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Diffstat (limited to 'src/drivers/Bma421_C/bma4_defs.h')
| -rw-r--r-- | src/drivers/Bma421_C/bma4_defs.h | 1144 |
1 files changed, 1144 insertions, 0 deletions
diff --git a/src/drivers/Bma421_C/bma4_defs.h b/src/drivers/Bma421_C/bma4_defs.h new file mode 100644 index 00000000..2db99c00 --- /dev/null +++ b/src/drivers/Bma421_C/bma4_defs.h @@ -0,0 +1,1144 @@ +/** + * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. + * + * BSD-3-Clause + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * @file bma4_defs.h + * @date 2020-05-08 + * @version V2.14.13 + * + */ + +/*! \file bma4_defs.h + * \brief Sensor Driver for BMA4 family of sensors + */ +#ifndef BMA4_DEFS_H__ +#define BMA4_DEFS_H__ + +/*********************************************************************/ +/**\ header files */ +#ifdef __KERNEL__ +#include <linux/types.h> +#else +#include <stdint.h> +#include <stddef.h> +#include <math.h> +#endif + +/*********************************************************************/ +/* macro definitions */ + +#ifdef __KERNEL__ + +#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 + +#else /* __KERNEL__ */ + +#if (!defined(UINT8_C) && !defined(INT8_C)) +#define INT8_C(x) (x) +#define UINT8_C(x) (x##U) +#endif + +#if (!defined(UINT16_C) && !defined(INT16_C)) +#define INT16_C(x) (x) +#define UINT16_C(x) (x##U) +#endif + +#if (!defined(INT32_C) && !defined(UINT32_C)) +#define INT32_C(x) (x) +#define UINT32_C(x) (x##U) +#endif + +#if (!defined(INT64_C) && !defined(UINT64_C)) +#define INT64_C(x) (x##LL) +#define UINT64_C(x) (x##ULL) +#endif + +#endif /* __KERNEL__ */ + +/**\name CHIP ID ADDRESS*/ +#define BMA4_CHIP_ID_ADDR UINT8_C(0x00) + +/**\name ERROR STATUS*/ +#define BMA4_ERROR_ADDR UINT8_C(0X02) + +/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/ +#define BMA4_STATUS_ADDR UINT8_C(0X03) + +/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ +#define BMA4_DATA_0_ADDR UINT8_C(0X0A) +#define BMA4_DATA_8_ADDR UINT8_C(0X12) + +/**\name SENSOR TIME REGISTERS*/ +#define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18) + +/**\name INTERRUPT/FEATURE STATUS REGISTERS*/ +#define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C) + +/**\name INTERRUPT/FEATURE STATUS REGISTERS*/ +#define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D) + +/**\name TEMPERATURE REGISTERS*/ +#define BMA4_TEMPERATURE_ADDR UINT8_C(0X22) + +/**\name FIFO REGISTERS*/ +#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24) +#define BMA4_FIFO_DATA_ADDR UINT8_C(0X26) + +/**\name ACCEL CONFIG REGISTERS*/ +#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40) + +/**\name ACCEL RANGE ADDRESS*/ +#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41) + +/**\name AUX CONFIG REGISTERS*/ +#define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44) + +/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/ +#define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45) + +/**\name FIFO WATERMARK REGISTER ADDRESS*/ +#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46) + +/**\name FIFO CONFIG REGISTERS*/ +#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48) +#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49) + +/**\name MAG INTERFACE REGISTERS*/ +#define BMA4_AUX_DEV_ID_ADDR UINT8_C(0X4B) +#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C) +#define BMA4_AUX_RD_ADDR UINT8_C(0X4D) +#define BMA4_AUX_WR_ADDR UINT8_C(0X4E) +#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F) + +/**\name INTERRUPT ENABLE REGISTERS*/ +#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53) +#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54) + +/**\name LATCH DURATION REGISTERS*/ +#define BMA4_INTR_LATCH_ADDR UINT8_C(0X55) + +/**\name MAP INTERRUPT 1 and 2 REGISTERS*/ +#define BMA4_INT_MAP_1_ADDR UINT8_C(0X56) +#define BMA4_INT_MAP_2_ADDR UINT8_C(0X57) +#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58) +#define BMA4_INIT_CTRL_ADDR UINT8_C(0x59) + +/**\name FEATURE CONFIG RELATED */ +#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B) +#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C) +#define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E) +#define