Updated to v3.9.1. Fixed bugs in the sensor configuration. Added examples. Updated the callback interfaces.

LICENSE

@@ -6,15 +6,15 @@ 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.
+    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.
+    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
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+    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

README.md

@@ -1,793 +1,42 @@
-# BMI160 sensor API
-## Introduction
-This package contains the Bosch Sensortec's BMI160 sensor driver (sensor API)
-
-The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
-
-## Version
-File          | Version | Date
---------------|---------|---------------
-bmi160.c      |   3.8.1 |   11 Jan 2020
-bmi160.h      |   3.8.1 |   11 Jan 2020
-bmi160_defs.h |   3.8.1 |   11 Jan 2020
-
-## Integration details
-* Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
-* Include the bmi160.h file in your code like below.
-``` c
-#include "bmi160.h"
-```
-
-## File information
-* bmi160_defs.h : This header file has the constants, macros and datatype declarations.
-* bmi160.h : This header file contains the declarations of the sensor driver APIs.
-* bmi160.c : This source file contains the definitions of the sensor driver APIs.
-
-## Supported sensor interface
-* SPI 4-wire
-* I2C
-
-## Usage guide
-### Initializing the sensor
-To initialize the sensor, you will first need to create a device structure. You 
-can do this by creating an instance of the structure bmi160_dev. Then go on to 
-fill in the various parameters as shown below.
-
-#### Example for SPI 4-Wire
-``` c
-struct bmi160_dev sensor;
-
-/* You may assign a chip select identifier to be handled later */
-sensor.id = 0;
-sensor.interface = BMI160_SPI_INTF;
-sensor.read = user_spi_read;
-sensor.write = user_spi_write;
-sensor.delay_ms = user_delay_ms;
-
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_init(&sensor);
-/* After the above function call, accel_cfg and gyro_cfg parameters in the device 
-structure are set with default values, found in the datasheet of the sensor */
-```
-
-#### Example for I2C
-``` c
-struct bmi160_dev sensor;
-
-sensor.id = BMI160_I2C_ADDR;
-sensor.interface = BMI160_I2C_INTF;
-sensor.read = user_i2c_read;
-sensor.write = user_i2c_write;
-sensor.delay_ms = user_delay_ms;
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_init(&sensor);
-/* After the above function call, accel and gyro parameters in the device structure 
-are set with default values, found in the datasheet of the sensor */
-```
-
-### Configuring accel and gyro sensor
-#### Example for configuring accel and gyro sensors in normal mode
-``` c
-
-int8_t rslt = BMI160_OK;
-
-/* Select the Output data rate, range of accelerometer sensor */
-sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
-sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
-sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
-
-/* Select the power mode of accelerometer sensor */
-sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-
-/* Select the Output data rate, range of Gyroscope sensor */
-sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
-sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
-sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
-
-/* Select the power mode of Gyroscope sensor */
-sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
-
-/* Set the sensor configuration */
-rslt = bmi160_set_sens_conf(&sensor);
-```
-
-### Reading sensor data
-#### Example for reading sensor data
-``` c
-
-int8_t rslt = BMI160_OK;
-struct bmi160_sensor_data accel;
-struct bmi160_sensor_data gyro;
-
-/* To read only Accel data */
-rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
-
-/* To read only Gyro data */
-rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
-
-/* To read both Accel and Gyro data */
-bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
-
-/* To read Accel data along with time */
-rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor);
-
-/* To read Gyro data along with time */
-rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor);
-
-/* To read both Accel and Gyro data along with time*/
-bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor);
-```
-
-### Setting the power mode of sensors
-#### Example for setting power mode of accel and gyro
-``` c
-
-int8_t rslt = BMI160_OK;
-
-/* Select the power mode */
-sensor.accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; 
-sensor.gyro_cfg.power = BMI160_GYRO_FASTSTARTUP_MODE; 
-
-/*  Set the Power mode  */
-rslt = bmi160_set_power_mode(&sensor);
-
-/* Select the power mode */
-sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
-sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 
-
-/*  Set the Power mode  */
-rslt = bmi160_set_power_mode(&sensor);
-
-```
-
-### Reading sensor data register
-#### Example for reading Chip Address
-``` c
-
-int8_t rslt = BMI160_OK;
-uint8_t reg_addr = BMI160_CHIP_ID_ADDR;
-uint8_t data;
-uint16_t len = 1;
-rslt = bmi160_get_regs(reg_addr, &data, len, &sensor);
-```
-
-
-### Writing to sensor data register
-#### Example for writing data to any motion threshold register
-``` c
-
-int8_t rslt = BMI160_OK;
-uint8_t reg_addr = BMI160_INT_MOTION_1_ADDR;
-uint8_t data = 20;
-uint16_t len = 1;
-rslt = bmi160_set_regs(reg_addr, &data, len, &sensor);
-```
-
-### Resetting the device using soft-reset
-#### Example for writing soft-reset command to command register
-``` c
-
-int8_t rslt = BMI160_OK;
-rslt = bmi160_soft_reset(&sensor);
-```
-
-
-### Configuring interrupts for sensors
-To configure the sensor interrupts, you will first need to create an interrupt 
-structure. You can do this by creating an instance of the structure bmi160_int_settg.
-Then go on to fill in the various parameters as shown below
-
-
-### Configuring Any-motion Interrupt
-#### Example for configuring Any-motion Interrupt
-Note:- User can check the currently active interrupt(any-motion or sig-motion) by checking the **any_sig_sel** of bmi160_dev structure.
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Any-motion interrupt parameters */
-int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion 
-int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt
-int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration
-int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg 
-
-/* Set the Any-motion interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev  */
-
-```
-### Configuring Flat Interrupt
-#### Example for configuring Flat Interrupt
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Flat interrupt parameters */
-int_config.int_type_cfg.acc_flat_int.flat_en = BMI160_ENABLE;// 1-enable, 0-disable the flat interrupt
-int_config.int_type_cfg.acc_flat_int.flat_theta = 8;// threshold for detection of flat position in range from 0° to 44.8°.
-int_config.int_type_cfg.acc_flat_int.flat_hy = 1;// Flat hysteresis
-int_config.int_type_cfg.acc_flat_int.flat_hold_time = 1;// Flat hold time (0 -> 0 ms, 1 -> 640 ms, 2 -> 1280 ms, 3 -> 2560 ms)
-
-/* Set the Flat interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-
-```
-
-
-### Configuring Step Detector Interrupt
-#### Example for configuring Step Detector Interrupt
-``` c
-
-struct bmi160_int_settg int_config;
-
-/* Select the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
-
-/* Select the Interrupt type */
-int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
-/* Select the interrupt channel/pin settings */
-int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
-int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
-int_config.int_pin_settg.output_type = BMI160_ENABLE;// Choosing active High output
-int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
-int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
-int_config.int_pin_settg.latch_dur =BMI160_LATCH_DUR_NONE;// non-latched output
-
-/* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
-int_config.int_type_cfg.acc_step_detect_int.step_detector_mode = BMI160_STEP_DETECT_NORMAL;
-int_config.int_type_cfg.acc_step_detect_int.step_detector_en = BMI160_ENABLE;// 1-enable, 0-disable the step detector
-
-/* Set the Step Detector interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-
-```
-
-### Configuring Step counter
-To configure the step counter, user need to configure the step detector interrupt as described in above section.
-After configuring step detector, see the below code snippet for user space & ISR
-
-### User space
-``` c
-int8_t rslt = BMI160_OK;
-uint8_t step_enable = 1;//enable the step counter
-
-rslt = bmi160_set_step_counter(step_enable,  &sensor);
-```
-
-### ISR
-``` c
-int8_t rslt = BMI160_OK;
-uint16_t step_count = 0;//stores the step counter value
-
-rslt = bmi160_read_step_counter(&step_count,  &sensor);
-```
-
-### Unmapping Interrupt
-#### Example for unmapping Step Detector Interrupt
-``` c
-struct bmi160_int_settg int_config;
-
-/* Deselect the Interrupt channel/pin */
-int_config.int_channel = BMI160_INT_CHANNEL_NONE;
-/* Select the Interrupt type */
-int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
-/* Set the Step Detector interrupt */
-bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
-```
-
-### Reading interrupt status
-#### Example for reading interrupt status for step detector
-``` c
-union bmi160_int_status interrupt;
-enum bmi160_int_status_sel int_status_sel;
-
-/* Interrupt status selection to read all interrupts */
-int_status_sel = BMI160_INT_STATUS_ALL;
-rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
-if (interrupt.bit.step)
-	printf("Step detector interrupt occured\n");
-```
-
-### Configuring the auxiliary sensor BMM150
-It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.
-
-### Accessing auxiliary BMM150 with BMM150 APIs via BMI160 secondary interface.
-
-## Integration details 
-* Integrate the souce codes of BMM150 and BMI160 in project.
-* Include the bmi160.h and bmm150.h file in your code like below.
-* It is mandatory to initialize the bmi160 device structure for primary interface and auxiliary sensor settings.
-* Create two wrapper functions , user_aux_read and user_aux_write in order to match the signature as mentioned below.
-* Invoke the "bmi160_aux_init" API to initialise the secondary interface in BMI160.
-* Invoke the "bmm150_init" API to initialise the BMM150 sensor.
-* Now we can use the BMM150 sensor APIs to access the BMM150 via BMI160.
-
-``` c
-/* main.c file */
-#include "bmi160.h"
-#include "bmm150.h"
-```
-### Initialization of auxiliary sensor BMM150
-```
-
-/* main.c file */
-struct bmm150_dev bmm150;
-
-/* function declaration */
-int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
-int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len);
-
-/* Configure device structure for auxiliary sensor parameter */
-sensor.aux_cfg.aux_sensor_enable = 1; // auxiliary sensor enable
-sensor.aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address
-sensor.aux_cfg.manual_enable = 1; // setup mode enable
-sensor.aux_cfg.aux_rd_burst_len = 2;// burst read of 2 byte
-
-/* Configure the BMM150 device structure by 
-mapping user_aux_read and user_aux_write */
-bmm150.read = user_aux_read;
-bmm150.write = user_aux_write;
-bmm150.id = BMM150_DEFAULT_I2C_ADDRESS; 
-/* Ensure that sensor.aux_cfg.aux_i2c_addr = bmm150.id
-   for proper sensor operation */
-bmm150.delay_ms = delay_ms;
-bmm150.interface = BMM150_I2C_INTF;
-
-/* Initialize the auxiliary sensor interface */
-rslt = bmi160_aux_init(&sensor);
-
-/* Auxiliary sensor is enabled and can be accessed from this point */
-
-/* Configure the desired settings in auxiliary BMM150 sensor 
- * using the bmm150 APIs */
-
-/* Initialising the bmm150 sensor */
-rslt = bmm150_init(&bmm150);
-
-/* Set the power mode and preset mode to enable Mag data sampling */
-bmm150.settings.pwr_mode = BMM150_NORMAL_MODE;
-rslt = bmm150_set_op_mode(&bmm150);
-
-bmm150.settings.preset_mode= BMM150_PRESETMODE_LOWPOWER;
-rslt = bmm150_set_presetmode(&bmm150);
-
-```
-### Wrapper functions
-```
-
-/*wrapper function to match the signature of bmm150.read */
-int8_t user_aux_read(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
-{
-	int8_t rslt;
-	
-	/* Discarding the parameter id as it is redundant*/
-        rslt = bmi160_aux_read(reg_addr, aux_data, len, &bmi160);
-
-	return rslt;
-}
-
-/*wrapper function to match the signature of bmm150.write */
-int8_t user_aux_write(uint8_t id, uint8_t reg_addr, uint8_t *aux_data, uint16_t len)
-{
-	int8_t rslt;
-	
-	/* Discarding the parameter id as it is redundant */
-	rslt = bmi160_aux_write(reg_addr, aux_data, len, &bmi160);
-
-	return rslt;
-}
-
-```
-
-### Initialization of auxiliary BMM150 in auto mode
-Any sensor whose data bytes are less than or equal to 8 bytes can be synchronized with the BMI160 
-and read out of Accelerometer + Gyroscope + Auxiliary sensor data of that instance is possible
-which helps in creating less latency fusion data
-
-```
-/* Initialize the Auxiliary BMM150 following the above code 
- * until setting the power mode (Set the power mode as forced mode)
- * and preset mode */
-
-	/* In BMM150 Mag data starts from register address 0x42 */
-	uint8_t aux_addr = 0x42;
-	/* Buffer to store the Mag data from 0x42 to 0x48 */	
-	uint8_t mag_data[8] = {0};
