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Updated and Validated
[betaflight.git] / lib / main / BoschSensortec / BMI270-Sensor-API / bmi270_wh.c
blobeda23cc0229ad796e2231c57c65b6dba13acb8d8
1 /**
2 * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
3 *
4 * BSD-3-Clause
5 *
6 * Redistribution and use in source and binary forms, with or without
7 * modification, are permitted provided that the following conditions are met:
8 *
9 * 1. Redistributions of source code must retain the above copyright
10 * notice, this list of conditions and the following disclaimer.
11 *
12 * 2. Redistributions in binary form must reproduce the above copyright
13 * notice, this list of conditions and the following disclaimer in the
14 * documentation and/or other materials provided with the distribution.
15 *
16 * 3. Neither the name of the copyright holder nor the names of its
17 * contributors may be used to endorse or promote products derived from
18 * this software without specific prior written permission.
19 *
20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
26 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
27 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
28 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
29 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
30 * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31 * POSSIBILITY OF SUCH DAMAGE.
32 *
33 * @file bmi270_wh.c
34 * @date 2020-11-04
35 * @version v2.63.1
36 *
37 */
38
39 /***************************************************************************/
40
41 /*! Header files
42 ****************************************************************************/
43 #include "bmi270_wh.h"
44
45 /***************************************************************************/
46
47 /*! Global Variable
48 ****************************************************************************/
49
50 /*! @name Global array that stores the configuration file of BMI270_WH */
51 const uint8_t bmi270_wh_config_file[] = {
52 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xf8, 0x02, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xe1, 0x00, 0x80, 0x2e, 0xc0,
53 0x02, 0x80, 0x2e, 0xe2, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x2c, 0x02, 0x80, 0x2e, 0xe4, 0x07, 0x59, 0xf5,
54 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xdd, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x31, 0x01, 0x00, 0x22,
55 0x00, 0x80, 0x00, 0xfa, 0x07, 0xff, 0x0f, 0xd1, 0x00, 0x65, 0x9d, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
56 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
57 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
58 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
59 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
60 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
61 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
62 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
63 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
64 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
65 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x7b, 0xaf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
66 0x00, 0x00, 0x03, 0x00, 0x18, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x12,
67 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
68 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
69 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
70 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
71 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
72 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
73 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
74 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
75 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x8e, 0x01, 0xc8, 0x2e, 0xc8, 0x2e, 0xbb, 0x52,
76 0x00, 0x2e, 0x60, 0x40, 0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0x43, 0x86, 0x25,
77 0x40, 0x04, 0x40, 0xd8, 0xbe, 0x2c, 0x0b, 0x22, 0x11, 0x54, 0x42, 0x03, 0x80, 0x4b, 0x0e, 0xf6, 0x2f, 0xb8, 0x2e,
78 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0x00,
79 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x31, 0x00, 0x00,
80 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0x04, 0x00, 0xee,
81 0x06, 0xf2, 0x05, 0x80, 0x80, 0x16, 0xf1, 0x02, 0x02, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00,
82 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19,
83 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00,
84 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
85 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
86 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x98, 0xf1, 0xaf, 0x00, 0xae, 0x00, 0x1e,
87 0xf2, 0x19, 0xf4, 0x66, 0xf5, 0x00, 0x04, 0xff, 0x00, 0x64, 0xf5, 0x96, 0x00, 0xaa, 0x00, 0x86, 0x00, 0x99, 0x00,
88 0x88, 0x00, 0x8a, 0x00, 0xff, 0x3f, 0xff, 0xfb, 0x31, 0x01, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xb2, 0x00, 0xff,
89 0x03, 0x00, 0xfc, 0xf0, 0x3f, 0x0b, 0x01, 0x0e, 0x01, 0x10, 0x01, 0xb9, 0x00, 0x2d, 0xf5, 0xca, 0xf5, 0xb0, 0x00,
90 0x20, 0xf2, 0xb2, 0x00, 0xff, 0x1f, 0x00, 0x40, 0x80, 0x2e, 0xc0, 0x08, 0x1d, 0x6c, 0xad, 0x00, 0x59, 0x01, 0x31,
91 0xd1, 0xff, 0x7f, 0x00, 0x08, 0xee, 0x7a, 0xe4, 0x0c, 0x12, 0x02, 0xb3, 0x00, 0xb4, 0x04, 0x62, 0x03, 0xc0, 0x02,
92 0x1f, 0xf8, 0xe1, 0x07, 0xd3, 0x07, 0xd7, 0x00, 0xd3, 0x00, 0xb9, 0x00, 0xc3, 0x00, 0xc5, 0x00, 0xbd, 0x00, 0xbc,
93 0x00, 0xbf, 0x00, 0xdd, 0x00, 0x95, 0x00, 0xc2, 0x00, 0xd6, 0x00, 0xf0, 0x00, 0x00, 0xff, 0x00, 0x80, 0x30, 0x50,
94 0x98, 0x2e, 0xc3, 0xb0, 0x02, 0x30, 0x00, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x01, 0x30, 0x00, 0x2e, 0x41,
95 0x82, 0x48, 0xa2, 0xfb, 0x2f, 0x03, 0x2e, 0x95, 0x00, 0x40, 0xb2, 0x1a, 0x2f, 0x05, 0x2e, 0x0a, 0x01, 0x91, 0x52,
96 0x98, 0x2e, 0xc7, 0xc1, 0x05, 0x2e, 0x18, 0x00, 0x80, 0xb2, 0x02, 0x30, 0x10, 0x2f, 0xf0, 0x7f, 0x00, 0x2e, 0x91,
97 0x50, 0x98, 0x2e, 0x4d, 0xc3, 0x91, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xbc, 0x03, 0x98, 0x2e, 0x00, 0xb0,
98 0x10, 0x30, 0x21, 0x2e, 0x19, 0x00, 0xf0, 0x6f, 0x02, 0x30, 0x03, 0x2e, 0x85, 0x00, 0x40, 0xb2, 0x40, 0x2f, 0x03,
99 0x2e, 0x85, 0x00, 0x03, 0x31, 0x4b, 0x08, 0x40, 0xb2, 0x07, 0x2f, 0xf0, 0x7f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30,
100 0x21, 0x2e, 0x19, 0x00, 0xf0, 0x6f, 0x02, 0x30, 0x03, 0x2e, 0x85, 0x00, 0x43, 0x30, 0x4b, 0x08, 0x40, 0xb2, 0x2a,
101 0x2f, 0x03, 0x2e, 0x90, 0x00, 0xf0, 0x7f, 0x40, 0xb2, 0x0e, 0x2f, 0x41, 0x90, 0x20, 0x2f, 0x05, 0x2e, 0x3f, 0x01,
102 0x07, 0x2e, 0x91, 0x00, 0xa1, 0x32, 0x95, 0x58, 0x98, 0x2e, 0x97, 0xb3, 0x02, 0x30, 0x25, 0x2e, 0x90, 0x00, 0x15,
103 0x2c, 0xf0, 0x6f, 0x93, 0x58, 0xa3, 0x32, 0x10, 0x41, 0x11, 0x41, 0x18, 0xb9, 0x04, 0x41, 0x98, 0xbc, 0x41, 0x0a,
104 0x94, 0x0a, 0x98, 0x2e, 0xf1, 0x03, 0x12, 0x30, 0x21, 0x2e, 0x91, 0x00, 0x21, 0x2e, 0xaf, 0x00, 0x25, 0x2e, 0x90,
105 0x00, 0xf0, 0x6f, 0x02, 0x30, 0x11, 0x30, 0x23, 0x2e, 0x19, 0x00, 0x25, 0x2e, 0x85, 0x00, 0x03, 0x2e, 0x19, 0x00,
106 0x40, 0xb2, 0x22, 0x2f, 0xf0, 0x7f, 0x98, 0x2e, 0xf5, 0xcb, 0x97, 0x54, 0xbc, 0x84, 0x21, 0x2e, 0xae, 0x00, 0x81,
107 0x40, 0x82, 0x86, 0x99, 0x54, 0x18, 0xb8, 0xc3, 0x40, 0x91, 0x42, 0x90, 0x42, 0x33, 0xbc, 0x90, 0x42, 0xe2, 0x7f,
108 0xf0, 0x31, 0x82, 0x40, 0x10, 0x08, 0xf2, 0x6f, 0x25, 0xbd, 0x02, 0x0a, 0xd0, 0x7f, 0x98, 0x2e, 0xa8, 0xcf, 0x06,
109 0xbc, 0xd2, 0x6f, 0xe1, 0x6f, 0x10, 0x0a, 0x40, 0x42, 0x98, 0x2e, 0x2c, 0x03, 0xf0, 0x6f, 0x02, 0x30, 0x25, 0x2e,
110 0x19, 0x00, 0x25, 0x2e, 0x95, 0x00, 0x80, 0x2e, 0x93, 0x01, 0x90, 0x50, 0xf7, 0x7f, 0xe6, 0x7f, 0xd5, 0x7f, 0xc4,
111 0x7f, 0xb3, 0x7f, 0xa1, 0x7f, 0x90, 0x7f, 0x82, 0x7f, 0x7b, 0x7f, 0x98, 0x2e, 0xe3, 0x00, 0x00, 0xb2, 0x65, 0x2f,
112 0x05, 0x2e, 0x31, 0x01, 0x01, 0x2e, 0x11, 0x01, 0x03, 0x2e, 0x0f, 0x01, 0x8f, 0xb9, 0x23, 0xbe, 0x9f, 0xb8, 0xcb,
113 0x0a, 0x24, 0xbc, 0x4f, 0xba, 0x03, 0x2e, 0x12, 0x01, 0x0f, 0xb8, 0x22, 0xbd, 0xdc, 0x0a, 0x2f, 0xb9, 0x9b, 0xbc,
114 0x18, 0x0a, 0x9f, 0xb8, 0x82, 0x0a, 0x91, 0x0a, 0x25, 0x2e, 0x18, 0x00, 0x05, 0x2e, 0xc1, 0xf5, 0x2e, 0xbd, 0x2e,
115 0xb9, 0x01, 0x2e, 0x18, 0x00, 0x31, 0x30, 0x8a, 0x04, 0x00, 0x90, 0x03, 0x2f, 0x01, 0x2e, 0x83, 0x00, 0x00, 0xb2,
116 0x19, 0x2f, 0x9b, 0x50, 0x91, 0x52, 0x98, 0x2e, 0xec, 0x00, 0x05, 0x2e, 0x82, 0x00, 0x25, 0x2e, 0x95, 0x00, 0x05,
117 0x2e, 0x82, 0x00, 0x80, 0x90, 0x02, 0x2f, 0x12, 0x30, 0x25, 0x2e, 0x82, 0x00, 0x01, 0x2e, 0x83, 0x00, 0x00, 0xb2,
118 0x10, 0x30, 0x05, 0x2e, 0x18, 0x00, 0x01, 0x2f, 0x21, 0x2e, 0x18, 0x00, 0x25, 0x2e, 0x83, 0x00, 0x05, 0x2e, 0x18,
119 0x00, 0x80, 0xb2, 0x20, 0x2f, 0x01, 0x2e, 0xc0, 0xf5, 0xf2, 0x30, 0x02, 0x08, 0x07, 0xaa, 0x73, 0x30, 0x03, 0x2e,
120 0x84, 0x00, 0x18, 0x22, 0x41, 0x1a, 0x05, 0x2f, 0x03, 0x2e, 0x66, 0xf5, 0x9f, 0xbc, 0x9f, 0xb8, 0x40, 0x90, 0x0c,
121 0x2f, 0x9d, 0x52, 0x03, 0x30, 0x53, 0x42, 0x2b, 0x30, 0x90, 0x04, 0x5b, 0x42, 0x21, 0x2e, 0x84, 0x00, 0x24, 0xbd,
122 0x7e, 0x80, 0x81, 0x84, 0x43, 0x42, 0x02, 0x42, 0x02, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x9f, 0x52, 0x05, 0x2e, 0x0a,
123 0x01, 0x91, 0x08, 0x00, 0x31, 0x21, 0x2e, 0x60, 0xf5, 0x80, 0xb2, 0x0b, 0x2f, 0xf2, 0x3e, 0x01, 0x2e, 0xca, 0xf5,
124 0x82, 0x08, 0x25, 0x2e, 0xca, 0xf5, 0x05, 0x2e, 0x59, 0xf5, 0xe0, 0x3f, 0x90, 0x08, 0x25, 0x2e, 0x59, 0xf5, 0xa1,
125 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe6, 0x6f, 0xf7, 0x6f, 0x7b, 0x6f, 0x82, 0x6f, 0x90, 0x6f, 0x70, 0x5f,
126 0xc8, 0x2e, 0xa0, 0x50, 0x80, 0x7f, 0xe7, 0x7f, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x91, 0x7f, 0xf6,
127 0x7f, 0x7b, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x60, 0xf5, 0x60, 0x7f, 0x98, 0x2e, 0xe3, 0x00, 0x62, 0x6f, 0x01, 0x32,
128 0x91, 0x08, 0x80, 0xb2, 0x0d, 0x2f, 0x00, 0xb2, 0x03, 0x2f, 0x05, 0x2e, 0x18, 0x00, 0x80, 0x90, 0x05, 0x2f, 0xa3,
129 0x56, 0x02, 0x30, 0xc1, 0x42, 0xc2, 0x86, 0x00, 0x2e, 0xc2, 0x42, 0x23, 0x2e, 0x60, 0xf5, 0x00, 0x90, 0x00, 0x30,
130 0x06, 0x2f, 0x21, 0x2e, 0x82, 0x00, 0xa1, 0x50, 0x21, 0x2e, 0x5a, 0xf2, 0x98, 0x2e, 0x3d, 0x03, 0xf6, 0x6f, 0x80,
131 0x6f, 0x91, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0xe7, 0x6f, 0x7b, 0x6f, 0x60, 0x5f, 0xc8, 0x2e,
132 0xc0, 0x50, 0xe7, 0x7f, 0xf6, 0x7f, 0x26, 0x30, 0x0f, 0x2e, 0x61, 0xf5, 0x2f, 0x2e, 0x85, 0x00, 0x0f, 0x2e, 0x85,
133 0x00, 0xbe, 0x09, 0xd5, 0x7f, 0xc4, 0x7f, 0xb3, 0x7f, 0xa2, 0x7f, 0x90, 0x7f, 0x7b, 0x7f, 0x80, 0xb3, 0x81, 0x7f,
134 0x11, 0x2f, 0xa5, 0x50, 0x1a, 0x25, 0x12, 0x40, 0x42, 0x7f, 0x74, 0x82, 0x12, 0x40, 0x52, 0x7f, 0x00, 0x2e, 0x00,
135 0x40, 0x60, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x03, 0x2e, 0x61, 0xf7, 0x00, 0x31, 0x48, 0x0a, 0x23, 0x2e, 0x61, 0xf7,
136 0xe1, 0x31, 0x23, 0x2e, 0x61, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f, 0x81, 0x6f, 0x90, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4,
137 0x6f, 0xd5, 0x6f, 0x7b, 0x6f, 0x40, 0x5f, 0xc8, 0x2e, 0xa7, 0x50, 0x10, 0x50, 0xbd, 0x52, 0x05, 0x2e, 0x8d, 0x00,
138 0xfb, 0x7f, 0x00, 0x2e, 0x13, 0x40, 0x93, 0x42, 0x41, 0x0e, 0xfb, 0x2f, 0x98, 0x2e, 0x91, 0x03, 0xfb, 0x6f, 0xf0,
139 0x5f, 0x80, 0x2e, 0x87, 0xcf, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x56, 0xc7, 0x98, 0x2e, 0x49, 0xc3, 0x11, 0x30,
140 0x30, 0x30, 0xfb, 0x6f, 0xf0, 0x5f, 0x23, 0x2e, 0x8f, 0x00, 0x21, 0x2e, 0x86, 0x00, 0x23, 0x2e, 0x19, 0x00, 0x21,
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239 0x5a, 0x84, 0x7f, 0x0c, 0x2c, 0xfb, 0x50, 0x2b, 0x09, 0x98, 0xb9, 0x44, 0x04, 0xd8, 0xba, 0x82, 0x84, 0x53, 0xbc,
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245 0xca, 0xd1, 0x6f, 0x08, 0x0f, 0x03, 0x2f, 0x01, 0x2e, 0xbc, 0x00, 0x00, 0x90, 0x03, 0x2f, 0x00, 0x30, 0x21, 0x2e,
246 0xc0, 0x00, 0x12, 0x2d, 0x01, 0x2e, 0xc0, 0x00, 0x71, 0x6f, 0xa1, 0x54, 0x01, 0x80, 0x4a, 0x08, 0x21, 0x2e, 0xc0,
247 0x00, 0x01, 0x0e, 0x07, 0x2f, 0x0d, 0x51, 0x02, 0x80, 0x01, 0x30, 0x21, 0x42, 0x12, 0x30, 0x01, 0x42, 0x25, 0x2e,
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251 0x6f, 0x83, 0x6f, 0x83, 0x0e, 0x00, 0x30, 0x17, 0x2f, 0xf3, 0x6e, 0x50, 0x6f, 0x98, 0x0f, 0x00, 0x30, 0x12, 0x2f,
252 0xa0, 0x6f, 0x98, 0x0e, 0x00, 0x30, 0x0e, 0x2f, 0xe3, 0x6e, 0x60, 0x6f, 0x98, 0x0f, 0x00, 0x30, 0x09, 0x2f, 0x30,
253 0x6f, 0x98, 0x0e, 0x00, 0x30, 0x05, 0x2f, 0x80, 0xb2, 0x00, 0x30, 0x02, 0x2f, 0x2d, 0x2e, 0xbc, 0x00, 0x10, 0x30,
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255 0x00, 0x86, 0x42, 0x00, 0x2e, 0x0f, 0x55, 0x56, 0x42, 0x56, 0x42, 0x4a, 0x0e, 0xfb, 0x2f, 0x2d, 0x2e, 0xd6, 0x00,
256 0x01, 0x2d, 0x00, 0x30, 0xeb, 0x6f, 0xb0, 0x5e, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39, 0x80, 0xf3, 0x7f, 0x03,
257 0x42, 0xa1, 0x7f, 0xc2, 0x7f, 0xd1, 0x7f, 0x03, 0x30, 0x03, 0x43, 0xe4, 0x7f, 0xbb, 0x7f, 0x22, 0x30, 0x10, 0x25,