BMA4_INTERNAL_ERROR UINT8_C(0x5F) + +/**\name SERIAL INTERFACE SETTINGS REGISTER*/ +#define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B) + +/**\name SELF_TEST REGISTER*/ +#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D) + +/**\name Macro to define accelerometer configuration value for FOC */ +#define BMA4_FOC_ACC_CONF_VAL UINT8_C(0xB7) + +/**\name SPI,I2C SELECTION REGISTER*/ +#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70) + +/**\name ACCEL OFFSET REGISTERS*/ +#define BMA4_OFFSET_0_ADDR UINT8_C(0X71) +#define BMA4_OFFSET_1_ADDR UINT8_C(0X72) +#define BMA4_OFFSET_2_ADDR UINT8_C(0X73) + +/**\name POWER_CTRL REGISTER*/ +#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C) +#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D) + +/**\name COMMAND REGISTER*/ +#define BMA4_CMD_ADDR UINT8_C(0X7E) + +/**\name GPIO REGISTERS*/ +#define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E) +#define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F) +#define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27) +#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28) +#define BMA4_INTERNAL_STAT UINT8_C(0x2A) + +/*! + * @brief Block size for config write + */ +#define BMA4_BLOCK_SIZE UINT8_C(32) + +/**\name I2C slave address */ +#define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18) +#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19) +#define BMA4_I2C_BMM150_ADDR UINT8_C(0x10) + +/**\name Interface selection macro */ +#define BMA4_SPI_WR_MASK UINT8_C(0x7F) +#define BMA4_SPI_RD_MASK UINT8_C(0x80) + +/**\name Chip ID macros */ +#define BMA4_CHIP_ID_MIN UINT8_C(0x10) +#define BMA4_CHIP_ID_MAX UINT8_C(0x15) + +/**\name Auxiliary sensor selection macro */ +#define BMM150_SENSOR UINT8_C(1) +#define AKM9916_SENSOR UINT8_C(2) +#define BMA4_ASIC_INITIALIZED UINT8_C(0x01) + +/**\name Auxiliary sensor chip id macros */ +#define BMM150_CHIP_ID UINT8_C(0x32) + +/**\name Auxiliary sensor other macros */ +#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B) +#define BMM150_POWER_MODE_REG UINT8_C(0x4C) + +/**\name CONSTANTS */ +#define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2) +#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2) +#define BMA4_FIFO_WM_LENGTH UINT8_C(2) +#define BMA4_NON_LATCH_MODE UINT8_C(0) +#define BMA4_LATCH_MODE UINT8_C(1) +#define BMA4_OPEN_DRAIN UINT8_C(1) +#define BMA4_PUSH_PULL UINT8_C(0) +#define BMA4_ACTIVE_HIGH UINT8_C(1) +#define BMA4_ACTIVE_LOW UINT8_C(0) +#define BMA4_EDGE_TRIGGER UINT8_C(1) +#define BMA4_LEVEL_TRIGGER UINT8_C(0) +#define BMA4_OUTPUT_ENABLE UINT8_C(1) +#define BMA4_OUTPUT_DISABLE UINT8_C(0) +#define BMA4_INPUT_ENABLE UINT8_C(1) +#define BMA4_INPUT_DISABLE UINT8_C(0) + +/**\name ACCEL RANGE CHECK*/ +#define BMA4_ACCEL_RANGE_2G UINT8_C(0) +#define BMA4_ACCEL_RANGE_4G UINT8_C(1) +#define BMA4_ACCEL_RANGE_8G UINT8_C(2) +#define BMA4_ACCEL_RANGE_16G UINT8_C(3) + +/**\name CONDITION CHECK FOR READING AND WRTING DATA*/ +#define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1) +#define BMA4_MAX_VALUE_SPI3 UINT8_C(1) +#define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1) +#define BMA4_MAX_IF_MODE UINT8_C(3) +#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1) + +/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/ +#define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16) +#define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6) +#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8) +#define BMA4_ACCEL_DATA_LENGTH UINT8_C(6) +#define BMA4_FIFO_DATA_LENGTH UINT8_C(2) +#define BMA4_TEMP_DATA_SIZE UINT8_C(1) + +/**\name TEMPERATURE CONSTANT */ +#define BMA4_OFFSET_TEMP UINT8_C(23) +#define BMA4_DEG UINT8_C(1) +#define BMA4_FAHREN UINT8_C(2) +#define BMA4_KELVIN UINT8_C(3) + +/**\name DELAY DEFINITION IN MSEC*/ +#define BMA4_AUX_IF_DELAY UINT8_C(5) +#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2) +#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3) +#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1) +#define BMA4_GEN_READ_WRITE_DELAY UINT16_C(1000) +#define BMA4_AUX_COM_DELAY UINT16_C(10000) + +/**\name