text: /**
  * 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 bmi160.h
  * @date 10/01/2020
  * @version  3.8.1
  *
  */
  
  /*!
   * @defgroup bmi160
   * @brief
   * @{*/
  
  #ifndef BMI160_H_
  #define BMI160_H_
  
  /*************************** C++ guard macro *****************************/
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  #include "bmi160_defs.h"
  #ifdef __KERNEL__
  #include <bmi160_math.h>
  #else
  #include <math.h>
  #include <string.h>
  #include <stdlib.h>
  #endif
  
  /*********************** User function prototypes ************************/
  
  /*!
   *  @brief This API is the entry point for sensor.It performs
   *  the selection of I2C/SPI read mechanism according to the
   *  selected interface and reads the chip-id of bmi160 sensor.
   *
   *  @param[in,out] dev : Structure instance of bmi160_dev
   *  @note : Refer user guide for detailed info.
   *
   *  @return Result of API execution status
   *  @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_init(struct bmi160_dev *dev);
  
  /*!
   * @brief This API reads the data from the given register address of sensor.
   *
   * @param[in] reg_addr  : Register address from where the data to be read
   * @param[out] data     : Pointer to data buffer to store the read data.
   * @param[in] len       : No of bytes of data to be read.
   * @param[in] dev       : Structure instance of bmi160_dev.
   *
   * @note For most of the registers auto address increment applies, with the
   * exception of a few special registers, which trap the address. For e.g.,
   * Register address - 0x24(BMI160_FIFO_DATA_ADDR)
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API writes the given data to the register address
   * of sensor.
   *
   * @param[in] reg_addr  : Register address from where the data to be written.
   * @param[in] data      : Pointer to data buffer which is to be written
   * in the sensor.
   * @param[in] len       : No of bytes of data to write..
   * @param[in] dev       : Structure instance of bmi160_dev.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API resets and restarts the device.
   * All register values are overwritten with default parameters.
   *
   * @param[in] dev  : Structure instance of bmi160_dev.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error.
   */
  int8_t bmi160_soft_reset(struct bmi160_dev *dev);
  
  /*!
   * @brief This API configures the power mode, range and bandwidth
   * of sensor.
   *
   * @param[in] dev    : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error.
   */
  int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
  
  /*!
   * @brief This API sets the power mode of the sensor.
   *
   * @param[in] dev  : Structure instance of bmi160_dev.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error.
   */
  int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
  
  /*!
   * @brief This API gets the power mode of the sensor.
   *
   * @param[in] power_mode  : Power mode of the sensor
   * @param[in] dev         : Structure instance of bmi160_dev
   *
   * power_mode Macros possible values for pmu_status->aux_pmu_status :
   *  - BMI160_AUX_PMU_SUSPEND
   *  - BMI160_AUX_PMU_NORMAL
   *  - BMI160_AUX_PMU_LOW_POWER
   *
   * power_mode Macros possible values for pmu_status->gyro_pmu_status :
   *  - BMI160_GYRO_PMU_SUSPEND
   *  - BMI160_GYRO_PMU_NORMAL
   *  - BMI160_GYRO_PMU_FSU
   *
   * power_mode Macros possible values for pmu_status->accel_pmu_status :
   *  - BMI160_ACCEL_PMU_SUSPEND
   *  - BMI160_ACCEL_PMU_NORMAL
   *  - BMI160_ACCEL_PMU_LOW_POWER
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error.
   */
  int8_t bmi160_get_power_mode(struct bmi160_pmu_status *pmu_status, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API reads sensor data, stores it in
   * the bmi160_sensor_data structure pointer passed by the user.
   * The user can ask for accel data ,gyro data or both sensor
   * data using bmi160_select_sensor enum
   *
   * @param[in] select_sensor    : enum to choose accel,gyro or both sensor data
   * @param[out] accel    : Structure pointer to store accel data
   * @param[out] gyro     : Structure pointer to store gyro data
   * @param[in] dev       : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success  / -ve value -> Error
   */
  int8_t bmi160_get_sensor_data(uint8_t select_sensor,
                                struct bmi160_sensor_data *accel,
                                struct bmi160_sensor_data *gyro,
                                const struct bmi160_dev *dev);
  
