Add BMA423 accelerometer code

src/Watchy.cpp

@@ -4,6 +4,8 @@ WatchyDisplayBase Watchy::m_displayBase;
 WatchyDisplay Watchy::m_display(Watchy::m_displayBase);
 WatchyRTC Watchy::m_RTC;
 
+RTC_DATA_ATTR BMA423 Watchy::m_sensor;
+
 RTC_DATA_ATTR bool g_displayFullInit = true;
 
 Watchy::Watchy()
@@ -40,6 +42,7 @@ void Watchy::Init()
     }
     default:
     {
+      BmaConfig();
       ConnectWiFi();
       SyncNTPTime();
       DisconnectWiFi();
@@ -150,4 +153,121 @@ void Watchy::ClearBusyCallback()
 void Watchy::SetBusyCallback()
 {
   m_display.epd2.setBusyCallback(DisplayBusyCallback);
+}
+
+uint16_t Watchy::ReadRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len)
+{
+  Wire.beginTransmission(address);
+  Wire.write(reg);
+  Wire.endTransmission();
+  Wire.requestFrom((uint8_t)address, (uint8_t)len);
+  uint8_t i = 0;
+  while (Wire.available()) {
+    data[i++] = Wire.read();
+  }
+  return 0;
+}
+
+uint16_t Watchy::WriteRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len)
+{
+  Wire.beginTransmission(address);
+  Wire.write(reg);
+  Wire.write(data, len);
+  return (0 != Wire.endTransmission());
+}
+
+void Watchy::BmaConfig()
+{
+  if (m_sensor.begin(ReadRegister, WriteRegister, delay) == false) {
+    // fail to init BMA
+    return;
+  }
+
+  // Accel parameter structure
+  Acfg cfg;
+  /*!
+      Output data rate in Hz, Optional parameters:
+          - BMA4_OUTPUT_DATA_RATE_0_78HZ
+          - BMA4_OUTPUT_DATA_RATE_1_56HZ
+          - BMA4_OUTPUT_DATA_RATE_3_12HZ
+          - BMA4_OUTPUT_DATA_RATE_6_25HZ
+          - BMA4_OUTPUT_DATA_RATE_12_5HZ
+          - BMA4_OUTPUT_DATA_RATE_25HZ
+          - BMA4_OUTPUT_DATA_RATE_50HZ
+          - BMA4_OUTPUT_DATA_RATE_100HZ
+          - BMA4_OUTPUT_DATA_RATE_200HZ
+          - BMA4_OUTPUT_DATA_RATE_400HZ
+          - BMA4_OUTPUT_DATA_RATE_800HZ
+          - BMA4_OUTPUT_DATA_RATE_1600HZ
+  */
+  cfg.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
+  /*!
+      G-range, Optional parameters:
+          - BMA4_ACCEL_RANGE_2G
+          - BMA4_ACCEL_RANGE_4G
+          - BMA4_ACCEL_RANGE_8G
+          - BMA4_ACCEL_RANGE_16G
+  */
+  cfg.range = BMA4_ACCEL_RANGE_2G;
+  /*!
+      Bandwidth parameter, determines filter configuration, Optional parameters:
+          - BMA4_ACCEL_OSR4_AVG1
+          - BMA4_ACCEL_OSR2_AVG2
+          - BMA4_ACCEL_NORMAL_AVG4
+          - BMA4_ACCEL_CIC_AVG8
+          - BMA4_ACCEL_RES_AVG16
+          - BMA4_ACCEL_RES_AVG32
+          - BMA4_ACCEL_RES_AVG64
+          - BMA4_ACCEL_RES_AVG128
+  */
+  cfg.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
+
+  /*! Filter performance mode , Optional parameters:
+      - BMA4_CIC_AVG_MODE
+      - BMA4_CONTINUOUS_MODE
+  */
+  cfg.perf_mode = BMA4_CONTINUOUS_MODE;
+
+  // Configure the BMA423 accelerometer
+  m_sensor.setAccelConfig(cfg);
+
+  // Enable BMA423 accelerometer
+  // Warning : Need to use feature, you must first enable the accelerometer
+  // Warning : Need to use feature, you must first enable the accelerometer
+  m_sensor.enableAccel();
+
+  struct bma4_int_pin_config config;
+  config.edge_ctrl = BMA4_LEVEL_TRIGGER;
+  config.lvl       = BMA4_ACTIVE_HIGH;
+  config.od        = BMA4_PUSH_PULL;
+  config.output_en = BMA4_OUTPUT_ENABLE;
+  config.input_en  = BMA4_INPUT_DISABLE;
+  // The correct trigger interrupt needs to be configured as needed
+  m_sensor.setINTPinConfig(config, BMA4_INTR1_MAP);
+
+  struct bma423_axes_remap remap_data;
+  remap_data.x_axis      = 1;
+  remap_data.x_axis_sign = 0xFF;
+  remap_data.y_axis      = 0;
+  remap_data.y_axis_sign = 0xFF;
+  remap_data.z_axis      = 2;
+  remap_data.z_axis_sign = 0xFF;
+  // Need to raise the wrist function, need to set the correct axis
+  m_sensor.setRemapAxes(&remap_data);
+
+  // Enable BMA423 isStepCounter feature
+  m_sensor.enableFeature(BMA423_STEP_CNTR, true);
+  // Enable BMA423 isTilt feature
+  m_sensor.enableFeature(BMA423_TILT, true);
+  // Enable BMA423 isDoubleClick feature
+  m_sensor.enableFeature(BMA423_WAKEUP, true);
+
+  // Reset steps
+  m_sensor.resetStepCounter();
+
+  // Turn on feature interrupt
+  m_sensor.enableStepCountInterrupt();
+  m_sensor.enableTiltInterrupt();
+  // It corresponds to isDoubleClick interrupt
+  m_sensor.enableWakeupInterrupt();
 }

src/Watchy.h

@@ -6,6 +6,7 @@
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #include <NTPClient.h>
+#include "bma.h"
 
 class Watchy
 {
@@ -34,4 +35,11 @@ protected:
   static WatchyDisplayBase m_displayBase;
   static WatchyDisplay m_display;
   static WatchyRTC m_RTC;
+
+  static RTC_DATA_ATTR BMA423 m_sensor;
+
+private:
+  void BmaConfig();
+  static uint16_t ReadRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len);
+  static uint16_t WriteRegister(uint8_t address, uint8_t reg, uint8_t *data, uint16_t len);
 };

src/bma.cpp

@@ -0,0 +1,283 @@
+#include "bma.h"
+
+#define DEBUGPORT Serial
+#ifdef DEBUGPORT
+#define DEBUG(...) DEBUGPORT.printf(__VA_ARGS__)
+#else
+#define DEBUG(...)