-	
-	uint8_t index;
-		
-	/* Configure the Auxiliary sensor either in auto/manual modes and set the 
-	polling frequency for the Auxiliary interface */	
-	sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
-	rslt = bmi160_config_aux_mode(&sensor)
-	
-	/* Set the auxiliary sensor to auto mode */
-	rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
-
-	/* Reading data from BMI160 data registers */
-	rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
-
-	printf("\n RAW DATA ");
-	for(index = 0 ; index < 8 ; index++)
-	{
-		printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
-	}
-	
-	/* Compensating the raw mag data available from the BMM150 API */
-	rslt = bmm150_aux_mag_data(mag_data, &bmm150);
-	
-	printf("\n COMPENSATED DATA ");
-	printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
-	
-
-```
-
-### Auxiliary FIFO data parsing
-The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for 
-using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO
-
-```
-/* Initialize the Aux BMM150 following the above 
- * code and by creating the Wrapper functions */
-
-	int8_t rslt = 0;
-	uint8_t aux_instance = 0;
-	uint16_t fifo_cnt = 0;
-	uint8_t auto_mode_addr;
-	uint8_t i;
-
-	/* Setup and configure the FIFO buffer */
-	/* Declare memory to store the raw FIFO buffer information */
-	uint8_t fifo_buff[1000] = {0};
-
-	/* Modify the FIFO buffer instance and link to the device instance */
-	struct bmi160_fifo_frame fifo_frame;
-	fifo_frame.data = fifo_buff;
-	fifo_frame.length = 1000;
-	dev->fifo = &fifo_frame;
-
-	/* Declare instances of the sensor data structure to store the parsed FIFO data */
-	struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
-
-	rslt = bmi160_init(dev);
-	printf("\n BMI160 chip ID is : %d ",dev->chip_id);
-
-	rslt = bmi160_aux_init(dev);
-
-	rslt = bmm150_init(&bmm150);
-	printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
-
-	bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
-	rslt = bmm150_set_presetmode(&bmm150);
-
-	bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
-	rslt = bmm150_set_op_mode(&bmm150);
-
-	/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
-	auto_mode_addr = 0x42;
-	printf("\n ENTERING AUX. AUTO MODE ");
-	dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
-	rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
-
-
-	/* Disable other FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
-
-	/* Enable the required FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
-
-	/* Delay for the FIFO to get filled */
-	dev->delay_ms(400);
-
-
-	printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
-	rslt = bmi160_get_fifo_data(dev);
-	printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
-
-	/* Print the raw FIFO data obtained */
-	for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
-		printf("\n FIFO DATA [%d] IS : %x  ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
-	}
-
-	printf("\n\n----------------------------------------------------\n");
-
-	/* Set the number of required sensor data instances */
-	aux_instance = 150;
-
-	/* Extract the aux data , 1frame = 8 data bytes */
-	printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
-	rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
-	printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
-
-	/* Printing the raw aux data */
-	for (i = 0; i < aux_instance; i++) {
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
-		printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
-	}
-
-	printf("\n\n----------------------------------------------------\n");
-
-	/* Compensate the raw mag data using BMM150 API */
-	for (i = 0; i < aux_instance; i++) {
-		printf("\n----------------------------------------------------");
-		printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
-					,aux_data[i].data[0],aux_data[i].data[1]
-					,aux_data[i].data[2],aux_data[i].data[3]
-					,aux_data[i].data[4],aux_data[i].data[5]
-					,aux_data[i].data[6],aux_data[i].data[7]);
-
-		/* Compensated mag data using BMM150 API */
-		rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
-
-		/* Printing the  Compensated mag data */
-		if (rslt == BMM150_OK) {
-			printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
-			printf("\n COMPENSATED DATA ");
-			printf("\n MAG DATA X : %d	Y : %d      Z : %d"
-				, bmm150.data.x, bmm150.data.y, bmm150.data.z);
-
-		} else {
-			printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
-		}
-		printf("\n----------------------------------------------------\n");
-	}
-
-```
-
-## Self-test  
-#### Example for performing accel self test
-```
-/* Call the "bmi160_init" API as a prerequisite before performing self test
- * since invoking self-test will reset the sensor */
-
-	rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, sen);
-	/* Utilize the enum BMI160_GYRO_ONLY instead of BMI160_ACCEL_ONLY
-	   to perform self test for gyro */
-	if (rslt == BMI160_OK) {
-		printf("\n ACCEL SELF TEST RESULT SUCCESS);
-	} else {
-		printf("\n ACCEL SELF TEST RESULT FAIL);
-	}
-```
-
-
-## FIFO 
-#### Example for reading FIFO and extracting Gyro data in Header mode
-```
-/* An example to read the Gyro data in header mode along with sensor time (if available)
- * Configure the gyro sensor as prerequisite and follow the below example to read and
- * obtain the gyro data from FIFO */
-int8_t fifo_gyro_header_time_data(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-
-	/* Declare memory to store the raw FIFO buffer information */
-	uint8_t fifo_buff[300];
-	
-	/* Modify the FIFO buffer instance and link to the device instance */
-	struct bmi160_fifo_frame fifo_frame;
-	fifo_frame.data = fifo_buff;
-	fifo_frame.length = 300;
-	dev->fifo = &fifo_frame;
-	uint16_t index = 0;
-	
-	/* Declare instances of the sensor data structure to store the parsed FIFO data */
-	struct bmi160_sensor_data gyro_data[42]; // 300 bytes / ~7bytes per frame ~ 42 data frames
-	uint8_t gyro_frames_req = 42; 
-	uint8_t gyro_index;
-	
-	/* Configure the sensor's FIFO settings */
-	rslt = bmi160_set_fifo_config(BMI160_FIFO_GYRO | BMI160_FIFO_HEADER | BMI160_FIFO_TIME,
-					BMI160_ENABLE, dev);
-					
-	if (rslt == BMI160_OK) {
-		/* At ODR of 100 Hz ,1 frame gets updated in 1/100 = 0.01s
-		i.e. for 42 frames we need 42 * 0.01 = 0.42s = 420ms delay */
-		dev->delay_ms(420); 
-	
-		/* Read data from the sensor's FIFO and store it the FIFO buffer,"fifo_buff" */
-		printf("\n USER REQUESTED FIFO LENGTH : %d\n",dev->fifo->length);
-		rslt = bmi160_get_fifo_data(dev);
-
-		if (rslt == BMI160_OK) {
-			printf("\n AVAILABLE FIFO LENGTH : %d\n",dev->fifo->length);
-			/* Print the raw FIFO data */
-			for (index = 0; index < dev->fifo->length; index++) {
-				printf("\n FIFO DATA INDEX[%d] = %d", index,
-					dev->fifo->data[index]);
-			}
-			/* Parse the FIFO data to extract gyro data from the FIFO buffer */
-			printf("\n REQUESTED GYRO DATA FRAMES : %d\n ",gyro_frames_req);
-			rslt = bmi160_extract_gyro(gyro_data, &gyro_frames_req, dev);
-
-			if (rslt == BMI160_OK) {
-				printf("\n AVAILABLE GYRO DATA FRAMES : %d\n ",gyro_frames_req);
-				
-				/* Print the parsed gyro data from the FIFO buffer */
-				for (gyro_index = 0; gyro_index < gyro_frames_req; gyro_index++) {
-					printf("\nFIFO GYRO FRAME[%d]",gyro_index);
-					printf("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d"
-						,gyro_data[gyro_index].x ,gyro_data[gyro_index].y
-						,gyro_data[gyro_index].z);
-				}
-				/* Print the special FIFO frame data like sensortime */
-				printf("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time);
-				printf("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count);
-			} else {
-				printf("\n Gyro data extraction failed");
-			}
-		} else {
-			printf("\n Reading FIFO data failed");
-		}
-	} else {
-		printf("\n Setting FIFO configuration failed");
-	}
-
-	return rslt;
-}
-```
-
-## FOC and offset compensation
-> FOC shouldnot be used in Low-power mode
-#### Example for configuring FOC for accel and gyro
-```
-/* An example for configuring FOC for accel and gyro data */
-int8_t start_foc(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable FOC for accel with target values of z = 1g ; x,y as 0g */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-	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;
-	
-	/* Enable FOC for gyro */
-	foc_conf.foc_gyr_en = BMI160_ENABLE;
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-
-	rslt = bmi160_start_foc(&foc_conf, &offsets, sen);
-	
-	if (rslt == BMI160_OK) {
-		printf("\n FOC DONE SUCCESSFULLY ");
-		printf("\n OFFSET VALUES AFTER FOC : ");
-		printf("\n OFFSET VALUES ACCEL X : %d ",offsets.off_acc_x);
-		printf("\n OFFSET VALUES ACCEL Y : %d ",offsets.off_acc_y);
-		printf("\n OFFSET VALUES ACCEL Z : %d ",offsets.off_acc_z);
-		printf("\n OFFSET VALUES GYRO  X : %d ",offsets.off_gyro_x);
-		printf("\n OFFSET VALUES GYRO  Y : %d ",offsets.off_gyro_y);
-		printf("\n OFFSET VALUES GYRO  Z : %d ",offsets.off_gyro_z);	
-	}
-	
-	/* After start of FOC offsets will be updated automatically and 
-	 * the data will be very much close to the target values of measurement */
-
-	return rslt;
-}
-```
-
-#### Example for updating the offsets manually
-> The offsets set by this method will be reset on soft-reset/POR 
-```
-/* An example for updating manual offsets to sensor */
-int8_t write_offsets(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable offset update for accel */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-
-	/* Enable offset update for gyro */
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-	
-	/* offset values set by user */
-	offsets.off_acc_x = 0x10;
-	offsets.off_acc_y = 0x10;
-	offsets.off_acc_z = 0x10;
-	offsets.off_gyro_x = 0x10;
-	offsets.off_gyro_y = 0x10;
-	offsets.off_gyro_z = 0x10;
-
-	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
-	
-	/* After offset setting the data read from the 
-	 * sensor will have the corresponding offset */
-	
-	return rslt;
-}
-```
-
-#### Example for updating the offsets into NVM
-> The offsets set by this method will be present in NVM and will be 
-> restored on POR/soft-reset
-```
-/* An example for updating manual offsets to sensor */
-int8_t write_offsets_nvm(struct bmi160_dev *dev)
-{
-	int8_t rslt = 0;
-	/* FOC configuration structure */
-	struct bmi160_foc_conf foc_conf;
-	/* Structure to store the offsets */
-	struct bmi160_offsets offsets;
-	
-	/* Enable offset update for accel */
-	foc_conf.acc_off_en = BMI160_ENABLE;
-
-	/* Enable offset update for gyro */
-	foc_conf.gyro_off_en = BMI160_ENABLE;
-	
-	/* offset values set by user as per their reference 
-	 * Resolution of accel = 3.9mg/LSB 
-	 * Resolution of gyro  = (0.061degrees/second)/LSB */
-	offsets.off_acc_x = 10;
-	offsets.off_acc_y = -15;
-	offsets.off_acc_z = 20;
-	offsets.off_gyro_x = 30;
-	offsets.off_gyro_y = -35;
-	offsets.off_gyro_z = -40;
-
-	rslt = bmi160_set_offsets(&foc_conf, &offsets, sen);
-	 
-	if (rslt == BMI160_OK) {
-		/* Update the NVM */
-		rslt = bmi160_update_nvm(dev);
-	}
-	
-	/* After this procedure the offsets are written to 
-	 * NVM and restored on POR/soft-reset 
-	 * The set values can be removed to ideal case by 
-	 * invoking the following APIs
-	 *     - bmi160_start_foc()	 
-	 *     - bmi160_update_nvm()
-	 */
-
-	return rslt;
-}
-```
-
-
-
-## Copyright (C) 2016 - 2017 Bosch Sensortec GmbH
+# BMI160 Sensor API
+
+### Sensor overview
+
+The small, low power BMI160 is a low noise 16-bit IMU designed for mobile applications such as AR or indoor navigation, providing highly accurate sensor data and real-time sensor data. The low current consumption of BMI160 enables always-on applications in battery-driven devices. This sensor features a configurable on-chip interrupt engine which provides motion-based gesture recognition and context awareness as always-on background functions.
+
+### Target Application
+- Augmented reality and immersive gaming
+- Indoor navigation
+- 3D-scanning / indoor mapping
+- Advanced gesture recognition
+- Immersive gaming
+- 9-axis motion detection
+- Air mouse applications and pointers
+- Pedometer / step counting
+- Advanced system power management for mobile applications
+- Optical image stabilization of camera modules
+- Free-fall detection and warranty logging
+
+### Features
+- Any-motion detection (accelerometer)
+- Significant motion detection (accelerometer)
+- Step detector (accelerometer)
+- Tap sensing (accelerometer)
+- Orientation recognition (accelerometer)
+- Flat detection (accelerometer)
+- Low-G / Free-fall detection (accelerometer)
+- High-G detection (accelerometer)
+- Slow-motion alert / No-motion interrupt (accelerometer)
+- Data ready detection (accelerometer, gyroscope and external sensors)
+- PMU trigger (gyroscope)
+- FIFO interrupts ((accelerometer, gyroscope and external sensors)
+
+### Important links
+
+- [BMI160 product page](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi160/)
+- [BMI160 datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi160-ds000.pdf)
+- [BMI160 shuttle board flyer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/shuttle_board_flyer/bst-dhw-fl022.pdf)
+- [Community support page](https://community.bosch-sensortec.com)
+
+---
+#### Copyright (C) 2020 Bosch Sensortec GmbH

