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StackChan/firmware/main/hal/drivers/bmi270/BMI270_SensorAPI/bmi2.h
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Forairaaaaa 5001b7081b add firmware source code (#4) 
* add firmware source code
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/**
* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2.h
* @date 2025-04-22
* @version v2.113.0
*
*/
/*!
* @defgroup bmi2xy BMI2XY
*/
/**
* \ingroup bmi2xy
* \defgroup bmi2 BMI2
* @brief Sensor driver for BMI2 sensor
*/
#ifndef BMI2_H_
#define BMI2_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2_defs.h"
/***************************************************************************/
/*! BMI2XY User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi2
* \defgroup bmi2ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_sec_init bmi2_sec_init
* \code
* int8_t bmi2_sec_init(struct bmi2_dev *dev);
* \endcode
* @details This API is the entry point for bmi2 sensor. It selects between
* I2C/SPI interface, based on user selection. It also reads the chip-id of
* the sensor.
*
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sec_init(struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_set_spi_en bmi2_set_spi_en
* \code
* int8_t bmi2_set_spi_en(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API sets the status of SPI enable .
*
* @param[in] enable : To enable/disable SPI interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable I2C
* BMI2_ENABLE | Enable SPI
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_spi_en(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_get_spi_en bmi2_get_spi_en
* \code
* int8_t bmi2_get_spi_en(uint8_t *enable, struct bmi2_dev *dev);
* \endcode
* @details This API gets the status of SPI enable .
*
* @param[in] enable : Pointer to get enable/disable SPI interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable I2C
* BMI2_ENABLE | Enable SPI
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_spi_en(uint8_t *enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_set_spi3_interface_mode bmi2_set_spi3_interface_mode
* \code
* int8_t bmi2_set_spi3_interface_mode(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API sets the status of SPI interface.
*
* @param[in] enable : To enable/disable SPI 3/4 wire interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable SPI 4 wire mode
* BMI2_ENABLE | Enable SPI 3 wire mode
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_spi3_interface_mode(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_get_spi3_interface_mode bmi2_get_spi3_interface_mode
* \code
* int8_t bmi2_get_spi3_interface_mode(uint8_t *enable, struct bmi2_dev *dev);
* \endcode
* @details This API gets the status of SPI interface.
*
* @param[in] enable : Pointer to get enable/disable SPI 3/4 wire interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable SPI 4 wire mode
* BMI2_ENABLE | Enable SPI 3 wire mode
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_spi3_interface_mode(uint8_t *enable, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiI2C I2c watchdog init
* @brief Initialize the watchdog for i2c
*/
/*!
* \ingroup bmi2ApiI2C
* \page bmi2_api_bmi2_set_i2c_wdt_en bmi2_set_i2c_wdt_en
* \code
* int8_t bmi2_set_i2c_wdt_en(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables the i2c watchdog timer .
*
* @param[in] enable : To enable/disable i2c watchdog timer.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disable I2C watchdog timer
* BMI2_ENABLE | Enable I2C watchdog timer
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_i2c_wdt_en(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiI2C
* \page bmi2_api_bmi2_get_i2c_wdt_en bmi2_get_i2c_wdt_en
* \code
* int8_t bmi2_get_i2c_wdt_en(uint8_t *enable, struct bmi2_dev *dev);
* \endcode
* @details This API gets the enable/disable status of the i2c watchdog timer .
*
* @param[in] enable : Pointer to get status of enable/disable i2c watchdog timer.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disable I2C watchdog timer
* BMI2_ENABLE | Enable I2C watchdog timer
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_i2c_wdt_en(uint8_t *enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiI2C
* \page bmi2_api_bmi2_set_i2c_wdt_sel bmi2_set_i2c_wdt_sel
* \code
* int8_t bmi2_set_i2c_wdt_sel(uint8_t watchdog_select, struct bmi2_dev *dev);
* \endcode
* @details This API sets i2c watchdog timer .
*
* @param[in] watchdog_select : To set watchdog timer for i2c.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Watchdog_select | Description
* ----------------------|---------------
* BMI2_DISABLE | I2C watchdog timeout after 1.25ms
* BMI2_ENABLE | I2c watchdog timeout after 40ms
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_i2c_wdt_sel(uint8_t watchdog_select, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiI2C
* \page bmi2_api_bmi2_get_i2c_wdt_sel bmi2_get_i2c_wdt_sel
* \code
* int8_t bmi2_get_i2c_wdt_sel(uint8_t *watchdog_select, struct bmi2_dev *dev);
* \endcode
* @details This API sets i2c watchdog timer .
