/** * Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. * * BSD-3-Clause * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * @file bmi270.c * @date 2023-05-03 * @version v2.86.1 * */ /***************************************************************************/ /*! Header files ****************************************************************************/ #include "bmi270.h" /***************************************************************************/ /*! Global Variable ****************************************************************************/ /*! @name Global array that stores the configuration file of BMI270 */ const uint8_t bmi270_config_file[] = { 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 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BMI270_CRT_GYRO_SELF_TEST_STRT_ADDR }, { .type = BMI2_ABORT_CRT_GYRO_SELF_TEST, .page = BMI2_PAGE_1, .start_addr = BMI270_ABORT_STRT_ADDR }, { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_AXIS_MAP_STRT_ADDR }, { .type = BMI2_GYRO_SELF_OFF, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_SELF_OFF_STRT_ADDR }, { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_NVM_PROG_PREP_STRT_ADDR }, { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_GYRO_GAIN_UPDATE_STRT_ADDR }, { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_ANY_MOT_STRT_ADDR }, { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_NO_MOT_STRT_ADDR }, { .type = BMI2_SIG_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_SIG_MOT_STRT_ADDR }, { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_STEP_CNT_1_STRT_ADDR }, { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR }, { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR }, { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_STEP_CNT_4_STRT_ADDR }, { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_6, .start_addr = BMI270_WRIST_GEST_STRT_ADDR }, { .type = BMI2_WRIST_WEAR_WAKE_UP, .page = BMI2_PAGE_7, .start_addr = BMI270_WRIST_WEAR_WAKE_UP_STRT_ADDR }, }; /*! @name Global array that stores the feature output configuration */ const struct bmi2_feature_config bmi270_feat_out[BMI270_MAX_FEAT_OUT] = { { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_CNT_OUT_STRT_ADDR }, { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_STEP_ACT_OUT_STRT_ADDR }, { .type = BMI2_WRIST_GESTURE, .page = BMI2_PAGE_0, .start_addr = BMI270_WRIST_GEST_OUT_STRT_ADDR }, { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYR_USER_GAIN_OUT_STRT_ADDR }, { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_GYRO_CROSS_SENSE_STRT_ADDR }, { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR }, { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_NVM_VFRM_OUT_STRT_ADDR } }; /*! @name Global array that stores the feature interrupts of BMI270 */ struct bmi2_map_int bmi270_map_int[BMI270_MAX_INT_MAP] = { { .type = BMI2_SIG_MOTION, .sens_map_int = BMI270_INT_SIG_MOT_MASK }, { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_INT_STEP_COUNTER_MASK }, { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_INT_STEP_DETECTOR_MASK }, { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_INT_STEP_ACT_MASK }, { .type = BMI2_WRIST_GESTURE, .sens_map_int = BMI270_INT_WRIST_GEST_MASK }, { .type = BMI2_WRIST_WEAR_WAKE_UP, .sens_map_int = BMI270_INT_WRIST_WEAR_WAKEUP_MASK }, { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_INT_ANY_MOT_MASK }, { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_INT_NO_MOT_MASK }, }; /******************************************************************************/ /*! Local Function Prototypes ******************************************************************************/ /*! * @brief This internal API is used to validate the device pointer for * null conditions. * * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t null_ptr_check(const struct bmi2_dev *dev); /*! * @brief This internal API enables the selected sensor/features. * * @param[in] sensor_sel : Selects the desired sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API disables the selected sensor/features. * * @param[in] sensor_sel : Selects the desired sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API selects the sensors/features to be enabled or * disabled. * * @param[in] sens_list : Pointer to select the sensor. * @param[in] n_sens : Number of sensors selected. * @param[out] sensor_sel : Gets the selected sensor. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel); /*! * @brief This internal API is used to enable/disable any-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables any-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables any-motion. * BMI2_ENABLE | Enables any-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable no-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables no-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables no-motion. * BMI2_ENABLE | Enables no-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable sig-motion feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables sig-motion. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables sig-motion. * BMI2_ENABLE | Enables sig-motion. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable step detector feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step-detector. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step detector * BMI2_ENABLE | Enables step detector * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable step counter feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step counter. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step counter * BMI2_ENABLE | Enables step counter * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable step activity detection. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables step activity. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables step activity * BMI2_ENABLE | Enables step activity * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API gives an option to enable offset correction * feature of gyroscope, either internally or by the host. * * @param[in] enable : Enables/Disables self-offset correction. * @param[in] dev : Structure instance of bmi2_dev. * * enable | Description * -------------|--------------- * BMI2_ENABLE | gyroscope offset correction values are set internally * BMI2_DISABLE | gyroscope offset correction values has to be set by host * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable/disable gyroscope user gain * feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables gyroscope user gain. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables gyroscope user gain * BMI2_ENABLE | Enables gyroscope user gain * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API enables the wrist gesture feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables wrist gesture. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables wrist gesture * BMI2_ENABLE | Enables wrist gesture * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API enables the wrist wear wake up feature. * * @param[in] dev : Structure instance of bmi2_dev. * @param[in] enable : Enables/Disables wrist wear wake up. * * Enable | Description * -------------|--------------- * BMI2_DISABLE | Disables wrist wear wake up * BMI2_ENABLE | Enables wrist wear wake up * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API sets any-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[in] config : Structure instance of bmi2_any_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_any_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0xAA = 83mg. * -------------------------|--------------------------------------------------- * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets no-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[in] config : Structure instance of bmi2_no_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_no_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0x90 = 70mg. * -------------------------|--------------------------------------------------- * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets sig-motion configurations like block-size, * output-configuration and other parameters. * * @param[in] config : Structure instance of bmi2_sig_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * *---------------------------------------------------------------------------- * bmi2_sig_motion_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * | Defines the duration after which the significant * block_size | motion interrupt is triggered. It is expressed in * | 50 Hz samples (20 ms). Default value is 0xFA=5sec. *--------------------------|--------------------------------------------------- * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets step counter parameter configurations. * * @param[in] step_count_params : Array that stores parameters 1 to 25. