shoe_mcu/drivers/bmi160_support.c

/*
****************************************************************************
* Copyright (C) 2014 Bosch Sensortec GmbH
*
* bmi160_support.c
* Date: 2014/12/12
* Revision: 1.0.5 $
*
* Usage: Sensor Driver support file for BMI160 sensor
*
****************************************************************************
* License:
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
*   Redistributions of source code must retain the above copyright
*   notice, this list of conditions and the following disclaimer.
*
*   Redistributions in binary form must reproduce the above copyright
*   notice, this list of conditions and the following disclaimer in the
*   documentation and/or other materials provided with the distribution.
*
*   Neither the name of the copyright holder nor the names of the
*   contributors may be used to endorse or promote products derived from
*   this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER
* OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
*
* The information provided is believed to be accurate and reliable.
* The copyright holder assumes no responsibility
* for the consequences of use
* of such information nor for any infringement of patents or
* other rights of third parties which may result from its use.
* No license is granted by implication or otherwise under any patent or
* patent rights of the copyright holder.
**************************************************************************/
#include "bmi160_support.h"
#include "bmi160.h"
/* Mapping the structure*/
struct bmi160_t s_bmi160;
/* Read the sensor data of accel, gyro and mag*/
struct bmi160_gyro_t gyroxyz;
struct bmi160_accel_t accelxyz;
struct bmi160_mag_t magxyzr;
struct trim_data *mag_trim;

/*!
 *	@brief This function used for initialize the sensor
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> Success
 *	@retval 1 -> Error
 *
 *
 */
BMI160_RETURN_FUNCTION_TYPE bmi160_initialize_sensor(u8 v_running_mode_u8)
{
	BMI160_RETURN_FUNCTION_TYPE com_rslt = C_BMI160_ZERO_U8X;
 /*	Based on the user need configure I2C or SPI interface.
  *	It is sample code to explain how to use the bmi160 API*/
	#ifdef INCLUDE_BMI160API
	com_rslt = spi_routine();
	/*SPI_routine(); */
	#endif
/*
 *  This function used to assign the value/reference of
 *	the following parameters
 *	I2C address
 *	Bus Write
 *	Bus read
 *	company_id
 */
	com_rslt += bmi160_init(&s_bmi160);
	