258 0x98, 0x2e, 0x7a, 0xc1, 0xd2, 0x6f, 0x02, 0x17, 0x04, 0x08, 0xc1, 0x6f, 0x0c, 0x09, 0x04, 0x1a, 0x10, 0x30, 0x04,
259 0x30, 0x20, 0x22, 0x01, 0xb2, 0x14, 0x2f, 0x17, 0x59, 0x14, 0x09, 0xf3, 0x30, 0x93, 0x08, 0x24, 0xbd, 0x44, 0xba,
260 0x94, 0x0a, 0x02, 0x17, 0xf3, 0x6f, 0x4c, 0x08, 0x9a, 0x08, 0x8a, 0x0a, 0x19, 0x53, 0x51, 0x08, 0xa1, 0x58, 0x94,
261 0x08, 0x28, 0xbd, 0x98, 0xb8, 0xe4, 0x6f, 0x51, 0x0a, 0x01, 0x43, 0x00, 0x2e, 0xbb, 0x6f, 0x90, 0x5f, 0xb8, 0x2e,
262 0x1b, 0x57, 0x05, 0x40, 0x69, 0x18, 0x0d, 0x17, 0xe1, 0x18, 0x19, 0x05, 0x16, 0x25, 0x37, 0x25, 0x4a, 0x17, 0x54,
263 0x18, 0xec, 0x18, 0x04, 0x30, 0x64, 0x07, 0xea, 0x18, 0x8e, 0x00, 0x5f, 0x02, 0xd9, 0x56, 0x93, 0x00, 0x4c, 0x02,
264 0x2f, 0xb9, 0x91, 0xbc, 0x91, 0x0a, 0x02, 0x42, 0xb8, 0x2e, 0x00, 0x2e, 0x10, 0x24, 0xfa, 0x07, 0x11, 0x24, 0x00,
265 0x10, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x00, 0xc1, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a, 0xfb, 0x2f, 0x10, 0x24,
266 0x50, 0x32, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80, 0x2e, 0x10, 0x00
267 };
268
269 /*! @name Global array that stores the feature input configuration of BMI270_WH */
270 const struct bmi2_feature_config bmi270_wh_feat_in[BMI270_WH_MAX_FEAT_IN] = {
271 { .type = BMI2_CONFIG_ID, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_CONFIG_ID_STRT_ADDR },
272 { .type = BMI2_MAX_BURST_LEN, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_MAX_BURST_LEN_STRT_ADDR },
273 { .type = BMI2_AXIS_MAP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_AXIS_MAP_STRT_ADDR },
274 { .type = BMI2_NVM_PROG_PREP, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_NVM_PROG_PREP_STRT_ADDR },
275 { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_GYRO_GAIN_UPDATE_STRT_ADDR },
276 { .type = BMI2_ANY_MOTION, .page = BMI2_PAGE_1, .start_addr = BMI270_WH_ANY_MOT_STRT_ADDR },
277 { .type = BMI2_NO_MOTION, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_NO_MOT_STRT_ADDR },
278 { .type = BMI2_STEP_COUNTER_PARAMS, .page = BMI2_PAGE_3, .start_addr = BMI270_WH_STEP_CNT_1_STRT_ADDR },
279 { .type = BMI2_STEP_DETECTOR, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
280 { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
281 { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_6, .start_addr = BMI270_WH_STEP_CNT_4_STRT_ADDR },
282 { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .page = BMI2_PAGE_2, .start_addr = BMI270_WH_WRIST_WEAR_WAKE_UP_STRT_ADDR },
283 };
284
285 /*! @name Global array that stores the feature output configuration */
286 const struct bmi2_feature_config bmi270_wh_feat_out[BMI270_WH_MAX_FEAT_OUT] = {
287 { .type = BMI2_STEP_COUNTER, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_CNT_OUT_STRT_ADDR },
288 { .type = BMI2_STEP_ACTIVITY, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_STEP_ACT_OUT_STRT_ADDR },
289 { .type = BMI2_GYRO_GAIN_UPDATE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYR_USER_GAIN_OUT_STRT_ADDR },
290 { .type = BMI2_GYRO_CROSS_SENSE, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_GYRO_CROSS_SENSE_STRT_ADDR },
291 { .type = BMI2_NVM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR },
292 { .type = BMI2_VFRM_STATUS, .page = BMI2_PAGE_0, .start_addr = BMI270_WH_NVM_VFRM_OUT_STRT_ADDR }
293 };
294
295 /*! @name Global array that stores the feature interrupts of BMI270_WH */
296 struct bmi2_map_int bmi270wh_map_int[BMI270_WH_MAX_INT_MAP] = {
297 { .type = BMI2_STEP_COUNTER, .sens_map_int = BMI270_WH_INT_STEP_COUNTER_MASK },
298 { .type = BMI2_STEP_DETECTOR, .sens_map_int = BMI270_WH_INT_STEP_DETECTOR_MASK },
299 { .type = BMI2_STEP_ACTIVITY, .sens_map_int = BMI270_WH_INT_STEP_ACT_MASK },
300 { .type = BMI2_WRIST_WEAR_WAKE_UP_WH, .sens_map_int = BMI270_WH_INT_WRIST_WEAR_WAKEUP_WH_MASK },
301 { .type = BMI2_ANY_MOTION, .sens_map_int = BMI270_WH_INT_ANY_MOT_MASK },
302 { .type = BMI2_NO_MOTION, .sens_map_int = BMI270_WH_INT_NO_MOT_MASK },
303 };
304
305 /******************************************************************************/
306
307 /*! Local Function Prototypes
308 ******************************************************************************/
309
310 /*!
311 * @brief This internal API is used to validate the device pointer for
312 * null conditions.
313 *
314 * @param[in] dev : Structure instance of bmi2_dev.
315 *
316 * @return Result of API execution status
317 * @retval 0 -> Success
318 * @retval < 0 -> Fail
319 */
320 static int8_t null_ptr_check(const struct bmi2_dev *dev);
321
322 /*!
323 * @brief This internal API enables the selected sensor/features.
324 *
325 * @param[in] sensor_sel : Selects the desired sensor.
326 * @param[in, out] dev : Structure instance of bmi2_dev.
327 *
328 * @return Result of API execution status
329 * @retval 0 -> Success
330 * @retval < 0 -> Fail
331 */
332 static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev);
333
334 /*!
335 * @brief This internal API disables the selected sensor/features.
336 *
337 * @param[in] sensor_sel : Selects the desired sensor.
338 * @param[in, out] dev : Structure instance of bmi2_dev.
339 *
340 * @return Result of API execution status
341 * @retval 0 -> Success
342 * @retval < 0 -> Fail
343 */
344 static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev);
345
346 /*!
347 * @brief This internal API selects the sensors/features to be enabled or
348 * disabled.
349 *
350 * @param[in] sens_list : Pointer to select the sensor.
351 * @param[in] n_sens : Number of sensors selected.
352 * @param[out] sensor_sel : Gets the selected sensor.
353 *
354 * @return Result of API execution status
355 * @retval 0 -> Success
356 * @retval < 0 -> Fail
357 */
358 static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel);
359
360 /*!
361 * @brief This internal API is used to enable/disable any-motion feature.
362 *
363 * @param[in] dev : Structure instance of bmi2_dev.
364 * @param[in] enable : Enables/Disables any-motion.
365 *
366 * Enable | Description
367 * -------------|---------------
368 * BMI2_DISABLE | Disables any-motion.
369 * BMI2_ENABLE | Enables any-motion.
370 *
371 * @return Result of API execution status
372 * @retval 0 -> Success
373 * @retval < 0 -> Fail
374 */
375 static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev);
376
377 /*!
378 * @brief This internal API is used to enable/disable no-motion feature.
379 *
380 * @param[in] dev : Structure instance of bmi2_dev.
381 * @param[in] enable : Enables/Disables no-motion.
382 *
383 * Enable | Description
384 * -------------|---------------
385 * BMI2_DISABLE | Disables no-motion.
386 * BMI2_ENABLE | Enables no-motion.
387 *
388 * @return Result of API execution status
389 * @retval 0 -> Success
390 * @retval < 0 -> Fail
391 */
392 static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev);
393
394 /*!
395 * @brief This internal API is used to enable/disable step detector feature.
396 *
397 * @param[in] dev : Structure instance of bmi2_dev.
398 * @param[in] enable : Enables/Disables step-detector.
399 *
400 * Enable | Description
401 * -------------|---------------
402 * BMI2_DISABLE | Disables step detector
403 * BMI2_ENABLE | Enables step detector
404 *
405 * @return Result of API execution status
406 * @retval 0 -> Success
407 * @retval < 0 -> Fail
408 */
409 static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev);
410
411 /*!
412 * @brief This internal API is used to enable/disable step counter feature.
413 *
414 * @param[in] dev : Structure instance of bmi2_dev.
415 * @param[in] enable : Enables/Disables step counter.
416 *
417 * Enable | Description
418 * -------------|---------------
419 * BMI2_DISABLE | Disables step counter
420 * BMI2_ENABLE | Enables step counter
421 *
422 * @return Result of API execution status
423 * @retval 0 -> Success
424 * @retval < 0 -> Fail
425 */
426 static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev);
427
428 /*!
429 * @brief This internal API is used to enable/disable step activity detection.
430 *
431 * @param[in] dev : Structure instance of bmi2_dev.
432 * @param[in] enable : Enables/Disables step activity.
433 *
434 * Enable | Description
435 * -------------|---------------
436 * BMI2_DISABLE | Disables step activity
437 * BMI2_ENABLE | Enables step activity
438 *
439 * @return Result of API execution status
440 * @retval 0 -> Success
441 * @retval < 0 -> Fail
442 */
443 static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev);
444
445 /*!
446 * @brief This internal API is used to enable/disable gyroscope user gain
447 * feature.
448 *
449 * @param[in] dev : Structure instance of bmi2_dev.
450 * @param[in] enable : Enables/Disables gyroscope user gain.
451 *
452 * Enable | Description
453 * -------------|---------------
454 * BMI2_DISABLE | Disables gyroscope user gain
455 * BMI2_ENABLE | Enables gyroscope user gain
456 *
457 * @return Result of API execution status
458 * @retval 0 -> Success
459 * @retval < 0 -> Fail
460 */
461 static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev);
462
463 /*!
464 * @brief This internal API enables the wrist wear wake up feature for wearable variant.
465 *
466 * @param[in] dev : Structure instance of bmi2_dev.
467 * @param[in] enable : Enables/Disables wrist wear wake up.
468 *
469 * Enable | Description
470 * -------------|---------------
471 * BMI2_DISABLE | Disables wrist wear wake up
472 * BMI2_ENABLE | Enables wrist wear wake up
473 *
474 * @return Result of API execution status
475 * @retval 0 -> Success
476 * @retval < 0 -> Fail
477 */
478 static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev);
479
480 /*!
481 * @brief This internal API sets any-motion configurations like axes select,
482 * duration, threshold and output-configuration.
483 *
484 * @param[in] config : Structure instance of bmi2_any_motion_config.
485 * @param[in, out] dev : Structure instance of bmi2_dev.
486 *
487 * @verbatim
488 *----------------------------------------------------------------------------
489 * bmi2_any_motion_config |
490 * Structure parameters | Description
491 *--------------------------|--------------------------------------------------
492 * | Defines the number of consecutive data points for
493 * | which the threshold condition must be respected,
494 * | for interrupt assertion. It is expressed in 50 Hz
495 * duration | samples (20 msec).
496 * | Range is 0 to 163sec.
497 * | Default value is 5 = 100ms.
498 * -------------------------|---------------------------------------------------
499 * | Slope threshold value for in 5.11g format.
500 * threshold | Range is 0 to 1g.
501 * | Default value is 0xAA = 83mg.
502 * -------------------------|---------------------------------------------------
503 * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
504 * -------------------------|---------------------------------------------------
505 * @endverbatim
506 *
507 * @return Result of API execution status
508 * @retval 0 -> Success
509 * @retval < 0 -> Fail
510 */
511 static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
512
513 /*!
514 * @brief This internal API sets no-motion configurations like axes select,
515 * duration, threshold and output-configuration.
516 *
517 * @param[in] config : Structure instance of bmi2_no_motion_config.
518 * @param[in, out] dev : Structure instance of bmi2_dev.
519 *
520 * @verbatim
521 *----------------------------------------------------------------------------
522 * bmi2_no_motion_config |
523 * Structure parameters | Description
524 *--------------------------|--------------------------------------------------
525 * | Defines the number of consecutive data points for
526 * | which the threshold condition must be respected,
527 * | for interrupt assertion. It is expressed in 50 Hz
528 * duration | samples (20 msec).
529 * | Range is 0 to 163sec.
530 * | Default value is 5 = 100ms.
531 * -------------------------|---------------------------------------------------
532 * | Slope threshold value for in 5.11g format.
533 * threshold | Range is 0 to 1g.
534 * | Default value is 0xAA = 83mg.
535 * -------------------------|---------------------------------------------------
536 * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
537 * -------------------------|---------------------------------------------------
538 * @endverbatim
539 *
540 * @return Result of API execution status
541 * @retval 0 -> Success
542 * @retval < 0 -> Fail
543 */
544 static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
545
546 /*!
547 * @brief This internal API sets step counter parameter configurations.
