/* * **************************************************************************** * Copyright (C) 2017 - 2018 Bosch Sensortec GmbH * * File : bma4_defs.h * * Date: 12 Oct 2017 * * Revision: 2.1.9 $ * * Usage: Sensor Driver for BMA4 family of sensors * **************************************************************************** * * Disclaimer * * Common: * Bosch Sensortec products are developed for the consumer goods industry. * They may only be used within the parameters of the respective valid * product data sheet. Bosch Sensortec products are provided with the * express understanding that there is no warranty of fitness for a * particular purpose.They are not fit for use in life-sustaining, * safety or security sensitive systems or any system or device * that may lead to bodily harm or property damage if the system * or device malfunctions. In addition,Bosch Sensortec products are * not fit for use in products which interact with motor vehicle systems. * The resale and or use of products are at the purchasers own risk and * his own responsibility. The examination of fitness for the intended use * is the sole responsibility of the Purchaser. * * The purchaser shall indemnify Bosch Sensortec from all third party * claims, including any claims for incidental, or consequential damages, * arising from any product use not covered by the parameters of * the respective valid product data sheet or not approved by * Bosch Sensortec and reimburse Bosch Sensortec for all costs in * connection with such claims. * * The purchaser must monitor the market for the purchased products, * particularly with regard to product safety and inform Bosch Sensortec * without delay of all security relevant incidents. * * Engineering Samples are marked with an asterisk (*) or (e). * Samples may vary from the valid technical specifications of the product * series. They are therefore not intended or fit for resale to third * parties or for use in end products. Their sole purpose is internal * client testing. The testing of an engineering sample may in no way * replace the testing of a product series. Bosch Sensortec assumes * no liability for the use of engineering samples. * By accepting the engineering samples, the Purchaser agrees to indemnify * Bosch Sensortec from all claims arising from the use of engineering * samples. * * Special: * This software module (hereinafter called "Software") and any information * on application-sheets (hereinafter called "Information") is provided * free of charge for the sole purpose to support your application work. * The Software and Information is subject to the following * terms and conditions: * * The Software is specifically designed for the exclusive use for * Bosch Sensortec products by personnel who have special experience * and training. Do not use this Software if you do not have the * proper experience or training. * * This Software package is provided `` as is `` and without any expressed * or implied warranties,including without limitation, the implied warranties * of merchantability and fitness for a particular purpose. * * Bosch Sensortec and their representatives and agents deny any liability * for the functional impairment * of this Software in terms of fitness, performance and safety. * Bosch Sensortec and their representatives and agents shall not be liable * for any direct or indirect damages or injury, except as * otherwise stipulated in mandatory applicable law. * * The Information provided is believed to be accurate and reliable. * Bosch Sensortec assumes no responsibility for the consequences of use * of such Information nor for any infringement of patents or * other rights of third parties which may result from its use. * No license is granted by implication or otherwise under any patent or * patent rights of Bosch. Specifications mentioned in the Information are * subject to change without notice. **************************************************************************/ /*! \file bma4_defs.h \brief Sensor Driver