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Revert "Revert "Air Mouse""

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This reverts commit bbc0888b45.
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RogueMaster
2022-11-11 16:22:38 -05:00
parent 5da5c11eb1
commit 88a815b526
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applications/plugins/airmouse/tracking/imu/bmi160.c Normal file
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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 bmi160.h
* @date 2021-10-05
* @version v3.9.2
*
*/
/*!
* @defgroup bmi160 BMI160
*/
#ifndef BMI160_H_
#define BMI160_H_
/*************************** C++ guard macro *****************************/
#ifdef __cplusplus
extern "C" {
#endif
#include "bmi160_defs.h"
#ifdef __KERNEL__
#include <bmi160_math.h>
#else
#include <math.h>
#include <string.h>
#include <stdlib.h>
#endif
/*********************** User function prototypes ************************/
/**
* \ingroup bmi160
* \defgroup bmi160ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi160ApiInit
* \page bmi160_api_bmi160_init bmi160_init
* \code
* int8_t bmi160_init(struct bmi160_dev *dev);
* \endcode
* @details This API is the entry point for sensor.It performs
* the selection of I2C/SPI read mechanism according to the
* selected interface and reads the chip-id of bmi160 sensor.
*
* @param[in,out] dev : Structure instance of bmi160_dev
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_init(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiRegs Registers
* @brief Read data from the given register address of sensor
*/
/*!
* \ingroup bmi160ApiRegs
* \page bmi160_api_bmi160_get_regs bmi160_get_regs
* \code
* int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the data from the given register address of sensor.
*
* @param[in] reg_addr : Register address from where the data to be read
* @param[out] data : Pointer to data buffer to store the read data.
* @param[in] len : No of bytes of data to be read.
* @param[in] dev : Structure instance of bmi160_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 - 0x24(BMI160_FIFO_DATA_ADDR)
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t
bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiRegs
* \page bmi160_api_bmi160_set_regs bmi160_set_regs
* \code
* int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API writes the given data to the register address
* of sensor.
*
* @param[in] reg_addr : Register address from where the data to be written.
* @param[in] data : Pointer to data buffer which is to be written
* in the sensor.
* @param[in] len : No of bytes of data to write..
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t
bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiSoftreset Soft reset
* @brief Perform soft reset of the sensor
*/
/*!
* \ingroup bmi160ApiSoftreset
* \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
* \code
* int8_t bmi160_soft_reset(struct bmi160_dev *dev);
* \endcode
* @details This API resets and restarts the device.
* All register values are overwritten with default parameters.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_soft_reset(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiConfig Configuration
* @brief Configuration of the sensor
*/
/*!
* \ingroup bmi160ApiConfig
* \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
* \code
* int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
* \endcode
* @details This API configures the power mode, range and bandwidth
* of sensor.
*
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiConfig
* \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
* \code
* int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
* \endcode
* @details This API gets accel and gyro configurations.
*
* @param[out] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiPowermode Power mode
* @brief Set / Get power mode of the sensor
*/
/*!
* \ingroup bmi160ApiPowermode
* \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
* \code
* int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
* \endcode
* @details This API sets the power mode of the sensor.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiPowermode
* \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
* \code
* int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
* \endcode
* @details This API gets the power mode of the sensor.
*
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiData Sensor Data
* @brief Read sensor data
*/
/*!
* \ingroup bmi160ApiData
* \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
* \code
* int8_t bmi160_get_sensor_data(uint8_t select_sensor,
* struct bmi160_sensor_data *accel,
* struct bmi160_sensor_data *gyro,
* const struct bmi160_dev *dev);
*
* \endcode
* @details This API reads sensor data, stores it in
* the bmi160_sensor_data structure pointer passed by the user.
* The user can ask for accel data ,gyro data or both sensor
* data using bmi160_select_sensor enum
*
* @param[in] select_sensor : enum to choose accel,gyro or both sensor data
* @param[out] accel : Structure pointer to store accel data
* @param[out] gyro : Structure pointer to store gyro data
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_sensor_data(
uint8_t select_sensor,
struct bmi160_sensor_data* accel,
struct bmi160_sensor_data* gyro,
const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiInt Interrupt configuration
* @brief Set interrupt configuration of the sensor
*/
/*!
