, 0x44, 0x47, 0xaa,
0x10, 0x05, 0xe0, 0x00, 0x00, 0x00, 0x0c, 0xe8, 0x73, 0x04, 0x00, 0x00, 0x02, 0x00, 0x01, 0x00, 0x00, 0x30, 0x0a,
0x80, 0x00, 0xaa, 0x00, 0x05, 0xe0, 0x41, 0x04, 0x88, 0x00, 0x54, 0x00, 0x89, 0xf0, 0x4f, 0x00, 0x57, 0x00, 0x80,
0x00, 0x39, 0xf0, 0x03, 0x01, 0x06, 0x01, 0x0b, 0x01, 0x09, 0x01, 0x59, 0xf0, 0xc0, 0x00, 0xb1, 0xf0, 0xbe, 0xf0,
0x00, 0x40, 0xaf, 0x00, 0xff, 0x00, 0xff, 0xb7, 0x00, 0x02, 0x00, 0xb0, 0x05, 0x80, 0xb1, 0xf0, 0x59, 0xf0, 0x5e,
0x00, 0x66, 0x00, 0x81, 0x00, 0x64, 0x00, 0x77, 0x00, 0x52, 0xf0, 0x33, 0xf0, 0x70, 0x00, 0x28, 0xf0, 0x7c, 0x00,
0x7f, 0x00, 0x7f, 0x00, 0x00, 0xe0, 0xff, 0x07, 0x00, 0x20, 0x00, 0x80, 0xff, 0x1f, 0x87, 0x00, 0x00, 0x10, 0x89,
0x00, 0x00, 0x0c, 0x29, 0x00, 0x8f, 0x00, 0x9a, 0x01, 0x88, 0x00, 0x90, 0x50, 0xe5, 0x7f, 0xa0, 0x7f, 0x76, 0x7f,
0xbb, 0x7f, 0xf7, 0x7f, 0xd3, 0x7f, 0xc2, 0x7f, 0x91, 0x7f, 0x84, 0x7f, 0x00, 0x32, 0x0b, 0x2e, 0xb8, 0xf0, 0x16,
0x30, 0x3c, 0x2c, 0x27, 0x5e, 0xa8, 0x08, 0x80, 0xb2, 0x1c, 0x2f, 0x98, 0x2e, 0x86, 0xb0, 0x00, 0x90, 0x06, 0x2f,
0x02, 0x30, 0x00, 0x32, 0x25, 0x2e, 0x97, 0x00, 0x21, 0x2e, 0xbc, 0xf0, 0x0e, 0x2d, 0x01, 0x2e, 0x01, 0xf0, 0x0e,
0xbc, 0x0e, 0xb8, 0x32, 0x30, 0x90, 0x04, 0x29, 0x50, 0x23, 0x52, 0x75, 0x25, 0x98, 0x2e, 0xd2, 0x01, 0x2d, 0x2e,
0x2e, 0x00, 0x57, 0x25, 0x00, 0x32, 0x21, 0x2e, 0xb8, 0xf0, 0x27, 0x5e, 0xaf, 0x08, 0x80, 0xb2, 0x15, 0x2f, 0x98,
0x2e, 0xcc, 0x01, 0x00, 0x90, 0x02, 0x2f, 0x2f, 0x2e, 0xbc, 0xf0, 0x0c, 0x2d, 0x01, 0x2e, 0x01, 0xf0, 0x0e, 0xbc,
0x0e, 0xb8, 0x32, 0x30, 0x90, 0x04, 0x29, 0x50, 0x25, 0x52, 0x98, 0x2e, 0xd2, 0x01, 0x2d, 0x2e, 0x53, 0x00, 0x2f,
0x2e, 0xb8, 0xf0, 0x00, 0x32, 0x0b, 0x2e, 0xb8, 0xf0, 0xa8, 0x08, 0x80, 0x90, 0xc1, 0x2f, 0xaf, 0x08, 0x80, 0x90,
0xbe, 0x2f, 0xf7, 0x6f, 0xe5, 0x6f, 0xd3, 0x6f, 0xc2, 0x6f, 0xa0, 0x6f, 0x91, 0x6f, 0x84, 0x6f, 0x76, 0x6f, 0xbb,
0x6f, 0x70, 0x5f, 0xc8, 0x2e, 0x90, 0x50, 0xf7, 0x7f, 0x17, 0x30, 0x2f, 0x2e, 0x5f, 0xf0, 0xe6, 0x7f, 0x00, 0x2e,
0x0d, 0x2e, 0xb9, 0xf0, 0xb7, 0x09, 0x80, 0xb3, 0x10, 0x2f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91,
0x7f, 0x80, 0x7f, 0x7b, 0x7f, 0x98, 0x2e, 0xd3, 0xb1, 0x80, 0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f,
0xd5, 0x6f, 0x7b, 0x6f, 0x17, 0x30, 0x2f, 0x2e, 0xb9, 0xf0, 0xe6, 0x6f, 0xf7, 0x6f, 0x70, 0x5f, 0xc8, 0x2e, 0x10,
0x30, 0xc0, 0x2e, 0x21, 0x2e, 0xbb, 0xf0, 0x37, 0x50, 0x35, 0x52, 0x02, 0x40, 0x51, 0x0a, 0x01, 0x42, 0x09, 0x80,
0x27, 0x52, 0xc0, 0x2e, 0x01, 0x42, 0x00, 0x2e, 0x01, 0x2e, 0x98, 0x00, 0x01, 0x80, 0xc0, 0x2e, 0x00, 0x40, 0x0f,
0xb8, 0x43, 0x86, 0x25, 0x40, 0x04, 0x40, 0xd8, 0xbe, 0x2c, 0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e,
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};
/****************************************************************************/
/*! Static Function Declarations
****************************************************************************/
/*!
* @brief This API is used to validate the device structure pointer for
* null conditions.
*
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t null_ptr_check(const struct bmi08_dev *dev);