bmi160.c

@@ -30,17 +30,12 @@
 * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
-* @file bmi160.c
-* @date 10/01/2020
-* @version  3.8.1
+* @file       bmi160.c
+* @date       2021-03-12
+* @version    v3.9.1
 *
 */
 
-/*!
- * @defgroup bmi160
- * @brief
- * @{*/
-
 #include "bmi160.h"
 
 /* Below look up table follows the enum bmi160_int_types.
@@ -228,6 +223,16 @@ static int8_t null_ptr_check(const struct bmi160_dev *dev);
  */
 static int8_t set_accel_conf(struct bmi160_dev *dev);
 
+/*!
+ * @brief This API gets the accel configuration.
+ *
+ * @param[out] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t get_accel_conf(struct bmi160_dev *dev);
+
 /*!
  * @brief This API check the accel configuration.
  *
@@ -288,6 +293,16 @@ static int8_t check_invalid_settg(const struct bmi160_dev *dev);
  */
 static int8_t set_gyro_conf(struct bmi160_dev *dev);
 
+/*!
+ * @brief This API get the gyro configuration.
+ *
+ * @param[out] dev         : Structure instance of bmi160_dev.
+ *
+ * @return Result of API execution status
+ * @retval zero -> Success / -ve value -> Error.
+ */
+static int8_t get_gyro_conf(struct bmi160_dev *dev);
+
 /*!
  * @brief This API check the gyro configuration.
  *
@@ -1361,15 +1376,6 @@ int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
 {
     int8_t rslt = BMI160_OK;
 
-    /* Variable to define temporary length */
-    uint16_t temp_len = len + dev->dummy_byte;
-
-    /* Variable to define temporary buffer */
-    uint8_t temp_buf[temp_len];
-
-    /* Variable to define loop */
-    uint16_t indx = 0;
-
     /* Null-pointer check */
     if ((dev == NULL) || (dev->read == NULL))
     {
@@ -1382,25 +1388,12 @@ int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
     else
     {
         /* Configuring reg_addr for SPI Interface */
-        if (dev->interface == BMI160_SPI_INTF)
+        if (dev->intf == BMI160_SPI_INTF)
         {
             reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
         }
-        rslt = dev->read(dev->id, reg_addr, temp_buf, temp_len);
 
-        if (rslt == BMI160_OK)
-        {
-            /* Read the data from the position next to dummy byte */
-            while (indx < len)
-            {
-                data[indx] = temp_buf[indx];
-                indx++;
-            }
-        }
-        else
-        {
-            rslt = BMI160_E_COM_FAIL;
-        }
+        rslt = dev->read(dev->id, reg_addr, data, len);
     }
 
     return rslt;
@@ -1427,10 +1420,11 @@ int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
     else
     {
         /* Configuring reg_addr for SPI Interface */
-        if (dev->interface == BMI160_SPI_INTF)
+        if (dev->intf == BMI160_SPI_INTF)
         {
             reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
         }
+
         if ((dev->prev_accel_cfg.power == BMI160_ACCEL_NORMAL_MODE) ||
             (dev->prev_gyro_cfg.power == BMI160_GYRO_NORMAL_MODE))
         {
@@ -1454,6 +1448,7 @@ int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
 