ARRAY PARAMETER DEFINITIONS*/ +#define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2) +#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1) +#define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0) +#define BMA4_MAG_X_LSB_BYTE UINT8_C(0) +#define BMA4_MAG_X_MSB_BYTE UINT8_C(1) +#define BMA4_MAG_Y_LSB_BYTE UINT8_C(2) +#define BMA4_MAG_Y_MSB_BYTE UINT8_C(3) +#define BMA4_MAG_Z_LSB_BYTE UINT8_C(4) +#define BMA4_MAG_Z_MSB_BYTE UINT8_C(5) +#define BMA4_MAG_R_LSB_BYTE UINT8_C(6) +#define BMA4_MAG_R_MSB_BYTE UINT8_C(7) +#define BMA4_TEMP_BYTE UINT8_C(0) +#define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1) + +/*! @name To define success code */ +#define BMA4_OK INT8_C(0) + +/*! @name To define error codes */ +#define BMA4_E_NULL_PTR INT8_C(-1) +#define BMA4_E_COM_FAIL INT8_C(-2) +#define BMA4_E_DEV_NOT_FOUND INT8_C(-3) +#define BMA4_E_INVALID_SENSOR INT8_C(-4) +#define BMA4_E_CONFIG_STREAM_ERROR INT8_C(-5) +#define BMA4_E_SELF_TEST_FAIL INT8_C(-6) +#define BMA4_E_FOC_FAIL INT8_C(-7) +#define BMA4_E_OUT_OF_RANGE INT8_C(-8) +#define BMA4_E_INT_LINE_INVALID INT8_C(-9) +#define BMA4_E_RD_WR_LENGTH_INVALID INT8_C(-10) +#define BMA4_E_AUX_CONFIG_FAIL INT8_C(-11) +#define BMA4_E_SC_FIFO_HEADER_ERR INT8_C(-12) +#define BMA4_E_SC_FIFO_CONFIG_ERR INT8_C(-13) + +/**\name UTILITY MACROS */ +#define BMA4_SET_LOW_BYTE UINT16_C(0x00FF) +#define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00) +#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F) + +/* Macros used for Self test (BMA42X_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA42X */ +#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400) +#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800) +#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400) + +/* Macros used for Self test (BMA42X_B_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA42X_B */ +#define BMA42X_B_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA42X_B_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA42X_B_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) + +/* Macros used for Self test (BMA45X_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA45X */ +#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) + +/**\name BOOLEAN TYPES*/ +#ifndef TRUE +#define TRUE UINT8_C(0x01) +#endif + +#ifndef FALSE +#define FALSE UINT8_C(0x00) +#endif + +#ifndef NULL +#define NULL UINT8_C(0x00) +#endif + +/**\name ERROR STATUS POSITION AND MASK*/ +#define BMA4_FATAL_ERR_MSK UINT8_C(0x01) +#define BMA4_CMD_ERR_POS UINT8_C(1) +#define BMA4_CMD_ERR_MSK UINT8_C(0x02) +#define BMA4_ERR_CODE_POS UINT8_C(2) +#define BMA4_ERR_CODE_MSK UINT8_C(0x1C) +#define BMA4_FIFO_ERR_POS UINT8_C(6) +#define BMA4_FIFO_ERR_MSK UINT8_C(0x40) +#define BMA4_AUX_ERR_POS UINT8_C(7) +#define BMA4_AUX_ERR_MSK UINT8_C(0x80) + +/**\name NV_CONFIG POSITION AND MASK*/ +/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */ +#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3) +#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08) + +/**\name MAG DATA XYZ POSITION AND MASK*/ +#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3) +#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8) +#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3) +#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8) +#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1) +#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE) +#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2) +#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC) + +/**\name ACCEL DATA READY POSITION AND MASK*/ +#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7) +#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80) + +/**\name MAG DATA READY POSITION AND MASK*/ +#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5) +#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20) + +/**\name ADVANCE POWER SAVE POSITION AND MASK*/ +#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01) + +/**\name ACCELEROMETER ENABLE POSITION AND MASK*/ +#define BMA4_ACCEL_ENABLE_POS UINT8_C(2) +#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04) + +/**\name MAGNETOMETER ENABLE POSITION