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bmi160_defs.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 bmi160_defs.h
* @date 2021-10-05
* @version v3.9.2
*
*/
#ifndef BMI160_DEFS_H_
#define BMI160_DEFS_H_
/*************************** C types headers *****************************/
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif
/*************************** Common macros *****************************/
#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x) S8_C(x)
#define UINT8_C(x) U8_C(x)
#endif
#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x) S16_C(x)
#define UINT16_C(x) U16_C(x)
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x) S32_C(x)
#define UINT32_C(x) U32_C(x)
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x) S64_C(x)
#define UINT64_C(x) U64_C(x)
#endif
/**@}*/
/**\name C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
/*************************** Sensor macros *****************************/
/* Test for an endian machine */
#ifndef __ORDER_LITTLE_ENDIAN__
#define __ORDER_LITTLE_ENDIAN__ 0
#endif
#ifndef __BYTE_ORDER__
#define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
#endif
#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
#ifndef LITTLE_ENDIAN
#define LITTLE_ENDIAN 1
#endif
#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
#ifndef BIG_ENDIAN
#define BIG_ENDIAN 1
#endif
#else
#error "Code does not support Endian format of the processor"
#endif
/** Mask definitions */
#define BMI160_ACCEL_BW_MASK UINT8_C(0x70)
#define BMI160_ACCEL_ODR_MASK UINT8_C(0x0F)
#define BMI160_ACCEL_UNDERSAMPLING_MASK UINT8_C(0x80)
#define BMI160_ACCEL_RANGE_MASK UINT8_C(0x0F)
#define BMI160_GYRO_BW_MASK UINT8_C(0x30)
#define BMI160_GYRO_ODR_MASK UINT8_C(0x0F)
#define BMI160_GYRO_RANGE_MASK UINT8_C(0x07)
#define BMI160_ACCEL_BW_POS UINT8_C(4)
#define BMI160_GYRO_BW_POS UINT8_C(4)
/** Mask definitions for INT_EN registers */
#define BMI160_ANY_MOTION_X_INT_EN_MASK UINT8_C(0x01)
#define BMI160_HIGH_G_X_INT_EN_MASK UINT8_C(0x01)
#define BMI160_NO_MOTION_X_INT_EN_MASK UINT8_C(0x01)
#define BMI160_ANY_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
#define BMI160_HIGH_G_Y_INT_EN_MASK UINT8_C(0x02)
#define BMI160_NO_MOTION_Y_INT_EN_MASK UINT8_C(0x02)
#define BMI160_ANY_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
#define BMI160_HIGH_G_Z_INT_EN_MASK UINT8_C(0x04)
#define BMI160_NO_MOTION_Z_INT_EN_MASK UINT8_C(0x04)
#define BMI160_SIG_MOTION_INT_EN_MASK UINT8_C(0x07)
#define BMI160_ANY_MOTION_ALL_INT_EN_MASK UINT8_C(0x07)
#define BMI160_STEP_DETECT_INT_EN_MASK UINT8_C(0x08)
#define BMI160_DOUBLE_TAP_INT_EN_MASK UINT8_C(0x10)
#define BMI160_SINGLE_TAP_INT_EN_MASK UINT8_C(0x20)
#define BMI160_FIFO_FULL_INT_EN_MASK UINT8_C(0x20)
#define BMI160_ORIENT_INT_EN_MASK UINT8_C(0x40)
#define BMI160_FIFO_WATERMARK_INT_EN_MASK UINT8_C(0x40)
#define BMI160_LOW_G_INT_EN_MASK UINT8_C(0x08)
#define BMI160_STEP_DETECT_EN_MASK UINT8_C(0x08)
#define BMI160_FLAT_INT_EN_MASK UINT8_C(0x80)
#define BMI160_DATA_RDY_INT_EN_MASK UINT8_C(0x10)
/** PMU status Macros */
#define BMI160_AUX_PMU_SUSPEND UINT8_C(0x00)
#define BMI160_AUX_PMU_NORMAL UINT8_C(0x01)
#define BMI160_AUX_PMU_LOW_POWER UINT8_C(0x02)
#define BMI160_GYRO_PMU_SUSPEND UINT8_C(0x00)
#define BMI160_GYRO_PMU_NORMAL UINT8_C(0x01)
#define BMI160_GYRO_PMU_FSU UINT8_C(0x03)
#define BMI160_ACCEL_PMU_SUSPEND UINT8_C(0x00)
#define BMI160_ACCEL_PMU_NORMAL UINT8_C(0x01)
#define BMI160_ACCEL_PMU_LOW_POWER UINT8_C(0x02)
/** Mask definitions for INT_OUT_CTRL register */
#define BMI160_INT1_EDGE_CTRL_MASK UINT8_C(0x01)
#define BMI160_INT1_OUTPUT_MODE_MASK UINT8_C(0x04)
#define BMI160_INT1_OUTPUT_TYPE_MASK UINT8_C(0x02)
#define BMI160_INT1_OUTPUT_EN_MASK UINT8_C(0x08)
#define BMI160_INT2_EDGE_CTRL_MASK UINT8_C(0x10)
