/
bmi2_defs.h
2814 lines (2272 loc) · 115 KB
/
bmi2_defs.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 bmi2_defs.h
* @date 2023-05-03
* @version v2.86.1
*
*/
#ifndef BMI2_DEFS_H_
#define BMI2_DEFS_H_
/******************************************************************************/
/*! @name Header includes */
/******************************************************************************/
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdio.h>
#include <stdint.h>
#include <stddef.h>
#endif
/******************************************************************************/
/*! @name Common macros */
/******************************************************************************/
#ifdef __KERNEL__
#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x) S8_C(x)
#define UINT8_C(x) U8_C(x)
#endif
#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x) S16_C(x)
#define UINT16_C(x) U16_C(x)
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x) S32_C(x)
#define UINT32_C(x) U32_C(x)
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x) S64_C(x)
#define UINT64_C(x) U64_C(x)
#endif
#endif
/*! @name C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
/******************************************************************************/
/*! @name General Macro Definitions */
/******************************************************************************/
/*! @name Utility macros */
#define BMI2_SET_BITS(reg_data, bitname, data) \
((reg_data & ~(bitname##_MASK)) | \
((data << bitname##_POS) & bitname##_MASK))
#define BMI2_GET_BITS(reg_data, bitname) \
((reg_data & (bitname##_MASK)) >> \
(bitname##_POS))
#define BMI2_SET_BIT_POS0(reg_data, bitname, data) \
((reg_data & ~(bitname##_MASK)) | \
(data & bitname##_MASK))
#define BMI2_GET_BIT_POS0(reg_data, bitname) (reg_data & (bitname##_MASK))
#define BMI2_SET_BIT_VAL0(reg_data, bitname) (reg_data & ~(bitname##_MASK))
/*! @name For getting LSB and MSB */
#define BMI2_GET_LSB(var) (uint8_t)(var & BMI2_SET_LOW_BYTE)
#define BMI2_GET_MSB(var) (uint8_t)((var & BMI2_SET_HIGH_BYTE) >> 8)
#ifndef BMI2_INTF_RETURN_TYPE
#define BMI2_INTF_RETURN_TYPE int8_t
#endif
/*! @name For defining absolute values */
#define BMI2_ABS(a) ((a) > 0 ? (a) : -(a))
#define BMI2_MAX_BUFFER_SIZE UINT8_C(128)
/*! @name LSB and MSB mask definitions */
#define BMI2_SET_LOW_BYTE UINT16_C(0x00FF)
#define BMI2_SET_HIGH_BYTE UINT16_C(0xFF00)
#define BMI2_SET_LOW_NIBBLE UINT8_C(0x0F)
/*! @name For enable and disable */
#define BMI2_ENABLE UINT8_C(1)
#define BMI2_DISABLE UINT8_C(0)
/*! @name To define TRUE or FALSE */
#define BMI2_TRUE UINT8_C(1)
#define BMI2_FALSE UINT8_C(0)
/*! @name Macro to define maximum length of read */
#define BMI2_MAX_LEN UINT8_C(128)
/*! @name To define sensor interface success code */
#define BMI2_INTF_RET_SUCCESS INT8_C(0)
/*! @name To define success code */
#define BMI2_OK INT8_C(0)
/* @name To define delay */
#define BMI2_POWER_SAVE_MODE_DELAY_IN_US UINT16_C(450)
#define BMI2_NORMAL_MODE_DELAY_IN_US UINT8_C(2)
/*! @name To define error codes */
#define BMI2_E_NULL_PTR INT8_C(-1)
#define BMI2_E_COM_FAIL INT8_C(-2)
#define BMI2_E_DEV_NOT_FOUND INT8_C(-3)
#define BMI2_E_OUT_OF_RANGE INT8_C(-4)
#define BMI2_E_ACC_INVALID_CFG INT8_C(-5)
#define BMI2_E_GYRO_INVALID_CFG INT8_C(-6)
#define BMI2_E_ACC_GYR_INVALID_CFG INT8_C(-7)
#define BMI2_E_INVALID_SENSOR INT8_C(-8)
#define BMI2_E_CONFIG_LOAD INT8_C(-9)
#define BMI2_E_INVALID_PAGE INT8_C(-10)
#define BMI2_E_INVALID_FEAT_BIT INT8_C(-11)
#define BMI2_E_INVALID_INT_PIN INT8_C(-12)
#define BMI2_E_SET_APS_FAIL INT8_C(-13)
#define BMI2_E_AUX_INVALID_CFG INT8_C(-14)
#define BMI2_E_AUX_BUSY INT8_C(-15)
#define BMI2_E_SELF_TEST_FAIL INT8_C(-16)
#define BMI2_E_REMAP_ERROR INT8_C(-17)
#define BMI2_E_GYR_USER_GAIN_UPD_FAIL INT8_C(-18)
#define BMI2_E_SELF_TEST_NOT_DONE INT8_C(-19)
#define BMI2_E_INVALID_INPUT INT8_C(-20)
#define BMI2_E_INVALID_STATUS INT8_C(-21)
#define BMI2_E_CRT_ERROR INT8_C(-22)
#define BMI2_E_ST_ALREADY_RUNNING INT8_C(-23)
#define BMI2_E_CRT_READY_FOR_DL_FAIL_ABORT INT8_C(-24)
#define BMI2_E_DL_ERROR INT8_C(-25)
#define BMI2_E_PRECON_ERROR INT8_C(-26)
#define BMI2_E_ABORT_ERROR INT8_C(-27)
#define BMI2_E_GYRO_SELF_TEST_ERROR INT8_C(-28)
#define BMI2_E_GYRO_SELF_TEST_TIMEOUT INT8_C(-29)
#define BMI2_E_WRITE_CYCLE_ONGOING INT8_C(-30)
#define BMI2_E_WRITE_CYCLE_TIMEOUT INT8_C(-31)
#define BMI2_E_ST_NOT_RUNING INT8_C(-32)
#define BMI2_E_DATA_RDY_INT_FAILED INT8_C(-33)
#define BMI2_E_INVALID_FOC_POSITION INT8_C(-34)
/*! @name To define warnings for FIFO activity */
#define BMI2_W_FIFO_EMPTY INT8_C(1)
#define BMI2_W_PARTIAL_READ INT8_C(2)
#define BMI2_W_DUMMY_BYTE INT8_C(3)
/*! @name Macros to define dummy frame header FIFO headerless mode */
#define BMI2_FIFO_HEADERLESS_DUMMY_ACC UINT8_C(0x01)
#define BMI2_FIFO_HEADERLESS_DUMMY_GYR UINT8_C(0x02)
