bhy2_defs.h

/**
 * 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       bhy2_defs.h
 * @date       2020-03-24
 * @version    v1.3.0
 *
 */

#ifndef __BHY2_DEFS_H__
#define __BHY2_DEFS_H__

#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */

#ifdef __KERNEL__
#include <linux/string.h>
#include <linux/slab.h>
#include <linux/types.h>
#else
#include <string.h>
#include <stdint.h>
#endif /*~ __KERNEL__ */

#ifndef UNUSED
#define UNUSED(__x__) ((void)(__x__))
#endif /*~ UNUSED */

#ifdef __KERNEL__
#define bhy2_float u32
#else
#define bhy2_float float
#endif /*~ __KERNEL__ */

#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__ */

#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif

#ifndef BHY2_PACKED
#if __GNUC__
#define BHY2_PACKED __attribute__ ((__packed__))
#else
#define BHY2_PACKED
#endif
#endif

/** API error codes */
#define BHY2_OK                   INT8_C(0)
#define BHY2_E_NULL_PTR           INT8_C(-1)
#define BHY2_E_INVALID_PARAM      INT8_C(-2)
#define BHY2_E_IO                 INT8_C(-3)
#define BHY2_E_MAGIC              INT8_C(-4)
#define BHY2_E_TIMEOUT            INT8_C(-5)
#define BHY2_E_BUFFER             INT8_C(-6)
#define BHY2_E_INVALID_FIFO_TYPE  INT8_C(-7)
#define BHY2_E_INVALID_EVENT_SIZE INT8_C(-8)
#define BHY2_E_PARAM_NOT_SET      INT8_C(-9)

#ifndef BHY2_COMMAND_PACKET_LEN
#define BHY2_COMMAND_PACKET_LEN   UINT16_C(256)
#endif

#if (BHY2_COMMAND_PACKET_LEN < 4)
#error "BHY2_COMMAND_PACKET_LEN should be at least 4 bytes"
#endif

#define BHY2_PRODUCT_ID                  UINT8_C(0x89)

/*! Register map */
#define BHY2_REG_CHAN_CMD                UINT8_C(0x00)
#define BHY2_REG_CHAN_FIFO_W             UINT8_C(0x01)
#define BHY2_REG_CHAN_FIFO_NW            UINT8_C(0x02)
#define BHY2_REG_CHAN_STATUS             UINT8_C(0x03)
#define BHY2_REG_CHIP_CTRL               UINT8_C(0x05)
#define BHY2_REG_HOST_INTERFACE_CTRL     UINT8_C(0x06)
#define BHY2_REG_HOST_INTERRUPT_CTRL     UINT8_C(0x07)
#define BHY2_REG_RESET_REQ               UINT8_C(0x14)
#define BHY2_REG_TIME_EV_REQ             UINT8_C(0x15)
#define BHY2_REG_HOST_CTRL               UINT8_C(0x16)
#define BHY2_REG_HOST_STATUS             UINT8_C(0x17)
#define BHY2_REG_CRC_0                   UINT8_C(0x18)          /* Totally 4 */
#define BHY2_REG_PRODUCT_ID              UINT8_C(0x1C)
#define BHY2_REG_REVISION_ID             UINT8_C(0x1D)
#define BHY2_REG_ROM_VERSION_0           UINT8_C(0x1E)          /* Totally 2 */
#define BHY2_REG_KERNEL_VERSION_0        UINT8_C(0x20)          /* Totally 2 */
#define BHY2_REG_USER_VERSION_0          UINT8_C(0x22)          /* Totally 2 */
#define BHY2_REG_FEATURE_STATUS          UINT8_C(0x24)
#define BHY2_REG_BOOT_STATUS             UINT8_C(0x25)
#define BHY2_REG_HOST_INTR_TIME_0        UINT8_C(0x26)          /* Totally 5 */
#define BHY2_REG_CHIP_ID                 UINT8_C(0x2B)
#define BHY2_REG_INT_STATUS              UINT8_C(0x2D)
#define BHY2_REG_ERROR_VALUE             UINT8_C(0x2E)
#define BHY2_REG_ERROR_AUX               UINT8_C(0x2F)
#define BHY2_REG_DEBUG_VALUE             UINT8_C(0x30)
#define BHY2_REG_DEBUG_STATE             UINT8_C(0x31)
#define BHY2_REG_GP_5                    UINT8_C(0x32)
#define BHY2_REG_GP_6                    UINT8_C(0x36)
#define BHY2_REG_GP_7                    UINT8_C(0x3A)