#define BMI160_INT2_OUTPUT_MODE_MASK UINT8_C(0x40)
#define BMI160_INT2_OUTPUT_TYPE_MASK UINT8_C(0x20)
#define BMI160_INT2_OUTPUT_EN_MASK UINT8_C(0x80)
/** Mask definitions for INT_LATCH register */
#define BMI160_INT1_INPUT_EN_MASK UINT8_C(0x10)
#define BMI160_INT2_INPUT_EN_MASK UINT8_C(0x20)
#define BMI160_INT_LATCH_MASK UINT8_C(0x0F)
/** Mask definitions for INT_MAP register */
#define BMI160_INT1_LOW_G_MASK UINT8_C(0x01)
#define BMI160_INT1_HIGH_G_MASK UINT8_C(0x02)
#define BMI160_INT1_SLOPE_MASK UINT8_C(0x04)
#define BMI160_INT1_NO_MOTION_MASK UINT8_C(0x08)
#define BMI160_INT1_DOUBLE_TAP_MASK UINT8_C(0x10)
#define BMI160_INT1_SINGLE_TAP_MASK UINT8_C(0x20)
#define BMI160_INT1_FIFO_FULL_MASK UINT8_C(0x20)
#define BMI160_INT1_FIFO_WM_MASK UINT8_C(0x40)
#define BMI160_INT1_ORIENT_MASK UINT8_C(0x40)
#define BMI160_INT1_FLAT_MASK UINT8_C(0x80)
#define BMI160_INT1_DATA_READY_MASK UINT8_C(0x80)
#define BMI160_INT2_LOW_G_MASK UINT8_C(0x01)
#define BMI160_INT1_LOW_STEP_DETECT_MASK UINT8_C(0x01)
#define BMI160_INT2_LOW_STEP_DETECT_MASK UINT8_C(0x01)
#define BMI160_INT2_HIGH_G_MASK UINT8_C(0x02)
#define BMI160_INT2_FIFO_FULL_MASK UINT8_C(0x02)
#define BMI160_INT2_FIFO_WM_MASK UINT8_C(0x04)
#define BMI160_INT2_SLOPE_MASK UINT8_C(0x04)
#define BMI160_INT2_DATA_READY_MASK UINT8_C(0x08)
#define BMI160_INT2_NO_MOTION_MASK UINT8_C(0x08)
#define BMI160_INT2_DOUBLE_TAP_MASK UINT8_C(0x10)
#define BMI160_INT2_SINGLE_TAP_MASK UINT8_C(0x20)
#define BMI160_INT2_ORIENT_MASK UINT8_C(0x40)
#define BMI160_INT2_FLAT_MASK UINT8_C(0x80)
/** Mask definitions for INT_DATA register */
#define BMI160_TAP_SRC_INT_MASK UINT8_C(0x08)
#define BMI160_LOW_HIGH_SRC_INT_MASK UINT8_C(0x80)
#define BMI160_MOTION_SRC_INT_MASK UINT8_C(0x80)
/** Mask definitions for INT_MOTION register */
#define BMI160_SLOPE_INT_DUR_MASK UINT8_C(0x03)
#define BMI160_NO_MOTION_INT_DUR_MASK UINT8_C(0xFC)
#define BMI160_NO_MOTION_SEL_BIT_MASK UINT8_C(0x01)
/** Mask definitions for INT_TAP register */
#define BMI160_TAP_DUR_MASK UINT8_C(0x07)
#define BMI160_TAP_SHOCK_DUR_MASK UINT8_C(0x40)
#define BMI160_TAP_QUIET_DUR_MASK UINT8_C(0x80)
#define BMI160_TAP_THRES_MASK UINT8_C(0x1F)
/** Mask definitions for INT_FLAT register */
#define BMI160_FLAT_THRES_MASK UINT8_C(0x3F)
#define BMI160_FLAT_HOLD_TIME_MASK UINT8_C(0x30)
#define BMI160_FLAT_HYST_MASK UINT8_C(0x07)
/** Mask definitions for INT_LOWHIGH register */
#define BMI160_LOW_G_HYST_MASK UINT8_C(0x03)
#define BMI160_LOW_G_LOW_MODE_MASK UINT8_C(0x04)
#define BMI160_HIGH_G_HYST_MASK UINT8_C(0xC0)
/** Mask definitions for INT_SIG_MOTION register */
#define BMI160_SIG_MOTION_SEL_MASK UINT8_C(0x02)
#define BMI160_SIG_MOTION_SKIP_MASK UINT8_C(0x0C)
#define BMI160_SIG_MOTION_PROOF_MASK UINT8_C(0x30)
/** Mask definitions for INT_ORIENT register */
#define BMI160_ORIENT_MODE_MASK UINT8_C(0x03)
#define BMI160_ORIENT_BLOCK_MASK UINT8_C(0x0C)
#define BMI160_ORIENT_HYST_MASK UINT8_C(0xF0)
#define BMI160_ORIENT_THETA_MASK UINT8_C(0x3F)
#define BMI160_ORIENT_UD_ENABLE UINT8_C(0x40)
#define BMI160_AXES_EN_MASK UINT8_C(0x80)
/** Mask definitions for FIFO_CONFIG register */
#define BMI160_FIFO_GYRO UINT8_C(0x80)
#define BMI160_FIFO_ACCEL UINT8_C(0x40)
#define BMI160_FIFO_AUX UINT8_C(0x20)
#define BMI160_FIFO_TAG_INT1 UINT8_C(0x08)
#define BMI160_FIFO_TAG_INT2 UINT8_C(0x04)
#define BMI160_FIFO_TIME UINT8_C(0x02)
#define BMI160_FIFO_HEADER UINT8_C(0x10)
#define BMI160_FIFO_CONFIG_1_MASK UINT8_C(0xFE)
/** Mask definitions for STEP_CONF register */
#define BMI160_STEP_COUNT_EN_BIT_MASK UINT8_C(0x08)
#define BMI160_STEP_DETECT_MIN_THRES_MASK UINT8_C(0x18)
#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK UINT8_C(0x07)
#define BMI160_STEP_MIN_BUF_MASK UINT8_C(0x07)
/** Mask definition for FIFO Header Data Tag */
#define BMI160_FIFO_TAG_INTR_MASK UINT8_C(0xFC)