#define BMI2_FIFO_HEADERLESS_DUMMY_AUX UINT8_C(0x03)
#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_1 UINT8_C(0x7F)
#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_2 UINT8_C(0x00)
#define BMI2_FIFO_HEADERLESS_DUMMY_BYTE_3 UINT8_C(0x80)
/*! @name Bit wise to define information */
#define BMI2_I_MIN_VALUE UINT8_C(1)
#define BMI2_I_MAX_VALUE UINT8_C(2)
/*! @name BMI2 register addresses */
#define BMI2_CHIP_ID_ADDR UINT8_C(0x00)
#define BMI2_STATUS_ADDR UINT8_C(0x03)
#define BMI2_AUX_X_LSB_ADDR UINT8_C(0x04)
#define BMI2_ACC_X_LSB_ADDR UINT8_C(0x0C)
#define BMI2_GYR_X_LSB_ADDR UINT8_C(0x12)
#define BMI2_SENSORTIME_ADDR UINT8_C(0x18)
#define BMI2_EVENT_ADDR UINT8_C(0x1B)
#define BMI2_INT_STATUS_0_ADDR UINT8_C(0x1C)
#define BMI2_INT_STATUS_1_ADDR UINT8_C(0x1D)
#define BMI2_SC_OUT_0_ADDR UINT8_C(0x1E)
#define BMI2_SYNC_COMMAND_ADDR UINT8_C(0x1E)
#define BMI2_GYR_CAS_GPIO0_ADDR UINT8_C(0x1E)
#define BMI2_INTERNAL_STATUS_ADDR UINT8_C(0x21)
#define BMI2_TEMPERATURE_0_ADDR UINT8_C(0x22)
#define BMI2_TEMPERATURE_1_ADDR UINT8_C(0x23)
#define BMI2_FIFO_LENGTH_0_ADDR UINT8_C(0x24)
#define BMI2_FIFO_DATA_ADDR UINT8_C(0x26)
#define BMI2_FEAT_PAGE_ADDR UINT8_C(0x2F)
#define BMI2_FEATURES_REG_ADDR UINT8_C(0x30)
#define BMI2_ACC_CONF_ADDR UINT8_C(0x40)
#define BMI2_GYR_CONF_ADDR UINT8_C(0x42)
#define BMI2_AUX_CONF_ADDR UINT8_C(0x44)
#define BMI2_FIFO_DOWNS_ADDR UINT8_C(0x45)
#define BMI2_FIFO_WTM_0_ADDR UINT8_C(0x46)
#define BMI2_FIFO_WTM_1_ADDR UINT8_C(0x47)
#define BMI2_FIFO_CONFIG_0_ADDR UINT8_C(0x48)
#define BMI2_FIFO_CONFIG_1_ADDR UINT8_C(0x49)
#define BMI2_SATURATION_ADDR UINT8_C(0x4A)
#define BMI2_AUX_DEV_ID_ADDR UINT8_C(0x4B)
#define BMI2_AUX_IF_CONF_ADDR UINT8_C(0x4C)
#define BMI2_AUX_RD_ADDR UINT8_C(0x4D)
#define BMI2_AUX_WR_ADDR UINT8_C(0x4E)
#define BMI2_AUX_WR_DATA_ADDR UINT8_C(0x4F)
#define BMI2_ERR_REG_MSK_ADDR UINT8_C(0x52)
#define BMI2_INT1_IO_CTRL_ADDR UINT8_C(0x53)
#define BMI2_INT2_IO_CTRL_ADDR UINT8_C(0x54)
#define BMI2_INT_LATCH_ADDR UINT8_C(0x55)
#define BMI2_INT1_MAP_FEAT_ADDR UINT8_C(0x56)
#define BMI2_INT2_MAP_FEAT_ADDR UINT8_C(0x57)
#define BMI2_INT_MAP_DATA_ADDR UINT8_C(0x58)
#define BMI2_INIT_CTRL_ADDR UINT8_C(0x59)
#define BMI2_INIT_ADDR_0 UINT8_C(0x5B)
#define BMI2_INIT_ADDR_1 UINT8_C(0x5C)
#define BMI2_INIT_DATA_ADDR UINT8_C(0x5E)
#define BMI2_INTERNAL_ERR_ADDR UINT8_C(0x5F)
#define BMI2_AUX_IF_TRIM UINT8_C(0x68)
#define BMI2_GYR_CRT_CONF_ADDR UINT8_C(0x69)
#define BMI2_NVM_CONF_ADDR UINT8_C(0x6A)
#define BMI2_IF_CONF_ADDR UINT8_C(0x6B)
#define BMI2_DRV_STR_ADDR UINT8_C(0x6C)
#define BMI2_ACC_SELF_TEST_ADDR UINT8_C(0x6D)
#define BMI2_GYR_SELF_TEST_AXES_ADDR UINT8_C(0x6E)
#define BMI2_SELF_TEST_MEMS_ADDR UINT8_C(0x6F)
#define BMI2_NV_CONF_ADDR UINT8_C(0x70)
#define BMI2_ACC_OFF_COMP_0_ADDR UINT8_C(0x71)
#define BMI2_GYR_OFF_COMP_3_ADDR UINT8_C(0x74)
#define BMI2_GYR_OFF_COMP_6_ADDR UINT8_C(0x77)
#define BMI2_GYR_USR_GAIN_0_ADDR UINT8_C(0x78)
#define BMI2_PWR_CONF_ADDR UINT8_C(0x7C)
#define BMI2_PWR_CTRL_ADDR UINT8_C(0x7D)
#define BMI2_CMD_REG_ADDR UINT8_C(0x7E)
/*! @name BMI2 I2C address */
#define BMI2_I2C_PRIM_ADDR UINT8_C(0x68)
#define BMI2_I2C_SEC_ADDR UINT8_C(0x69)
/*! @name BMI2 Commands */
#define BMI2_G_TRIGGER_CMD UINT8_C(0x02)
#define BMI2_USR_GAIN_CMD UINT8_C(0x03)
#define BMI2_NVM_PROG_CMD UINT8_C(0xA0)
#define BMI2_SOFT_RESET_CMD UINT8_C(0xB6)
#define BMI2_FIFO_FLUSH_CMD UINT8_C(0xB0)
/*! @name BMI2 sensor data bytes */
#define BMI2_AUX_NUM_BYTES UINT8_C(8)
#define BMI2_ACC_NUM_BYTES UINT8_C(6)
#define BMI2_GYR_NUM_BYTES UINT8_C(6)
#define BMI2_STATUS_INDEX UINT8_C(0)
#define BMI2_AUX_START_INDEX UINT8_C(1)
#define BMI2_ACC_START_INDEX UINT8_C(9)
#define BMI2_GYR_START_INDEX UINT8_C(15)
#define BMI2_ACC_GYR_AUX_SENSORTIME_NUM_BYTES UINT8_C(24)
#define BMI2_CRT_CONFIG_FILE_SIZE UINT16_C(2048)
#define BMI2_FEAT_SIZE_IN_BYTES UINT8_C(16)
#define BMI2_ACC_CONFIG_LENGTH UINT8_C(2)
/*! @name BMI2 configuration load status */
#define BMI2_CONFIG_LOAD_SUCCESS UINT8_C(1)
#define BMI2_CONFIG_LOAD_STATUS_MASK UINT8_C(0x0F)
/*! @name To define BMI2 pages */
#define BMI2_PAGE_0 UINT8_C(0)
#define BMI2_PAGE_1 UINT8_C(1)
#define BMI2_PAGE_2 UINT8_C(2)
#define BMI2_PAGE_3 UINT8_C(3)
#define BMI2_PAGE_4 UINT8_C(4)
#define BMI2_PAGE_5 UINT8_C(5)
#define BMI2_PAGE_6 UINT8_C(6)
#define BMI2_PAGE_7 UINT8_C(7)
/*! @name Array Parameter Definitions */
#define BMI2_PARSE_SENSOR_TIME_LSB_BYTE UINT8_C(21)
#define BMI2_PARSE_SENSOR_TIME_XLSB_BYTE UINT8_C(22)
#define BMI2_PARSE_SENSOR_TIME_MSB_BYTE UINT8_C(23)
#define BMI2_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
#define BMI2_SENSOR_TIME_MSB_BYTE UINT8_C(2)
/*! @name Mask definitions for Gyro CRT */
#define BMI2_GYR_RDY_FOR_DL_MASK UINT8_C(0x08)
#define BMI2_GYR_CRT_RUNNING_MASK UINT8_C(0x04)
