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Trinity-DevPCB-V1.0/Core/Src/bmm350_defs.h
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Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
2026-09-13 19:51:03 +02:00
/**
* Copyright (c) 2025 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 bmm350_defs.h
* @date 2025-10-30
* @version v1.10.0
*
*/
#ifndef _BMM350_DEFS_H
#define _BMM350_DEFS_H
/**************************** API Version *******************************/
#define BMM350_VER_MAJOR 1
#define BMM350_VER_MINOR 10
#define BMM350_VER_BUGFIX 0
/*************************** Header files *******************************/
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/kernel.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif
/***************************** Common Macros *****************************/
#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
#endif
/*! C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
/******************************************************************************/
/*! @name Compiler switch macros Definitions */
/******************************************************************************/
/* Comment/Uncomment this macro to disable/enable Fixed Point Computation */
/*#define BMM350_USE_FIXED_POINT*/
/************************* General Macro definitions ***************************/
/* Macro to SET and GET BITS of a register*/
#define BMM350_SET_BITS(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | \
((data << bitname##_POS) & bitname##_MSK))
#define BMM350_GET_BITS(reg_data, bitname) ((reg_data & (bitname##_MSK)) >> (bitname##_POS))
#define BMM350_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
#define BMM350_SET_BITS_POS_0(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | \
(data & bitname##_MSK))
#ifndef BMM350_INTF_RET_TYPE
#define BMM350_INTF_RET_TYPE int8_t
#endif
#ifndef BMM350_DISABLE_POST_SOLDER_CORR
#define BMM350_POST_SOLDER_CORR
#endif
/*! Chip id of BMM350 */
#define BMM350_CHIP_ID UINT8_C(0x33)
/********** LSB to uT Compensation Coefficients for Fixed Point ***********/
#ifdef BMM350_USE_FIXED_POINT
#define BMM350_SENSOR_TIME_NS_SCALING UINT64_C(1000000000)
#define ONES_COMPLEMENT(x) (~(x))
#define TWOS_COMPLEMENT(x) (ONES_COMPLEMENT(x) + 1)
#define F16_FRAC_BITS 16
/* Conversion helpers */
#define f16_from_int(x) ((fixed_t)(x) << F16_FRAC_BITS)
#define f16_to_int(x) ((uint64_t)((x) >> F16_FRAC_BITS))
#define A48_16_0_00390625 0x00000100 /* (1/256)0.00390625 * 65536 = 256 */
#define A48_16_0_03125 0x00000800 /* (1/32)0.03125 * 65536 = 2048 */
#define A48_16_0_00006103515625 0x00000004 /* (1/16384) 0.00006103515625 * 65536 = 4 */
#define A48_16_0_00125 0x00000052 /* (1/800) 0.00125 * 65536 = 81.92 ≈ 0x52 */
#define A48_16_0_001953125 0x00000080 /* (1/512) 0.001953125 * 65536 = 128 = 0x80 */
#define A48_16_0_2 0x00003333 /* (1/5) 0.2 * 65536 = 13107.2 ≈ 0x3333 */
#define A48_16_0_0000390625 0x00000003 /* (1/25600) 0.0000390625 * 65536 = 2.56 ≈ 0x3 */
/*read_out_raw_data*/
#define A48_16_0_007069979_X4 0x0000073D /* 0.007069979 * 65536 * 4 = 1853.9999 = 0x73D */
#define A48_16_0_007174964_X4 0x00000759 /* 0.007174964 * 65536 * 4 = 1881.9999 = 0x759 */
#define A48_16_0_000981282_X4 0x00000101 /* 0.000981282 * 65536 * 4 = 257.9999 = 0x101 */
#define A48_16_25_49 0x00197D70 /* 25.49 * 65536 = 1,664,420 = 0x00197D70 */
/* Invert a bit (1's complement) */
#define BIT_INVERT(x) (~(x))
/* Unsigned to signed conversion (2's complement) */
#define U2S(val, bits) ((int32_t)(((val) ^ (1U << ((bits) - 1))) - (1U << ((bits) - 1))))