548 *
549 * @param[in] step_count_params : Array that stores parameters 1 to 25.
550 * @param[in] dev : Structure instance of bmi2_dev.
551 *
552 * @return Result of API execution status
553 * @retval 0 -> Success
554 * @retval < 0 -> Fail
555 */
556 static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev);
557
558 /*!
559 * @brief This internal API sets step counter/detector/activity configurations.
560 *
561 * @param[in] config : Structure instance of bmi2_step_config.
562 * @param[in] dev : Structure instance of bmi2_dev.
563 *
564 *---------------------------------------------------------------------------
565 * bmi2_step_config |
566 * Structure parameters | Description
567 *--------------------------|--------------------------------------------------
568 * | The Step-counter will trigger output every time
569 * | the number of steps are counted. Holds implicitly
570 * water-mark level | a 20x factor, so the range is 0 to 10230,
571 * | with resolution of 20 steps.
572 * -------------------------|---------------------------------------------------
573 * reset counter | Flag to reset the counted steps.
574 * -------------------------|---------------------------------------------------
575 * @endverbatim
576 *
577 * @return Result of API execution status
578 * @retval 0 -> Success
579 * @retval < 0 -> Fail
580 */
581 static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev);
582
583 /*!
584 * @brief This internal API sets wrist wear wake-up configurations like
585 * output-configuration for wearable variant.
586 *
587 * @param[in] config : Structure instance of
588 * bmi2_wrist_wear_wake_up_config.
589 * @param[in, out] dev : Structure instance of bmi2_dev.
590 *
591 * @verbatim
592 *-------------------------------------|----------------------------------------
593 * bmi2_wrist_wear_wake_up_wh_config |
594 * Structure parameters | Description
595 *-------------------------------------|-------------------------------------------
596 * | To set the wrist wear wake-up parameters like
597 * | min_angle_focus, min_angle_nonfocus,
598 * wrist_wear_wake_wh_params | angle_landscape_left, angle_landscape_right,
599 * | angle_potrait_up and down.
600 * ------------------------------------|-------------------------------------------
601 * @endverbatim
602 *
603 * @return Result of API execution status
604 * @retval 0 -> Success
605 * @retval < 0 -> Fail
606 */
607 static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
608 struct bmi2_dev *dev);
609
610 /*!
611 * @brief This internal API gets any-motion configurations like axes select,
612 * duration, threshold and output-configuration.
613 *
614 * @param[out] config : Structure instance of bmi2_any_motion_config.
615 * @param[in, out] dev : Structure instance of bmi2_dev.
616 *
617 * @verbatim
618 *----------------------------------------------------------------------------
619 * bmi2_any_motion_config |
620 * Structure parameters | Description
621 *--------------------------|--------------------------------------------------
622 * | Defines the number of consecutive data points for
623 * | which the threshold condition must be respected,
624 * | for interrupt assertion. It is expressed in 50 Hz
625 * duration | samples (20 msec).
626 * | Range is 0 to 163sec.
627 * | Default value is 5 = 100ms.
628 * -------------------------|---------------------------------------------------
629 * | Slope threshold value for in 5.11g format.
630 * threshold | Range is 0 to 1g.
631 * | Default value is 0xAA = 83mg.
632 * -------------------------|---------------------------------------------------
633 * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
634 * -------------------------|---------------------------------------------------
635 * @endverbatim
636 *
637 * @return Result of API execution status
638 * @retval 0 -> Success
639 * @retval < 0 -> Fail
640 */
641 static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev);
642
643 /*!
644 * @brief This internal API gets no-motion configurations like axes select,
645 * duration, threshold and output-configuration.
646 *
647 * @param[out] config : Structure instance of bmi2_no_motion_config.
648 * @param[in, out] dev : Structure instance of bmi2_dev.
649 *
650 * @verbatim
651 *----------------------------------------------------------------------------
652 * bmi2_no_motion_config |
653 * Structure parameters | Description
654 *--------------------------|--------------------------------------------------
655 * | Defines the number of consecutive data points for
656 * | which the threshold condition must be respected,
657 * | for interrupt assertion. It is expressed in 50 Hz
658 * duration | samples (20 msec).
659 * | Range is 0 to 163sec.
660 * | Default value is 5 = 100ms.
661 * -------------------------|---------------------------------------------------
662 * | Slope threshold value for in 5.11g format.
663 * threshold | Range is 0 to 1g.
664 * | Default value is 0xAA = 83mg.
665 * -------------------------|---------------------------------------------------
666 * x_sel, y_sel, z_sel | Selects the feature on a per-axis basis
667 * -------------------------|---------------------------------------------------
668 * @endverbatim
669 *
670 * @return Result of API execution status
671 * @retval 0 -> Success
672 * @retval < 0 -> Fail
673 */
674 static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev);
675
676 /*!
677 * @brief This internal API gets step counter parameter configurations.
678 *
679 * @param[in] step_count_params : Array that stores parameters 1 to 25.
680 * @param[in] dev : Structure instance of bmi2_dev.
681 *
682 * @return Result of API execution status
683 * @retval 0 -> Success
684 * @retval < 0 -> Fail
685 */
686 static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev);
687
688 /*!
689 * @brief This internal API gets step counter/detector/activity configurations.
690 *
691 * @param[out] config : Structure instance of bmi2_step_config.
692 * @param[in] dev : Structure instance of bmi2_dev.
693 *
694 * @verbatim
695 *----------------------------------------------------------------------------
696 * bmi2_step_config |
697 * Structure parameters | Description
698 *--------------------------|--------------------------------------------------
699 * | The Step-counter will trigger output every time
700 * | the number of steps are counted. Holds implicitly
701 * water-mark level | a 20x factor, so the range is 0 to 10230,
702 * | with resolution of 20 steps.
703 * -------------------------|---------------------------------------------------
704 * reset counter | Flag to reset the counted steps.
705 * -------------------------|---------------------------------------------------
706 * @endverbatim
707 *
708 * @return Result of API execution status
709 * @retval 0 -> Success
710 * @retval < 0 -> Fail
711 */
712 static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev);
713
714 /*!
715 * @brief This internal API gets wrist wear wake-up configurations like
716 * output-configuration for wearable variant.
717 *
718 * @param[out] config : Structure instance of
719 * bmi2_wrist_wear_wake_up_config.
720 * @param[in, out] dev : Structure instance of bmi2_dev.
721 *
722 * @verbatim
723 *-----------------------------------------------------------------------------
724 * bmi2_wrist_wear_wake_up_config |
725 * Structure parameters | Description
726 *----------------------------------|-------------------------------------------
727 * | To get the wrist wear wake-up parameters like
728 * | min_angle_focus, min_angle_nonfocus,
729 * wrist_wear_wake_params | angle_landscape_left, angle_landscape_right,
730 * | angle_potrait_up and down.
731 * ---------------------------------|-------------------------------------------
732 * @endverbatim
733 *
734 * @return Result of API execution status
735 * @retval 0 -> Success
736 * @retval < 0 -> Fail
737 */
738 static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev);
739
740 /*!
741 * @brief This internal API gets the output values of step activity.
742 *
743 * @param[out] step_act : Pointer to the stored step activity data.
744 * @param[in] dev : Structure instance of bmi2_dev.
745 *
746 * *step_act | Output
747 * -----------|------------
748 * 0x00 | STILL
749 * 0x01 | WALKING
750 * 0x02 | RUNNING
751 * 0x03 | UNKNOWN
752 *
753 * @return Result of API execution status
754 * @retval 0 -> Success
755 * @retval < 0 -> Fail
756 */
757 static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev);
758
759 /*!
760 * @brief This internal API gets the output values of step counter.
761 *
762 * @param[out] step_count : Pointer to the stored step counter data.
763 * @param[in] dev : Structure instance of bmi2_dev.
764 *
765 * @return Result of API execution status
766 * @retval 0 -> Success
767 * @retval < 0 -> Fail
768 */
769 static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev);
770
771 /*!
772 * @brief This internal API gets the error status related to NVM.
773 *
774 * @param[out] nvm_err_stat : Stores the NVM error status.
775 * @param[in] dev : Structure instance of bmi2_dev.
776 *
777 * @return Result of API execution status
778 * @retval 0 -> Success
779 * @retval < 0 -> Fail
780 */
781 static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev);
782
783 /*!
784 * @brief This internal API gets the error status related to virtual frames.
785 *
786 * @param[out] vfrm_err_stat : Stores the VFRM related error status.
787 * @param[in] dev : Structure instance of bmi2_dev.
788 *
789 * @return Result of API execution status
790 * @retval 0 -> Success
791 * @retval < 0 -> Fail
792 */
793 static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev);
794
795 /*!
796 * @brief This internal API is used to get enable status of gyroscope user gain
797 * update.
798 *
799 * @param[out] status : Stores status of gyroscope user gain update.
800 * @param[in] dev : Structure instance of bmi2_dev.
801 *
802 * @return Result of API execution status
803 * @retval 0 -> Success
804 * @retval < 0 -> Fail
805 */
806 static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev);
807
808 /*!
809 * @brief This internal API enables/disables compensation of the gain defined
810 * in the GAIN register.
811 *
812 * @param[in] enable : Enables/Disables gain compensation
813 * @param[in] dev : Structure instance of bmi2_dev.
814 *
815 * enable | Description
816 * -------------|---------------
817 * BMI2_ENABLE | Enable gain compensation.
818 * BMI2_DISABLE | Disable gain compensation.
819 *
820 * @return Result of API execution status
821 * @retval 0 -> Success
822 * @retval < 0 -> Fail
823 */
824 static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev);
825
826 /*!
827 * @brief This internal API is used to extract the output feature configuration
828 * details like page and start address from the look-up table.
829 *
830 * @param[out] feat_output : Structure that stores output feature
831 * configurations.
832 * @param[in] type : Type of feature or sensor.
833 * @param[in] dev : Structure instance of bmi2_dev.
834 *
835 * @return Returns the feature found flag.
836 *
837 * @retval BMI2_FALSE : Feature not found
838 * BMI2_TRUE : Feature found
839 */
840 static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
841 uint8_t type,
842 const struct bmi2_dev *dev);
843
844 /***************************************************************************/
845
846 /*! User Interface Definitions
847 ****************************************************************************/
848
849 /*!
850 * @brief This API:
851 * 1) updates the device structure with address of the configuration file.
852 * 2) Initializes BMI270_WH sensor.
853 * 3) Writes the configuration file.
854 * 4) Updates the feature offset parameters in the device structure.
855 * 5) Updates the maximum number of pages, in the device structure.
856 */
857 int8_t bmi270_wh_init(struct bmi2_dev *dev)
858 {
859 /* Variable to define error */
860 int8_t rslt;
861
862 /* Null-pointer check */
863 rslt = null_ptr_check(dev);
864 if (rslt == BMI2_OK)
865 {
866 /* Assign chip id of BMI270_WH */
867 dev->chip_id = BMI270_WH_CHIP_ID;
868
869 /* get the size of config array */
870 dev->config_size = sizeof(bmi270_wh_config_file);
871
872 /* Enable the variant specific features if any */
873 dev->variant_feature = BMI2_GYRO_CROSS_SENS_ENABLE | BMI2_CRT_RTOSK_ENABLE;
874
875 /* An extra dummy byte is read during SPI read */
876 if (dev->intf == BMI2_SPI_INTF)
877 {
878 dev->dummy_byte = 1;
879 }
880 else
881 {
882 dev->dummy_byte = 0;
883 }
884
885 /* If configuration file pointer is not assigned any address */
886 if (!dev->config_file_ptr)
887 {
888 /* Give the address of the configuration file array to
889 * the device pointer
890 */
891 dev->config_file_ptr = bmi270_wh_config_file;
892 }
893
894 /* Initialize BMI2 sensor */
895 rslt = bmi2_sec_init(dev);
896 if (rslt == BMI2_OK)
897 {
898 /* Assign the offsets of the feature input
899 * configuration to the device structure
900 */
901 dev->feat_config = bmi270_wh_feat_in;
902
903 /* Assign the offsets of the feature output to
904 * the device structure
905 */
906 dev->feat_output = bmi270_wh_feat_out;
907
908 /* Assign the maximum number of pages to the
909 * device structure
910 */
911 dev->page_max = BMI270_WH_MAX_PAGE_NUM;
912
913 /* Assign maximum number of input sensors/
914 * features to device structure
915 */
916 dev->input_sens = BMI270_WH_MAX_FEAT_IN;
917
918 /* Assign maximum number of output sensors/
919 * features to device structure
920 */
921 dev->out_sens = BMI270_WH_MAX_FEAT_OUT;
922
923 /* Assign the offsets of the feature interrupt
924 * to the device structure
925 */
926 dev->map_int = bmi270wh_map_int;
927
928 /* Assign maximum number of feature interrupts
929 * to device structure
930 */
931 dev->sens_int_map = BMI270_WH_MAX_INT_MAP;
932
933 /* Get the gyroscope cross axis sensitivity */
934 rslt = bmi2_get_gyro_cross_sense(dev);
935 }
936 }
937
938 return rslt;
939 }
940
941 /*!
942 * @brief This API selects the sensors/features to be enabled.
943 */
944 int8_t bmi270_wh_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
945 {
946 /* Variable to define error */
947 int8_t rslt;
948
949 /* Variable to select sensor */
950 uint64_t sensor_sel = 0;
951
952 /* Null-pointer check */
953 rslt = null_ptr_check(dev);
954 if ((rslt == BMI2_OK) && (sens_list != NULL))
955 {
956 /* Get the selected sensors */
957 rslt = select_sensor(sens_list, n_sens, &sensor_sel);
958 if (rslt == BMI2_OK)
959 {
960 /* Enable the selected sensors */
961 rslt = sensor_enable(sensor_sel, dev);
962 }
963 }
964 else
965 {
966 rslt = BMI2_E_NULL_PTR;
967 }
968
969 return rslt;
970 }
971
972 /*!
973 * @brief This API selects the sensors/features to be disabled.
974 */
975 int8_t bmi270_wh_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev)
976 {
977 /* Variable to define error */
978 int8_t rslt;
979
980 /* Variable to select sensor */
981 uint64_t sensor_sel = 0;
982
983 /* Null-pointer check */
984 rslt = null_ptr_check(dev);
985 if ((rslt == BMI2_OK) && (sens_list != NULL))
986 {
987 /* Get the selected sensors */
988 rslt = select_sensor(sens_list, n_sens, &sensor_sel);
989 if (rslt == BMI2_OK)
990 {
991 /* Disable the selected sensors */
992 rslt = sensor_disable(sensor_sel, dev);
993 }
994 }
995 else
996 {
997 rslt = BMI2_E_NULL_PTR;
998 }
999
1000 return rslt;
1001 }
1002
1003 /*!
1004 * @brief This API sets the sensor/feature configuration.