/*! @name mask definition for status register */
#define BMI2_AUX_BUSY_MASK UINT8_C(0x04)
#define BMI2_CMD_RDY_MASK UINT8_C(0x10)
#define BMI2_DRDY_AUX_MASK UINT8_C(0x20)
#define BMI2_DRDY_GYR_MASK UINT8_C(0x40)
#define BMI2_DRDY_ACC_MASK UINT8_C(0x80)
/*! @name Mask definitions for SPI read/write address */
#define BMI2_SPI_RD_MASK UINT8_C(0x80)
#define BMI2_SPI_WR_MASK UINT8_C(0x7F)
/*! @name Mask definitions for power configuration register */
#define BMI2_ADV_POW_EN_MASK UINT8_C(0x01)
#define BMI2_FUP_EN_POS UINT8_C(0x02)
#define BMI2_FUP_EN_MASK UINT8_C(0x04)
/*! @name Mask definitions for initialization control register */
#define BMI2_CONF_LOAD_EN_MASK UINT8_C(0x01)
/*! @name Mask definitions for power control register */
#define BMI2_AUX_EN_MASK UINT8_C(0x01)
#define BMI2_GYR_EN_MASK UINT8_C(0x02)
#define BMI2_ACC_EN_MASK UINT8_C(0x04)
#define BMI2_TEMP_EN_MASK UINT8_C(0x08)
/*! @name Mask definitions for sensor event flags */
#define BMI2_EVENT_FLAG_MASK UINT8_C(0x1C)
/*! @name Mask definitions to switch page */
#define BMI2_SWITCH_PAGE_EN_MASK UINT8_C(0x07)
/*! @name Mask definitions of NVM register */
#define BMI2_NV_SPI_EN_MASK UINT8_C(0x01)
#define BMI2_NV_I2C_WD_SEL_MASK UINT8_C(0x02)
#define BMI2_NV_I2C_WD_EN_MASK UINT8_C(0x04)
#define BMI2_NV_ACC_OFFSET_MASK UINT8_C(0x08)
/*! @name Mask definitions of DRV register */
#define BMI2_DRV_STR_MASK UINT8_C(0xFF)
/*! @name Mask definition for config version */
#define BMI2_CONFIG_MAJOR_MASK UINT16_C(0x3C0)
#define BMI2_CONFIG_MINOR_MASK UINT8_C(0x3F)
/*! @name mask and bit position for activity recognition settings */
#define BMI2_ACT_RECG_POST_PROS_EN_DIS_MASK UINT8_C(0x01)
#define BMI2_ACT_RECG_BUFF_SIZE_MASK UINT8_C(0x0F)
#define BMI2_ACT_RECG_MIN_SEG_CONF_MASK UINT8_C(0x0F)
/*! @name mask and bit position for activity recognition hc settings */
#define BMI2_HC_ACT_RECG_SEGMENT_SIZE_MASK UINT8_C(0x03)
#define BMI2_HC_ACT_RECG_PP_EN_MASK UINT8_C(0x01)
#define BMI2_HC_ACT_RECG_MIN_GDI_THRES_MASK UINT16_C(0xFFFF)
#define BMI2_HC_ACT_RECG_MAX_GDI_THRES_MASK UINT16_C(0xFFFF)
#define BMI2_HC_ACT_RECG_BUF_SIZE_MASK UINT16_C(0xFFFF)
#define BMI2_HC_ACT_RECG_MIN_SEG_CONF_MASK UINT16_C(0xFFFF)
#define BMI2_GYRO_CROSS_AXES_SENSE_MASK UINT8_C(0x7F)
#define BMI2_GYRO_CROSS_AXES_SENSE_SIGN_BIT_MASK UINT8_C(0x40)
/*! @name Bit position definitions for Gyro CRT */
#define BMI2_GYR_RDY_FOR_DL_POS UINT8_C(0x03)
#define BMI2_GYR_CRT_RUNNING_POS UINT8_C(0x02)
/*! @name Bit position for status register*/
#define BMI2_AUX_BUSY_POS UINT8_C(0x02)
#define BMI2_CMD_RDY_POS UINT8_C(0x04)
#define BMI2_DRDY_AUX_POS UINT8_C(0x05)
#define BMI2_DRDY_GYR_POS UINT8_C(0x06)
#define BMI2_DRDY_ACC_POS UINT8_C(0x07)
/*! @name Bit position definition for internal error register */
#define BMI2_INTERNAL_ERROR_REG_POS UINT8_C(0x00)
/*! @name Bit position definitions for power control register */
#define BMI2_GYR_EN_POS UINT8_C(0x01)
#define BMI2_ACC_EN_POS UINT8_C(0x02)
#define BMI2_TEMP_EN_POS UINT8_C(0x03)
/*! @name Bit position definitions for sensor event flags */
#define BMI2_EVENT_FLAG_POS UINT8_C(0x02)
/*! @name Bit position definitions of NVM register */
#define BMI2_NV_SPI_EN_POS UINT8_C(0x00)
#define BMI2_NV_I2C_WD_SEL_POS UINT8_C(0x01)
#define BMI2_NV_I2C_WD_EN_POS UINT8_C(0x02)
#define BMI2_NV_ACC_OFFSET_POS UINT8_C(0x03)
/*! @name Mask definitions of DRV register */
#define BMI2_DRV_STR_POS UINT8_C(0x00)
/*! @name Bit position for major version from config */
#define BMI2_CONFIG_MAJOR_POS UINT8_C(0x06)
/*! @name Accelerometer and Gyroscope Filter/Noise performance modes */
/* Power optimized mode */
#define BMI2_POWER_OPT_MODE UINT8_C(0)
/* Performance optimized */
#define BMI2_PERF_OPT_MODE UINT8_C(1)
/*! @name index for config major minor information */
#define BMI2_CONFIG_INFO_LOWER UINT8_C(52)
#define BMI2_CONFIG_INFO_HIGHER UINT8_C(53)
/*! @name Sensor status */
#define BMI2_DRDY_ACC UINT8_C(0x80)
#define BMI2_DRDY_GYR UINT8_C(0x40)
#define BMI2_DRDY_AUX UINT8_C(0x20)
#define BMI2_CMD_RDY UINT8_C(0x10)
#define BMI2_AUX_BUSY UINT8_C(0x04)
/*! @name Macro to define accelerometer configuration value for FOC */
#define BMI2_FOC_ACC_CONF_VAL UINT8_C(0xB7)
/*! @name Macro to define gyroscope configuration value for FOC */
#define BMI2_FOC_GYR_CONF_VAL UINT8_C(0xB6)
/*! @name Macro to define X Y and Z axis for an array */
#define BMI2_X_AXIS UINT8_C(0)
#define BMI2_Y_AXIS UINT8_C(1)
#define BMI2_Z_AXIS UINT8_C(2)
#define BMI2_FOC_INVERT_VALUE INT8_C(-1)
/*! @name Macro for delay to read internal status */
#define BMI2_INTERNAL_STATUS_READ_DELAY_MS UINT32_C(20000)
/******************************************************************************/
/*! @name Sensor Macro Definitions */
/******************************************************************************/
/*! @name Macros to define BMI2 sensor/feature types */
