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bmi088_anymotion.h
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bmi088_anymotion.h
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/**
* 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 bmi088_anymotion.h
* @date 2023-03-27
* @version v1.7.1
*
*/
/*! \file bmi088_anymotion.h
* \brief Sensor Driver for BMI088_ANYMOTION family of sensors */
/*!
* @defgroup bmi088_anymotion BMI088_ANYMOTION
*/
#ifndef BMI088_ANYMOTION_H_
#define BMI088_ANYMOTION_H_
#ifdef __cplusplus
extern "C" {
#endif
/*********************************************************************/
/* Header files */
/*********************************************************************/
#include "bmi08.h"
/*********************************************************************/
/* Macro Definitions */
/*********************************************************************/
/**\name Accel unique chip identifier */
#define BMI088_ANYMOTION_ACCEL_CHIP_ID_PRIM UINT8_C(0x1A)
#define BMI088_ANYMOTION_ACCEL_CHIP_ID_SEC UINT8_C(0x1E)
/**\name Orientation result register*/
#define BMI088_ANYMOTION_ACCEL_ANY_MOT_INT UINT8_C(0x02)
#define BMI088_ANYMOTION_ACCEL_ERR_INT_ENABLE UINT8_C(0x80)
/**\name BMI09 Accel Range */
#define BMI088_ANYMOTION_ACCEL_RANGE_3G UINT8_C(0x00)
#define BMI088_ANYMOTION_ACCEL_RANGE_6G UINT8_C(0x01)
#define BMI088_ANYMOTION_ACCEL_RANGE_12G UINT8_C(0x02)
#define BMI088_ANYMOTION_ACCEL_RANGE_24G UINT8_C(0x03)
#define BMI088_ANYMOTION_ACCEL_ANY_MOT_INT_DISABLE UINT8_C(0x00)
#define BMI088_ANYMOTION_ACCEL_ANY_MOT_INT_ENABLE UINT8_C(0x02)
#define BMI088_ANYMOTION_ACCEL_ERR_INT_DISABLE UINT8_C(0x00)
/**\name Axis Remap Feature size */
#define BMI088_ANYMOTION_FEATURE_SIZE UINT8_C(0x1E)
/**\name Accel remap start address */
#define BMI088_ANYMOTION_ADDR_AXES_REMAP_START UINT8_C(0x1C)
/**\name Mask definition for config version */
#define BMI088_ANYMOTION_CONFIG_MAJOR_MASK UINT16_C(0x3C0)
#define BMI088_ANYMOTION_CONFIG_MINOR_MASK UINT8_C(0x3F)
/**\name Bit position for major version from config */
#define BMI088_ANYMOTION_CONFIG_MAJOR_POS UINT8_C(0x06)
/**\name Config ID start address */
#define BMI088_ANYMOTION_ADDR_CONFIG_ID_START UINT8_C(0x1A)
#define BMI088_ANYMOTION_E_REMAP_ERROR INT8_C(-11)
#define BMI088_ANYMOTION_STATUS_SET UINT8_C(1)
#define BMI088_ANYMOTION_STATUS_CLEAR UINT8_C(0)
/* Power mode switching delay 30ms - refer data sheet table 3 */
#define BMI088_ANYMOTION_GYRO_POWER_MODE_SWITCHING_DELAY_MS UINT8_C(30)
/* Accel device init delay - refer data sheet section 3 */
#define BMI088_ANYMOTION_ACCEL_DEVICE_INIT_DELAY_MS UINT8_C(50)
/* Accel power mode switching delay - data sheet section 4.1.1 */
#define BMI088_ANYMOTION_ACCEL_POWER_MODE_SWITCHING_DELAY_MS UINT8_C(5)
/* Delay required to get temperature data 1.28s - refer data sheet section 5.3.7 */
#define BMI088_ANYMOTION_TEMPERATURE_DATA_READ_DELAY_MS UINT8_C(1300)
/* Self-test: Resulting minimum difference signal in mg for BMI088_ANYMOTION */
#define BMI088_ANYMOTION_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1000)
#define BMI088_ANYMOTION_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1000)
#define BMI088_ANYMOTION_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(500)
/**\name Feature start Addresses */
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_ADR UINT8_C(0x00)
/**\name Accel Any-motion Macros */