*
* @param[in] watchdog_select : Pointer to get watchdog timer for i2c.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Watchdog_select | Description
* --------------------- |---------------
* BMI2_DISABLE | I2C watchdog timeout after 1.25ms
* BMI2_ENABLE | I2c watchdog timeout after 40ms
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_i2c_wdt_sel(uint8_t *watchdog_select, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiRegs Registers
* @brief Set / Get data from the given register address of the sensor
*/
/*!
* \ingroup bmi2ApiRegs
* \page bmi2_api_bmi2_get_regs bmi2_get_regs
* \code
* int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the data from the given register address of bmi2
* sensor.
*
* @param[in] reg_addr : Register address from which data is read.
* @param[out] data : Pointer to data buffer where read data is stored.
* @param[in] len : No. of bytes of data to be read.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note For most of the registers auto address increment applies, with the
* exception of a few special registers, which trap the address. For e.g.,
* Register address - 0x26, 0x5E.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiRegs
* \page bmi2_api_bmi2_set_regs bmi2_set_regs
* \code
* int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
* \endcode
* @details This API writes data to the given register address of bmi2 sensor.
*
* @param[in] reg_addr : Register address to which the data is written.
* @param[in] data : Pointer to data buffer in which data to be written
* is stored.
* @param[in] len : No. of bytes of data to be written.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSR Soft reset
* @brief Set / Get data from the given register address of the sensor
*/
/*!
* \ingroup bmi2ApiSR
* \page bmi2_api_bmi2_soft_reset bmi2_soft_reset
* \code
* int8_t bmi2_soft_reset(struct bmi2_dev *dev);
* \endcode
* @details This API resets bmi2 sensor. All registers are overwritten with
* their default values.
*
* @note If selected interface is SPI, an extra dummy byte is read to bring the
* interface back to SPI from default, after the soft reset command.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_soft_reset(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiConfig Configuration
* @brief Functions related to configuration of the sensor
*/
/*!
* \ingroup bmi2ApiConfig
* \page bmi2_api_bmi2_get_config_file_version bmi2_get_config_file_version
* \code
* int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
* \endcode
* @details This API is used to get the config file major and minor information.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[out] config_major : pointer to data buffer to store the config major.
* @param[out] config_minor : pointer to data buffer to store the config minor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiPowersave Advanced power save mode
* @brief Set / Get Advanced power save mode of the sensor
*/
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_set_adv_power_save bmi2_set_adv_power_save
* \code
* int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables the advance power save mode in the sensor.
*
* @param[in] enable : To enable/disable advance power mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables advance power save.
* BMI2_ENABLE | Enables advance power save.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_get_adv_power_save bmi2_get_adv_power_save
* \code
* int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
* \endcode
* @details This API gets the status of advance power save mode in the sensor.
*
* @param[out] aps_status : Pointer to get the status of APS mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* aps_status | Description
* -------------|---------------
* BMI2_DISABLE | Advance power save disabled.
* BMI2_ENABLE | Advance power save enabled.
*@endverbatim
*
* @return Result of API execution status
*
* @retval BMI2_OK - Success.
* @retval BMI2_E_NULL_PTR - Error: Null pointer error
* @retval BMI2_E_COM_FAIL - Error: Communication fail
* @retval BMI2_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
*/
int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_set_fast_power_up bmi2_set_fast_power_up
* \code
* int8_t bmi2_set_fast_power_up(uint8_t fast_power_up, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables the fast power up mode in the sensor.
*
* @param[in] fast_power_up : To enable/disable advance power mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Fast_power_up | Description
* --------------------|---------------
* BMI2_DISABLE | Disables fast power up.
* BMI2_ENABLE | Enables fast power up.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fast_power_up(uint8_t fast_power_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_get_fast_power_up bmi2_get_fast_power_up
* \code
* int8_t bmi2_get_fast_power_up(uint8_t *fast_power_up, struct bmi2_dev *dev);
* \endcode
* @details This API gets the enable/disable status of the fast power up mode in the sensor.
*
* @param[in] fast_power_up : Pointer to get the enable/disable advance power mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Fast power up | Description
* --------------------|---------------
* BMI2_DISABLE | Disables fast power up.