1005 */
1006 int8_t bmi270_wh_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
1007 {
1008 /* Variable to define error */
1009 int8_t rslt;
1010
1011 /* Variable to define loop */
1012 uint8_t loop;
1013
1014 /* Variable to get the status of advance power save */
1015 uint8_t aps_stat = 0;
1016
1017 /* Null-pointer check */
1018 rslt = null_ptr_check(dev);
1019 if ((rslt == BMI2_OK) && (sens_cfg != NULL))
1020 {
1021 /* Get status of advance power save mode */
1022 aps_stat = dev->aps_status;
1023
1024 for (loop = 0; loop < n_sens; loop++)
1025 {
1026 if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
1027 (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
1028 {
1029 rslt = bmi2_set_sensor_config(&sens_cfg[loop], 1, dev);
1030 }
1031 else
1032 {
1033 /* Disable Advance power save if enabled for auxiliary
1034 * and feature configurations
1035 */
1036 if (aps_stat == BMI2_ENABLE)
1037 {
1038 /* Disable advance power save if
1039 * enabled
1040 */
1041 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
1042 }
1043
1044 if (rslt == BMI2_OK)
1045 {
1046 switch (sens_cfg[loop].type)
1047 {
1048 /* Set any motion configuration */
1049 case BMI2_ANY_MOTION:
1050 rslt = set_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
1051 break;
1052
1053 /* Set no motion configuration */
1054 case BMI2_NO_MOTION:
1055 rslt = set_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
1056 break;
1057
1058 /* Set the step counter parameters */
1059 case BMI2_STEP_COUNTER_PARAMS:
1060 rslt = set_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
1061 break;
1062
1063 /* Set step counter/detector/activity configuration */
1064 case BMI2_STEP_DETECTOR:
1065 case BMI2_STEP_COUNTER:
1066 case BMI2_STEP_ACTIVITY:
1067 rslt = set_step_config(&sens_cfg[loop].cfg.step_counter, dev);
1068 break;
1069
1070 /* Set the wrist wear wake-up configuration for wearable variant */
1071 case BMI2_WRIST_WEAR_WAKE_UP_WH:
1072 rslt = set_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
1073 break;
1074
1075 default:
1076 rslt = BMI2_E_INVALID_SENSOR;
1077 break;
1078 }
1079 }
1080
1081 /* Return error if any of the set configurations fail */
1082 if (rslt != BMI2_OK)
1083 {
1084 break;
1085 }
1086 }
1087 }
1088
1089 /* Enable Advance power save if disabled while configuring and
1090 * not when already disabled
1091 */
1092 if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
1093 {
1094 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
1095 }
1096 }
1097 else
1098 {
1099 rslt = BMI2_E_NULL_PTR;
1100 }
1101
1102 return rslt;
1103 }
1104
1105 /*!
1106 * @brief This API gets the sensor/feature configuration.
1107 */
1108 int8_t bmi270_wh_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev)
1109 {
1110 /* Variable to define error */
1111 int8_t rslt;
1112
1113 /* Variable to define loop */
1114 uint8_t loop;
1115
1116 /* Variable to get the status of advance power save */
1117 uint8_t aps_stat = 0;
1118
1119 /* Null-pointer check */
1120 rslt = null_ptr_check(dev);
1121 if ((rslt == BMI2_OK) && (sens_cfg != NULL))
1122 {
1123 /* Get status of advance power save mode */
1124 aps_stat = dev->aps_status;
1125 for (loop = 0; loop < n_sens; loop++)
1126 {
1127 if ((sens_cfg[loop].type == BMI2_ACCEL) || (sens_cfg[loop].type == BMI2_GYRO) ||
1128 (sens_cfg[loop].type == BMI2_AUX) || (sens_cfg[loop].type == BMI2_GYRO_GAIN_UPDATE))
1129 {
1130 rslt = bmi2_get_sensor_config(&sens_cfg[loop], 1, dev);
1131 }
1132 else
1133 {
1134 /* Disable Advance power save if enabled for auxiliary
1135 * and feature configurations
1136 */
1137 if ((sens_cfg[loop].type >= BMI2_MAIN_SENS_MAX_NUM) || (sens_cfg[loop].type == BMI2_AUX))
1138 {
1139
1140 if (aps_stat == BMI2_ENABLE)
1141 {
1142 /* Disable advance power save if
1143 * enabled
1144 */
1145 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
1146 }
1147 }
1148
1149 if (rslt == BMI2_OK)
1150 {
1151 switch (sens_cfg[loop].type)
1152 {
1153 /* Get any motion configuration */
1154 case BMI2_ANY_MOTION:
1155 rslt = get_any_motion_config(&sens_cfg[loop].cfg.any_motion, dev);
1156 break;
1157
1158 /* Get no motion configuration */
1159 case BMI2_NO_MOTION:
1160 rslt = get_no_motion_config(&sens_cfg[loop].cfg.no_motion, dev);
1161 break;
1162
1163 /* Set the step counter parameters */
1164 case BMI2_STEP_COUNTER_PARAMS:
1165 rslt = get_step_count_params_config(sens_cfg[loop].cfg.step_counter_params, dev);
1166 break;
1167
1168 /* Get step counter/detector/activity configuration */
1169 case BMI2_STEP_DETECTOR:
1170 case BMI2_STEP_COUNTER:
1171 case BMI2_STEP_ACTIVITY:
1172 rslt = get_step_config(&sens_cfg[loop].cfg.step_counter, dev);
1173 break;
1174
1175 /* Get the wrist wear wake-up configuration for wearable variant */
1176 case BMI2_WRIST_WEAR_WAKE_UP_WH:
1177 rslt = get_wrist_wear_wake_up_wh_config(&sens_cfg[loop].cfg.wrist_wear_wake_up_wh, dev);
1178 break;
1179
1180 default:
1181 rslt = BMI2_E_INVALID_SENSOR;
1182 break;
1183 }
1184 }
1185
1186 /* Return error if any of the get configurations fail */
1187 if (rslt != BMI2_OK)
1188 {
1189 break;
1190 }
1191 }
1192 }
1193
1194 /* Enable Advance power save if disabled while configuring and
1195 * not when already disabled
1196 */
1197 if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
1198 {
1199 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
1200 }
1201 }
1202 else
1203 {
1204 rslt = BMI2_E_NULL_PTR;
1205 }
1206
1207 return rslt;
1208 }
1209
1210 /*!
1211 * @brief This API gets the sensor/feature data for accelerometer, gyroscope,
1212 * auxiliary sensor, step counter, high-g, gyroscope user-gain update,
1213 * orientation, gyroscope cross sensitivity and error status for NVM and VFRM.
1214 */
1215 int8_t bmi270_wh_get_sensor_data(struct bmi2_sensor_data *sensor_data, uint8_t n_sens, struct bmi2_dev *dev)
1216 {
1217 /* Variable to define error */
1218 int8_t rslt;
1219
1220 /* Variable to define loop */
1221 uint8_t loop;
1222
1223 /* Variable to get the status of advance power save */
1224 uint8_t aps_stat = 0;
1225
1226 /* Null-pointer check */
1227 rslt = null_ptr_check(dev);
1228 if ((rslt == BMI2_OK) && (sensor_data != NULL))
1229 {
1230 /* Get status of advance power save mode */
1231 aps_stat = dev->aps_status;
1232 for (loop = 0; loop < n_sens; loop++)
1233 {
1234 if ((sensor_data[loop].type == BMI2_ACCEL) || (sensor_data[loop].type == BMI2_GYRO) ||
1235 (sensor_data[loop].type == BMI2_AUX) || (sensor_data[loop].type == BMI2_GYRO_GAIN_UPDATE) ||
1236 (sensor_data[loop].type == BMI2_GYRO_CROSS_SENSE))
1237 {
1238 rslt = bmi2_get_sensor_data(&sensor_data[loop], 1, dev);
1239 }
1240 else
1241 {
1242 /* Disable Advance power save if enabled for feature
1243 * configurations
1244 */
1245 if (sensor_data[loop].type >= BMI2_MAIN_SENS_MAX_NUM)
1246 {
1247 if (aps_stat == BMI2_ENABLE)
1248 {
1249 /* Disable advance power save if
1250 * enabled
1251 */
1252 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
1253 }
1254 }
1255
1256 if (rslt == BMI2_OK)
1257 {
1258 switch (sensor_data[loop].type)
1259 {
1260 case BMI2_STEP_COUNTER:
1261
1262 /* Get step counter output */
1263 rslt = get_step_counter_output(&sensor_data[loop].sens_data.step_counter_output, dev);
1264 break;
1265 case BMI2_STEP_ACTIVITY:
1266
1267 /* Get step activity output */
1268 rslt = get_step_activity_output(&sensor_data[loop].sens_data.activity_output, dev);
1269 break;
1270 case BMI2_NVM_STATUS:
1271
1272 /* Get NVM error status */
1273 rslt = get_nvm_error_status(&sensor_data[loop].sens_data.nvm_status, dev);
1274 break;
1275 case BMI2_VFRM_STATUS:
1276
1277 /* Get VFRM error status */
1278 rslt = get_vfrm_error_status(&sensor_data[loop].sens_data.vfrm_status, dev);
1279 break;
1280 default:
1281 rslt = BMI2_E_INVALID_SENSOR;
1282 break;
1283 }
1284
1285 /* Return error if any of the get sensor data fails */
1286 if (rslt != BMI2_OK)
1287 {
1288 break;
1289 }
1290 }
1291 }
1292
1293 /* Enable Advance power save if disabled while
1294 * configuring and not when already disabled
1295 */
1296 if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
1297 {
1298 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
1299 }
1300 }
1301 }
1302 else
1303 {
1304 rslt = BMI2_E_NULL_PTR;
1305 }
1306
1307 return rslt;
1308 }
1309
1310 /*!
1311 * @brief This API updates the gyroscope user-gain.
1312 */
1313 int8_t bmi270_wh_update_gyro_user_gain(const struct bmi2_gyro_user_gain_config *user_gain, struct bmi2_dev *dev)
1314 {
1315 /* Variable to define error */
1316 int8_t rslt;
1317
1318 /* Variable to select sensor */
1319 uint8_t sens_sel[2] = { BMI2_GYRO, BMI2_GYRO_GAIN_UPDATE };
1320
1321 /* Structure to define sensor configurations */
1322 struct bmi2_sens_config sens_cfg;
1323
1324 /* Variable to store status of user-gain update module */
1325 uint8_t status = 0;
1326
1327 /* Variable to define count */
1328 uint8_t count = 100;
1329
1330 /* Null-pointer check */
1331 rslt = null_ptr_check(dev);
1332 if ((rslt == BMI2_OK) && (user_gain != NULL))
1333 {
1334 /* Select type of feature */
1335 sens_cfg.type = BMI2_GYRO_GAIN_UPDATE;
1336
1337 /* Get the user gain configurations */
1338 rslt = bmi270_wh_get_sensor_config(&sens_cfg, 1, dev);
1339 if (rslt == BMI2_OK)
1340 {
1341 /* Get the user-defined ratio */
1342 sens_cfg.cfg.gyro_gain_update = *user_gain;
1343
1344 /* Set rate ratio for all axes */
1345 rslt = bmi270_wh_set_sensor_config(&sens_cfg, 1, dev);
1346 }
1347
1348 /* Disable gyroscope */
1349 if (rslt == BMI2_OK)
1350 {
1351 rslt = bmi270_wh_sensor_disable(&sens_sel[0], 1, dev);
1352 }
1353
1354 /* Enable gyroscope user-gain update module */
1355 if (rslt == BMI2_OK)
1356 {
1357 rslt = bmi270_wh_sensor_enable(&sens_sel[1], 1, dev);
1358 }
1359
1360 /* Set the command to trigger the computation */
1361 if (rslt == BMI2_OK)
1362 {
1363 rslt = bmi2_set_command_register(BMI2_USR_GAIN_CMD, dev);
1364 }
1365
1366 if (rslt == BMI2_OK)
1367 {
1368 /* Poll until enable bit of user-gain update is 0 */
1369 while (count--)
1370 {
1371 rslt = get_user_gain_upd_status(&status, dev);
1372 if ((rslt == BMI2_OK) && (status == 0))
1373 {
1374 /* Enable compensation of gain defined
1375 * in the GAIN register
1376 */
1377 rslt = enable_gyro_gain(BMI2_ENABLE, dev);
1378
1379 /* Enable gyroscope */
1380 if (rslt == BMI2_OK)
1381 {
1382 rslt = bmi270_wh_sensor_enable(&sens_sel[0], 1, dev);
1383 }
1384
1385 break;
1386 }
1387
1388 dev->delay_us(10000, dev->intf_ptr);
1389 }
1390
1391 /* Return error if user-gain update is failed */
1392 if ((rslt == BMI2_OK) && (status != 0))
1393 {
1394 rslt = BMI2_E_GYR_USER_GAIN_UPD_FAIL;
1395 }
1396 }
1397 }
1398 else
1399 {
1400 rslt = BMI2_E_NULL_PTR;
1401 }
1402
1403 return rslt;
1404 }
1405
1406 /*!
1407 * @brief This API reads the compensated gyroscope user-gain values.
1408 */
1409 int8_t bmi270_wh_read_gyro_user_gain(struct bmi2_gyro_user_gain_data *gyr_usr_gain, struct bmi2_dev *dev)
1410 {
1411 /* Variable to define error */
1412 int8_t rslt;
1413
1414 /* Variable to define register data */
1415 uint8_t reg_data[3] = { 0 };
1416
1417 /* Null-pointer check */
1418 rslt = null_ptr_check(dev);
1419 if ((rslt == BMI2_OK) && (gyr_usr_gain != NULL))
1420 {
1421 /* Get the gyroscope compensated gain values */
1422 rslt = bmi2_get_regs(BMI2_GYR_USR_GAIN_0_ADDR, reg_data, 3, dev);
1423 if (rslt == BMI2_OK)
1424 {
1425 /* Gyroscope user gain correction X-axis */
1426 gyr_usr_gain->x = (int8_t)BMI2_GET_BIT_POS0(reg_data[0], BMI2_GYR_USR_GAIN_X);
1427
1428 /* Gyroscope user gain correction Y-axis */
1429 gyr_usr_gain->y = (int8_t)BMI2_GET_BIT_POS0(reg_data[1], BMI2_GYR_USR_GAIN_Y);
1430
1431 /* Gyroscope user gain correction z-axis */
1432 gyr_usr_gain->z = (int8_t)BMI2_GET_BIT_POS0(reg_data[2], BMI2_GYR_USR_GAIN_Z);
1433 }
1434 }
1435 else
1436 {
1437 rslt = BMI2_E_NULL_PTR;
1438 }
1439
1440 return rslt;
1441 }
1442
1443 /*!
1444 * @brief This API maps/unmaps feature interrupts to that of interrupt pins.
1445 */
1446 int8_t bmi270_wh_map_feat_int(const struct bmi2_sens_int_config *sens_int, uint8_t n_sens, struct bmi2_dev *dev)
1447 {
1448 /* Variable to define error */
1449 int8_t rslt;
1450
1451 /* Variable to define loop */
1452 uint8_t loop;
1453
1454 /* Null-pointer check */
1455 rslt = null_ptr_check(dev);
1456 if ((rslt == BMI2_OK) && (sens_int != NULL))
1457 {
1458 for (loop = 0; loop < n_sens; loop++)
1459 {
1460 switch (sens_int[loop].type)
1461 {
1462 case BMI2_ANY_MOTION:
1463 case BMI2_NO_MOTION:
1464 case BMI2_STEP_COUNTER:
1465 case BMI2_STEP_DETECTOR:
1466 case BMI2_STEP_ACTIVITY:
1467 case BMI2_WRIST_WEAR_WAKE_UP_WH:
1468
1469 rslt = bmi2_map_feat_int(sens_int[loop].type, sens_int[loop].hw_int_pin, dev);
1470 break;
1471 default:
1472 rslt = BMI2_E_INVALID_SENSOR;
1473 break;
1474 }
1475
1476 /* Return error if interrupt mapping fails */
1477 if (rslt != BMI2_OK)
1478 {
1479 break;
1480 }
1481 }
1482 }
1483 else
1484 {
1485 rslt = BMI2_E_NULL_PTR;
1486 }
1487
1488 return rslt;
1489 }
1490
1491 /***************************************************************************/
1492
1493 /*! Local Function Definitions
1494 ****************************************************************************/
1495
1496 /*!
1497 * @brief This internal API is used to validate the device structure pointer for
1498 * null conditions.
1499 */
1500 static int8_t null_ptr_check(const struct bmi2_dev *dev)
1501 {
1502 /* Variable to define error */
1503 int8_t rslt = BMI2_OK;
1504
1505 if ((dev == NULL) || (dev->read == NULL) || (dev->write == NULL) || (dev->delay_us == NULL))
1506 {
1507 /* Device structure pointer is not valid */
1508 rslt = BMI2_E_NULL_PTR;
1509 }
1510
1511 return rslt;
1512 }
1513
1514 /*!