/*! Command packets */
#define BHY2_CMD_REQ_POST_MORTEM_DATA    UINT16_C(0x0001)
#define BHY2_CMD_UPLOAD_TO_PROGRAM_RAM   UINT16_C(0x0002)
#define BHY2_CMD_BOOT_PROGRAM_RAM        UINT16_C(0x0003)
#define BHY2_CMD_ERASE_FLASH             UINT16_C(0x0004)
#define BHY2_CMD_WRITE_FLASH             UINT16_C(0x0005)
#define BHY2_CMD_BOOT_FLASH              UINT16_C(0x0006)
#define BHY2_CMD_SET_INJECT_MODE         UINT16_C(0x0007)
#define BHY2_CMD_INJECT_DATA             UINT16_C(0x0008)
#define BHY2_CMD_FIFO_FLUSH              UINT16_C(0x0009)
#define BHY2_CMD_SW_PASSTHROUGH          UINT16_C(0x000A)
#define BHY2_CMD_REQ_SELF_TEST           UINT16_C(0x000B)
#define BHY2_CMD_REQ_FOC                 UINT16_C(0x000C)
#define BHY2_CMD_CONFIG_SENSOR           UINT16_C(0x000D)
#define BHY2_CMD_CHANGE_RANGE            UINT16_C(0x000E)
#define BHY2_CMD_FIFO_FORMAT_CTRL        UINT16_C(0x0015)

/*! Soft passthrough feature */
#define BHY2_SPASS_READ                  UINT8_C(0)
#define BHY2_SPASS_WRITE                 UINT8_C(1)
#define BHY2_SPASS_SINGLE_TRANS          UINT8_C(0)
#define BHY2_SPASS_MULTI_TRANS           UINT8_C(1)
#define BHY2_SPASS_DELAY_DIS             UINT8_C(0)
#define BHY2_SPASS_DELAY_EN              UINT8_C(1)
#define BHY2_SPASS_SIF1                  UINT8_C(1)
#define BHY2_SPASS_SIF2                  UINT8_C(2)
#define BHY2_SPASS_SIF3                  UINT8_C(3)
#define BHY2_SPASS_SPI_4_WIRE            UINT8_C(0)
#define BHY2_SPASS_SPI_3_WIRE            UINT8_C(1)
#define BHY2_SPASS_SPI_CPOL_0            UINT8_C(0)
#define BHY2_SPASS_SPI_CPOL_1            UINT8_C(1)
#define BHY2_SPASS_SPI_CPHA_0            UINT8_C(0)
#define BHY2_SPASS_SPI_CPHA_1            UINT8_C(1)
#define BHY2_SPASS_SPI_CS_LOW            UINT8_C(0)
#define BHY2_SPASS_SPI_CS_HIGH           UINT8_C(1)
#define BHY2_SPASS_SPI_LSB_FIRST_DIS     UINT8_C(0)
#define BHY2_SPASS_SPI_LSB_FIRST_EN      UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POL_LOW  UINT8_C(0)
#define BHY2_SPASS_SPI_READ_BIT_POL_HIGH UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POS_0    UINT8_C(0)
#define BHY2_SPASS_SPI_READ_BIT_POS_1    UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POS_2    UINT8_C(2)
#define BHY2_SPASS_SPI_READ_BIT_POS_3    UINT8_C(3)
#define BHY2_SPASS_SPI_READ_BIT_POS_4    UINT8_C(4)
#define BHY2_SPASS_SPI_READ_BIT_POS_5    UINT8_C(5)
#define BHY2_SPASS_SPI_READ_BIT_POS_6    UINT8_C(6)
#define BHY2_SPASS_SPI_READ_BIT_POS_7    UINT8_C(7)

/*! Helper macros */
#define BHY2_CHK_BIT(data, bit)  (((uint32_t)data >> bit) & 0x01)

#define BHY2_COUNTOF(__BUFFER__) (sizeof(__BUFFER__) / sizeof(*(__BUFFER__)))

/*! Firmware header identifier */
#define BHY2_FW_MAGIC                 UINT16_C(0x662B)

/*! Boot status */
#define BHY2_BST_FLASH_DETECTED       UINT8_C(0x01)
#define BHY2_BST_FLASH_VERIFY_DONE    UINT8_C(0x02)
#define BHY2_BST_FLASH_VERIFY_ERROR   UINT8_C(0x04)
#define BHY2_BST_NO_FLASH             UINT8_C(0x08)
#define BHY2_BST_HOST_INTERFACE_READY UINT8_C(0x10)
#define BHY2_BST_HOST_FW_VERIFY_DONE  UINT8_C(0x20)
#define BHY2_BST_HOST_FW_VERIFY_ERROR UINT8_C(0x40)
#define BHY2_BST_HOST_FW_IDLE         UINT8_C(0x80)
#define BHY2_BST_CHECK_RETRY          UINT8_C(100)