#define BMI2_ACCEL UINT8_C(0)
#define BMI2_GYRO UINT8_C(1)
#define BMI2_AUX UINT8_C(2)
#define BMI2_SIG_MOTION UINT8_C(3)
#define BMI2_ANY_MOTION UINT8_C(4)
#define BMI2_NO_MOTION UINT8_C(5)
#define BMI2_STEP_DETECTOR UINT8_C(6)
#define BMI2_STEP_COUNTER UINT8_C(7)
#define BMI2_STEP_ACTIVITY UINT8_C(8)
#define BMI2_GYRO_GAIN_UPDATE UINT8_C(9)
#define BMI2_TILT UINT8_C(10)
#define BMI2_UP_HOLD_TO_WAKE UINT8_C(11)
#define BMI2_GLANCE_DETECTOR UINT8_C(12)
#define BMI2_WAKE_UP UINT8_C(13)
#define BMI2_ORIENTATION UINT8_C(14)
#define BMI2_HIGH_G UINT8_C(15)
#define BMI2_LOW_G UINT8_C(16)
#define BMI2_FLAT UINT8_C(17)
#define BMI2_EXT_SENS_SYNC UINT8_C(18)
#define BMI2_WRIST_GESTURE UINT8_C(19)
#define BMI2_WRIST_WEAR_WAKE_UP UINT8_C(20)
#define BMI2_WRIST_WEAR_WAKE_UP_WH UINT8_C(21)
#define BMI2_WRIST_GESTURE_WH UINT8_C(22)
#define BMI2_PRIMARY_OIS UINT8_C(23)
#define BMI2_FREE_FALL_DET UINT8_C(24)
#define BMI2_SINGLE_TAP UINT8_C(25)
#define BMI2_DOUBLE_TAP UINT8_C(26)
#define BMI2_TRIPLE_TAP UINT8_C(27)
#define BMI2_TAP UINT8_C(28)
/* Non virtual sensor features */
#define BMI2_STEP_COUNTER_PARAMS UINT8_C(29)
#define BMI2_TAP_DETECTOR_1 UINT8_C(30)
#define BMI2_TAP_DETECTOR_2 UINT8_C(31)
#define BMI2_TEMP UINT8_C(32)
#define BMI2_ACCEL_SELF_TEST UINT8_C(33)
#define BMI2_GYRO_SELF_OFF UINT8_C(34)
#define BMI2_ACTIVITY_RECOGNITION UINT8_C(35)
#define BMI2_MAX_BURST_LEN UINT8_C(36)
#define BMI2_SENS_MAX_NUM UINT8_C(37)
#define BMI2_AXIS_MAP UINT8_C(38)
#define BMI2_NVM_STATUS UINT8_C(39)
#define BMI2_VFRM_STATUS UINT8_C(40)
#define BMI2_GYRO_CROSS_SENSE UINT8_C(41)
#define BMI2_CRT_GYRO_SELF_TEST UINT8_C(42)
#define BMI2_ABORT_CRT_GYRO_SELF_TEST UINT8_C(43)
#define BMI2_NVM_PROG_PREP UINT8_C(44)
#define BMI2_ACTIVITY_RECOGNITION_SETTINGS UINT8_C(45)
#define BMI2_OIS_OUTPUT UINT8_C(46)
#define BMI2_CONFIG_ID UINT8_C(47)
#define BMI2_EXT_TCO UINT8_C(48)
#define BMI2_LPD UINT8_C(49)
#define BMI2_LAPTOP_POSITION_DETECTOR_1 UINT8_C(50)
#define BMI2_LAPTOP_POSITION_DETECTOR_2 UINT8_C(51)
#define BMI2_LAPTOP_POSITION_DETECTOR_3 UINT8_C(52)
#define BMI2_LAPTOP_POSITION_DETECTOR_4 UINT8_C(53)
#define BMI2_WRIST_GESTURE_WH_1 UINT8_C(54)
#define BMI2_WRIST_GESTURE_WH_2 UINT8_C(55)
#define BMI2_WRIST_WEAR_DROP_WH UINT8_C(56)
#define BMI2_DOOR_STATE_DETECTOR UINT8_C(57)
/*! @name Bit wise for selecting BMI2 sensors/features */
#define BMI2_ACCEL_SENS_SEL (1)
#define BMI2_GYRO_SENS_SEL (1 << BMI2_GYRO)
#define BMI2_AUX_SENS_SEL (1 << BMI2_AUX)
#define BMI2_TEMP_SENS_SEL ((uint64_t)1 << BMI2_TEMP)
#define BMI2_ANY_MOT_SEL (1 << BMI2_ANY_MOTION)
#define BMI2_NO_MOT_SEL (1 << BMI2_NO_MOTION)
#define BMI2_TILT_SEL (1 << BMI2_TILT)
#define BMI2_ORIENT_SEL (1 << BMI2_ORIENTATION)
#define BMI2_SIG_MOTION_SEL (1 << BMI2_SIG_MOTION)
#define BMI2_STEP_DETECT_SEL (1 << BMI2_STEP_DETECTOR)
#define BMI2_STEP_COUNT_SEL (1 << BMI2_STEP_COUNTER)
#define BMI2_STEP_ACT_SEL (1 << BMI2_STEP_ACTIVITY)
#define BMI2_GYRO_GAIN_UPDATE_SEL (1 << BMI2_GYRO_GAIN_UPDATE)
#define BMI2_UP_HOLD_TO_WAKE_SEL (1 << BMI2_UP_HOLD_TO_WAKE)
#define BMI2_GLANCE_DET_SEL (1 << BMI2_GLANCE_DETECTOR)
#define BMI2_WAKE_UP_SEL (1 << BMI2_WAKE_UP)
#define BMI2_TAP_SEL (1 << BMI2_TAP)
#define BMI2_HIGH_G_SEL (1 << BMI2_HIGH_G)
#define BMI2_LOW_G_SEL (1 << BMI2_LOW_G)
#define BMI2_FLAT_SEL (1 << BMI2_FLAT)
#define BMI2_EXT_SENS_SEL (1 << BMI2_EXT_SENS_SYNC)
#define BMI2_SINGLE_TAP_SEL (1 << BMI2_SINGLE_TAP)
#define BMI2_DOUBLE_TAP_SEL (1 << BMI2_DOUBLE_TAP)
#define BMI2_TRIPLE_TAP_SEL (1 << BMI2_TRIPLE_TAP)
#define BMI2_GYRO_SELF_OFF_SEL ((uint64_t)1 << BMI2_GYRO_SELF_OFF)
#define BMI2_WRIST_GEST_SEL (1 << BMI2_WRIST_GESTURE)
#define BMI2_WRIST_WEAR_WAKE_UP_SEL (1 << BMI2_WRIST_WEAR_WAKE_UP)
#define BMI2_ACTIVITY_RECOGNITION_SEL ((uint64_t)1 << BMI2_ACTIVITY_RECOGNITION)
#define BMI2_ACCEL_SELF_TEST_SEL ((uint64_t)1 << BMI2_ACCEL_SELF_TEST)
#define BMI2_WRIST_GEST_W_SEL (1 << BMI2_WRIST_GESTURE_WH)
#define BMI2_WRIST_WEAR_WAKE_UP_WH_SEL (1 << BMI2_WRIST_WEAR_WAKE_UP_WH)
#define BMI2_PRIMARY_OIS_SEL (1 << BMI2_PRIMARY_OIS)
#define BMI2_FREE_FALL_DET_SEL (1 << BMI2_FREE_FALL_DET)
#define BMI2_EXT_TCO_SEL ((uint64_t)1 << BMI2_EXT_TCO)
#define BMI2_LPD_SEL ((uint64_t)1 << BMI2_LPD)
#define BMI2_WRIST_WEAR_DROP_WH_SEL ((uint64_t)1 << BMI2_WRIST_WEAR_DROP_WH)
#define BMI2_DOOR_STATE_DETECTOR_SEL ((uint64_t)1 << BMI2_DOOR_STATE_DETECTOR)
/*! @name Macro definitions for Internal error */
#define BMI2_INTERNAL_ERROR_REG_MASK UINT8_C(0xFF)
#define BMI2_INTERNAL_ERROR_1_MASK UINT8_C(0x02)
#define BMI2_INTERNAL_ERROR_2_MASK UINT8_C(0x04)
#define BMI2_FEAT_ENG_DIS_MASK UINT8_C(0x10)
/*! @name Mask definitions for saturation register */
#define BMI2_SATURATION_REG_MASK UINT8_C(0x3F)
#define BMI2_SATURATION_ACC_X_MASK UINT8_C(0x01)
#define BMI2_SATURATION_ACC_Y_MASK UINT8_C(0x02)
