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bmi08g.c
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bmi08g.c
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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 bmi08g.c
* @date 2023-03-27
* @version v1.7.1
*
*/
/*! \file bmi08g.c
* \brief Sensor Driver for BMI08 family of sensors */
/****************************************************************************/
/**\name Header files
****************************************************************************/
#include "bmi08.h"
/****************************************************************************/
/**\name Local structures
****************************************************************************/
/****************************************************************************/
/*! Static Function Declarations
****************************************************************************/
/*!
* @brief This API is used to validate the device structure pointer for
* null conditions.
*
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t null_ptr_check(const struct bmi08_dev *dev);
/*!
* @brief This API reads the data from the given register address of gyro sensor.
*
* @param[in] reg_addr : Register address from where the data to be read
* @param[out]reg_data : Pointer to data buffer to store the read data.
* @param[in] len : No. of bytes of data to be read.
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t get_regs(uint8_t reg_addr, uint8_t *data, uint32_t len, struct bmi08_dev *dev);
/*!
* @brief This API writes the given data to the register address
* of gyro sensor.
*
* @param[in] reg_addr : Register address to where the data to be written.
* @param[in] reg_data : Pointer to data buffer which is to be written
* in the sensor.
* @param[in] len : No. of bytes of data to write.
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmi08_dev *dev);
/*!
* @brief This API sets the data ready interrupt for gyro sensor.
*
* @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg.
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_gyro_data_ready_int(const struct bmi08_gyro_int_channel_cfg *int_config, struct bmi08_dev *dev);
/*!
* @brief This API sets the FIFO full, FIFO watermark interrupts for gyro sensor
*
* @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg.
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_fifo_int(const struct bmi08_gyro_int_channel_cfg *int_config, struct bmi08_dev *dev);
/*!
* @brief This API configures the pins which fire the
* interrupt signal when any interrupt occurs.
*
* @param[in] int_config : Structure instance of bmi08x_gyro_int_channel_cfg.
* @param[in] dev : Structure instance of bmi08x_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_int_pin_config(const struct bmi08_gyro_int_channel_cfg *int_config, struct bmi08_dev *dev);
/*!
* @brief This API enables or disables the Gyro Self test feature in the
* sensor.
*
* @param[in] selftest : Variable used to enable or disable
* the Gyro self test feature
* Value | Description
* --------|---------------
* 0x00 | BMI08_DISABLE
* 0x01 | BMI08_ENABLE
*
* @param[in] dev : Structure instance of bmi08x_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*
*/
static int8_t set_gyro_selftest(uint8_t selftest, struct bmi08_dev *dev);
/*!
* @brief This internal API is used to get fifo data byte count
*
*
* @param[in] fifo : Structure instance of bmi08x_gyr_fifo_config.
* @param[out] frame_size : Size of the frame with respect to axis selected
* @param[out] fifo_data_byte : Stores the number of bytes to be read
*
*/
static void get_fifo_data_length(const struct bmi08_gyr_fifo_config *fifo, int8_t frame_size, uint16_t *fifo_data_byte);
/*!
* @brief This internal API computes the number of bytes of gyroscope FIFO data
* which is to be parsed.
*
* @param[out] len : Number of bytes to be parsed.
* @param[in] gyr_count : Number of gyroscope frames to be read.
* @param[in] fifo_conf : Structure instance of bmi08x_gyr_fifo_config.
* @param[in] fifo : Structure instance of bmi08x_fifo_frame.
*
*/
static void parse_fifo_gyro_len(uint16_t *len,
const uint16_t *gyr_count,
const struct bmi08_gyr_fifo_config *fifo_conf,
const struct bmi08_fifo_frame *fifo);
/*!
* @brief This internal API computes the number of bytes of gyroscope FIFO data
* which is to be parsed in header-less mode.
*
* @param[out] gyro : Structure instance of bmi08x_sensor_data.
* @param[in,out] data_index : Index value of number of bytes
* @param[in] fifo_conf : Structure instance of bmi08x_gyr_fifo_config.
* @param[in] fifo : Structure instance of bmi08x_fifo_frame.
*/
static void unpack_gyro_data(struct bmi08_sensor_data *gyro,
uint16_t *data_index,
const struct bmi08_gyr_fifo_config *fifo_conf,
const struct bmi08_fifo_frame *fifo);
/****************************************************************************/
/**\name Extern Declarations
****************************************************************************/
/****************************************************************************/
/**\name Globals
****************************************************************************/
/****************************************************************************/
/**\name Function definitions
****************************************************************************/
/*!
* @brief This API is the entry point for gyro sensor.