/* Signed to unsigned conversion (inverse 2's complement) */
#define S2U(val, bits) ((uint32_t)((val) & ((1U << (bits)) - 1)))
/* Extract n significant bits starting from position p (0-based, from LSB) */
#define EXTRACT_BITS(val, p, n) (((val) >> (p)) & ((1U << (n)) - 1))
/* Shift left for multiplication by 2^n */
#define SHIFT_LEFT(val, n) ((val) << (n))
/* Shift right for division by 2^n (arithmetic shift for signed, logical for unsigned) */
#define SHIFT_RIGHT(val, n) ((val) >> (n))
/* Virtual shift (circular/rotate left) */
#define ROTATE_LEFT(val, n, \
bits) ((((val) << (n)) | ((val) >> ((bits) - (n)))) & \
((1U << (bits)) - 1))
/* Virtual shift (circular/rotate right) */
#define ROTATE_RIGHT(val, n, \
bits) ((((val) >> (n)) | ((val) << ((bits) - (n)))) & \
((1U << (bits)) - 1))
#define FRAC_BITS 16
#define DECI_BITS 48
#if F16_FRAC_BITS == 16
#define FIXED_ONE (1U << F16_FRAC_BITS)
typedef int64_t fixed_t; /* A(48,16) fixed-point */
#endif
#endif
/************************* Sensor Shuttle Variant **************************/
#define BMM350_LEGACY_SHUTTLE_VARIANT_ID UINT8_C(0x10)
#define BMM350_CURRENT_SHUTTLE_VARIANT_ID UINT8_C(0x11)
/********************* Sensor interface success code **********************/
#define BMM350_INTF_RET_SUCCESS INT8_C(0)
/************************* API success code **************************/
#define BMM350_OK INT8_C(0)
/* API error codes */
#define BMM350_E_NULL_PTR INT8_C(-1)
#define BMM350_E_COM_FAIL INT8_C(-2)
#define BMM350_E_DEV_NOT_FOUND INT8_C(-3)
#define BMM350_E_INVALID_CONFIG INT8_C(-4)
#define BMM350_E_BAD_PAD_DRIVE INT8_C(-5)
#define BMM350_E_RESET_UNFINISHED INT8_C(-6)
#define BMM350_E_INVALID_INPUT INT8_C(-7)
#define BMM350_E_SELF_TEST_INVALID_AXIS INT8_C(-8)
#define BMM350_E_OTP_BOOT INT8_C(-9)
#define BMM350_E_OTP_PAGE_RD INT8_C(-10)
#define BMM350_E_OTP_PAGE_PRG INT8_C(-11)
#define BMM350_E_OTP_SIGN INT8_C(-12)
#define BMM350_E_OTP_INV_CMD INT8_C(-13)
#define BMM350_E_OTP_UNDEFINED INT8_C(-14)
#define BMM350_E_ALL_AXIS_DISABLED INT8_C(-15)
#define BMM350_E_PMU_CMD_VALUE INT8_C(-16)
#define BMM350_NO_ERROR UINT8_C(0)
/************************* Sensor delay time settings in microseconds **************************/
#define BMM350_SOFT_RESET_DELAY UINT32_C(24000)
#define BMM350_MAGNETIC_RESET_DELAY UINT32_C(40000)
#define BMM350_START_UP_TIME_FROM_POR UINT32_C(3000)
#define BMM350_GOTO_SUSPEND_DELAY UINT32_C(6000)
#define BMM350_SUSPEND_TO_NORMAL_DELAY UINT32_C(38000)
#define BMM350_SUS_TO_FORCEDMODE_NO_AVG_DELAY UINT32_C(15000)
#define BMM350_SUS_TO_FORCEDMODE_AVG_2_DELAY UINT32_C(17000)
#define BMM350_SUS_TO_FORCEDMODE_AVG_4_DELAY UINT32_C(20000)
#define BMM350_SUS_TO_FORCEDMODE_AVG_8_DELAY UINT32_C(28000)
#define BMM350_SUS_TO_FORCEDMODE_FAST_NO_AVG_DELAY UINT32_C(4000)
#define BMM350_SUS_TO_FORCEDMODE_FAST_AVG_2_DELAY UINT32_C(5000)
#define BMM350_SUS_TO_FORCEDMODE_FAST_AVG_4_DELAY UINT32_C(9000)
#define BMM350_SUS_TO_FORCEDMODE_FAST_AVG_8_DELAY UINT32_C(16000)
#define BMM350_UPD_OAE_DELAY UINT16_C(1000)
#define BMM350_BR_DELAY UINT16_C(14000)
#define BMM350_FGR_DELAY UINT16_C(18000)
/************************ Length macros ************************/
#define BMM350_OTP_DATA_LENGTH UINT8_C(32)
#define BMM350_READ_BUFFER_LENGTH UINT8_C(127)
#define BMM350_MAG_TEMP_DATA_LEN UINT8_C(12)
/************************ Averaging macros **********************/
#define BMM350_AVG_NO_AVG UINT8_C(0x0)
#define BMM350_AVG_2 UINT8_C(0x1)
#define BMM350_AVG_4 UINT8_C(0x2)
#define BMM350_AVG_8 UINT8_C(0x3)
/******************************* ODR **************************/