* BMI2_ENABLE | Enables fast power up.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fast_power_up(uint8_t *fast_power_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiConfig
* \page bmi2_api_bmi2_write_config_file bmi2_write_config_file
* \code
* int8_t bmi2_write_config_file(struct bmi2_dev *dev);
* \endcode
* @details This API loads the configuration file to the bmi2 sensor.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_write_config_file(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiInt Interrupt
* @brief Interrupt operations of the sensor
*/
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_set_int_pin_config bmi2_set_int_pin_config
* \code
* int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
* \endcode
* @details This API sets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*
* @param[in] int_cfg : Structure instance of bmi2_int_pin_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_get_int_pin_config bmi2_get_int_pin_config
* \code
* int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, const struct bmi2_dev *dev);
* \endcode
* @details This API gets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*
* @param[in,out] int_cfg : Structure instance of bmi2_int_pin_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_get_int_status bmi2_get_int_status
* \code
* int8_t bmi2_get_int_status(uint16_t *int_status, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the interrupt status of both feature and data
* interrupts.
*
* @param[out] int_status : Pointer to get the status of the interrupts.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* int_status | Status
* -----------|------------
* 0x00 | BIT0
* 0x01 | BIT1
* 0x02 | BIT2
* 0x03 | BIT3
* 0x04 | BIT4
* 0x05 | BIT5
* 0x06 | BIT6
* 0x07 | BIT7
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi2ApiSensorC
* \page bmi2_api_bmi2_set_sensor_config bmi2_set_sensor_config
* \code
* int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_GYRO_GAIN_UPDATE | 9
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensorC
* \page bmi2_api_bmi2_get_sensor_config bmi2_get_sensor_config
* \code
* int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* -------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_GYRO_GAIN_UPDATE | 9
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi2ApiSensor
* \page bmi2_api_bmi2_sensor_enable bmi2_sensor_enable
* \code
* int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* -------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_TEMP | 31
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensor
* \page bmi2_api_bmi2_sensor_disable bmi2_sensor_disable
* \code
* int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_TEMP | 31
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi2ApiSensorD
* \page bmi2_api_bmi2_get_feature_data bmi2_get_feature_data
* \code
* int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the feature data for gyroscope user-gain update and gyroscope cross sensitivity
*
* @param[out] feat_sensor_data : Structure instance of bmi2_feat_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ---------------------|-----------
* BMI2_GYRO_GAIN_UPDATE| 12
* BMI2_GYRO_CROSS_SENSE| 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensorD
* \page bmi2_api_bmi2_get_sensor_data bmi2_get_sensor_data
* \code
* int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor data for accelerometer, gyroscope and auxiliary sensor
*
* @param[out] data : Structure instance of bmi2_sens_data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiTemperature Temperature
* @brief Read temperature of the sensor.
*/
/*!
* \ingroup bmi2ApiTemperature
* \page bmi2_api_bmi2_get_temperature_data bmi2_get_temperature_data
* \code
* int8_t bmi2_get_temperature_data(uint16_t *temp_data, struct bmi2_dev *dev);
* \endcode
* @details This API reads the raw temperature data from the register and can be
* converted into degree celsius using the below formula.
* Formula: temperature_value = (float)(((float)((int16_t)temperature_data)) / 512.0) + 23.0
* @note Enable gyro to read temperature
*
* @param[out] temp_data : Pointer variable which stores the raw temperature value.
* @param[in] dev : Structure instance of bmi2_dev.
*
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_temperature_data(int16_t *temp_data, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensorD
* \page bmi2_api_bmi2_parse_sensor_data bmi2_parse_sensor_data
* \code
* int8_t bmi2_parse_sensor_data(const uint8_t *sensor_data, struct bmi2_sens_data *data, const struct bmi2_dev *dev);
* \endcode
* @details This API parses the sensor data for accelerometer, gyroscope and auxiliary sensor
*
* @param[in] sensor_data : Array of register data (24 bytes from Register 0x03 to 0x1A)
* @param[out] data : Structure instance of bmi2_sens_data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_parse_sensor_data(const uint8_t *sensor_data, struct bmi2_sens_data *data, const struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiFIFO FIFO
* @brief FIFO operations of the sensor
*/
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_config bmi2_set_fifo_config
* \code
* int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO configuration in the sensor.
*
* @param[in] config : FIFO configurations to be enabled/disabled.
* @param[in] enable : Enable/Disable FIFO configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables FIFO configuration.
* BMI2_ENABLE | Enables FIFO configuration.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_config bmi2_get_fifo_config
* \code
* int8_t bmi2_get_fifo_config(uint16_t *fifo_config, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO configuration from the sensor.
*
* @param[out] fifo_config : Pointer variable to get FIFO configuration value.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_read_fifo_data bmi2_read_fifo_data
* \code
* int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
* \endcode
* @details This API reads FIFO data.
*
* @param[in, out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note APS has to be disabled before calling this function.