/*!
* @brief This API configures the pins which fire the interrupt signal when any interrupt occurs.
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_int_pin_config(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets the anymotion interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_anymotion_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets the high-g interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_high_g_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets the low-g interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_low_g_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets the orientation interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_orient_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets the no-motion interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_no_motion_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This API sets error interrupt for accel sensor
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_mm_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_accel_err_int(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev);
/*!
* @brief This internal API gets the re-mapped x, y and z axes from the sensor.
*
* @param[out] remap : Structure that stores local copy of re-mapped axes.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t get_remap_axes(struct bmi08_axes_remap *remap, struct bmi08_dev *dev);
/*!
* @brief This internal API sets the re-mapped x, y and z axes in the sensor.
*
* @param[in] remap : Structure that stores local copy of re-mapped axes.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t set_remap_axes(const struct bmi08_axes_remap *remap, struct bmi08_dev *dev);
/*!
* @brief This internal API gets the re-mapped accelerometer/gyroscope data.
*
* @param[out] data : Structure instance of bmi08_sensor_data.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return None
*
* @retval None
*/
static void get_remapped_data(struct bmi08_sensor_data *data, const struct bmi08_dev *dev);
/*!
* @brief This internal API is to store re-mapped axis and sign values
* in device structure
*
* @param[in] remap_axis : Value of re-mapped axis
* @param[out] axis : Re-mapped axis value stored in device structure
* @param[out] sign : Re-mapped axis sign stored in device structure
*
* @return None
*
* @retval None
*/
static void assign_remap_axis(uint8_t remap_axis, uint8_t *axis, uint8_t *sign);
/*!
* @brief This internal API is to receive re-mapped axis and sign values
* in device structure
*
* @param[in] remap_axis : Re-mapped axis value
* @param[in] remap_sign : Re-mapped axis sign value
* @param[out] axis : Re-mapped axis stored in local structure
*
* @return None
*
* @retval None
*/
static void receive_remap_axis(uint8_t remap_axis, uint8_t remap_sign, uint8_t *axis);
/*!
* @brief This API performs the pre-requisites needed to perform the self-test
*
* @param[in] dev : structure instance of bmi08_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t enable_self_test(struct bmi08_dev *dev);
/*!