* It performs the selection of I2C/SPI read mechanism according to the
* selected interface and reads the chip-id of gyro sensor.
*/
int8_t bmi08g_init(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t chip_id = 0;
/* Check for null pointer in the device structure */
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
dev->gyro_chip_id = 0;
/* Read gyro chip id */
rslt = get_regs(BMI08_REG_GYRO_CHIP_ID, &chip_id, 1, dev);
if (rslt == BMI08_OK)
{
if (chip_id == BMI08_GYRO_CHIP_ID)
{
/* Store the chip ID in dev structure */
dev->gyro_chip_id = chip_id;
}
else
{
rslt = BMI08_E_DEV_NOT_FOUND;
}
}
}
return rslt;
}
/*!
* @brief This API reads the data from the given register address
* of gyro sensor.
*/
int8_t bmi08g_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bmi08_dev *dev)
{
int8_t rslt;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMI08_OK) && (reg_data != NULL))
{
if (len > 0)
{
/* Reading from the register */
rslt = get_regs(reg_addr, reg_data, len, dev);
}
else
{
rslt = BMI08_E_RD_WR_LENGTH_INVALID;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API writes the given data to the register address
* of gyro sensor.
*/
int8_t bmi08g_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmi08_dev *dev)
{
int8_t rslt;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMI08_OK) && (reg_data != NULL))
{
if (len > 0)
{
/* Writing to the register */
rslt = set_regs(reg_addr, reg_data, len, dev);
/* Delay for suspended mode of the sensor is 450 us */
if (dev->gyro_cfg.power == BMI08_GYRO_PM_SUSPEND || dev->gyro_cfg.power == BMI08_GYRO_PM_DEEP_SUSPEND)
{
dev->delay_us(450, dev->intf_ptr_gyro);
}
/* Delay for Normal mode of the sensor is 2 us */
else if (dev->gyro_cfg.power == BMI08_GYRO_PM_NORMAL)
{
dev->delay_us(2, dev->intf_ptr_gyro);
}
else
{
/* Invalid power input */
rslt = BMI08_E_INVALID_INPUT;
}
}
else
{
rslt = BMI08_E_RD_WR_LENGTH_INVALID;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API resets the gyro sensor.
*/
int8_t bmi08g_soft_reset(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
/* Reset gyro device */
data = BMI08_SOFT_RESET_CMD;
rslt = bmi08g_set_regs(BMI08_REG_GYRO_SOFTRESET, &data, 1, dev);
if (rslt == BMI08_OK)
{
/* delay 30 ms after writing reset value to its register */
dev->delay_us(BMI08_MS_TO_US(BMI08_GYRO_SOFTRESET_DELAY), dev->intf_ptr_gyro);
}
}
return rslt;
}
/*!
* @brief This API reads the gyro odr and range from the sensor, store it in the bmi08x_dev
* structure instance passed by the user.
*/
int8_t bmi08g_get_meas_conf(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data[2];
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_RANGE, data, 2, dev);
if (rslt == BMI08_OK)
{
dev->gyro_cfg.range = data[0];
dev->gyro_cfg.odr = (data[1] & BMI08_GYRO_BW_MASK);
dev->gyro_cfg.bw = dev->gyro_cfg.odr;
}
}
return rslt;
}
/*!
* @brief This API sets the output data rate, range and bandwidth
* of gyro sensor.
*/
int8_t bmi08g_set_meas_conf(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data;
uint8_t odr, range;
uint8_t is_range_invalid = FALSE, is_odr_invalid = FALSE;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
odr = dev->gyro_cfg.odr;
range = dev->gyro_cfg.range;
if (odr > BMI08_GYRO_BW_32_ODR_100_HZ)
{
/* Updating the status */
is_odr_invalid = TRUE;
}
if (range > BMI08_GYRO_RANGE_125_DPS)
{
/* Updating the status */
is_range_invalid = TRUE;
}
/* If ODR and Range is valid, write it to gyro config. registers */
if ((!is_odr_invalid) && (!is_range_invalid))
{
/* Read range value from the range register */
rslt = bmi08g_get_regs(BMI08_REG_GYRO_BANDWIDTH, &data, 1, dev);
if (rslt == BMI08_OK)
{
data = BMI08_SET_BITS_POS_0(data, BMI08_GYRO_BW, odr);
/* Write odr value to odr register */
rslt = bmi08g_set_regs(BMI08_REG_GYRO_BANDWIDTH, &data, 1, dev);
if (rslt == BMI08_OK)
{
/* Read range value from the range register */
rslt = bmi08g_get_regs(BMI08_REG_GYRO_RANGE, &data, 1, dev);
}
if (rslt == BMI08_OK)
{
data = BMI08_SET_BITS_POS_0(data, BMI08_GYRO_RANGE, range);
/* Write range value to range register */
rslt = bmi08g_set_regs(BMI08_REG_GYRO_RANGE, &data, 1, dev);
}
if (rslt == BMI08_OK)
{
/* Delay required to set configurations */
dev->delay_us(BMI08_GYRO_SET_CONFIG_DELAY * 1000, dev->intf_ptr_gyro);
}
}
}
else
{
/* Invalid configuration present in ODR, Range */
rslt = BMI08_E_INVALID_CONFIG;
}
}
return rslt;
}
/*!