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev); /*! * @brief This internal API sets step counter/detector/activity configurations. * * @param[in] config : Structure instance of bmi2_step_config. * @param[in] dev : Structure instance of bmi2_dev. * *--------------------------------------------------------------------------- * bmi2_step_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | The Step-counter will trigger output every time * | the number of steps are counted. Holds implicitly * water-mark level | a 20x factor, so the range is 0 to 10230, * | with resolution of 20 steps. * -------------------------|--------------------------------------------------- * reset counter | Flag to reset the counted steps. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets wrist gesture configurations like wearable-arm, * and output-configuration. * * @param[in] config : Structure instance of bmi2_wrist_gest_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim * -------------------------------------------------------------------------------------------- * bmi2_wrist_gest_config | * Structure parameters | Description * -------------------------------------------------------------------------------------------- * | Device in left (0) or right (1) arm. By default, * wearable_arm | the wearable device is assumed to be in left arm * | i.e. default value is 0. * -------------------------------------------------------------------------------------------- * | Sine of the minimum tilt angle in portrait down * | direction of the device when wrist is rolled away * | (roll-out) from user. * min_flick_peak | The configuration parameter is scaled by 2048 * | i.e. 2048 * sin(angle). * | Range is 1448 to 1774. Default value is 1774. * -------------------------------------------------------------------------------------------- * | Value of minimum time difference between wrist * | roll-out and roll-in movement during flick gesture. * min_flick_samples | Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds). * | Default value is 4 (i.e. 0.08 seconds). * -------------------------------------------------------------------------------------------- * | Maximum time within which gesture movement has to be completed. * max_duration | Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds). * | Default value is 200 (i.e. 4 seconds). * -------------------------------------------------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev); /*! * @brief This internal API sets wrist wear wake-up configurations like * output-configuration. * * @param[in] config : Structure instance of * bmi2_wrist_wear_wake_up_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_wrist_wear_wake_up_config | * Structure parameters | Description *----------------------------------|------------------------------------------- * | To set the wrist wear wake-up parameters like * | min_angle_focus, min_angle_nonfocus, * wrist_wear_wakeup_params | max_tilt_lr, max_tilt_ll, * | max_tilt_pd and max_tilt_pu. * ---------------------------------|------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets any-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[out] config : Structure instance of bmi2_any_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_any_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0xAA = 83mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets no-motion configurations like axes select, * duration, threshold and output-configuration. * * @param[out] config : Structure instance of bmi2_no_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_no_motion_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | Defines the number of consecutive data points for * | which the threshold condition must be respected, * | for interrupt assertion. It is expressed in 50 Hz * duration | samples (20 msec). * | Range is 0 to 163sec. * | Default value is 5 = 100ms. * -------------------------|--------------------------------------------------- * | Slope threshold value for in 5.11g format. * threshold | Range is 0 to 1g. * | Default value is 0x90 = 70mg. * -------------------------|--------------------------------------------------- * select_x, select_y, | * select_z | Selects the feature on a per-axis basis * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets sig-motion configurations like block-size, * output-configuration and other parameters. * * @param[out] config : Structure instance of bmi2_sig_motion_config. * @param[in, out] dev : Structure instance of bmi2_dev. * *---------------------------------------------------------------------------- * bmi2_sig_motion_config | * Structure parameters | Description * -------------------------|--------------------------------------------------- * | Defines the duration after which the significant * block_size | motion interrupt is triggered. It is expressed in * | 50 Hz samples (20 ms). Default value is 0xFA=5sec. *--------------------------|--------------------------------------------------- * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets step counter parameter configurations. * * @param[in] step_count_params : Array that stores parameters 1 to 25. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev); /*! * @brief This internal API gets step counter/detector/activity configurations. * * @param[out] config : Structure instance of bmi2_step_config. * @param[in] dev : Structure instance of bmi2_dev. * * @verbatim *---------------------------------------------------------------------------- * bmi2_step_config | * Structure parameters | Description *--------------------------|-------------------------------------------------- * | The Step-counter will trigger output every time * | the number of steps are counted. Holds implicitly * water-mark level | a 20x factor, so the range is 0 to 20460, * | with resolution of 20 steps. * -------------------------|--------------------------------------------------- * reset counter | Flag to reset the counted steps. * -------------------------|--------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets wrist gesture configurations like wearable-arm, * and output-configuration. * * @param[out] config : Structure instance of bmi2_wrist_gest_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim * -------------------------------------------------------------------------------------------- * bmi2_wrist_gest_config | * Structure parameters | Description * -------------------------------------------------------------------------------------------- * | Device in left (0) or right (1) arm. By default, * wearable_arm | the wearable device is assumed to be in left arm * | i.e. default value is 0. * -------------------------------------------------------------------------------------------- * | Sine of the minimum tilt angle in portrait down * | direction of the device when wrist is rolled away * | (roll-out) from user. * min_flick_peak | The configuration parameter is scaled by 2048 * | i.e. 2048 * sin(angle). * | Range is 1448 to 1774. Default value is 1774. * -------------------------------------------------------------------------------------------- * | Value of minimum time difference between wrist * | roll-out and roll-in movement during flick gesture. * min_flick_samples | Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds). * | Default value is 4 (i.e. 0.08 seconds). * -------------------------------------------------------------------------------------------- * | Maximum time within which gesture movement has to be completed. * max_duration | Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds). * | Default value is 200 (i.e. 4 seconds). * -------------------------------------------------------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets wrist wear wake-up configurations like * output-configuration. * * @param[out] config : Structure instance of * bmi2_wrist_wear_wake_up_config. * @param[in, out] dev : Structure instance of bmi2_dev. * * @verbatim *----------------------------------------------------------------------------- * bmi2_wrist_wear_wake_up_config | * Structure parameters | Description *----------------------------------|------------------------------------------- * | To set the wrist wear wake-up parameters like * | min_angle_focus, min_angle_nonfocus, * wrist_wear_wakeup_params | max_tilt_lr, max_tilt_ll, * | max_tilt_pd and max_tilt_pu. * ---------------------------------|------------------------------------------- * @endverbatim * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of wrist gesture. * * @param[out] wrist_gest : Pointer to the stored wrist gesture. * @param[in] dev : Structure instance of bmi2_dev. * * *wrist_gest | Output * -------------|------------ * 0x00 | UNKNOWN * 0x01 | PUSH_ARM_DOWN * 0x02 | PIVOT_UP * 0x03 | WRIST_SHAKE_JIGGLE * 0x04 | FLICK_IN * 0x05 | FLICK_OUT * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of step activity. * * @param[out] step_act : Pointer to the stored step activity data. * @param[in] dev : Structure instance of bmi2_dev. * * *step_act | Output * -----------|------------ * 0x00 | STILL * 0x01 | WALKING * 0x02 | RUNNING * 0x03 | UNKNOWN * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fails */ static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev); /*! * @brief This internal API gets the output values of step counter. * * @param[out] step_count : Pointer to the stored step counter data. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev); /*! * @brief This internal API gets the error status related to NVM. * * @param[out] nvm_err_stat : Stores the NVM error status. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev); /*! * @brief This internal API gets the error status related to virtual frames. * * @param[out] vfrm_err_stat : Stores the VFRM related error status. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev); /*! * @brief This internal API is used to get enable status of gyroscope user gain * update. * * @param[out] status : Stores status of gyroscope user gain update. * @param[in] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev); /*! * @brief This internal API enables/disables compensation of the gain defined * in the GAIN register. * * @param[in] enable : Enables/Disables gain compensation * @param[in] dev : Structure instance of bmi2_dev. * * enable | Description * -------------|--------------- * BMI2_ENABLE | Enable gain compensation. * BMI2_DISABLE | Disable gain compensation. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev); /*! * @brief This internal API is used to extract the output feature configuration * details like page and start address from the look-up table. * * @param[out] feat_output : Structure that stores output feature * configurations. * @param[in] type : Type of feature or sensor. * @param[in] dev : Structure instance of bmi2_dev. * * @return Returns the feature found flag. * * @retval BMI2_FALSE : Feature not found * BMI2_TRUE : Feature found */ static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output, uint8_t type, const struct bmi2_dev *dev); /*! * @brief This internal API sets feature configuration to the sensor. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] loop : Variable to loop the sensor feature. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t set_feat_config(const struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev); /*! * @brief This internal API gets feature configuration from the sensor. * * @param[in] sens_cfg : Structure instance of bmi2_sens_config. * @param[in] loop : Variable to loop the sensor feature. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t get_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature. * * @param[in] sensor_sel : Enables the selected sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to enable sensor features. * * @param[in] sensor_sel : Enables features of selected sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature. * * @param[in] sensor_sel : Disables the selected sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev); /*! * @brief This internal API is used to disable sensor features. * * @param[in] sensor_sel : Disables features of selected sensor. * @param[in, out] dev : Structure instance of bmi2_dev. * * @return Result of API execution status * @retval 0 -> Success * @retval < 0 -> Fail */ static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev); /***************************************************************************/ /*! User Interface Definitions ****************************************************************************/ /*! * @brief This API: * 1) updates the device structure with address of the configuration file. * 2) Initializes BMI270 sensor. * 3) Writes the configuration file. * 4) Updates the feature offset parameters in the device structure. * 5) Updates the maximum number of pages, in the device structure. */ int8_t bmi270_init(struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Null-pointer check */ rslt = null_ptr_check(dev); if (rslt == BMI2_OK) { /* Assign chip id of BMI270 */ dev->chip_id = BMI270_CHIP_ID; /* get the size of config array */ dev->config_size = sizeof(bmi270_config_file); /* Enable the variant specific features if any */ dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE; /* An extra dummy byte is read during SPI read */ if (dev->intf == BMI2_SPI_INTF) { dev->dummy_byte = 1; } else { dev->dummy_byte = 0; } /* If configuration file pointer is not assigned any address */ if (!dev->config_file_ptr) { /* Give the address of the configuration file array to * the device pointer */ dev->config_file_ptr = bmi270_config_file; } /* Initialize BMI2 sensor */ rslt = bmi2_sec_init(dev); if (rslt == BMI2_OK) { /* Assign the offsets of the feature input * configuration to the device structure */ dev->feat_config = bmi270_feat_in; /* Assign the offsets of the feature output to * the device structure */ dev->feat_output = bmi270_feat_out; /* Assign the maximum number of pages to the * device structure */ dev->page_max = BMI270_MAX_PAGE_NUM; /* Assign maximum number of input sensors/ * features to device structure */ dev->input_sens = BMI270_MAX_FEAT_IN; /* Assign maximum number of output sensors/ * features to device structure */ dev->out_sens = BMI270_MAX_FEAT_OUT; /* Assign the offsets of the feature interrupt * to the device structure */ dev->map_int = bmi270_map_int; /* Assign maximum number of feature interrupts * to device structure */ dev->sens_int_map = BMI270_MAX_INT_MAP; /* Get the gyroscope cross axis sensitivity */ rslt = bmi2_get_gyro_cross_sense(dev); } } return rslt; } /*! * @brief This API selects the sensors/features to be enabled. */ int8_t bmi270_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint64_t sensor_sel = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_list != NULL)) { /* Get the selected sensors */ rslt = select_sensor(sens_list, n_sens, &sensor_sel); if (rslt == BMI2_OK) { /* Enable the selected sensors */ rslt = sensor_enable(sensor_sel, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API selects the sensors/features to be disabled. */ int8_t bmi270_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint64_t sensor_sel = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_list != NULL)) { /* Get the selected sensors */ rslt = select_sensor(sens_list, n_sens, &sensor_sel); if (rslt == BMI2_OK) { /* Disable the selected sensors */ rslt = sensor_disable(sensor_sel, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API sets the sensor/feature configuration. */ int8_t bmi270_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_cfg != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) || (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE)) { rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev); } else { /* Disable Advance power save if enabled for auxiliary * and feature configurations */ if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { rslt = set_feat_config(sens_cfg, loop, dev); } /* Return error if any of the set configurations fail */ else { break; } } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the sensor/feature configuration. */ int8_t bmi270_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_cfg != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) || (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE)) { rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev); } else { /* Disable Advance power save if enabled for auxiliary * and feature configurations */ if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX)) { if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } if (rslt == BMI2_OK) { rslt = get_feat_config(sens_cfg, loop, dev); } /* Return error if any of the get configurations fail */ else { break; } } } /* Enable Advance power save if disabled while configuring and * not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API gets the feature data. */ int8_t bmi270_get_feature_data(struct bmi2_feat_sensor_data *feature_data, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (feature_data != NULL)) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; for (loop = 0; loop < n_sens; loop++) { if ((feature_data[loop].type == BMI2_GYRO_GAIN_UPDATE) || (feature_data[loop].type == BMI2_GYRO_CROSS_SENSE)) { rslt = bmi2_get_feature_data(&feature_data[loop], 1, dev); } else { /* Disable Advance power save if enabled for feature * configurations */ if (feature_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM) { if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if * enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } } if (rslt == BMI2_OK) { switch (feature_data[loop].type) { case BMI2_STEP_COUNTER: /* Get step counter output */ rslt = get_step_counter_output(&feature_data[loop].sens_data.step_counter_output, dev); break; case BMI2_STEP_ACTIVITY: /* Get step activity output */ rslt = get_step_activity_output(&feature_data[loop].sens_data.activity_output, dev); break; case BMI2_NVM_STATUS: /* Get NVM error status */ rslt = get_nvm_error_status(&feature_data[loop].sens_data.nvm_status, dev); break; case BMI2_VFRM_STATUS: /* Get VFRM error status */ rslt = get_vfrm_error_status(&feature_data[loop].sens_data.vfrm_status, dev); break; case BMI2_WRIST_GESTURE: /* Get wrist gesture status */ rslt = get_wrist_gest_status(&feature_data[loop].sens_data.wrist_gesture_output, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } /* Return error if any of the get sensor data fails */ if (rslt != BMI2_OK) { break; } } } /* Enable Advance power save if disabled while * configuring and not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API updates the gyroscope user-gain. */ int8_t bmi270_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to select sensor */ uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE }; /* Structure to define sensor configurations */ struct bmi2_sens_config sens_cfg; /* Variable to store status of user-gain update module */ uint8_t status = 0; /* Variable to define count */ uint8_t count = 100; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (user_gain != NULL)) { /* Select type of feature */ sens_cfg.type = BMI2_GYRO_GAIN_UPDATE; /* Get the user gain configurations */ rslt = bmi270_get_sensor_config(&sens_cfg, 1, dev); if (rslt == BMI2_OK) { /* Get the user-defined ratio */ sens_cfg.cfg.gyro_gain_update = *user_gain; /* Set rate ratio for all axes */ rslt = bmi270_set_sensor_config(&sens_cfg, 1, dev); } /* Disable gyroscope */ if (rslt == BMI2_OK) { rslt = bmi270_sensor_disable(&sens_sel[0], 1, dev); } /* Enable gyroscope user-gain update module */ if (rslt == BMI2_OK) { rslt = bmi270_sensor_enable(&sens_sel[1], 1, dev); } /* Set the command to trigger the computation */ if (rslt == BMI2_OK) { rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev); } if (rslt == BMI2_OK) { /* Poll until enable bit of user-gain update is 0 */ while (count--) { rslt = get_user_gain_upd_status(&status, dev); if ((rslt == BMI2_OK) && (status == 0)) { /* Enable compensation of gain defined * in the GAIN register */ rslt = enable_gyro_gain(BMI2_ENABLE, dev); /* Enable gyroscope */ if (rslt == BMI2_OK) { rslt = bmi270_sensor_enable(&sens_sel[0], 1, dev); } break; } dev->delay_us(10000, dev->intf_ptr); } /* Return error if user-gain update is failed */ if ((rslt == BMI2_OK) && (status != 0)) { rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API reads the compensated gyroscope user-gain values. */ int8_t bmi270_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data[3] = { 0 }; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL)) { /* Get the gyroscope compensated gain values */ rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev); if (rslt == BMI2_OK) { /* Gyroscope user gain correction X-axis */ gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X); /* Gyroscope user gain correction Y-axis */ gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y); /* Gyroscope user gain correction z-axis */ gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z); } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This API maps/unmaps feature interrupts to that of interrupt pins. */ int8_t bmi270_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define loop */ uint8_t loop; /* Null-pointer check */ rslt = null_ptr_check(dev); if ((rslt == BMI2_OK) && (sens_int != NULL)) { for (loop = 0; loop < n_sens; loop++) { switch (sens_int[loop].type) { case BMI2_SIG_MOTION: case BMI2_WRIST_GESTURE: case BMI2_ANY_MOTION: case BMI2_NO_MOTION: case BMI2_STEP_COUNTER: case BMI2_STEP_DETECTOR: case BMI2_STEP_ACTIVITY: case BMI2_WRIST_WEAR_WAKE_UP: rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } /* Return error if interrupt mapping fails */ if (rslt != BMI2_OK) { break; } } } else { rslt = BMI2_E_NULL_PTR; } return rslt; } /***************************************************************************/ /*! Local Function Definitions ****************************************************************************/ /*! * @brief This internal API is used to validate the device structure pointer for * null conditions. */ static int8_t null_ptr_check(const struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL)) { /* Device structure pointer is not valid */ rslt = BMI2_E_NULL_PTR; } return rslt; } /*! * @brief This internal API selects the sensor/features to be enabled or * disabled. */ static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Variable to define loop */ uint8_t count; for (count = 0; count < n_sens; count++) { switch (sens_list[count]) { case BMI2_ACCEL: *sensor_sel |= BMI2_ACCEL_SENS_SEL; break; case BMI2_GYRO: *sensor_sel |= BMI2_GYRO_SENS_SEL; break; case BMI2_AUX: *sensor_sel |= BMI2_AUX_SENS_SEL; break; case BMI2_TEMP: *sensor_sel |= BMI2_TEMP_SENS_SEL; break; case BMI2_SIG_MOTION: *sensor_sel |= BMI2_SIG_MOTION_SEL; break; case BMI2_ANY_MOTION: *sensor_sel |= BMI2_ANY_MOT_SEL; break; case BMI2_NO_MOTION: *sensor_sel |= BMI2_NO_MOT_SEL; break; case BMI2_STEP_DETECTOR: *sensor_sel |= BMI2_STEP_DETECT_SEL; break; case BMI2_STEP_COUNTER: *sensor_sel |= BMI2_STEP_COUNT_SEL; break; case BMI2_STEP_ACTIVITY: *sensor_sel |= BMI2_STEP_ACT_SEL; break; case BMI2_GYRO_GAIN_UPDATE: *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL; break; case BMI2_GYRO_SELF_OFF: *sensor_sel |= BMI2_GYRO_SELF_OFF_SEL; break; case BMI2_WRIST_GESTURE: *sensor_sel |= BMI2_WRIST_GEST_SEL; break; case BMI2_WRIST_WEAR_WAKE_UP: *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_SEL; break; default: rslt = BMI2_E_INVALID_SENSOR; break; } } return rslt; } /*! * @brief This internal API enables the selected sensor/features. */ static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; rslt = enable_main_sensors(sensor_sel, dev); if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS))) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { rslt = enable_sensor_features(sensor_sel, dev); /* Enable Advance power save if disabled while * configuring and not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } } return rslt; } /*! * @brief This internal API disables the selected sensors/features. */ static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to get the status of advance power save */ uint8_t aps_stat = 0; rslt = disable_main_sensors(sensor_sel, dev); if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS))) { /* Get status of advance power save mode */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { /* Disable advance power save if enabled */ rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { rslt = disable_sensor_features(sensor_sel, dev); /* Enable Advance power save if disabled while * configuring and not when already disabled */ if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } } } return rslt; } /*! * @brief This internal API is used to enable/disable any motion feature. */ static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for any-motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Search for any-motion feature and extract its configurations details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of any-motion axes */ idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_ANY_MOT_SEL; } else { dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable no-motion feature. */ static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Search for no-motion feature and extract its configurations details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any/no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of no-motion axes */ idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_NO_MOT_SEL; } else { dev->sens_en_stat &= ~BMI2_NO_MOT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step detector feature. */ static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step detector */ struct bmi2_feature_config step_det_config = { 0, 0, 0 }; /* Search for step detector feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev); if (feat_found) { /* Get the configuration from the page where step detector feature resides */ rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step detector */ idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_DETECT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step counter feature. */ static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step counter */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Search for step counter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step-counter feature resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step counter */ idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_COUNT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable sig-motion feature. */ static int8_t set_sig_motion(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of sig-motion */ idx = sig_mot_config.start_addr + BMI2_SIG_MOT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_SIG_MOT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_SIG_MOTION_SEL; } else { dev->sens_en_stat &= ~BMI2_SIG_MOTION_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable step activity detection. */ static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step activity */ struct bmi2_feature_config step_act_config = { 0, 0, 0 }; /* Search for step activity feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev); if (feat_found) { /* Get the configuration from the page where step-activity * feature resides */ rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of step activity */ idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_STEP_ACT_SEL; } else { dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gives an option to enable self-offset correction * feature of gyroscope, either internally or by the host. */ static int8_t set_gyro_self_offset_corr(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for self-offset correction */ struct bmi2_feature_config self_off_corr_cfg = { 0, 0, 0 }; /* Search for self-offset correction and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&self_off_corr_cfg, BMI2_GYRO_SELF_OFF, dev); if (feat_found) { /* Get the configuration from the page where self-offset * correction feature resides */ rslt = bmi2_get_feat_config(self_off_corr_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of self-offset correction */ idx = self_off_corr_cfg.