for BMA4 family of sensors */ #ifndef BMA4_DEFS_H__ #define BMA4_DEFS_H__ /*********************************************************************/ /**\ header files */ #ifdef __KERNEL__ #include #else #include #include #include #endif /*********************************************************************/ /* macro definitions */ /* #if (LONG_MAX) > 0x7fffffff #define __have_long64 1 #elif (LONG_MAX) == 0x7fffffff #define __have_long32 1 #endif */ #if !defined(UINT8_C) #define INT8_C(x) x #if (INT_MAX) > 0x7f #define UINT8_C(x) x #else #define UINT8_C(x) x##U #endif #endif #if !defined(UINT16_C) #define INT16_C(x) x #if (INT_MAX) > 0x7fff #define UINT16_C(x) x #else #define UINT16_C(x) x##U #endif #endif #if !defined(INT32_C) && !defined(UINT32_C) #if __have_long32 #define INT32_C(x) x##L #define UINT32_C(x) x##UL #else #define INT32_C(x) x #define UINT32_C(x) x##U #endif #endif #if !defined(INT64_C) && !defined(UINT64_C) #if __have_long64 #define INT64_C(x) x##L #define UINT64_C(x) x##UL #else #define INT64_C(x) x##LL #define UINT64_C(x) x##ULL #endif #endif /**\name CHIP ID ADDRESS*/ #define BMA4_CHIP_ID_ADDR UINT8_C(0x00) /**\name RESET REGISTER */ #define BMA4_RESET_ADDR UINT8_C(0xB6) #define BMA4_RESET_SET_MASK UINT8_C(0x7E) /**\name ERROR STATUS*/ #define BMA4_ERROR_ADDR UINT8_C(0X02) /**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/ #define BMA4_STATUS_ADDR UINT8_C(0X03) /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ #define BMA4_DATA_0_ADDR UINT8_C(0X0A) #define BMA4_DATA_8_ADDR UINT8_C(0X12) /**\name SENSOR TIME REGISTERS*/ #define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18) /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ #define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C) /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ #define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D) /**\name TEMPERATURE REGISTERS*/ #define BMA4_TEMPERATURE_ADDR UINT8_C(0X22) /**\name FIFO REGISTERS*/ #define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24) #define BMA4_FIFO_DATA_ADDR UINT8_C(0X26) /**\name ACCEL CONFIG REGISTERS*/ #define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40) /**\name ACCEL RANGE ADDRESS*/ #define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41) /**\name AUX CONFIG REGISTERS*/ #define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44) /**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/ #define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45) /**\name FIFO WATERMARK REGISTER ADDRESS*/ #define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46) /**\name FIFO CONFIG REGISTERS*/ #define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48) #define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49) /**\name MAG INTERFACE REGISTERS*/ #define BMA4_AUX_DEV_ID_ADDR UINT8_C(0X4B) #define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C) #define BMA4_AUX_RD_ADDR UINT8_C(0X4D) #define BMA4_AUX_WR_ADDR UINT8_C(0X4E) #define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F) /**\name INTERRUPT ENABLE REGISTERS*/ #define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53) #define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54) /**\name LATCH DURATION REGISTERS*/ #define BMA4_INTR_LATCH_ADDR UINT8_C(0X55) /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ #define BMA4_INT_MAP_1_ADDR UINT8_C(0X56) #define BMA4_INT_MAP_2_ADDR UINT8_C(0X57) #define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58) #define BMA4_INIT_CTRL_ADDR UINT8_C(0x59) /**\name FEATURE CONFIG RELATED */ #define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B) #define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C) #define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E) #define BMA4_INTERNAL_ERROR UINT8_C(0x5F) /**\name SERIAL INTERFACE SETTINGS REGISTER*/ #define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B) /**\name SELF_TEST REGISTER*/ #define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D) /**\name SPI,I2C