             }
         }
+
         if (rslt != BMI160_OK)
         {
             rslt = BMI160_E_COM_FAIL;
@@ -1477,19 +1472,9 @@ int8_t bmi160_init(struct bmi160_dev *dev)
     /* Null-pointer check */
     rslt = null_ptr_check(dev);
 
-    /* An extra dummy byte is read during SPI read */
-    if (dev->interface == BMI160_SPI_INTF)
-    {
-        dev->dummy_byte = 1;
-    }
-    else
-    {
-        dev->dummy_byte = 0;
-    }
-
     /* Dummy read of 0x7F register to enable SPI Interface
      * if SPI is used */
-    if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+    if ((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF))
     {
         rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
     }
@@ -1504,6 +1489,7 @@ int8_t bmi160_init(struct bmi160_dev *dev)
             /* Read chip_id */
             rslt = bmi160_get_regs(BMI160_CHIP_ID_ADDR, &dev->chip_id, 1, dev);
         }
+
         if ((rslt == BMI160_OK) && (dev->chip_id == BMI160_CHIP_ID))
         {
             dev->any_sig_sel = BMI160_BOTH_ANY_SIG_MOTION_DISABLED;
@@ -1539,12 +1525,13 @@ int8_t bmi160_soft_reset(struct bmi160_dev *dev)
         /* Reset the device */
         rslt = bmi160_set_regs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
         dev->delay_ms(BMI160_SOFT_RESET_DELAY_MS);
-        if ((rslt == BMI160_OK) && (dev->interface == BMI160_SPI_INTF))
+        if ((rslt == BMI160_OK) && (dev->intf == BMI160_SPI_INTF))
         {
             /* Dummy read of 0x7F register to enable SPI Interface
              * if SPI is used */
             rslt = bmi160_get_regs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
         }
+
         if (rslt == BMI160_OK)
         {
             /* Update the default parameters */
@@ -1589,6 +1576,30 @@ int8_t bmi160_set_sens_conf(struct bmi160_dev *dev)
     return rslt;
 }
 
+/*!
+ * @brief This API gets accel and gyro configurations.
+ */
+int8_t bmi160_get_sens_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt = BMI160_OK;
+
+    /* Null-pointer check */
+    if ((dev == NULL) || (dev->delay_ms == NULL))
+    {
+        rslt = BMI160_E_NULL_PTR;
+    }
+    else
+    {
+        rslt = get_accel_conf(dev);
+        if (rslt == BMI160_OK)
+        {
+            rslt = get_gyro_conf(dev);
+        }
+    }
+
+    return rslt;
+}
+
 /*!
  * @brief This API sets the power mode of the sensor.
  */
@@ -1680,6 +1691,7 @@ int8_t bmi160_get_sensor_data(uint8_t select_sensor,
                 {
                     rslt = get_accel_data(len, accel, dev);
                 }
+
                 break;
             case BMI160_GYRO_ONLY:
 
@@ -1692,6 +1704,7 @@ int8_t bmi160_get_sensor_data(uint8_t select_sensor,
                 {
                     rslt = get_gyro_data(len, gyro, dev);
                 }
+
                 break;
             case BMI160_BOTH_ACCEL_AND_GYRO:
 
@@ -1704,6 +1717,7 @@ int8_t bmi160_get_sensor_data(uint8_t select_sensor,
                 {
                     rslt = get_accel_gyro_data(len, accel, gyro, dev);
                 }
+
                 break;
             default:
                 rslt = BMI160_E_INVALID_INPUT;
@@ -1830,6 +1844,7 @@ int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev
             {
                 data &= ~BMI160_STEP_COUNT_EN_BIT_MASK;
             }
+
             rslt = bmi160_set_regs(BMI160_INT_STEP_CONFIG_1_ADDR, &data, 1, dev);
         }
     }
@@ -2166,6 +2181,7 @@ int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev)
                  * more data than available in FIFO */
                 dev->fifo->length = bytes_to_read;
             }
+
             if ((dev->fifo->fifo_time_enable == BMI160_FIFO_TIME_ENABLE) &&
                 (bytes_to_read + BMI160_FIFO_BYTES_OVERREAD <= user_fifo_len))
             {
@@ -2682,14 +2698,17 @@ int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
         {
             rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR, &int_status->data[0], 1, dev);
         }
+
         if (int_status_sel & BMI160_INT_STATUS_1)
         {
             rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 1, &int_status->data[1], 1, dev);
         }
+
         if (int_status_sel & BMI160_INT_STATUS_2)
         {
             rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 2, &int_status->data[2], 1, dev);
         }
+
         if (int_status_sel & BMI160_INT_STATUS_3)
         {
             rslt = bmi160_get_regs(BMI160_INT_STATUS_ADDR + 3, &int_status->data[3], 1, dev);
@@ -3160,6 +3179,26 @@ static int8_t set_accel_conf(struct bmi160_dev *dev)
     return rslt;
 }
 
+/*!
+ * @brief This API gets the accel configuration.
+ */
+static int8_t get_accel_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    /* Get accel configurations */
+    rslt = bmi160_get_regs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        dev->accel_cfg.odr = (data[0] & BMI160_ACCEL_ODR_MASK);
+        dev->accel_cfg.bw = (data[0] & BMI160_ACCEL_BW_MASK) >> BMI160_ACCEL_BW_POS;
+        dev->accel_cfg.range = (data[1] & BMI160_ACCEL_RANGE_MASK);
+    }
+
+    return rslt;
+}
+
 /*!
  * @brief This API check the accel configuration.
  */
@@ -3194,7 +3233,7 @@ static int8_t process_accel_odr(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t odr = 0;
 
-    if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_MAX)
+    if (dev->accel_cfg.odr <= BMI160_ACCEL_ODR_1600HZ)
     {
         if (dev->accel_cfg.odr != dev->prev_accel_cfg.odr)
         {
@@ -3222,7 +3261,7 @@ static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t bw = 0;
 
-    if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_MAX)
+    if (dev->accel_cfg.bw <= BMI160_ACCEL_BW_RES_AVG128)
     {
         if (dev->accel_cfg.bw != dev->prev_accel_cfg.bw)
         {
@@ -3230,7 +3269,7 @@ static int8_t process_accel_bw(uint8_t *data, const struct bmi160_dev *dev)
             temp = *data & ~BMI160_ACCEL_BW_MASK;
 
             /* Adding bandwidth */
-            *data = temp | ((bw << 4) & BMI160_ACCEL_ODR_MASK);
+            *data = temp | ((bw << 4) & BMI160_ACCEL_BW_MASK);
         }
     }
     else
@@ -3250,7 +3289,7 @@ static int8_t process_accel_range(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t range = 0;
 
-    if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_MAX)
+    if (dev->accel_cfg.range <= BMI160_ACCEL_RANGE_16G)
     {
         if (dev->accel_cfg.range != dev->prev_accel_cfg.range)
         {
@@ -3328,6 +3367,26 @@ static int8_t set_gyro_conf(struct bmi160_dev *dev)
     return rslt;
 }
 
+/*!
+ * @brief This API gets the gyro configuration.
+ */
+static int8_t get_gyro_conf(struct bmi160_dev *dev)
+{
+    int8_t rslt;
+    uint8_t data[2] = { 0 };
+
+    /* Get accel configurations */
+    rslt = bmi160_get_regs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
+    if (rslt == BMI160_OK)
+    {
+        dev->gyro_cfg.odr = (data[0] & BMI160_GYRO_ODR_MASK);
+        dev->gyro_cfg.bw = (data[0] & BMI160_GYRO_BW_MASK) >> BMI160_GYRO_BW_POS;
+        dev->gyro_cfg.range = (data[1] & BMI160_GYRO_RANGE_MASK);
+    }
+
+    return rslt;
+}
+
 /*!
  * @brief This API check the gyro configuration.
  */
@@ -3362,7 +3421,7 @@ static int8_t process_gyro_odr(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t odr = 0;
 
-    if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_MAX)
+    if (dev->gyro_cfg.odr <= BMI160_GYRO_ODR_3200HZ)
     {
         if (dev->gyro_cfg.odr != dev->prev_gyro_cfg.odr)
         {
@@ -3390,7 +3449,7 @@ static int8_t process_gyro_bw(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t bw = 0;
 
-    if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_MAX)
+    if (dev->gyro_cfg.bw <= BMI160_GYRO_BW_NORMAL_MODE)
     {
         bw = (uint8_t)dev->gyro_cfg.bw;
         temp = *data & ~BMI160_GYRO_BW_MASK;
@@ -3415,15 +3474,15 @@ static int8_t process_gyro_range(uint8_t *data, const struct bmi160_dev *dev)
     uint8_t temp = 0;
     uint8_t range = 0;
 
-    if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_MAX)
+    if (dev->gyro_cfg.range <= BMI160_GYRO_RANGE_125_DPS)
     {
         if (dev->gyro_cfg.range != dev->prev_gyro_cfg.range)
         {
             range = (uint8_t)dev->gyro_cfg.range;
-            temp = *data & ~BMI160_GYRO_RANGE_MSK;
+            temp = *data & ~BMI160_GYRO_RANGE_MASK;
 
