/*
 *
 ****************************************************************************
 * Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
 *
 * File : bma4_defs.h
 *
 * Date: 12 Oct 2017
 *
 * Revision: 2.1.9 $
 *
 * Usage: Sensor Driver for BMA4 family of sensors
 *
 ****************************************************************************
 *
 * Disclaimer
 *
 * Common:
 * Bosch Sensortec products are developed for the consumer goods industry.
 * They may only be used within the parameters of the respective valid
 * product data sheet.  Bosch Sensortec products are provided with the
 * express understanding that there is no warranty of fitness for a
 * particular purpose.They are not fit for use in life-sustaining,
 * safety or security sensitive systems or any system or device
 * that may lead to bodily harm or property damage if the system
 * or device malfunctions. In addition,Bosch Sensortec products are
 * not fit for use in products which interact with motor vehicle systems.
 * The resale and or use of products are at the purchasers own risk and
 * his own responsibility. The examination of fitness for the intended use
 * is the sole responsibility of the Purchaser.
 *
 * The purchaser shall indemnify Bosch Sensortec from all third party
 * claims, including any claims for incidental, or consequential damages,
 * arising from any product use not covered by the parameters of
 * the respective valid product data sheet or not approved by
 * Bosch Sensortec and reimburse Bosch Sensortec for all costs in
 * connection with such claims.
 *
 * The purchaser must monitor the market for the purchased products,
 * particularly with regard to product safety and inform Bosch Sensortec
 * without delay of all security relevant incidents.
 *
 * Engineering Samples are marked with an asterisk (*) or (e).
 * Samples may vary from the valid technical specifications of the product
 * series. They are therefore not intended or fit for resale to third
 * parties or for use in end products. Their sole purpose is internal
 * client testing. The testing of an engineering sample may in no way
 * replace the testing of a product series. Bosch Sensortec assumes
 * no liability for the use of engineering samples.
 * By accepting the engineering samples, the Purchaser agrees to indemnify
 * Bosch Sensortec from all claims arising from the use of engineering
 * samples.
 *
 * Special:
 * This software module (hereinafter called "Software") and any information
 * on application-sheets (hereinafter called "Information") is provided
 * free of charge for the sole purpose to support your application work.
 * The Software and Information is subject to the following
 * terms and conditions:
 *
 * The Software is specifically designed for the exclusive use for
 * Bosch Sensortec products by personnel who have special experience
 * and training. Do not use this Software if you do not have the
 * proper experience or training.
 *
 * This Software package is provided `` as is `` and without any expressed
 * or implied warranties,including without limitation, the implied warranties
 * of merchantability and fitness for a particular purpose.
 *
 * Bosch Sensortec and their representatives and agents deny any liability
 * for the functional impairment
 * of this Software in terms of fitness, performance and safety.
 * Bosch Sensortec and their representatives and agents shall not be liable
 * for any direct or indirect damages or injury, except as
 * otherwise stipulated in mandatory applicable law.
 *
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 * Bosch Sensortec 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 Bosch. Specifications mentioned in the Information are
 * subject to change without notice.
 **************************************************************************/
/*! \file bma4_defs.h
    \brief Sensor Driver for BMA4 family of sensors */
#ifndef BMA4_DEFS_H__
#define BMA4_DEFS_H__
/*********************************************************************/
/**\ header files */
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <math.h>
#include <stddef.h>
#include <stdint.h>
#endif

/*********************************************************************/
/* macro definitions */

/*
#if (LONG_MAX) > 0x7fffffff
#define __have_long64   1
#elif (LONG_MAX) == 0x7fffffff
#define __have_long32   1
#endif
*/

#if !defined(UINT8_C)
#define INT8_C(x) x
#if (INT_MAX) > 0x7f
#define UINT8_C(x) x
#else
#define UINT8_C(x) x##U
#endif
#endif

#if !defined(UINT16_C)
#define INT16_C(x) x
#if (INT_MAX) > 0x7fff
#define UINT16_C(x) x
#else
#define UINT16_C(x) x##U
#endif
#endif

#if !defined(INT32_C) && !defined(UINT32_C)
#if __have_long32
#define INT32_C(x)  x##L
#define UINT32_C(x) x##UL
#else
#define INT32_C(x)  x
#define UINT32_C(x) x##U
#endif
#endif

#if !defined(INT64_C) && !defined(UINT64_C)
#if __have_long64
#define INT64_C(x)  x##L
#define UINT64_C(x) x##UL
#else
#define INT64_C(x)  x##LL
#define UINT64_C(x) x##ULL
#endif
#endif

/**\name CHIP ID ADDRESS*/
#define BMA4_CHIP_ID_ADDR UINT8_C(0x00)