* \ingroup bmi160ApiInt
* \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
* \code
* int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
* \endcode
* @details This API configures the necessary interrupt based on
* the user settings in the bmi160_int_settg structure instance.
*
* @param[in] int_config : Structure instance of bmi160_int_settg.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiStepC Step counter
* @brief Step counter operations
*/
/*!
* \ingroup bmi160ApiStepC
* \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
* \code
* int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
* \endcode
* @details This API enables the step counter feature.
*
* @param[in] step_cnt_enable : value to enable or disable
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiStepC
* \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
* \code
* int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the step counter value.
*
* @param[in] step_val : Pointer to store the step counter value.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiAux Auxiliary sensor
* @brief Auxiliary sensor operations
*/
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_read bmi160_aux_read
* \code
* int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the mention no of byte of data from the given
* register address of auxiliary sensor.
*
* @param[in] reg_addr : Address of register to read.
* @param[in] aux_data : Pointer to store the read data.
* @param[in] len : No of bytes to read.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_read(
uint8_t reg_addr,
uint8_t* aux_data,
uint16_t len,
const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_write bmi160_aux_write
* \code
* int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API writes the mention no of byte of data to the given
* register address of auxiliary sensor.
*
* @param[in] reg_addr : Address of register to write.
* @param[in] aux_data : Pointer to write data.
* @param[in] len : No of bytes to write.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_write(
uint8_t reg_addr,
uint8_t* aux_data,
uint16_t len,
const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_init bmi160_aux_init
* \code
* int8_t bmi160_aux_init(const struct bmi160_dev *dev);
* \endcode
* @details This API initialize the auxiliary sensor
* in order to access it.
*
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_init(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
* \code
* int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
* \endcode
* @details This API is used to setup the auxiliary sensor of bmi160 in auto mode
* Thus enabling the auto update of 8 bytes of data from auxiliary sensor
* to BMI160 register address 0x04 to 0x0B
*
* @param[in] data_addr : Starting address of aux. sensor's data register
* (BMI160 registers 0x04 to 0x0B will be updated
* with 8 bytes of data from auxiliary sensor
* starting from this register address.)
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note : Set the value of auxiliary polling rate by setting
* dev->aux_cfg.aux_odr to the required value from the table
* before calling this API
*
*@verbatim
* dev->aux_cfg.aux_odr | Auxiliary ODR (Hz)
* -----------------------|-----------------------
* BMI160_AUX_ODR_0_78HZ | 25/32
* BMI160_AUX_ODR_1_56HZ | 25/16
* BMI160_AUX_ODR_3_12HZ | 25/8
* BMI160_AUX_ODR_6_25HZ | 25/4
* BMI160_AUX_ODR_12_5HZ | 25/2
* BMI160_AUX_ODR_25HZ | 25
* BMI160_AUX_ODR_50HZ | 50
* BMI160_AUX_ODR_100HZ | 100
* BMI160_AUX_ODR_200HZ | 200
* BMI160_AUX_ODR_400HZ | 400
* BMI160_AUX_ODR_800HZ | 800
*@endverbatim
*
* @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
* \code
* int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
* \endcode
* @details This API configures the 0x4C register and settings like
* Auxiliary sensor manual enable/ disable and aux burst read length.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
* \code
* int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
* \endcode
* @details This API is used to read the raw uncompensated auxiliary sensor
* data of 8 bytes from BMI160 register address 0x04 to 0x0B
*
* @param[in] aux_data : Pointer to user array of length 8 bytes
* Ensure that the aux_data array is of
* length 8 bytes
* @param[in] dev : Structure instance of bmi160_dev
*
* @retval zero -> Success / -ve value -> Error
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiSelfTest Self test
* @brief Perform self test of the sensor
*/
/*!
* \ingroup bmi160ApiSelfTest
* \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
* \code
* int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
* \endcode
* @details This is used to perform self test of accel/gyro of the BMI160 sensor
*
* @param[in] select_sensor : enum to choose accel or gyro for self test
* @param[in] dev : Structure instance of bmi160_dev
*
* @note self test can be performed either for accel/gyro at any instant.