AND MASK*/ +#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01) + +/**\name ACCEL CONFIGURATION POSITION AND MASK*/ +#define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F) +#define BMA4_ACCEL_BW_POS UINT8_C(4) +#define BMA4_ACCEL_BW_MSK UINT8_C(0x70) +#define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03) +#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7) +#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80) + +/**\name MAG CONFIGURATION POSITION AND MASK*/ +#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4) +#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4) +#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0) +#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR) + +/**\name FIFO SELF WAKE UP POSITION AND MASK*/ +#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1) +#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02) + +/**\name FIFO BYTE COUNTER POSITION AND MASK*/ +#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F) + +/**\name FIFO DATA POSITION AND MASK*/ +#define BMA4_FIFO_DATA_POS UINT8_C(0) +#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF) + +/**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/ +#define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4) +#define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70) +#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7) +#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80) + +/**\name FIFO HEADER DATA DEFINITIONS */ +#define BMA4_FIFO_HEAD_A UINT8_C(0x84) +#define BMA4_FIFO_HEAD_M UINT8_C(0x90) +#define BMA4_FIFO_HEAD_M_A UINT8_C(0x94) +#define BMA4_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) +#define BMA4_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) +#define BMA4_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) +#define BMA4_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) +#define BMA4_FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50) + +/**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */ +#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60) +#define BMA4_FIFO_A_ENABLE UINT8_C(0x40) +#define BMA4_FIFO_M_ENABLE UINT8_C(0x20) + +/**\name FIFO CONFIGURATION SELECTION */ +#define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01) +#define BMA4_FIFO_TIME UINT8_C(0x02) +#define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04) +#define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08) +#define BMA4_FIFO_HEADER UINT8_C(0x10) +#define BMA4_FIFO_MAG UINT8_C(0x20) +#define BMA4_FIFO_ACCEL UINT8_C(0x40) +#define BMA4_FIFO_ALL UINT8_C(0x7F) +#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03) +#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC) + +/**\name FIFO FRAME COUNT DEFINITION */ +#define BMA4_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) +#define BMA4_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) +#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC) + +/**\name FIFO DROPPED FRAME DEFINITION */ +#define BMA4_AUX_FIFO_DROP UINT8_C(0x04) +#define BMA4_ACCEL_AUX_FIFO_DROP UINT8_C(0x05) +#define BMA4_ACCEL_FIFO_DROP UINT8_C(0x01) + +/**\name FIFO MAG DEFINITION*/ +#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8) + +/**\name FIFO sensor time length definitions*/ +#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3) + +/**\name FIFO LENGTH DEFINITION*/ +#define BMA4_FIFO_A_LENGTH UINT8_C(6) +#define BMA4_FIFO_M_LENGTH UINT8_C(8) +#define BMA4_FIFO_MA_LENGTH UINT8_C(14) + +/**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/ +#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1) +#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE) + +/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/ +#define BMA4_MAG_BURST_MSK UINT8_C(0x03) +#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7) +#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80) +#define BMA4_READ_ADDR_MSK UINT8_C(0xFF) +#define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF) +#define BMA4_WRITE_DATA_MSK UINT8_C(0xFF) + +/**\name OUTPUT TYPE ENABLE POSITION AND MASK*/ +#define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01) +#define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00) +#define