/** Fifo byte counter mask definitions */
#define BMI160_FIFO_BYTE_COUNTER_MASK UINT8_C(0x07)
/** Enable/disable bit value */
#define BMI160_ENABLE UINT8_C(0x01)
#define BMI160_DISABLE UINT8_C(0x00)
/** Latch Duration */
#define BMI160_LATCH_DUR_NONE UINT8_C(0x00)
#define BMI160_LATCH_DUR_312_5_MICRO_SEC UINT8_C(0x01)
#define BMI160_LATCH_DUR_625_MICRO_SEC UINT8_C(0x02)
#define BMI160_LATCH_DUR_1_25_MILLI_SEC UINT8_C(0x03)
#define BMI160_LATCH_DUR_2_5_MILLI_SEC UINT8_C(0x04)
#define BMI160_LATCH_DUR_5_MILLI_SEC UINT8_C(0x05)
#define BMI160_LATCH_DUR_10_MILLI_SEC UINT8_C(0x06)
#define BMI160_LATCH_DUR_20_MILLI_SEC UINT8_C(0x07)
#define BMI160_LATCH_DUR_40_MILLI_SEC UINT8_C(0x08)
#define BMI160_LATCH_DUR_80_MILLI_SEC UINT8_C(0x09)
#define BMI160_LATCH_DUR_160_MILLI_SEC UINT8_C(0x0A)
#define BMI160_LATCH_DUR_320_MILLI_SEC UINT8_C(0x0B)
#define BMI160_LATCH_DUR_640_MILLI_SEC UINT8_C(0x0C)
#define BMI160_LATCH_DUR_1_28_SEC UINT8_C(0x0D)
#define BMI160_LATCH_DUR_2_56_SEC UINT8_C(0x0E)
#define BMI160_LATCHED UINT8_C(0x0F)
/** BMI160 Register map */
#define BMI160_CHIP_ID_ADDR UINT8_C(0x00)
#define BMI160_ERROR_REG_ADDR UINT8_C(0x02)
#define BMI160_PMU_STATUS_ADDR UINT8_C(0x03)
#define BMI160_AUX_DATA_ADDR UINT8_C(0x04)
#define BMI160_GYRO_DATA_ADDR UINT8_C(0x0C)
#define BMI160_ACCEL_DATA_ADDR UINT8_C(0x12)
#define BMI160_STATUS_ADDR UINT8_C(0x1B)
#define BMI160_INT_STATUS_ADDR UINT8_C(0x1C)
#define BMI160_FIFO_LENGTH_ADDR UINT8_C(0x22)
#define BMI160_FIFO_DATA_ADDR UINT8_C(0x24)
#define BMI160_ACCEL_CONFIG_ADDR UINT8_C(0x40)
#define BMI160_ACCEL_RANGE_ADDR UINT8_C(0x41)
#define BMI160_GYRO_CONFIG_ADDR UINT8_C(0x42)
#define BMI160_GYRO_RANGE_ADDR UINT8_C(0x43)
#define BMI160_AUX_ODR_ADDR UINT8_C(0x44)
#define BMI160_FIFO_DOWN_ADDR UINT8_C(0x45)
#define BMI160_FIFO_CONFIG_0_ADDR UINT8_C(0x46)
#define BMI160_FIFO_CONFIG_1_ADDR UINT8_C(0x47)
#define BMI160_AUX_IF_0_ADDR UINT8_C(0x4B)
#define BMI160_AUX_IF_1_ADDR UINT8_C(0x4C)
#define BMI160_AUX_IF_2_ADDR UINT8_C(0x4D)
#define BMI160_AUX_IF_3_ADDR UINT8_C(0x4E)
#define BMI160_AUX_IF_4_ADDR UINT8_C(0x4F)
#define BMI160_INT_ENABLE_0_ADDR UINT8_C(0x50)
#define BMI160_INT_ENABLE_1_ADDR UINT8_C(0x51)
#define BMI160_INT_ENABLE_2_ADDR UINT8_C(0x52)
#define BMI160_INT_OUT_CTRL_ADDR UINT8_C(0x53)
#define BMI160_INT_LATCH_ADDR UINT8_C(0x54)
#define BMI160_INT_MAP_0_ADDR UINT8_C(0x55)
#define BMI160_INT_MAP_1_ADDR UINT8_C(0x56)
#define BMI160_INT_MAP_2_ADDR UINT8_C(0x57)
#define BMI160_INT_DATA_0_ADDR UINT8_C(0x58)
#define BMI160_INT_DATA_1_ADDR UINT8_C(0x59)
#define BMI160_INT_LOWHIGH_0_ADDR UINT8_C(0x5A)
#define BMI160_INT_LOWHIGH_1_ADDR UINT8_C(0x5B)
#define BMI160_INT_LOWHIGH_2_ADDR UINT8_C(0x5C)
#define BMI160_INT_LOWHIGH_3_ADDR UINT8_C(0x5D)
#define BMI160_INT_LOWHIGH_4_ADDR UINT8_C(0x5E)
#define BMI160_INT_MOTION_0_ADDR UINT8_C(0x5F)
#define BMI160_INT_MOTION_1_ADDR UINT8_C(0x60)
#define BMI160_INT_MOTION_2_ADDR UINT8_C(0x61)
#define BMI160_INT_MOTION_3_ADDR UINT8_C(0x62)
#define BMI160_INT_TAP_0_ADDR UINT8_C(0x63)
#define BMI160_INT_TAP_1_ADDR UINT8_C(0x64)
#define BMI160_INT_ORIENT_0_ADDR UINT8_C(0x65)
#define BMI160_INT_ORIENT_1_ADDR UINT8_C(0x66)
#define BMI160_INT_FLAT_0_ADDR UINT8_C(0x67)
#define BMI160_INT_FLAT_1_ADDR UINT8_C(0x68)
#define BMI160_FOC_CONF_ADDR UINT8_C(0x69)
#define BMI160_CONF_ADDR UINT8_C(0x6A)
#define BMI160_IF_CONF_ADDR UINT8_C(0x6B)
#define BMI160_SELF_TEST_ADDR UINT8_C(0x6D)
#define BMI160_OFFSET_ADDR UINT8_C(0x71)
#define BMI160_OFFSET_CONF_ADDR UINT8_C(0x77)
#define BMI160_INT_STEP_CNT_0_ADDR UINT8_C(0x78)
#define BMI160_INT_STEP_CONFIG_0_ADDR UINT8_C(0x7A)
#define BMI160_INT_STEP_CONFIG_1_ADDR UINT8_C(0x7B)
#define BMI160_COMMAND_REG_ADDR UINT8_C(0x7E)
#define BMI160_SPI_COMM_TEST_ADDR UINT8_C(0x7F)