* @note Dummy byte (for SPI Interface) required for FIFO data read
* must be given as part of data pointer in struct bmi2_fifo_frame
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_accel bmi2_extract_accel
* \code
* int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
* uint16_t *accel_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
* \endcode
* @details This API parses and extracts the accelerometer frames from FIFO data read by
* the "bmi2_read_fifo_data" API and stores it in the "accel_data" structure
* instance.
*
* @param[out] accel_data : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in,out] accel_length : Number of accelerometer frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_aux bmi2_extract_aux
* \code
* int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
* uint16_t *aux_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
*
* \endcode
* @details This API parses and extracts the auxiliary frames from FIFO data
* read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
*
* @param[out] aux : Pointer to structure where the parsed auxiliary
* data bytes are stored.
* @param[in,out] aux_length : Number of auxiliary frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_gyro bmi2_extract_gyro
* \code
* int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
* uint16_t *gyro_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
* \endcode
* @details This API parses and extracts the gyroscope frames from FIFO data read by the
* "bmi2_read_fifo_data" API and stores it in the "gyro_data"
* structure instance.
*
* @param[out] gyro_data : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in,out] gyro_length : Number of gyroscope frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiCmd Command Register
* @brief Write commands to the sensor
*/
/*!
* \ingroup bmi2ApiCmd
* \page bmi2_api_bmi2_set_command_register bmi2_set_command_register
* \code
* int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
* \endcode
* @details This API writes the available sensor specific commands to the sensor.
*
* @param[in] command : Commands to be given to the sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Commands | Values
* ---------------------|---------------------
* BMI2_SOFT_RESET_CMD | 0xB6
* BMI2_FIFO_FLUSH_CMD | 0xB0
* BMI2_USR_GAIN_CMD | 0x03
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_self_wake_up bmi2_set_fifo_self_wake_up
* \code
* int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO self wake up functionality in the sensor.
*
* @param[in] fifo_self_wake_up : Variable to set FIFO self wake-up.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* fifo_self_wake_up | Description
* -------------------|---------------
* BMI2_DISABLE | Disables self wake-up.
* BMI2_ENABLE | Enables self wake-up.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_self_wake_up bmi2_get_fifo_self_wake_up
* \code
* int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO self wake up functionality from the sensor.
*
* @param[out] fifo_self_wake_up : Pointer variable to get the status of FIFO
* self wake-up.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* fifo_self_wake_up | Description
* -------------------|---------------
* BMI2_DISABLE | Self wake-up disabled
* BMI2_ENABLE | Self wake-up enabled.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_wm bmi2_set_fifo_wm
* \code
* int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO water mark level which is set in the sensor.
*
* @param[in] fifo_wm : Variable to set FIFO water-mark level.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_wm bmi2_get_fifo_wm
* \code
* int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO water mark level which is set in the sensor.
*
* @param[out] fifo_wm : Pointer variable to store FIFO water-mark level.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_filter_data bmi2_set_fifo_filter_data
* \code
* int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
* \endcode
* @details This API sets either filtered or un-filtered FIFO accelerometer or
* gyroscope data.
*
* @param[in] sens_sel : Selects either accelerometer or
* gyroscope sensor.
* @param[in] fifo_filter_data : Variable to set the filter data.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* -----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
*@verbatim
* Value | fifo_filter_data
* ---------|---------------------
* 0x00 | Un-filtered data
* 0x01 | Filtered data
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_filter_data bmi2_get_fifo_filter_data
* \code
* int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO accelerometer or gyroscope filter data.
*
* @param[in] sens_sel : Selects either accelerometer or
* gyroscope sensor.
* @param[out] fifo_filter_data : Pointer variable to get the filter data.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* -----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
*@verbatim
* Value | fifo_filter_data
* ---------|---------------------
* 0x00 | Un-filtered data
* 0x01 | Filtered data
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_down_sample bmi2_set_fifo_down_sample
* \code
* int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
* \endcode
* @details This API sets the down sampling rate for FIFO accelerometer or
* gyroscope FIFO data.
*
* @param[in] sens_sel : Selects either either accelerometer or
* gyroscope sensor.
* @param[in] fifo_down_samp : Variable to set the down sampling rate.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* ----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_down_sample bmi2_get_fifo_down_sample
* \code
* int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the down sampling rate, configured for FIFO
* accelerometer or gyroscope data.
*
* @param[in] sens_sel : Selects either either accelerometer or
* gyroscope sensor.
* @param[out] fifo_down_samp : Pointer variable to store the down sampling rate
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* ----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_length bmi2_get_fifo_length
* \code
* int8_t bmi2_get_fifo_length(uint16_t *fifo_length, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the length of FIFO data available in the sensor in
* bytes.