/**\name RESET REGISTER */
#define BMA4_RESET_ADDR     UINT8_C(0xB6)
#define BMA4_RESET_SET_MASK UINT8_C(0x7E)
/**\name ERROR STATUS*/
#define BMA4_ERROR_ADDR UINT8_C(0X02)

/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/
#define BMA4_STATUS_ADDR UINT8_C(0X03)

/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/
#define BMA4_DATA_0_ADDR UINT8_C(0X0A)
#define BMA4_DATA_8_ADDR UINT8_C(0X12)

/**\name SENSOR TIME REGISTERS*/
#define BMA4_SENSORTIME_0_ADDR UINT8_C(0X18)

/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
#define BMA4_INT_STAT_0_ADDR UINT8_C(0X1C)

/**\name INTERRUPT/FEATURE STATUS REGISTERS*/
#define BMA4_INT_STAT_1_ADDR UINT8_C(0X1D)

/**\name TEMPERATURE REGISTERS*/
#define BMA4_TEMPERATURE_ADDR UINT8_C(0X22)

/**\name FIFO REGISTERS*/
#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0X24)
#define BMA4_FIFO_DATA_ADDR     UINT8_C(0X26)

/**\name ACCEL CONFIG REGISTERS*/
#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0X40)

/**\name ACCEL RANGE ADDRESS*/
#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0X41)

/**\name AUX CONFIG REGISTERS*/
#define BMA4_AUX_CONFIG_ADDR UINT8_C(0X44)

/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/
#define BMA4_FIFO_DOWN_ADDR UINT8_C(0X45)

/**\name FIFO WATERMARK REGISTER ADDRESS*/
#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0X46)

/**\name FIFO CONFIG REGISTERS*/
#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0X48)
#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0X49)

/**\name MAG INTERFACE REGISTERS*/
#define BMA4_AUX_DEV_ID_ADDR  UINT8_C(0X4B)
#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0X4C)
#define BMA4_AUX_RD_ADDR      UINT8_C(0X4D)
#define BMA4_AUX_WR_ADDR      UINT8_C(0X4E)
#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0X4F)

/**\name INTERRUPT ENABLE REGISTERS*/
#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0X53)
#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0X54)

/**\name LATCH DURATION REGISTERS*/
#define BMA4_INTR_LATCH_ADDR UINT8_C(0X55)

/**\name MAP INTERRUPT 1 and 2 REGISTERS*/
#define BMA4_INT_MAP_1_ADDR    UINT8_C(0X56)
#define BMA4_INT_MAP_2_ADDR    UINT8_C(0X57)
#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58)
#define BMA4_INIT_CTRL_ADDR    UINT8_C(0x59)

/**\name FEATURE CONFIG RELATED */
#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B)
#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C)
#define BMA4_FEATURE_CONFIG_ADDR  UINT8_C(0x5E)
#define BMA4_INTERNAL_ERROR       UINT8_C(0x5F)

/**\name SERIAL INTERFACE SETTINGS REGISTER*/
#define BMA4_IF_CONFIG_ADDR UINT8_C(0X6B)

/**\name SELF_TEST REGISTER*/
#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0X6D)

/**\name SPI,I2C SELECTION REGISTER*/
#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70)

/**\name ACCEL OFFSET REGISTERS*/
#define BMA4_OFFSET_0_ADDR UINT8_C(0X71)
#define BMA4_OFFSET_1_ADDR UINT8_C(0X72)
#define BMA4_OFFSET_2_ADDR UINT8_C(0X73)

/**\name POWER_CTRL REGISTER*/
#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C)
#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D)

/**\name COMMAND REGISTER*/
#define BMA4_CMD_ADDR UINT8_C(0X7E)

/**\name GPIO REGISTERS*/
#define BMA4_STEP_CNT_OUT_0_ADDR  UINT8_C(0x1E)
#define BMA4_HIGH_G_OUT_ADDR      UINT8_C(0x1F)
#define BMA4_ACTIVITY_OUT_ADDR    UINT8_C(0x27)
#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28)
#define BMA4_INTERNAL_STAT        UINT8_C(0x2A)

/*!
 * @brief Block size for config write */
#define BMA4_BLOCK_SIZE UINT8_C(32)

/**\name I2C slave address */
#define BMA4_I2C_ADDR_PRIMARY   UINT8_C(0x18)
#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19)
#define BMA4_I2C_BMM150_ADDR    UINT8_C(0x10)

/**\name Interface selection macro */
#define BMA4_SPI_INTERFACE UINT8_C(1)
#define BMA4_I2C_INTERFACE UINT8_C(2)

/**\name Interface selection macro */
#define BMA4_SPI_WR_MASK UINT8_C(0x7F)
#define BMA4_SPI_RD_MASK UINT8_C(0x80)