SELECTION REGISTER*/ #define BMA4_NV_CONFIG_ADDR UINT8_C(0x70) /**\name ACCEL OFFSET REGISTERS*/ #define BMA4_OFFSET_0_ADDR UINT8_C(0X71) #define BMA4_OFFSET_1_ADDR UINT8_C(0X72) #define BMA4_OFFSET_2_ADDR UINT8_C(0X73) /**\name POWER_CTRL REGISTER*/ #define BMA4_POWER_CONF_ADDR UINT8_C(0x7C) #define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D) /**\name COMMAND REGISTER*/ #define BMA4_CMD_ADDR UINT8_C(0X7E) /**\name GPIO REGISTERS*/ #define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E) #define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F) #define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27) #define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28) #define BMA4_INTERNAL_STAT UINT8_C(0x2A) /*! * @brief Block size for config write */ #define BMA4_BLOCK_SIZE UINT8_C(32) /**\name I2C slave address */ #define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18) #define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19) #define BMA4_I2C_BMM150_ADDR UINT8_C(0x10) /**\name Interface selection macro */ #define BMA4_SPI_INTERFACE UINT8_C(1) #define BMA4_I2C_INTERFACE UINT8_C(2) /**\name Interface selection macro */ #define BMA4_SPI_WR_MASK UINT8_C(0x7F) #define BMA4_SPI_RD_MASK UINT8_C(0x80) /**\name Chip ID macros */ #define BMA4_CHIP_ID_MIN UINT8_C(0x10) #define BMA4_CHIP_ID_MAX UINT8_C(0x15) /**\name Auxiliary sensor selection macro */ #define BMM150_SENSOR UINT8_C(1) #define AKM9916_SENSOR UINT8_C(2) #define BMA4_ASIC_INITIALIZED UINT8_C(0x01) /**\name Auxiliary sensor chip id macros */ #define BMM150_CHIP_ID UINT8_C(0x32) /**\name Auxiliary sensor other macros */ #define BMM150_POWER_CONTROL_REG UINT8_C(0x4B) #define BMM150_POWER_MODE_REG UINT8_C(0x4C) /**\name CONSTANTS */ #define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2) #define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2) #define BMA4_FIFO_WM_LENGTH UINT8_C(2) #define BMA4_CONFIG_STREAM_SIZE UINT16_C(6144) #define BMA4_NON_LATCH_MODE UINT8_C(0) #define BMA4_LATCH_MODE UINT8_C(1) #define BMA4_OPEN_DRAIN UINT8_C(1) #define BMA4_PUSH_PULL UINT8_C(0) #define BMA4_ACTIVE_HIGH UINT8_C(1) #define BMA4_ACTIVE_LOW UINT8_C(0) #define BMA4_EDGE_TRIGGER UINT8_C(1) #define BMA4_LEVEL_TRIGGER UINT8_C(0) #define BMA4_OUTPUT_ENABLE UINT8_C(1) #define BMA4_OUTPUT_DISABLE UINT8_C(0) #define BMA4_INPUT_ENABLE UINT8_C(1) #define BMA4_INPUT_DISABLE UINT8_C(0) /**\name ACCEL RANGE CHECK*/ #define BMA4_ACCEL_RANGE_2G UINT8_C(0) #define BMA4_ACCEL_RANGE_4G UINT8_C(1) #define BMA4_ACCEL_RANGE_8G UINT8_C(2) #define BMA4_ACCEL_RANGE_16G UINT8_C(3) /**\name CONDITION CHECK FOR READING AND WRTING DATA*/ #define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1) #define BMA4_MAX_VALUE_SPI3 UINT8_C(1) #define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1) #define BMA4_MAX_IF_MODE UINT8_C(3) #define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1) /**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/ #define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16) #define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6) #define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8) #define BMA4_ACCEL_DATA_LENGTH UINT8_C(6) #define BMA4_FIFO_DATA_LENGTH UINT8_C(2) #define BMA4_TEMP_DATA_SIZE UINT8_C(1) /**\name TEMPERATURE CONSTANT */ #define BMA4_OFFSET_TEMP UINT8_C(23) #define BMA4_DEG UINT8_C(1) #define BMA4_FAHREN UINT8_C(2) #define BMA4_KELVIN UINT8_C(3) /**\name DELAY DEFINITION IN MSEC*/ #define BMA4_AUX_IF_DELAY UINT8_C(5) #define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2) #define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3) #define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1) #define BMA4_GEN_READ_WRITE_DELAY UINT8_C(1) #define BMA4_AUX_COM_DELAY UINT8_C(10) /**\name ARRAY PARAMETER DEFINITIONS*/ #define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2) #define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1) #define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0) #define