#define BMM350_ODR_400HZ UINT8_C(0x2)
#define BMM350_ODR_200HZ UINT8_C(0x3)
#define BMM350_ODR_100HZ UINT8_C(0x4)
#define BMM350_ODR_50HZ UINT8_C(0x5)
#define BMM350_ODR_25HZ UINT8_C(0x6)
#define BMM350_ODR_12_5HZ UINT8_C(0x7)
#define BMM350_ODR_6_25HZ UINT8_C(0x8)
#define BMM350_ODR_3_125HZ UINT8_C(0x9)
#define BMM350_ODR_1_5625HZ UINT8_C(0xA)
/********************* Power modes *************************/
#define BMM350_PMU_CMD_SUS UINT8_C(0x00)
#define BMM350_PMU_CMD_NM UINT8_C(0x01)
#define BMM350_PMU_CMD_UPD_OAE UINT8_C(0x02)
#define BMM350_PMU_CMD_FM UINT8_C(0x03)
#define BMM350_PMU_CMD_FM_FAST UINT8_C(0x04)
#define BMM350_PMU_CMD_FGR UINT8_C(0x05)
#define BMM350_PMU_CMD_FGR_FAST UINT8_C(0x06)
#define BMM350_PMU_CMD_BR UINT8_C(0x07)
#define BMM350_PMU_CMD_BR_FAST UINT8_C(0x08)
#define BMM350_PMU_STATUS_0 UINT8_C(0x0)
#define BMM350_DISABLE UINT8_C(0x0)
#define BMM350_ENABLE UINT8_C(0x1)
#define BMM350_CMD_NOP UINT8_C(0x0)
#define BMM350_CMD_SOFTRESET UINT8_C(0xB6)
#define BMM350_INT_MODE_LATCHED UINT8_C(0x1)
#define BMM350_INT_MODE_PULSED UINT8_C(0x0)
#define BMM350_INT_POL_ACTIVE_HIGH UINT8_C(0x1)
#define BMM350_INT_POL_ACTIVE_LOW UINT8_C(0x0)
#define BMM350_INT_OD_PUSHPULL UINT8_C(0x1)
#define BMM350_INT_OD_OPENDRAIN UINT8_C(0x0)
#define BMM350_INT_OUTPUT_EN_OFF UINT8_C(0x0)
#define BMM350_INT_OUTPUT_EN_ON UINT8_C(0x1)
#define BMM350_INT_DRDY_EN UINT8_C(0x1)
#define BMM350_INT_DRDY_DIS UINT8_C(0x0)
#define BMM350_LSB_MASK UINT16_C(0x00FF)
#define BMM350_MSB_MASK UINT16_C(0xFF00)
/********************** Pad drive strength ************************/
#define BMM350_PAD_DRIVE_WEAKEST UINT8_C(0)
#define BMM350_PAD_DRIVE_STRONGEST UINT8_C(7)
/******************* I2C Register Addresses ***********************/
/*! Register to set I2C address to LOW */
#define BMM350_I2C_ADSEL_SET_LOW UINT8_C(0x14)
/*! Register to set I2C address to HIGH */
#define BMM350_I2C_ADSEL_SET_HIGH UINT8_C(0x15)
#define BMM350_DUMMY_BYTES UINT8_C(2)
/********************** Register Addresses ************************/
#define BMM350_REG_CHIP_ID UINT8_C(0x00)
#define BMM350_REG_ERR_REG UINT8_C(0x02)
#define BMM350_REG_PAD_CTRL UINT8_C(0x03)
#define BMM350_REG_PMU_CMD_AGGR_SET UINT8_C(0x04)
#define BMM350_REG_PMU_CMD_AXIS_EN UINT8_C(0x05)
#define BMM350_REG_PMU_CMD UINT8_C(0x06)
#define BMM350_REG_PMU_CMD_STATUS_0 UINT8_C(0x07)
#define BMM350_REG_PMU_CMD_STATUS_1 UINT8_C(0x08)
#define BMM350_REG_I3C_ERR UINT8_C(0x09)
#define BMM350_REG_I2C_WDT_SET UINT8_C(0x0A)
#define BMM350_REG_TRSDCR_REV_ID UINT8_C(0x0D)
#define BMM350_REG_INT_CTRL UINT8_C(0x2E)
#define BMM350_REG_INT_CTRL_IBI UINT8_C(0x2F)
#define BMM350_REG_INT_STATUS UINT8_C(0x30)
#define BMM350_REG_MAG_X_XLSB UINT8_C(0x31)
#define BMM350_REG_MAG_X_LSB UINT8_C(0x32)
#define BMM350_REG_MAG_X_MSB UINT8_C(0x33)
#define BMM350_REG_MAG_Y_XLSB UINT8_C(0x34)
#define BMM350_REG_MAG_Y_LSB UINT8_C(0x35)
#define BMM350_REG_MAG_Y_MSB UINT8_C(0x36)
#define BMM350_REG_MAG_Z_XLSB UINT8_C(0x37)
#define BMM350_REG_MAG_Z_LSB UINT8_C(0x38)
#define BMM350_REG_MAG_Z_MSB UINT8_C(0x39)
#define BMM350_REG_TEMP_XLSB UINT8_C(0x3A)
#define BMM350_REG_TEMP_LSB UINT8_C(0x3B)
#define BMM350_REG_TEMP_MSB UINT8_C(0x3C)
#define BMM350_REG_SENSORTIME_XLSB UINT8_C(0x3D)
#define BMM350_REG_SENSORTIME_LSB UINT8_C(0x3E)
#define BMM350_REG_SENSORTIME_MSB UINT8_C(0x3F)
#define BMM350_REG_OTP_CMD_REG UINT8_C(0x50)
#define BMM350_REG_OTP_DATA_MSB_REG UINT8_C(0x52)
#define BMM350_REG_OTP_DATA_LSB_REG UINT8_C(0x53)
#define BMM350_REG_OTP_STATUS_REG UINT8_C(0x55)
#define BMM350_REG_TMR_SELFTEST_USER UINT8_C(0x60)