/**\name Chip ID macros */
#define BMA4_CHIP_ID_MIN UINT8_C(0x10)
#define BMA4_CHIP_ID_MAX UINT8_C(0x15)

/**\name Auxiliary sensor selection macro */
#define BMM150_SENSOR         UINT8_C(1)
#define AKM9916_SENSOR        UINT8_C(2)
#define BMA4_ASIC_INITIALIZED UINT8_C(0x01)

/**\name Auxiliary sensor chip id macros */
#define BMM150_CHIP_ID UINT8_C(0x32)

/**\name Auxiliary sensor other macros */
#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B)
#define BMM150_POWER_MODE_REG    UINT8_C(0x4C)

/**\name    CONSTANTS */
#define BMA4_FIFO_CONFIG_LENGTH  UINT8_C(2)
#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2)
#define BMA4_FIFO_WM_LENGTH      UINT8_C(2)
#define BMA4_CONFIG_STREAM_SIZE  UINT16_C(6144)
#define BMA4_NON_LATCH_MODE      UINT8_C(0)
#define BMA4_LATCH_MODE          UINT8_C(1)
#define BMA4_OPEN_DRAIN          UINT8_C(1)
#define BMA4_PUSH_PULL           UINT8_C(0)
#define BMA4_ACTIVE_HIGH         UINT8_C(1)
#define BMA4_ACTIVE_LOW          UINT8_C(0)
#define BMA4_EDGE_TRIGGER        UINT8_C(1)
#define BMA4_LEVEL_TRIGGER       UINT8_C(0)
#define BMA4_OUTPUT_ENABLE       UINT8_C(1)
#define BMA4_OUTPUT_DISABLE      UINT8_C(0)
#define BMA4_INPUT_ENABLE        UINT8_C(1)
#define BMA4_INPUT_DISABLE       UINT8_C(0)

/**\name ACCEL RANGE CHECK*/
#define BMA4_ACCEL_RANGE_2G  UINT8_C(0)
#define BMA4_ACCEL_RANGE_4G  UINT8_C(1)
#define BMA4_ACCEL_RANGE_8G  UINT8_C(2)
#define BMA4_ACCEL_RANGE_16G UINT8_C(3)

/**\name  CONDITION CHECK FOR READING AND WRTING DATA*/
#define BMA4_MAX_VALUE_FIFO_FILTER   UINT8_C(1)
#define BMA4_MAX_VALUE_SPI3          UINT8_C(1)
#define BMA4_MAX_VALUE_SELFTEST_AMP  UINT8_C(1)
#define BMA4_MAX_IF_MODE             UINT8_C(3)
#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1)

/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/
#define BMA4_MAG_TRIM_DATA_SIZE   UINT8_C(16)
#define BMA4_MAG_XYZ_DATA_LENGTH  UINT8_C(6)
#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8)
#define BMA4_ACCEL_DATA_LENGTH    UINT8_C(6)
#define BMA4_FIFO_DATA_LENGTH     UINT8_C(2)
#define BMA4_TEMP_DATA_SIZE       UINT8_C(1)

/**\name TEMPERATURE CONSTANT */
#define BMA4_OFFSET_TEMP UINT8_C(23)
#define BMA4_DEG         UINT8_C(1)
#define BMA4_FAHREN      UINT8_C(2)
#define BMA4_KELVIN      UINT8_C(3)

/**\name DELAY DEFINITION IN MSEC*/
#define BMA4_AUX_IF_DELAY         UINT8_C(5)
#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2)
#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3)
#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1)
#define BMA4_GEN_READ_WRITE_DELAY UINT8_C(1)
#define BMA4_AUX_COM_DELAY        UINT8_C(10)

/**\name    ARRAY PARAMETER DEFINITIONS*/
#define BMA4_SENSOR_TIME_MSB_BYTE  UINT8_C(2)
#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1)
#define BMA4_SENSOR_TIME_LSB_BYTE  UINT8_C(0)
#define BMA4_MAG_X_LSB_BYTE        UINT8_C(0)
#define BMA4_MAG_X_MSB_BYTE        UINT8_C(1)
#define BMA4_MAG_Y_LSB_BYTE        UINT8_C(2)
#define BMA4_MAG_Y_MSB_BYTE        UINT8_C(3)
#define BMA4_MAG_Z_LSB_BYTE        UINT8_C(4)
#define BMA4_MAG_Z_MSB_BYTE        UINT8_C(5)
#define BMA4_MAG_R_LSB_BYTE        UINT8_C(6)
#define BMA4_MAG_R_MSB_BYTE        UINT8_C(7)
#define BMA4_TEMP_BYTE             UINT8_C(0)
#define BMA4_FIFO_LENGTH_MSB_BYTE  UINT8_C(1)