  /*!
   * @brief This API configures the necessary interrupt based on
   *  the user settings in the bmi160_int_settg structure instance.
   *
   * @param[in] int_config  : Structure instance of bmi160_int_settg.
   * @param[in] dev         : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
  
  /*!
   * @brief This API enables the step counter feature.
   *
   * @param[in] step_cnt_enable   : value to enable or disable
   * @param[in] dev       : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API reads the step counter value.
   *
   * @param[in] step_val    : Pointer to store the step counter value.
   * @param[in] dev         : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API reads the mention no of byte of data from the given
   * register address of auxiliary sensor.
   *
   * @param[in] reg_addr    : Address of register to read.
   * @param[in] aux_data    : Pointer to store the read data.
   * @param[in] len     : No of bytes to read.
   * @param[in] dev         : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API writes the mention no of byte of data to the given
   * register address of auxiliary sensor.
   *
   * @param[in] reg_addr    : Address of register to write.
   * @param[in] aux_data    : Pointer to write data.
   * @param[in] len     : No of bytes to write.
   * @param[in] dev         : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
  
  /*!
   * @brief This API initialize the auxiliary sensor
   * in order to access it.
   *
   * @param[in] dev         : Structure instance of bmi160_dev.
   * @note : Refer user guide for detailed info.
   *
   * @return Result of API execution status
   * @retval zero -> Success / -ve value -> Error
   */
  int8_t bmi160_aux_init(const struct bmi160_dev *dev);
  
  /*!
   * @brief This API is used to setup the auxiliary sensor of bmi160 in auto mode
   * Thus enabling the auto update of 8 bytes of data from auxiliary sensor
   * to BMI160 register address 0x04 to 0x0B
   *
   * @param[in] data_addr    : Starting address of aux. sensor's data register
   *                           (BMI160 registers 0x04 to 0x0B will be updated
   *                           with 8 bytes of data from auxiliary sensor
   *                           starting from this register address.)
   * @param[in] dev      : Structure instance of bmi160_dev.
   *
   * @note : Set the value of auxiliary polling rate by setting
   *         dev->aux_cfg.aux_odr to the required value from the table
   *         before calling this API
   *
   *   dev->aux_cfg.aux_odr  |   Auxiliary ODR (Hz)
   *  -----------------------|-----------------------
   *  BMI160_AUX_ODR_0_78HZ  |        25/32
   *  BMI160_AUX_ODR_1_56HZ  |        25/16
   *  BMI160_AUX_ODR_3_12HZ  |        25/8
   *  BMI160_AUX_ODR_6_25HZ  |        25/4
   *  BMI160_AUX_ODR_12_5HZ  |        25/2
   *  BMI160_AUX_ODR_25HZ    |        25
   *  BMI160_AUX_ODR_50HZ    |        50
   *  BMI160_AUX_ODR_100HZ   |        100
   *  BMI160_AUX_ODR_200HZ   |        200
   *  BMI160_AUX_ODR_400HZ   |        400
   *  BMI160_AUX_ODR_800HZ   |        800
   *
   * @note : Other values of  dev->aux_cfg.aux_odr are reserved and not for use
   *
   * @return Result of API execution status
   * @retval zero -> Success  / -ve value -> Error
   */
  int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
  
  /*!
   * @brief This API configures the 0x4C register and settings like
   * Auxiliary sensor manual enable/ disable and aux burst read length.
   *
   * @param[in] dev    : Structure instance of bmi160_dev.
   *
   * @return Result of API execution status
   * @retval zero -> Success  / -ve value -> Error
   */
  int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
  
  /*!
   * @brief This API is used to read the raw uncompensated auxiliary sensor
   * data of 8 bytes from BMI160 register address 0x04 to 0x0B
   *
   * @param[in] aux_data       : Pointer to user array of length 8 bytes
   *                             Ensure that the aux_data array is of
   *                             length 8 bytes
   * @param[in] dev        : Structure instance of bmi160_dev
   *
   * @return Result of API execution status
   * @retval zero -> Success  / -ve value -> Error
   */
  int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
  