BMA4_MAG_X_LSB_BYTE UINT8_C(0) #define BMA4_MAG_X_MSB_BYTE UINT8_C(1) #define BMA4_MAG_Y_LSB_BYTE UINT8_C(2) #define BMA4_MAG_Y_MSB_BYTE UINT8_C(3) #define BMA4_MAG_Z_LSB_BYTE UINT8_C(4) #define BMA4_MAG_Z_MSB_BYTE UINT8_C(5) #define BMA4_MAG_R_LSB_BYTE UINT8_C(6) #define BMA4_MAG_R_MSB_BYTE UINT8_C(7) #define BMA4_TEMP_BYTE UINT8_C(0) #define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1) /**\name ERROR CODES */ #define BMA4_OK UINT16_C(0) #define BMA4_E_NULL_PTR UINT16_C(1) #define BMA4_E_OUT_OF_RANGE UINT16_C(1 << 1) #define BMA4_E_INVALID_SENSOR UINT16_C(1 << 2) #define BMA4_E_CONFIG_STREAM_ERROR UINT16_C(1 << 3) #define BMA4_E_SELF_TEST_FAIL UINT16_C(1 << 4) #define BMA4_E_FOC_FAIL UINT16_C(1 << 5) #define BMA4_E_FAIL UINT16_C(1 << 6) #define BMA4_E_INT_LINE_INVALID UINT16_C(1 << 7) #define BMA4_E_RD_WR_LENGTH_INVALID UINT16_C(1 << 8) #define BMA4_E_AUX_CONFIG_FAIL UINT16_C(1 << 9) #define BMA4_E_SC_FIFO_HEADER_ERR UINT16_C(1 << 10) #define BMA4_E_SC_FIFO_CONFIG_ERR UINT16_C(1 << 11) /**\name UTILITY MACROS */ #define BMA4_SET_LOW_BYTE UINT16_C(0x00FF) #define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00) #define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F) /**\name FOC RELATED MACROS */ #define BMA4_ACCEL_CONFIG_FOC UINT8_C(0xB7) /* Macros used for Self test */ /* Self-test: Resulting minimum difference signal in mg for BMA42x */ #define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400) #define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800) #define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400) /* Self-test: Resulting minimum difference signal in mg for BMA45x */ #define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) #define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) /**\name BOOLEAN TYPES*/ #ifndef TRUE #define TRUE UINT8_C(0x01) #endif #ifndef FALSE #define FALSE UINT8_C(0x00) #endif #ifndef NULL #define NULL UINT8_C(0x00) #endif /**\name ERROR STATUS POSITION AND MASK*/ #define BMA4_FATAL_ERR_MSK UINT8_C(0x01) #define BMA4_CMD_ERR_POS UINT8_C(1) #define BMA4_CMD_ERR_MSK UINT8_C(0x02) #define BMA4_ERR_CODE_POS UINT8_C(2) #define BMA4_ERR_CODE_MSK UINT8_C(0x1C) #define BMA4_FIFO_ERR_POS UINT8_C(6) #define BMA4_FIFO_ERR_MSK UINT8_C(0x40) #define BMA4_AUX_ERR_POS UINT8_C(7) #define BMA4_AUX_ERR_MSK UINT8_C(0x80) /**\name Maximum number of bytes to be read from the sensor */ #define BMA4_MAX_BUFFER_SIZE UINT8_C(81) /**\name NV_CONFIG POSITION AND MASK*/ /* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */ #define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3) #define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08) /**\name MAG DATA XYZ POSITION AND MASK*/ #define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3) #define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8) #define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3) #define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8) #define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1) #define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE) #define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2) #define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC) /**\name ACCEL DATA READY POSITION AND MASK*/ #define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7) #define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80) /**\name MAG DATA READY POSITION AND MASK*/ #define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5) #define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20) /**\name ADVANCE POWER SAVE POSITION AND MASK*/ #define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01) /**\name ACCELEROMETER ENABLE POSITION AND MASK*/ #define BMA4_ACCEL_ENABLE_POS UINT8_C(2) #define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04) /**\name MAGNETOMETER ENABLE POSITION AND MASK*/ #define BMA4_MAG_ENABLE_MSK UINT8_C(0x01) /**\name ACCEL CONFIGURATION POSITION AND MASK*/ #define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F) #define