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bmi2.h
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/**
* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi2.h
* @date 2021-09-30
* @version v2.71.8
*
*/
/*!
* @defgroup bmi2xy BMI2XY
*/
/**
* \ingroup bmi2xy
* \defgroup bmi2 BMI2
* @brief Sensor driver for BMI2 sensor
*/
#ifndef BMI2_H_
#define BMI2_H_
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************/
/*! Header files
****************************************************************************/
#include "bmi2_defs.h"
/***************************************************************************/
/*! BMI2XY User Interface function prototypes
****************************************************************************/
/**
* \ingroup bmi2
* \defgroup bmi2ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_sec_init bmi2_sec_init
* \code
* int8_t bmi2_sec_init(struct bmi2_dev *dev);
* \endcode
* @details This API is the entry point for bmi2 sensor. It selects between
* I2C/SPI interface, based on user selection. It also reads the chip-id of
* the sensor.
*
* @param[in,out] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sec_init(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiRegs Registers
* @brief Set / Get data from the given register address of the sensor
*/
/*!
* \ingroup bmi2ApiRegs
* \page bmi2_api_bmi2_get_regs bmi2_get_regs
* \code
* int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi2_dev *dev);
* \endcode
* @details This API reads the data from the given register address of bmi2
* sensor.
*
* @param[in] reg_addr : Register address from which data is read.
* @param[out] data : Pointer to data buffer where read data is stored.
* @param[in] len : No. of bytes of data to be read.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note For most of the registers auto address increment applies, with the
* exception of a few special registers, which trap the address. For e.g.,
* Register address - 0x26, 0x5E.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiRegs
* \page bmi2_api_bmi2_set_regs bmi2_set_regs
* \code
* int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
* \endcode
* @details This API writes data to the given register address of bmi2 sensor.
*
* @param[in] reg_addr : Register address to which the data is written.
* @param[in] data : Pointer to data buffer in which data to be written
* is stored.
* @param[in] len : No. of bytes of data to be written.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_regs(uint8_t reg_addr, const uint8_t *data, uint16_t len, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSR Soft reset
* @brief Set / Get data from the given register address of the sensor
*/
/*!
* \ingroup bmi2ApiSR
* \page bmi2_api_bmi2_soft_reset bmi2_soft_reset
* \code
* int8_t bmi2_soft_reset(struct bmi2_dev *dev);
* \endcode
* @details This API resets bmi2 sensor. All registers are overwritten with
* their default values.
*
* @note If selected interface is SPI, an extra dummy byte is read to bring the
* interface back to SPI from default, after the soft reset command.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_soft_reset(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiConfig Configuration
* @brief Functions related to configuration of the sensor
*/
/*!
* \ingroup bmi2ApiConfig
* \page bmi2_api_bmi2_get_config_file_version bmi2_get_config_file_version
* \code
* int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
* \endcode
* @details This API is used to get the config file major and minor information.
*
* @param[in] dev : Structure instance of bmi2_dev.
* @param[out] config_major : pointer to data buffer to store the config major.
* @param[out] config_minor : pointer to data buffer to store the config minor.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_config_file_version(uint8_t *config_major, uint8_t *config_minor, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiPowersave Advanced power save mode
* @brief Set / Get Advanced power save mode of the sensor
*/
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_set_adv_power_save bmi2_set_adv_power_save
* \code
* int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables the advance power save mode in the sensor.
*
* @param[in] enable : To enable/disable advance power mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables advance power save.
* BMI2_ENABLE | Enables advance power save.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_adv_power_save(uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiPowersave
* \page bmi2_api_bmi2_get_adv_power_save bmi2_get_adv_power_save
* \code
* int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
* \endcode
* @details This API gets the status of advance power save mode in the sensor.
*
* @param[out] aps_status : Pointer to get the status of APS mode.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* aps_status | Description
* -------------|---------------
* BMI2_DISABLE | Advance power save disabled.
* BMI2_ENABLE | Advance power save enabled.
*@endverbatim
*
* @return Result of API execution status
*
* @retval BMI2_OK - Success.
* @retval BMI2_E_NULL_PTR - Error: Null pointer error
* @retval BMI2_E_COM_FAIL - Error: Communication fail
* @retval BMI2_E_SET_APS_FAIL - Error: Set Advance Power Save Fail
*/
int8_t bmi2_get_adv_power_save(uint8_t *aps_status, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiConfig
* \page bmi2_api_bmi2_write_config_file bmi2_write_config_file
* \code
* int8_t bmi2_write_config_file(struct bmi2_dev *dev);
* \endcode
* @details This API loads the configuration file to the bmi2 sensor.