+#endif
+
+BMA423::BMA423() {
+  __readRegisterFptr   = nullptr;
+  __writeRegisterFptr  = nullptr;
+  __delayCallBlackFptr = nullptr;
+  __init               = false;
+}
+
+BMA423::~BMA423() {}
+
+bool BMA423::begin(bma4_com_fptr_t readCallBlack,
+                   bma4_com_fptr_t writeCallBlack,
+                   bma4_delay_fptr_t delayCallBlack, uint8_t address) {
+
+  if (__init || readCallBlack == nullptr || writeCallBlack == nullptr ||
+      delayCallBlack == nullptr) {
+    return true;
+  }
+
+  __readRegisterFptr   = readCallBlack;
+  __writeRegisterFptr  = writeCallBlack;
+  __delayCallBlackFptr = delayCallBlack;
+
+  __devFptr.dev_addr       = address;
+  __devFptr.interface      = BMA4_I2C_INTERFACE;
+  __devFptr.bus_read       = readCallBlack;
+  __devFptr.bus_write      = writeCallBlack;
+  __devFptr.delay          = delayCallBlack;
+  __devFptr.read_write_len = 8;
+  __devFptr.resolution     = 12;
+  __devFptr.feature_len    = BMA423_FEATURE_SIZE;
+
+  softReset();
+
+  __delayCallBlackFptr(20);
+
+  if (bma423_init(&__devFptr) != BMA4_OK) {
+    DEBUG("BMA423 FAIL\n");
+    return false;
+  }
+
+  if (bma423_write_config_file(&__devFptr) != BMA4_OK) {
+    DEBUG("BMA423 Write Config FAIL\n");
+    return false;
+  }
+
+  __init = true;
+
+  struct bma4_int_pin_config config;
+  config.edge_ctrl = BMA4_LEVEL_TRIGGER;
+  config.lvl       = BMA4_ACTIVE_HIGH;
+  config.od        = BMA4_PUSH_PULL;
+  config.output_en = BMA4_OUTPUT_ENABLE;
+  config.input_en  = BMA4_INPUT_DISABLE;
+
+  if (bma4_set_int_pin_config(&config, BMA4_INTR1_MAP, &__devFptr) != BMA4_OK) {
+    DEBUG("BMA423 SET INT FAIL\n");
+    return false;
+  }
+  return true;
+}
+
+void BMA423::softReset() {
+  uint8_t reg = BMA4_RESET_ADDR;
+  __writeRegisterFptr(BMA4_I2C_ADDR_PRIMARY, BMA4_RESET_SET_MASK, &reg, 1);
+}
+
+void BMA423::shutDown() {
+  bma4_set_advance_power_save(BMA4_DISABLE, &__devFptr);
+}
+
+void BMA423::wakeUp() { bma4_set_advance_power_save(BMA4_ENABLE, &__devFptr); }
+
+uint16_t BMA423::getErrorCode() {
+  struct bma4_err_reg err;
+  uint16_t rslt = bma4_get_error_status(&err, &__devFptr);
+  return rslt;
+}
+
+uint16_t BMA423::getStatus() {
+  uint8_t status;
+  bma4_get_status(&status, &__devFptr);
+  return status;
+}
+
+uint32_t BMA423::getSensorTime() {
+  uint32_t ms;
+  bma4_get_sensor_time(&ms, &__devFptr);
+  return ms;
+}
+
+bool BMA423::selfTest() {
+  return (BMA4_OK ==
+          bma4_selftest_config(BMA4_ACCEL_SELFTEST_ENABLE_MSK, &__devFptr));
+}
+
+uint8_t BMA423::getDirection() {
+  Accel acc;
+  if (bma4_read_accel_xyz(&acc, &__devFptr) != BMA4_OK) {
+    return 0;
+  }
+  uint16_t absX = abs(acc.x);
+  uint16_t absY = abs(acc.y);
+  uint16_t absZ = abs(acc.z);
+
+  if ((absZ > absX) && (absZ > absY)) {
+    if (acc.z > 0) {
+      return DIRECTION_DISP_DOWN;
+    } else {
+      return DIRECTION_DISP_UP;
+    }
+  } else if ((absY > absX) && (absY > absZ)) {
+    if (acc.y > 0) {
+      return DIRECTION_RIGHT_EDGE;
+    } else {
+      return DIRECTION_LEFT_EDGE;
+    }
+  } else {
+    if (acc.x < 0) {
+      return DIRECTION_BOTTOM_EDGE;
+    } else {
+      return DIRECTION_TOP_EDGE;
+    }
+  }
+}
+
+float BMA423::readTemperature() {
+  int32_t data = 0;
+  bma4_get_temperature(&data, BMA4_DEG, &__devFptr);
+  float res = (float)data / (float)BMA4_SCALE_TEMP;
+  /* 0x80 - temp read from the register and 23 is the ambient temp added.