/*! Host status */
#define BHY2_HST_POWER_STATE          UINT8_C(0x01)
#define BHY2_HST_HOST_PROTOCOL        UINT8_C(0x02)
#define BHY2_HST_HOST_CHANNEL_0       UINT8_C(0x10)
#define BHY2_HST_HOST_CHANNEL_1       UINT8_C(0x20)
#define BHY2_HST_HOST_CHANNEL_2       UINT8_C(0x40)
#define BHY2_HST_HOST_CHANNEL_3       UINT8_C(0x80)

/*! Interrupt status masks */
#define BHY2_IST_MASK_ASSERTED        (0x1)
#define BHY2_IST_MASK_FIFO_W          (0x6)
#define BHY2_IST_MASK_FIFO_NW         (0x18)
#define BHY2_IST_MASK_STATUS          (0x20)
#define BHY2_IST_MASK_DEBUG           (0x40)
#define BHY2_IST_MASK_RESET_FAULT     (0x80)
#define BHY2_IST_FIFO_W_DRDY          UINT8_C(0x2)
#define BHY2_IST_FIFO_W_LTCY          UINT8_C(0x4)
#define BHY2_IST_FIFO_W_WM            UINT8_C(0x6)
#define BHY2_IST_FIFO_NW_DRDY         UINT8_C(0x8)
#define BHY2_IST_FIFO_NW_LTCY         UINT8_C(0x10)
#define BHY2_IST_FIFO_NW_WM           UINT8_C(0x18)
#define BHY2_IS_INT_FIFO_W(status)       (status & BHY2_IST_MASK_FIFO_W)
#define BHY2_IS_INT_FIFO_NW(status)      (status & BHY2_IST_MASK_FIFO_NW)
#define BHY2_IS_INT_STATUS(status)       (status & BHY2_IST_MASK_STATUS)
#define BHY2_IS_INT_ASYNC_STATUS(status) (status & BHY2_IST_MASK_DEBUG)
#define BHY2_IS_INT_RESET(status)        (status & BHY2_IST_MASK_RESET_FAULT)
#define BHY2_IST_MASK_FIFO                      (BHY2_IST_MASK_FIFO_W | BHY2_IST_MASK_FIFO_NW)
#define BHY2_IS_INT_FIFO(status)         (status & BHY2_IST_MASK_FIFO)

/*! Host interface control bits */
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_0  UINT8_C(0x01)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_1  UINT8_C(0x02)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_2  UINT8_C(0x04)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_3  UINT8_C(0x08)
#define BHY2_HIF_CTRL_AP_SUSPENDED              UINT8_C(0x10)
#define BHY2_HIF_CTRL_TIMESTAMP_EV_CTRL         UINT8_C(0x40)
#define BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL      UINT8_C(0x80)

/*! Interrupt control bits */
#define BHY2_ICTL_DISABLE_FIFO_W                UINT8_C(0x01)
#define BHY2_ICTL_DISABLE_FIFO_NW               UINT8_C(0x02)
#define BHY2_ICTL_DISABLE_STATUS_FIFO           UINT8_C(0x04)
#define BHY2_ICTL_DISABLE_DEBUG                 UINT8_C(0x08)
#define BHY2_ICTL_DISABLE_FAULT                 UINT8_C(0x10)
#define BHY2_ICTL_ACTIVE_LOW                    UINT8_C(0x20)
#define BHY2_ICTL_EDGE                          UINT8_C(0x40)
#define BHY2_ICTL_OPEN_DRAIN                    UINT8_C(0x80)

/*! Reset command */
#define BHY2_REQUEST_RESET                      UINT8_C(0x01)

/*! FIFO Format bit */
#define BHY2_FIFO_FORMAT_CTRL_MASK              UINT8_C(0x03)
#define BHY2_FIFO_FORMAT_CTRL_DIS_DELTA_TS      UINT8_C(0x01)
#define BHY2_FIFO_FORMAT_CTRL_DIS_FULL_TS       UINT8_C(0x02)
#define BHY2_FIFO_FORMAT_CTRL_DIS_ALL_TS        UINT8_C(0x03)