#define BMI2_SATURATION_ACC_Z_MASK UINT8_C(0x04)
#define BMI2_SATURATION_GYR_X_MASK UINT8_C(0x08)
#define BMI2_SATURATION_GYR_Y_MASK UINT8_C(0x10)
#define BMI2_SATURATION_GYR_Z_MASK UINT8_C(0x20)
/*! @name Mask definitions for BMI2 wake-up feature configuration for bmi260 */
#define BMI2_WAKEUP_SENSITIVITY_MASK UINT8_C(0x0E)
#define BMI2_WAKEUP_SINGLE_TAP_EN_MASK UINT8_C(0x01)
#define BMI2_WAKEUP_DOUBLE_TAP_EN_MASK UINT8_C(0x02)
#define BMI2_WAKEUP_TRIPLE_TAP_EN_MASK UINT8_C(0x04)
#define BMI2_WAKEUP_DATA_REG_EN_MASK UINT8_C(0x08)
#define BMI2_WAKEUP_AXIS_SEL_MASK UINT8_C(0x03)
/*! @name Bit position definitions for BMI2 wake-up feature configuration for bmi260 */
#define BMI2_WAKEUP_SENSITIVITY_POS UINT8_C(0x01)
#define BMI2_WAKEUP_DOUBLE_TAP_EN_POS UINT8_C(0x01)
#define BMI2_WAKEUP_TRIPLE_TAP_EN_POS UINT8_C(0x02)
#define BMI2_WAKEUP_DATA_REG_EN_POS UINT8_C(0x03)
/*! @name Mask definitions for BMI2 tap feature configuration for bmi260t */
#define BMI2_TAP_SENSITIVITY_MASK UINT8_C(0x0E)
#define BMI2_TAP_SINGLE_TAP_EN_MASK UINT8_C(0x01)
#define BMI2_TAP_DOUBLE_TAP_EN_MASK UINT8_C(0x02)
#define BMI2_TAP_TRIPLE_TAP_EN_MASK UINT8_C(0x04)
#define BMI2_TAP_DATA_REG_EN_MASK UINT8_C(0x08)
#define BMI2_TAP_AXIS_SEL_MASK UINT8_C(0x03)
/*! @name Bit position definitions for BMI2 tap feature configuration for bmi260t */
#define BMI2_TAP_SENSITIVITY_POS UINT8_C(0x01)
#define BMI2_TAP_DOUBLE_TAP_EN_POS UINT8_C(0x01)
#define BMI2_TAP_TRIPLE_TAP_EN_POS UINT8_C(0x02)
#define BMI2_TAP_DATA_REG_EN_POS UINT8_C(0x03)
/*! @name Mask definitions for BMI2 wake-up feature configuration for other than bmi261 */
#define BMI2_WAKE_UP_SENSITIVITY_MASK UINT16_C(0x000E)
#define BMI2_WAKE_UP_SINGLE_TAP_EN_MASK UINT16_C(0x0010)
/*! @name Bit position definitions for BMI2 wake-up feature configuration for other than bmi261 */
#define BMI2_WAKE_UP_SENSITIVITY_POS UINT8_C(0x01)
#define BMI2_WAKE_UP_SINGLE_TAP_EN_POS UINT8_C(0x04)
/*! @name Offsets from feature start address for BMI2 feature enable/disable */
#define BMI2_ANY_MOT_FEAT_EN_OFFSET UINT8_C(0x03)
#define BMI2_NO_MOT_FEAT_EN_OFFSET UINT8_C(0x03)
#define BMI2_SIG_MOT_FEAT_EN_OFFSET UINT8_C(0x0A)
#define BMI2_STEP_COUNT_FEAT_EN_OFFSET UINT8_C(0x01)
#define BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET UINT8_C(0x05)
#define BMI2_HIGH_G_FEAT_EN_OFFSET UINT8_C(0x03)
#define BMI2_LOW_G_FEAT_EN_OFFSET UINT8_C(0x03)
#define BMI2_TILT_FEAT_EN_OFFSET UINT8_C(0x00)
/*! @name Mask definitions for BMI2 feature enable/disable */
#define BMI2_ANY_NO_MOT_EN_MASK UINT8_C(0x80)
#define BMI2_TILT_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_ORIENT_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_SIG_MOT_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_STEP_DET_FEAT_EN_MASK UINT8_C(0x08)
#define BMI2_STEP_COUNT_FEAT_EN_MASK UINT8_C(0x10)
#define BMI2_STEP_ACT_FEAT_EN_MASK UINT8_C(0x20)
#define BMI2_GYR_USER_GAIN_FEAT_EN_MASK UINT8_C(0x08)
#define BMI2_UP_HOLD_TO_WAKE_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_GLANCE_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_WAKE_UP_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_TAP_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_HIGH_G_FEAT_EN_MASK UINT8_C(0x80)
#define BMI2_LOW_G_FEAT_EN_MASK UINT8_C(0x10)
#define BMI2_FLAT_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_EXT_SENS_SYNC_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_MASK UINT8_C(0x02)
#define BMI2_WRIST_GEST_FEAT_EN_MASK UINT8_C(0x20)
#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_MASK UINT8_C(0x10)
#define BMI2_WRIST_WEAR_DROP_FEAT_EN_MASK UINT8_C(0x20)
#define BMI2_ACTIVITY_RECOG_EN_MASK UINT8_C(0x01)
#define BMI2_ACC_SELF_TEST_FEAT_EN_MASK UINT8_C(0x02)
#define BMI2_GYRO_SELF_TEST_CRT_EN_MASK UINT8_C(0x01)
#define BMI2_ABORT_FEATURE_EN_MASK UINT8_C(0x02)
#define BMI2_NVM_PREP_FEATURE_EN_MASK UINT8_C(0x04)
#define BMI2_FREE_FALL_DET_FEAT_EN_MASK UINT8_C(0x01)
#define BMI2_WRIST_GEST_WH_FEAT_EN_MASK UINT8_C(0x02)
#define BMI2_DOOR_STATE_DETECTOR_FEAT_EN_MASK UINT8_C(0x01)
/*! @name Bit position definitions for BMI2 feature enable/disable */
#define BMI2_ANY_NO_MOT_EN_POS UINT8_C(0x07)
#define BMI2_STEP_DET_FEAT_EN_POS UINT8_C(0x03)
#define BMI2_STEP_COUNT_FEAT_EN_POS UINT8_C(0x04)
#define BMI2_STEP_ACT_FEAT_EN_POS UINT8_C(0x05)
#define BMI2_GYR_USER_GAIN_FEAT_EN_POS UINT8_C(0x03)
#define BMI2_HIGH_G_FEAT_EN_POS UINT8_C(0x07)
#define BMI2_LOW_G_FEAT_EN_POS UINT8_C(0x04)
#define BMI2_GYR_SELF_OFF_CORR_FEAT_EN_POS UINT8_C(0x01)
#define BMI2_WRIST_GEST_FEAT_EN_POS UINT8_C(0x05)
#define BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN_POS UINT8_C(0x04)
#define BMI2_WRIST_WEAR_DROP_FEAT_EN_POS UINT8_C(0x05)
#define BMI2_ACC_SELF_TEST_FEAT_EN_POS UINT8_C(0x01)
#define BMI2_ABORT_FEATURE_EN_POS UINT8_C(0x1)