             /* Adding range */
-            *data = temp | (range & BMI160_GYRO_RANGE_MSK);
+            *data = temp | (range & BMI160_GYRO_RANGE_MASK);
         }
     }
     else
@@ -3457,6 +3516,7 @@ static int8_t set_accel_pwr(struct bmi160_dev *dev)
                 {
                     dev->delay_ms(BMI160_ACCEL_DELAY_MS);
                 }
+
                 dev->prev_accel_cfg.power = dev->accel_cfg.power;
             }
         }
@@ -3545,6 +3605,7 @@ static int8_t set_gyro_pwr(struct bmi160_dev *dev)
             {
                 /* do nothing */
             }
+
             dev->prev_gyro_cfg.power = dev->gyro_cfg.power;
         }
     }
@@ -4058,6 +4119,7 @@ static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no
             /* Adding No_motion x axis */
             data = temp | (1 & BMI160_NO_MOTION_X_INT_EN_MASK);
         }
+
         if (no_mot_int_cfg->no_motion_y == 1)
         {
             temp = data & ~BMI160_NO_MOTION_Y_INT_EN_MASK;
@@ -4065,6 +4127,7 @@ static int8_t enable_no_motion_int(const struct bmi160_acc_no_motion_int_cfg *no
             /* Adding No_motion x axis */
             data = temp | ((1 << 1) & BMI160_NO_MOTION_Y_INT_EN_MASK);
         }
+
         if (no_mot_int_cfg->no_motion_z == 1)
         {
             temp = data & ~BMI160_NO_MOTION_Z_INT_EN_MASK;
@@ -4514,6 +4577,7 @@ static int8_t config_tap_param(const struct bmi160_int_settg *int_config,
              * double tap interrupt */
             data = temp | (dur & BMI160_TAP_DUR_MASK);
         }
+
         shock = (uint8_t)tap_int_cfg->tap_shock;
         temp = data & ~BMI160_TAP_SHOCK_DUR_MASK;
         data = temp | ((shock << 6) & BMI160_TAP_SHOCK_DUR_MASK);
@@ -4675,6 +4739,7 @@ static int8_t extract_aux_read(uint16_t map_len,
                 {
                     aux_data[count + read_count] = data[read_count];
                 }
+
                 reg_addr += (uint8_t)map_len;
                 count += (uint8_t)map_len;
             }
@@ -5049,6 +5114,7 @@ static int8_t config_int_out_ctrl(const struct bmi160_int_settg *int_config, con
             temp = data & ~BMI160_INT2_EDGE_CTRL_MASK;
             data = temp | ((intr_pin_sett->edge_ctrl << 4) & BMI160_INT2_EDGE_CTRL_MASK);
         }
+
         rslt = bmi160_set_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
     }
 
@@ -5467,6 +5533,7 @@ static void get_accel_len_to_parse(uint16_t *data_index,
          * so we update the data index as complete */
         *data_index = dev->fifo->length;
     }
+
     if (*data_read_length > dev->fifo->length)
     {
         /* Handling the case where more data is requested
@@ -5712,6 +5779,7 @@ static void get_gyro_len_to_parse(uint16_t *data_index,
          * so we update the data index as complete */
         *data_index = dev->fifo->length;
     }
+
     if (*data_read_length > dev->fifo->length)
     {
         /* Handling the case where more data is requested
@@ -5961,6 +6029,7 @@ static void get_aux_len_to_parse(uint16_t *data_index,
          * so we update the data index as complete */
         *data_index = dev->fifo->length;
     }
+
     if (*data_read_length > dev->fifo->length)
     {
         /* Handling the case where more data is requested
@@ -6313,7 +6382,7 @@ static int8_t configure_offset_enable(const struct bmi160_foc_conf *foc_conf, st
 static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const *dev)
 {
     int8_t rslt;
-    uint8_t foc_status;
+    uint8_t foc_status = BMI160_ENABLE;
     uint8_t cmd = BMI160_START_FOC_CMD;
     uint8_t timeout = 0;
     uint8_t data_array[20];
@@ -6324,6 +6393,7 @@ static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const
     {
         /* Check the FOC status*/
         rslt = get_foc_status(&foc_status, dev);
+
         if ((rslt != BMI160_OK) || (foc_status != BMI160_ENABLE))
         {
             while ((foc_status != BMI160_ENABLE) && (timeout < 11))
@@ -6336,6 +6406,7 @@ static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const
                 rslt = get_foc_status(&foc_status, dev);
                 timeout++;
             }
+
             if ((rslt == BMI160_OK) && (foc_status == BMI160_ENABLE))
             {
                 /* Get offset values from sensor */
@@ -6347,6 +6418,7 @@ static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const
                 rslt = BMI160_FOC_FAILURE;
             }
         }
+
         if (rslt == BMI160_OK)
         {
             /* Read registers 0x04-0x17 */
@@ -6356,5 +6428,3 @@ static int8_t trigger_foc(struct bmi160_offsets *offset, struct bmi160_dev const
 
     return rslt;
 }
-
-/** @}*/

bmi160.h

@@ -30,16 +30,15 @@
 * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
-* @file bmi160.h
-* @date 10/01/2020
-* @version  3.8.1
+* @file       bmi160.h
+* @date       2021-03-12
+* @version    v3.9.1
 *
 */
 
 /*!
- * @defgroup bmi160
- * @brief
- * @{*/
+ * @defgroup bmi160 BMI160
+ */
 
 #ifndef BMI160_H_
 #define BMI160_H_
@@ -60,8 +59,19 @@ extern "C" {
 
 /*********************** User function prototypes ************************/
 
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiInit Initialization
+ * @brief Initialize the sensor and device structure
+ */
+
 /*!
- *  @brief This API is the entry point for sensor.It performs
+ * \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.
  *
@@ -69,12 +79,24 @@ extern "C" {
  *  @note : Refer user guide for detailed info.
  *
  *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error
+ * @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
+ */
+
 /*!
- * @brief This API reads the 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.
@@ -86,12 +108,18 @@ int8_t bmi160_init(struct bmi160_dev *dev);
  * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
+ * @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);
 
 /*!
- * @brief This API writes the given data to the register address
+ * \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.
@@ -101,45 +129,104 @@ int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const stru
  * @param[in] dev       : Structure instance of bmi160_dev.
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
+ * @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
+ */
+
 /*!
- * @brief This API resets and restarts the device.
+ * \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 / -ve value -> Error.
+ * @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
+ */
+
 /*!
- * @brief This API configures the power mode, range and bandwidth
+ * \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 / -ve value -> Error.
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
 
 /*!
- * @brief This API sets the power mode of the sensor.
+ * \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 / -ve value -> Error.
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
 
 /*!
- * @brief This API gets the power mode of the sensor.
+ * \ingroup bmi160ApiPowermode
+ * \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
+ * \code
+ * int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
+ * \endcode
+ * @details This API gets the power mode of the sensor.
  *
  * @param[in] power_mode  : Power mode of the sensor
  * @param[in] dev         : Structure instance of bmi160_dev
@@ -160,12 +247,28 @@ int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
  *  - BMI160_ACCEL_PMU_LOW_POWER
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error.
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
 
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiData Sensor Data
+ * @brief Read sensor data
+ */
+
 /*!
- * @brief This API reads sensor data, stores it in
+ * \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
@@ -177,15 +280,27 @@ int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct
  * @note : Refer user guide for detailed info.
  *
  * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error
+ * @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
+ */
+
 /*!
- * @brief This API configures the necessary interrupt based on
+ * \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.
@@ -193,36 +308,66 @@ int8_t bmi160_get_sensor_data(uint8_t select_sensor,
  * @note : Refer user guide for detailed info.
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
+ * @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
+ */
+
 /*!
- * @brief This API enables the step counter feature.
+ * \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 / -ve value -> Error
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
 
 /*!
- * @brief This API reads the step counter value.
+ * \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 / -ve value -> Error
+ * @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
+ */
+
 /*!
- * @brief This API reads the mention no of byte of data from the given
+ * \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.
@@ -232,12 +377,18 @@ int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev
  * @note : Refer user guide for detailed info.
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
+ * @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);
 
 /*!
- * @brief This API writes the mention no of byte of data to the given
+ * \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.
@@ -247,24 +398,36 @@ int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const
  * @note : Refer user guide for detailed info.
  *
  * @return Result of API execution status
- * @retval zero -> Success / -ve value -> Error
+ * @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);
 
 /*!
- * @brief This API initialize the auxiliary sensor
+ * \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 / -ve value -> Error
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_aux_init(const struct bmi160_dev *dev);
 
 /*!
- * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
+ * \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
  *
@@ -278,6 +441,7 @@ int8_t bmi160_aux_init(const struct bmi160_dev *dev);
  *         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
@@ -291,27 +455,40 @@ int8_t bmi160_aux_init(const struct bmi160_dev *dev);
  *  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  / -ve value -> Error
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
 
 /*!
- * @brief This API configures the 0x4C register and settings like
+ * \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  / -ve value -> Error
+ * @retval Zero Success
+ * @retval Negative Error
  */
 int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
 
 /*!
- * @brief This API is used to read the raw uncompensated auxiliary sensor
+ * \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
@@ -319,24 +496,38 @@ int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
  *                             length 8 bytes
  * @param[in] dev        : Structure instance of bmi160_dev
  *
- * @return Result of API execution status
  * @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
+ */
+
 /*!
- * @brief This is used to perform self test of accel/gyro of the BMI160 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.
  *
@@ -344,18 +535,25 @@ int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev
  * set the desired settings after performing the self test.
  *
  * @return Result of API execution status
- * @retval zero -> Success  / -ve value -> Error / +ve value -> Self-test fail
- *
- *   Return value                  |   Result of self test
- * --------------------------------|---------------------------------
- *  BMI160_OK                      |  Self test success
- *  BMI160_W_GYRO_SELF_TEST_FAIL   |  Gyro self test fail
- *  BMI160_W_ACCEl_SELF_TEST_FAIL  |  Accel self test fail
+ * @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
+ */
+
 /*!
- *  @brief This API reads data from the fifo buffer.
+ * \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
@@ -368,13 +566,18 @@ int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
  *  @param[in] dev     : Structure instance of bmi160_dev.
  *
  *  @return Result of API execution status
- *  @retval zero -> Success / -ve value -> Error
- *
+ *  @retval Zero Success
+ *  @retval Negative Error
  */
 int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
 