	if(s_bmi160.chip_id == 0)return -1;
	uint8_t acc_mode = 0xFF,gryo_mode = 0xFF;
	uint32_t count = 0;
	do{
		com_rslt += bmi160_set_command_register(0xB6);//reset
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		bmi160_get_accel_power_mode_stat(&acc_mode);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);
		bmi160_get_gyro_power_mode_stat(&gryo_mode);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);
		if(count++ > 10)break;
	}while(acc_mode != 0x00 && gryo_mode != 0x00);
	/**** STANDARD_UI_IMU output****/
	com_rslt += bmi160_config_running_mode(v_running_mode_u8);
	return com_rslt;
}
/*!
 *	@brief This Function used to read the sensor data using
 *	different running mode
 *	@param v_running_mode_u8 : The value of running mode
 *      Description                |  value
 * --------------------------------|----------
 *  STANDARD_UI_9DOF_FIFO          |   0
 *	STANDARD_UI_IMU_FIFO           |   1
 *	STANDARD_UI_IMU                |   2
 *	STANDARD_UI_ADVANCEPOWERSAVE   |   3
 *	ACCEL_PEDOMETER                |   4
	*	ACCEL_PEDOMETER_FIFO           |   5
 *	APPLICATION_HEAD_TRACKING      |   6
 *	APPLICATION_NAVIGATION         |   7
 *	APPLICATION_REMOTE_CONTROL     |   8
 *	APPLICATION_INDOOR_NAVIGATION  |   9
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> Success
 *	@retval 1 -> Error
 *
 *
 */
BMI160_RETURN_FUNCTION_TYPE bmi160_config_running_mode(
u8 v_running_mode_u8)
{
	struct gyro_sleep_setting gyr_setting;
	struct bmi160_mag_xyz_s32_t magxyz;
	/* Variable used for get the status of mag interface*/
	u8 v_mag_interface_u8 = C_BMI160_ZERO_U8X;
	BMI160_RETURN_FUNCTION_TYPE com_rslt = ERROR;
		/* Configure the gyro sleep setting based on your need*/
	if (v_running_mode_u8 == STANDARD_UI_ADVANCEPOWERSAVE) {
		gyr_setting. sleep_trigger = BMI160_WRITE_FOUR;
		gyr_setting. wakeup_trigger = BMI160_WRITE_TWO;
		gyr_setting. sleep_state = BMI160_WRITE_ZERO;
		gyr_setting. wakeup_int = BMI160_WRITE_ZERO;
	}
	/* The below code used for enable and
	disable the secondary mag interface*/
	com_rslt = bmi160_get_if_mode(&v_mag_interface_u8);
	if (((v_running_mode_u8 == STANDARD_UI_IMU_FIFO) ||
	(v_running_mode_u8 == STANDARD_UI_IMU) ||
	(v_running_mode_u8 == STANDARD_UI_ADVANCEPOWERSAVE) ||
	(v_running_mode_u8 == APPLICATION_NAVIGATION) ||
	(v_running_mode_u8 == ACCEL_PEDOMETER) ||
	(v_running_mode_u8 == APPLICATION_REMOTE_CONTROL) ||
	(v_running_mode_u8 == APPLICATION_INDOOR_NAVIGATION))
	&& (v_mag_interface_u8 == BMI160_MAG_INTERFACE_ON_PRIMARY_ON)) {
		com_rslt +=
		bmi160_set_bmm150_mag_and_secondary_if_power_mode(
		MAG_SUSPEND_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		com_rslt += bmi160_set_if_mode(
		BMI160_MAG_INTERFACE_OFF_PRIMARY_ON);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
	}
	if (((v_running_mode_u8 == STANDARD_UI_9DOF_FIFO)
		|| (v_running_mode_u8 == APPLICATION_HEAD_TRACKING) ||
		(v_running_mode_u8 == APPLICATION_NAVIGATION)) &&
		(v_mag_interface_u8 == BMI160_MAG_INTERFACE_OFF_PRIMARY_ON)) {
			/* Init the magnetometer */
			com_rslt += bmi160_bmm150_mag_interface_init();
			/* bmi160_delay_ms in ms*/
			s_bmi160.delay_msec(C_BMI160_ONE_U8X);
	}
	switch (v_running_mode_u8) {
	case STANDARD_UI_9DOF_FIFO:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 100Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
		BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 100Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
		BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/***** read FIFO data based on interrupt*****/
		com_rslt += bmi160_interrupt_configuration();
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO header*/
		com_rslt += bmi160_set_fifo_header_enable(FIFO_HEADER_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO mag*/
		com_rslt += bmi160_set_fifo_mag_enable(FIFO_MAG_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO accel*/
		com_rslt += bmi160_set_fifo_accel_enable(FIFO_ACCEL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO gyro*/
		com_rslt += bmi160_set_fifo_gyro_enable(FIFO_GYRO_ENABLE);
		/* Enable the FIFO time*/
		com_rslt += bmi160_set_fifo_time_enable(FIFO_TIME_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO stop on full*/
		com_rslt += bmi160_set_fifo_stop_on_full(
			FIFO_STOPONFULL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO water mark interrupt1*/
		com_rslt += bmi160_set_intr_fifo_wm(C_BMI160_ZERO_U8X,
		FIFO_WM_INTERRUPT_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO water mark interrupt2*/
		com_rslt += bmi160_set_intr_fifo_wm(C_BMI160_ONE_U8X,
		FIFO_WM_INTERRUPT_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the fifo water mark*/
		com_rslt += bmi160_set_fifo_wm(BMI160_WRITE_TWO);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read the FIFO data*/
		com_rslt +=  bmi160_read_fifo_header_data(FIFO_FRAME);
	break;
	case STANDARD_UI_IMU_FIFO:
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 100Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 100Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/***** read FIFO data based on interrupt*****/
		com_rslt += bmi160_interrupt_configuration();
		/* Enable the FIFO header*/
		com_rslt += bmi160_set_fifo_header_enable(FIFO_HEADER_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO accel*/
		com_rslt += bmi160_set_fifo_accel_enable(FIFO_ACCEL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO gyro*/
		com_rslt += bmi160_set_fifo_gyro_enable(FIFO_GYRO_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO time*/
		com_rslt += bmi160_set_fifo_time_enable(FIFO_TIME_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO stop on full*/
		com_rslt += bmi160_set_fifo_stop_on_full(
			FIFO_STOPONFULL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO water mark interrupt1*/
		com_rslt += bmi160_set_intr_fifo_wm(C_BMI160_ZERO_U8X,
		FIFO_WM_INTERRUPT_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO water mark interrupt2*/
		com_rslt += bmi160_set_intr_fifo_wm(C_BMI160_ONE_U8X,
		FIFO_WM_INTERRUPT_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the fifo water mark as 10*/
		com_rslt += bmi160_set_fifo_wm(BMI160_WRITE_TWO);
//		/* read the FIFO data*/
//		com_rslt +=  bmi160_read_fifo_header_data(FIFO_FRAME);
	break;
	case STANDARD_UI_IMU:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel range as BMI160_ACCEL_RANGE_16G */
		com_rslt += bmi160_set_accel_range(BMI160_ACCEL_RANGE_16G);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		com_rslt += bmi160_set_gyro_range(BMI160_GYRO_RANGE_2000_DEG_SEC);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 100Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 100Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data*/
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data*/
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
		
