bmi323-driver 0.2.0

Generic no_std driver for the Bosch Sensortec BMI323 IMU
Documentation 
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use crate::{AxisData, InterruptSource};

// §6.1.2 Register Map Details
pub(crate) const CHIP_ID: u8 = 0x00; // Register (0x00) chip_id
pub(crate) const ERR_REG: u8 = 0x01; // Register (0x01) err_reg
pub(crate) const STATUS: u8 = 0x02; // Register (0x02) status
pub(crate) const ACC_DATA_X: u8 = 0x03; // Register (0x03) acc_data_x — burst-reads y (0x04) and z (0x05)
pub(crate) const GYR_DATA_X: u8 = 0x06; // Register (0x06) gyr_data_x — burst-reads y (0x07) and z (0x08)
pub(crate) const TEMP_DATA: u8 = 0x09; // Register (0x09) temp_data
pub(crate) const SENSOR_TIME_0: u8 = 0x0A; // Register (0x0A) sensor_time_0
pub(crate) const INT_STATUS_INT1: u8 = 0x0D; // Register (0x0D) int_status_int1
pub(crate) const INT_STATUS_INT2: u8 = 0x0E; // Register (0x0E) int_status_int2
pub(crate) const INT_STATUS_IBI: u8 = 0x0F; // Register (0x0F) int_status_ibi
pub(crate) const FEATURE_IO0: u8 = 0x10; // Register (0x10) feature_io0
pub(crate) const FEATURE_IO1: u8 = 0x11; // Register (0x11) feature_io1
pub(crate) const FEATURE_IO2: u8 = 0x12; // Register (0x12) feature_io2
pub(crate) const FEATURE_IO3: u8 = 0x13; // Register (0x13) feature_io3
pub(crate) const FEATURE_IO_STATUS: u8 = 0x14; // Register (0x14) feature_io_status
pub(crate) const FIFO_FILL_LEVEL: u8 = 0x15; // Register (0x15) fifo_fill_level
pub(crate) const FIFO_DATA: u8 = 0x16; // Register (0x16) fifo_data
pub(crate) const ACC_CONF: u8 = 0x20; // Register (0x20) acc_conf
pub(crate) const GYR_CONF: u8 = 0x21; // Register (0x21) gyr_conf
pub(crate) const ALT_ACC_CONF: u8 = 0x28; // Register (0x28) alt_acc_conf
pub(crate) const ALT_GYR_CONF: u8 = 0x29; // Register (0x29) alt_gyr_conf
pub(crate) const ALT_CONF: u8 = 0x2A; // Register (0x2A) alt_conf
pub(crate) const ALT_STATUS: u8 = 0x2B; // Register (0x2B) alt_status
pub(crate) const FIFO_WATERMARK: u8 = 0x35; // Register (0x35) fifo_watermark
pub(crate) const FIFO_CONF: u8 = 0x36; // Register (0x36) fifo_conf
pub(crate) const FIFO_CTRL: u8 = 0x37; // Register (0x37) fifo_ctrl
pub(crate) const IO_INT_CTRL: u8 = 0x38; // Register (0x38) io_int_ctrl
pub(crate) const INT_CONF: u8 = 0x39; // Register (0x39) int_conf
pub(crate) const INT_MAP1: u8 = 0x3A; // Register (0x3A) int_map1
pub(crate) const INT_MAP2: u8 = 0x3B; // Register (0x3B) int_map2
pub(crate) const FEATURE_CTRL: u8 = 0x40; // Register (0x40) feature_ctrl
pub(crate) const FEATURE_DATA_ADDR: u8 = 0x41; // Register (0x41) feature_data_addr
pub(crate) const FEATURE_DATA_TX: u8 = 0x42; // Register (0x42) feature_data_tx
pub(crate) const CMD: u8 = 0x7E; // Register (0x7E) cmd

// §6.2.2 Extended Register Map Details
pub(crate) const EXT_GEN_SET_1: u16 = 0x02; // Register (0x02) gen_set_1
pub(crate) const EXT_ANYMO_1: u16 = 0x05; // Register (0x05) anymo_1
pub(crate) const EXT_ANYMO_2: u16 = 0x06; // Register (0x06) anymo_2
pub(crate) const EXT_ANYMO_3: u16 = 0x07; // Register (0x07) anymo_3
pub(crate) const EXT_NOMO_1: u16 = 0x08; // Register (0x08) nomo_1
pub(crate) const EXT_NOMO_2: u16 = 0x09; // Register (0x09) nomo_2
pub(crate) const EXT_NOMO_3: u16 = 0x0A; // Register (0x0A) nomo_3
pub(crate) const EXT_FLAT_1: u16 = 0x0B; // Register (0x0B) flat_1
pub(crate) const EXT_FLAT_2: u16 = 0x0C; // Register (0x0C) flat_2
pub(crate) const EXT_SIGMO_1: u16 = 0x0D; // Register (0x0D) sigmo_1
pub(crate) const EXT_SIGMO_2: u16 = 0x0E; // Register (0x0E) sigmo_2
pub(crate) const EXT_SIGMO_3: u16 = 0x0F; // Register (0x0F) sigmo_3
pub(crate) const EXT_SC_1: u16 = 0x10; // Register (0x10) sc_1
pub(crate) const EXT_ORIENT_1: u16 = 0x1C; // Register (0x1C) orient_1
pub(crate) const EXT_ORIENT_2: u16 = 0x1D; // Register (0x1D) orient_2
pub(crate) const EXT_TAP_1: u16 = 0x1E; // Register (0x1E) tap_1
pub(crate) const EXT_TAP_2: u16 = 0x1F; // Register (0x1F) tap_2
pub(crate) const EXT_TAP_3: u16 = 0x20; // Register (0x20) tap_3
pub(crate) const EXT_TILT_1: u16 = 0x21; // Register (0x21) tilt_1
pub(crate) const EXT_TILT_2: u16 = 0x22; // Register (0x22) tilt_2
pub(crate) const EXT_ALT_CONFIG_CHG: u16 = 0x23; // Register (0x23) alt_config_chg
pub(crate) const EXT_ST_RESULT: u16 = 0x24; // Register (0x24) st_result
pub(crate) const EXT_ST_SELECT: u16 = 0x25; // Register (0x25) st_select