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_SELF_OFF_CORR_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_GYRO_SELF_OFF_SEL; } else { dev->sens_en_stat &= ~BMI2_GYRO_SELF_OFF_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API enables the wrist gesture feature. */ static int8_t set_wrist_gesture(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist gesture */ struct bmi2_feature_config wrist_gest_cfg = { 0, 0, 0 }; /* Search for wrist gesture and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_gest_cfg, BMI2_WRIST_GESTURE, dev); if (feat_found) { /* Get the configuration from the page where wrist gesture feature resides */ rslt = bmi2_get_feat_config(wrist_gest_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of wrist gesture */ idx = wrist_gest_cfg.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_GEST_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_WRIST_GEST_SEL; } else { dev->sens_en_stat &= ~BMI2_WRIST_GEST_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API enables the wrist wear wake up feature. */ static int8_t set_wrist_wear_wake_up(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist wear wake up */ struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 }; /* Search for wrist wear wake up and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP, dev); if (feat_found) { /* Get the configuration from the page where wrist wear wake up * feature resides */ rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of wrist wear wake up */ idx = wrist_wake_up_cfg.start_addr; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_SEL; } else { dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to enable/disable gyroscope user gain * feature. */ static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for gyroscope user gain */ struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 }; /* Search for user gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Get the configuration from the page where user gain feature resides */ rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of user gain */ idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET; /* Set the feature enable bit */ feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable); /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); if ((rslt == BMI2_OK) && (enable == BMI2_ENABLE)) { dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL; } else { dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL; } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets any-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define count */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for any motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for any-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for any-motion select */ idx = any_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration); /* Set x-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x); /* Set y-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y); /* Set z-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z); /* Increment offset by 1 word to set threshold and output configuration */ idx++; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold); /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - any_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[any_mot_config.start_addr + index] = *((uint8_t *) data_p + any_mot_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets no-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define count */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for no-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for no-motion select */ idx = no_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set duration */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration); /* Set x-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x); /* Set y-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y); /* Set z-select */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z); /* Increment offset by 1 word to set threshold and output configuration */ idx++; /* Set threshold */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold); /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - no_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[no_mot_config.start_addr + index] = *((uint8_t *) data_p + no_mot_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets sig-motion configurations like block-size, * output-configuration and other parameters. */ static int8_t set_sig_motion_config(const struct bmi2_sig_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for sig-motion select */ idx = sig_mot_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set parameter 1 */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_SIG_MOT_PARAM_1, config->block_size); /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - sig_mot_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[sig_mot_config.start_addr + index] = *((uint8_t *) data_p + sig_mot_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets step counter parameter configurations. */ static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step counter parameters */ struct bmi2_feature_config step_params_config = { 0, 0, 0 }; /* Variable to index the page number */ uint8_t page_idx; /* Variable to define the start page */ uint8_t start_page; /* Variable to define start address of the parameters */ uint8_t start_addr; /* Variable to define number of bytes */ uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2); /* Variable to store number of pages */ uint8_t n_pages = (n_bytes / 16); /* Variable to define the end page */ uint8_t end_page; /* Variable to define the remaining bytes to be read */ uint8_t remain_len; /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */ uint8_t max_len = 8; /* Variable index bytes in a page */ uint8_t page_byte_idx; /* Variable to index the parameters */ uint8_t param_idx = 0; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for step counter parameter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev); if (feat_found) { /* Get the start page for the step counter parameters */ start_page = step_params_config.page; /* Get the end page for the step counter parameters */ end_page = start_page + n_pages; /* Get the start address for the step counter parameters */ start_addr = step_params_config.start_addr; /* Get the remaining length of bytes to be read */ remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr); for (page_idx = start_page; page_idx <= end_page; page_idx++) { /* Get the configuration from the respective page */ rslt = bmi2_get_feat_config(page_idx, feat_config, dev); if (rslt == BMI2_OK) { /* Start from address 0x00 when switched to next page */ if (page_idx > start_page) { start_addr = 0; } /* Remaining number of words to be read in the page */ if (page_idx == end_page) { max_len = (remain_len / 2); } /* Get offset in words since all the features are set in words length */ page_byte_idx = start_addr / 2; for (; page_byte_idx < max_len;) { /* Set parameters 1 to 25 */ *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx), BMI2_STEP_COUNT_PARAMS, step_count_params[param_idx]); /* Increment offset by 1 word to set to the next parameter */ page_byte_idx++; /* Increment to next parameter */ param_idx++; } /* Get total length in bytes to copy from local pointer to the array */ page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < page_byte_idx; index++) { feat_config[step_params_config.start_addr + index] = *((uint8_t *) data_p + step_params_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /* @brief This internal API sets step counter configurations like water-mark * level, reset-counter and output-configuration step detector and activity. */ static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step counter 4 */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for step counter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step counter resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes */ idx = step_count_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set