#define BMM350_REG_CTRL_USER UINT8_C(0x61)
#define BMM350_REG_CMD UINT8_C(0x7E)
/*********************** Macros for bit masking ***************************/
#define BMM350_CHIP_ID_OTP_MSK UINT8_C(0xf)
#define BMM350_CHIP_ID_OTP_POS UINT8_C(0x0)
#define BMM350_CHIP_ID_FIXED_MSK UINT8_C(0xf0)
#define BMM350_CHIP_ID_FIXED_POS UINT8_C(0x4)
#define BMM350_PMU_CMD_ERROR_MSK UINT8_C(0x1)
#define BMM350_PMU_CMD_ERROR_POS UINT8_C(0x0)
#define BMM350_DRV_MSK UINT8_C(0x7)
#define BMM350_DRV_POS UINT8_C(0x0)
#define BMM350_AVG_MSK UINT8_C(0x30)
#define BMM350_AVG_POS UINT8_C(0x4)
#define BMM350_ODR_MSK UINT8_C(0xf)
#define BMM350_ODR_POS UINT8_C(0x0)
#define BMM350_PMU_CMD_MSK UINT8_C(0xf)
#define BMM350_PMU_CMD_POS UINT8_C(0x0)
#define BMM350_EN_X_MSK UINT8_C(0x01)
#define BMM350_EN_X_POS UINT8_C(0x0)
#define BMM350_EN_Y_MSK UINT8_C(0x02)
#define BMM350_EN_Y_POS UINT8_C(0x1)
#define BMM350_EN_Z_MSK UINT8_C(0x04)
#define BMM350_EN_Z_POS UINT8_C(0x2)
#define BMM350_EN_XYZ_MSK UINT8_C(0x7)
#define BMM350_EN_XYZ_POS UINT8_C(0x0)
#define BMM350_PMU_CMD_BUSY_MSK UINT8_C(0x1)
#define BMM350_PMU_CMD_BUSY_POS UINT8_C(0x0)
#define BMM350_ODR_OVWR_MSK UINT8_C(0x2)
#define BMM350_ODR_OVWR_POS UINT8_C(0x1)
#define BMM350_AVG_OVWR_MSK UINT8_C(0x4)
#define BMM350_AVG_OVWR_POS UINT8_C(0x2)
#define BMM350_PWR_MODE_IS_NORMAL_MSK UINT8_C(0x8)
#define BMM350_PWR_MODE_IS_NORMAL_POS UINT8_C(0x3)
#define BMM350_CMD_IS_ILLEGAL_MSK UINT8_C(0x10)
#define BMM350_CMD_IS_ILLEGAL_POS UINT8_C(0x4)
#define BMM350_PMU_CMD_VALUE_MSK UINT8_C(0xE0)
#define BMM350_PMU_CMD_VALUE_POS UINT8_C(0x5)
#define BMM350_PMU_ODR_S_MSK UINT8_C(0xf)
#define BMM350_PMU_ODR_S_POS UINT8_C(0x0)
#define BMM350_PMU_AVG_S_MSK UINT8_C(0x30)
#define BMM350_PMU_AVG_S_POS UINT8_C(0x4)
#define BMM350_I3C_ERROR_0_MSK UINT8_C(0x1)
#define BMM350_I3C_ERROR_0_POS UINT8_C(0x0)
#define BMM350_I3C_ERROR_3_MSK UINT8_C(0x8)
#define BMM350_I3C_ERROR_3_POS UINT8_C(0x3)
#define BMM350_I2C_WDT_EN_MSK UINT8_C(0x1)
#define BMM350_I2C_WDT_EN_POS UINT8_C(0x0)
#define BMM350_I2C_WDT_SEL_MSK UINT8_C(0x2)
#define BMM350_I2C_WDT_SEL_POS UINT8_C(0x1)
#define BMM350_TRSDCR_REV_ID_OTP_MSK UINT8_C(0x3)
#define BMM350_TRSDCR_REV_ID_OTP_POS UINT8_C(0x0)
#define BMM350_TRSDCR_REV_ID_FIXED_MSK UINT8_C(0xfc)
#define BMM350_TRSDCR_REV_ID_FIXED_POS UINT8_C(0x2)
#define BMM350_INT_MODE_MSK UINT8_C(0x1)
#define BMM350_INT_MODE_POS UINT8_C(0x0)
#define BMM350_INT_POL_MSK UINT8_C(0x2)
#define BMM350_INT_POL_POS UINT8_C(0x1)
#define BMM350_INT_OD_MSK UINT8_C(0x4)
#define BMM350_INT_OD_POS UINT8_C(0x2)
#define BMM350_INT_OUTPUT_EN_MSK UINT8_C(0x8)
#define BMM350_INT_OUTPUT_EN_POS UINT8_C(0x3)
#define BMM350_DRDY_DATA_REG_EN_MSK UINT8_C(0x80)
#define BMM350_DRDY_DATA_REG_EN_POS UINT8_C(0x7)
#define BMM350_DRDY_INT_MAP_TO_IBI_MSK UINT8_C(0x1)
#define BMM350_DRDY_INT_MAP_TO_IBI_POS UINT8_C(0x0)
#define BMM350_CLEAR_DRDY_INT_STATUS_UPON_IBI_MSK UINT8_C(0x10)
#define BMM350_CLEAR_DRDY_INT_STATUS_UPON_IBI_POS UINT8_C(0x4)
#define BMM350_DRDY_DATA_REG_MSK UINT8_C(0x4)
#define BMM350_DRDY_DATA_REG_POS UINT8_C(0x2)
#define BMM350_DATA_X_7_0_MSK UINT8_C(0xff)
#define BMM350_DATA_X_7_0_POS UINT8_C(0x0)
#define BMM350_DATA_X_15_8_MSK UINT8_C(0xff)
#define BMM350_DATA_X_15_8_POS UINT8_C(0x0)
#define BMM350_DATA_X_23_16_MSK UINT8_C(0xff)
#define BMM350_DATA_X_23_16_POS UINT8_C(0x0)
#define BMM350_DATA_Y_7_0_MSK UINT8_C(0xff)
#define BMM350_DATA_Y_7_0_POS UINT8_C(0x0)
#define BMM350_DATA_Y_15_8_MSK UINT8_C(0xff)
#define BMM350_DATA_Y_15_8_POS UINT8_C(0x0)
#define BMM350_DATA_Y_23_16_MSK UINT8_C(0xff)
#define BMM350_DATA_Y_23_16_POS UINT8_C(0x0)
