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bmi160.h
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bmi160.h
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/* Bosch BMI160 inertial measurement unit header
*
* Copyright (c) 2016 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_DRIVERS_SENSOR_BMI160_BMI160_H_
#define ZEPHYR_DRIVERS_SENSOR_BMI160_BMI160_H_
#include <drivers/i2c.h>
#include <drivers/gpio.h>
#include <drivers/sensor.h>
#include <drivers/spi.h>
#include <sys/util.h>
/* registers */
#define BMI160_REG_CHIPID 0x00
#define BMI160_REG_ERR 0x02
#define BMI160_REG_PMU_STATUS 0x03
#define BMI160_REG_DATA_MAG_X 0x04
#define BMI160_REG_DATA_MAG_Y 0x06
#define BMI160_REG_DATA_MAG_Z 0x08
#define BMI160_REG_DATA_RHALL 0x0A
#define BMI160_REG_DATA_GYR_X 0x0C
#define BMI160_REG_DATA_GYR_Y 0x0E
#define BMI160_REG_DATA_GYR_Z 0x10
#define BMI160_REG_DATA_ACC_X 0x12
#define BMI160_REG_DATA_ACC_Y 0x14
#define BMI160_REG_DATA_ACC_Z 0x16
#define BMI160_REG_SENSORTIME0 0x18
#define BMI160_REG_SENSORTIME1 0x19
#define BMI160_REG_SENSORTIME2 0x1A
#define BMI160_REG_STATUS 0x1B
#define BMI160_REG_INT_STATUS0 0x1C
#define BMI160_REG_INT_STATUS1 0x1D
#define BMI160_REG_INT_STATUS2 0x1E
#define BMI160_REG_INT_STATUS3 0x1F
#define BMI160_REG_TEMPERATURE0 0x20
#define BMI160_REG_TEMPERATURE1 0x21
#define BMI160_REG_FIFO_LENGTH0 0x22
#define BMI160_REG_FIFO_LENGTH1 0x23
#define BMI160_REG_FIFO_DATA 0x24
#define BMI160_REG_ACC_CONF 0x40
#define BMI160_REG_ACC_RANGE 0x41
#define BMI160_REG_GYR_CONF 0x42
#define BMI160_REG_GYR_RANGE 0x43
#define BMI160_REG_MAG_CONF 0x44
#define BMI160_REG_FIFO_DOWNS 0x45
#define BMI160_REG_FIFO_CONFIG0 0x46
#define BMI160_REG_FIFO_CONFIG1 0x47
#define BMI160_REG_MAG_IF0 0x4B
#define BMI160_REG_MAG_IF1 0x4C
#define BMI160_REG_MAG_IF2 0x4D
#define BMI160_REG_MAG_IF3 0x4E
#define BMI160_REG_MAG_IF4 0x4F
#define BMI160_REG_INT_EN0 0x50
#define BMI160_REG_INT_EN1 0x51
#define BMI160_REG_INT_EN2 0x52
#define BMI160_REG_INT_OUT_CTRL 0x53
#define BMI160_REG_INT_LATCH 0x54
#define BMI160_REG_INT_MAP0 0x55
#define BMI160_REG_INT_MAP1 0x56
#define BMI160_REG_INT_MAP2 0x57
#define BMI160_REG_INT_DATA0 0x58
#define BMI160_REG_INT_DATA1 0x59
#define BMI160_REG_INT_LOWHIGH0 0x5A
#define BMI160_REG_INT_LOWHIGH1 0x5B
#define BMI160_REG_INT_LOWHIGH2 0x5C
#define BMI160_REG_INT_LOWHIGH3 0x5D
#define BMI160_REG_INT_LOWHIGH4 0x5E