BMA4_ACCEL_BW_POS UINT8_C(4) #define BMA4_ACCEL_BW_MSK UINT8_C(0x70) #define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03) #define BMA4_ACCEL_PERFMODE_POS UINT8_C(7) #define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80) /**\name MAG CONFIGURATION POSITION AND MASK*/ #define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4) #define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4) #define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0) #define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR) /**\name FIFO SELF WAKE UP POSITION AND MASK*/ #define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1) #define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02) /**\name FIFO BYTE COUNTER POSITION AND MASK*/ #define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F) /**\name FIFO DATA POSITION AND MASK*/ #define BMA4_FIFO_DATA_POS UINT8_C(0) #define BMA4_FIFO_DATA_MSK UINT8_C(0xFF) /**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/ #define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4) #define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70) #define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7) #define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80) /**\name FIFO HEADER DATA DEFINITIONS */ #define FIFO_HEAD_A UINT8_C(0x84) #define FIFO_HEAD_M UINT8_C(0x90) #define FIFO_HEAD_M_A UINT8_C(0x94) #define FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) #define FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) #define FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) #define FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) #define FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50) /**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */ #define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60) #define BMA4_FIFO_A_ENABLE UINT8_C(0x40) #define BMA4_FIFO_M_ENABLE UINT8_C(0x20) /**\name FIFO CONFIGURATION SELECTION */ #define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01) #define BMA4_FIFO_TIME UINT8_C(0x02) #define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04) #define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08) #define BMA4_FIFO_HEADER UINT8_C(0x10) #define BMA4_FIFO_MAG UINT8_C(0x20) #define BMA4_FIFO_ACCEL UINT8_C(0x40) #define BMA4_FIFO_ALL UINT8_C(0x7F) #define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03) #define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC) /**\name FIFO FRAME COUNT DEFINITION */ #define FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) #define FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) #define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC) /**\name FIFO DROPPED FRAME DEFINITION */ #define AUX_FIFO_DROP UINT8_C(0x04) #define ACCEL_AUX_FIFO_DROP UINT8_C(0x05) #define ACCEL_FIFO_DROP UINT8_C(0x01) /**\name FIFO MAG DEFINITION*/ #define BMA4_MA_FIFO_A_X_LSB UINT8_C(8) /**\name FIFO sensor time length definitions*/ #define BMA4_SENSOR_TIME_LENGTH UINT8_C(3) /**\name FIFO LENGTH DEFINITION*/ #define BMA4_FIFO_A_LENGTH UINT8_C(6) #define BMA4_FIFO_M_LENGTH UINT8_C(8) #define BMA4_FIFO_MA_LENGTH UINT8_C(14) /**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/ #define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1) #define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE) /**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/ #define BMA4_MAG_BURST_MSK UINT8_C(0x03) #define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7) #define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80) #define BMA4_READ_ADDR_MSK UINT8_C(0xFF) #define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF) #define BMA4_WRITE_DATA_MSK UINT8_C(0xFF) /**\name OUTPUT TYPE ENABLE POSITION AND MASK*/ #define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01) #define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00) #define BMA4_INT_LEVEL_MASK UINT8_C(0x02) #define BMA4_INT_LEVEL_POS