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_LEN UINT8_C(0x02)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_THRESHOLD_MASK UINT16_C(0x07FF)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_THRESHOLD_SHIFT UINT8_C(0x00)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_SEL_MASK UINT16_C(0x0800)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_SEL_SHIFT UINT8_C(0x0B)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_DURATION_MASK UINT16_C(0x1FFF)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_DURATION_SHIFT UINT8_C(0x00)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_X_EN_MASK UINT16_C(0x2000)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_X_EN_SHIFT UINT8_C(0x0D)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_Y_EN_MASK UINT16_C(0x4000)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_Y_EN_SHIFT UINT8_C(0x0E)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_Z_EN_MASK UINT16_C(0x8000)
#define BMI088_ANYMOTION_ACCEL_ANYMOTION_Z_EN_SHIFT UINT8_C(0x0F)
/*********************************************************************/
/*! @name Macro Definitions for Axes re-mapping */
/*********************************************************************/
/**\name Enable/Disable Selections */
#define BMI088_ANYMOTION_X_AXIS UINT8_C(0)
#define BMI088_ANYMOTION_Y_AXIS UINT8_C(1)
#define BMI088_ANYMOTION_Z_AXIS UINT8_C(2)
/**\name Define values of axis and its sign for re-map settings */
#define BMI088_ANYMOTION_MAP_X_AXIS UINT8_C(0x00)
#define BMI088_ANYMOTION_MAP_Y_AXIS UINT8_C(0x01)
#define BMI088_ANYMOTION_MAP_Z_AXIS UINT8_C(0x02)
#define BMI088_ANYMOTION_MAP_POSITIVE UINT8_C(0x00)
#define BMI088_ANYMOTION_MAP_NEGATIVE UINT8_C(0x01)
/*! @name Macros for the user-defined values of axes and their polarities */
#define BMI088_ANYMOTION_X UINT8_C(0x01)
#define BMI088_ANYMOTION_NEG_X UINT8_C(0x09)
#define BMI088_ANYMOTION_Y UINT8_C(0x02)
#define BMI088_ANYMOTION_NEG_Y UINT8_C(0x0A)
#define BMI088_ANYMOTION_Z UINT8_C(0x04)
#define BMI088_ANYMOTION_NEG_Z UINT8_C(0x0C)
#define BMI088_ANYMOTION_AXIS_MASK UINT8_C(0x07)
#define BMI088_ANYMOTION_AXIS_SIGN UINT8_C(0x08)
/**\name Mask definitions for axes re-mapping */
#define BMI088_ANYMOTION_X_AXIS_MASK UINT8_C(0x03)
#define BMI088_ANYMOTION_X_AXIS_SIGN_MASK UINT8_C(0x04)
#define BMI088_ANYMOTION_Y_AXIS_MASK UINT8_C(0x18)
#define BMI088_ANYMOTION_Y_AXIS_SIGN_MASK UINT8_C(0x20)
#define BMI088_ANYMOTION_Z_AXIS_MASK UINT8_C(0xC0)
#define BMI088_ANYMOTION_Z_AXIS_SIGN_MASK UINT8_C(0x01)
/**\name Bit position for axes re-mapping */
#define BMI088_ANYMOTION_X_AXIS_SIGN_POS UINT8_C(0x02)
#define BMI088_ANYMOTION_Y_AXIS_POS UINT8_C(0x03)
#define BMI088_ANYMOTION_Y_AXIS_SIGN_POS UINT8_C(0x05)
#define BMI088_ANYMOTION_Z_AXIS_POS UINT8_C(0x06)
/*********************************************************************/
/* Enumerators */
/*********************************************************************/
/*!
* @brief Enum to select accelerometer interrupts
*/
enum bmi088_anymotion_accel_int_types {
BMI088_ANYMOTION_ACCEL_DATA_RDY_INT,
/* FIFO Watermark interrupt */
BMI088_ANYMOTION_ACCEL_INT_FIFO_WM,
/* FIFO Full interrupt */
BMI088_ANYMOTION_ACCEL_INT_FIFO_FULL,
/* Accel anymotion interrupt*/
BMI088_ANYMOTION_ANYMOTION_INT,
/* Accel Error interrupt */
BMI088_ANYMOTION_ERROR_INT
};
/*********************************************************************/
/* Structures */
/*********************************************************************/
/*!
