Momentum-Apps/bmi160_defs.h

/**
 * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 *
 * 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.
 *
 * Neither the name of the copyright holder nor the names of the
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
 * OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
 * OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
 *
 * The information provided is believed to be accurate and reliable.
 * The copyright holder assumes no responsibility
 * for the consequences of use
 * of such information nor for any infringement of patents or
 * other rights of third parties which may result from its use.
 * No license is granted by implication or otherwise under any patent or
 * patent rights of the copyright holder.
 *
 * @file    bmi160_defs.h
 * @date    11 Jan 2018
 * @version 3.7.5
 * @brief
 *
 */

/*!
 * @defgroup bmi160_defs
 * @brief
 * @{*/

#ifndef BMI160_DEFS_H_
#define BMI160_DEFS_H_

/*************************** C types headers *****************************/
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif

/*************************** Common macros   *****************************/

#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x)       S8_C(x)
#define UINT8_C(x)      U8_C(x)
#endif

#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x)      S16_C(x)
#define UINT16_C(x)     U16_C(x)
#endif

#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x)      S32_C(x)
#define UINT32_C(x)     U32_C(x)
#endif

#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x)      S64_C(x)
#define UINT64_C(x)     U64_C(x)
#endif

/**@}*/

/**\name C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL   0
#else
#define NULL   ((void *) 0)
#endif
#endif

/*************************** Sensor macros   *****************************/
/* Test for an endian machine */
#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
#define LITTLE_ENDIAN   1
#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
#define BIG_ENDIAN   1
#else
#error "Code does not support Endian format of the processor"
#endif

/** Mask definitions */
#define BMI160_ACCEL_BW_MASK                    UINT8_C(0x70)
#define BMI160_ACCEL_ODR_MASK                   UINT8_C(0x0F)
#define BMI160_ACCEL_UNDERSAMPLING_MASK         UINT8_C(0x80)
#define BMI160_ACCEL_RANGE_MASK                 UINT8_C(0x0F)
#define BMI160_GYRO_BW_MASK                     UINT8_C(0x30)
#define BMI160_GYRO_ODR_MASK                    UINT8_C(0x0F)
#define BMI160_GYRO_RANGE_MSK                   UINT8_C(0x07)

/** Mask definitions for INT_EN registers */
#define BMI160_ANY_MOTION_X_INT_EN_MASK         UINT8_C(0x01)
#define BMI160_HIGH_G_X_INT_EN_MASK             UINT8_C(0x01)
#define BMI160_NO_MOTION_X_INT_EN_MASK          UINT8_C(0x01)
#define BMI160_ANY_MOTION_Y_INT_EN_MASK         UINT8_C(0x02)
#define BMI160_HIGH_G_Y_INT_EN_MASK             UINT8_C(0x02)
#define BMI160_NO_MOTION_Y_INT_EN_MASK          UINT8_C(0x02)
#define BMI160_ANY_MOTION_Z_INT_EN_MASK         UINT8_C(0x04)
#define BMI160_HIGH_G_Z_INT_EN_MASK             UINT8_C(0x04)
#define BMI160_NO_MOTION_Z_INT_EN_MASK          UINT8_C(0x04)
#define BMI160_SIG_MOTION_INT_EN_MASK           UINT8_C(0x07)
#define BMI160_ANY_MOTION_ALL_INT_EN_MASK	UINT8_C(0x07)
#define BMI160_STEP_DETECT_INT_EN_MASK          UINT8_C(0x08)
#define BMI160_DOUBLE_TAP_INT_EN_MASK           UINT8_C(0x10)
#define BMI160_SINGLE_TAP_INT_EN_MASK           UINT8_C(0x20)
#define BMI160_FIFO_FULL_INT_EN_MASK            UINT8_C(0x20)
#define BMI160_ORIENT_INT_EN_MASK               UINT8_C(0x40)
#define BMI160_FIFO_WATERMARK_INT_EN_MASK       UINT8_C(0x40)
#define BMI160_LOW_G_INT_EN_MASK                UINT8_C(0x08)
#define BMI160_STEP_DETECT_EN_MASK              UINT8_C(0x08)
#define BMI160_FLAT_INT_EN_MASK                 UINT8_C(0x80)
#define BMI160_DATA_RDY_INT_EN_MASK             UINT8_C(0x10)

/** PMU status Macros */
#define BMI160_AUX_PMU_SUSPEND         UINT8_C(0x00)
#define BMI160_AUX_PMU_NORMAL          UINT8_C(0x01)
#define BMI160_AUX_PMU_LOW_POWER       UINT8_C(0x02)

#define BMI160_GYRO_PMU_SUSPEND        UINT8_C(0x00)
#define BMI160_GYRO_PMU_NORMAL         UINT8_C(0x01)
#define BMI160_GYRO_PMU_FSU            UINT8_C(0x03)

#define BMI160_ACCEL_PMU_SUSPEND       UINT8_C(0x00)
#define BMI160_ACCEL_PMU_NORMAL        UINT8_C(0x01)
#define BMI160_ACCEL_PMU_LOW_POWER     UINT8_C(0x02)

/** Mask definitions for INT_OUT_CTRL register */
#define BMI160_INT1_EDGE_CTRL_MASK              UINT8_C(0x01)
#define BMI160_INT1_OUTPUT_MODE_MASK            UINT8_C(0x04)
#define BMI160_INT1_OUTPUT_TYPE_MASK            UINT8_C(0x02)
#define BMI160_INT1_OUTPUT_EN_MASK              UINT8_C(0x08)
#define BMI160_INT2_EDGE_CTRL_MASK              UINT8_C(0x10)
#define BMI160_INT2_OUTPUT_MODE_MASK            UINT8_C(0x40)
#define BMI160_INT2_OUTPUT_TYPE_MASK            UINT8_C(0x20)
#define BMI160_INT2_OUTPUT_EN_MASK              UINT8_C(0x80)

/** Mask definitions for INT_LATCH register */
#define BMI160_INT1_INPUT_EN_MASK               UINT8_C(0x10)
#define BMI160_INT2_INPUT_EN_MASK               UINT8_C(0x20)
#define BMI160_INT_LATCH_MASK                   UINT8_C(0x0F)

/** Mask definitions for INT_MAP register */
#define BMI160_INT1_LOW_G_MASK                  UINT8_C(0x01)
#define BMI160_INT1_HIGH_G_MASK                 UINT8_C(0x02)
#define BMI160_INT1_SLOPE_MASK                  UINT8_C(0x04)
#define BMI160_INT1_NO_MOTION_MASK              UINT8_C(0x08)
#define BMI160_INT1_DOUBLE_TAP_MASK             UINT8_C(0x10)
#define BMI160_INT1_SINGLE_TAP_MASK             UINT8_C(0x20)
#define BMI160_INT1_FIFO_FULL_MASK              UINT8_C(0x20)
#define BMI160_INT1_FIFO_WM_MASK		UINT8_C(0x40)
#define BMI160_INT1_ORIENT_MASK                 UINT8_C(0x40)
#define BMI160_INT1_FLAT_MASK                   UINT8_C(0x80)
#define BMI160_INT1_DATA_READY_MASK             UINT8_C(0x80)
#define BMI160_INT2_LOW_G_MASK                  UINT8_C(0x01)
#define BMI160_INT1_LOW_STEP_DETECT_MASK        UINT8_C(0x01)
#define BMI160_INT2_LOW_STEP_DETECT_MASK        UINT8_C(0x01)
#define BMI160_INT2_HIGH_G_MASK                 UINT8_C(0x02)
#define BMI160_INT2_FIFO_FULL_MASK              UINT8_C(0x02)
#define BMI160_INT2_FIFO_WM_MASK		UINT8_C(0x04)
#define BMI160_INT2_SLOPE_MASK                  UINT8_C(0x04)
#define BMI160_INT2_DATA_READY_MASK             UINT8_C(0x08)
#define BMI160_INT2_NO_MOTION_MASK              UINT8_C(0x08)
#define BMI160_INT2_DOUBLE_TAP_MASK             UINT8_C(0x10)
#define BMI160_INT2_SINGLE_TAP_MASK             UINT8_C(0x20)
#define BMI160_INT2_ORIENT_MASK                 UINT8_C(0x40)
#define BMI160_INT2_FLAT_MASK                   UINT8_C(0x80)

/** Mask definitions for INT_DATA register */
#define BMI160_TAP_SRC_INT_MASK                 UINT8_C(0x08)
#define BMI160_LOW_HIGH_SRC_INT_MASK            UINT8_C(0x80)
#define BMI160_MOTION_SRC_INT_MASK              UINT8_C(0x80)