+   * If the temp read from register is 0x80, it means no valid
+   * information is available */
+  if (((data - 23) / BMA4_SCALE_TEMP) == 0x80) {
+    res = 0;
+  }
+  return res;
+}
+
+float BMA423::readTemperatureF() {
+  float temp = readTemperature();
+  if (temp != 0) {
+    temp = temp * 1.8 + 32.0;
+  }
+  return (temp);
+}
+
+bool BMA423::getAccel(Accel &acc) {
+  memset(&acc, 0, sizeof(acc));
+  if (bma4_read_accel_xyz(&acc, &__devFptr) != BMA4_OK) {
+    return false;
+  }
+  return true;
+}
+
+bool BMA423::getAccelEnable() {
+  uint8_t en;
+  bma4_get_accel_enable(&en, &__devFptr);
+  return (en & BMA4_ACCEL_ENABLE_POS) == BMA4_ACCEL_ENABLE_POS;
+}
+
+bool BMA423::disableAccel() { return enableAccel(false); }
+
+bool BMA423::enableAccel(bool en) {
+  return (BMA4_OK ==
+          bma4_set_accel_enable(en ? BMA4_ENABLE : BMA4_DISABLE, &__devFptr));
+}
+
+bool BMA423::setAccelConfig(Acfg &cfg) {
+  return (BMA4_OK == bma4_set_accel_config(&cfg, &__devFptr));
+}
+
+bool BMA423::getAccelConfig(Acfg &cfg) {
+  return (BMA4_OK == bma4_get_accel_config(&cfg, &__devFptr));
+}
+
+bool BMA423::setRemapAxes(struct bma423_axes_remap *remap_data) {
+  return (BMA4_OK == bma423_set_remap_axes(remap_data, &__devFptr));
+}
+
+bool BMA423::resetStepCounter() {
+  return BMA4_OK == bma423_reset_step_counter(&__devFptr);
+}
+
+uint32_t BMA423::getCounter() {
+  uint32_t stepCount;
+  if (bma423_step_counter_output(&stepCount, &__devFptr) == BMA4_OK) {
+    return stepCount;
+  }
+  return 0;
+}
+
+bool BMA423::setINTPinConfig(struct bma4_int_pin_config config,
+                             uint8_t pinMap) {
+  return BMA4_OK == bma4_set_int_pin_config(&config, pinMap, &__devFptr);
+}
+
+bool BMA423::getINT() {
+  return bma423_read_int_status(&__IRQ_MASK, &__devFptr) == BMA4_OK;
+}
+
+uint8_t BMA423::getIRQMASK() { return __IRQ_MASK; }
+
+bool BMA423::disableIRQ(uint16_t int_map) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, int_map, BMA4_DISABLE,
+                                          &__devFptr));
+}
+
+bool BMA423::enableIRQ(uint16_t int_map) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, int_map, BMA4_ENABLE,
+                                          &__devFptr));
+}
+
+bool BMA423::enableFeature(uint8_t feature, uint8_t enable) {
+  if ((feature & BMA423_STEP_CNTR) == BMA423_STEP_CNTR) {
+    bma423_step_detector_enable(enable ? BMA4_ENABLE : BMA4_DISABLE,
+                                &__devFptr);
+  }
+  return (BMA4_OK == bma423_feature_enable(feature, enable, &__devFptr));
+}
+
+bool BMA423::isStepCounter() {
+  return (bool)(BMA423_STEP_CNTR_INT & __IRQ_MASK);
+}
+
+bool BMA423::isDoubleClick() { return (bool)(BMA423_WAKEUP_INT & __IRQ_MASK); }
+
+bool BMA423::isTilt() { return (bool)(BMA423_TILT_INT & __IRQ_MASK); }
+
+bool BMA423::isActivity() { return (bool)(BMA423_ACTIVITY_INT & __IRQ_MASK); }
+
+bool BMA423::isAnyNoMotion() {
+  return (bool)(BMA423_ANY_NO_MOTION_INT & __IRQ_MASK);
+}
+
+bool BMA423::enableStepCountInterrupt(bool en) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_STEP_CNTR_INT,
+                                          en, &__devFptr));
+}
+
+bool BMA423::enableTiltInterrupt(bool en) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_TILT_INT, en,
+                                          &__devFptr));
+}
+
+bool BMA423::enableWakeupInterrupt(bool en) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_WAKEUP_INT, en,
+                                          &__devFptr));
+}
+
+bool BMA423::enableAnyNoMotionInterrupt(bool en) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP,
+                                          BMA423_ANY_NO_MOTION_INT, en,
+                                          &__devFptr));
+}
+
+bool BMA423::enableActivityInterrupt(bool en) {
+  return (BMA4_OK == bma423_map_interrupt(BMA4_INTR1_MAP, BMA423_ACTIVITY_INT,
+                                          en, &__devFptr));
+}
+
+const char *BMA423::getActivity() {
+  uint8_t activity;
+  bma423_activity_output(&activity, &__devFptr);
+  if (activity & BMA423_USER_STATIONARY) {
+    return "BMA423_USER_STATIONARY";
+  } else if (activity & BMA423_USER_WALKING) {
+    return "BMA423_USER_WALKING";
+  } else if (activity & BMA423_USER_RUNNING) {
+    return "BMA423_USER_RUNNING";
+  } else if (activity & BMA423_STATE_INVALID) {
+    return "BMA423_STATE_INVALID";
+  }
+  return "None";
+}

src/bma.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#ifdef ARDUINO
+#include <Arduino.h>
+#else
+#include <stdlib.h>
+#endif
+
+#include "bma423.h"
+
+enum {
+  DIRECTION_TOP_EDGE    = 0,
+  DIRECTION_BOTTOM_EDGE = 1,
+  DIRECTION_LEFT_EDGE   = 2,
+  DIRECTION_RIGHT_EDGE  = 3,
+  DIRECTION_DISP_UP     = 4,
+  DIRECTION_DISP_DOWN   = 5
+};
+
+typedef struct bma4_accel Accel;