#define BMM350_DATA_Z_7_0_MSK UINT8_C(0xff)
#define BMM350_DATA_Z_7_0_POS UINT8_C(0x0)
#define BMM350_DATA_Z_15_8_MSK UINT8_C(0xff)
#define BMM350_DATA_Z_15_8_POS UINT8_C(0x0)
#define BMM350_DATA_Z_23_16_MSK UINT8_C(0xff)
#define BMM350_DATA_Z_23_16_POS UINT8_C(0x0)
#define BMM350_DATA_T_7_0_MSK UINT8_C(0xff)
#define BMM350_DATA_T_7_0_POS UINT8_C(0x0)
#define BMM350_DATA_T_15_8_MSK UINT8_C(0xff)
#define BMM350_DATA_T_15_8_POS UINT8_C(0x0)
#define BMM350_DATA_T_23_16_MSK UINT8_C(0xff)
#define BMM350_DATA_T_23_16_POS UINT8_C(0x0)
#define BMM350_DATA_ST_7_0_MSK UINT8_C(0xff)
#define BMM350_DATA_ST_7_0_POS UINT8_C(0x0)
#define BMM350_DATA_ST_15_8_MSK UINT8_C(0xff)
#define BMM350_DATA_ST_15_8_POS UINT8_C(0x0)
#define BMM350_DATA_ST_23_16_MSK UINT8_C(0xff)
#define BMM350_DATA_ST_23_16_POS UINT8_C(0x0)
#define BMM350_ST_IGEN_EN_MSK UINT8_C(0x1)
#define BMM350_ST_IGEN_EN_POS UINT8_C(0x0)
#define BMM350_ST_N_MSK UINT8_C(0x2)
#define BMM350_ST_N_POS UINT8_C(0x1)
#define BMM350_ST_P_MSK UINT8_C(0x4)
#define BMM350_ST_P_POS UINT8_C(0x2)
#define BMM350_IST_EN_X_MSK UINT8_C(0x8)
#define BMM350_IST_EN_X_POS UINT8_C(0x3)
#define BMM350_IST_EN_Y_MSK UINT8_C(0x10)
#define BMM350_IST_EN_Y_POS UINT8_C(0x4)
#define BMM350_CFG_SENS_TIM_AON_MSK UINT8_C(0x1)
#define BMM350_CFG_SENS_TIM_AON_POS UINT8_C(0x0)
/****************************** OTP MACROS ***************************/
#define BMM350_OTP_CMD_DIR_READ UINT8_C(0x20)
#define BMM350_OTP_CMD_DIR_PRGM_1B UINT8_C(0x40)
#define BMM350_OTP_CMD_DIR_PRGM UINT8_C(0x60)
#define BMM350_OTP_CMD_PWR_OFF_OTP UINT8_C(0x80)
#define BMM350_OTP_CMD_EXT_READ UINT8_C(0xA0)
#define BMM350_OTP_CMD_EXT_PRGM UINT8_C(0xE0)
#define BMM350_OTP_CMD_MSK UINT8_C(0xE0)
#define BMM350_OTP_WORD_ADDR_MSK UINT8_C(0x1F)
#define BMM350_OTP_STATUS_ERROR_MSK UINT8_C(0xE0)
#define BMM350_OTP_STATUS_ERROR(val) (val & BMM350_OTP_STATUS_ERROR_MSK)
#define BMM350_OTP_STATUS_NO_ERROR UINT8_C(0x00)
#define BMM350_OTP_STATUS_BOOT_ERR UINT8_C(0x20)
#define BMM350_OTP_STATUS_PAGE_RD_ERR UINT8_C(0x40)
#define BMM350_OTP_STATUS_PAGE_PRG_ERR UINT8_C(0x60)
#define BMM350_OTP_STATUS_SIGN_ERR UINT8_C(0x80)
#define BMM350_OTP_STATUS_INV_CMD_ERR UINT8_C(0xA0)
#define BMM350_OTP_STATUS_CMD_DONE UINT8_C(0x01)
/****************************** OTP indices ***************************/
#define BMM350_TEMP_OFF_SENS UINT8_C(0x0D)
#define BMM350_MAG_OFFSET_X UINT8_C(0x0E)
#define BMM350_MAG_OFFSET_Y UINT8_C(0x0F)
#define BMM350_MAG_OFFSET_Z UINT8_C(0x10)
#define BMM350_MAG_SENS_X UINT8_C(0x10)
#define BMM350_MAG_SENS_Y UINT8_C(0x11)
#define BMM350_MAG_SENS_Z UINT8_C(0x11)
#define BMM350_MAG_TCO_X UINT8_C(0x12)
#define BMM350_MAG_TCO_Y UINT8_C(0x13)
#define BMM350_MAG_TCO_Z UINT8_C(0x14)
#define BMM350_MAG_TCS_X UINT8_C(0x12)
#define BMM350_MAG_TCS_Y UINT8_C(0x13)
#define BMM350_MAG_TCS_Z UINT8_C(0x14)
#define BMM350_MAG_DUT_T_0 UINT8_C(0x18)
#define BMM350_CROSS_X_Y UINT8_C(0x15)
#define BMM350_CROSS_Y_X UINT8_C(0x15)
#define BMM350_CROSS_Z_X UINT8_C(0x16)
#define BMM350_CROSS_Z_Y UINT8_C(0x16)
#ifdef BMM350_POST_SOLDER_CORR
#ifdef BMM350_USE_FIXED_POINT
#define BMM350_SENS_CORR_Y 1
#define BMM350_TCS_CORR_Z 1
#else
#define BMM350_SENS_CORR_Y (0.01f)
#define BMM350_TCS_CORR_Z (0.0001f)
#endif
#endif
/**************************** Signed bit macros **********************/
#define BMM350_SIGNED_8_BIT UINT8_C(8)
#define BMM350_SIGNED_12_BIT UINT8_C(12)
#define BMM350_SIGNED_16_BIT UINT8_C(16)
#define BMM350_SIGNED_21_BIT UINT8_C(21)
#define BMM350_SIGNED_24_BIT UINT8_C(24)
/**************************** Self-test macros **********************/