#define BMI2_NVM_PREP_FEATURE_EN_POS UINT8_C(0x02)
#define BMI2_WRIST_GEST_WH_FEAT_EN_POS UINT8_C(0x01)
/*! @name Bit position and mask definitions for BMI2 Error register */
#define BMI2_ERR_REG_READ_MASK UINT8_C(0xFF)
#define BMI2_ERR_REG_READ_POS UINT8_C(0x00)
#define BMI2_FATAL_ERR_MASK UINT8_C(0x01)
#define BMI2_FATAL_ERR_POS UINT8_C(0x00)
#define BMI2_INTERNAL_ERR_MASK UINT8_C(0x1E)
#define BMI2_INTERNAL_ERR_POS UINT8_C(0x02)
#define BMI2_FIFO_ERR_MASK UINT8_C(0x40)
#define BMI2_FIFO_ERR_POS UINT8_C(0x06)
#define BMI2_AUX_ERR_MASK UINT8_C(0x80)
#define BMI2_AUX_ERR_POS UINT8_C(0x07)
/*! Primary OIS low pass filter configuration position and mask */
#define BMI2_LP_FILTER_EN_MASK UINT8_C(0x01)
#define BMI2_LP_FILTER_CONFIG_POS UINT8_C(0x01)
#define BMI2_LP_FILTER_CONFIG_MASK UINT8_C(0x06)
#define BMI2_PRIMARY_OIS_GYR_EN_POS UINT8_C(0x06)
#define BMI2_PRIMARY_OIS_GYR_EN_MASK UINT8_C(0x40)
#define BMI2_PRIMARY_OIS_ACC_EN_POS UINT8_C(0x07)
#define BMI2_PRIMARY_OIS_ACC_EN_MASK UINT8_C(0x80)
/*! @name Mask definitions for BMI2 any and no-motion feature configuration */
#define BMI2_ANY_NO_MOT_DUR_MASK UINT16_C(0x1FFF)
#define BMI2_ANY_NO_MOT_X_SEL_MASK UINT16_C(0x2000)
#define BMI2_ANY_NO_MOT_Y_SEL_MASK UINT16_C(0x4000)
#define BMI2_ANY_NO_MOT_Z_SEL_MASK UINT16_C(0x8000)
#define BMI2_ANY_NO_MOT_THRES_MASK UINT16_C(0x07FF)
#define BMI2_ANY_MOT_INT_MASK UINT8_C(0x40)
/*! @name Mask definitions for BMI2 no-motion interrupt mapping */
#define BMI2_NO_MOT_INT_MASK UINT8_C(0x20)
/*! @name Bit position definitions for BMI2 any and no-motion feature
* configuration
*/
#define BMI2_ANY_NO_MOT_X_SEL_POS UINT8_C(0x0D)
#define BMI2_ANY_NO_MOT_Y_SEL_POS UINT8_C(0x0E)
#define BMI2_ANY_NO_MOT_Z_SEL_POS UINT8_C(0x0F)
/*! @name Mask definitions for BMI2 orientation feature configuration */
#define BMI2_ORIENT_UP_DOWN_MASK UINT16_C(0x0002)
#define BMI2_ORIENT_SYMM_MODE_MASK UINT16_C(0x000C)
#define BMI2_ORIENT_BLOCK_MODE_MASK UINT16_C(0x0030)
#define BMI2_ORIENT_THETA_MASK UINT16_C(0x0FC0)
#define BMI2_ORIENT_HYST_MASK UINT16_C(0x07FF)
/*! @name Bit position definitions for BMI2 orientation feature configuration */
#define BMI2_ORIENT_UP_DOWN_POS UINT8_C(0x01)
#define BMI2_ORIENT_SYMM_MODE_POS UINT8_C(0x02)
#define BMI2_ORIENT_BLOCK_MODE_POS UINT8_C(0x04)
#define BMI2_ORIENT_THETA_POS UINT8_C(0x06)
/*! @name Mask definitions for BMI2 sig-motion feature configuration */
#define BMI2_SIG_MOT_PARAM_1_MASK UINT16_C(0xFFFF)
#define BMI2_SIG_MOT_PARAM_2_MASK UINT16_C(0xFFFF)
#define BMI2_SIG_MOT_PARAM_3_MASK UINT16_C(0xFFFF)
#define BMI2_SIG_MOT_PARAM_4_MASK UINT16_C(0xFFFF)
#define BMI2_SIG_MOT_PARAM_5_MASK UINT16_C(0xFFFF)
/*! @name Mask definitions for BMI2 parameter configurations */
#define BMI2_STEP_COUNT_PARAMS_MASK UINT16_C(0xFFFF)
/*! @name Mask definitions for BMI2 step-counter/detector feature configuration */
#define BMI2_STEP_COUNT_WM_LEVEL_MASK UINT16_C(0x03FF)
#define BMI2_STEP_COUNT_RST_CNT_MASK UINT16_C(0x0400)
#define BMI2_STEP_BUFFER_SIZE_MASK UINT16_C(0xFF00)
#define BMI2_STEP_COUNT_INT_MASK UINT8_C(0x02)
#define BMI2_STEP_ACT_INT_MASK UINT8_C(0x04)
/*! @name Bit position definitions for BMI2 step-counter/detector feature
* configuration
*/
#define BMI2_STEP_COUNT_RST_CNT_POS UINT8_C(0x0A)
#define BMI2_STEP_BUFFER_SIZE_POS UINT8_C(0x08)
/*! @name Mask definitions for BMI2 gyroscope user gain feature
* configuration
*/
#define BMI2_GYR_USER_GAIN_RATIO_X_MASK UINT16_C(0x07FF)
#define BMI2_GYR_USER_GAIN_RATIO_Y_MASK UINT16_C(0x07FF)
#define BMI2_GYR_USER_GAIN_RATIO_Z_MASK UINT16_C(0x07FF)
/*! @name Mask definitions for BMI2 gyroscope user gain saturation status */
#define BMI2_GYR_USER_GAIN_SAT_STAT_X_MASK UINT8_C(0x01)
#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_MASK UINT8_C(0x02)
#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_MASK UINT8_C(0x04)
#define BMI2_G_TRIGGER_STAT_MASK UINT8_C(0x38)
/*! @name Bit position definitions for BMI2 gyroscope user gain saturation status */
#define BMI2_GYR_USER_GAIN_SAT_STAT_Y_POS UINT8_C(0x01)
#define BMI2_GYR_USER_GAIN_SAT_STAT_Z_POS UINT8_C(0x02)
#define BMI2_G_TRIGGER_STAT_POS UINT8_C(0x03)
/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation */
#define BMI2_GYR_OFF_COMP_MSB_X_MASK UINT8_C(0x03)
#define BMI2_GYR_OFF_COMP_MSB_Y_MASK UINT8_C(0x0C)
#define BMI2_GYR_OFF_COMP_MSB_Z_MASK UINT8_C(0x30)
/*! @name Bit positions for MSB values of BMI2 gyroscope compensation */
#define BMI2_GYR_OFF_COMP_MSB_Y_POS UINT8_C(0x02)
#define BMI2_GYR_OFF_COMP_MSB_Z_POS UINT8_C(0x04)
/*! @name Mask definitions for MSB values of BMI2 gyroscope compensation from user input */
#define BMI2_GYR_OFF_COMP_MSB_MASK UINT16_C(0x0300)
#define BMI2_GYR_OFF_COMP_LSB_MASK UINT16_C(0x00FF)
/*! @name Mask definitions for BMI2 orientation status */
#define BMI2_ORIENT_DETECT_MASK UINT8_C(0x03)