  /*!
   * @brief This is used to perform self test of accel/gyro of the BMI160 sensor
   *
   * @param[in] select_sensor  : enum to choose accel or gyro for self test
   * @param[in] dev            : Structure instance of bmi160_dev
   *
   * @note self test can be performed either for accel/gyro at any instant.
   *
   *     value of select_sensor       |  Inference
   *----------------------------------|--------------------------------
   *   BMI160_ACCEL_ONLY              | Accel self test enabled
   *   BMI160_GYRO_ONLY               | Gyro self test enabled
   *   BMI160_BOTH_ACCEL_AND_GYRO     | NOT TO BE USED
   *
   * @note The return value of this API gives us the result of self test.
   *
   * @note Performing self test does soft reset of the sensor, User can
   * set the desired settings after performing the self test.
   *
   * @return Result of API execution status
   * @retval zero -> Success  / -ve value -> Error / +ve value -> Self-test fail
   *
   *   Return value                  |   Result of self test
   * --------------------------------|---------------------------------
   *  BMI160_OK                      |  Self test success
   *  BMI160_W_GYRO_SELF_TEST_FAIL   |  Gyro self test fail
   *  BMI160_W_ACCEl_SELF_TEST_FAIL  |  Accel self test fail
   */
  int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
  
  /*!
   *  @brief This API reads data from the fifo buffer.
   *
   *  @note User has to allocate the FIFO buffer along with
   *  corresponding fifo length from his side before calling this API
   *  as mentioned in the readme.md
   *
   *  @note User must specify the number of bytes to read from the FIFO in
   *  dev->fifo->length , It will be updated by the number of bytes actually
   *  read from FIFO after calling this API
   *
   *  @param[in] dev     : Structure instance of bmi160_dev.
   *
   *  @return Result of API execution status
   *  @retval zero -> Success / -ve value -> Error
   *
   */
  int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API writes fifo_flush command to command register.This
   *  action clears all data in the Fifo without changing fifo configuration
   *  settings.
   *
   *  @param[in] dev     : Structure instance of bmi160_dev
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
  
  /*! @brief This API sets the FIFO configuration in the sensor.
   *
   *  @param[in] config : variable used to specify the FIFO
   *  configurations which are to be enabled or disabled in the sensor.
   *
   *  @note : User can set either set one or more or all FIFO configurations
   *  by ORing the below mentioned macros.
   *      config                  |   Value
   *      ------------------------|---------------------------
   *      BMI160_FIFO_TIME        |   0x02
   *      BMI160_FIFO_TAG_INT2    |   0x04
   *      BMI160_FIFO_TAG_INT1    |   0x08
   *      BMI160_FIFO_HEADER      |   0x10
   *      BMI160_FIFO_AUX         |   0x20
   *      BMI160_FIFO_ACCEL   |   0x40
   *      BMI160_FIFO_GYRO        |   0x80
   *
   *  @param[in] enable : Parameter used to enable or disable the above
   *  FIFO configuration
   *  @param[in] dev : Structure instance of bmi160_dev.
   *
   *  @return status of bus communication result
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
  