*
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_write_config_file(struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiInt Interrupt
* @brief Interrupt operations of the sensor
*/
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_set_int_pin_config bmi2_set_int_pin_config
* \code
* int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
* \endcode
* @details This API sets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*
* @param[in] int_cfg : Structure instance of bmi2_int_pin_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_int_pin_config(const struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_get_int_pin_config bmi2_get_int_pin_config
* \code
* int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, const struct bmi2_dev *dev);
* \endcode
* @details This API gets:
* 1) The input output configuration of the selected interrupt pin:
* INT1 or INT2.
* 2) The interrupt mode: permanently latched or non-latched.
*
* @param[in,out] int_cfg : Structure instance of bmi2_int_pin_config.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_int_pin_config(struct bmi2_int_pin_config *int_cfg, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiInt
* \page bmi2_api_bmi2_get_int_status bmi2_get_int_status
* \code
* int8_t bmi2_get_int_status(uint16_t *int_status, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the interrupt status of both feature and data
* interrupts.
*
* @param[out] int_status : Pointer to get the status of the interrupts.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* int_status | Status
* -----------|------------
* 0x00 | BIT0
* 0x01 | BIT1
* 0x02 | BIT2
* 0x03 | BIT3
* 0x04 | BIT4
* 0x05 | BIT5
* 0x06 | BIT6
* 0x07 | BIT7
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_int_status(uint16_t *int_status, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensorC Sensor Configuration
* @brief Enable / Disable feature configuration of the sensor
*/
/*!
* \ingroup bmi2ApiSensorC
* \page bmi2_api_bmi2_set_sensor_config bmi2_set_sensor_config
* \code
* int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API sets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be configured
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_GYRO_GAIN_UPDATE | 9
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensorC
* \page bmi2_api_bmi2_get_sensor_config bmi2_get_sensor_config
* \code
* int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor/feature configuration.
*
* @param[in] sens_cfg : Structure instance of bmi2_sens_config.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose configurations can be read.
*
*@verbatim
* sens_list | Values
* -------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_GYRO_GAIN_UPDATE | 9
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_sensor_config(struct bmi2_sens_config *sens_cfg, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensor Feature Set
* @brief Enable / Disable features of the sensor
*/
/*!
* \ingroup bmi2ApiSensor
* \page bmi2_api_bmi2_sensor_enable bmi2_sensor_enable
* \code
* int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be enabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be enabled.
*
*@verbatim
* sens_list | Values
* -------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_TEMP | 31
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sensor_enable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensor
* \page bmi2_api_bmi2_sensor_disable bmi2_sensor_disable
* \code
* int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API selects the sensors/features to be disabled.
*
* @param[in] sens_list : Pointer to select the sensor/feature.
* @param[in] n_sens : Number of sensors selected.
* @param[in, out] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features that can be disabled.
*
*@verbatim
* sens_list | Values
* ----------------------------|-----------
* BMI2_ACCEL | 0
* BMI2_GYRO | 1
* BMI2_AUX | 2
* BMI2_TEMP | 31
*@endverbatim
*
* @note :
* example uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
* uint8_t n_sens = 2;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_sensor_disable(const uint8_t *sens_list, uint8_t n_sens, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiSensorD Sensor Data
* @brief Get sensor data
*/
/*!
* \ingroup bmi2ApiSensorD
* \page bmi2_api_bmi2_get_feature_data bmi2_get_feature_data
* \code
* int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
* \endcode
* @details This API gets the feature data for gyroscope user-gain update and gyroscope cross sensitivity
*
* @param[out] feat_sensor_data : Structure instance of bmi2_feat_sensor_data.
* @param[in] n_sens : Number of sensors selected.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Sensors/features whose data can be read
*
*@verbatim
* sens_list | Values
* ---------------------|-----------
* BMI2_GYRO_GAIN_UPDATE| 12
* BMI2_GYRO_CROSS_SENSE| 28
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_feature_data(struct bmi2_feat_sensor_data *feat_sensor_data, uint8_t n_sens, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiSensorD
* \page bmi2_api_bmi2_get_sensor_data bmi2_get_sensor_data
* \code
* int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev);
* \endcode
* @details This API gets the sensor data for accelerometer, gyroscope and auxiliary sensor
*
* @param[out] data : Structure instance of bmi2_sensor_data.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_sensor_data(struct bmi2_sens_data *data, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiFIFO FIFO
* @brief FIFO operations of the sensor
*/
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_config bmi2_set_fifo_config
* \code
* int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO configuration in the sensor.