+typedef struct bma4_accel_config Acfg;
+
+class BMA423 {
+
+public:
+  BMA423();
+  ~BMA423();
+
+  bool begin(bma4_com_fptr_t readCallBlack, bma4_com_fptr_t writeCallBlack,
+             bma4_delay_fptr_t delayCallBlack,
+             uint8_t address = BMA4_I2C_ADDR_PRIMARY);
+
+  void softReset();
+  void shutDown();
+  void wakeUp();
+  bool selfTest();
+
+  uint8_t getDirection();
+
+  bool setAccelConfig(Acfg &cfg);
+  bool getAccelConfig(Acfg &cfg);
+  bool getAccel(Accel &acc);
+  bool getAccelEnable();
+  bool disableAccel();
+  bool enableAccel(bool en = true);
+
+  bool setINTPinConfig(struct bma4_int_pin_config config, uint8_t pinMap);
+  bool getINT();
+  uint8_t getIRQMASK();
+  bool disableIRQ(uint16_t int_map = BMA423_STEP_CNTR_INT);
+  bool enableIRQ(uint16_t int_map = BMA423_STEP_CNTR_INT);
+  bool isStepCounter();
+  bool isDoubleClick();
+  bool isTilt();
+  bool isActivity();
+  bool isAnyNoMotion();
+
+  bool resetStepCounter();
+  uint32_t getCounter();
+
+  float readTemperature();
+  float readTemperatureF();
+
+  uint16_t getErrorCode();
+  uint16_t getStatus();
+  uint32_t getSensorTime();
+
+  const char *getActivity();
+  bool setRemapAxes(struct bma423_axes_remap *remap_data);
+
+  bool enableFeature(uint8_t feature, uint8_t enable);
+  bool enableStepCountInterrupt(bool en = true);
+  bool enableTiltInterrupt(bool en = true);
+  bool enableWakeupInterrupt(bool en = true);
+  bool enableAnyNoMotionInterrupt(bool en = true);
+  bool enableActivityInterrupt(bool en = true);
+
+private:
+  bma4_com_fptr_t __readRegisterFptr;
+  bma4_com_fptr_t __writeRegisterFptr;
+  bma4_delay_fptr_t __delayCallBlackFptr;
+
+  uint8_t __address;
+  uint16_t __IRQ_MASK;
+  bool __init;
+  struct bma4_dev __devFptr;
+};

src/bma423.h

@@ -0,0 +1,815 @@
+/*
+ *
+ ****************************************************************************
+ * Copyright (C) 2017 - 2018 Bosch Sensortec GmbH
+ *
+ * File : bma423.h
+ *
+ * Date: 12 Oct 2017
+ *
+ * Revision : 1.1.4 $
+ *
+ * Usage: Sensor Driver for BMA423 sensor
+ *
+ ****************************************************************************
+ *
+ * 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.
+ *
+ * The Information provided is believed to be accurate and reliable.
+ * 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 bma423.h
+    \brief Sensor Driver for BMA423 sensor */
+#ifndef BMA423_H
+#define BMA423_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "bma4.h"
+
+/**\name Chip ID of BMA423 sensor */
+#define BMA423_CHIP_ID UINT8_C(0x13)
+
+/**\name Sensor feature size */
+#define BMA423_FEATURE_SIZE     UINT8_C(64)
+#define BMA423_ANYMOTION_EN_LEN UINT8_C(2)
+#define BMA423_RD_WR_MIN_LEN    UINT8_C(2)
+
+/**\name Feature offset address */
+#define BMA423_ANY_NO_MOTION_OFFSET   UINT8_C(0x00)
+#define BMA423_STEP_CNTR_OFFSET       UINT8_C(0x36)
+#define BMA423_STEP_CNTR_PARAM_OFFSET UINT8_C(0x04)
+#define BMA423_WAKEUP_OFFSET          UINT8_C(0x38)
+#define BMA423_TILT_OFFSET            UINT8_C(0x3A)
+#define BMA423_CONFIG_ID_OFFSET       UINT8_C(0x3C)
+#define BMA423_AXES_REMAP_OFFSET      UINT8_C(0x3E)
+
+/**************************************************************/
+/**\name	Remap Axes */
+/**************************************************************/
+#define BMA423_X_AXIS_MASK      UINT8_C(0x03)
+#define BMA423_X_AXIS_SIGN_MASK UINT8_C(0x04)
+#define BMA423_Y_AXIS_MASK      UINT8_C(0x18)
+#define BMA423_Y_AXIS_SIGN_MASK UINT8_C(0x20)
+#define BMA423_Z_AXIS_MASK      UINT8_C(0xC0)
+#define BMA423_Z_AXIS_SIGN_MASK UINT8_C(0x01)
+
+/**************************************************************/
+/**\name	Step Counter & Detector */
+/**************************************************************/
+/**\name Step counter enable macros */
+#define BMA423_STEP_CNTR_EN_POS UINT8_C(4)
+#define BMA423_STEP_CNTR_EN_MSK UINT8_C(0x10)
+#define BMA423_ACTIVITY_EN_MSK  UINT8_C(0x20)
+
+/**\name Step counter watermark macros */
+#define BMA423_STEP_CNTR_WM_MSK UINT16_C(0x03FF)
+
+/**\name Step counter reset macros */
+#define BMA423_STEP_CNTR_RST_POS UINT8_C(2)
+#define BMA423_STEP_CNTR_RST_MSK UINT8_C(0x04)
+
+/**\name Step detector enable macros */
+#define BMA423_STEP_DETECTOR_EN_POS UINT8_C(3)
+#define BMA423_STEP_DETECTOR_EN_MSK UINT8_C(0x08)
+
+/**\name Tilt enable macros */
+#define BMA423_TILT_EN_MSK UINT8_C(0x01)
+
+/**\name Step count output length*/
+#define BMA423_STEP_CNTR_DATA_SIZE UINT16_C(4)
+
+/**\name Wakeup enable macros */
+#define BMA423_WAKEUP_EN_MSK UINT8_C(0x01)
+
+/**\name Wake up sensitivity macros */
+#define BMA423_WAKEUP_SENS_POS UINT8_C(1)
+#define BMA423_WAKEUP_SENS_MSK UINT8_C(0x0E)
+
+/**\name Tap selection macro */
+#define BMA423_TAP_SEL_POS UINT8_C(4)
+#define BMA423_TAP_SEL_MSK UINT8_C(0x10)