UINT8_C(0x01) #define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04) #define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02) #define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08) #define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03) #define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10) #define BMA4_INT_INPUT_EN_POS UINT8_C(0x04) /**\name IF CONFIG POSITION AND MASK*/ #define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01) #define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4) #define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10) /**\name ACCEL SELF TEST POSITION AND MASK*/ #define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01) #define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2) #define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04) #define BMA4_SELFTEST_AMP_POS UINT8_C(3) #define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08) /**\name ACCEL ODR */ #define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01) #define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02) #define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03) #define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04) #define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05) #define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06) #define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07) #define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08) #define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09) #define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A) #define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B) #define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C) /**\name ACCEL BANDWIDTH PARAMETER */ #define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0) #define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1) #define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2) #define BMA4_ACCEL_CIC_AVG8 UINT8_C(3) #define BMA4_ACCEL_RES_AVG16 UINT8_C(4) #define BMA4_ACCEL_RES_AVG32 UINT8_C(5) #define BMA4_ACCEL_RES_AVG64 UINT8_C(6) #define BMA4_ACCEL_RES_AVG128 UINT8_C(7) /**\name ACCEL PERFMODE PARAMETER */ #define BMA4_CIC_AVG_MODE UINT8_C(0) #define BMA4_CONTINUOUS_MODE UINT8_C(1) /**\name MAG OFFSET */ #define BMA4_MAG_OFFSET_MAX UINT8_C(0x00) /**\name ENABLE/DISABLE SELECTIONS */ #define BMA4_X_AXIS UINT8_C(0) #define BMA4_Y_AXIS UINT8_C(1) #define BMA4_Z_AXIS UINT8_C(2) /**\name SELF TEST*/ #define BMA4_SELFTEST_PASS UINT8_C(0) #define BMA4_SELFTEST_FAIL UINT8_C(1) /**\name INTERRUPT MAPS */ #define BMA4_INTR1_MAP UINT8_C(0) #define BMA4_INTR2_MAP UINT8_C(1) /**\name INTERRUPT MASKS */ #define BMA4_FIFO_FULL_INT UINT16_C(0x0100) #define BMA4_FIFO_WM_INT UINT16_C(0x0200) #define BMA4_DATA_RDY_INT UINT16_C(0x0400) #define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000) #define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000) /**\name AKM POWER MODE SELECTION */ #define AKM_POWER_DOWN_MODE UINT8_C(0) #define AKM_SINGLE_MEAS_MODE UINT8_C(1) /**\name SECONDARY_MAG POWER MODE SELECTION */ #define BMA4_MAG_FORCE_MODE UINT8_C(0) #define BMA4_MAG_SUSPEND_MODE UINT8_C(1) /**\name MAG POWER MODE SELECTION */ #define FORCE_MODE UINT8_C(0) #define SUSPEND_MODE UINT8_C(1) /**\name ACCEL POWER MODE */ #define ACCEL_MODE_NORMAL UINT8_C(0x11) /**\name MAG POWER MODE */ #define MAG_MODE_SUSPEND UINT8_C(0x18) /**\name ENABLE/DISABLE BIT VALUES */ #define BMA4_ENABLE UINT8_C(0x01) #define BMA4_DISABLE UINT8_C(0x00) /**\name DEFINITION USED FOR DIFFERENT WRITE */ #define BMA4_MANUAL_DISABLE UINT8_C(0x00) #define BMA4_MANUAL_ENABLE UINT8_C(0x01) #define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01) #define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A) #define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06) #define BMA4_SEC_IF_NULL UINT8_C(0) #define BMA4_SEC_IF_BMM150 UINT8_C(1) #define BMA4_SEC_IF_AKM09916 UINT8_C(2) #define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01) /**\name SENSOR RESOLUTION */ #define