/**\name    ERROR CODES */
#define BMA4_OK                     UINT16_C(0)
#define BMA4_E_NULL_PTR             UINT16_C(1)
#define BMA4_E_OUT_OF_RANGE         UINT16_C(1 << 1)
#define BMA4_E_INVALID_SENSOR       UINT16_C(1 << 2)
#define BMA4_E_CONFIG_STREAM_ERROR  UINT16_C(1 << 3)
#define BMA4_E_SELF_TEST_FAIL       UINT16_C(1 << 4)
#define BMA4_E_FOC_FAIL             UINT16_C(1 << 5)
#define BMA4_E_FAIL                 UINT16_C(1 << 6)
#define BMA4_E_INT_LINE_INVALID     UINT16_C(1 << 7)
#define BMA4_E_RD_WR_LENGTH_INVALID UINT16_C(1 << 8)
#define BMA4_E_AUX_CONFIG_FAIL      UINT16_C(1 << 9)
#define BMA4_E_SC_FIFO_HEADER_ERR   UINT16_C(1 << 10)
#define BMA4_E_SC_FIFO_CONFIG_ERR   UINT16_C(1 << 11)

/**\name    UTILITY MACROS  */
#define BMA4_SET_LOW_BYTE   UINT16_C(0x00FF)
#define BMA4_SET_HIGH_BYTE  UINT16_C(0xFF00)
#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F)

/**\name    FOC RELATED MACROS  */
#define BMA4_ACCEL_CONFIG_FOC UINT8_C(0xB7)

/* Macros used for Self test */
/* Self-test: Resulting minimum difference signal in mg for BMA42x */
#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400)
#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800)
#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400)

/* Self-test: Resulting minimum difference signal in mg for BMA45x */
#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800)
#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800)
#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800)

/**\name BOOLEAN TYPES*/
#ifndef TRUE
#define TRUE UINT8_C(0x01)
#endif

#ifndef FALSE
#define FALSE UINT8_C(0x00)
#endif

#ifndef NULL
#define NULL UINT8_C(0x00)
#endif

/**\name    ERROR STATUS POSITION AND MASK*/
#define BMA4_FATAL_ERR_MSK UINT8_C(0x01)
#define BMA4_CMD_ERR_POS   UINT8_C(1)
#define BMA4_CMD_ERR_MSK   UINT8_C(0x02)
#define BMA4_ERR_CODE_POS  UINT8_C(2)
#define BMA4_ERR_CODE_MSK  UINT8_C(0x1C)
#define BMA4_FIFO_ERR_POS  UINT8_C(6)
#define BMA4_FIFO_ERR_MSK  UINT8_C(0x40)
#define BMA4_AUX_ERR_POS   UINT8_C(7)
#define BMA4_AUX_ERR_MSK   UINT8_C(0x80)

/**\name    Maximum number of bytes to be read from the sensor */
#define BMA4_MAX_BUFFER_SIZE UINT8_C(81)

/**\name    NV_CONFIG POSITION AND MASK*/
/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */
#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3)
#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08)

/**\name    MAG DATA XYZ POSITION AND MASK*/
#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3)
#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8)
#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3)
#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8)
#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1)
#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE)
#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2)
#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC)

/**\name ACCEL DATA READY POSITION AND MASK*/
#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7)
#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80)

/**\name MAG DATA READY POSITION AND MASK*/
#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5)
#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20)

/**\name ADVANCE POWER SAVE POSITION AND MASK*/
#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01)

/**\name ACCELEROMETER ENABLE POSITION AND MASK*/
#define BMA4_ACCEL_ENABLE_POS UINT8_C(2)
#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04)

/**\name MAGNETOMETER ENABLE POSITION AND MASK*/
#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01)

/**\name    ACCEL CONFIGURATION POSITION AND MASK*/
#define BMA4_ACCEL_ODR_MSK      UINT8_C(0x0F)
#define BMA4_ACCEL_BW_POS       UINT8_C(4)
#define BMA4_ACCEL_BW_MSK       UINT8_C(0x70)
#define BMA4_ACCEL_RANGE_MSK    UINT8_C(0x03)
#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7)
#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80)

/**\name    MAG CONFIGURATION POSITION AND MASK*/
#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4)
#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4)
#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0)
#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR)

/**\name FIFO SELF WAKE UP POSITION AND MASK*/
#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1)
#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02)

/**\name    FIFO BYTE COUNTER POSITION AND MASK*/
#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F)

/**\name    FIFO DATA POSITION AND MASK*/
#define BMA4_FIFO_DATA_POS UINT8_C(0)
#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF)