+
+/**************************************************************/
+/**\name	Any Motion */
+/**************************************************************/
+/**\name Any motion threshold macros */
+#define BMA423_ANY_NO_MOTION_THRES_POS UINT8_C(0)
+#define BMA423_ANY_NO_MOTION_THRES_MSK UINT16_C(0x07FF)
+
+/**\name Any motion selection macros */
+#define BMA423_ANY_NO_MOTION_SEL_POS UINT8_C(3)
+#define BMA423_ANY_NO_MOTION_SEL_MSK UINT8_C(0x08)
+
+/**\name Any motion enable macros */
+#define BMA423_ANY_NO_MOTION_AXIS_EN_POS UINT8_C(5)
+#define BMA423_ANY_NO_MOTION_AXIS_EN_MSK UINT8_C(0xE0)
+
+/**\name Any motion duration macros */
+#define BMA423_ANY_NO_MOTION_DUR_MSK UINT16_C(0x1FFF)
+
+/**************************************************************/
+/**\name	User macros */
+/**************************************************************/
+
+/**\name Anymotion/Nomotion axis enable macros */
+#define BMA423_X_AXIS_EN    UINT8_C(0x01)
+#define BMA423_Y_AXIS_EN    UINT8_C(0x02)
+#define BMA423_Z_AXIS_EN    UINT8_C(0x04)
+#define BMA423_ALL_AXIS_EN  UINT8_C(0x07)
+#define BMA423_ALL_AXIS_DIS UINT8_C(0x00)
+
+/**\name Feature enable macros for the sensor */
+#define BMA423_STEP_CNTR UINT8_C(0x01)
+/**\name Below macros are mutually exclusive */
+#define BMA423_ANY_MOTION UINT8_C(0x02)
+#define BMA423_NO_MOTION  UINT8_C(0x04)
+#define BMA423_ACTIVITY   UINT8_C(0x08)
+#define BMA423_TILT       UINT8_C(0x10)
+#define BMA423_WAKEUP     UINT8_C(0x20)
+
+/**\name Interrupt status macros */
+#define BMA423_STEP_CNTR_INT     UINT8_C(0x02)
+#define BMA423_ACTIVITY_INT      UINT8_C(0x04)
+#define BMA423_TILT_INT          UINT8_C(0x08)
+#define BMA423_WAKEUP_INT        UINT8_C(0x20)
+#define BMA423_ANY_NO_MOTION_INT UINT8_C(0x40)
+#define BMA423_ERROR_INT         UINT8_C(0x80)
+
+/**\name Activity recognition macros */
+#define BMA423_USER_STATIONARY UINT8_C(0x00)
+#define BMA423_USER_WALKING    UINT8_C(0x01)
+#define BMA423_USER_RUNNING    UINT8_C(0x02)
+#define BMA423_STATE_INVALID   UINT8_C(0x03)
+
+/**\name Configuration selection macros */
+#define BMA423_PHONE_CONFIG UINT8_C(0x00)
+#define BMA423_WRIST_CONFIG UINT8_C(0x01)
+
+/**\name Step counter parameter setting(1-25) for phone */
+#define BMA423_PHONE_SC_PARAM_1  UINT16_C(0x132)
+#define BMA423_PHONE_SC_PARAM_2  UINT16_C(0x78E6)
+#define BMA423_PHONE_SC_PARAM_3  UINT16_C(0x84)
+#define BMA423_PHONE_SC_PARAM_4  UINT16_C(0x6C9C)
+#define BMA423_PHONE_SC_PARAM_5  UINT8_C(0x07)
+#define BMA423_PHONE_SC_PARAM_6  UINT16_C(0x7564)
+#define BMA423_PHONE_SC_PARAM_7  UINT16_C(0x7EAA)
+#define BMA423_PHONE_SC_PARAM_8  UINT16_C(0x55F)
+#define BMA423_PHONE_SC_PARAM_9  UINT16_C(0xABE)
+#define BMA423_PHONE_SC_PARAM_10 UINT16_C(0x55F)
+#define BMA423_PHONE_SC_PARAM_11 UINT16_C(0xE896)
+#define BMA423_PHONE_SC_PARAM_12 UINT16_C(0x41EF)
+#define BMA423_PHONE_SC_PARAM_13 UINT8_C(0x01)
+#define BMA423_PHONE_SC_PARAM_14 UINT8_C(0x0C)
+#define BMA423_PHONE_SC_PARAM_15 UINT8_C(0x0C)
+#define BMA423_PHONE_SC_PARAM_16 UINT8_C(0x4A)
+#define BMA423_PHONE_SC_PARAM_17 UINT8_C(0xA0)
+#define BMA423_PHONE_SC_PARAM_18 UINT8_C(0x00)
+#define BMA423_PHONE_SC_PARAM_19 UINT8_C(0x0C)
+#define BMA423_PHONE_SC_PARAM_20 UINT16_C(0x3CF0)
+#define BMA423_PHONE_SC_PARAM_21 UINT16_C(0x100)
+#define BMA423_PHONE_SC_PARAM_22 UINT8_C(0x00)
+#define BMA423_PHONE_SC_PARAM_23 UINT8_C(0x00)
+#define BMA423_PHONE_SC_PARAM_24 UINT8_C(0x00)
+#define BMA423_PHONE_SC_PARAM_25 UINT8_C(0x00)
+
+/**\name Step counter parameter setting(1-25) for wrist (Default) */
+#define BMA423_WRIST_SC_PARAM_1  UINT16_C(0x12D)
+#define BMA423_WRIST_SC_PARAM_2  UINT16_C(0x7BD4)
+#define BMA423_WRIST_SC_PARAM_3  UINT16_C(0x13B)
+#define BMA423_WRIST_SC_PARAM_4  UINT16_C(0x7ADB)
+#define BMA423_WRIST_SC_PARAM_5  UINT8_C(0x04)
+#define BMA423_WRIST_SC_PARAM_6  UINT16_C(0x7B3F)
+#define BMA423_WRIST_SC_PARAM_7  UINT16_C(0x6CCD)
+#define BMA423_WRIST_SC_PARAM_8  UINT16_C(0x4C3)
+#define BMA423_WRIST_SC_PARAM_9  UINT16_C(0x985)
+#define BMA423_WRIST_SC_PARAM_10 UINT16_C(0x4C3)
+#define BMA423_WRIST_SC_PARAM_11 UINT16_C(0xE6EC)
+#define BMA423_WRIST_SC_PARAM_12 UINT16_C(0x460C)
+#define BMA423_WRIST_SC_PARAM_13 UINT8_C(0x01)
+#define BMA423_WRIST_SC_PARAM_14 UINT8_C(0x27)
+#define BMA423_WRIST_SC_PARAM_15 UINT8_C(0x19)
+#define BMA423_WRIST_SC_PARAM_16 UINT8_C(0x96)
+#define BMA423_WRIST_SC_PARAM_17 UINT8_C(0xA0)
+#define BMA423_WRIST_SC_PARAM_18 UINT8_C(0x01)
+#define BMA423_WRIST_SC_PARAM_19 UINT8_C(0x0C)
+#define BMA423_WRIST_SC_PARAM_20 UINT16_C(0x3CF0)
+#define BMA423_WRIST_SC_PARAM_21 UINT16_C(0x100)
+#define BMA423_WRIST_SC_PARAM_22 UINT8_C(0x01)
+#define BMA423_WRIST_SC_PARAM_23 UINT8_C(0x03)
+#define BMA423_WRIST_SC_PARAM_24 UINT8_C(0x01)
+#define BMA423_WRIST_SC_PARAM_25 UINT8_C(0x0E)
+
+/*!