/** Mask definitions for INT_MOTION register */
#define BMI160_SLOPE_INT_DUR_MASK               UINT8_C(0x03)
#define BMI160_NO_MOTION_INT_DUR_MASK           UINT8_C(0xFC)
#define BMI160_NO_MOTION_SEL_BIT_MASK           UINT8_C(0x01)

/** Mask definitions for INT_TAP register */
#define BMI160_TAP_DUR_MASK                     UINT8_C(0x07)
#define BMI160_TAP_SHOCK_DUR_MASK               UINT8_C(0x40)
#define BMI160_TAP_QUIET_DUR_MASK               UINT8_C(0x80)
#define BMI160_TAP_THRES_MASK                   UINT8_C(0x1F)

/** Mask definitions for INT_FLAT register */
#define BMI160_FLAT_THRES_MASK                  UINT8_C(0x3F)
#define BMI160_FLAT_HOLD_TIME_MASK              UINT8_C(0x30)
#define BMI160_FLAT_HYST_MASK                   UINT8_C(0x07)

/** Mask definitions for INT_LOWHIGH register */
#define BMI160_LOW_G_HYST_MASK                  UINT8_C(0x03)
#define BMI160_LOW_G_LOW_MODE_MASK              UINT8_C(0x04)
#define BMI160_HIGH_G_HYST_MASK                 UINT8_C(0xC0)

/** Mask definitions for INT_SIG_MOTION register */
#define BMI160_SIG_MOTION_SEL_MASK              UINT8_C(0x02)
#define BMI160_SIG_MOTION_SKIP_MASK             UINT8_C(0x0C)
#define BMI160_SIG_MOTION_PROOF_MASK            UINT8_C(0x30)

/** Mask definitions for INT_ORIENT register */
#define BMI160_ORIENT_MODE_MASK                 UINT8_C(0x03)
#define BMI160_ORIENT_BLOCK_MASK                UINT8_C(0x0C)
#define BMI160_ORIENT_HYST_MASK                 UINT8_C(0xF0)
#define BMI160_ORIENT_THETA_MASK                UINT8_C(0x3F)
#define BMI160_ORIENT_UD_ENABLE                 UINT8_C(0x40)
#define BMI160_AXES_EN_MASK                     UINT8_C(0x80)

/** Mask definitions for FIFO_CONFIG register */
#define BMI160_FIFO_GYRO			UINT8_C(0x80)
#define BMI160_FIFO_ACCEL			UINT8_C(0x40)
#define BMI160_FIFO_AUX				UINT8_C(0x20)
#define BMI160_FIFO_TAG_INT1			UINT8_C(0x08)
#define BMI160_FIFO_TAG_INT2			UINT8_C(0x04)
#define BMI160_FIFO_TIME			UINT8_C(0x02)
#define BMI160_FIFO_HEADER			UINT8_C(0x10)
#define BMI160_FIFO_CONFIG_1_MASK               UINT8_C(0xFE)


/** Mask definitions for STEP_CONF register */
#define BMI160_STEP_COUNT_EN_BIT_MASK           UINT8_C(0x08)
#define BMI160_STEP_DETECT_MIN_THRES_MASK       UINT8_C(0x18)
#define BMI160_STEP_DETECT_STEPTIME_MIN_MASK    UINT8_C(0x07)
#define BMI160_STEP_MIN_BUF_MASK                UINT8_C(0x07)

/** Mask definition for FIFO Header Data Tag */
#define BMI160_FIFO_TAG_INTR_MASK               UINT8_C(0xFC)

/** Fifo byte counter mask definitions */
#define BMI160_FIFO_BYTE_COUNTER_MASK           UINT8_C(0x07)

/** Enable/disable bit value */
#define BMI160_ENABLE                           UINT8_C(0x01)
#define BMI160_DISABLE                          UINT8_C(0x00)

/** Latch Duration */
#define BMI160_LATCH_DUR_NONE                   UINT8_C(0x00)
#define BMI160_LATCH_DUR_312_5_MICRO_SEC        UINT8_C(0x01)
#define BMI160_LATCH_DUR_625_MICRO_SEC          UINT8_C(0x02)
#define BMI160_LATCH_DUR_1_25_MILLI_SEC         UINT8_C(0x03)
#define BMI160_LATCH_DUR_2_5_MILLI_SEC          UINT8_C(0x04)
#define BMI160_LATCH_DUR_5_MILLI_SEC            UINT8_C(0x05)
#define BMI160_LATCH_DUR_10_MILLI_SEC           UINT8_C(0x06)
#define BMI160_LATCH_DUR_20_MILLI_SEC           UINT8_C(0x07)
#define BMI160_LATCH_DUR_40_MILLI_SEC           UINT8_C(0x08)
#define BMI160_LATCH_DUR_80_MILLI_SEC           UINT8_C(0x09)
#define BMI160_LATCH_DUR_160_MILLI_SEC          UINT8_C(0x0A)
#define BMI160_LATCH_DUR_320_MILLI_SEC          UINT8_C(0x0B)
#define BMI160_LATCH_DUR_640_MILLI_SEC          UINT8_C(0x0C)
#define BMI160_LATCH_DUR_1_28_SEC               UINT8_C(0x0D)
#define BMI160_LATCH_DUR_2_56_SEC               UINT8_C(0x0E)
#define BMI160_LATCHED                          UINT8_C(0x0F)

/** BMI160 Register map */
#define BMI160_CHIP_ID_ADDR		UINT8_C(0x00)
#define BMI160_ERROR_REG_ADDR		UINT8_C(0x02)
#define BMI160_PMU_STATUS_ADDR		UINT8_C(0x03)
#define BMI160_AUX_DATA_ADDR		UINT8_C(0x04)
#define BMI160_GYRO_DATA_ADDR		UINT8_C(0x0C)
#define BMI160_ACCEL_DATA_ADDR		UINT8_C(0x12)
#define BMI160_STATUS_ADDR		UINT8_C(0x1B)
#define BMI160_INT_STATUS_ADDR		UINT8_C(0x1C)
#define BMI160_FIFO_LENGTH_ADDR		UINT8_C(0x22)
#define BMI160_FIFO_DATA_ADDR		UINT8_C(0x24)
#define BMI160_ACCEL_CONFIG_ADDR	UINT8_C(0x40)
#define BMI160_ACCEL_RANGE_ADDR		UINT8_C(0x41)
#define BMI160_GYRO_CONFIG_ADDR		UINT8_C(0x42)
#define BMI160_GYRO_RANGE_ADDR		UINT8_C(0x43)
#define BMI160_AUX_ODR_ADDR		UINT8_C(0x44)
#define BMI160_FIFO_DOWN_ADDR           UINT8_C(0x45)
#define BMI160_FIFO_CONFIG_0_ADDR       UINT8_C(0x46)
#define BMI160_FIFO_CONFIG_1_ADDR       UINT8_C(0x47)
#define BMI160_AUX_IF_0_ADDR		UINT8_C(0x4B)
#define BMI160_AUX_IF_1_ADDR		UINT8_C(0x4C)
#define BMI160_AUX_IF_2_ADDR		UINT8_C(0x4D)
#define BMI160_AUX_IF_3_ADDR		UINT8_C(0x4E)
#define BMI160_AUX_IF_4_ADDR		UINT8_C(0x4F)
#define BMI160_INT_ENABLE_0_ADDR         UINT8_C(0x50)
#define BMI160_INT_ENABLE_1_ADDR         UINT8_C(0x51)
#define BMI160_INT_ENABLE_2_ADDR         UINT8_C(0x52)
#define BMI160_INT_OUT_CTRL_ADDR         UINT8_C(0x53)
#define BMI160_INT_LATCH_ADDR            UINT8_C(0x54)
#define BMI160_INT_MAP_0_ADDR            UINT8_C(0x55)
#define BMI160_INT_MAP_1_ADDR            UINT8_C(0x56)
#define BMI160_INT_MAP_2_ADDR            UINT8_C(0x57)
#define BMI160_INT_DATA_0_ADDR           UINT8_C(0x58)
#define BMI160_INT_DATA_1_ADDR           UINT8_C(0x59)
#define BMI160_INT_LOWHIGH_0_ADDR        UINT8_C(0x5A)
#define BMI160_INT_LOWHIGH_1_ADDR        UINT8_C(0x5B)
#define BMI160_INT_LOWHIGH_2_ADDR        UINT8_C(0x5C)
#define BMI160_INT_LOWHIGH_3_ADDR        UINT8_C(0x5D)
#define BMI160_INT_LOWHIGH_4_ADDR        UINT8_C(0x5E)
#define BMI160_INT_MOTION_0_ADDR         UINT8_C(0x5F)
#define BMI160_INT_MOTION_1_ADDR         UINT8_C(0x60)
#define BMI160_INT_MOTION_2_ADDR         UINT8_C(0x61)
#define BMI160_INT_MOTION_3_ADDR         UINT8_C(0x62)
#define BMI160_INT_TAP_0_ADDR            UINT8_C(0x63)
#define BMI160_INT_TAP_1_ADDR            UINT8_C(0x64)
#define BMI160_INT_ORIENT_0_ADDR         UINT8_C(0x65)
#define BMI160_INT_ORIENT_1_ADDR         UINT8_C(0x66)
#define BMI160_INT_FLAT_0_ADDR           UINT8_C(0x67)
#define BMI160_INT_FLAT_1_ADDR           UINT8_C(0x68)
#define BMI160_FOC_CONF_ADDR             UINT8_C(0x69)
#define BMI160_CONF_ADDR                 UINT8_C(0x6A)