  /*! @brief This API is used to configure the down sampling ratios of
   *  the accel and gyro data for FIFO.Also, it configures filtered or
   *  pre-filtered data for the fifo for accel and gyro.
   *
   *  @param[in] fifo_down : variable used to specify the FIFO down
   *  configurations which are to be enabled or disabled in the sensor.
   *
   *  @note The user must select one among the following macros to
   *  select down-sampling ratio for accel
   *      config                               |   Value
   *      -------------------------------------|---------------------------
   *      BMI160_ACCEL_FIFO_DOWN_ZERO          |   0x00
   *      BMI160_ACCEL_FIFO_DOWN_ONE           |   0x10
   *      BMI160_ACCEL_FIFO_DOWN_TWO           |   0x20
   *      BMI160_ACCEL_FIFO_DOWN_THREE         |   0x30
   *      BMI160_ACCEL_FIFO_DOWN_FOUR          |   0x40
   *      BMI160_ACCEL_FIFO_DOWN_FIVE          |   0x50
   *      BMI160_ACCEL_FIFO_DOWN_SIX           |   0x60
   *      BMI160_ACCEL_FIFO_DOWN_SEVEN         |   0x70
   *
   *  @note The user must select one among the following macros to
   *  select down-sampling ratio for gyro
   *
   *      config                               |   Value
   *      -------------------------------------|---------------------------
   *      BMI160_GYRO_FIFO_DOWN_ZERO           |   0x00
   *      BMI160_GYRO_FIFO_DOWN_ONE            |   0x01
   *      BMI160_GYRO_FIFO_DOWN_TWO            |   0x02
   *      BMI160_GYRO_FIFO_DOWN_THREE          |   0x03
   *      BMI160_GYRO_FIFO_DOWN_FOUR           |   0x04
   *      BMI160_GYRO_FIFO_DOWN_FIVE           |   0x05
   *      BMI160_GYRO_FIFO_DOWN_SIX            |   0x06
   *      BMI160_GYRO_FIFO_DOWN_SEVEN          |   0x07
   *
   *  @note The user can enable filtered accel data by the following macro
   *      config                               |   Value
   *      -------------------------------------|---------------------------
   *      BMI160_ACCEL_FIFO_FILT_EN            |   0x80
   *
   *  @note The user can enable filtered gyro data by the following macro
   *      config                               |   Value
   *      -------------------------------------|---------------------------
   *      BMI160_GYRO_FIFO_FILT_EN             |   0x08
   *
   *  @note : By ORing the above mentioned macros, the user can select
   *  the required FIFO down config settings
   *
   *  @param[in] dev : Structure instance of bmi160_dev.
   *
   *  @return status of bus communication result
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
  
  /*!
   *  @brief This API sets the FIFO watermark level in the sensor.
   *
   *  @note The FIFO watermark is issued when the FIFO fill level is
   *  equal or above the watermark level and units of watermark is 4 bytes.
   *
   *  @param[in]  fifo_wm        : Variable used to set the FIFO water mark level
   *  @param[in]  dev            : Structure instance of bmi160_dev
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
  
