DFRobot_BMX160.h

/*
===============================================
bmx160 magnetometer/accelerometer/gyroscope library for Intel(R) Curie(TM) devices.
Copyright (c) 2015 Intel Corporation.  All rights reserved.

Based on MPU6050 Arduino library provided by Jeff Rowberg as part of his
excellent I2Cdev device library: https://github.com/jrowberg/i2cdevlib

===============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

#include<arduino.h>
#include<Wire.h>
#include<SPI.h>

#define LITTLE_ENDIAN 1

/** Mask definitions */
#define BMX160_ACCEL_BW_MASK                     0x70
#define BMX160_ACCEL_ODR_MASK                    0x0F
#define BMX160_ACCEL_UNDERSAMPLING_MASK          0x80
#define BMX160_ACCEL_RANGE_MASK                  0x0F
#define BMX160_GYRO_BW_MASK                      0x30
#define BMX160_GYRO_ODR_MASK                     0x0F
#define BMX160_GYRO_RANGE_MSK                    0x07

/** Mask definitions for INT_EN registers */
#define BMX160_ANY_MOTION_X_INT_EN_MASK          0x01
#define BMX160_HIGH_G_X_INT_EN_MASK              0x01
#define BMX160_NO_MOTION_X_INT_EN_MASK           0x01
#define BMX160_ANY_MOTION_Y_INT_EN_MASK          0x02
#define BMX160_HIGH_G_Y_INT_EN_MASK              0x02
#define BMX160_NO_MOTION_Y_INT_EN_MASK           0x02
#define BMX160_ANY_MOTION_Z_INT_EN_MASK          0x04
#define BMX160_HIGH_G_Z_INT_EN_MASK              0x04
#define BMX160_NO_MOTION_Z_INT_EN_MASK           0x04
#define BMX160_SIG_MOTION_INT_EN_MASK            0x07
#define BMX160_ANY_MOTION_ALL_INT_EN_MASK        0x07
#define BMX160_STEP_DETECT_INT_EN_MASK           0x08
#define BMX160_DOUBLE_TAP_INT_EN_MASK            0x10
#define BMX160_SINGLE_TAP_INT_EN_MASK            0x20
#define BMX160_FIFO_FULL_INT_EN_MASK             0x20
#define BMX160_ORIENT_INT_EN_MASK                0x40
#define BMX160_FIFO_WATERMARK_INT_EN_MASK        0x40
#define BMX160_LOW_G_INT_EN_MASK                 0x08
#define BMX160_STEP_DETECT_EN_MASK               0x08
#define BMX160_FLAT_INT_EN_MASK                  0x80
#define BMX160_DATA_RDY_INT_EN_MASK              0x10

/** Mask definitions for INT_OUT_CTRL register */
#define BMX160_INT1_EDGE_CTRL_MASK               0x01
#define BMX160_INT1_OUTPUT_MODE_MASK             0x04
#define BMX160_INT1_OUTPUT_TYPE_MASK             0x02
#define BMX160_INT1_OUTPUT_EN_MASK               0x08
#define BMX160_INT2_EDGE_CTRL_MASK               0x10
#define BMX160_INT2_OUTPUT_MODE_MASK             0x40
#define BMX160_INT2_OUTPUT_TYPE_MASK             0x20
#define BMX160_INT2_OUTPUT_EN_MASK               0x80

/** Mask definitions for INT_LATCH register */
#define BMX160_INT1_INPUT_EN_MASK                0x10
#define BMX160_INT2_INPUT_EN_MASK                0x20
#define BMX160_INT_LATCH_MASK                    0x0F

/** Mask definitions for INT_MAP register */
#define BMX160_INT1_LOW_G_MASK                   0x01
#define BMX160_INT1_HIGH_G_MASK                  0x02
#define BMX160_INT1_SLOPE_MASK                   0x04
#define BMX160_INT1_NO_MOTION_MASK               0x08
#define BMX160_INT1_DOUBLE_TAP_MASK              0x10
#define BMX160_INT1_SINGLE_TAP_MASK              0x20
#define BMX160_INT1_FIFO_FULL_MASK               0x20
#define BMX160_INT1_FIFO_WM_MASK                 0x40
#define BMX160_INT1_ORIENT_MASK                  0x40
#define BMX160_INT1_FLAT_MASK                    0x80
#define BMX160_INT1_DATA_READY_MASK              0x80
#define BMX160_INT2_LOW_G_MASK                   0x01
#define BMX160_INT1_LOW_STEP_DETECT_MASK         0x01
#define BMX160_INT2_LOW_STEP_DETECT_MASK         0x01
#define BMX160_INT2_HIGH_G_MASK                  0x02
#define BMX160_INT2_FIFO_FULL_MASK               0x02
#define BMX160_INT2_FIFO_WM_MASK                 0x04
#define BMX160_INT2_SLOPE_MASK                   0x04
#define BMX160_INT2_DATA_READY_MASK              0x08
#define BMX160_INT2_NO_MOTION_MASK               0x08
#define BMX160_INT2_DOUBLE_TAP_MASK              0x10
#define BMX160_INT2_SINGLE_TAP_MASK              0x20
#define BMX160_INT2_ORIENT_MASK                  0x40
#define BMX160_INT2_FLAT_MASK                    0x80

/** Mask definitions for INT_DATA register */
#define BMX160_TAP_SRC_INT_MASK                  0x08
#define BMX160_LOW_HIGH_SRC_INT_MASK             0x80
#define BMX160_MOTION_SRC_INT_MASK               0x80

/** Mask definitions for INT_MOTION register */
#define BMX160_SLOPE_INT_DUR_MASK                0x03
#define BMX160_NO_MOTION_INT_DUR_MASK            0xFC
#define BMX160_NO_MOTION_SEL_BIT_MASK            0x01

/** Mask definitions for INT_TAP register */
#define BMX160_TAP_DUR_MASK                      0x07
#define BMX160_TAP_SHOCK_DUR_MASK                0x40
#define BMX160_TAP_QUIET_DUR_MASK                0x80
#define BMX160_TAP_THRES_MASK                    0x1F

/** Mask definitions for INT_FLAT register */
#define BMX160_FLAT_THRES_MASK                   0x3F
#define BMX160_FLAT_HOLD_TIME_MASK               0x30
#define BMX160_FLAT_HYST_MASK                    0x07

/** Mask definitions for INT_LOWHIGH register */
#define BMX160_LOW_G_HYST_MASK                   0x03
#define BMX160_LOW_G_LOW_MODE_MASK               0x04
#define BMX160_HIGH_G_HYST_MASK                  0xC0

/** Mask definitions for INT_SIG_MOTION register */
#define BMX160_SIG_MOTION_SEL_MASK               0x02
#define BMX160_SIG_MOTION_SKIP_MASK              0x0C
#define BMX160_SIG_MOTION_PROOF_MASK             0x30