/*! System parameters */
#define BHY2_PARAM_READ_MASK                    UINT16_C(0x1000)
#define BHY2_PARAM_FIFO_CTRL                    UINT16_C(0x103)
#define BHY2_PARAM_SYS_VIRT_SENSOR_PRESENT      UINT16_C(0x11F)
#define BHY2_PARAM_SYS_PHYS_SENSOR_PRESENT      UINT16_C(0x120)
#define BHY2_PARAM_PHYSICAL_SENSOR_BASE         UINT16_C(0x120)
#define BHY2_PARAM_CALIB_STATE_BASE             UINT16_C(0x200)
#define BHY2_PARAM_SIC                          UINT16_C(0x27D)
#define BHY2_PARAM_BHY2_BSX_VERSION             UINT16_C(0x27E)
#define BHY2_PARAM_SET_SENSOR_CTRL              UINT16_C(0x0E00)
#define BHY2_PARAM_GET_SENSOR_CTRL              UINT16_C(0x1E00)
#define BHY2_PARAM_SENSOR_CTRL_FOC              UINT8_C(0x1)
#define BHY2_PARAM_SENSOR_CTRL_OIS              UINT8_C(0x2)
#define BHY2_PARAM_SENSOR_CTRL_FST              UINT8_C(0x3)
#define BHY2_PARAM_SENSOR_CTRL_READ             UINT8_C(0x80)
#define BHY2_PARAM_SENSOR_INFO_0                UINT16_C(0x300)
#define BHY2_PARAM_SENSOR_CONF_0                UINT16_C(0x500)

#define BHY2_BSX_STATE_TRANSFER_COMPLETE        UINT8_C(128)        /* 1 << 7 */
#define BHY2_BSX_STATE_BLOCK_LEN                UINT8_C(64)
#define BHY2_BSX_STATE_STRUCT_LEN               UINT8_C(68)

#define BHY2_QUERY_PARAM_STATUS_READY_MAX_RETRY UINT16_C(1000)
#define BHY2_QUERY_FLASH_MAX_RETRY              UINT16_C(1200)

/*! Meta event definitions */
#define BHY2_META_EVENT_FLUSH_COMPLETE          (1)
#define BHY2_META_EVENT_SAMPLE_RATE_CHANGED     (2)
#define BHY2_META_EVENT_POWER_MODE_CHANGED      (3)
#define BHY2_META_EVENT_ALGORITHM_EVENTS        (5)
#define BHY2_META_EVENT_SENSOR_STATUS           (6)
#define BHY2_META_EVENT_BSX_DO_STEPS_MAIN       (7)
#define BHY2_META_EVENT_BSX_DO_STEPS_CALIB      (8)
#define BHY2_META_EVENT_BSX_GET_OUTPUT_SIGNAL   (9)
#define BHY2_META_EVENT_RESERVED1               (10)
#define BHY2_META_EVENT_SENSOR_ERROR            (11)
#define BHY2_META_EVENT_FIFO_OVERFLOW           (12)
#define BHY2_META_EVENT_DYNAMIC_RANGE_CHANGED   (13)
#define BHY2_META_EVENT_FIFO_WATERMARK          (14)
#define BHY2_META_EVENT_RESERVED2               (15)
#define BHY2_META_EVENT_INITIALIZED             (16)
#define BHY2_META_TRANSFER_CAUSE                (17)
#define BHY2_META_EVENT_SENSOR_FRAMEWORK        (18)
#define BHY2_META_EVENT_RESET                   (19)
#define BHY2_META_EVENT_SPACER                  (20)

/* Flash start address in memory */
#define BHY2_FLASH_SECTOR_START_ADDR            UINT32_C(0x1F84)

/* End address for common flash sizes */
#define BHY2_FLASH_SIZE_0_5MB                   UINT32_C(0x7FFFF)
#define BHY2_FLASH_SIZE_1MB                     UINT32_C(0xFFFFF)
#define BHY2_FLASH_SIZE_2MB                     UINT32_C(0x1FFFFF)
#define BHY2_FLASH_SIZE_4MB                     UINT32_C(0x3FFFFF)
#define BHY2_FLASH_SIZE_8MB                     UINT32_C(0x7FFFFF)

/* Sensor IDs */
#define BHY2_SENSOR_ID_CUSTOM_START             UINT8_C(160)
#define BHY2_SENSOR_ID_CUSTOM_END               UINT8_C(191)