  /*!
   *  @brief This API parses and extracts the accelerometer frames from
   *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
   *  the "accel_data" structure instance.
   *
   *  @note The bmi160_extract_accel API should be called only after
   *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
   *
   *  @param[out] accel_data    : Structure instance of bmi160_sensor_data
   *                              where the accelerometer data in FIFO is stored.
   *  @param[in,out] accel_length  : Number of valid accelerometer frames
   *                              (x,y,z axes data) read out from fifo.
   *  @param[in] dev            : Structure instance of bmi160_dev.
   *
   *  @note accel_length is updated with the number of valid accelerometer
   *  frames extracted from fifo (1 accel frame   = 6 bytes) at the end of
   *  execution of this API.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API parses and extracts the gyro frames from
   *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
   *  the "gyro_data" structure instance.
   *
   *  @note The bmi160_extract_gyro API should be called only after
   *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
   *
   *  @param[out] gyro_data    : Structure instance of bmi160_sensor_data
   *                             where the gyro data in FIFO is stored.
   *  @param[in,out] gyro_length  : Number of valid gyro frames
   *                             (x,y,z axes data) read out from fifo.
   *  @param[in] dev           : Structure instance of bmi160_dev.
   *
   *  @note gyro_length is updated with the number of valid gyro
   *  frames extracted from fifo (1 gyro frame   = 6 bytes) at the end of
   *  execution of this API.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API parses and extracts the aux frames from
   *  FIFO data read by the "bmi160_get_fifo_data" API and stores it in
   *  the bmi160_aux_data structure instance.
   *
   *  @note The bmi160_extract_aux API should be called only after
   *  reading the FIFO data by calling the bmi160_get_fifo_data() API.
   *
   *  @param[out] aux_data    : Structure instance of bmi160_aux_data
   *                            where the aux data in FIFO is stored.
   *  @param[in,out] aux_len  : Number of valid aux frames (8bytes)
   *                            read out from FIFO.
   *  @param[in] dev          : Structure instance of bmi160_dev.
   *
   *  @note aux_len is updated with the number of valid aux
   *  frames extracted from fifo (1 aux frame = 8 bytes) at the end of
   *  execution of this API.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   *
   */
  int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API starts the FOC of accel and gyro
   *
   *  @note FOC should not be used in low-power mode of sensor
   *
   *  @note Accel FOC targets values of +1g , 0g , -1g
   *  Gyro FOC always targets value of 0 dps
   *
   *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
   *                                   has the FOC configuration
   *  @param[in,out] offset  : Structure instance to store Offset
   *                                   values read from sensor
   *  @param[in] dev         : Structure instance of bmi160_dev.
   *
   *  @note Pre-requisites for triggering FOC in accel , Set the following,
   *   Enable the acc_off_en
   *       Ex :  foc_conf.acc_off_en = BMI160_ENABLE;
   *
   *   Set the desired target values of FOC to each axes (x,y,z) by using the
   *   following macros
   *       - BMI160_FOC_ACCEL_DISABLED
   *       - BMI160_FOC_ACCEL_POSITIVE_G
   *       - BMI160_FOC_ACCEL_NEGATIVE_G
   *       - BMI160_FOC_ACCEL_0G
   *
   *   Ex : foc_conf.foc_acc_x  = BMI160_FOC_ACCEL_0G;
   *        foc_conf.foc_acc_y  = BMI160_FOC_ACCEL_0G;
   *        foc_conf.foc_acc_z  = BMI160_FOC_ACCEL_POSITIVE_G;
   *
   *  @note Pre-requisites for triggering FOC in gyro ,
   *  Set the following parameters,
   *
   *   Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
   *        foc_conf.gyro_off_en = BMI160_ENABLE;
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   */
  int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
                          struct bmi160_offsets *offset,
                          struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API reads and stores the offset values of accel and gyro
   *
   *  @param[in,out] offset : Structure instance of bmi160_offsets in which
   *                          the offset values are read and stored
   *  @param[in] dev        : Structure instance of bmi160_dev.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   */
  int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
  
  /*!
   *  @brief This API writes the offset values of accel and gyro to
   *  the sensor but these values will be reset on POR or soft reset.
   *
   *  @param[in] foc_conf    : Structure instance of bmi160_foc_conf which
   *                                   has the FOC configuration
   *  @param[in] offset      : Structure instance in which user updates offset
   *                            values which are to be written in the sensor
   *  @param[in] dev         : Structure instance of bmi160_dev.
   *
   *  @note Offsets can be set by user like offset->off_acc_x = 10;
   *  where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
   *
   * @note BMI160 offset values for xyz axes of accel should be within range of
   *  BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
   *
   * @note BMI160 offset values for xyz axes of gyro should be within range of
   *  BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   */
  int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
                            const struct bmi160_offsets *offset,
                            struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API writes the image registers values to NVM which is
   *  stored even after POR or soft reset
   *
   *  @param[in] dev         : Structure instance of bmi160_dev.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   */
  int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
  
  /*!
   *  @brief This API gets the interrupt status from the sensor.
   *
   *  @param[in] int_status_sel       : Enum variable to select either individual or all the
   *  interrupt status bits.
   *  @param[in] int_status           : pointer variable to get the interrupt status
   *  from the sensor.
   *  param[in] dev                   : Structure instance of bmi160_dev.
   *
   *  @return Result of API execution status
   *  @retval 0 -> Success
   *  @retval Any non zero value -> Fail
   */
  int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
                               union bmi160_int_status *int_status,
                               struct bmi160_dev const *dev);
  
  /*************************** C++ guard macro *****************************/
  #ifdef __cplusplus
  }
  #endif
  
  #endif /* BMI160_H_ */
  /** @}*/
  