BMA4_INT_LEVEL_MASK UINT8_C(0x02) +#define BMA4_INT_LEVEL_POS UINT8_C(0x01) +#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04) +#define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02) +#define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08) +#define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03) +#define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10) +#define BMA4_INT_INPUT_EN_POS UINT8_C(0x04) + +/**\name IF CONFIG POSITION AND MASK*/ +#define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01) +#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4) +#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10) + +/**\name ACCEL SELF TEST POSITION AND MASK*/ +#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01) +#define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2) +#define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04) +#define BMA4_SELFTEST_AMP_POS UINT8_C(3) +#define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08) + +/**\name ACCEL ODR */ +#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01) +#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02) +#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03) +#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04) +#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05) +#define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06) +#define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07) +#define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08) +#define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09) +#define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A) +#define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B) +#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C) + +/**\name ACCEL BANDWIDTH PARAMETER */ +#define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0) +#define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1) +#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2) +#define BMA4_ACCEL_CIC_AVG8 UINT8_C(3) +#define BMA4_ACCEL_RES_AVG16 UINT8_C(4) +#define BMA4_ACCEL_RES_AVG32 UINT8_C(5) +#define BMA4_ACCEL_RES_AVG64 UINT8_C(6) +#define BMA4_ACCEL_RES_AVG128 UINT8_C(7) + +/**\name ACCEL PERFMODE PARAMETER */ +#define BMA4_CIC_AVG_MODE UINT8_C(0) +#define BMA4_CONTINUOUS_MODE UINT8_C(1) + +/**\name MAG OFFSET */ +#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00) + +/**\name ENABLE/DISABLE SELECTIONS */ +#define BMA4_X_AXIS UINT8_C(0) +#define BMA4_Y_AXIS UINT8_C(1) +#define BMA4_Z_AXIS UINT8_C(2) + +/**\name SELF TEST*/ +#define BMA4_SELFTEST_PASS INT8_C(0) +#define BMA4_SELFTEST_FAIL INT8_C(1) + +#define BMA4_SELFTEST_DIFF_X_AXIS_FAILED INT8_C(1) +#define BMA4_SELFTEST_DIFF_Y_AXIS_FAILED INT8_C(2) +#define BMA4_SELFTEST_DIFF_Z_AXIS_FAILED INT8_C(3) +#define BMA4_SELFTEST_DIFF_X_AND_Y_AXIS_FAILED INT8_C(4) +#define BMA4_SELFTEST_DIFF_X_AND_Z_AXIS_FAILED INT8_C(5) +#define BMA4_SELFTEST_DIFF_Y_AND_Z_AXIS_FAILED INT8_C(6) +#define BMA4_SELFTEST_DIFF_X_Y_AND_Z_AXIS_FAILED INT8_C(7) + +/**\name INTERRUPT MAPS */ +#define BMA4_INTR1_MAP UINT8_C(0) +#define BMA4_INTR2_MAP UINT8_C(1) + +/**\name INTERRUPT MASKS */ +#define BMA4_FIFO_FULL_INT UINT16_C(0x0100) +#define BMA4_FIFO_WM_INT UINT16_C(0x0200) +#define BMA4_DATA_RDY_INT UINT16_C(0x0400) +#define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000) +#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000) + +/**\name AKM POWER MODE SELECTION */ +#define BMA4_AKM_POWER_DOWN_MODE UINT8_C(0) +#define BMA4_AKM_SINGLE_MEAS_MODE UINT8_C(1) + +/**\name SECONDARY_MAG POWER MODE SELECTION */ +#define BMA4_MAG_FORCE_MODE UINT8_C(0) +#define BMA4_MAG_SUSPEND_MODE UINT8_C(1) + +/**\name MAG POWER MODE SELECTION */ +#define BMA4_FORCE_MODE UINT8_C(0) +#define BMA4_SUSPEND_MODE UINT8_C(1) + +/**\name ACCEL POWER MODE */ +#define BMA4_ACCEL_MODE_NORMAL UINT8_C(0x11) + +/**\name MAG POWER MODE */ +#define BMA4_MAG_MODE_SUSPEND UINT8_C(0x18) + +/**\name ENABLE/DISABLE BIT VALUES */ +#define BMA4_ENABLE UINT8_C(0x01) +#define BMA4_DISABLE UINT8_C(0x00) + +/**\name DEFINITION USED FOR