* @brief This API reads the accel data with the positive excitation
*
* @param[out] accel_pos : Structure pointer to store accel data
* for positive excitation
* @param[in] dev : structure instance of bmi08_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t positive_excited_accel(struct bmi08_sensor_data *accel_pos, struct bmi08_dev *dev);
/*!
* @brief This API reads the accel data with the negative excitation
*
* @param[out] accel_neg : Structure pointer to store accel data
* for negative excitation
* @param[in] dev : structure instance of bmi08_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t negative_excited_accel(struct bmi08_sensor_data *accel_neg, struct bmi08_dev *dev);
/*!
* @brief This API validates the self-test results
*
* @param[in] accel_pos : Structure pointer to store accel data
* for positive excitation
* @param[in] accel_neg : Structure pointer to store accel data
* for negative excitation
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
static int8_t validate_accel_self_test(const struct bmi08_sensor_data *accel_pos,
const struct bmi08_sensor_data *accel_neg);
/*!
* @brief This API converts lsb value of axes to mg for self-test
*
* @param[in] accel_data_diff : Pointer variable used to pass accel difference
* values in g
*
* @param[out] accel_data_diff_mg : Pointer variable used to store accel
* difference values in mg
*
* @return None
*/
static void convert_lsb_g(const struct bmi088_mm_selftest_delta_limit *accel_data_diff,
struct bmi088_mm_selftest_delta_limit *accel_data_diff_mg);
/*!
* @brief This API sets range in register
*
* @param[in] dev : Structure instance of bmi08_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_range(struct bmi08_dev *dev);
/****************************************************************************/
/**\name Function definitions
****************************************************************************/
/*!
* @brief This API is the entry point for accel sensor.
* It performs the selection of I2C/SPI read mechanism according to the
* selected interface and reads the chip-id of accel sensor.
*/
int8_t bmi088_mma_init(struct bmi08_dev *dev)
{
int8_t rslt;
rslt = bmi08a_init(dev);
if (rslt == BMI08_OK)
{
/* Structure to define the default values for axes re-mapping */
struct bmi08_axes_remap axes_remap = {
.x_axis = BMI088_MM_MAP_X_AXIS, .x_axis_sign = BMI088_MM_MAP_POSITIVE, .y_axis = BMI088_MM_MAP_Y_AXIS,
.y_axis_sign = BMI088_MM_MAP_POSITIVE, .z_axis = BMI088_MM_MAP_Z_AXIS, .z_axis_sign = BMI088_MM_MAP_POSITIVE
};
/* Check for chip id validity */
if ((dev->accel_chip_id == BMI088_MM_ACCEL_CHIP_ID_PRIM) || (dev->accel_chip_id == BMI088_MM_ACCEL_CHIP_ID_SEC))
{
/* Set the default values for axis
* re-mapping in the device structure
*/
dev->remap = axes_remap;
/* Assign stream file */
dev->config_file_ptr = bmi088_mm_config_file;
}
else
{
rslt = BMI08_E_DEV_NOT_FOUND;
}
}
return rslt;
}
/*!
* @brief This API sets the output data rate, range and bandwidth
* of accel sensor.
*/
int8_t bmi088_mma_set_meas_conf(struct bmi08_dev *dev)
{
int8_t rslt;
/* Check validity of ODR and BW */
rslt = bmi08a_set_meas_conf(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
rslt = set_range(dev);
}
return rslt;
}
/*!
* @brief This API is used to enable/disable and configure the data synchronization
* feature.
*/
int8_t bmi088_mma_configure_data_synchronization(struct bmi08_data_sync_cfg sync_cfg, struct bmi08_dev *dev)
{
int8_t rslt;
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
rslt = bmi08a_configure_data_synchronization(sync_cfg, dev);
if (rslt == BMI08_OK)
{
rslt = set_range(dev);
/* Delay of 100ms for data sync configurations to take effect */
dev->delay_us(100000, dev->intf_ptr_accel);
}
}
return rslt;
}
/*!
* @brief This API reads the accel data from the sensor,
* store it in the bmi08_sensor_data structure instance
* passed by the user.