/**\name    FIFO FILTER FOR ACCEL  POSITION AND MASK*/
#define BMA4_FIFO_DOWN_ACCEL_POS   UINT8_C(4)
#define BMA4_FIFO_DOWN_ACCEL_MSK   UINT8_C(0x70)
#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7)
#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80)

/**\name    FIFO HEADER DATA DEFINITIONS    */
#define FIFO_HEAD_A             UINT8_C(0x84)
#define FIFO_HEAD_M             UINT8_C(0x90)
#define FIFO_HEAD_M_A           UINT8_C(0x94)
#define FIFO_HEAD_SENSOR_TIME   UINT8_C(0x44)
#define FIFO_HEAD_INPUT_CONFIG  UINT8_C(0x48)
#define FIFO_HEAD_SKIP_FRAME    UINT8_C(0x40)
#define FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80)
#define FIFO_HEAD_SAMPLE_DROP   UINT8_C(0x50)

/**\name    FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS   */
#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60)
#define BMA4_FIFO_A_ENABLE   UINT8_C(0x40)
#define BMA4_FIFO_M_ENABLE   UINT8_C(0x20)

/**\name    FIFO CONFIGURATION SELECTION    */
#define BMA4_FIFO_STOP_ON_FULL  UINT8_C(0x01)
#define BMA4_FIFO_TIME          UINT8_C(0x02)
#define BMA4_FIFO_TAG_INTR2     UINT8_C(0x04)
#define BMA4_FIFO_TAG_INTR1     UINT8_C(0x08)
#define BMA4_FIFO_HEADER        UINT8_C(0x10)
#define BMA4_FIFO_MAG           UINT8_C(0x20)
#define BMA4_FIFO_ACCEL         UINT8_C(0x40)
#define BMA4_FIFO_ALL           UINT8_C(0x7F)
#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03)
#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC)

/**\name    FIFO FRAME COUNT DEFINITION     */
#define FIFO_LSB_CONFIG_CHECK   UINT8_C(0x00)
#define FIFO_MSB_CONFIG_CHECK   UINT8_C(0x80)
#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC)

/**\name    FIFO DROPPED FRAME DEFINITION     */
#define AUX_FIFO_DROP       UINT8_C(0x04)
#define ACCEL_AUX_FIFO_DROP UINT8_C(0x05)
#define ACCEL_FIFO_DROP     UINT8_C(0x01)

/**\name FIFO MAG DEFINITION*/
#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8)

/**\name FIFO sensor time length definitions*/
#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3)

/**\name FIFO LENGTH DEFINITION*/
#define BMA4_FIFO_A_LENGTH  UINT8_C(6)
#define BMA4_FIFO_M_LENGTH  UINT8_C(8)
#define BMA4_FIFO_MA_LENGTH UINT8_C(14)

/**\name    MAG I2C ADDRESS SELECTION POSITION AND MASK*/
#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1)
#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE)

/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/
#define BMA4_MAG_BURST_MSK         UINT8_C(0x03)
#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7)
#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80)
#define BMA4_READ_ADDR_MSK         UINT8_C(0xFF)
#define BMA4_WRITE_ADDR_MSK        UINT8_C(0xFF)
#define BMA4_WRITE_DATA_MSK        UINT8_C(0xFF)

/**\name    OUTPUT TYPE ENABLE POSITION AND MASK*/
#define BMA4_INT_EDGE_CTRL_MASK  UINT8_C(0x01)
#define BMA4_INT_EDGE_CTRL_POS   UINT8_C(0x00)
#define BMA4_INT_LEVEL_MASK      UINT8_C(0x02)
#define BMA4_INT_LEVEL_POS       UINT8_C(0x01)
#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04)
#define BMA4_INT_OPEN_DRAIN_POS  UINT8_C(0x02)
#define BMA4_INT_OUTPUT_EN_MASK  UINT8_C(0x08)
#define BMA4_INT_OUTPUT_EN_POS   UINT8_C(0x03)
#define BMA4_INT_INPUT_EN_MASK   UINT8_C(0x10)
#define BMA4_INT_INPUT_EN_POS    UINT8_C(0x04)

/**\name    IF CONFIG POSITION AND MASK*/
#define BMA4_CONFIG_SPI3_MSK       UINT8_C(0x01)
#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4)
#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10)

/**\name    ACCEL SELF TEST POSITION AND MASK*/
#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01)
#define BMA4_ACCEL_SELFTEST_SIGN_POS   UINT8_C(2)
#define BMA4_ACCEL_SELFTEST_SIGN_MSK   UINT8_C(0x04)
#define BMA4_SELFTEST_AMP_POS          UINT8_C(3)
#define BMA4_SELFTEST_AMP_MSK          UINT8_C(0x08)