/** Mask definitions for INT_ORIENT register */
#define BMX160_ORIENT_MODE_MASK                  0x03
#define BMX160_ORIENT_BLOCK_MASK                 0x0C
#define BMX160_ORIENT_HYST_MASK                  0xF0
#define BMX160_ORIENT_THETA_MASK                 0x3F
#define BMX160_ORIENT_UD_ENABLE                  0x40
#define BMX160_AXES_EN_MASK                      0x80

/** Mask definitions for FIFO_CONFIG register */
#define BMX160_FIFO_GYRO                         0x80
#define BMX160_FIFO_ACCEL                        0x40
#define BMX160_FIFO_MAGN                         0x20
#define BMX160_FIFO_TAG_INT1                     0x08
#define BMX160_FIFO_TAG_INT2                     0x04
#define BMX160_FIFO_TIME                         0x02
#define BMX160_FIFO_HEADER                       0x10
#define BMX160_FIFO_CONFIG_1_MASK                0xFE


/** Mask definitions for STEP_CONF register */
#define BMX160_STEP_COUNT_EN_BIT_MASK            0x08
#define BMX160_STEP_DETECT_MIN_THRES_MASK        0x18
#define BMX160_STEP_DETECT_STEPTIME_MIN_MASK     0x07
#define BMX160_STEP_MIN_BUF_MASK                 0x07

/** Mask definition for FIFO Header Data Tag */
#define BMX160_FIFO_TAG_INTR_MASK                0xFC

/** Fifo byte counter mask definitions */
#define BMX160_FIFO_BYTE_COUNTER_MASK            0x07

/** Enable/disable bit value */
#define BMX160_ENABLE                            0x01
#define BMX160_DISABLE                           0x00

/** Latch Duration */
#define BMX160_LATCH_DUR_NONE                    0x00
#define BMX160_LATCH_DUR_312_5_MICRO_SEC         0x01
#define BMX160_LATCH_DUR_625_MICRO_SEC           0x02
#define BMX160_LATCH_DUR_1_25_MILLI_SEC          0x03
#define BMX160_LATCH_DUR_2_5_MILLI_SEC           0x04
#define BMX160_LATCH_DUR_5_MILLI_SEC             0x05
#define BMX160_LATCH_DUR_10_MILLI_SEC            0x06
#define BMX160_LATCH_DUR_20_MILLI_SEC            0x07
#define BMX160_LATCH_DUR_40_MILLI_SEC            0x08
#define BMX160_LATCH_DUR_80_MILLI_SEC            0x09
#define BMX160_LATCH_DUR_160_MILLI_SEC           0x0A
#define BMX160_LATCH_DUR_320_MILLI_SEC           0x0B
#define BMX160_LATCH_DUR_640_MILLI_SEC           0x0C
#define BMX160_LATCH_DUR_1_28_SEC                0x0D
#define BMX160_LATCH_DUR_2_56_SEC                0x0E
#define BMX160_LATCHED                           0x0F

/** bmx160 Register map */
#define BMX160_CHIP_ID_ADDR                      0x00
#define BMX160_ERROR_REG_ADDR                    0x02
#define BMX160_MAG_DATA_ADDR                     0x04
#define BMX160_GYRO_DATA_ADDR                    0x0C
#define BMX160_ACCEL_DATA_ADDR                   0x12
#define BMX160_STATUS_ADDR                       0x1B
#define BMX160_INT_STATUS_ADDR                   0x1C
#define BMX160_FIFO_LENGTH_ADDR                  0x22
#define BMX160_FIFO_DATA_ADDR                    0x24
#define BMX160_ACCEL_CONFIG_ADDR                 0x40
#define BMX160_ACCEL_RANGE_ADDR                  0x41
#define BMX160_GYRO_CONFIG_ADDR                  0x42
#define BMX160_GYRO_RANGE_ADDR                   0x43
#define BMX160_MAGN_CONFIG_ADDR                  0x44
#define BMX160_FIFO_DOWN_ADDR                    0x45
#define BMX160_FIFO_CONFIG_0_ADDR                0x46
#define BMX160_FIFO_CONFIG_1_ADDR                0x47
#define BMX160_MAGN_RANGE_ADDR                   0x4B
#define BMX160_MAGN_IF_0_ADDR                    0x4C
#define BMX160_MAGN_IF_1_ADDR                    0x4D
#define BMX160_MAGN_IF_2_ADDR                    0x4E
#define BMX160_MAGN_IF_3_ADDR                    0x4F
#define BMX160_INT_ENABLE_0_ADDR                 0x50
#define BMX160_INT_ENABLE_1_ADDR                 0x51
#define BMX160_INT_ENABLE_2_ADDR                 0x52
#define BMX160_INT_OUT_CTRL_ADDR                 0x53
#define BMX160_INT_LATCH_ADDR                    0x54
#define BMX160_INT_MAP_0_ADDR                    0x55
#define BMX160_INT_MAP_1_ADDR                    0x56
#define BMX160_INT_MAP_2_ADDR                    0x57
#define BMX160_INT_DATA_0_ADDR                   0x58
#define BMX160_INT_DATA_1_ADDR                   0x59
#define BMX160_INT_LOWHIGH_0_ADDR                0x5A
#define BMX160_INT_LOWHIGH_1_ADDR                0x5B
#define BMX160_INT_LOWHIGH_2_ADDR                0x5C
#define BMX160_INT_LOWHIGH_3_ADDR                0x5D
#define BMX160_INT_LOWHIGH_4_ADDR                0x5E
#define BMX160_INT_MOTION_0_ADDR                 0x5F
#define BMX160_INT_MOTION_1_ADDR                 0x60
#define BMX160_INT_MOTION_2_ADDR                 0x61
#define BMX160_INT_MOTION_3_ADDR                 0x62
#define BMX160_INT_TAP_0_ADDR                    0x63
#define BMX160_INT_TAP_1_ADDR                    0x64
#define BMX160_INT_ORIENT_0_ADDR                 0x65
#define BMX160_INT_ORIENT_1_ADDR                 0x66
#define BMX160_INT_FLAT_0_ADDR                   0x67
#define BMX160_INT_FLAT_1_ADDR                   0x68
#define BMX160_FOC_CONF_ADDR                     0x69
#define BMX160_CONF_ADDR                         0x6A

#define BMX160_IF_CONF_ADDR                      0x6B
#define BMX160_SELF_TEST_ADDR                    0x6D
#define BMX160_OFFSET_ADDR                       0x71
#define BMX160_OFFSET_CONF_ADDR                  0x77
#define BMX160_INT_STEP_CNT_0_ADDR               0x78
#define BMX160_INT_STEP_CONFIG_0_ADDR            0x7A
#define BMX160_INT_STEP_CONFIG_1_ADDR            0x7B
#define BMX160_COMMAND_REG_ADDR                  0x7E
#define BMX160_SPI_COMM_TEST_ADDR                0x7F
#define BMX160_INTL_PULLUP_CONF_ADDR             0x85