*/
int8_t bmi088_mma_get_data(struct bmi08_sensor_data *accel, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data[6];
uint8_t lsb, msb;
uint16_t msblsb;
/* Proceed if null check is fine */
if (accel != NULL)
{
/* Read accel sensor data */
rslt = bmi08a_get_set_regs(BMI08_REG_ACCEL_X_LSB, data, BMI08_REG_ACCEL_X_LSB_LENGHT, dev, GET_FUNC);
if (rslt == BMI08_OK)
{
lsb = data[0];
msb = data[1];
msblsb = (msb << 8) | lsb;
accel->x = ((int16_t) msblsb); /* Data in X axis */
lsb = data[2];
msb = data[3];
msblsb = (msb << 8) | lsb;
accel->y = ((int16_t) msblsb); /* Data in Y axis */
lsb = data[4];
msb = data[5];
msblsb = (msb << 8) | lsb;
accel->z = ((int16_t) msblsb); /* Data in Z axis */
/* Get the re-mapped accelerometer data */
get_remapped_data(accel, dev);
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API configures the necessary accel interrupt
* based on the user settings in the bmi088_mm_int_cfg
* structure instance.
*/
int8_t bmi088_mma_set_int_config(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_mm_accel_int_types int_type,
struct bmi08_dev *dev)
{
int8_t rslt;
/* Proceed if null check is fine */
if (int_config != NULL)
{
switch (int_type)
{
case BMI088_MM_ACCEL_DATA_RDY_INT:
case BMI088_MM_ACCEL_SYNC_DATA_RDY_INT:
case BMI088_MM_ACCEL_SYNC_INPUT:
case BMI088_MM_ACCEL_INT_FIFO_WM:
case BMI088_MM_ACCEL_INT_FIFO_FULL:
rslt = bmi08a_set_int_config(int_config, dev);
break;
case BMI088_MM_ANYMOTION_INT:
/* Anymotion interrupt */
rslt = set_accel_anymotion_int(int_config, int_type, dev);
break;
case BMI088_MM_HIGH_G_INT:
/* High-g interrupt */
rslt = set_accel_high_g_int(int_config, int_type, dev);
break;
case BMI088_MM_LOW_G_INT:
/* Low-g interrupt */
rslt = set_accel_low_g_int(int_config, int_type, dev);
break;
case BMI088_MM_ORIENT_INT:
/* Orientation interrupt */
rslt = set_accel_orient_int(int_config, int_type, dev);
break;
case BMI088_MM_NO_MOTION_INT:
/* No-motion interrupt */
rslt = set_accel_no_motion_int(int_config, int_type, dev);
break;
case BMI088_MM_ERROR_INT:
/* Error interrupt */
rslt = set_accel_err_int(int_config, int_type, dev);
break;
default:
rslt = BMI08_E_INVALID_CONFIG;
break;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to enable/disable and configure the anymotion
* feature.
*/
int8_t bmi088_mma_configure_anymotion(struct bmi088_mm_anymotion_cfg anymotion_cfg, struct bmi08_dev *dev)
{
int8_t rslt;
uint16_t data[BMI088_MM_ACCEL_ANYMOTION_LEN];
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
/* Enable data synchronization */
data[0] = (anymotion_cfg.threshold & BMI088_MM_ACCEL_ANYMOTION_THRESHOLD_MASK);
data[0] |=
((anymotion_cfg.enable << BMI088_MM_ACCEL_ANYMOTION_NOMOTION_SEL_SHIFT) &
BMI088_MM_ACCEL_ANYMOTION_NOMOTION_SEL_MASK);
data[0] |= ((anymotion_cfg.odr << BMI088_MM_ACCEL_ANYMOTION_ODR_SHIFT) & BMI088_MM_ACCEL_ANYMOTION_ODR_MASK);
data[1] = (anymotion_cfg.duration & BMI088_MM_ACCEL_ANYMOTION_DURATION_MASK);
data[1] |= ((anymotion_cfg.x_en << BMI088_MM_ACCEL_ANYMOTION_X_EN_SHIFT) & BMI088_MM_ACCEL_ANYMOTION_X_EN_MASK);
data[1] |= ((anymotion_cfg.y_en << BMI088_MM_ACCEL_ANYMOTION_Y_EN_SHIFT) & BMI088_MM_ACCEL_ANYMOTION_Y_EN_MASK);
data[1] |= ((anymotion_cfg.z_en << BMI088_MM_ACCEL_ANYMOTION_Z_EN_SHIFT) & BMI088_MM_ACCEL_ANYMOTION_Z_EN_MASK);
rslt = bmi08a_write_feature_config(BMI088_MM_ACCEL_ANYMOTION_ADR, &data[0], BMI088_MM_ACCEL_ANYMOTION_LEN, dev);
}
return rslt;
}
/*!