1515 * @brief This internal API selects the sensor/features to be enabled or
1516 * disabled.
1517 */
1518 static int8_t select_sensor(const uint8_t *sens_list, uint8_t n_sens, uint64_t *sensor_sel)
1519 {
1520 /* Variable to define error */
1521 int8_t rslt = BMI2_OK;
1522
1523 /* Variable to define loop */
1524 uint8_t count;
1525
1526 for (count = 0; count < n_sens; count++)
1527 {
1528 switch (sens_list[count])
1529 {
1530 case BMI2_ACCEL:
1531 *sensor_sel |= BMI2_ACCEL_SENS_SEL;
1532 break;
1533 case BMI2_GYRO:
1534 *sensor_sel |= BMI2_GYRO_SENS_SEL;
1535 break;
1536 case BMI2_AUX:
1537 *sensor_sel |= BMI2_AUX_SENS_SEL;
1538 break;
1539 case BMI2_TEMP:
1540 *sensor_sel |= BMI2_TEMP_SENS_SEL;
1541 break;
1542 case BMI2_ANY_MOTION:
1543 *sensor_sel |= BMI2_ANY_MOT_SEL;
1544 break;
1545 case BMI2_NO_MOTION:
1546 *sensor_sel |= BMI2_NO_MOT_SEL;
1547 break;
1548 case BMI2_STEP_DETECTOR:
1549 *sensor_sel |= BMI2_STEP_DETECT_SEL;
1550 break;
1551 case BMI2_STEP_COUNTER:
1552 *sensor_sel |= BMI2_STEP_COUNT_SEL;
1553 break;
1554 case BMI2_STEP_ACTIVITY:
1555 *sensor_sel |= BMI2_STEP_ACT_SEL;
1556 break;
1557 case BMI2_GYRO_GAIN_UPDATE:
1558 *sensor_sel |= BMI2_GYRO_GAIN_UPDATE_SEL;
1559 break;
1560 case BMI2_WRIST_WEAR_WAKE_UP_WH:
1561 *sensor_sel |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
1562 break;
1563 default:
1564 rslt = BMI2_E_INVALID_SENSOR;
1565 break;
1566 }
1567 }
1568
1569 return rslt;
1570 }
1571
1572 /*!
1573 * @brief This internal API enables the selected sensor/features.
1574 */
1575 static int8_t sensor_enable(uint64_t sensor_sel, struct bmi2_dev *dev)
1576 {
1577 /* Variable to define error */
1578 int8_t rslt;
1579
1580 /* Variable to store register values */
1581 uint8_t reg_data = 0;
1582
1583 /* Variable to define loop */
1584 uint8_t loop = 1;
1585
1586 /* Variable to get the status of advance power save */
1587 uint8_t aps_stat = 0;
1588
1589 rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
1590 if (rslt == BMI2_OK)
1591 {
1592 /* Enable accelerometer */
1593 if (sensor_sel & BMI2_ACCEL_SENS_SEL)
1594 {
1595 reg_data = BMI2_SET_BITS(reg_data, BMI2_ACC_EN, BMI2_ENABLE);
1596 }
1597
1598 /* Enable gyroscope */
1599 if (sensor_sel & BMI2_GYRO_SENS_SEL)
1600 {
1601 reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_EN, BMI2_ENABLE);
1602 }
1603
1604 /* Enable auxiliary sensor */
1605 if (sensor_sel & BMI2_AUX_SENS_SEL)
1606 {
1607 reg_data = BMI2_SET_BIT_POS0(reg_data, BMI2_AUX_EN, BMI2_ENABLE);
1608 }
1609
1610 /* Enable temperature sensor */
1611 if (sensor_sel & BMI2_TEMP_SENS_SEL)
1612 {
1613 reg_data = BMI2_SET_BITS(reg_data, BMI2_TEMP_EN, BMI2_ENABLE);
1614 }
1615
1616 /* Enable the sensors that are set in the power control register */
1617 if (sensor_sel & BMI2_MAIN_SENSORS)
1618 {
1619 rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
1620 }
1621 }
1622
1623 if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
1624 {
1625 /* Get status of advance power save mode */
1626 aps_stat = dev->aps_status;
1627 if (aps_stat == BMI2_ENABLE)
1628 {
1629 /* Disable advance power save if enabled */
1630 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
1631 }
1632
1633 if (rslt == BMI2_OK)
1634 {
1635 while (loop--)
1636 {
1637 /* Enable any motion feature */
1638 if (sensor_sel & BMI2_ANY_MOT_SEL)
1639 {
1640 rslt = set_any_motion(BMI2_ENABLE, dev);
1641 if (rslt == BMI2_OK)
1642 {
1643 dev->sens_en_stat |= BMI2_ANY_MOT_SEL;
1644 }
1645 else
1646 {
1647 break;
1648 }
1649 }
1650
1651 /* Enable no motion feature */
1652 if (sensor_sel & BMI2_NO_MOT_SEL)
1653 {
1654 rslt = set_no_motion(BMI2_ENABLE, dev);
1655 if (rslt == BMI2_OK)
1656 {
1657 dev->sens_en_stat |= BMI2_NO_MOT_SEL;
1658 }
1659 else
1660 {
1661 break;
1662 }
1663 }
1664
1665 /* Enable step detector feature */
1666 if (sensor_sel & BMI2_STEP_DETECT_SEL)
1667 {
1668 rslt = set_step_detector(BMI2_ENABLE, dev);
1669 if (rslt == BMI2_OK)
1670 {
1671 dev->sens_en_stat |= BMI2_STEP_DETECT_SEL;
1672 }
1673 else
1674 {
1675 break;
1676 }
1677 }
1678
1679 /* Enable step counter feature */
1680 if (sensor_sel & BMI2_STEP_COUNT_SEL)
1681 {
1682 rslt = set_step_counter(BMI2_ENABLE, dev);
1683 if (rslt == BMI2_OK)
1684 {
1685 dev->sens_en_stat |= BMI2_STEP_COUNT_SEL;
1686 }
1687 else
1688 {
1689 break;
1690 }
1691 }
1692
1693 /* Enable step activity feature */
1694 if (sensor_sel & BMI2_STEP_ACT_SEL)
1695 {
1696 rslt = set_step_activity(BMI2_ENABLE, dev);
1697 if (rslt == BMI2_OK)
1698 {
1699 dev->sens_en_stat |= BMI2_STEP_ACT_SEL;
1700 }
1701 else
1702 {
1703 break;
1704 }
1705 }
1706
1707 /* Enable gyroscope user gain */
1708 if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
1709 {
1710 rslt = set_gyro_user_gain(BMI2_ENABLE, dev);
1711 if (rslt == BMI2_OK)
1712 {
1713 dev->sens_en_stat |= BMI2_GYRO_GAIN_UPDATE_SEL;
1714 }
1715 else
1716 {
1717 break;
1718 }
1719 }
1720
1721 /* Enable wrist wear wake-up feature for wearable variant */
1722 if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
1723 {
1724 rslt = set_wrist_wear_wake_up_wh(BMI2_ENABLE, dev);
1725 if (rslt == BMI2_OK)
1726 {
1727 dev->sens_en_stat |= BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
1728 }
1729 else
1730 {
1731 break;
1732 }
1733 }
1734 }
1735
1736 /* Enable Advance power save if disabled while
1737 * configuring and not when already disabled
1738 */
1739 if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
1740 {
1741 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
1742 }
1743 }
1744 }
1745
1746 return rslt;
1747 }
1748
1749 /*!
1750 * @brief This internal API disables the selected sensors/features.
1751 */
1752 static int8_t sensor_disable(uint64_t sensor_sel, struct bmi2_dev *dev)
1753 {
1754 /* Variable to define error */
1755 int8_t rslt;
1756
1757 /* Variable to store register values */
1758 uint8_t reg_data = 0;
1759
1760 /* Variable to define loop */
1761 uint8_t loop = 1;
1762
1763 /* Variable to get the status of advance power save */
1764 uint8_t aps_stat = 0;
1765
1766 rslt = bmi2_get_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
1767 if (rslt == BMI2_OK)
1768 {
1769 /* Disable accelerometer */
1770 if (sensor_sel & BMI2_ACCEL_SENS_SEL)
1771 {
1772 reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_ACC_EN);
1773 }
1774
1775 /* Disable gyroscope */
1776 if (sensor_sel & BMI2_GYRO_SENS_SEL)
1777 {
1778 reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_GYR_EN);
1779 }
1780
1781 /* Disable auxiliary sensor */
1782 if (sensor_sel & BMI2_AUX_SENS_SEL)
1783 {
1784 reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_AUX_EN);
1785 }
1786
1787 /* Disable temperature sensor */
1788 if (sensor_sel & BMI2_TEMP_SENS_SEL)
1789 {
1790 reg_data = BMI2_SET_BIT_VAL0(reg_data, BMI2_TEMP_EN);
1791 }
1792
1793 /* Disable the sensors that are set in the power control register */
1794 if (sensor_sel & BMI2_MAIN_SENSORS)
1795 {
1796 rslt = bmi2_set_regs(BMI2_PWR_CTRL_ADDR, &reg_data, 1, dev);
1797 }
1798 }
1799
1800 if ((rslt == BMI2_OK) && (sensor_sel & ~(BMI2_MAIN_SENSORS)))
1801 {
1802 /* Get status of advance power save mode */
1803 aps_stat = dev->aps_status;
1804 if (aps_stat == BMI2_ENABLE)
1805 {
1806 /* Disable advance power save if enabled */
1807 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
1808 }
1809
1810 if (rslt == BMI2_OK)
1811 {
1812 while (loop--)
1813 {
1814 /* Disable any-motion feature */
1815 if (sensor_sel & BMI2_ANY_MOT_SEL)
1816 {
1817 rslt = set_any_motion(BMI2_DISABLE, dev);
1818 if (rslt == BMI2_OK)
1819 {
1820 dev->sens_en_stat &= ~BMI2_ANY_MOT_SEL;
1821 }
1822 else
1823 {
1824 break;
1825 }
1826 }
1827
1828 /* Disable no-motion feature */
1829 if (sensor_sel & BMI2_NO_MOT_SEL)
1830 {
1831 rslt = set_no_motion(BMI2_DISABLE, dev);
1832 if (rslt == BMI2_OK)
1833 {
1834 dev->sens_en_stat &= ~BMI2_NO_MOT_SEL;
1835 }
1836 else
1837 {
1838 break;
1839 }
1840 }
1841
1842 /* Disable step detector feature */
1843 if (sensor_sel & BMI2_STEP_DETECT_SEL)
1844 {
1845 rslt = set_step_detector(BMI2_DISABLE, dev);
1846 if (rslt == BMI2_OK)
1847 {
1848 dev->sens_en_stat &= ~BMI2_STEP_DETECT_SEL;
1849 }
1850 else
1851 {
1852 break;
1853 }
1854 }
1855
1856 /* Disable step counter feature */
1857 if (sensor_sel & BMI2_STEP_COUNT_SEL)
1858 {
1859 rslt = set_step_counter(BMI2_DISABLE, dev);
1860 if (rslt == BMI2_OK)
1861 {
1862 dev->sens_en_stat &= ~BMI2_STEP_COUNT_SEL;
1863 }
1864 else
1865 {
1866 break;
1867 }
1868 }
1869
1870 /* Disable step activity feature */
1871 if (sensor_sel & BMI2_STEP_ACT_SEL)
1872 {
1873 rslt = set_step_activity(BMI2_DISABLE, dev);
1874 if (rslt == BMI2_OK)
1875 {
1876 dev->sens_en_stat &= ~BMI2_STEP_ACT_SEL;
1877 }
1878 else
1879 {
1880 break;
1881 }
1882 }
1883
1884 /* Disable gyroscope user gain */
1885 if (sensor_sel & BMI2_GYRO_GAIN_UPDATE_SEL)
1886 {
1887 rslt = set_gyro_user_gain(BMI2_DISABLE, dev);
1888 if (rslt == BMI2_OK)
1889 {
1890 dev->sens_en_stat &= ~BMI2_GYRO_GAIN_UPDATE_SEL;
1891 }
1892 else
1893 {
1894 break;
1895 }
1896 }
1897
1898 /* Disable wrist wear wake-up feature for wearable variant */
1899 if (sensor_sel & BMI2_WRIST_WEAR_WAKE_UP_WH_SEL)
1900 {
1901 rslt = set_wrist_wear_wake_up_wh(BMI2_DISABLE, dev);
1902 if (rslt == BMI2_OK)
1903 {
1904 dev->sens_en_stat &= ~BMI2_WRIST_WEAR_WAKE_UP_WH_SEL;
1905 }
1906 else
1907 {
1908 break;
1909 }
1910 }
1911
1912 /* Enable Advance power save if disabled while
1913 * configuring and not when already disabled
1914 */
1915 if ((aps_stat == BMI2_ENABLE) && (rslt == BMI2_OK))
1916 {
1917 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
1918 }
1919 }
1920 }
1921 }
1922
1923 return rslt;
1924 }
1925
1926 /*!
1927 * @brief This internal API is used to enable/disable any motion feature.
1928 */
1929 static int8_t set_any_motion(uint8_t enable, struct bmi2_dev *dev)
1930 {
1931 /* Variable to define error */
1932 int8_t rslt;
1933
1934 /* Array to define the feature configuration */
1935 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
1936
1937 /* Variable to define the array offset */
1938 uint8_t idx = 0;
1939
1940 /* Variable to set flag */
1941 uint8_t feat_found;
1942
1943 /* Initialize feature configuration for any-motion */
1944 struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
1945
1946 /* Search for any-motion feature and extract its configurations details */
1947 feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
1948 if (feat_found)
1949 {
1950 /* Get the configuration from the page where any-motion feature resides */
1951 rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
1952 if (rslt == BMI2_OK)
1953 {
1954 /* Define the offset for enable/disable of any-motion axes */
1955 idx = any_mot_config.start_addr + BMI2_ANY_MOT_FEAT_EN_OFFSET;
1956
1957 /* Set the feature enable bit */
1958 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
1959
1960 /* Set the configuration back to the page */
1961 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
1962 }
1963 }
1964 else
1965 {
1966 rslt = BMI2_E_INVALID_SENSOR;
1967 }
1968
1969 return rslt;
1970 }
1971
1972 /*!
1973 * @brief This internal API is used to enable/disable no-motion feature.
1974 */
1975 static int8_t set_no_motion(uint8_t enable, struct bmi2_dev *dev)
1976 {
1977 /* Variable to define error */
1978 int8_t rslt;
1979
1980 /* Array to define the feature configuration */
1981 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
1982
1983 /* Variable to define the array offset */
1984 uint8_t idx = 0;
1985
1986 /* Variable to set flag */
1987 uint8_t feat_found;
1988
1989 /* Initialize feature configuration for no-motion */
1990 struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
1991
1992 /* Search for no-motion feature and extract its configurations details */
1993 feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
1994 if (feat_found)
1995 {
1996 /* Get the configuration from the page where any/no-motion feature resides */
1997 rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
1998 if (rslt == BMI2_OK)
1999 {
2000 /* Define the offset for enable/disable of no-motion axes */
2001 idx = no_mot_config.start_addr + BMI2_NO_MOT_FEAT_EN_OFFSET;
2002
2003 /* Set the feature enable bit */
2004 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_ANY_NO_MOT_EN, enable);
2005
2006 /* Set the configuration back to the page */
2007 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2008 }
2009 }
2010 else
2011 {
2012 rslt = BMI2_E_INVALID_SENSOR;
2013 }
2014
2015 return rslt;
2016 }
2017
2018 /*!
2019 * @brief This internal API is used to enable/disable step detector feature.