#define BMI160_INTL_PULLUP_CONF_ADDR UINT8_C(0x85)
/** Error code definitions */
#define BMI160_OK INT8_C(0)
#define BMI160_E_NULL_PTR INT8_C(-1)
#define BMI160_E_COM_FAIL INT8_C(-2)
#define BMI160_E_DEV_NOT_FOUND INT8_C(-3)
#define BMI160_E_OUT_OF_RANGE INT8_C(-4)
#define BMI160_E_INVALID_INPUT INT8_C(-5)
#define BMI160_E_ACCEL_ODR_BW_INVALID INT8_C(-6)
#define BMI160_E_GYRO_ODR_BW_INVALID INT8_C(-7)
#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
#define BMI160_E_LWP_PRE_FLTR_INVALID INT8_C(-9)
#define BMI160_E_AUX_NOT_FOUND INT8_C(-10)
#define BMI160_E_FOC_FAILURE INT8_C(-11)
#define BMI160_E_READ_WRITE_LENGTH_INVALID INT8_C(-12)
#define BMI160_E_INVALID_CONFIG INT8_C(-13)
/**\name API warning codes */
#define BMI160_W_GYRO_SELF_TEST_FAIL INT8_C(1)
#define BMI160_W_ACCEl_SELF_TEST_FAIL INT8_C(2)
/** BMI160 unique chip identifier */
#define BMI160_CHIP_ID UINT8_C(0xD1)
/** Soft reset command */
#define BMI160_SOFT_RESET_CMD UINT8_C(0xb6)
#define BMI160_SOFT_RESET_DELAY_MS UINT8_C(1)
/** Start FOC command */
#define BMI160_START_FOC_CMD UINT8_C(0x03)
/** NVM backup enabling command */
#define BMI160_NVM_BACKUP_EN UINT8_C(0xA0)
/* Delay in ms settings */
#define BMI160_ACCEL_DELAY_MS UINT8_C(5)
#define BMI160_GYRO_DELAY_MS UINT8_C(80)
#define BMI160_ONE_MS_DELAY UINT8_C(1)
#define BMI160_AUX_COM_DELAY UINT8_C(10)
#define BMI160_GYRO_SELF_TEST_DELAY UINT8_C(20)
#define BMI160_ACCEL_SELF_TEST_DELAY UINT8_C(50)
/** Self test configurations */
#define BMI160_ACCEL_SELF_TEST_CONFIG UINT8_C(0x2C)
#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN UINT8_C(0x0D)
#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN UINT8_C(0x09)
#define BMI160_ACCEL_SELF_TEST_LIMIT UINT16_C(8192)
/** Power mode settings */
/* Accel power mode */
#define BMI160_ACCEL_NORMAL_MODE UINT8_C(0x11)
#define BMI160_ACCEL_LOWPOWER_MODE UINT8_C(0x12)
#define BMI160_ACCEL_SUSPEND_MODE UINT8_C(0x10)
/* Gyro power mode */
#define BMI160_GYRO_SUSPEND_MODE UINT8_C(0x14)
#define BMI160_GYRO_NORMAL_MODE UINT8_C(0x15)
#define BMI160_GYRO_FASTSTARTUP_MODE UINT8_C(0x17)
/* Aux power mode */
#define BMI160_AUX_SUSPEND_MODE UINT8_C(0x18)
#define BMI160_AUX_NORMAL_MODE UINT8_C(0x19)
#define BMI160_AUX_LOWPOWER_MODE UINT8_C(0x1A)
/** Range settings */
/* Accel Range */
#define BMI160_ACCEL_RANGE_2G UINT8_C(0x03)
#define BMI160_ACCEL_RANGE_4G UINT8_C(0x05)
#define BMI160_ACCEL_RANGE_8G UINT8_C(0x08)
#define BMI160_ACCEL_RANGE_16G UINT8_C(0x0C)
/* Gyro Range */
#define BMI160_GYRO_RANGE_2000_DPS UINT8_C(0x00)
#define BMI160_GYRO_RANGE_1000_DPS UINT8_C(0x01)
#define BMI160_GYRO_RANGE_500_DPS UINT8_C(0x02)
#define BMI160_GYRO_RANGE_250_DPS UINT8_C(0x03)
#define BMI160_GYRO_RANGE_125_DPS UINT8_C(0x04)
/** Bandwidth settings */
/* Accel Bandwidth */
#define BMI160_ACCEL_BW_OSR4_AVG1 UINT8_C(0x00)
#define BMI160_ACCEL_BW_OSR2_AVG2 UINT8_C(0x01)
#define BMI160_ACCEL_BW_NORMAL_AVG4 UINT8_C(0x02)
#define BMI160_ACCEL_BW_RES_AVG8 UINT8_C(0x03)
#define BMI160_ACCEL_BW_RES_AVG16 UINT8_C(0x04)
#define BMI160_ACCEL_BW_RES_AVG32 UINT8_C(0x05)
#define BMI160_ACCEL_BW_RES_AVG64 UINT8_C(0x06)
#define BMI160_ACCEL_BW_RES_AVG128 UINT8_C(0x07)
#define BMI160_GYRO_BW_OSR4_MODE UINT8_C(0x00)
#define BMI160_GYRO_BW_OSR2_MODE UINT8_C(0x01)
#define BMI160_GYRO_BW_NORMAL_MODE UINT8_C(0x02)
/* Output Data Rate settings */
/* Accel Output data rate */
#define BMI160_ACCEL_ODR_RESERVED UINT8_C(0x00)
#define BMI160_ACCEL_ODR_0_78HZ UINT8_C(0x01)
#define BMI160_ACCEL_ODR_1_56HZ UINT8_C(0x02)
#define BMI160_ACCEL_ODR_3_12HZ UINT8_C(0x03)
#define BMI160_ACCEL_ODR_6_25HZ UINT8_C(0x04)
#define BMI160_ACCEL_ODR_12_5HZ UINT8_C(0x05)
#define BMI160_ACCEL_ODR_25HZ UINT8_C(0x06)
#define BMI160_ACCEL_ODR_50HZ UINT8_C(0x07)
#define BMI160_ACCEL_ODR_100HZ UINT8_C(0x08)
#define BMI160_ACCEL_ODR_200HZ UINT8_C(0x09)