water-mark level */ *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level); /* Set reset-counter */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter); /* Increment offset by 1 word to set output * configuration of step detector and step activity */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - step_count_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[step_count_config.start_addr + index] = *((uint8_t *) data_p + step_count_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets wrist gesture configurations like wearable-arm, * and output-configuration. */ static int8_t set_wrist_gest_config(const struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist gesture */ struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for wrist gesture feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev); if (feat_found) { /* Get the configuration from the page where wrist gesture feature resides */ rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for gesture select */ idx = wrist_gest_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Set wearable arm */ *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_GEST_WEAR_ARM, config->wearable_arm); /* Increment offset by 1 more word to set minimum tilt angle (min_flick_peak) */ idx++; *(data_p + idx) = config->min_flick_peak; /* Increment offset by 1 more word to set min_flick_samples */ idx++; *(data_p + idx) = config->min_flick_samples; /* Increment offset by 1 more word to set max time within gesture moment has to be completed */ idx++; *(data_p + idx) = config->max_duration; /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - wrist_gest_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[wrist_gest_config.start_addr + index] = *((uint8_t *) data_p + wrist_gest_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API sets wrist wear wake-up configurations like * output-configuration. */ static int8_t set_wrist_wear_wake_up_config(const struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define index */ uint8_t index = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist wear wake-up */ struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for wrist wear wake-up feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev); if (feat_found) { /* Get the configuration from the page where wrist wear wake-up feature resides */ rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for wrist wear wake-up select */ idx = wrist_wake_up_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Increment offset by 1 more word to set min_angle_focus */ idx++; *(data_p + idx) = config->min_angle_focus; /* Increment offset by 1 more word to set min_angle_nonfocus */ idx++; *(data_p + idx) = config->min_angle_nonfocus; /* Increment offset by 1 more word to set max_tilt_lr */ idx++; *(data_p + idx) = config->max_tilt_lr; /* Increment offset by 1 more word to set max_tilt_ll */ idx++; *(data_p + idx) = config->max_tilt_ll; /* Increment offset by 1 more word to set max_tilt_pd */ idx++; *(data_p + idx) = config->max_tilt_pd; /* Increment offset by 1 more word to set max_tilt_pu */ idx++; *(data_p + idx) = config->max_tilt_pu; /* Increment offset by 1 more word to get the total length in words */ idx++; /* Get total length in bytes to copy from local pointer to the array */ idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr; /* Copy the bytes to be set back to the array */ for (index = 0; index < idx; index++) { feat_config[wrist_wake_up_config.start_addr + index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index); } /* Set the configuration back to the page */ rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets any-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb; /* Variable to define MSB */ uint16_t msb; /* Variable to define a word */ uint16_t lsb_msb; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for any-motion */ struct bmi2_feature_config any_mot_config = { 0, 0, 0 }; /* Search for any-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev); if (feat_found) { /* Get the configuration from the page where any-motion feature resides */ rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for any-motion */ idx = any_mot_config.start_addr; /* Get word to calculate duration, x, y and z select */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK; /* Get x-select */ config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS; /* Get y-select */ config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS; /* Get z-select */ config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS; /* Get word to calculate threshold, output configuration from the same word */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets no-motion configurations like axes select, * duration, threshold and output-configuration. */ static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for no-motion */ struct bmi2_feature_config no_mot_config = { 0, 0, 0 }; /* Search for no-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev); if (feat_found) { /* Get the configuration from the page where no-motion feature resides */ rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for no-motion */ idx = no_mot_config.start_addr; /* Get word to calculate duration, x, y and z select */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get duration */ config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK; /* Get x-select */ config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS; /* Get y-select */ config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS; /* Get z-select */ config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS; /* Get word to calculate threshold, output configuration from the same word */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get threshold */ config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets sig-motion configurations like block-size, * output-configuration and other parameters. */ static int8_t get_sig_motion_config(struct bmi2_sig_motion_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration sig-motion */ struct bmi2_feature_config sig_mot_config = { 0, 0, 0 }; /* Search for sig-motion feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&sig_mot_config, BMI2_SIG_MOTION, dev); if (feat_found) { /* Get the configuration from the page where sig-motion feature resides */ rslt = bmi2_get_feat_config(sig_mot_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for sig-motion */ idx = sig_mot_config.start_addr; /* Get word to calculate parameter 1 */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get parameter 1 */ config->block_size = lsb_msb & BMI2_SIG_MOT_PARAM_1_MASK; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets step counter parameter configurations. */ static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to set flag */ uint8_t feat_found; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Initialize feature configuration for step counter 1 */ struct bmi2_feature_config step_params_config = { 0, 0, 0 }; /* Variable to index the page number */ uint8_t page_idx; /* Variable to define the start page */ uint8_t start_page; /* Variable to define start address of the parameters */ uint8_t start_addr; /* Variable to define number of bytes */ uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2); /* Variable to store number of pages */ uint8_t n_pages = (n_bytes / 16); /* Variable to define the end page */ uint8_t end_page; /* Variable to define the remaining bytes to be read */ uint8_t remain_len; /* Variable to define the maximum words to be read in a page */ uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES; /* Variable index bytes in a page */ uint8_t page_byte_idx; /* Variable to index the parameters */ uint8_t param_idx = 0; /* Search for step counter parameter feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev); if (feat_found) { /* Get the start page for the step counter parameters */ start_page = step_params_config.page; /* Get the end page for the step counter parameters */ end_page = start_page + n_pages; /* Get the start address for the step counter parameters */ start_addr = step_params_config.start_addr; /* Get the remaining length of bytes to be read */ remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr); for (page_idx = start_page; page_idx <= end_page; page_idx++) { /* Get the configuration from the respective page */ rslt = bmi2_get_feat_config(page_idx, feat_config, dev); if (rslt == BMI2_OK) { /* Start from address 0x00 when switched to next page */ if (page_idx > start_page) { start_addr = 0; } /* Remaining number of bytes to be read in the page */ if (page_idx == end_page) { max_len = remain_len; } /* Get the offset */ page_byte_idx = start_addr; while (page_byte_idx < max_len) { /* Get word to calculate the parameter*/ lsb = (uint16_t) feat_config[page_byte_idx++]; if (page_byte_idx < max_len) { msb = ((uint16_t) feat_config[page_byte_idx++] << 8); } lsb_msb = lsb | msb; /* Get parameters 1 to 25 */ step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK; /* Increment