#define BMI160_REG_INT_MOTION0 0x5F
#define BMI160_REG_INT_MOTION1 0x60
#define BMI160_REG_INT_MOTION2 0x61
#define BMI160_REG_INT_MOTION3 0x62
#define BMI160_REG_INT_TAP0 0x63
#define BMI160_REG_INT_TAP1 0x64
#define BMI160_REG_INT_ORIENT0 0x65
#define BMI160_REG_INT_ORIENT1 0x66
#define BMI160_REG_INT_FLAT0 0x67
#define BMI160_REG_INT_FLAT1 0x68
#define BMI160_REG_FOC_CONF 0x69
#define BMI160_REG_CONF 0x6A
#define BMI160_REG_IF_CONF 0x6B
#define BMI160_REG_PMU_TRIGGER 0x6C
#define BMI160_REG_SELF_TEST 0x6D
#define BMI160_REG_NV_CONF 0x70
#define BMI160_REG_OFFSET_ACC_X 0x71
#define BMI160_REG_OFFSET_ACC_Y 0x72
#define BMI160_REG_OFFSET_ACC_Z 0x73
#define BMI160_REG_OFFSET_GYR_X 0x74
#define BMI160_REG_OFFSET_GYR_Y 0x75
#define BMI160_REG_OFFSET_GYR_Z 0x76
#define BMI160_REG_OFFSET_EN 0x77
#define BMI160_REG_STEP_CNT0 0x78
#define BMI160_REG_STEP_CNT1 0x79
#define BMI160_REG_STEP_CONF0 0x7A
#define BMI160_REG_STEP_CONF1 0x7B
#define BMI160_REG_CMD 0x7E
/* This is not a real register; reading it activates SPI on the BMI160 */
#define BMI160_SPI_START 0x7F
#define BMI160_REG_COUNT 0x80
/* Indicates a read operation; bit 7 is clear on write s*/
#define BMI160_REG_READ BIT(7)
#define BMI160_REG_MASK 0x7f
/* bitfields */
/* BMI160_REG_ERR */
#define BMI160_ERR_FATAL BIT(0)
#define BMI160_ERR_CODE BIT(1)
#define BMI160_ERR_CODE_MASK (0xf << 1)
#define BMI160_ERR_I2C_FAIL BIT(5)
#define BMI160_ERR_DROP_CMD BIT(6)
#define BMI160_ERR_MAG_DRDY BIT(7)
/* BMI160_REG_PMU_STATUS */
#define BMI160_PMU_STATUS_MAG_MASK 0x3
#define BMI160_PMU_STATUS_MAG_POS 0
#define BMI160_PMU_STATUS_GYR_POS 2
#define BMI160_PMU_STATUS_GYR_MASK (0x3 << 2)
#define BMI160_PMU_STATUS_ACC_POS 4
#define BMI160_PMU_STATUS_ACC_MASK (0x3 << 4)
#define BMI160_PMU_SUSPEND 0
#define BMI160_PMU_NORMAL 1
#define BMI160_PMU_LOW_POWER 2
#define BMI160_PMU_FAST_START 3
/* BMI160_REG_STATUS */
#define BMI160_STATUS_GYR_SELFTEST BIT(1)
#define BMI160_STATUS_MAG_MAN_OP BIT(2)
#define BMI160_STATUS_FOC_RDY BIT(3)
#define BMI160_STATUS_NVM_RDY BIT(4)
#define BMI160_STATUS_MAG_DRDY BIT(5)
#define BMI160_STATUS_GYR_DRDY BIT(6)
#define BMI160_STATUS_ACC_DRDY BIT(7)
/* BMI160_REG_INT_STATUS0 */
#define BMI160_INT_STATUS0_STEP BIT(0)
#define BMI160_INT_STATUS0_SIGMOT BIT(1)
#define BMI160_INT_STATUS0_ANYM BIT(2)
#define BMI160_INT_STATUS0_PMU_TRIG BIT(3)
#define BMI160_INT_STATUS0_D_TAP BIT(4)