2020 */
2021 static int8_t set_step_detector(uint8_t enable, struct bmi2_dev *dev)
2022 {
2023 /* Variable to define error */
2024 int8_t rslt;
2025
2026 /* Array to define the feature configuration */
2027 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2028
2029 /* Variable to define the array offset */
2030 uint8_t idx = 0;
2031
2032 /* Variable to set flag */
2033 uint8_t feat_found;
2034
2035 /* Initialize feature configuration for step detector */
2036 struct bmi2_feature_config step_det_config = { 0, 0, 0 };
2037
2038 /* Search for step detector feature and extract its configuration details */
2039 feat_found = bmi2_extract_input_feat_config(&step_det_config, BMI2_STEP_DETECTOR, dev);
2040 if (feat_found)
2041 {
2042 /* Get the configuration from the page where step detector feature resides */
2043 rslt = bmi2_get_feat_config(step_det_config.page, feat_config, dev);
2044 if (rslt == BMI2_OK)
2045 {
2046 /* Define the offset for enable/disable of step detector */
2047 idx = step_det_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
2048
2049 /* Set the feature enable bit */
2050 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_DET_FEAT_EN, enable);
2051
2052 /* Set the configuration back to the page */
2053 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2054 }
2055 }
2056 else
2057 {
2058 rslt = BMI2_E_INVALID_SENSOR;
2059 }
2060
2061 return rslt;
2062 }
2063
2064 /*!
2065 * @brief This internal API is used to enable/disable step counter feature.
2066 */
2067 static int8_t set_step_counter(uint8_t enable, struct bmi2_dev *dev)
2068 {
2069 /* Variable to define error */
2070 int8_t rslt;
2071
2072 /* Array to define the feature configuration */
2073 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2074
2075 /* Variable to define the array offset */
2076 uint8_t idx = 0;
2077
2078 /* Variable to set flag */
2079 uint8_t feat_found;
2080
2081 /* Initialize feature configuration for step counter */
2082 struct bmi2_feature_config step_count_config = { 0, 0, 0 };
2083
2084 /* Search for step counter feature and extract its configuration details */
2085 feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
2086 if (feat_found)
2087 {
2088 /* Get the configuration from the page where step-counter feature resides */
2089 rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
2090 if (rslt == BMI2_OK)
2091 {
2092 /* Define the offset for enable/disable of step counter */
2093 idx = step_count_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
2094
2095 /* Set the feature enable bit */
2096 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_COUNT_FEAT_EN, enable);
2097
2098 /* Set the configuration back to the page */
2099 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2100 }
2101 }
2102 else
2103 {
2104 rslt = BMI2_E_INVALID_SENSOR;
2105 }
2106
2107 return rslt;
2108 }
2109
2110 /*!
2111 * @brief This internal API is used to enable/disable step activity detection.
2112 */
2113 static int8_t set_step_activity(uint8_t enable, struct bmi2_dev *dev)
2114 {
2115 /* Variable to define error */
2116 int8_t rslt;
2117
2118 /* Array to define the feature configuration */
2119 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2120
2121 /* Variable to define the array offset */
2122 uint8_t idx = 0;
2123
2124 /* Variable to set flag */
2125 uint8_t feat_found;
2126
2127 /* Initialize feature configuration for step activity */
2128 struct bmi2_feature_config step_act_config = { 0, 0, 0 };
2129
2130 /* Search for step activity feature and extract its configuration details */
2131 feat_found = bmi2_extract_input_feat_config(&step_act_config, BMI2_STEP_ACTIVITY, dev);
2132 if (feat_found)
2133 {
2134 /* Get the configuration from the page where step-activity
2135 * feature resides
2136 */
2137 rslt = bmi2_get_feat_config(step_act_config.page, feat_config, dev);
2138 if (rslt == BMI2_OK)
2139 {
2140 /* Define the offset for enable/disable of step activity */
2141 idx = step_act_config.start_addr + BMI2_STEP_COUNT_FEAT_EN_OFFSET;
2142
2143 /* Set the feature enable bit */
2144 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_STEP_ACT_FEAT_EN, enable);
2145
2146 /* Set the configuration back to the page */
2147 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2148 }
2149 }
2150 else
2151 {
2152 rslt = BMI2_E_INVALID_SENSOR;
2153 }
2154
2155 return rslt;
2156 }
2157
2158 /*!
2159 * @brief This internal API enables the wrist wear wake up feature.
2160 */
2161 static int8_t set_wrist_wear_wake_up_wh(uint8_t enable, struct bmi2_dev *dev)
2162 {
2163 /* Variable to define error */
2164 int8_t rslt;
2165
2166 /* Array to define the feature configuration */
2167 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2168
2169 /* Variable to define the array offset */
2170 uint8_t idx = 0;
2171
2172 /* Variable to set flag */
2173 uint8_t feat_found;
2174
2175 /* Initialize feature configuration for wrist wear wake up */
2176 struct bmi2_feature_config wrist_wake_up_cfg = { 0, 0, 0 };
2177
2178 /* Search for wrist wear wake up and extract its configuration details */
2179 feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_cfg, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
2180 if (feat_found)
2181 {
2182 /* Get the configuration from the page where wrist wear wake up
2183 * feature resides
2184 */
2185 rslt = bmi2_get_feat_config(wrist_wake_up_cfg.page, feat_config, dev);
2186 if (rslt == BMI2_OK)
2187 {
2188 /* Define the offset for enable/disable of wrist wear wake up */
2189 idx = wrist_wake_up_cfg.start_addr;
2190
2191 /* Set the feature enable bit */
2192 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_WRIST_WEAR_WAKE_UP_FEAT_EN, enable);
2193
2194 /* Set the configuration back to the page */
2195 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2196 }
2197 }
2198 else
2199 {
2200 rslt = BMI2_E_INVALID_SENSOR;
2201 }
2202
2203 return rslt;
2204 }
2205
2206 /*!
2207 * @brief This internal API is used to enable/disable gyroscope user gain
2208 * feature.
2209 */
2210 static int8_t set_gyro_user_gain(uint8_t enable, struct bmi2_dev *dev)
2211 {
2212 /* Variable to define error */
2213 int8_t rslt;
2214
2215 /* Array to define the feature configuration */
2216 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2217
2218 /* Variable to define the array offset */
2219 uint8_t idx = 0;
2220
2221 /* Variable to set flag */
2222 uint8_t feat_found;
2223
2224 /* Initialize feature configuration for gyroscope user gain */
2225 struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
2226
2227 /* Search for user gain feature and extract its configuration details */
2228 feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
2229 if (feat_found)
2230 {
2231 /* Get the configuration from the page where user gain feature resides */
2232 rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
2233 if (rslt == BMI2_OK)
2234 {
2235 /* Define the offset for enable/disable of user gain */
2236 idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
2237
2238 /* Set the feature enable bit */
2239 feat_config[idx] = BMI2_SET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN, enable);
2240
2241 /* Set the configuration back to the page */
2242 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2243 }
2244 }
2245 else
2246 {
2247 rslt = BMI2_E_INVALID_SENSOR;
2248 }
2249
2250 return rslt;
2251 }
2252
2253 /*!
2254 * @brief This internal API sets any-motion configurations like axes select,
2255 * duration, threshold and output-configuration.
2256 */
2257 static int8_t set_any_motion_config(const struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
2258 {
2259 /* Variable to define error */
2260 int8_t rslt;
2261
2262 /* Array to define the feature configuration */
2263 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2264
2265 /* Variable to define the array offset */
2266 uint8_t idx = 0;
2267
2268 /* Variable to define count */
2269 uint8_t index = 0;
2270
2271 /* Variable to set flag */
2272 uint8_t feat_found;
2273
2274 /* Initialize feature configuration for any motion */
2275 struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
2276
2277 /* Copy the feature configuration address to a local pointer */
2278 uint16_t *data_p = (uint16_t *) (void *)feat_config;
2279
2280 /* Search for any-motion feature and extract its configuration details */
2281 feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
2282 if (feat_found)
2283 {
2284 /* Get the configuration from the page where any-motion feature resides */
2285 rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
2286 if (rslt == BMI2_OK)
2287 {
2288 /* Define the offset in bytes for any-motion select */
2289 idx = any_mot_config.start_addr;
2290
2291 /* Get offset in words since all the features are set in words length */
2292 idx = idx / 2;
2293
2294 /* Set duration */
2295 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
2296
2297 /* Set x-select */
2298 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
2299
2300 /* Set y-select */
2301 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
2302
2303 /* Set z-select */
2304 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
2305
2306 /* Increment offset by 1 word to set threshold and output configuration */
2307 idx++;
2308
2309 /* Set threshold */
2310 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
2311
2312 /* Increment offset by 1 more word to get the total length in words */
2313 idx++;
2314
2315 /* Get total length in bytes to copy from local pointer to the array */
2316 idx = (uint8_t)(idx * 2) - any_mot_config.start_addr;
2317
2318 /* Copy the bytes to be set back to the array */
2319 for (index = 0; index < idx; index++)
2320 {
2321 feat_config[any_mot_config.start_addr +
2322 index] = *((uint8_t *) data_p + any_mot_config.start_addr + index);
2323 }
2324
2325 /* Set the configuration back to the page */
2326 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2327 }
2328 }
2329 else
2330 {
2331 rslt = BMI2_E_INVALID_SENSOR;
2332 }
2333
2334 return rslt;
2335 }
2336
2337 /*!
2338 * @brief This internal API sets no-motion configurations like axes select,
2339 * duration, threshold and output-configuration.
2340 */
2341 static int8_t set_no_motion_config(const struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
2342 {
2343 /* Variable to define error */
2344 int8_t rslt;
2345
2346 /* Array to define the feature configuration */
2347 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2348
2349 /* Variable to define the array offset */
2350 uint8_t idx = 0;
2351
2352 /* Variable to define count */
2353 uint8_t index = 0;
2354
2355 /* Variable to set flag */
2356 uint8_t feat_found;
2357
2358 /* Initialize feature configuration for no-motion */
2359 struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
2360
2361 /* Copy the feature configuration address to a local pointer */
2362 uint16_t *data_p = (uint16_t *) (void *)feat_config;
2363
2364 /* Search for no-motion feature and extract its configuration details */
2365 feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
2366 if (feat_found)
2367 {
2368 /* Get the configuration from the page where no-motion feature resides */
2369 rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
2370 if (rslt == BMI2_OK)
2371 {
2372 /* Define the offset in bytes for no-motion select */
2373 idx = no_mot_config.start_addr;
2374
2375 /* Get offset in words since all the features are set in words length */
2376 idx = idx / 2;
2377
2378 /* Set duration */
2379 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_DUR, config->duration);
2380
2381 /* Set x-select */
2382 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_X_SEL, config->select_x);
2383
2384 /* Set y-select */
2385 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Y_SEL, config->select_y);
2386
2387 /* Set z-select */
2388 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_ANY_NO_MOT_Z_SEL, config->select_z);
2389
2390 /* Increment offset by 1 word to set threshold and output configuration */
2391 idx++;
2392
2393 /* Set threshold */
2394 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_ANY_NO_MOT_THRES, config->threshold);
2395
2396 /* Increment offset by 1 more word to get the total length in words */
2397 idx++;
2398
2399 /* Get total length in bytes to copy from local pointer to the array */
2400 idx = (uint8_t)(idx * 2) - no_mot_config.start_addr;
2401
2402 /* Copy the bytes to be set back to the array */
2403 for (index = 0; index < idx; index++)
2404 {
2405 feat_config[no_mot_config.start_addr +
2406 index] = *((uint8_t *) data_p + no_mot_config.start_addr + index);
2407 }
2408
2409 /* Set the configuration back to the page */
2410 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2411 }
2412 }
2413 else
2414 {
2415 rslt = BMI2_E_INVALID_SENSOR;
2416 }
2417
2418 return rslt;
2419 }
2420
2421 /*!
2422 * @brief This internal API sets step counter parameter configurations.
2423 */
2424 static int8_t set_step_count_params_config(const uint16_t *step_count_params, struct bmi2_dev *dev)
2425 {
2426 /* Variable to define error */
2427 int8_t rslt = BMI2_OK;
2428
2429 /* Array to define the feature configuration */
2430 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2431
2432 /* Variable to define index */
2433 uint8_t index = 0;
2434
2435 /* Variable to set flag */
2436 uint8_t feat_found;
2437
2438 /* Initialize feature configuration for step counter parameters */
2439 struct bmi2_feature_config step_params_config = { 0, 0, 0 };
2440
2441 /* Variable to index the page number */
2442 uint8_t page_idx;
2443
2444 /* Variable to define the start page */
2445 uint8_t start_page;
2446
2447 /* Variable to define start address of the parameters */
2448 uint8_t start_addr;
2449
2450 /* Variable to define number of bytes */
2451 uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
2452
2453 /* Variable to store number of pages */
2454 uint8_t n_pages = (n_bytes / 16);
2455
2456 /* Variable to define the end page */
2457 uint8_t end_page;
2458
2459 /* Variable to define the remaining bytes to be read */
2460 uint8_t remain_len;
2461
2462 /* Variable to define the maximum words(16 bytes or 8 words) to be read in a page */
2463 uint8_t max_len = 8;
2464
2465 /* Variable index bytes in a page */
2466 uint8_t page_byte_idx;
2467
2468 /* Variable to index the parameters */
2469 uint8_t param_idx = 0;
2470
2471 /* Copy the feature configuration address to a local pointer */
2472 uint16_t *data_p = (uint16_t *) (void *)feat_config;
2473
2474 /* Search for step counter parameter feature and extract its configuration details */
2475 feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
2476 if (feat_found)
2477 {
2478 /* Get the start page for the step counter parameters */
2479 start_page = step_params_config.page;
2480
2481 /* Get the end page for the step counter parameters */
2482 end_page = start_page + n_pages;
2483
2484 /* Get the start address for the step counter parameters */
2485 start_addr = step_params_config.start_addr;
2486
2487 /* Get the remaining length of bytes to be read */
2488 remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
2489 for (page_idx = start_page; page_idx <= end_page; page_idx++)
2490 {
2491 /* Get the configuration from the respective page */
2492 rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
2493 if (rslt == BMI2_OK)
2494 {
2495 /* Start from address 0x00 when switched to next page */
2496 if (page_idx > start_page)
2497 {
2498 start_addr = 0;
2499 }
2500
2501 /* Remaining number of words to be read in the page */
2502 if (page_idx == end_page)
2503 {
2504 max_len = (remain_len / 2);
2505 }
2506
2507 /* Get offset in words since all the features are set in words length */
2508 page_byte_idx = start_addr / 2;
2509 for (; page_byte_idx < max_len;)
2510 {
2511 /* Set parameters 1 to 25 */
2512 *(data_p + page_byte_idx) = BMI2_SET_BIT_POS0(*(data_p + page_byte_idx),
2513 BMI2_STEP_COUNT_PARAMS,
2514 step_count_params[param_idx]);
2515
2516 /* Increment offset by 1 word to set to the next parameter */
2517 page_byte_idx++;
2518
2519 /* Increment to next parameter */
2520 param_idx++;
2521 }
2522
2523 /* Get total length in bytes to copy from local pointer to the array */
2524 page_byte_idx = (uint8_t)(page_byte_idx * 2) - step_params_config.start_addr;
2525
2526 /* Copy the bytes to be set back to the array */
2527 for (index = 0; index < page_byte_idx; index++)
2528 {
2529 feat_config[step_params_config.start_addr +
2530 index] = *((uint8_t *) data_p + step_params_config.start_addr + index);
2531 }
2532
2533 /* Set the configuration back to the page */
2534 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2535 }
2536 }
2537 }
2538 else
2539 {
2540 rslt = BMI2_E_INVALID_SENSOR;
2541 }
2542
2543 return rslt;
2544 }
2545
2546 /* @brief This internal API sets step counter configurations like water-mark
2547 * level, reset-counter and output-configuration step detector and activity.