#define BMI160_ACCEL_ODR_400HZ UINT8_C(0x0A)
#define BMI160_ACCEL_ODR_800HZ UINT8_C(0x0B)
#define BMI160_ACCEL_ODR_1600HZ UINT8_C(0x0C)
#define BMI160_ACCEL_ODR_RESERVED0 UINT8_C(0x0D)
#define BMI160_ACCEL_ODR_RESERVED1 UINT8_C(0x0E)
#define BMI160_ACCEL_ODR_RESERVED2 UINT8_C(0x0F)
/* Gyro Output data rate */
#define BMI160_GYRO_ODR_RESERVED UINT8_C(0x00)
#define BMI160_GYRO_ODR_25HZ UINT8_C(0x06)
#define BMI160_GYRO_ODR_50HZ UINT8_C(0x07)
#define BMI160_GYRO_ODR_100HZ UINT8_C(0x08)
#define BMI160_GYRO_ODR_200HZ UINT8_C(0x09)
#define BMI160_GYRO_ODR_400HZ UINT8_C(0x0A)
#define BMI160_GYRO_ODR_800HZ UINT8_C(0x0B)
#define BMI160_GYRO_ODR_1600HZ UINT8_C(0x0C)
#define BMI160_GYRO_ODR_3200HZ UINT8_C(0x0D)
/* Auxiliary sensor Output data rate */
#define BMI160_AUX_ODR_RESERVED UINT8_C(0x00)
#define BMI160_AUX_ODR_0_78HZ UINT8_C(0x01)
#define BMI160_AUX_ODR_1_56HZ UINT8_C(0x02)
#define BMI160_AUX_ODR_3_12HZ UINT8_C(0x03)
#define BMI160_AUX_ODR_6_25HZ UINT8_C(0x04)
#define BMI160_AUX_ODR_12_5HZ UINT8_C(0x05)
#define BMI160_AUX_ODR_25HZ UINT8_C(0x06)
#define BMI160_AUX_ODR_50HZ UINT8_C(0x07)
#define BMI160_AUX_ODR_100HZ UINT8_C(0x08)
#define BMI160_AUX_ODR_200HZ UINT8_C(0x09)
#define BMI160_AUX_ODR_400HZ UINT8_C(0x0A)
#define BMI160_AUX_ODR_800HZ UINT8_C(0x0B)
/** FIFO_CONFIG Definitions */
#define BMI160_FIFO_TIME_ENABLE UINT8_C(0x02)
#define BMI160_FIFO_TAG_INT2_ENABLE UINT8_C(0x04)
#define BMI160_FIFO_TAG_INT1_ENABLE UINT8_C(0x08)
#define BMI160_FIFO_HEAD_ENABLE UINT8_C(0x10)
#define BMI160_FIFO_M_ENABLE UINT8_C(0x20)
#define BMI160_FIFO_A_ENABLE UINT8_C(0x40)
#define BMI160_FIFO_M_A_ENABLE UINT8_C(0x60)
#define BMI160_FIFO_G_ENABLE UINT8_C(0x80)
#define BMI160_FIFO_M_G_ENABLE UINT8_C(0xA0)
#define BMI160_FIFO_G_A_ENABLE UINT8_C(0xC0)
#define BMI160_FIFO_M_G_A_ENABLE UINT8_C(0xE0)
/* Macro to specify the number of bytes over-read from the
* FIFO in order to get the sensor time at the end of FIFO */
#ifndef BMI160_FIFO_BYTES_OVERREAD
#define BMI160_FIFO_BYTES_OVERREAD UINT8_C(25)
#endif
/* Accel, gyro and aux. sensor length and also their combined
* length definitions in FIFO */
#define BMI160_FIFO_G_LENGTH UINT8_C(6)
#define BMI160_FIFO_A_LENGTH UINT8_C(6)
#define BMI160_FIFO_M_LENGTH UINT8_C(8)
#define BMI160_FIFO_GA_LENGTH UINT8_C(12)
#define BMI160_FIFO_MA_LENGTH UINT8_C(14)
#define BMI160_FIFO_MG_LENGTH UINT8_C(14)
#define BMI160_FIFO_MGA_LENGTH UINT8_C(20)
/** FIFO Header Data definitions */
#define BMI160_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40)
#define BMI160_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44)
#define BMI160_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48)
#define BMI160_FIFO_HEAD_OVER_READ UINT8_C(0x80)
#define BMI160_FIFO_HEAD_A UINT8_C(0x84)
#define BMI160_FIFO_HEAD_G UINT8_C(0x88)
#define BMI160_FIFO_HEAD_G_A UINT8_C(0x8C)
#define BMI160_FIFO_HEAD_M UINT8_C(0x90)
#define BMI160_FIFO_HEAD_M_A UINT8_C(0x94)
#define BMI160_FIFO_HEAD_M_G UINT8_C(0x98)
#define BMI160_FIFO_HEAD_M_G_A UINT8_C(0x9C)
/** FIFO sensor time length definitions */
#define BMI160_SENSOR_TIME_LENGTH UINT8_C(3)
/** FIFO DOWN selection */
/* Accel fifo down-sampling values*/
#define BMI160_ACCEL_FIFO_DOWN_ZERO UINT8_C(0x00)
#define BMI160_ACCEL_FIFO_DOWN_ONE UINT8_C(0x10)
#define BMI160_ACCEL_FIFO_DOWN_TWO UINT8_C(0x20)
#define BMI160_ACCEL_FIFO_DOWN_THREE UINT8_C(0x30)
#define BMI160_ACCEL_FIFO_DOWN_FOUR UINT8_C(0x40)
#define BMI160_ACCEL_FIFO_DOWN_FIVE UINT8_C(0x50)
#define BMI160_ACCEL_FIFO_DOWN_SIX UINT8_C(0x60)
#define BMI160_ACCEL_FIFO_DOWN_SEVEN UINT8_C(0x70)
/* Gyro fifo down-smapling values*/
#define BMI160_GYRO_FIFO_DOWN_ZERO UINT8_C(0x00)
#define BMI160_GYRO_FIFO_DOWN_ONE UINT8_C(0x01)
#define BMI160_GYRO_FIFO_DOWN_TWO UINT8_C(0x02)
#define BMI160_GYRO_FIFO_DOWN_THREE UINT8_C(0x03)