#define BMI160_INT_STATUS0_S_TAP BIT(5)
#define BMI160_INT_STATUS0_ORIENT BIT(6)
#define BMI160_INT_STATUS0_FLAT BIT(7)
/* BMI160_REG_INT_STATUS1 */
#define BMI160_INT_STATUS1_HIGHG BIT(2)
#define BMI160_INT_STATUS1_LOWG BIT(3)
#define BMI160_INT_STATUS1_DRDY BIT(4)
#define BMI160_INT_STATUS1_FFULL BIT(5)
#define BMI160_INT_STATUS1_FWM BIT(6)
#define BMI160_INT_STATUS1_NOMO BIT(7)
/* BMI160_REG_INT_STATUS2 */
#define BMI160_INT_STATUS2_ANYM_FIRST_X BIT(0)
#define BMI160_INT_STATUS2_ANYM_FIRST_Y BIT(1)
#define BMI160_INT_STATUS2_ANYM_FIRST_Z BIT(2)
#define BMI160_INT_STATUS2_ANYM_SIGN BIT(3)
#define BMI160_INT_STATUS2_TAP_FIRST_X BIT(4)
#define BMI160_INT_STATUS2_TAP_FIRST_Y BIT(5)
#define BMI160_INT_STATUS2_TAP_FIRST_Z BIT(6)
#define BMI160_INT_STATUS2_TAP_SIGN BIT(7)
/* BMI160_REG_INT_STATUS3 */
#define BMI160_INT_STATUS3_HIGH_FIRST_X BIT(0)
#define BMI160_INT_STATUS3_HIGH_FIRST_Y BIT(1)
#define BMI160_INT_STATUS3_HIGH_FIRST_Z BIT(2)
#define BMI160_INT_STATUS3_HIGH_SIGN BIT(3)
#define BMI160_INT_STATUS3_ORIENT_1_0 BIT(4)
#define BMI160_INT_STATUS3_ORIENT_2 BIT(6)
#define BMI160_INT_STATUS3_FLAT BIT(7)
/* BMI160_REG_ACC_CONF */
#define BMI160_ACC_CONF_ODR_POS 0
#define BMI160_ACC_CONF_ODR_MASK 0xF
#define BMI160_ACC_CONF_BWP_POS 4
#define BMI160_ACC_CONF_BWP_MASK (0x7 << 4)
#define BMI160_ACC_CONF_US_POS 7
#define BMI160_ACC_CONF_US_MASK BIT(7)
/* BMI160_REG_GYRO_CONF */
#define BMI160_GYR_CONF_ODR_POS 0
#define BMI160_GYR_CONF_ODR_MASK 0xF
#define BMI160_GYR_CONF_BWP_POS 4
#define BMI160_GYR_CONF_BWP_MASK (0x3 << 4)
/* BMI160_REG_OFFSET_EN */
#define BMI160_GYR_OFS_EN_POS 7
#define BMI160_ACC_OFS_EN_POS 6
#define BMI160_GYR_MSB_OFS_Z_POS 4
#define BMI160_GYR_MSB_OFS_Z_MASK (BIT(4) | BIT(5))
#define BMI160_GYR_MSB_OFS_Y_POS 2
#define BMI160_GYR_MSB_OFS_Y_MASK (BIT(2) | BIT(3))
#define BMI160_GYR_MSB_OFS_X_POS 0
#define BMI160_GYR_MSB_OFS_X_MASK (BIT(0) | BIT(1))
/* BMI160_REG_CMD */
#define BMI160_CMD_START_FOC 3
#define BMI160_CMD_PMU_ACC 0x10
#define BMI160_CMD_PMU_GYR 0x14
#define BMI160_CMD_PMU_MAG 0x18
#define BMI160_CMD_SOFT_RESET 0xB6
#define BMI160_CMD_PMU_BIT 0x10
#define BMI160_CMD_PMU_MASK 0x0c
#define BMI160_CMD_PMU_SHIFT 2
#define BMI160_CMD_PMU_VAL_MASK 0x3
/* BMI160_REG_FOC_CONF */
#define BMI160_FOC_ACC_Z_POS 0
#define BMI160_FOC_ACC_Y_POS 2
#define BMI160_FOC_ACC_X_POS 4
#define BMI160_FOC_GYR_EN_POS 6
/* BMI160_REG_INT_MOTION0 */
#define BMI160_ANYM_DUR_POS 0