*
* @param[in] config : FIFO configurations to be enabled/disabled.
* @param[in] enable : Enable/Disable FIFO configurations.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables FIFO configuration.
* BMI2_ENABLE | Enables FIFO configuration.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_config(uint16_t config, uint8_t enable, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_config bmi2_get_fifo_config
* \code
* int8_t bmi2_get_fifo_config(uint16_t *fifo_config, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO configuration from the sensor.
*
* @param[out] fifo_config : Pointer variable to get FIFO configuration value.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_config(uint16_t *fifo_config, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_read_fifo_data bmi2_read_fifo_data
* \code
* int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *dev);
* \endcode
* @details This API reads FIFO data.
*
* @param[in, out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note APS has to be disabled before calling this function.
* @note Dummy byte (for SPI Interface) required for FIFO data read
* must be given as part of data pointer in struct bmi2_fifo_frame
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_accel bmi2_extract_accel
* \code
* int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
* uint16_t *accel_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
* \endcode
* @details This API parses and extracts the accelerometer frames from FIFO data read by
* the "bmi2_read_fifo_data" API and stores it in the "accel_data" structure
* instance.
*
* @param[out] accel_data : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in,out] accel_length : Number of accelerometer frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
uint16_t *accel_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_aux bmi2_extract_aux
* \code
* int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
* uint16_t *aux_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
*
* \endcode
* @details This API parses and extracts the auxiliary frames from FIFO data
* read by the "bmi2_read_fifo_data" API and stores it in "aux_data" buffer.
*
* @param[out] aux : Pointer to structure where the parsed auxiliary
* data bytes are stored.
* @param[in,out] aux_length : Number of auxiliary frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_aux(struct bmi2_aux_fifo_data *aux,
uint16_t *aux_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_extract_gyro bmi2_extract_gyro
* \code
* int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
* uint16_t *gyro_length,
* struct bmi2_fifo_frame *fifo,
* const struct bmi2_dev *dev);
* \endcode
* @details This API parses and extracts the gyroscope frames from FIFO data read by the
* "bmi2_read_fifo_data" API and stores it in the "gyro_data"
* structure instance.
*
* @param[out] gyro_data : Structure instance of bmi2_sens_axes_data
* where the parsed data bytes are stored.
* @param[in,out] gyro_length : Number of gyroscope frames.
* @param[in,out] fifo : Structure instance of bmi2_fifo_frame.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
uint16_t *gyro_length,
struct bmi2_fifo_frame *fifo,
const struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiCmd Command Register
* @brief Write commands to the sensor
*/
/*!
* \ingroup bmi2ApiCmd
* \page bmi2_api_bmi2_set_command_register bmi2_set_command_register
* \code
* int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
* \endcode
* @details This API writes the available sensor specific commands to the sensor.
*
* @param[in] command : Commands to be given to the sensor.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Commands | Values
* ---------------------|---------------------
* BMI2_SOFT_RESET_CMD | 0xB6
* BMI2_FIFO_FLUSH_CMD | 0xB0
* BMI2_USR_GAIN_CMD | 0x03
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_command_register(uint8_t command, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_self_wake_up bmi2_set_fifo_self_wake_up
* \code
* int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO self wake up functionality in the sensor.
*
* @param[in] fifo_self_wake_up : Variable to set FIFO self wake-up.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* fifo_self_wake_up | Description
* -------------------|---------------
* BMI2_DISABLE | Disables self wake-up.
* BMI2_ENABLE | Enables self wake-up.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_self_wake_up(uint8_t fifo_self_wake_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_self_wake_up bmi2_get_fifo_self_wake_up
* \code
* int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO self wake up functionality from the sensor.
*
* @param[out] fifo_self_wake_up : Pointer variable to get the status of FIFO
* self wake-up.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* fifo_self_wake_up | Description
* -------------------|---------------
* BMI2_DISABLE | Self wake-up disabled
* BMI2_ENABLE | Self wake-up enabled.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_self_wake_up(uint8_t *fifo_self_wake_up, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_wm bmi2_set_fifo_wm
* \code
* int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
* \endcode
* @details This API sets the FIFO water mark level which is set in the sensor.
*
* @param[in] fifo_wm : Variable to set FIFO water-mark level.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_wm(uint16_t fifo_wm, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_wm bmi2_get_fifo_wm
* \code
* int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO water mark level which is set in the sensor.