DIFFERENT WRITE */ +#define BMA4_MANUAL_DISABLE UINT8_C(0x00) +#define BMA4_MANUAL_ENABLE UINT8_C(0x01) +#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01) +#define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A) +#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06) +#define BMA4_SEC_IF_NULL UINT8_C(0) +#define BMA4_SEC_IF_BMM150 UINT8_C(1) +#define BMA4_SEC_IF_AKM09916 UINT8_C(2) +#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01) + +/**\name SENSOR RESOLUTION */ +#define BMA4_12_BIT_RESOLUTION UINT8_C(12) +#define BMA4_14_BIT_RESOLUTION UINT8_C(14) +#define BMA4_16_BIT_RESOLUTION UINT8_C(16) + +/**\name FOC MACROS */ +#define BMA4_FOC_SAMPLE_LIMIT UINT8_C(128) +#define BMA4_MAX_NOISE_LIMIT(RANGE_VALUE) (RANGE_VALUE + UINT16_C(255)) +#define BMA4_MIN_NOISE_LIMIT(RANGE_VALUE) (RANGE_VALUE - UINT16_C(255)) + +/*! for handling float temperature values */ +#define BMA4_SCALE_TEMP INT32_C(1000) + +/* BMA4_FAHREN_SCALED = 1.8 * 1000 */ +#define BMA4_FAHREN_SCALED INT32_C(1800) + +/* BMA4_KELVIN_SCALED = 273.15 * 1000 */ +#define BMA4_KELVIN_SCALED INT32_C(273150) + +/**\name MAP BURST READ LENGTHS */ +#define BMA4_AUX_READ_LEN_0 UINT8_C(0) +#define BMA4_AUX_READ_LEN_1 UINT8_C(1) +#define BMA4_AUX_READ_LEN_2 UINT8_C(2) +#define BMA4_AUX_READ_LEN_3 UINT8_C(3) + +#define BMA4_CONFIG_STREAM_MESSAGE_MSK UINT8_C(0x0F) + +#define BMA4_SOFT_RESET UINT8_C(0XB6) + +#define BMA4_MS_TO_US(X) (X * 1000) + +#ifndef ABS +#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */ +#endif + +/**\name BIT SLICE GET AND SET FUNCTIONS */ +#define BMA4_GET_BITSLICE(regvar, bitname) \ + ((regvar & bitname##_MSK) >> bitname##_POS) + +#define BMA4_SET_BITSLICE(regvar, bitname, val) \ + ((regvar & ~bitname##_MSK) | \ + ((val << bitname##_POS) & bitname##_MSK)) + +#define BMA4_GET_DIFF(x, y) ((x) - (y)) + +#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE) +#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8) + +#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK)) + +#define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \ + ((reg_data & ~(bitname##_MSK)) | \ + (data & bitname##_MSK)) + +#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) + +/** + * BMA4_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system. + * The default is set to int8_t. + */ +#ifndef BMA4_INTF_RET_TYPE +#define BMA4_INTF_RET_TYPE int8_t +#endif + +/** + * BST_INTF_RET_SUCCESS is the success return value read/write interface return type which can be + * overwritten by the build system. The default is set to 0. It is used to check for a successful + * execution of the read/write functions + */ +#ifndef BMA4_INTF_RET_SUCCESS +#define BMA4_INTF_RET_SUCCESS INT8_C(0) +#endif + +/******************************************************************************/ +/*! @name TYPEDEF DEFINITIONS */ +/******************************************************************************/ + +/*! + * @brief Bus communication function pointer which should be mapped to + * the platform specific read functions of the user + * + * @param[in] reg_addr : Register address from which data is read. + * @param[out] read_data : Pointer to data buffer where read data is stored. + * @param[in] len : Number of bytes of data to be read. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs. + * + * @retval = BMA4_INTF_RET_SUCCESS -> Success + * @retval != BMA4_INTF_RET_SUCCESS -> Failure Info + * + */ +typedef BMA4_INTF_RET_TYPE (*bma4_read_fptr_t)(uint8_t reg_addr, uint8_t *read_data, uint32_t len, void *intf_ptr); + +/*! + * @brief Bus communication function pointer which should be mapped to + * the platform specific write functions of the user + * + * @param[in] reg_addr : Register address to which the data is written. + * @param[in] read_data : Pointer to data buffer in which data to be written + * is stored. + * @param[in] len : Number of bytes of data to be written. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs + * + * @retval = BMA4_INTF_RET_SUCCESS -> Success + * @retval != BMA4_INTF_RET_SUCCESS -> Failure Info + * + */ +typedef BMA4_INTF_RET_TYPE (*bma4_write_fptr_t)(uint8_t reg_addr, const uint8_t *read_data, uint32_t len, + void *intf_ptr); + +/*! + * @brief Delay function pointer which should be mapped to + * delay function of the user + * + * @param[in] period : Delay in microseconds. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs + * + */ +typedef void (*bma4_delay_us_fptr_t)(uint32_t period, void *intf_ptr); + +/******************************************************************************/ +/*! @name Enum Declarations */ +/******************************************************************************/ +/*! @name Enum to define BMA4 variants */ +enum bma4_variant { + BMA42X_VARIANT = 1, + BMA42X_B_VARIANT, + BMA45X_VARIANT +}; + +/* Enumerator describing interfaces */ +enum bma4_intf { + BMA4_SPI_INTF, + BMA4_I2C_INTF +}; + +/**\name STRUCTURE DEFINITIONS*/ + +/*! + * @brief + * This structure holds asic info. for feature configuration. + */ +struct bma4_asic_data +{ + /* Feature config start addr (0-3 bits)*/ + uint8_t asic_lsb; + + /* Feature config start addr (4-11 bits)*/ + uint8_t asic_msb; +}; + +/*! + * @brief Auxiliary configuration structure for user settings + */ +struct bma4_aux_config +{ + /*! Device address of auxiliary sensor */ + uint8_t aux_dev_addr; + + /*! To enable manual or auto mode */ + uint8_t manual_enable; + + /*! No of bytes to be read at a time */ + uint8_t burst_read_length; + + /*! Variable to set the auxiliary interface */ + uint8_t if_mode; +}; + +/*! + * @brief + * This structure holds all relevant information about BMA4 + */ +struct bma4_dev +{ + /*! Chip id of BMA4 */ + uint8_t chip_id; + + /*! Chip id of auxiliary sensor */ + uint8_t aux_chip_id; + + /*! Interface pointer */ + void *intf_ptr; + + /*! Interface detail */ + enum bma4_intf intf; + + /*! Variable that holds error code */ + BMA4_INTF_RET_TYPE intf_rslt; + + /*! Auxiliary sensor information */ + uint8_t aux_sensor; + + /*! Decide SPI or I2C read mechanism */ + uint8_t dummy_byte; + + /*! Resolution for FOC */ + uint8_t resolution; + + /*! Define the BMA4 variant BMA42X or BMA45X */ + enum bma4_variant variant; + + /*! Used to check mag manual/auto mode status + * int8_t mag_manual_enable; + */ + + /*! Config stream data buffer address will be assigned*/ + const uint8_t *config_file_ptr; + + /*! Read/write length */ + uint16_t read_write_len; + + /*! Feature len */ + uint8_t feature_len; + + /*! Contains asic information */ + struct bma4_asic_data asic_data; + + /*! Contains aux configuration settings */ + struct bma4_aux_config aux_config; + + /*! Bus read function pointer */ + bma4_read_fptr_t bus_read; + + /*! Bus write function pointer */ + bma4_write_fptr_t bus_write; + + /*! Delay(in microsecond) function pointer */ + bma4_delay_us_fptr_t delay_us; + + /*! Variable to store the size of config file */ + uint16_t config_size; + + /*! Variable to store the status of performance mode */ + uint8_t perf_mode_status; +}; + +/*! + * @brief This structure holds the information for usage of + * FIFO by the user. + */ +struct bma4_fifo_frame +{ + /*! Data buffer of user defined length is to be mapped here */ + uint8_t *data; + + /*! Number of bytes of FIFO to be read as specified by the user */ + uint16_t length; + + /*! Enabling of the FIFO header to stream in header mode */ + uint8_t fifo_header_enable; + + /*! Streaming of the Accelerometer, Auxiliary + * 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 mag_byte_start_idx; + + /*! Will be equal to length when no more frames are there to parse */ + uint16_t sc_frame_byte_start_idx; + + /*! Value of FIFO sensor time time */ + uint32_t sensor_time; + + /*! Value of Skipped frame counts */ + uint8_t skipped_frame_count; + + /*! Value of accel dropped frame count */ + uint8_t accel_dropped_frame_count; + + /*! Value of mag dropped frame count */ + uint8_t mag_dropped_frame_count; +}; + +/*! + * @brief Error Status structure + */ +struct bma4_err_reg +{ + /*! Indicates fatal error */ + uint8_t fatal_err; + + /*! Indicates command error */ + uint8_t cmd_err; + + /*! Indicates error code */ + uint8_t err_code; + + /*! Indicates fifo error */ + uint8_t fifo_err; + + /*! Indicates mag error */ + uint8_t aux_err; +}; + +/*! + * @brief Asic Status