/** Error code definitions */
#define BMX160_OK                                0
#define BMX160_E_NULL_PTR                        -1
#define BMX160_E_COM_FAIL                        -2
#define BMX160_E_DEV_NOT_FOUND                   -3
#define BMX160_E_OUT_OF_RANGE                    -4
#define BMX160_E_INVALID_INPUT                   -5
#define BMX160_E_ACCEL_ODR_BW_INVALID            -6
#define BMX160_E_GYRO_ODR_BW_INVALID             -7
#define BMX160_E_LWP_PRE_FLTR_INT_INVALID        -8
#define BMX160_E_LWP_PRE_FLTR_INVALID            -9
#define BMX160_E_MAGN_NOT_FOUND                  -10
#define BMX160_FOC_FAILURE                       -11
#define BMX160_ERR_CHOOSE                        -12

/**\name API warning codes */
#define BMX160_W_GYRO_SELF_TEST_FAIL  (1)
#define BMX160_W_ACCEl_SELF_TEST_FAIL (2)

/** bmx160 unique chip identifier */
#define BMX160_CHIP_ID                           0xD8

/** Soft reset command */
#define BMX160_SOFT_RESET_CMD                    0xb6
#define BMX160_SOFT_RESET_DELAY_MS               15
/** Start FOC command */
#define BMX160_START_FOC_CMD                     0x03
/** NVM backup enabling command */
#define BMX160_NVM_BACKUP_EN                     0xA0

/* Delay in ms settings */
#define BMX160_ACCEL_DELAY_MS                    5
#define BMX160_GYRO_DELAY_MS                     81
#define BMX160_ONE_MS_DELAY                      1
#define BMX160_MAGN_COM_DELAY                    10
#define BMX160_GYRO_SELF_TEST_DELAY              20
#define BMX160_ACCEL_SELF_TEST_DELAY             50

/** Self test configurations */
#define BMX160_ACCEL_SELF_TEST_CONFIG            0x2C
#define BMX160_ACCEL_SELF_TEST_POSITIVE_EN       0x0D
#define BMX160_ACCEL_SELF_TEST_NEGATIVE_EN       0x09
#define BMX160_ACCEL_SELF_TEST_LIMIT             8192

/** Power mode settings */
/* Accel power mode */
#define BMX160_ACCEL_NORMAL_MODE                 0x11
#define BMX160_ACCEL_LOWPOWER_MODE               0x12
#define BMX160_ACCEL_SUSPEND_MODE                0x10

/* Gyro power mode */
#define BMX160_GYRO_SUSPEND_MODE                 0x14
#define BMX160_GYRO_NORMAL_MODE                  0x15
#define BMX160_GYRO_FASTSTARTUP_MODE             0x17

/* Magn power mode */
#define BMX160_MAGN_SUSPEND_MODE                 0x18
#define BMX160_MAGN_NORMAL_MODE                  0x19
#define BMX160_MAGN_LOWPOWER_MODE                0x1A

/** Range settings */
/* Accel Range */
#define BMX160_ACCEL_RANGE_2G                    0x03
#define BMX160_ACCEL_RANGE_4G                    0x05
#define BMX160_ACCEL_RANGE_8G                    0x08
#define BMX160_ACCEL_RANGE_16G                   0x0C

/* Gyro Range */
#define BMX160_GYRO_RANGE_2000_DPS               0x00
#define BMX160_GYRO_RANGE_1000_DPS               0x01
#define BMX160_GYRO_RANGE_500_DPS                0x02
#define BMX160_GYRO_RANGE_250_DPS                0x03
#define BMX160_GYRO_RANGE_125_DPS                0x04

/* Macro for mg per LSB at +/- 2g sensitivity (1 LSB = 0.000061035mg) */
#define BMX160_ACCEL_MG_LSB_2G      0.000061035F
/* Macro for mg per LSB at +/- 4g sensitivity (1 LSB = 0.000122070mg) */
#define BMX160_ACCEL_MG_LSB_4G      0.000122070F
/* Macro for mg per LSB at +/- 8g sensitivity (1 LSB = 0.000244141mg) */
#define BMX160_ACCEL_MG_LSB_8G      0.000244141F
/* Macro for mg per LSB at +/- 16g sensitivity (1 LSB = 0.000488281mg) */
#define BMX160_ACCEL_MG_LSB_16G     0.000488281F

/* Gyroscope sensitivity at 125dps */
#define BMX160_GYRO_SENSITIVITY_125DPS  0.0038110F // Table 1 of datasheet
/* Gyroscope sensitivity at 250dps */
#define BMX160_GYRO_SENSITIVITY_250DPS  0.0076220F // Table 1 of datasheet
/* Gyroscope sensitivity at 500dps */
#define BMX160_GYRO_SENSITIVITY_500DPS  0.0152439F
/* Gyroscope sensitivity at 1000dps */
#define BMX160_GYRO_SENSITIVITY_1000DPS 0.0304878F
/* Gyroscope sensitivity at 2000dps */
#define BMX160_GYRO_SENSITIVITY_2000DPS 0.0609756F

/** Bandwidth settings */
/* Accel Bandwidth */
#define BMX160_ACCEL_BW_OSR4_AVG1         0x00
#define BMX160_ACCEL_BW_OSR2_AVG2         0x01
#define BMX160_ACCEL_BW_NORMAL_AVG4       0x02
#define BMX160_ACCEL_BW_RES_AVG8          0x03
#define BMX160_ACCEL_BW_RES_AVG16         0x04
#define BMX160_ACCEL_BW_RES_AVG32         0x05
#define BMX160_ACCEL_BW_RES_AVG64         0x06
#define BMX160_ACCEL_BW_RES_AVG128        0x07

#define BMX160_GYRO_BW_OSR4_MODE          0x00
#define BMX160_GYRO_BW_OSR2_MODE          0x01
#define BMX160_GYRO_BW_NORMAL_MODE        0x02
/* Macro for micro tesla (uT) per LSB (1 LSB = 0.1uT) */
#define BMX160_MAGN_UT_LSB      (0.3F)
/* Output Data Rate settings */
/* Accel Output data rate */
#define BMX160_ACCEL_ODR_RESERVED         0x00
#define BMX160_ACCEL_ODR_0_78HZ           0x01
#define BMX160_ACCEL_ODR_1_56HZ           0x02
#define BMX160_ACCEL_ODR_3_12HZ           0x03
#define BMX160_ACCEL_ODR_6_25HZ           0x04
#define BMX160_ACCEL_ODR_12_5HZ           0x05
#define BMX160_ACCEL_ODR_25HZ             0x06
#define BMX160_ACCEL_ODR_50HZ             0x07
#define BMX160_ACCEL_ODR_100HZ            0x08
#define BMX160_ACCEL_ODR_200HZ            0x09
#define BMX160_ACCEL_ODR_400HZ            0x0A
#define BMX160_ACCEL_ODR_800HZ            0x0B
#define BMX160_ACCEL_ODR_1600HZ           0x0C
#define BMX160_ACCEL_ODR_RESERVED0        0x0D
#define BMX160_ACCEL_ODR_RESERVED1        0x0E
#define BMX160_ACCEL_ODR_RESERVED2        0x0F