* @brief This API reads the gyro power mode from the sensor,
* store it in the bmi08x_dev structure instance
* passed by the user.
*
*/
int8_t bmi08g_get_power_mode(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_LPM1, &data, 1, dev);
if (rslt == BMI08_OK)
{
/* Updating the power mode in the dev structure */
dev->gyro_cfg.power = data;
}
}
return rslt;
}
/*!
* @brief This API sets the power mode of the gyro sensor.
*/
int8_t bmi08g_set_power_mode(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t power_mode, data;
uint8_t is_power_switching_mode_valid = TRUE;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
/*read the previous power state*/
rslt = bmi08g_get_regs(BMI08_REG_GYRO_LPM1, &data, 1, dev);
if (rslt == BMI08_OK)
{
power_mode = dev->gyro_cfg.power;
/* Switching between normal mode and the suspend modes is allowed, it is not possible to switch
* between suspend and deep suspend and vice versa. Check for invalid power switching,
* (i.e) deep suspend to suspend */
if ((power_mode == BMI08_GYRO_PM_SUSPEND) && (data == BMI08_GYRO_PM_DEEP_SUSPEND))
{
/* Updating the status */
is_power_switching_mode_valid = FALSE;
}
/* Check for invalid power switching (i.e) from suspend to deep suspend */
if ((power_mode == BMI08_GYRO_PM_DEEP_SUSPEND) && (data == BMI08_GYRO_PM_SUSPEND))
{
/* Updating the status */
is_power_switching_mode_valid = FALSE;
}
/* Check if power switching mode is valid*/
if (is_power_switching_mode_valid)
{
/* Write power to power register */
rslt = bmi08g_set_regs(BMI08_REG_GYRO_LPM1, &power_mode, 1, dev);
if (rslt == BMI08_OK)
{
/* Time required to switch the power mode */
dev->delay_us(BMI08_MS_TO_US(BMI08_GYRO_POWER_MODE_CONFIG_DELAY), dev->intf_ptr_gyro);
}
}
else
{
/* Updating the error */
rslt = BMI08_E_INVALID_INPUT;
}
}
}
return rslt;
}
/*!
* @brief This API reads the gyro data from the sensor,
* store it in the bmi08x_sensor_data structure instance
* passed by the user.
*/
int8_t bmi08g_get_data(struct bmi08_sensor_data *gyro, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data[6];
uint8_t lsb, msb;
uint16_t msblsb;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMI08_OK) && (gyro != NULL))
{
/* read gyro sensor data */
rslt = bmi08g_get_regs(BMI08_REG_GYRO_X_LSB, data, 6, dev);
if (rslt == BMI08_OK)
{
lsb = data[0];
msb = data[1];
msblsb = (msb << 8) | lsb;
gyro->x = (int16_t)msblsb; /* Data in X axis */
lsb = data[2];
msb = data[3];
msblsb = (msb << 8) | lsb;
gyro->y = (int16_t)msblsb; /* Data in Y axis */
lsb = data[4];
msb = data[5];
msblsb = (msb << 8) | lsb;
gyro->z = (int16_t)msblsb; /* Data in Z axis */
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API configures the necessary gyro interrupt
* based on the user settings in the bmi08x_int_cfg
* structure instance.
*/
int8_t bmi08g_set_int_config(const struct bmi08_gyro_int_channel_cfg *int_config, struct bmi08_dev *dev)
{
int8_t rslt;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if ((rslt == BMI08_OK) && (int_config != NULL))
{
switch (int_config->int_type)
{
case BMI08_GYRO_INT_DATA_RDY:
/* Data ready interrupt */
rslt = set_gyro_data_ready_int(int_config, dev);
break;
case BMI08_GYRO_INT_FIFO_WM:
case BMI08_GYRO_INT_FIFO_FULL:
/* FIFO interrupt */
rslt = set_fifo_int(int_config, dev);
break;
default:
rslt = BMI08_E_INVALID_CONFIG;
break;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API checks whether the self test functionality of the
* gyro sensor is working or not.