#define BMI160_IF_CONF_ADDR		 UINT8_C(0x6B)
#define BMI160_SELF_TEST_ADDR		 UINT8_C(0x6D)
#define BMI160_OFFSET_ADDR		 UINT8_C(0x71)
#define BMI160_OFFSET_CONF_ADDR		 UINT8_C(0x77)
#define BMI160_INT_STEP_CNT_0_ADDR	 UINT8_C(0x78)
#define BMI160_INT_STEP_CONFIG_0_ADDR    UINT8_C(0x7A)
#define BMI160_INT_STEP_CONFIG_1_ADDR    UINT8_C(0x7B)
#define BMI160_COMMAND_REG_ADDR		 UINT8_C(0x7E)
#define BMI160_SPI_COMM_TEST_ADDR        UINT8_C(0x7F)
#define BMI160_INTL_PULLUP_CONF_ADDR	 UINT8_C(0x85)

/** Error code definitions */
#define BMI160_OK                         INT8_C(0)
#define BMI160_E_NULL_PTR                 INT8_C(-1)
#define BMI160_E_COM_FAIL                 INT8_C(-2)
#define BMI160_E_DEV_NOT_FOUND            INT8_C(-3)
#define BMI160_E_OUT_OF_RANGE             INT8_C(-4)
#define BMI160_E_INVALID_INPUT            INT8_C(-5)
#define BMI160_E_ACCEL_ODR_BW_INVALID	  INT8_C(-6)
#define BMI160_E_GYRO_ODR_BW_INVALID	  INT8_C(-7)
#define BMI160_E_LWP_PRE_FLTR_INT_INVALID INT8_C(-8)
#define BMI160_E_LWP_PRE_FLTR_INVALID	  INT8_C(-9)
#define BMI160_E_AUX_NOT_FOUND		  INT8_C(-10)
#define BMI160_FOC_FAILURE		  INT8_C(-11)

/**\name API warning codes */
#define BMI160_W_GYRO_SELF_TEST_FAIL	INT8_C(1)
#define BMI160_W_ACCEl_SELF_TEST_FAIL	INT8_C(2)

/** BMI160 unique chip identifier */
#define BMI160_CHIP_ID                   UINT8_C(0xD1)

/** Soft reset command */
#define BMI160_SOFT_RESET_CMD            UINT8_C(0xb6)
#define BMI160_SOFT_RESET_DELAY_MS       UINT8_C(15)
/** Start FOC command */
#define BMI160_START_FOC_CMD            UINT8_C(0x03)
/** NVM backup enabling command */
#define BMI160_NVM_BACKUP_EN		UINT8_C(0xA0)

/* Delay in ms settings */
#define BMI160_ACCEL_DELAY_MS            UINT8_C(5)
#define BMI160_GYRO_DELAY_MS             UINT8_C(81)
#define BMI160_ONE_MS_DELAY              UINT8_C(1)
#define BMI160_AUX_COM_DELAY		 UINT8_C(10)
#define BMI160_GYRO_SELF_TEST_DELAY	 UINT8_C(20)
#define BMI160_ACCEL_SELF_TEST_DELAY	 UINT8_C(50)

/** Self test configurations */
#define BMI160_ACCEL_SELF_TEST_CONFIG		UINT8_C(0x2C)
#define BMI160_ACCEL_SELF_TEST_POSITIVE_EN	UINT8_C(0x0D)
#define BMI160_ACCEL_SELF_TEST_NEGATIVE_EN	UINT8_C(0x09)
#define BMI160_ACCEL_SELF_TEST_LIMIT		UINT16_C(8192)

/** Power mode settings */
/* Accel power mode */
#define BMI160_ACCEL_NORMAL_MODE         UINT8_C(0x11)
#define BMI160_ACCEL_LOWPOWER_MODE       UINT8_C(0x12)
#define BMI160_ACCEL_SUSPEND_MODE        UINT8_C(0x10)

/* Gyro power mode */
#define BMI160_GYRO_SUSPEND_MODE         UINT8_C(0x14)
#define BMI160_GYRO_NORMAL_MODE          UINT8_C(0x15)
#define BMI160_GYRO_FASTSTARTUP_MODE     UINT8_C(0x17)

/* Aux power mode */
#define BMI160_AUX_SUSPEND_MODE		UINT8_C(0x18)
#define BMI160_AUX_NORMAL_MODE		UINT8_C(0x19)
#define BMI160_AUX_LOWPOWER_MODE	UINT8_C(0x1A)

/** Range settings */
/* Accel Range */
#define BMI160_ACCEL_RANGE_2G            UINT8_C(0x03)
#define BMI160_ACCEL_RANGE_4G            UINT8_C(0x05)
#define BMI160_ACCEL_RANGE_8G            UINT8_C(0x08)
#define BMI160_ACCEL_RANGE_16G           UINT8_C(0x0C)

/* Gyro Range */
#define BMI160_GYRO_RANGE_2000_DPS       UINT8_C(0x00)
#define BMI160_GYRO_RANGE_1000_DPS       UINT8_C(0x01)
#define BMI160_GYRO_RANGE_500_DPS        UINT8_C(0x02)
#define BMI160_GYRO_RANGE_250_DPS        UINT8_C(0x03)
#define BMI160_GYRO_RANGE_125_DPS        UINT8_C(0x04)

/** Bandwidth settings */
/* Accel Bandwidth */
#define BMI160_ACCEL_BW_OSR4_AVG1        UINT8_C(0x00)
#define BMI160_ACCEL_BW_OSR2_AVG2        UINT8_C(0x01)
#define BMI160_ACCEL_BW_NORMAL_AVG4      UINT8_C(0x02)
#define BMI160_ACCEL_BW_RES_AVG8         UINT8_C(0x03)
#define BMI160_ACCEL_BW_RES_AVG16        UINT8_C(0x04)
#define BMI160_ACCEL_BW_RES_AVG32        UINT8_C(0x05)
#define BMI160_ACCEL_BW_RES_AVG64        UINT8_C(0x06)
#define BMI160_ACCEL_BW_RES_AVG128       UINT8_C(0x07)

#define BMI160_GYRO_BW_OSR4_MODE         UINT8_C(0x00)
#define BMI160_GYRO_BW_OSR2_MODE         UINT8_C(0x01)
#define BMI160_GYRO_BW_NORMAL_MODE       UINT8_C(0x02)

/* Output Data Rate settings */
/* Accel Output data rate */
#define BMI160_ACCEL_ODR_RESERVED        UINT8_C(0x00)
#define BMI160_ACCEL_ODR_0_78HZ          UINT8_C(0x01)
#define BMI160_ACCEL_ODR_1_56HZ          UINT8_C(0x02)
#define BMI160_ACCEL_ODR_3_12HZ          UINT8_C(0x03)
#define BMI160_ACCEL_ODR_6_25HZ          UINT8_C(0x04)
#define BMI160_ACCEL_ODR_12_5HZ          UINT8_C(0x05)
#define BMI160_ACCEL_ODR_25HZ            UINT8_C(0x06)
#define BMI160_ACCEL_ODR_50HZ            UINT8_C(0x07)
#define BMI160_ACCEL_ODR_100HZ           UINT8_C(0x08)
#define BMI160_ACCEL_ODR_200HZ           UINT8_C(0x09)
#define BMI160_ACCEL_ODR_400HZ           UINT8_C(0x0A)
#define BMI160_ACCEL_ODR_800HZ           UINT8_C(0x0B)
#define BMI160_ACCEL_ODR_1600HZ          UINT8_C(0x0C)
#define BMI160_ACCEL_ODR_RESERVED0       UINT8_C(0x0D)
#define BMI160_ACCEL_ODR_RESERVED1       UINT8_C(0x0E)
#define BMI160_ACCEL_ODR_RESERVED2       UINT8_C(0x0F)