*
*@verbatim
* value of select_sensor | Inference
*----------------------------------|--------------------------------
* BMI160_ACCEL_ONLY | Accel self test enabled
* BMI160_GYRO_ONLY | Gyro self test enabled
* BMI160_BOTH_ACCEL_AND_GYRO | NOT TO BE USED
*@endverbatim
*
* @note The return value of this API gives us the result of self test.
*
* @note Performing self test does soft reset of the sensor, User can
* set the desired settings after performing the self test.
*
* @return Result of API execution status
* @retval BMI160_OK Self test success
* @retval BMI160_W_GYRO_SELF_TEST_FAIL Gyro self test fail
* @retval BMI160_W_ACCEl_SELF_TEST_FAIL Accel self test fail
*/
int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiFIFO FIFO
* @brief FIFO operations of the sensor
*/
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
* \code
* int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
* \endcode
* @details This API reads data from the fifo buffer.
*
* @note User has to allocate the FIFO buffer along with
* corresponding fifo length from his side before calling this API
* as mentioned in the readme.md
*
* @note User must specify the number of bytes to read from the FIFO in
* dev->fifo->length , It will be updated by the number of bytes actually
* read from FIFO after calling this API
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
* \code
* int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
* \endcode
* @details This API writes fifo_flush command to command register.This
* action clears all data in the Fifo without changing fifo configuration
* settings.
*
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
* \code
* int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
* \endcode
* @details This API sets the FIFO configuration in the sensor.
*
* @param[in] config : variable used to specify the FIFO
* configurations which are to be enabled or disabled in the sensor.
*
* @note : User can set either set one or more or all FIFO configurations
* by ORing the below mentioned macros.
*
*@verbatim
* config | Value
* ------------------------|---------------------------
* BMI160_FIFO_TIME | 0x02
* BMI160_FIFO_TAG_INT2 | 0x04
* BMI160_FIFO_TAG_INT1 | 0x08
* BMI160_FIFO_HEADER | 0x10
* BMI160_FIFO_AUX | 0x20
* BMI160_FIFO_ACCEL | 0x40
* BMI160_FIFO_GYRO | 0x80
*@endverbatim
*
* @param[in] enable : Parameter used to enable or disable the above
* FIFO configuration
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return status of bus communication result
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
* \code
* int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
* \endcode
* @details This API is used to configure the down sampling ratios of
* the accel and gyro data for FIFO.Also, it configures filtered or
* pre-filtered data for the fifo for accel and gyro.
*
* @param[in] fifo_down : variable used to specify the FIFO down
* configurations which are to be enabled or disabled in the sensor.
*
* @note The user must select one among the following macros to
* select down-sampling ratio for accel
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_ACCEL_FIFO_DOWN_ZERO | 0x00
* BMI160_ACCEL_FIFO_DOWN_ONE | 0x10
* BMI160_ACCEL_FIFO_DOWN_TWO | 0x20
* BMI160_ACCEL_FIFO_DOWN_THREE | 0x30
* BMI160_ACCEL_FIFO_DOWN_FOUR | 0x40
* BMI160_ACCEL_FIFO_DOWN_FIVE | 0x50
* BMI160_ACCEL_FIFO_DOWN_SIX | 0x60
* BMI160_ACCEL_FIFO_DOWN_SEVEN | 0x70
*@endverbatim
*
* @note The user must select one among the following macros to
* select down-sampling ratio for gyro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_GYRO_FIFO_DOWN_ZERO | 0x00
* BMI160_GYRO_FIFO_DOWN_ONE | 0x01
* BMI160_GYRO_FIFO_DOWN_TWO | 0x02
* BMI160_GYRO_FIFO_DOWN_THREE | 0x03
* BMI160_GYRO_FIFO_DOWN_FOUR | 0x04
* BMI160_GYRO_FIFO_DOWN_FIVE | 0x05
* BMI160_GYRO_FIFO_DOWN_SIX | 0x06
* BMI160_GYRO_FIFO_DOWN_SEVEN | 0x07
*@endverbatim
*
* @note The user can enable filtered accel data by the following macro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_ACCEL_FIFO_FILT_EN | 0x80
*@endverbatim
*
* @note The user can enable filtered gyro data by the following macro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_GYRO_FIFO_FILT_EN | 0x08
*@endverbatim
*
* @note : By ORing the above mentioned macros, the user can select
* the required FIFO down config settings
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return status of bus communication result
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
* \code
* int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
* \endcode
* @details This API sets the FIFO watermark level in the sensor.