 /*!
- *  @brief This API writes fifo_flush command to command register.This
+ * \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.
  *
@@ -387,13 +590,21 @@ int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
  */
 int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
 
-/*! @brief This API sets the FIFO configuration in the sensor.
+/*!
+ * \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
@@ -401,8 +612,9 @@ int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
  *      BMI160_FIFO_TAG_INT1    |   0x08
  *      BMI160_FIFO_HEADER      |   0x10
  *      BMI160_FIFO_AUX         |   0x20
- *      BMI160_FIFO_ACCEL   |   0x40
+ *      BMI160_FIFO_ACCEL       |   0x40
  *      BMI160_FIFO_GYRO        |   0x80
+ *@endverbatim
  *
  *  @param[in] enable : Parameter used to enable or disable the above
  *  FIFO configuration
@@ -415,7 +627,13 @@ int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
  */
 int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
 
-/*! @brief This API is used to configure the down sampling ratios of
+/*!
+ * \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.
  *
@@ -424,6 +642,8 @@ int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev
  *
  *  @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
@@ -434,10 +654,12 @@ int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev
  *      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
@@ -448,16 +670,23 @@ int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev
  *      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
@@ -472,7 +701,12 @@ int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev
 int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
 
 /*!
- *  @brief This API sets the FIFO watermark level in the sensor.
+ * \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.
@@ -488,7 +722,13 @@ int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
 int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
 
 /*!
- *  @brief This API parses and extracts the accelerometer frames from
+ * \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.
  *
@@ -513,7 +753,12 @@ int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
 int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
 
 /*!
- *  @brief This API parses and extracts the gyro frames from
+ * \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.
  *
@@ -538,7 +783,12 @@ int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *acce
 int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
 
 /*!
- *  @brief This API parses and extracts the aux frames from
+ * \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.
  *
@@ -562,8 +812,19 @@ int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_l
  */
 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
+ */
+
 /*!
- *  @brief This API starts the FOC of accel and gyro
+ * \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
  *
@@ -605,8 +866,19 @@ 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
+ */
+
 /*!
- *  @brief This API reads and stores the offset values of accel and gyro
+ * \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
@@ -619,7 +891,14 @@ int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
 int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
 
 /*!
- *  @brief This API writes the offset values of accel and gyro to
+ * \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
@@ -645,8 +924,19 @@ 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
+ */
+
 /*!
- *  @brief This API writes the image registers values to NVM which is
+ * \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.
@@ -657,8 +947,21 @@ int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
  */
 int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
 
+/**
+ * \ingroup bmi160
+ * \defgroup bmi160ApiInts Interrupt status
+ * @brief Read interrupt status from the sensor
+ */
+
 /*!
- *  @brief This API gets the 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.
@@ -680,4 +983,3 @@ int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
 #endif
 
 #endif /* BMI160_H_ */
-/** @}*/

examples/read_chip_id/Makefile

@@ -0,0 +1,13 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_chip_id.c
+
+API_LOCATION ?= ../..
+
+C_SRCS += \
+$(API_LOCATION)/bmi160.c
+
+INCLUDEPATHS += \
+$(API_LOCATION)
+
+include $(COINES_INSTALL_PATH)/coines.mk

examples/read_chip_id/read_chip_id.c

@@ -0,0 +1,241 @@
+/**
+ * Copyright (C) 2018 Bosch Sensortec GmbH
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ * @file    bmi160_read_chip_id.c
+ * @brief   Sample file how to read bmi160 sensor chip ID using LIB COINES
+ *
+ */
+
+/*********************************************************************/
+/* system header files */
+/*********************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+/*********************************************************************/
+/* own header files */
+/*********************************************************************/
+#include "coines.h"
+#include "bmi160.h"
+
+/*********************************************************************/
+/* local macro definitions */
+/*! i2c interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_I2C  1
+
+/*! spi interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_SPI  0
+
+#if (!((BMI160_INTERFACE_I2C == 1) && (BMI160_INTERFACE_SPI == 0)) && \
+    (!((BMI160_INTERFACE_I2C == 0) && (BMI160_INTERFACE_SPI == 1))))
+#error "Invalid value given for the macros BMI160_INTERFACE_I2C / BMI160_INTERFACE_SPI"
+#endif
+
+/*! bmi160 shuttle id */
+#define BMI160_SHUTTLE_ID     0x38
+
+/*! bmi160 Device address */
+#define BMI160_DEV_ADDR       BMI160_I2C_ADDR
+
+/*********************************************************************/
+/* global variables */
+/*********************************************************************/
+
+/*! @brief This structure containing relevant bmi160 info */
+struct bmi160_dev bmi160dev;
+
+/*! @brief variable to hold the bmi160 accel data */
+struct bmi160_sensor_data bmi160_accel;
+
+/*! @brief variable to hold the bmi160 gyro data */
+struct bmi160_sensor_data bmi160_gyro;
+
+/*********************************************************************/
+/* static function declarations */
+/*********************************************************************/
+
+/*!
+ * @brief   internal API is used to initialize the sensor interface
+ */
+static void init_sensor_interface(void);
+
+/*!
+ * @brief   This internal API is used to initialize the bmi160 sensor with default
+ */
+static void init_bmi160(void);
+
+/*!
+ * @brief   This internal API is used to initialize the sensor driver interface
+ */
+static void init_bmi160_sensor_driver_interface(void);
+
+/*********************************************************************/
+/* functions */
+/*********************************************************************/
+
+/*!
+ *  @brief This internal API is used to initialize the sensor interface depending
+ *   on selection either SPI or I2C.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_sensor_interface(void)
+{
+    /* Switch VDD for sensor off */
+    coines_set_shuttleboard_vdd_vddio_config(0, 0);
+
+    /* wait until the sensor goes off */
+    coines_delay_msec(10);
+#if BMI160_INTERFACE_I2C == 1
+
+    /* SDO pin is made low for selecting I2C address 0x68 */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_15, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    /* set the sensor interface as I2C */
+    coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting I2C protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* CSB pin is made low for selecting SPI protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    coines_delay_msec(10);
+    coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+#endif
+    coines_delay_msec(10);
+
+    /* Switch VDD for sensor on */
+    coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+#if BMI160_INTERFACE_SPI == 1
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting SPI protocol
+     * Note: CSB has to see rising after power up, to switch to SPI protocol */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+}
+
+/*!
+ *  @brief This internal API is used to initializes the bmi160 sensor
+ *  settings like power mode and OSRS settings.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160(void)
+{
+    int8_t rslt;
+
+    rslt = bmi160_init(&bmi160dev);
+
+    if (rslt == BMI160_OK)
+    {
+        printf("BMI160 initialization success !\n");
+        printf("Chip ID 0x%X\n", bmi160dev.chip_id);
+    }
+    else
+    {
+        printf("BMI160 initialization failure !\n");
+        exit(COINES_E_FAILURE);
+    }
+}
+
+/*!
+ *  @brief This internal API is used to set the sensor driver interface to
+ *  read/write the data.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160_sensor_driver_interface(void)
+{
+#if BMI160_INTERFACE_I2C == 1
+
+    /* I2C setup */
+
+    /* link read/write/delay function of host system to appropriate
+     * bmi160 function call prototypes */
+    bmi160dev.write = coines_write_i2c;
+    bmi160dev.read = coines_read_i2c;
+    bmi160dev.delay_ms = coines_delay_msec;
+
+    /* set correct i2c address */
+    bmi160dev.id = BMI160_DEV_ADDR;
+    bmi160dev.intf = BMI160_I2C_INTF;
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* SPI setup */
+
+    /* link read/write/delay function of host system to appropriate
+     *  bmi160 function call prototypes */
+    bmi160dev.write = coines_write_spi;
+    bmi160dev.read = coines_read_spi;
+    bmi160dev.delay_ms = coines_delay_msec;
+    bmi160dev.id = COINES_SHUTTLE_PIN_7;
+    bmi160dev.intf = BMI160_SPI_INTF;
+#endif
+}
+
+/*!
+ *  @brief Main Function where the execution getting started to test the code.
+ *
+ *  @param[in] argc
+ *  @param[in] argv
+ *
+ *  @return status
+ *
+ */
+int main(int argc, char *argv[])
+{
+    struct coines_board_info board_info;
+    int16_t rslt;
+
+    init_bmi160_sensor_driver_interface();
+
+    rslt = coines_open_comm_intf(COINES_COMM_INTF_USB);
+
+    if (rslt < 0)
+    {
+        printf(
+            "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+            " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+        exit(rslt);
+    }
+
+    rslt = coines_get_board_info(&board_info);
+
+    if (rslt == COINES_SUCCESS)
+    {
+        if (board_info.shuttle_id != BMI160_SHUTTLE_ID)
+        {
+
+            printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+            exit(COINES_E_FAILURE);
+        }
+    }
+
+    init_sensor_interface();
+
+    /* After sensor init introduce 200 msec sleep */
+    coines_delay_msec(200);
+    init_bmi160();
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+
+    return EXIT_SUCCESS;
+}

examples/read_sensor_data/Makefile

@@ -0,0 +1,13 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= read_sensor_data.c
+
+API_LOCATION ?= ../..
+
+C_SRCS += \
+$(API_LOCATION)/bmi160.c
+
+INCLUDEPATHS += \
+$(API_LOCATION)
+
+include $(COINES_INSTALL_PATH)/coines.mk