*/
int8_t bmi08g_perform_selftest(struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t data = 0, loop_break = 1;
/* Check for null pointer in the device structure*/
rslt = null_ptr_check(dev);
/* Proceed if null check is fine */
if (rslt == BMI08_OK)
{
/* Enable the gyro self-test */
rslt = set_gyro_selftest(BMI08_ENABLE, dev);
if (rslt == BMI08_OK)
{
/* Loop till self-test ready bit is set */
while (loop_break)
{
/* Read self-test register to check if self-test ready bit is set */
rslt = bmi08g_get_regs(BMI08_REG_GYRO_SELF_TEST, &data, 1, dev);
if (rslt == BMI08_OK)
{
data = BMI08_GET_BITS(data, BMI08_GYRO_SELF_TEST_RDY);
if (data)
{
/* If self-test ready bit is set, exit the loop */
loop_break = 0;
}
}
else
{
/* Exit the loop in case of communication failure */
loop_break = 0;
}
}
if (rslt == BMI08_OK)
{
/* Read self-test register to check for self-test Ok bit */
rslt = bmi08g_get_regs(BMI08_REG_GYRO_SELF_TEST, &data, 1, dev);
if (rslt == BMI08_OK)
{
data = BMI08_GET_BITS(data, BMI08_GYRO_SELF_TEST_RESULT);
rslt = bmi08g_soft_reset(dev);
if (rslt == BMI08_OK)
{
/* Updating the self test result */
rslt = (int8_t) data;
}
}
}
}
}
return rslt;
}
/*!
* @brief This internal API gets gyro data ready interrupt status
*/
int8_t bmi08g_get_data_int_status(uint8_t *int_status, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t status = 0;
if (int_status != NULL)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_INT_STAT_1, &status, 1, dev);
if (rslt == BMI08_OK)
{
(*int_status) = status;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to get fifo overrun.
*/
int8_t bmi08g_get_fifo_overrun(uint8_t *fifo_overrun, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t reg_data = 0;
if (fifo_overrun != NULL)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_FIFO_STATUS, ®_data, 1, dev);
if (rslt == BMI08_OK)
{
*fifo_overrun = BMI08_GET_BITS(reg_data, BMI08_GYRO_FIFO_OVERRUN);
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to get fifo configuration of the sensor.
*/
int8_t bmi08g_get_fifo_config(struct bmi08_gyr_fifo_config *fifo_conf, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t fifo_config[2] = { 0 };
uint8_t reg_data = 0;
if (fifo_conf != NULL)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_FIFO_CONFIG0, fifo_config, 2, dev);
if (rslt == BMI08_OK)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_FIFO_STATUS, ®_data, 1, dev);
if (rslt == BMI08_OK)
{
fifo_conf->tag = BMI08_GET_BITS(fifo_config[0], BMI08_GYRO_FIFO_TAG);
fifo_conf->wm_level = BMI08_GET_BITS_POS_0(fifo_config[0], BMI08_GYRO_FIFO_WM_LEVEL);
fifo_conf->mode = BMI08_GET_BITS(fifo_config[1], BMI08_GYRO_FIFO_MODE);
fifo_conf->data_select = BMI08_GET_BITS_POS_0(fifo_config[1], BMI08_GYRO_FIFO_DATA_SELECT);
fifo_conf->frame_count = BMI08_GET_BITS_POS_0(reg_data, BMI08_GYRO_FIFO_FRAME_COUNT);
}
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to get fifo configuration of the sensor.
*/
int8_t bmi08g_set_fifo_config(const struct bmi08_gyr_fifo_config *fifo_conf, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t fifo_config[2] = { 0 };
if (fifo_conf != NULL)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_FIFO_CONFIG0, fifo_config, 2, dev);
if (rslt == BMI08_OK)
{
fifo_config[0] = BMI08_SET_BITS(fifo_config[0], BMI08_GYRO_FIFO_TAG, fifo_conf->tag);
fifo_config[0] = BMI08_SET_BITS_POS_0(fifo_config[0], BMI08_GYRO_FIFO_WM_LEVEL, fifo_conf->wm_level);
fifo_config[1] = BMI08_SET_BITS_POS_0(fifo_config[1], BMI08_GYRO_FIFO_DATA_SELECT, fifo_conf->data_select);
fifo_config[1] = BMI08_SET_BITS(fifo_config[1], BMI08_GYRO_FIFO_MODE, fifo_conf->mode);
rslt = bmi08g_set_regs(BMI08_REG_GYRO_FIFO_CONFIG0, fifo_config, 2, dev);
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API gets the length of FIFO data available in the sensor in
* bytes.