#define BMI160_GYRO_FIFO_DOWN_FOUR UINT8_C(0x04)
#define BMI160_GYRO_FIFO_DOWN_FIVE UINT8_C(0x05)
#define BMI160_GYRO_FIFO_DOWN_SIX UINT8_C(0x06)
#define BMI160_GYRO_FIFO_DOWN_SEVEN UINT8_C(0x07)
/* Accel Fifo filter enable*/
#define BMI160_ACCEL_FIFO_FILT_EN UINT8_C(0x80)
/* Gyro Fifo filter enable*/
#define BMI160_GYRO_FIFO_FILT_EN UINT8_C(0x08)
/** Definitions to check validity of FIFO frames */
#define FIFO_CONFIG_MSB_CHECK UINT8_C(0x80)
#define FIFO_CONFIG_LSB_CHECK UINT8_C(0x00)
/*! BMI160 accel FOC configurations */
#define BMI160_FOC_ACCEL_DISABLED UINT8_C(0x00)
#define BMI160_FOC_ACCEL_POSITIVE_G UINT8_C(0x01)
#define BMI160_FOC_ACCEL_NEGATIVE_G UINT8_C(0x02)
#define BMI160_FOC_ACCEL_0G UINT8_C(0x03)
/** Array Parameter DefinItions */
#define BMI160_SENSOR_TIME_LSB_BYTE UINT8_C(0)
#define BMI160_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
#define BMI160_SENSOR_TIME_MSB_BYTE UINT8_C(2)
/** Interface settings */
#define BMI160_SPI_INTF UINT8_C(1)
#define BMI160_I2C_INTF UINT8_C(0)
#define BMI160_SPI_RD_MASK UINT8_C(0x80)
#define BMI160_SPI_WR_MASK UINT8_C(0x7F)
/* Sensor & time select definition*/
#define BMI160_ACCEL_SEL UINT8_C(0x01)
#define BMI160_GYRO_SEL UINT8_C(0x02)
#define BMI160_TIME_SEL UINT8_C(0x04)
/* Sensor select mask*/
#define BMI160_SEN_SEL_MASK UINT8_C(0x07)
/* Error code mask */
#define BMI160_ERR_REG_MASK UINT8_C(0x0F)
/* BMI160 I2C address */
#define BMI160_I2C_ADDR UINT8_C(0x68)
/* BMI160 secondary IF address */
#define BMI160_AUX_BMM150_I2C_ADDR UINT8_C(0x10)
/** BMI160 Length definitions */
#define BMI160_ONE UINT8_C(1)
#define BMI160_TWO UINT8_C(2)
#define BMI160_THREE UINT8_C(3)
#define BMI160_FOUR UINT8_C(4)
#define BMI160_FIVE UINT8_C(5)
/** BMI160 fifo level Margin */
#define BMI160_FIFO_LEVEL_MARGIN UINT8_C(16)
/** BMI160 fifo flush Command */
#define BMI160_FIFO_FLUSH_VALUE UINT8_C(0xB0)
/** BMI160 offset values for xyz axes of accel */
#define BMI160_ACCEL_MIN_OFFSET INT8_C(-128)
#define BMI160_ACCEL_MAX_OFFSET INT8_C(127)
/** BMI160 offset values for xyz axes of gyro */
#define BMI160_GYRO_MIN_OFFSET INT16_C(-512)
#define BMI160_GYRO_MAX_OFFSET INT16_C(511)
/** BMI160 fifo full interrupt position and mask */
#define BMI160_FIFO_FULL_INT_POS UINT8_C(5)
#define BMI160_FIFO_FULL_INT_MSK UINT8_C(0x20)
#define BMI160_FIFO_WTM_INT_POS UINT8_C(6)
#define BMI160_FIFO_WTM_INT_MSK UINT8_C(0x40)
#define BMI160_FIFO_FULL_INT_PIN1_POS UINT8_C(5)
#define BMI160_FIFO_FULL_INT_PIN1_MSK UINT8_C(0x20)
#define BMI160_FIFO_FULL_INT_PIN2_POS UINT8_C(1)
#define BMI160_FIFO_FULL_INT_PIN2_MSK UINT8_C(0x02)
#define BMI160_FIFO_WTM_INT_PIN1_POS UINT8_C(6)
#define BMI160_FIFO_WTM_INT_PIN1_MSK UINT8_C(0x40)
#define BMI160_FIFO_WTM_INT_PIN2_POS UINT8_C(2)
#define BMI160_FIFO_WTM_INT_PIN2_MSK UINT8_C(0x04)
#define BMI160_MANUAL_MODE_EN_POS UINT8_C(7)
#define BMI160_MANUAL_MODE_EN_MSK UINT8_C(0x80)
#define BMI160_AUX_READ_BURST_POS UINT8_C(0)
#define BMI160_AUX_READ_BURST_MSK UINT8_C(0x03)
#define BMI160_GYRO_SELF_TEST_POS UINT8_C(4)
#define BMI160_GYRO_SELF_TEST_MSK UINT8_C(0x10)
#define BMI160_GYRO_SELF_TEST_STATUS_POS UINT8_C(1)
#define BMI160_GYRO_SELF_TEST_STATUS_MSK UINT8_C(0x02)
#define BMI160_GYRO_FOC_EN_POS UINT8_C(6)
#define BMI160_GYRO_FOC_EN_MSK UINT8_C(0x40)
#define BMI160_ACCEL_FOC_X_CONF_POS UINT8_C(4)
#define BMI160_ACCEL_FOC_X_CONF_MSK UINT8_C(0x30)
#define BMI160_ACCEL_FOC_Y_CONF_POS UINT8_C(2)
#define BMI160_ACCEL_FOC_Y_CONF_MSK UINT8_C(0x0C)
#define BMI160_ACCEL_FOC_Z_CONF_MSK UINT8_C(0x03)
#define BMI160_FOC_STATUS_POS UINT8_C(3)
#define BMI160_FOC_STATUS_MSK UINT8_C(0x08)
#define BMI160_GYRO_OFFSET_X_MSK UINT8_C(0x03)
#define BMI160_GYRO_OFFSET_Y_POS UINT8_C(2)
#define BMI160_GYRO_OFFSET_Y_MSK UINT8_C(0x0C)
#define BMI160_GYRO_OFFSET_Z_POS UINT8_C(4)