*
* @param[out] fifo_length : Pointer variable to store the value of FIFO byte
* counter.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note The byte counter is updated each time a complete frame is read or
* written.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_saturation_status bmi2_get_saturation_status
* \code
* int8_t bmi2_get_saturation_status(uint8_t *status, struct bmi2_dev *dev);
* \endcode
* @details This API reads the saturation status of the sensor.
*
* @param[in] status : Pointer to read the status of saturation.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Macro | Status
* -----------------------------|---------------
* BMI2_SATURATION_ACC_X_MASK | 0X01
* BMI2_SATURATION_ACC_Y_MASK | 0X02
* BMI2_SATURATION_ACC_Z_MASK | 0X04
* BMI2_SATURATION_GYR_X_MASK | 0X08
* BMI2_SATURATION_GYR_Y_MASK | 0X10
* BMI2_SATURATION_GYR_Z_MASK | 0X20
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_saturation_status(uint8_t *status, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiOIS OIS
* @brief OIS operations of the sensor
*/
/*!
* \ingroup bmi2ApiOIS
* \page bmi2_api_bmi2_set_ois_interface bmi2_set_ois_interface
* \code
* int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables OIS interface.
*
* @param[in] enable : To enable/disable OIS interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables OIS interface.
* BMI2_ENABLE | Enables OIS interface.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiOIS
* \page bmi2_api_bmi2_get_spi3_ois_mode bmi2_get_spi3_ois_mode
* \code
* int8_t bmi2_get_spi3_ois_mode(uint8_t *enable, struct bmi2_dev *dev);
* \endcode
* @details This API gets the status of SPI OIS interface.
*
* @param[in] enable : Pointer to read SPI OIS 3/4 wire interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable SPI OIS 4 wire mode
* BMI2_ENABLE | Enable SPI OIS 3 wire mode
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_spi3_ois_mode(uint8_t *enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApisensorC
* \page bmi2_api_bmi2_set_drv_reg bmi2_set_drv_reg
* \code
* int8_t bmi2_set_drv_reg(uint8_t drv_reg, struct bmi2_dev *dev);
* \endcode
* @details This API sets the drive strength of the sensor
*
* @param[in] drv_reg : To set the drive strength of the sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_drv_reg(uint8_t drv_reg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApisensorC
* \page bmi2_api_bmi2_get_drv_reg bmi2_get_drv_reg
* \code
* int8_t bmi2_get_drv_reg(uint8_t *drv_reg, struct bmi2_dev *dev);
* \endcode
* @details This API gets the drive strength of the sensor
*
* @param[in] drv_reg : Pointer to get the drive strength of the sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_drv_reg(uint8_t *drv_reg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiOIS
* \page bmi2_api_bmi2_set_spi3_ois_mode bmi2_set_spi3_ois_mode
* \code
* int8_t bmi2_set_spi3_ois_mode(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API sets the status of SPI OIS interface.
*
* @param[in] enable : To enable/disable SPI OIS 3/4 wire interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Enable SPI OIS 4 wire mode
* BMI2_ENABLE | Enable SPI OIS 3 wire mode
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_spi3_ois_mode(uint8_t enable, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiAux Auxiliary sensor
* @brief Auxiliary sensor operations of the sensor
*/
/*!
* \ingroup bmi2ApiAux
* \page bmi2_api_bmi2_read_aux_man_mode bmi2_read_aux_man_mode
* \code
* int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
* \endcode
* @details This API reads the user-defined bytes of data from the given register
* address of auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Address from where data is read.
* @param[out] aux_data : Pointer to the stored buffer.
* @param[in] len : Total length of data to be read.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiAux
* \page bmi2_api_bmi2_write_aux_man_mode bmi2_write_aux_man_mode
* \code
* int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
* \endcode
* @details This API writes the user-defined bytes of data and the address of
* auxiliary sensor where data is to be written in manual mode.
*
* @param[in] reg_addr : AUX address where data is to be written.
* @param[in] aux_data : Pointer to data to be written.
* @param[in] len : Total length of data to be written.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Change of BMI2_AUX_WR_ADDR is only allowed if AUX is not busy.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiStatus Sensor Status
* @brief Get sensor status
*/
/*!
* \ingroup bmi2ApiStatus
* \page bmi2_api_bmi2_get_status bmi2_get_status
* \code
* int8_t bmi2_get_status(uint8_t *status, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the data ready status of accelerometer, gyroscope,
* auxiliary, ready status of command decoder and busy status of auxiliary.