*
* @note The FIFO watermark is issued when the FIFO fill level is
* equal or above the watermark level and units of watermark is 4 bytes.
*
* @param[in] fifo_wm : Variable used to set the FIFO water mark level
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
* \code
* int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
**dev);
* \endcode
* @details This API parses and extracts the accelerometer frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the "accel_data" structure instance.
*
* @note The bmi160_extract_accel API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] accel_data : Structure instance of bmi160_sensor_data
* where the accelerometer data in FIFO is stored.
* @param[in,out] accel_length : Number of valid accelerometer frames
* (x,y,z axes data) read out from fifo.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note accel_length is updated with the number of valid accelerometer
* frames extracted from fifo (1 accel frame = 6 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_accel(
struct bmi160_sensor_data* accel_data,
uint8_t* accel_length,
struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
* \code
* int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
* \endcode
* @details This API parses and extracts the gyro frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the "gyro_data" structure instance.
*
* @note The bmi160_extract_gyro API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] gyro_data : Structure instance of bmi160_sensor_data
* where the gyro data in FIFO is stored.
* @param[in,out] gyro_length : Number of valid gyro frames
* (x,y,z axes data) read out from fifo.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note gyro_length is updated with the number of valid gyro
* frames extracted from fifo (1 gyro frame = 6 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_gyro(
struct bmi160_sensor_data* gyro_data,
uint8_t* gyro_length,
struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
* \code
* int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
* \endcode
* @details This API parses and extracts the aux frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the bmi160_aux_data structure instance.
*
* @note The bmi160_extract_aux API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] aux_data : Structure instance of bmi160_aux_data
* where the aux data in FIFO is stored.
* @param[in,out] aux_len : Number of valid aux frames (8bytes)
* read out from FIFO.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note aux_len is updated with the number of valid aux
* frames extracted from fifo (1 aux frame = 8 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_aux(
struct bmi160_aux_data* aux_data,
uint8_t* aux_len,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiFOC FOC
* @brief Start FOC of accel and gyro sensors
*/
/*!
* \ingroup bmi160ApiFOC
* \page bmi160_api_bmi160_start_foc bmi160_start_foc
* \code
* int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
* \endcode
* @details This API starts the FOC of accel and gyro
*
* @note FOC should not be used in low-power mode of sensor
*
* @note Accel FOC targets values of +1g , 0g , -1g
* Gyro FOC always targets value of 0 dps
*
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
* has the FOC configuration
* @param[in,out] offset : Structure instance to store Offset
* values read from sensor
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note Pre-requisites for triggering FOC in accel , Set the following,
* Enable the acc_off_en
* Ex : foc_conf.acc_off_en = BMI160_ENABLE;
*
* Set the desired target values of FOC to each axes (x,y,z) by using the
* following macros
* - BMI160_FOC_ACCEL_DISABLED
* - BMI160_FOC_ACCEL_POSITIVE_G
* - BMI160_FOC_ACCEL_NEGATIVE_G
* - BMI160_FOC_ACCEL_0G
*
* Ex : foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G;
* foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G;
* foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G;
*
* @note Pre-requisites for triggering FOC in gyro ,
* Set the following parameters,
*
* Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
* foc_conf.gyro_off_en = BMI160_ENABLE;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_start_foc(
const struct bmi160_foc_conf* foc_conf,
struct bmi160_offsets* offset,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiOffsets Offsets
* @brief Set / Get offset values of accel and gyro sensors
*/
/*!
* \ingroup bmi160ApiOffsets
* \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
* \code
* int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
* \endcode
* @details This API reads and stores the offset values of accel and gyro
*
* @param[in,out] offset : Structure instance of bmi160_offsets in which
* the offset values are read and stored
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiOffsets
* \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
* \code
* int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
* const struct bmi160_offsets *offset,
* struct bmi160_dev const *dev);
* \endcode
* @details This API writes the offset values of accel and gyro to
* the sensor but these values will be reset on POR or soft reset.