* @brief Anymotion config structure
*/
struct bmi088_anymotion_anymotion_cfg
{
/* 11 bit threshold of anymotion detection (threshold = X mg * 2,048 (5.11 format)) */
uint16_t threshold;
/*! Enable any-motion feature */
uint16_t enable;
/* 13 bit set the duration for any- and nomotion (time = duration * 20ms (@50Hz)) */
uint16_t duration;
/* Enable anymotion detection for x axis */
uint16_t x_en;
/* Enable anymotion detection for y axis */
uint16_t y_en;
/* Enable anymotion detection for z axis */
uint16_t z_en;
};
/*! @name Structure to store the re-mapped axis */
struct bmi088_anymotion_remap
{
/*! Re-mapped x-axis */
uint8_t x;
/*! Re-mapped y-axis */
uint8_t y;
/*! Re-mapped z-axis */
uint8_t z;
};
/*********************************************************************/
/* Function prototype declarations */
/*********************** BMI088_ANYMOTION Accelerometer function prototypes ************************/
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiInit Accel Initialization
* @brief Initialize the accel sensor and device structure
*/
/*!
* \ingroup bmi088_anymotionApiInit
* \page bmi088_anymotion_api_bmi088_anymotion_init bmi088_anymotion_init
* \code
* int8_t bmi088_anymotion_init(struct bmi08_dev *dev);
* \endcode
* @details This API is the entry point for accel sensor.
* It performs the selection of I2C/SPI read mechanism according to the
* selected interface and reads the chip-id of accel sensor.
*
* @param[in,out] dev : Structure instance of bmi08_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_init(struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiConfig Configurations
* @brief Setting up configurations
*/
/*!
* \ingroup bmi088_anymotionApiConfig
* \page bmi088_anymotion_api_bmi088_anymotion_set_meas_conf bmi088_anymotion_set_meas_conf
* \code
* int8_t bmi088_anymotion_set_meas_conf(struct bmi08_dev *dev);
* \endcode
* @details This API sets the Output data rate, range and bandwidth
* of accel sensor.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @note : The user must select one among the following macros to
* select range value for BMI09 accel
*
*@verbatim
* config | value
* -----------------------------------------|---------------------------
* BMI088_ANYMOTION_ACCEL_RANGE_3G | 0x00
* BMI088_ANYMOTION_ACCEL_RANGE_6G | 0x01
* BMI088_ANYMOTION_ACCEL_RANGE_12G | 0x02
* BMI088_ANYMOTION_ACCEL_RANGE_24G | 0x03
*@endverbatim
*
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_set_meas_conf(struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiData Accel Data
* @brief Read accel data from the sensor
*/
/*!
* \ingroup bmi088_anymotionApiData
* \page bmi088_anymotion_api_bmi088_anymotion_get_data bmi088_anymotion_get_data
* \code
* int8_t bmi088_anymotion_get_data(struct bmi08_sensor_data *accel, struct bmi08_dev *dev);
* \endcode
* @details This API reads the accel data from the sensor,
* store it in the bmi08_sensor_data structure instance
* passed by the user.
*
* @param[out] accel : Structure pointer to store accel data
* @param[in] dev : Structure instance of bmi08_dev.
*
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_get_data(struct bmi08_sensor_data *accel, struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiIntConfig Accel Interrupt configurations
* @brief Set accel sensor interrupt configurations
*/
/*!
* \ingroup bmi088_anymotionApiIntConfig
* \page bmi088_anymotion_api_bmi088_anymotion_set_int_config bmi088_anymotion_set_int_config
* \code
* int8_t bmi088_anymotion_set_int_config(const struct bmi08_accel_int_channel_cfg *int_config, enum bmi088_anymotion_accel_int_types int_type, struct bmi08_dev *dev);
* \endcode
* @details This API configures the necessary accel interrupt
* based on the user settings in the bmi088_anymotion_accel_int_channel_cfg
* structure instance.
*
* @param[in] int_config : Structure instance of bmi08_accel_int_channel_cfg.
* @param[in] int_type : Enumerator instance of bmi088_anymotion_accel_int_types.
* @param[in] dev : Structure instance of bmi08_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_set_int_config(const struct bmi08_accel_int_channel_cfg *int_config,
enum bmi088_anymotion_accel_int_types int_type,
struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiSelftest Accel Self test
* @brief Perform self test of accel sensor
*/
/*!