#define BHY2_SENSOR_ID_MAX                      UINT8_C(200)
#define BHY2_SENSOR_ID_TBD                      UINT8_C(BHY2_SENSOR_ID_MAX - 1)
#define BHY2_SENSOR_ID_ACC_PASS                 UINT8_C(1)   /* Accelerometer passthrough */
#define BHY2_SENSOR_ID_ACC_RAW                  UINT8_C(3)   /* Accelerometer uncalibrated */
#define BHY2_SENSOR_ID_ACC                      UINT8_C(4)   /* Accelerometer corrected */
#define BHY2_SENSOR_ID_ACC_BIAS                 UINT8_C(5)   /* Accelerometer offset */
#define BHY2_SENSOR_ID_ACC_WU                   UINT8_C(6)   /* Accelerometer corrected wake up */
#define BHY2_SENSOR_ID_ACC_RAW_WU               UINT8_C(7)   /* Accelerometer uncalibrated wake up */
#define BHY2_SENSOR_ID_GYRO_PASS                UINT8_C(10)  /* Gyroscope passthrough */
#define BHY2_SENSOR_ID_GYRO_RAW                 UINT8_C(12)  /* Gyroscope uncalibrated */
#define BHY2_SENSOR_ID_GYRO                     UINT8_C(13)  /* Gyroscope corrected */
#define BHY2_SENSOR_ID_GYRO_BIAS                UINT8_C(14)  /* Gyroscope offset */
#define BHY2_SENSOR_ID_GYRO_WU                  UINT8_C(15)  /* Gyroscope wake up */
#define BHY2_SENSOR_ID_GYRO_RAW_WU              UINT8_C(16)  /* Gyroscope uncalibrated wake up */
#define BHY2_SENSOR_ID_MAG_PASS                 UINT8_C(19)  /* Magnetometer passthrough */
#define BHY2_SENSOR_ID_MAG_RAW                  UINT8_C(21)  /* Magnetometer uncalibrated */
#define BHY2_SENSOR_ID_MAG                      UINT8_C(22)  /* Magnetometer corrected */
#define BHY2_SENSOR_ID_MAG_BIAS                 UINT8_C(23)  /* Magnetometer offset */
#define BHY2_SENSOR_ID_MAG_WU                   UINT8_C(24)  /* Magnetometer wake up */
#define BHY2_SENSOR_ID_MAG_RAW_WU               UINT8_C(25)  /* Magnetometer uncalibrated wake up */
#define BHY2_SENSOR_ID_GRA                      UINT8_C(28)  /* Gravity vector */
#define BHY2_SENSOR_ID_GRA_WU                   UINT8_C(29)  /* Gravity vector wake up */
#define BHY2_SENSOR_ID_LACC                     UINT8_C(31)  /* Linear acceleration */
#define BHY2_SENSOR_ID_LACC_WU                  UINT8_C(32)  /* Linear acceleration wake up */
#define BHY2_SENSOR_ID_RV                       UINT8_C(34)  /* Rotation vector */
#define BHY2_SENSOR_ID_RV_WU                    UINT8_C(35)  /* Rotation vector wake up */
#define BHY2_SENSOR_ID_GAMERV                   UINT8_C(37)  /* Game rotation vector */
#define BHY2_SENSOR_ID_GAMERV_WU                UINT8_C(38)  /* Game rotation vector wake up */
#define BHY2_SENSOR_ID_GEORV                    UINT8_C(40)  /* Geo-magnetic rotation vector */
#define BHY2_SENSOR_ID_GEORV_WU                 UINT8_C(41)  /* Geo-magnetic rotation vector wake up */
#define BHY2_SENSOR_ID_ORI                      UINT8_C(43)  /* Orientation */
#define BHY2_SENSOR_ID_ORI_WU                   UINT8_C(44)  /* Orientation wake up */
#define BHY2_SENSOR_ID_TILT_DETECTOR            UINT8_C(48)  /* Tilt detector */
#define BHY2_SENSOR_ID_STD                      UINT8_C(50)  /* Step detector */
#define BHY2_SENSOR_ID_STC                      UINT8_C(52)  /* Step counter */
#define BHY2_SENSOR_ID_STC_WU                   UINT8_C(53)  /* Step counter wake up */
#define BHY2_SENSOR_ID_SIG                      UINT8_C(55)  /* Significant motion */
#define BHY2_SENSOR_ID_WAKE_GESTURE             UINT8_C(57)  /* Wake gesture */
#define BHY2_SENSOR_ID_GLANCE_GESTURE           UINT8_C(59)  /* Glance gesture */
#define BHY2_SENSOR_ID_PICKUP_GESTURE           UINT8_C(61)  /* Pickup gesture */
#define BHY2_SENSOR_ID_AR                       UINT8_C(63)  /* Activity recognition */
#define BHY2_SENSOR_ID_WRIST_TILT_GESTURE       UINT8_C(67)  /* Wrist tilt gesture */
#define BHY2_SENSOR_ID_DEVICE_ORI               UINT8_C(69)  /* Device orientation */
#define BHY2_SENSOR_ID_DEVICE_ORI_WU            UINT8_C(70)  /* Device orientation wake up */
#define BHY2_SENSOR_ID_STATIONARY_DET           UINT8_C(75)  /* Stationary detect */
#define BHY2_SENSOR_ID_MOTION_DET               UINT8_C(77)  /* Motion detect */
#define BHY2_SENSOR_ID_ACC_BIAS_WU              UINT8_C(91)  /* Accelerometer offset wake up */
#define BHY2_SENSOR_ID_GYRO_BIAS_WU             UINT8_C(92)  /* Gyroscope offset wake up */
#define BHY2_SENSOR_ID_MAG_BIAS_WU              UINT8_C(93)  /* Magnetometer offset wake up */
#define BHY2_SENSOR_ID_STD_WU                   UINT8_C(94)  /* Step detector wake up */
#define BHY2_SENSOR_ID_TEMP                     UINT8_C(128) /* Temperature */
#define BHY2_SENSOR_ID_BARO                     UINT8_C(129) /* Barometer */
#define BHY2_SENSOR_ID_HUM                      UINT8_C(130) /* Humidity */
#define BHY2_SENSOR_ID_GAS                      UINT8_C(131) /* Gas */
#define BHY2_SENSOR_ID_TEMP_WU                  UINT8_C(132) /* Temperature wake up */
#define BHY2_SENSOR_ID_BARO_WU                  UINT8_C(133) /* Barometer wake up */
#define BHY2_SENSOR_ID_HUM_WU                   UINT8_C(134) /* Humidity wake up */
#define BHY2_SENSOR_ID_GAS_WU                   UINT8_C(135) /* Gas wake up */
#define BHY2_SENSOR_ID_STC_HW                   UINT8_C(136) /* Hardware Step counter */
#define BHY2_SENSOR_ID_STD_HW                   UINT8_C(137) /* Hardware Step detector */
#define BHY2_SENSOR_ID_SIG_HW                   UINT8_C(138) /* Hardware Significant motion */
#define BHY2_SENSOR_ID_STC_HW_WU                UINT8_C(139) /* Hardware Step counter wake up */
#define BHY2_SENSOR_ID_STD_HW_WU                UINT8_C(140) /* Hardware Step detector wake up */
#define BHY2_SENSOR_ID_SIG_HW_WU                UINT8_C(141) /* Hardware Significant motion wake up */
#define BHY2_SENSOR_ID_ANY_MOTION               UINT8_C(142) /* Any motion */
#define BHY2_SENSOR_ID_ANY_MOTION_WU            UINT8_C(143) /* Any motion wake up */
#define BHY2_SENSOR_ID_EXCAMERA                 UINT8_C(144) /* External camera trigger */
#define BHY2_SENSOR_ID_GPS                      UINT8_C(145) /* GPS */
#define BHY2_SENSOR_ID_LIGHT                    UINT8_C(146) /* Light */
#define BHY2_SENSOR_ID_PROX                     UINT8_C(147) /* Proximity */
#define BHY2_SENSOR_ID_LIGHT_WU                 UINT8_C(148) /* Light wake up */
#define BHY2_SENSOR_ID_PROX_WU                  UINT8_C(149) /* Proximity wake up */