+ * @brief Any motion configuration
+ */
+struct bma423_anymotion_config {
+  /*! Expressed in 50 Hz samples (20 ms) */
+  uint16_t duration;
+  /*! Threshold value for Any-motion / No-motion detection in
+  5.11g format */
+  uint16_t threshold;
+  /*! Indicates if No-motion or Any-motion is selected */
+  uint8_t nomotion_sel;
+};
+
+/*!
+ * @brief Axes remapping configuration
+ */
+struct bma423_axes_remap {
+  uint8_t x_axis;
+  uint8_t x_axis_sign;
+  uint8_t y_axis;
+  uint8_t y_axis_sign;
+  uint8_t z_axis;
+  uint8_t z_axis_sign;
+};
+
+/*!
+ * @brief Step counter param settings
+ */
+struct bma423_stepcounter_settings {
+  /*! Step Counter param 1 */
+  uint16_t param1;
+  /*! Step Counter param 2 */
+  uint16_t param2;
+  /*! Step Counter param 3 */
+  uint16_t param3;
+  /*! Step Counter param 4 */
+  uint16_t param4;
+  /*! Step Counter param 5 */
+  uint16_t param5;
+  /*! Step Counter param 6 */
+  uint16_t param6;
+  /*! Step Counter param 7 */
+  uint16_t param7;
+  /*! Step Counter param 8 */
+  uint16_t param8;
+  /*! Step Counter param 9 */
+  uint16_t param9;
+  /*! Step Counter param 10 */
+  uint16_t param10;
+  /*! Step Counter param 11 */
+  uint16_t param11;
+  /*! Step Counter param 12 */
+  uint16_t param12;
+  /*! Step Counter param 13 */
+  uint16_t param13;
+  /*! Step Counter param 14 */
+  uint16_t param14;
+  /*! Step Counter param 15 */
+  uint16_t param15;
+  /*! Step Counter param 16 */
+  uint16_t param16;
+  /*! Step Counter param 17 */
+  uint16_t param17;
+  /*! Step Counter param 18 */
+  uint16_t param18;
+  /*! Step Counter param 19 */
+  uint16_t param19;
+  /*! Step Counter param 20 */
+  uint16_t param20;
+  /*! Step Counter param 21 */
+  uint16_t param21;
+  /*! Step Counter param 22 */
+  uint16_t param22;
+  /*! Step Counter param 23 */
+  uint16_t param23;
+  /*! Step Counter param 24 */
+  uint16_t param24;
+  /*! Step Counter param 25 */
+  uint16_t param25;
+};
+
+/*!
+ *	@brief This API is the entry point.
+ *	Call this API before using all other APIs.
+ *	This API reads the chip-id of the sensor and sets the resolution.
+ *
+ *	@param[in,out] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_init(struct bma4_dev *dev);
+
+/*!
+ *	@brief This API is used to upload the config file to enable
+ *	the features of the sensor.
+ *
+ *	@param[in] dev : Structure instance of bma4_dev.
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_write_config_file(struct bma4_dev *dev);
+
+/*!
+ *	@brief This API is used to get the configuration id of the sensor.
+ *
+ *	@param[out] config_id : Pointer variable used to store
+ *	the configuration id.
+ *	@param[in] dev : Structure instance of bma4_dev.
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_get_config_id(uint16_t *config_id, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API sets/unsets the user provided interrupt to either
+ *	interrupt pin1 or pin2 in the sensor.
+ *
+ *	@param[in] int_line: Variable to select either interrupt pin1 or pin2.
+ *  int_line    |   Macros
+ *  ------------|-------------------
+ *		0       | BMA4_INTR1_MAP
+ *		1       | BMA4_INTR2_MAP
+ *	@param[in] int_map : Variable to specify the interrupts.
+ *	@param[in] enable : Variable to specify mapping or unmapping of
+ *	interrupts.
+ *	enable		|	Macros
+ *  --------------------|-------------------
+ *	0x00		|  BMA4_DISABLE
+ *	0x01		|  BMA4_ENABLE
+ *	@param[in] dev : Structure instance of bma4_dev.
+ *
+ *	@note Below macros specify the interrupts.
+ *	Feature Interrupts
+ *	  - BMA423_STEP_CNTR_INT
+ *	  - BMA423_ACTIVITY_INT
+ *	  - BMA423_TILT_INT
+ *	  - BMA423_WAKEUP_INT
+ *	  - BMA423_ANY_NO_MOTION_INT
+ *	  - BMA423_ERROR_INT
+ *
+ *	Hardware Interrupts
+ *	  - BMA4_FIFO_FULL_INT
+ *	  - BMA4_FIFO_WM_INT
+ *	  - BMA4_DATA_RDY_INT
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_map_interrupt(uint8_t int_line, uint16_t int_map,
+                              uint8_t enable, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API reads the bma423 interrupt status from the sensor.