#define BMI160_ANYM_DUR_MASK 0x3
/* BMI160_REG_INT_EN0 */
#define BMI160_INT_FLAT_EN BIT(7)
#define BMI160_INT_ORIENT_EN BIT(6)
#define BMI160_INT_S_TAP_EN BIT(5)
#define BMI160_INT_D_TAP_EN BIT(4)
#define BMI160_INT_ANYM_Z_EN BIT(2)
#define BMI160_INT_ANYM_Y_EN BIT(1)
#define BMI160_INT_ANYM_X_EN BIT(0)
#define BMI160_INT_ANYM_MASK (BIT(0) | BIT(1) | BIT(2))
/* BMI160_REG_INT_EN1 */
#define BMI160_INT_FWM_EN BIT(6)
#define BMI160_INT_FFULL_EN BIT(5)
#define BMI160_INT_DRDY_EN BIT(4)
#define BMI160_INT_LOWG_EN BIT(3)
#define BMI160_INT_HIGHG_Z_EN BIT(2)
#define BMI160_INT_HIGHG_Y_EN BIT(1)
#define BMI160_INT_HIGHG_X_EN BIT(0)
#define BMI160_INT_HIGHG_MASK (BIT(0) | BIT(1) | BIT(2))
/* BMI160_REG_INT_EN2 */
#define BMI160_INT_STEP_DET_EN BIT(3)
#define BMI160_INT_STEP_NOMO_Z_EN BIT(2)
#define BMI160_INT_STEP_NOMO_Y_EN BIT(1)
#define BMI160_INT_STEP_NOMO_X_EN BIT(0)
#define BMI160_INT_STEP_NOMO_MASK (BIT(0) | BIT(1) | BIT(2))
/* BMI160_REG_INT_OUT_CTRL */
#define BMI160_INT2_OUT_EN BIT(7)
#define BMI160_INT2_OD BIT(6)
#define BMI160_INT2_LVL BIT(5)
#define BMI160_INT2_EDGE_CTRL BIT(4)
#define BMI160_INT1_OUT_EN BIT(3)
#define BMI160_INT1_OD BIT(2)
#define BMI160_INT1_LVL BIT(1)
#define BMI160_INT1_EDGE_CTRL BIT(0)
/* other */
#define BMI160_CHIP_ID 0xD1
#define BMI160_TEMP_OFFSET 23
/* allowed ODR values */
enum bmi160_odr {
BMI160_ODR_25_32 = 1,
BMI160_ODR_25_16,
BMI160_ODR_25_8,
BMI160_ODR_25_4,
BMI160_ODR_25_2,
BMI160_ODR_25,
BMI160_ODR_50,
BMI160_ODR_100,
BMI160_ODR_200,
BMI160_ODR_400,
BMI160_ODR_800,
BMI160_ODR_1600,
BMI160_ODR_3200,
};
/* Range values for accelerometer */
#define BMI160_ACC_RANGE_2G 0x3
#define BMI160_ACC_RANGE_4G 0x5
#define BMI160_ACC_RANGE_8G 0x8
#define BMI160_ACC_RANGE_16G 0xC
/* Range values for gyro */
#define BMI160_GYR_RANGE_2000DPS 0
#define BMI160_GYR_RANGE_1000DPS 1
#define BMI160_GYR_RANGE_500DPS 2
#define BMI160_GYR_RANGE_250DPS 3
#define BMI160_GYR_RANGE_125DPS 4
#define BMI160_ACC_SCALE(range_g) ((2 * range_g * SENSOR_G) / 65536LL)
#define BMI160_GYR_SCALE(range_dps)\
((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
/* default settings, based on menuconfig options */
/* make sure at least one sensor is active */
#if defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) &&\
defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
#error "Error: You need to activate at least one sensor!"