		u8 acc_range,gryo_range;
		com_rslt += bmi160_get_gyro_range(&gryo_range);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);
		com_rslt += bmi160_get_accel_range(&acc_range);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);
		if(acc_range != BMI160_ACCEL_RANGE_16G || gryo_range != BMI160_GYRO_RANGE_2000_DEG_SEC)com_rslt += -1;
		if(gyroxyz.x == 0 && gyroxyz.y == 0 && gyroxyz.z == 0)com_rslt += -1;
    if(accelxyz.x == 0 && accelxyz.y == 0 && accelxyz.z == 0)com_rslt += -1;
	break;
	case STANDARD_UI_ADVANCEPOWERSAVE:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 100Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 100Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/

		/* Enable any motion interrupt - x axis*/
		com_rslt += bmi160_set_intr_enable_0(C_BMI160_ZERO_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable any motion interrupt - y axis*/
		com_rslt += bmi160_set_intr_enable_0(C_BMI160_ONE_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable any motion interrupt - z axis*/
		com_rslt += bmi160_set_intr_enable_0(C_BMI160_TWO_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable no motion interrupt - x axis*/
		com_rslt += bmi160_set_intr_enable_2(C_BMI160_ZERO_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable no motion interrupt - y axis*/
		com_rslt += bmi160_set_intr_enable_2(C_BMI160_ONE_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable no motion interrupt - z axis*/
		com_rslt += bmi160_set_intr_enable_2(C_BMI160_TWO_U8X,
		BMI160_WRITE_ONE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the gyro sleep trigger*/
		com_rslt += bmi160_set_gyro_sleep_trigger(
		gyr_setting.sleep_trigger);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the gyro wakeup trigger*/
		com_rslt += bmi160_set_gyro_wakeup_trigger(
		gyr_setting.wakeup_trigger);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the gyro sleep state*/
		com_rslt += bmi160_set_gyro_sleep_state(
		gyr_setting.sleep_state);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set the gyro wakeup interrupt*/
		com_rslt += bmi160_set_gyro_wakeup_intr(gyr_setting.wakeup_int);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data*/
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data*/
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
	break;
	case ACCEL_PEDOMETER:
		com_rslt =  bmi160_set_accel_under_sampling_parameter(BMI160_ENABLE);//¨°a?a??1y2¨¦?¨´?¡ê¨º?¡ê?2?¨¨???2?¨¢?¦Ì¨ª1|o??¡ê¨º?
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_LOWPOWER);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
	
			com_rslt += bmi160_set_accel_range(BMI160_ACCEL_RANGE_16G);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
	
	com_rslt =  bmi160_set_accel_under_sampling_parameter(BMI160_ENABLE);//¨°a?a??1y2¨¦?¨´?¡ê¨º?¡ê?2?¨¨???2?¨¢?¦Ì¨ª1|o??¡ê¨º?
	