/*! System data IDs */
#define BHY2_IS_SYS_ID(sid) ((sid) >= 224)

#define BHY2_SYS_ID_PADDING                     UINT8_C(0)
#define BHY2_SYS_ID_TS_SMALL_DELTA              UINT8_C(251)
#define BHY2_SYS_ID_TS_LARGE_DELTA              UINT8_C(252)
#define BHY2_SYS_ID_TS_FULL                     UINT8_C(253)
#define BHY2_SYS_ID_META_EVENT                  UINT8_C(254)
#define BHY2_SYS_ID_TS_SMALL_DELTA_WU           UINT8_C(245)
#define BHY2_SYS_ID_TS_LARGE_DELTA_WU           UINT8_C(246)
#define BHY2_SYS_ID_TS_FULL_WU                  UINT8_C(247)
#define BHY2_SYS_ID_META_EVENT_WU               UINT8_C(248)
#define BHY2_SYS_ID_FILLER                      UINT8_C(255)
#define BHY2_SYS_ID_DEBUG_MSG                   UINT8_C(250)
#define BHY2_SYS_ID_BHY2_LOG_UPDATE_SUB         UINT8_C(243)
#define BHY2_SYS_ID_BHY2_LOG_DOSTEP             UINT8_C(244)

/*! Status code definitions */
#define BHY2_STATUS_INITIALIZED                 UINT8_C(0x1)
#define BHY2_STATUS_DEBUG_OUTPUT                UINT8_C(0x2)
#define BHY2_STATUS_CRASH_DUMP                  UINT8_C(0x3)
#define BHY2_STATUS_INJECT_SENSOR_CONF_REQ      UINT8_C(0x4)
#define BHY2_STATUS_SW_PASS_THRU_RES            UINT8_C(0x5)
#define BHY2_STATUS_SELF_TEST_RES               UINT8_C(0x6)
#define BHY2_STATUS_FOC_RES                     UINT8_C(0x7)
#define BHY2_STATUS_SYSTEM_ERROR                UINT8_C(0x8)
#define BHY2_STATUS_SENSOR_ERROR                UINT8_C(0x9)
#define BHY2_STATUS_FLASH_ERASE_COMPLETE        UINT8_C(0xA)
#define BHY2_STATUS_FLASH_WRITE_COMPLETE        UINT8_C(0xB)
#define BHY2_STATUS_FLASH_CONTINUE_UPLOAD       UINT8_C(0xC)
#define BHY2_STATUS_HOST_EV_TIMESTAMP           UINT8_C(0xD)
#define BHY2_STATUS_DUT_TEST_RES                UINT8_C(0xE)
#define BHY2_STATUS_CMD_ERR                     UINT8_C(0xF)