#endif
#if defined(CONFIG_BMI160_ACCEL_PMU_RUNTIME) ||\
defined(CONFIG_BMI160_ACCEL_PMU_NORMAL)
# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_NORMAL
#elif defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_SUSPEND
#else
# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_LOW_POWER
#endif
#if defined(CONFIG_BMI160_GYRO_PMU_RUNTIME) ||\
defined(CONFIG_BMI160_GYRO_PMU_NORMAL)
# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_NORMAL
#elif defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_SUSPEND
#else
# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_FAST_START
#endif
#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME) ||\
defined(CONFIG_BMI160_ACCEL_RANGE_2G)
# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_2G
#elif defined(CONFIG_BMI160_ACCEL_RANGE_4G)
# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_4G
#elif defined(CONFIG_BMI160_ACCEL_RANGE_8G)
# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_8G
#else
# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_16G
#endif
#if defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME) ||\
defined(CONFIG_BMI160_GYRO_RANGE_2000DPS)
# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_2000DPS
#elif defined(CONFIG_BMI160_GYRO_RANGE_1000DPS)
# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_1000DPS
#elif defined(CONFIG_BMI160_GYRO_RANGE_500DPS)
# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_500DPS
#elif defined(CONFIG_BMI160_GYRO_RANGE_250DPS)
# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_250DPS
#else
# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_125DPS
#endif
#if defined(CONFIG_BMI160_ACCEL_ODR_RUNTIME) ||\
defined(CONFIG_BMI160_ACCEL_ODR_100)
# define BMI160_DEFAULT_ODR_ACC 8
#elif defined(CONFIG_BMI160_ACCEL_ODR_25_32)
# define BMI160_DEFAULT_ODR_ACC 1
#elif defined(CONFIG_BMI160_ACCEL_ODR_25_16)
# define BMI160_DEFAULT_ODR_ACC 2
#elif defined(CONFIG_BMI160_ACCEL_ODR_25_8)
# define BMI160_DEFAULT_ODR_ACC 3
#elif defined(CONFIG_BMI160_ACCEL_ODR_25_4)
# define BMI160_DEFAULT_ODR_ACC 4
#elif defined(CONFIG_BMI160_ACCEL_ODR_25_2)
# define BMI160_DEFAULT_ODR_ACC 5
#elif defined(CONFIG_BMI160_ACCEL_ODR_25)
# define BMI160_DEFAULT_ODR_ACC 6
#elif defined(CONFIG_BMI160_ACCEL_ODR_50)
# define BMI160_DEFAULT_ODR_ACC 7
#elif defined(CONFIG_BMI160_ACCEL_ODR_200)
# define BMI160_DEFAULT_ODR_ACC 9
#elif defined(CONFIG_BMI160_ACCEL_ODR_400)
# define BMI160_DEFAULT_ODR_ACC 10
#elif defined(CONFIG_BMI160_ACCEL_ODR_800)
# define BMI160_DEFAULT_ODR_ACC 11
#else
# define BMI160_DEFAULT_ODR_ACC 12
#endif
#if defined(CONFIG_BMI160_GYRO_ODR_RUNTIME) ||\
defined(CONFIG_BMI160_GYRO_ODR_100)
# define BMI160_DEFAULT_ODR_GYR 8
#elif defined(CONFIG_BMI160_GYRO_ODR_25)
# define BMI160_DEFAULT_ODR_GYR 6
#elif defined(CONFIG_BMI160_GYRO_ODR_50)
# define BMI160_DEFAULT_ODR_GYR 7
#elif defined(CONFIG_BMI160_GYRO_ODR_200)
# define BMI160_DEFAULT_ODR_GYR 9
#elif defined(CONFIG_BMI160_GYRO_ODR_400)
# define BMI160_DEFAULT_ODR_GYR 10
#elif defined(CONFIG_BMI160_GYRO_ODR_800)
# define BMI160_DEFAULT_ODR_GYR 11
#elif defined(CONFIG_BMI160_GYRO_ODR_1600)
# define BMI160_DEFAULT_ODR_GYR 12
#else
# define BMI160_DEFAULT_ODR_GYR 13
#endif
/* end of default settings */
struct bmi160_range {
uint16_t range;
uint8_t reg_val;
};
#define BMI160_BUS_SPI DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
#define BMI160_BUS_I2C DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
union bmi160_bus {
#if BMI160_BUS_SPI
struct spi_dt_spec spi;
#endif
#if BMI160_BUS_I2C
struct i2c_dt_spec i2c;
#endif
};