/* Gyro Output data rate */
#define BMX160_GYRO_ODR_RESERVED          0x00
#define BMX160_GYRO_ODR_25HZ              0x06
#define BMX160_GYRO_ODR_50HZ              0x07
#define BMX160_GYRO_ODR_100HZ             0x08
#define BMX160_GYRO_ODR_200HZ             0x09
#define BMX160_GYRO_ODR_400HZ             0x0A
#define BMX160_GYRO_ODR_800HZ             0x0B
#define BMX160_GYRO_ODR_1600HZ            0x0C
#define BMX160_GYRO_ODR_3200HZ            0x0D

/* Magnetometer sensor Output data rate */
#define BMX160_MAGN_ODR_RESERVED         0x00
#define BMX160_MAGN_ODR_0_78HZ           0x01
#define BMX160_MAGN_ODR_1_56HZ           0x02
#define BMX160_MAGN_ODR_3_12HZ           0x03
#define BMX160_MAGN_ODR_6_25HZ           0x04
#define BMX160_MAGN_ODR_12_5HZ           0x05
#define BMX160_MAGN_ODR_25HZ             0x06
#define BMX160_MAGN_ODR_50HZ             0x07
#define BMX160_MAGN_ODR_100HZ            0x08
#define BMX160_MAGN_ODR_200HZ            0x09
#define BMX160_MAGN_ODR_400HZ            0x0A
#define BMX160_MAGN_ODR_800HZ            0x0B

/* Maximum limits definition */
#define BMX160_MAGN_ODR_MAX               14
#define BMX160_MAGN_BW_MAX                2
#define BMX160_MAGN_RANGE_MAX             8
#define BMX160_GYRO_ODR_MAX               13
#define BMX160_GYRO_BW_MAX                2
#define BMX160_GYRO_RANGE_MAX             4
#define BMX160_ACCEL_ODR_MAX              15
#define BMX160_ACCEL_BW_MAX               2
#define BMX160_ACCEL_RANGE_MAX            12



/** FIFO_CONFIG Definitions */
#define BMX160_FIFO_TIME_ENABLE           0x02
#define BMX160_FIFO_TAG_INT2_ENABLE       0x04
#define BMX160_FIFO_TAG_INT1_ENABLE       0x08
#define BMX160_FIFO_HEAD_ENABLE           0x10
#define BMX160_FIFO_M_ENABLE              0x20
#define BMX160_FIFO_A_ENABLE              0x40
#define BMX160_FIFO_M_A_ENABLE            0x60
#define BMX160_FIFO_G_ENABLE              0x80
#define BMX160_FIFO_M_G_ENABLE            0xA0
#define BMX160_FIFO_G_A_ENABLE            0xC0
#define BMX160_FIFO_M_G_A_ENABLE          0xE0


/* Accel, gyro and magn. sensor length and also their combined
 * length definitions in FIFO */
#define BMX160_FIFO_G_LENGTH              6
#define BMX160_FIFO_A_LENGTH              6
#define BMX160_FIFO_M_LENGTH              8
#define BMX160_FIFO_GA_LENGTH             12
#define BMX160_FIFO_MA_LENGTH             14
#define BMX160_FIFO_MG_LENGTH             14
#define BMX160_FIFO_MGA_LENGTH            20


/** FIFO Header Data definitions */
#define BMX160_FIFO_HEAD_SKIP_FRAME       0x40
#define BMX160_FIFO_HEAD_SENSOR_TIME      0x44
#define BMX160_FIFO_HEAD_INPUT_CONFIG     0x48
#define BMX160_FIFO_HEAD_OVER_READ        0x80
#define BMX160_FIFO_HEAD_A                0x84
#define BMX160_FIFO_HEAD_G                0x88
#define BMX160_FIFO_HEAD_G_A              0x8C
#define BMX160_FIFO_HEAD_M                0x90
#define BMX160_FIFO_HEAD_M_A              0x94
#define BMX160_FIFO_HEAD_M_G              0x98
#define BMX160_FIFO_HEAD_M_G_A            0x9C


/** FIFO sensor time length definitions */
#define BMX160_SENSOR_TIME_LENGTH         3)


/** FIFO DOWN selection */
/* Accel fifo down-sampling values*/
#define  BMX160_ACCEL_FIFO_DOWN_ZERO      0x00
#define  BMX160_ACCEL_FIFO_DOWN_ONE       0x10
#define  BMX160_ACCEL_FIFO_DOWN_TWO       0x20
#define  BMX160_ACCEL_FIFO_DOWN_THREE     0x30
#define  BMX160_ACCEL_FIFO_DOWN_FOUR      0x40
#define  BMX160_ACCEL_FIFO_DOWN_FIVE      0x50
#define  BMX160_ACCEL_FIFO_DOWN_SIX       0x60
#define  BMX160_ACCEL_FIFO_DOWN_SEVEN     0x70

/* Gyro fifo down-smapling values*/
#define  BMX160_GYRO_FIFO_DOWN_ZERO       0x00
#define  BMX160_GYRO_FIFO_DOWN_ONE        0x01
#define  BMX160_GYRO_FIFO_DOWN_TWO        0x02
#define  BMX160_GYRO_FIFO_DOWN_THREE      0x03
#define  BMX160_GYRO_FIFO_DOWN_FOUR       0x04
#define  BMX160_GYRO_FIFO_DOWN_FIVE       0x05
#define  BMX160_GYRO_FIFO_DOWN_SIX        0x06
#define  BMX160_GYRO_FIFO_DOWN_SEVEN      0x07

/* Accel Fifo filter enable*/
#define  BMX160_ACCEL_FIFO_FILT_EN        0x80

/* Gyro Fifo filter enable*/
#define  BMX160_GYRO_FIFO_FILT_EN         0x08

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

/*! bmx160 accel FOC configurations */
#define BMX160_FOC_ACCEL_DISABLED         0x00
#define BMX160_FOC_ACCEL_POSITIVE_G       0x01
#define BMX160_FOC_ACCEL_NEGATIVE_G       0x02
#define BMX160_FOC_ACCEL_0G               0x03