/// Expected value read from the `CHIP_ID` register (§6.1.2, Register (0x00) chip_id).
pub(crate) const BMI323_CHIP_ID: u8 = 0x43;
/// Soft-reset opcode written to CMD (§6.1.2, Register (0x7E) cmd; §5.17).
pub(crate) const SOFT_RESET: u16 = 0xDEAF;
/// Self-test trigger opcode written to CMD (§6.1.2, Register (0x7E) cmd; §5.14).
pub(crate) const SELF_TEST: u16 = 0x0100;

/// Feature-engine configuration payload written to FEATURE_IO2 during init
/// (§6.1.2, Register (0x12) feature_io2; §5.8.1).
pub(crate) const FEATURE_ENGINE_CONFIG: u16 = 0x012C;
/// Sync trigger written to FEATURE_IO_STATUS after FEATURE_IO2 is set
/// (§6.1.2, Register (0x14) feature_io_status; §5.8.1).
pub(crate) const FEATURE_IO_STATUS_SYNC: u16 = 0x0001;
/// Feature-engine enable bit written to FEATURE_CTRL
/// (§6.1.2, Register (0x40) feature_ctrl, `engine_en` bit 0).
pub(crate) const FEATURE_CTRL_ENABLE: u16 = 0x0001;
/// FIFO flush command written to FIFO_CTRL
/// (§6.1.2, Register (0x37) fifo_ctrl, `fifo_flush` bit 0; §5.7.4).
pub(crate) const FIFO_CTRL_FLUSH: u16 = 0x0001;

/// `FEATURE_IO1.error_status` values (§6.1.2, Register (0x11) feature_io1).
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_INACTIVE: u8 = 0x00;
/// Feature engine activated (transitions from `INACTIVE` after `enable_feature_engine`).
pub(crate) const FEATURE_ENGINE_STATUS_ACTIVATED: u8 = 0x01;
/// Configuration string download failed.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_CONFIG_FAILED: u8 = 0x03;
/// No error — normal running state.
pub(crate) const FEATURE_ENGINE_STATUS_NO_ERROR: u8 = 0x05;
/// Axis map command rejected: a sensor was active or self-calibration/self-test was ongoing.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_AXIS_MAP_REJECTED: u8 = 0x06;
/// I3C TC-sync error: enable request sent while auto-low-power was active, or configuration
/// sent with invalid TPH/TU/ODR values.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_I3C_SYNC_ERROR: u8 = 0x08;
/// Ongoing self-calibration or self-test was aborted (movement, abort command, or I3C request).
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_OPERATION_ABORTED: u8 = 0x09;
/// Self-calibration command ignored: self-calibration, self-test, or I3C TC-sync was ongoing.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_CALIBRATION_IGNORED: u8 = 0x0A;
/// Self-test command ignored: self-calibration, self-test, or I3C TC-sync was ongoing.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_SELF_TEST_IGNORED: u8 = 0x0B;
/// Self-calibration or self-test pre-conditions not met: accelerometer not configured correctly
/// or auto-low-power feature was active.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_PRECONDITION_FAILED: u8 = 0x0C;
/// Illegal sensor configuration change in ACC_CONF/GYR_CONF during self-calibration or
/// self-test; results may be inaccurate.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_ILLEGAL_CONFIG_CHANGE: u8 = 0x0D;
/// I3C TC-sync enable request received during self-test; sync will be enabled after self-test.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_I3C_SYNC_PENDING: u8 = 0x0E;
/// Illegal sensor configuration change while I3C TC-sync was active; sensors reconfigured to
/// the requested I3C TC-sync ODR.
#[allow(dead_code)]
pub(crate) const FEATURE_ENGINE_STATUS_I3C_SYNC_RECONFIGURED: u8 = 0x0F;

#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub(crate) enum TransportKind {
    I2c,
    Spi,
}

pub(crate) const fn words_to_axis(words: [u16; 3]) -> AxisData {
    AxisData {
        x: words[0] as i16,
        y: words[1] as i16,
        z: words[2] as i16,
    }
}

pub(crate) const fn interrupt_map_location(source: InterruptSource) -> (u8, u8) {
    match source {
        InterruptSource::NoMotion => (INT_MAP1, 0),
        InterruptSource::AnyMotion => (INT_MAP1, 2),
        InterruptSource::Flat => (INT_MAP1, 4),
        InterruptSource::Orientation => (INT_MAP1, 6),
        InterruptSource::StepDetector => (INT_MAP1, 8),
        InterruptSource::StepCounter => (INT_MAP1, 10),
        InterruptSource::SignificantMotion => (INT_MAP1, 12),
        InterruptSource::Tilt => (INT_MAP1, 14),
        InterruptSource::Tap => (INT_MAP2, 0),
        InterruptSource::I3cSync => (INT_MAP2, 2),
        InterruptSource::ErrorStatus => (INT_MAP2, 4),
        InterruptSource::TempDataReady => (INT_MAP2, 6),
        InterruptSource::GyroDataReady => (INT_MAP2, 8),
        InterruptSource::AccelDataReady => (INT_MAP2, 10),
        InterruptSource::FifoWatermark => (INT_MAP2, 12),
        InterruptSource::FifoFull => (INT_MAP2, 14),
    }
}