2548 */
2549 static int8_t set_step_config(const struct bmi2_step_config *config, struct bmi2_dev *dev)
2550 {
2551 /* Variable to define error */
2552 int8_t rslt;
2553
2554 /* Array to define the feature configuration */
2555 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2556
2557 /* Variable to define the array offset */
2558 uint8_t idx = 0;
2559
2560 /* Variable to define index */
2561 uint8_t index = 0;
2562
2563 /* Variable to set flag */
2564 uint8_t feat_found;
2565
2566 /* Initialize feature configuration for step counter 4 */
2567 struct bmi2_feature_config step_count_config = { 0, 0, 0 };
2568
2569 /* Copy the feature configuration address to a local pointer */
2570 uint16_t *data_p = (uint16_t *) (void *)feat_config;
2571
2572 /* Search for step counter feature and extract its configuration details */
2573 feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
2574 if (feat_found)
2575 {
2576 /* Get the configuration from the page where step counter resides */
2577 rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
2578 if (rslt == BMI2_OK)
2579 {
2580 /* Define the offset in bytes */
2581 idx = step_count_config.start_addr;
2582
2583 /* Get offset in words since all the features are set in words length */
2584 idx = idx / 2;
2585
2586 /* Set water-mark level */
2587 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_STEP_COUNT_WM_LEVEL, config->watermark_level);
2588
2589 /* Set reset-counter */
2590 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_COUNT_RST_CNT, config->reset_counter);
2591
2592 /* Increment offset by 1 word to set output
2593 * configuration of step detector and step activity
2594 */
2595 idx++;
2596
2597 /* Set step buffer size */
2598 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_STEP_BUFFER_SIZE, config->step_buffer_size);
2599
2600 /* Increment offset by 1 more word to get the total length in words */
2601 idx++;
2602
2603 /* Get total length in bytes to copy from local pointer to the array */
2604 idx = (uint8_t)(idx * 2) - step_count_config.start_addr;
2605
2606 /* Copy the bytes to be set back to the array */
2607 for (index = 0; index < idx; index++)
2608 {
2609 feat_config[step_count_config.start_addr +
2610 index] = *((uint8_t *) data_p + step_count_config.start_addr + index);
2611 }
2612
2613 /* Set the configuration back to the page */
2614 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2615 }
2616 }
2617 else
2618 {
2619 rslt = BMI2_E_INVALID_SENSOR;
2620 }
2621
2622 return rslt;
2623 }
2624
2625 /*!
2626 * @brief This internal API sets wrist wear wake-up configurations like
2627 * output-configuration for wearable variant.
2628 */
2629 static int8_t set_wrist_wear_wake_up_wh_config(const struct bmi2_wrist_wear_wake_up_wh_config *config,
2630 struct bmi2_dev *dev)
2631 {
2632 /* Variable to define error */
2633 int8_t rslt;
2634
2635 /* Array to define the feature configuration */
2636 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2637
2638 /* Variable to define the array offset */
2639 uint8_t idx = 0;
2640
2641 /* Variable to define index */
2642 uint8_t index = 0;
2643
2644 /* Variable to set flag */
2645 uint8_t feat_found;
2646
2647 /* Initialize feature configuration for wrist wear wake-up */
2648 struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
2649
2650 /* Copy the feature configuration address to a local pointer */
2651 uint16_t *data_p = (uint16_t *) (void *)feat_config;
2652
2653 /* Search for wrist wear wake-up feature and extract its configuration details */
2654 feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
2655 if (feat_found)
2656 {
2657 /* Get the configuration from the page where wrist wear wake-up feature resides */
2658 rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
2659 if (rslt == BMI2_OK)
2660 {
2661 /* Define the offset in bytes for wrist wear wake-up select */
2662 idx = wrist_wake_up_config.start_addr;
2663
2664 /* Get offset in words since all the features are set in words length */
2665 idx = idx / 2;
2666
2667 *(data_p + idx) = config->min_angle_focus;
2668
2669 /* Increment offset by 1 more word to set min_angle_nonfocus */
2670 idx++;
2671 *(data_p + idx) = config->min_angle_nonfocus;
2672
2673 /* Increment offset by 1 more word to set angle landscape right and angle landscape left */
2674 idx++;
2675 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR, config->angle_lr);
2676 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL, config->angle_ll);
2677
2678 /* Increment offset by 1 more word to set angle portrait down and angle portrait left */
2679 idx++;
2680 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD, config->angle_pd);
2681 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU, config->angle_pu);
2682
2683 /* Increment offset by 1 more word to set min duration moved and min duration quite */
2684 idx++;
2685 *(data_p + idx) = BMI2_SET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED, config->min_dur_mov);
2686 *(data_p + idx) = BMI2_SET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE, config->min_dur_quite);
2687
2688 /* Increment offset by 1 more word to get the total length in words */
2689 idx++;
2690
2691 /* Get total length in bytes to copy from local pointer to the array */
2692 idx = (uint8_t)(idx * 2) - wrist_wake_up_config.start_addr;
2693
2694 /* Copy the bytes to be set back to the array */
2695 for (index = 0; index < idx; index++)
2696 {
2697 feat_config[wrist_wake_up_config.start_addr +
2698 index] = *((uint8_t *) data_p + wrist_wake_up_config.start_addr + index);
2699 }
2700
2701 /* Set the configuration back to the page */
2702 rslt = bmi2_set_regs(BMI2_FEATURES_REG_ADDR, feat_config, BMI2_FEAT_SIZE_IN_BYTES, dev);
2703 }
2704 }
2705 else
2706 {
2707 rslt = BMI2_E_INVALID_SENSOR;
2708 }
2709
2710 return rslt;
2711 }
2712
2713 /*!
2714 * @brief This internal API gets any-motion configurations like axes select,
2715 * duration, threshold and output-configuration.
2716 */
2717 static int8_t get_any_motion_config(struct bmi2_any_motion_config *config, struct bmi2_dev *dev)
2718 {
2719 /* Variable to define error */
2720 int8_t rslt;
2721
2722 /* Array to define the feature configuration */
2723 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2724
2725 /* Variable to define the array offset */
2726 uint8_t idx = 0;
2727
2728 /* Variable to define LSB */
2729 uint16_t lsb;
2730
2731 /* Variable to define MSB */
2732 uint16_t msb;
2733
2734 /* Variable to define a word */
2735 uint16_t lsb_msb;
2736
2737 /* Variable to set flag */
2738 uint8_t feat_found;
2739
2740 /* Initialize feature configuration for any-motion */
2741 struct bmi2_feature_config any_mot_config = { 0, 0, 0 };
2742
2743 /* Search for any-motion feature and extract its configuration details */
2744 feat_found = bmi2_extract_input_feat_config(&any_mot_config, BMI2_ANY_MOTION, dev);
2745 if (feat_found)
2746 {
2747 /* Get the configuration from the page where any-motion feature resides */
2748 rslt = bmi2_get_feat_config(any_mot_config.page, feat_config, dev);
2749 if (rslt == BMI2_OK)
2750 {
2751 /* Define the offset for feature enable for any-motion */
2752 idx = any_mot_config.start_addr;
2753
2754 /* Get word to calculate duration, x, y and z select */
2755 lsb = (uint16_t) feat_config[idx++];
2756 msb = ((uint16_t) feat_config[idx++] << 8);
2757 lsb_msb = lsb | msb;
2758
2759 /* Get duration */
2760 config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
2761
2762 /* Get x-select */
2763 config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
2764
2765 /* Get y-select */
2766 config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
2767
2768 /* Get z-select */
2769 config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
2770
2771 /* Get word to calculate threshold, output configuration from the same word */
2772 lsb = (uint16_t) feat_config[idx++];
2773 msb = ((uint16_t) feat_config[idx++] << 8);
2774 lsb_msb = lsb | msb;
2775
2776 /* Get threshold */
2777 config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
2778 }
2779 }
2780 else
2781 {
2782 rslt = BMI2_E_INVALID_SENSOR;
2783 }
2784
2785 return rslt;
2786 }
2787
2788 /*!
2789 * @brief This internal API gets no-motion configurations like axes select,
2790 * duration, threshold and output-configuration.
2791 */
2792 static int8_t get_no_motion_config(struct bmi2_no_motion_config *config, struct bmi2_dev *dev)
2793 {
2794 /* Variable to define error */
2795 int8_t rslt;
2796
2797 /* Array to define the feature configuration */
2798 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2799
2800 /* Variable to define the array offset */
2801 uint8_t idx = 0;
2802
2803 /* Variable to define LSB */
2804 uint16_t lsb = 0;
2805
2806 /* Variable to define MSB */
2807 uint16_t msb = 0;
2808
2809 /* Variable to define a word */
2810 uint16_t lsb_msb = 0;
2811
2812 /* Variable to set flag */
2813 uint8_t feat_found;
2814
2815 /* Initialize feature configuration for no-motion */
2816 struct bmi2_feature_config no_mot_config = { 0, 0, 0 };
2817
2818 /* Search for no-motion feature and extract its configuration details */
2819 feat_found = bmi2_extract_input_feat_config(&no_mot_config, BMI2_NO_MOTION, dev);
2820 if (feat_found)
2821 {
2822 /* Get the configuration from the page where no-motion feature resides */
2823 rslt = bmi2_get_feat_config(no_mot_config.page, feat_config, dev);
2824 if (rslt == BMI2_OK)
2825 {
2826 /* Define the offset for feature enable for no-motion */
2827 idx = no_mot_config.start_addr;
2828
2829 /* Get word to calculate duration, x, y and z select */
2830 lsb = (uint16_t) feat_config[idx++];
2831 msb = ((uint16_t) feat_config[idx++] << 8);
2832 lsb_msb = lsb | msb;
2833
2834 /* Get duration */
2835 config->duration = lsb_msb & BMI2_ANY_NO_MOT_DUR_MASK;
2836
2837 /* Get x-select */
2838 config->select_x = (lsb_msb & BMI2_ANY_NO_MOT_X_SEL_MASK) >> BMI2_ANY_NO_MOT_X_SEL_POS;
2839
2840 /* Get y-select */
2841 config->select_y = (lsb_msb & BMI2_ANY_NO_MOT_Y_SEL_MASK) >> BMI2_ANY_NO_MOT_Y_SEL_POS;
2842
2843 /* Get z-select */
2844 config->select_z = (lsb_msb & BMI2_ANY_NO_MOT_Z_SEL_MASK) >> BMI2_ANY_NO_MOT_Z_SEL_POS;
2845
2846 /* Get word to calculate threshold, output configuration from the same word */
2847 lsb = (uint16_t) feat_config[idx++];
2848 msb = ((uint16_t) feat_config[idx++] << 8);
2849 lsb_msb = lsb | msb;
2850
2851 /* Get threshold */
2852 config->threshold = lsb_msb & BMI2_ANY_NO_MOT_THRES_MASK;
2853 }
2854 }
2855 else
2856 {
2857 rslt = BMI2_E_INVALID_SENSOR;
2858 }
2859
2860 return rslt;
2861 }
2862
2863 /*!
2864 * @brief This internal API gets step counter parameter configurations.
2865 */
2866 static int8_t get_step_count_params_config(uint16_t *step_count_params, struct bmi2_dev *dev)
2867 {
2868 /* Variable to define error */
2869 int8_t rslt = BMI2_OK;
2870
2871 /* Array to define the feature configuration */
2872 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2873
2874 /* Variable to set flag */
2875 uint8_t feat_found;
2876
2877 /* Variable to define LSB */
2878 uint16_t lsb = 0;
2879
2880 /* Variable to define MSB */
2881 uint16_t msb = 0;
2882
2883 /* Variable to define a word */
2884 uint16_t lsb_msb = 0;
2885
2886 /* Initialize feature configuration for step counter 1 */
2887 struct bmi2_feature_config step_params_config = { 0, 0, 0 };
2888
2889 /* Variable to index the page number */
2890 uint8_t page_idx;
2891
2892 /* Variable to define the start page */
2893 uint8_t start_page;
2894
2895 /* Variable to define start address of the parameters */
2896 uint8_t start_addr;
2897
2898 /* Variable to define number of bytes */
2899 uint8_t n_bytes = (BMI2_STEP_CNT_N_PARAMS * 2);
2900
2901 /* Variable to store number of pages */
2902 uint8_t n_pages = (n_bytes / 16);
2903
2904 /* Variable to define the end page */
2905 uint8_t end_page;
2906
2907 /* Variable to define the remaining bytes to be read */
2908 uint8_t remain_len;
2909
2910 /* Variable to define the maximum words to be read in a page */
2911 uint8_t max_len = BMI2_FEAT_SIZE_IN_BYTES;
2912
2913 /* Variable index bytes in a page */
2914 uint8_t page_byte_idx;
2915
2916 /* Variable to index the parameters */
2917 uint8_t param_idx = 0;
2918
2919 /* Search for step counter parameter feature and extract its configuration details */
2920 feat_found = bmi2_extract_input_feat_config(&step_params_config, BMI2_STEP_COUNTER_PARAMS, dev);
2921 if (feat_found)
2922 {
2923 /* Get the start page for the step counter parameters */
2924 start_page = step_params_config.page;
2925
2926 /* Get the end page for the step counter parameters */
2927 end_page = start_page + n_pages;
2928
2929 /* Get the start address for the step counter parameters */
2930 start_addr = step_params_config.start_addr;
2931
2932 /* Get the remaining length of bytes to be read */
2933 remain_len = (uint8_t)((n_bytes - (n_pages * 16)) + start_addr);
2934 for (page_idx = start_page; page_idx <= end_page; page_idx++)
2935 {
2936 /* Get the configuration from the respective page */
2937 rslt = bmi2_get_feat_config(page_idx, feat_config, dev);
2938 if (rslt == BMI2_OK)
2939 {
2940 /* Start from address 0x00 when switched to next page */
2941 if (page_idx > start_page)
2942 {
2943 start_addr = 0;
2944 }
2945
2946 /* Remaining number of bytes to be read in the page */
2947 if (page_idx == end_page)
2948 {
2949 max_len = remain_len;
2950 }
2951
2952 /* Get the offset */
2953 page_byte_idx = start_addr;
2954 while (page_byte_idx < max_len)
2955 {
2956 /* Get word to calculate the parameter*/
2957 lsb = (uint16_t) feat_config[page_byte_idx++];
2958 if (page_byte_idx < max_len)
2959 {
2960 msb = ((uint16_t) feat_config[page_byte_idx++] << 8);
2961 }
2962
2963 lsb_msb = lsb | msb;
2964
2965 /* Get parameters 1 to 25 */
2966 step_count_params[param_idx] = lsb_msb & BMI2_STEP_COUNT_PARAMS_MASK;
2967
2968 /* Increment to next parameter */
2969 param_idx++;
2970 }
2971 }
2972 }
2973 }
2974 else
2975 {
2976 rslt = BMI2_E_INVALID_SENSOR;
2977 }
2978
2979 return rslt;
2980 }
2981
2982 /*!
2983 * @brief This internal API gets step counter/detector/activity configurations.