/** Array Parameter DefinItions */
#define BMX160_SENSOR_TIME_LSB_BYTE       0
#define BMX160_SENSOR_TIME_XLSB_BYTE      1
#define BMX160_SENSOR_TIME_MSB_BYTE       2


/** Interface settings */
#define BMX160_SPI_INTF                   1
#define BMX160_I2C_INTF                   0
#define BMX160_SPI_RD_MASK                0x80
#define BMX160_SPI_WR_MASK                0x7F

/* Sensor & time select definition*/
#define BMX160_MAG_SEL              0x01
#define BMX160_GYRO_SEL             0x02
#define BMX160_ACCEL_SEL            0x03
#define BMX160_TIME_SEL             0x04

/* Sensor select mask*/
#define BMX160_SEN_SEL_MASK    0x07

/* Error code mask */
#define BMX160_ERR_REG_MASK    0x0F

/* bmx160 I2C address */
#define BMX160_I2C_ADDR                  0x68

/* bmx160 secondary IF address */
#define BMX160_MAGN_BMM150_I2C_ADDR      0x10

/** bmx160 Length definitions */
#define BMX160_ONE                        1
#define BMX160_TWO                        2
#define BMX160_THREE                      3
#define BMX160_FOUR                       4
#define BMX160_FIVE                       5

/** bmx160 fifo level Margin */
#define BMX160_FIFO_LEVEL_MARGIN          16

/** bmx160 fifo flush Command */
#define BMX160_FIFO_FLUSH_VALUE           0xB0

/** bmx160 offset values for xyz axes of accel */
#define BMX160_ACCEL_MIN_OFFSET         -128
#define BMX160_ACCEL_MAX_OFFSET         127

/** bmx160 offset values for xyz axes of gyro */
#define BMX160_GYRO_MIN_OFFSET         -512
#define BMX160_GYRO_MAX_OFFSET         511

/** bmx160 fifo full interrupt position and mask */
#define BMX160_FIFO_FULL_INT_POS   5
#define BMX160_FIFO_FULL_INT_MSK   0x20
#define BMX160_FIFO_WTM_INT_POS    6
#define BMX160_FIFO_WTM_INT_MSK    0x40

#define BMX160_FIFO_FULL_INT_PIN1_POS  5
#define BMX160_FIFO_FULL_INT_PIN1_MSK  0x20
#define BMX160_FIFO_FULL_INT_PIN2_POS  1
#define BMX160_FIFO_FULL_INT_PIN2_MSK  0x02

#define BMX160_FIFO_WTM_INT_PIN1_POS   6
#define BMX160_FIFO_WTM_INT_PIN1_MSK   0x40
#define BMX160_FIFO_WTM_INT_PIN2_POS   2
#define BMX160_FIFO_WTM_INT_PIN2_MSK   0x04

#define BMX160_MANUAL_MODE_EN_POS  7
#define BMX160_MANUAL_MODE_EN_MSK  0x80
#define BMX160_MAGN_READ_BURST_POS  0
#define BMX160_MAGN_READ_BURST_MSK  0x03

#define BMX160_GYRO_SELF_TEST_POS  4
#define BMX160_GYRO_SELF_TEST_MSK  0x10
#define BMX160_GYRO_SELF_TEST_STATUS_POS   1
#define BMX160_GYRO_SELF_TEST_STATUS_MSK   0x02

#define BMX160_GYRO_FOC_EN_POS   6
#define BMX160_GYRO_FOC_EN_MSK   0x40

#define BMX160_ACCEL_FOC_X_CONF_POS  4
#define BMX160_ACCEL_FOC_X_CONF_MSK  0x30

#define BMX160_ACCEL_FOC_Y_CONF_POS  2
#define BMX160_ACCEL_FOC_Y_CONF_MSK  0x0C

#define BMX160_ACCEL_FOC_Z_CONF_MSK  0x03

#define BMX160_FOC_STATUS_POS  3
#define BMX160_FOC_STATUS_MSK  0x08

#define BMX160_GYRO_OFFSET_X_MSK   0x03

#define BMX160_GYRO_OFFSET_Y_POS   2
#define BMX160_GYRO_OFFSET_Y_MSK   0x0C

#define BMX160_GYRO_OFFSET_Z_POS   4
#define BMX160_GYRO_OFFSET_Z_MSK   0x30

#define BMX160_GYRO_OFFSET_EN_POS  7
#define BMX160_GYRO_OFFSET_EN_MSK  0x80

#define BMX160_ACCEL_OFFSET_EN_POS   6
#define BMX160_ACCEL_OFFSET_EN_MSK   0x40


#define BMX160_GYRO_OFFSET_POS          8
#define BMX160_GYRO_OFFSET_MSK          0x0300

#define BMX160_NVM_UPDATE_POS          1
#define BMX160_NVM_UPDATE_MSK          0x02

#define BMX160_NVM_STATUS_POS          4
#define BMX160_NVM_STATUS_MSK          0x10

/* BIT SLICE GET AND SET FUNCTIONS */
#define  BMX160_GET_BITS(regvar, bitname)\
    ((regvar & bitname##_MSK) >> bitname##_POS)
#define BMX160_SET_BITS(regvar, bitname, val)\
    ((regvar & ~bitname##_MSK) | \
    ((val<<bitname##_POS)&bitname##_MSK))

#define BMX160_SET_BITS_POS_0(reg_data, bitname, data) \
        ((reg_data & ~(bitname##_MSK)) | \
        (data & bitname##_MSK))

#define BMX160_GET_BITS_POS_0(reg_data, bitname)  (reg_data & (bitname##_MSK))

/**\name UTILITY MACROS */
#define BMX160_SET_LOW_BYTE     0x00FF
#define BMX160_SET_HIGH_BYTE    0xFF00

#define BMX160_GET_LSB(var) (uint8_t)(var & BMX160_SET_LOW_BYTE)
#define BMX160_GET_MSB(var) (uint8_t)((var & BMX160_SET_HIGH_BYTE) >> 8)

/*!
 *  @brief This structure holds the information for usage of
 *  FIFO by the user.
 */
struct bmx160FifoFrame {
  /*! Data buffer of user defined length is to be mapped here */
  uint8_t *data;
  /*! While calling the API  "BMX160_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 fifoTimeEnable;
  /*! Enabling of the FIFO header to stream in header mode */
  uint8_t fifoHeaderEnable;
  /*! Streaming of the Accelerometer, Gyroscope
  sensor data or both in FIFO */
  uint8_t fifoDataEnable;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t accelByteStartIdx;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t gyroByteStartIdx;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t magnByteStartIdx;
  /*! Value of FIFO sensor time time */
  uint32_t sensorTime;
  /*! Value of Skipped frame counts */
  uint8_t skippedFrameCount;
};