/* Gyro Output data rate */
#define BMI160_GYRO_ODR_RESERVED         UINT8_C(0x00)
#define BMI160_GYRO_ODR_25HZ             UINT8_C(0x06)
#define BMI160_GYRO_ODR_50HZ             UINT8_C(0x07)
#define BMI160_GYRO_ODR_100HZ            UINT8_C(0x08)
#define BMI160_GYRO_ODR_200HZ            UINT8_C(0x09)
#define BMI160_GYRO_ODR_400HZ            UINT8_C(0x0A)
#define BMI160_GYRO_ODR_800HZ            UINT8_C(0x0B)
#define BMI160_GYRO_ODR_1600HZ           UINT8_C(0x0C)
#define BMI160_GYRO_ODR_3200HZ           UINT8_C(0x0D)

/* Auxiliary sensor Output data rate */
#define BMI160_AUX_ODR_RESERVED        UINT8_C(0x00)
#define BMI160_AUX_ODR_0_78HZ          UINT8_C(0x01)
#define BMI160_AUX_ODR_1_56HZ          UINT8_C(0x02)
#define BMI160_AUX_ODR_3_12HZ          UINT8_C(0x03)
#define BMI160_AUX_ODR_6_25HZ          UINT8_C(0x04)
#define BMI160_AUX_ODR_12_5HZ          UINT8_C(0x05)
#define BMI160_AUX_ODR_25HZ            UINT8_C(0x06)
#define BMI160_AUX_ODR_50HZ            UINT8_C(0x07)
#define BMI160_AUX_ODR_100HZ           UINT8_C(0x08)
#define BMI160_AUX_ODR_200HZ           UINT8_C(0x09)
#define BMI160_AUX_ODR_400HZ           UINT8_C(0x0A)
#define BMI160_AUX_ODR_800HZ           UINT8_C(0x0B)

/* Maximum limits definition */
#define BMI160_ACCEL_ODR_MAX             UINT8_C(15)
#define BMI160_ACCEL_BW_MAX              UINT8_C(2)
#define BMI160_ACCEL_RANGE_MAX           UINT8_C(12)
#define BMI160_GYRO_ODR_MAX              UINT8_C(13)
#define BMI160_GYRO_BW_MAX               UINT8_C(2)
#define BMI160_GYRO_RANGE_MAX            UINT8_C(4)

/** FIFO_CONFIG Definitions */
#define BMI160_FIFO_TIME_ENABLE          UINT8_C(0x02)
#define BMI160_FIFO_TAG_INT2_ENABLE      UINT8_C(0x04)
#define BMI160_FIFO_TAG_INT1_ENABLE      UINT8_C(0x08)
#define BMI160_FIFO_HEAD_ENABLE          UINT8_C(0x10)
#define BMI160_FIFO_M_ENABLE             UINT8_C(0x20)
#define BMI160_FIFO_A_ENABLE             UINT8_C(0x40)
#define BMI160_FIFO_M_A_ENABLE           UINT8_C(0x60)
#define BMI160_FIFO_G_ENABLE             UINT8_C(0x80)
#define BMI160_FIFO_M_G_ENABLE           UINT8_C(0xA0)
#define BMI160_FIFO_G_A_ENABLE           UINT8_C(0xC0)
#define BMI160_FIFO_M_G_A_ENABLE         UINT8_C(0xE0)

/* Macro to specify the number of bytes over-read from the
 * FIFO in order to get the sensor time at the end of FIFO */
#ifndef BMI160_FIFO_BYTES_OVERREAD
#define BMI160_FIFO_BYTES_OVERREAD       UINT8_C(25)
#endif



/* Accel, gyro and aux. sensor length and also their combined
 * length definitions in FIFO */
#define BMI160_FIFO_G_LENGTH             UINT8_C(6)
#define BMI160_FIFO_A_LENGTH             UINT8_C(6)
#define BMI160_FIFO_M_LENGTH             UINT8_C(8)
#define BMI160_FIFO_GA_LENGTH            UINT8_C(12)
#define BMI160_FIFO_MA_LENGTH            UINT8_C(14)
#define BMI160_FIFO_MG_LENGTH            UINT8_C(14)
#define BMI160_FIFO_MGA_LENGTH           UINT8_C(20)


/** FIFO Header Data definitions */
#define BMI160_FIFO_HEAD_SKIP_FRAME      UINT8_C(0x40)
#define BMI160_FIFO_HEAD_SENSOR_TIME     UINT8_C(0x44)
#define BMI160_FIFO_HEAD_INPUT_CONFIG    UINT8_C(0x48)
#define BMI160_FIFO_HEAD_OVER_READ       UINT8_C(0x80)
#define BMI160_FIFO_HEAD_A               UINT8_C(0x84)
#define BMI160_FIFO_HEAD_G               UINT8_C(0x88)
#define BMI160_FIFO_HEAD_G_A             UINT8_C(0x8C)
#define BMI160_FIFO_HEAD_M               UINT8_C(0x90)
#define BMI160_FIFO_HEAD_M_A             UINT8_C(0x94)
#define BMI160_FIFO_HEAD_M_G             UINT8_C(0x98)
#define BMI160_FIFO_HEAD_M_G_A           UINT8_C(0x9C)


/** FIFO sensor time length definitions */
#define BMI160_SENSOR_TIME_LENGTH        UINT8_C(3)


/** FIFO DOWN selection */
/* Accel fifo down-sampling values*/
#define  BMI160_ACCEL_FIFO_DOWN_ZERO     UINT8_C(0x00)
#define  BMI160_ACCEL_FIFO_DOWN_ONE      UINT8_C(0x10)
#define  BMI160_ACCEL_FIFO_DOWN_TWO      UINT8_C(0x20)
#define  BMI160_ACCEL_FIFO_DOWN_THREE    UINT8_C(0x30)
#define  BMI160_ACCEL_FIFO_DOWN_FOUR     UINT8_C(0x40)
#define  BMI160_ACCEL_FIFO_DOWN_FIVE     UINT8_C(0x50)
#define  BMI160_ACCEL_FIFO_DOWN_SIX      UINT8_C(0x60)
#define  BMI160_ACCEL_FIFO_DOWN_SEVEN    UINT8_C(0x70)

/* Gyro fifo down-smapling values*/
#define  BMI160_GYRO_FIFO_DOWN_ZERO      UINT8_C(0x00)
#define  BMI160_GYRO_FIFO_DOWN_ONE       UINT8_C(0x01)
#define  BMI160_GYRO_FIFO_DOWN_TWO       UINT8_C(0x02)
#define  BMI160_GYRO_FIFO_DOWN_THREE     UINT8_C(0x03)
#define  BMI160_GYRO_FIFO_DOWN_FOUR      UINT8_C(0x04)
#define  BMI160_GYRO_FIFO_DOWN_FIVE      UINT8_C(0x05)
#define  BMI160_GYRO_FIFO_DOWN_SIX       UINT8_C(0x06)
#define  BMI160_GYRO_FIFO_DOWN_SEVEN     UINT8_C(0x07)

/* Accel Fifo filter enable*/
#define  BMI160_ACCEL_FIFO_FILT_EN       UINT8_C(0x80)

/* Gyro Fifo filter enable*/
#define  BMI160_GYRO_FIFO_FILT_EN        UINT8_C(0x08)

/** Definitions to check validity of FIFO frames */
#define FIFO_CONFIG_MSB_CHECK            UINT8_C(0x80)
#define FIFO_CONFIG_LSB_CHECK            UINT8_C(0x00)

/*! BMI160 accel FOC configurations */
#define BMI160_FOC_ACCEL_DISABLED        UINT8_C(0x00)
#define BMI160_FOC_ACCEL_POSITIVE_G      UINT8_C(0x01)
#define BMI160_FOC_ACCEL_NEGATIVE_G      UINT8_C(0x02)
#define BMI160_FOC_ACCEL_0G              UINT8_C(0x03)

/** Array Parameter DefinItions */
#define BMI160_SENSOR_TIME_LSB_BYTE      UINT8_C(0)
#define BMI160_SENSOR_TIME_XLSB_BYTE     UINT8_C(1)
#define BMI160_SENSOR_TIME_MSB_BYTE      UINT8_C(2)


/** Interface settings */
#define BMI160_SPI_INTF                  UINT8_C(1)
#define BMI160_I2C_INTF                  UINT8_C(0)
#define BMI160_SPI_RD_MASK               UINT8_C(0x80)
#define BMI160_SPI_WR_MASK               UINT8_C(0x7F)