*
* @param[out] fifo_wm : Pointer variable to store FIFO water-mark level.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_wm(uint16_t *fifo_wm, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_filter_data bmi2_set_fifo_filter_data
* \code
* int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
* \endcode
* @details This API sets either filtered or un-filtered FIFO accelerometer or
* gyroscope data.
*
* @param[in] sens_sel : Selects either accelerometer or
* gyroscope sensor.
* @param[in] fifo_filter_data : Variable to set the filter data.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* -----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
*@verbatim
* Value | fifo_filter_data
* ---------|---------------------
* 0x00 | Un-filtered data
* 0x01 | Filtered data
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_filter_data(uint8_t sens_sel, uint8_t fifo_filter_data, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_filter_data bmi2_get_fifo_filter_data
* \code
* int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the FIFO accelerometer or gyroscope filter data.
*
* @param[in] sens_sel : Selects either accelerometer or
* gyroscope sensor.
* @param[out] fifo_filter_data : Pointer variable to get the filter data.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* -----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
*@verbatim
* Value | fifo_filter_data
* ---------|---------------------
* 0x00 | Un-filtered data
* 0x01 | Filtered data
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_filter_data(uint8_t sens_sel, uint8_t *fifo_filter_data, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_set_fifo_down_sample bmi2_set_fifo_down_sample
* \code
* int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
* \endcode
* @details This API sets the down sampling rate for FIFO accelerometer or
* gyroscope FIFO data.
*
* @param[in] sens_sel : Selects either either accelerometer or
* gyroscope sensor.
* @param[in] fifo_down_samp : Variable to set the down sampling rate.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* ----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_fifo_down_sample(uint8_t sens_sel, uint8_t fifo_down_samp, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_down_sample bmi2_get_fifo_down_sample
* \code
* int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the down sampling rate, configured for FIFO
* accelerometer or gyroscope data.
*
* @param[in] sens_sel : Selects either either accelerometer or
* gyroscope sensor.
* @param[out] fifo_down_samp : Pointer variable to store the down sampling rate
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* sens_sel | values
* ----------------|----------
* BMI2_ACCEL | 0x01
* BMI2_GYRO | 0x02
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_down_sample(uint8_t sens_sel, uint8_t *fifo_down_samp, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiFIFO
* \page bmi2_api_bmi2_get_fifo_length bmi2_get_fifo_length
* \code
* int8_t bmi2_get_fifo_length(uint16_t *fifo_length, const struct bmi2_dev *dev);
* \endcode
* @details This API gets the length of FIFO data available in the sensor in
* bytes.
*
* @param[out] fifo_length : Pointer variable to store the value of FIFO byte
* counter.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note The byte counter is updated each time a complete frame is read or
* written.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_get_fifo_length(uint16_t *fifo_length, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiOIS OIS
* @brief OIS operations of the sensor
*/
/*!
* \ingroup bmi2ApiOIS
* \page bmi2_api_bmi2_set_ois_interface bmi2_set_ois_interface
* \code
* int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
* \endcode
* @details This API enables/disables OIS interface.
*
* @param[in] enable : To enable/disable OIS interface.
* @param[in] dev : Structure instance of bmi2_dev.
*
*@verbatim
* Enable | Description
* -------------|---------------
* BMI2_DISABLE | Disables OIS interface.
* BMI2_ENABLE | Enables OIS interface.
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_set_ois_interface(uint8_t enable, struct bmi2_dev *dev);
/**
* \ingroup bmi2
* \defgroup bmi2ApiAux Auxiliary sensor
* @brief Auxiliary sensor operations of the sensor
*/
/*!
* \ingroup bmi2ApiAux
* \page bmi2_api_bmi2_read_aux_man_mode bmi2_read_aux_man_mode
* \code
* int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
* \endcode
* @details This API reads the user-defined bytes of data from the given register
* address of auxiliary sensor in manual mode.
*
* @param[in] reg_addr : Address from where data is read.
* @param[out] aux_data : Pointer to the stored buffer.
* @param[in] len : Total length of data to be read.
* @param[in] dev : Structure instance of bmi2_dev.
*
* @note Change of BMI2_AUX_RD_ADDR is only allowed if AUX is not busy.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi2_read_aux_man_mode(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);
/*!
* \ingroup bmi2ApiAux
* \page bmi2_api_bmi2_write_aux_man_mode bmi2_write_aux_man_mode
* \code
* int8_t bmi2_write_aux_man_mode(uint8_t reg_addr, const uint8_t *aux_data, uint16_t len, struct bmi2_dev *dev);