2984 */
2985 static int8_t get_step_config(struct bmi2_step_config *config, struct bmi2_dev *dev)
2986 {
2987 /* Variable to define error */
2988 int8_t rslt;
2989
2990 /* Array to define the feature configuration */
2991 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
2992
2993 /* Variable to define the array offset */
2994 uint8_t idx = 0;
2995
2996 /* Variable to define LSB */
2997 uint16_t lsb = 0;
2998
2999 /* Variable to define MSB */
3000 uint16_t msb = 0;
3001
3002 /* Variable to define a word */
3003 uint16_t lsb_msb = 0;
3004
3005 /* Variable to set flag */
3006 uint8_t feat_found;
3007
3008 /* Initialize feature configuration for step counter */
3009 struct bmi2_feature_config step_count_config = { 0, 0, 0 };
3010
3011 /* Search for step counter 4 feature and extract its configuration details */
3012 feat_found = bmi2_extract_input_feat_config(&step_count_config, BMI2_STEP_COUNTER, dev);
3013 if (feat_found)
3014 {
3015 /* Get the configuration from the page where step counter 4 parameter resides */
3016 rslt = bmi2_get_feat_config(step_count_config.page, feat_config, dev);
3017 if (rslt == BMI2_OK)
3018 {
3019 /* Define the offset for feature enable for step counter/detector/activity */
3020 idx = step_count_config.start_addr;
3021
3022 /* Get word to calculate water-mark level and reset counter */
3023 lsb = (uint16_t) feat_config[idx++];
3024 msb = ((uint16_t) feat_config[idx++] << 8);
3025 lsb_msb = lsb | msb;
3026
3027 /* Get water-mark level */
3028 config->watermark_level = lsb_msb & BMI2_STEP_COUNT_WM_LEVEL_MASK;
3029
3030 /* Get reset counter */
3031 config->reset_counter = (lsb_msb & BMI2_STEP_COUNT_RST_CNT_MASK) >> BMI2_STEP_COUNT_RST_CNT_POS;
3032
3033 /* Get word to calculate output configuration of step detector and activity */
3034 lsb = (uint16_t) feat_config[idx++];
3035 msb = ((uint16_t) feat_config[idx++] << 8);
3036 lsb_msb = lsb | msb;
3037
3038 config->step_buffer_size = (lsb_msb & BMI2_STEP_BUFFER_SIZE_MASK) >> BMI2_STEP_BUFFER_SIZE_POS;
3039 }
3040 }
3041 else
3042 {
3043 rslt = BMI2_E_INVALID_SENSOR;
3044 }
3045
3046 return rslt;
3047 }
3048
3049 /*!
3050 * @brief This internal API gets wrist wear wake-up configurations like min_angle_focus,
3051 * min_angle_nonfocus for wearable variant.
3052 */
3053 static int8_t get_wrist_wear_wake_up_wh_config(struct bmi2_wrist_wear_wake_up_wh_config *config, struct bmi2_dev *dev)
3054 {
3055 /* Variable to define error */
3056 int8_t rslt;
3057
3058 /* Array to define the feature configuration */
3059 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3060
3061 /* Variable to define the array offset */
3062 uint8_t idx = 0;
3063
3064 /* Variable to set flag */
3065 uint8_t feat_found;
3066
3067 /* Initialize feature configuration for wrist wear wake-up */
3068 struct bmi2_feature_config wrist_wake_up_config = { 0, 0, 0 };
3069
3070 /* Copy the feature configuration address to a local pointer */
3071 uint16_t *data_p = (uint16_t *) (void *)feat_config;
3072
3073 /* Search for wrist wear wake-up feature and extract its configuration details */
3074 feat_found = bmi2_extract_input_feat_config(&wrist_wake_up_config, BMI2_WRIST_WEAR_WAKE_UP_WH, dev);
3075 if (feat_found)
3076 {
3077 /* Get the configuration from the page where wrist wear wake-up feature resides */
3078 rslt = bmi2_get_feat_config(wrist_wake_up_config.page, feat_config, dev);
3079 if (rslt == BMI2_OK)
3080 {
3081 /* Define the offset in bytes for wrist wear wake-up select */
3082 idx = wrist_wake_up_config.start_addr;
3083
3084 /* Get offset in words since all the features are set in words length */
3085 idx = idx / 2;
3086
3087 config->min_angle_focus = *(data_p + idx);
3088
3089 /* Increment the offset value by 1 word to get min_angle_nonfocus */
3090 idx++;
3091 config->min_angle_nonfocus = *(data_p + idx);
3092
3093 /* Increment the offset value by 1 word to get angle landscape right and angle landscape left */
3094 idx++;
3095 config->angle_lr = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LR);
3096 config->angle_ll = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_LL);
3097
3098 /* Increment the offset value by 1 word to get angle portrait down and angle portrait up */
3099 idx++;
3100 config->angle_pd = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PD);
3101 config->angle_pu = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_ANGLE_PU);
3102
3103 /* Increment the offset value by 1 word to get min duration quite and min duration moved */
3104 idx++;
3105 config->min_dur_mov = BMI2_GET_BIT_POS0(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_MOVED);
3106 config->min_dur_quite = BMI2_GET_BITS(*(data_p + idx), BMI2_WRIST_WAKE_UP_MIN_DUR_QUITE);
3107
3108 }
3109 }
3110 else
3111 {
3112 rslt = BMI2_E_INVALID_SENSOR;
3113 }
3114
3115 return rslt;
3116 }
3117
3118 /*!
3119 * @brief This internal API gets the output values of step counter.
3120 */
3121 static int8_t get_step_counter_output(uint32_t *step_count, struct bmi2_dev *dev)
3122 {
3123 /* Variable to define error */
3124 int8_t rslt;
3125
3126 /* Array to define the feature configuration */
3127 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3128
3129 /* Variables to define index */
3130 uint8_t idx = 0;
3131
3132 /* Variable to set flag */
3133 uint8_t feat_found;
3134
3135 /* Initialize feature output for step counter */
3136 struct bmi2_feature_config step_cnt_out_config = { 0, 0, 0 };
3137
3138 /* Search for step counter output feature and extract its configuration details */
3139 feat_found = extract_output_feat_config(&step_cnt_out_config, BMI2_STEP_COUNTER, dev);
3140 if (feat_found)
3141 {
3142 /* Get the feature output configuration for step-counter */
3143 rslt = bmi2_get_feat_config(step_cnt_out_config.page, feat_config, dev);
3144 if (rslt == BMI2_OK)
3145 {
3146 /* Define the offset in bytes for step counter output */
3147 idx = step_cnt_out_config.start_addr;
3148
3149 /* Get the step counter output in 4 bytes */
3150 *step_count = (uint32_t) feat_config[idx++];
3151 *step_count |= ((uint32_t) feat_config[idx++] << 8);
3152 *step_count |= ((uint32_t) feat_config[idx++] << 16);
3153 *step_count |= ((uint32_t) feat_config[idx++] << 24);
3154 }
3155 }
3156 else
3157 {
3158 rslt = BMI2_E_INVALID_SENSOR;
3159 }
3160
3161 return rslt;
3162 }
3163
3164 /*!
3165 * @brief This internal API gets the error status related to NVM.
3166 */
3167 static int8_t get_nvm_error_status(struct bmi2_nvm_err_status *nvm_err_stat, struct bmi2_dev *dev)
3168 {
3169 /* Variable to define error */
3170 int8_t rslt;
3171
3172 /* Array to define the feature configuration */
3173 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3174
3175 /* Variables to define index */
3176 uint8_t idx = 0;
3177
3178 /* Variable to set flag */
3179 uint8_t feat_found;
3180
3181 /* Initialize feature output for NVM error status */
3182 struct bmi2_feature_config nvm_err_cfg = { 0, 0, 0 };
3183
3184 /* Search for NVM error status feature and extract its configuration details */
3185 feat_found = extract_output_feat_config(&nvm_err_cfg, BMI2_NVM_STATUS, dev);
3186 if (feat_found)
3187 {
3188 /* Get the feature output configuration for NVM error status */
3189 rslt = bmi2_get_feat_config(nvm_err_cfg.page, feat_config, dev);
3190 if (rslt == BMI2_OK)
3191 {
3192 /* Define the offset in bytes for NVM error status */
3193 idx = nvm_err_cfg.start_addr;
3194
3195 /* Increment index to get the error status */
3196 idx++;
3197
3198 /* Error when NVM load action fails */
3199 nvm_err_stat->load_error = BMI2_GET_BIT_POS0(feat_config[idx], BMI2_NVM_LOAD_ERR_STATUS);
3200
3201 /* Error when NVM program action fails */
3202 nvm_err_stat->prog_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PROG_ERR_STATUS);
3203
3204 /* Error when NVM erase action fails */
3205 nvm_err_stat->erase_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_ERASE_ERR_STATUS);
3206
3207 /* Error when NVM program limit is exceeded */
3208 nvm_err_stat->exceed_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_END_EXCEED_STATUS);
3209
3210 /* Error when NVM privilege mode is not acquired */
3211 nvm_err_stat->privil_error = BMI2_GET_BITS(feat_config[idx], BMI2_NVM_PRIV_ERR_STATUS);
3212 }
3213 }
3214 else
3215 {
3216 rslt = BMI2_E_INVALID_SENSOR;
3217 }
3218
3219 return rslt;
3220 }
3221
3222 /*!
3223 * @brief This internal API is used to get enable status of gyroscope user gain
3224 * update.
3225 */
3226 static int8_t get_user_gain_upd_status(uint8_t *status, struct bmi2_dev *dev)
3227 {
3228 /* Variable to define error */
3229 int8_t rslt = BMI2_OK;
3230
3231 /* Array to define the feature configuration */
3232 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3233
3234 /* Variable to define the array offset */
3235 uint8_t idx = 0;
3236
3237 /* Variable to set flag */
3238 uint8_t feat_found;
3239
3240 /* Variable to check APS status */
3241 uint8_t aps_stat = 0;
3242
3243 /* Initialize feature configuration for gyroscope user gain */
3244 struct bmi2_feature_config gyr_user_gain_cfg = { 0, 0, 0 };
3245
3246 /* Search for user gain feature and extract its configuration details */
3247 feat_found = bmi2_extract_input_feat_config(&gyr_user_gain_cfg, BMI2_GYRO_GAIN_UPDATE, dev);
3248 if (feat_found)
3249 {
3250 /* Disable advance power save */
3251 aps_stat = dev->aps_status;
3252 if (aps_stat == BMI2_ENABLE)
3253 {
3254 rslt = bmi2_set_adv_power_save(BMI2_DISABLE, dev);
3255 }
3256
3257 if (rslt == BMI2_OK)
3258 {
3259 /* Get the configuration from the page where user gain feature resides */
3260 rslt = bmi2_get_feat_config(gyr_user_gain_cfg.page, feat_config, dev);
3261 if (rslt == BMI2_OK)
3262 {
3263 /* Define the offset for enable/disable of user gain */
3264 idx = gyr_user_gain_cfg.start_addr + BMI2_GYR_USER_GAIN_FEAT_EN_OFFSET;
3265
3266 /* Set the feature enable status */
3267 *status = BMI2_GET_BITS(feat_config[idx], BMI2_GYR_USER_GAIN_FEAT_EN);
3268 }
3269 }
3270 }
3271 else
3272 {
3273 rslt = BMI2_E_INVALID_SENSOR;
3274 }
3275
3276 /* Enable Advance power save if disabled while configuring and not when already disabled */
3277 if ((rslt == BMI2_OK) && (aps_stat == BMI2_ENABLE))
3278 {
3279 rslt = bmi2_set_adv_power_save(BMI2_ENABLE, dev);
3280 }
3281
3282 return rslt;
3283 }
3284
3285 /*!
3286 * @brief This internal API gets the output values of step activity.
3287 */
3288 static int8_t get_step_activity_output(uint8_t *step_act, struct bmi2_dev *dev)
3289 {
3290 /* Variable to define error */
3291 int8_t rslt;
3292
3293 /* Array to define the feature configuration */
3294 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3295
3296 /* Variables to define index */
3297 uint8_t idx = 0;
3298
3299 /* Variable to set flag */
3300 uint8_t feat_found;
3301
3302 /* Initialize feature output for step activity */
3303 struct bmi2_feature_config step_act_out_config = { 0, 0, 0 };
3304
3305 /* Search for step activity output feature and extract its configuration details */
3306 feat_found = extract_output_feat_config(&step_act_out_config, BMI2_STEP_ACTIVITY, dev);
3307 if (feat_found)
3308 {
3309 /* Get the feature output configuration for step-activity */
3310 rslt = bmi2_get_feat_config(step_act_out_config.page, feat_config, dev);
3311 if (rslt == BMI2_OK)
3312 {
3313 /* Define the offset in bytes for step activity output */
3314 idx = step_act_out_config.start_addr;
3315
3316 /* Get the step activity output */
3317 *step_act = feat_config[idx];
3318 }
3319 }
3320 else
3321 {
3322 rslt = BMI2_E_INVALID_SENSOR;
3323 }
3324
3325 return rslt;
3326 }
3327
3328 /*!
3329 * @brief This internal API gets the error status related to virtual frames.
3330 */
3331 static int8_t get_vfrm_error_status(struct bmi2_vfrm_err_status *vfrm_err_stat, struct bmi2_dev *dev)
3332 {
3333 /* Variable to define error */
3334 int8_t rslt;
3335
3336 /* Array to define the feature configuration */
3337 uint8_t feat_config[BMI2_FEAT_SIZE_IN_BYTES] = { 0 };
3338
3339 /* Variables to define index */
3340 uint8_t idx = 0;
3341
3342 /* Variable to set flag */
3343 uint8_t feat_found;
3344
3345 /* Initialize feature output for VFRM error status */
3346 struct bmi2_feature_config vfrm_err_cfg = { 0, 0, 0 };
3347
3348 /* Search for VFRM error status feature and extract its configuration details */
3349 feat_found = extract_output_feat_config(&vfrm_err_cfg, BMI2_VFRM_STATUS, dev);
3350 if (feat_found)
3351 {
3352 /* Get the feature output configuration for VFRM error status */
3353 rslt = bmi2_get_feat_config(vfrm_err_cfg.page, feat_config, dev);
3354 if (rslt == BMI2_OK)
3355 {
3356 /* Define the offset in bytes for VFRM error status */
3357 idx = vfrm_err_cfg.start_addr;
3358
3359 /* Increment index to get the error status */
3360 idx++;
3361
3362 /* Internal error while acquiring lock for FIFO */
3363 vfrm_err_stat->lock_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_LOCK_ERR_STATUS);
3364
3365 /* Internal error while writing byte into FIFO */
3366 vfrm_err_stat->write_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_WRITE_ERR_STATUS);
3367
3368 /* Internal error while writing into FIFO */
3369 vfrm_err_stat->fatal_error = BMI2_GET_BITS(feat_config[idx], BMI2_VFRM_FATAL_ERR_STATUS);
3370 }
3371 }
3372 else
3373 {
3374 rslt = BMI2_E_INVALID_SENSOR;
3375 }
3376
3377 return rslt;
3378 }
3379
3380 /*!
3381 * @brief This internal API enables/disables compensation of the gain defined
3382 * in the GAIN register.
3383 */
3384 static int8_t enable_gyro_gain(uint8_t enable, struct bmi2_dev *dev)
3385 {
3386 /* Variable to define error */
3387 int8_t rslt;
3388
3389 /* Variable to define register data */
3390 uint8_t reg_data = 0;
3391
3392 rslt = bmi2_get_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
3393 if (rslt == BMI2_OK)
3394 {
3395 reg_data = BMI2_SET_BITS(reg_data, BMI2_GYR_GAIN_EN, enable);
3396 rslt = bmi2_set_regs(BMI2_GYR_OFF_COMP_6_ADDR, &reg_data, 1, dev);
3397 }
3398
3399 return rslt;
3400 }
3401
3402 /*!
3403 * @brief This internal API is used to extract the output feature configuration
3404 * details from the look-up table.
3405 */
3406 static uint8_t extract_output_feat_config(struct bmi2_feature_config *feat_output,
3407 uint8_t type,
3408 const struct bmi2_dev *dev)
3409 {
3410 /* Variable to define loop */
3411 uint8_t loop = 0;
3412
3413 /* Variable to set flag */
3414 uint8_t feat_found = BMI2_FALSE;
3415
3416 /* Search for the output feature from the output configuration array */
3417 while (loop < dev->out_sens)
3418 {
3419 if (dev->feat_output[loop].type == type)
3420 {
3421 *feat_output = dev->feat_output[loop];
3422 feat_found = BMI2_TRUE;
3423 break;
3424 }
3425
3426 loop++;
3427 }
3428
3429 /* Return flag */
3430 return feat_found;
3431 }