+ *
+ *	@param[out] int_status : Variable to store the interrupt status
+ *	read from the sensor.
+ *	@param[in] dev : Structure instance of bma4_dev.
+ *
+ *	@note Below macros are used to check the interrupt status.
+ *	Feature Interrupts
+ *
+ *	  - BMA423_STEP_CNTR_INT
+ *	  - BMA423_ACTIVITY_INT
+ *	  - BMA423_TILT_INT
+ *	  - BMA423_WAKEUP_INT
+ *	  - BMA423_ANY_NO_MOTION_INT
+ *	  - BMA423_ERROR_INT
+ *
+ *
+ *	Hardware Interrupts
+ *	  - BMA4_FIFO_FULL_INT
+ *	  - BMA4_FIFO_WM_INT
+ *	  - BMA4_MAG_DATA_RDY_INT
+ *	  - BMA4_ACCEL_DATA_RDY_INT
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_read_int_status(uint16_t *int_status, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API enables/disables the features of the sensor.
+ *
+ *	@param[in] feature : Variable to specify the features
+ *	which are to be set in bma423 sensor.
+ *	@param[in] enable : Variable which specifies whether to enable or
+ *	disable the features in the bma423 sensor
+ *	enable		|	Macros
+ *  --------------------|-------------------
+ *	0x00		|  BMA4_DISABLE
+ *	0x01		|  BMA4_ENABLE
+ *	@param[in] dev : Structure instance of bma4_dev.
+ *
+ *	@note User should use the below macros to enable or disable the
+ *	features of bma423 sensor
+ *	  - BMA423_STEP_CNTR
+ *	  - BMA423_ANY_MOTION (or) BMA423_NO_MOTION
+ *	  - BMA423_ACTIVITY
+ *	  - BMA423_WAKEUP
+ *	  - BMA423_TILT
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_feature_enable(uint8_t feature, uint8_t enable,
+                               struct bma4_dev *dev);
+
+/*!
+ *	@brief This API performs x, y and z axis remapping in the sensor.
+ *
+ *	@param[in] remap_data : Pointer to store axes remapping data.
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_set_remap_axes(const struct bma423_axes_remap *remap_data,
+                               struct bma4_dev *dev);
+
+/*!
+ *	@brief This API reads the x, y and z axis remap data from the sensor.
+ *
+ *	@param[out] remap_data : Pointer to store axis remap data which is read
+ *	from the bma423 sensor.
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_get_remap_axes(struct bma423_axes_remap *remap_data,
+                               struct bma4_dev *dev);
+
+/*!
+ *	@brief This API sets the watermark level for step counter
+ *	interrupt in the sensor.
+ *
+ *	@param[in] step_counter_wm : Variable which specifies watermark level
+ *	count
+ *	@note Valid values are from 1 to 1023
+ *	@note Value 0 is used for step detector interrupt
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_step_counter_set_watermark(uint16_t step_counter_wm,
+                                           struct bma4_dev *dev);
+
+/*!
+ *	@brief This API gets the water mark level set for step counter interrupt
+ *	in the sensor
+ *
+ *	@param[out] step_counter_wm : Pointer variable which stores
+ *	the water mark level read from the sensor.
+ *	@note valid values are from 1 to 1023
+ *	@note value 0 is used for step detector interrupt
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_step_counter_get_watermark(uint16_t *step_counter_wm,
+                                           struct bma4_dev *dev);
+
+/*!
+ *	@brief This API resets the counted steps of step counter.
+ *
+ *	@param[in] dev : structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_reset_step_counter(struct bma4_dev *dev);
+
+/*!
+ *	@brief This API gets the number of counted steps of the step counter
+ *	feature from the sensor.
+ *
+ *  @param[out] step_count : Pointer variable which stores counted steps
+ *	read from the sensor.
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_step_counter_output(uint32_t *step_count, struct bma4_dev *dev);
+
+/*!
+ *  @brief This API gets the output for activity feature.
+ *
+ *  @param[out] activity : Pointer variable which stores activity output
+ *  read from the sensor.
+ *       activity |   State
+ *  --------------|------------------------
+ *        0x00    | BMA423_USER_STATIONARY
+ *        0x01    | BMA423_USER_WALKING
+ *        0x02    | BMA423_USER_RUNNING
+ *        0x03    | BMA423_STATE_INVALID
+ *
+ *  @param[in] dev : Structure instance of bma4_dev
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+uint16_t bma423_activity_output(uint8_t *activity, struct bma4_dev *dev);
+
+/*!
+ *  @brief This API select the platform configuration wrist(default) or phone.
+ *
+ *  @param[in] platform : Variable to select wrist/phone
+ *
+ *     platform  |   Macros
+ *  -------------|------------------------
+ *        0x00   | BMA423_PHONE_CONFIG
+ *        0x01   | BMA423_WRIST_CONFIG
+ *
+ *  @param[in] dev : Structure instance of bma4_dev
+ *  @return Result of API execution status
+ *  @retval 0 -> Success
+ *  @retval Any non zero value -> Fail
+ */
+uint16_t bma423_select_platform(uint8_t platform, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API gets the parameter1 to parameter7 settings of the
+ *	step counter feature.
+ *
+ *	@param[out] setting : Pointer to structure variable which stores the
+ *	parameter1 to parameter7 read from the sensor.
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t
+bma423_stepcounter_get_parameter(struct bma423_stepcounter_settings *setting,
+                                 struct bma4_dev *dev);
+
+/*!
+ *	@brief This API sets the parameter1 to parameter7 settings of the
+ *	step counter feature in the sensor.
+ *
+ *	@param[in] setting : Pointer to structure variable which stores the
+ *	parameter1 to parameter7 settings read from the sensor.
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_stepcounter_set_parameter(
+    const struct bma423_stepcounter_settings *setting, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API enables or disables the step detector feature in the
+ *	sensor.
+ *
+ *	@param[in] enable : Variable used to enable or disable step detector
+ *	enable		|	Macros
+ *  --------------------|-------------------
+ *	0x00		|  BMA4_DISABLE
+ *	0x01		|  BMA4_ENABLE
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_step_detector_enable(uint8_t enable, struct bma4_dev *dev);
+
+/*!