/**\name    ACCEL ODR          */
#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01)
#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02)
#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03)
#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04)
#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05)
#define BMA4_OUTPUT_DATA_RATE_25HZ   UINT8_C(0x06)
#define BMA4_OUTPUT_DATA_RATE_50HZ   UINT8_C(0x07)
#define BMA4_OUTPUT_DATA_RATE_100HZ  UINT8_C(0x08)
#define BMA4_OUTPUT_DATA_RATE_200HZ  UINT8_C(0x09)
#define BMA4_OUTPUT_DATA_RATE_400HZ  UINT8_C(0x0A)
#define BMA4_OUTPUT_DATA_RATE_800HZ  UINT8_C(0x0B)
#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C)

/**\name    ACCEL BANDWIDTH PARAMETER         */
#define BMA4_ACCEL_OSR4_AVG1   UINT8_C(0)
#define BMA4_ACCEL_OSR2_AVG2   UINT8_C(1)
#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2)
#define BMA4_ACCEL_CIC_AVG8    UINT8_C(3)
#define BMA4_ACCEL_RES_AVG16   UINT8_C(4)
#define BMA4_ACCEL_RES_AVG32   UINT8_C(5)
#define BMA4_ACCEL_RES_AVG64   UINT8_C(6)
#define BMA4_ACCEL_RES_AVG128  UINT8_C(7)

/**\name    ACCEL PERFMODE PARAMETER         */
#define BMA4_CIC_AVG_MODE    UINT8_C(0)
#define BMA4_CONTINUOUS_MODE UINT8_C(1)

/**\name    MAG OFFSET         */
#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00)

/**\name    ENABLE/DISABLE SELECTIONS        */
#define BMA4_X_AXIS UINT8_C(0)
#define BMA4_Y_AXIS UINT8_C(1)
#define BMA4_Z_AXIS UINT8_C(2)

/**\name SELF TEST*/
#define BMA4_SELFTEST_PASS UINT8_C(0)
#define BMA4_SELFTEST_FAIL UINT8_C(1)

/**\name INTERRUPT MAPS    */
#define BMA4_INTR1_MAP UINT8_C(0)
#define BMA4_INTR2_MAP UINT8_C(1)

/**\name    INTERRUPT MASKS        */
#define BMA4_FIFO_FULL_INT      UINT16_C(0x0100)
#define BMA4_FIFO_WM_INT        UINT16_C(0x0200)
#define BMA4_DATA_RDY_INT       UINT16_C(0x0400)
#define BMA4_MAG_DATA_RDY_INT   UINT16_C(0x2000)
#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000)

/**\name    AKM POWER MODE SELECTION     */
#define AKM_POWER_DOWN_MODE  UINT8_C(0)
#define AKM_SINGLE_MEAS_MODE UINT8_C(1)

/**\name    SECONDARY_MAG POWER MODE SELECTION    */
#define BMA4_MAG_FORCE_MODE   UINT8_C(0)
#define BMA4_MAG_SUSPEND_MODE UINT8_C(1)

/**\name    MAG POWER MODE SELECTION    */
#define FORCE_MODE   UINT8_C(0)
#define SUSPEND_MODE UINT8_C(1)

/**\name    ACCEL POWER MODE    */
#define ACCEL_MODE_NORMAL UINT8_C(0x11)

/**\name    MAG POWER MODE    */
#define MAG_MODE_SUSPEND UINT8_C(0x18)

/**\name    ENABLE/DISABLE BIT VALUES    */
#define BMA4_ENABLE  UINT8_C(0x01)
#define BMA4_DISABLE UINT8_C(0x00)

/**\name    DEFINITION USED FOR DIFFERENT WRITE   */
#define BMA4_MANUAL_DISABLE     UINT8_C(0x00)
#define BMA4_MANUAL_ENABLE      UINT8_C(0x01)
#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01)
#define BMA4_MAG_DATA_READ_REG  UINT8_C(0x0A)
#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06)
#define BMA4_SEC_IF_NULL        UINT8_C(0)
#define BMA4_SEC_IF_BMM150      UINT8_C(1)
#define BMA4_SEC_IF_AKM09916    UINT8_C(2)
#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01)

/**\name    SENSOR RESOLUTION   */
#define BMA4_12_BIT_RESOLUTION UINT8_C(12)
#define BMA4_14_BIT_RESOLUTION UINT8_C(14)
#define BMA4_16_BIT_RESOLUTION UINT8_C(16)

/**\name    MULTIPLIER */
/*! for handling micro-g values */
#define BMA4XY_MULTIPLIER UINT32_C(1000000)
/*! for handling float temperature values */
#define BMA4_SCALE_TEMP INT32_C(1000)
/* BMA4_FAHREN_SCALED = 1.8 * 1000 */
#define BMA4_FAHREN_SCALED INT32_C(1800)
/* BMA4_KELVIN_SCALED = 273.15 * 1000 */
#define BMA4_KELVIN_SCALED INT32_C(273150)