#define BHY2_IS_STATUS_GET_PARAM_OUTPUT(status) ((status) >= 0x100 && (status) <= 0xFFF)

/*! Activity bits */
#define BHY2_STILL_ACTIVITY_ENDED               (0x0001)
#define BHY2_WALKING_ACTIVITY_ENDED             (0x0002)
#define BHY2_RUNNING_ACTIVITY_ENDED             (0x0004)
#define BHY2_ON_BICYCLE_ACTIVITY_ENDED          (0x0008)
#define BHY2_IN_VEHICLE_ACTIVITY_ENDED          (0x0010)
#define BHY2_TILTING_ACTIVITY_ENDED             (0x0020)

#define BHY2_STILL_ACTIVITY_STARTED             (0x0100)
#define BHY2_WALKING_ACTIVITY_STARTED           (0x0200)
#define BHY2_RUNNING_ACTIVITY_STARTED           (0x0400)
#define BHY2_ON_BICYCLE_ACTIVITY_STARTED        (0x0800)
#define BHY2_IN_VEHICLE_ACTIVITY_STARTED        (0x1000)
#define BHY2_TILTING_ACTIVITY_STARTED           (0x2000)

#define BHY2_LE2U16(x) ((uint16_t)((x)[0] | (x)[1] << 8))
#define BHY2_LE2S16(x) ((int16_t)BHY2_LE2U16(x))
#define BHY2_LE2U24(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | (uint32_t)(x)[2] << 16))
#define BHY2_LE2U32(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | (uint32_t)(x)[2] << 16 | \
                                   (uint32_t)(x)[3] << 24))
#define BHY2_LE2S32(x) ((int32_t)BHY2_LE2U32(x))
#define BHY2_LE2U40(x) (BHY2_LE2U32(x) | (uint64_t)(x)[4] << 32)
#define BHY2_LE2U64(x) (BHY2_LE2U32(x) | (uint64_t)BHY2_LE2U32(&(x)[4]) << 32)

/*! Maximum no of available virtual sensor */
#define BHY2_N_VIRTUAL_SENSOR_MAX     UINT8_C(256)

/* Special & debug virtual sensor id starts at 245 */
#define BHY2_SPECIAL_SENSOR_ID_OFFSET UINT8_C(245)

#ifndef BHY2_INTF_RET_TYPE
#define BHY2_INTF_RET_TYPE            int8_t
#endif

#ifndef BHY2_INTF_RET_SUCCESS
#define BHY2_INTF_RET_SUCCESS         0
#endif

/* Type definitions for the function pointers */
typedef BHY2_INTF_RET_TYPE (*bhy2_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr);
typedef BHY2_INTF_RET_TYPE (*bhy2_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length,
                                                void *intf_ptr);
typedef void (*bhy2_delay_us_fptr_t)(uint32_t period_us, void *intf_ptr);

enum bhy2_intf {
    BHY2_SPI_INTERFACE = 1,
    BHY2_I2C_INTERFACE
};

/* HIF device structure */
struct bhy2_hif_dev
{
    bhy2_read_fptr_t read;
    bhy2_write_fptr_t write;
    bhy2_delay_us_fptr_t delay_us;
    enum bhy2_intf intf;
    void *intf_ptr;
    BHY2_INTF_RET_TYPE intf_rslt;
    uint32_t read_write_len;
};

enum bhy2_fifo_type {
    BHY2_FIFO_TYPE_WAKEUP,
    BHY2_FIFO_TYPE_NON_WAKEUP,
    BHY2_FIFO_TYPE_STATUS,
    BHY2_FIFO_TYPE_MAX
};

struct bhy2_fifo_parse_data_info
{
    uint8_t sensor_id;
    enum bhy2_fifo_type fifo_type;
    uint8_t data_size;
    uint8_t *data_ptr;
    uint64_t *time_stamp;
};

typedef void (*bhy2_fifo_parse_callback_t)(const struct bhy2_fifo_parse_data_info *callback_info, void *private_data);

struct BHY2_PACKED bhy2_fifo_parse_callback_table
{
    uint8_t event_size;
    bhy2_fifo_parse_callback_t callback;
    void *callback_ref;
};