examples/read_sensor_data/read_sensor_data.c

@@ -0,0 +1,275 @@
+/**
+ * Copyright (C) 2018 Bosch Sensortec GmbH
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ * @file    bmi160_read_sensor_data.c
+ * @brief   Sample file to read BMI160 sensor data using COINES library
+ *
+ */
+
+/*********************************************************************/
+/* system header files */
+/*********************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+/*********************************************************************/
+/* own header files */
+/*********************************************************************/
+#include "coines.h"
+#include "bmi160.h"
+
+/*********************************************************************/
+/* local macro definitions */
+/*! I2C interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_I2C  1
+
+/*! SPI interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_SPI  0
+
+#if (!((BMI160_INTERFACE_I2C == 1) && (BMI160_INTERFACE_SPI == 0)) && \
+    (!((BMI160_INTERFACE_I2C == 0) && (BMI160_INTERFACE_SPI == 1))))
+#error "Invalid value given for the macros BMI160_INTERFACE_I2C / BMI160_INTERFACE_SPI"
+#endif
+
+/*! bmi160 shuttle id */
+#define BMI160_SHUTTLE_ID     0x38
+
+/*! bmi160 Device address */
+#define BMI160_DEV_ADDR       BMI160_I2C_ADDR
+
+/*********************************************************************/
+/* global variables */
+/*********************************************************************/
+
+/*! @brief This structure containing relevant bmi160 info */
+struct bmi160_dev bmi160dev;
+
+/*! @brief variable to hold the bmi160 accel data */
+struct bmi160_sensor_data bmi160_accel;
+
+/*! @brief variable to hold the bmi160 gyro data */
+struct bmi160_sensor_data bmi160_gyro;
+
+/*********************************************************************/
+/* static function declarations */
+/*********************************************************************/
+
+/*!
+ * @brief   internal API is used to initialize the sensor interface
+ */
+static void init_sensor_interface(void);
+
+/*!
+ * @brief   This internal API is used to initialize the bmi160 sensor with default
+ */
+static void init_bmi160(void);
+
+/*!
+ * @brief   This internal API is used to initialize the sensor driver interface
+ */
+static void init_bmi160_sensor_driver_interface(void);
+
+/*********************************************************************/
+/* functions */
+/*********************************************************************/
+
+/*!
+ *  @brief This internal API is used to initialize the sensor interface depending
+ *   on selection either SPI or I2C.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_sensor_interface(void)
+{
+    /* Switch VDD for sensor off */
+    coines_set_shuttleboard_vdd_vddio_config(0, 0);
+
+    /* wait until the sensor goes off */
+    coines_delay_msec(10);
+#if BMI160_INTERFACE_I2C == 1
+
+    /* SDO pin is made low for selecting I2C address 0x68 */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_15, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    /* set the sensor interface as I2C */
+    coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting I2C protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* CSB pin is made low for selecting SPI protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    coines_delay_msec(10);
+    coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+#endif
+    coines_delay_msec(10);
+
+    /* Switch VDD for sensor on */
+    coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+#if BMI160_INTERFACE_SPI == 1
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting SPI protocol
+     * Note: CSB has to see rising after power up, to switch to SPI protocol */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+}
+
+/*!
+ *  @brief This internal API is used to initializes the bmi160 sensor
+ *  settings like power mode and OSRS settings.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160(void)
+{
+    int8_t rslt;
+
+    rslt = bmi160_init(&bmi160dev);
+
+    if (rslt == BMI160_OK)
+    {
+        printf("BMI160 initialization success !\n");
+        printf("Chip ID 0x%X\n", bmi160dev.chip_id);
+    }
+    else
+    {
+        printf("BMI160 initialization failure !\n");
+        exit(COINES_E_FAILURE);
+    }
+
+    /* Select the Output data rate, range of accelerometer sensor */
+    bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
+    bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_16G;
+    bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+
+    /* Select the power mode of accelerometer sensor */
+    bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+    /* Select the Output data rate, range of Gyroscope sensor */
+    bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
+    bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
+    bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
+
+    /* Select the power mode of Gyroscope sensor */
+    bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
+
+    /* Set the sensor configuration */
+    rslt = bmi160_set_sens_conf(&bmi160dev);
+}
+
+/*!
+ *  @brief This internal API is used to set the sensor driver interface to
+ *  read/write the data.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160_sensor_driver_interface(void)
+{
+#if BMI160_INTERFACE_I2C == 1
+
+    /* I2C setup */
+
+    /* link read/write/delay function of host system to appropriate
+     * bmi160 function call prototypes */
+    bmi160dev.write = coines_write_i2c;
+    bmi160dev.read = coines_read_i2c;
+    bmi160dev.delay_ms = coines_delay_msec;
+
+    /* set correct i2c address */
+    bmi160dev.id = BMI160_DEV_ADDR;
+    bmi160dev.intf = BMI160_I2C_INTF;
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* SPI setup */
+
+    /* link read/write/delay function of host system to appropriate
+     *  bmi160 function call prototypes */
+    bmi160dev.write = coines_write_spi;
+    bmi160dev.read = coines_read_spi;
+    bmi160dev.delay_ms = coines_delay_msec;
+    bmi160dev.id = COINES_SHUTTLE_PIN_7;
+    bmi160dev.intf = BMI160_SPI_INTF;
+#endif
+}
+
+/*!
+ *  @brief Main Function where the execution getting started to test the code.
+ *
+ *  @param[in] argc
+ *  @param[in] argv
+ *
+ *  @return status
+ *
+ */
+int main(int argc, char *argv[])
+{
+    struct coines_board_info board_info;
+    int16_t rslt;
+    int times_to_read = 0;
+
+    init_bmi160_sensor_driver_interface();
+
+    rslt = coines_open_comm_intf(COINES_COMM_INTF_USB);
+
+    if (rslt < 0)
+    {
+        printf(
+            "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+            " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+        exit(rslt);
+    }
+
+    rslt = coines_get_board_info(&board_info);
+
+    if (rslt == COINES_SUCCESS)
+    {
+        if (board_info.shuttle_id != BMI160_SHUTTLE_ID)
+        {
+
+            printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+            exit(COINES_E_FAILURE);
+        }
+    }
+
+    init_sensor_interface();
+
+    /* After sensor init introduce 200 msec sleep */
+    coines_delay_msec(200);
+    init_bmi160();
+
+    while (times_to_read < 100)
+    {
+        /* To read both Accel and Gyro data */
+        bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev);
+
+        printf("ax:%d\tay:%d\taz:%d\n", bmi160_accel.x, bmi160_accel.y, bmi160_accel.z);
+        printf("gx:%d\tgy:%d\tgz:%d\n", bmi160_gyro.x, bmi160_gyro.y, bmi160_gyro.z);
+        fflush(stdout);
+
+        coines_delay_msec(10);
+        times_to_read = times_to_read + 1;
+    }
+
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+
+    return EXIT_SUCCESS;
+}

examples/tap/Makefile

@@ -0,0 +1,13 @@
+COINES_INSTALL_PATH ?= ../../../..
+
+EXAMPLE_FILE ?= tap.c
+
+API_LOCATION ?= ../..
+
+C_SRCS += \
+$(API_LOCATION)/bmi160.c
+
+INCLUDEPATHS += \
+$(API_LOCATION)
+
+include $(COINES_INSTALL_PATH)/coines.mk