/* Sensor & time select definition*/
#define BMI160_ACCEL_SEL		UINT8_C(0x01)
#define BMI160_GYRO_SEL			UINT8_C(0x02)
#define BMI160_TIME_SEL			UINT8_C(0x04)

/* Sensor select mask*/
#define BMI160_SEN_SEL_MASK		UINT8_C(0x07)

/* Error code mask */
#define BMI160_ERR_REG_MASK		UINT8_C(0x0F)

/* BMI160 I2C address */
#define BMI160_I2C_ADDR                 UINT8_C(0x68)

/* BMI160 secondary IF address */
#define BMI160_AUX_BMM150_I2C_ADDR		UINT8_C(0x10)

/** BMI160 Length definitions */
#define BMI160_ONE                       UINT8_C(1)
#define BMI160_TWO                       UINT8_C(2)
#define BMI160_THREE                     UINT8_C(3)
#define BMI160_FOUR                      UINT8_C(4)
#define BMI160_FIVE                      UINT8_C(5)

/** BMI160 fifo level Margin */
#define BMI160_FIFO_LEVEL_MARGIN         UINT8_C(16)

/** BMI160 fifo flush Command */
#define BMI160_FIFO_FLUSH_VALUE          UINT8_C(0xB0)

/** BMI160 offset values for xyz axes of accel */
#define BMI160_ACCEL_MIN_OFFSET         INT8_C(-128)
#define BMI160_ACCEL_MAX_OFFSET         INT8_C(127)

/** BMI160 offset values for xyz axes of gyro */
#define BMI160_GYRO_MIN_OFFSET         INT16_C(-512)
#define BMI160_GYRO_MAX_OFFSET         INT16_C(511)

/** BMI160 fifo full interrupt position and mask */
#define	BMI160_FIFO_FULL_INT_POS	UINT8_C(5)
#define	BMI160_FIFO_FULL_INT_MSK	UINT8_C(0x20)
#define	BMI160_FIFO_WTM_INT_POS		UINT8_C(6)
#define	BMI160_FIFO_WTM_INT_MSK		UINT8_C(0x40)

#define BMI160_FIFO_FULL_INT_PIN1_POS	UINT8_C(5)
#define	BMI160_FIFO_FULL_INT_PIN1_MSK	UINT8_C(0x20)
#define BMI160_FIFO_FULL_INT_PIN2_POS	UINT8_C(1)
#define	BMI160_FIFO_FULL_INT_PIN2_MSK	UINT8_C(0x02)

#define BMI160_FIFO_WTM_INT_PIN1_POS	UINT8_C(6)
#define	BMI160_FIFO_WTM_INT_PIN1_MSK	UINT8_C(0x40)
#define BMI160_FIFO_WTM_INT_PIN2_POS	UINT8_C(2)
#define	BMI160_FIFO_WTM_INT_PIN2_MSK	UINT8_C(0x04)

#define BMI160_MANUAL_MODE_EN_POS	UINT8_C(7)
#define BMI160_MANUAL_MODE_EN_MSK	UINT8_C(0x80)
#define BMI160_AUX_READ_BURST_POS	UINT8_C(0)
#define BMI160_AUX_READ_BURST_MSK	UINT8_C(0x03)

#define BMI160_GYRO_SELF_TEST_POS	UINT8_C(4)
#define BMI160_GYRO_SELF_TEST_MSK	UINT8_C(0x10)
#define BMI160_GYRO_SELF_TEST_STATUS_POS	UINT8_C(1)
#define BMI160_GYRO_SELF_TEST_STATUS_MSK	UINT8_C(0x02)

#define BMI160_GYRO_FOC_EN_POS	UINT8_C(6)
#define BMI160_GYRO_FOC_EN_MSK	UINT8_C(0x40)

#define BMI160_ACCEL_FOC_X_CONF_POS	UINT8_C(4)
#define BMI160_ACCEL_FOC_X_CONF_MSK	UINT8_C(0x30)

#define BMI160_ACCEL_FOC_Y_CONF_POS	UINT8_C(2)
#define BMI160_ACCEL_FOC_Y_CONF_MSK	UINT8_C(0x0C)

#define BMI160_ACCEL_FOC_Z_CONF_MSK	UINT8_C(0x03)

#define BMI160_FOC_STATUS_POS	UINT8_C(3)
#define BMI160_FOC_STATUS_MSK	UINT8_C(0x08)

#define BMI160_GYRO_OFFSET_X_MSK	UINT8_C(0x03)

#define BMI160_GYRO_OFFSET_Y_POS	UINT8_C(2)
#define BMI160_GYRO_OFFSET_Y_MSK	UINT8_C(0x0C)

#define BMI160_GYRO_OFFSET_Z_POS	UINT8_C(4)
#define BMI160_GYRO_OFFSET_Z_MSK	UINT8_C(0x30)

#define BMI160_GYRO_OFFSET_EN_POS	UINT8_C(7)
#define BMI160_GYRO_OFFSET_EN_MSK	UINT8_C(0x80)

#define BMI160_ACCEL_OFFSET_EN_POS	UINT8_C(6)
#define BMI160_ACCEL_OFFSET_EN_MSK	UINT8_C(0x40)

#define BMI160_GYRO_OFFSET_POS	        UINT16_C(8)
#define BMI160_GYRO_OFFSET_MSK	        UINT16_C(0x0300)

#define BMI160_NVM_UPDATE_POS	        UINT8_C(1)
#define BMI160_NVM_UPDATE_MSK	        UINT8_C(0x02)

#define BMI160_NVM_STATUS_POS	        UINT8_C(4)
#define BMI160_NVM_STATUS_MSK	        UINT8_C(0x10)

#define BMI160_MAG_POWER_MODE_MSK       UINT8_C(0x03)

#define BMI160_ACCEL_POWER_MODE_MSK     UINT8_C(0x30)
#define BMI160_ACCEL_POWER_MODE_POS     UINT8_C(4)

#define BMI160_GYRO_POWER_MODE_MSK      UINT8_C(0x0C)
#define BMI160_GYRO_POWER_MODE_POS      UINT8_C(2)


/* BIT SLICE GET AND SET FUNCTIONS */
#define	BMI160_GET_BITS(regvar, bitname)\
		((regvar & bitname##_MSK) >> bitname##_POS)
#define	BMI160_SET_BITS(regvar, bitname, val)\
		((regvar & ~bitname##_MSK) | \
		((val<<bitname##_POS)&bitname##_MSK))

#define BMI160_SET_BITS_POS_0(reg_data, bitname, data) \
				((reg_data & ~(bitname##_MSK)) | \
				(data & bitname##_MSK))

#define BMI160_GET_BITS_POS_0(reg_data, bitname)  (reg_data & (bitname##_MSK))

/**\name UTILITY MACROS	*/
#define BMI160_SET_LOW_BYTE     UINT16_C(0x00FF)
#define BMI160_SET_HIGH_BYTE    UINT16_C(0xFF00)

#define BMI160_GET_LSB(var)	(uint8_t)(var & BMI160_SET_LOW_BYTE)
#define BMI160_GET_MSB(var)	(uint8_t)((var & BMI160_SET_HIGH_BYTE) >> 8)

/*****************************************************************************/
/* type definitions */
typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
		uint8_t *data, uint16_t len);

typedef void (*bmi160_delay_fptr_t)(uint32_t period);

/*************************** Data structures *********************************/

struct bmi160_pmu_status {
	/*! Power mode status of Accel
	 * Possible values :
	 *  - BMI160_ACCEL_PMU_SUSPEND
	 *  - BMI160_ACCEL_PMU_NORMAL
	 *  - BMI160_ACCEL_PMU_LOW_POWER
	 */
	uint8_t accel_pmu_status;
	/*! Power mode status of Gyro
	 * Possible values :
	 *  - BMI160_GYRO_PMU_SUSPEND
	 *  - BMI160_GYRO_PMU_NORMAL
	 *  - BMI160_GYRO_PMU_FSU
	 */
	uint8_t gyro_pmu_status;
	/*! Power mode status of 'Auxiliary sensor interface' whereas the actual
	 *  power mode of the aux. sensor should be configured
	 *  according to the connected sensor specifications
	 * Possible values :
	 *  - BMI160_AUX_PMU_SUSPEND
	 *  - BMI160_AUX_PMU_NORMAL
	 *  - BMI160_AUX_PMU_LOW_POWER
	 */
	uint8_t aux_pmu_status;
};
/*!
 * @brief bmi160 interrupt status selection enum.
 */
enum bmi160_int_status_sel {
	BMI160_INT_STATUS_0 = 1,
	BMI160_INT_STATUS_1 = 2,
	BMI160_INT_STATUS_2 = 4,
	BMI160_INT_STATUS_3 = 8,
	BMI160_INT_STATUS_ALL = 15
};