*
* @param[out] status : Pointer variable to the status.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Value | Status
* ---------|---------------------
* 0x80 | DRDY_ACC
* 0x40 | DRDY_GYR
* 0x20 | DRDY_AUX
* 0x10 | CMD_RDY
* 0x04 | AUX_BUSY
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_status(uint8_t *status, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiWSync Sync commands
* @brief Write sync commands
*/
/*!
* \ingroup bmi2ApiWSync
* \page bmi2_api_bmi2_write_sync_commands bmi2_write_sync_commands
* \code
* int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
* \endcode
* @details This API can be used to write sync commands like ODR, sync period,
* frequency and phase, resolution ratio, sync time and delay time.
*
* @param[in] command : Sync command to be written.
* @param[in] n_comm : Length of the command.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_write_sync_commands(const uint8_t *command, uint8_t n_comm, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiASelftest Accel self test
* @brief Perform accel self test
*/
/*!
* \ingroup bmi2ApiASelftest
* \page bmi2_api_bmi2_perform_accel_self_test bmi2_perform_accel_self_test
* \code
* int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
* \endcode
* @details This API performs self-test to check the proper functionality of the
* accelerometer sensor.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_perform_accel_self_test(struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_map_feat_int bmi2_map_feat_int
* \code
* int8_t bmi2_map_feat_int(const struct bmi2_sens_int_config *sens_int, struct bmi2_dev *dev);
* \endcode
* @details This API maps/unmaps feature interrupts to that of interrupt pins.
*
* @param[in] sens_int : Structure instance of bmi2_sens_int_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_map_feat_int(uint8_t type, enum bmi2_hw_int_pin hw_int_pin, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_map_data_int bmi2_map_data_int
* \code
* int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
* \endcode
* @details This API maps/un-maps data interrupts to that of interrupt pins.
*
* @param[in] int_pin : Interrupt pin selected.
* @param[in] data_int : Type of data interrupt to be mapped.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* data_int | Mask values
* ---------------------|---------------------
* BMI2_FFULL_INT | 0x01
* BMI2_FWM_INT | 0x02
* BMI2_DRDY_INT | 0x04
* BMI2_ERR_INT | 0x08
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_map_data_int(uint8_t data_int, enum bmi2_hw_int_pin int_pin, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiRemap Remap Axes
* @brief Set / Get remap axes values from the sensor
*/
/*!
* \ingroup bmi2ApiRemap
* \page bmi2_api_bmi2_get_remap_axes bmi2_get_remap_axes
* \code
* int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
* \endcode
* @details This API gets the re-mapped x, y and z axes from the sensor and
* updates the values in the device structure.
*
* @param[out] remapped_axis : Structure that stores re-mapped axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_remap_axes(struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiRemap
* \page bmi2_api_bmi2_set_remap_axes bmi2_set_remap_axes
* \code
* int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
* \endcode
* @details This API sets the re-mapped x, y and z axes to the sensor and
* updates them in the device structure.
*
* @param[in] remapped_axis : Structure that stores re-mapped axes.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_remap_axes(const struct bmi2_remap *remapped_axis, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiGyroOC Gyro Offset Compensation
* @brief Gyro Offset Compensation operations of the sensor
*/
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_offset_comp
* \code
* int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables gyroscope offset compensation. It adds the
* offsets defined in the offset register with gyroscope data.
*
* @param[in] enable : Enables/Disables gyroscope offset compensation.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* enable | Description
* -------------|---------------
* BMI2_ENABLE | Enables gyroscope offset compensation.
* BMI2_DISABLE | Disables gyroscope offset compensation.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_gyro_offset_comp(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_get_gyro_offset_comp
* \code
* int8_t bmi2_get_gyro_offset_comp(uint8_t *offset, struct bmi2_dev *dev);
* \endcode
* @details This API reads the gyroscope offset compensation.
*
* @param[in, out] offset : The value of the offset compensation.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* enable | Description
* -------------|---------------
* BMI2_ENABLE | Enables gyroscope offset compensation.
* BMI2_DISABLE | Disables gyroscope offset compensation.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_gyro_offset_comp(uint8_t *offset, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_set_gyro_gain
* \code
* int8_t bmi2_set_gyro_gain(uint8_t gyro_gain, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables gyroscope gain for Sensitivity Error Compensation.
*
* @param[in] gyro_gain : Enables/Disables gyroscope gain.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* enable | Description
* -------------|---------------
* BMI2_ENABLE | Enables gyroscope gain.
* BMI2_DISABLE | Disables gyroscope gain.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_gyro_gain(uint8_t gyro_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_set_gyro_offset_comp bmi2_get_gyro_gain
* \code
* int8_t bmi2_get_gyro_gain(uint8_t *gyro_gain, struct bmi2_dev *dev);
* \endcode
* @details This API reads the Gyro gain.