structure + */ +struct bma4_asic_status +{ + /*! Asic is in sleep/halt state */ + uint8_t sleep; + + /*! Dedicated interrupt is set again before previous interrupt + * was acknowledged + */ + uint8_t irq_ovrn; + + /*! Watchcell event detected (asic stopped) */ + uint8_t wc_event; + + /*! Stream transfer has started and transactions are ongoing */ + uint8_t stream_transfer_active; +}; + +/*! + * @brief Interrupt Pin Configuration structure + */ +struct bma4_int_pin_config +{ + /*! Trigger condition of interrupt pin */ + uint8_t edge_ctrl; + + /*! Level of interrupt pin */ + uint8_t lvl; + + /*! Behaviour of interrupt pin to open drain */ + uint8_t od; + + /*! Output enable for interrupt pin */ + uint8_t output_en; + + /*! Input enable for interrupt pin */ + uint8_t input_en; +}; + +/*! + * @brief Accelerometer configuration structure + */ +struct bma4_accel_config +{ + /*! Output data rate in Hz */ + uint8_t odr; + + /*! Bandwidth parameter, determines filter configuration */ + uint8_t bandwidth; + + /*! Filter performance mode */ + uint8_t perf_mode; + + /*! G-range */ + uint8_t range; +}; + +/*! + * @brief Auxiliary magnetometer configuration structure + */ +struct bma4_aux_mag_config +{ + /*! Poll rate for the sensor attached to the Magnetometer interface */ + uint8_t odr; + + /*! Trigger-readout offset in units of 2.5 ms. + * If set to zero, the offset is maximum, i.e. after readout a trigger + * is issued immediately + */ + uint8_t offset; +}; + +/*! + * @brief ASIC Config structure + */ +struct bma4_asic_config +{ + /*! Enable/Disable ASIC Wake Up */ + uint8_t asic_en; + + /*! Configure stream_transfer/FIFO mode */ + uint8_t fifo_mode_en; + + /*! Mapping of instance RAM1 */ + uint8_t mem_conf_ram1; + + /*! Mapping of instance RAM2 */ + uint8_t mem_conf_ram2; + + /*! Mapping of instance RAM3 */ + uint8_t mem_conf_ram3; +}; + +/*! + * @brief bmm150 or akm09916 + * magnetometer values structure + */ +struct bma4_mag +{ + /*! BMM150 and AKM09916 X raw data */ + int32_t x; + + /*! BMM150 and AKM09916 Y raw data */ + int32_t y; + + /*! BMM150 and AKM09916 Z raw data */ + int32_t z; +}; + +/*! + * @brief bmm150 xyz data structure + */ +struct bma4_mag_xyzr +{ + /*! BMM150 X raw data */ + int16_t x; + + /*! BMM150 Y raw data */ + int16_t y; + + /*! BMM150 Z raw data */ + int16_t z; + + /*! BMM150 R raw data */ + uint16_t r; +}; + +/*! + * @brief Accel xyz data structure + */ +struct bma4_accel +{ + /*! Accel X data */ + int16_t x; + + /*! Accel Y data */ + int16_t y; + + /*! Accel Z data */ + int16_t z; +}; + +/*! + * @brief FIFO mag data structure + */ +struct bma4_mag_fifo_data +{ + /*! The value of mag x LSB data */ + uint8_t mag_x_lsb; + + /*! The value of mag x MSB data */ + uint8_t mag_x_msb; + + /*! The value of mag y LSB data */ + uint8_t mag_y_lsb; + + /*! The value of mag y MSB data */ + uint8_t mag_y_msb; + + /*! The value of mag z LSB data */ + uint8_t mag_z_lsb; + + /*! The value of mag z MSB data */ + uint8_t mag_z_msb; + + /*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */ + uint8_t mag_r_y2_lsb; + + /*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */ + uint8_t mag_r_y2_msb; +}; + +/*! + * @brief Accel self test difference data structure + */ +struct bma4_selftest_delta_limit +{ + /*! Accel X data */ + int32_t x; + + /*! Accel Y data */ + int32_t y; + + /*! Accel Z data */ + int32_t z; +}; + +/*! @name Structure to enable an accel axis for FOC */ +struct bma4_accel_foc_g_value +{ + /* '0' to disable x-axis and '1' to enable x-axis */ + uint8_t x; + + /* '0' to disable y-axis and '1' to enable y-axis */ + uint8_t y; + + /* '0' to disable z-axis and '1' to enable z-axis */ + uint8_t z; + + /* '0' for positive input and '1' for negative input */ + uint8_t sign; +}; + +/*! @name Structure to store temporary accelerometer values */ +struct bma4_foc_temp_value +{ + /*! X data */ + int32_t x; + + /*! Y data */ + int32_t y; + + /*! Z data */ + int32_t z; +}; + +/* Structure to store temporary axes data values */ +struct bma4_temp_axes_val +{ + /* X data */ + int32_t x; + + /* Y data */ + int32_t y; + + /* Z data */ + int32_t z; +}; + +#endif /* End of BMA4_DEFS_H__ */ |