/*!
 * @brief bmi160 interrupt status bits structure
 */
struct bmi160_int_status_bits {
#if LITTLE_ENDIAN == 1
	uint32_t step :1;
	uint32_t sigmot :1;
	uint32_t anym :1;
	/* pmu trigger will be handled later */
	uint32_t pmu_trigger_reserved :1;
	uint32_t d_tap :1;
	uint32_t s_tap :1;
	uint32_t orient :1;
	uint32_t flat_int :1;
	uint32_t reserved :2;
	uint32_t high_g :1;
	uint32_t low_g :1;
	uint32_t drdy :1;
	uint32_t ffull :1;
	uint32_t fwm :1;
	uint32_t nomo :1;
	uint32_t anym_first_x :1;
	uint32_t anym_first_y :1;
	uint32_t anym_first_z :1;
	uint32_t anym_sign :1;
	uint32_t tap_first_x :1;
	uint32_t tap_first_y :1;
	uint32_t tap_first_z :1;
	uint32_t tap_sign :1;
	uint32_t high_first_x :1;
	uint32_t high_first_y :1;
	uint32_t high_first_z :1;
	uint32_t high_sign :1;
	uint32_t orient_1_0 :2;
	uint32_t orient_2 :1;
	uint32_t flat :1;
#elif BIG_ENDIAN == 1
	uint32_t high_first_x :1;
	uint32_t high_first_y :1;
	uint32_t high_first_z :1;
	uint32_t high_sign :1;
	uint32_t orient_1_0 :2;
	uint32_t orient_2 :1;
	uint32_t flat :1;
	uint32_t anym_first_x :1;
	uint32_t anym_first_y :1;
	uint32_t anym_first_z :1;
	uint32_t anym_sign :1;
	uint32_t tap_first_x :1;
	uint32_t tap_first_y :1;
	uint32_t tap_first_z :1;
	uint32_t tap_sign :1;
	uint32_t reserved :2;
	uint32_t high_g :1;
	uint32_t low_g :1;
	uint32_t drdy :1;
	uint32_t ffull :1;
	uint32_t fwm :1;
	uint32_t nomo :1;
	uint32_t step :1;
	uint32_t sigmot :1;
	uint32_t anym :1;
	/* pmu trigger will be handled later */
	uint32_t pmu_trigger_reserved :1;
	uint32_t d_tap :1;
	uint32_t s_tap :1;
	uint32_t orient :1;
	uint32_t flat_int :1;
#endif
};

/*!
 * @brief bmi160 interrupt status structure
 */
union bmi160_int_status {
	uint8_t data[4];
	struct bmi160_int_status_bits bit;
};

/*!
 * @brief bmi160 sensor data structure which comprises of accel data
 */
struct bmi160_sensor_data {
	/*! X-axis sensor data */
	int16_t x;
	/*! Y-axis sensor data */
	int16_t y;
	/*! Z-axis sensor data */
	int16_t z;
	/*! sensor time */
	uint32_t sensortime;
};

/*!
 * @brief bmi160 aux data structure which comprises of 8 bytes of accel data
 */
struct bmi160_aux_data {
	/*! Auxiliary data */
	uint8_t data[8];
};

/*!
 * @brief bmi160 FOC configuration structure
 */
struct bmi160_foc_conf {
	/*! Enabling FOC in gyro
	 * Assignable macros :
	 *  - BMI160_ENABLE
	 *  - BMI160_DISABLE
	 */
	uint8_t foc_gyr_en;

	/*! Accel FOC configurations
	 * Assignable macros :
	 *  - BMI160_FOC_ACCEL_DISABLED
	 *  - BMI160_FOC_ACCEL_POSITIVE_G
	 *  - BMI160_FOC_ACCEL_NEGATIVE_G
	 *  - BMI160_FOC_ACCEL_0G
	 */
	uint8_t foc_acc_x;
	uint8_t foc_acc_y;
	uint8_t foc_acc_z;

	/*! Enabling offset compensation for accel in data registers
	 * Assignable macros :
	 *  - BMI160_ENABLE
	 *  - BMI160_DISABLE
	 */
	uint8_t acc_off_en;

	/*! Enabling offset compensation for gyro in data registers
	 * Assignable macros :
	 *  - BMI160_ENABLE
	 *  - BMI160_DISABLE
	 */
	uint8_t gyro_off_en;
};

/*!
 * @brief bmi160 accel gyro offsets
 */
struct bmi160_offsets {
	/*! Accel offset for x axis */
	int8_t off_acc_x;
	/*! Accel offset for y axis */
	int8_t off_acc_y;
	/*! Accel offset for z axis */
	int8_t off_acc_z;
	/*! Gyro offset for x axis */
	int16_t off_gyro_x;
	/*! Gyro offset for y axis */
	int16_t off_gyro_y;
	/*! Gyro offset for z axis */
	int16_t off_gyro_z;
};

/*!
 * @brief FIFO aux. sensor data structure
 */
struct bmi160_aux_fifo_data {
	/*! The value of aux. sensor x LSB data */
	uint8_t aux_x_lsb;
	/*! The value of aux. sensor x MSB data */
	uint8_t aux_x_msb;
	/*! The value of aux. sensor y LSB data */
	uint8_t aux_y_lsb;
	/*! The value of aux. sensor y MSB data */
	uint8_t aux_y_msb;
	/*! The value of aux. sensor z LSB data */
	uint8_t aux_z_lsb;
	/*! The value of aux. sensor z MSB data */
	uint8_t aux_z_msb;
	/*! The value of aux. sensor r for BMM150 LSB data */
	uint8_t aux_r_y2_lsb;
	/*! The value of aux. sensor r for BMM150 MSB data */
	uint8_t aux_r_y2_msb;
};

/*!
 * @brief bmi160 sensor select structure
 */
enum bmi160_select_sensor {
	BMI160_ACCEL_ONLY = 1,
	BMI160_GYRO_ONLY,
	BMI160_BOTH_ACCEL_AND_GYRO
};

/*!
 * @brief bmi160 sensor step detector mode structure
 */
enum bmi160_step_detect_mode {
	BMI160_STEP_DETECT_NORMAL,
	BMI160_STEP_DETECT_SENSITIVE,
	BMI160_STEP_DETECT_ROBUST,
	/*! Non recommended User defined setting */
	BMI160_STEP_DETECT_USER_DEFINE
};

/*!
 * @brief enum for auxiliary burst read selection
 */
enum bm160_aux_read_len {
	BMI160_AUX_READ_LEN_0,
	BMI160_AUX_READ_LEN_1,
	BMI160_AUX_READ_LEN_2,
	BMI160_AUX_READ_LEN_3
};
/*!
 * @brief bmi160 sensor configuration structure
 */
struct bmi160_cfg {
	/*! power mode */
	uint8_t power;
	/*! output data rate */
	uint8_t odr;
	/*! range */
	uint8_t range;
	/*! bandwidth */
	uint8_t bw;
};

/*!
 * @brief Aux sensor configuration structure
 */
struct bmi160_aux_cfg {
	/*! Aux sensor, 1 - enable 0 - disable */
	uint8_t aux_sensor_enable : 1;
	/*! Aux manual/auto mode status */
	uint8_t manual_enable : 1;
	/*! Aux read burst length */
	uint8_t aux_rd_burst_len : 2;
	/*! output data rate */
	uint8_t aux_odr :4;
	/*! i2c addr of auxiliary sensor */
	uint8_t aux_i2c_addr;
};

/*!
 * @brief bmi160 interrupt channel selection structure
 */
enum bmi160_int_channel {
	/*! Un-map both channels */
	BMI160_INT_CHANNEL_NONE,
	/*! interrupt Channel 1 */
	BMI160_INT_CHANNEL_1,
	/*! interrupt Channel 2 */
	BMI160_INT_CHANNEL_2,
	/*! Map both channels */
	BMI160_INT_CHANNEL_BOTH
};

enum bmi160_int_types {
	/*! Slope/Any-motion interrupt */
	BMI160_ACC_ANY_MOTION_INT,
	/*! Significant motion interrupt */
	BMI160_ACC_SIG_MOTION_INT,
	/*! Step detector interrupt */
	BMI160_STEP_DETECT_INT,
	/*! double tap interrupt */
	BMI160_ACC_DOUBLE_TAP_INT,
	/*! single tap interrupt */
	BMI160_ACC_SINGLE_TAP_INT,
	/*! orientation interrupt */
	BMI160_ACC_ORIENT_INT,
	/*! flat interrupt */
	BMI160_ACC_FLAT_INT,
	/*! high-g interrupt */
	BMI160_ACC_HIGH_G_INT,
	/*! low-g interrupt */
	BMI160_ACC_LOW_G_INT,
	/*! slow/no-motion interrupt */
	BMI160_ACC_SLOW_NO_MOTION_INT,
	/*! data ready interrupt  */
	BMI160_ACC_GYRO_DATA_RDY_INT,
	/*! fifo full interrupt */
	BMI160_ACC_GYRO_FIFO_FULL_INT,
	/*! fifo watermark interrupt */
	BMI160_ACC_GYRO_FIFO_WATERMARK_INT,
	/*! fifo tagging feature support */
	BMI160_FIFO_TAG_INT_PIN
};