examples/tap/tap.c

@@ -0,0 +1,370 @@
+/**
+ * Copyright (C) 2018 Bosch Sensortec GmbH
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ * @file    bmi160_read_sensor_data.c
+ * @brief   Sample file to read BMI160 sensor data using COINES library
+ *
+ */
+
+/*********************************************************************/
+/* system header files */
+/*********************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+/*********************************************************************/
+/* own header files */
+/*********************************************************************/
+#include "coines.h"
+#include "bmi160.h"
+
+/*********************************************************************/
+/* local macro definitions */
+/*! i2c interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_I2C  0
+
+/*! spi interface communication, 1 - Enable; 0- Disable */
+#define BMI160_INTERFACE_SPI  1
+
+#if (!((BMI160_INTERFACE_I2C == 1) && (BMI160_INTERFACE_SPI == 0)) && \
+    (!((BMI160_INTERFACE_I2C == 0) && (BMI160_INTERFACE_SPI == 1))))
+#error "Invalid value given for the macros BMI160_INTERFACE_I2C / BMI160_INTERFACE_SPI"
+#endif
+
+/*! bmi160 shuttle id */
+#define BMI160_SHUTTLE_ID     0x38
+
+/*! bmi160 Device address */
+#define BMI160_DEV_ADDR       BMI160_I2C_ADDR
+
+/*********************************************************************/
+/* global variables */
+/*********************************************************************/
+
+/*! @brief This structure containing relevant bmi160 info */
+struct bmi160_dev bmi160dev;
+
+/*! @brief variable to hold the bmi160 accel data */
+struct bmi160_sensor_data bmi160_accel;
+
+/*! @brief variable to hold the bmi160 gyro data */
+struct bmi160_sensor_data bmi160_gyro;
+
+/*********************************************************************/
+/* static function declarations */
+/*********************************************************************/
+
+/*!
+ * @brief   internal API is used to initialize the sensor interface
+ */
+static void init_sensor_interface(void);
+
+/*!
+ * @brief   This internal API is used to initialize the bmi160 sensor with default
+ */
+static void init_bmi160(void);
+
+/*!
+ * @brief   This internal API is used to initialize the sensor driver interface
+ */
+static void init_bmi160_sensor_driver_interface(void);
+
+/*!
+ * @brief   This internal API is used to set tap configurations
+ */
+static int8_t set_tap_config(uint8_t feature_enable);
+
+/*********************************************************************/
+/* functions */
+/*********************************************************************/
+
+/*!
+ *  @brief This internal API is used to initialize the sensor interface depending
+ *   on selection either SPI or I2C.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_sensor_interface(void)
+{
+    /* Switch VDD for sensor off */
+    coines_set_shuttleboard_vdd_vddio_config(0, 0);
+
+    /* wait until the sensor goes off */
+    coines_delay_msec(10);
+#if BMI160_INTERFACE_I2C == 1
+
+    /* SDO pin is made low for selecting I2C address 0x68 */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_15, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    /* set the sensor interface as I2C */
+    coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting I2C protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* CSB pin is made low for selecting SPI protocol*/
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);
+
+    coines_delay_msec(10);
+    coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
+#endif
+    coines_delay_msec(10);
+
+    /* Switch VDD for sensor on */
+    coines_set_shuttleboard_vdd_vddio_config(3300, 3300);
+
+#if BMI160_INTERFACE_SPI == 1
+    coines_delay_msec(10);
+
+    /* CSB pin is made high for selecting SPI protocol
+     * Note: CSB has to see rising after power up, to switch to SPI protocol */
+    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
+#endif
+}
+
+/*!
+ *  @brief This internal API is used to initializes the bmi160 sensor
+ *  settings like power mode and OSRS settings.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160(void)
+{
+    int8_t rslt;
+
+    rslt = bmi160_init(&bmi160dev);
+
+    if (rslt == BMI160_OK)
+    {
+        printf("BMI160 initialization success !\n");
+        printf("Chip ID 0x%X\n", bmi160dev.chip_id);
+    }
+    else
+    {
+        printf("BMI160 initialization failure !\n");
+        exit(COINES_E_FAILURE);
+    }
+
+    /* Select the Output data rate, range of accelerometer sensor */
+    bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
+    bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_8G;
+    bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
+
+    /* Select the power mode of accelerometer sensor */
+    bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
+
+    /* Set the sensor configuration */
+    rslt = bmi160_set_sens_conf(&bmi160dev);
+}
+
+/*!
+ *  @brief This internal API is used to set the sensor driver interface to
+ *  read/write the data.
+ *
+ *  @param[in] void
+ *
+ *  @return void
+ *
+ */
+static void init_bmi160_sensor_driver_interface(void)
+{
+#if BMI160_INTERFACE_I2C == 1
+
+    /* I2C setup */
+
+    /* link read/write/delay function of host system to appropriate
+     * bmi160 function call prototypes */
+    bmi160dev.write = coines_write_i2c;
+    bmi160dev.read = coines_read_i2c;
+    bmi160dev.delay_ms = coines_delay_msec;
+
+    /* set correct i2c address */
+    bmi160dev.id = BMI160_DEV_ADDR;
+    bmi160dev.intf = BMI160_I2C_INTF;
+#endif
+#if BMI160_INTERFACE_SPI == 1
+
+    /* SPI setup */
+
+    /* link read/write/delay function of host system to appropriate
+     *  bmi160 function call prototypes */
+    bmi160dev.write = coines_write_spi;
+    bmi160dev.read = coines_read_spi;
+    bmi160dev.delay_ms = coines_delay_msec;
+    bmi160dev.id = COINES_SHUTTLE_PIN_7;
+    bmi160dev.intf = BMI160_SPI_INTF;
+#endif
+}
+
+/*!
+ *  @brief Main Function where the execution getting started to test the code.
+ *
+ *  @param[in] argc
+ *  @param[in] argv
+ *
+ *  @return status
+ *
+ */
+int main(int argc, char *argv[])
+{
+    struct coines_board_info board_info;
+    int16_t rslt;
+
+    init_bmi160_sensor_driver_interface();
+
+    rslt = coines_open_comm_intf(COINES_COMM_INTF_USB);
+
+    if (rslt < 0)
+    {
+        printf(
+            "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
+            " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
+        exit(rslt);
+    }
+
+    rslt = coines_get_board_info(&board_info);
+
+    if (rslt == COINES_SUCCESS)
+    {
+        if (board_info.shuttle_id != BMI160_SHUTTLE_ID)
+        {
+
+            printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
+            exit(COINES_E_FAILURE);
+        }
+    }
+
+    init_sensor_interface();
+
+    /* after sensor init introduce 200 msec sleep */
+    coines_delay_msec(200);
+    init_bmi160();
+
+    rslt = set_tap_config(BMI160_ENABLE);
+    if (rslt == BMI160_OK)
+    {
+        union bmi160_int_status int_status;
+        uint8_t loop = 0;
+        uint32_t last_time = 0;
+        uint32_t current_time = 0;
+
+        printf("Do Single or Double Tap the board\n");
+        fflush(stdout);
+
+        memset(int_status.data, 0x00, sizeof(int_status.data));
+
+        while (loop < 10)
+        {
+            /* Read interrupt status */
+            rslt = bmi160_get_int_status(BMI160_INT_STATUS_ALL, &int_status, &bmi160dev);
+            current_time = coines_get_millis();
+
+            /* Enters only if the obtained interrupt is single-tap */
+            if (rslt == BMI160_OK)
+            {
+                /* Enters only if the obtained interrupt is single-tap */
+                if (int_status.bit.s_tap)
+                {
+                    printf("Single tap, iter:%d, time:%d ms, delta:%d ms, int_status:0x%x\n",
+                           loop++,
+                           current_time,
+                           current_time - last_time,
+                           int_status.data[0]);
+                }
+                /* Enters only if the obtained interrupt is double-tap */
+                else if (int_status.bit.d_tap)
+                {
+                    printf("Double tap, iter:%d, time:%d ms, delta:%d ms, int_status:0x%x\n",
+                           loop++,
+                           current_time,
+                           current_time - last_time,
+                           int_status.data[0]);
+                }
+
+                fflush(stdout);
+            }
+            else
+            {
+                break;
+            }
+
+            memset(int_status.data, 0x00, sizeof(int_status.data));
+            last_time = current_time;
+        }
+
+        /* Disable tap feature */
+        printf("\nDisable tap test...\n");
+        rslt = set_tap_config(BMI160_DISABLE);
+        printf("bmi160_set_int_config(tap enable) status:%d\n", rslt);
+
+        fflush(stdout);
+    }
+
+    coines_close_comm_intf(COINES_COMM_INTF_USB);
+
+    return EXIT_SUCCESS;
+}
+
+static int8_t set_tap_config(uint8_t feature_enable)
+{
+    int8_t rslt = BMI160_OK;
+    struct bmi160_int_settg int_config;
+
+    if (feature_enable > 0)
+    {
+        /* Select the Interrupt channel/pin */
+        int_config.int_channel = BMI160_INT_CHANNEL_1; /* Interrupt channel/pin 1 */
+
+        /* Select the interrupt channel/pin settings */
+        int_config.int_pin_settg.output_en = BMI160_ENABLE; /* Enabling interrupt pins to act as output pin */
+        int_config.int_pin_settg.output_mode = BMI160_DISABLE; /* Choosing push-pull mode for interrupt pin */
+        int_config.int_pin_settg.output_type = BMI160_ENABLE; /* Choosing active low output */
+        int_config.int_pin_settg.edge_ctrl = BMI160_DISABLE; /* Choosing edge triggered output */
+        int_config.int_pin_settg.input_en = BMI160_DISABLE; /* Disabling interrupt pin to act as input */
+        int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE; /* non-latched output */
+
+        /* Select the Interrupt type */
+        int_config.int_type = BMI160_ACC_SINGLE_TAP_INT; /* Choosing tap interrupt */
+
+        /* Select the Any-motion interrupt parameters */
+        int_config.int_type_cfg.acc_tap_int.tap_en = BMI160_ENABLE; /* 1- Enable tap, 0- disable tap */
+        int_config.int_type_cfg.acc_tap_int.tap_thr = 2; /* Set tap threshold */
+        int_config.int_type_cfg.acc_tap_int.tap_dur = 2; /* Set tap duration */
+        int_config.int_type_cfg.acc_tap_int.tap_shock = 0; /* Set tap shock value */
+        int_config.int_type_cfg.acc_tap_int.tap_quiet = 0; /* Set tap quiet duration */
+        int_config.int_type_cfg.acc_tap_int.tap_data_src = 1; /* data source 0 : filter or 1 : pre-filter */
+
+        /* Set the Any-motion interrupt */
+        rslt = bmi160_set_int_config(&int_config, &bmi160dev); /* sensor is an instance of the structure bmi160_dev  */
+        printf("bmi160_set_int_config(tap enable) status:%d\n", rslt);
+    }
+    else
+    {
+        /* Select the Interrupt channel/pin */
+        int_config.int_channel = BMI160_INT_CHANNEL_1;
+        int_config.int_pin_settg.output_en = BMI160_DISABLE; /* Disabling interrupt pins to act as output pin */
+        int_config.int_pin_settg.edge_ctrl = BMI160_DISABLE; /* Choosing edge triggered output */
+
+        /* Select the Interrupt type */
+        int_config.int_type = BMI160_ACC_SINGLE_TAP_INT; /* Choosing Tap interrupt */
+        int_config.int_type_cfg.acc_tap_int.tap_en = BMI160_DISABLE; /* 1- Enable tap, 0- disable tap */
+
+        /* Set the Data ready interrupt */
+        rslt = bmi160_set_int_config(&int_config, &bmi160dev); /* sensor is an instance of the structure bmi160_dev */
+        printf("bmi160_set_int_config(tap disable) status:%d\n", rslt);
+    }
+
+    return rslt;
+}