to next parameter */ param_idx++; } } } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets step counter/detector/activity configurations. */ static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to define LSB */ uint16_t lsb = 0; /* Variable to define MSB */ uint16_t msb = 0; /* Variable to define a word */ uint16_t lsb_msb = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for step counter */ struct bmi2_feature_config step_count_config = { 0, 0, 0 }; /* Search for step counter 4 feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the configuration from the page where step counter 4 parameter resides */ rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for feature enable for step counter/detector/activity */ idx = step_count_config.start_addr; /* Get word to calculate water-mark level and reset counter */ lsb = (uint16_t) feat_config[idx++]; msb = ((uint16_t) feat_config[idx++] << 8); lsb_msb = lsb | msb; /* Get water-mark level */ config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK; /* Get reset counter */ config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets wrist gesture configurations like wearable-arm, * and output-configuration. */ static int8_t get_wrist_gest_config(struct bmi2_wrist_gest_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist gesture */ struct bmi2_feature_config wrist_gest_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for wrist gesture feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_gest_config, BMI2_WRIST_GESTURE, dev); if (feat_found) { /* Get the configuration from the page where wrist gesture feature resides */ rslt = bmi2_get_feat_config(wrist_gest_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for wrist gesture select */ idx = wrist_gest_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Get wearable arm */ config->wearable_arm = (*(data_p + idx) & BMI2_WRIST_GEST_WEAR_ARM_MASK) >> BMI2_WRIST_GEST_WEAR_ARM_POS; /* Increment the offset by 1 word to get min_flick_peak */ idx++; config->min_flick_peak = *(data_p + idx); /* Increment the offset by 1 word to get min_flick_samples */ idx++; config->min_flick_samples = *(data_p + idx); /* Increment the offset by 1 word to get max_duration */ idx++; config->max_duration = *(data_p + idx); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets wrist wear wake-up configurations like * output-configuration. */ static int8_t get_wrist_wear_wake_up_config(struct bmi2_wrist_wear_wake_up_config *config, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature configuration for wrist wear wake-up */ struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 }; /* Copy the feature configuration address to a local pointer */ uint16_t *data_p = (uint16_t *) (void *)feat_config; /* Search for wrist wear wake-up feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP, dev); if (feat_found) { /* Get the configuration from the page where wrist wear wake-up feature resides */ rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for wrist wear wake-up select */ idx = wrist_wake_up_config.start_addr; /* Get offset in words since all the features are set in words length */ idx = idx / 2; /* Increment the offset value by 1 word to get min_angle_focus */ idx++; config->min_angle_focus = *(data_p + idx); /* Increment the offset value by 1 word to get min_angle_nonfocus */ idx++; config->min_angle_nonfocus = *(data_p + idx); /* Increment the offset value by 1 word to get max_tilt_lr */ idx++; config->max_tilt_lr = *(data_p + idx); /* Increment the offset value by 1 word to get max_tilt_ll */ idx++; config->max_tilt_ll = *(data_p + idx); /* Increment the offset value by 1 word to get max_tilt_pd */ idx++; config->max_tilt_pd = *(data_p + idx); /* Increment the offset value by 1 word to get max_tilt_pu */ idx++; config->max_tilt_pu = *(data_p + idx); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the output values of the wrist gesture. */ static int8_t get_wrist_gest_status(uint8_t *wrist_gest, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for wrist gesture */ struct bmi2_feature_config wrist_gest_out_config = { 0, 0, 0 }; /* Search for wrist gesture feature and extract its configuration details */ feat_found = extract_output_feat_config(&wrist_gest_out_config, BMI2_WRIST_GESTURE, dev); if (feat_found) { /* Get the feature output configuration for wrist gesture */ rslt = bmi2_get_feat_config(wrist_gest_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for wrist gesture output */ idx = wrist_gest_out_config.start_addr; /* Get the wrist gesture output */ *wrist_gest = feat_config[idx]; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the output values of step counter. */ static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for step counter */ struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 }; /* Search for step counter output feature and extract its configuration details */ feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev); if (feat_found) { /* Get the feature output configuration for step-counter */ rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for step counter output */ idx = step_cnt_out_config.start_addr; /* Get the step counter output in 4 bytes */ *step_count = (uint32_t) feat_config[idx++]; *step_count |= ((uint32_t) feat_config[idx++] << 8); *step_count |= ((uint32_t) feat_config[idx++] << 16); *step_count |= ((uint32_t) feat_config[idx++] << 24); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the error status related to NVM. */ static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for NVM error status */ struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 }; /* Search for NVM error status feature and extract its configuration details */ feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev); if (feat_found) { /* Get the feature output configuration for NVM error status */ rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for NVM error status */ idx = nvm_err_cfg.start_addr; /* Increment index to get the error status */ idx++; /* Error when NVM load action fails */ nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS); /* Error when NVM program action fails */ nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS); /* Error when NVM erase action fails */ nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS); /* Error when NVM program limit is exceeded */ nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS); /* Error when NVM privilege mode is not acquired */ nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API is used to get enable status of gyroscope user gain * update. */ static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variable to define the array offset */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Variable to check APS status */ uint8_t aps_stat = 0; /* Initialize feature configuration for gyroscope user gain */ struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 }; /* Search for user gain feature and extract its configuration details */ feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev); if (feat_found) { /* Disable advance power save */ aps_stat = dev->aps_status; if (aps_stat == BMI2_ENABLE) { rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev); } if (rslt == BMI2_OK) { /* Get the configuration from the page where user gain feature resides */ rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset for enable/disable of user gain */ idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET; /* Set the feature enable status */ *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN); } } } else { rslt = BMI2_E_INVALID_SENSOR; } /* Enable Advance power save if disabled while configuring and not when already disabled */ if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE)) { rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This internal API gets the output values of step activity. */ static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for step activity */ struct bmi2_feature_config step_act_out_config = { 0, 0, 0 }; /* Search for step activity output feature and extract its configuration details */ feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev); if (feat_found) { /* Get the feature output configuration for step-activity */ rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for step activity output */ idx = step_act_out_config.start_addr; /* Get the step activity output */ *step_act = feat_config[idx]; } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API gets the error status related to virtual frames. */ static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Array to define the feature configuration */ uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 }; /* Variables to define index */ uint8_t idx = 0; /* Variable to set flag */ uint8_t feat_found; /* Initialize feature output for VFRM error status */ struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 }; /* Search for VFRM error status feature and extract its configuration details */ feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev); if (feat_found) { /* Get the feature output configuration for VFRM error status */ rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev); if (rslt == BMI2_OK) { /* Define the offset in bytes for VFRM error status */ idx = vfrm_err_cfg.start_addr; /* Increment index to get the error status */ idx++; /* Internal error while acquiring lock for FIFO */ vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS); /* Internal error while writing byte into FIFO */ vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS); /* Internal error while writing into FIFO */ vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS); } } else { rslt = BMI2_E_INVALID_SENSOR; } return rslt; } /*! * @brief This internal API enables/disables compensation of the gain defined * in the GAIN register. */ static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to define register data */ uint8_t reg_data = 0; rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable); rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, ®_data, 1, dev); } return rslt; } /*! * @brief This internal API is used to extract the output feature configuration * details from the look-up table. */ static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output, uint8_t type, const struct bmi2_dev *dev) { /* Variable to define loop */ uint8_t loop = 0; /* Variable to set flag */ uint8_t feat_found = BMI2_FALSE; /* Search for the output feature from the output configuration array */ while (loop < dev->out_sens) { if (dev->feat_output[loop].type == type) { *feat_output = dev->feat_output[loop]; feat_found = BMI2_TRUE; break; } loop++; } /* Return flag */ return feat_found; } /*! * @brief This internal API sets feature configuration to the sensor. */ static int8_t set_feat_config(const struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; switch (sens_cfg[loop].type) { /* Set any motion configuration */ case BMI2_ANY_MOTION: rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev); break; /* Set no motion configuration */ case BMI2_NO_MOTION: rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev); break; /* Set sig-motion configuration */ case BMI2_SIG_MOTION: rslt = set_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev); break; /* Set the step counter parameters */ case BMI2_STEP_COUNTER_PARAMS: rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev); break; /* Set step counter/detector/activity configuration */ case BMI2_STEP_DETECTOR: case BMI2_STEP_COUNTER: case BMI2_STEP_ACTIVITY: rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev); break; /* Set the wrist gesture configuration */ case BMI2_WRIST_GESTURE: rslt = set_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev); break; /* Set the wrist wear wake-up configuration */ case BMI2_WRIST_WEAR_WAKE_UP: rslt = set_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } return rslt; } /*! * @brief This internal API gets feature configuration from the sensor. */ static int8_t get_feat_config(struct bmi2_sens_config *sens_cfg, uint8_t loop, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; switch (sens_cfg[loop].type) { /* Get sig-motion configuration */ case BMI2_SIG_MOTION: rslt = get_sig_motion_config(&sens_cfg[loop].cfg.sig_motion, dev); break; /* Get any motion configuration */ case BMI2_ANY_MOTION: rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev); break; /* Get no motion configuration */ case BMI2_NO_MOTION: rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev); break; /* Set the step counter parameters */ case BMI2_STEP_COUNTER_PARAMS: rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev); break; /* Get step counter/detector/activity configuration */ case BMI2_STEP_DETECTOR: case BMI2_STEP_COUNTER: case BMI2_STEP_ACTIVITY: rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev); break; /* Get the wrist gesture configuration */ case BMI2_WRIST_GESTURE: rslt = get_wrist_gest_config(&sens_cfg[loop].cfg.wrist_gest, dev); break; /* Get the wrist wear wake-up configuration */ case BMI2_WRIST_WEAR_WAKE_UP: rslt = get_wrist_wear_wake_up_config(&sens_cfg[loop].cfg.wrist_wear_wake_up, dev); break; default: rslt = BMI2_E_INVALID_SENSOR; break; } return rslt; } /*! * @brief This internal API is used to enable main sensors like accel, gyro, aux and temperature. */ static int8_t enable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data; rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Enable accelerometer */ if (sensor_sel & BMI2_ACCEL_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE); } /* Enable gyroscope */ if (sensor_sel & BMI2_GYRO_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE); } /* Enable auxiliary sensor */ if (sensor_sel & BMI2_AUX_SENS_SEL) { reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE); } /* Enable temperature sensor */ if (sensor_sel & BMI2_TEMP_SENS_SEL) { reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE); } /* Enable the sensors that are set in the power control register */ if (sensor_sel & BMI2_MAIN_SENSORS) { rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This internal API is used to enable sensor features. */ static int8_t enable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Enable sig-motion feature */ if (sensor_sel & BMI2_SIG_MOTION_SEL) { rslt = set_sig_motion(BMI2_ENABLE, dev); } /* Enable any motion feature */ if (sensor_sel & BMI2_ANY_MOT_SEL) { rslt = set_any_motion(BMI2_ENABLE, dev); } /* Enable no motion feature */ if (sensor_sel & BMI2_NO_MOT_SEL) { rslt = set_no_motion(BMI2_ENABLE, dev); } /* Enable step detector feature */ if (sensor_sel & BMI2_STEP_DETECT_SEL) { rslt = set_step_detector(BMI2_ENABLE, dev); } /* Enable step counter feature */ if (sensor_sel & BMI2_STEP_COUNT_SEL) { rslt = set_step_counter(BMI2_ENABLE, dev); } /* Enable step activity feature */ if (sensor_sel & BMI2_STEP_ACT_SEL) { rslt = set_step_activity(BMI2_ENABLE, dev); } /* Enable gyroscope user gain */ if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL) { rslt = set_gyro_user_gain(BMI2_ENABLE, dev); } /* Enable gyroscope self-offset correction feature */ if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL) { rslt = set_gyro_self_offset_corr(BMI2_ENABLE, dev); } /* Enable wrist gesture feature for wearable variant */ if (sensor_sel & BMI2_WRIST_GEST_SEL) { rslt = set_wrist_gesture(BMI2_ENABLE, dev); } /* Enable wrist wear wake-up feature */ if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL) { rslt = set_wrist_wear_wake_up(BMI2_ENABLE, dev); } return rslt; } /*! * @brief This internal API is used to disable main sensors like accel, gyro, aux and temperature. */ static int8_t disable_main_sensors(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt; /* Variable to store register values */ uint8_t reg_data; rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); if (rslt == BMI2_OK) { /* Disable accelerometer */ if (sensor_sel & BMI2_ACCEL_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN); } /* Disable gyroscope */ if (sensor_sel & BMI2_GYRO_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN); } /* Disable auxiliary sensor */ if (sensor_sel & BMI2_AUX_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN); } /* Disable temperature sensor */ if (sensor_sel & BMI2_TEMP_SENS_SEL) { reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN); } /* Disable the sensors that are set in the power control register */ if (sensor_sel & BMI2_MAIN_SENSORS) { rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, ®_data, 1, dev); } } return rslt; } /*! * @brief This internal API is used to disable sensor features. */ static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev) { /* Variable to define error */ int8_t rslt = BMI2_OK; /* Disable sig-motion feature */ if (sensor_sel & BMI2_SIG_MOTION_SEL) { rslt = set_sig_motion(BMI2_DISABLE, dev); } /* Disable any-motion feature */ if (sensor_sel & BMI2_ANY_MOT_SEL) { rslt = set_any_motion(BMI2_DISABLE, dev); } /* Disable no-motion feature */ if (sensor_sel & BMI2_NO_MOT_SEL) { rslt = set_no_motion(BMI2_DISABLE, dev); } /* Disable step detector feature */ if (sensor_sel & BMI2_STEP_DETECT_SEL) { rslt = set_step_detector(BMI2_DISABLE, dev); } /* Disable step counter feature */ if (sensor_sel & BMI2_STEP_COUNT_SEL) { rslt = set_step_counter(BMI2_DISABLE, dev); } /* Disable step activity feature */ if (sensor_sel & BMI2_STEP_ACT_SEL) { rslt = set_step_activity(BMI2_DISABLE, dev); } /* Disable gyroscope user gain */ if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL) { rslt = set_gyro_user_gain(BMI2_DISABLE, dev); } /* Disable gyroscope self-offset correction feature */ if (sensor_sel & BMI2_GYRO_SELF_OFF_SEL) { rslt = set_gyro_self_offset_corr(BMI2_DISABLE, dev); } /* Disable wrist gesture feature for wearable variant*/ if (sensor_sel & BMI2_WRIST_GEST_SEL) { rslt = set_wrist_gesture(BMI2_DISABLE, dev); } /* Enable wrist wear wake-up feature */ if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_SEL) { rslt = set_wrist_wear_wake_up(BMI2_DISABLE, dev); } return rslt; }