/*!
 * @brief bmi160 active state of any & sig motion interrupt.
 */
enum bmi160_any_sig_motion_active_interrupt_state {
	/*! Both any & sig motion are disabled */
	BMI160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
	/*! Any-motion selected */
	BMI160_ANY_MOTION_ENABLED,
	/*! Sig-motion selected */
	BMI160_SIG_MOTION_ENABLED
};

struct bmi160_acc_tap_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! tap threshold */
	uint16_t tap_thr :5;
	/*! tap shock */
	uint16_t tap_shock :1;
	/*! tap quiet */
	uint16_t tap_quiet :1;
	/*! tap duration */
	uint16_t tap_dur :3;
	/*! data source 0- filter & 1 pre-filter*/
	uint16_t tap_data_src :1;
	/*! tap enable, 1 - enable, 0 - disable */
	uint16_t tap_en :1;
#elif BIG_ENDIAN == 1
	/*! tap enable, 1 - enable, 0 - disable */
	uint16_t tap_en :1;
	/*! data source 0- filter & 1 pre-filter*/
	uint16_t tap_data_src :1;
	/*! tap duration */
	uint16_t tap_dur : 3;
	/*! tap quiet */
	uint16_t tap_quiet : 1;
	/*! tap shock */
	uint16_t tap_shock : 1;
	/*! tap threshold */
	uint16_t tap_thr : 5;
#endif
};

struct bmi160_acc_any_mot_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! 1 any-motion enable, 0 - any-motion disable */
	uint8_t anymotion_en :1;
	/*! slope interrupt x, 1 - enable, 0 - disable */
	uint8_t anymotion_x :1;
	/*! slope interrupt y, 1 - enable, 0 - disable */
	uint8_t anymotion_y :1;
	/*! slope interrupt z, 1 - enable, 0 - disable */
	uint8_t anymotion_z :1;
	/*! slope duration */
	uint8_t anymotion_dur :2;
	/*! data source 0- filter & 1 pre-filter*/
	uint8_t anymotion_data_src :1;
	/*! slope threshold */
	uint8_t anymotion_thr;
#elif BIG_ENDIAN == 1
	/*! slope threshold */
	uint8_t anymotion_thr;
	/*! data source 0- filter & 1 pre-filter*/
	uint8_t anymotion_data_src :1;
	/*! slope duration */
	uint8_t anymotion_dur : 2;
	/*! slope interrupt z, 1 - enable, 0 - disable */
	uint8_t anymotion_z : 1;
	/*! slope interrupt y, 1 - enable, 0 - disable */
	uint8_t anymotion_y : 1;
	/*! slope interrupt x, 1 - enable, 0 - disable */
	uint8_t anymotion_x : 1;
	/*! 1 any-motion enable, 0 - any-motion disable */
	uint8_t anymotion_en :1;
#endif
};

struct bmi160_acc_sig_mot_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! skip time of sig-motion interrupt */
	uint8_t sig_mot_skip :2;
	/*! proof time of sig-motion interrupt */
	uint8_t sig_mot_proof :2;
	/*! data source 0- filter & 1 pre-filter*/
	uint8_t sig_data_src :1;
	/*! 1 - enable sig, 0 - disable sig & enable anymotion */
	uint8_t sig_en :1;
	/*! sig-motion threshold */
	uint8_t sig_mot_thres;
#elif BIG_ENDIAN == 1
	/*! sig-motion threshold */
	uint8_t sig_mot_thres;
	/*! 1 - enable sig, 0 - disable sig & enable anymotion */
	uint8_t sig_en :1;
	/*! data source 0- filter & 1 pre-filter*/
	uint8_t sig_data_src :1;
	/*! proof time of sig-motion interrupt */
	uint8_t sig_mot_proof : 2;
	/*! skip time of sig-motion interrupt */
	uint8_t sig_mot_skip : 2;
#endif
};

struct bmi160_acc_step_detect_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! 1- step detector enable, 0- step detector disable */
	uint16_t step_detector_en :1;
	/*! minimum threshold */
	uint16_t min_threshold :2;
	/*! minimal detectable step time */
	uint16_t steptime_min :3;
	/*! enable step counter mode setting */
	uint16_t step_detector_mode :2;
	/*! minimum step buffer size*/
	uint16_t step_min_buf :3;
#elif BIG_ENDIAN == 1
	/*! minimum step buffer size*/
	uint16_t step_min_buf :3;
	/*! enable step counter mode setting */
	uint16_t step_detector_mode : 2;
	/*! minimal detectable step time */
	uint16_t steptime_min : 3;
	/*! minimum threshold */
	uint16_t min_threshold : 2;
	/*! 1- step detector enable, 0- step detector disable */
	uint16_t step_detector_en :1;
#endif
};

struct bmi160_acc_no_motion_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! no motion interrupt x */
	uint16_t no_motion_x :1;
	/*! no motion interrupt y */
	uint16_t no_motion_y :1;
	/*! no motion interrupt z */
	uint16_t no_motion_z :1;
	/*! no motion duration */
	uint16_t no_motion_dur :6;
	/*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
	uint16_t no_motion_sel :1;
	/*! data source 0- filter & 1 pre-filter*/
	uint16_t no_motion_src :1;
	/*! no motion threshold */
	uint8_t no_motion_thres;
#elif BIG_ENDIAN == 1
	/*! no motion threshold */
	uint8_t no_motion_thres;
	/*! data source 0- filter & 1 pre-filter*/
	uint16_t no_motion_src :1;
	/*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
	uint16_t no_motion_sel : 1;
	/*! no motion duration */
	uint16_t no_motion_dur : 6;
	/* no motion interrupt z */
	uint16_t no_motion_z :1;
	/*! no motion interrupt y */
	uint16_t no_motion_y :1;
	/*! no motion interrupt x */
	uint16_t no_motion_x :1;
#endif
};

struct bmi160_acc_orient_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! thresholds for switching between the different orientations */
	uint16_t orient_mode :2;
	/*! blocking_mode */
	uint16_t orient_blocking :2;
	/*! Orientation interrupt hysteresis */
	uint16_t orient_hyst :4;
	/*! Orientation interrupt theta */
	uint16_t orient_theta :6;
	/*! Enable/disable Orientation interrupt */
	uint16_t orient_ud_en :1;
	/*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
	uint16_t axes_ex :1;
	/*! 1 - orient enable, 0 - orient disable */
	uint8_t orient_en :1;
#elif BIG_ENDIAN == 1
	/*! 1 - orient enable, 0 - orient disable */
	uint8_t orient_en :1;
	/*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
	uint16_t axes_ex : 1;
	/*! Enable/disable Orientation interrupt */
	uint16_t orient_ud_en : 1;
	/*! Orientation interrupt theta */
	uint16_t orient_theta : 6;
	/*! Orientation interrupt hysteresis */
	uint16_t orient_hyst : 4;
	/*! blocking_mode */
	uint16_t orient_blocking : 2;
	/*! thresholds for switching between the different orientations */
	uint16_t orient_mode : 2;
#endif
};

struct bmi160_acc_flat_detect_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! flat threshold */
	uint16_t flat_theta :6;
	/*! flat interrupt hysteresis */
	uint16_t flat_hy :3;
	/*! delay time for which the flat value must remain stable for the
	 * flat interrupt to be generated */
	uint16_t flat_hold_time :2;
	/*! 1 - flat enable, 0 - flat disable */
	uint16_t flat_en :1;
#elif BIG_ENDIAN == 1
	/*! 1 - flat enable, 0 - flat disable */
	uint16_t flat_en :1;
	/*! delay time for which the flat value must remain stable for the
	 * flat interrupt to be generated */
	uint16_t flat_hold_time : 2;
	/*! flat interrupt hysteresis */
	uint16_t flat_hy : 3;
	/*! flat threshold */
	uint16_t flat_theta : 6;
#endif
};