*
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
* has the FOC configuration
* @param[in] offset : Structure instance in which user updates offset
* values which are to be written in the sensor
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note Offsets can be set by user like offset->off_acc_x = 10;
* where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
*
* @note BMI160 offset values for xyz axes of accel should be within range of
* BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
*
* @note BMI160 offset values for xyz axes of gyro should be within range of
* BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_set_offsets(
const struct bmi160_foc_conf* foc_conf,
const struct bmi160_offsets* offset,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiNVM NVM
* @brief Write image registers values to NVM
*/
/*!
* \ingroup bmi160ApiNVM
* \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
* \code
* int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
* \endcode
* @details This API writes the image registers values to NVM which is
* stored even after POR or soft reset
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_update_nvm(struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiInts Interrupt status
* @brief Read interrupt status from the sensor
*/
/*!
* \ingroup bmi160ApiInts
* \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
* \code
* int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
* union bmi160_int_status *int_status,
* struct bmi160_dev const *dev);
* \endcode
* @details This API gets the interrupt status from the sensor.
*
* @param[in] int_status_sel : Enum variable to select either individual or all the
* interrupt status bits.
* @param[in] int_status : pointer variable to get the interrupt status
* from the sensor.
* param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_get_int_status(
enum bmi160_int_status_sel int_status_sel,
union bmi160_int_status* int_status,
struct bmi160_dev const* dev);
/*************************** C++ guard macro *****************************/
#ifdef __cplusplus
}
#endif
#endif /* BMI160_H_ */

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29
applications/plugins/airmouse/tracking/imu/imu.c Normal file
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#include "imu.h"
#include <furi_hal.h>
bool bmi160_begin();
int bmi160_read(double* vec);
bool lsm6ds3trc_begin();
void lsm6ds3trc_end();
int lsm6ds3trc_read(double* vec);
bool imu_begin() {
furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
bool ret = bmi160_begin(); // lsm6ds3trc_begin();
furi_hal_i2c_release(&furi_hal_i2c_handle_external);
return ret;
}
void imu_end() {
// furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
// lsm6ds3trc_end();
// furi_hal_i2c_release(&furi_hal_i2c_handle_external);
}
int imu_read(double* vec) {
furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
int ret = bmi160_read(vec); // lsm6ds3trc_read(vec);
furi_hal_i2c_release(&furi_hal_i2c_handle_external);
return ret;
}

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#pragma once
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
#define ACC_DATA_READY (1 << 0)
#define GYR_DATA_READY (1 << 1)
bool imu_begin();
void imu_end();
int imu_read(double* vec);
#ifdef __cplusplus
}
#endif

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#include "bmi160.h"
#include <furi_hal.h>
#include "imu.h"
#define TAG "BMI160"
#define BMI160_DEV_ADDR (0x69 << 1)
static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
static const double G = 9.81;
struct bmi160_dev bmi160dev;
struct bmi160_sensor_data bmi160_accel;
struct bmi160_sensor_data bmi160_gyro;
int8_t bmi160_write_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len) {
if(furi_hal_i2c_write_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, data, len, 50))
return BMI160_OK;
return BMI160_E_COM_FAIL;
}
int8_t bmi160_read_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
if(furi_hal_i2c_read_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, read_data, len, 50))
return BMI160_OK;
return BMI160_E_COM_FAIL;
}
bool bmi160_begin() {
FURI_LOG_I(TAG, "Init BMI160");
if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, BMI160_DEV_ADDR, 50)) {
FURI_LOG_E(TAG, "Device not ready!");