#define BMM350_SELF_TEST_DISABLE UINT8_C(0x00)
#define BMM350_SELF_TEST_POS_X UINT8_C(0x0D)
#define BMM350_SELF_TEST_NEG_X UINT8_C(0x0B)
#define BMM350_SELF_TEST_POS_Y UINT8_C(0x15)
#define BMM350_SELF_TEST_NEG_Y UINT8_C(0x13)
/**************************** PMU command status 0 macros **********************/
#define BMM350_PMU_CMD_STATUS_0_SUS UINT8_C(0x00)
#define BMM350_PMU_CMD_STATUS_0_NM UINT8_C(0x01)
#define BMM350_PMU_CMD_STATUS_0_UPD_OAE UINT8_C(0x02)
#define BMM350_PMU_CMD_STATUS_0_FM UINT8_C(0x03)
#define BMM350_PMU_CMD_STATUS_0_FM_FAST UINT8_C(0x04)
#define BMM350_PMU_CMD_STATUS_0_FGR UINT8_C(0x05)
#define BMM350_PMU_CMD_STATUS_0_FGR_FAST UINT8_C(0x06)
#define BMM350_PMU_CMD_STATUS_0_BR UINT8_C(0x07)
#define BMM350_PMU_CMD_STATUS_0_BR_FAST UINT8_C(0x07)
/****************************** Enumerators ***************************/
enum bmm350_interrupt_enable_disable {
BMM350_DISABLE_INTERRUPT = BMM350_DISABLE,
BMM350_ENABLE_INTERRUPT = BMM350_ENABLE
};
enum bmm350_power_modes {
BMM350_SUSPEND_MODE = BMM350_PMU_CMD_SUS,
BMM350_NORMAL_MODE = BMM350_PMU_CMD_NM,
BMM350_FORCED_MODE = BMM350_PMU_CMD_FM,
BMM350_FORCED_MODE_FAST = BMM350_PMU_CMD_FM_FAST
};
enum bmm350_data_rates {
BMM350_DATA_RATE_400HZ = BMM350_ODR_400HZ,
BMM350_DATA_RATE_200HZ = BMM350_ODR_200HZ,
BMM350_DATA_RATE_100HZ = BMM350_ODR_100HZ,
BMM350_DATA_RATE_50HZ = BMM350_ODR_50HZ,
BMM350_DATA_RATE_25HZ = BMM350_ODR_25HZ,
BMM350_DATA_RATE_12_5HZ = BMM350_ODR_12_5HZ,
BMM350_DATA_RATE_6_25HZ = BMM350_ODR_6_25HZ,
BMM350_DATA_RATE_3_125HZ = BMM350_ODR_3_125HZ,
BMM350_DATA_RATE_1_5625HZ = BMM350_ODR_1_5625HZ
};
enum bmm350_intr_en_dis {
BMM350_INTR_DISABLE = BMM350_DISABLE,
BMM350_INTR_ENABLE = BMM350_ENABLE
};
enum bmm350_intr_map {
BMM350_UNMAP_FROM_PIN = BMM350_DISABLE,
BMM350_MAP_TO_PIN = BMM350_ENABLE
};
enum bmm350_intr_latch {
BMM350_PULSED = BMM350_INT_MODE_PULSED,
BMM350_LATCHED = BMM350_INT_MODE_LATCHED
};
enum bmm350_intr_polarity {
BMM350_ACTIVE_LOW = BMM350_INT_POL_ACTIVE_LOW,
BMM350_ACTIVE_HIGH = BMM350_INT_POL_ACTIVE_HIGH
};
enum bmm350_intr_drive {
BMM350_INTR_OPEN_DRAIN = BMM350_INT_OD_OPENDRAIN,
BMM350_INTR_PUSH_PULL = BMM350_INT_OD_PUSHPULL
};
enum bmm350_drdy_int_map_to_ibi {
BMM350_IBI_DISABLE = BMM350_DISABLE,
BMM350_IBI_ENABLE = BMM350_ENABLE
};
enum bmm350_clear_drdy_int_status_upon_ibi {
BMM350_NOCLEAR_ON_IBI = BMM350_DISABLE,
BMM350_CLEAR_ON_IBI = BMM350_ENABLE
};
enum bmm350_i2c_wdt_en {
BMM350_I2C_WDT_DIS = BMM350_DISABLE,
BMM350_I2C_WDT_EN = BMM350_ENABLE
};
enum bmm350_i2c_wdt_sel {
BMM350_I2C_WDT_SEL_SHORT = BMM350_DISABLE,
BMM350_I2C_WDT_SEL_LONG = BMM350_ENABLE
};
enum bmm350_performance_parameters {
BMM350_NO_AVERAGING = BMM350_AVG_NO_AVG,
BMM350_AVERAGING_2 = BMM350_AVG_2,
BMM350_AVERAGING_4 = BMM350_AVG_4,
BMM350_AVERAGING_8 = BMM350_AVG_8,
/*lint -e849*/
BMM350_ULTRALOWNOISE = BMM350_AVG_8,
BMM350_LOWNOISE = BMM350_AVG_4,
BMM350_REGULARPOWER = BMM350_AVG_2,
BMM350_LOWPOWER = BMM350_AVG_NO_AVG
};
enum bmm350_st_igen_en {
BMM350_ST_IGEN_DIS = BMM350_DISABLE,
BMM350_ST_IGEN_EN = BMM350_ENABLE
};
enum bmm350_st_n {
BMM350_ST_N_DIS = BMM350_DISABLE,
BMM350_ST_N_EN = BMM350_ENABLE
};
enum bmm350_st_p {
BMM350_ST_P_DIS = BMM350_DISABLE,
BMM350_ST_P_EN = BMM350_ENABLE
};
enum bmm350_ist_en_x {
BMM350_IST_X_DIS = BMM350_DISABLE,
BMM350_IST_X_EN = BMM350_ENABLE
};
enum bmm350_ist_en_y {
BMM350_IST_Y_DIS = BMM350_DISABLE,
BMM350_IST_Y_EN = BMM350_ENABLE
};
enum bmm350_ctrl_user {
BMM350_CFG_SENS_TIM_AON_DIS = BMM350_DISABLE,
BMM350_CFG_SENS_TIM_AON_EN = BMM350_ENABLE
};
enum bmm350_x_axis_en_dis {