/*!
 * @brief bmx160 active state of any & sig motion interrupt.
 */
enum eBmx160AnySigMotionActiveInterruptState {
  /*! Both any & sig motion are disabled */
  //BMX160_BOTH_ANY_SIG_MOTION_DISABLED = -1,
  eBmx160BothAnySigMotionDisabled = -1,
  /*! Any-motion selected */
  //BMX160_ANY_MOTION_ENABLED,
  eBmx160AnyMotionEnabled,
  /*! Sig-motion selected */
  //BMX160_SIG_MOTION_ENABLED
  eBmx160SigMotionEnabled
};

/*!
 * @brief bmx160 sensor select structure
 */
//enum BMX160_select_sensor {
enum eBmx160SelectSensor {
  eBmx160MagnOnly = 1,
  //BMX160_ACCEL_ONLY = 1,
  eBmx160AccelOnly,
  //BMX160_GYRO_ONLY,
  eBmx160GyroOnly,
  //BMX160_ALL
  eBmx160All
};

/*!
 * @brief bmx160 sensor configuration structure
 */
//struct BMX160_cfg {
struct bmx160Cfg {
  /*! power mode */
  uint8_t power;
  /*! output data rate */
  uint8_t odr;
  /*! range */
  uint8_t range;
  /*! bandwidth */
  uint8_t bw;
};

/*!
 * @brief Magn sensor configuration structure
 */
//struct BMX160_magn_cfg {
struct bmx160MagnCfg {
  /*! Magn sensor, 1 - enable 0 - disable */
  //uint8_t magn_sensor_enable : 1;
  uint8_t magnSensorEnable : 1;
  /*! Magn manual/auto mode status */
  //uint8_t manual_enable : 1;
  uint8_t manualEnable : 1;
  /*! Magn read burst length */
  //uint8_t magn_rd_burst_len : 2;
  uint8_t magnRdBurstLen : 2;
  /*! output data rate */
  //uint8_t magn_odr :4;
  uint8_t magnOdr :4;
  /*! i2c addr of magniliary sensor */
  //uint8_t magn_i2c_addr;
  uint8_t magnI2cAddr;
};

/* type definitions */
typedef int8_t (*bmx160ComFptrT)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
typedef void (*bmx160DelayFptrT)(uint32_t period);

//struct BMX160_dev {
struct bmx160Dev {
  /*! Chip Id */
  //uint8_t chip_id;
  uint8_t chipId;
  /*! 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 eBmx160AnySigMotionActiveInterruptState any_sig_sel;
  /*! Structure to configure Magnetometer sensor */
  struct bmx160Cfg magnCfg;
  /*! Structure to hold previous/old magn config parameters.
   * This is used at driver level to prevent overwriting of same
   * data, hence user does not change it in the code */
  struct bmx160Cfg prevMagnCfg;
  /*! Structure to configure Accel sensor */
  struct bmx160Cfg accelCfg;
  /*! 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 bmx160Cfg prevAccelCfg;
  /*! Structure to configure Gyro sensor */
  struct bmx160Cfg gyroCfg;
  /*! 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 bmx160Cfg prevGyroCfg;
   /*! FIFO related configurations */
  struct bmx160FifoFrame *fifo;
  /*! Read function pointer */
  bmx160ComFptrT read;
  /*! Write function pointer */
  bmx160ComFptrT write;
  /*!  Delay function pointer */
  bmx160DelayFptrT delayMs;
};

/*!
 * @brief bmx160 sensor data structure which comprises of accel data
 */
//struct BMX160_sensor_data {
struct bmx160SensorData {
  /*! 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;
};

enum bmx160IntChannel {
  /*! Un-map both channels */
  BMX160_INT_CHANNEL_NONE,
  /*! interrupt Channel 1 */
  BMX160_INT_CHANNEL_1,
  /*! interrupt Channel 2 */
  BMX160_INT_CHANNEL_2,
  /*! Map both channels */
  BMX160_INT_CHANNEL_BOTH
};

enum bmx160IntTypes {
  /*! Slope/Any-motion interrupt */
  BMX160_ACC_ANY_MOTION_INT,
  /*! Significant motion interrupt */
  BMX160_ACC_SIG_MOTION_INT,
  /*! Step detector interrupt */
  BMX160_STEP_DETECT_INT,
  /*! double tap interrupt */
  BMX160_ACC_DOUBLE_TAP_INT,
  /*! single tap interrupt */
  BMX160_ACC_SINGLE_TAP_INT,
  /*! orientation interrupt */
  BMX160_ACC_ORIENT_INT,
  /*! flat interrupt */
  BMX160_ACC_FLAT_INT,
  /*! high-g interrupt */
  BMX160_ACC_HIGH_G_INT,
  /*! low-g interrupt */
  BMX160_ACC_LOW_G_INT,
  /*! slow/no-motion interrupt */
  BMX160_ACC_SLOW_NO_MOTION_INT,
  /*! data ready interrupt  */
  BMX160_ACC_GYRO_DATA_RDY_INT,
  /*! fifo full interrupt */
  BMX160_ACC_GYRO_FIFO_FULL_INT,
  /*! fifo watermark interrupt */
  BMX160_ACC_GYRO_FIFO_WATERMARK_INT
};

struct bmx160IntPinSettg {
#if LITTLE_ENDIAN == 1
  /*! To enable either INT1 or INT2 pin as output.
   * 0- output disabled ,1- output enabled */
  uint16_t outputEn :1;
  /*! 0 - push-pull 1- open drain,only valid if outputEn is set 1 */
  uint16_t outputMode :1;
  /*! 0 - active low , 1 - active high level.
   * if outputEn is 1,this applies to interrupts,else PMU_trigger */
  uint16_t outputType :1;
  /*! 0 - level trigger , 1 - edge trigger  */
  uint16_t edgeCtrl :1;
  /*! To enable either INT1 or INT2 pin as input.
   * 0 - input disabled ,1 - input enabled */
  uint16_t inputEn :1;
  /*! latch duration*/
  uint16_t latchDur :4;
#elif BIG_ENDIAN == 1
  /*! latch duration*/
  uint16_t latchDur : 4;
  /*! Latched,non-latched or temporary interrupt modes */
  uint16_t inputEn : 1;
  /*! 1 - edge trigger, 0 - level trigger */
  uint16_t edgeCtrl : 1;
  /*! 0 - active low , 1 - active high level.
   * if outputEn is 1,this applies to interrupts,else PMU_trigger */
  uint16_t outputType : 1;
  /*! 0 - push-pull , 1 - open drain,only valid if outputEn is set 1 */
  uint16_t outputMode : 1;
  /*! To enable either INT1 or INT2 pin as output.
   * 0 - output disabled , 1 - output enabled */
  uint16_t outputEn : 1;
#endif
};