#define BMI160_GYRO_OFFSET_Z_MSK UINT8_C(0x30)
#define BMI160_GYRO_OFFSET_EN_POS UINT8_C(7)
#define BMI160_GYRO_OFFSET_EN_MSK UINT8_C(0x80)
#define BMI160_ACCEL_OFFSET_EN_POS UINT8_C(6)
#define BMI160_ACCEL_OFFSET_EN_MSK UINT8_C(0x40)
#define BMI160_GYRO_OFFSET_POS UINT16_C(8)
#define BMI160_GYRO_OFFSET_MSK UINT16_C(0x0300)
#define BMI160_NVM_UPDATE_POS UINT8_C(1)
#define BMI160_NVM_UPDATE_MSK UINT8_C(0x02)
#define BMI160_NVM_STATUS_POS UINT8_C(4)
#define BMI160_NVM_STATUS_MSK UINT8_C(0x10)
#define BMI160_MAG_POWER_MODE_MSK UINT8_C(0x03)
#define BMI160_ACCEL_POWER_MODE_MSK UINT8_C(0x30)
#define BMI160_ACCEL_POWER_MODE_POS UINT8_C(4)
#define BMI160_GYRO_POWER_MODE_MSK UINT8_C(0x0C)
#define BMI160_GYRO_POWER_MODE_POS UINT8_C(2)
/* BIT SLICE GET AND SET FUNCTIONS */
#define BMI160_GET_BITS(regvar, bitname) \
((regvar & bitname##_MSK) >> bitname##_POS)
#define BMI160_SET_BITS(regvar, bitname, val) \
((regvar & ~bitname##_MSK) | \
((val << bitname##_POS) & bitname##_MSK))
#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | \
(data & bitname##_MSK))
#define BMI160_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
/**\name UTILITY MACROS */
#define BMI160_SET_LOW_BYTE UINT16_C(0x00FF)
#define BMI160_SET_HIGH_BYTE UINT16_C(0xFF00)
#define BMI160_GET_LSB(var) (uint8_t)(var & BMI160_SET_LOW_BYTE)
#define BMI160_GET_MSB(var) (uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)
/*****************************************************************************/
/* type definitions */
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific read functions of the user
*/
typedef int8_t (*bmi160_read_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific write functions of the user
*/
typedef int8_t (*bmi160_write_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *read_data, uint16_t len);
typedef void (*bmi160_delay_fptr_t)(uint32_t period);
/*************************** Data structures *********************************/
/*!
* @brief bmi160 interrupt status selection enum.
*/
enum bmi160_int_status_sel {
BMI160_INT_STATUS_0 = 1,
BMI160_INT_STATUS_1 = 2,
BMI160_INT_STATUS_2 = 4,
BMI160_INT_STATUS_3 = 8,
BMI160_INT_STATUS_ALL = 15
};
/*!
* @brief bmi160 interrupt status bits structure
*/
struct bmi160_int_status_bits
{
#ifdef LITTLE_ENDIAN
uint32_t step : 1;
uint32_t sigmot : 1;
uint32_t anym : 1;
/* pmu trigger will be handled later */
uint32_t pmu_trigger_reserved : 1;
uint32_t d_tap : 1;
uint32_t s_tap : 1;
uint32_t orient : 1;
uint32_t flat_int : 1;
uint32_t reserved : 2;
uint32_t high_g : 1;
uint32_t low_g : 1;
uint32_t drdy : 1;
uint32_t ffull : 1;
uint32_t fwm : 1;
uint32_t nomo : 1;
uint32_t anym_first_x : 1;
uint32_t anym_first_y : 1;
uint32_t anym_first_z : 1;
uint32_t anym_sign : 1;
uint32_t tap_first_x : 1;
uint32_t tap_first_y : 1;
uint32_t tap_first_z : 1;
uint32_t tap_sign : 1;
uint32_t high_first_x : 1;
uint32_t high_first_y : 1;
uint32_t high_first_z : 1;
uint32_t high_sign : 1;
uint32_t orient_1_0 : 2;
uint32_t orient_2 : 1;
uint32_t flat : 1;
#else
uint32_t high_first_x : 1;
uint32_t high_first_y : 1;
uint32_t high_first_z : 1;
uint32_t high_sign : 1;
uint32_t orient_1_0 : 2;
uint32_t orient_2 : 1;
uint32_t flat : 1;
uint32_t anym_first_x : 1;
uint32_t anym_first_y : 1;
uint32_t anym_first_z : 1;
uint32_t anym_sign : 1;
uint32_t tap_first_x : 1;
uint32_t tap_first_y : 1;
uint32_t tap_first_z : 1;
uint32_t tap_sign : 1;
uint32_t reserved : 2;
uint32_t high_g : 1;
uint32_t low_g : 1;
uint32_t drdy : 1;
uint32_t ffull : 1;
uint32_t fwm : 1;
uint32_t nomo : 1;
uint32_t step : 1;
uint32_t sigmot : 1;
uint32_t anym : 1;
/* pmu trigger will be handled later */
uint32_t pmu_trigger_reserved : 1;
uint32_t d_tap : 1;
uint32_t s_tap : 1;
uint32_t orient : 1;
uint32_t flat_int : 1;
#endif
};
/*!