* \ingroup bmi088_anymotionApiSelftest
* \page bmi088_anymotion_api_bmi088_anymotion_perform_selftest bmi088_anymotion_perform_selftest
* \code
* int8_t bmi088_anymotion_perform_selftest(struct bmi08_dev *dev);
* \endcode
* @details This API checks whether the self test functionality of the sensor
* is working or not
*
* @param[in] dev : Structure instance of bmi08_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_perform_selftest(struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiAnymotion Accel Anymotion
* @brief Configure anymotion of sensor
*/
/*!
* \ingroup bmi088_anymotionApiAnymotion
* \page bmi088_anymotion_api_bmi088_anymotion_configure_anymotion bmi088_anymotion_configure_anymotion
* \code
* int8_t bmi088_anymotion_configure_anymotion(struct bmi088_anymotion_anymotion_cfg anymotion_cfg, struct bmi08_dev *dev);
* \endcode
* @details This API is used to enable/disable and configure the anymotion
* feature.
*
* @param[in] anymotion_cfg : configure anymotion feature
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_configure_anymotion(struct bmi088_anymotion_anymotion_cfg anymotion_cfg, struct bmi08_dev *dev);
/*!
* \ingroup bmi088_anymotionApiInt
* \page bmi088_anymotion_api_bmi088_anymotion_get_feat_int_status bmi088_anymotion_get_feat_int_status
* \code
* int8_t bmi088_anymotion_get_feat_int_status(uint8_t *int_status, struct bmi08_dev *dev);
* \endcode
* @details This API is to get accel feature interrupt status
*
* @param[out] int_status : Variable to store interrupt status
* @param[in] dev : Structure instance of bmi08_dev
*
*@verbatim
*-----------------------------------------
* int_status | Interrupt
*-----------------------------------------
* 0x02 | Any-Motion
*------------------------------------------
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi088_anymotion_get_feat_int_status(uint8_t *int_status, struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiRemap Axis Remap
* @brief Functions of axis remapping of bmi09 sensor
*/
/*!
* \ingroup bmi088_anymotionApiRemap
* @brief Set / Get x, y and z axis re-mapping in the sensor
* \page bmi088_anymotion_api_bmi088_anymotion_set_remap_axes bmi088_anymotion_set_remap_axes
* \code
* int8_t bmi088_anymotion_set_remap_axes(const struct bmi088_anymotion_remap *remapped_axis, struct bmi08_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 : Pointer to store axes re-mapping data.
* @param[in] dev : Structure instance of bmi08_dev.
*
* @return Result of API execution status.
*
* @return 0 -> Success
* @return < 0 -> Fail
*
*/
int8_t bmi088_anymotion_set_remap_axes(const struct bmi088_anymotion_remap *remapped_axis, struct bmi08_dev *dev);
/*!
* \ingroup bmi088_anymotionApiRemap
* \page bmi088_anymotion_api_bmi088_anymotion_get_remap_axes bmi088_anymotion_get_remap_axes
* \code
* int8_t bmi088_anymotion_get_remap_axes(struct bmi088_anymotion_remap *remapped_axis, struct bmi08_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 instance of bmi088_anymotion_remap
* @param[in] dev : Structure instance of bmi08_dev
*
* @return Result of API execution status.
*
* @return 0 -> Success
* @return < 0 -> Fail
*
*/
int8_t bmi088_anymotion_get_remap_axes(struct bmi088_anymotion_remap *remapped_axis, struct bmi08_dev *dev);
/**
* \ingroup bmi088_anymotion
* \defgroup bmi088_anymotionApiVersion Major and Minor Revision
* @brief Reads major and minor revision of sensor
*/
/*!
* \ingroup bmi088_anymotionApiVersion
* \page bmi088_anymotion_api_bmi088_anymotion_get_version_config bmi088_anymotion_get_version_config
* \code
*int8_t bmi088_anymotion_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bmi08_dev *dev);
* \endcode
* @details This API is used to get the config file major and minor information.
*
* @param[in] dev : Structure instance of bmi08_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 -> Warning
* @retval <0 -> Fail
*/
int8_t bmi088_anymotion_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bmi08_dev *dev);
#ifdef __cplusplus
}
#endif
#endif /* BMI088_ANYMOTION_H_ */
/** @}*/