+ *	@brief This API enables the any motion feature according to the axis
+ *	set by the user in the sensor.
+ *
+ *	@param[in] axis : Variable to specify the axis of the any motion feature
+ *	to be enabled in the sensor.
+ *  Value    |  Axis
+ *  ---------|-------------------------
+ *  0x00     |  BMA423_ALL_AXIS_DIS
+ *  0x01     |  BMA423_X_AXIS_EN
+ *  0x02     |  BMA423_Y_AXIS_EN
+ *  0x04     |  BMA423_Z_AXIS_EN
+ *  0x07     |  BMA423_ALL_AXIS_EN
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_anymotion_enable_axis(uint8_t axis, struct bma4_dev *dev);
+
+/*!	@brief	This API sets the configuration of Any motion feature in
+ *	the sensor.
+ *
+ *	@param[in]	any_motion : Pointer to structure variable to specify
+ *	the any motion feature settings.
+ *	Structure members are provided in the table below
+ *@verbatim
+ * -------------------------------------------------------------------------
+ *         Structure parameters    |        Description
+ * --------------------------------|----------------------------------------
+ *                                 |        Defines the number of
+ *                                 |        consecutive data points for
+ *                                 |        which the threshold condition
+ *         duration                |        must be respected, for interrupt
+ *                                 |        assertion. It is expressed in
+ *                                 |        50 Hz samples (20 ms).
+ *                                 |        Range is 0 to 163sec.
+ *                                 |        Default value is 5 = 100ms.
+ * --------------------------------|----------------------------------------
+ *                                 |        Slope threshold value for
+ *                                 |        Any-motion / No-motion detection
+ *         threshold               |        in 5.11g format.
+ *                                 |        Range is 0 to 1g.
+ *                                 |        Default value is 0xAA = 83mg.
+ * --------------------------------|----------------------------------------
+ *                                 |        Indicates if No motion (1) or
+ *         nomotion_sel            |        Any-motion (0) is selected;
+ *                                 |        default value is 0 Any-motion.
+ * -------------------------------------------------------------------------
+ *@endverbatim
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t
+bma423_set_any_motion_config(const struct bma423_anymotion_config *any_motion,
+                             struct bma4_dev *dev);
+
+/*!	@brief	This API gets the configuration of any motion feature from
+ *	the sensor.
+ *
+ *	@param[out]	any_motion : Pointer to structure variable used to store
+ *	the any motion feature settings read from the sensor.
+ *	Structure members are provided in the table below
+ *@verbatim
+ * -------------------------------------------------------------------------
+ *         Structure parameters    |        Description
+ * --------------------------------|----------------------------------------
+ *                                 |        Defines the number of
+ *                                 |        consecutive data points for
+ *                                 |        which the threshold condition
+ *         duration                |        must be respected, for interrupt
+ *                                 |        assertion. It is expressed in
+ *                                 |        50 Hz samples (20 ms).
+ *                                 |        Range is 0 to 163sec.
+ *                                 |        Default value is 5 = 100ms.
+ * --------------------------------|----------------------------------------
+ *                                 |        Slope threshold value for
+ *                                 |        Any-motion / No-motion detection
+ *         threshold               |        in 5.11g format.
+ *                                 |        Range is 0 to 1g.
+ *                                 |        Default value is 0xAA = 83mg.
+ * --------------------------------|----------------------------------------
+ *                                 |        Indicates if No motion (1) or
+ *         nomotion_sel            |        Any-motion (0) is selected;
+ *                                 |        default value is 0 Any-motion.
+ * -------------------------------------------------------------------------
+ *@endverbatim
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t
+bma423_get_any_motion_config(struct bma423_anymotion_config *any_motion,
+                             struct bma4_dev *dev);
+
+/*!
+ *	@brief This API sets the sensitivity of wake up feature in the sensor
+ *
+ *	@param[in] sensitivity : Variable used to specify the sensitivity of the
+ *	Wake up feature.
+ *	Value	|  Sensitivity
+ *	--------|-------------------------
+ *	0x00	|  MOST SENSITIVE
+ *	0x07	|  LEAST SENSITIVE
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_wakeup_set_sensitivity(uint8_t sensitivity,
+                                       struct bma4_dev *dev);
+
+/*!
+ *	@brief This API gets the sensitivity of wake up feature in the sensor
+ *
+ *	@param[out] sensitivity : Pointer variable which stores the sensitivity
+ *	value read from the sensor.
+ *	Value	|  Sensitivity
+ *	--------|-------------------------
+ *	0x00	|  MOST SENSITIVE
+ *	0x07	|  LEAST SENSITIVE
+ *	@param[in] dev : Structure instance of bma4_dev
+ *
+ *	@return Result of API execution status
+ *	@retval 0 -> Success
+ *	@retval Any non zero value -> Fail
+ */
+uint16_t bma423_wakeup_get_sensitivity(uint8_t *sensitivity,
+                                       struct bma4_dev *dev);
+
+/*!
+ *	@brief This API is used to select single/double tap
+ *	feature in the sensor
+ *
+ *	@param tap_select : Variable used to specify the single or
+ *	double tap selection in the sensor
+ *      tap_select  |  description
+ *      ------------|------------------------
+ *      0x00        |  Double tap selected
+ *      0x01        |  single tap selected
+ *
+ *	@param dev : Structure instance of bma4_dev
+ *
+ *	@return results of stream_transfer operation
+ *	@retval 0 -> Success
+ *	@retval Any positive value mentioned in ERROR CODES -> Fail
+ *
+ */
+uint16_t bma423_tap_selection(const uint8_t tap_select, struct bma4_dev *dev);
+
+#ifdef __cplusplus
+}
+#endif /*End of CPP guard */
+
+#endif /*End of header guard macro */

src/bma4_defs.h

@@ -0,0 +1,957 @@
+/*
+ *
+ ****************************************************************************
+ * 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.
+ *
+ * The Information provided is believed to be accurate and reliable.
+ * 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__ */