struct bmi160_acc_low_g_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! low-g interrupt trigger delay */
	uint8_t low_dur;
	/*! low-g interrupt trigger threshold */
	uint8_t low_thres;
	/*! hysteresis of low-g interrupt */
	uint8_t low_hyst :2;
	/*! 0 - single-axis mode ,1 - axis-summing mode */
	uint8_t low_mode :1;
	/*! data source 0- filter & 1 pre-filter */
	uint8_t low_data_src :1;
	/*! 1 - enable low-g, 0 - disable low-g */
	uint8_t low_en :1;
#elif BIG_ENDIAN == 1
	/*! 1 - enable low-g, 0 - disable low-g */
	uint8_t low_en :1;
	/*! data source 0- filter & 1 pre-filter */
	uint8_t low_data_src :1;
	/*! 0 - single-axis mode ,1 - axis-summing mode */
	uint8_t low_mode : 1;
	/*! hysteresis of low-g interrupt */
	uint8_t low_hyst : 2;
	/*! low-g interrupt trigger threshold */
	uint8_t low_thres;
	/*! low-g interrupt trigger delay */
	uint8_t low_dur;
#endif
};

struct bmi160_acc_high_g_int_cfg {
#if LITTLE_ENDIAN == 1
	/*! High-g interrupt x, 1 - enable, 0 - disable */
	uint8_t high_g_x :1;
	/*! High-g interrupt y, 1 - enable, 0 - disable */
	uint8_t high_g_y :1;
	/*! High-g interrupt z, 1 - enable, 0 - disable */
	uint8_t high_g_z :1;
	/*! High-g hysteresis  */
	uint8_t high_hy :2;
	/*! data source 0- filter & 1 pre-filter */
	uint8_t high_data_src :1;
	/*! High-g threshold */
	uint8_t high_thres;
	/*! High-g duration */
	uint8_t high_dur;
#elif BIG_ENDIAN == 1
	/*! High-g duration */
	uint8_t high_dur;
	/*! High-g threshold */
	uint8_t high_thres;
	/*! data source 0- filter & 1 pre-filter */
	uint8_t high_data_src :1;
	/*! High-g hysteresis  */
	uint8_t high_hy : 2;
	/*! High-g interrupt z, 1 - enable, 0 - disable */
	uint8_t high_g_z : 1;
	/*! High-g interrupt y, 1 - enable, 0 - disable */
	uint8_t high_g_y : 1;
	/*! High-g interrupt x, 1 - enable, 0 - disable */
	uint8_t high_g_x : 1;
#endif
};

struct bmi160_int_pin_settg {
#if LITTLE_ENDIAN == 1
	/*! To enable either INT1 or INT2 pin as output.
	 * 0- output disabled ,1- output enabled */
	uint16_t output_en :1;
	/*! 0 - push-pull 1- open drain,only valid if output_en is set 1 */
	uint16_t output_mode :1;
	/*! 0 - active low , 1 - active high level.
	 * if output_en is 1,this applies to interrupts,else PMU_trigger */
	uint16_t output_type :1;
	/*! 0 - level trigger , 1 - edge trigger  */
	uint16_t edge_ctrl :1;
	/*! To enable either INT1 or INT2 pin as input.
	 * 0 - input disabled ,1 - input enabled */
	uint16_t input_en :1;
	/*! latch duration*/
	uint16_t latch_dur :4;
#elif BIG_ENDIAN == 1
	/*! latch duration*/
	uint16_t latch_dur : 4;
	/*! Latched,non-latched or temporary interrupt modes */
	uint16_t input_en : 1;
	/*! 1 - edge trigger, 0 - level trigger */
	uint16_t edge_ctrl : 1;
	/*! 0 - active low , 1 - active high level.
	 * if output_en is 1,this applies to interrupts,else PMU_trigger */
	uint16_t output_type : 1;
	/*! 0 - push-pull , 1 - open drain,only valid if output_en is set 1 */
	uint16_t output_mode : 1;
	/*! To enable either INT1 or INT2 pin as output.
	 * 0 - output disabled , 1 - output enabled */
	uint16_t output_en : 1;
#endif
};

union bmi160_int_type_cfg {
	/*! Tap interrupt structure */
	struct bmi160_acc_tap_int_cfg acc_tap_int;
	/*! Slope interrupt structure */
	struct bmi160_acc_any_mot_int_cfg acc_any_motion_int;
	/*! Significant motion interrupt structure */
	struct bmi160_acc_sig_mot_int_cfg acc_sig_motion_int;
	/*! Step detector interrupt structure */
	struct bmi160_acc_step_detect_int_cfg acc_step_detect_int;
	/*! No motion interrupt structure */
	struct bmi160_acc_no_motion_int_cfg acc_no_motion_int;
	/*! Orientation interrupt structure */
	struct bmi160_acc_orient_int_cfg acc_orient_int;
	/*! Flat interrupt structure */
	struct bmi160_acc_flat_detect_int_cfg acc_flat_int;
	/*! Low-g interrupt structure */
	struct bmi160_acc_low_g_int_cfg acc_low_g_int;
	/*! High-g interrupt structure */
	struct bmi160_acc_high_g_int_cfg acc_high_g_int;
};

struct bmi160_int_settg {
	/*! Interrupt channel */
	enum bmi160_int_channel int_channel;
	/*! Select Interrupt */
	enum bmi160_int_types int_type;
	/*! Structure configuring Interrupt pins */
	struct bmi160_int_pin_settg int_pin_settg;
	/*! Union configures required interrupt */
	union bmi160_int_type_cfg int_type_cfg;
	/*! FIFO FULL INT 1-enable, 0-disable */
	uint8_t fifo_full_int_en :1;
	/*! FIFO WTM INT 1-enable, 0-disable */
	uint8_t fifo_WTM_int_en :1;
};

/*!
 *  @brief This structure holds the information for usage of
 *  FIFO by the user.
 */
struct bmi160_fifo_frame {
	/*! Data buffer of user defined length is to be mapped here */
	uint8_t *data;
	/*! While calling the API  "bmi160_get_fifo_data" , length stores
	 *  number of bytes in FIFO to be read (specified by user as input)
	 *  and after execution of the API ,number of FIFO data bytes
	 *  available is provided as an output to user
	 */
	uint16_t length;
	/*! FIFO time enable */
	uint8_t fifo_time_enable;
	/*! Enabling of the FIFO header to stream in header mode */
	uint8_t fifo_header_enable;
	/*! Streaming of the Accelerometer, Gyroscope
	sensor data or both in FIFO */
	uint8_t fifo_data_enable;
	/*! Will be equal to length when no more frames are there to parse */
	uint16_t accel_byte_start_idx;
	/*! Will be equal to length when no more frames are there to parse */
	uint16_t gyro_byte_start_idx;
	/*! Will be equal to length when no more frames are there to parse */
	uint16_t aux_byte_start_idx;
	/*! Value of FIFO sensor time time */
	uint32_t sensor_time;
	/*! Value of Skipped frame counts */
	uint8_t skipped_frame_count;
};

struct bmi160_dev {
	/*! Chip Id */
	uint8_t chip_id;
	/*! Device Id */
	uint8_t id;
	/*! 0 - I2C , 1 - SPI Interface */
	uint8_t interface;
	/*! Hold active interrupts status for any and sig motion
	 *  0 - Any-motion enable, 1 - Sig-motion enable,
	 *  -1 neither any-motion nor sig-motion selected */
	enum bmi160_any_sig_motion_active_interrupt_state any_sig_sel;
	/*! Structure to configure Accel sensor */
	struct bmi160_cfg accel_cfg;
	/*! Structure to hold previous/old accel config parameters.
	 * This is used at driver level to prevent overwriting of same
	 * data, hence user does not change it in the code */
	struct bmi160_cfg prev_accel_cfg;
	/*! Structure to configure Gyro sensor */
	struct bmi160_cfg gyro_cfg;
	/*! Structure to hold previous/old gyro config parameters.
	 * This is used at driver level to prevent overwriting of same
	 * data, hence user does not change it in the code */
	struct bmi160_cfg prev_gyro_cfg;
	/*! Structure to configure the auxiliary sensor */
	struct bmi160_aux_cfg aux_cfg;
	/*! Structure to hold previous/old aux config parameters.
	 * This is used at driver level to prevent overwriting of same
	 * data, hence user does not change it in the code */
	struct bmi160_aux_cfg prev_aux_cfg;
	 /*! FIFO related configurations */
	struct bmi160_fifo_frame *fifo;
	/*! Read function pointer */
	bmi160_com_fptr_t read;
	/*! Write function pointer */
	bmi160_com_fptr_t write;
	/*!  Delay function pointer */
	bmi160_delay_fptr_t delay_ms;
};


#endif /* BMI160_DEFS_H_ */