BMA4_12_BIT_RESOLUTION UINT8_C(12) #define BMA4_14_BIT_RESOLUTION UINT8_C(14) #define BMA4_16_BIT_RESOLUTION UINT8_C(16) /**\name MULTIPLIER */ /*! for handling micro-g values */ #define BMA4XY_MULTIPLIER UINT32_C(1000000) /*! for handling float temperature values */ #define BMA4_SCALE_TEMP INT32_C(1000) /* BMA4_FAHREN_SCALED = 1.8 * 1000 */ #define BMA4_FAHREN_SCALED INT32_C(1800) /* BMA4_KELVIN_SCALED = 273.15 * 1000 */ #define BMA4_KELVIN_SCALED INT32_C(273150) /**\name MAP BURST READ LENGTHS */ #define BMA4_AUX_READ_LEN_0 0 #define BMA4_AUX_READ_LEN_1 1 #define BMA4_AUX_READ_LEN_2 2 #define BMA4_AUX_READ_LEN_3 3 #ifndef ABS #define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */ #endif /**\name BIT SLICE GET AND SET FUNCTIONS */ #define BMA4_GET_BITSLICE(regvar, bitname) \ ((regvar & bitname##_MSK) >> bitname##_POS) #define BMA4_SET_BITSLICE(regvar, bitname, val) \ ((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK)) #define BMA4_GET_DIFF(x, y) ((x) - (y)) #define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE) #define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8) #define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK)) #define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \ ((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK)) #define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) /**\name TYPEDEF DEFINITIONS */ /*! * @brief Bus communication function pointer which should be mapped to * the platform specific read and write functions of the user */ typedef uint16_t (*bma4_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *read_data, uint16_t len); /*! delay function pointer */ typedef void (*bma4_delay_fptr_t)(uint32_t); /******************************************************************************/ /*! @name Enum Declarations */ /******************************************************************************/ /*! @name Enum to define BMA4 variants */ enum bma4_variant { BMA42X_VARIANT = 1, BMA45X_VARIANT }; /**\name STRUCTURE DEFINITIONS*/ /*! * @brief * This structure holds asic info. for feature configuration. */ struct bma4_asic_data { /* Feature config start addr (0-3 bits)*/ uint8_t asic_lsb; /* Feature config start addr (4-11 bits)*/ uint8_t asic_msb; }; /*! * @brief Auxiliary configuration structure for user settings */ struct bma4_aux_config { /*! Device address of auxiliary sensor */ uint8_t aux_dev_addr; /*! To enable manual or auto mode */ uint8_t manual_enable; /*! No of bytes to be read at a time */ uint8_t burst_read_length; /*! Variable to set the auxiliary interface */ uint8_t if_mode; }; /*! * @brief * This structure holds all relevant information about BMA4 */ struct bma4_dev { /*! Chip id of BMA4 */ uint8_t chip_id; /*! Chip id of auxiliary sensor */ uint8_t aux_chip_id; /*! Device address of BMA4 */ uint8_t dev_addr; /*! Interface detail */ uint8_t interface; /*! Auxiliary sensor information */ uint8_t aux_sensor; /*! Decide SPI or I2C read mechanism */ uint8_t dummy_byte; /*! Resolution for FOC */ uint8_t resolution; /*! Define the BMA4 variant BMA42X or BMA45X */ enum bma4_variant variant; /* ! Used to check mag manual/auto mode status int8_t mag_manual_enable;*/ /*! FIFO related configurations */ struct bma4_fifo_frame *fifo; /*! Config stream data buffer address will be assigned*/ const uint8_t *config_file_ptr; /*! Max read/write length (maximum supported length is 32). To be set by the user */ uint8_t read_write_len; /*! Feature len */ uint8_t feature_len; /*! Contains asic information */ struct bma4_asic_data asic_data; /*! Contains aux configuration settings */ struct bma4_aux_config aux_config; /*! Bus read function pointer */ bma4_com_fptr_t bus_read; /*! Bus write function pointer */ bma4_com_fptr_t bus_write; /*! delay(in ms) function pointer */ bma4_delay_fptr_t delay; }; /*! * @brief This structure holds the information for usage of * FIFO by the user. */ struct bma4_fifo_frame { /*! Data buffer of user defined length is to be mapped here */ uint8_t *data; /*! Number of bytes of FIFO to be read as specified by the user */ uint16_t length; /*! Enabling of the FIFO header to stream in header mode */ uint8_t fifo_header_enable; /*! Streaming of the Accelerometer, Auxiliary * sensor data or both in FIFO */ uint8_t fifo_data_enable; /*! Will be equal to length when no more frames are there to parse */ uint16_t accel_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t mag_byte_start_idx; /*! Will be equal to length when no more frames are there to parse */ uint16_t sc_frame_byte_start_idx; /*! Value of FIFO sensor time time */ uint32_t sensor_time; /*! Value of Skipped frame counts */ uint8_t skipped_frame_count; /*! Value of accel dropped frame count */ uint8_t accel_dropped_frame_count; /*! Value of mag dropped frame count */ uint8_t mag_dropped_frame_count; }; /*! * @brief Error Status structure */ struct bma4_err_reg { /*! Indicates fatal error */ uint8_t fatal_err; /*! Indicates command error */ uint8_t cmd_err; /*! Indicates error code */ uint8_t err_code; /*! Indicates fifo error */ uint8_t fifo_err; /*! Indicates mag error */ uint8_t aux_err; }; /*! * @brief Asic Status structure */ struct bma4_asic_status { /*! Asic is in sleep/halt state */ uint8_t sleep; /*! Dedicated interrupt is set again before previous interrupt was acknowledged */ uint8_t irq_ovrn; /*! Watchcell event detected (asic stopped) */ uint8_t wc_event; /*! Stream transfer has started and transactions are ongoing */ uint8_t stream_transfer_active; }; /*! * @brief Interrupt Pin Configuration structure */ struct bma4_int_pin_config { /*! Trigger condition of interrupt pin */ uint8_t edge_ctrl; /*! Level of interrupt pin */ uint8_t lvl; /*! Behaviour of interrupt pin to open drain */ uint8_t od; /*! Output enable for interrupt pin */ uint8_t output_en; /*! Input enable for interrupt pin */ uint8_t input_en; }; /*! * @brief Accelerometer configuration structure */ struct bma4_accel_config { /*! Output data rate in Hz */ uint8_t odr; /*! Bandwidth parameter, determines filter configuration */ uint8_t bandwidth; /*! Filter performance mode */ uint8_t perf_mode; /*! G-range */ uint8_t range; }; /*! * @brief Auxiliary magnetometer configuration structure */ struct bma4_aux_mag_config { /*! Poll rate for the sensor attached to the Magnetometer interface */ uint8_t odr; /*! Trigger-readout offset in units of 2.5 ms. If set to zero, the offset is maximum, i.e. after readout a trigger is issued immediately */ uint8_t offset; }; /*! * @brief ASIC Config structure */ struct bma4_asic_config { /*! Enable/Disable ASIC Wake Up */ uint8_t asic_en; /*! Configure stream_transfer/FIFO mode */ uint8_t fifo_mode_en; /*! Mapping of instance RAM1 */ uint8_t mem_conf_ram1; /*! Mapping of instance RAM2 */ uint8_t mem_conf_ram2; /*! Mapping of instance RAM3 */ uint8_t mem_conf_ram3; }; /*! * @brief bmm150 or akm09916 * magnetometer values structure */ struct bma4_mag { /*! BMM150 and AKM09916 X raw data */ int32_t x; /*! BMM150 and AKM09916 Y raw data */ int32_t y; /*! BMM150 and AKM09916 Z raw data */ int32_t z; }; /*! * @brief bmm150 xyz data structure */ struct bma4_mag_xyzr { /*! BMM150 X raw data */ int16_t x; /*! BMM150 Y raw data */ int16_t y; /*! BMM150 Z raw data */ int16_t z; /*! BMM150 R raw data */ uint16_t r; }; /*! * @brief Accel xyz data structure */ struct bma4_accel { /*! Accel X data */ int16_t x; /*! Accel Y data */ int16_t y; /*! Accel Z data */ int16_t z; }; /*! * @brief FIFO mag data structure */ struct bma4_mag_fifo_data { /*! The value of mag x LSB data */ uint8_t mag_x_lsb; /*! The value of mag x MSB data */ uint8_t mag_x_msb; /*! The value of mag y LSB data */ uint8_t mag_y_lsb; /*! The value of mag y MSB data */ uint8_t mag_y_msb; /*! The value of mag z LSB data */ uint8_t mag_z_lsb; /*! The value of mag z MSB data */ uint8_t mag_z_msb; /*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */ uint8_t mag_r_y2_lsb; /*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */ uint8_t mag_r_y2_msb; }; #endif /* End of __BMA4_H__ */