*
* @param[in, out] gyro_gain : The value of the Gyro gain.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_gyro_gain(uint8_t *gyro_gain, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_read_gyro_offset_comp_axes bmi2_read_gyro_offset_comp_axes
* \code
* int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the gyroscope bias values for each axis which is used
* for gyroscope offset compensation.
*
* @param[out] gyr_off_comp_axes: Structure to store gyroscope offset
* compensated values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_read_gyro_offset_comp_axes(struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiGyroOC
* \page bmi2_api_bmi2_write_gyro_offset_comp_axes bmi2_write_gyro_offset_comp_axes
* \code
* int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
* \endcode
* @details This API writes the gyroscope bias values for each axis which is used
* for gyroscope offset compensation.
*
* @param[in] gyr_off_comp_axes : Structure to store gyroscope offset
* compensated values.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_write_gyro_offset_comp_axes(const struct bmi2_sens_axes_data *gyr_off_comp_axes, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiGyroCS Gyro cross sensitivity
* @brief Gyro Cross sensitivity operation
*/
/*!
* \ingroup bmi2ApiGyroCS
* \page bmi2_api_bmi2_get_gyro_cross_sense bmi2_get_gyro_cross_sense
* \code
* int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
* \endcode
* @details This API updates the cross sensitivity coefficient between gyroscope's
* X and Z axes.
*
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_gyro_cross_sense(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiInts Internal Status
* @brief Get Internal Status of the sensor
*/
/*!
* \ingroup bmi2ApiInts
* \page bmi2_api_bmi2_get_internal_status bmi2_get_internal_status
* \code
* int8_t bmi2_get_internal_status(uint8_t *int_stat, const struct bmi2_dev *dev);
* \endcode
* @details This API gets error bits and message indicating internal status.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[out] int_stat : Pointer variable to store error bits and
* message.
*
*@verbatim
* Internal status | *int_stat
* ---------------------|---------------------
* BMI2_NOT_INIT | 0x00
* BMI2_INIT_OK | 0x01
* BMI2_INIT_ERR | 0x02
* BMI2_DRV_ERR | 0x03
* BMI2_SNS_STOP | 0x04
* BMI2_NVM_ERROR | 0x05
* BMI2_START_UP_ERROR | 0x06
* BMI2_COMPAT_ERROR | 0x07
* BMI2_VFM_SKIPPED | 0x10
* BMI2_AXES_MAP_ERROR | 0x20
* BMI2_ODR_50_HZ_ERROR | 0x40
* BMI2_ODR_HIGH_ERROR | 0x80
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_internal_status(uint8_t *int_stat, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInts
* \page bmi2_api_bmi2_get_internal_error_status bmi2_get_internal_error_status
* \code
* int8_t bmi2_get_internal_error_status(uint8_t *status, struct bmi2_dev *dev);
* \endcode
* @details This API gets Interanl error status.
*
* @param[in] status : Pointer variable to store the status of the error
* @param[out] int_stat : Pointer variable to store error bits and
* message.
*
*@verbatim
* Internal status | status
* ---------------------------|---------------------
* BMI2_INTERNAL_ERROR_1_MASK | 0X02
* BMI2_INTERNAL_ERROR_2_MASK | 0X04
* BMI2_FEAT_ENG_DIS_MASK | 0X10
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_internal_error_status(uint8_t *status, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInts
* \page bmi2_api_bmi2_get_err_reg_mask bmi2_get_err_reg_mask
* \code
* int8_t bmi2_get_err_reg_mask(uint8_t *err_reg, struct bmi2_dev *dev);
* \endcode
* @details This API gets error status of interrupt.
*
* @param[in] err_reg : Pointer variable to store the status of the error
* @param[out] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Internal status | err_reg
* ---------------------------|---------------------
* BMI2_FATAL_ERR_MASK | 0X01
* BMI2_INTERNAL_ERR_MASK | 0X1E
* BMI2_FIFO_ERR_MASK | 0X40
* BMI2_AUX_ERR_MASK | 0x80
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_err_reg_mask(uint8_t *err_reg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInts
* \page bmi2_api_bmi2_set_err_reg_mask bmi2_set_err_reg_mask
* \code
* int8_t bmi2_set_err_reg_mask(uint8_t err_reg, struct bmi2_dev *dev);
* \endcode
* @details This API sets error interrupt.