struct bmx160AccTapIntCfg {
#if LITTLE_ENDIAN == 1
  /*! tap threshold */
  uint16_t tapThr :5;
  /*! tap shock */
  uint16_t tapShock :1;
  /*! tap quiet */
  uint16_t tapQuiet :1;
  /*! tap duration */
  uint16_t tapDur :3;
  /*! data source 0- filter & 1 pre-filter*/
  uint16_t tapDataSrc :1;
  /*! tap enable, 1 - enable, 0 - disable */
  uint16_t tapEn :1;
#elif BIG_ENDIAN == 1
  /*! tap enable, 1 - enable, 0 - disable */
  uint16_t tapEn :1;
  /*! data source 0- filter & 1 pre-filter*/
  uint16_t tapDataSrc :1;
  /*! tap duration */
  uint16_t tapDur : 3;
  /*! tap quiet */
  uint16_t tapQuiet : 1;
  /*! tap shock */
  uint16_t tapShock : 1;
  /*! tap threshold */
  uint16_t tapThr : 5;
#endif
};

struct bmx160AccAnyMotIntCfg {
#if LITTLE_ENDIAN == 1
  /*! 1 any-motion enable, 0 - any-motion disable */
  uint8_t anymotionEn :1;
  /*! slope interrupt x, 1 - enable, 0 - disable */
  uint8_t anymotionX :1;
  /*! slope interrupt y, 1 - enable, 0 - disable */
  uint8_t anymotionY :1;
  /*! slope interrupt z, 1 - enable, 0 - disable */
  uint8_t anymotionZ :1;
  /*! slope duration */
  uint8_t anymotionDur :2;
  /*! data source 0- filter & 1 pre-filter*/
  uint8_t anymotionDataSrc :1;
  /*! slope threshold */
  uint8_t anymotionThr;
#elif BIG_ENDIAN == 1
  /*! slope threshold */
  uint8_t anymotionThr;
  /*! data source 0- filter & 1 pre-filter*/
  uint8_t anymotionDataSrc :1;
  /*! slope duration */
  uint8_t anymotionDur : 2;
  /*! slope interrupt z, 1 - enable, 0 - disable */
  uint8_t anymotionZ : 1;
  /*! slope interrupt y, 1 - enable, 0 - disable */
  uint8_t anymotionY : 1;
  /*! slope interrupt x, 1 - enable, 0 - disable */
  uint8_t anymotionX : 1;
  /*! 1 any-motion enable, 0 - any-motion disable */
  uint8_t anymotionEn :1;
#endif
};

struct bmx160AccSigMotIntCfg {
#if LITTLE_ENDIAN == 1
  /*! skip time of sig-motion interrupt */
  uint8_t sigMotSkip :2;
  /*! proof time of sig-motion interrupt */
  uint8_t sigMotProof :2;
  /*! data source 0- filter & 1 pre-filter*/
  uint8_t sigDataSrc :1;
  /*! 1 - enable sig, 0 - disable sig & enable anymotion */
  uint8_t sigEn :1;
  /*! sig-motion threshold */
  uint8_t sigMotThres;
#elif BIG_ENDIAN == 1
  /*! sig-motion threshold */
  uint8_t sigMotThres;
  /*! 1 - enable sig, 0 - disable sig & enable anymotion */
  uint8_t sigEn :1;
  /*! data source 0- filter & 1 pre-filter*/
  uint8_t sigDataSrc :1;
  /*! proof time of sig-motion interrupt */
  uint8_t sigMotProof : 2;
  /*! skip time of sig-motion interrupt */
  uint8_t sigMotSkip : 2;
#endif
};

struct bmx160AccStepDetectIntCfg {
#if LITTLE_ENDIAN == 1
  /*! 1- step detector enable, 0- step detector disable */
  uint16_t stepDetectorEn :1;
  /*! minimum threshold */
  uint16_t minThreshold :2;
  /*! minimal detectable step time */
  uint16_t steptimeMin :3;
  /*! enable step counter mode setting */
  uint16_t stepDetectorMode :2;
  /*! minimum step buffer size*/
  uint16_t stepMinBuf :3;
#elif BIG_ENDIAN == 1
  /*! minimum step buffer size*/
  uint16_t stepMinBuf :3;
  /*! enable step counter mode setting */
  uint16_t stepDetectorMode : 2;
  /*! minimal detectable step time */
  uint16_t steptimeMin : 3;
  /*! minimum threshold */
  uint16_t minThreshold : 2;
  /*! 1- step detector enable, 0- step detector disable */
  uint16_t stepDetectorEn :1;
#endif
};

struct bmx160AccNoMotionIntCfg {
#if LITTLE_ENDIAN == 1
  /*! no motion interrupt x */
  uint16_t noMotionX :1;
  /*! no motion interrupt y */
  uint16_t noMotionY :1;
  /*! no motion interrupt z */
  uint16_t noMotionZ :1;
  /*! no motion duration */
  uint16_t noMotionDur :6;
  /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
  uint16_t noMotionSel :1;
  /*! data source 0- filter & 1 pre-filter*/
  uint16_t noMotionSrc :1;
  /*! no motion threshold */
  uint8_t noMotionThres;
#elif BIG_ENDIAN == 1
  /*! no motion threshold */
  uint8_t noMotionThres;
  /*! data source 0- filter & 1 pre-filter*/
  uint16_t noMotionSrc :1;
  /*! no motion sel , 1 - enable no-motion ,0- enable slow-motion */
  uint16_t noMotionSel : 1;
  /*! no motion duration */
  uint16_t noMotionDur : 6;
  /* no motion interrupt z */
  uint16_t noMotionZ :1;
  /*! no motion interrupt y */
  uint16_t noMotionY :1;
  /*! no motion interrupt x */
  uint16_t noMotionX :1;
#endif
};

struct bmx160AccOrientIntCfg {
#if LITTLE_ENDIAN == 1
  /*! thresholds for switching between the different orientations */
  uint16_t orientMode :2;
  /*! blocking_mode */
  uint16_t orientBlocking :2;
  /*! Orientation interrupt hysteresis */
  uint16_t orientHyst :4;
  /*! Orientation interrupt theta */
  uint16_t orientTheta :6;
  /*! Enable/disable Orientation interrupt */
  uint16_t orientUdEn :1;
  /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
  uint16_t axesEx :1;
  /*! 1 - orient enable, 0 - orient disable */
  uint8_t orientEn :1;
#elif BIG_ENDIAN == 1
  /*! 1 - orient enable, 0 - orient disable */
  uint8_t orientEn :1;
  /*! exchange x- and z-axis in algorithm ,0 - z, 1 - x */
  uint16_t axesEx : 1;
  /*! Enable/disable Orientation interrupt */
  uint16_t orientUdEn : 1;
  /*! Orientation interrupt theta */
  uint16_t orientTheta : 6;
  /*! Orientation interrupt hysteresis */
  uint16_t orientHyst : 4;
  /*! blocking_mode */
  uint16_t orientBlocking : 2;
  /*! thresholds for switching between the different orientations */
  uint16_t orientMode : 2;
#endif
};