BMM350_X_DIS = BMM350_DISABLE,
BMM350_X_EN = BMM350_ENABLE
};
enum bmm350_y_axis_en_dis {
BMM350_Y_DIS = BMM350_DISABLE,
BMM350_Y_EN = BMM350_ENABLE
};
enum bmm350_z_axis_en_dis {
BMM350_Z_DIS = BMM350_DISABLE,
BMM350_Z_EN = BMM350_ENABLE
};
enum bmm350_boot_status {
BMM350_BOOT_NOT_DONE = BMM350_DISABLE,
BMM350_BOOT_DONE = BMM350_ENABLE
};
/******************************************************************************/
/*! @name Function Pointers */
/******************************************************************************/
/*!
* @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] reg_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 = 0 -> Success
* retval < 0 -> Failure
*
*/
typedef BMM350_INTF_RET_TYPE (*bmm350_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_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] reg_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 = 0 -> Success
* retval < 0 -> Failure
*
*/
typedef BMM350_INTF_RET_TYPE (*bmm350_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_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 (*bmm350_delay_us_fptr_t)(uint32_t period, void *intf_ptr);
/* Pre-declaration */
struct bmm350_dev;
/*!
* @brief Function pointer for the magnetic reset and wait override
*
* @param[in] dev : Structure instance of bmm350_dev.
* @return Result of API execution status
* @retval = 0 -> Success
* @retval < 0 -> Error
*/
typedef int8_t (*bmm350_mraw_override_t)(struct bmm350_dev *dev);
/************************* STRUCTURE DEFINITIONS *************************/
/*!
* @brief bmm350 api version
*/
struct bmm350_version
{
/*! Version Major */
uint8_t major;
/*! Version Minor */
uint8_t minor;
/*! Version Bugfix */
uint8_t bugfix;
};
#ifdef BMM350_USE_FIXED_POINT
/*!
* @brief bmm350 compensated magnetometer data and temperature data
*/
struct bmm350_mag_temp_data
{
/*! Compensated mag X data */
fixed_t x;
/*! Compensated mag Y data */
fixed_t y;
/*! Compensated mag Z data */
fixed_t z;
/*! Temperature */
fixed_t temperature;
};
/*!
* @brief bmm350 magnetometer dut offset coefficient structure
*/
struct bmm350_dut_offset_coef
{
/*! Temperature offset */
fixed_t t_offs;
/*! Offset x-axis */
fixed_t offset_x;
/*! Offset y-axis */
fixed_t offset_y;
/*! Offset z-axis */
fixed_t offset_z;
};
/*!
* @brief bmm350 magnetometer dut sensitivity coefficient structure
*/
struct bmm350_dut_sensit_coef
{
/*! Temperature sensitivity */
fixed_t t_sens;
/*! Sensitivity x-axis */
fixed_t sens_x;
/*! Sensitivity y-axis */
fixed_t sens_y;
/*! Sensitivity z-axis */
fixed_t sens_z;
};
/*!
* @brief bmm350 magnetometer dut tco structure
*/
struct bmm350_dut_tco
{
fixed_t tco_x;
fixed_t tco_y;
fixed_t tco_z;
};
/*!
* @brief bmm350 magnetometer dut tcs structure
*/
struct bmm350_dut_tcs
{
fixed_t tcs_x;
fixed_t tcs_y;
fixed_t tcs_z;
};
/*!
* @brief bmm350 magnetometer cross axis compensation structure
*/
struct bmm350_cross_axis
{
fixed_t cross_x_y;
fixed_t cross_y_x;
fixed_t cross_z_x;
fixed_t cross_z_y;
};
/*!
* @brief bmm350 magnetometer compensate structure
*/
struct bmm350_mag_compensate
{
/*! Structure to store dut offset coefficient */
struct bmm350_dut_offset_coef dut_offset_coef;
/*! Structure to store dut sensitivity coefficient */
struct bmm350_dut_sensit_coef dut_sensit_coef;
/*! Structure to store dut tco */
struct bmm350_dut_tco dut_tco;
/*! Structure to store dut tcs */
struct bmm350_dut_tcs dut_tcs;
/*! Initialize T0_reading parameter */
fixed_t dut_t0;
/*! Structure to define cross axis compensation */
struct bmm350_cross_axis cross_axis;
};
/*!