#define BMI2_ORIENT_FACE_UP_DWN_MASK UINT8_C(0x04)
/*! @name Bit position definitions for BMI2 orientation status */
#define BMI2_ORIENT_FACE_UP_DWN_POS UINT8_C(0x02)
/*! @name Mask definitions for NVM-VFRM error status */
#define BMI2_NVM_LOAD_ERR_STATUS_MASK UINT8_C(0x01)
#define BMI2_NVM_PROG_ERR_STATUS_MASK UINT8_C(0x02)
#define BMI2_NVM_ERASE_ERR_STATUS_MASK UINT8_C(0x04)
#define BMI2_NVM_END_EXCEED_STATUS_MASK UINT8_C(0x08)
#define BMI2_NVM_PRIV_ERR_STATUS_MASK UINT8_C(0x10)
#define BMI2_VFRM_LOCK_ERR_STATUS_MASK UINT8_C(0x20)
#define BMI2_VFRM_WRITE_ERR_STATUS_MASK UINT8_C(0x40)
#define BMI2_VFRM_FATAL_ERR_STATUS_MASK UINT8_C(0x80)
/*! @name Bit positions for NVM-VFRM error status */
#define BMI2_NVM_PROG_ERR_STATUS_POS UINT8_C(0x01)
#define BMI2_NVM_ERASE_ERR_STATUS_POS UINT8_C(0x02)
#define BMI2_NVM_END_EXCEED_STATUS_POS UINT8_C(0x03)
#define BMI2_NVM_PRIV_ERR_STATUS_POS UINT8_C(0x04)
#define BMI2_VFRM_LOCK_ERR_STATUS_POS UINT8_C(0x05)
#define BMI2_VFRM_WRITE_ERR_STATUS_POS UINT8_C(0x06)
#define BMI2_VFRM_FATAL_ERR_STATUS_POS UINT8_C(0x07)
/*! @name Mask definitions for accelerometer self-test status */
#define BMI2_ACC_SELF_TEST_DONE_MASK UINT8_C(0x01)
#define BMI2_ACC_X_OK_MASK UINT8_C(0x02)
#define BMI2_ACC_Y_OK_MASK UINT8_C(0x04)
#define BMI2_ACC_Z_OK_MASK UINT8_C(0x08)
/*! @name Bit Positions for accelerometer self-test status */
#define BMI2_ACC_X_OK_POS UINT8_C(0x01)
#define BMI2_ACC_Y_OK_POS UINT8_C(0x02)
#define BMI2_ACC_Z_OK_POS UINT8_C(0x03)
/*! @name Mask definitions for BMI2 high-g feature configuration */
#define BMI2_HIGH_G_THRES_MASK UINT16_C(0x7FFF)
#define BMI2_HIGH_G_HYST_MASK UINT16_C(0x0FFF)
#define BMI2_HIGH_G_X_SEL_MASK UINT16_C(0x1000)
#define BMI2_HIGH_G_Y_SEL_MASK UINT16_C(0x2000)
#define BMI2_HIGH_G_Z_SEL_MASK UINT16_C(0x4000)
#define BMI2_HIGH_G_DUR_MASK UINT16_C(0x0FFF)
/*! @name Bit position definitions for BMI2 high-g feature configuration */
#define BMI2_HIGH_G_X_SEL_POS UINT8_C(0x0C)
#define BMI2_HIGH_G_Y_SEL_POS UINT8_C(0x0D)
#define BMI2_HIGH_G_Z_SEL_POS UINT8_C(0x0E)
/*! @name Mask definitions for BMI2 low-g feature configuration */
#define BMI2_LOW_G_THRES_MASK UINT16_C(0x7FFF)
#define BMI2_LOW_G_HYST_MASK UINT16_C(0x0FFF)
#define BMI2_LOW_G_DUR_MASK UINT16_C(0x0FFF)
/*! @name Mask definitions for BMI2 free-fall detection feature configuration */
#define BMI2_FREE_FALL_ACCEL_SETT_MASK UINT16_C(0xFFFF)
/*! @name Mask definitions for BMI2 flat feature configuration */
#define BMI2_FLAT_THETA_MASK UINT16_C(0x007E)
#define BMI2_FLAT_BLOCK_MASK UINT16_C(0x0180)
#define BMI2_FLAT_HYST_MASK UINT16_C(0x003F)
#define BMI2_FLAT_HOLD_TIME_MASK UINT16_C(0x3FC0)
/*! @name Bit position definitions for BMI2 flat feature configuration */
#define BMI2_FLAT_THETA_POS UINT8_C(0x01)
#define BMI2_FLAT_BLOCK_POS UINT8_C(0x07)
#define BMI2_FLAT_HOLD_TIME_POS UINT8_C(0x06)
/*! @name Mask definitions for BMI2 wrist gesture configuration */
#define BMI2_WRIST_GEST_WEAR_ARM_MASK UINT16_C(0x0010)
/*! @name Bit position definitions for wrist gesture configuration */
#define BMI2_WRIST_GEST_WEAR_ARM_POS UINT8_C(0x04)
/*! @name Mask definitions for BMI2 wrist gesture wh configuration */
#define BMI2_WRIST_GEST_WH_DEVICE_POS_MASK UINT16_C(0x0001)
#define BMI2_WRIST_GEST_WH_INT UINT8_C(0x10)
#define BMI2_WRIST_GEST_WH_START_ADD UINT8_C(0x08)
/*! @name Mask definitions for BMI2 wrist wear wake-up configuration */
#define BMI2_WRIST_WAKE_UP_WH_INT_MASK UINT8_C(0x08)
/*! @name Mask definition for BMI2 wrist wear wake-up configuration for wearable variant */
#define BMI2_WRIST_WAKE_UP_ANGLE_LR_MASK UINT16_C(0x00FF)
#define BMI2_WRIST_WAKE_UP_ANGLE_LL_MASK UINT16_C(0xFF00)
#define BMI2_WRIST_WAKE_UP_ANGLE_PD_MASK UINT16_C(0x00FF)
#define BMI2_WRIST_WAKE_UP_ANGLE_PU_MASK UINT16_C(0xFF00)
#define BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED_MASK UINT16_C(0x00FF)
#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_MASK UINT16_C(0xFF00)
#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_MASK UINT16_C(0x00FF)
#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_LOC_MASK UINT16_C(0xFF00)
/*! @name Bit position definition for BMI2 wrist wear wake-up configuration for wearable variant */
#define BMI2_WRIST_WAKE_UP_ANGLE_LL_POS UINT16_C(0x0008)
#define BMI2_WRIST_WAKE_UP_ANGLE_PU_POS UINT16_C(0x0008)
#define BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE_POS UINT16_C(0x0008)
#define BMI2_WRIST_WAKE_UP_MIN_DROP_POS_DUR_LOC_POS UINT16_C(0x0008)
/*! @name Mask definition for BMI2 EXT TCO configuration */
#define BMI2_EXT_TCO_MASK UINT8_C(0x01)
/*! @name Macros to define values of BMI2 axis and its sign for re-map
* settings
*/
#define BMI2_MAP_X_AXIS UINT8_C(0x00)
#define BMI2_MAP_Y_AXIS UINT8_C(0x01)
#define BMI2_MAP_Z_AXIS UINT8_C(0x02)
#define BMI2_MAP_POSITIVE UINT8_C(0x00)