* @brief This API sets high-g configurations like threshold,
* hysteresis, duration, and output configuration.
*/
int8_t bmi088_mma_set_high_g_config(const struct bmi088_mm_high_g_cfg *config, struct bmi08_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint16_t feature_config[BMI088_MM_HIGH_G_START_ADR + 3] = { 0 };
rslt = bmi08a_get_set_regs(BMI08_REG_ACCEL_FEATURE_CFG,
(uint8_t *)feature_config,
sizeof(feature_config),
dev,
GET_FUNC);
if (rslt == BMI08_OK)
{
uint8_t idx = BMI088_MM_HIGH_G_START_ADR;
/* Set threshold */
feature_config[idx] = BMI08_SET_BITS_POS_0(feature_config[idx], BMI088_MM_HIGH_G_THRES, config->threshold);
/* Set hysteresis */
feature_config[idx + 1] = BMI08_SET_BITS_POS_0(feature_config[idx + 1],
BMI088_MM_HIGH_G_HYST,
config->hysteresis);
/* Set x-select */
feature_config[idx + 1] = BMI08_SET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_X_SEL, config->select_x);
/* Set y-select */
feature_config[idx + 1] = BMI08_SET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_Y_SEL, config->select_y);
/* Set z-select */
feature_config[idx + 1] = BMI08_SET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_Z_SEL, config->select_z);
/* High-g enable */
feature_config[idx + 1] = BMI08_SET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_ENABLE, config->enable);
/* Set duration */
feature_config[idx + 2] = BMI08_SET_BITS_POS_0(feature_config[idx + 2], BMI088_MM_HIGH_G_DUR, config->duration);
rslt = bmi08a_get_set_regs(BMI08_REG_ACCEL_FEATURE_CFG, (uint8_t*) feature_config, 12, dev, SET_FUNC);
}
return rslt;
}
/*!
* @brief This API gets high-g configurations like threshold,
* hysteresis, duration, and output configuration.
*/
int8_t bmi088_mma_get_high_g_config(struct bmi088_mm_high_g_cfg *config, struct bmi08_dev *dev)
{
/* Variable to define error */
int8_t rslt;
/* Array to define the feature configuration */
uint16_t feature_config[BMI088_MM_HIGH_G_START_ADR + 3] = { 0 };
rslt = bmi08a_get_set_regs(BMI08_REG_ACCEL_FEATURE_CFG,
(uint8_t *)feature_config,
sizeof(feature_config),
dev,
GET_FUNC);
if (rslt == BMI08_OK)
{
/* Define the offset in bytes for high-g select */
uint8_t idx = BMI088_MM_HIGH_G_START_ADR;
/* Get threshold */
config->threshold = BMI08_GET_BITS_POS_0(feature_config[idx], BMI088_MM_HIGH_G_THRES);
/* Get hysteresis */
config->hysteresis = BMI08_GET_BITS_POS_0(feature_config[idx + 1], BMI088_MM_HIGH_G_HYST);
/* Get x_select */
config->select_x = BMI08_GET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_X_SEL);
/* Get y_select */
config->select_y = BMI08_GET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_Y_SEL);
/* Get z_select */
config->select_z = BMI08_GET_BITS(feature_config[idx + 1], BMI088_MM_HIGH_G_Z_SEL);
/* Get high-g enable */