* @brief bmm350 self-test structure
*/
struct bmm350_self_test
{
/* Variable to store self-test high data on x-axis */
fixed_t out_ust_xh;
/* Variable to store self-test high data on y-axis */
fixed_t out_ust_yh;
/* Variable to store self-test low data on x-axis */
fixed_t out_ust_xl;
/* Variable to store self-test low data on y-axis */
fixed_t out_ust_yl;
/* Variable to store self-test data on x-axis */
fixed_t out_ust_x;
/* Variable to store self-test data on y-axis */
fixed_t out_ust_y;
};
#else
/*!
* @brief bmm350 compensated magnetometer data and temperature data
*/
struct bmm350_mag_temp_data
{
/*! Compensated mag X data */
float x;
/*! Compensated mag Y data */
float y;
/*! Compensated mag Z data */
float z;
/*! Temperature */
float temperature;
};
/*!
* @brief bmm350 magnetometer dut offset coefficient structure
*/
struct bmm350_dut_offset_coef
{
/*! Temperature offset */
float t_offs;
/*! Offset x-axis */
float offset_x;
/*! Offset y-axis */
float offset_y;
/*! Offset z-axis */
float offset_z;
};
/*!
* @brief bmm350 magnetometer dut sensitivity coefficient structure
*/
struct bmm350_dut_sensit_coef
{
/*! Temperature sensitivity */
float t_sens;
/*! Sensitivity x-axis */
float sens_x;
/*! Sensitivity y-axis */
float sens_y;
/*! Sensitivity z-axis */
float sens_z;
};
/*!
* @brief bmm350 magnetometer dut tco structure
*/
struct bmm350_dut_tco
{
float tco_x;
float tco_y;
float tco_z;
};
/*!
* @brief bmm350 magnetometer dut tcs structure
*/
struct bmm350_dut_tcs
{
float tcs_x;
float tcs_y;
float tcs_z;
};
/*!
* @brief bmm350 magnetometer cross axis compensation structure
*/
struct bmm350_cross_axis
{
float cross_x_y;
float cross_y_x;
float cross_z_x;
float cross_z_y;
};
/*!
* @brief bmm350 magnetometer compensate structure
*/
struct bmm350_mag_compensate
{
/*! Structure to store dut offset coefficient */
struct bmm350_dut_offset_coef dut_offset_coef;
/*! Structure to store dut sensitivity coefficient */
struct bmm350_dut_sensit_coef dut_sensit_coef;
/*! Structure to store dut tco */
struct bmm350_dut_tco dut_tco;
/*! Structure to store dut tcs */
struct bmm350_dut_tcs dut_tcs;
/*! Initialize T0_reading parameter */
float dut_t0;
/*! Structure to define cross axis compensation */
struct bmm350_cross_axis cross_axis;
};
/*!
* @brief bmm350 self-test structure
*/
struct bmm350_self_test
{
/* Variable to store self-test high data on x-axis */
float out_ust_xh;
/* Variable to store self-test high data on y-axis */
float out_ust_yh;
/* Variable to store self-test low data on x-axis */
float out_ust_xl;
/* Variable to store self-test low data on y-axis */
float out_ust_yl;
/* Variable to store self-test data on x-axis */
float out_ust_x;
/* Variable to store self-test data on y-axis */
float out_ust_y;
};
#endif
/*!
* @brief bmm350 un-compensated (raw) magnetometer data, signed integer
*/
struct bmm350_raw_mag_data
{
/*! Raw mag X data */
int32_t raw_xdata;
/*! Raw mag Y data */
int32_t raw_ydata;
/*! Raw mag Z data */
int32_t raw_zdata;
/*! Raw mag temperature value */
int32_t raw_data_t;
};
/*!
* @brief bmm350 device structure
*/
struct bmm350_dev
{
/*!
* The interface pointer is used to enable the user
* to link their interface descriptors for reference during the
* implementation of the read and write interfaces to the
* hardware.
*/
void* intf_ptr;
/*! Chip Id of BMM350 */
uint8_t chip_id;
/*! Bus read function pointer */
bmm350_read_fptr_t read;
/*! Bus write function pointer */
bmm350_write_fptr_t write;
/*! delay(in us) function pointer */
bmm350_delay_us_fptr_t delay_us;
/*! To store interface pointer error */
BMM350_INTF_RET_TYPE intf_rslt;
/*! Variable to store status of axes enabled */
uint8_t axis_en;
/*! Structure for mag compensate */
struct bmm350_mag_compensate mag_comp;
/*! Array to store OTP data */
uint16_t otp_data[BMM350_OTP_DATA_LENGTH];
/*! Variant ID */
uint8_t var_id;
/*! Magnetic reset and wait override */
bmm350_mraw_override_t mraw_override;
/*! Variable to track the boot status */
uint8_t boot_done_status;
/*! Variable to enable/disable xy bit reset */
uint8_t enable_auto_br;
};
/*!
* @brief bmm350 PMU command status 0 structure
*/
struct bmm350_pmu_cmd_status_0
{
/*! The previous PMU CMD is still in processing */
uint8_t pmu_cmd_busy;
/*! The previous PMU_CMD_AGGR_SET.odr has been overwritten */
uint8_t odr_ovwr;
/*! The previous PMU_CMD_AGGR_SET.avg has been overwritten */
uint8_t avr_ovwr;
/*! The chip is in normal power mode */
uint8_t pwr_mode_is_normal;
/*! CMD value is not allowed */
uint8_t cmd_is_illegal;
/*! Stores the latest PMU_CMD code processed */
uint8_t pmu_cmd_value;
};
#endif /* _BMM350_DEFS_H */
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