typedef bool (*bmi160_bus_ready_fn)(const struct device *dev);
typedef int (*bmi160_reg_read_fn)(const struct device *dev,
uint8_t reg_addr, void *data, uint8_t len);
typedef int (*bmi160_reg_write_fn)(const struct device *dev,
uint8_t reg_addr, void *data, uint8_t len);
struct bmi160_bus_io {
bmi160_bus_ready_fn ready;
bmi160_reg_read_fn read;
bmi160_reg_write_fn write;
};
struct bmi160_cfg {
union bmi160_bus bus;
const struct bmi160_bus_io *bus_io;
#if defined(CONFIG_BMI160_TRIGGER)
struct gpio_dt_spec interrupt;
#endif
};
union bmi160_pmu_status {
uint8_t raw;
struct {
uint8_t mag : 2;
uint8_t gyr : 2;
uint8_t acc : 2;
uint8_t res : 2;
};
};
#define BMI160_AXES 3
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) && \
!defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
# define BMI160_SAMPLE_SIZE (2 * BMI160_AXES * sizeof(uint16_t))
#else
# define BMI160_SAMPLE_SIZE (BMI160_AXES * sizeof(uint16_t))
#endif
#if defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
# define BMI160_SAMPLE_BURST_READ_ADDR BMI160_REG_DATA_ACC_X
# define BMI160_DATA_READY_BIT_MASK (1 << 7)
#else
# define BMI160_SAMPLE_BURST_READ_ADDR BMI160_REG_DATA_GYR_X
# define BMI160_DATA_READY_BIT_MASK (1 << 6)
#endif
#define BMI160_BUF_SIZE (BMI160_SAMPLE_SIZE)
/* Each sample has X, Y and Z */
union bmi160_sample {
uint8_t raw[BMI160_BUF_SIZE];
struct {
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
uint16_t gyr[BMI160_AXES];
#endif
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
uint16_t acc[BMI160_AXES];
#endif
} __packed;
};
struct bmi160_scale {
uint16_t acc; /* micro m/s^2/lsb */
uint16_t gyr; /* micro radians/s/lsb */
};
struct bmi160_data {
const struct device *bus;
#if defined(CONFIG_BMI160_TRIGGER)
const struct device *dev;
const struct device *gpio;
struct gpio_callback gpio_cb;
#endif
union bmi160_pmu_status pmu_sts;
union bmi160_sample sample;
struct bmi160_scale scale;
#ifdef CONFIG_BMI160_TRIGGER_OWN_THREAD
struct k_sem sem;
#endif
#ifdef CONFIG_BMI160_TRIGGER_GLOBAL_THREAD
struct k_work work;
#endif
#ifdef CONFIG_BMI160_TRIGGER
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
sensor_trigger_handler_t handler_drdy_acc;
sensor_trigger_handler_t handler_anymotion;
#endif
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
sensor_trigger_handler_t handler_drdy_gyr;
#endif
#endif /* CONFIG_BMI160_TRIGGER */
};
static inline struct bmi160_data *to_data(const struct device *dev)
{
return dev->data;
}
static inline const struct bmi160_cfg *to_config(const struct device *dev)
{
return dev->config;
}
int bmi160_read(const struct device *dev, uint8_t reg_addr,
void *data, uint8_t len);
int bmi160_byte_read(const struct device *dev, uint8_t reg_addr,
uint8_t *byte);
int bmi160_byte_write(const struct device *dev, uint8_t reg_addr,
uint8_t byte);
int bmi160_word_write(const struct device *dev, uint8_t reg_addr,
uint16_t word);
int bmi160_reg_field_update(const struct device *dev, uint8_t reg_addr,
uint8_t pos, uint8_t mask, uint8_t val);
static inline int bmi160_reg_update(const struct device *dev,
uint8_t reg_addr,
uint8_t mask, uint8_t val)
{
return bmi160_reg_field_update(dev, reg_addr, 0, mask, val);
}
int bmi160_trigger_mode_init(const struct device *dev);
int bmi160_trigger_set(const struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int bmi160_acc_slope_config(const struct device *dev,
enum sensor_attribute attr,
const struct sensor_value *val);
int32_t bmi160_acc_reg_val_to_range(uint8_t reg_val);
int32_t bmi160_gyr_reg_val_to_range(uint8_t reg_val);
#endif /* ZEPHYR_DRIVERS_SENSOR_BMI160_BMI160_H_ */