struct bmx160AccFlatDetectIntCfg {
#if LITTLE_ENDIAN == 1
  /*! flat threshold */
  uint16_t flatTheta :6;
  /*! flat interrupt hysteresis */
  uint16_t flatHy :3;
  /*! delay time for which the flat value must remain stable for the
   * flat interrupt to be generated */
  uint16_t flatHoldTime :2;
  /*! 1 - flat enable, 0 - flat disable */
  uint16_t flatEn :1;
#elif BIG_ENDIAN == 1
  /*! 1 - flat enable, 0 - flat disable */
  uint16_t flatEn :1;
  /*! delay time for which the flat value must remain stable for the
   * flat interrupt to be generated */
  uint16_t flatHoldTime : 2;
  /*! flat interrupt hysteresis */
  uint16_t flatHy : 3;
  /*! flat threshold */
  uint16_t flatTheta : 6;
#endif
};

struct bmx160AccLowGIntCfg {
#if LITTLE_ENDIAN == 1
  /*! low-g interrupt trigger delay */
  uint8_t lowDur;
  /*! low-g interrupt trigger threshold */
  uint8_t lowThres;
  /*! hysteresis of low-g interrupt */
  uint8_t lowHyst :2;
  /*! 0 - single-axis mode ,1 - axis-summing mode */
  uint8_t lowMode :1;
  /*! data source 0- filter & 1 pre-filter */
  uint8_t lowDataSrc :1;
  /*! 1 - enable low-g, 0 - disable low-g */
  uint8_t lowEn :1;
#elif BIG_ENDIAN == 1
  /*! 1 - enable low-g, 0 - disable low-g */
  uint8_t lowEn :1;
  /*! data source 0- filter & 1 pre-filter */
  uint8_t lowDataSrc :1;
  /*! 0 - single-axis mode ,1 - axis-summing mode */
  uint8_t lowMode : 1;
  /*! hysteresis of low-g interrupt */
  uint8_t lowHyst : 2;
  /*! low-g interrupt trigger threshold */
  uint8_t lowThres;
  /*! low-g interrupt trigger delay */
  uint8_t lowDur;
#endif
};

struct bmx160AccHighGIntCfg {
#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 highHy :2;
  /*! data source 0- filter & 1 pre-filter */
  uint8_t highDataSrc :1;
  /*! High-g threshold */
  uint8_t highThres;
  /*! High-g duration */
  uint8_t highDur;
#elif BIG_ENDIAN == 1
  /*! High-g duration */
  uint8_t highDur;
  /*! High-g threshold */
  uint8_t highThres;
  /*! data source 0- filter & 1 pre-filter */
  uint8_t highDataSrc :1;
  /*! High-g hysteresis  */
  uint8_t highHy : 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
};

union bmx160IntTypeCfg {
  /*! Tap interrupt structure */
  struct bmx160AccTapIntCfg accTapInt;
  /*! Slope interrupt structure */
  struct bmx160AccAnyMotIntCfg accAnyMotionInt;
  /*! Significant motion interrupt structure */
  struct bmx160AccSigMotIntCfg accSigMotionInt;
  /*! Step detector interrupt structure */
  struct bmx160AccStepDetectIntCfg accStepDetectInt;
  /*! No motion interrupt structure */
  struct bmx160AccNoMotionIntCfg accNoMotionInt;
  /*! Orientation interrupt structure */
  struct bmx160AccOrientIntCfg accOrientInt;
  /*! Flat interrupt structure */
  struct bmx160AccFlatDetectIntCfg accFlatInt;
  /*! Low-g interrupt structure */
  struct bmx160AccLowGIntCfg accLowGInt;
  /*! High-g interrupt structure */
  struct bmx160AccHighGIntCfg accHighGInt;
};

struct bmx160IntSettg {
  /*! Interrupt channel */
  enum bmx160IntChannel intChannel;
  /*! Select Interrupt */
  enum bmx160IntTypes intType;
  /*! Structure configuring Interrupt pins */
  struct bmx160IntPinSettg intPinSettg;
  /*! Union configures required interrupt */
  union bmx160IntTypeCfg intTypeCfg;
  /*! FIFO FULL INT 1-enable, 0-disable */
  uint8_t fifoFullIntEn :1;
  /*! FIFO WTM INT 1-enable, 0-disable */
  uint8_t fifoWTMIntEn :1;
};

enum bmx160StepDetectMode {
  BMX160_STEP_DETECT_NORMAL,
  BMX160_STEP_DETECT_SENSITIVE,
  BMX160_STEP_DETECT_ROBUST,
  /*! Non recommended User defined setting */
  BMX160_STEP_DETECT_USER_DEFINE
};

typedef enum{
    eGyroRange_2000DPS,
    eGyroRange_1000DPS,
    eGyroRange_500DPS,
    eGyroRange_250DPS,
    eGyroRange_125DPS
}eGyroRange_t;

typedef enum{
    eAccelRange_2G,
    eAccelRange_4G,
    eAccelRange_8G,
    eAccelRange_16G
}eAccelRange_t;

class DFRobot_BMX160{
  public:
    DFRobot_BMX160();
    
    /*
     * @brief set the i2c addr and init the i2c.
     * @return ture means success
     */
    bool begin();
    
    void setGyroRange(eGyroRange_t bits);
    void setAccelRange(eAccelRange_t bits);
    
    /*
     * @brief get the magn, gyro and accel data 
     * @param pointer to store the magn, gyro and accel data
     */
    void getAllData(struct bmx160SensorData *magn, struct bmx160SensorData *gyro, struct bmx160SensorData *accel);
    /*
     * @brief reset bmx160 hardware
     * @return BMX160_OK(0) means success
     */
    bool softReset();
    void setLowPower();
    void wakeUp();
    
  private:
    int8_t softReset(struct bmx160Dev *dev);
    void   defaultParamSettg(struct bmx160Dev *dev);
    float accelRange = BMX160_ACCEL_MG_LSB_2G * 10;
    float gyroRange = BMX160_GYRO_SENSITIVITY_250DPS;
    uint8_t _addr = 0x68;
    void setMagnConf();
    struct bmx160Dev* Obmx160;

    struct bmx160SensorData* Omagn;
    struct bmx160SensorData* Oaccel;
    struct bmx160SensorData* Ogyro; 
    void readReg(uint8_t reg, uint8_t *pBuf, uint16_t len);
    void writeReg(uint8_t reg, uint8_t *pBuf, uint16_t len);
    int8_t readBmxReg(uint8_t reg);
    void writeBmxReg(uint8_t reg, uint8_t value);
    bool scan();
};