return false;
}
FURI_LOG_I(TAG, "Device ready!");
bmi160dev.id = BMI160_DEV_ADDR;
bmi160dev.intf = BMI160_I2C_INTF;
bmi160dev.read = bmi160_read_i2c;
bmi160dev.write = bmi160_write_i2c;
bmi160dev.delay_ms = furi_delay_ms;
if(bmi160_init(&bmi160dev) != BMI160_OK) {
FURI_LOG_E(TAG, "Initialization failure!");
FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return false;
}
bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_400HZ;
bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_4G;
bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_400HZ;
bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
if(bmi160_set_sens_conf(&bmi160dev) != BMI160_OK) {
FURI_LOG_E(TAG, "Initialization failure!");
FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return false;
}
FURI_LOG_I(TAG, "Initialization success!");
FURI_LOG_I(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return true;
}
int bmi160_read(double* vec) {
if(bmi160_get_sensor_data(
(BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev) !=
BMI160_OK) {
return 0;
}
vec[0] = ((double)bmi160_accel.x * 4 / 32768) * G;
vec[1] = ((double)bmi160_accel.y * 4 / 32768) * G;
vec[2] = ((double)bmi160_accel.z * 4 / 32768) * G;
vec[3] = ((double)bmi160_gyro.x * 2000 / 32768) * DEG_TO_RAD;
vec[4] = ((double)bmi160_gyro.y * 2000 / 32768) * DEG_TO_RAD;
vec[5] = ((double)bmi160_gyro.z * 2000 / 32768) * DEG_TO_RAD;
return ACC_DATA_READY | GYR_DATA_READY;
}

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#include "lsm6ds3tr_c_reg.h"
#include <furi_hal.h>
#include "imu.h"
#define TAG "LSM6DS3TR-C"
#define LSM6DS3_ADDRESS (0x6A << 1)
static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
stmdev_ctx_t lsm6ds3trc_ctx;
int32_t lsm6ds3trc_write_i2c(void* handle, uint8_t reg_addr, const uint8_t* data, uint16_t len) {
if(furi_hal_i2c_write_mem(handle, LSM6DS3_ADDRESS, reg_addr, (uint8_t*)data, len, 50))
return 0;
return -1;
}
int32_t lsm6ds3trc_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
if(furi_hal_i2c_read_mem(handle, LSM6DS3_ADDRESS, reg_addr, read_data, len, 50)) return 0;
return -1;
}
bool lsm6ds3trc_begin() {
FURI_LOG_I(TAG, "Init LSM6DS3TR-C");
if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DS3_ADDRESS, 50)) {
FURI_LOG_E(TAG, "Not ready");
return false;
}
lsm6ds3trc_ctx.write_reg = lsm6ds3trc_write_i2c;
lsm6ds3trc_ctx.read_reg = lsm6ds3trc_read_i2c;
lsm6ds3trc_ctx.mdelay = furi_delay_ms;
lsm6ds3trc_ctx.handle = &furi_hal_i2c_handle_external;
uint8_t whoami;
lsm6ds3tr_c_device_id_get(&lsm6ds3trc_ctx, &whoami);
if(whoami != LSM6DS3TR_C_ID) {
FURI_LOG_I(TAG, "Unknown model: %x", (int)whoami);
return false;
}
lsm6ds3tr_c_reset_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
uint8_t rst = PROPERTY_ENABLE;
while(rst) lsm6ds3tr_c_reset_get(&lsm6ds3trc_ctx, &rst);
lsm6ds3tr_c_block_data_update_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
lsm6ds3tr_c_fifo_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_BYPASS_MODE);
lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_104Hz);
lsm6ds3tr_c_xl_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_4g);
lsm6ds3tr_c_xl_lp1_bandwidth_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_LP1_ODR_DIV_4);
lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_104Hz);
lsm6ds3tr_c_gy_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_2000dps);
lsm6ds3tr_c_gy_power_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_HIGH_PERFORMANCE);
lsm6ds3tr_c_gy_band_pass_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_LP2_ONLY);
FURI_LOG_I(TAG, "Init OK");
return true;
}
void lsm6ds3trc_end() {
lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_OFF);
lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_OFF);
}
int lsm6ds3trc_read(double* vec) {
int ret = 0;
int16_t data[3];
lsm6ds3tr_c_reg_t reg;
lsm6ds3tr_c_status_reg_get(&lsm6ds3trc_ctx, &reg.status_reg);
if(reg.status_reg.xlda) {
lsm6ds3tr_c_acceleration_raw_get(&lsm6ds3trc_ctx, data);
vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
ret |= ACC_DATA_READY;
}
if(reg.status_reg.gda) {
lsm6ds3tr_c_angular_rate_raw_get(&lsm6ds3trc_ctx, data);
vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
ret |= GYR_DATA_READY;
}
return ret;
}

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