*
* @param[in] err_reg : Variable to store the status of the error
* @param[out] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Internal status | err_reg
* ---------------------------|---------------------
* BMI2_FATAL_ERR_MASK | 0X01
* BMI2_INTERNAL_ERR_MASK | 0X1E
* BMI2_FIFO_ERR_MASK | 0X40
* BMI2_AUX_ERR_MASK | 0x80
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_err_reg_mask(uint8_t err_reg, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiFOC FOC
* @brief FOC operations of the sensor
*/
/*!
* \ingroup bmi2ApiFOC
* \page bmi2_api_bmi2_perform_accel_foc bmi2_perform_accel_foc
* \code
* int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
* \endcode
* @details This API performs Fast Offset Compensation for accelerometer.
*
* @param[in] accel_g_value : This parameter selects the accel foc
* axis to be performed
*
* input format is {x, y, z, sign}. '1' to enable. '0' to disable
*
* eg to choose x axis {1, 0, 0, 0}
* eg to choose -x axis {1, 0, 0, 1}
*
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_perform_accel_foc(const struct bmi2_accel_foc_g_value *accel_g_value, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFOC
* \page bmi2_api_bmi2_perform_gyro_foc bmi2_perform_gyro_foc
* \code
* int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
* \endcode
* @details This API performs Fast Offset Compensation for gyroscope.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_perform_gyro_foc(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiCRT CRT
* @brief CRT operations of the sensor
*/
/*!
* \ingroup bmi2ApiCRT
* \page bmi2_api_bmi2_do_crt bmi2_do_crt
* \code
* int8_t bmi2_do_crt(struct bmi2_dev *dev);
* \endcode
* @details API performs Component Re-Trim calibration (CRT).
*
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
* @note CRT calibration takes approximately 500ms & maximum time out configured as 2 seconds
*/
int8_t bmi2_do_crt(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiCRTSt CRT and self test
* @brief Enable / Abort CRT and self test operations of gyroscope
*/
/*!
* \ingroup bmi2ApiCRTSt
* \page bmi2_api_bmi2_abort_crt_gyro_st bmi2_abort_crt_gyro_st
* \code
* int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
* \endcode
* @details This api is used to abort ongoing crt or gyro self test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_abort_crt_gyro_st(struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiASelftest
* \page bmi2_api_bmi2_do_gyro_st bmi2_do_gyro_st
* \code
* int8_t bmi2_do_gyro_st
* \endcode
* @details this api is used to perform gyroscope self test.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_do_gyro_st(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiNVM NVM
* @brief NVM operations of the sensor
*/
/*!
* \ingroup bmi2ApiNVM
* \page bmi2_api_bmi2_nvm_prog bmi2_nvm_prog
* \code
* int8_t bmi2_nvm_prog
* \endcode
* @details This api is used for programming the non volatile memory(nvm)
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_nvm_prog(struct bmi2_dev *dev);
/*!
* @brief This API extracts the input feature configuration
* details like page and start address from the look-up table.
*
* @param[out] feat_config : Structure that stores 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
*/
uint8_t bmi2_extract_input_feat_config(struct bmi2_feature_config *feat_config, uint8_t type,
const struct bmi2_dev *dev);
/*!
* @brief This API is used to get the feature configuration from the
* selected page.
*
* @param[in] sw_page : Switches to the desired page.
* @param[out] feat_config : Pointer to the feature configuration.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_feat_config(uint8_t sw_page, uint8_t *feat_config, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2AccelOffset Accelerometer Offset Compensation
* @brief Enable / Disable Accelerometer Offset Compensation
*/
/*!
* \ingroup bmi2AccelOffset
* \page bmi2_api_bmi2_set_accel_offset_comp bmi2_set_accel_offset_comp
* \code
* int8_t bmi2_set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
* \endcode
* @brief This internal API enables/disables the offset compensation for
* filtered and un-filtered accelerometer data.
*
* @param[in] offset_en : enables/disables offset compensation.
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_accel_offset_comp(uint8_t offset_en, struct bmi2_dev *dev);
/*!
* \ingroup bmi2AccelOffset
* \page bmi2_api_bmi2_get_accel_offset_comp bmi2_get_accel_offset_comp
* \code
* int8_t bmi2_get_accel_offset_comp(uint8_t *accel_offset, struct bmi2_dev *dev);
* \endcode
* @brief This internal API reads the accelerometer offset compensation value.
*
* @param[in] accel_offset : Pointer to an array of size 3 to hold Accel Axis X, Y, Z,
* Offset Compensation.
* @param[in] dev : Structure instance of bmi2_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_accel_offset_comp(uint8_t *accel_offset, struct bmi2_dev *dev);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* BMI2_H_ */
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