#define BMI2_MAP_NEGATIVE UINT8_C(0x01)
/*! @name Mask definitions of BMI2 axis re-mapping */
#define BMI2_X_AXIS_MASK UINT8_C(0x03)
#define BMI2_X_AXIS_SIGN_MASK UINT8_C(0x04)
#define BMI2_Y_AXIS_MASK UINT8_C(0x18)
#define BMI2_Y_AXIS_SIGN_MASK UINT8_C(0x20)
#define BMI2_Z_AXIS_MASK UINT8_C(0xC0)
#define BMI2_Z_AXIS_SIGN_MASK UINT8_C(0x01)
/*! @name Bit position definitions of BMI2 axis re-mapping */
#define BMI2_X_AXIS_SIGN_POS UINT8_C(0x02)
#define BMI2_Y_AXIS_POS UINT8_C(0x03)
#define BMI2_Y_AXIS_SIGN_POS UINT8_C(0x05)
#define BMI2_Z_AXIS_POS UINT8_C(0x06)
/*! @name Mask definitions of BMI2 virtual frame */
#define BMI2_EIS_VFRM_DATA_MASK UINT8_C(0x08)
/*! @name Bit position definitions of BMI2 virtual frame */
#define BMI2_EIS_VFRM_DATA_POS UINT8_C(3)
/*! @name Macro to define virtual frame length */
#define BMI2_VIRTUAL_FRAME_LEN UINT8_C(19)
/*! @name Macros to define polarity */
#define BMI2_NEG_SIGN UINT8_C(1)
#define BMI2_POS_SIGN UINT8_C(0)
/*! @name Macro to define related to CRT */
#define BMI2_CRT_READY_FOR_DOWNLOAD_US UINT16_C(2000)
#define BMI2_CRT_READY_FOR_DOWNLOAD_RETRY UINT8_C(100)
#define BMI2_CRT_WAIT_RUNNING_US UINT16_C(10000)
#define BMI2_CRT_WAIT_RUNNING_RETRY_EXECUTION UINT8_C(200)
#define BMI2_CRT_MIN_BURST_WORD_LENGTH UINT8_C(2)
#define BMI2_CRT_MAX_BURST_WORD_LENGTH UINT16_C(255)
/* Reference value with positive and negative noise range in lsb */
/*
* For Gyro FOC, axes values after FOC must be 0 +/- 1 dps
*
* In 2000 dps, 1 dps is 16.384 (~16)
* In 1000 dps, 1 dps is 32.768 (~33)
* In 500 dps, 1 dps is 65.536 (~66)
* In 250 dps, 1 dps is 131.072 (~131)
* In 125 dps, 1 dps is 262.144 (~262)
*/
#define BMI2_GYRO_FOC_2000_DPS_REF UINT16_C(16)
#define BMI2_GYRO_FOC_1000_DPS_REF UINT16_C(33)
#define BMI2_GYRO_FOC_500_DPS_REF UINT16_C(66)
#define BMI2_GYRO_FOC_250_DPS_REF UINT16_C(131)
#define BMI2_GYRO_FOC_125_DPS_REF UINT16_C(262)
/* Reference value with positive and negative noise range in lsb */
/*
* As per datasheet, Zero-g offset : +/- 20mg
*
* In range 2G, 1G is 16384. so, 16384 x 20 x (10 ^ -3) = 328
* In range 4G, 1G is 8192. so, 8192 x 20 x (10 ^ -3) = 164
* In range 8G, 1G is 4096. so, 4096 x 20 x (10 ^ -3) = 82
* In range 16G, 1G is 2048. so, 2048 x 20 x (10 ^ -3) = 41
*/
#define BMI2_ACC_FOC_2G_REF UINT16_C(16384)
#define BMI2_ACC_FOC_4G_REF UINT16_C(8192)
#define BMI2_ACC_FOC_8G_REF UINT16_C(4096)
#define BMI2_ACC_FOC_16G_REF UINT16_C(2048)
#define BMI2_ACC_FOC_2G_OFFSET UINT16_C(328)
#define BMI2_ACC_FOC_4G_OFFSET UINT16_C(164)
#define BMI2_ACC_FOC_8G_OFFSET UINT16_C(82)
#define BMI2_ACC_FOC_16G_OFFSET UINT16_C(41)
#define BMI2_FOC_SAMPLE_LIMIT UINT8_C(128)
#define BMI2_ACC_2G_MAX_NOISE_LIMIT (BMI2_ACC_FOC_2G_REF + BMI2_ACC_FOC_2G_OFFSET)
#define BMI2_ACC_2G_MIN_NOISE_LIMIT (BMI2_ACC_FOC_2G_REF - BMI2_ACC_FOC_2G_OFFSET)
#define BMI2_ACC_4G_MAX_NOISE_LIMIT (BMI2_ACC_FOC_4G_REF + BMI2_ACC_FOC_4G_OFFSET)
#define BMI2_ACC_4G_MIN_NOISE_LIMIT (BMI2_ACC_FOC_4G_REF - BMI2_ACC_FOC_4G_OFFSET)
#define BMI2_ACC_8G_MAX_NOISE_LIMIT (BMI2_ACC_FOC_8G_REF + BMI2_ACC_FOC_8G_OFFSET)
#define BMI2_ACC_8G_MIN_NOISE_LIMIT (BMI2_ACC_FOC_8G_REF - BMI2_ACC_FOC_8G_OFFSET)
#define BMI2_ACC_16G_MAX_NOISE_LIMIT (BMI2_ACC_FOC_16G_REF + BMI2_ACC_FOC_16G_OFFSET)
#define BMI2_ACC_16G_MIN_NOISE_LIMIT (BMI2_ACC_FOC_16G_REF - BMI2_ACC_FOC_16G_OFFSET)
/*! @name Bit wise selection of BMI2 sensors */
#define BMI2_MAIN_SENSORS \
(BMI2_ACCEL_SENS_SEL | BMI2_GYRO_SENS_SEL \
| BMI2_AUX_SENS_SEL | BMI2_TEMP_SENS_SEL)
/*! @name Maximum number of BMI2 main sensors */
#define BMI2_MAIN_SENS_MAX_NUM UINT8_C(4)
/*! @name Macro to specify the number of step counter parameters */
#define BMI2_STEP_CNT_N_PARAMS UINT8_C(25)
/*! @name Macro to specify the number of free-fall accel setting parameters */
#define BMI2_FREE_FALL_ACCEL_SET_PARAMS UINT8_C(7)
#define BMI2_SELECT_GYRO_SELF_TEST UINT8_C(0)
#define BMI2_SELECT_CRT UINT8_C(1)
/*! @name Macro for NVM enable */
#define BMI2_NVM_UNLOCK_ENABLE UINT8_C(0x02)
#define BMI2_NVM_UNLOCK_DISABLE UINT8_C(0x00)
/*! @name macro to select between gyro self test and CRT */
#define BMI2_GYRO_SELF_TEST_SEL UINT8_C(0)
#define BMI2_CRT_SEL UINT8_C(1)
/******************************************************************************/
/*! @name Accelerometer Macro Definitions */
/******************************************************************************/
/*! @name Accelerometer Bandwidth parameters */
#define BMI2_ACC_OSR4_AVG1 UINT8_C(0x00)
#define BMI2_ACC_OSR2_AVG2 UINT8_C(0x01)
#define BMI2_ACC_NORMAL_AVG4 UINT8_C(0x02)
#define BMI2_ACC_CIC_AVG8 UINT8_C(0x03)
#define BMI2_ACC_RES_AVG16 UINT8_C(0x04)
#define BMI2_ACC_RES_AVG32 UINT8_C(0x05)
#define BMI2_ACC_RES_AVG64 UINT8_C(0x06)
#define BMI2_ACC_RES_AVG128 UINT8_C(0x07)
/*! @name Accelerometer Output Data Rate */