/**\name    MAP BURST READ LENGTHS  */
#define BMA4_AUX_READ_LEN_0 0
#define BMA4_AUX_READ_LEN_1 1
#define BMA4_AUX_READ_LEN_2 2
#define BMA4_AUX_READ_LEN_3 3

#ifndef ABS
#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */
#endif

/**\name    BIT SLICE GET AND SET FUNCTIONS */
#define BMA4_GET_BITSLICE(regvar, bitname)                                     \
  ((regvar & bitname##_MSK) >> bitname##_POS)
#define BMA4_SET_BITSLICE(regvar, bitname, val)                                \
  ((regvar & ~bitname##_MSK) | ((val << bitname##_POS) & bitname##_MSK))
#define BMA4_GET_DIFF(x, y) ((x) - (y))

#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE)
#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8)

#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK))

#define BMA4_SET_BITS_POS_0(reg_data, bitname, data)                           \
  ((reg_data & ~(bitname##_MSK)) | (data & bitname##_MSK))

#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))

/**\name    TYPEDEF DEFINITIONS */
/*!
 * @brief Bus communication function pointer which should be mapped to
 * the platform specific read and write functions of the user
 */
typedef uint16_t (*bma4_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
                                    uint8_t *read_data, uint16_t len);

/*! delay function pointer */
typedef void (*bma4_delay_fptr_t)(uint32_t);

/******************************************************************************/
/*!  @name         Enum Declarations                                  */
/******************************************************************************/

/*!  @name Enum to define BMA4 variants */
enum bma4_variant { BMA42X_VARIANT = 1, BMA45X_VARIANT };

/**\name    STRUCTURE DEFINITIONS*/

/*!
 *  @brief
 *  This structure holds asic info. for feature configuration.
 */
struct bma4_asic_data {
  /* Feature config start addr (0-3 bits)*/
  uint8_t asic_lsb;
  /* Feature config start addr (4-11 bits)*/
  uint8_t asic_msb;
};

/*!
 * @brief Auxiliary configuration structure for user settings
 */
struct bma4_aux_config {
  /*! Device address of auxiliary sensor */
  uint8_t aux_dev_addr;
  /*! To enable manual or auto mode */
  uint8_t manual_enable;
  /*! No of bytes to be read at a time */
  uint8_t burst_read_length;
  /*! Variable to set the auxiliary interface */
  uint8_t if_mode;
};

/*!
 *  @brief
 *  This structure holds all relevant information about BMA4
 */
struct bma4_dev {
  /*! Chip id of BMA4 */
  uint8_t chip_id;
  /*! Chip id of auxiliary sensor */
  uint8_t aux_chip_id;
  /*! Device address of BMA4 */
  uint8_t dev_addr;
  /*! Interface detail */
  uint8_t interface;
  /*! Auxiliary sensor information */
  uint8_t aux_sensor;
  /*! Decide SPI or I2C read mechanism */
  uint8_t dummy_byte;
  /*! Resolution for FOC */
  uint8_t resolution;
  /*! Define the BMA4 variant BMA42X or BMA45X */
  enum bma4_variant variant;
  /*  ! Used to check mag manual/auto mode status
      int8_t mag_manual_enable;*/
  /*! FIFO related configurations */
  struct bma4_fifo_frame *fifo;
  /*! Config stream data buffer address will be assigned*/
  const uint8_t *config_file_ptr;
  /*! Max read/write length (maximum supported length is 32).
      To be set by the user */
  uint8_t read_write_len;
  /*! Feature len */
  uint8_t feature_len;
  /*! Contains asic information */
  struct bma4_asic_data asic_data;
  /*! Contains aux configuration settings */
  struct bma4_aux_config aux_config;
  /*! Bus read function pointer */
  bma4_com_fptr_t bus_read;
  /*! Bus write function pointer */
  bma4_com_fptr_t bus_write;
  /*! delay(in ms) function pointer */
  bma4_delay_fptr_t delay;
};

/*!
 *  @brief This structure holds the information for usage of
 *  FIFO by the user.
 */
struct bma4_fifo_frame {
  /*! Data buffer of user defined length is to be mapped here */
  uint8_t *data;
  /*! Number of bytes of FIFO to be read as specified by the user */
  uint16_t length;
  /*! Enabling of the FIFO header to stream in header mode */
  uint8_t fifo_header_enable;
  /*! Streaming of the Accelerometer, Auxiliary
   *  sensor data or both in FIFO */
  uint8_t fifo_data_enable;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t accel_byte_start_idx;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t mag_byte_start_idx;
  /*! Will be equal to length when no more frames are there to parse */
  uint16_t sc_frame_byte_start_idx;
  /*! Value of FIFO sensor time time */
  uint32_t sensor_time;
  /*! Value of Skipped frame counts */
  uint8_t skipped_frame_count;
  /*! Value of accel dropped frame count */
  uint8_t accel_dropped_frame_count;
  /*! Value of mag dropped frame count */
  uint8_t mag_dropped_frame_count;
};