/* Device structure */
struct bhy2_dev
{
    struct bhy2_hif_dev hif;
    struct bhy2_fifo_parse_callback_table table[BHY2_N_VIRTUAL_SENSOR_MAX];
    uint64_t last_time_stamp[BHY2_FIFO_TYPE_MAX];
};

struct bhy2_fifo_buffer
{
    uint32_t read_pos;
    uint32_t read_length;
    uint32_t remain_length;
    uint32_t buffer_size;
    uint8_t *buffer;
};

typedef int16_t (*bhy2_frame_parse_func_t)(struct bhy2_fifo_buffer *p_fifo_buffer, struct bhy2_dev *bhy2_p);

struct bhy2_virt_sensor_conf
{
    uint16_t sensitivity;
    uint16_t range;
    uint32_t latency;
    bhy2_float sample_rate;
};

struct bhy2_data_xyz
{
    int16_t x;
    int16_t y;
    int16_t z;
};

struct bhy2_data_quaternion
{
    int16_t x;
    int16_t y;
    int16_t z;
    int16_t w;
    uint16_t accuracy;
};

struct bhy2_data_orientation
{
    int16_t heading;
    int16_t pitch;
    int16_t roll;
};

union bhy2_spt_dev_id
{
    uint8_t slave_address;
    uint8_t cs_pin;
};

struct bhy2_spt_bits
{
    /*! byte 1 */
    uint8_t direction : 1; /**< 0: read; 1: write. */
    uint8_t trans_type : 1; /**< 0: single burst; 1:multi single transfers. */
    uint8_t delay_ctrl : 1; /**< 0: none; 1: delay between bytes. */
    uint8_t master_bus : 2; /**< 1: SIF1; 2: SIF2; 3:SIF3. */
    uint8_t spi_mode : 1; /**< 0: 4 wire; 1: 3 wire. */
    uint8_t cpol : 1; /**< spi clock polarity. */
    uint8_t cpha : 1; /**< spi clock phase. */
    /*! byte 2 */
    uint8_t delay_val : 6; /**< mutiples of 50us. */
    uint8_t cs_level : 1; /**< chip select level. */
    uint8_t lsb_first : 1; /**< least significant byte first. */
    /*! byte 3~4 */
    uint16_t trans_rate; /**< spi clock rate. */
    /*! byte 5 */
    uint8_t address_shift : 4; /**< number of bits to shift register address. */
    uint8_t read_bit_pol : 1; /**< 0: active low; 1: active high. */
    uint8_t read_bit_pos : 3; /**< bit number of read bit in command byte. */
    /*! byte 6 */
    union bhy2_spt_dev_id func_set;

    /*! byte 7 */
    uint8_t trans_count;

    /*! byte 8 */
    uint8_t reg;
};

union bhy2_soft_passthrough_conf
{
    struct bhy2_spt_bits conf;
    uint8_t data[8];
};

union bhy2_u16_conv
{
    uint16_t u16_val;
    uint8_t bytes[2];
};
union bhy2_u32_conv
{
    uint32_t u32_val;
    uint8_t bytes[4];
};
union bhy2_float_conv
{
    bhy2_float f_val;
    uint32_t u32_val;
    uint8_t bytes[4];
};
struct bhy2_sensor_info
{
    uint8_t sensor_type;
    uint8_t driver_id;
    uint8_t driver_version;
    uint8_t power;
    union bhy2_u16_conv max_range;
    union bhy2_u16_conv resolution;
    union bhy2_float_conv max_rate;
    union bhy2_u32_conv fifo_reserved;
    union bhy2_u32_conv fifo_max;
    uint8_t event_size;
    union bhy2_float_conv min_rate;
};

struct bhy2_phys_sensor_info
{
    uint8_t sensor_type;
    uint8_t driver_id;
    uint8_t driver_version;
    uint8_t power_current;
    union bhy2_u16_conv curr_range;
    uint8_t flags;
    uint8_t slave_address;
    uint8_t gpio_assignment;
    union bhy2_float_conv curr_rate;
    uint8_t num_axis;
    uint8_t orientation_matrix[5];
};

struct bhy2_self_test_resp
{
    uint8_t test_status;
    int16_t x_offset, y_offset, z_offset;
};

struct bhy2_foc_resp
{
    uint8_t foc_status;
    int16_t x_offset, y_offset, z_offset;
};

struct bhy2_orient_matrix
{
    int8_t c[9];
};

enum bhy2_data_inj_mode {
    BHY2_NORMAL_MODE = 0,
    BHY2_REAL_TIME_INJECTION = 1,
    BHY2_STEP_BY_STEP_INJECTION = 2
};

#define BHY2_BYTE_TO_NIBBLE(X) (((uint8_t)(X)[0] & 0x0F) | (((uint8_t)(X)[1] << 4) & 0x0F))

#ifdef __cplusplus
}
#endif /*__cplusplus */

#endif /* __BHY2_DEFS_H__ */