	s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
	
	
		/*Set the gyro mode as SUSPEND write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_SUSPEND);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as OSR4 */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 25Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ);
		/* 10 not available*/
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read accel data*/
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
		if(accelxyz.x == 0 && accelxyz.y == 0 && accelxyz.z == 0)com_rslt += -1;
	break;
	case ALL_SUSPEND:
		com_rslt += bmi160_set_command_register(GYRO_MODE_SUSPEND);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		com_rslt += bmi160_set_command_register(ACCEL_SUSPEND);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
	
	break;
	case ACCEL_PEDOMETER_FIFO:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as SUSPEND write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_SUSPEND);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel range as BMI160_ACCEL_RANGE_16G */
		com_rslt += bmi160_set_accel_range(BMI160_ACCEL_RANGE_16G);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 100Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO header*/
		com_rslt += bmi160_set_fifo_header_enable(FIFO_HEADER_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO accel*/
		com_rslt += bmi160_set_fifo_accel_enable(FIFO_ACCEL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Enable the FIFO stop on full*/
		com_rslt += bmi160_set_fifo_stop_on_full(
			FIFO_STOPONFULL_ENABLE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
//		/* read the FIFO data*/
//		com_rslt +=  bmi160_read_fifo_header_data(FIFO_FRAME);
	break;
	case APPLICATION_HEAD_TRACKING:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as Normal */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_NORMAL_AVG4);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 1600Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
		BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 1600Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
		BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data*/
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data */
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
		/* read mag data */
		com_rslt += bmi160_bmm150_mag_compensate_xyz(&magxyz);
	break;
	case APPLICATION_NAVIGATION:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as OSRS4 */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as Normal */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_NORMAL_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 200Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 200Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data*/
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data */
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
		/* read mag data*/
		com_rslt += bmi160_bmm150_mag_compensate_xyz(&magxyz);
	break;
	case APPLICATION_REMOTE_CONTROL:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
				/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
		/* bmi160_delay_ms in ms*/
		s_bmi160.delay_msec(C_BMI160_THIRTY_U8X);
		/* Set the accel bandwidth as OSRS4 */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as OSR4 */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_OSR4_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 200Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_200HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 200Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data */
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data*/
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
	break;
	case APPLICATION_INDOOR_NAVIGATION:
		/*Set the accel mode as Normal write in the register 0x7E*/
		com_rslt = bmi160_set_command_register(ACCEL_MODE_NORMAL);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/*Set the gyro mode as Normal write in the register 0x7E*/
		com_rslt += bmi160_set_command_register(GYRO_MODE_NORMAL);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the accel bandwidth as OSRS4 */
		com_rslt += bmi160_set_accel_bw(BMI160_ACCEL_OSR4_AVG1);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* Set the gryo bandwidth as OSR4 */
		com_rslt += bmi160_set_gyro_bw(BMI160_GYRO_OSR4_MODE);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set gyro data rate as 200Hz*/
		com_rslt += bmi160_set_gyro_output_data_rate(
			BMI160_GYRO_OUTPUT_DATA_RATE_400HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* set accel data rate as 200Hz*/
		com_rslt += bmi160_set_accel_output_data_rate(
			BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ);
		s_bmi160.delay_msec(C_BMI160_ONE_U8X);/* bmi160_delay_ms in ms*/
		/* read gyro data*/
		com_rslt += bmi160_read_gyro_xyz(&gyroxyz);
		/* read accel data */
		com_rslt += bmi160_read_accel_xyz(&accelxyz);
		break;
	}

	return com_rslt;

}
/*!
 *	@brief This function used for interrupt configuration
 *
 *
 *	@return results of bus communication function
 *	@retval 0 -> Success
 *	@retval 1 -> Error
 *
 *
 */
BMI160_RETURN_FUNCTION_TYPE bmi160_interrupt_configuration(void)
{
	/* This variable used for provide the communication
	results*/
	BMI160_RETURN_FUNCTION_TYPE com_rslt = ERROR;