/*!
 *  @brief Error Status structure
 */
struct bma4_err_reg {
  /*! Indicates fatal error */
  uint8_t fatal_err;
  /*! Indicates command error */
  uint8_t cmd_err;
  /*! Indicates error code */
  uint8_t err_code;
  /*! Indicates fifo error */
  uint8_t fifo_err;
  /*! Indicates mag error */
  uint8_t aux_err;
};

/*!
 * @brief Asic Status structure
 */
struct bma4_asic_status {
  /*! Asic is in sleep/halt state */
  uint8_t sleep;
  /*! Dedicated interrupt is set again before previous interrupt
  was acknowledged */
  uint8_t irq_ovrn;
  /*! Watchcell event detected (asic stopped) */
  uint8_t wc_event;
  /*! Stream transfer has started and transactions are ongoing */
  uint8_t stream_transfer_active;
};

/*!
 * @brief Interrupt Pin Configuration structure
 */
struct bma4_int_pin_config {
  /*! Trigger condition of interrupt pin */
  uint8_t edge_ctrl;
  /*! Level of interrupt pin */
  uint8_t lvl;
  /*! Behaviour of interrupt pin to open drain */
  uint8_t od;
  /*! Output enable for interrupt pin */
  uint8_t output_en;
  /*! Input enable for interrupt pin */
  uint8_t input_en;
};

/*!
 * @brief Accelerometer configuration structure */
struct bma4_accel_config {
  /*! Output data rate in Hz */
  uint8_t odr;
  /*! Bandwidth parameter, determines filter configuration */
  uint8_t bandwidth;
  /*! Filter performance mode */
  uint8_t perf_mode;
  /*! G-range */
  uint8_t range;
};

/*!
 * @brief Auxiliary magnetometer configuration structure
 */
struct bma4_aux_mag_config {
  /*! Poll rate for the sensor attached to the Magnetometer interface */
  uint8_t odr;
  /*! Trigger-readout offset in units of 2.5 ms.
  If set to zero, the offset is maximum, i.e. after readout a trigger
  is issued immediately */
  uint8_t offset;
};

/*!
 * @brief ASIC Config structure
 */
struct bma4_asic_config {
  /*! Enable/Disable ASIC Wake Up */
  uint8_t asic_en;
  /*! Configure stream_transfer/FIFO mode */
  uint8_t fifo_mode_en;
  /*! Mapping of instance RAM1 */
  uint8_t mem_conf_ram1;
  /*! Mapping of instance RAM2 */
  uint8_t mem_conf_ram2;
  /*! Mapping of instance RAM3 */
  uint8_t mem_conf_ram3;
};
/*!
 * @brief bmm150 or akm09916
 *  magnetometer values structure
 */
struct bma4_mag {
  /*! BMM150 and AKM09916 X raw data */
  int32_t x;
  /*! BMM150 and AKM09916 Y raw data */
  int32_t y;
  /*! BMM150 and AKM09916 Z raw data */
  int32_t z;
};

/*!
 * @brief bmm150 xyz data structure
 */
struct bma4_mag_xyzr {
  /*! BMM150 X raw data */
  int16_t x;
  /*! BMM150 Y raw data */
  int16_t y;
  /*! BMM150 Z raw data */
  int16_t z;
  /*! BMM150 R raw data */
  uint16_t r;
};

/*!
 * @brief Accel xyz data structure
 */
struct bma4_accel {
  /*! Accel X data */
  int16_t x;
  /*! Accel Y data */
  int16_t y;
  /*! Accel Z data */
  int16_t z;
};

/*!
 * @brief FIFO mag data structure
 */
struct bma4_mag_fifo_data {
  /*! The value of mag x LSB data */
  uint8_t mag_x_lsb;
  /*! The value of mag x MSB data */
  uint8_t mag_x_msb;
  /*! The value of mag y LSB data */
  uint8_t mag_y_lsb;
  /*! The value of mag y MSB data */
  uint8_t mag_y_msb;
  /*! The value of mag z LSB data */
  uint8_t mag_z_lsb;
  /*! The value of mag z MSB data */
  uint8_t mag_z_msb;
  /*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */
  uint8_t mag_r_y2_lsb;
  /*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */
  uint8_t mag_r_y2_msb;
};

#endif
/* End of __BMA4_H__ */