* @brief bmi160 interrupt status structure
*/
union bmi160_int_status
{
uint8_t data[4];
struct bmi160_int_status_bits bit;
};
/*!
* @brief bmi160 sensor data structure which comprises of accel data
*/
struct bmi160_sensor_data
{
/*! X-axis sensor data */
int16_t x;
/*! Y-axis sensor data */
int16_t y;
/*! Z-axis sensor data */
int16_t z;
/*! sensor time */
uint32_t sensortime;
};
/*!
* @brief bmi160 aux data structure which comprises of 8 bytes of accel data
*/
struct bmi160_aux_data
{
/*! Auxiliary data */
uint8_t data[8];
};
/*!
* @brief bmi160 FOC configuration structure
*/
struct bmi160_foc_conf
{
/*! Enabling FOC in gyro
* Assignable macros :
* - BMI160_ENABLE
* - BMI160_DISABLE
*/
uint8_t foc_gyr_en;
/*! Accel FOC configurations
* Assignable macros :
* - BMI160_FOC_ACCEL_DISABLED
* - BMI160_FOC_ACCEL_POSITIVE_G
* - BMI160_FOC_ACCEL_NEGATIVE_G
* - BMI160_FOC_ACCEL_0G
*/
uint8_t foc_acc_x;
uint8_t foc_acc_y;
uint8_t foc_acc_z;
/*! Enabling offset compensation for accel in data registers
* Assignable macros :
* - BMI160_ENABLE
* - BMI160_DISABLE
*/
uint8_t acc_off_en;
/*! Enabling offset compensation for gyro in data registers
* Assignable macros :
* - BMI160_ENABLE
* - BMI160_DISABLE
*/
uint8_t gyro_off_en;
};
/*!
* @brief bmi160 accel gyro offsets
*/
struct bmi160_offsets
{
/*! Accel offset for x axis */
int8_t off_acc_x;
/*! Accel offset for y axis */
int8_t off_acc_y;
/*! Accel offset for z axis */
int8_t off_acc_z;
/*! Gyro offset for x axis */
int16_t off_gyro_x;
/*! Gyro offset for y axis */
int16_t off_gyro_y;
/*! Gyro offset for z axis */
int16_t off_gyro_z;
};
/*!
* @brief FIFO aux. sensor data structure
*/
struct bmi160_aux_fifo_data
{
/*! The value of aux. sensor x LSB data */
uint8_t aux_x_lsb;
/*! The value of aux. sensor x MSB data */
uint8_t aux_x_msb;
/*! The value of aux. sensor y LSB data */
uint8_t aux_y_lsb;
/*! The value of aux. sensor y MSB data */
uint8_t aux_y_msb;
/*! The value of aux. sensor z LSB data */
uint8_t aux_z_lsb;
/*! The value of aux. sensor z MSB data */
uint8_t aux_z_msb;
/*! The value of aux. sensor r for BMM150 LSB data */
uint8_t aux_r_y2_lsb;
/*! The value of aux. sensor r for BMM150 MSB data */
uint8_t aux_r_y2_msb;
};
/*!
* @brief bmi160 sensor select structure
*/
enum bmi160_select_sensor {
BMI160_ACCEL_ONLY = 1,
BMI160_GYRO_ONLY,
BMI160_BOTH_ACCEL_AND_GYRO
};
/*!
* @brief bmi160 sensor step detector mode structure
*/
enum bmi160_step_detect_mode {
BMI160_STEP_DETECT_NORMAL,
BMI160_STEP_DETECT_SENSITIVE,
BMI160_STEP_DETECT_ROBUST,
/*! Non recommended User defined setting */
BMI160_STEP_DETECT_USER_DEFINE
};
/*!
* @brief enum for auxiliary burst read selection
*/
enum bmi160_aux_read_len {
BMI160_AUX_READ_LEN_0,
BMI160_AUX_READ_LEN_1,
BMI160_AUX_READ_LEN_2,
BMI160_AUX_READ_LEN_3
};
/*!
* @brief bmi160 sensor configuration structure
*/
struct bmi160_cfg
{
/*! power mode */
uint8_t power;
/*! output data rate */
uint8_t odr;
/*! range */
uint8_t range;
/*! bandwidth */
uint8_t bw;
};
/*!
* @brief Aux sensor configuration structure
*/
struct bmi160_aux_cfg
{
/*! Aux sensor, 1 - enable 0 - disable */
uint8_t aux_sensor_enable : 1;
/*! Aux manual/auto mode status */
uint8_t manual_enable : 1;
/*! Aux read burst length */
uint8_t aux_rd_burst_len : 2;
/*! output data rate */
uint8_t aux_odr : 4;
/*! i2c addr of auxiliary sensor */
uint8_t aux_i2c_addr;
};
/*!