*/
int8_t bmi08g_get_fifo_length(const struct bmi08_gyr_fifo_config *fifo_config, struct bmi08_fifo_frame *fifo)
{
int8_t rslt = BMI08_OK;
uint16_t fifo_data_byte_count = 0;
if ((fifo != NULL) && (fifo_config != NULL))
{
if (fifo_config->data_select == BMI08_GYRO_FIFO_XYZ_AXIS_ENABLED)
{
get_fifo_data_length(fifo_config, BMI08_GYRO_FIFO_XYZ_AXIS_FRAME_SIZE, &fifo_data_byte_count);
}
else
{
get_fifo_data_length(fifo_config, BMI08_GYRO_FIFO_SINGLE_AXIS_FRAME_SIZE, &fifo_data_byte_count);
}
if (fifo->length > fifo_data_byte_count)
{
fifo->length = fifo_data_byte_count;
}
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to read the fifo data from the sensor.
*/
int8_t bmi08g_read_fifo_data(const struct bmi08_fifo_frame *fifo, struct bmi08_dev *dev)
{
int8_t rslt = BMI08_OK;
if (fifo != NULL)
{
rslt = bmi08g_get_regs(BMI08_REG_GYRO_FIFO_DATA, fifo->data, fifo->length, dev);
}
else
{
rslt = BMI08_E_NULL_PTR;
}
return rslt;
}
/*!
* @brief This API is used to extract gyroscope data from fifo.
*/
void bmi08g_extract_gyro(struct bmi08_sensor_data *gyro_data,
const uint16_t *gyro_length,
const struct bmi08_gyr_fifo_config *fifo_conf,
const struct bmi08_fifo_frame *fifo)
{
uint16_t data_index = 0;
uint16_t gyro_index = 0;
uint16_t data_read_length = 0;
/* Get the number of gyro bytes to be read */
parse_fifo_gyro_len(&data_read_length, gyro_length, fifo_conf, fifo);
for (; data_index < data_read_length;)
{
unpack_gyro_data(&gyro_data[gyro_index], &data_index, fifo_conf, fifo);
gyro_index++;
}
}
int8_t bmi08g_enable_watermark(uint8_t enable, struct bmi08_dev *dev)
{
int8_t rslt;
uint8_t reg_data;
if (enable)
{
reg_data = BMI08_GYRO_FIFO_WM_ENABLE_VAL;
rslt = bmi08g_set_regs(BMI08_REG_GYRO_FIFO_WM_ENABLE, ®_data, 1, dev);
}
else
{
reg_data = BMI08_GYRO_FIFO_WM_DISABLE_VAL;
rslt = bmi08g_set_regs(BMI08_REG_GYRO_FIFO_WM_ENABLE, ®_data, 1, dev);
}
return rslt;
}
/*****************************************************************************/
/* Static function definition */
/*! @cond DOXYGEN_SUPRESS */
/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant
* directories */
/*!
* @brief This API is used to validate the device structure pointer for
* null conditions.
*/
static int8_t null_ptr_check(const struct bmi08_dev *dev)
{
int8_t rslt;
if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
{
/* Device structure pointer is not valid */
rslt = BMI08_E_NULL_PTR;
}
else
{
/* Device structure is fine */
rslt = BMI08_OK;
}
return rslt;
}
/*!
* @brief This API reads the data from the given register address of gyro sensor.
*/
static int8_t get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bmi08_dev *dev)
{
int8_t rslt = BMI08_OK;
if (dev->intf == BMI08_SPI_INTF)
{
/* Configuring reg_addr for SPI Interface */
reg_addr = (reg_addr | BMI08_SPI_RD_MASK);
}
/* Read gyro register */
dev->intf_rslt = dev->read(reg_addr, reg_data, len, dev->intf_ptr_gyro);
if (dev->intf_rslt != BMI08_INTF_RET_SUCCESS)
{
/* Updating the error */
rslt = BMI08_E_COM_FAIL;
}
return rslt;
}
/*!
* @brief This API writes the given data to the register address of gyro sensor.
*/
static int8_t set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmi08_dev *dev)
{
int8_t rslt = BMI08_OK;
uint8_t count = 0;
if (dev->intf == BMI08_SPI_INTF)
{
/* Configuring reg_addr for SPI Interface */
reg_addr = (reg_addr & BMI08_SPI_WR_MASK);
}
/* SPI write requires to set The MSB of reg_addr as 0
* but in default the MSB is always 0
*/