	/* Configure the in/out control of interrupt1*/
	com_rslt = bmi160_set_output_enable(C_BMI160_ZERO_U8X,
	BMI160_WRITE_ONE);
	s_bmi160.delay_msec(C_BMI160_ONE_U8X);
	/* Configure the in/out control of interrupt2*/
	com_rslt += bmi160_set_output_enable(C_BMI160_ONE_U8X,
	BMI160_WRITE_ONE);
	s_bmi160.delay_msec(C_BMI160_ONE_U8X);
	/* Configure the interrupt1 active high
	0x00 -	Active low
	0x01 -	Active high*/
	com_rslt += bmi160_set_intr_level(C_BMI160_ZERO_U8X,
	BMI160_WRITE_ONE);
	s_bmi160.delay_msec(C_BMI160_ONE_U8X);
	/* Configure the interrupt2 active high
	0x00 -	Active low
	0x01 -	Active high*/
	com_rslt += bmi160_set_intr_level(C_BMI160_ONE_U8X,
	BMI160_WRITE_ONE);
	s_bmi160.delay_msec(C_BMI160_ONE_U8X);
	return com_rslt;
}
#ifdef INCLUDE_BMI160API
#define MASK_DATA1	0xFF
#define MASK_DATA2	0x80
#define MASK_DATA3	0x7F
/*!
 *	@brief Used for SPI initialization
 *	@note
 *	The following function is used to map the
 *	SPI bus read, write and bmi160_delay_ms
 *	with global structure bmi160
*/
s8 spi_routine(void)
{
/*--------------------------------------------------------------------------*
 *  By using bmi160 the following structure parameter can be accessed
 *	Bus write function pointer: BMI160_WR_FUNC_PTR
 *	Bus read function pointer: BMI160_RD_FUNC_PTR
 *	bmi160_delay_ms function pointer: bmi160_delay_ms_msec
 *--------------------------------------------------------------------------*/
	
	s_bmi160.bus_write = bmi160_spi_bus_write;
	s_bmi160.bus_read = bmi160_spi_bus_read;
	s_bmi160.burst_read = bmi160_spi_burst_read;
	s_bmi160.delay_msec = bmi160_delay_ms;

	return C_BMI160_ZERO_U8X;
}
/**************************************************************/
/**\name I2C/SPI read write function */
/**************************************************************/
/*-------------------------------------------------------------------*
*
*	This is a sample code for read and write the data by using I2C/SPI
*	Use either I2C or SPI based on your need
*	Configure the below code to your SPI or I2C driver
*
*-----------------------------------------------------------------------*/
/*!
 *	@brief : The function is used as SPI bus read
 *	@return : Status of the SPI read
 *	@param dev_addr : The device address of the sensor
 *	@param reg_addr : Address of the first register,
 *	will data is going to be read
 *	@param reg_data : This data read from the sensor,
 *	which is hold in an array
 *	@param cnt : The no of byte of data to be read
 */
s8 bmi160_spi_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
{
	s32 ierror = C_BMI160_ZERO_U8X;
	
	if(SPI_OnlyReadReg(BOARD_SPI0_CS0_IO, reg_addr, reg_data, cnt))
	{
		ierror = -1;
	}
	
	return (s8)ierror;
}
/*!
 *	@brief : The function is used as SPI bus write
 *	@return : Status of the SPI write
 *	@param dev_addr : The device address of the sensor
 *	@param reg_addr : Address of the first register,
 *	will data is going to be written
 *	@param reg_data : It is a value hold in the array,
 *		will be used for write the value into the register
 *	@param cnt : The no of byte of data to be write
 */
s8 bmi160_spi_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
{
	s32 ierror = C_BMI160_ZERO_U8X;
	
	if(SPI_OnlyWriteReg(BOARD_SPI0_CS0_IO, reg_addr, reg_data, cnt))
	{
		ierror = -1;
	}
	
	return (s8)ierror;
}

//add by lwy
s8 bmi160_spi_burst_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u32 cnt)
{
	return -1;
}


#endif
/*!
 *	@brief This function is an example for delay
 *	@param msek: delay in milli seconds
 *	@return : communication result
 */
void bmi160_delay_ms(u32 msek)
{
	nrf_delay_ms(msek);
}